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>
26 #define AO_GPS_NUM_SAT_MASK (0xf << 0)
27 #define AO_GPS_NUM_SAT_SHIFT (0)
29 #define AO_GPS_NEW_DATA 1
30 #define AO_GPS_NEW_TRACKING 2
32 #define AO_GPS_VALID (1 << 4)
33 #define AO_GPS_RUNNING (1 << 5)
34 #define AO_GPS_DATE_VALID (1 << 6)
35 #define AO_GPS_COURSE_VALID (1 << 7)
45 int32_t latitude; /* degrees * 10⁷ */
46 int32_t longitude; /* degrees * 10⁷ */
47 int16_t altitude; /* m */
48 uint16_t ground_speed; /* cm/s */
49 uint8_t course; /* degrees / 2 */
50 uint8_t hdop; /* * 5 */
51 int16_t climb_rate; /* cm/s */
52 uint16_t h_error; /* m */
53 uint16_t v_error; /* m */
56 #define AO_TELEMETRY_LOCATION_ALTITUDE(l) ((l)->altitude)
57 #define AO_TELEMETRY_LOCATION_SET_ALTITUDE(l,a) ((l)->altitude = (a))
59 #define SIRF_SAT_STATE_ACQUIRED (1 << 0)
60 #define SIRF_SAT_STATE_CARRIER_PHASE_VALID (1 << 1)
61 #define SIRF_SAT_BIT_SYNC_COMPLETE (1 << 2)
62 #define SIRF_SAT_SUBFRAME_SYNC_COMPLETE (1 << 3)
63 #define SIRF_SAT_CARRIER_PULLIN_COMPLETE (1 << 4)
64 #define SIRF_SAT_CODE_LOCKED (1 << 5)
65 #define SIRF_SAT_ACQUISITION_FAILED (1 << 6)
66 #define SIRF_SAT_EPHEMERIS_AVAILABLE (1 << 7)
68 struct ao_gps_sat_orig {
73 #define AO_MAX_GPS_TRACKING 12
75 struct ao_gps_tracking_orig {
77 struct ao_gps_sat_orig sats[AO_MAX_GPS_TRACKING];
80 #define ao_telemetry_location ao_gps_orig
81 #define ao_telemetry_satellite ao_gps_tracking_orig
82 #define ao_telemetry_satellite_info ao_gps_sat_orig
85 ao_mutex_get(uint8_t *mutex)
90 ao_mutex_put(uint8_t *mutex)
105 sprintf (line, "\n");
107 sprintf (line, "\\%02x", ((int) c) & 0xff);
109 sprintf (line, "%c", c);
111 write(1, line, strlen(line));
115 #define QUEUE_LEN 4096
117 static char input_queue[QUEUE_LEN];
118 int input_head, input_tail;
120 #include <sys/time.h>
126 gettimeofday(&tv, NULL);
127 return tv.tv_sec * 1000 + tv.tv_usec / 1000;
131 check_sirf_message(char *from, uint8_t *msg, int len)
133 uint16_t encoded_len, encoded_cksum;
138 if (msg[0] != 0xa0 || msg[1] != 0xa2) {
139 printf ("bad header\n");
146 if (msg[len-1] != 0xb3 || msg[len-2] != 0xb0) {
147 printf ("bad trailer\n");
150 encoded_len = (msg[2] << 8) | msg[3];
152 /* printf ("%9d: %3d\n", get_millis(), id); */
153 if (encoded_len != len - 8) {
155 printf ("length mismatch (got %d, wanted %d)\n",
156 len - 8, encoded_len);
159 encoded_cksum = (msg[len - 4] << 8) | msg[len-3];
161 for (i = 4; i < len - 4; i++)
162 cksum = (cksum + msg[i]) & 0x7fff;
163 if (encoded_cksum != cksum) {
164 printf ("cksum mismatch (got %04x wanted %04x)\n",
165 cksum, encoded_cksum);
194 int16_t heading_rate;
200 #define get_u8(u) u = (msg[off]); off+= 1
201 #define get_u16(u) u = (msg[off] << 8) | (msg[off + 1]); off+= 2
202 #define get_u32(u) u = (msg[off] << 24) | (msg[off + 1] << 16) | (msg[off+2] << 8) | (msg[off+3]); off+= 4
225 get_u16(heading_rate);
234 printf ("Geodetic Navigation Data (41):\n");
235 printf ("\tNav valid %04x\n", nav_valid);
236 printf ("\tNav type %04x\n", nav_type);
237 printf ("\tWeek %5d", week);
238 printf (" TOW %9d", tow);
239 printf (" %4d-%2d-%2d %02d:%02d:%07.4f\n",
241 hour, minute, second / 1000.0);
242 printf ("\tsats: %08x\n", sat_list);
243 printf ("\tlat: %g", lat / 1.0e7);
244 printf (" lon: %g", lon / 1.0e7);
245 printf (" alt_ell: %g", alt_ell / 100.0);
246 printf (" alt_msll: %g", alt_msl / 100.0);
247 printf (" datum: %d\n", datum);
248 printf ("\tground speed: %g", sog / 100.0);
249 printf (" course: %g", cog / 100.0);
250 printf (" climb: %g", climb_rate / 100.0);
251 printf (" heading rate: %g\n", heading_rate / 100.0);
252 printf ("\th error: %g", h_error / 100.0);
253 printf (" v error: %g", v_error / 100.0);
254 printf (" t error: %g", t_error / 100.0);
255 printf (" h vel error: %g\n", h_v_error / 100.0);
272 printf ("Measured Tracker Data (4):\n");
273 printf ("GPS week: %d\n", gps_week);
274 printf ("GPS time of week: %d\n", gps_tow);
275 printf ("channels: %d\n", channels);
276 for (j = 0; j < 12; j++) {
277 uint8_t svid, azimuth, elevation;
284 for (k = 0; k < 10; k++) {
287 printf ("Sat %3d:", svid);
288 printf (" aziumuth: %6.1f", azimuth * 1.5);
289 printf (" elevation: %6.1f", elevation * 0.5);
290 printf (" state: 0x%02x", state);
292 for (k = 0; k < 10; k++)
293 printf(" %3d", c_n[k]);
294 if (state & SIRF_SAT_STATE_ACQUIRED)
296 if (state & SIRF_SAT_STATE_CARRIER_PHASE_VALID)
298 if (state & SIRF_SAT_BIT_SYNC_COMPLETE)
300 if (state & SIRF_SAT_SUBFRAME_SYNC_COMPLETE)
302 if (state & SIRF_SAT_CARRIER_PULLIN_COMPLETE)
304 if (state & SIRF_SAT_CODE_LOCKED)
306 if (state & SIRF_SAT_ACQUISITION_FAILED)
308 if (state & SIRF_SAT_EPHEMERIS_AVAILABLE)
316 printf ("%s %4d:", from, encoded_len);
317 for (i = 4; i < len - 4; i++) {
318 if (((i - 4) & 0xf) == 0)
320 printf (" %3d", msg[i]);
326 static uint8_t sirf_message[4096];
327 static int sirf_message_len;
328 static uint8_t sirf_in_message[4096];
329 static int sirf_in_len;
332 ao_serial1_getchar(void)
337 while (input_head == input_tail) {
339 input_tail = read(ao_gps_fd, input_queue, QUEUE_LEN);
340 if (input_tail < 0) {
341 if (errno == EINTR || errno == EAGAIN)
350 c = input_queue[input_head];
351 input_head = (input_head + 1) % QUEUE_LEN;
353 if (sirf_in_len || uc == 0xa0) {
354 if (sirf_in_len < 4096)
355 sirf_in_message[sirf_in_len++] = uc;
357 check_sirf_message("recv", sirf_in_message, sirf_in_len);
366 ao_serial1_putchar(char c)
369 uint8_t uc = (uint8_t) c;
371 if (sirf_message_len || uc == 0xa0) {
372 if (sirf_message_len < 4096)
373 sirf_message[sirf_message_len++] = uc;
375 check_sirf_message("send", sirf_message, sirf_message_len);
376 sirf_message_len = 0;
380 i = write(ao_gps_fd, &c, 1);
382 if ((uint8_t) c == 0xb3 || c == '\r') {
383 /* static const struct timespec delay = {
385 .tv_nsec = 100 * 1000 * 1000
389 // nanosleep(&delay, NULL);
393 if (i < 0 && (errno == EINTR || errno == EAGAIN))
400 #define AO_SERIAL_SPEED_4800 0
401 #define AO_SERIAL_SPEED_57600 1
402 #define AO_SERIAL_SPEED_115200 2
405 ao_serial1_set_speed(uint8_t speed)
408 struct termios termios;
411 tcgetattr(fd, &termios);
413 case AO_SERIAL_SPEED_4800:
414 cfsetspeed(&termios, B4800);
416 case AO_SERIAL_SPEED_57600:
417 cfsetspeed(&termios, B57600);
419 case AO_SERIAL_SPEED_115200:
420 cfsetspeed(&termios, B115200);
423 tcsetattr(fd, TCSAFLUSH, &termios);
424 tcflush(fd, TCIFLUSH);
429 #include "ao_gps_print.c"
430 #include "ao_gps_sirf.c"
433 ao_dump_state(void *wchan)
437 if (wchan != &ao_gps_new)
440 if (ao_gps_new & AO_GPS_NEW_DATA) {
441 ao_gps_print(&ao_gps_data);
444 if (ao_gps_new & AO_GPS_NEW_TRACKING) {
445 ao_gps_tracking_print(&ao_gps_tracking_data);
449 printf ("%02d:%02d:%02d",
450 ao_gps_data.hour, ao_gps_data.minute,
452 printf (" nsat %d %svalid",
453 ao_gps_data.flags & AO_GPS_NUM_SAT_MASK,
454 ao_gps_data.flags & AO_GPS_VALID ? "" : "not ");
455 printf (" lat %g lon %g alt %d",
456 ao_gps_data.latitude / 1.0e7,
457 ao_gps_data.longitude / 1.0e7,
458 ao_gps_data.altitude);
459 printf (" speed %g climb %g course %d",
460 ao_gps_data.ground_speed / 100.0,
461 ao_gps_data.climb_rate / 100.0,
462 ao_gps_data.course * 2);
463 printf (" hdop %g h_error %d v_error %d",
464 ao_gps_data.hdop / 5.0,
465 ao_gps_data.h_error, ao_gps_data.v_error);
468 for (i = 0; i < 12; i++)
469 printf (" %2d(%02d)",
470 ao_gps_tracking_data.sats[i].svid,
471 ao_gps_tracking_data.sats[i].c_n_1);
476 ao_gps_open(const char *tty)
478 struct termios termios;
481 fd = open (tty, O_RDWR);
485 tcgetattr(fd, &termios);
487 cfsetspeed(&termios, B4800);
488 tcsetattr(fd, TCSAFLUSH, &termios);
491 tcflush(fd, TCIFLUSH);
497 static const struct option options[] = {
498 { .name = "tty", .has_arg = 1, .val = 'T' },
502 static void usage(char *program)
504 fprintf(stderr, "usage: %s [--tty <tty-name>]\n", program);
509 main (int argc, char **argv)
511 char *tty = "/dev/ttyUSB0";
514 while ((c = getopt_long(argc, argv, "T:", options, NULL)) != -1) {
524 ao_gps_fd = ao_gps_open(tty);