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 #include <sys/types.h>
25 #define AO_GPS_NUM_SAT_MASK (0xf << 0)
26 #define AO_GPS_NUM_SAT_SHIFT (0)
28 #define AO_GPS_VALID (1 << 4)
29 #define AO_GPS_RUNNING (1 << 5)
30 #define AO_GPS_DATE_VALID (1 << 6)
40 int32_t latitude; /* degrees * 10⁷ */
41 int32_t longitude; /* degrees * 10⁷ */
42 int16_t altitude; /* m */
43 uint16_t ground_speed; /* cm/s */
44 uint8_t course; /* degrees / 2 */
45 uint8_t hdop; /* * 5 */
46 int16_t climb_rate; /* cm/s */
47 uint16_t h_error; /* m */
48 uint16_t v_error; /* m */
51 #define SIRF_SAT_STATE_ACQUIRED (1 << 0)
52 #define SIRF_SAT_STATE_CARRIER_PHASE_VALID (1 << 1)
53 #define SIRF_SAT_BIT_SYNC_COMPLETE (1 << 2)
54 #define SIRF_SAT_SUBFRAME_SYNC_COMPLETE (1 << 3)
55 #define SIRF_SAT_CARRIER_PULLIN_COMPLETE (1 << 4)
56 #define SIRF_SAT_CODE_LOCKED (1 << 5)
57 #define SIRF_SAT_ACQUISITION_FAILED (1 << 6)
58 #define SIRF_SAT_EPHEMERIS_AVAILABLE (1 << 7)
60 struct ao_gps_sat_data {
65 #define AO_MAX_GPS_TRACKING 12
67 struct ao_gps_tracking_data {
69 struct ao_gps_sat_data sats[AO_MAX_GPS_TRACKING];
73 ao_mutex_get(uint8_t *mutex)
78 ao_mutex_put(uint8_t *mutex)
94 sprintf (line, "\\%02x", ((int) c) & 0xff);
96 sprintf (line, "%c", c);
98 write(1, line, strlen(line));
101 #define QUEUE_LEN 4096
103 static char input_queue[QUEUE_LEN];
104 int input_head, input_tail;
106 #include <sys/time.h>
112 gettimeofday(&tv, NULL);
113 return tv.tv_sec * 1000 + tv.tv_usec / 1000;
117 check_sirf_message(char *from, uint8_t *msg, int len)
119 uint16_t encoded_len, encoded_cksum;
124 if (msg[0] != 0xa0 || msg[1] != 0xa2) {
125 printf ("bad header\n");
132 if (msg[len-1] != 0xb3 || msg[len-2] != 0xb0) {
133 printf ("bad trailer\n");
136 encoded_len = (msg[2] << 8) | msg[3];
138 /* printf ("%9d: %3d\n", get_millis(), id); */
139 if (encoded_len != len - 8) {
141 printf ("length mismatch (got %d, wanted %d)\n",
142 len - 8, encoded_len);
145 encoded_cksum = (msg[len - 4] << 8) | msg[len-3];
147 for (i = 4; i < len - 4; i++)
148 cksum = (cksum + msg[i]) & 0x7fff;
149 if (encoded_cksum != cksum) {
150 printf ("cksum mismatch (got %04x wanted %04x)\n",
151 cksum, encoded_cksum);
180 int16_t heading_rate;
186 #define get_u8(u) u = (msg[off]); off+= 1
187 #define get_u16(u) u = (msg[off] << 8) | (msg[off + 1]); off+= 2
188 #define get_u32(u) u = (msg[off] << 24) | (msg[off + 1] << 16) | (msg[off+2] << 8) | (msg[off+3]); off+= 4
211 get_u16(heading_rate);
218 printf ("Geodetic Navigation Data (41):\n");
219 printf ("\tNav valid %04x\n", nav_valid);
220 printf ("\tNav type %04x\n", nav_type);
221 printf ("\tWeek %5d", week);
222 printf (" TOW %9d", tow);
223 printf (" %4d-%2d-%2d %02d:%02d:%07.4f\n",
225 hour, minute, second / 1000.0);
226 printf ("\tsats: %08x\n", sat_list);
227 printf ("\tlat: %g", lat / 1.0e7);
228 printf (" lon: %g", lon / 1.0e7);
229 printf (" alt_ell: %g", alt_ell / 100.0);
230 printf (" alt_msll: %g", alt_msl / 100.0);
231 printf (" datum: %d\n", datum);
232 printf ("\tground speed: %g", sog / 100.0);
233 printf (" course: %g", cog / 100.0);
234 printf (" climb: %g", climb_rate / 100.0);
235 printf (" heading rate: %g\n", heading_rate / 100.0);
236 printf ("\th error: %g", h_error / 100.0);
237 printf (" v error: %g", v_error / 100.0);
238 printf (" t error: %g", t_error / 100.0);
239 printf (" h vel error: %g\n", h_v_error / 100.0);
255 printf ("Measured Tracker Data (4):\n");
256 printf ("GPS week: %d\n", gps_week);
257 printf ("GPS time of week: %d\n", gps_tow);
258 printf ("channels: %d\n", channels);
259 for (j = 0; j < 12; j++) {
260 uint8_t svid, azimuth, elevation;
267 for (k = 0; k < 10; k++) {
270 printf ("Sat %3d:", svid);
271 printf (" aziumuth: %6.1f", azimuth * 1.5);
272 printf (" elevation: %6.1f", elevation * 0.5);
273 printf (" state: 0x%02x", state);
275 for (k = 0; k < 10; k++)
276 printf(" %3d", c_n[k]);
277 if (state & SIRF_SAT_STATE_ACQUIRED)
279 if (state & SIRF_SAT_STATE_CARRIER_PHASE_VALID)
281 if (state & SIRF_SAT_BIT_SYNC_COMPLETE)
283 if (state & SIRF_SAT_SUBFRAME_SYNC_COMPLETE)
285 if (state & SIRF_SAT_CARRIER_PULLIN_COMPLETE)
287 if (state & SIRF_SAT_CODE_LOCKED)
289 if (state & SIRF_SAT_ACQUISITION_FAILED)
291 if (state & SIRF_SAT_EPHEMERIS_AVAILABLE)
299 printf ("%s %4d:", from, encoded_len);
300 for (i = 4; i < len - 4; i++) {
301 if (((i - 4) & 0xf) == 0)
303 printf (" %3d", msg[i]);
309 static uint8_t sirf_message[4096];
310 static int sirf_message_len;
311 static uint8_t sirf_in_message[4096];
312 static int sirf_in_len;
315 ao_serial_getchar(void)
320 while (input_head == input_tail) {
322 input_tail = read(ao_gps_fd, input_queue, QUEUE_LEN);
323 if (input_tail < 0) {
324 if (errno == EINTR || errno == EAGAIN)
333 c = input_queue[input_head];
334 input_head = (input_head + 1) % QUEUE_LEN;
336 if (sirf_in_len || uc == 0xa0) {
337 if (sirf_in_len < 4096)
338 sirf_in_message[sirf_in_len++] = uc;
340 check_sirf_message("recv", sirf_in_message, sirf_in_len);
349 ao_serial_putchar(char c)
352 uint8_t uc = (uint8_t) c;
354 if (sirf_message_len || uc == 0xa0) {
355 if (sirf_message_len < 4096)
356 sirf_message[sirf_message_len++] = uc;
358 check_sirf_message("send", sirf_message, sirf_message_len);
359 sirf_message_len = 0;
363 i = write(ao_gps_fd, &c, 1);
365 if ((uint8_t) c == 0xb3 || c == '\r') {
366 static const struct timespec delay = {
368 .tv_nsec = 100 * 1000 * 1000
371 // nanosleep(&delay, NULL);
375 if (i < 0 && (errno == EINTR || errno == EAGAIN))
382 #define AO_SERIAL_SPEED_4800 0
383 #define AO_SERIAL_SPEED_57600 1
386 ao_serial_set_speed(uint8_t speed)
389 struct termios termios;
392 tcgetattr(fd, &termios);
394 case AO_SERIAL_SPEED_4800:
395 cfsetspeed(&termios, B4800);
397 case AO_SERIAL_SPEED_57600:
398 cfsetspeed(&termios, B57600);
401 tcsetattr(fd, TCSAFLUSH, &termios);
402 tcflush(fd, TCIFLUSH);
407 #include "ao_gps_print.c"
408 #include "ao_gps_sirf.c"
411 ao_dump_state(void *wchan)
415 if (wchan == &ao_gps_data)
416 ao_gps_print(&ao_gps_data);
418 ao_gps_tracking_print(&ao_gps_tracking_data);
421 printf ("%02d:%02d:%02d",
422 ao_gps_data.hour, ao_gps_data.minute,
424 printf (" nsat %d %svalid",
425 ao_gps_data.flags & AO_GPS_NUM_SAT_MASK,
426 ao_gps_data.flags & AO_GPS_VALID ? "" : "not ");
427 printf (" lat %g lon %g alt %d",
428 ao_gps_data.latitude / 1.0e7,
429 ao_gps_data.longitude / 1.0e7,
430 ao_gps_data.altitude);
431 printf (" speed %g climb %g course %d",
432 ao_gps_data.ground_speed / 100.0,
433 ao_gps_data.climb_rate / 100.0,
434 ao_gps_data.course * 2);
435 printf (" hdop %g h_error %d v_error %d",
436 ao_gps_data.hdop / 5.0,
437 ao_gps_data.h_error, ao_gps_data.v_error);
440 for (i = 0; i < 12; i++)
441 printf (" %2d(%02d)",
442 ao_gps_tracking_data.sats[i].svid,
443 ao_gps_tracking_data.sats[i].c_n_1);
448 ao_gps_open(const char *tty)
450 struct termios termios;
453 fd = open (tty, O_RDWR);
457 tcgetattr(fd, &termios);
459 cfsetspeed(&termios, B4800);
460 tcsetattr(fd, TCSAFLUSH, &termios);
463 tcflush(fd, TCIFLUSH);
469 static const struct option options[] = {
470 { .name = "tty", .has_arg = 1, .val = 'T' },
474 static void usage(char *program)
476 fprintf(stderr, "usage: %s [--tty <tty-name>]\n", program);
481 main (int argc, char **argv)
483 char *tty = "/dev/ttyUSB0";
486 while ((c = getopt_long(argc, argv, "T:", options, NULL)) != -1) {
496 ao_gps_fd = ao_gps_open(tty);