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)
31 #define AO_GPS_COURSE_VALID (1 << 7)
41 int32_t latitude; /* degrees * 10⁷ */
42 int32_t longitude; /* degrees * 10⁷ */
43 int16_t altitude; /* m */
44 uint16_t ground_speed; /* cm/s */
45 uint8_t course; /* degrees / 2 */
46 uint8_t hdop; /* * 5 */
47 int16_t climb_rate; /* cm/s */
48 uint16_t h_error; /* m */
49 uint16_t v_error; /* m */
52 #define SIRF_SAT_STATE_ACQUIRED (1 << 0)
53 #define SIRF_SAT_STATE_CARRIER_PHASE_VALID (1 << 1)
54 #define SIRF_SAT_BIT_SYNC_COMPLETE (1 << 2)
55 #define SIRF_SAT_SUBFRAME_SYNC_COMPLETE (1 << 3)
56 #define SIRF_SAT_CARRIER_PULLIN_COMPLETE (1 << 4)
57 #define SIRF_SAT_CODE_LOCKED (1 << 5)
58 #define SIRF_SAT_ACQUISITION_FAILED (1 << 6)
59 #define SIRF_SAT_EPHEMERIS_AVAILABLE (1 << 7)
61 struct ao_gps_sat_data {
67 #define AO_MAX_GPS_TRACKING 12
69 struct ao_gps_tracking_data {
71 struct ao_gps_sat_data sats[AO_MAX_GPS_TRACKING];
75 ao_mutex_get(uint8_t *mutex)
80 ao_mutex_put(uint8_t *mutex)
96 sprintf (line, "\\%02x", ((int) c) & 0xff);
98 sprintf (line, "%c", c);
100 write(1, line, strlen(line));
103 #define QUEUE_LEN 4096
105 static char input_queue[QUEUE_LEN];
106 int input_head, input_tail;
108 #include <sys/time.h>
114 gettimeofday(&tv, NULL);
115 return tv.tv_sec * 1000 + tv.tv_usec / 1000;
119 check_skytraq_message(char *from, uint8_t *msg, int len)
121 uint16_t encoded_len, encoded_cksum;
126 // fwrite(msg, 1, len, stdout);
128 if (msg[0] != 0xa0 || msg[1] != 0xa2) {
129 printf ("bad header\n");
136 if (msg[len-1] != 0xb3 || msg[len-2] != 0xb0) {
137 printf ("bad trailer\n");
140 encoded_len = (msg[2] << 8) | msg[3];
142 /* printf ("%9d: %3d\n", get_millis(), id); */
143 if (encoded_len != len - 8) {
145 printf ("length mismatch (got %d, wanted %d)\n",
146 len - 8, encoded_len);
149 encoded_cksum = (msg[len - 4] << 8) | msg[len-3];
151 for (i = 4; i < len - 4; i++)
152 cksum = (cksum + msg[i]) & 0x7fff;
153 if (encoded_cksum != cksum) {
154 printf ("cksum mismatch (got %04x wanted %04x)\n",
155 cksum, encoded_cksum);
184 int16_t heading_rate;
190 #define get_u8(u) u = (msg[off]); off+= 1
191 #define get_u16(u) u = (msg[off] << 8) | (msg[off + 1]); off+= 2
192 #define get_u32(u) u = (msg[off] << 24) | (msg[off + 1] << 16) | (msg[off+2] << 8) | (msg[off+3]); off+= 4
215 get_u16(heading_rate);
222 printf ("Geodetic Navigation Data (41):\n");
223 printf ("\tNav valid %04x\n", nav_valid);
224 printf ("\tNav type %04x\n", nav_type);
225 printf ("\tWeek %5d", week);
226 printf (" TOW %9d", tow);
227 printf (" %4d-%2d-%2d %02d:%02d:%07.4f\n",
229 hour, minute, second / 1000.0);
230 printf ("\tsats: %08x\n", sat_list);
231 printf ("\tlat: %g", lat / 1.0e7);
232 printf (" lon: %g", lon / 1.0e7);
233 printf (" alt_ell: %g", alt_ell / 100.0);
234 printf (" alt_msll: %g", alt_msl / 100.0);
235 printf (" datum: %d\n", datum);
236 printf ("\tground speed: %g", sog / 100.0);
237 printf (" course: %g", cog / 100.0);
238 printf (" climb: %g", climb_rate / 100.0);
239 printf (" heading rate: %g\n", heading_rate / 100.0);
240 printf ("\th error: %g", h_error / 100.0);
241 printf (" v error: %g", v_error / 100.0);
242 printf (" t error: %g", t_error / 100.0);
243 printf (" h vel error: %g\n", h_v_error / 100.0);
259 printf ("Measured Tracker Data (4):\n");
260 printf ("GPS week: %d\n", gps_week);
261 printf ("GPS time of week: %d\n", gps_tow);
262 printf ("channels: %d\n", channels);
263 for (j = 0; j < 12; j++) {
264 uint8_t svid, azimuth, elevation;
271 for (k = 0; k < 10; k++) {
274 printf ("Sat %3d:", svid);
275 printf (" aziumuth: %6.1f", azimuth * 1.5);
276 printf (" elevation: %6.1f", elevation * 0.5);
277 printf (" state: 0x%02x", state);
279 for (k = 0; k < 10; k++)
280 printf(" %3d", c_n[k]);
281 if (state & SIRF_SAT_STATE_ACQUIRED)
283 if (state & SIRF_SAT_STATE_CARRIER_PHASE_VALID)
285 if (state & SIRF_SAT_BIT_SYNC_COMPLETE)
287 if (state & SIRF_SAT_SUBFRAME_SYNC_COMPLETE)
289 if (state & SIRF_SAT_CARRIER_PULLIN_COMPLETE)
291 if (state & SIRF_SAT_CODE_LOCKED)
293 if (state & SIRF_SAT_ACQUISITION_FAILED)
295 if (state & SIRF_SAT_EPHEMERIS_AVAILABLE)
303 printf ("%s %4d:", from, encoded_len);
304 for (i = 4; i < len - 4; i++) {
305 if (((i - 4) & 0xf) == 0)
307 printf (" %3d", msg[i]);
313 static uint8_t skytraq_message[4096];
314 static int skytraq_message_len;
315 static uint8_t skytraq_in_message[4096];
316 static int skytraq_in_len;
319 ao_serial_getchar(void)
324 while (input_head == input_tail) {
326 input_tail = read(ao_gps_fd, input_queue, QUEUE_LEN);
327 if (input_tail < 0) {
328 if (errno == EINTR || errno == EAGAIN)
337 c = input_queue[input_head];
338 input_head = (input_head + 1) % QUEUE_LEN;
340 // printf ("c: %02x %c\n", uc, uc);
341 if (skytraq_in_len || uc == '$') {
342 if (skytraq_in_len < 4096)
343 skytraq_in_message[skytraq_in_len++] = uc;
345 check_skytraq_message("recv", skytraq_in_message, skytraq_in_len);
354 ao_serial_putchar(char c)
357 uint8_t uc = (uint8_t) c;
359 if (skytraq_message_len || uc == 0xa0) {
360 if (skytraq_message_len < 4096)
361 skytraq_message[skytraq_message_len++] = uc;
363 check_skytraq_message("send", skytraq_message, skytraq_message_len);
364 skytraq_message_len = 0;
368 i = write(ao_gps_fd, &c, 1);
370 if ((uint8_t) c == 0xb3 || c == '\r') {
371 static const struct timespec delay = {
373 .tv_nsec = 100 * 1000 * 1000
376 // nanosleep(&delay, NULL);
380 if (i < 0 && (errno == EINTR || errno == EAGAIN))
387 #define AO_SERIAL_SPEED_4800 0
388 #define AO_SERIAL_SPEED_9600 1
389 #define AO_SERIAL_SPEED_57600 2
392 ao_serial_set_speed(uint8_t speed)
395 struct termios termios;
398 tcgetattr(fd, &termios);
400 case AO_SERIAL_SPEED_4800:
401 cfsetspeed(&termios, B4800);
403 case AO_SERIAL_SPEED_9600:
404 cfsetspeed(&termios, B38400);
406 case AO_SERIAL_SPEED_57600:
407 cfsetspeed(&termios, B57600);
410 tcsetattr(fd, TCSAFLUSH, &termios);
411 tcflush(fd, TCIFLUSH);
416 #include "ao_gps_print.c"
417 #include "ao_gps_skytraq.c"
420 ao_dump_state(void *wchan)
424 if (wchan == &ao_gps_data)
425 ao_gps_print(&ao_gps_data);
427 ao_gps_tracking_print(&ao_gps_tracking_data);
433 ao_gps_open(const char *tty)
435 struct termios termios;
438 fd = open (tty, O_RDWR);
442 tcgetattr(fd, &termios);
444 cfsetspeed(&termios, B4800);
445 tcsetattr(fd, TCSAFLUSH, &termios);
448 tcflush(fd, TCIFLUSH);
454 static const struct option options[] = {
455 { .name = "tty", .has_arg = 1, .val = 'T' },
459 static void usage(char *program)
461 fprintf(stderr, "usage: %s [--tty <tty-name>]\n", program);
466 main (int argc, char **argv)
468 char *tty = "/dev/ttyUSB0";
471 while ((c = getopt_long(argc, argv, "T:", options, NULL)) != -1) {
481 ao_gps_fd = ao_gps_open(tty);