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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 #define AO_GPS_COURSE_VALID     (1 << 7)
  32
  33 struct ao_gps_data {
  34         uint8_t                 year;
  35         uint8_t                 month;
  36         uint8_t                 day;
  37         uint8_t                 hour;
  38         uint8_t                 minute;
  39         uint8_t                 second;
  40         uint8_t                 flags;
  41         int32_t                 latitude;       /* degrees * 10⁷ */
  42         int32_t                 longitude;      /* degrees * 10⁷ */
  43         int16_t                 altitude;       /* m */
  44         uint16_t                ground_speed;   /* cm/s */
  45         uint8_t                 course;         /* degrees / 2 */
  46         uint8_t                 hdop;           /* * 5 */
  47         int16_t                 climb_rate;     /* cm/s */
  48         uint16_t                h_error;        /* m */
  49         uint16_t                v_error;        /* m */
  50 };
  51
  52 #define SIRF_SAT_STATE_ACQUIRED                 (1 << 0)
  53 #define SIRF_SAT_STATE_CARRIER_PHASE_VALID      (1 << 1)
  54 #define SIRF_SAT_BIT_SYNC_COMPLETE              (1 << 2)
  55 #define SIRF_SAT_SUBFRAME_SYNC_COMPLETE         (1 << 3)
  56 #define SIRF_SAT_CARRIER_PULLIN_COMPLETE        (1 << 4)
  57 #define SIRF_SAT_CODE_LOCKED                    (1 << 5)
  58 #define SIRF_SAT_ACQUISITION_FAILED             (1 << 6)
  59 #define SIRF_SAT_EPHEMERIS_AVAILABLE            (1 << 7)
  60
  61 struct ao_gps_sat_data {
  62         uint8_t         svid;
  63         uint8_t         state;
  64         uint8_t         c_n_1;
  65 };
  66
  67 #define AO_MAX_GPS_TRACKING     12
  68
  69 struct ao_gps_tracking_data {
  70         uint8_t                 channels;
  71         struct ao_gps_sat_data  sats[AO_MAX_GPS_TRACKING];
  72 };
  73
  74 void
  75 ao_mutex_get(uint8_t *mutex)
  76 {
  77 }
  78
  79 void
  80 ao_mutex_put(uint8_t *mutex)
  81 {
  82 }
  83
  84 static int
  85 ao_gps_fd;
  86
  87 static void
  88 ao_dbg_char(char c)
  89 {
  90         char    line[128];
  91         line[0] = '\0';
  92         if (c < ' ') {
  93                 if (c == '\n')
  94                         sprintf (line, "\n");
  95                 else
  96                         sprintf (line, "\\%02x", ((int) c) & 0xff);
  97         } else {
  98                 sprintf (line, "%c", c);
  99         }
 100         write(1, line, strlen(line));
 101 }
 102
 103 #define QUEUE_LEN       4096
 104
 105 static char     input_queue[QUEUE_LEN];
 106 int             input_head, input_tail;
 107
 108 #include <sys/time.h>
 109
 110 int
 111 get_millis(void)
 112 {
 113         struct timeval  tv;
 114         gettimeofday(&tv, NULL);
 115         return tv.tv_sec * 1000 + tv.tv_usec / 1000;
 116 }
 117
 118 static void
 119 check_skytraq_message(char *from, uint8_t *msg, int len)
 120 {
 121         uint16_t        encoded_len, encoded_cksum;
 122         uint16_t        cksum;
 123         uint8_t         id;
 124         int             i;
 125
 126 //      fwrite(msg, 1, len, stdout);
 127         return;
 128         if (msg[0] != 0xa0 || msg[1] != 0xa2) {
 129                 printf ("bad header\n");
 130                 return;
 131         }
 132         if (len < 7) {
 133                 printf("short\n");
 134                 return;
 135         }
 136         if (msg[len-1] != 0xb3 || msg[len-2] != 0xb0) {
 137                 printf ("bad trailer\n");
 138                 return;
 139         }
 140         encoded_len = (msg[2] << 8) | msg[3];
 141         id = msg[4];
 142 /*      printf ("%9d: %3d\n", get_millis(), id); */
 143         if (encoded_len != len - 8) {
 144                 if (id != 52)
 145                         printf ("length mismatch (got %d, wanted %d)\n",
 146                                 len - 8, encoded_len);
 147                 return;
 148         }
 149         encoded_cksum = (msg[len - 4] << 8) | msg[len-3];
 150         cksum = 0;
 151         for (i = 4; i < len - 4; i++)
 152                 cksum = (cksum + msg[i]) & 0x7fff;
 153         if (encoded_cksum != cksum) {
 154                 printf ("cksum mismatch (got %04x wanted %04x)\n",
 155                         cksum, encoded_cksum);
 156                 return;
 157         }
 158         id = msg[4];
 159         switch (id) {
 160         case 41:{
 161                 int     off = 4;
 162
 163                 uint8_t         id;
 164                 uint16_t        nav_valid;
 165                 uint16_t        nav_type;
 166                 uint16_t        week;
 167                 uint32_t        tow;
 168                 uint16_t        year;
 169                 uint8_t         month;
 170                 uint8_t         day;
 171                 uint8_t         hour;
 172                 uint8_t         minute;
 173                 uint16_t        second;
 174                 uint32_t        sat_list;
 175                 int32_t         lat;
 176                 int32_t         lon;
 177                 int32_t         alt_ell;
 178                 int32_t         alt_msl;
 179                 int8_t          datum;
 180                 uint16_t        sog;
 181                 uint16_t        cog;
 182                 int16_t         mag_var;
 183                 int16_t         climb_rate;
 184                 int16_t         heading_rate;
 185                 uint32_t        h_error;
 186                 uint32_t        v_error;
 187                 uint32_t        t_error;
 188                 uint16_t        h_v_error;
 189
 190 #define get_u8(u)       u = (msg[off]); off+= 1
 191 #define get_u16(u)      u = (msg[off] << 8) | (msg[off + 1]); off+= 2
 192 #define get_u32(u)      u = (msg[off] << 24) | (msg[off + 1] << 16) | (msg[off+2] << 8) | (msg[off+3]); off+= 4
 193
 194                 get_u8(id);
 195                 get_u16(nav_valid);
 196                 get_u16(nav_type);
 197                 get_u16(week);
 198                 get_u32(tow);
 199                 get_u16(year);
 200                 get_u8(month);
 201                 get_u8(day);
 202                 get_u8(hour);
 203                 get_u8(minute);
 204                 get_u16(second);
 205                 get_u32(sat_list);
 206                 get_u32(lat);
 207                 get_u32(lon);
 208                 get_u32(alt_ell);
 209                 get_u32(alt_msl);
 210                 get_u8(datum);
 211                 get_u16(sog);
 212                 get_u16(cog);
 213                 get_u16(mag_var);
 214                 get_u16(climb_rate);
 215                 get_u16(heading_rate);
 216                 get_u32(h_error);
 217                 get_u32(v_error);
 218                 get_u32(t_error);
 219                 get_u16(h_v_error);
 220
 221
 222                 printf ("Geodetic Navigation Data (41):\n");
 223                 printf ("\tNav valid %04x\n", nav_valid);
 224                 printf ("\tNav type %04x\n", nav_type);
 225                 printf ("\tWeek %5d", week);
 226                 printf (" TOW %9d", tow);
 227                 printf (" %4d-%2d-%2d %02d:%02d:%07.4f\n",
 228                         year, month, day,
 229                         hour, minute, second / 1000.0);
 230                 printf ("\tsats: %08x\n", sat_list);
 231                 printf ("\tlat: %g", lat / 1.0e7);
 232                 printf (" lon: %g", lon / 1.0e7);
 233                 printf (" alt_ell: %g", alt_ell / 100.0);
 234                 printf (" alt_msll: %g", alt_msl / 100.0);
 235                 printf (" datum: %d\n", datum);
 236                 printf ("\tground speed: %g", sog / 100.0);
 237                 printf (" course: %g", cog / 100.0);
 238                 printf (" climb: %g", climb_rate / 100.0);
 239                 printf (" heading rate: %g\n", heading_rate / 100.0);
 240                 printf ("\th error: %g", h_error / 100.0);
 241                 printf (" v error: %g", v_error / 100.0);
 242                 printf (" t error: %g", t_error / 100.0);
 243                 printf (" h vel error: %g\n", h_v_error / 100.0);
 244                 break;
 245         }
 246         case 4: {
 247                 int off = 4;
 248                 uint8_t         id;
 249                 int16_t         gps_week;
 250                 uint32_t        gps_tow;
 251                 uint8_t         channels;
 252                 int             j, k;
 253
 254                 get_u8(id);
 255                 get_u16(gps_week);
 256                 get_u32(gps_tow);
 257                 get_u8(channels);
 258
 259                 printf ("Measured Tracker Data (4):\n");
 260                 printf ("GPS week: %d\n", gps_week);
 261                 printf ("GPS time of week: %d\n", gps_tow);
 262                 printf ("channels: %d\n", channels);
 263                 for (j = 0; j < 12; j++) {
 264                         uint8_t svid, azimuth, elevation;
 265                         uint16_t state;
 266                         uint8_t c_n[10];
 267                         get_u8(svid);
 268                         get_u8(azimuth);
 269                         get_u8(elevation);
 270                         get_u16(state);
 271                         for (k = 0; k < 10; k++) {
 272                                 get_u8(c_n[k]);
 273                         }
 274                         printf ("Sat %3d:", svid);
 275                         printf (" aziumuth: %6.1f", azimuth * 1.5);
 276                         printf (" elevation: %6.1f", elevation * 0.5);
 277                         printf (" state: 0x%02x", state);
 278                         printf (" c_n:");
 279                         for (k = 0; k < 10; k++)
 280                                 printf(" %3d", c_n[k]);
 281                         if (state & SIRF_SAT_STATE_ACQUIRED)
 282                                 printf(" acq,");
 283                         if (state & SIRF_SAT_STATE_CARRIER_PHASE_VALID)
 284                                 printf(" car,");
 285                         if (state & SIRF_SAT_BIT_SYNC_COMPLETE)
 286                                 printf(" bit,");
 287                         if (state & SIRF_SAT_SUBFRAME_SYNC_COMPLETE)
 288                                 printf(" sub,");
 289                         if (state & SIRF_SAT_CARRIER_PULLIN_COMPLETE)
 290                                 printf(" pullin,");
 291                         if (state & SIRF_SAT_CODE_LOCKED)
 292                                 printf(" code,");
 293                         if (state & SIRF_SAT_ACQUISITION_FAILED)
 294                                 printf(" fail,");
 295                         if (state & SIRF_SAT_EPHEMERIS_AVAILABLE)
 296                                 printf(" ephem,");
 297                         printf ("\n");
 298                 }
 299                 break;
 300         }
 301         default:
 302                 return;
 303                 printf ("%s %4d:", from, encoded_len);
 304                 for (i = 4; i < len - 4; i++) {
 305                         if (((i - 4) & 0xf) == 0)
 306                                 printf("\n   ");
 307                         printf (" %3d", msg[i]);
 308                 }
 309                 printf ("\n");
 310         }
 311 }
 312
 313 static uint8_t  skytraq_message[4096];
 314 static int      skytraq_message_len;
 315 static uint8_t  skytraq_in_message[4096];
 316 static int      skytraq_in_len;
 317
 318 char
 319 ao_serial_getchar(void)
 320 {
 321         char    c;
 322         uint8_t uc;
 323
 324         while (input_head == input_tail) {
 325                 for (;;) {
 326                         input_tail = read(ao_gps_fd, input_queue, QUEUE_LEN);
 327                         if (input_tail < 0) {
 328                                 if (errno == EINTR || errno == EAGAIN)
 329                                         continue;
 330                                 perror ("getchar");
 331                                 exit (1);
 332                         }
 333                         input_head = 0;
 334                         break;
 335                 }
 336         }
 337         c = input_queue[input_head];
 338         input_head = (input_head + 1) % QUEUE_LEN;
 339         uc = c;
 340 //      printf ("c: %02x %c\n", uc, uc);
 341         if (skytraq_in_len || uc == '$') {
 342                 if (skytraq_in_len < 4096)
 343                         skytraq_in_message[skytraq_in_len++] = uc;
 344                 if (uc == 0x0a) {
 345                         check_skytraq_message("recv", skytraq_in_message, skytraq_in_len);
 346                         skytraq_in_len = 0;
 347                 }
 348         }
 349         return c;
 350 }
 351
 352
 353 void
 354 ao_serial_putchar(char c)
 355 {
 356         int     i;
 357         uint8_t uc = (uint8_t) c;
 358
 359         if (skytraq_message_len || uc == 0xa0) {
 360                 if (skytraq_message_len < 4096)
 361                         skytraq_message[skytraq_message_len++] = uc;
 362                 if (uc == 0x0a) {
 363                         check_skytraq_message("send", skytraq_message, skytraq_message_len);
 364                         skytraq_message_len = 0;
 365                 }
 366         }
 367         for (;;) {
 368                 i = write(ao_gps_fd, &c, 1);
 369                 if (i == 1) {
 370                         if ((uint8_t) c == 0xb3 || c == '\r') {
 371                                 static const struct timespec delay = {
 372                                         .tv_sec = 0,
 373                                         .tv_nsec = 100 * 1000 * 1000
 374                                 };
 375                                 tcdrain(ao_gps_fd);
 376 //                              nanosleep(&delay, NULL);
 377                         }
 378                         break;
 379                 }
 380                 if (i < 0 && (errno == EINTR || errno == EAGAIN))
 381                         continue;
 382                 perror("putchar");
 383                 exit(1);
 384         }
 385 }
 386
 387 #define AO_SERIAL_SPEED_4800    0
 388 #define AO_SERIAL_SPEED_9600    1
 389 #define AO_SERIAL_SPEED_57600   2
 390
 391 static void
 392 ao_serial_set_speed(uint8_t speed)
 393 {
 394         int     fd = ao_gps_fd;
 395         struct termios  termios;
 396
 397         tcdrain(fd);
 398         tcgetattr(fd, &termios);
 399         switch (speed) {
 400         case AO_SERIAL_SPEED_4800:
 401                 cfsetspeed(&termios, B4800);
 402                 break;
 403         case AO_SERIAL_SPEED_9600:
 404                 cfsetspeed(&termios, B38400);
 405                 break;
 406         case AO_SERIAL_SPEED_57600:
 407                 cfsetspeed(&termios, B57600);
 408                 break;
 409         }
 410         tcsetattr(fd, TCSAFLUSH, &termios);
 411         tcflush(fd, TCIFLUSH);
 412 }
 413
 414 #define ao_time() 0
 415
 416 #include "ao_gps_print.c"
 417 #include "ao_gps_skytraq.c"
 418
 419 void
 420 ao_dump_state(void *wchan)
 421 {
 422         double  lat, lon;
 423         int     i;
 424         if (wchan == &ao_gps_data)
 425                 ao_gps_print(&ao_gps_data);
 426         else
 427                 ao_gps_tracking_print(&ao_gps_tracking_data);
 428         putchar('\n');
 429         return;
 430 }
 431
 432 int
 433 ao_gps_open(const char *tty)
 434 {
 435         struct termios  termios;
 436         int fd;
 437
 438         fd = open (tty, O_RDWR);
 439         if (fd < 0)
 440                 return -1;
 441
 442         tcgetattr(fd, &termios);
 443         cfmakeraw(&termios);
 444         cfsetspeed(&termios, B4800);
 445         tcsetattr(fd, TCSAFLUSH, &termios);
 446
 447         tcdrain(fd);
 448         tcflush(fd, TCIFLUSH);
 449         return fd;
 450 }
 451
 452 #include <getopt.h>
 453
 454 static const struct option options[] = {
 455         { .name = "tty", .has_arg = 1, .val = 'T' },
 456         { 0, 0, 0, 0},
 457 };
 458
 459 static void usage(char *program)
 460 {
 461         fprintf(stderr, "usage: %s [--tty <tty-name>]\n", program);
 462         exit(1);
 463 }
 464
 465 int
 466 main (int argc, char **argv)
 467 {
 468         char    *tty = "/dev/ttyUSB0";
 469         int     c;
 470
 471         while ((c = getopt_long(argc, argv, "T:", options, NULL)) != -1) {
 472                 switch (c) {
 473                 case 'T':
 474                         tty = optarg;
 475                         break;
 476                 default:
 477                         usage(argv[0]);
 478                         break;
 479                 }
 480         }
 481         ao_gps_fd = ao_gps_open(tty);
 482         if (ao_gps_fd < 0) {
 483                 perror (tty);
 484                 exit (1);
 485         }
 486         ao_gps();
 487 }