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