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 0xa0, 0xa2, 0x00, 0x09, /* length 9 bytes */
31 134, /* Set binary serial port */
32 0, 0, 0x25, 0x80, /* 9600 baud */
37 0x01, 0x34, 0xb0, 0xb3,
40 const char ao_gps_config[] = {
41 0xa0, 0xa2, 0x00, 0x0e, /* length: 14 bytes */
42 136, /* mode control */
44 4, /* degraded mode (disabled) */
46 0, 0, /* user specified altitude */
47 2, /* alt hold mode (disabled, require 3d fixes) */
48 0, /* alt hold source (use last computed altitude) */
50 0, /* Degraded time out (disabled) */
51 0, /* Dead Reckoning time out (disabled) */
52 0, /* Track smoothing (disabled) */
53 0x00, 0x8e, 0xb0, 0xb3,
55 0xa0, 0xa2, 0x00, 0x02, /* length: 2 bytes */
56 143, /* static navigation */
58 0x00, 0x8f, 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, 0x08, /* length: 8 bytes */
69 166, /* Set message rate */
70 0, /* enable/disable one message */
72 1, /* once per second */
73 0, 0, 0, 0, /* reserved */
74 0x00, 0xd0, 0xb0, 0xb3,
77 #define NAV_TYPE_GPS_FIX_TYPE_MASK (7 << 0)
78 #define NAV_TYPE_NO_FIX (0 << 0)
79 #define NAV_TYPE_SV_KF (1 << 0)
80 #define NAV_TYPE_2_SV_KF (2 << 0)
81 #define NAV_TYPE_3_SV_KF (3 << 0)
82 #define NAV_TYPE_4_SV_KF (4 << 0)
83 #define NAV_TYPE_2D_LEAST_SQUARES (5 << 0)
84 #define NAV_TYPE_3D_LEAST_SQUARES (6 << 0)
85 #define NAV_TYPE_DR (7 << 0)
86 #define NAV_TYPE_TRICKLE_POWER (1 << 3)
87 #define NAV_TYPE_ALTITUDE_HOLD_MASK (3 << 4)
88 #define NAV_TYPE_ALTITUDE_HOLD_NONE (0 << 4)
89 #define NAV_TYPE_ALTITUDE_HOLD_KF (1 << 4)
90 #define NAV_TYPE_ALTITUDE_HOLD_USER (2 << 4)
91 #define NAV_TYPE_ALTITUDE_HOLD_ALWAYS (3 << 4)
92 #define NAV_TYPE_DOP_LIMIT_EXCEEDED (1 << 6)
93 #define NAV_TYPE_DGPS_APPLIED (1 << 7)
94 #define NAV_TYPE_SENSOR_DR (1 << 8)
95 #define NAV_TYPE_OVERDETERMINED (1 << 9)
96 #define NAV_TYPE_DR_TIMEOUT_EXCEEDED (1 << 10)
97 #define NAV_TYPE_FIX_MI_EDIT (1 << 11)
98 #define NAV_TYPE_INVALID_VELOCITY (1 << 12)
99 #define NAV_TYPE_ALTITUDE_HOLD_DISABLED (1 << 13)
100 #define NAV_TYPE_DR_ERROR_STATUS_MASK (3 << 14)
101 #define NAV_TYPE_DR_ERROR_STATUS_GPS_ONLY (0 << 14)
102 #define NAV_TYPE_DR_ERROR_STATUS_DR_FROM_GPS (1 << 14)
103 #define NAV_TYPE_DR_ERROR_STATUS_DR_SENSOR_ERROR (2 << 14)
104 #define NAV_TYPE_DR_ERROR_STATUS_DR_IN_TEST (3 << 14)
106 struct sirf_geodetic_nav_data {
117 uint16_t ground_speed;
126 static __xdata struct sirf_geodetic_nav_data ao_sirf_data;
128 static __pdata uint16_t ao_sirf_cksum;
129 static __pdata uint16_t ao_sirf_len;
131 #define ao_sirf_byte() ((uint8_t) ao_serial_getchar())
133 static uint8_t data_byte(void)
135 uint8_t c = ao_sirf_byte();
141 static void sirf_u16(uint8_t offset)
143 uint16_t __xdata *ptr = (uint16_t __xdata *) (((char __xdata *) &ao_sirf_data) + offset);
146 val = data_byte() << 8;
151 static void sirf_u8(uint8_t offset)
153 uint8_t __xdata *ptr = (uint8_t __xdata *) (((char __xdata *) &ao_sirf_data) + offset);
160 static void sirf_u32(uint8_t offset)
162 uint32_t __xdata *ptr = (uint32_t __xdata *) (((char __xdata *) &ao_sirf_data) + offset);
165 val = ((uint32_t) data_byte ()) << 24;
166 val |= ((uint32_t) data_byte ()) << 16;
167 val |= ((uint32_t) data_byte ()) << 8;
168 val |= ((uint32_t) data_byte ());
172 static void sirf_discard(uint8_t len)
179 #define SIRF_DISCARD 1
184 struct sirf_packet_parse {
189 static const struct sirf_packet_parse geodetic_nav_data_packet[] = {
190 { SIRF_DISCARD, 2 }, /* 1 nav valid */
191 { SIRF_U16, offsetof(struct sirf_geodetic_nav_data, nav_type) }, /* 3 */
192 { SIRF_DISCARD, 6 }, /* 5 week number, time of week */
193 { SIRF_U16, offsetof(struct sirf_geodetic_nav_data, utc_year) }, /* 11 */
194 { SIRF_U8, offsetof(struct sirf_geodetic_nav_data, utc_month) }, /* 13 */
195 { SIRF_U8, offsetof(struct sirf_geodetic_nav_data, utc_day) }, /* 14 */
196 { SIRF_U8, offsetof(struct sirf_geodetic_nav_data, utc_hour) }, /* 15 */
197 { SIRF_U8, offsetof(struct sirf_geodetic_nav_data, utc_minute) }, /* 16 */
198 { SIRF_U16, offsetof(struct sirf_geodetic_nav_data, utc_second) }, /* 17 */
199 { SIRF_DISCARD, 4 }, /* satellite id list */ /* 19 */
200 { SIRF_U32, offsetof(struct sirf_geodetic_nav_data, lat) }, /* 23 */
201 { SIRF_U32, offsetof(struct sirf_geodetic_nav_data, lon) }, /* 27 */
202 { SIRF_DISCARD, 4 }, /* altitude from ellipsoid */ /* 31 */
203 { SIRF_U32, offsetof(struct sirf_geodetic_nav_data, alt_msl) }, /* 35 */
204 { SIRF_DISCARD, 1 }, /* map datum */ /* 39 */
205 { SIRF_U16, offsetof(struct sirf_geodetic_nav_data, ground_speed) }, /* 40 */
206 { SIRF_U16, offsetof(struct sirf_geodetic_nav_data, course) }, /* 42 */
207 { SIRF_DISCARD, 2 }, /* magnetic variation */ /* 44 */
208 { SIRF_U16, offsetof(struct sirf_geodetic_nav_data, climb_rate) }, /* 46 */
209 { SIRF_DISCARD, 2 }, /* turn rate */ /* 48 */
210 { SIRF_U32, offsetof(struct sirf_geodetic_nav_data, h_error) }, /* 50 */
211 { SIRF_U32, offsetof(struct sirf_geodetic_nav_data, v_error) }, /* 54 */
212 { SIRF_DISCARD, 30 }, /* time error, h_vel error, clock_bias,
213 clock bias error, clock drift,
214 clock drift error, distance,
215 distance error, heading error */ /* 58 */
216 { SIRF_U8, offsetof(struct sirf_geodetic_nav_data, num_sv) }, /* 88 */
217 { SIRF_U8, offsetof(struct sirf_geodetic_nav_data, hdop) }, /* 89 */
218 { SIRF_DISCARD, 1 }, /* additional mode info */ /* 90 */
219 { SIRF_END, 0 }, /* 91 */
223 ao_sirf_parse_41(void)
227 printf("parse 41\n");
229 offset = geodetic_nav_data_packet[i].offset;
230 switch (geodetic_nav_data_packet[i].type) {
232 printf("parse 41 done\n");
235 printf("parse 41 discard %d\n", offset);
236 sirf_discard(offset);
239 printf("parse 41 u8 %d\n", offset);
243 printf("parse 41 u16 %d\n", offset);
247 printf("parse 41 u32 %d\n", offset);
255 ao_gps_setup(void) __reentrant
258 for (j = 0; j < 2; j++) {
260 ao_serial_set_speed(j);
262 for (i = 0; i < sizeof (ao_gps_set_binary); i++)
263 ao_serial_putchar(ao_gps_set_binary[i]);
268 ao_gps(void) __reentrant
273 for (i = 0; i < sizeof (ao_gps_config); i++)
274 ao_serial_putchar(ao_gps_config[i]);
276 /* Locate the begining of the next record */
277 while (ao_sirf_byte() != 0xa0)
279 if (ao_sirf_byte() != 0xa2)
283 ao_sirf_len = ao_sirf_byte() << 8;
284 ao_sirf_len |= ao_sirf_byte();
285 if (ao_sirf_len > 1023)
291 i = data_byte (); /* 0 */
292 printf ("message %d len %d\n", i, ao_sirf_len);
296 if (ao_sirf_len < 90)
301 if (ao_sirf_len != 0)
304 /* verify checksum and end sequence */
305 ao_sirf_cksum &= 0x7fff;
306 cksum = ao_sirf_byte() << 8;
307 cksum |= ao_sirf_byte();
308 if (ao_sirf_cksum != cksum)
310 if (ao_sirf_byte() != 0xb0)
312 if (ao_sirf_byte() != 0xb3)
317 ao_mutex_get(&ao_gps_mutex);
318 ao_gps_data.hour = ao_sirf_data.utc_hour;
319 ao_gps_data.minute = ao_sirf_data.utc_minute;
320 ao_gps_data.second = ao_sirf_data.utc_second / 1000;
321 ao_gps_data.flags = (ao_sirf_data.num_sv << AO_GPS_NUM_SAT_SHIFT) & AO_GPS_NUM_SAT_MASK;
322 if ((ao_sirf_data.nav_type & NAV_TYPE_GPS_FIX_TYPE_MASK) >= NAV_TYPE_4_SV_KF)
323 ao_gps_data.flags |= AO_GPS_VALID;
324 ao_gps_data.latitude = ao_sirf_data.lat;
325 ao_gps_data.longitude = ao_sirf_data.lon;
326 ao_gps_data.altitude = ao_sirf_data.alt_msl / 100;
327 ao_gps_data.ground_speed = ao_sirf_data.ground_speed;
328 ao_gps_data.course = ao_sirf_data.course / 200;
329 ao_gps_data.hdop = ao_sirf_data.hdop;
330 ao_gps_data.climb_rate = ao_sirf_data.climb_rate;
331 if (ao_sirf_data.h_error > 6553500)
332 ao_gps_data.h_error = 65535;
334 ao_gps_data.h_error = ao_sirf_data.h_error / 100;
335 if (ao_sirf_data.v_error > 6553500)
336 ao_gps_data.v_error = 65535;
338 ao_gps_data.v_error = ao_sirf_data.v_error / 100;
339 ao_gps_data.h_error = ao_sirf_data.h_error;
340 ao_mutex_put(&ao_gps_mutex);
341 ao_wakeup(&ao_gps_data);
347 __xdata struct ao_task ao_gps_task;
350 gps_dump(void) __reentrant
352 ao_mutex_get(&ao_gps_mutex);
353 ao_gps_print(&ao_gps_data);
354 ao_mutex_put(&ao_gps_mutex);
357 __code struct ao_cmds ao_gps_cmds[] = {
358 { 'g', gps_dump, "g Display current GPS values" },
359 { 0, gps_dump, NULL },
365 ao_add_task(&ao_gps_task, ao_gps, "gps");
366 ao_cmd_register(&ao_gps_cmds[0]);