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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 #include <unistd.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 extern __xdata struct ao_telemetry_location     ao_gps_data;
  82 extern __xdata struct ao_telemetry_satellite    ao_gps_tracking_data;
  83
  84 uint8_t ao_gps_mutex;
  85
  86 void
  87 ao_mutex_get(uint8_t *mutex)
  88 {
  89 }
  90
  91 void
  92 ao_mutex_put(uint8_t *mutex)
  93 {
  94 }
  95
  96 static int
  97 ao_gps_fd;
  98
  99 #if 0
 100 static void
 101 ao_dbg_char(char c)
 102 {
 103         char    line[128];
 104         line[0] = '\0';
 105         if (c < ' ') {
 106                 if (c == '\n')
 107                         sprintf (line, "\n");
 108                 else
 109                         sprintf (line, "\\%02x", ((int) c) & 0xff);
 110         } else {
 111                 sprintf (line, "%c", c);
 112         }
 113         write(1, line, strlen(line));
 114 }
 115 #endif
 116
 117 #define QUEUE_LEN       4096
 118
 119 static char     input_queue[QUEUE_LEN];
 120 int             input_head, input_tail;
 121
 122 #include <sys/time.h>
 123
 124 int
 125 get_millis(void)
 126 {
 127         struct timeval  tv;
 128         gettimeofday(&tv, NULL);
 129         return tv.tv_sec * 1000 + tv.tv_usec / 1000;
 130 }
 131
 132 static void
 133 check_skytraq_message(char *from, uint8_t *msg, int len)
 134 {
 135         uint16_t        encoded_len, encoded_cksum;
 136         uint16_t        cksum;
 137         uint8_t         id;
 138         int             i;
 139
 140 //      fwrite(msg, 1, len, stdout);
 141         return;
 142         if (msg[0] != 0xa0 || msg[1] != 0xa2) {
 143                 printf ("bad header\n");
 144                 return;
 145         }
 146         if (len < 7) {
 147                 printf("short\n");
 148                 return;
 149         }
 150         if (msg[len-1] != 0xb3 || msg[len-2] != 0xb0) {
 151                 printf ("bad trailer\n");
 152                 return;
 153         }
 154         encoded_len = (msg[2] << 8) | msg[3];
 155         id = msg[4];
 156 /*      printf ("%9d: %3d\n", get_millis(), id); */
 157         if (encoded_len != len - 8) {
 158                 if (id != 52)
 159                         printf ("length mismatch (got %d, wanted %d)\n",
 160                                 len - 8, encoded_len);
 161                 return;
 162         }
 163         encoded_cksum = (msg[len - 4] << 8) | msg[len-3];
 164         cksum = 0;
 165         for (i = 4; i < len - 4; i++)
 166                 cksum = (cksum + msg[i]) & 0x7fff;
 167         if (encoded_cksum != cksum) {
 168                 printf ("cksum mismatch (got %04x wanted %04x)\n",
 169                         cksum, encoded_cksum);
 170                 return;
 171         }
 172         id = msg[4];
 173         switch (id) {
 174         case 41:{
 175                 int     off = 4;
 176
 177                 uint8_t         id;
 178                 uint16_t        nav_valid;
 179                 uint16_t        nav_type;
 180                 uint16_t        week;
 181                 uint32_t        tow;
 182                 uint16_t        year;
 183                 uint8_t         month;
 184                 uint8_t         day;
 185                 uint8_t         hour;
 186                 uint8_t         minute;
 187                 uint16_t        second;
 188                 uint32_t        sat_list;
 189                 int32_t         lat;
 190                 int32_t         lon;
 191                 int32_t         alt_ell;
 192                 int32_t         alt_msl;
 193                 int8_t          datum;
 194                 uint16_t        sog;
 195                 uint16_t        cog;
 196                 int16_t         mag_var;
 197                 int16_t         climb_rate;
 198                 int16_t         heading_rate;
 199                 uint32_t        h_error;
 200                 uint32_t        v_error;
 201                 uint32_t        t_error;
 202                 uint16_t        h_v_error;
 203
 204 #define get_u8(u)       u = (msg[off]); off+= 1
 205 #define get_u16(u)      u = (msg[off] << 8) | (msg[off + 1]); off+= 2
 206 #define get_u32(u)      u = (msg[off] << 24) | (msg[off + 1] << 16) | (msg[off+2] << 8) | (msg[off+3]); off+= 4
 207
 208                 get_u8(id);
 209                 get_u16(nav_valid);
 210                 get_u16(nav_type);
 211                 get_u16(week);
 212                 get_u32(tow);
 213                 get_u16(year);
 214                 get_u8(month);
 215                 get_u8(day);
 216                 get_u8(hour);
 217                 get_u8(minute);
 218                 get_u16(second);
 219                 get_u32(sat_list);
 220                 get_u32(lat);
 221                 get_u32(lon);
 222                 get_u32(alt_ell);
 223                 get_u32(alt_msl);
 224                 get_u8(datum);
 225                 get_u16(sog);
 226                 get_u16(cog);
 227                 get_u16(mag_var);
 228                 get_u16(climb_rate);
 229                 get_u16(heading_rate);
 230                 get_u32(h_error);
 231                 get_u32(v_error);
 232                 get_u32(t_error);
 233                 get_u16(h_v_error);
 234
 235
 236                 (void) mag_var;
 237                 (void) id;
 238                 printf ("Geodetic Navigation Data (41):\n");
 239                 printf ("\tNav valid %04x\n", nav_valid);
 240                 printf ("\tNav type %04x\n", nav_type);
 241                 printf ("\tWeek %5d", week);
 242                 printf (" TOW %9d", tow);
 243                 printf (" %4d-%2d-%2d %02d:%02d:%07.4f\n",
 244                         year, month, day,
 245                         hour, minute, second / 1000.0);
 246                 printf ("\tsats: %08x\n", sat_list);
 247                 printf ("\tlat: %g", lat / 1.0e7);
 248                 printf (" lon: %g", lon / 1.0e7);
 249                 printf (" alt_ell: %g", alt_ell / 100.0);
 250                 printf (" alt_msll: %g", alt_msl / 100.0);
 251                 printf (" datum: %d\n", datum);
 252                 printf ("\tground speed: %g", sog / 100.0);
 253                 printf (" course: %g", cog / 100.0);
 254                 printf (" climb: %g", climb_rate / 100.0);
 255                 printf (" heading rate: %g\n", heading_rate / 100.0);
 256                 printf ("\th error: %g", h_error / 100.0);
 257                 printf (" v error: %g", v_error / 100.0);
 258                 printf (" t error: %g", t_error / 100.0);
 259                 printf (" h vel error: %g\n", h_v_error / 100.0);
 260                 break;
 261         }
 262         case 4: {
 263                 int off = 4;
 264                 uint8_t         id;
 265                 int16_t         gps_week;
 266                 uint32_t        gps_tow;
 267                 uint8_t         channels;
 268                 int             j, k;
 269
 270                 get_u8(id);
 271                 get_u16(gps_week);
 272                 get_u32(gps_tow);
 273                 get_u8(channels);
 274
 275                 (void) id;
 276                 printf ("Measured Tracker Data (4):\n");
 277                 printf ("GPS week: %d\n", gps_week);
 278                 printf ("GPS time of week: %d\n", gps_tow);
 279                 printf ("channels: %d\n", channels);
 280                 for (j = 0; j < 12; j++) {
 281                         uint8_t svid, azimuth, elevation;
 282                         uint16_t state;
 283                         uint8_t c_n[10];
 284                         get_u8(svid);
 285                         get_u8(azimuth);
 286                         get_u8(elevation);
 287                         get_u16(state);
 288                         for (k = 0; k < 10; k++) {
 289                                 get_u8(c_n[k]);
 290                         }
 291                         printf ("Sat %3d:", svid);
 292                         printf (" aziumuth: %6.1f", azimuth * 1.5);
 293                         printf (" elevation: %6.1f", elevation * 0.5);
 294                         printf (" state: 0x%02x", state);
 295                         printf (" c_n:");
 296                         for (k = 0; k < 10; k++)
 297                                 printf(" %3d", c_n[k]);
 298                         if (state & SIRF_SAT_STATE_ACQUIRED)
 299                                 printf(" acq,");
 300                         if (state & SIRF_SAT_STATE_CARRIER_PHASE_VALID)
 301                                 printf(" car,");
 302                         if (state & SIRF_SAT_BIT_SYNC_COMPLETE)
 303                                 printf(" bit,");
 304                         if (state & SIRF_SAT_SUBFRAME_SYNC_COMPLETE)
 305                                 printf(" sub,");
 306                         if (state & SIRF_SAT_CARRIER_PULLIN_COMPLETE)
 307                                 printf(" pullin,");
 308                         if (state & SIRF_SAT_CODE_LOCKED)
 309                                 printf(" code,");
 310                         if (state & SIRF_SAT_ACQUISITION_FAILED)
 311                                 printf(" fail,");
 312                         if (state & SIRF_SAT_EPHEMERIS_AVAILABLE)
 313                                 printf(" ephem,");
 314                         printf ("\n");
 315                 }
 316                 break;
 317         }
 318         default:
 319                 return;
 320                 printf ("%s %4d:", from, encoded_len);
 321                 for (i = 4; i < len - 4; i++) {
 322                         if (((i - 4) & 0xf) == 0)
 323                                 printf("\n   ");
 324                         printf (" %3d", msg[i]);
 325                 }
 326                 printf ("\n");
 327         }
 328 }
 329
 330 static uint8_t  skytraq_message[4096];
 331 static int      skytraq_message_len;
 332 static uint8_t  skytraq_in_message[4096];
 333 static int      skytraq_in_len;
 334
 335 char
 336 ao_serial1_getchar(void)
 337 {
 338         char    c;
 339         uint8_t uc;
 340
 341         while (input_head == input_tail) {
 342                 for (;;) {
 343                         input_tail = read(ao_gps_fd, input_queue, QUEUE_LEN);
 344                         if (input_tail < 0) {
 345                                 if (errno == EINTR || errno == EAGAIN)
 346                                         continue;
 347                                 perror ("getchar");
 348                                 exit (1);
 349                         }
 350                         input_head = 0;
 351                         break;
 352                 }
 353         }
 354         c = input_queue[input_head];
 355         input_head = (input_head + 1) % QUEUE_LEN;
 356         uc = c;
 357 //      printf ("c: %02x %c\n", uc, uc);
 358         if (skytraq_in_len || uc == '$') {
 359                 if (skytraq_in_len < 4096)
 360                         skytraq_in_message[skytraq_in_len++] = uc;
 361                 if (uc == 0x0a) {
 362                         check_skytraq_message("recv", skytraq_in_message, skytraq_in_len);
 363                         skytraq_in_len = 0;
 364                 }
 365         }
 366         return c;
 367 }
 368
 369
 370 void
 371 ao_serial1_putchar(char c)
 372 {
 373         int     i;
 374         uint8_t uc = (uint8_t) c;
 375
 376         if (skytraq_message_len || uc == 0xa0) {
 377                 if (skytraq_message_len < 4096)
 378                         skytraq_message[skytraq_message_len++] = uc;
 379                 if (uc == 0x0a) {
 380                         check_skytraq_message("send", skytraq_message, skytraq_message_len);
 381                         skytraq_message_len = 0;
 382                 }
 383         }
 384         for (;;) {
 385                 i = write(ao_gps_fd, &c, 1);
 386                 if (i == 1) {
 387                         if ((uint8_t) c == 0xb3 || c == '\r') {
 388 /*                              static const struct timespec delay = {
 389                                         .tv_sec = 0,
 390                                         .tv_nsec = 100 * 1000 * 1000
 391                                 };
 392 */
 393                                 tcdrain(ao_gps_fd);
 394 //                              nanosleep(&delay, NULL);
 395                         }
 396                         break;
 397                 }
 398                 if (i < 0 && (errno == EINTR || errno == EAGAIN))
 399                         continue;
 400                 perror("putchar");
 401                 exit(1);
 402         }
 403 }
 404
 405 #define AO_SERIAL_SPEED_4800    0
 406 #define AO_SERIAL_SPEED_9600    1
 407 #define AO_SERIAL_SPEED_57600   2
 408 #define AO_SERIAL_SPEED_115200  3
 409
 410 static void
 411 ao_serial1_set_speed(uint8_t speed)
 412 {
 413         int     fd = ao_gps_fd;
 414         struct termios  termios;
 415
 416         tcdrain(fd);
 417         tcgetattr(fd, &termios);
 418         switch (speed) {
 419         case AO_SERIAL_SPEED_4800:
 420                 cfsetspeed(&termios, B4800);
 421                 break;
 422         case AO_SERIAL_SPEED_9600:
 423                 cfsetspeed(&termios, B9600);
 424                 break;
 425         case AO_SERIAL_SPEED_57600:
 426                 cfsetspeed(&termios, B57600);
 427                 break;
 428         case AO_SERIAL_SPEED_115200:
 429                 cfsetspeed(&termios, B115200);
 430                 break;
 431         }
 432         tcsetattr(fd, TCSAFLUSH, &termios);
 433         tcflush(fd, TCIFLUSH);
 434 }
 435
 436 #define ao_time() 0
 437
 438 uint8_t ao_task_minimize_latency;
 439
 440 #define ao_usb_getchar()        0
 441
 442 #include "ao_gps_print.c"
 443 #include "ao_gps_show.c"
 444 #include "ao_gps_skytraq.c"
 445
 446 void
 447 ao_dump_state(void *wchan)
 448 {
 449         if (wchan == &ao_gps_new)
 450                 ao_gps_show();
 451 }
 452
 453 int
 454 ao_gps_open(const char *tty)
 455 {
 456         struct termios  termios;
 457         int fd;
 458
 459         fd = open (tty, O_RDWR);
 460         if (fd < 0)
 461                 return -1;
 462
 463         tcgetattr(fd, &termios);
 464         cfmakeraw(&termios);
 465         cfsetspeed(&termios, B4800);
 466         tcsetattr(fd, TCSAFLUSH, &termios);
 467
 468         tcdrain(fd);
 469         tcflush(fd, TCIFLUSH);
 470         return fd;
 471 }
 472
 473 #include <getopt.h>
 474
 475 static const struct option options[] = {
 476         { .name = "tty", .has_arg = 1, .val = 'T' },
 477         { 0, 0, 0, 0},
 478 };
 479
 480 static void usage(char *program)
 481 {
 482         fprintf(stderr, "usage: %s [--tty <tty-name>]\n", program);
 483         exit(1);
 484 }
 485
 486 int
 487 main (int argc, char **argv)
 488 {
 489         char    *tty = "/dev/ttyUSB0";
 490         int     c;
 491
 492         while ((c = getopt_long(argc, argv, "T:", options, NULL)) != -1) {
 493                 switch (c) {
 494                 case 'T':
 495                         tty = optarg;
 496                         break;
 497                 default:
 498                         usage(argv[0]);
 499                         break;
 500                 }
 501         }
 502         ao_gps_fd = ao_gps_open(tty);
 503         if (ao_gps_fd < 0) {
 504                 perror (tty);
 505                 exit (1);
 506         }
 507         ao_gps();
 508         return 0;
 509 }