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 __xdata uint8_t ao_gps_mutex;
23 __xdata struct ao_gps_data ao_gps_data;
25 const char ao_gps_set_binary[] = {
26 '$', 'P', 'S', 'R', 'F', '1', '0', '0', ',', '0', ',',
27 '9', '6', '0', '0', ',', '8', ',', '1', ',', '0', '*',
30 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
31 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
32 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
33 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
35 0xa0, 0xa2, 0x00, 0x09, /* length 9 bytes */
36 134, /* Set binary serial port */
37 0, 0, 0x25, 0x80, /* 9600 baud */
42 0x01, 0x34, 0xb0, 0xb3,
45 const char ao_gps_config[] = {
46 0xa0, 0xa2, 0x00, 0x0e, /* length: 14 bytes */
47 136, /* mode control */
49 4, /* degraded mode (disabled) */
51 0, 0, /* user specified altitude */
52 2, /* alt hold mode (disabled, require 3d fixes) */
53 0, /* alt hold source (use last computed altitude) */
55 0, /* Degraded time out (disabled) */
56 0, /* Dead Reckoning time out (disabled) */
57 0, /* Track smoothing (disabled) */
58 0x00, 0x8e, 0xb0, 0xb3,
60 0xa0, 0xa2, 0x00, 0x02, /* length: 2 bytes */
61 143, /* static navigation */
63 0x00, 0x8f, 0xb0, 0xb3,
66 #define NAV_TYPE_GPS_FIX_TYPE_MASK (7 << 0)
67 #define NAV_TYPE_NO_FIX (0 << 0)
68 #define NAV_TYPE_SV_KF (1 << 0)
69 #define NAV_TYPE_2_SV_KF (2 << 0)
70 #define NAV_TYPE_3_SV_KF (3 << 0)
71 #define NAV_TYPE_4_SV_KF (4 << 0)
72 #define NAV_TYPE_2D_LEAST_SQUARES (5 << 0)
73 #define NAV_TYPE_3D_LEAST_SQUARES (6 << 0)
74 #define NAV_TYPE_DR (7 << 0)
75 #define NAV_TYPE_TRICKLE_POWER (1 << 3)
76 #define NAV_TYPE_ALTITUDE_HOLD_MASK (3 << 4)
77 #define NAV_TYPE_ALTITUDE_HOLD_NONE (0 << 4)
78 #define NAV_TYPE_ALTITUDE_HOLD_KF (1 << 4)
79 #define NAV_TYPE_ALTITUDE_HOLD_USER (2 << 4)
80 #define NAV_TYPE_ALTITUDE_HOLD_ALWAYS (3 << 4)
81 #define NAV_TYPE_DOP_LIMIT_EXCEEDED (1 << 6)
82 #define NAV_TYPE_DGPS_APPLIED (1 << 7)
83 #define NAV_TYPE_SENSOR_DR (1 << 8)
84 #define NAV_TYPE_OVERDETERMINED (1 << 9)
85 #define NAV_TYPE_DR_TIMEOUT_EXCEEDED (1 << 10)
86 #define NAV_TYPE_FIX_MI_EDIT (1 << 11)
87 #define NAV_TYPE_INVALID_VELOCITY (1 << 12)
88 #define NAV_TYPE_ALTITUDE_HOLD_DISABLED (1 << 13)
89 #define NAV_TYPE_DR_ERROR_STATUS_MASK (3 << 14)
90 #define NAV_TYPE_DR_ERROR_STATUS_GPS_ONLY (0 << 14)
91 #define NAV_TYPE_DR_ERROR_STATUS_DR_FROM_GPS (1 << 14)
92 #define NAV_TYPE_DR_ERROR_STATUS_DR_SENSOR_ERROR (2 << 14)
93 #define NAV_TYPE_DR_ERROR_STATUS_DR_IN_TEST (3 << 14)
95 struct sirf_geodetic_nav_data {
106 uint16_t ground_speed;
115 static __xdata struct sirf_geodetic_nav_data ao_sirf_data;
117 static __pdata uint16_t ao_sirf_cksum;
118 static __pdata uint16_t ao_sirf_len;
120 #define ao_sirf_byte() ((uint8_t) ao_serial_getchar())
122 static uint8_t data_byte(void)
124 uint8_t c = ao_sirf_byte();
130 static void sirf_u16(uint8_t offset)
132 uint16_t __xdata *ptr = (uint16_t __xdata *) (((char __xdata *) &ao_sirf_data) + offset);
135 val = data_byte() << 8;
140 static void sirf_u8(uint8_t offset)
142 uint8_t __xdata *ptr = (uint8_t __xdata *) (((char __xdata *) &ao_sirf_data) + offset);
149 static void sirf_u32(uint8_t offset)
151 uint32_t __xdata *ptr = (uint32_t __xdata *) (((char __xdata *) &ao_sirf_data) + offset);
154 val = ((uint32_t) data_byte ()) << 24;
155 val |= ((uint32_t) data_byte ()) << 16;
156 val |= ((uint32_t) data_byte ()) << 8;
157 val |= ((uint32_t) data_byte ());
161 static void sirf_discard(uint8_t len)
168 #define SIRF_DISCARD 1
173 struct sirf_packet_parse {
178 static const struct sirf_packet_parse geodetic_nav_data_packet[] = {
179 { SIRF_DISCARD, 2 }, /* 1 nav valid */
180 { SIRF_U16, offsetof(struct sirf_geodetic_nav_data, nav_type) }, /* 3 */
181 { SIRF_DISCARD, 6 }, /* 5 week number, time of week */
182 { SIRF_U16, offsetof(struct sirf_geodetic_nav_data, utc_year) }, /* 11 */
183 { SIRF_U8, offsetof(struct sirf_geodetic_nav_data, utc_month) }, /* 13 */
184 { SIRF_U8, offsetof(struct sirf_geodetic_nav_data, utc_day) }, /* 14 */
185 { SIRF_U8, offsetof(struct sirf_geodetic_nav_data, utc_hour) }, /* 15 */
186 { SIRF_U8, offsetof(struct sirf_geodetic_nav_data, utc_minute) }, /* 16 */
187 { SIRF_U16, offsetof(struct sirf_geodetic_nav_data, utc_second) }, /* 17 */
188 { SIRF_DISCARD, 4 }, /* satellite id list */ /* 19 */
189 { SIRF_U32, offsetof(struct sirf_geodetic_nav_data, lat) }, /* 23 */
190 { SIRF_U32, offsetof(struct sirf_geodetic_nav_data, lon) }, /* 27 */
191 { SIRF_DISCARD, 4 }, /* altitude from ellipsoid */ /* 31 */
192 { SIRF_U32, offsetof(struct sirf_geodetic_nav_data, alt_msl) }, /* 35 */
193 { SIRF_DISCARD, 1 }, /* map datum */ /* 39 */
194 { SIRF_U16, offsetof(struct sirf_geodetic_nav_data, ground_speed) }, /* 40 */
195 { SIRF_U16, offsetof(struct sirf_geodetic_nav_data, course) }, /* 42 */
196 { SIRF_DISCARD, 2 }, /* magnetic variation */ /* 44 */
197 { SIRF_U16, offsetof(struct sirf_geodetic_nav_data, climb_rate) }, /* 46 */
198 { SIRF_DISCARD, 2 }, /* turn rate */ /* 48 */
199 { SIRF_U32, offsetof(struct sirf_geodetic_nav_data, h_error) }, /* 50 */
200 { SIRF_U32, offsetof(struct sirf_geodetic_nav_data, v_error) }, /* 54 */
201 { SIRF_DISCARD, 30 }, /* time error, h_vel error, clock_bias,
202 clock bias error, clock drift,
203 clock drift error, distance,
204 distance error, heading error */ /* 58 */
205 { SIRF_U8, offsetof(struct sirf_geodetic_nav_data, num_sv) }, /* 88 */
206 { SIRF_U8, offsetof(struct sirf_geodetic_nav_data, hdop) }, /* 89 */
207 { SIRF_DISCARD, 1 }, /* additional mode info */ /* 90 */
208 { SIRF_END, 0 }, /* 91 */
212 ao_sirf_parse_41(void)
217 offset = geodetic_nav_data_packet[i].offset;
218 switch (geodetic_nav_data_packet[i].type) {
222 sirf_discard(offset);
238 ao_gps_setup(void) __reentrant
241 for (j = 0; j < 2; j++) {
243 ao_serial_set_speed(j);
245 for (i = 255; i != 0; i--)
246 ao_serial_putchar(0);
248 for (i = 0; i < sizeof (ao_gps_set_binary); i++)
249 ao_serial_putchar(ao_gps_set_binary[i]);
253 static const char ao_gps_set_message_rate[] = {
254 0xa0, 0xa2, 0x00, 0x08,
257 #define SET_MESSAGE_RATE_ID 6
258 #define SET_MESSAGE_RATE 7
263 ao_sirf_set_message_rate(uint8_t msg, uint8_t rate)
265 uint16_t cksum = 0x00a6;
268 for (i = 0; i < sizeof (ao_gps_set_message_rate); i++)
269 ao_serial_putchar(ao_gps_set_message_rate[i]);
270 ao_serial_putchar(msg);
271 ao_serial_putchar(rate);
272 cksum = 0xa6 + msg + rate;
273 for (i = 0; i < 4; i++)
274 ao_serial_putchar(0);
275 ao_serial_putchar((cksum >> 8) & 0x7f);
276 ao_serial_putchar(cksum & 0xff);
277 ao_serial_putchar(0xb0);
278 ao_serial_putchar(0xb3);
281 static const uint8_t sirf_disable[] = {
293 ao_gps(void) __reentrant
298 for (i = 0; i < sizeof (ao_gps_config); i++)
299 ao_serial_putchar(ao_gps_config[i]);
300 for (i = 0; i < sizeof (sirf_disable); i++)
301 ao_sirf_set_message_rate(sirf_disable[i], 0);
302 ao_sirf_set_message_rate(41, 1);
304 /* Locate the begining of the next record */
305 while (ao_sirf_byte() != 0xa0)
307 if (ao_sirf_byte() != 0xa2)
311 ao_sirf_len = ao_sirf_byte() << 8;
312 ao_sirf_len |= ao_sirf_byte();
313 if (ao_sirf_len > 1023)
319 i = data_byte (); /* 0 */
320 printf ("message %d len %d\n", i, ao_sirf_len);
324 if (ao_sirf_len < 90)
329 if (ao_sirf_len != 0)
332 /* verify checksum and end sequence */
333 ao_sirf_cksum &= 0x7fff;
334 cksum = ao_sirf_byte() << 8;
335 cksum |= ao_sirf_byte();
336 if (ao_sirf_cksum != cksum)
338 if (ao_sirf_byte() != 0xb0)
340 if (ao_sirf_byte() != 0xb3)
345 ao_mutex_get(&ao_gps_mutex);
346 ao_gps_data.hour = ao_sirf_data.utc_hour;
347 ao_gps_data.minute = ao_sirf_data.utc_minute;
348 ao_gps_data.second = ao_sirf_data.utc_second / 1000;
349 ao_gps_data.flags = (ao_sirf_data.num_sv << AO_GPS_NUM_SAT_SHIFT) & AO_GPS_NUM_SAT_MASK;
350 if ((ao_sirf_data.nav_type & NAV_TYPE_GPS_FIX_TYPE_MASK) >= NAV_TYPE_4_SV_KF)
351 ao_gps_data.flags |= AO_GPS_VALID;
352 ao_gps_data.latitude = ao_sirf_data.lat;
353 ao_gps_data.longitude = ao_sirf_data.lon;
354 ao_gps_data.altitude = ao_sirf_data.alt_msl / 100;
355 ao_gps_data.ground_speed = ao_sirf_data.ground_speed;
356 ao_gps_data.course = ao_sirf_data.course / 200;
357 ao_gps_data.hdop = ao_sirf_data.hdop;
358 ao_gps_data.climb_rate = ao_sirf_data.climb_rate;
359 if (ao_sirf_data.h_error > 6553500)
360 ao_gps_data.h_error = 65535;
362 ao_gps_data.h_error = ao_sirf_data.h_error / 100;
363 if (ao_sirf_data.v_error > 6553500)
364 ao_gps_data.v_error = 65535;
366 ao_gps_data.v_error = ao_sirf_data.v_error / 100;
367 ao_mutex_put(&ao_gps_mutex);
368 ao_wakeup(&ao_gps_data);
374 __xdata struct ao_task ao_gps_task;
377 gps_dump(void) __reentrant
379 ao_mutex_get(&ao_gps_mutex);
380 ao_gps_print(&ao_gps_data);
381 ao_mutex_put(&ao_gps_mutex);
384 __code struct ao_cmds ao_gps_cmds[] = {
385 { 'g', gps_dump, "g Display current GPS values" },
386 { 0, gps_dump, NULL },
392 ao_add_task(&ao_gps_task, ao_gps, "gps");
393 ao_cmd_register(&ao_gps_cmds[0]);