2 * Copyright © 2009 Keith Packard <keithp@keithp.com>
4 * This program is free software; you can redistribute it and/or modify
5 * it under the terms of the GNU General Public License as published by
6 * the Free Software Foundation; version 2 of the License.
8 * This program is distributed in the hope that it will be useful, but
9 * WITHOUT ANY WARRANTY; without even the implied warranty of
10 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
11 * General Public License for more details.
13 * You should have received a copy of the GNU General Public License along
14 * with this program; if not, write to the Free Software Foundation, Inc.,
15 * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA.
20 __xdata uint8_t ao_gps_mutex;
21 __xdata struct ao_gps_data ao_gps_data;
23 const char ao_gps_config[] = {
24 /* Serial param - binary, 4800 baud, 8 bits, 1 stop, no parity */
25 '$', 'P', 'S', 'R', 'F', '1', '0', '0', ',', '0', ',',
26 '4', '8', '0', '0', ',', '8', ',', '1', ',', '0', '*',
29 0xa0, 0xa2, 0x00, 0x0e, /* length: 14 bytes */
30 136, /* mode control */
32 4, /* degraded mode (disabled) */
34 0, 0, /* user specified altitude */
35 2, /* alt hold mode (disabled, require 3d fixes) */
36 0, /* alt hold source (use last computed altitude) */
38 0, /* Degraded time out (disabled) */
39 0, /* Dead Reckoning time out (disabled) */
40 0, /* Track smoothing (disabled) */
41 0x00, 0x8e, 0xb0, 0xb3,
43 0xa0, 0xa2, 0x00, 0x02, /* length: 2 bytes */
44 143, /* static navigation */
46 0x00, 0x8f, 0xb0, 0xb3,
48 0xa0, 0xa2, 0x00, 0x08, /* length: 8 bytes */
49 166, /* Set message rate */
50 2, /* enable/disable all messages */
51 0, /* message id (ignored) */
52 0, /* update rate (0 = disable) */
53 0, 0, 0, 0, /* reserved */
54 0x00, 0xa8, 0xb0, 0xb3,
56 0xa0, 0xa2, 0x00, 0x08, /* length: 8 bytes */
57 166, /* Set message rate */
58 0, /* enable/disable one message */
60 1, /* once per second */
61 0, 0, 0, 0, /* reserved */
62 0x00, 0xd0, 0xb0, 0xb3,
65 #define NAV_TYPE_GPS_FIX_TYPE_MASK (7 << 0)
66 #define NAV_TYPE_NO_FIX (0 << 0)
67 #define NAV_TYPE_SV_KF (1 << 0)
68 #define NAV_TYPE_2_SV_KF (2 << 0)
69 #define NAV_TYPE_3_SV_KF (3 << 0)
70 #define NAV_TYPE_4_SV_KF (4 << 0)
71 #define NAV_TYPE_2D_LEAST_SQUARES (5 << 0)
72 #define NAV_TYPE_3D_LEAST_SQUARES (6 << 0)
73 #define NAV_TYPE_DR (7 << 0)
74 #define NAV_TYPE_TRICKLE_POWER (1 << 3)
75 #define NAV_TYPE_ALTITUDE_HOLD_MASK (3 << 4)
76 #define NAV_TYPE_ALTITUDE_HOLD_NONE (0 << 4)
77 #define NAV_TYPE_ALTITUDE_HOLD_KF (1 << 4)
78 #define NAV_TYPE_ALTITUDE_HOLD_USER (2 << 4)
79 #define NAV_TYPE_ALTITUDE_HOLD_ALWAYS (3 << 4)
80 #define NAV_TYPE_DOP_LIMIT_EXCEEDED (1 << 6)
81 #define NAV_TYPE_DGPS_APPLIED (1 << 7)
82 #define NAV_TYPE_SENSOR_DR (1 << 8)
83 #define NAV_TYPE_OVERDETERMINED (1 << 9)
84 #define NAV_TYPE_DR_TIMEOUT_EXCEEDED (1 << 10)
85 #define NAV_TYPE_FIX_MI_EDIT (1 << 11)
86 #define NAV_TYPE_INVALID_VELOCITY (1 << 12)
87 #define NAV_TYPE_ALTITUDE_HOLD_DISABLED (1 << 13)
88 #define NAV_TYPE_DR_ERROR_STATUS_MASK (3 << 14)
89 #define NAV_TYPE_DR_ERROR_STATUS_GPS_ONLY (0 << 14)
90 #define NAV_TYPE_DR_ERROR_STATUS_DR_FROM_GPS (1 << 14)
91 #define NAV_TYPE_DR_ERROR_STATUS_DR_SENSOR_ERROR (2 << 14)
92 #define NAV_TYPE_DR_ERROR_STATUS_DR_IN_TEST (3 << 14)
94 struct sirf_geodetic_nav_data {
105 uint16_t ground_speed;
114 static __xdata struct sirf_geodetic_nav_data ao_sirf_data;
116 static __pdata uint16_t ao_sirf_cksum;
117 static __pdata uint16_t ao_sirf_len;
119 #define ao_sirf_byte() ((uint8_t) ao_serial_getchar())
121 static uint8_t data_byte(void)
123 uint8_t c = ao_sirf_byte();
129 static void sirf_u16(uint8_t offset)
131 uint16_t __xdata *ptr = (uint16_t __xdata *) (((char __xdata *) &ao_sirf_data) + offset);
134 val = data_byte() << 8;
139 static void sirf_u8(uint8_t offset)
141 uint8_t __xdata *ptr = (uint8_t __xdata *) (((char __xdata *) &ao_sirf_data) + offset);
148 static void sirf_u32(uint8_t offset)
150 uint32_t __xdata *ptr = (uint32_t __xdata *) (((char __xdata *) &ao_sirf_data) + offset);
153 val = ((uint32_t) data_byte ()) << 24;
154 val |= ((uint32_t) data_byte ()) << 16;
155 val |= ((uint32_t) data_byte ()) << 8;
156 val |= ((uint32_t) data_byte ());
160 static void sirf_discard(uint8_t len)
167 #define SIRF_DISCARD 1
172 struct sirf_packet_parse {
177 static const struct sirf_packet_parse geodetic_nav_data_packet[] = {
178 { SIRF_DISCARD, 2 }, /* 1 nav valid */
179 { SIRF_U16, offsetof(struct sirf_geodetic_nav_data, nav_type) }, /* 3 */
180 { SIRF_DISCARD, 6 }, /* 5 week number, time of week */
181 { SIRF_U16, offsetof(struct sirf_geodetic_nav_data, utc_year) }, /* 11 */
182 { SIRF_U8, offsetof(struct sirf_geodetic_nav_data, utc_month) }, /* 13 */
183 { SIRF_U8, offsetof(struct sirf_geodetic_nav_data, utc_day) }, /* 14 */
184 { SIRF_U8, offsetof(struct sirf_geodetic_nav_data, utc_hour) }, /* 15 */
185 { SIRF_U8, offsetof(struct sirf_geodetic_nav_data, utc_minute) }, /* 16 */
186 { SIRF_U16, offsetof(struct sirf_geodetic_nav_data, utc_second) }, /* 17 */
187 { SIRF_DISCARD, 4 }, /* satellite id list */ /* 19 */
188 { SIRF_U32, offsetof(struct sirf_geodetic_nav_data, lat) }, /* 23 */
189 { SIRF_U32, offsetof(struct sirf_geodetic_nav_data, lon) }, /* 27 */
190 { SIRF_DISCARD, 4 }, /* altitude from ellipsoid */ /* 31 */
191 { SIRF_U32, offsetof(struct sirf_geodetic_nav_data, alt_msl) }, /* 35 */
192 { SIRF_DISCARD, 1 }, /* map datum */ /* 39 */
193 { SIRF_U16, offsetof(struct sirf_geodetic_nav_data, ground_speed) }, /* 40 */
194 { SIRF_U16, offsetof(struct sirf_geodetic_nav_data, course) }, /* 42 */
195 { SIRF_DISCARD, 2 }, /* magnetic variation */ /* 44 */
196 { SIRF_U16, offsetof(struct sirf_geodetic_nav_data, climb_rate) }, /* 46 */
197 { SIRF_DISCARD, 2 }, /* turn rate */ /* 48 */
198 { SIRF_U32, offsetof(struct sirf_geodetic_nav_data, h_error) }, /* 50 */
199 { SIRF_U32, offsetof(struct sirf_geodetic_nav_data, v_error) }, /* 54 */
200 { SIRF_DISCARD, 30 }, /* time error, h_vel error, clock_bias,
201 clock bias error, clock drift,
202 clock drift error, distance,
203 distance error, heading error */ /* 58 */
204 { SIRF_U8, offsetof(struct sirf_geodetic_nav_data, num_sv) }, /* 88 */
205 { SIRF_U8, offsetof(struct sirf_geodetic_nav_data, hdop) }, /* 89 */
206 { SIRF_DISCARD, 1 }, /* additional mode info */ /* 90 */
207 { SIRF_END, 0 }, /* 91 */
211 ao_sirf_parse_41(void)
216 offset = geodetic_nav_data_packet[i].offset;
217 switch (geodetic_nav_data_packet[i].type) {
221 sirf_discard(offset);
237 ao_gps(void) __reentrant
243 for (i = 0; (c = ao_gps_config[i]); i++)
244 ao_serial_putchar(c);
246 /* Locate the begining of the next record */
247 while (ao_sirf_byte() != 0xa0)
249 if (ao_sirf_byte() != 0xa2)
253 ao_sirf_len = ao_sirf_byte() << 8;
254 ao_sirf_len |= ao_sirf_byte();
255 if (ao_sirf_len > 1023)
261 i = data_byte (); /* 0 */
265 if (ao_sirf_len < 91)
270 if (ao_sirf_len != 0)
273 /* verify checksum and end sequence */
274 ao_sirf_cksum &= 0x7fff;
275 cksum = ao_sirf_byte() << 8;
276 cksum |= ao_sirf_byte();
277 if (ao_sirf_cksum != cksum)
279 if (ao_sirf_byte() != 0xb0)
281 if (ao_sirf_byte() != 0xb3)
286 ao_mutex_get(&ao_gps_mutex);
287 ao_gps_data.hour = ao_sirf_data.utc_hour;
288 ao_gps_data.minute = ao_sirf_data.utc_minute;
289 ao_gps_data.second = ao_sirf_data.utc_second / 1000;
290 ao_gps_data.flags = (ao_sirf_data.num_sv << AO_GPS_NUM_SAT_SHIFT) & AO_GPS_NUM_SAT_MASK;
291 if ((ao_sirf_data.nav_type & NAV_TYPE_GPS_FIX_TYPE_MASK) >= NAV_TYPE_4_SV_KF)
292 ao_gps_data.flags |= AO_GPS_VALID;
293 ao_mutex_put(&ao_gps_mutex);
294 ao_wakeup(&ao_gps_data);
300 __xdata struct ao_task ao_gps_task;
303 gps_dump(void) __reentrant
305 ao_mutex_get(&ao_gps_mutex);
306 ao_gps_print(&ao_gps_data);
307 ao_mutex_put(&ao_gps_mutex);
310 __code struct ao_cmds ao_gps_cmds[] = {
311 { 'g', gps_dump, "g Display current GPS values" },
312 { 0, gps_dump, NULL },
318 ao_add_task(&ao_gps_task, ao_gps, "gps");
319 ao_cmd_register(&ao_gps_cmds[0]);