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;
28 static const char ao_gps_set_nmea[] = "$PSRF100,0,57600,8,1,0*37\r\n";
30 static const char ao_gps_set_nmea[] = "$PSRF100,0,4800,8,1,0*0F\r\n";
33 const char ao_gps_config[] = {
34 0xa0, 0xa2, 0x00, 0x19, /* length: 25 bytes */
35 128, /* Initialize Data Source */
36 0, 0, 0, 0, /* ECEF X */
37 0, 0, 0, 0, /* ECEF Y */
38 0, 0, 0, 0, /* ECEF Z */
39 0, 0, 0, 0, /* Clock Drift */
40 0, 0, 0, 0, /* Time of Week */
41 0, 0, /* Week Number */
43 0xc6, /* Clear user data, RTC not accurate, Clear history, clear ephemeris */
44 0x01, 0x46, 0xb0, 0xb3,
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, 0x08, /* length: 8 bytes */
61 166, /* Set message rate */
62 2, /* enable/disable all messages */
63 0, /* message id (ignored) */
64 0, /* update rate (0 = disable) */
65 0, 0, 0, 0, /* reserved */
66 0x00, 0xa8, 0xb0, 0xb3,
68 0xa0, 0xa2, 0x00, 0x02, /* length: 2 bytes */
69 143, /* static navigation */
71 0x00, 0x8f, 0xb0, 0xb3,
74 #define NAV_TYPE_GPS_FIX_TYPE_MASK (7 << 0)
75 #define NAV_TYPE_NO_FIX (0 << 0)
76 #define NAV_TYPE_SV_KF (1 << 0)
77 #define NAV_TYPE_2_SV_KF (2 << 0)
78 #define NAV_TYPE_3_SV_KF (3 << 0)
79 #define NAV_TYPE_4_SV_KF (4 << 0)
80 #define NAV_TYPE_2D_LEAST_SQUARES (5 << 0)
81 #define NAV_TYPE_3D_LEAST_SQUARES (6 << 0)
82 #define NAV_TYPE_DR (7 << 0)
83 #define NAV_TYPE_TRICKLE_POWER (1 << 3)
84 #define NAV_TYPE_ALTITUDE_HOLD_MASK (3 << 4)
85 #define NAV_TYPE_ALTITUDE_HOLD_NONE (0 << 4)
86 #define NAV_TYPE_ALTITUDE_HOLD_KF (1 << 4)
87 #define NAV_TYPE_ALTITUDE_HOLD_USER (2 << 4)
88 #define NAV_TYPE_ALTITUDE_HOLD_ALWAYS (3 << 4)
89 #define NAV_TYPE_DOP_LIMIT_EXCEEDED (1 << 6)
90 #define NAV_TYPE_DGPS_APPLIED (1 << 7)
91 #define NAV_TYPE_SENSOR_DR (1 << 8)
92 #define NAV_TYPE_OVERDETERMINED (1 << 9)
93 #define NAV_TYPE_DR_TIMEOUT_EXCEEDED (1 << 10)
94 #define NAV_TYPE_FIX_MI_EDIT (1 << 11)
95 #define NAV_TYPE_INVALID_VELOCITY (1 << 12)
96 #define NAV_TYPE_ALTITUDE_HOLD_DISABLED (1 << 13)
97 #define NAV_TYPE_DR_ERROR_STATUS_MASK (3 << 14)
98 #define NAV_TYPE_DR_ERROR_STATUS_GPS_ONLY (0 << 14)
99 #define NAV_TYPE_DR_ERROR_STATUS_DR_FROM_GPS (1 << 14)
100 #define NAV_TYPE_DR_ERROR_STATUS_DR_SENSOR_ERROR (2 << 14)
101 #define NAV_TYPE_DR_ERROR_STATUS_DR_IN_TEST (3 << 14)
103 struct sirf_geodetic_nav_data {
114 uint16_t ground_speed;
123 static __xdata struct sirf_geodetic_nav_data ao_sirf_data;
125 static __pdata uint16_t ao_sirf_cksum;
126 static __pdata uint16_t ao_sirf_len;
128 #define ao_sirf_byte() ((uint8_t) ao_serial_getchar())
130 static uint8_t data_byte(void)
132 uint8_t c = ao_sirf_byte();
138 static void sirf_u16(uint8_t offset)
140 uint16_t __xdata *ptr = (uint16_t __xdata *) (((char __xdata *) &ao_sirf_data) + offset);
143 val = data_byte() << 8;
148 static void sirf_u8(uint8_t offset)
150 uint8_t __xdata *ptr = (uint8_t __xdata *) (((char __xdata *) &ao_sirf_data) + offset);
157 static void sirf_u32(uint8_t offset)
159 uint32_t __xdata *ptr = (uint32_t __xdata *) (((char __xdata *) &ao_sirf_data) + offset);
162 val = ((uint32_t) data_byte ()) << 24;
163 val |= ((uint32_t) data_byte ()) << 16;
164 val |= ((uint32_t) data_byte ()) << 8;
165 val |= ((uint32_t) data_byte ());
169 static void sirf_discard(uint8_t len)
176 #define SIRF_DISCARD 1
181 struct sirf_packet_parse {
186 static const struct sirf_packet_parse geodetic_nav_data_packet[] = {
187 { SIRF_DISCARD, 2 }, /* 1 nav valid */
188 { SIRF_U16, offsetof(struct sirf_geodetic_nav_data, nav_type) }, /* 3 */
189 { SIRF_DISCARD, 6 }, /* 5 week number, time of week */
190 { SIRF_U16, offsetof(struct sirf_geodetic_nav_data, utc_year) }, /* 11 */
191 { SIRF_U8, offsetof(struct sirf_geodetic_nav_data, utc_month) }, /* 13 */
192 { SIRF_U8, offsetof(struct sirf_geodetic_nav_data, utc_day) }, /* 14 */
193 { SIRF_U8, offsetof(struct sirf_geodetic_nav_data, utc_hour) }, /* 15 */
194 { SIRF_U8, offsetof(struct sirf_geodetic_nav_data, utc_minute) }, /* 16 */
195 { SIRF_U16, offsetof(struct sirf_geodetic_nav_data, utc_second) }, /* 17 */
196 { SIRF_DISCARD, 4 }, /* satellite id list */ /* 19 */
197 { SIRF_U32, offsetof(struct sirf_geodetic_nav_data, lat) }, /* 23 */
198 { SIRF_U32, offsetof(struct sirf_geodetic_nav_data, lon) }, /* 27 */
199 { SIRF_DISCARD, 4 }, /* altitude from ellipsoid */ /* 31 */
200 { SIRF_U32, offsetof(struct sirf_geodetic_nav_data, alt_msl) }, /* 35 */
201 { SIRF_DISCARD, 1 }, /* map datum */ /* 39 */
202 { SIRF_U16, offsetof(struct sirf_geodetic_nav_data, ground_speed) }, /* 40 */
203 { SIRF_U16, offsetof(struct sirf_geodetic_nav_data, course) }, /* 42 */
204 { SIRF_DISCARD, 2 }, /* magnetic variation */ /* 44 */
205 { SIRF_U16, offsetof(struct sirf_geodetic_nav_data, climb_rate) }, /* 46 */
206 { SIRF_DISCARD, 2 }, /* turn rate */ /* 48 */
207 { SIRF_U32, offsetof(struct sirf_geodetic_nav_data, h_error) }, /* 50 */
208 { SIRF_U32, offsetof(struct sirf_geodetic_nav_data, v_error) }, /* 54 */
209 { SIRF_DISCARD, 30 }, /* time error, h_vel error, clock_bias,
210 clock bias error, clock drift,
211 clock drift error, distance,
212 distance error, heading error */ /* 58 */
213 { SIRF_U8, offsetof(struct sirf_geodetic_nav_data, num_sv) }, /* 88 */
214 { SIRF_U8, offsetof(struct sirf_geodetic_nav_data, hdop) }, /* 89 */
215 { SIRF_DISCARD, 1 }, /* additional mode info */ /* 90 */
216 { SIRF_END, 0 }, /* 91 */
220 ao_sirf_parse_41(void)
225 offset = geodetic_nav_data_packet[i].offset;
226 switch (geodetic_nav_data_packet[i].type) {
230 sirf_discard(offset);
246 ao_gps_setup(void) __reentrant
250 ao_serial_set_speed(AO_SERIAL_SPEED_4800);
252 for (i = 0; i < 64; i++)
253 ao_serial_putchar(0x00);
254 for (k = 0; k < 3; k++)
255 for (i = 0; i < sizeof (ao_gps_set_nmea); i++)
256 ao_serial_putchar(ao_gps_set_nmea[i]);
258 ao_serial_set_speed(AO_SERIAL_SPEED_57600);
260 for (i = 0; i < 64; i++)
261 ao_serial_putchar(0x00);
264 static const char ao_gps_set_message_rate[] = {
265 0xa0, 0xa2, 0x00, 0x08,
271 ao_sirf_set_message_rate(uint8_t msg, uint8_t rate)
273 uint16_t cksum = 0x00a6;
276 for (i = 0; i < sizeof (ao_gps_set_message_rate); i++)
277 ao_serial_putchar(ao_gps_set_message_rate[i]);
278 ao_serial_putchar(msg);
279 ao_serial_putchar(rate);
280 cksum = 0xa6 + msg + rate;
281 for (i = 0; i < 4; i++)
282 ao_serial_putchar(0);
283 ao_serial_putchar((cksum >> 8) & 0x7f);
284 ao_serial_putchar(cksum & 0xff);
285 ao_serial_putchar(0xb0);
286 ao_serial_putchar(0xb3);
289 static const uint8_t sirf_disable[] = {
300 ao_gps(void) __reentrant
306 for (k = 0; k < 5; k++)
308 for (i = 0; i < sizeof (ao_gps_config); i++)
309 ao_serial_putchar(ao_gps_config[i]);
310 for (i = 0; i < sizeof (sirf_disable); i++)
311 ao_sirf_set_message_rate(sirf_disable[i], 0);
312 ao_sirf_set_message_rate(41, 1);
315 /* Locate the begining of the next record */
316 while (ao_sirf_byte() != (uint8_t) 0xa0)
318 if (ao_sirf_byte() != (uint8_t) 0xa2)
322 ao_sirf_len = ao_sirf_byte() << 8;
323 ao_sirf_len |= ao_sirf_byte();
324 if (ao_sirf_len > 1023)
330 i = data_byte (); /* 0 */
334 if (ao_sirf_len < 90)
339 if (ao_sirf_len != 0)
342 /* verify checksum and end sequence */
343 ao_sirf_cksum &= 0x7fff;
344 cksum = ao_sirf_byte() << 8;
345 cksum |= ao_sirf_byte();
346 if (ao_sirf_cksum != cksum)
348 if (ao_sirf_byte() != (uint8_t) 0xb0)
350 if (ao_sirf_byte() != (uint8_t) 0xb3)
355 ao_mutex_get(&ao_gps_mutex);
356 ao_gps_data.hour = ao_sirf_data.utc_hour;
357 ao_gps_data.minute = ao_sirf_data.utc_minute;
358 ao_gps_data.second = ao_sirf_data.utc_second / 1000;
359 ao_gps_data.flags = ((ao_sirf_data.num_sv << AO_GPS_NUM_SAT_SHIFT) & AO_GPS_NUM_SAT_MASK) | AO_GPS_RUNNING;
360 if ((ao_sirf_data.nav_type & NAV_TYPE_GPS_FIX_TYPE_MASK) >= NAV_TYPE_4_SV_KF)
361 ao_gps_data.flags |= AO_GPS_VALID;
362 ao_gps_data.latitude = ao_sirf_data.lat;
363 ao_gps_data.longitude = ao_sirf_data.lon;
364 ao_gps_data.altitude = ao_sirf_data.alt_msl / 100;
365 ao_gps_data.ground_speed = ao_sirf_data.ground_speed;
366 ao_gps_data.course = ao_sirf_data.course / 200;
367 ao_gps_data.hdop = ao_sirf_data.hdop;
368 ao_gps_data.climb_rate = ao_sirf_data.climb_rate;
369 if (ao_sirf_data.h_error > 6553500)
370 ao_gps_data.h_error = 65535;
372 ao_gps_data.h_error = ao_sirf_data.h_error / 100;
373 if (ao_sirf_data.v_error > 6553500)
374 ao_gps_data.v_error = 65535;
376 ao_gps_data.v_error = ao_sirf_data.v_error / 100;
377 ao_mutex_put(&ao_gps_mutex);
378 ao_wakeup(&ao_gps_data);
384 __xdata struct ao_task ao_gps_task;
387 gps_dump(void) __reentrant
389 ao_mutex_get(&ao_gps_mutex);
390 ao_gps_print(&ao_gps_data);
391 ao_mutex_put(&ao_gps_mutex);
394 __code struct ao_cmds ao_gps_cmds[] = {
395 { 'g', gps_dump, "g Display current GPS values" },
396 { 0, gps_dump, NULL },
402 ao_add_task(&ao_gps_task, ao_gps, "gps");
403 ao_cmd_register(&ao_gps_cmds[0]);