git.gag.com Git - fw/altos/blob - src/test/ao_gps_test_skytraq.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 <fcntl.h>
  25 #define AO_GPS_NUM_SAT_MASK     (0xf << 0)
  26 #define AO_GPS_NUM_SAT_SHIFT    (0)
  27
  28 #define AO_GPS_VALID            (1 << 4)
  29 #define AO_GPS_RUNNING          (1 << 5)
  30 #define AO_GPS_DATE_VALID       (1 << 6)
  31 #define AO_GPS_COURSE_VALID     (1 << 7)
  32
  33 struct ao_gps_orig {
  34         uint8_t                 year;
  35         uint8_t                 month;
  36         uint8_t                 day;
  37         uint8_t                 hour;
  38         uint8_t                 minute;
  39         uint8_t                 second;
  40         uint8_t                 flags;
  41         int32_t                 latitude;       /* degrees * 10⁷ */
  42         int32_t                 longitude;      /* degrees * 10⁷ */
  43         int16_t                 altitude;       /* m */
  44         uint16_t                ground_speed;   /* cm/s */
  45         uint8_t                 course;         /* degrees / 2 */
  46         uint8_t                 hdop;           /* * 5 */
  47         int16_t                 climb_rate;     /* cm/s */
  48         uint16_t                h_error;        /* m */
  49         uint16_t                v_error;        /* m */
  50 };
  51
  52 #define SIRF_SAT_STATE_ACQUIRED                 (1 << 0)
  53 #define SIRF_SAT_STATE_CARRIER_PHASE_VALID      (1 << 1)
  54 #define SIRF_SAT_BIT_SYNC_COMPLETE              (1 << 2)
  55 #define SIRF_SAT_SUBFRAME_SYNC_COMPLETE         (1 << 3)
  56 #define SIRF_SAT_CARRIER_PULLIN_COMPLETE        (1 << 4)
  57 #define SIRF_SAT_CODE_LOCKED                    (1 << 5)
  58 #define SIRF_SAT_ACQUISITION_FAILED             (1 << 6)
  59 #define SIRF_SAT_EPHEMERIS_AVAILABLE            (1 << 7)
  60
  61 struct ao_gps_sat_orig {
  62         uint8_t         svid;
  63         uint8_t         c_n_1;
  64 };
  65
  66 #define AO_MAX_GPS_TRACKING     12
  67
  68 struct ao_gps_tracking_orig {
  69         uint8_t                 channels;
  70         struct ao_gps_sat_orig  sats[AO_MAX_GPS_TRACKING];
  71 };
  72
  73 #define ao_telemetry_location ao_gps_orig
  74 #define ao_telemetry_satellite ao_gps_tracking_orig
  75 #define ao_telemetry_satellite_info ao_gps_sat_orig
  76
  77 void
  78 ao_mutex_get(uint8_t *mutex)
  79 {
  80 }
  81
  82 void
  83 ao_mutex_put(uint8_t *mutex)
  84 {
  85 }
  86
  87 static int
  88 ao_gps_fd;
  89
  90 static void
  91 ao_dbg_char(char c)
  92 {
  93         char    line[128];
  94         line[0] = '\0';
  95         if (c < ' ') {
  96                 if (c == '\n')
  97                         sprintf (line, "\n");
  98                 else
  99                         sprintf (line, "\\%02x", ((int) c) & 0xff);
 100         } else {
 101                 sprintf (line, "%c", c);
 102         }
 103         write(1, line, strlen(line));
 104 }
 105
 106 #define QUEUE_LEN       4096
 107
 108 static char     input_queue[QUEUE_LEN];
 109 int             input_head, input_tail;
 110
 111 #include <sys/time.h>
 112
 113 int
 114 get_millis(void)
 115 {
 116         struct timeval  tv;
 117         gettimeofday(&tv, NULL);
 118         return tv.tv_sec * 1000 + tv.tv_usec / 1000;
 119 }
 120
 121 static void
 122 check_skytraq_message(char *from, uint8_t *msg, int len)
 123 {
 124         uint16_t        encoded_len, encoded_cksum;
 125         uint16_t        cksum;
 126         uint8_t         id;
 127         int             i;
 128
 129 //      fwrite(msg, 1, len, stdout);
 130         return;
 131         if (msg[0] != 0xa0 || msg[1] != 0xa2) {
 132                 printf ("bad header\n");
 133                 return;
 134         }
 135         if (len < 7) {
 136                 printf("short\n");
 137                 return;
 138         }
 139         if (msg[len-1] != 0xb3 || msg[len-2] != 0xb0) {
 140                 printf ("bad trailer\n");
 141                 return;
 142         }
 143         encoded_len = (msg[2] << 8) | msg[3];
 144         id = msg[4];
 145 /*      printf ("%9d: %3d\n", get_millis(), id); */
 146         if (encoded_len != len - 8) {
 147                 if (id != 52)
 148                         printf ("length mismatch (got %d, wanted %d)\n",
 149                                 len - 8, encoded_len);
 150                 return;
 151         }
 152         encoded_cksum = (msg[len - 4] << 8) | msg[len-3];
 153         cksum = 0;
 154         for (i = 4; i < len - 4; i++)
 155                 cksum = (cksum + msg[i]) & 0x7fff;
 156         if (encoded_cksum != cksum) {
 157                 printf ("cksum mismatch (got %04x wanted %04x)\n",
 158                         cksum, encoded_cksum);
 159                 return;
 160         }
 161         id = msg[4];
 162         switch (id) {
 163         case 41:{
 164                 int     off = 4;
 165
 166                 uint8_t         id;
 167                 uint16_t        nav_valid;
 168                 uint16_t        nav_type;
 169                 uint16_t        week;
 170                 uint32_t        tow;
 171                 uint16_t        year;
 172                 uint8_t         month;
 173                 uint8_t         day;
 174                 uint8_t         hour;
 175                 uint8_t         minute;
 176                 uint16_t        second;
 177                 uint32_t        sat_list;
 178                 int32_t         lat;
 179                 int32_t         lon;
 180                 int32_t         alt_ell;
 181                 int32_t         alt_msl;
 182                 int8_t          datum;
 183                 uint16_t        sog;
 184                 uint16_t        cog;
 185                 int16_t         mag_var;
 186                 int16_t         climb_rate;
 187                 int16_t         heading_rate;
 188                 uint32_t        h_error;
 189                 uint32_t        v_error;
 190                 uint32_t        t_error;
 191                 uint16_t        h_v_error;
 192
 193 #define get_u8(u)       u = (msg[off]); off+= 1
 194 #define get_u16(u)      u = (msg[off] << 8) | (msg[off + 1]); off+= 2
 195 #define get_u32(u)      u = (msg[off] << 24) | (msg[off + 1] << 16) | (msg[off+2] << 8) | (msg[off+3]); off+= 4
 196
 197                 get_u8(id);
 198                 get_u16(nav_valid);
 199                 get_u16(nav_type);
 200                 get_u16(week);
 201                 get_u32(tow);
 202                 get_u16(year);
 203                 get_u8(month);
 204                 get_u8(day);
 205                 get_u8(hour);
 206                 get_u8(minute);
 207                 get_u16(second);
 208                 get_u32(sat_list);
 209                 get_u32(lat);
 210                 get_u32(lon);
 211                 get_u32(alt_ell);
 212                 get_u32(alt_msl);
 213                 get_u8(datum);
 214                 get_u16(sog);
 215                 get_u16(cog);
 216                 get_u16(mag_var);
 217                 get_u16(climb_rate);
 218                 get_u16(heading_rate);
 219                 get_u32(h_error);
 220                 get_u32(v_error);
 221                 get_u32(t_error);
 222                 get_u16(h_v_error);
 223
 224
 225                 printf ("Geodetic Navigation Data (41):\n");
 226                 printf ("\tNav valid %04x\n", nav_valid);
 227                 printf ("\tNav type %04x\n", nav_type);
 228                 printf ("\tWeek %5d", week);
 229                 printf (" TOW %9d", tow);
 230                 printf (" %4d-%2d-%2d %02d:%02d:%07.4f\n",
 231                         year, month, day,
 232                         hour, minute, second / 1000.0);
 233                 printf ("\tsats: %08x\n", sat_list);
 234                 printf ("\tlat: %g", lat / 1.0e7);
 235                 printf (" lon: %g", lon / 1.0e7);
 236                 printf (" alt_ell: %g", alt_ell / 100.0);
 237                 printf (" alt_msll: %g", alt_msl / 100.0);
 238                 printf (" datum: %d\n", datum);
 239                 printf ("\tground speed: %g", sog / 100.0);
 240                 printf (" course: %g", cog / 100.0);
 241                 printf (" climb: %g", climb_rate / 100.0);
 242                 printf (" heading rate: %g\n", heading_rate / 100.0);
 243                 printf ("\th error: %g", h_error / 100.0);
 244                 printf (" v error: %g", v_error / 100.0);
 245                 printf (" t error: %g", t_error / 100.0);
 246                 printf (" h vel error: %g\n", h_v_error / 100.0);
 247                 break;
 248         }
 249         case 4: {
 250                 int off = 4;
 251                 uint8_t         id;
 252                 int16_t         gps_week;
 253                 uint32_t        gps_tow;
 254                 uint8_t         channels;
 255                 int             j, k;
 256
 257                 get_u8(id);
 258                 get_u16(gps_week);
 259                 get_u32(gps_tow);
 260                 get_u8(channels);
 261
 262                 printf ("Measured Tracker Data (4):\n");
 263                 printf ("GPS week: %d\n", gps_week);
 264                 printf ("GPS time of week: %d\n", gps_tow);
 265                 printf ("channels: %d\n", channels);
 266                 for (j = 0; j < 12; j++) {
 267                         uint8_t svid, azimuth, elevation;
 268                         uint16_t state;
 269                         uint8_t c_n[10];
 270                         get_u8(svid);
 271                         get_u8(azimuth);
 272                         get_u8(elevation);
 273                         get_u16(state);
 274                         for (k = 0; k < 10; k++) {
 275                                 get_u8(c_n[k]);
 276                         }
 277                         printf ("Sat %3d:", svid);
 278                         printf (" aziumuth: %6.1f", azimuth * 1.5);
 279                         printf (" elevation: %6.1f", elevation * 0.5);
 280                         printf (" state: 0x%02x", state);
 281                         printf (" c_n:");
 282                         for (k = 0; k < 10; k++)
 283                                 printf(" %3d", c_n[k]);
 284                         if (state & SIRF_SAT_STATE_ACQUIRED)
 285                                 printf(" acq,");
 286                         if (state & SIRF_SAT_STATE_CARRIER_PHASE_VALID)
 287                                 printf(" car,");
 288                         if (state & SIRF_SAT_BIT_SYNC_COMPLETE)
 289                                 printf(" bit,");
 290                         if (state & SIRF_SAT_SUBFRAME_SYNC_COMPLETE)
 291                                 printf(" sub,");
 292                         if (state & SIRF_SAT_CARRIER_PULLIN_COMPLETE)
 293                                 printf(" pullin,");
 294                         if (state & SIRF_SAT_CODE_LOCKED)
 295                                 printf(" code,");
 296                         if (state & SIRF_SAT_ACQUISITION_FAILED)
 297                                 printf(" fail,");
 298                         if (state & SIRF_SAT_EPHEMERIS_AVAILABLE)
 299                                 printf(" ephem,");
 300                         printf ("\n");
 301                 }
 302                 break;
 303         }
 304         default:
 305                 return;
 306                 printf ("%s %4d:", from, encoded_len);
 307                 for (i = 4; i < len - 4; i++) {
 308                         if (((i - 4) & 0xf) == 0)
 309                                 printf("\n   ");
 310                         printf (" %3d", msg[i]);
 311                 }
 312                 printf ("\n");
 313         }
 314 }
 315
 316 static uint8_t  skytraq_message[4096];
 317 static int      skytraq_message_len;
 318 static uint8_t  skytraq_in_message[4096];
 319 static int      skytraq_in_len;
 320
 321 char
 322 ao_serial_getchar(void)
 323 {
 324         char    c;
 325         uint8_t uc;
 326
 327         while (input_head == input_tail) {
 328                 for (;;) {
 329                         input_tail = read(ao_gps_fd, input_queue, QUEUE_LEN);
 330                         if (input_tail < 0) {
 331                                 if (errno == EINTR || errno == EAGAIN)
 332                                         continue;
 333                                 perror ("getchar");
 334                                 exit (1);
 335                         }
 336                         input_head = 0;
 337                         break;
 338                 }
 339         }
 340         c = input_queue[input_head];
 341         input_head = (input_head + 1) % QUEUE_LEN;
 342         uc = c;
 343 //      printf ("c: %02x %c\n", uc, uc);
 344         if (skytraq_in_len || uc == '$') {
 345                 if (skytraq_in_len < 4096)
 346                         skytraq_in_message[skytraq_in_len++] = uc;
 347                 if (uc == 0x0a) {
 348                         check_skytraq_message("recv", skytraq_in_message, skytraq_in_len);
 349                         skytraq_in_len = 0;
 350                 }
 351         }
 352         return c;
 353 }
 354
 355
 356 void
 357 ao_serial_putchar(char c)
 358 {
 359         int     i;
 360         uint8_t uc = (uint8_t) c;
 361
 362         if (skytraq_message_len || uc == 0xa0) {
 363                 if (skytraq_message_len < 4096)
 364                         skytraq_message[skytraq_message_len++] = uc;
 365                 if (uc == 0x0a) {
 366                         check_skytraq_message("send", skytraq_message, skytraq_message_len);
 367                         skytraq_message_len = 0;
 368                 }
 369         }
 370         for (;;) {
 371                 i = write(ao_gps_fd, &c, 1);
 372                 if (i == 1) {
 373                         if ((uint8_t) c == 0xb3 || c == '\r') {
 374                                 static const struct timespec delay = {
 375                                         .tv_sec = 0,
 376                                         .tv_nsec = 100 * 1000 * 1000
 377                                 };
 378                                 tcdrain(ao_gps_fd);
 379 //                              nanosleep(&delay, NULL);
 380                         }
 381                         break;
 382                 }
 383                 if (i < 0 && (errno == EINTR || errno == EAGAIN))
 384                         continue;
 385                 perror("putchar");
 386                 exit(1);
 387         }
 388 }
 389
 390 #define AO_SERIAL_SPEED_4800    0
 391 #define AO_SERIAL_SPEED_9600    1
 392 #define AO_SERIAL_SPEED_57600   2
 393
 394 static void
 395 ao_serial_set_speed(uint8_t speed)
 396 {
 397         int     fd = ao_gps_fd;
 398         struct termios  termios;
 399
 400         tcdrain(fd);
 401         tcgetattr(fd, &termios);
 402         switch (speed) {
 403         case AO_SERIAL_SPEED_4800:
 404                 cfsetspeed(&termios, B4800);
 405                 break;
 406         case AO_SERIAL_SPEED_9600:
 407                 cfsetspeed(&termios, B38400);
 408                 break;
 409         case AO_SERIAL_SPEED_57600:
 410                 cfsetspeed(&termios, B57600);
 411                 break;
 412         }
 413         tcsetattr(fd, TCSAFLUSH, &termios);
 414         tcflush(fd, TCIFLUSH);
 415 }
 416
 417 #define ao_time() 0
 418
 419 #include "ao_gps_print.c"
 420 #include "ao_gps_skytraq.c"
 421
 422 void
 423 ao_dump_state(void *wchan)
 424 {
 425         double  lat, lon;
 426         int     i;
 427         if (wchan == &ao_gps_data)
 428                 ao_gps_print(&ao_gps_data);
 429         else
 430                 ao_gps_tracking_print(&ao_gps_tracking_data);
 431         putchar('\n');
 432         return;
 433 }
 434
 435 int
 436 ao_gps_open(const char *tty)
 437 {
 438         struct termios  termios;
 439         int fd;
 440
 441         fd = open (tty, O_RDWR);
 442         if (fd < 0)
 443                 return -1;
 444
 445         tcgetattr(fd, &termios);
 446         cfmakeraw(&termios);
 447         cfsetspeed(&termios, B4800);
 448         tcsetattr(fd, TCSAFLUSH, &termios);
 449
 450         tcdrain(fd);
 451         tcflush(fd, TCIFLUSH);
 452         return fd;
 453 }
 454
 455 #include <getopt.h>
 456
 457 static const struct option options[] = {
 458         { .name = "tty", .has_arg = 1, .val = 'T' },
 459         { 0, 0, 0, 0},
 460 };
 461
 462 static void usage(char *program)
 463 {
 464         fprintf(stderr, "usage: %s [--tty <tty-name>]\n", program);
 465         exit(1);
 466 }
 467
 468 int
 469 main (int argc, char **argv)
 470 {
 471         char    *tty = "/dev/ttyUSB0";
 472         int     c;
 473
 474         while ((c = getopt_long(argc, argv, "T:", options, NULL)) != -1) {
 475                 switch (c) {
 476                 case 'T':
 477                         tty = optarg;
 478                         break;
 479                 default:
 480                         usage(argv[0]);
 481                         break;
 482                 }
 483         }
 484         ao_gps_fd = ao_gps_open(tty);
 485         if (ao_gps_fd < 0) {
 486                 perror (tty);
 487                 exit (1);
 488         }
 489         ao_gps();
 490 }