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