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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; version 2 of the License.
   7  *
   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.
  12  *
  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.
  16  */
  17
  18 #define AO_GPS_TEST
  19 #include "ao_host.h"
  20 #include <termios.h>
  21 #include <errno.h>
  22 #include <sys/types.h>
  23 #include <sys/stat.h>
  24 #include <fcntl.h>
  25 #define AO_GPS_NUM_SAT_MASK     (0xf << 0)
  26 #define AO_GPS_NUM_SAT_SHIFT    (0)
  27
  28 #define AO_GPS_VALID            (1 << 4)
  29 #define AO_GPS_RUNNING          (1 << 5)
  30 #define AO_GPS_DATE_VALID       (1 << 6)
  31
  32 struct ao_gps_data {
  33         uint8_t                 year;
  34         uint8_t                 month;
  35         uint8_t                 day;
  36         uint8_t                 hour;
  37         uint8_t                 minute;
  38         uint8_t                 second;
  39         uint8_t                 flags;
  40         int32_t                 latitude;       /* degrees * 10⁷ */
  41         int32_t                 longitude;      /* degrees * 10⁷ */
  42         int16_t                 altitude;       /* m */
  43         uint16_t                ground_speed;   /* cm/s */
  44         uint8_t                 course;         /* degrees / 2 */
  45         uint8_t                 hdop;           /* * 5 */
  46         int16_t                 climb_rate;     /* cm/s */
  47         uint16_t                h_error;        /* m */
  48         uint16_t                v_error;        /* m */
  49 };
  50
  51 #define SIRF_SAT_STATE_ACQUIRED                 (1 << 0)
  52 #define SIRF_SAT_STATE_CARRIER_PHASE_VALID      (1 << 1)
  53 #define SIRF_SAT_BIT_SYNC_COMPLETE              (1 << 2)
  54 #define SIRF_SAT_SUBFRAME_SYNC_COMPLETE         (1 << 3)
  55 #define SIRF_SAT_CARRIER_PULLIN_COMPLETE        (1 << 4)
  56 #define SIRF_SAT_CODE_LOCKED                    (1 << 5)
  57 #define SIRF_SAT_ACQUISITION_FAILED             (1 << 6)
  58 #define SIRF_SAT_EPHEMERIS_AVAILABLE            (1 << 7)
  59
  60 struct ao_gps_sat_data {
  61         uint8_t         svid;
  62         uint8_t         c_n_1;
  63 };
  64
  65 struct ao_gps_tracking_data {
  66         uint8_t                 channels;
  67         struct ao_gps_sat_data  sats[12];
  68 };
  69
  70 void
  71 ao_mutex_get(uint8_t *mutex)
  72 {
  73 }
  74
  75 void
  76 ao_mutex_put(uint8_t *mutex)
  77 {
  78 }
  79
  80 static int
  81 ao_gps_fd;
  82
  83 static void
  84 ao_dbg_char(char c)
  85 {
  86         char    line[128];
  87         line[0] = '\0';
  88         if (c < ' ') {
  89                 if (c == '\n')
  90                         sprintf (line, "\n");
  91                 else
  92                         sprintf (line, "\\%02x", ((int) c) & 0xff);
  93         } else {
  94                 sprintf (line, "%c", c);
  95         }
  96         write(1, line, strlen(line));
  97 }
  98
  99 #define QUEUE_LEN       4096
 100
 101 static char     input_queue[QUEUE_LEN];
 102 int             input_head, input_tail;
 103
 104 #include <sys/time.h>
 105
 106 int
 107 get_millis(void)
 108 {
 109         struct timeval  tv;
 110         gettimeofday(&tv, NULL);
 111         return tv.tv_sec * 1000 + tv.tv_usec / 1000;
 112 }
 113
 114 static void
 115 check_sirf_message(char *from, uint8_t *msg, int len)
 116 {
 117         uint16_t        encoded_len, encoded_cksum;
 118         uint16_t        cksum;
 119         uint8_t         id;
 120         int             i;
 121
 122         if (msg[0] != 0xa0 || msg[1] != 0xa2) {
 123                 printf ("bad header\n");
 124                 return;
 125         }
 126         if (len < 7) {
 127                 printf("short\n");
 128                 return;
 129         }
 130         if (msg[len-1] != 0xb3 || msg[len-2] != 0xb0) {
 131                 printf ("bad trailer\n");
 132                 return;
 133         }
 134         encoded_len = (msg[2] << 8) | msg[3];
 135         id = msg[4];
 136 /*      printf ("%9d: %3d\n", get_millis(), id); */
 137         if (encoded_len != len - 8) {
 138                 if (id != 52)
 139                         printf ("length mismatch (got %d, wanted %d)\n",
 140                                 len - 8, encoded_len);
 141                 return;
 142         }
 143         encoded_cksum = (msg[len - 4] << 8) | msg[len-3];
 144         cksum = 0;
 145         for (i = 4; i < len - 4; i++)
 146                 cksum = (cksum + msg[i]) & 0x7fff;
 147         if (encoded_cksum != cksum) {
 148                 printf ("cksum mismatch (got %04x wanted %04x)\n",
 149                         cksum, encoded_cksum);
 150                 return;
 151         }
 152         id = msg[4];
 153         switch (id) {
 154         case 41:{
 155                 int     off = 4;
 156
 157                 uint8_t         id;
 158                 uint16_t        nav_valid;
 159                 uint16_t        nav_type;
 160                 uint16_t        week;
 161                 uint32_t        tow;
 162                 uint16_t        year;
 163                 uint8_t         month;
 164                 uint8_t         day;
 165                 uint8_t         hour;
 166                 uint8_t         minute;
 167                 uint16_t        second;
 168                 uint32_t        sat_list;
 169                 int32_t         lat;
 170                 int32_t         lon;
 171                 int32_t         alt_ell;
 172                 int32_t         alt_msl;
 173                 int8_t          datum;
 174                 uint16_t        sog;
 175                 uint16_t        cog;
 176                 int16_t         mag_var;
 177                 int16_t         climb_rate;
 178                 int16_t         heading_rate;
 179                 uint32_t        h_error;
 180                 uint32_t        v_error;
 181                 uint32_t        t_error;
 182                 uint16_t        h_v_error;
 183
 184 #define get_u8(u)       u = (msg[off]); off+= 1
 185 #define get_u16(u)      u = (msg[off] << 8) | (msg[off + 1]); off+= 2
 186 #define get_u32(u)      u = (msg[off] << 24) | (msg[off + 1] << 16) | (msg[off+2] << 8) | (msg[off+3]); off+= 4
 187
 188                 get_u8(id);
 189                 get_u16(nav_valid);
 190                 get_u16(nav_type);
 191                 get_u16(week);
 192                 get_u32(tow);
 193                 get_u16(year);
 194                 get_u8(month);
 195                 get_u8(day);
 196                 get_u8(hour);
 197                 get_u8(minute);
 198                 get_u16(second);
 199                 get_u32(sat_list);
 200                 get_u32(lat);
 201                 get_u32(lon);
 202                 get_u32(alt_ell);
 203                 get_u32(alt_msl);
 204                 get_u8(datum);
 205                 get_u16(sog);
 206                 get_u16(cog);
 207                 get_u16(mag_var);
 208                 get_u16(climb_rate);
 209                 get_u16(heading_rate);
 210                 get_u32(h_error);
 211                 get_u32(v_error);
 212                 get_u32(t_error);
 213                 get_u16(h_v_error);
 214
 215
 216                 printf ("Geodetic Navigation Data (41):\n");
 217                 printf ("\tNav valid %04x\n", nav_valid);
 218                 printf ("\tNav type %04x\n", nav_type);
 219                 printf ("\tWeek %5d", week);
 220                 printf (" TOW %9d", tow);
 221                 printf (" %4d-%2d-%2d %02d:%02d:%07.4f\n",
 222                         year, month, day,
 223                         hour, minute, second / 1000.0);
 224                 printf ("\tsats: %08x\n", sat_list);
 225                 printf ("\tlat: %g", lat / 1.0e7);
 226                 printf (" lon: %g", lon / 1.0e7);
 227                 printf (" alt_ell: %g", alt_ell / 100.0);
 228                 printf (" alt_msll: %g", alt_msl / 100.0);
 229                 printf (" datum: %d\n", datum);
 230                 printf ("\tground speed: %g", sog / 100.0);
 231                 printf (" course: %g", cog / 100.0);
 232                 printf (" climb: %g", climb_rate / 100.0);
 233                 printf (" heading rate: %g\n", heading_rate / 100.0);
 234                 printf ("\th error: %g", h_error / 100.0);
 235                 printf (" v error: %g", v_error / 100.0);
 236                 printf (" t error: %g", t_error / 100.0);
 237                 printf (" h vel error: %g\n", h_v_error / 100.0);
 238                 break;
 239         }
 240         case 4: {
 241                 int off = 4;
 242                 uint8_t         id;
 243                 int16_t         gps_week;
 244                 uint32_t        gps_tow;
 245                 uint8_t         channels;
 246                 int             j, k;
 247
 248                 get_u8(id);
 249                 get_u16(gps_week);
 250                 get_u32(gps_tow);
 251                 get_u8(channels);
 252
 253                 printf ("Measured Tracker Data (4):\n");
 254                 printf ("GPS week: %d\n", gps_week);
 255                 printf ("GPS time of week: %d\n", gps_tow);
 256                 printf ("channels: %d\n", channels);
 257                 for (j = 0; j < 12; j++) {
 258                         uint8_t svid, azimuth, elevation;
 259                         uint16_t state;
 260                         uint8_t c_n[10];
 261                         get_u8(svid);
 262                         get_u8(azimuth);
 263                         get_u8(elevation);
 264                         get_u16(state);
 265                         for (k = 0; k < 10; k++) {
 266                                 get_u8(c_n[k]);
 267                         }
 268                         printf ("Sat %3d:", svid);
 269                         printf (" aziumuth: %6.1f", azimuth * 1.5);
 270                         printf (" elevation: %6.1f", elevation * 0.5);
 271                         printf (" state: 0x%02x", state);
 272                         printf (" c_n:");
 273                         for (k = 0; k < 10; k++)
 274                                 printf(" %3d", c_n[k]);
 275                         if (state & SIRF_SAT_STATE_ACQUIRED)
 276                                 printf(" acq,");
 277                         if (state & SIRF_SAT_STATE_CARRIER_PHASE_VALID)
 278                                 printf(" car,");
 279                         if (state & SIRF_SAT_BIT_SYNC_COMPLETE)
 280                                 printf(" bit,");
 281                         if (state & SIRF_SAT_SUBFRAME_SYNC_COMPLETE)
 282                                 printf(" sub,");
 283                         if (state & SIRF_SAT_CARRIER_PULLIN_COMPLETE)
 284                                 printf(" pullin,");
 285                         if (state & SIRF_SAT_CODE_LOCKED)
 286                                 printf(" code,");
 287                         if (state & SIRF_SAT_ACQUISITION_FAILED)
 288                                 printf(" fail,");
 289                         if (state & SIRF_SAT_EPHEMERIS_AVAILABLE)
 290                                 printf(" ephem,");
 291                         printf ("\n");
 292                 }
 293                 break;
 294         }
 295         default:
 296                 return;
 297                 printf ("%s %4d:", from, encoded_len);
 298                 for (i = 4; i < len - 4; i++) {
 299                         if (((i - 4) & 0xf) == 0)
 300                                 printf("\n   ");
 301                         printf (" %3d", msg[i]);
 302                 }
 303                 printf ("\n");
 304         }
 305 }
 306
 307 static uint8_t  sirf_message[4096];
 308 static int      sirf_message_len;
 309 static uint8_t  sirf_in_message[4096];
 310 static int      sirf_in_len;
 311
 312 char
 313 ao_serial_getchar(void)
 314 {
 315         char    c;
 316         uint8_t uc;
 317
 318         while (input_head == input_tail) {
 319                 for (;;) {
 320                         input_tail = read(ao_gps_fd, input_queue, QUEUE_LEN);
 321                         if (input_tail < 0) {
 322                                 if (errno == EINTR || errno == EAGAIN)
 323                                         continue;
 324                                 perror ("getchar");
 325                                 exit (1);
 326                         }
 327                         input_head = 0;
 328                         break;
 329                 }
 330         }
 331         c = input_queue[input_head];
 332         input_head = (input_head + 1) % QUEUE_LEN;
 333         uc = c;
 334         if (sirf_in_len || uc == 0xa0) {
 335                 if (sirf_in_len < 4096)
 336                         sirf_in_message[sirf_in_len++] = uc;
 337                 if (uc == 0xb3) {
 338                         check_sirf_message("recv", sirf_in_message, sirf_in_len);
 339                         sirf_in_len = 0;
 340                 }
 341         }
 342         return c;
 343 }
 344
 345
 346 void
 347 ao_serial_putchar(char c)
 348 {
 349         int     i;
 350         uint8_t uc = (uint8_t) c;
 351
 352         if (sirf_message_len || uc == 0xa0) {
 353                 if (sirf_message_len < 4096)
 354                         sirf_message[sirf_message_len++] = uc;
 355                 if (uc == 0xb3) {
 356                         check_sirf_message("send", sirf_message, sirf_message_len);
 357                         sirf_message_len = 0;
 358                 }
 359         }
 360         for (;;) {
 361                 i = write(ao_gps_fd, &c, 1);
 362                 if (i == 1) {
 363                         if ((uint8_t) c == 0xb3 || c == '\r') {
 364                                 static const struct timespec delay = {
 365                                         .tv_sec = 0,
 366                                         .tv_nsec = 100 * 1000 * 1000
 367                                 };
 368                                 tcdrain(ao_gps_fd);
 369 //                              nanosleep(&delay, NULL);
 370                         }
 371                         break;
 372                 }
 373                 if (i < 0 && (errno == EINTR || errno == EAGAIN))
 374                         continue;
 375                 perror("putchar");
 376                 exit(1);
 377         }
 378 }
 379
 380 #define AO_SERIAL_SPEED_4800    0
 381 #define AO_SERIAL_SPEED_57600   1
 382
 383 static void
 384 ao_serial_set_speed(uint8_t speed)
 385 {
 386         int     fd = ao_gps_fd;
 387         struct termios  termios;
 388
 389         tcdrain(fd);
 390         tcgetattr(fd, &termios);
 391         switch (speed) {
 392         case AO_SERIAL_SPEED_4800:
 393                 cfsetspeed(&termios, B4800);
 394                 break;
 395         case AO_SERIAL_SPEED_57600:
 396                 cfsetspeed(&termios, B57600);
 397                 break;
 398         }
 399         tcsetattr(fd, TCSAFLUSH, &termios);
 400         tcflush(fd, TCIFLUSH);
 401 }
 402
 403 #define ao_time() 0
 404
 405 #include "ao_gps_print.c"
 406 #include "ao_gps_sirf.c"
 407
 408 void
 409 ao_dump_state(void *wchan)
 410 {
 411         double  lat, lon;
 412         int     i;
 413         if (wchan == &ao_gps_data)
 414                 ao_gps_print(&ao_gps_data);
 415         else
 416                 ao_gps_tracking_print(&ao_gps_tracking_data);
 417         putchar('\n');
 418         return;
 419         printf ("%02d:%02d:%02d",
 420                 ao_gps_data.hour, ao_gps_data.minute,
 421                 ao_gps_data.second);
 422         printf (" nsat %d %svalid",
 423                 ao_gps_data.flags & AO_GPS_NUM_SAT_MASK,
 424                 ao_gps_data.flags & AO_GPS_VALID ? "" : "not ");
 425         printf (" lat %g lon %g alt %d",
 426                 ao_gps_data.latitude / 1.0e7,
 427                 ao_gps_data.longitude / 1.0e7,
 428                 ao_gps_data.altitude);
 429         printf (" speed %g climb %g course %d",
 430                 ao_gps_data.ground_speed / 100.0,
 431                 ao_gps_data.climb_rate / 100.0,
 432                 ao_gps_data.course * 2);
 433         printf (" hdop %g h_error %d v_error %d",
 434                 ao_gps_data.hdop / 5.0,
 435                 ao_gps_data.h_error, ao_gps_data.v_error);
 436         printf("\n");
 437         printf ("\t");
 438         for (i = 0; i < 12; i++)
 439                 printf (" %2d(%02d)",
 440                         ao_gps_tracking_data.sats[i].svid,
 441                         ao_gps_tracking_data.sats[i].c_n_1);
 442         printf ("\n");
 443 }
 444
 445 int
 446 ao_gps_open(const char *tty)
 447 {
 448         struct termios  termios;
 449         int fd;
 450
 451         fd = open (tty, O_RDWR);
 452         if (fd < 0)
 453                 return -1;
 454
 455         tcgetattr(fd, &termios);
 456         cfmakeraw(&termios);
 457         cfsetspeed(&termios, B4800);
 458         tcsetattr(fd, TCSAFLUSH, &termios);
 459
 460         tcdrain(fd);
 461         tcflush(fd, TCIFLUSH);
 462         return fd;
 463 }
 464
 465 #include <getopt.h>
 466
 467 static const struct option options[] = {
 468         { .name = "tty", .has_arg = 1, .val = 'T' },
 469         { 0, 0, 0, 0},
 470 };
 471
 472 static void usage(char *program)
 473 {
 474         fprintf(stderr, "usage: %s [--tty <tty-name>]\n", program);
 475         exit(1);
 476 }
 477
 478 int
 479 main (int argc, char **argv)
 480 {
 481         char    *tty = "/dev/ttyUSB0";
 482         int     c;
 483
 484         while ((c = getopt_long(argc, argv, "T:", options, NULL)) != -1) {
 485                 switch (c) {
 486                 case 'T':
 487                         tty = optarg;
 488                         break;
 489                 default:
 490                         usage(argv[0]);
 491                         break;
 492                 }
 493         }
 494         ao_gps_fd = ao_gps_open(tty);
 495         if (ao_gps_fd < 0) {
 496                 perror (tty);
 497                 exit (1);
 498         }
 499         ao_gps_setup();
 500         ao_gps();
 501 }