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.
22 __xdata uint8_t ao_gps_mutex;
23 __xdata struct ao_gps_data ao_gps_data;
25 static const char ao_gps_set_nmea[] = "$PSRF100,0,57600,8,1,0*37\r\n";
27 const char ao_gps_config[] = {
28 0xa0, 0xa2, 0x00, 0x0e, /* length: 14 bytes */
29 136, /* mode control */
31 4, /* degraded mode (disabled) */
33 0, 0, /* user specified altitude */
34 2, /* alt hold mode (disabled, require 3d fixes) */
35 0, /* alt hold source (use last computed altitude) */
37 0, /* Degraded time out (disabled) */
38 0, /* Dead Reckoning time out (disabled) */
39 0, /* Track smoothing (disabled) */
40 0x00, 0x8e, 0xb0, 0xb3,
42 0xa0, 0xa2, 0x00, 0x08, /* length: 8 bytes */
43 166, /* Set message rate */
44 2, /* enable/disable all messages */
45 0, /* message id (ignored) */
46 0, /* update rate (0 = disable) */
47 0, 0, 0, 0, /* reserved */
48 0x00, 0xa8, 0xb0, 0xb3,
50 0xa0, 0xa2, 0x00, 0x02, /* length: 2 bytes */
51 143, /* static navigation */
53 0x00, 0x8f, 0xb0, 0xb3,
56 #define NAV_TYPE_GPS_FIX_TYPE_MASK (7 << 0)
57 #define NAV_TYPE_NO_FIX (0 << 0)
58 #define NAV_TYPE_SV_KF (1 << 0)
59 #define NAV_TYPE_2_SV_KF (2 << 0)
60 #define NAV_TYPE_3_SV_KF (3 << 0)
61 #define NAV_TYPE_4_SV_KF (4 << 0)
62 #define NAV_TYPE_2D_LEAST_SQUARES (5 << 0)
63 #define NAV_TYPE_3D_LEAST_SQUARES (6 << 0)
64 #define NAV_TYPE_DR (7 << 0)
65 #define NAV_TYPE_TRICKLE_POWER (1 << 3)
66 #define NAV_TYPE_ALTITUDE_HOLD_MASK (3 << 4)
67 #define NAV_TYPE_ALTITUDE_HOLD_NONE (0 << 4)
68 #define NAV_TYPE_ALTITUDE_HOLD_KF (1 << 4)
69 #define NAV_TYPE_ALTITUDE_HOLD_USER (2 << 4)
70 #define NAV_TYPE_ALTITUDE_HOLD_ALWAYS (3 << 4)
71 #define NAV_TYPE_DOP_LIMIT_EXCEEDED (1 << 6)
72 #define NAV_TYPE_DGPS_APPLIED (1 << 7)
73 #define NAV_TYPE_SENSOR_DR (1 << 8)
74 #define NAV_TYPE_OVERDETERMINED (1 << 9)
75 #define NAV_TYPE_DR_TIMEOUT_EXCEEDED (1 << 10)
76 #define NAV_TYPE_FIX_MI_EDIT (1 << 11)
77 #define NAV_TYPE_INVALID_VELOCITY (1 << 12)
78 #define NAV_TYPE_ALTITUDE_HOLD_DISABLED (1 << 13)
79 #define NAV_TYPE_DR_ERROR_STATUS_MASK (3 << 14)
80 #define NAV_TYPE_DR_ERROR_STATUS_GPS_ONLY (0 << 14)
81 #define NAV_TYPE_DR_ERROR_STATUS_DR_FROM_GPS (1 << 14)
82 #define NAV_TYPE_DR_ERROR_STATUS_DR_SENSOR_ERROR (2 << 14)
83 #define NAV_TYPE_DR_ERROR_STATUS_DR_IN_TEST (3 << 14)
85 struct sirf_geodetic_nav_data {
96 uint16_t ground_speed;
105 static __xdata struct sirf_geodetic_nav_data ao_sirf_data;
107 static __pdata uint16_t ao_sirf_cksum;
108 static __pdata uint16_t ao_sirf_len;
110 #define ao_sirf_byte() ((uint8_t) ao_serial_getchar())
112 static uint8_t data_byte(void)
114 uint8_t c = ao_sirf_byte();
120 static void sirf_u16(uint8_t offset)
122 uint16_t __xdata *ptr = (uint16_t __xdata *) (((char __xdata *) &ao_sirf_data) + offset);
125 val = data_byte() << 8;
130 static void sirf_u8(uint8_t offset)
132 uint8_t __xdata *ptr = (uint8_t __xdata *) (((char __xdata *) &ao_sirf_data) + offset);
139 static void sirf_u32(uint8_t offset)
141 uint32_t __xdata *ptr = (uint32_t __xdata *) (((char __xdata *) &ao_sirf_data) + offset);
144 val = ((uint32_t) data_byte ()) << 24;
145 val |= ((uint32_t) data_byte ()) << 16;
146 val |= ((uint32_t) data_byte ()) << 8;
147 val |= ((uint32_t) data_byte ());
151 static void sirf_discard(uint8_t len)
158 #define SIRF_DISCARD 1
163 struct sirf_packet_parse {
168 static const struct sirf_packet_parse geodetic_nav_data_packet[] = {
169 { SIRF_DISCARD, 2 }, /* 1 nav valid */
170 { SIRF_U16, offsetof(struct sirf_geodetic_nav_data, nav_type) }, /* 3 */
171 { SIRF_DISCARD, 6 }, /* 5 week number, time of week */
172 { SIRF_U16, offsetof(struct sirf_geodetic_nav_data, utc_year) }, /* 11 */
173 { SIRF_U8, offsetof(struct sirf_geodetic_nav_data, utc_month) }, /* 13 */
174 { SIRF_U8, offsetof(struct sirf_geodetic_nav_data, utc_day) }, /* 14 */
175 { SIRF_U8, offsetof(struct sirf_geodetic_nav_data, utc_hour) }, /* 15 */
176 { SIRF_U8, offsetof(struct sirf_geodetic_nav_data, utc_minute) }, /* 16 */
177 { SIRF_U16, offsetof(struct sirf_geodetic_nav_data, utc_second) }, /* 17 */
178 { SIRF_DISCARD, 4 }, /* satellite id list */ /* 19 */
179 { SIRF_U32, offsetof(struct sirf_geodetic_nav_data, lat) }, /* 23 */
180 { SIRF_U32, offsetof(struct sirf_geodetic_nav_data, lon) }, /* 27 */
181 { SIRF_DISCARD, 4 }, /* altitude from ellipsoid */ /* 31 */
182 { SIRF_U32, offsetof(struct sirf_geodetic_nav_data, alt_msl) }, /* 35 */
183 { SIRF_DISCARD, 1 }, /* map datum */ /* 39 */
184 { SIRF_U16, offsetof(struct sirf_geodetic_nav_data, ground_speed) }, /* 40 */
185 { SIRF_U16, offsetof(struct sirf_geodetic_nav_data, course) }, /* 42 */
186 { SIRF_DISCARD, 2 }, /* magnetic variation */ /* 44 */
187 { SIRF_U16, offsetof(struct sirf_geodetic_nav_data, climb_rate) }, /* 46 */
188 { SIRF_DISCARD, 2 }, /* turn rate */ /* 48 */
189 { SIRF_U32, offsetof(struct sirf_geodetic_nav_data, h_error) }, /* 50 */
190 { SIRF_U32, offsetof(struct sirf_geodetic_nav_data, v_error) }, /* 54 */
191 { SIRF_DISCARD, 30 }, /* time error, h_vel error, clock_bias,
192 clock bias error, clock drift,
193 clock drift error, distance,
194 distance error, heading error */ /* 58 */
195 { SIRF_U8, offsetof(struct sirf_geodetic_nav_data, num_sv) }, /* 88 */
196 { SIRF_U8, offsetof(struct sirf_geodetic_nav_data, hdop) }, /* 89 */
197 { SIRF_DISCARD, 1 }, /* additional mode info */ /* 90 */
198 { SIRF_END, 0 }, /* 91 */
202 ao_sirf_parse_41(void)
207 offset = geodetic_nav_data_packet[i].offset;
208 switch (geodetic_nav_data_packet[i].type) {
212 sirf_discard(offset);
228 ao_gps_setup(void) __reentrant
231 ao_serial_set_speed(AO_SERIAL_SPEED_4800);
232 for (i = 0; i < 16; i++)
233 ao_serial_putchar(0x00);
234 for (i = 0; i < sizeof (ao_gps_set_nmea) - 1; i++)
235 ao_serial_putchar(ao_gps_set_nmea[i]);
236 ao_serial_set_speed(AO_SERIAL_SPEED_57600);
237 for (i = 0; i < 16; i++)
238 ao_serial_putchar(0x00);
241 static const char ao_gps_set_message_rate[] = {
242 0xa0, 0xa2, 0x00, 0x08,
248 ao_sirf_set_message_rate(uint8_t msg, uint8_t rate)
250 uint16_t cksum = 0x00a6;
253 for (i = 0; i < sizeof (ao_gps_set_message_rate); i++)
254 ao_serial_putchar(ao_gps_set_message_rate[i]);
255 ao_serial_putchar(msg);
256 ao_serial_putchar(rate);
257 cksum = 0xa6 + msg + rate;
258 for (i = 0; i < 4; i++)
259 ao_serial_putchar(0);
260 ao_serial_putchar((cksum >> 8) & 0x7f);
261 ao_serial_putchar(cksum & 0xff);
262 ao_serial_putchar(0xb0);
263 ao_serial_putchar(0xb3);
266 static const uint8_t sirf_disable[] = {
277 ao_gps(void) __reentrant
282 for (k = 0; k < 5; k++)
284 for (i = 0; i < sizeof (ao_gps_config); i++)
285 ao_serial_putchar(ao_gps_config[i]);
286 for (i = 0; i < sizeof (sirf_disable); i++)
287 ao_sirf_set_message_rate(sirf_disable[i], 0);
288 ao_sirf_set_message_rate(41, 1);
291 /* Locate the begining of the next record */
292 while (ao_sirf_byte() != 0xa0)
294 if (ao_sirf_byte() != 0xa2)
298 ao_sirf_len = ao_sirf_byte() << 8;
299 ao_sirf_len |= ao_sirf_byte();
300 if (ao_sirf_len > 1023)
306 i = data_byte (); /* 0 */
310 if (ao_sirf_len < 90)
315 if (ao_sirf_len != 0)
318 /* verify checksum and end sequence */
319 ao_sirf_cksum &= 0x7fff;
320 cksum = ao_sirf_byte() << 8;
321 cksum |= ao_sirf_byte();
322 if (ao_sirf_cksum != cksum)
324 if (ao_sirf_byte() != 0xb0)
326 if (ao_sirf_byte() != 0xb3)
331 ao_mutex_get(&ao_gps_mutex);
332 ao_gps_data.hour = ao_sirf_data.utc_hour;
333 ao_gps_data.minute = ao_sirf_data.utc_minute;
334 ao_gps_data.second = ao_sirf_data.utc_second / 1000;
335 ao_gps_data.flags = ((ao_sirf_data.num_sv << AO_GPS_NUM_SAT_SHIFT) & AO_GPS_NUM_SAT_MASK) | AO_GPS_RUNNING;
336 if ((ao_sirf_data.nav_type & NAV_TYPE_GPS_FIX_TYPE_MASK) >= NAV_TYPE_4_SV_KF)
337 ao_gps_data.flags |= AO_GPS_VALID;
338 ao_gps_data.latitude = ao_sirf_data.lat;
339 ao_gps_data.longitude = ao_sirf_data.lon;
340 ao_gps_data.altitude = ao_sirf_data.alt_msl / 100;
341 ao_gps_data.ground_speed = ao_sirf_data.ground_speed;
342 ao_gps_data.course = ao_sirf_data.course / 200;
343 ao_gps_data.hdop = ao_sirf_data.hdop;
344 ao_gps_data.climb_rate = ao_sirf_data.climb_rate;
345 if (ao_sirf_data.h_error > 6553500)
346 ao_gps_data.h_error = 65535;
348 ao_gps_data.h_error = ao_sirf_data.h_error / 100;
349 if (ao_sirf_data.v_error > 6553500)
350 ao_gps_data.v_error = 65535;
352 ao_gps_data.v_error = ao_sirf_data.v_error / 100;
353 ao_mutex_put(&ao_gps_mutex);
354 ao_wakeup(&ao_gps_data);
360 __xdata struct ao_task ao_gps_task;
363 gps_dump(void) __reentrant
365 ao_mutex_get(&ao_gps_mutex);
366 ao_gps_print(&ao_gps_data);
367 ao_mutex_put(&ao_gps_mutex);
370 __code struct ao_cmds ao_gps_cmds[] = {
371 { 'g', gps_dump, "g Display current GPS values" },
372 { 0, gps_dump, NULL },
378 ao_add_task(&ao_gps_task, ao_gps, "gps");
379 ao_cmd_register(&ao_gps_cmds[0]);