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/*
* Copyright © 2009 Keith Packard <keithp@keithp.com>
*
* This program is free software; you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation; either version 2 of the License, or
* (at your option) any later version.
*
* This program is distributed in the hope that it will be useful, but
* WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
* General Public License for more details.
*
* You should have received a copy of the GNU General Public License along
* with this program; if not, write to the Free Software Foundation, Inc.,
* 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA.
*/
#include "ao.h"
#include "ao_log.h"
#ifndef GPS_SPARSE_LOG
#define GPS_SPARSE_LOG 0
#endif
#if GPS_SPARSE_LOG
static int32_t prev_lat, prev_lon, int16_t prev_alt;
static uint8_t has_prev, unmoving;
#define GPS_SPARSE_UNMOVING_REPORTS 10
#define GPS_SPARSE_UNMOVING_GROUND 10
#define GPS_SPARSE_UNMOVING_AIR 10
static uint8_t
ao_gps_sparse_should_log(int32_t lat, int32_t lon, int16_t alt)
{
uint8_t ret = 1;
if (has_prev && ao_log_running) {
uint32_t h = ao_distance(prev_lat, prev_lon, lat, lon);
uint16_t v = alt > prev_alt ? (alt - prev_alt) : (prev_alt - alt);
if (h < GPS_SPARSE_UNMOVING_GROUND && v < GPS_SPARSE_UNMOVING_AIR) {
if (unmoving < GPS_SPARSE_UNMOVING_REPORTS)
++unmoving;
} else
unmoving = 0;
} else
unmoving = 0;
prev_lat = lat;
prev_lon = lon;
prev_alt = alt;
has_prev = 1;
return unmoving >= GPS_SPARSE_UNMOVING_REPORTS;
}
#endif
void
ao_gps_report_mega(void)
{
static __xdata struct ao_log_mega gps_log;
static __xdata struct ao_telemetry_location gps_data;
static __xdata struct ao_telemetry_satellite gps_tracking_data;
uint8_t new;
uint8_t c, n, i;
for (;;) {
while (!(new = ao_gps_new))
ao_sleep(&ao_gps_new);
ao_mutex_get(&ao_gps_mutex);
if (new & AO_GPS_NEW_DATA)
ao_xmemcpy(&gps_data, &ao_gps_data, sizeof (ao_gps_data));
if (new & AO_GPS_NEW_TRACKING)
ao_xmemcpy(&gps_tracking_data, &ao_gps_tracking_data, sizeof (ao_gps_tracking_data));
ao_gps_new = 0;
ao_mutex_put(&ao_gps_mutex);
#if GPS_SPARSE_LOG
/* Don't log data if GPS has a fix and hasn't moved for a while */
if ((gps_data.flags & AO_GPS_VALID) &&
!ao_gps_sparse_should_log(gps_data.latitude, gps_data.longitude,
AO_TELEMETRY_LOCATION_ALTITUDE(&gps_data))
continue;
#endif
if ((new & AO_GPS_NEW_DATA) && (gps_data.flags & AO_GPS_VALID)) {
gps_log.tick = ao_gps_tick;
gps_log.type = AO_LOG_GPS_TIME;
gps_log.u.gps.latitude = gps_data.latitude;
gps_log.u.gps.longitude = gps_data.longitude;
gps_log.u.gps.altitude_low = gps_data.altitude_low;
gps_log.u.gps.altitude_high = gps_data.altitude_high;
gps_log.u.gps.hour = gps_data.hour;
gps_log.u.gps.minute = gps_data.minute;
gps_log.u.gps.second = gps_data.second;
gps_log.u.gps.flags = gps_data.flags;
gps_log.u.gps.year = gps_data.year;
gps_log.u.gps.month = gps_data.month;
gps_log.u.gps.day = gps_data.day;
gps_log.u.gps.course = gps_data.course;
gps_log.u.gps.ground_speed = gps_data.ground_speed;
gps_log.u.gps.climb_rate = gps_data.climb_rate;
gps_log.u.gps.pdop = gps_data.pdop;
gps_log.u.gps.hdop = gps_data.hdop;
gps_log.u.gps.vdop = gps_data.vdop;
gps_log.u.gps.mode = gps_data.mode;
ao_log_mega(&gps_log);
}
if ((new & AO_GPS_NEW_TRACKING) && (n = gps_tracking_data.channels) != 0) {
gps_log.tick = ao_gps_tick;
gps_log.type = AO_LOG_GPS_SAT;
i = 0;
for (c = 0; c < n; c++)
if ((gps_log.u.gps_sat.sats[i].svid = gps_tracking_data.sats[c].svid))
{
gps_log.u.gps_sat.sats[i].c_n = gps_tracking_data.sats[c].c_n_1;
i++;
if (i >= 12)
break;
}
gps_log.u.gps_sat.channels = i;
ao_log_mega(&gps_log);
}
}
}
__xdata struct ao_task ao_gps_report_mega_task;
void
ao_gps_report_mega_init(void)
{
ao_add_task(&ao_gps_report_mega_task,
ao_gps_report_mega,
"gps_report");
}
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