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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; version 2 of the License.
   7  *
   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.
  12  *
  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.
  16  */
  17
  18 #define AO_GPS_TEST
  19 #define HAS_GPS 1
  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 <fcntl.h>
  26 #include <unistd.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 extern __xdata struct ao_telemetry_location     ao_gps_data;
  86 extern __xdata struct ao_telemetry_satellite    ao_gps_tracking_data;
  87
  88 uint8_t ao_gps_mutex;
  89
  90 void
  91 ao_mutex_get(uint8_t *mutex)
  92 {
  93 }
  94
  95 void
  96 ao_mutex_put(uint8_t *mutex)
  97 {
  98 }
  99
 100 static int
 101 ao_gps_fd;
 102
 103 #if 0
 104 static void
 105 ao_dbg_char(char c)
 106 {
 107         char    line[128];
 108         line[0] = '\0';
 109         if (c < ' ') {
 110                 if (c == '\n')
 111                         sprintf (line, "\n");
 112                 else
 113                         sprintf (line, "\\%02x", ((int) c) & 0xff);
 114         } else {
 115                 sprintf (line, "%c", c);
 116         }
 117         write(1, line, strlen(line));
 118 }
 119 #endif
 120
 121 #define QUEUE_LEN       4096
 122
 123 static char     input_queue[QUEUE_LEN];
 124 int             input_head, input_tail;
 125
 126 #include <sys/time.h>
 127
 128 int
 129 get_millis(void)
 130 {
 131         struct timeval  tv;
 132         gettimeofday(&tv, NULL);
 133         return tv.tv_sec * 1000 + tv.tv_usec / 1000;
 134 }
 135
 136 static void
 137 check_skytraq_message(char *from, uint8_t *msg, int len)
 138 {
 139         uint16_t        encoded_len, encoded_cksum;
 140         uint16_t        cksum;
 141         uint8_t         id;
 142         int             i;
 143
 144 //      fwrite(msg, 1, len, stdout);
 145         return;
 146         if (msg[0] != 0xa0 || msg[1] != 0xa2) {
 147                 printf ("bad header\n");
 148                 return;
 149         }
 150         if (len < 7) {
 151                 printf("short\n");
 152                 return;
 153         }
 154         if (msg[len-1] != 0xb3 || msg[len-2] != 0xb0) {
 155                 printf ("bad trailer\n");
 156                 return;
 157         }
 158         encoded_len = (msg[2] << 8) | msg[3];
 159         id = msg[4];
 160 /*      printf ("%9d: %3d\n", get_millis(), id); */
 161         if (encoded_len != len - 8) {
 162                 if (id != 52)
 163                         printf ("length mismatch (got %d, wanted %d)\n",
 164                                 len - 8, encoded_len);
 165                 return;
 166         }
 167         encoded_cksum = (msg[len - 4] << 8) | msg[len-3];
 168         cksum = 0;
 169         for (i = 4; i < len - 4; i++)
 170                 cksum = (cksum + msg[i]) & 0x7fff;
 171         if (encoded_cksum != cksum) {
 172                 printf ("cksum mismatch (got %04x wanted %04x)\n",
 173                         cksum, encoded_cksum);
 174                 return;
 175         }
 176         id = msg[4];
 177         switch (id) {
 178         case 41:{
 179                 int     off = 4;
 180
 181                 uint8_t         id;
 182                 uint16_t        nav_valid;
 183                 uint16_t        nav_type;
 184                 uint16_t        week;
 185                 uint32_t        tow;
 186                 uint16_t        year;
 187                 uint8_t         month;
 188                 uint8_t         day;
 189                 uint8_t         hour;
 190                 uint8_t         minute;
 191                 uint16_t        second;
 192                 uint32_t        sat_list;
 193                 int32_t         lat;
 194                 int32_t         lon;
 195                 int32_t         alt_ell;
 196                 int32_t         alt_msl;
 197                 int8_t          datum;
 198                 uint16_t        sog;
 199                 uint16_t        cog;
 200                 int16_t         mag_var;
 201                 int16_t         climb_rate;
 202                 int16_t         heading_rate;
 203                 uint32_t        h_error;
 204                 uint32_t        v_error;
 205                 uint32_t        t_error;
 206                 uint16_t        h_v_error;
 207
 208 #define get_u8(u)       u = (msg[off]); off+= 1
 209 #define get_u16(u)      u = (msg[off] << 8) | (msg[off + 1]); off+= 2
 210 #define get_u32(u)      u = (msg[off] << 24) | (msg[off + 1] << 16) | (msg[off+2] << 8) | (msg[off+3]); off+= 4
 211
 212                 get_u8(id);
 213                 get_u16(nav_valid);
 214                 get_u16(nav_type);
 215                 get_u16(week);
 216                 get_u32(tow);
 217                 get_u16(year);
 218                 get_u8(month);
 219                 get_u8(day);
 220                 get_u8(hour);
 221                 get_u8(minute);
 222                 get_u16(second);
 223                 get_u32(sat_list);
 224                 get_u32(lat);
 225                 get_u32(lon);
 226                 get_u32(alt_ell);
 227                 get_u32(alt_msl);
 228                 get_u8(datum);
 229                 get_u16(sog);
 230                 get_u16(cog);
 231                 get_u16(mag_var);
 232                 get_u16(climb_rate);
 233                 get_u16(heading_rate);
 234                 get_u32(h_error);
 235                 get_u32(v_error);
 236                 get_u32(t_error);
 237                 get_u16(h_v_error);
 238
 239
 240                 (void) mag_var;
 241                 (void) id;
 242                 printf ("Geodetic Navigation Data (41):\n");
 243                 printf ("\tNav valid %04x\n", nav_valid);
 244                 printf ("\tNav type %04x\n", nav_type);
 245                 printf ("\tWeek %5d", week);
 246                 printf (" TOW %9d", tow);
 247                 printf (" %4d-%2d-%2d %02d:%02d:%07.4f\n",
 248                         year, month, day,
 249                         hour, minute, second / 1000.0);
 250                 printf ("\tsats: %08x\n", sat_list);
 251                 printf ("\tlat: %g", lat / 1.0e7);
 252                 printf (" lon: %g", lon / 1.0e7);
 253                 printf (" alt_ell: %g", alt_ell / 100.0);
 254                 printf (" alt_msll: %g", alt_msl / 100.0);
 255                 printf (" datum: %d\n", datum);
 256                 printf ("\tground speed: %g", sog / 100.0);
 257                 printf (" course: %g", cog / 100.0);
 258                 printf (" climb: %g", climb_rate / 100.0);
 259                 printf (" heading rate: %g\n", heading_rate / 100.0);
 260                 printf ("\th error: %g", h_error / 100.0);
 261                 printf (" v error: %g", v_error / 100.0);
 262                 printf (" t error: %g", t_error / 100.0);
 263                 printf (" h vel error: %g\n", h_v_error / 100.0);
 264                 break;
 265         }
 266         case 4: {
 267                 int off = 4;
 268                 uint8_t         id;
 269                 int16_t         gps_week;
 270                 uint32_t        gps_tow;
 271                 uint8_t         channels;
 272                 int             j, k;
 273
 274                 get_u8(id);
 275                 get_u16(gps_week);
 276                 get_u32(gps_tow);
 277                 get_u8(channels);
 278
 279                 (void) id;
 280                 printf ("Measured Tracker Data (4):\n");
 281                 printf ("GPS week: %d\n", gps_week);
 282                 printf ("GPS time of week: %d\n", gps_tow);
 283                 printf ("channels: %d\n", channels);
 284                 for (j = 0; j < 12; j++) {
 285                         uint8_t svid, azimuth, elevation;
 286                         uint16_t state;
 287                         uint8_t c_n[10];
 288                         get_u8(svid);
 289                         get_u8(azimuth);
 290                         get_u8(elevation);
 291                         get_u16(state);
 292                         for (k = 0; k < 10; k++) {
 293                                 get_u8(c_n[k]);
 294                         }
 295                         printf ("Sat %3d:", svid);
 296                         printf (" aziumuth: %6.1f", azimuth * 1.5);
 297                         printf (" elevation: %6.1f", elevation * 0.5);
 298                         printf (" state: 0x%02x", state);
 299                         printf (" c_n:");
 300                         for (k = 0; k < 10; k++)
 301                                 printf(" %3d", c_n[k]);
 302                         if (state & SIRF_SAT_STATE_ACQUIRED)
 303                                 printf(" acq,");
 304                         if (state & SIRF_SAT_STATE_CARRIER_PHASE_VALID)
 305                                 printf(" car,");
 306                         if (state & SIRF_SAT_BIT_SYNC_COMPLETE)
 307                                 printf(" bit,");
 308                         if (state & SIRF_SAT_SUBFRAME_SYNC_COMPLETE)
 309                                 printf(" sub,");
 310                         if (state & SIRF_SAT_CARRIER_PULLIN_COMPLETE)
 311                                 printf(" pullin,");
 312                         if (state & SIRF_SAT_CODE_LOCKED)
 313                                 printf(" code,");
 314                         if (state & SIRF_SAT_ACQUISITION_FAILED)
 315                                 printf(" fail,");
 316                         if (state & SIRF_SAT_EPHEMERIS_AVAILABLE)
 317                                 printf(" ephem,");
 318                         printf ("\n");
 319                 }
 320                 break;
 321         }
 322         default:
 323                 return;
 324                 printf ("%s %4d:", from, encoded_len);
 325                 for (i = 4; i < len - 4; i++) {
 326                         if (((i - 4) & 0xf) == 0)
 327                                 printf("\n   ");
 328                         printf (" %3d", msg[i]);
 329                 }
 330                 printf ("\n");
 331         }
 332 }
 333
 334 static uint8_t  skytraq_message[4096];
 335 static int      skytraq_message_len;
 336 static uint8_t  skytraq_in_message[4096];
 337 static int      skytraq_in_len;
 338
 339 char
 340 ao_serial1_getchar(void)
 341 {
 342         char    c;
 343         uint8_t uc;
 344
 345         while (input_head == input_tail) {
 346                 for (;;) {
 347                         input_tail = read(ao_gps_fd, input_queue, QUEUE_LEN);
 348                         if (input_tail < 0) {
 349                                 if (errno == EINTR || errno == EAGAIN)
 350                                         continue;
 351                                 perror ("getchar");
 352                                 exit (1);
 353                         }
 354                         input_head = 0;
 355                         break;
 356                 }
 357         }
 358         c = input_queue[input_head];
 359         input_head = (input_head + 1) % QUEUE_LEN;
 360         uc = c;
 361 //      printf ("c: %02x %c\n", uc, uc);
 362         if (skytraq_in_len || uc == '$') {
 363                 if (skytraq_in_len < 4096)
 364                         skytraq_in_message[skytraq_in_len++] = uc;
 365                 if (uc == 0x0a) {
 366                         check_skytraq_message("recv", skytraq_in_message, skytraq_in_len);
 367                         skytraq_in_len = 0;
 368                 }
 369         }
 370         return c;
 371 }
 372
 373
 374 void
 375 ao_serial1_putchar(char c)
 376 {
 377         int     i;
 378         uint8_t uc = (uint8_t) c;
 379
 380         if (skytraq_message_len || uc == 0xa0) {
 381                 if (skytraq_message_len < 4096)
 382                         skytraq_message[skytraq_message_len++] = uc;
 383                 if (uc == 0x0a) {
 384                         check_skytraq_message("send", skytraq_message, skytraq_message_len);
 385                         skytraq_message_len = 0;
 386                 }
 387         }
 388         for (;;) {
 389                 i = write(ao_gps_fd, &c, 1);
 390                 if (i == 1) {
 391                         if ((uint8_t) c == 0xb3 || c == '\r') {
 392 /*                              static const struct timespec delay = {
 393                                         .tv_sec = 0,
 394                                         .tv_nsec = 100 * 1000 * 1000
 395                                 };
 396 */
 397                                 tcdrain(ao_gps_fd);
 398 //                              nanosleep(&delay, NULL);
 399                         }
 400                         break;
 401                 }
 402                 if (i < 0 && (errno == EINTR || errno == EAGAIN))
 403                         continue;
 404                 perror("putchar");
 405                 exit(1);
 406         }
 407 }
 408
 409 #define AO_SERIAL_SPEED_4800    0
 410 #define AO_SERIAL_SPEED_9600    1
 411 #define AO_SERIAL_SPEED_57600   2
 412 #define AO_SERIAL_SPEED_115200  3
 413
 414 static void
 415 ao_serial1_set_speed(uint8_t speed)
 416 {
 417         int     fd = ao_gps_fd;
 418         struct termios  termios;
 419
 420         tcdrain(fd);
 421         tcgetattr(fd, &termios);
 422         switch (speed) {
 423         case AO_SERIAL_SPEED_4800:
 424                 cfsetspeed(&termios, B4800);
 425                 break;
 426         case AO_SERIAL_SPEED_9600:
 427                 cfsetspeed(&termios, B9600);
 428                 break;
 429         case AO_SERIAL_SPEED_57600:
 430                 cfsetspeed(&termios, B57600);
 431                 break;
 432         case AO_SERIAL_SPEED_115200:
 433                 cfsetspeed(&termios, B115200);
 434                 break;
 435         }
 436         tcsetattr(fd, TCSAFLUSH, &termios);
 437         tcflush(fd, TCIFLUSH);
 438 }
 439
 440 #define ao_time() 0
 441
 442 uint8_t ao_task_minimize_latency;
 443
 444 #define ao_usb_getchar()        0
 445
 446 #include "ao_gps_print.c"
 447 #include "ao_gps_show.c"
 448 #include "ao_gps_skytraq.c"
 449
 450 void
 451 ao_dump_state(void *wchan)
 452 {
 453         if (wchan == &ao_gps_new)
 454                 ao_gps_show();
 455 }
 456
 457 int
 458 ao_gps_open(const char *tty)
 459 {
 460         struct termios  termios;
 461         int fd;
 462
 463         fd = open (tty, O_RDWR);
 464         if (fd < 0)
 465                 return -1;
 466
 467         tcgetattr(fd, &termios);
 468         cfmakeraw(&termios);
 469         cfsetspeed(&termios, B4800);
 470         tcsetattr(fd, TCSAFLUSH, &termios);
 471
 472         tcdrain(fd);
 473         tcflush(fd, TCIFLUSH);
 474         return fd;
 475 }
 476
 477 #include <getopt.h>
 478
 479 static const struct option options[] = {
 480         { .name = "tty", .has_arg = 1, .val = 'T' },
 481         { 0, 0, 0, 0},
 482 };
 483
 484 static void usage(char *program)
 485 {
 486         fprintf(stderr, "usage: %s [--tty <tty-name>]\n", program);
 487         exit(1);
 488 }
 489
 490 int
 491 main (int argc, char **argv)
 492 {
 493         char    *tty = "/dev/ttyUSB0";
 494         int     c;
 495
 496         while ((c = getopt_long(argc, argv, "T:", options, NULL)) != -1) {
 497                 switch (c) {
 498                 case 'T':
 499                         tty = optarg;
 500                         break;
 501                 default:
 502                         usage(argv[0]);
 503                         break;
 504                 }
 505         }
 506         ao_gps_fd = ao_gps_open(tty);
 507         if (ao_gps_fd < 0) {
 508                 perror (tty);
 509                 exit (1);
 510         }
 511         ao_gps();
 512         return 0;
 513 }