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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_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_skytraq_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 //      fwrite(msg, 1, len, stdout);
 133         return;
 134         if (msg[0] != 0xa0 || msg[1] != 0xa2) {
 135                 printf ("bad header\n");
 136                 return;
 137         }
 138         if (len < 7) {
 139                 printf("short\n");
 140                 return;
 141         }
 142         if (msg[len-1] != 0xb3 || msg[len-2] != 0xb0) {
 143                 printf ("bad trailer\n");
 144                 return;
 145         }
 146         encoded_len = (msg[2] << 8) | msg[3];
 147         id = msg[4];
 148 /*      printf ("%9d: %3d\n", get_millis(), id); */
 149         if (encoded_len != len - 8) {
 150                 if (id != 52)
 151                         printf ("length mismatch (got %d, wanted %d)\n",
 152                                 len - 8, encoded_len);
 153                 return;
 154         }
 155         encoded_cksum = (msg[len - 4] << 8) | msg[len-3];
 156         cksum = 0;
 157         for (i = 4; i < len - 4; i++)
 158                 cksum = (cksum + msg[i]) & 0x7fff;
 159         if (encoded_cksum != cksum) {
 160                 printf ("cksum mismatch (got %04x wanted %04x)\n",
 161                         cksum, encoded_cksum);
 162                 return;
 163         }
 164         id = msg[4];
 165         switch (id) {
 166         case 41:{
 167                 int     off = 4;
 168
 169                 uint8_t         id;
 170                 uint16_t        nav_valid;
 171                 uint16_t        nav_type;
 172                 uint16_t        week;
 173                 uint32_t        tow;
 174                 uint16_t        year;
 175                 uint8_t         month;
 176                 uint8_t         day;
 177                 uint8_t         hour;
 178                 uint8_t         minute;
 179                 uint16_t        second;
 180                 uint32_t        sat_list;
 181                 int32_t         lat;
 182                 int32_t         lon;
 183                 int32_t         alt_ell;
 184                 int32_t         alt_msl;
 185                 int8_t          datum;
 186                 uint16_t        sog;
 187                 uint16_t        cog;
 188                 int16_t         mag_var;
 189                 int16_t         climb_rate;
 190                 int16_t         heading_rate;
 191                 uint32_t        h_error;
 192                 uint32_t        v_error;
 193                 uint32_t        t_error;
 194                 uint16_t        h_v_error;
 195
 196 #define get_u8(u)       u = (msg[off]); off+= 1
 197 #define get_u16(u)      u = (msg[off] << 8) | (msg[off + 1]); off+= 2
 198 #define get_u32(u)      u = (msg[off] << 24) | (msg[off + 1] << 16) | (msg[off+2] << 8) | (msg[off+3]); off+= 4
 199
 200                 get_u8(id);
 201                 get_u16(nav_valid);
 202                 get_u16(nav_type);
 203                 get_u16(week);
 204                 get_u32(tow);
 205                 get_u16(year);
 206                 get_u8(month);
 207                 get_u8(day);
 208                 get_u8(hour);
 209                 get_u8(minute);
 210                 get_u16(second);
 211                 get_u32(sat_list);
 212                 get_u32(lat);
 213                 get_u32(lon);
 214                 get_u32(alt_ell);
 215                 get_u32(alt_msl);
 216                 get_u8(datum);
 217                 get_u16(sog);
 218                 get_u16(cog);
 219                 get_u16(mag_var);
 220                 get_u16(climb_rate);
 221                 get_u16(heading_rate);
 222                 get_u32(h_error);
 223                 get_u32(v_error);
 224                 get_u32(t_error);
 225                 get_u16(h_v_error);
 226
 227
 228                 (void) mag_var;
 229                 (void) id;
 230                 printf ("Geodetic Navigation Data (41):\n");
 231                 printf ("\tNav valid %04x\n", nav_valid);
 232                 printf ("\tNav type %04x\n", nav_type);
 233                 printf ("\tWeek %5d", week);
 234                 printf (" TOW %9d", tow);
 235                 printf (" %4d-%2d-%2d %02d:%02d:%07.4f\n",
 236                         year, month, day,
 237                         hour, minute, second / 1000.0);
 238                 printf ("\tsats: %08x\n", sat_list);
 239                 printf ("\tlat: %g", lat / 1.0e7);
 240                 printf (" lon: %g", lon / 1.0e7);
 241                 printf (" alt_ell: %g", alt_ell / 100.0);
 242                 printf (" alt_msll: %g", alt_msl / 100.0);
 243                 printf (" datum: %d\n", datum);
 244                 printf ("\tground speed: %g", sog / 100.0);
 245                 printf (" course: %g", cog / 100.0);
 246                 printf (" climb: %g", climb_rate / 100.0);
 247                 printf (" heading rate: %g\n", heading_rate / 100.0);
 248                 printf ("\th error: %g", h_error / 100.0);
 249                 printf (" v error: %g", v_error / 100.0);
 250                 printf (" t error: %g", t_error / 100.0);
 251                 printf (" h vel error: %g\n", h_v_error / 100.0);
 252                 break;
 253         }
 254         case 4: {
 255                 int off = 4;
 256                 uint8_t         id;
 257                 int16_t         gps_week;
 258                 uint32_t        gps_tow;
 259                 uint8_t         channels;
 260                 int             j, k;
 261
 262                 get_u8(id);
 263                 get_u16(gps_week);
 264                 get_u32(gps_tow);
 265                 get_u8(channels);
 266
 267                 (void) id;
 268                 printf ("Measured Tracker Data (4):\n");
 269                 printf ("GPS week: %d\n", gps_week);
 270                 printf ("GPS time of week: %d\n", gps_tow);
 271                 printf ("channels: %d\n", channels);
 272                 for (j = 0; j < 12; j++) {
 273                         uint8_t svid, azimuth, elevation;
 274                         uint16_t state;
 275                         uint8_t c_n[10];
 276                         get_u8(svid);
 277                         get_u8(azimuth);
 278                         get_u8(elevation);
 279                         get_u16(state);
 280                         for (k = 0; k < 10; k++) {
 281                                 get_u8(c_n[k]);
 282                         }
 283                         printf ("Sat %3d:", svid);
 284                         printf (" aziumuth: %6.1f", azimuth * 1.5);
 285                         printf (" elevation: %6.1f", elevation * 0.5);
 286                         printf (" state: 0x%02x", state);
 287                         printf (" c_n:");
 288                         for (k = 0; k < 10; k++)
 289                                 printf(" %3d", c_n[k]);
 290                         if (state & SIRF_SAT_STATE_ACQUIRED)
 291                                 printf(" acq,");
 292                         if (state & SIRF_SAT_STATE_CARRIER_PHASE_VALID)
 293                                 printf(" car,");
 294                         if (state & SIRF_SAT_BIT_SYNC_COMPLETE)
 295                                 printf(" bit,");
 296                         if (state & SIRF_SAT_SUBFRAME_SYNC_COMPLETE)
 297                                 printf(" sub,");
 298                         if (state & SIRF_SAT_CARRIER_PULLIN_COMPLETE)
 299                                 printf(" pullin,");
 300                         if (state & SIRF_SAT_CODE_LOCKED)
 301                                 printf(" code,");
 302                         if (state & SIRF_SAT_ACQUISITION_FAILED)
 303                                 printf(" fail,");
 304                         if (state & SIRF_SAT_EPHEMERIS_AVAILABLE)
 305                                 printf(" ephem,");
 306                         printf ("\n");
 307                 }
 308                 break;
 309         }
 310         default:
 311                 return;
 312                 printf ("%s %4d:", from, encoded_len);
 313                 for (i = 4; i < len - 4; i++) {
 314                         if (((i - 4) & 0xf) == 0)
 315                                 printf("\n   ");
 316                         printf (" %3d", msg[i]);
 317                 }
 318                 printf ("\n");
 319         }
 320 }
 321
 322 static uint8_t  skytraq_message[4096];
 323 static int      skytraq_message_len;
 324 static uint8_t  skytraq_in_message[4096];
 325 static int      skytraq_in_len;
 326
 327 char
 328 ao_serial1_getchar(void)
 329 {
 330         char    c;
 331         uint8_t uc;
 332
 333         while (input_head == input_tail) {
 334                 for (;;) {
 335                         input_tail = read(ao_gps_fd, input_queue, QUEUE_LEN);
 336                         if (input_tail < 0) {
 337                                 if (errno == EINTR || errno == EAGAIN)
 338                                         continue;
 339                                 perror ("getchar");
 340                                 exit (1);
 341                         }
 342                         input_head = 0;
 343                         break;
 344                 }
 345         }
 346         c = input_queue[input_head];
 347         input_head = (input_head + 1) % QUEUE_LEN;
 348         uc = c;
 349 //      printf ("c: %02x %c\n", uc, uc);
 350         if (skytraq_in_len || uc == '$') {
 351                 if (skytraq_in_len < 4096)
 352                         skytraq_in_message[skytraq_in_len++] = uc;
 353                 if (uc == 0x0a) {
 354                         check_skytraq_message("recv", skytraq_in_message, skytraq_in_len);
 355                         skytraq_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 (skytraq_message_len || uc == 0xa0) {
 369                 if (skytraq_message_len < 4096)
 370                         skytraq_message[skytraq_message_len++] = uc;
 371                 if (uc == 0x0a) {
 372                         check_skytraq_message("send", skytraq_message, skytraq_message_len);
 373                         skytraq_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_9600    1
 399 #define AO_SERIAL_SPEED_57600   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_9600:
 414                 cfsetspeed(&termios, B38400);
 415                 break;
 416         case AO_SERIAL_SPEED_57600:
 417                 cfsetspeed(&termios, B57600);
 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_skytraq.c"
 428
 429 void
 430 ao_dump_state(void *wchan)
 431 {
 432         if (wchan == &ao_gps_data)
 433                 ao_gps_print(&ao_gps_data);
 434         else
 435                 ao_gps_tracking_print(&ao_gps_tracking_data);
 436         putchar('\n');
 437         return;
 438 }
 439
 440 int
 441 ao_gps_open(const char *tty)
 442 {
 443         struct termios  termios;
 444         int fd;
 445
 446         fd = open (tty, O_RDWR);
 447         if (fd < 0)
 448                 return -1;
 449
 450         tcgetattr(fd, &termios);
 451         cfmakeraw(&termios);
 452         cfsetspeed(&termios, B4800);
 453         tcsetattr(fd, TCSAFLUSH, &termios);
 454
 455         tcdrain(fd);
 456         tcflush(fd, TCIFLUSH);
 457         return fd;
 458 }
 459
 460 #include <getopt.h>
 461
 462 static const struct option options[] = {
 463         { .name = "tty", .has_arg = 1, .val = 'T' },
 464         { 0, 0, 0, 0},
 465 };
 466
 467 static void usage(char *program)
 468 {
 469         fprintf(stderr, "usage: %s [--tty <tty-name>]\n", program);
 470         exit(1);
 471 }
 472
 473 int
 474 main (int argc, char **argv)
 475 {
 476         char    *tty = "/dev/ttyUSB0";
 477         int     c;
 478
 479         while ((c = getopt_long(argc, argv, "T:", options, NULL)) != -1) {
 480                 switch (c) {
 481                 case 'T':
 482                         tty = optarg;
 483                         break;
 484                 default:
 485                         usage(argv[0]);
 486                         break;
 487                 }
 488         }
 489         ao_gps_fd = ao_gps_open(tty);
 490         if (ao_gps_fd < 0) {
 491                 perror (tty);
 492                 exit (1);
 493         }
 494         ao_gps();
 495         return 0;
 496 }