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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 #define AO_MAX_GPS_TRACKING     12
  66
  67 struct ao_gps_tracking_data {
  68         uint8_t                 channels;
  69         struct ao_gps_sat_data  sats[AO_MAX_GPS_TRACKING];
  70 };
  71
  72 void
  73 ao_mutex_get(uint8_t *mutex)
  74 {
  75 }
  76
  77 void
  78 ao_mutex_put(uint8_t *mutex)
  79 {
  80 }
  81
  82 static int
  83 ao_gps_fd;
  84
  85 static void
  86 ao_dbg_char(char c)
  87 {
  88         char    line[128];
  89         line[0] = '\0';
  90         if (c < ' ') {
  91                 if (c == '\n')
  92                         sprintf (line, "\n");
  93                 else
  94                         sprintf (line, "\\%02x", ((int) c) & 0xff);
  95         } else {
  96                 sprintf (line, "%c", c);
  97         }
  98         write(1, line, strlen(line));
  99 }
 100
 101 #define QUEUE_LEN       4096
 102
 103 static char     input_queue[QUEUE_LEN];
 104 int             input_head, input_tail;
 105
 106 #include <sys/time.h>
 107
 108 int
 109 get_millis(void)
 110 {
 111         struct timeval  tv;
 112         gettimeofday(&tv, NULL);
 113         return tv.tv_sec * 1000 + tv.tv_usec / 1000;
 114 }
 115
 116 static void
 117 check_sirf_message(char *from, uint8_t *msg, int len)
 118 {
 119         uint16_t        encoded_len, encoded_cksum;
 120         uint16_t        cksum;
 121         uint8_t         id;
 122         int             i;
 123
 124         if (msg[0] != 0xa0 || msg[1] != 0xa2) {
 125                 printf ("bad header\n");
 126                 return;
 127         }
 128         if (len < 7) {
 129                 printf("short\n");
 130                 return;
 131         }
 132         if (msg[len-1] != 0xb3 || msg[len-2] != 0xb0) {
 133                 printf ("bad trailer\n");
 134                 return;
 135         }
 136         encoded_len = (msg[2] << 8) | msg[3];
 137         id = msg[4];
 138 /*      printf ("%9d: %3d\n", get_millis(), id); */
 139         if (encoded_len != len - 8) {
 140                 if (id != 52)
 141                         printf ("length mismatch (got %d, wanted %d)\n",
 142                                 len - 8, encoded_len);
 143                 return;
 144         }
 145         encoded_cksum = (msg[len - 4] << 8) | msg[len-3];
 146         cksum = 0;
 147         for (i = 4; i < len - 4; i++)
 148                 cksum = (cksum + msg[i]) & 0x7fff;
 149         if (encoded_cksum != cksum) {
 150                 printf ("cksum mismatch (got %04x wanted %04x)\n",
 151                         cksum, encoded_cksum);
 152                 return;
 153         }
 154         id = msg[4];
 155         switch (id) {
 156         case 41:{
 157                 int     off = 4;
 158
 159                 uint8_t         id;
 160                 uint16_t        nav_valid;
 161                 uint16_t        nav_type;
 162                 uint16_t        week;
 163                 uint32_t        tow;
 164                 uint16_t        year;
 165                 uint8_t         month;
 166                 uint8_t         day;
 167                 uint8_t         hour;
 168                 uint8_t         minute;
 169                 uint16_t        second;
 170                 uint32_t        sat_list;
 171                 int32_t         lat;
 172                 int32_t         lon;
 173                 int32_t         alt_ell;
 174                 int32_t         alt_msl;
 175                 int8_t          datum;
 176                 uint16_t        sog;
 177                 uint16_t        cog;
 178                 int16_t         mag_var;
 179                 int16_t         climb_rate;
 180                 int16_t         heading_rate;
 181                 uint32_t        h_error;
 182                 uint32_t        v_error;
 183                 uint32_t        t_error;
 184                 uint16_t        h_v_error;
 185
 186 #define get_u8(u)       u = (msg[off]); off+= 1
 187 #define get_u16(u)      u = (msg[off] << 8) | (msg[off + 1]); off+= 2
 188 #define get_u32(u)      u = (msg[off] << 24) | (msg[off + 1] << 16) | (msg[off+2] << 8) | (msg[off+3]); off+= 4
 189
 190                 get_u8(id);
 191                 get_u16(nav_valid);
 192                 get_u16(nav_type);
 193                 get_u16(week);
 194                 get_u32(tow);
 195                 get_u16(year);
 196                 get_u8(month);
 197                 get_u8(day);
 198                 get_u8(hour);
 199                 get_u8(minute);
 200                 get_u16(second);
 201                 get_u32(sat_list);
 202                 get_u32(lat);
 203                 get_u32(lon);
 204                 get_u32(alt_ell);
 205                 get_u32(alt_msl);
 206                 get_u8(datum);
 207                 get_u16(sog);
 208                 get_u16(cog);
 209                 get_u16(mag_var);
 210                 get_u16(climb_rate);
 211                 get_u16(heading_rate);
 212                 get_u32(h_error);
 213                 get_u32(v_error);
 214                 get_u32(t_error);
 215                 get_u16(h_v_error);
 216
 217
 218                 printf ("Geodetic Navigation Data (41):\n");
 219                 printf ("\tNav valid %04x\n", nav_valid);
 220                 printf ("\tNav type %04x\n", nav_type);
 221                 printf ("\tWeek %5d", week);
 222                 printf (" TOW %9d", tow);
 223                 printf (" %4d-%2d-%2d %02d:%02d:%07.4f\n",
 224                         year, month, day,
 225                         hour, minute, second / 1000.0);
 226                 printf ("\tsats: %08x\n", sat_list);
 227                 printf ("\tlat: %g", lat / 1.0e7);
 228                 printf (" lon: %g", lon / 1.0e7);
 229                 printf (" alt_ell: %g", alt_ell / 100.0);
 230                 printf (" alt_msll: %g", alt_msl / 100.0);
 231                 printf (" datum: %d\n", datum);
 232                 printf ("\tground speed: %g", sog / 100.0);
 233                 printf (" course: %g", cog / 100.0);
 234                 printf (" climb: %g", climb_rate / 100.0);
 235                 printf (" heading rate: %g\n", heading_rate / 100.0);
 236                 printf ("\th error: %g", h_error / 100.0);
 237                 printf (" v error: %g", v_error / 100.0);
 238                 printf (" t error: %g", t_error / 100.0);
 239                 printf (" h vel error: %g\n", h_v_error / 100.0);
 240                 break;
 241         }
 242         case 4: {
 243                 int off = 4;
 244                 uint8_t         id;
 245                 int16_t         gps_week;
 246                 uint32_t        gps_tow;
 247                 uint8_t         channels;
 248                 int             j, k;
 249
 250                 get_u8(id);
 251                 get_u16(gps_week);
 252                 get_u32(gps_tow);
 253                 get_u8(channels);
 254
 255                 printf ("Measured Tracker Data (4):\n");
 256                 printf ("GPS week: %d\n", gps_week);
 257                 printf ("GPS time of week: %d\n", gps_tow);
 258                 printf ("channels: %d\n", channels);
 259                 for (j = 0; j < 12; j++) {
 260                         uint8_t svid, azimuth, elevation;
 261                         uint16_t state;
 262                         uint8_t c_n[10];
 263                         get_u8(svid);
 264                         get_u8(azimuth);
 265                         get_u8(elevation);
 266                         get_u16(state);
 267                         for (k = 0; k < 10; k++) {
 268                                 get_u8(c_n[k]);
 269                         }
 270                         printf ("Sat %3d:", svid);
 271                         printf (" aziumuth: %6.1f", azimuth * 1.5);
 272                         printf (" elevation: %6.1f", elevation * 0.5);
 273                         printf (" state: 0x%02x", state);
 274                         printf (" c_n:");
 275                         for (k = 0; k < 10; k++)
 276                                 printf(" %3d", c_n[k]);
 277                         if (state & SIRF_SAT_STATE_ACQUIRED)
 278                                 printf(" acq,");
 279                         if (state & SIRF_SAT_STATE_CARRIER_PHASE_VALID)
 280                                 printf(" car,");
 281                         if (state & SIRF_SAT_BIT_SYNC_COMPLETE)
 282                                 printf(" bit,");
 283                         if (state & SIRF_SAT_SUBFRAME_SYNC_COMPLETE)
 284                                 printf(" sub,");
 285                         if (state & SIRF_SAT_CARRIER_PULLIN_COMPLETE)
 286                                 printf(" pullin,");
 287                         if (state & SIRF_SAT_CODE_LOCKED)
 288                                 printf(" code,");
 289                         if (state & SIRF_SAT_ACQUISITION_FAILED)
 290                                 printf(" fail,");
 291                         if (state & SIRF_SAT_EPHEMERIS_AVAILABLE)
 292                                 printf(" ephem,");
 293                         printf ("\n");
 294                 }
 295                 break;
 296         }
 297         default:
 298                 return;
 299                 printf ("%s %4d:", from, encoded_len);
 300                 for (i = 4; i < len - 4; i++) {
 301                         if (((i - 4) & 0xf) == 0)
 302                                 printf("\n   ");
 303                         printf (" %3d", msg[i]);
 304                 }
 305                 printf ("\n");
 306         }
 307 }
 308
 309 static uint8_t  sirf_message[4096];
 310 static int      sirf_message_len;
 311 static uint8_t  sirf_in_message[4096];
 312 static int      sirf_in_len;
 313
 314 char
 315 ao_serial_getchar(void)
 316 {
 317         char    c;
 318         uint8_t uc;
 319
 320         while (input_head == input_tail) {
 321                 for (;;) {
 322                         input_tail = read(ao_gps_fd, input_queue, QUEUE_LEN);
 323                         if (input_tail < 0) {
 324                                 if (errno == EINTR || errno == EAGAIN)
 325                                         continue;
 326                                 perror ("getchar");
 327                                 exit (1);
 328                         }
 329                         input_head = 0;
 330                         break;
 331                 }
 332         }
 333         c = input_queue[input_head];
 334         input_head = (input_head + 1) % QUEUE_LEN;
 335         uc = c;
 336         if (sirf_in_len || uc == 0xa0) {
 337                 if (sirf_in_len < 4096)
 338                         sirf_in_message[sirf_in_len++] = uc;
 339                 if (uc == 0xb3) {
 340                         check_sirf_message("recv", sirf_in_message, sirf_in_len);
 341                         sirf_in_len = 0;
 342                 }
 343         }
 344         return c;
 345 }
 346
 347
 348 void
 349 ao_serial_putchar(char c)
 350 {
 351         int     i;
 352         uint8_t uc = (uint8_t) c;
 353
 354         if (sirf_message_len || uc == 0xa0) {
 355                 if (sirf_message_len < 4096)
 356                         sirf_message[sirf_message_len++] = uc;
 357                 if (uc == 0xb3) {
 358                         check_sirf_message("send", sirf_message, sirf_message_len);
 359                         sirf_message_len = 0;
 360                 }
 361         }
 362         for (;;) {
 363                 i = write(ao_gps_fd, &c, 1);
 364                 if (i == 1) {
 365                         if ((uint8_t) c == 0xb3 || c == '\r') {
 366                                 static const struct timespec delay = {
 367                                         .tv_sec = 0,
 368                                         .tv_nsec = 100 * 1000 * 1000
 369                                 };
 370                                 tcdrain(ao_gps_fd);
 371 //                              nanosleep(&delay, NULL);
 372                         }
 373                         break;
 374                 }
 375                 if (i < 0 && (errno == EINTR || errno == EAGAIN))
 376                         continue;
 377                 perror("putchar");
 378                 exit(1);
 379         }
 380 }
 381
 382 #define AO_SERIAL_SPEED_4800    0
 383 #define AO_SERIAL_SPEED_57600   1
 384
 385 static void
 386 ao_serial_set_speed(uint8_t speed)
 387 {
 388         int     fd = ao_gps_fd;
 389         struct termios  termios;
 390
 391         tcdrain(fd);
 392         tcgetattr(fd, &termios);
 393         switch (speed) {
 394         case AO_SERIAL_SPEED_4800:
 395                 cfsetspeed(&termios, B4800);
 396                 break;
 397         case AO_SERIAL_SPEED_57600:
 398                 cfsetspeed(&termios, B57600);
 399                 break;
 400         }
 401         tcsetattr(fd, TCSAFLUSH, &termios);
 402         tcflush(fd, TCIFLUSH);
 403 }
 404
 405 #define ao_time() 0
 406
 407 #include "ao_gps_print.c"
 408 #include "ao_gps_sirf.c"
 409
 410 void
 411 ao_dump_state(void *wchan)
 412 {
 413         double  lat, lon;
 414         int     i;
 415         if (wchan == &ao_gps_data)
 416                 ao_gps_print(&ao_gps_data);
 417         else
 418                 ao_gps_tracking_print(&ao_gps_tracking_data);
 419         putchar('\n');
 420         return;
 421         printf ("%02d:%02d:%02d",
 422                 ao_gps_data.hour, ao_gps_data.minute,
 423                 ao_gps_data.second);
 424         printf (" nsat %d %svalid",
 425                 ao_gps_data.flags & AO_GPS_NUM_SAT_MASK,
 426                 ao_gps_data.flags & AO_GPS_VALID ? "" : "not ");
 427         printf (" lat %g lon %g alt %d",
 428                 ao_gps_data.latitude / 1.0e7,
 429                 ao_gps_data.longitude / 1.0e7,
 430                 ao_gps_data.altitude);
 431         printf (" speed %g climb %g course %d",
 432                 ao_gps_data.ground_speed / 100.0,
 433                 ao_gps_data.climb_rate / 100.0,
 434                 ao_gps_data.course * 2);
 435         printf (" hdop %g h_error %d v_error %d",
 436                 ao_gps_data.hdop / 5.0,
 437                 ao_gps_data.h_error, ao_gps_data.v_error);
 438         printf("\n");
 439         printf ("\t");
 440         for (i = 0; i < 12; i++)
 441                 printf (" %2d(%02d)",
 442                         ao_gps_tracking_data.sats[i].svid,
 443                         ao_gps_tracking_data.sats[i].c_n_1);
 444         printf ("\n");
 445 }
 446
 447 int
 448 ao_gps_open(const char *tty)
 449 {
 450         struct termios  termios;
 451         int fd;
 452
 453         fd = open (tty, O_RDWR);
 454         if (fd < 0)
 455                 return -1;
 456
 457         tcgetattr(fd, &termios);
 458         cfmakeraw(&termios);
 459         cfsetspeed(&termios, B4800);
 460         tcsetattr(fd, TCSAFLUSH, &termios);
 461
 462         tcdrain(fd);
 463         tcflush(fd, TCIFLUSH);
 464         return fd;
 465 }
 466
 467 #include <getopt.h>
 468
 469 static const struct option options[] = {
 470         { .name = "tty", .has_arg = 1, .val = 'T' },
 471         { 0, 0, 0, 0},
 472 };
 473
 474 static void usage(char *program)
 475 {
 476         fprintf(stderr, "usage: %s [--tty <tty-name>]\n", program);
 477         exit(1);
 478 }
 479
 480 int
 481 main (int argc, char **argv)
 482 {
 483         char    *tty = "/dev/ttyUSB0";
 484         int     c;
 485
 486         while ((c = getopt_long(argc, argv, "T:", options, NULL)) != -1) {
 487                 switch (c) {
 488                 case 'T':
 489                         tty = optarg;
 490                         break;
 491                 default:
 492                         usage(argv[0]);
 493                         break;
 494                 }
 495         }
 496         ao_gps_fd = ao_gps_open(tty);
 497         if (ao_gps_fd < 0) {
 498                 perror (tty);
 499                 exit (1);
 500         }
 501         ao_gps_setup();
 502         ao_gps();
 503 }