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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_telemetry_location {
  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_low;   /* m */
  50         uint16_t                ground_speed;   /* cm/s */
  51         uint8_t                 course;         /* degrees / 2 */
  52         uint8_t                 pdop;           /* * 5 */
  53         uint8_t                 hdop;           /* * 5 */
  54         uint8_t                 vdop;           /* * 5 */
  55         int16_t                 climb_rate;     /* cm/s */
  56         uint16_t                h_error;        /* m */
  57         uint16_t                v_error;        /* m */
  58         int16_t                 altitude_high;  /* m */
  59 };
  60
  61 typedef int32_t         gps_alt_t;
  62 #define AO_TELEMETRY_LOCATION_ALTITUDE(l)       (((gps_alt_t) (l)->altitude_high << 16) | ((l)->altitude_low))
  63 #define AO_GPS_ORIG_ALTITUDE(l)                 AO_TELEMETRY_LOCATION_ALTITUDE(l)
  64 #define AO_TELEMETRY_LOCATION_SET_ALTITUDE(l,a) (((l)->altitude_high = (a) >> 16), \
  65                                                  ((l)->altitude_low = (a)))
  66
  67 #define UBLOX_SAT_STATE_ACQUIRED                (1 << 0)
  68 #define UBLOX_SAT_STATE_CARRIER_PHASE_VALID     (1 << 1)
  69 #define UBLOX_SAT_BIT_SYNC_COMPLETE             (1 << 2)
  70 #define UBLOX_SAT_SUBFRAME_SYNC_COMPLETE        (1 << 3)
  71 #define UBLOX_SAT_CARRIER_PULLIN_COMPLETE       (1 << 4)
  72 #define UBLOX_SAT_CODE_LOCKED                   (1 << 5)
  73 #define UBLOX_SAT_ACQUISITION_FAILED            (1 << 6)
  74 #define UBLOX_SAT_EPHEMERIS_AVAILABLE           (1 << 7)
  75
  76 struct ao_telemetry_satellite_info {
  77         uint8_t         svid;
  78         uint8_t         c_n_1;
  79 };
  80
  81 #define AO_TELEMETRY_SATELLITE_MAX_SAT  12
  82
  83 struct ao_telemetry_satellite {
  84         uint8_t                                 channels;
  85         struct ao_telemetry_satellite_info      sats[AO_TELEMETRY_SATELLITE_MAX_SAT];
  86 };
  87
  88 #define ao_gps_orig ao_telemetry_location
  89 #define ao_gps_tracking_orig ao_telemetry_satellite
  90 #define ao_gps_sat_orig ao_telemetry_satellite_info
  91
  92 extern struct ao_telemetry_location     ao_gps_data;
  93 extern struct ao_telemetry_satellite    ao_gps_tracking_data;
  94
  95 uint8_t ao_gps_mutex;
  96
  97 void
  98 ao_mutex_get(uint8_t *mutex)
  99 {
 100 }
 101
 102 void
 103 ao_mutex_put(uint8_t *mutex)
 104 {
 105 }
 106
 107 static int ao_gps_fd;
 108 static FILE *ao_gps_file;
 109
 110 #if 0
 111 static void
 112 ao_dbg_char(char c)
 113 {
 114         char    line[128];
 115         line[0] = '\0';
 116         if (c < ' ') {
 117                 if (c == '\n')
 118                         sprintf (line, "\n");
 119                 else
 120                         sprintf (line, "\\%02x", ((int) c) & 0xff);
 121         } else {
 122                 sprintf (line, "%c", c);
 123         }
 124         write(1, line, strlen(line));
 125 }
 126 #endif
 127
 128 #include <sys/time.h>
 129
 130 int
 131 get_millis(void)
 132 {
 133         struct timeval  tv;
 134         gettimeofday(&tv, NULL);
 135         return tv.tv_sec * 1000 + tv.tv_usec / 1000;
 136 }
 137
 138 static uint8_t  in_message[4096];
 139 static int      in_len;
 140 static uint16_t recv_len;
 141
 142 static void check_ublox_message(char *which, uint8_t *msg);
 143
 144 char
 145 ao_gps_getchar(void)
 146 {
 147         char    c;
 148         uint8_t uc;
 149         int     i;
 150
 151         i = getc(ao_gps_file);
 152         if (i == EOF) {
 153                 perror("getchar");
 154                 exit(1);
 155         }
 156         c = i;
 157         uc = (uint8_t) c;
 158         if (in_len || uc == 0xb5) {
 159                 in_message[in_len++] = c;
 160                 if (in_len == 6) {
 161                         recv_len = in_message[4] | (in_message[5] << 8);
 162                 } else if (in_len > 6 && in_len == recv_len + 8) {
 163                         check_ublox_message("recv", in_message + 2);
 164                         in_len = 0;
 165                 }
 166
 167         }
 168         return c;
 169 }
 170
 171 #define MESSAGE_LEN     4096
 172
 173 static uint8_t  message[MESSAGE_LEN];
 174 static int      message_len;
 175 static uint16_t send_len;
 176
 177 void
 178 ao_gps_putchar(char c)
 179 {
 180         int     i;
 181         uint8_t uc = (uint8_t) c;
 182
 183         if (message_len || uc == 0xb5) {
 184                 if (message_len < MESSAGE_LEN)
 185                         message[message_len++] = uc;
 186                 if (message_len == 6) {
 187                         send_len = message[4] | (message[5] << 8);
 188                 } else if (message_len > 6 && message_len == send_len + 8) {
 189                         check_ublox_message("send", message + 2);
 190                         message_len = 0;
 191                 }
 192         }
 193
 194         for (;;) {
 195                 i = write(ao_gps_fd, &c, 1);
 196                 if (i == 1)
 197                         break;
 198                 if (i < 0 && (errno == EINTR || errno == EAGAIN))
 199                         continue;
 200                 perror("putchar");
 201                 exit(1);
 202         }
 203 }
 204
 205 #define AO_SERIAL_SPEED_4800    0
 206 #define AO_SERIAL_SPEED_9600    1
 207 #define AO_SERIAL_SPEED_57600   2
 208 #define AO_SERIAL_SPEED_115200  3
 209
 210 static void
 211 ao_gps_set_speed(uint8_t speed)
 212 {
 213         int     fd = ao_gps_fd;
 214         struct termios  termios;
 215
 216         printf ("\t\tset speed %d\n", speed);
 217         tcdrain(fd);
 218         tcgetattr(fd, &termios);
 219         switch (speed) {
 220         case AO_SERIAL_SPEED_4800:
 221                 cfsetspeed(&termios, B4800);
 222                 break;
 223         case AO_SERIAL_SPEED_9600:
 224                 cfsetspeed(&termios, B9600);
 225                 break;
 226         case AO_SERIAL_SPEED_57600:
 227                 cfsetspeed(&termios, B57600);
 228                 break;
 229         case AO_SERIAL_SPEED_115200:
 230                 cfsetspeed(&termios, B115200);
 231                 break;
 232         }
 233         tcsetattr(fd, TCSAFLUSH, &termios);
 234         tcflush(fd, TCIFLUSH);
 235 }
 236
 237 #define ao_time() 0
 238
 239 uint8_t ao_task_minimize_latency;
 240
 241 #define ao_usb_getchar()        0
 242
 243 #include "ao_gps_print.c"
 244 #include "ao_gps_show.c"
 245 #include "ao_gps_ublox.c"
 246
 247 static void
 248 check_ublox_message(char *which, uint8_t *msg)
 249 {
 250         uint8_t class = msg[0];
 251         uint8_t id = msg[1];
 252         uint16_t len = msg[2] | (msg[3] << 8);
 253         uint16_t i;
 254         struct ao_ublox_cksum   cksum_msg = { .a = msg[4 + len],
 255                                               .b = msg[4 + len + 1] };
 256         struct ao_ublox_cksum   cksum= { 0, 0 };
 257
 258         for (i = 0; i < 4 + len; i++) {
 259                 add_cksum(&cksum, msg[i]);
 260         }
 261         if (cksum.a != cksum_msg.a || cksum.b != cksum_msg.b) {
 262                 printf ("\t%s: cksum mismatch %02x,%02x != %02x,%02x\n",
 263                         which,
 264                         cksum_msg.a & 0xff,
 265                         cksum_msg.b & 0xff,
 266                         cksum.a & 0xff,
 267                         cksum.b & 0xff);
 268                 return;
 269         }
 270         switch (class) {
 271         case UBLOX_NAV:
 272                 switch (id) {
 273                 case UBLOX_NAV_DOP: ;
 274                         struct ublox_nav_dop    *nav_dop = (void *) msg;
 275                         printf ("\tnav-dop    iTOW %9u gDOP %5u dDOP %5u tDOP %5u vDOP %5u hDOP %5u nDOP %5u eDOP %5u\n",
 276                                 nav_dop->itow,
 277                                 nav_dop->gdop,
 278                                 nav_dop->ddop,
 279                                 nav_dop->tdop,
 280                                 nav_dop->vdop,
 281                                 nav_dop->hdop,
 282                                 nav_dop->ndop,
 283                                 nav_dop->edop);
 284                         return;
 285                 case UBLOX_NAV_POSLLH: ;
 286                         struct ublox_nav_posllh *nav_posllh = (void *) msg;
 287                         printf ("\tnav-posllh iTOW %9u lon %12.7f lat %12.7f height %10.3f hMSL %10.3f hAcc %10.3f vAcc %10.3f\n",
 288                                 nav_posllh->itow,
 289                                 nav_posllh->lon / 1e7,
 290                                 nav_posllh->lat / 1e7,
 291                                 nav_posllh->height / 1e3,
 292                                 nav_posllh->hmsl / 1e3,
 293                                 nav_posllh->hacc / 1e3,
 294                                 nav_posllh->vacc / 1e3);
 295                         return;
 296                 case UBLOX_NAV_SOL: ;
 297                         struct ublox_nav_sol    *nav_sol = (struct ublox_nav_sol *) msg;
 298                         printf ("\tnav-sol    iTOW %9u fTOW %9d week %5d gpsFix %2d flags %02x\n",
 299                                 nav_sol->itow, nav_sol->ftow, nav_sol->week,
 300                                 nav_sol->gpsfix, nav_sol->flags);
 301                         return;
 302                 case UBLOX_NAV_SVINFO: ;
 303                         struct ublox_nav_svinfo *nav_svinfo = (struct ublox_nav_svinfo *) msg;
 304                         printf ("\tnav-svinfo iTOW %9u numCH %3d globalFlags %02x\n",
 305                                 nav_svinfo->itow, nav_svinfo->numch, nav_svinfo->globalflags);
 306                         int i;
 307                         for (i = 0; i < nav_svinfo->numch; i++) {
 308                                 struct ublox_nav_svinfo_block *nav_svinfo_block = (void *) (msg + 12 + 12 * i);
 309                                 printf ("\t\tchn %3u svid %3u flags %02x quality %3u cno %3u elev %3d azim %6d prRes %9d\n",
 310                                         nav_svinfo_block->chn,
 311                                         nav_svinfo_block->svid,
 312                                         nav_svinfo_block->flags,
 313                                         nav_svinfo_block->quality,
 314                                         nav_svinfo_block->cno,
 315                                         nav_svinfo_block->elev,
 316                                         nav_svinfo_block->azim,
 317                                         nav_svinfo_block->prres);
 318                         }
 319                         return;
 320                 case UBLOX_NAV_VELNED: ;
 321                         struct ublox_nav_velned *nav_velned = (void *) msg;
 322                         printf ("\tnav-velned iTOW %9u velN %10.2f velE %10.2f velD %10.2f speed %10.2f gSpeed %10.2f heading %10.5f sAcc %10.2f cAcc %10.5f\n",
 323                                 nav_velned->itow,
 324                                 nav_velned->veln / 1e2,
 325                                 nav_velned->vele / 1e2,
 326                                 nav_velned->veld / 1e2,
 327                                 nav_velned->speed / 1e2,
 328                                 nav_velned->gspeed / 1e2,
 329                                 nav_velned->heading / 1e5,
 330                                 nav_velned->sacc / 1e5,
 331                                 nav_velned->cacc / 1e6);
 332                         return;
 333                 case UBLOX_NAV_TIMEUTC:;
 334                         struct ublox_nav_timeutc *nav_timeutc = (void *) msg;
 335                         printf ("\tnav-timeutc iTOW %9u tAcc %5u nano %5d %4u-%2d-%2d %2d:%02d:%02d flags %02x\n",
 336                                 nav_timeutc->itow,
 337                                 nav_timeutc->tacc,
 338                                 nav_timeutc->nano,
 339                                 nav_timeutc->year,
 340                                 nav_timeutc->month,
 341                                 nav_timeutc->day,
 342                                 nav_timeutc->hour,
 343                                 nav_timeutc->min,
 344                                 nav_timeutc->sec,
 345                                 nav_timeutc->valid);
 346                         return;
 347                 }
 348                 break;
 349         }
 350 #if 1
 351         printf ("\t%s: class %02x id %02x len %d:", which, class & 0xff, id & 0xff, len & 0xffff);
 352         for (i = 0; i < len; i++)
 353                 printf (" %02x", msg[4 + i]);
 354         printf (" cksum %02x %02x", cksum_msg.a & 0xff, cksum_msg.b & 0xff);
 355 #endif
 356         printf ("\n");
 357 }
 358
 359 void
 360 ao_dump_state(void *wchan)
 361 {
 362         if (wchan == &ao_gps_new)
 363                 ao_gps_show();
 364         return;
 365 }
 366
 367 int
 368 ao_gps_open(const char *tty)
 369 {
 370         struct termios  termios;
 371         int fd;
 372
 373         fd = open (tty, O_RDWR);
 374         if (fd < 0)
 375                 return -1;
 376
 377         tcgetattr(fd, &termios);
 378         cfmakeraw(&termios);
 379         cfsetspeed(&termios, B4800);
 380         tcsetattr(fd, TCSAFLUSH, &termios);
 381
 382         tcdrain(fd);
 383         tcflush(fd, TCIFLUSH);
 384         return fd;
 385 }
 386
 387 #include <getopt.h>
 388
 389 static const struct option options[] = {
 390         { .name = "tty", .has_arg = 1, .val = 'T' },
 391         { 0, 0, 0, 0},
 392 };
 393
 394 static void usage(char *program)
 395 {
 396         fprintf(stderr, "usage: %s [--tty <tty-name>]\n", program);
 397         exit(1);
 398 }
 399
 400 int
 401 main (int argc, char **argv)
 402 {
 403         char    *tty = "/dev/ttyUSB0";
 404         int     c;
 405
 406         while ((c = getopt_long(argc, argv, "T:", options, NULL)) != -1) {
 407                 switch (c) {
 408                 case 'T':
 409                         tty = optarg;
 410                         break;
 411                 default:
 412                         usage(argv[0]);
 413                         break;
 414                 }
 415         }
 416         ao_gps_fd = ao_gps_open(tty);
 417         if (ao_gps_fd < 0) {
 418                 perror (tty);
 419                 exit (1);
 420         }
 421         ao_gps_file = fdopen(ao_gps_fd, "r");
 422         ao_gps();
 423         return 0;
 424 }