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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         state;
  63         uint8_t         c_n_1;
  64 };
  65
  66 #define AO_MAX_GPS_TRACKING     12
  67
  68 struct ao_gps_tracking_data {
  69         uint8_t                 channels;
  70         struct ao_gps_sat_data  sats[AO_MAX_GPS_TRACKING];
  71 };
  72
  73 void
  74 ao_mutex_get(uint8_t *mutex)
  75 {
  76 }
  77
  78 void
  79 ao_mutex_put(uint8_t *mutex)
  80 {
  81 }
  82
  83 static int
  84 ao_gps_fd;
  85
  86 static void
  87 ao_dbg_char(char c)
  88 {
  89         char    line[128];
  90         line[0] = '\0';
  91         if (c < ' ') {
  92                 if (c == '\n')
  93                         sprintf (line, "\n");
  94                 else
  95                         sprintf (line, "\\%02x", ((int) c) & 0xff);
  96         } else {
  97                 sprintf (line, "%c", c);
  98         }
  99         write(1, line, strlen(line));
 100 }
 101
 102 #define QUEUE_LEN       4096
 103
 104 static char     input_queue[QUEUE_LEN];
 105 int             input_head, input_tail;
 106
 107 #include <sys/time.h>
 108
 109 int
 110 get_millis(void)
 111 {
 112         struct timeval  tv;
 113         gettimeofday(&tv, NULL);
 114         return tv.tv_sec * 1000 + tv.tv_usec / 1000;
 115 }
 116
 117 static void
 118 check_skytraq_message(char *from, uint8_t *msg, int len)
 119 {
 120         uint16_t        encoded_len, encoded_cksum;
 121         uint16_t        cksum;
 122         uint8_t         id;
 123         int             i;
 124
 125 //      fwrite(msg, 1, len, stdout);
 126         return;
 127         if (msg[0] != 0xa0 || msg[1] != 0xa2) {
 128                 printf ("bad header\n");
 129                 return;
 130         }
 131         if (len < 7) {
 132                 printf("short\n");
 133                 return;
 134         }
 135         if (msg[len-1] != 0xb3 || msg[len-2] != 0xb0) {
 136                 printf ("bad trailer\n");
 137                 return;
 138         }
 139         encoded_len = (msg[2] << 8) | msg[3];
 140         id = msg[4];
 141 /*      printf ("%9d: %3d\n", get_millis(), id); */
 142         if (encoded_len != len - 8) {
 143                 if (id != 52)
 144                         printf ("length mismatch (got %d, wanted %d)\n",
 145                                 len - 8, encoded_len);
 146                 return;
 147         }
 148         encoded_cksum = (msg[len - 4] << 8) | msg[len-3];
 149         cksum = 0;
 150         for (i = 4; i < len - 4; i++)
 151                 cksum = (cksum + msg[i]) & 0x7fff;
 152         if (encoded_cksum != cksum) {
 153                 printf ("cksum mismatch (got %04x wanted %04x)\n",
 154                         cksum, encoded_cksum);
 155                 return;
 156         }
 157         id = msg[4];
 158         switch (id) {
 159         case 41:{
 160                 int     off = 4;
 161
 162                 uint8_t         id;
 163                 uint16_t        nav_valid;
 164                 uint16_t        nav_type;
 165                 uint16_t        week;
 166                 uint32_t        tow;
 167                 uint16_t        year;
 168                 uint8_t         month;
 169                 uint8_t         day;
 170                 uint8_t         hour;
 171                 uint8_t         minute;
 172                 uint16_t        second;
 173                 uint32_t        sat_list;
 174                 int32_t         lat;
 175                 int32_t         lon;
 176                 int32_t         alt_ell;
 177                 int32_t         alt_msl;
 178                 int8_t          datum;
 179                 uint16_t        sog;
 180                 uint16_t        cog;
 181                 int16_t         mag_var;
 182                 int16_t         climb_rate;
 183                 int16_t         heading_rate;
 184                 uint32_t        h_error;
 185                 uint32_t        v_error;
 186                 uint32_t        t_error;
 187                 uint16_t        h_v_error;
 188
 189 #define get_u8(u)       u = (msg[off]); off+= 1
 190 #define get_u16(u)      u = (msg[off] << 8) | (msg[off + 1]); off+= 2
 191 #define get_u32(u)      u = (msg[off] << 24) | (msg[off + 1] << 16) | (msg[off+2] << 8) | (msg[off+3]); off+= 4
 192
 193                 get_u8(id);
 194                 get_u16(nav_valid);
 195                 get_u16(nav_type);
 196                 get_u16(week);
 197                 get_u32(tow);
 198                 get_u16(year);
 199                 get_u8(month);
 200                 get_u8(day);
 201                 get_u8(hour);
 202                 get_u8(minute);
 203                 get_u16(second);
 204                 get_u32(sat_list);
 205                 get_u32(lat);
 206                 get_u32(lon);
 207                 get_u32(alt_ell);
 208                 get_u32(alt_msl);
 209                 get_u8(datum);
 210                 get_u16(sog);
 211                 get_u16(cog);
 212                 get_u16(mag_var);
 213                 get_u16(climb_rate);
 214                 get_u16(heading_rate);
 215                 get_u32(h_error);
 216                 get_u32(v_error);
 217                 get_u32(t_error);
 218                 get_u16(h_v_error);
 219
 220
 221                 printf ("Geodetic Navigation Data (41):\n");
 222                 printf ("\tNav valid %04x\n", nav_valid);
 223                 printf ("\tNav type %04x\n", nav_type);
 224                 printf ("\tWeek %5d", week);
 225                 printf (" TOW %9d", tow);
 226                 printf (" %4d-%2d-%2d %02d:%02d:%07.4f\n",
 227                         year, month, day,
 228                         hour, minute, second / 1000.0);
 229                 printf ("\tsats: %08x\n", sat_list);
 230                 printf ("\tlat: %g", lat / 1.0e7);
 231                 printf (" lon: %g", lon / 1.0e7);
 232                 printf (" alt_ell: %g", alt_ell / 100.0);
 233                 printf (" alt_msll: %g", alt_msl / 100.0);
 234                 printf (" datum: %d\n", datum);
 235                 printf ("\tground speed: %g", sog / 100.0);
 236                 printf (" course: %g", cog / 100.0);
 237                 printf (" climb: %g", climb_rate / 100.0);
 238                 printf (" heading rate: %g\n", heading_rate / 100.0);
 239                 printf ("\th error: %g", h_error / 100.0);
 240                 printf (" v error: %g", v_error / 100.0);
 241                 printf (" t error: %g", t_error / 100.0);
 242                 printf (" h vel error: %g\n", h_v_error / 100.0);
 243                 break;
 244         }
 245         case 4: {
 246                 int off = 4;
 247                 uint8_t         id;
 248                 int16_t         gps_week;
 249                 uint32_t        gps_tow;
 250                 uint8_t         channels;
 251                 int             j, k;
 252
 253                 get_u8(id);
 254                 get_u16(gps_week);
 255                 get_u32(gps_tow);
 256                 get_u8(channels);
 257
 258                 printf ("Measured Tracker Data (4):\n");
 259                 printf ("GPS week: %d\n", gps_week);
 260                 printf ("GPS time of week: %d\n", gps_tow);
 261                 printf ("channels: %d\n", channels);
 262                 for (j = 0; j < 12; j++) {
 263                         uint8_t svid, azimuth, elevation;
 264                         uint16_t state;
 265                         uint8_t c_n[10];
 266                         get_u8(svid);
 267                         get_u8(azimuth);
 268                         get_u8(elevation);
 269                         get_u16(state);
 270                         for (k = 0; k < 10; k++) {
 271                                 get_u8(c_n[k]);
 272                         }
 273                         printf ("Sat %3d:", svid);
 274                         printf (" aziumuth: %6.1f", azimuth * 1.5);
 275                         printf (" elevation: %6.1f", elevation * 0.5);
 276                         printf (" state: 0x%02x", state);
 277                         printf (" c_n:");
 278                         for (k = 0; k < 10; k++)
 279                                 printf(" %3d", c_n[k]);
 280                         if (state & SIRF_SAT_STATE_ACQUIRED)
 281                                 printf(" acq,");
 282                         if (state & SIRF_SAT_STATE_CARRIER_PHASE_VALID)
 283                                 printf(" car,");
 284                         if (state & SIRF_SAT_BIT_SYNC_COMPLETE)
 285                                 printf(" bit,");
 286                         if (state & SIRF_SAT_SUBFRAME_SYNC_COMPLETE)
 287                                 printf(" sub,");
 288                         if (state & SIRF_SAT_CARRIER_PULLIN_COMPLETE)
 289                                 printf(" pullin,");
 290                         if (state & SIRF_SAT_CODE_LOCKED)
 291                                 printf(" code,");
 292                         if (state & SIRF_SAT_ACQUISITION_FAILED)
 293                                 printf(" fail,");
 294                         if (state & SIRF_SAT_EPHEMERIS_AVAILABLE)
 295                                 printf(" ephem,");
 296                         printf ("\n");
 297                 }
 298                 break;
 299         }
 300         default:
 301                 return;
 302                 printf ("%s %4d:", from, encoded_len);
 303                 for (i = 4; i < len - 4; i++) {
 304                         if (((i - 4) & 0xf) == 0)
 305                                 printf("\n   ");
 306                         printf (" %3d", msg[i]);
 307                 }
 308                 printf ("\n");
 309         }
 310 }
 311
 312 static uint8_t  skytraq_message[4096];
 313 static int      skytraq_message_len;
 314 static uint8_t  skytraq_in_message[4096];
 315 static int      skytraq_in_len;
 316
 317 char
 318 ao_serial_getchar(void)
 319 {
 320         char    c;
 321         uint8_t uc;
 322
 323         while (input_head == input_tail) {
 324                 for (;;) {
 325                         input_tail = read(ao_gps_fd, input_queue, QUEUE_LEN);
 326                         if (input_tail < 0) {
 327                                 if (errno == EINTR || errno == EAGAIN)
 328                                         continue;
 329                                 perror ("getchar");
 330                                 exit (1);
 331                         }
 332                         input_head = 0;
 333                         break;
 334                 }
 335         }
 336         c = input_queue[input_head];
 337         input_head = (input_head + 1) % QUEUE_LEN;
 338         uc = c;
 339 //      printf ("c: %02x %c\n", uc, uc);
 340         if (skytraq_in_len || uc == '$') {
 341                 if (skytraq_in_len < 4096)
 342                         skytraq_in_message[skytraq_in_len++] = uc;
 343                 if (uc == 0x0a) {
 344                         check_skytraq_message("recv", skytraq_in_message, skytraq_in_len);
 345                         skytraq_in_len = 0;
 346                 }
 347         }
 348         return c;
 349 }
 350
 351
 352 void
 353 ao_serial_putchar(char c)
 354 {
 355         int     i;
 356         uint8_t uc = (uint8_t) c;
 357
 358         if (skytraq_message_len || uc == 0xa0) {
 359                 if (skytraq_message_len < 4096)
 360                         skytraq_message[skytraq_message_len++] = uc;
 361                 if (uc == 0x0a) {
 362                         check_skytraq_message("send", skytraq_message, skytraq_message_len);
 363                         skytraq_message_len = 0;
 364                 }
 365         }
 366         for (;;) {
 367                 i = write(ao_gps_fd, &c, 1);
 368                 if (i == 1) {
 369                         if ((uint8_t) c == 0xb3 || c == '\r') {
 370                                 static const struct timespec delay = {
 371                                         .tv_sec = 0,
 372                                         .tv_nsec = 100 * 1000 * 1000
 373                                 };
 374                                 tcdrain(ao_gps_fd);
 375 //                              nanosleep(&delay, NULL);
 376                         }
 377                         break;
 378                 }
 379                 if (i < 0 && (errno == EINTR || errno == EAGAIN))
 380                         continue;
 381                 perror("putchar");
 382                 exit(1);
 383         }
 384 }
 385
 386 #define AO_SERIAL_SPEED_4800    0
 387 #define AO_SERIAL_SPEED_9600    1
 388 #define AO_SERIAL_SPEED_57600   2
 389
 390 static void
 391 ao_serial_set_speed(uint8_t speed)
 392 {
 393         int     fd = ao_gps_fd;
 394         struct termios  termios;
 395
 396         tcdrain(fd);
 397         tcgetattr(fd, &termios);
 398         switch (speed) {
 399         case AO_SERIAL_SPEED_4800:
 400                 cfsetspeed(&termios, B4800);
 401                 break;
 402         case AO_SERIAL_SPEED_9600:
 403                 cfsetspeed(&termios, B38400);
 404                 break;
 405         case AO_SERIAL_SPEED_57600:
 406                 cfsetspeed(&termios, B57600);
 407                 break;
 408         }
 409         tcsetattr(fd, TCSAFLUSH, &termios);
 410         tcflush(fd, TCIFLUSH);
 411 }
 412
 413 #define ao_time() 0
 414
 415 #include "ao_gps_print.c"
 416 #include "ao_gps_skytraq.c"
 417
 418 void
 419 ao_dump_state(void *wchan)
 420 {
 421         double  lat, lon;
 422         int     i;
 423         if (wchan == &ao_gps_data)
 424                 ao_gps_print(&ao_gps_data);
 425         else
 426                 ao_gps_tracking_print(&ao_gps_tracking_data);
 427         putchar('\n');
 428         return;
 429 }
 430
 431 int
 432 ao_gps_open(const char *tty)
 433 {
 434         struct termios  termios;
 435         int fd;
 436
 437         fd = open (tty, O_RDWR);
 438         if (fd < 0)
 439                 return -1;
 440
 441         tcgetattr(fd, &termios);
 442         cfmakeraw(&termios);
 443         cfsetspeed(&termios, B4800);
 444         tcsetattr(fd, TCSAFLUSH, &termios);
 445
 446         tcdrain(fd);
 447         tcflush(fd, TCIFLUSH);
 448         return fd;
 449 }
 450
 451 #include <getopt.h>
 452
 453 static const struct option options[] = {
 454         { .name = "tty", .has_arg = 1, .val = 'T' },
 455         { 0, 0, 0, 0},
 456 };
 457
 458 static void usage(char *program)
 459 {
 460         fprintf(stderr, "usage: %s [--tty <tty-name>]\n", program);
 461         exit(1);
 462 }
 463
 464 int
 465 main (int argc, char **argv)
 466 {
 467         char    *tty = "/dev/ttyUSB0";
 468         int     c;
 469
 470         while ((c = getopt_long(argc, argv, "T:", options, NULL)) != -1) {
 471                 switch (c) {
 472                 case 'T':
 473                         tty = optarg;
 474                         break;
 475                 default:
 476                         usage(argv[0]);
 477                         break;
 478                 }
 479         }
 480         ao_gps_fd = ao_gps_open(tty);
 481         if (ao_gps_fd < 0) {
 482                 perror (tty);
 483                 exit (1);
 484         }
 485         ao_gps();
 486 }