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