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   1 /*
   2  * Copyright © 2009 Keith Packard <keithp@keithp.com>
   3  *
   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; either version 2 of the License, or
   7  * (at your option) any later version.
   8  *
   9  * This program is distributed in the hope that it will be useful, but
  10  * WITHOUT ANY WARRANTY; without even the implied warranty of
  11  * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
  12  * General Public License for more details.
  13  *
  14  * You should have received a copy of the GNU General Public License along
  15  * with this program; if not, write to the Free Software Foundation, Inc.,
  16  * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA.
  17  */
  18
  19 #define AO_GPS_TEST
  20 #include "ao_host.h"
  21 #include <termios.h>
  22 #include <errno.h>
  23 #include <sys/types.h>
  24 #include <sys/stat.h>
  25 #include <unistd.h>
  26 #include <fcntl.h>
  27 #define AO_GPS_NUM_SAT_MASK     (0xf << 0)
  28 #define AO_GPS_NUM_SAT_SHIFT    (0)
  29
  30 #define AO_GPS_NEW_DATA         1
  31 #define AO_GPS_NEW_TRACKING     2
  32
  33 #define AO_GPS_VALID            (1 << 4)
  34 #define AO_GPS_RUNNING          (1 << 5)
  35 #define AO_GPS_DATE_VALID       (1 << 6)
  36 #define AO_GPS_COURSE_VALID     (1 << 7)
  37
  38 struct ao_gps_orig {
  39         uint8_t                 year;
  40         uint8_t                 month;
  41         uint8_t                 day;
  42         uint8_t                 hour;
  43         uint8_t                 minute;
  44         uint8_t                 second;
  45         uint8_t                 flags;
  46         int32_t                 latitude;       /* degrees * 10⁷ */
  47         int32_t                 longitude;      /* degrees * 10⁷ */
  48         int16_t                 altitude;       /* m */
  49         uint16_t                ground_speed;   /* cm/s */
  50         uint8_t                 course;         /* degrees / 2 */
  51         uint8_t                 hdop;           /* * 5 */
  52         int16_t                 climb_rate;     /* cm/s */
  53         uint16_t                h_error;        /* m */
  54         uint16_t                v_error;        /* m */
  55 };
  56
  57 #define AO_TELEMETRY_LOCATION_ALTITUDE(l)       ((l)->altitude)
  58 #define AO_TELEMETRY_LOCATION_SET_ALTITUDE(l,a) ((l)->altitude = (a))
  59
  60 #define SIRF_SAT_STATE_ACQUIRED                 (1 << 0)
  61 #define SIRF_SAT_STATE_CARRIER_PHASE_VALID      (1 << 1)
  62 #define SIRF_SAT_BIT_SYNC_COMPLETE              (1 << 2)
  63 #define SIRF_SAT_SUBFRAME_SYNC_COMPLETE         (1 << 3)
  64 #define SIRF_SAT_CARRIER_PULLIN_COMPLETE        (1 << 4)
  65 #define SIRF_SAT_CODE_LOCKED                    (1 << 5)
  66 #define SIRF_SAT_ACQUISITION_FAILED             (1 << 6)
  67 #define SIRF_SAT_EPHEMERIS_AVAILABLE            (1 << 7)
  68
  69 struct ao_gps_sat_orig {
  70         uint8_t         svid;
  71         uint8_t         c_n_1;
  72 };
  73
  74 #define AO_MAX_GPS_TRACKING     12
  75
  76 struct ao_gps_tracking_orig {
  77         uint8_t                 channels;
  78         struct ao_gps_sat_orig  sats[AO_MAX_GPS_TRACKING];
  79 };
  80
  81 #define ao_telemetry_location ao_gps_orig
  82 #define ao_telemetry_satellite ao_gps_tracking_orig
  83 #define ao_telemetry_satellite_info ao_gps_sat_orig
  84
  85 void
  86 ao_mutex_get(uint8_t *mutex)
  87 {
  88 }
  89
  90 void
  91 ao_mutex_put(uint8_t *mutex)
  92 {
  93 }
  94
  95 static int
  96 ao_gps_fd;
  97
  98 #if 0
  99 static void
 100 ao_dbg_char(char c)
 101 {
 102         char    line[128];
 103         line[0] = '\0';
 104         if (c < ' ') {
 105                 if (c == '\n')
 106                         sprintf (line, "\n");
 107                 else
 108                         sprintf (line, "\\%02x", ((int) c) & 0xff);
 109         } else {
 110                 sprintf (line, "%c", c);
 111         }
 112         write(1, line, strlen(line));
 113 }
 114 #endif
 115
 116 #define QUEUE_LEN       4096
 117
 118 static char     input_queue[QUEUE_LEN];
 119 int             input_head, input_tail;
 120
 121 #include <sys/time.h>
 122
 123 int
 124 get_millis(void)
 125 {
 126         struct timeval  tv;
 127         gettimeofday(&tv, NULL);
 128         return tv.tv_sec * 1000 + tv.tv_usec / 1000;
 129 }
 130
 131 static void
 132 check_sirf_message(char *from, uint8_t *msg, int len)
 133 {
 134         uint16_t        encoded_len, encoded_cksum;
 135         uint16_t        cksum;
 136         uint8_t         id;
 137         int             i;
 138
 139         if (msg[0] != 0xa0 || msg[1] != 0xa2) {
 140                 printf ("bad header\n");
 141                 return;
 142         }
 143         if (len < 7) {
 144                 printf("short\n");
 145                 return;
 146         }
 147         if (msg[len-1] != 0xb3 || msg[len-2] != 0xb0) {
 148                 printf ("bad trailer\n");
 149                 return;
 150         }
 151         encoded_len = (msg[2] << 8) | msg[3];
 152         id = msg[4];
 153 /*      printf ("%9d: %3d\n", get_millis(), id); */
 154         if (encoded_len != len - 8) {
 155                 if (id != 52)
 156                         printf ("length mismatch (got %d, wanted %d)\n",
 157                                 len - 8, encoded_len);
 158                 return;
 159         }
 160         encoded_cksum = (msg[len - 4] << 8) | msg[len-3];
 161         cksum = 0;
 162         for (i = 4; i < len - 4; i++)
 163                 cksum = (cksum + msg[i]) & 0x7fff;
 164         if (encoded_cksum != cksum) {
 165                 printf ("cksum mismatch (got %04x wanted %04x)\n",
 166                         cksum, encoded_cksum);
 167                 return;
 168         }
 169         id = msg[4];
 170         switch (id) {
 171         case 41:{
 172                 int     off = 4;
 173
 174                 uint8_t         id;
 175                 uint16_t        nav_valid;
 176                 uint16_t        nav_type;
 177                 uint16_t        week;
 178                 uint32_t        tow;
 179                 uint16_t        year;
 180                 uint8_t         month;
 181                 uint8_t         day;
 182                 uint8_t         hour;
 183                 uint8_t         minute;
 184                 uint16_t        second;
 185                 uint32_t        sat_list;
 186                 int32_t         lat;
 187                 int32_t         lon;
 188                 int32_t         alt_ell;
 189                 int32_t         alt_msl;
 190                 int8_t          datum;
 191                 uint16_t        sog;
 192                 uint16_t        cog;
 193                 int16_t         mag_var;
 194                 int16_t         climb_rate;
 195                 int16_t         heading_rate;
 196                 uint32_t        h_error;
 197                 uint32_t        v_error;
 198                 uint32_t        t_error;
 199                 uint16_t        h_v_error;
 200
 201 #define get_u8(u)       u = (msg[off]); off+= 1
 202 #define get_u16(u)      u = (msg[off] << 8) | (msg[off + 1]); off+= 2
 203 #define get_u32(u)      u = (msg[off] << 24) | (msg[off + 1] << 16) | (msg[off+2] << 8) | (msg[off+3]); off+= 4
 204
 205                 get_u8(id);
 206                 get_u16(nav_valid);
 207                 get_u16(nav_type);
 208                 get_u16(week);
 209                 get_u32(tow);
 210                 get_u16(year);
 211                 get_u8(month);
 212                 get_u8(day);
 213                 get_u8(hour);
 214                 get_u8(minute);
 215                 get_u16(second);
 216                 get_u32(sat_list);
 217                 get_u32(lat);
 218                 get_u32(lon);
 219                 get_u32(alt_ell);
 220                 get_u32(alt_msl);
 221                 get_u8(datum);
 222                 get_u16(sog);
 223                 get_u16(cog);
 224                 get_u16(mag_var);
 225                 get_u16(climb_rate);
 226                 get_u16(heading_rate);
 227                 get_u32(h_error);
 228                 get_u32(v_error);
 229                 get_u32(t_error);
 230                 get_u16(h_v_error);
 231
 232
 233                 (void) mag_var;
 234                 (void) id;
 235                 printf ("Geodetic Navigation Data (41):\n");
 236                 printf ("\tNav valid %04x\n", nav_valid);
 237                 printf ("\tNav type %04x\n", nav_type);
 238                 printf ("\tWeek %5d", week);
 239                 printf (" TOW %9d", tow);
 240                 printf (" %4d-%2d-%2d %02d:%02d:%07.4f\n",
 241                         year, month, day,
 242                         hour, minute, second / 1000.0);
 243                 printf ("\tsats: %08x\n", sat_list);
 244                 printf ("\tlat: %g", lat / 1.0e7);
 245                 printf (" lon: %g", lon / 1.0e7);
 246                 printf (" alt_ell: %g", alt_ell / 100.0);
 247                 printf (" alt_msll: %g", alt_msl / 100.0);
 248                 printf (" datum: %d\n", datum);
 249                 printf ("\tground speed: %g", sog / 100.0);
 250                 printf (" course: %g", cog / 100.0);
 251                 printf (" climb: %g", climb_rate / 100.0);
 252                 printf (" heading rate: %g\n", heading_rate / 100.0);
 253                 printf ("\th error: %g", h_error / 100.0);
 254                 printf (" v error: %g", v_error / 100.0);
 255                 printf (" t error: %g", t_error / 100.0);
 256                 printf (" h vel error: %g\n", h_v_error / 100.0);
 257                 break;
 258         }
 259         case 4: {
 260                 int off = 4;
 261                 uint8_t         id;
 262                 int16_t         gps_week;
 263                 uint32_t        gps_tow;
 264                 uint8_t         channels;
 265                 int             j, k;
 266
 267                 get_u8(id);
 268                 get_u16(gps_week);
 269                 get_u32(gps_tow);
 270                 get_u8(channels);
 271
 272                 (void) id;
 273                 printf ("Measured Tracker Data (4):\n");
 274                 printf ("GPS week: %d\n", gps_week);
 275                 printf ("GPS time of week: %d\n", gps_tow);
 276                 printf ("channels: %d\n", channels);
 277                 for (j = 0; j < 12; j++) {
 278                         uint8_t svid, azimuth, elevation;
 279                         uint16_t state;
 280                         uint8_t c_n[10];
 281                         get_u8(svid);
 282                         get_u8(azimuth);
 283                         get_u8(elevation);
 284                         get_u16(state);
 285                         for (k = 0; k < 10; k++) {
 286                                 get_u8(c_n[k]);
 287                         }
 288                         printf ("Sat %3d:", svid);
 289                         printf (" aziumuth: %6.1f", azimuth * 1.5);
 290                         printf (" elevation: %6.1f", elevation * 0.5);
 291                         printf (" state: 0x%02x", state);
 292                         printf (" c_n:");
 293                         for (k = 0; k < 10; k++)
 294                                 printf(" %3d", c_n[k]);
 295                         if (state & SIRF_SAT_STATE_ACQUIRED)
 296                                 printf(" acq,");
 297                         if (state & SIRF_SAT_STATE_CARRIER_PHASE_VALID)
 298                                 printf(" car,");
 299                         if (state & SIRF_SAT_BIT_SYNC_COMPLETE)
 300                                 printf(" bit,");
 301                         if (state & SIRF_SAT_SUBFRAME_SYNC_COMPLETE)
 302                                 printf(" sub,");
 303                         if (state & SIRF_SAT_CARRIER_PULLIN_COMPLETE)
 304                                 printf(" pullin,");
 305                         if (state & SIRF_SAT_CODE_LOCKED)
 306                                 printf(" code,");
 307                         if (state & SIRF_SAT_ACQUISITION_FAILED)
 308                                 printf(" fail,");
 309                         if (state & SIRF_SAT_EPHEMERIS_AVAILABLE)
 310                                 printf(" ephem,");
 311                         printf ("\n");
 312                 }
 313                 break;
 314         }
 315         default:
 316                 return;
 317                 printf ("%s %4d:", from, encoded_len);
 318                 for (i = 4; i < len - 4; i++) {
 319                         if (((i - 4) & 0xf) == 0)
 320                                 printf("\n   ");
 321                         printf (" %3d", msg[i]);
 322                 }
 323                 printf ("\n");
 324         }
 325 }
 326
 327 static uint8_t  sirf_message[4096];
 328 static int      sirf_message_len;
 329 static uint8_t  sirf_in_message[4096];
 330 static int      sirf_in_len;
 331
 332 char
 333 ao_serial1_getchar(void)
 334 {
 335         char    c;
 336         uint8_t uc;
 337
 338         while (input_head == input_tail) {
 339                 for (;;) {
 340                         input_tail = read(ao_gps_fd, input_queue, QUEUE_LEN);
 341                         if (input_tail < 0) {
 342                                 if (errno == EINTR || errno == EAGAIN)
 343                                         continue;
 344                                 perror ("getchar");
 345                                 exit (1);
 346                         }
 347                         input_head = 0;
 348                         break;
 349                 }
 350         }
 351         c = input_queue[input_head];
 352         input_head = (input_head + 1) % QUEUE_LEN;
 353         uc = c;
 354         if (sirf_in_len || uc == 0xa0) {
 355                 if (sirf_in_len < 4096)
 356                         sirf_in_message[sirf_in_len++] = uc;
 357                 if (uc == 0xb3) {
 358                         check_sirf_message("recv", sirf_in_message, sirf_in_len);
 359                         sirf_in_len = 0;
 360                 }
 361         }
 362         return c;
 363 }
 364
 365
 366 void
 367 ao_serial1_putchar(char c)
 368 {
 369         int     i;
 370         uint8_t uc = (uint8_t) c;
 371
 372         if (sirf_message_len || uc == 0xa0) {
 373                 if (sirf_message_len < 4096)
 374                         sirf_message[sirf_message_len++] = uc;
 375                 if (uc == 0xb3) {
 376                         check_sirf_message("send", sirf_message, sirf_message_len);
 377                         sirf_message_len = 0;
 378                 }
 379         }
 380         for (;;) {
 381                 i = write(ao_gps_fd, &c, 1);
 382                 if (i == 1) {
 383                         if ((uint8_t) c == 0xb3 || c == '\r') {
 384 /*                              static const struct timespec delay = {
 385                                         .tv_sec = 0,
 386                                         .tv_nsec = 100 * 1000 * 1000
 387                                 };
 388 */
 389                                 tcdrain(ao_gps_fd);
 390 //                              nanosleep(&delay, NULL);
 391                         }
 392                         break;
 393                 }
 394                 if (i < 0 && (errno == EINTR || errno == EAGAIN))
 395                         continue;
 396                 perror("putchar");
 397                 exit(1);
 398         }
 399 }
 400
 401 #define AO_SERIAL_SPEED_4800    0
 402 #define AO_SERIAL_SPEED_57600   1
 403 #define AO_SERIAL_SPEED_115200  2
 404
 405 static void
 406 ao_serial1_set_speed(uint8_t speed)
 407 {
 408         int     fd = ao_gps_fd;
 409         struct termios  termios;
 410
 411         tcdrain(fd);
 412         tcgetattr(fd, &termios);
 413         switch (speed) {
 414         case AO_SERIAL_SPEED_4800:
 415                 cfsetspeed(&termios, B4800);
 416                 break;
 417         case AO_SERIAL_SPEED_57600:
 418                 cfsetspeed(&termios, B57600);
 419                 break;
 420         case AO_SERIAL_SPEED_115200:
 421                 cfsetspeed(&termios, B115200);
 422                 break;
 423         }
 424         tcsetattr(fd, TCSAFLUSH, &termios);
 425         tcflush(fd, TCIFLUSH);
 426 }
 427
 428 #define ao_time() 0
 429
 430 #include "ao_gps_print.c"
 431 #include "ao_gps_sirf.c"
 432
 433 void
 434 ao_dump_state(void *wchan)
 435 {
 436         int     i;
 437
 438         if (wchan != &ao_gps_new)
 439                 return;
 440
 441         if (ao_gps_new & AO_GPS_NEW_DATA) {
 442                 ao_gps_print(&ao_gps_data);
 443                 putchar('\n');
 444         }
 445         if (ao_gps_new & AO_GPS_NEW_TRACKING) {
 446                 ao_gps_tracking_print(&ao_gps_tracking_data);
 447                 putchar('\n');
 448         }
 449         return;
 450         printf ("%02d:%02d:%02d",
 451                 ao_gps_data.hour, ao_gps_data.minute,
 452                 ao_gps_data.second);
 453         printf (" nsat %d %svalid",
 454                 ao_gps_data.flags & AO_GPS_NUM_SAT_MASK,
 455                 ao_gps_data.flags & AO_GPS_VALID ? "" : "not ");
 456         printf (" lat %g lon %g alt %d",
 457                 ao_gps_data.latitude / 1.0e7,
 458                 ao_gps_data.longitude / 1.0e7,
 459                 ao_gps_data.altitude);
 460         printf (" speed %g climb %g course %d",
 461                 ao_gps_data.ground_speed / 100.0,
 462                 ao_gps_data.climb_rate / 100.0,
 463                 ao_gps_data.course * 2);
 464         printf (" hdop %g h_error %d v_error %d",
 465                 ao_gps_data.hdop / 5.0,
 466                 ao_gps_data.h_error, ao_gps_data.v_error);
 467         printf("\n");
 468         printf ("\t");
 469         for (i = 0; i < 12; i++)
 470                 printf (" %2d(%02d)",
 471                         ao_gps_tracking_data.sats[i].svid,
 472                         ao_gps_tracking_data.sats[i].c_n_1);
 473         printf ("\n");
 474 }
 475
 476 int
 477 ao_gps_open(const char *tty)
 478 {
 479         struct termios  termios;
 480         int fd;
 481
 482         fd = open (tty, O_RDWR);
 483         if (fd < 0)
 484                 return -1;
 485
 486         tcgetattr(fd, &termios);
 487         cfmakeraw(&termios);
 488         cfsetspeed(&termios, B4800);
 489         tcsetattr(fd, TCSAFLUSH, &termios);
 490
 491         tcdrain(fd);
 492         tcflush(fd, TCIFLUSH);
 493         return fd;
 494 }
 495
 496 #include <getopt.h>
 497
 498 static const struct option options[] = {
 499         { .name = "tty", .has_arg = 1, .val = 'T' },
 500         { 0, 0, 0, 0},
 501 };
 502
 503 static void usage(char *program)
 504 {
 505         fprintf(stderr, "usage: %s [--tty <tty-name>]\n", program);
 506         exit(1);
 507 }
 508
 509 int
 510 main (int argc, char **argv)
 511 {
 512         char    *tty = "/dev/ttyUSB0";
 513         int     c;
 514
 515         while ((c = getopt_long(argc, argv, "T:", options, NULL)) != -1) {
 516                 switch (c) {
 517                 case 'T':
 518                         tty = optarg;
 519                         break;
 520                 default:
 521                         usage(argv[0]);
 522                         break;
 523                 }
 524         }
 525         ao_gps_fd = ao_gps_open(tty);
 526         if (ao_gps_fd < 0) {
 527                 perror (tty);
 528                 exit (1);
 529         }
 530         ao_gps_setup();
 531         ao_gps();
 532         return 0;
 533 }