83 lines
3.4 KiB
C
83 lines
3.4 KiB
C
/****************************************************************************
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* apps/system/uorb/sensor/gps.c
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*
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* Licensed to the Apache Software Foundation (ASF) under one or more
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* contributor license agreements. See the NOTICE file distributed with
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* this work for additional information regarding copyright ownership. The
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* ASF licenses this file to you under the Apache License, Version 2.0 (the
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* "License"); you may not use this file except in compliance with the
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* License. You may obtain a copy of the License at
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*
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* http://www.apache.org/licenses/LICENSE-2.0
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*
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* Unless required by applicable law or agreed to in writing, software
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* distributed under the License is distributed on an "AS IS" BASIS, WITHOUT
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* WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. See the
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* License for the specific language governing permissions and limitations
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* under the License.
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*
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****************************************************************************/
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/****************************************************************************
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* Included Files
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****************************************************************************/
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#include <sensor/gps.h>
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/****************************************************************************
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* Private Functions
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****************************************************************************/
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#ifdef CONFIG_DEBUG_UORB
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static void print_sensor_gps_message(FAR const struct orb_metadata *meta,
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FAR const void *buffer)
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{
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FAR const struct sensor_gps *message = buffer;
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const orb_abstime now = orb_absolute_time();
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uorbinfo_raw("%s:\ttimestamp: %" PRIu64 " (%" PRIu64 " us ago) "
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"time_utc: %" PRIu64 " latitude: %.4f longitude: %.4f",
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meta->o_name, message->timestamp, now - message->timestamp,
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message->time_utc, message->latitude, message->longitude);
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uorbinfo_raw("%s:\taltitude: %.4f altitude_ellipsoid: %.4f "
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"ground_speed: %.4f course: %.4f",
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meta->o_name, message->altitude, message->altitude_ellipsoid,
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message->ground_speed, message->course);
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uorbinfo_raw("%s:\teph: %.4f epv: %.4f hdop: %.4f vdop: %.4f",
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meta->o_name, message->eph, message->epv,
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message->hdop, message->vdop);
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}
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static void
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print_sensor_gps_satellite_message(FAR const struct orb_metadata *meta,
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FAR const void *buffer)
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{
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FAR const struct sensor_gps_satellite *message = buffer;
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const orb_abstime now = orb_absolute_time();
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int i;
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uorbinfo_raw("%s:\ttimestamp: %" PRIu64 " (%" PRIu64 " us ago)",
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meta->o_name, message->timestamp, now - message->timestamp);
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for (i = 0; i < message->count; i++)
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{
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uorbinfo_raw("%s:\tnumber:%d svid: %" PRIu32
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"elevation: %" PRIu32 "azimuth: %" PRIu32
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" snr: %" PRIu32 "",
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meta->o_name, i, message->info[i].svid,
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message->info[i].elevation, message->info[i].azimuth,
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message->info[i].snr);
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}
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}
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#endif
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/****************************************************************************
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* Public Data
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****************************************************************************/
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ORB_DEFINE(sensor_gps, struct sensor_gps, print_sensor_gps_message);
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ORB_DEFINE(sensor_gps_satellite, struct sensor_gps_satellite,
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print_sensor_gps_satellite_message);
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