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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 #define AO_TICK_TYPE uint32_t
  21 #define HAS_GPS 1
  22 #define tick_count 0
  23 #include "ao_host.h"
  24 #include <termios.h>
  25 #include <errno.h>
  26 #include <sys/types.h>
  27 #include <sys/stat.h>
  28 #include <fcntl.h>
  29 #include <unistd.h>
  30 #define AO_GPS_NUM_SAT_MASK     (0xf << 0)
  31 #define AO_GPS_NUM_SAT_SHIFT    (0)
  32
  33 #define AO_GPS_NEW_DATA         1
  34 #define AO_GPS_NEW_TRACKING     2
  35
  36 #define AO_GPS_VALID            (1 << 4)
  37 #define AO_GPS_RUNNING          (1 << 5)
  38 #define AO_GPS_DATE_VALID       (1 << 6)
  39 #define AO_GPS_COURSE_VALID     (1 << 7)
  40
  41 struct ao_gps_orig {
  42         uint8_t                 year;
  43         uint8_t                 month;
  44         uint8_t                 day;
  45         uint8_t                 hour;
  46         uint8_t                 minute;
  47         uint8_t                 second;
  48         uint8_t                 flags;
  49         int32_t                 latitude;       /* degrees * 10⁷ */
  50         int32_t                 longitude;      /* degrees * 10⁷ */
  51         int16_t                 altitude;       /* m */
  52         uint16_t                ground_speed;   /* cm/s */
  53         uint8_t                 course;         /* degrees / 2 */
  54         uint8_t                 pdop;           /* unused */
  55         uint8_t                 vdop;           /* unused */
  56         uint8_t                 hdop;           /* * 5 */
  57         int16_t                 climb_rate;     /* cm/s */
  58         uint16_t                h_error;        /* m */
  59         uint16_t                v_error;        /* m */
  60 };
  61
  62 #define AO_TELEMETRY_LOCATION_ALTITUDE(l)       ((l)->altitude)
  63 #define AO_TELEMETRY_LOCATION_SET_ALTITUDE(l,a) ((l)->altitude = (a))
  64
  65 #define SIRF_SAT_STATE_ACQUIRED                 (1 << 0)
  66 #define SIRF_SAT_STATE_CARRIER_PHASE_VALID      (1 << 1)
  67 #define SIRF_SAT_BIT_SYNC_COMPLETE              (1 << 2)
  68 #define SIRF_SAT_SUBFRAME_SYNC_COMPLETE         (1 << 3)
  69 #define SIRF_SAT_CARRIER_PULLIN_COMPLETE        (1 << 4)
  70 #define SIRF_SAT_CODE_LOCKED                    (1 << 5)
  71 #define SIRF_SAT_ACQUISITION_FAILED             (1 << 6)
  72 #define SIRF_SAT_EPHEMERIS_AVAILABLE            (1 << 7)
  73
  74 struct ao_gps_sat_orig {
  75         uint8_t         svid;
  76         uint8_t         c_n_1;
  77 };
  78
  79 #define AO_MAX_GPS_TRACKING     12
  80
  81 struct ao_gps_tracking_orig {
  82         uint8_t                 channels;
  83         struct ao_gps_sat_orig  sats[AO_MAX_GPS_TRACKING];
  84 };
  85
  86 #define ao_telemetry_location ao_gps_orig
  87 #define ao_telemetry_satellite ao_gps_tracking_orig
  88 #define ao_telemetry_satellite_info ao_gps_sat_orig
  89
  90 extern struct ao_telemetry_location     ao_gps_data;
  91 extern struct ao_telemetry_satellite    ao_gps_tracking_data;
  92
  93 uint8_t ao_gps_mutex;
  94
  95 void
  96 ao_mutex_get(uint8_t *mutex)
  97 {
  98 }
  99
 100 void
 101 ao_mutex_put(uint8_t *mutex)
 102 {
 103 }
 104
 105 static int
 106 ao_gps_fd;
 107
 108 #if 0
 109 static void
 110 ao_dbg_char(char c)
 111 {
 112         char    line[128];
 113         line[0] = '\0';
 114         if (c < ' ') {
 115                 if (c == '\n')
 116                         sprintf (line, "\n");
 117                 else
 118                         sprintf (line, "\\%02x", ((int) c) & 0xff);
 119         } else {
 120                 sprintf (line, "%c", c);
 121         }
 122         write(1, line, strlen(line));
 123 }
 124 #endif
 125
 126 #define QUEUE_LEN       4096
 127
 128 static char     input_queue[QUEUE_LEN];
 129 int             input_head, input_tail;
 130
 131 #include <sys/time.h>
 132
 133 int
 134 get_millis(void)
 135 {
 136         struct timeval  tv;
 137         gettimeofday(&tv, NULL);
 138         return tv.tv_sec * 1000 + tv.tv_usec / 1000;
 139 }
 140
 141 static void
 142 check_skytraq_message(char *from, uint8_t *msg, int len)
 143 {
 144         uint16_t        encoded_len, encoded_cksum;
 145         uint16_t        cksum;
 146         uint8_t         id;
 147         int             i;
 148
 149 //      fwrite(msg, 1, len, stdout);
 150         return;
 151         if (msg[0] != 0xa0 || msg[1] != 0xa2) {
 152                 printf ("bad header\n");
 153                 return;
 154         }
 155         if (len < 7) {
 156                 printf("short\n");
 157                 return;
 158         }
 159         if (msg[len-1] != 0xb3 || msg[len-2] != 0xb0) {
 160                 printf ("bad trailer\n");
 161                 return;
 162         }
 163         encoded_len = (msg[2] << 8) | msg[3];
 164         id = msg[4];
 165 /*      printf ("%9d: %3d\n", get_millis(), id); */
 166         if (encoded_len != len - 8) {
 167                 if (id != 52)
 168                         printf ("length mismatch (got %d, wanted %d)\n",
 169                                 len - 8, encoded_len);
 170                 return;
 171         }
 172         encoded_cksum = (msg[len - 4] << 8) | msg[len-3];
 173         cksum = 0;
 174         for (i = 4; i < len - 4; i++)
 175                 cksum = (cksum + msg[i]) & 0x7fff;
 176         if (encoded_cksum != cksum) {
 177                 printf ("cksum mismatch (got %04x wanted %04x)\n",
 178                         cksum, encoded_cksum);
 179                 return;
 180         }
 181         id = msg[4];
 182         switch (id) {
 183         case 41:{
 184                 int     off = 4;
 185
 186                 uint8_t         id;
 187                 uint16_t        nav_valid;
 188                 uint16_t        nav_type;
 189                 uint16_t        week;
 190                 uint32_t        tow;
 191                 uint16_t        year;
 192                 uint8_t         month;
 193                 uint8_t         day;
 194                 uint8_t         hour;
 195                 uint8_t         minute;
 196                 uint16_t        second;
 197                 uint32_t        sat_list;
 198                 int32_t         lat;
 199                 int32_t         lon;
 200                 int32_t         alt_ell;
 201                 int32_t         alt_msl;
 202                 int8_t          datum;
 203                 uint16_t        sog;
 204                 uint16_t        cog;
 205                 int16_t         mag_var;
 206                 int16_t         climb_rate;
 207                 int16_t         heading_rate;
 208                 uint32_t        h_error;
 209                 uint32_t        v_error;
 210                 uint32_t        t_error;
 211                 uint16_t        h_v_error;
 212
 213 #define get_u8(u)       u = (msg[off]); off+= 1
 214 #define get_u16(u)      u = (msg[off] << 8) | (msg[off + 1]); off+= 2
 215 #define get_u32(u)      u = (msg[off] << 24) | (msg[off + 1] << 16) | (msg[off+2] << 8) | (msg[off+3]); off+= 4
 216
 217                 get_u8(id);
 218                 get_u16(nav_valid);
 219                 get_u16(nav_type);
 220                 get_u16(week);
 221                 get_u32(tow);
 222                 get_u16(year);
 223                 get_u8(month);
 224                 get_u8(day);
 225                 get_u8(hour);
 226                 get_u8(minute);
 227                 get_u16(second);
 228                 get_u32(sat_list);
 229                 get_u32(lat);
 230                 get_u32(lon);
 231                 get_u32(alt_ell);
 232                 get_u32(alt_msl);
 233                 get_u8(datum);
 234                 get_u16(sog);
 235                 get_u16(cog);
 236                 get_u16(mag_var);
 237                 get_u16(climb_rate);
 238                 get_u16(heading_rate);
 239                 get_u32(h_error);
 240                 get_u32(v_error);
 241                 get_u32(t_error);
 242                 get_u16(h_v_error);
 243
 244
 245                 (void) mag_var;
 246                 (void) id;
 247                 printf ("Geodetic Navigation Data (41):\n");
 248                 printf ("\tNav valid %04x\n", nav_valid);
 249                 printf ("\tNav type %04x\n", nav_type);
 250                 printf ("\tWeek %5d", week);
 251                 printf (" TOW %9d", tow);
 252                 printf (" %4d-%2d-%2d %02d:%02d:%07.4f\n",
 253                         year, month, day,
 254                         hour, minute, second / 1000.0);
 255                 printf ("\tsats: %08x\n", sat_list);
 256                 printf ("\tlat: %g", lat / 1.0e7);
 257                 printf (" lon: %g", lon / 1.0e7);
 258                 printf (" alt_ell: %g", alt_ell / 100.0);
 259                 printf (" alt_msll: %g", alt_msl / 100.0);
 260                 printf (" datum: %d\n", datum);
 261                 printf ("\tground speed: %g", sog / 100.0);
 262                 printf (" course: %g", cog / 100.0);
 263                 printf (" climb: %g", climb_rate / 100.0);
 264                 printf (" heading rate: %g\n", heading_rate / 100.0);
 265                 printf ("\th error: %g", h_error / 100.0);
 266                 printf (" v error: %g", v_error / 100.0);
 267                 printf (" t error: %g", t_error / 100.0);
 268                 printf (" h vel error: %g\n", h_v_error / 100.0);
 269                 break;
 270         }
 271         case 4: {
 272                 int off = 4;
 273                 uint8_t         id;
 274                 int16_t         gps_week;
 275                 uint32_t        gps_tow;
 276                 uint8_t         channels;
 277                 int             j, k;
 278
 279                 get_u8(id);
 280                 get_u16(gps_week);
 281                 get_u32(gps_tow);
 282                 get_u8(channels);
 283
 284                 (void) id;
 285                 printf ("Measured Tracker Data (4):\n");
 286                 printf ("GPS week: %d\n", gps_week);
 287                 printf ("GPS time of week: %d\n", gps_tow);
 288                 printf ("channels: %d\n", channels);
 289                 for (j = 0; j < 12; j++) {
 290                         uint8_t svid, azimuth, elevation;
 291                         uint16_t state;
 292                         uint8_t c_n[10];
 293                         get_u8(svid);
 294                         get_u8(azimuth);
 295                         get_u8(elevation);
 296                         get_u16(state);
 297                         for (k = 0; k < 10; k++) {
 298                                 get_u8(c_n[k]);
 299                         }
 300                         printf ("Sat %3d:", svid);
 301                         printf (" aziumuth: %6.1f", azimuth * 1.5);
 302                         printf (" elevation: %6.1f", elevation * 0.5);
 303                         printf (" state: 0x%02x", state);
 304                         printf (" c_n:");
 305                         for (k = 0; k < 10; k++)
 306                                 printf(" %3d", c_n[k]);
 307                         if (state & SIRF_SAT_STATE_ACQUIRED)
 308                                 printf(" acq,");
 309                         if (state & SIRF_SAT_STATE_CARRIER_PHASE_VALID)
 310                                 printf(" car,");
 311                         if (state & SIRF_SAT_BIT_SYNC_COMPLETE)
 312                                 printf(" bit,");
 313                         if (state & SIRF_SAT_SUBFRAME_SYNC_COMPLETE)
 314                                 printf(" sub,");
 315                         if (state & SIRF_SAT_CARRIER_PULLIN_COMPLETE)
 316                                 printf(" pullin,");
 317                         if (state & SIRF_SAT_CODE_LOCKED)
 318                                 printf(" code,");
 319                         if (state & SIRF_SAT_ACQUISITION_FAILED)
 320                                 printf(" fail,");
 321                         if (state & SIRF_SAT_EPHEMERIS_AVAILABLE)
 322                                 printf(" ephem,");
 323                         printf ("\n");
 324                 }
 325                 break;
 326         }
 327         default:
 328                 return;
 329                 printf ("%s %4d:", from, encoded_len);
 330                 for (i = 4; i < len - 4; i++) {
 331                         if (((i - 4) & 0xf) == 0)
 332                                 printf("\n   ");
 333                         printf (" %3d", msg[i]);
 334                 }
 335                 printf ("\n");
 336         }
 337 }
 338
 339 static uint8_t  skytraq_message[4096];
 340 static int      skytraq_message_len;
 341 static uint8_t  skytraq_in_message[4096];
 342 static int      skytraq_in_len;
 343
 344 char
 345 ao_serial1_getchar(void)
 346 {
 347         char    c;
 348         uint8_t uc;
 349
 350         while (input_head == input_tail) {
 351                 for (;;) {
 352                         input_tail = read(ao_gps_fd, input_queue, QUEUE_LEN);
 353                         if (input_tail < 0) {
 354                                 if (errno == EINTR || errno == EAGAIN)
 355                                         continue;
 356                                 perror ("getchar");
 357                                 exit (1);
 358                         }
 359                         input_head = 0;
 360                         break;
 361                 }
 362         }
 363         c = input_queue[input_head];
 364         input_head = (input_head + 1) % QUEUE_LEN;
 365         uc = c;
 366 //      printf ("c: %02x %c\n", uc, uc);
 367         if (skytraq_in_len || uc == '$') {
 368                 if (skytraq_in_len < 4096)
 369                         skytraq_in_message[skytraq_in_len++] = uc;
 370                 if (uc == 0x0a) {
 371                         check_skytraq_message("recv", skytraq_in_message, skytraq_in_len);
 372                         skytraq_in_len = 0;
 373                 }
 374         }
 375         return c;
 376 }
 377
 378
 379 void
 380 ao_serial1_putchar(char c)
 381 {
 382         int     i;
 383         uint8_t uc = (uint8_t) c;
 384
 385         if (skytraq_message_len || uc == 0xa0) {
 386                 if (skytraq_message_len < 4096)
 387                         skytraq_message[skytraq_message_len++] = uc;
 388                 if (uc == 0x0a) {
 389                         check_skytraq_message("send", skytraq_message, skytraq_message_len);
 390                         skytraq_message_len = 0;
 391                 }
 392         }
 393         for (;;) {
 394                 i = write(ao_gps_fd, &c, 1);
 395                 if (i == 1) {
 396                         if ((uint8_t) c == 0xb3 || c == '\r') {
 397 /*                              static const struct timespec delay = {
 398                                         .tv_sec = 0,
 399                                         .tv_nsec = 100 * 1000 * 1000
 400                                 };
 401 */
 402                                 tcdrain(ao_gps_fd);
 403 //                              nanosleep(&delay, NULL);
 404                         }
 405                         break;
 406                 }
 407                 if (i < 0 && (errno == EINTR || errno == EAGAIN))
 408                         continue;
 409                 perror("putchar");
 410                 exit(1);
 411         }
 412 }
 413
 414 #define AO_SERIAL_SPEED_4800    0
 415 #define AO_SERIAL_SPEED_9600    1
 416 #define AO_SERIAL_SPEED_57600   2
 417 #define AO_SERIAL_SPEED_115200  3
 418
 419 static void
 420 ao_serial1_set_speed(uint8_t speed)
 421 {
 422         int     fd = ao_gps_fd;
 423         struct termios  termios;
 424
 425         tcdrain(fd);
 426         tcgetattr(fd, &termios);
 427         switch (speed) {
 428         case AO_SERIAL_SPEED_4800:
 429                 cfsetspeed(&termios, B4800);
 430                 break;
 431         case AO_SERIAL_SPEED_9600:
 432                 cfsetspeed(&termios, B9600);
 433                 break;
 434         case AO_SERIAL_SPEED_57600:
 435                 cfsetspeed(&termios, B57600);
 436                 break;
 437         case AO_SERIAL_SPEED_115200:
 438                 cfsetspeed(&termios, B115200);
 439                 break;
 440         }
 441         tcsetattr(fd, TCSAFLUSH, &termios);
 442         tcflush(fd, TCIFLUSH);
 443 }
 444
 445 #define ao_time() 0
 446
 447 uint8_t ao_task_minimize_latency;
 448
 449 #define ao_usb_getchar()        0
 450
 451 #include "ao_gps_print.c"
 452 #include "ao_gps_show.c"
 453 #include "ao_gps_skytraq.c"
 454
 455 void
 456 ao_dump_state(void *wchan)
 457 {
 458         if (wchan == &ao_gps_new)
 459                 ao_gps_show();
 460 }
 461
 462 int
 463 ao_gps_open(const char *tty)
 464 {
 465         struct termios  termios;
 466         int fd;
 467
 468         fd = open (tty, O_RDWR);
 469         if (fd < 0)
 470                 return -1;
 471
 472         tcgetattr(fd, &termios);
 473         cfmakeraw(&termios);
 474         cfsetspeed(&termios, B4800);
 475         tcsetattr(fd, TCSAFLUSH, &termios);
 476
 477         tcdrain(fd);
 478         tcflush(fd, TCIFLUSH);
 479         return fd;
 480 }
 481
 482 #include <getopt.h>
 483
 484 static const struct option options[] = {
 485         { .name = "tty", .has_arg = 1, .val = 'T' },
 486         { 0, 0, 0, 0},
 487 };
 488
 489 static void usage(char *program)
 490 {
 491         fprintf(stderr, "usage: %s [--tty <tty-name>]\n", program);
 492         exit(1);
 493 }
 494
 495 int
 496 main (int argc, char **argv)
 497 {
 498         char    *tty = "/dev/ttyUSB0";
 499         int     c;
 500
 501         while ((c = getopt_long(argc, argv, "T:", options, NULL)) != -1) {
 502                 switch (c) {
 503                 case 'T':
 504                         tty = optarg;
 505                         break;
 506                 default:
 507                         usage(argv[0]);
 508                         break;
 509                 }
 510         }
 511         ao_gps_fd = ao_gps_open(tty);
 512         if (ao_gps_fd < 0) {
 513                 perror (tty);
 514                 exit (1);
 515         }
 516         ao_gps();
 517         return 0;
 518 }