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 #ifndef ao_gps_getchar
23 #define ao_gps_getchar ao_serial1_getchar
24 #define ao_gps_fifo ao_serial1_rx_fifo
27 #ifndef ao_gps_putchar
28 #define ao_gps_putchar ao_serial1_putchar
31 #ifndef ao_gps_set_speed
32 #define ao_gps_set_speed ao_serial1_set_speed
35 __xdata uint8_t ao_gps_new;
36 __xdata uint8_t ao_gps_mutex;
37 static __data char ao_gps_char;
38 static __data uint8_t ao_gps_cksum;
39 static __data uint8_t ao_gps_error;
41 __pdata uint16_t ao_gps_tick;
42 __xdata struct ao_telemetry_location ao_gps_data;
43 __xdata struct ao_telemetry_satellite ao_gps_tracking_data;
45 static __pdata uint16_t ao_gps_next_tick;
46 static __pdata struct ao_telemetry_location ao_gps_next;
47 static __pdata uint8_t ao_gps_date_flags;
48 static __pdata struct ao_telemetry_satellite ao_gps_tracking_next;
50 #define STQ_S 0xa0, 0xa1
51 #define STQ_E 0x0d, 0x0a
52 #define SKYTRAQ_MSG_2(id,a,b) \
53 STQ_S, 0, 3, id, a,b, (id^a^b), STQ_E
54 #define SKYTRAQ_MSG_3(id,a,b,c) \
55 STQ_S, 0, 4, id, a,b,c, (id^a^b^c), STQ_E
56 #define SKYTRAQ_MSG_8(id,a,b,c,d,e,f,g,h) \
57 STQ_S, 0, 9, id, a,b,c,d,e,f,g,h, (id^a^b^c^d^e^f^g^h), STQ_E
58 #define SKYTRAQ_MSG_14(id,a,b,c,d,e,f,g,h,i,j,k,l,m,n) \
59 STQ_S, 0,15, id, a,b,c,d,e,f,g,h,i,j,k,l,m,n, \
60 (id^a^b^c^d^e^f^g^h^i^j^k^l^m^n), STQ_E
62 static __code uint8_t ao_gps_config[] = {
63 SKYTRAQ_MSG_8(0x08, 1, 0, 1, 0, 1, 0, 0, 0), /* configure nmea */
71 /* attributes (0 = update to sram, 1 = update flash too) */
73 SKYTRAQ_MSG_2(0x3c, 0x00, 0x00), /* configure navigation mode */
74 /* 0 = car, 1 = pedestrian */
75 /* 0 = update to sram, 1 = update sram + flash */
91 ao_gps_skip_field(void)
95 if (c == ',' || c == '*' || c == '\n')
102 ao_gps_skip_sep(void)
104 char c = ao_gps_char;
105 if (c == ',' || c == '.' || c == '*')
109 __data static uint8_t ao_gps_num_width;
112 ao_gps_decimal(uint8_t max_width)
118 if (ao_gps_char == '-') {
123 ao_gps_num_width = 0;
124 while (ao_gps_num_width < max_width) {
125 uint8_t c = ao_gps_char;
126 if (c < (uint8_t) '0' || (uint8_t) '9' < c)
128 v = v * 10 + (uint8_t) (c - (uint8_t) '0');
144 ao_gps_num_width = 0;
145 while (ao_gps_num_width < 2) {
146 uint8_t c = ao_gps_char;
148 if ((uint8_t) '0' <= c && c <= (uint8_t) '9')
150 else if ((uint8_t) 'A' <= c && c <= (uint8_t) 'F')
152 else if ((uint8_t) 'a' <= c && c <= (uint8_t) 'f')
156 v = (v << 4) | (c + d);
164 ao_gps_parse_pos(uint8_t deg_width) __reentrant
166 static __pdata uint16_t d;
167 static __pdata uint8_t m;
168 static __pdata uint16_t f;
171 d = ao_gps_decimal(deg_width);
172 m = ao_gps_decimal(2);
175 f = ao_gps_decimal(4);
176 while (ao_gps_num_width < 4) {
185 return d * 10000000l + (m * 10000l + f) * 50 / 3;
189 ao_gps_parse_flag(char no_c, char yes_c)
193 if (ao_gps_char == yes_c)
195 else if (ao_gps_char == no_c)
207 /* Skip remaining fields */
210 if (c == '*' || c == '\n' || c == '\r')
216 uint8_t cksum = ao_gps_cksum ^ '*';
217 if (cksum != ao_gps_hex())
228 /* Now read the data into the gps data record
230 * $GPGGA,025149.000,4528.1723,N,12244.2480,W,1,05,2.0,103.5,M,-19.5,M,,0000*66
234 * 025149.000 time (02:51:49.000 GMT)
235 * 4528.1723,N Latitude 45°28.1723' N
236 * 12244.2480,W Longitude 122°44.2480' W
242 * 4 = Real Time Kinematic
244 * 6 = estimated (dead reckoning)
245 * 7 = Manual input mode
246 * 8 = Simulation mode
247 * 05 Number of satellites (5)
248 * 2.0 Horizontal dilution
249 * 103.5,M Altitude, 103.5M above msl
250 * -19.5,M Height of geoid above WGS84 ellipsoid
251 * ? time in seconds since last DGPS update
252 * 0000 DGPS station ID
256 ao_gps_next_tick = ao_time();
257 ao_gps_next.flags = AO_GPS_RUNNING | ao_gps_date_flags;
258 ao_gps_next.hour = ao_gps_decimal(2);
259 ao_gps_next.minute = ao_gps_decimal(2);
260 ao_gps_next.second = ao_gps_decimal(2);
261 ao_gps_skip_field(); /* skip seconds fraction */
263 ao_gps_next.latitude = ao_gps_parse_pos(2);
264 if (ao_gps_parse_flag('N', 'S'))
265 ao_gps_next.latitude = -ao_gps_next.latitude;
266 ao_gps_next.longitude = ao_gps_parse_pos(3);
267 if (ao_gps_parse_flag('E', 'W'))
268 ao_gps_next.longitude = -ao_gps_next.longitude;
270 i = ao_gps_decimal(0xff);
272 ao_gps_next.flags |= AO_GPS_VALID;
274 i = ao_gps_decimal(0xff) << AO_GPS_NUM_SAT_SHIFT;
275 if (i > AO_GPS_NUM_SAT_MASK)
276 i = AO_GPS_NUM_SAT_MASK;
277 ao_gps_next.flags |= i;
280 i = ao_gps_decimal(0xff);
282 i = (uint8_t) 10 * i;
283 if (ao_gps_char == '.')
284 i = (i + ((uint8_t) ao_gps_decimal(1)));
287 ao_gps_next.hdop = i;
290 AO_TELEMETRY_LOCATION_SET_ALTITUDE(&ao_gps_next, ao_gps_decimal(0xff));
292 ao_gps_skip_field(); /* skip any fractional portion */
297 ao_mutex_get(&ao_gps_mutex);
298 ao_gps_new |= AO_GPS_NEW_DATA;
299 ao_gps_tick = ao_gps_next_tick;
300 ao_xmemcpy(&ao_gps_data, PDATA_TO_XDATA(&ao_gps_next), sizeof (ao_gps_data));
301 ao_mutex_put(&ao_gps_mutex);
302 ao_wakeup(&ao_gps_new);
312 /* Now read the data into the GPS tracking data record
314 * $GPGSV,3,1,12,05,54,069,45,12,44,061,44,21,07,184,46,22,78,289,47*72<CR><LF>
316 * Satellites in view data
318 * 3 Total number of GSV messages
319 * 1 Sequence number of current GSV message
320 * 12 Total sats in view (0-12)
328 c = ao_gps_decimal(1); /* total messages */
329 i = ao_gps_decimal(1); /* message sequence */
331 ao_gps_tracking_next.channels = 0;
333 done = (uint8_t) c == i;
335 ao_gps_skip_field(); /* sats in view */
336 while (ao_gps_char != '*' && ao_gps_char != '\n' && ao_gps_char != '\r') {
337 i = ao_gps_tracking_next.channels;
338 c = ao_gps_decimal(2); /* SVID */
339 if (i < AO_MAX_GPS_TRACKING)
340 ao_gps_tracking_next.sats[i].svid = c;
342 ao_gps_skip_field(); /* elevation */
344 ao_gps_skip_field(); /* azimuth */
345 c = ao_gps_decimal(2); /* C/N0 */
346 if (i < AO_MAX_GPS_TRACKING) {
347 if ((ao_gps_tracking_next.sats[i].c_n_1 = c) != 0)
348 ao_gps_tracking_next.channels = i + 1;
355 ao_gps_tracking_next.channels = 0;
357 ao_mutex_get(&ao_gps_mutex);
358 ao_gps_new |= AO_GPS_NEW_TRACKING;
359 ao_xmemcpy(&ao_gps_tracking_data, PDATA_TO_XDATA(&ao_gps_tracking_next), sizeof(ao_gps_tracking_data));
360 ao_mutex_put(&ao_gps_mutex);
361 ao_wakeup(&ao_gps_new);
370 /* Parse the RMC record to read out the current date */
372 /* $GPRMC,111636.932,A,2447.0949,N,12100.5223,E,000.0,000.0,030407,,,A*61
374 * Recommended Minimum Specific GNSS Data
376 * 111636.932 UTC time 11:16:36.932
377 * A Data Valid (V = receiver warning)
379 * N North/south indicator
380 * 12100.5223 Longitude
381 * E East/west indicator
382 * 000.0 Speed over ground
383 * 000.0 Course over ground
384 * 030407 UTC date (ddmmyy format)
387 * A = autonomous mode
388 * D = differential mode
389 * E = estimated (dead reckoning) mode
390 * M = manual input mode
395 for (i = 0; i < 8; i++) {
399 a = ao_gps_decimal(2);
400 c = ao_gps_decimal(2);
401 i = ao_gps_decimal(2);
406 ao_gps_next.year = i;
407 ao_gps_next.month = c;
409 ao_gps_date_flags = AO_GPS_DATE_VALID;
413 #define ao_skytraq_sendstruct(s) ao_skytraq_sendbytes((s), sizeof(s))
416 ao_skytraq_sendbytes(__code uint8_t *b, uint8_t l)
421 ao_delay(AO_MS_TO_TICKS(500));
427 ao_gps_nmea_parse(void)
435 if (ao_gps_char != 'G')
438 if (ao_gps_char != 'P')
449 if (ao_gps_char != ',')
452 if (a == (uint8_t) 'G' && b == (uint8_t) 'G' && c == (uint8_t) 'A') {
454 } else if (a == (uint8_t) 'G' && b == (uint8_t) 'S' && c == (uint8_t) 'V') {
456 } else if (a == (uint8_t) 'R' && b == (uint8_t) 'M' && c == (uint8_t) 'C') {
461 static uint8_t ao_gps_updating;
464 ao_gps(void) __reentrant
466 ao_gps_set_speed(AO_SERIAL_SPEED_9600);
468 /* give skytraq time to boot in case of cold start */
469 ao_delay(AO_MS_TO_TICKS(2000));
471 ao_skytraq_sendstruct(ao_gps_config);
474 /* Locate the begining of the next record */
475 if (ao_gps_getchar() == '$') {
479 while (ao_gps_updating) {
480 ao_usb_putchar(ao_gps_getchar());
481 if (ao_fifo_empty(ao_gps_fifo))
488 __xdata struct ao_task ao_gps_task;
490 static __code uint8_t ao_gps_115200[] = {
491 SKYTRAQ_MSG_3(5,0,5,0) /* Set to 115200 baud */
495 ao_gps_set_speed_delay(uint8_t speed) {
496 ao_delay(AO_MS_TO_TICKS(500));
497 ao_gps_set_speed(speed);
498 ao_delay(AO_MS_TO_TICKS(500));
502 gps_update(void) __reentrant
505 ao_task_minimize_latency = 1;
507 ao_timer_set_adc_interval(0);
509 ao_skytraq_sendstruct(ao_gps_115200);
510 ao_gps_set_speed_delay(AO_SERIAL_SPEED_4800);
511 ao_skytraq_sendstruct(ao_gps_115200);
512 ao_gps_set_speed_delay(AO_SERIAL_SPEED_115200);
514 /* It's a binary protocol; abandon attempts to escape */
516 ao_gps_putchar(ao_usb_getchar());
519 __code struct ao_cmds ao_gps_cmds[] = {
520 { ao_gps_show, "g\0Display GPS" },
521 { gps_update, "U\0Update GPS firmware" },
528 ao_add_task(&ao_gps_task, ao_gps, "gps");
529 ao_cmd_register(&ao_gps_cmds[0]);