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 #include <sys/types.h>
26 #include <semaphore.h>
27 #define AO_GPS_NUM_SAT_MASK (0xf << 0)
28 #define AO_GPS_NUM_SAT_SHIFT (0)
30 #define AO_GPS_VALID (1 << 4)
37 int32_t latitude; /* degrees * 10⁷ */
38 int32_t longitude; /* degrees * 10⁷ */
39 int16_t altitude; /* m */
40 uint16_t ground_speed; /* cm/s */
41 uint8_t course; /* degrees / 2 */
42 uint8_t hdop; /* * 5 */
43 int16_t climb_rate; /* cm/s */
44 uint16_t h_error; /* m */
45 uint16_t v_error; /* m */
49 ao_mutex_get(uint8_t *mutex)
54 ao_mutex_put(uint8_t *mutex)
70 sprintf (line, "\\%02x", ((int) c) & 0xff);
72 sprintf (line, "%c", c);
74 write(1, line, strlen(line));
77 #define QUEUE_LEN 4096
79 static char input_queue[QUEUE_LEN];
80 int input_head, input_tail;
82 static sem_t input_semaphore;
85 ao_serial_getchar(void)
91 sem_getvalue(&input_semaphore, &value);
92 // printf ("ao_serial_getchar %d\n", value);
93 sem_wait(&input_semaphore);
94 c = input_queue[input_head];
95 input_head = (input_head + 1) % QUEUE_LEN;
96 // sprintf (line, "%02x\n", ((int) c) & 0xff);
97 // write(1, line, strlen(line));
102 check_sirf_message(char *from, uint8_t *msg, int len)
104 uint16_t encoded_len, encoded_cksum;
109 if (msg[0] != 0xa0 || msg[1] != 0xa2) {
110 printf ("bad header\n");
117 if (msg[len-1] != 0xb3 || msg[len-2] != 0xb0) {
118 printf ("bad trailer\n");
121 encoded_len = (msg[2] << 8) | msg[3];
123 if (encoded_len != len - 8) {
124 printf ("length mismatch (got %d, wanted %d)\n",
125 len - 8, encoded_len);
128 encoded_cksum = (msg[len - 4] << 8) | msg[len-3];
130 for (i = 4; i < len - 4; i++)
131 cksum = (cksum + msg[i]) & 0x7fff;
132 if (encoded_cksum != cksum) {
133 printf ("cksum mismatch (got %04x wanted %04x)\n",
134 cksum, encoded_cksum);
162 int16_t heading_rate;
168 #define get_u8(u) u = (msg[off]); off+= 1
169 #define get_u16(u) u = (msg[off] << 8) | (msg[off + 1]); off+= 2
170 #define get_u32(u) u = (msg[off] << 24) | (msg[off + 1] << 16) | (msg[off+2] << 8) | (msg[off+3]); off+= 4
193 get_u16(heading_rate);
200 printf ("Geodetic Navigation Data (41):\n");
201 printf ("\tNav valid %04x\n", nav_valid);
202 printf ("\tNav type %04x\n", nav_type);
203 printf ("\tWeek %d\n", week);
204 printf ("\tTOW %d\n", tow);
205 printf ("\tyear %d\n", year);
206 printf ("\tmonth %d\n", month);
207 printf ("\tday %d\n", day);
208 printf ("\thour %d\n", hour);
209 printf ("\tminute %d\n", minute);
210 printf ("\tsecond %g\n", second / 1000.0);
211 printf ("\tsats: %08x\n", sat_list);
212 printf ("\tlat: %g\n", lat / 1.0e7);
213 printf ("\tlon: %g\n", lon / 1.0e7);
214 printf ("\talt_ell: %g\n", alt_ell / 100.0);
215 printf ("\talt_msll: %g\n", alt_msl / 100.0);
216 printf ("\tdatum: %d\n", datum);
217 printf ("\tground speed: %g\n", sog / 100.0);
218 printf ("\tcourse: %g\n", cog / 100.0);
219 printf ("\tclimb: %g\n", climb_rate / 100.0);
220 printf ("\theading rate: %g\n", heading_rate / 100.0);
221 printf ("\th error: %g\n", h_error / 100.0);
222 printf ("\tv error: %g\n", v_error / 100.0);
223 printf ("\tt error: %g\n", t_error / 100.0);
224 printf ("\th vel error: %g\n", h_v_error / 100.0);
227 printf ("%s %4d:", from, encoded_len);
228 for (i = 4; i < len - 4; i++) {
229 if (((i - 4) & 0xf) == 0)
231 printf (" %3d", msg[i]);
237 static uint8_t sirf_in_message[4096];
238 static int sirf_in_len;
241 ao_gps_input(void *arg)
246 printf("ao_gps_input\n");
248 i = read(ao_gps_fd, &c, 1);
253 if (sirf_in_len || uc == 0xa0) {
254 if (sirf_in_len < 4096)
255 sirf_in_message[sirf_in_len++] = uc;
257 check_sirf_message("recv", sirf_in_message, sirf_in_len);
261 input_queue[input_tail] = c;
262 input_tail = (input_tail + 1) % QUEUE_LEN;
263 sem_post(&input_semaphore);
264 sem_getvalue(&input_semaphore, &v);
265 // printf ("ao_gps_input %02x %d\n", ((int) c) & 0xff, v);
269 if (i < 0 && (errno == EINTR || errno == EAGAIN))
276 static uint8_t sirf_message[4096];
277 static int sirf_message_len;
280 ao_serial_putchar(char c)
283 uint8_t uc = (uint8_t) c;
285 if (sirf_message_len || uc == 0xa0) {
286 if (sirf_message_len < 4096)
287 sirf_message[sirf_message_len++] = uc;
289 check_sirf_message("send", sirf_message, sirf_message_len);
290 sirf_message_len = 0;
294 i = write(ao_gps_fd, &c, 1);
296 if ((uint8_t) c == 0xb3 || c == '\r') {
302 if (i < 0 && (errno == EINTR || errno == EAGAIN))
310 ao_serial_set_speed(uint8_t fast)
313 struct termios termios;
316 tcgetattr(fd, &termios);
317 cfsetspeed(&termios, fast ? B9600 : B4800);
318 tcsetattr(fd, TCSAFLUSH, &termios);
319 tcflush(fd, TCIFLUSH);
322 #include "ao_gps_print.c"
329 printf ("%02d:%02d:%02d",
330 ao_gps_data.hour, ao_gps_data.minute,
332 printf (" nsat %d %svalid",
333 ao_gps_data.flags & AO_GPS_NUM_SAT_MASK,
334 ao_gps_data.flags & AO_GPS_VALID ? "" : "not ");
335 printf (" lat %g lon %g alt %d",
336 ao_gps_data.latitude / 1.0e7,
337 ao_gps_data.longitude / 1.0e7,
338 ao_gps_data.altitude);
339 printf (" speed %g climb %g course %d",
340 ao_gps_data.ground_speed / 100.0,
341 ao_gps_data.climb_rate / 100.0,
342 ao_gps_data.course * 2);
343 printf (" hdop %g h_error %d v_error %d",
344 ao_gps_data.hdop / 5.0,
345 ao_gps_data.h_error, ao_gps_data.v_error);
350 ao_gps_open(const char *tty)
352 struct termios termios;
355 fd = open (tty, O_RDWR);
359 tcgetattr(fd, &termios);
361 cfsetspeed(&termios, B4800);
362 tcsetattr(fd, TCSAFLUSH, &termios);
365 tcflush(fd, TCIFLUSH);
369 pthread_t input_thread;
372 main (int argc, char **argv)
374 char *gps_file = "/dev/ttyUSB0";
376 ao_gps_fd = ao_gps_open(gps_file);
382 sem_init(&input_semaphore, 0, 0);
383 if (pthread_create(&input_thread, NULL, ao_gps_input, NULL) != 0)
384 perror("pthread_create");