git.gag.com Git - fw/altos/blob - src/test/ao_gps_test.c

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