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
26 #ifndef ao_gps_putchar
27 #define ao_gps_putchar ao_serial1_putchar
30 #ifndef ao_gps_set_speed
31 #define ao_gps_set_speed ao_serial1_set_speed
34 __xdata uint8_t ao_gps_mutex;
35 static __data char ao_gps_char;
36 static __data uint8_t ao_gps_cksum;
37 static __data uint8_t ao_gps_error;
39 __pdata uint16_t ao_gps_tick;
40 __xdata struct ao_telemetry_location ao_gps_data;
41 __xdata struct ao_telemetry_satellite ao_gps_tracking_data;
43 static __pdata uint16_t ao_gps_next_tick;
44 static __pdata struct ao_telemetry_location ao_gps_next;
45 static __pdata uint8_t ao_gps_date_flags;
46 static __pdata struct ao_telemetry_satellite ao_gps_tracking_next;
48 #define STQ_S 0xa0, 0xa1
49 #define STQ_E 0x0d, 0x0a
50 #define SKYTRAQ_MSG_2(id,a,b) \
51 STQ_S, 0, 3, id, a,b, (id^a^b), STQ_E
52 #define SKYTRAQ_MSG_3(id,a,b,c) \
53 STQ_S, 0, 4, id, a,b,c, (id^a^b^c), STQ_E
54 #define SKYTRAQ_MSG_8(id,a,b,c,d,e,f,g,h) \
55 STQ_S, 0, 9, id, a,b,c,d,e,f,g,h, (id^a^b^c^d^e^f^g^h), STQ_E
56 #define SKYTRAQ_MSG_14(id,a,b,c,d,e,f,g,h,i,j,k,l,m,n) \
57 STQ_S, 0,15, id, a,b,c,d,e,f,g,h,i,j,k,l,m,n, \
58 (id^a^b^c^d^e^f^g^h^i^j^k^l^m^n), STQ_E
60 static __code uint8_t ao_gps_config[] = {
61 SKYTRAQ_MSG_8(0x08, 1, 0, 1, 0, 1, 0, 0, 0), /* configure nmea */
69 /* attributes (0 = update to sram, 1 = update flash too) */
71 SKYTRAQ_MSG_2(0x3c, 0x00, 0x00), /* configure navigation mode */
72 /* 0 = car, 1 = pedestrian */
73 /* 0 = update to sram, 1 = update sram + flash */
89 ao_gps_skip_field(void)
93 if (c == ',' || c == '*' || c == '\n')
100 ao_gps_skip_sep(void)
102 char c = ao_gps_char;
103 if (c == ',' || c == '.' || c == '*')
107 __data static uint8_t ao_gps_num_width;
110 ao_gps_decimal(uint8_t max_width)
116 if (ao_gps_char == '-') {
121 ao_gps_num_width = 0;
122 while (ao_gps_num_width < max_width) {
123 uint8_t c = ao_gps_char;
124 if (c < (uint8_t) '0' || (uint8_t) '9' < c)
126 v = v * 10 + (uint8_t) (c - (uint8_t) '0');
142 ao_gps_num_width = 0;
143 while (ao_gps_num_width < 2) {
144 uint8_t c = ao_gps_char;
146 if ((uint8_t) '0' <= c && c <= (uint8_t) '9')
148 else if ((uint8_t) 'A' <= c && c <= (uint8_t) 'F')
150 else if ((uint8_t) 'a' <= c && c <= (uint8_t) 'f')
154 v = (v << 4) | (c + d);
162 ao_gps_parse_pos(uint8_t deg_width) __reentrant
164 static __pdata uint16_t d;
165 static __pdata uint8_t m;
166 static __pdata uint16_t f;
169 d = ao_gps_decimal(deg_width);
170 m = ao_gps_decimal(2);
173 f = ao_gps_decimal(4);
174 while (ao_gps_num_width < 4) {
183 return d * 10000000l + (m * 10000l + f) * 50 / 3;
187 ao_gps_parse_flag(char no_c, char yes_c)
191 if (ao_gps_char == yes_c)
193 else if (ao_gps_char == no_c)
205 /* Skip remaining fields */
208 if (c == '*' || c == '\n' || c == '\r')
214 uint8_t cksum = ao_gps_cksum ^ '*';
215 if (cksum != ao_gps_hex())
226 /* Now read the data into the gps data record
228 * $GPGGA,025149.000,4528.1723,N,12244.2480,W,1,05,2.0,103.5,M,-19.5,M,,0000*66
232 * 025149.000 time (02:51:49.000 GMT)
233 * 4528.1723,N Latitude 45°28.1723' N
234 * 12244.2480,W Longitude 122°44.2480' W
240 * 4 = Real Time Kinematic
242 * 6 = estimated (dead reckoning)
243 * 7 = Manual input mode
244 * 8 = Simulation mode
245 * 05 Number of satellites (5)
246 * 2.0 Horizontal dilution
247 * 103.5,M Altitude, 103.5M above msl
248 * -19.5,M Height of geoid above WGS84 ellipsoid
249 * ? time in seconds since last DGPS update
250 * 0000 DGPS station ID
254 ao_gps_next_tick = ao_time();
255 ao_gps_next.flags = AO_GPS_RUNNING | ao_gps_date_flags;
256 ao_gps_next.hour = ao_gps_decimal(2);
257 ao_gps_next.minute = ao_gps_decimal(2);
258 ao_gps_next.second = ao_gps_decimal(2);
259 ao_gps_skip_field(); /* skip seconds fraction */
261 ao_gps_next.latitude = ao_gps_parse_pos(2);
262 if (ao_gps_parse_flag('N', 'S'))
263 ao_gps_next.latitude = -ao_gps_next.latitude;
264 ao_gps_next.longitude = ao_gps_parse_pos(3);
265 if (ao_gps_parse_flag('E', 'W'))
266 ao_gps_next.longitude = -ao_gps_next.longitude;
268 i = ao_gps_decimal(0xff);
270 ao_gps_next.flags |= AO_GPS_VALID;
272 i = ao_gps_decimal(0xff) << AO_GPS_NUM_SAT_SHIFT;
273 if (i > AO_GPS_NUM_SAT_MASK)
274 i = AO_GPS_NUM_SAT_MASK;
275 ao_gps_next.flags |= i;
278 i = ao_gps_decimal(0xff);
281 if (ao_gps_char == '.')
282 i = (i + ((uint8_t) ao_gps_decimal(1) >> 1));
285 ao_gps_next.hdop = i;
288 ao_gps_next.altitude = ao_gps_decimal(0xff);
289 ao_gps_skip_field(); /* skip any fractional portion */
294 ao_mutex_get(&ao_gps_mutex);
295 ao_gps_tick = ao_gps_next_tick;
296 ao_xmemcpy(&ao_gps_data, PDATA_TO_XDATA(&ao_gps_next), sizeof (ao_gps_data));
297 ao_mutex_put(&ao_gps_mutex);
298 ao_wakeup(&ao_gps_data);
308 /* Now read the data into the GPS tracking data record
310 * $GPGSV,3,1,12,05,54,069,45,12,44,061,44,21,07,184,46,22,78,289,47*72<CR><LF>
312 * Satellites in view data
314 * 3 Total number of GSV messages
315 * 1 Sequence number of current GSV message
316 * 12 Total sats in view (0-12)
324 c = ao_gps_decimal(1); /* total messages */
325 i = ao_gps_decimal(1); /* message sequence */
327 ao_gps_tracking_next.channels = 0;
329 done = (uint8_t) c == i;
331 ao_gps_skip_field(); /* sats in view */
332 while (ao_gps_char != '*' && ao_gps_char != '\n' && ao_gps_char != '\r') {
333 i = ao_gps_tracking_next.channels;
334 c = ao_gps_decimal(2); /* SVID */
335 if (i < AO_MAX_GPS_TRACKING)
336 ao_gps_tracking_next.sats[i].svid = c;
338 ao_gps_skip_field(); /* elevation */
340 ao_gps_skip_field(); /* azimuth */
341 c = ao_gps_decimal(2); /* C/N0 */
342 if (i < AO_MAX_GPS_TRACKING) {
343 if ((ao_gps_tracking_next.sats[i].c_n_1 = c) != 0)
344 ao_gps_tracking_next.channels = i + 1;
351 ao_gps_tracking_next.channels = 0;
353 ao_mutex_get(&ao_gps_mutex);
354 ao_xmemcpy(&ao_gps_tracking_data, PDATA_TO_XDATA(&ao_gps_tracking_next), sizeof(ao_gps_tracking_data));
355 ao_mutex_put(&ao_gps_mutex);
356 ao_wakeup(&ao_gps_tracking_data);
365 /* Parse the RMC record to read out the current date */
367 /* $GPRMC,111636.932,A,2447.0949,N,12100.5223,E,000.0,000.0,030407,,,A*61
369 * Recommended Minimum Specific GNSS Data
371 * 111636.932 UTC time 11:16:36.932
372 * A Data Valid (V = receiver warning)
374 * N North/south indicator
375 * 12100.5223 Longitude
376 * E East/west indicator
377 * 000.0 Speed over ground
378 * 000.0 Course over ground
379 * 030407 UTC date (ddmmyy format)
382 * A = autonomous mode
383 * D = differential mode
384 * E = estimated (dead reckoning) mode
385 * M = manual input mode
390 for (i = 0; i < 8; i++) {
394 a = ao_gps_decimal(2);
395 c = ao_gps_decimal(2);
396 i = ao_gps_decimal(2);
401 ao_gps_next.year = i;
402 ao_gps_next.month = c;
404 ao_gps_date_flags = AO_GPS_DATE_VALID;
408 #define ao_skytraq_sendstruct(s) ao_skytraq_sendbytes((s), sizeof(s))
411 ao_skytraq_sendbytes(__code uint8_t *b, uint8_t l)
416 ao_delay(AO_MS_TO_TICKS(500));
422 ao_gps_nmea_parse(void)
430 if (ao_gps_char != 'G')
433 if (ao_gps_char != 'P')
444 if (ao_gps_char != ',')
447 if (a == (uint8_t) 'G' && b == (uint8_t) 'G' && c == (uint8_t) 'A') {
449 } else if (a == (uint8_t) 'G' && b == (uint8_t) 'S' && c == (uint8_t) 'V') {
451 } else if (a == (uint8_t) 'R' && b == (uint8_t) 'M' && c == (uint8_t) 'C') {
457 ao_gps(void) __reentrant
459 ao_gps_set_speed(AO_SERIAL_SPEED_9600);
461 /* give skytraq time to boot in case of cold start */
462 ao_delay(AO_MS_TO_TICKS(2000));
464 ao_skytraq_sendstruct(ao_gps_config);
467 /* Locate the begining of the next record */
468 if (ao_gps_getchar() == '$') {
474 __xdata struct ao_task ao_gps_task;
477 gps_dump(void) __reentrant
480 ao_mutex_get(&ao_gps_mutex);
481 printf ("Date: %02d/%02d/%02d\n", ao_gps_data.year, ao_gps_data.month, ao_gps_data.day);
482 printf ("Time: %02d:%02d:%02d\n", ao_gps_data.hour, ao_gps_data.minute, ao_gps_data.second);
483 printf ("Lat/Lon: %ld %ld\n", (long) ao_gps_data.latitude, (long) ao_gps_data.longitude);
484 printf ("Alt: %d\n", ao_gps_data.altitude);
485 printf ("Flags: 0x%x\n", ao_gps_data.flags);
486 printf ("Sats: %d", ao_gps_tracking_data.channels);
487 for (i = 0; i < ao_gps_tracking_data.channels; i++)
489 ao_gps_tracking_data.sats[i].svid,
490 ao_gps_tracking_data.sats[i].c_n_1);
492 ao_mutex_put(&ao_gps_mutex);
495 __code struct ao_cmds ao_gps_cmds[] = {
496 { gps_dump, "g\0Display GPS" },
503 ao_add_task(&ao_gps_task, ao_gps, "gps");
504 ao_cmd_register(&ao_gps_cmds[0]);