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; either version 2 of the License, or
7 * (at your option) any later version.
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.
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.
20 #define AO_TICK_TYPE uint32_t
24 #include <sys/types.h>
28 #define AO_GPS_NUM_SAT_MASK (0xf << 0)
29 #define AO_GPS_NUM_SAT_SHIFT (0)
31 #define AO_GPS_NEW_DATA 1
32 #define AO_GPS_NEW_TRACKING 2
34 #define AO_GPS_VALID (1 << 4)
35 #define AO_GPS_RUNNING (1 << 5)
36 #define AO_GPS_DATE_VALID (1 << 6)
37 #define AO_GPS_COURSE_VALID (1 << 7)
47 int32_t latitude; /* degrees * 10⁷ */
48 int32_t longitude; /* degrees * 10⁷ */
49 int16_t altitude; /* m */
50 uint16_t ground_speed; /* cm/s */
51 uint8_t course; /* degrees / 2 */
52 uint8_t hdop; /* * 5 */
53 int16_t climb_rate; /* cm/s */
54 uint16_t h_error; /* m */
55 uint16_t v_error; /* m */
58 #define AO_TELEMETRY_LOCATION_ALTITUDE(l) ((l)->altitude)
59 #define AO_TELEMETRY_LOCATION_SET_ALTITUDE(l,a) ((l)->altitude = (a))
61 #define SIRF_SAT_STATE_ACQUIRED (1 << 0)
62 #define SIRF_SAT_STATE_CARRIER_PHASE_VALID (1 << 1)
63 #define SIRF_SAT_BIT_SYNC_COMPLETE (1 << 2)
64 #define SIRF_SAT_SUBFRAME_SYNC_COMPLETE (1 << 3)
65 #define SIRF_SAT_CARRIER_PULLIN_COMPLETE (1 << 4)
66 #define SIRF_SAT_CODE_LOCKED (1 << 5)
67 #define SIRF_SAT_ACQUISITION_FAILED (1 << 6)
68 #define SIRF_SAT_EPHEMERIS_AVAILABLE (1 << 7)
70 struct ao_gps_sat_orig {
75 #define AO_MAX_GPS_TRACKING 12
77 struct ao_gps_tracking_orig {
79 struct ao_gps_sat_orig sats[AO_MAX_GPS_TRACKING];
82 #define ao_telemetry_location ao_gps_orig
83 #define ao_telemetry_satellite ao_gps_tracking_orig
84 #define ao_telemetry_satellite_info ao_gps_sat_orig
87 ao_mutex_get(uint8_t *mutex)
92 ao_mutex_put(uint8_t *mutex)
107 sprintf (line, "\n");
109 sprintf (line, "\\%02x", ((int) c) & 0xff);
111 sprintf (line, "%c", c);
113 write(1, line, strlen(line));
117 #define QUEUE_LEN 4096
119 static char input_queue[QUEUE_LEN];
120 int input_head, input_tail;
122 #include <sys/time.h>
128 gettimeofday(&tv, NULL);
129 return tv.tv_sec * 1000 + tv.tv_usec / 1000;
133 check_sirf_message(char *from, uint8_t *msg, int len)
135 uint16_t encoded_len, encoded_cksum;
140 if (msg[0] != 0xa0 || msg[1] != 0xa2) {
141 printf ("bad header\n");
148 if (msg[len-1] != 0xb3 || msg[len-2] != 0xb0) {
149 printf ("bad trailer\n");
152 encoded_len = (msg[2] << 8) | msg[3];
154 /* printf ("%9d: %3d\n", get_millis(), id); */
155 if (encoded_len != len - 8) {
157 printf ("length mismatch (got %d, wanted %d)\n",
158 len - 8, encoded_len);
161 encoded_cksum = (msg[len - 4] << 8) | msg[len-3];
163 for (i = 4; i < len - 4; i++)
164 cksum = (cksum + msg[i]) & 0x7fff;
165 if (encoded_cksum != cksum) {
166 printf ("cksum mismatch (got %04x wanted %04x)\n",
167 cksum, encoded_cksum);
196 int16_t heading_rate;
202 #define get_u8(u) u = (msg[off]); off+= 1
203 #define get_u16(u) u = (msg[off] << 8) | (msg[off + 1]); off+= 2
204 #define get_u32(u) u = (msg[off] << 24) | (msg[off + 1] << 16) | (msg[off+2] << 8) | (msg[off+3]); off+= 4
227 get_u16(heading_rate);
236 printf ("Geodetic Navigation Data (41):\n");
237 printf ("\tNav valid %04x\n", nav_valid);
238 printf ("\tNav type %04x\n", nav_type);
239 printf ("\tWeek %5d", week);
240 printf (" TOW %9d", tow);
241 printf (" %4d-%2d-%2d %02d:%02d:%07.4f\n",
243 hour, minute, second / 1000.0);
244 printf ("\tsats: %08x\n", sat_list);
245 printf ("\tlat: %g", lat / 1.0e7);
246 printf (" lon: %g", lon / 1.0e7);
247 printf (" alt_ell: %g", alt_ell / 100.0);
248 printf (" alt_msll: %g", alt_msl / 100.0);
249 printf (" datum: %d\n", datum);
250 printf ("\tground speed: %g", sog / 100.0);
251 printf (" course: %g", cog / 100.0);
252 printf (" climb: %g", climb_rate / 100.0);
253 printf (" heading rate: %g\n", heading_rate / 100.0);
254 printf ("\th error: %g", h_error / 100.0);
255 printf (" v error: %g", v_error / 100.0);
256 printf (" t error: %g", t_error / 100.0);
257 printf (" h vel error: %g\n", h_v_error / 100.0);
274 printf ("Measured Tracker Data (4):\n");
275 printf ("GPS week: %d\n", gps_week);
276 printf ("GPS time of week: %d\n", gps_tow);
277 printf ("channels: %d\n", channels);
278 for (j = 0; j < 12; j++) {
279 uint8_t svid, azimuth, elevation;
286 for (k = 0; k < 10; k++) {
289 printf ("Sat %3d:", svid);
290 printf (" aziumuth: %6.1f", azimuth * 1.5);
291 printf (" elevation: %6.1f", elevation * 0.5);
292 printf (" state: 0x%02x", state);
294 for (k = 0; k < 10; k++)
295 printf(" %3d", c_n[k]);
296 if (state & SIRF_SAT_STATE_ACQUIRED)
298 if (state & SIRF_SAT_STATE_CARRIER_PHASE_VALID)
300 if (state & SIRF_SAT_BIT_SYNC_COMPLETE)
302 if (state & SIRF_SAT_SUBFRAME_SYNC_COMPLETE)
304 if (state & SIRF_SAT_CARRIER_PULLIN_COMPLETE)
306 if (state & SIRF_SAT_CODE_LOCKED)
308 if (state & SIRF_SAT_ACQUISITION_FAILED)
310 if (state & SIRF_SAT_EPHEMERIS_AVAILABLE)
318 printf ("%s %4d:", from, encoded_len);
319 for (i = 4; i < len - 4; i++) {
320 if (((i - 4) & 0xf) == 0)
322 printf (" %3d", msg[i]);
328 static uint8_t sirf_message[4096];
329 static int sirf_message_len;
330 static uint8_t sirf_in_message[4096];
331 static int sirf_in_len;
334 ao_serial1_getchar(void)
339 while (input_head == input_tail) {
341 input_tail = read(ao_gps_fd, input_queue, QUEUE_LEN);
342 if (input_tail < 0) {
343 if (errno == EINTR || errno == EAGAIN)
352 c = input_queue[input_head];
353 input_head = (input_head + 1) % QUEUE_LEN;
355 if (sirf_in_len || uc == 0xa0) {
356 if (sirf_in_len < 4096)
357 sirf_in_message[sirf_in_len++] = uc;
359 check_sirf_message("recv", sirf_in_message, sirf_in_len);
368 ao_serial1_putchar(char c)
371 uint8_t uc = (uint8_t) c;
373 if (sirf_message_len || uc == 0xa0) {
374 if (sirf_message_len < 4096)
375 sirf_message[sirf_message_len++] = uc;
377 check_sirf_message("send", sirf_message, sirf_message_len);
378 sirf_message_len = 0;
382 i = write(ao_gps_fd, &c, 1);
384 if ((uint8_t) c == 0xb3 || c == '\r') {
385 /* static const struct timespec delay = {
387 .tv_nsec = 100 * 1000 * 1000
391 // nanosleep(&delay, NULL);
395 if (i < 0 && (errno == EINTR || errno == EAGAIN))
402 #define AO_SERIAL_SPEED_4800 0
403 #define AO_SERIAL_SPEED_57600 1
404 #define AO_SERIAL_SPEED_115200 2
407 ao_serial1_set_speed(uint8_t speed)
410 struct termios termios;
413 tcgetattr(fd, &termios);
415 case AO_SERIAL_SPEED_4800:
416 cfsetspeed(&termios, B4800);
418 case AO_SERIAL_SPEED_57600:
419 cfsetspeed(&termios, B57600);
421 case AO_SERIAL_SPEED_115200:
422 cfsetspeed(&termios, B115200);
425 tcsetattr(fd, TCSAFLUSH, &termios);
426 tcflush(fd, TCIFLUSH);
431 #include "ao_gps_print.c"
432 #include "ao_gps_sirf.c"
435 ao_dump_state(void *wchan)
439 if (wchan != &ao_gps_new)
442 if (ao_gps_new & AO_GPS_NEW_DATA) {
443 ao_gps_print(&ao_gps_data);
446 if (ao_gps_new & AO_GPS_NEW_TRACKING) {
447 ao_gps_tracking_print(&ao_gps_tracking_data);
451 printf ("%02d:%02d:%02d",
452 ao_gps_data.hour, ao_gps_data.minute,
454 printf (" nsat %d %svalid",
455 ao_gps_data.flags & AO_GPS_NUM_SAT_MASK,
456 ao_gps_data.flags & AO_GPS_VALID ? "" : "not ");
457 printf (" lat %g lon %g alt %d",
458 ao_gps_data.latitude / 1.0e7,
459 ao_gps_data.longitude / 1.0e7,
460 ao_gps_data.altitude);
461 printf (" speed %g climb %g course %d",
462 ao_gps_data.ground_speed / 100.0,
463 ao_gps_data.climb_rate / 100.0,
464 ao_gps_data.course * 2);
465 printf (" hdop %g h_error %d v_error %d",
466 ao_gps_data.hdop / 5.0,
467 ao_gps_data.h_error, ao_gps_data.v_error);
470 for (i = 0; i < 12; i++)
471 printf (" %2d(%02d)",
472 ao_gps_tracking_data.sats[i].svid,
473 ao_gps_tracking_data.sats[i].c_n_1);
478 ao_gps_open(const char *tty)
480 struct termios termios;
483 fd = open (tty, O_RDWR);
487 tcgetattr(fd, &termios);
489 cfsetspeed(&termios, B4800);
490 tcsetattr(fd, TCSAFLUSH, &termios);
493 tcflush(fd, TCIFLUSH);
499 static const struct option options[] = {
500 { .name = "tty", .has_arg = 1, .val = 'T' },
504 static void usage(char *program)
506 fprintf(stderr, "usage: %s [--tty <tty-name>]\n", program);
511 main (int argc, char **argv)
513 char *tty = "/dev/ttyUSB0";
516 while ((c = getopt_long(argc, argv, "T:", options, NULL)) != -1) {
526 ao_gps_fd = ao_gps_open(tty);