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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 <unistd.h>
  25 #include <fcntl.h>
  26 #define AO_GPS_NUM_SAT_MASK     (0xf << 0)
  27 #define AO_GPS_NUM_SAT_SHIFT    (0)
  28
  29 #define AO_GPS_NEW_DATA         1
  30 #define AO_GPS_NEW_TRACKING     2
  31
  32 #define AO_GPS_VALID            (1 << 4)
  33 #define AO_GPS_RUNNING          (1 << 5)
  34 #define AO_GPS_DATE_VALID       (1 << 6)
  35 #define AO_GPS_COURSE_VALID     (1 << 7)
  36
  37 struct ao_gps_orig {
  38         uint8_t                 year;
  39         uint8_t                 month;
  40         uint8_t                 day;
  41         uint8_t                 hour;
  42         uint8_t                 minute;
  43         uint8_t                 second;
  44         uint8_t                 flags;
  45         int32_t                 latitude;       /* degrees * 10⁷ */
  46         int32_t                 longitude;      /* degrees * 10⁷ */
  47         int16_t                 altitude;       /* m */
  48         uint16_t                ground_speed;   /* cm/s */
  49         uint8_t                 course;         /* degrees / 2 */
  50         uint8_t                 hdop;           /* * 5 */
  51         int16_t                 climb_rate;     /* cm/s */
  52         uint16_t                h_error;        /* m */
  53         uint16_t                v_error;        /* m */
  54 };
  55
  56 #define AO_TELEMETRY_LOCATION_ALTITUDE(l)       ((l)->altitude)
  57 #define AO_TELEMETRY_LOCATION_SET_ALTITUDE(l,a) ((l)->altitude = (a))
  58
  59 #define SIRF_SAT_STATE_ACQUIRED                 (1 << 0)
  60 #define SIRF_SAT_STATE_CARRIER_PHASE_VALID      (1 << 1)
  61 #define SIRF_SAT_BIT_SYNC_COMPLETE              (1 << 2)
  62 #define SIRF_SAT_SUBFRAME_SYNC_COMPLETE         (1 << 3)
  63 #define SIRF_SAT_CARRIER_PULLIN_COMPLETE        (1 << 4)
  64 #define SIRF_SAT_CODE_LOCKED                    (1 << 5)
  65 #define SIRF_SAT_ACQUISITION_FAILED             (1 << 6)
  66 #define SIRF_SAT_EPHEMERIS_AVAILABLE            (1 << 7)
  67
  68 struct ao_gps_sat_orig {
  69         uint8_t         svid;
  70         uint8_t         c_n_1;
  71 };
  72
  73 #define AO_MAX_GPS_TRACKING     12
  74
  75 struct ao_gps_tracking_orig {
  76         uint8_t                 channels;
  77         struct ao_gps_sat_orig  sats[AO_MAX_GPS_TRACKING];
  78 };
  79
  80 #define ao_telemetry_location ao_gps_orig
  81 #define ao_telemetry_satellite ao_gps_tracking_orig
  82 #define ao_telemetry_satellite_info ao_gps_sat_orig
  83
  84 void
  85 ao_mutex_get(uint8_t *mutex)
  86 {
  87 }
  88
  89 void
  90 ao_mutex_put(uint8_t *mutex)
  91 {
  92 }
  93
  94 static int
  95 ao_gps_fd;
  96
  97 #if 0
  98 static void
  99 ao_dbg_char(char c)
 100 {
 101         char    line[128];
 102         line[0] = '\0';
 103         if (c < ' ') {
 104                 if (c == '\n')
 105                         sprintf (line, "\n");
 106                 else
 107                         sprintf (line, "\\%02x", ((int) c) & 0xff);
 108         } else {
 109                 sprintf (line, "%c", c);
 110         }
 111         write(1, line, strlen(line));
 112 }
 113 #endif
 114
 115 #define QUEUE_LEN       4096
 116
 117 static char     input_queue[QUEUE_LEN];
 118 int             input_head, input_tail;
 119
 120 #include <sys/time.h>
 121
 122 int
 123 get_millis(void)
 124 {
 125         struct timeval  tv;
 126         gettimeofday(&tv, NULL);
 127         return tv.tv_sec * 1000 + tv.tv_usec / 1000;
 128 }
 129
 130 static void
 131 check_sirf_message(char *from, uint8_t *msg, int len)
 132 {
 133         uint16_t        encoded_len, encoded_cksum;
 134         uint16_t        cksum;
 135         uint8_t         id;
 136         int             i;
 137
 138         if (msg[0] != 0xa0 || msg[1] != 0xa2) {
 139                 printf ("bad header\n");
 140                 return;
 141         }
 142         if (len < 7) {
 143                 printf("short\n");
 144                 return;
 145         }
 146         if (msg[len-1] != 0xb3 || msg[len-2] != 0xb0) {
 147                 printf ("bad trailer\n");
 148                 return;
 149         }
 150         encoded_len = (msg[2] << 8) | msg[3];
 151         id = msg[4];
 152 /*      printf ("%9d: %3d\n", get_millis(), id); */
 153         if (encoded_len != len - 8) {
 154                 if (id != 52)
 155                         printf ("length mismatch (got %d, wanted %d)\n",
 156                                 len - 8, encoded_len);
 157                 return;
 158         }
 159         encoded_cksum = (msg[len - 4] << 8) | msg[len-3];
 160         cksum = 0;
 161         for (i = 4; i < len - 4; i++)
 162                 cksum = (cksum + msg[i]) & 0x7fff;
 163         if (encoded_cksum != cksum) {
 164                 printf ("cksum mismatch (got %04x wanted %04x)\n",
 165                         cksum, encoded_cksum);
 166                 return;
 167         }
 168         id = msg[4];
 169         switch (id) {
 170         case 41:{
 171                 int     off = 4;
 172
 173                 uint8_t         id;
 174                 uint16_t        nav_valid;
 175                 uint16_t        nav_type;
 176                 uint16_t        week;
 177                 uint32_t        tow;
 178                 uint16_t        year;
 179                 uint8_t         month;
 180                 uint8_t         day;
 181                 uint8_t         hour;
 182                 uint8_t         minute;
 183                 uint16_t        second;
 184                 uint32_t        sat_list;
 185                 int32_t         lat;
 186                 int32_t         lon;
 187                 int32_t         alt_ell;
 188                 int32_t         alt_msl;
 189                 int8_t          datum;
 190                 uint16_t        sog;
 191                 uint16_t        cog;
 192                 int16_t         mag_var;
 193                 int16_t         climb_rate;
 194                 int16_t         heading_rate;
 195                 uint32_t        h_error;
 196                 uint32_t        v_error;
 197                 uint32_t        t_error;
 198                 uint16_t        h_v_error;
 199
 200 #define get_u8(u)       u = (msg[off]); off+= 1
 201 #define get_u16(u)      u = (msg[off] << 8) | (msg[off + 1]); off+= 2
 202 #define get_u32(u)      u = (msg[off] << 24) | (msg[off + 1] << 16) | (msg[off+2] << 8) | (msg[off+3]); off+= 4
 203
 204                 get_u8(id);
 205                 get_u16(nav_valid);
 206                 get_u16(nav_type);
 207                 get_u16(week);
 208                 get_u32(tow);
 209                 get_u16(year);
 210                 get_u8(month);
 211                 get_u8(day);
 212                 get_u8(hour);
 213                 get_u8(minute);
 214                 get_u16(second);
 215                 get_u32(sat_list);
 216                 get_u32(lat);
 217                 get_u32(lon);
 218                 get_u32(alt_ell);
 219                 get_u32(alt_msl);
 220                 get_u8(datum);
 221                 get_u16(sog);
 222                 get_u16(cog);
 223                 get_u16(mag_var);
 224                 get_u16(climb_rate);
 225                 get_u16(heading_rate);
 226                 get_u32(h_error);
 227                 get_u32(v_error);
 228                 get_u32(t_error);
 229                 get_u16(h_v_error);
 230
 231
 232                 (void) mag_var;
 233                 (void) id;
 234                 printf ("Geodetic Navigation Data (41):\n");
 235                 printf ("\tNav valid %04x\n", nav_valid);
 236                 printf ("\tNav type %04x\n", nav_type);
 237                 printf ("\tWeek %5d", week);
 238                 printf (" TOW %9d", tow);
 239                 printf (" %4d-%2d-%2d %02d:%02d:%07.4f\n",
 240                         year, month, day,
 241                         hour, minute, second / 1000.0);
 242                 printf ("\tsats: %08x\n", sat_list);
 243                 printf ("\tlat: %g", lat / 1.0e7);
 244                 printf (" lon: %g", lon / 1.0e7);
 245                 printf (" alt_ell: %g", alt_ell / 100.0);
 246                 printf (" alt_msll: %g", alt_msl / 100.0);
 247                 printf (" datum: %d\n", datum);
 248                 printf ("\tground speed: %g", sog / 100.0);
 249                 printf (" course: %g", cog / 100.0);
 250                 printf (" climb: %g", climb_rate / 100.0);
 251                 printf (" heading rate: %g\n", heading_rate / 100.0);
 252                 printf ("\th error: %g", h_error / 100.0);
 253                 printf (" v error: %g", v_error / 100.0);
 254                 printf (" t error: %g", t_error / 100.0);
 255                 printf (" h vel error: %g\n", h_v_error / 100.0);
 256                 break;
 257         }
 258         case 4: {
 259                 int off = 4;
 260                 uint8_t         id;
 261                 int16_t         gps_week;
 262                 uint32_t        gps_tow;
 263                 uint8_t         channels;
 264                 int             j, k;
 265
 266                 get_u8(id);
 267                 get_u16(gps_week);
 268                 get_u32(gps_tow);
 269                 get_u8(channels);
 270
 271                 (void) id;
 272                 printf ("Measured Tracker Data (4):\n");
 273                 printf ("GPS week: %d\n", gps_week);
 274                 printf ("GPS time of week: %d\n", gps_tow);
 275                 printf ("channels: %d\n", channels);
 276                 for (j = 0; j < 12; j++) {
 277                         uint8_t svid, azimuth, elevation;
 278                         uint16_t state;
 279                         uint8_t c_n[10];
 280                         get_u8(svid);
 281                         get_u8(azimuth);
 282                         get_u8(elevation);
 283                         get_u16(state);
 284                         for (k = 0; k < 10; k++) {
 285                                 get_u8(c_n[k]);
 286                         }
 287                         printf ("Sat %3d:", svid);
 288                         printf (" aziumuth: %6.1f", azimuth * 1.5);
 289                         printf (" elevation: %6.1f", elevation * 0.5);
 290                         printf (" state: 0x%02x", state);
 291                         printf (" c_n:");
 292                         for (k = 0; k < 10; k++)
 293                                 printf(" %3d", c_n[k]);
 294                         if (state & SIRF_SAT_STATE_ACQUIRED)
 295                                 printf(" acq,");
 296                         if (state & SIRF_SAT_STATE_CARRIER_PHASE_VALID)
 297                                 printf(" car,");
 298                         if (state & SIRF_SAT_BIT_SYNC_COMPLETE)
 299                                 printf(" bit,");
 300                         if (state & SIRF_SAT_SUBFRAME_SYNC_COMPLETE)
 301                                 printf(" sub,");
 302                         if (state & SIRF_SAT_CARRIER_PULLIN_COMPLETE)
 303                                 printf(" pullin,");
 304                         if (state & SIRF_SAT_CODE_LOCKED)
 305                                 printf(" code,");
 306                         if (state & SIRF_SAT_ACQUISITION_FAILED)
 307                                 printf(" fail,");
 308                         if (state & SIRF_SAT_EPHEMERIS_AVAILABLE)
 309                                 printf(" ephem,");
 310                         printf ("\n");
 311                 }
 312                 break;
 313         }
 314         default:
 315                 return;
 316                 printf ("%s %4d:", from, encoded_len);
 317                 for (i = 4; i < len - 4; i++) {
 318                         if (((i - 4) & 0xf) == 0)
 319                                 printf("\n   ");
 320                         printf (" %3d", msg[i]);
 321                 }
 322                 printf ("\n");
 323         }
 324 }
 325
 326 static uint8_t  sirf_message[4096];
 327 static int      sirf_message_len;
 328 static uint8_t  sirf_in_message[4096];
 329 static int      sirf_in_len;
 330
 331 char
 332 ao_serial1_getchar(void)
 333 {
 334         char    c;
 335         uint8_t uc;
 336
 337         while (input_head == input_tail) {
 338                 for (;;) {
 339                         input_tail = read(ao_gps_fd, input_queue, QUEUE_LEN);
 340                         if (input_tail < 0) {
 341                                 if (errno == EINTR || errno == EAGAIN)
 342                                         continue;
 343                                 perror ("getchar");
 344                                 exit (1);
 345                         }
 346                         input_head = 0;
 347                         break;
 348                 }
 349         }
 350         c = input_queue[input_head];
 351         input_head = (input_head + 1) % QUEUE_LEN;
 352         uc = c;
 353         if (sirf_in_len || uc == 0xa0) {
 354                 if (sirf_in_len < 4096)
 355                         sirf_in_message[sirf_in_len++] = uc;
 356                 if (uc == 0xb3) {
 357                         check_sirf_message("recv", sirf_in_message, sirf_in_len);
 358                         sirf_in_len = 0;
 359                 }
 360         }
 361         return c;
 362 }
 363
 364
 365 void
 366 ao_serial1_putchar(char c)
 367 {
 368         int     i;
 369         uint8_t uc = (uint8_t) c;
 370
 371         if (sirf_message_len || uc == 0xa0) {
 372                 if (sirf_message_len < 4096)
 373                         sirf_message[sirf_message_len++] = uc;
 374                 if (uc == 0xb3) {
 375                         check_sirf_message("send", sirf_message, sirf_message_len);
 376                         sirf_message_len = 0;
 377                 }
 378         }
 379         for (;;) {
 380                 i = write(ao_gps_fd, &c, 1);
 381                 if (i == 1) {
 382                         if ((uint8_t) c == 0xb3 || c == '\r') {
 383 /*                              static const struct timespec delay = {
 384                                         .tv_sec = 0,
 385                                         .tv_nsec = 100 * 1000 * 1000
 386                                 };
 387 */
 388                                 tcdrain(ao_gps_fd);
 389 //                              nanosleep(&delay, NULL);
 390                         }
 391                         break;
 392                 }
 393                 if (i < 0 && (errno == EINTR || errno == EAGAIN))
 394                         continue;
 395                 perror("putchar");
 396                 exit(1);
 397         }
 398 }
 399
 400 #define AO_SERIAL_SPEED_4800    0
 401 #define AO_SERIAL_SPEED_57600   1
 402 #define AO_SERIAL_SPEED_115200  2
 403
 404 static void
 405 ao_serial1_set_speed(uint8_t speed)
 406 {
 407         int     fd = ao_gps_fd;
 408         struct termios  termios;
 409
 410         tcdrain(fd);
 411         tcgetattr(fd, &termios);
 412         switch (speed) {
 413         case AO_SERIAL_SPEED_4800:
 414                 cfsetspeed(&termios, B4800);
 415                 break;
 416         case AO_SERIAL_SPEED_57600:
 417                 cfsetspeed(&termios, B57600);
 418                 break;
 419         case AO_SERIAL_SPEED_115200:
 420                 cfsetspeed(&termios, B115200);
 421                 break;
 422         }
 423         tcsetattr(fd, TCSAFLUSH, &termios);
 424         tcflush(fd, TCIFLUSH);
 425 }
 426
 427 #define ao_time() 0
 428
 429 #include "ao_gps_print.c"
 430 #include "ao_gps_sirf.c"
 431
 432 void
 433 ao_dump_state(void *wchan)
 434 {
 435         int     i;
 436
 437         if (wchan != &ao_gps_new)
 438                 return;
 439
 440         if (ao_gps_new & AO_GPS_NEW_DATA) {
 441                 ao_gps_print(&ao_gps_data);
 442                 putchar('\n');
 443         }
 444         if (ao_gps_new & AO_GPS_NEW_TRACKING) {
 445                 ao_gps_tracking_print(&ao_gps_tracking_data);
 446                 putchar('\n');
 447         }
 448         return;
 449         printf ("%02d:%02d:%02d",
 450                 ao_gps_data.hour, ao_gps_data.minute,
 451                 ao_gps_data.second);
 452         printf (" nsat %d %svalid",
 453                 ao_gps_data.flags & AO_GPS_NUM_SAT_MASK,
 454                 ao_gps_data.flags & AO_GPS_VALID ? "" : "not ");
 455         printf (" lat %g lon %g alt %d",
 456                 ao_gps_data.latitude / 1.0e7,
 457                 ao_gps_data.longitude / 1.0e7,
 458                 ao_gps_data.altitude);
 459         printf (" speed %g climb %g course %d",
 460                 ao_gps_data.ground_speed / 100.0,
 461                 ao_gps_data.climb_rate / 100.0,
 462                 ao_gps_data.course * 2);
 463         printf (" hdop %g h_error %d v_error %d",
 464                 ao_gps_data.hdop / 5.0,
 465                 ao_gps_data.h_error, ao_gps_data.v_error);
 466         printf("\n");
 467         printf ("\t");
 468         for (i = 0; i < 12; i++)
 469                 printf (" %2d(%02d)",
 470                         ao_gps_tracking_data.sats[i].svid,
 471                         ao_gps_tracking_data.sats[i].c_n_1);
 472         printf ("\n");
 473 }
 474
 475 int
 476 ao_gps_open(const char *tty)
 477 {
 478         struct termios  termios;
 479         int fd;
 480
 481         fd = open (tty, O_RDWR);
 482         if (fd < 0)
 483                 return -1;
 484
 485         tcgetattr(fd, &termios);
 486         cfmakeraw(&termios);
 487         cfsetspeed(&termios, B4800);
 488         tcsetattr(fd, TCSAFLUSH, &termios);
 489
 490         tcdrain(fd);
 491         tcflush(fd, TCIFLUSH);
 492         return fd;
 493 }
 494
 495 #include <getopt.h>
 496
 497 static const struct option options[] = {
 498         { .name = "tty", .has_arg = 1, .val = 'T' },
 499         { 0, 0, 0, 0},
 500 };
 501
 502 static void usage(char *program)
 503 {
 504         fprintf(stderr, "usage: %s [--tty <tty-name>]\n", program);
 505         exit(1);
 506 }
 507
 508 int
 509 main (int argc, char **argv)
 510 {
 511         char    *tty = "/dev/ttyUSB0";
 512         int     c;
 513
 514         while ((c = getopt_long(argc, argv, "T:", options, NULL)) != -1) {
 515                 switch (c) {
 516                 case 'T':
 517                         tty = optarg;
 518                         break;
 519                 default:
 520                         usage(argv[0]);
 521                         break;
 522                 }
 523         }
 524         ao_gps_fd = ao_gps_open(tty);
 525         if (ao_gps_fd < 0) {
 526                 perror (tty);
 527                 exit (1);
 528         }
 529         ao_gps_setup();
 530         ao_gps();
 531         return 0;
 532 }