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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_NEW_DATA         1
  30 #define AO_GPS_NEW_TRACKING     2
  31
  32 #define AO_GPS_VALID            (1 << 4)
  33 #define AO_GPS_RUNNING          (1 << 5)
  34 #define AO_GPS_DATE_VALID       (1 << 6)
  35 #define AO_GPS_COURSE_VALID     (1 << 7)
  36
  37 struct ao_telemetry_location {
  38         uint8_t                 year;
  39         uint8_t                 month;
  40         uint8_t                 day;
  41         uint8_t                 hour;
  42         uint8_t                 minute;
  43         uint8_t                 second;
  44         uint8_t                 flags;
  45         int32_t                 latitude;       /* degrees * 10⁷ */
  46         int32_t                 longitude;      /* degrees * 10⁷ */
  47         int16_t                 altitude;       /* m */
  48         uint16_t                ground_speed;   /* cm/s */
  49         uint8_t                 course;         /* degrees / 2 */
  50         uint8_t                 pdop;           /* * 5 */
  51         uint8_t                 hdop;           /* * 5 */
  52         uint8_t                 vdop;           /* * 5 */
  53         int16_t                 climb_rate;     /* cm/s */
  54         uint16_t                h_error;        /* m */
  55         uint16_t                v_error;        /* m */
  56 };
  57
  58 #define UBLOX_SAT_STATE_ACQUIRED                (1 << 0)
  59 #define UBLOX_SAT_STATE_CARRIER_PHASE_VALID     (1 << 1)
  60 #define UBLOX_SAT_BIT_SYNC_COMPLETE             (1 << 2)
  61 #define UBLOX_SAT_SUBFRAME_SYNC_COMPLETE        (1 << 3)
  62 #define UBLOX_SAT_CARRIER_PULLIN_COMPLETE       (1 << 4)
  63 #define UBLOX_SAT_CODE_LOCKED                   (1 << 5)
  64 #define UBLOX_SAT_ACQUISITION_FAILED            (1 << 6)
  65 #define UBLOX_SAT_EPHEMERIS_AVAILABLE           (1 << 7)
  66
  67 struct ao_telemetry_satellite_info {
  68         uint8_t         svid;
  69         uint8_t         c_n_1;
  70 };
  71
  72 #define AO_TELEMETRY_SATELLITE_MAX_SAT  12
  73
  74 struct ao_telemetry_satellite {
  75         uint8_t                                 channels;
  76         struct ao_telemetry_satellite_info      sats[AO_TELEMETRY_SATELLITE_MAX_SAT];
  77 };
  78
  79 #define ao_gps_orig ao_telemetry_location
  80 #define ao_gps_tracking_orig ao_telemetry_satellite
  81 #define ao_gps_sat_orig ao_telemetry_satellite_info
  82
  83 extern __xdata struct ao_telemetry_location     ao_gps_data;
  84 extern __xdata struct ao_telemetry_satellite    ao_gps_tracking_data;
  85
  86 uint8_t ao_gps_mutex;
  87
  88 void
  89 ao_mutex_get(uint8_t *mutex)
  90 {
  91 }
  92
  93 void
  94 ao_mutex_put(uint8_t *mutex)
  95 {
  96 }
  97
  98 static int ao_gps_fd;
  99 static FILE *ao_gps_file;
 100
 101 #if 0
 102 static void
 103 ao_dbg_char(char c)
 104 {
 105         char    line[128];
 106         line[0] = '\0';
 107         if (c < ' ') {
 108                 if (c == '\n')
 109                         sprintf (line, "\n");
 110                 else
 111                         sprintf (line, "\\%02x", ((int) c) & 0xff);
 112         } else {
 113                 sprintf (line, "%c", c);
 114         }
 115         write(1, line, strlen(line));
 116 }
 117 #endif
 118
 119 #include <sys/time.h>
 120
 121 int
 122 get_millis(void)
 123 {
 124         struct timeval  tv;
 125         gettimeofday(&tv, NULL);
 126         return tv.tv_sec * 1000 + tv.tv_usec / 1000;
 127 }
 128
 129 static uint8_t  in_message[4096];
 130 static int      in_len;
 131 static uint16_t recv_len;
 132
 133 static void check_ublox_message(char *which, uint8_t *msg);
 134
 135 char
 136 ao_gps_getchar(void)
 137 {
 138         char    c;
 139         uint8_t uc;
 140         int     i;
 141
 142         i = getc(ao_gps_file);
 143         if (i == EOF) {
 144                 perror("getchar");
 145                 exit(1);
 146         }
 147         c = i;
 148         uc = (uint8_t) c;
 149         if (in_len || uc == 0xb5) {
 150                 in_message[in_len++] = c;
 151                 if (in_len == 6) {
 152                         recv_len = in_message[4] | (in_message[5] << 8);
 153                 } else if (in_len > 6 && in_len == recv_len + 8) {
 154                         check_ublox_message("recv", in_message + 2);
 155                         in_len = 0;
 156                 }
 157
 158         }
 159         return c;
 160 }
 161
 162 #define MESSAGE_LEN     4096
 163
 164 static uint8_t  message[MESSAGE_LEN];
 165 static int      message_len;
 166 static uint16_t send_len;
 167
 168 void
 169 ao_gps_putchar(char c)
 170 {
 171         int     i;
 172         uint8_t uc = (uint8_t) c;
 173
 174         if (message_len || uc == 0xb5) {
 175                 if (message_len < MESSAGE_LEN)
 176                         message[message_len++] = uc;
 177                 if (message_len == 6) {
 178                         send_len = message[4] | (message[5] << 8);
 179                 } else if (message_len > 6 && message_len == send_len + 8) {
 180                         check_ublox_message("send", message + 2);
 181                         message_len = 0;
 182                 }
 183         }
 184
 185         for (;;) {
 186                 i = write(ao_gps_fd, &c, 1);
 187                 if (i == 1)
 188                         break;
 189                 if (i < 0 && (errno == EINTR || errno == EAGAIN))
 190                         continue;
 191                 perror("putchar");
 192                 exit(1);
 193         }
 194 }
 195
 196 #define AO_SERIAL_SPEED_4800    0
 197 #define AO_SERIAL_SPEED_9600    1
 198 #define AO_SERIAL_SPEED_57600   2
 199 #define AO_SERIAL_SPEED_115200  3
 200
 201 static void
 202 ao_gps_set_speed(uint8_t speed)
 203 {
 204         int     fd = ao_gps_fd;
 205         struct termios  termios;
 206
 207         printf ("\t\tset speed %d\n", speed);
 208         tcdrain(fd);
 209         tcgetattr(fd, &termios);
 210         switch (speed) {
 211         case AO_SERIAL_SPEED_4800:
 212                 cfsetspeed(&termios, B4800);
 213                 break;
 214         case AO_SERIAL_SPEED_9600:
 215                 cfsetspeed(&termios, B9600);
 216                 break;
 217         case AO_SERIAL_SPEED_57600:
 218                 cfsetspeed(&termios, B57600);
 219                 break;
 220         case AO_SERIAL_SPEED_115200:
 221                 cfsetspeed(&termios, B115200);
 222                 break;
 223         }
 224         tcsetattr(fd, TCSAFLUSH, &termios);
 225         tcflush(fd, TCIFLUSH);
 226 }
 227
 228 #define ao_time() 0
 229
 230 uint8_t ao_task_minimize_latency;
 231
 232 #define ao_usb_getchar()        0
 233
 234 #include "ao_gps_print.c"
 235 #include "ao_gps_show.c"
 236 #include "ao_gps_ublox.c"
 237
 238 static void
 239 check_ublox_message(char *which, uint8_t *msg)
 240 {
 241         uint8_t class = msg[0];
 242         uint8_t id = msg[1];
 243         uint16_t len = msg[2] | (msg[3] << 8);
 244         uint16_t i;
 245         struct ao_ublox_cksum   cksum_msg = { .a = msg[4 + len],
 246                                               .b = msg[4 + len + 1] };
 247         struct ao_ublox_cksum   cksum= { 0, 0 };
 248
 249         for (i = 0; i < 4 + len; i++) {
 250                 add_cksum(&cksum, msg[i]);
 251         }
 252         if (cksum.a != cksum_msg.a || cksum.b != cksum_msg.b) {
 253                 printf ("\t%s: cksum mismatch %02x,%02x != %02x,%02x\n",
 254                         which,
 255                         cksum_msg.a & 0xff,
 256                         cksum_msg.b & 0xff,
 257                         cksum.a & 0xff,
 258                         cksum.b & 0xff);
 259                 return;
 260         }
 261         switch (class) {
 262         case UBLOX_NAV:
 263                 switch (id) {
 264                 case UBLOX_NAV_DOP: ;
 265                         struct ublox_nav_dop    *nav_dop = (void *) msg;
 266                         printf ("\tnav-dop    iTOW %9u gDOP %5u dDOP %5u tDOP %5u vDOP %5u hDOP %5u nDOP %5u eDOP %5u\n",
 267                                 nav_dop->itow,
 268                                 nav_dop->gdop,
 269                                 nav_dop->ddop,
 270                                 nav_dop->tdop,
 271                                 nav_dop->vdop,
 272                                 nav_dop->hdop,
 273                                 nav_dop->ndop,
 274                                 nav_dop->edop);
 275                         return;
 276                 case UBLOX_NAV_POSLLH: ;
 277                         struct ublox_nav_posllh *nav_posllh = (void *) msg;
 278                         printf ("\tnav-posllh iTOW %9u lon %12.7f lat %12.7f height %10.3f hMSL %10.3f hAcc %10.3f vAcc %10.3f\n",
 279                                 nav_posllh->itow,
 280                                 nav_posllh->lon / 1e7,
 281                                 nav_posllh->lat / 1e7,
 282                                 nav_posllh->height / 1e3,
 283                                 nav_posllh->hmsl / 1e3,
 284                                 nav_posllh->hacc / 1e3,
 285                                 nav_posllh->vacc / 1e3);
 286                         return;
 287                 case UBLOX_NAV_SOL: ;
 288                         struct ublox_nav_sol    *nav_sol = (struct ublox_nav_sol *) msg;
 289                         printf ("\tnav-sol    iTOW %9u fTOW %9d week %5d gpsFix %2d flags %02x\n",
 290                                 nav_sol->itow, nav_sol->ftow, nav_sol->week,
 291                                 nav_sol->gpsfix, nav_sol->flags);
 292                         return;
 293                 case UBLOX_NAV_SVINFO: ;
 294                         struct ublox_nav_svinfo *nav_svinfo = (struct ublox_nav_svinfo *) msg;
 295                         printf ("\tnav-svinfo iTOW %9u numCH %3d globalFlags %02x\n",
 296                                 nav_svinfo->itow, nav_svinfo->numch, nav_svinfo->globalflags);
 297                         int i;
 298                         for (i = 0; i < nav_svinfo->numch; i++) {
 299                                 struct ublox_nav_svinfo_block *nav_svinfo_block = (void *) (msg + 12 + 12 * i);
 300                                 printf ("\t\tchn %3u svid %3u flags %02x quality %3u cno %3u elev %3d azim %6d prRes %9d\n",
 301                                         nav_svinfo_block->chn,
 302                                         nav_svinfo_block->svid,
 303                                         nav_svinfo_block->flags,
 304                                         nav_svinfo_block->quality,
 305                                         nav_svinfo_block->cno,
 306                                         nav_svinfo_block->elev,
 307                                         nav_svinfo_block->azim,
 308                                         nav_svinfo_block->prres);
 309                         }
 310                         return;
 311                 case UBLOX_NAV_VELNED: ;
 312                         struct ublox_nav_velned *nav_velned = (void *) msg;
 313                         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",
 314                                 nav_velned->itow,
 315                                 nav_velned->veln / 1e2,
 316                                 nav_velned->vele / 1e2,
 317                                 nav_velned->veld / 1e2,
 318                                 nav_velned->speed / 1e2,
 319                                 nav_velned->gspeed / 1e2,
 320                                 nav_velned->heading / 1e5,
 321                                 nav_velned->sacc / 1e5,
 322                                 nav_velned->cacc / 1e6);
 323                         return;
 324                 case UBLOX_NAV_TIMEUTC:;
 325                         struct ublox_nav_timeutc *nav_timeutc = (void *) msg;
 326                         printf ("\tnav-timeutc iTOW %9u tAcc %5u nano %5d %4u-%2d-%2d %2d:%02d:%02d flags %02x\n",
 327                                 nav_timeutc->itow,
 328                                 nav_timeutc->tacc,
 329                                 nav_timeutc->nano,
 330                                 nav_timeutc->year,
 331                                 nav_timeutc->month,
 332                                 nav_timeutc->day,
 333                                 nav_timeutc->hour,
 334                                 nav_timeutc->min,
 335                                 nav_timeutc->sec,
 336                                 nav_timeutc->valid);
 337                         return;
 338                 }
 339                 break;
 340         }
 341 #if 1
 342         printf ("\t%s: class %02x id %02x len %d:", which, class & 0xff, id & 0xff, len & 0xffff);
 343         for (i = 0; i < len; i++)
 344                 printf (" %02x", msg[4 + i]);
 345         printf (" cksum %02x %02x", cksum_msg.a & 0xff, cksum_msg.b & 0xff);
 346 #endif
 347         printf ("\n");
 348 }
 349
 350 void
 351 ao_dump_state(void *wchan)
 352 {
 353         if (wchan == &ao_gps_new)
 354                 ao_gps_show();
 355         return;
 356 }
 357
 358 int
 359 ao_gps_open(const char *tty)
 360 {
 361         struct termios  termios;
 362         int fd;
 363
 364         fd = open (tty, O_RDWR);
 365         if (fd < 0)
 366                 return -1;
 367
 368         tcgetattr(fd, &termios);
 369         cfmakeraw(&termios);
 370         cfsetspeed(&termios, B4800);
 371         tcsetattr(fd, TCSAFLUSH, &termios);
 372
 373         tcdrain(fd);
 374         tcflush(fd, TCIFLUSH);
 375         return fd;
 376 }
 377
 378 #include <getopt.h>
 379
 380 static const struct option options[] = {
 381         { .name = "tty", .has_arg = 1, .val = 'T' },
 382         { 0, 0, 0, 0},
 383 };
 384
 385 static void usage(char *program)
 386 {
 387         fprintf(stderr, "usage: %s [--tty <tty-name>]\n", program);
 388         exit(1);
 389 }
 390
 391 int
 392 main (int argc, char **argv)
 393 {
 394         char    *tty = "/dev/ttyUSB0";
 395         int     c;
 396
 397         while ((c = getopt_long(argc, argv, "T:", options, NULL)) != -1) {
 398                 switch (c) {
 399                 case 'T':
 400                         tty = optarg;
 401                         break;
 402                 default:
 403                         usage(argv[0]);
 404                         break;
 405                 }
 406         }
 407         ao_gps_fd = ao_gps_open(tty);
 408         if (ao_gps_fd < 0) {
 409                 perror (tty);
 410                 exit (1);
 411         }
 412         ao_gps_file = fdopen(ao_gps_fd, "r");
 413         ao_gps();
 414         return 0;
 415 }