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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
  31 struct ao_gps_data {
  32         uint8_t                 hour;
  33         uint8_t                 minute;
  34         uint8_t                 second;
  35         uint8_t                 flags;
  36         int32_t                 latitude;       /* degrees * 10⁷ */
  37         int32_t                 longitude;      /* degrees * 10⁷ */
  38         int16_t                 altitude;       /* m */
  39         uint16_t                ground_speed;   /* cm/s */
  40         uint8_t                 course;         /* degrees / 2 */
  41         uint8_t                 hdop;           /* * 5 */
  42         int16_t                 climb_rate;     /* cm/s */
  43         uint16_t                h_error;        /* m */
  44         uint16_t                v_error;        /* m */
  45 };
  46
  47 #define SIRF_SAT_STATE_ACQUIRED                 (1 << 0)
  48 #define SIRF_SAT_STATE_CARRIER_PHASE_VALID      (1 << 1)
  49 #define SIRF_SAT_BIT_SYNC_COMPLETE              (1 << 2)
  50 #define SIRF_SAT_SUBFRAME_SYNC_COMPLETE         (1 << 3)
  51 #define SIRF_SAT_CARRIER_PULLIN_COMPLETE        (1 << 4)
  52 #define SIRF_SAT_CODE_LOCKED                    (1 << 5)
  53 #define SIRF_SAT_ACQUISITION_FAILED             (1 << 6)
  54 #define SIRF_SAT_EPHEMERIS_AVAILABLE            (1 << 7)
  55
  56 struct ao_gps_sat_data {
  57         uint8_t         svid;
  58         uint8_t         state;
  59         uint8_t         c_n_1;
  60 };
  61
  62 struct ao_gps_tracking_data {
  63         uint8_t                 channels;
  64         struct ao_gps_sat_data  sats[12];
  65 };
  66
  67 void
  68 ao_mutex_get(uint8_t *mutex)
  69 {
  70 }
  71
  72 void
  73 ao_mutex_put(uint8_t *mutex)
  74 {
  75 }
  76
  77 static int
  78 ao_gps_fd;
  79
  80 static void
  81 ao_dbg_char(char c)
  82 {
  83         char    line[128];
  84         line[0] = '\0';
  85         if (c < ' ') {
  86                 if (c == '\n')
  87                         sprintf (line, "\n");
  88                 else
  89                         sprintf (line, "\\%02x", ((int) c) & 0xff);
  90         } else {
  91                 sprintf (line, "%c", c);
  92         }
  93         write(1, line, strlen(line));
  94 }
  95
  96 #define QUEUE_LEN       4096
  97
  98 static char     input_queue[QUEUE_LEN];
  99 int             input_head, input_tail;
 100
 101 #include <sys/time.h>
 102
 103 int
 104 get_millis(void)
 105 {
 106         struct timeval  tv;
 107         gettimeofday(&tv, NULL);
 108         return tv.tv_sec * 1000 + tv.tv_usec / 1000;
 109 }
 110
 111 static void
 112 check_skytraq_message(char *from, uint8_t *msg, int len)
 113 {
 114         uint16_t        encoded_len, encoded_cksum;
 115         uint16_t        cksum;
 116         uint8_t         id;
 117         int             i;
 118
 119 //      fwrite(msg, 1, len, stdout);
 120         return;
 121         if (msg[0] != 0xa0 || msg[1] != 0xa2) {
 122                 printf ("bad header\n");
 123                 return;
 124         }
 125         if (len < 7) {
 126                 printf("short\n");
 127                 return;
 128         }
 129         if (msg[len-1] != 0xb3 || msg[len-2] != 0xb0) {
 130                 printf ("bad trailer\n");
 131                 return;
 132         }
 133         encoded_len = (msg[2] << 8) | msg[3];
 134         id = msg[4];
 135 /*      printf ("%9d: %3d\n", get_millis(), id); */
 136         if (encoded_len != len - 8) {
 137                 if (id != 52)
 138                         printf ("length mismatch (got %d, wanted %d)\n",
 139                                 len - 8, encoded_len);
 140                 return;
 141         }
 142         encoded_cksum = (msg[len - 4] << 8) | msg[len-3];
 143         cksum = 0;
 144         for (i = 4; i < len - 4; i++)
 145                 cksum = (cksum + msg[i]) & 0x7fff;
 146         if (encoded_cksum != cksum) {
 147                 printf ("cksum mismatch (got %04x wanted %04x)\n",
 148                         cksum, encoded_cksum);
 149                 return;
 150         }
 151         id = msg[4];
 152         switch (id) {
 153         case 41:{
 154                 int     off = 4;
 155
 156                 uint8_t         id;
 157                 uint16_t        nav_valid;
 158                 uint16_t        nav_type;
 159                 uint16_t        week;
 160                 uint32_t        tow;
 161                 uint16_t        year;
 162                 uint8_t         month;
 163                 uint8_t         day;
 164                 uint8_t         hour;
 165                 uint8_t         minute;
 166                 uint16_t        second;
 167                 uint32_t        sat_list;
 168                 int32_t         lat;
 169                 int32_t         lon;
 170                 int32_t         alt_ell;
 171                 int32_t         alt_msl;
 172                 int8_t          datum;
 173                 uint16_t        sog;
 174                 uint16_t        cog;
 175                 int16_t         mag_var;
 176                 int16_t         climb_rate;
 177                 int16_t         heading_rate;
 178                 uint32_t        h_error;
 179                 uint32_t        v_error;
 180                 uint32_t        t_error;
 181                 uint16_t        h_v_error;
 182
 183 #define get_u8(u)       u = (msg[off]); off+= 1
 184 #define get_u16(u)      u = (msg[off] << 8) | (msg[off + 1]); off+= 2
 185 #define get_u32(u)      u = (msg[off] << 24) | (msg[off + 1] << 16) | (msg[off+2] << 8) | (msg[off+3]); off+= 4
 186
 187                 get_u8(id);
 188                 get_u16(nav_valid);
 189                 get_u16(nav_type);
 190                 get_u16(week);
 191                 get_u32(tow);
 192                 get_u16(year);
 193                 get_u8(month);
 194                 get_u8(day);
 195                 get_u8(hour);
 196                 get_u8(minute);
 197                 get_u16(second);
 198                 get_u32(sat_list);
 199                 get_u32(lat);
 200                 get_u32(lon);
 201                 get_u32(alt_ell);
 202                 get_u32(alt_msl);
 203                 get_u8(datum);
 204                 get_u16(sog);
 205                 get_u16(cog);
 206                 get_u16(mag_var);
 207                 get_u16(climb_rate);
 208                 get_u16(heading_rate);
 209                 get_u32(h_error);
 210                 get_u32(v_error);
 211                 get_u32(t_error);
 212                 get_u16(h_v_error);
 213
 214
 215                 printf ("Geodetic Navigation Data (41):\n");
 216                 printf ("\tNav valid %04x\n", nav_valid);
 217                 printf ("\tNav type %04x\n", nav_type);
 218                 printf ("\tWeek %5d", week);
 219                 printf (" TOW %9d", tow);
 220                 printf (" %4d-%2d-%2d %02d:%02d:%07.4f\n",
 221                         year, month, day,
 222                         hour, minute, second / 1000.0);
 223                 printf ("\tsats: %08x\n", sat_list);
 224                 printf ("\tlat: %g", lat / 1.0e7);
 225                 printf (" lon: %g", lon / 1.0e7);
 226                 printf (" alt_ell: %g", alt_ell / 100.0);
 227                 printf (" alt_msll: %g", alt_msl / 100.0);
 228                 printf (" datum: %d\n", datum);
 229                 printf ("\tground speed: %g", sog / 100.0);
 230                 printf (" course: %g", cog / 100.0);
 231                 printf (" climb: %g", climb_rate / 100.0);
 232                 printf (" heading rate: %g\n", heading_rate / 100.0);
 233                 printf ("\th error: %g", h_error / 100.0);
 234                 printf (" v error: %g", v_error / 100.0);
 235                 printf (" t error: %g", t_error / 100.0);
 236                 printf (" h vel error: %g\n", h_v_error / 100.0);
 237                 break;
 238         }
 239         case 4: {
 240                 int off = 4;
 241                 uint8_t         id;
 242                 int16_t         gps_week;
 243                 uint32_t        gps_tow;
 244                 uint8_t         channels;
 245                 int             j, k;
 246
 247                 get_u8(id);
 248                 get_u16(gps_week);
 249                 get_u32(gps_tow);
 250                 get_u8(channels);
 251
 252                 printf ("Measured Tracker Data (4):\n");
 253                 printf ("GPS week: %d\n", gps_week);
 254                 printf ("GPS time of week: %d\n", gps_tow);
 255                 printf ("channels: %d\n", channels);
 256                 for (j = 0; j < 12; j++) {
 257                         uint8_t svid, azimuth, elevation;
 258                         uint16_t state;
 259                         uint8_t c_n[10];
 260                         get_u8(svid);
 261                         get_u8(azimuth);
 262                         get_u8(elevation);
 263                         get_u16(state);
 264                         for (k = 0; k < 10; k++) {
 265                                 get_u8(c_n[k]);
 266                         }
 267                         printf ("Sat %3d:", svid);
 268                         printf (" aziumuth: %6.1f", azimuth * 1.5);
 269                         printf (" elevation: %6.1f", elevation * 0.5);
 270                         printf (" state: 0x%02x", state);
 271                         printf (" c_n:");
 272                         for (k = 0; k < 10; k++)
 273                                 printf(" %3d", c_n[k]);
 274                         if (state & SIRF_SAT_STATE_ACQUIRED)
 275                                 printf(" acq,");
 276                         if (state & SIRF_SAT_STATE_CARRIER_PHASE_VALID)
 277                                 printf(" car,");
 278                         if (state & SIRF_SAT_BIT_SYNC_COMPLETE)
 279                                 printf(" bit,");
 280                         if (state & SIRF_SAT_SUBFRAME_SYNC_COMPLETE)
 281                                 printf(" sub,");
 282                         if (state & SIRF_SAT_CARRIER_PULLIN_COMPLETE)
 283                                 printf(" pullin,");
 284                         if (state & SIRF_SAT_CODE_LOCKED)
 285                                 printf(" code,");
 286                         if (state & SIRF_SAT_ACQUISITION_FAILED)
 287                                 printf(" fail,");
 288                         if (state & SIRF_SAT_EPHEMERIS_AVAILABLE)
 289                                 printf(" ephem,");
 290                         printf ("\n");
 291                 }
 292                 break;
 293         }
 294         default:
 295                 return;
 296                 printf ("%s %4d:", from, encoded_len);
 297                 for (i = 4; i < len - 4; i++) {
 298                         if (((i - 4) & 0xf) == 0)
 299                                 printf("\n   ");
 300                         printf (" %3d", msg[i]);
 301                 }
 302                 printf ("\n");
 303         }
 304 }
 305
 306 static uint8_t  skytraq_message[4096];
 307 static int      skytraq_message_len;
 308 static uint8_t  skytraq_in_message[4096];
 309 static int      skytraq_in_len;
 310
 311 char
 312 ao_serial_getchar(void)
 313 {
 314         char    c;
 315         uint8_t uc;
 316
 317         while (input_head == input_tail) {
 318                 for (;;) {
 319                         input_tail = read(ao_gps_fd, input_queue, QUEUE_LEN);
 320                         if (input_tail < 0) {
 321                                 if (errno == EINTR || errno == EAGAIN)
 322                                         continue;
 323                                 perror ("getchar");
 324                                 exit (1);
 325                         }
 326                         input_head = 0;
 327                         break;
 328                 }
 329         }
 330         c = input_queue[input_head];
 331         input_head = (input_head + 1) % QUEUE_LEN;
 332         uc = c;
 333 //      printf ("c: %02x %c\n", uc, uc);
 334         if (skytraq_in_len || uc == '$') {
 335                 if (skytraq_in_len < 4096)
 336                         skytraq_in_message[skytraq_in_len++] = uc;
 337                 if (uc == 0x0a) {
 338                         check_skytraq_message("recv", skytraq_in_message, skytraq_in_len);
 339                         skytraq_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 (skytraq_message_len || uc == 0xa0) {
 353                 if (skytraq_message_len < 4096)
 354                         skytraq_message[skytraq_message_len++] = uc;
 355                 if (uc == 0x0a) {
 356                         check_skytraq_message("send", skytraq_message, skytraq_message_len);
 357                         skytraq_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_9600    1
 382 #define AO_SERIAL_SPEED_57600   2
 383
 384 static void
 385 ao_serial_set_speed(uint8_t speed)
 386 {
 387         int     fd = ao_gps_fd;
 388         struct termios  termios;
 389
 390         tcdrain(fd);
 391         tcgetattr(fd, &termios);
 392         switch (speed) {
 393         case AO_SERIAL_SPEED_4800:
 394                 cfsetspeed(&termios, B4800);
 395                 break;
 396         case AO_SERIAL_SPEED_9600:
 397                 cfsetspeed(&termios, B38400);
 398                 break;
 399         case AO_SERIAL_SPEED_57600:
 400                 cfsetspeed(&termios, B57600);
 401                 break;
 402         }
 403         tcsetattr(fd, TCSAFLUSH, &termios);
 404         tcflush(fd, TCIFLUSH);
 405 }
 406
 407 #include "ao_gps_print.c"
 408 #include "ao_gps_skytraq.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 }
 422
 423 int
 424 ao_gps_open(const char *tty)
 425 {
 426         struct termios  termios;
 427         int fd;
 428
 429         fd = open (tty, O_RDWR);
 430         if (fd < 0)
 431                 return -1;
 432
 433         tcgetattr(fd, &termios);
 434         cfmakeraw(&termios);
 435         cfsetspeed(&termios, B4800);
 436         tcsetattr(fd, TCSAFLUSH, &termios);
 437
 438         tcdrain(fd);
 439         tcflush(fd, TCIFLUSH);
 440         return fd;
 441 }
 442
 443 #include <getopt.h>
 444
 445 static const struct option options[] = {
 446         { .name = "tty", .has_arg = 1, .val = 'T' },
 447         { 0, 0, 0, 0},
 448 };
 449
 450 static void usage(char *program)
 451 {
 452         fprintf(stderr, "usage: %s [--tty <tty-name>]\n", program);
 453         exit(1);
 454 }
 455
 456 int
 457 main (int argc, char **argv)
 458 {
 459         char    *tty = "/dev/ttyUSB0";
 460         int     c;
 461
 462         while ((c = getopt_long(argc, argv, "T:", options, NULL)) != -1) {
 463                 switch (c) {
 464                 case 'T':
 465                         tty = optarg;
 466                         break;
 467                 default:
 468                         usage(argv[0]);
 469                         break;
 470                 }
 471         }
 472         ao_gps_fd = ao_gps_open(tty);
 473         if (ao_gps_fd < 0) {
 474                 perror (tty);
 475                 exit (1);
 476         }
 477         ao_gps();
 478 }