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