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   1 /*
   2  * Copyright © 2009 Keith Packard <keithp@keithp.com>
   3  *
   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; either version 2 of the License, or
   7  * (at your option) any later version.
   8  *
   9  * This program is distributed in the hope that it will be useful, but
  10  * WITHOUT ANY WARRANTY; without even the implied warranty of
  11  * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
  12  * General Public License for more details.
  13  *
  14  * You should have received a copy of the GNU General Public License along
  15  * with this program; if not, write to the Free Software Foundation, Inc.,
  16  * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA.
  17  */
  18
  19 #define AO_GPS_TEST
  20 #define AO_TICK_TYPE uint32_t
  21 #include "ao_host.h"
  22 #include <termios.h>
  23 #include <errno.h>
  24 #include <sys/types.h>
  25 #include <sys/stat.h>
  26 #include <unistd.h>
  27 #include <fcntl.h>
  28 #define AO_GPS_NUM_SAT_MASK     (0xf << 0)
  29 #define AO_GPS_NUM_SAT_SHIFT    (0)
  30
  31 #define AO_GPS_NEW_DATA         1
  32 #define AO_GPS_NEW_TRACKING     2
  33
  34 #define AO_GPS_VALID            (1 << 4)
  35 #define AO_GPS_RUNNING          (1 << 5)
  36 #define AO_GPS_DATE_VALID       (1 << 6)
  37 #define AO_GPS_COURSE_VALID     (1 << 7)
  38
  39 struct ao_gps_orig {
  40         uint8_t                 year;
  41         uint8_t                 month;
  42         uint8_t                 day;
  43         uint8_t                 hour;
  44         uint8_t                 minute;
  45         uint8_t                 second;
  46         uint8_t                 flags;
  47         int32_t                 latitude;       /* degrees * 10⁷ */
  48         int32_t                 longitude;      /* degrees * 10⁷ */
  49         int16_t                 altitude;       /* m */
  50         uint16_t                ground_speed;   /* cm/s */
  51         uint8_t                 course;         /* degrees / 2 */
  52         uint8_t                 hdop;           /* * 5 */
  53         int16_t                 climb_rate;     /* cm/s */
  54         uint16_t                h_error;        /* m */
  55         uint16_t                v_error;        /* m */
  56 };
  57
  58 #define AO_TELEMETRY_LOCATION_ALTITUDE(l)       ((l)->altitude)
  59 #define AO_TELEMETRY_LOCATION_SET_ALTITUDE(l,a) ((l)->altitude = (a))
  60
  61 #define SIRF_SAT_STATE_ACQUIRED                 (1 << 0)
  62 #define SIRF_SAT_STATE_CARRIER_PHASE_VALID      (1 << 1)
  63 #define SIRF_SAT_BIT_SYNC_COMPLETE              (1 << 2)
  64 #define SIRF_SAT_SUBFRAME_SYNC_COMPLETE         (1 << 3)
  65 #define SIRF_SAT_CARRIER_PULLIN_COMPLETE        (1 << 4)
  66 #define SIRF_SAT_CODE_LOCKED                    (1 << 5)
  67 #define SIRF_SAT_ACQUISITION_FAILED             (1 << 6)
  68 #define SIRF_SAT_EPHEMERIS_AVAILABLE            (1 << 7)
  69
  70 struct ao_gps_sat_orig {
  71         uint8_t         svid;
  72         uint8_t         c_n_1;
  73 };
  74
  75 #define AO_MAX_GPS_TRACKING     12
  76
  77 struct ao_gps_tracking_orig {
  78         uint8_t                 channels;
  79         struct ao_gps_sat_orig  sats[AO_MAX_GPS_TRACKING];
  80 };
  81
  82 #define ao_telemetry_location ao_gps_orig
  83 #define ao_telemetry_satellite ao_gps_tracking_orig
  84 #define ao_telemetry_satellite_info ao_gps_sat_orig
  85
  86 void
  87 ao_mutex_get(uint8_t *mutex)
  88 {
  89 }
  90
  91 void
  92 ao_mutex_put(uint8_t *mutex)
  93 {
  94 }
  95
  96 static int
  97 ao_gps_fd;
  98
  99 #if 0
 100 static void
 101 ao_dbg_char(char c)
 102 {
 103         char    line[128];
 104         line[0] = '\0';
 105         if (c < ' ') {
 106                 if (c == '\n')
 107                         sprintf (line, "\n");
 108                 else
 109                         sprintf (line, "\\%02x", ((int) c) & 0xff);
 110         } else {
 111                 sprintf (line, "%c", c);
 112         }
 113         write(1, line, strlen(line));
 114 }
 115 #endif
 116
 117 #define QUEUE_LEN       4096
 118
 119 static char     input_queue[QUEUE_LEN];
 120 int             input_head, input_tail;
 121
 122 #include <sys/time.h>
 123
 124 int
 125 get_millis(void)
 126 {
 127         struct timeval  tv;
 128         gettimeofday(&tv, NULL);
 129         return tv.tv_sec * 1000 + tv.tv_usec / 1000;
 130 }
 131
 132 static void
 133 check_sirf_message(char *from, uint8_t *msg, int len)
 134 {
 135         uint16_t        encoded_len, encoded_cksum;
 136         uint16_t        cksum;
 137         uint8_t         id;
 138         int             i;
 139
 140         if (msg[0] != 0xa0 || msg[1] != 0xa2) {
 141                 printf ("bad header\n");
 142                 return;
 143         }
 144         if (len < 7) {
 145                 printf("short\n");
 146                 return;
 147         }
 148         if (msg[len-1] != 0xb3 || msg[len-2] != 0xb0) {
 149                 printf ("bad trailer\n");
 150                 return;
 151         }
 152         encoded_len = (msg[2] << 8) | msg[3];
 153         id = msg[4];
 154 /*      printf ("%9d: %3d\n", get_millis(), id); */
 155         if (encoded_len != len - 8) {
 156                 if (id != 52)
 157                         printf ("length mismatch (got %d, wanted %d)\n",
 158                                 len - 8, encoded_len);
 159                 return;
 160         }
 161         encoded_cksum = (msg[len - 4] << 8) | msg[len-3];
 162         cksum = 0;
 163         for (i = 4; i < len - 4; i++)
 164                 cksum = (cksum + msg[i]) & 0x7fff;
 165         if (encoded_cksum != cksum) {
 166                 printf ("cksum mismatch (got %04x wanted %04x)\n",
 167                         cksum, encoded_cksum);
 168                 return;
 169         }
 170         id = msg[4];
 171         switch (id) {
 172         case 41:{
 173                 int     off = 4;
 174
 175                 uint8_t         id;
 176                 uint16_t        nav_valid;
 177                 uint16_t        nav_type;
 178                 uint16_t        week;
 179                 uint32_t        tow;
 180                 uint16_t        year;
 181                 uint8_t         month;
 182                 uint8_t         day;
 183                 uint8_t         hour;
 184                 uint8_t         minute;
 185                 uint16_t        second;
 186                 uint32_t        sat_list;
 187                 int32_t         lat;
 188                 int32_t         lon;
 189                 int32_t         alt_ell;
 190                 int32_t         alt_msl;
 191                 int8_t          datum;
 192                 uint16_t        sog;
 193                 uint16_t        cog;
 194                 int16_t         mag_var;
 195                 int16_t         climb_rate;
 196                 int16_t         heading_rate;
 197                 uint32_t        h_error;
 198                 uint32_t        v_error;
 199                 uint32_t        t_error;
 200                 uint16_t        h_v_error;
 201
 202 #define get_u8(u)       u = (msg[off]); off+= 1
 203 #define get_u16(u)      u = (msg[off] << 8) | (msg[off + 1]); off+= 2
 204 #define get_u32(u)      u = (msg[off] << 24) | (msg[off + 1] << 16) | (msg[off+2] << 8) | (msg[off+3]); off+= 4
 205
 206                 get_u8(id);
 207                 get_u16(nav_valid);
 208                 get_u16(nav_type);
 209                 get_u16(week);
 210                 get_u32(tow);
 211                 get_u16(year);
 212                 get_u8(month);
 213                 get_u8(day);
 214                 get_u8(hour);
 215                 get_u8(minute);
 216                 get_u16(second);
 217                 get_u32(sat_list);
 218                 get_u32(lat);
 219                 get_u32(lon);
 220                 get_u32(alt_ell);
 221                 get_u32(alt_msl);
 222                 get_u8(datum);
 223                 get_u16(sog);
 224                 get_u16(cog);
 225                 get_u16(mag_var);
 226                 get_u16(climb_rate);
 227                 get_u16(heading_rate);
 228                 get_u32(h_error);
 229                 get_u32(v_error);
 230                 get_u32(t_error);
 231                 get_u16(h_v_error);
 232
 233
 234                 (void) mag_var;
 235                 (void) id;
 236                 printf ("Geodetic Navigation Data (41):\n");
 237                 printf ("\tNav valid %04x\n", nav_valid);
 238                 printf ("\tNav type %04x\n", nav_type);
 239                 printf ("\tWeek %5d", week);
 240                 printf (" TOW %9d", tow);
 241                 printf (" %4d-%2d-%2d %02d:%02d:%07.4f\n",
 242                         year, month, day,
 243                         hour, minute, second / 1000.0);
 244                 printf ("\tsats: %08x\n", sat_list);
 245                 printf ("\tlat: %g", lat / 1.0e7);
 246                 printf (" lon: %g", lon / 1.0e7);
 247                 printf (" alt_ell: %g", alt_ell / 100.0);
 248                 printf (" alt_msll: %g", alt_msl / 100.0);
 249                 printf (" datum: %d\n", datum);
 250                 printf ("\tground speed: %g", sog / 100.0);
 251                 printf (" course: %g", cog / 100.0);
 252                 printf (" climb: %g", climb_rate / 100.0);
 253                 printf (" heading rate: %g\n", heading_rate / 100.0);
 254                 printf ("\th error: %g", h_error / 100.0);
 255                 printf (" v error: %g", v_error / 100.0);
 256                 printf (" t error: %g", t_error / 100.0);
 257                 printf (" h vel error: %g\n", h_v_error / 100.0);
 258                 break;
 259         }
 260         case 4: {
 261                 int off = 4;
 262                 uint8_t         id;
 263                 int16_t         gps_week;
 264                 uint32_t        gps_tow;
 265                 uint8_t         channels;
 266                 int             j, k;
 267
 268                 get_u8(id);
 269                 get_u16(gps_week);
 270                 get_u32(gps_tow);
 271                 get_u8(channels);
 272
 273                 (void) id;
 274                 printf ("Measured Tracker Data (4):\n");
 275                 printf ("GPS week: %d\n", gps_week);
 276                 printf ("GPS time of week: %d\n", gps_tow);
 277                 printf ("channels: %d\n", channels);
 278                 for (j = 0; j < 12; j++) {
 279                         uint8_t svid, azimuth, elevation;
 280                         uint16_t state;
 281                         uint8_t c_n[10];
 282                         get_u8(svid);
 283                         get_u8(azimuth);
 284                         get_u8(elevation);
 285                         get_u16(state);
 286                         for (k = 0; k < 10; k++) {
 287                                 get_u8(c_n[k]);
 288                         }
 289                         printf ("Sat %3d:", svid);
 290                         printf (" aziumuth: %6.1f", azimuth * 1.5);
 291                         printf (" elevation: %6.1f", elevation * 0.5);
 292                         printf (" state: 0x%02x", state);
 293                         printf (" c_n:");
 294                         for (k = 0; k < 10; k++)
 295                                 printf(" %3d", c_n[k]);
 296                         if (state & SIRF_SAT_STATE_ACQUIRED)
 297                                 printf(" acq,");
 298                         if (state & SIRF_SAT_STATE_CARRIER_PHASE_VALID)
 299                                 printf(" car,");
 300                         if (state & SIRF_SAT_BIT_SYNC_COMPLETE)
 301                                 printf(" bit,");
 302                         if (state & SIRF_SAT_SUBFRAME_SYNC_COMPLETE)
 303                                 printf(" sub,");
 304                         if (state & SIRF_SAT_CARRIER_PULLIN_COMPLETE)
 305                                 printf(" pullin,");
 306                         if (state & SIRF_SAT_CODE_LOCKED)
 307                                 printf(" code,");
 308                         if (state & SIRF_SAT_ACQUISITION_FAILED)
 309                                 printf(" fail,");
 310                         if (state & SIRF_SAT_EPHEMERIS_AVAILABLE)
 311                                 printf(" ephem,");
 312                         printf ("\n");
 313                 }
 314                 break;
 315         }
 316         default:
 317                 return;
 318                 printf ("%s %4d:", from, encoded_len);
 319                 for (i = 4; i < len - 4; i++) {
 320                         if (((i - 4) & 0xf) == 0)
 321                                 printf("\n   ");
 322                         printf (" %3d", msg[i]);
 323                 }
 324                 printf ("\n");
 325         }
 326 }
 327
 328 static uint8_t  sirf_message[4096];
 329 static int      sirf_message_len;
 330 static uint8_t  sirf_in_message[4096];
 331 static int      sirf_in_len;
 332
 333 char
 334 ao_serial1_getchar(void)
 335 {
 336         char    c;
 337         uint8_t uc;
 338
 339         while (input_head == input_tail) {
 340                 for (;;) {
 341                         input_tail = read(ao_gps_fd, input_queue, QUEUE_LEN);
 342                         if (input_tail < 0) {
 343                                 if (errno == EINTR || errno == EAGAIN)
 344                                         continue;
 345                                 perror ("getchar");
 346                                 exit (1);
 347                         }
 348                         input_head = 0;
 349                         break;
 350                 }
 351         }
 352         c = input_queue[input_head];
 353         input_head = (input_head + 1) % QUEUE_LEN;
 354         uc = c;
 355         if (sirf_in_len || uc == 0xa0) {
 356                 if (sirf_in_len < 4096)
 357                         sirf_in_message[sirf_in_len++] = uc;
 358                 if (uc == 0xb3) {
 359                         check_sirf_message("recv", sirf_in_message, sirf_in_len);
 360                         sirf_in_len = 0;
 361                 }
 362         }
 363         return c;
 364 }
 365
 366
 367 void
 368 ao_serial1_putchar(char c)
 369 {
 370         int     i;
 371         uint8_t uc = (uint8_t) c;
 372
 373         if (sirf_message_len || uc == 0xa0) {
 374                 if (sirf_message_len < 4096)
 375                         sirf_message[sirf_message_len++] = uc;
 376                 if (uc == 0xb3) {
 377                         check_sirf_message("send", sirf_message, sirf_message_len);
 378                         sirf_message_len = 0;
 379                 }
 380         }
 381         for (;;) {
 382                 i = write(ao_gps_fd, &c, 1);
 383                 if (i == 1) {
 384                         if ((uint8_t) c == 0xb3 || c == '\r') {
 385 /*                              static const struct timespec delay = {
 386                                         .tv_sec = 0,
 387                                         .tv_nsec = 100 * 1000 * 1000
 388                                 };
 389 */
 390                                 tcdrain(ao_gps_fd);
 391 //                              nanosleep(&delay, NULL);
 392                         }
 393                         break;
 394                 }
 395                 if (i < 0 && (errno == EINTR || errno == EAGAIN))
 396                         continue;
 397                 perror("putchar");
 398                 exit(1);
 399         }
 400 }
 401
 402 #define AO_SERIAL_SPEED_4800    0
 403 #define AO_SERIAL_SPEED_57600   1
 404 #define AO_SERIAL_SPEED_115200  2
 405
 406 static void
 407 ao_serial1_set_speed(uint8_t speed)
 408 {
 409         int     fd = ao_gps_fd;
 410         struct termios  termios;
 411
 412         tcdrain(fd);
 413         tcgetattr(fd, &termios);
 414         switch (speed) {
 415         case AO_SERIAL_SPEED_4800:
 416                 cfsetspeed(&termios, B4800);
 417                 break;
 418         case AO_SERIAL_SPEED_57600:
 419                 cfsetspeed(&termios, B57600);
 420                 break;
 421         case AO_SERIAL_SPEED_115200:
 422                 cfsetspeed(&termios, B115200);
 423                 break;
 424         }
 425         tcsetattr(fd, TCSAFLUSH, &termios);
 426         tcflush(fd, TCIFLUSH);
 427 }
 428
 429 #define ao_time() 0
 430
 431 #include "ao_gps_print.c"
 432 #include "ao_gps_sirf.c"
 433
 434 void
 435 ao_dump_state(void *wchan)
 436 {
 437         int     i;
 438
 439         if (wchan != &ao_gps_new)
 440                 return;
 441
 442         if (ao_gps_new & AO_GPS_NEW_DATA) {
 443                 ao_gps_print(&ao_gps_data);
 444                 putchar('\n');
 445         }
 446         if (ao_gps_new & AO_GPS_NEW_TRACKING) {
 447                 ao_gps_tracking_print(&ao_gps_tracking_data);
 448                 putchar('\n');
 449         }
 450         return;
 451         printf ("%02d:%02d:%02d",
 452                 ao_gps_data.hour, ao_gps_data.minute,
 453                 ao_gps_data.second);
 454         printf (" nsat %d %svalid",
 455                 ao_gps_data.flags & AO_GPS_NUM_SAT_MASK,
 456                 ao_gps_data.flags & AO_GPS_VALID ? "" : "not ");
 457         printf (" lat %g lon %g alt %d",
 458                 ao_gps_data.latitude / 1.0e7,
 459                 ao_gps_data.longitude / 1.0e7,
 460                 ao_gps_data.altitude);
 461         printf (" speed %g climb %g course %d",
 462                 ao_gps_data.ground_speed / 100.0,
 463                 ao_gps_data.climb_rate / 100.0,
 464                 ao_gps_data.course * 2);
 465         printf (" hdop %g h_error %d v_error %d",
 466                 ao_gps_data.hdop / 5.0,
 467                 ao_gps_data.h_error, ao_gps_data.v_error);
 468         printf("\n");
 469         printf ("\t");
 470         for (i = 0; i < 12; i++)
 471                 printf (" %2d(%02d)",
 472                         ao_gps_tracking_data.sats[i].svid,
 473                         ao_gps_tracking_data.sats[i].c_n_1);
 474         printf ("\n");
 475 }
 476
 477 int
 478 ao_gps_open(const char *tty)
 479 {
 480         struct termios  termios;
 481         int fd;
 482
 483         fd = open (tty, O_RDWR);
 484         if (fd < 0)
 485                 return -1;
 486
 487         tcgetattr(fd, &termios);
 488         cfmakeraw(&termios);
 489         cfsetspeed(&termios, B4800);
 490         tcsetattr(fd, TCSAFLUSH, &termios);
 491
 492         tcdrain(fd);
 493         tcflush(fd, TCIFLUSH);
 494         return fd;
 495 }
 496
 497 #include <getopt.h>
 498
 499 static const struct option options[] = {
 500         { .name = "tty", .has_arg = 1, .val = 'T' },
 501         { 0, 0, 0, 0},
 502 };
 503
 504 static void usage(char *program)
 505 {
 506         fprintf(stderr, "usage: %s [--tty <tty-name>]\n", program);
 507         exit(1);
 508 }
 509
 510 int
 511 main (int argc, char **argv)
 512 {
 513         char    *tty = "/dev/ttyUSB0";
 514         int     c;
 515
 516         while ((c = getopt_long(argc, argv, "T:", options, NULL)) != -1) {
 517                 switch (c) {
 518                 case 'T':
 519                         tty = optarg;
 520                         break;
 521                 default:
 522                         usage(argv[0]);
 523                         break;
 524                 }
 525         }
 526         ao_gps_fd = ao_gps_open(tty);
 527         if (ao_gps_fd < 0) {
 528                 perror (tty);
 529                 exit (1);
 530         }
 531         ao_gps_setup();
 532         ao_gps();
 533         return 0;
 534 }