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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; either version 2 of the License, or
   7  * (at your option) any later version.
   8  *
   9  * This program is distributed in the hope that it will be useful, but
  10  * WITHOUT ANY WARRANTY; without even the implied warranty of
  11  * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
  12  * General Public License for more details.
  13  *
  14  * You should have received a copy of the GNU General Public License along
  15  * with this program; if not, write to the Free Software Foundation, Inc.,
  16  * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA.
  17  */
  18
  19 #define AO_GPS_TEST
  20 #define HAS_GPS 1
  21 #include "ao_host.h"
  22 #include <termios.h>
  23 #include <errno.h>
  24 #include <sys/types.h>
  25 #include <sys/stat.h>
  26 #include <fcntl.h>
  27 #include <unistd.h>
  28 #define AO_GPS_NUM_SAT_MASK     (0xf << 0)
  29 #define AO_GPS_NUM_SAT_SHIFT    (0)
  30
  31 #define AO_GPS_NEW_DATA         1
  32 #define AO_GPS_NEW_TRACKING     2
  33
  34 #define AO_GPS_VALID            (1 << 4)
  35 #define AO_GPS_RUNNING          (1 << 5)
  36 #define AO_GPS_DATE_VALID       (1 << 6)
  37 #define AO_GPS_COURSE_VALID     (1 << 7)
  38
  39 struct ao_gps_orig {
  40         uint8_t                 year;
  41         uint8_t                 month;
  42         uint8_t                 day;
  43         uint8_t                 hour;
  44         uint8_t                 minute;
  45         uint8_t                 second;
  46         uint8_t                 flags;
  47         int32_t                 latitude;       /* degrees * 10⁷ */
  48         int32_t                 longitude;      /* degrees * 10⁷ */
  49         int16_t                 altitude;       /* m */
  50         uint16_t                ground_speed;   /* cm/s */
  51         uint8_t                 course;         /* degrees / 2 */
  52         uint8_t                 hdop;           /* * 5 */
  53         int16_t                 climb_rate;     /* cm/s */
  54         uint16_t                h_error;        /* m */
  55         uint16_t                v_error;        /* m */
  56 };
  57
  58 #define AO_TELEMETRY_LOCATION_ALTITUDE(l)       ((l)->altitude)
  59 #define AO_TELEMETRY_LOCATION_SET_ALTITUDE(l,a) ((l)->altitude = (a))
  60
  61 #define SIRF_SAT_STATE_ACQUIRED                 (1 << 0)
  62 #define SIRF_SAT_STATE_CARRIER_PHASE_VALID      (1 << 1)
  63 #define SIRF_SAT_BIT_SYNC_COMPLETE              (1 << 2)
  64 #define SIRF_SAT_SUBFRAME_SYNC_COMPLETE         (1 << 3)
  65 #define SIRF_SAT_CARRIER_PULLIN_COMPLETE        (1 << 4)
  66 #define SIRF_SAT_CODE_LOCKED                    (1 << 5)
  67 #define SIRF_SAT_ACQUISITION_FAILED             (1 << 6)
  68 #define SIRF_SAT_EPHEMERIS_AVAILABLE            (1 << 7)
  69
  70 struct ao_gps_sat_orig {
  71         uint8_t         svid;
  72         uint8_t         c_n_1;
  73 };
  74
  75 #define AO_MAX_GPS_TRACKING     12
  76
  77 struct ao_gps_tracking_orig {
  78         uint8_t                 channels;
  79         struct ao_gps_sat_orig  sats[AO_MAX_GPS_TRACKING];
  80 };
  81
  82 #define ao_telemetry_location ao_gps_orig
  83 #define ao_telemetry_satellite ao_gps_tracking_orig
  84 #define ao_telemetry_satellite_info ao_gps_sat_orig
  85
  86 extern struct ao_telemetry_location     ao_gps_data;
  87 extern struct ao_telemetry_satellite    ao_gps_tracking_data;
  88
  89 uint8_t ao_gps_mutex;
  90
  91 void
  92 ao_mutex_get(uint8_t *mutex)
  93 {
  94 }
  95
  96 void
  97 ao_mutex_put(uint8_t *mutex)
  98 {
  99 }
 100
 101 static int
 102 ao_gps_fd;
 103
 104 #if 0
 105 static void
 106 ao_dbg_char(char c)
 107 {
 108         char    line[128];
 109         line[0] = '\0';
 110         if (c < ' ') {
 111                 if (c == '\n')
 112                         sprintf (line, "\n");
 113                 else
 114                         sprintf (line, "\\%02x", ((int) c) & 0xff);
 115         } else {
 116                 sprintf (line, "%c", c);
 117         }
 118         write(1, line, strlen(line));
 119 }
 120 #endif
 121
 122 #define QUEUE_LEN       4096
 123
 124 static char     input_queue[QUEUE_LEN];
 125 int             input_head, input_tail;
 126
 127 #include <sys/time.h>
 128
 129 int
 130 get_millis(void)
 131 {
 132         struct timeval  tv;
 133         gettimeofday(&tv, NULL);
 134         return tv.tv_sec * 1000 + tv.tv_usec / 1000;
 135 }
 136
 137 static void
 138 check_skytraq_message(char *from, uint8_t *msg, int len)
 139 {
 140         uint16_t        encoded_len, encoded_cksum;
 141         uint16_t        cksum;
 142         uint8_t         id;
 143         int             i;
 144
 145 //      fwrite(msg, 1, len, stdout);
 146         return;
 147         if (msg[0] != 0xa0 || msg[1] != 0xa2) {
 148                 printf ("bad header\n");
 149                 return;
 150         }
 151         if (len < 7) {
 152                 printf("short\n");
 153                 return;
 154         }
 155         if (msg[len-1] != 0xb3 || msg[len-2] != 0xb0) {
 156                 printf ("bad trailer\n");
 157                 return;
 158         }
 159         encoded_len = (msg[2] << 8) | msg[3];
 160         id = msg[4];
 161 /*      printf ("%9d: %3d\n", get_millis(), id); */
 162         if (encoded_len != len - 8) {
 163                 if (id != 52)
 164                         printf ("length mismatch (got %d, wanted %d)\n",
 165                                 len - 8, encoded_len);
 166                 return;
 167         }
 168         encoded_cksum = (msg[len - 4] << 8) | msg[len-3];
 169         cksum = 0;
 170         for (i = 4; i < len - 4; i++)
 171                 cksum = (cksum + msg[i]) & 0x7fff;
 172         if (encoded_cksum != cksum) {
 173                 printf ("cksum mismatch (got %04x wanted %04x)\n",
 174                         cksum, encoded_cksum);
 175                 return;
 176         }
 177         id = msg[4];
 178         switch (id) {
 179         case 41:{
 180                 int     off = 4;
 181
 182                 uint8_t         id;
 183                 uint16_t        nav_valid;
 184                 uint16_t        nav_type;
 185                 uint16_t        week;
 186                 uint32_t        tow;
 187                 uint16_t        year;
 188                 uint8_t         month;
 189                 uint8_t         day;
 190                 uint8_t         hour;
 191                 uint8_t         minute;
 192                 uint16_t        second;
 193                 uint32_t        sat_list;
 194                 int32_t         lat;
 195                 int32_t         lon;
 196                 int32_t         alt_ell;
 197                 int32_t         alt_msl;
 198                 int8_t          datum;
 199                 uint16_t        sog;
 200                 uint16_t        cog;
 201                 int16_t         mag_var;
 202                 int16_t         climb_rate;
 203                 int16_t         heading_rate;
 204                 uint32_t        h_error;
 205                 uint32_t        v_error;
 206                 uint32_t        t_error;
 207                 uint16_t        h_v_error;
 208
 209 #define get_u8(u)       u = (msg[off]); off+= 1
 210 #define get_u16(u)      u = (msg[off] << 8) | (msg[off + 1]); off+= 2
 211 #define get_u32(u)      u = (msg[off] << 24) | (msg[off + 1] << 16) | (msg[off+2] << 8) | (msg[off+3]); off+= 4
 212
 213                 get_u8(id);
 214                 get_u16(nav_valid);
 215                 get_u16(nav_type);
 216                 get_u16(week);
 217                 get_u32(tow);
 218                 get_u16(year);
 219                 get_u8(month);
 220                 get_u8(day);
 221                 get_u8(hour);
 222                 get_u8(minute);
 223                 get_u16(second);
 224                 get_u32(sat_list);
 225                 get_u32(lat);
 226                 get_u32(lon);
 227                 get_u32(alt_ell);
 228                 get_u32(alt_msl);
 229                 get_u8(datum);
 230                 get_u16(sog);
 231                 get_u16(cog);
 232                 get_u16(mag_var);
 233                 get_u16(climb_rate);
 234                 get_u16(heading_rate);
 235                 get_u32(h_error);
 236                 get_u32(v_error);
 237                 get_u32(t_error);
 238                 get_u16(h_v_error);
 239
 240
 241                 (void) mag_var;
 242                 (void) id;
 243                 printf ("Geodetic Navigation Data (41):\n");
 244                 printf ("\tNav valid %04x\n", nav_valid);
 245                 printf ("\tNav type %04x\n", nav_type);
 246                 printf ("\tWeek %5d", week);
 247                 printf (" TOW %9d", tow);
 248                 printf (" %4d-%2d-%2d %02d:%02d:%07.4f\n",
 249                         year, month, day,
 250                         hour, minute, second / 1000.0);
 251                 printf ("\tsats: %08x\n", sat_list);
 252                 printf ("\tlat: %g", lat / 1.0e7);
 253                 printf (" lon: %g", lon / 1.0e7);
 254                 printf (" alt_ell: %g", alt_ell / 100.0);
 255                 printf (" alt_msll: %g", alt_msl / 100.0);
 256                 printf (" datum: %d\n", datum);
 257                 printf ("\tground speed: %g", sog / 100.0);
 258                 printf (" course: %g", cog / 100.0);
 259                 printf (" climb: %g", climb_rate / 100.0);
 260                 printf (" heading rate: %g\n", heading_rate / 100.0);
 261                 printf ("\th error: %g", h_error / 100.0);
 262                 printf (" v error: %g", v_error / 100.0);
 263                 printf (" t error: %g", t_error / 100.0);
 264                 printf (" h vel error: %g\n", h_v_error / 100.0);
 265                 break;
 266         }
 267         case 4: {
 268                 int off = 4;
 269                 uint8_t         id;
 270                 int16_t         gps_week;
 271                 uint32_t        gps_tow;
 272                 uint8_t         channels;
 273                 int             j, k;
 274
 275                 get_u8(id);
 276                 get_u16(gps_week);
 277                 get_u32(gps_tow);
 278                 get_u8(channels);
 279
 280                 (void) id;
 281                 printf ("Measured Tracker Data (4):\n");
 282                 printf ("GPS week: %d\n", gps_week);
 283                 printf ("GPS time of week: %d\n", gps_tow);
 284                 printf ("channels: %d\n", channels);
 285                 for (j = 0; j < 12; j++) {
 286                         uint8_t svid, azimuth, elevation;
 287                         uint16_t state;
 288                         uint8_t c_n[10];
 289                         get_u8(svid);
 290                         get_u8(azimuth);
 291                         get_u8(elevation);
 292                         get_u16(state);
 293                         for (k = 0; k < 10; k++) {
 294                                 get_u8(c_n[k]);
 295                         }
 296                         printf ("Sat %3d:", svid);
 297                         printf (" aziumuth: %6.1f", azimuth * 1.5);
 298                         printf (" elevation: %6.1f", elevation * 0.5);
 299                         printf (" state: 0x%02x", state);
 300                         printf (" c_n:");
 301                         for (k = 0; k < 10; k++)
 302                                 printf(" %3d", c_n[k]);
 303                         if (state & SIRF_SAT_STATE_ACQUIRED)
 304                                 printf(" acq,");
 305                         if (state & SIRF_SAT_STATE_CARRIER_PHASE_VALID)
 306                                 printf(" car,");
 307                         if (state & SIRF_SAT_BIT_SYNC_COMPLETE)
 308                                 printf(" bit,");
 309                         if (state & SIRF_SAT_SUBFRAME_SYNC_COMPLETE)
 310                                 printf(" sub,");
 311                         if (state & SIRF_SAT_CARRIER_PULLIN_COMPLETE)
 312                                 printf(" pullin,");
 313                         if (state & SIRF_SAT_CODE_LOCKED)
 314                                 printf(" code,");
 315                         if (state & SIRF_SAT_ACQUISITION_FAILED)
 316                                 printf(" fail,");
 317                         if (state & SIRF_SAT_EPHEMERIS_AVAILABLE)
 318                                 printf(" ephem,");
 319                         printf ("\n");
 320                 }
 321                 break;
 322         }
 323         default:
 324                 return;
 325                 printf ("%s %4d:", from, encoded_len);
 326                 for (i = 4; i < len - 4; i++) {
 327                         if (((i - 4) & 0xf) == 0)
 328                                 printf("\n   ");
 329                         printf (" %3d", msg[i]);
 330                 }
 331                 printf ("\n");
 332         }
 333 }
 334
 335 static uint8_t  skytraq_message[4096];
 336 static int      skytraq_message_len;
 337 static uint8_t  skytraq_in_message[4096];
 338 static int      skytraq_in_len;
 339
 340 char
 341 ao_serial1_getchar(void)
 342 {
 343         char    c;
 344         uint8_t uc;
 345
 346         while (input_head == input_tail) {
 347                 for (;;) {
 348                         input_tail = read(ao_gps_fd, input_queue, QUEUE_LEN);
 349                         if (input_tail < 0) {
 350                                 if (errno == EINTR || errno == EAGAIN)
 351                                         continue;
 352                                 perror ("getchar");
 353                                 exit (1);
 354                         }
 355                         input_head = 0;
 356                         break;
 357                 }
 358         }
 359         c = input_queue[input_head];
 360         input_head = (input_head + 1) % QUEUE_LEN;
 361         uc = c;
 362 //      printf ("c: %02x %c\n", uc, uc);
 363         if (skytraq_in_len || uc == '$') {
 364                 if (skytraq_in_len < 4096)
 365                         skytraq_in_message[skytraq_in_len++] = uc;
 366                 if (uc == 0x0a) {
 367                         check_skytraq_message("recv", skytraq_in_message, skytraq_in_len);
 368                         skytraq_in_len = 0;
 369                 }
 370         }
 371         return c;
 372 }
 373
 374
 375 void
 376 ao_serial1_putchar(char c)
 377 {
 378         int     i;
 379         uint8_t uc = (uint8_t) c;
 380
 381         if (skytraq_message_len || uc == 0xa0) {
 382                 if (skytraq_message_len < 4096)
 383                         skytraq_message[skytraq_message_len++] = uc;
 384                 if (uc == 0x0a) {
 385                         check_skytraq_message("send", skytraq_message, skytraq_message_len);
 386                         skytraq_message_len = 0;
 387                 }
 388         }
 389         for (;;) {
 390                 i = write(ao_gps_fd, &c, 1);
 391                 if (i == 1) {
 392                         if ((uint8_t) c == 0xb3 || c == '\r') {
 393 /*                              static const struct timespec delay = {
 394                                         .tv_sec = 0,
 395                                         .tv_nsec = 100 * 1000 * 1000
 396                                 };
 397 */
 398                                 tcdrain(ao_gps_fd);
 399 //                              nanosleep(&delay, NULL);
 400                         }
 401                         break;
 402                 }
 403                 if (i < 0 && (errno == EINTR || errno == EAGAIN))
 404                         continue;
 405                 perror("putchar");
 406                 exit(1);
 407         }
 408 }
 409
 410 #define AO_SERIAL_SPEED_4800    0
 411 #define AO_SERIAL_SPEED_9600    1
 412 #define AO_SERIAL_SPEED_57600   2
 413 #define AO_SERIAL_SPEED_115200  3
 414
 415 static void
 416 ao_serial1_set_speed(uint8_t speed)
 417 {
 418         int     fd = ao_gps_fd;
 419         struct termios  termios;
 420
 421         tcdrain(fd);
 422         tcgetattr(fd, &termios);
 423         switch (speed) {
 424         case AO_SERIAL_SPEED_4800:
 425                 cfsetspeed(&termios, B4800);
 426                 break;
 427         case AO_SERIAL_SPEED_9600:
 428                 cfsetspeed(&termios, B9600);
 429                 break;
 430         case AO_SERIAL_SPEED_57600:
 431                 cfsetspeed(&termios, B57600);
 432                 break;
 433         case AO_SERIAL_SPEED_115200:
 434                 cfsetspeed(&termios, B115200);
 435                 break;
 436         }
 437         tcsetattr(fd, TCSAFLUSH, &termios);
 438         tcflush(fd, TCIFLUSH);
 439 }
 440
 441 #define ao_time() 0
 442
 443 uint8_t ao_task_minimize_latency;
 444
 445 #define ao_usb_getchar()        0
 446
 447 #include "ao_gps_print.c"
 448 #include "ao_gps_show.c"
 449 #include "ao_gps_skytraq.c"
 450
 451 void
 452 ao_dump_state(void *wchan)
 453 {
 454         if (wchan == &ao_gps_new)
 455                 ao_gps_show();
 456 }
 457
 458 int
 459 ao_gps_open(const char *tty)
 460 {
 461         struct termios  termios;
 462         int fd;
 463
 464         fd = open (tty, O_RDWR);
 465         if (fd < 0)
 466                 return -1;
 467
 468         tcgetattr(fd, &termios);
 469         cfmakeraw(&termios);
 470         cfsetspeed(&termios, B4800);
 471         tcsetattr(fd, TCSAFLUSH, &termios);
 472
 473         tcdrain(fd);
 474         tcflush(fd, TCIFLUSH);
 475         return fd;
 476 }
 477
 478 #include <getopt.h>
 479
 480 static const struct option options[] = {
 481         { .name = "tty", .has_arg = 1, .val = 'T' },
 482         { 0, 0, 0, 0},
 483 };
 484
 485 static void usage(char *program)
 486 {
 487         fprintf(stderr, "usage: %s [--tty <tty-name>]\n", program);
 488         exit(1);
 489 }
 490
 491 int
 492 main (int argc, char **argv)
 493 {
 494         char    *tty = "/dev/ttyUSB0";
 495         int     c;
 496
 497         while ((c = getopt_long(argc, argv, "T:", options, NULL)) != -1) {
 498                 switch (c) {
 499                 case 'T':
 500                         tty = optarg;
 501                         break;
 502                 default:
 503                         usage(argv[0]);
 504                         break;
 505                 }
 506         }
 507         ao_gps_fd = ao_gps_open(tty);
 508         if (ao_gps_fd < 0) {
 509                 perror (tty);
 510                 exit (1);
 511         }
 512         ao_gps();
 513         return 0;
 514 }