git.gag.com Git - fw/altos/blob - src/test/ao_gps_test_ublox.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 #define HAS_GPS 1
  20 #include "ao_host.h"
  21 #include <termios.h>
  22 #include <errno.h>
  23 #include <sys/types.h>
  24 #include <sys/stat.h>
  25 #include <fcntl.h>
  26 #include <unistd.h>
  27 #define AO_GPS_NUM_SAT_MASK     (0xf << 0)
  28 #define AO_GPS_NUM_SAT_SHIFT    (0)
  29
  30 #define AO_GPS_NEW_DATA         1
  31 #define AO_GPS_NEW_TRACKING     2
  32
  33 #define AO_GPS_VALID            (1 << 4)
  34 #define AO_GPS_RUNNING          (1 << 5)
  35 #define AO_GPS_DATE_VALID       (1 << 6)
  36 #define AO_GPS_COURSE_VALID     (1 << 7)
  37
  38 struct ao_telemetry_location {
  39         uint8_t                 year;
  40         uint8_t                 month;
  41         uint8_t                 day;
  42         uint8_t                 hour;
  43         uint8_t                 minute;
  44         uint8_t                 second;
  45         uint8_t                 flags;
  46         int32_t                 latitude;       /* degrees * 10⁷ */
  47         int32_t                 longitude;      /* degrees * 10⁷ */
  48         int16_t                 altitude_low;   /* m */
  49         uint16_t                ground_speed;   /* cm/s */
  50         uint8_t                 course;         /* degrees / 2 */
  51         uint8_t                 pdop;           /* * 5 */
  52         uint8_t                 hdop;           /* * 5 */
  53         uint8_t                 vdop;           /* * 5 */
  54         int16_t                 climb_rate;     /* cm/s */
  55         uint16_t                h_error;        /* m */
  56         uint16_t                v_error;        /* m */
  57         int16_t                 altitude_high;  /* m */
  58 };
  59
  60 typedef int32_t         gps_alt_t;
  61 #define AO_TELEMETRY_LOCATION_ALTITUDE(l)       (((gps_alt_t) (l)->altitude_high << 16) | ((l)->altitude_low))
  62 #define AO_TELEMETRY_LOCATION_SET_ALTITUDE(l,a) (((l)->altitude_high = (a) >> 16), \
  63                                                  ((l)->altitude_low = (a)))
  64
  65 #define UBLOX_SAT_STATE_ACQUIRED                (1 << 0)
  66 #define UBLOX_SAT_STATE_CARRIER_PHASE_VALID     (1 << 1)
  67 #define UBLOX_SAT_BIT_SYNC_COMPLETE             (1 << 2)
  68 #define UBLOX_SAT_SUBFRAME_SYNC_COMPLETE        (1 << 3)
  69 #define UBLOX_SAT_CARRIER_PULLIN_COMPLETE       (1 << 4)
  70 #define UBLOX_SAT_CODE_LOCKED                   (1 << 5)
  71 #define UBLOX_SAT_ACQUISITION_FAILED            (1 << 6)
  72 #define UBLOX_SAT_EPHEMERIS_AVAILABLE           (1 << 7)
  73
  74 struct ao_telemetry_satellite_info {
  75         uint8_t         svid;
  76         uint8_t         c_n_1;
  77 };
  78
  79 #define AO_TELEMETRY_SATELLITE_MAX_SAT  12
  80
  81 struct ao_telemetry_satellite {
  82         uint8_t                                 channels;
  83         struct ao_telemetry_satellite_info      sats[AO_TELEMETRY_SATELLITE_MAX_SAT];
  84 };
  85
  86 #define ao_gps_orig ao_telemetry_location
  87 #define ao_gps_tracking_orig ao_telemetry_satellite
  88 #define ao_gps_sat_orig ao_telemetry_satellite_info
  89
  90 extern __xdata struct ao_telemetry_location     ao_gps_data;
  91 extern __xdata struct ao_telemetry_satellite    ao_gps_tracking_data;
  92
  93 uint8_t ao_gps_mutex;
  94
  95 void
  96 ao_mutex_get(uint8_t *mutex)
  97 {
  98 }
  99
 100 void
 101 ao_mutex_put(uint8_t *mutex)
 102 {
 103 }
 104
 105 static int ao_gps_fd;
 106 static FILE *ao_gps_file;
 107
 108 #if 0
 109 static void
 110 ao_dbg_char(char c)
 111 {
 112         char    line[128];
 113         line[0] = '\0';
 114         if (c < ' ') {
 115                 if (c == '\n')
 116                         sprintf (line, "\n");
 117                 else
 118                         sprintf (line, "\\%02x", ((int) c) & 0xff);
 119         } else {
 120                 sprintf (line, "%c", c);
 121         }
 122         write(1, line, strlen(line));
 123 }
 124 #endif
 125
 126 #include <sys/time.h>
 127
 128 int
 129 get_millis(void)
 130 {
 131         struct timeval  tv;
 132         gettimeofday(&tv, NULL);
 133         return tv.tv_sec * 1000 + tv.tv_usec / 1000;
 134 }
 135
 136 static uint8_t  in_message[4096];
 137 static int      in_len;
 138 static uint16_t recv_len;
 139
 140 static void check_ublox_message(char *which, uint8_t *msg);
 141
 142 char
 143 ao_gps_getchar(void)
 144 {
 145         char    c;
 146         uint8_t uc;
 147         int     i;
 148
 149         i = getc(ao_gps_file);
 150         if (i == EOF) {
 151                 perror("getchar");
 152                 exit(1);
 153         }
 154         c = i;
 155         uc = (uint8_t) c;
 156         if (in_len || uc == 0xb5) {
 157                 in_message[in_len++] = c;
 158                 if (in_len == 6) {
 159                         recv_len = in_message[4] | (in_message[5] << 8);
 160                 } else if (in_len > 6 && in_len == recv_len + 8) {
 161                         check_ublox_message("recv", in_message + 2);
 162                         in_len = 0;
 163                 }
 164
 165         }
 166         return c;
 167 }
 168
 169 #define MESSAGE_LEN     4096
 170
 171 static uint8_t  message[MESSAGE_LEN];
 172 static int      message_len;
 173 static uint16_t send_len;
 174
 175 void
 176 ao_gps_putchar(char c)
 177 {
 178         int     i;
 179         uint8_t uc = (uint8_t) c;
 180
 181         if (message_len || uc == 0xb5) {
 182                 if (message_len < MESSAGE_LEN)
 183                         message[message_len++] = uc;
 184                 if (message_len == 6) {
 185                         send_len = message[4] | (message[5] << 8);
 186                 } else if (message_len > 6 && message_len == send_len + 8) {
 187                         check_ublox_message("send", message + 2);
 188                         message_len = 0;
 189                 }
 190         }
 191
 192         for (;;) {
 193                 i = write(ao_gps_fd, &c, 1);
 194                 if (i == 1)
 195                         break;
 196                 if (i < 0 && (errno == EINTR || errno == EAGAIN))
 197                         continue;
 198                 perror("putchar");
 199                 exit(1);
 200         }
 201 }
 202
 203 #define AO_SERIAL_SPEED_4800    0
 204 #define AO_SERIAL_SPEED_9600    1
 205 #define AO_SERIAL_SPEED_57600   2
 206 #define AO_SERIAL_SPEED_115200  3
 207
 208 static void
 209 ao_gps_set_speed(uint8_t speed)
 210 {
 211         int     fd = ao_gps_fd;
 212         struct termios  termios;
 213
 214         printf ("\t\tset speed %d\n", speed);
 215         tcdrain(fd);
 216         tcgetattr(fd, &termios);
 217         switch (speed) {
 218         case AO_SERIAL_SPEED_4800:
 219                 cfsetspeed(&termios, B4800);
 220                 break;
 221         case AO_SERIAL_SPEED_9600:
 222                 cfsetspeed(&termios, B9600);
 223                 break;
 224         case AO_SERIAL_SPEED_57600:
 225                 cfsetspeed(&termios, B57600);
 226                 break;
 227         case AO_SERIAL_SPEED_115200:
 228                 cfsetspeed(&termios, B115200);
 229                 break;
 230         }
 231         tcsetattr(fd, TCSAFLUSH, &termios);
 232         tcflush(fd, TCIFLUSH);
 233 }
 234
 235 #define ao_time() 0
 236
 237 uint8_t ao_task_minimize_latency;
 238
 239 #define ao_usb_getchar()        0
 240
 241 #include "ao_gps_print.c"
 242 #include "ao_gps_show.c"
 243 #include "ao_gps_ublox.c"
 244
 245 static void
 246 check_ublox_message(char *which, uint8_t *msg)
 247 {
 248         uint8_t class = msg[0];
 249         uint8_t id = msg[1];
 250         uint16_t len = msg[2] | (msg[3] << 8);
 251         uint16_t i;
 252         struct ao_ublox_cksum   cksum_msg = { .a = msg[4 + len],
 253                                               .b = msg[4 + len + 1] };
 254         struct ao_ublox_cksum   cksum= { 0, 0 };
 255
 256         for (i = 0; i < 4 + len; i++) {
 257                 add_cksum(&cksum, msg[i]);
 258         }
 259         if (cksum.a != cksum_msg.a || cksum.b != cksum_msg.b) {
 260                 printf ("\t%s: cksum mismatch %02x,%02x != %02x,%02x\n",
 261                         which,
 262                         cksum_msg.a & 0xff,
 263                         cksum_msg.b & 0xff,
 264                         cksum.a & 0xff,
 265                         cksum.b & 0xff);
 266                 return;
 267         }
 268         switch (class) {
 269         case UBLOX_NAV:
 270                 switch (id) {
 271                 case UBLOX_NAV_DOP: ;
 272                         struct ublox_nav_dop    *nav_dop = (void *) msg;
 273                         printf ("\tnav-dop    iTOW %9u gDOP %5u dDOP %5u tDOP %5u vDOP %5u hDOP %5u nDOP %5u eDOP %5u\n",
 274                                 nav_dop->itow,
 275                                 nav_dop->gdop,
 276                                 nav_dop->ddop,
 277                                 nav_dop->tdop,
 278                                 nav_dop->vdop,
 279                                 nav_dop->hdop,
 280                                 nav_dop->ndop,
 281                                 nav_dop->edop);
 282                         return;
 283                 case UBLOX_NAV_POSLLH: ;
 284                         struct ublox_nav_posllh *nav_posllh = (void *) msg;
 285                         printf ("\tnav-posllh iTOW %9u lon %12.7f lat %12.7f height %10.3f hMSL %10.3f hAcc %10.3f vAcc %10.3f\n",
 286                                 nav_posllh->itow,
 287                                 nav_posllh->lon / 1e7,
 288                                 nav_posllh->lat / 1e7,
 289                                 nav_posllh->height / 1e3,
 290                                 nav_posllh->hmsl / 1e3,
 291                                 nav_posllh->hacc / 1e3,
 292                                 nav_posllh->vacc / 1e3);
 293                         return;
 294                 case UBLOX_NAV_SOL: ;
 295                         struct ublox_nav_sol    *nav_sol = (struct ublox_nav_sol *) msg;
 296                         printf ("\tnav-sol    iTOW %9u fTOW %9d week %5d gpsFix %2d flags %02x\n",
 297                                 nav_sol->itow, nav_sol->ftow, nav_sol->week,
 298                                 nav_sol->gpsfix, nav_sol->flags);
 299                         return;
 300                 case UBLOX_NAV_SVINFO: ;
 301                         struct ublox_nav_svinfo *nav_svinfo = (struct ublox_nav_svinfo *) msg;
 302                         printf ("\tnav-svinfo iTOW %9u numCH %3d globalFlags %02x\n",
 303                                 nav_svinfo->itow, nav_svinfo->numch, nav_svinfo->globalflags);
 304                         int i;
 305                         for (i = 0; i < nav_svinfo->numch; i++) {
 306                                 struct ublox_nav_svinfo_block *nav_svinfo_block = (void *) (msg + 12 + 12 * i);
 307                                 printf ("\t\tchn %3u svid %3u flags %02x quality %3u cno %3u elev %3d azim %6d prRes %9d\n",
 308                                         nav_svinfo_block->chn,
 309                                         nav_svinfo_block->svid,
 310                                         nav_svinfo_block->flags,
 311                                         nav_svinfo_block->quality,
 312                                         nav_svinfo_block->cno,
 313                                         nav_svinfo_block->elev,
 314                                         nav_svinfo_block->azim,
 315                                         nav_svinfo_block->prres);
 316                         }
 317                         return;
 318                 case UBLOX_NAV_VELNED: ;
 319                         struct ublox_nav_velned *nav_velned = (void *) msg;
 320                         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",
 321                                 nav_velned->itow,
 322                                 nav_velned->veln / 1e2,
 323                                 nav_velned->vele / 1e2,
 324                                 nav_velned->veld / 1e2,
 325                                 nav_velned->speed / 1e2,
 326                                 nav_velned->gspeed / 1e2,
 327                                 nav_velned->heading / 1e5,
 328                                 nav_velned->sacc / 1e5,
 329                                 nav_velned->cacc / 1e6);
 330                         return;
 331                 case UBLOX_NAV_TIMEUTC:;
 332                         struct ublox_nav_timeutc *nav_timeutc = (void *) msg;
 333                         printf ("\tnav-timeutc iTOW %9u tAcc %5u nano %5d %4u-%2d-%2d %2d:%02d:%02d flags %02x\n",
 334                                 nav_timeutc->itow,
 335                                 nav_timeutc->tacc,
 336                                 nav_timeutc->nano,
 337                                 nav_timeutc->year,
 338                                 nav_timeutc->month,
 339                                 nav_timeutc->day,
 340                                 nav_timeutc->hour,
 341                                 nav_timeutc->min,
 342                                 nav_timeutc->sec,
 343                                 nav_timeutc->valid);
 344                         return;
 345                 }
 346                 break;
 347         }
 348 #if 1
 349         printf ("\t%s: class %02x id %02x len %d:", which, class & 0xff, id & 0xff, len & 0xffff);
 350         for (i = 0; i < len; i++)
 351                 printf (" %02x", msg[4 + i]);
 352         printf (" cksum %02x %02x", cksum_msg.a & 0xff, cksum_msg.b & 0xff);
 353 #endif
 354         printf ("\n");
 355 }
 356
 357 void
 358 ao_dump_state(void *wchan)
 359 {
 360         if (wchan == &ao_gps_new)
 361                 ao_gps_show();
 362         return;
 363 }
 364
 365 int
 366 ao_gps_open(const char *tty)
 367 {
 368         struct termios  termios;
 369         int fd;
 370
 371         fd = open (tty, O_RDWR);
 372         if (fd < 0)
 373                 return -1;
 374
 375         tcgetattr(fd, &termios);
 376         cfmakeraw(&termios);
 377         cfsetspeed(&termios, B4800);
 378         tcsetattr(fd, TCSAFLUSH, &termios);
 379
 380         tcdrain(fd);
 381         tcflush(fd, TCIFLUSH);
 382         return fd;
 383 }
 384
 385 #include <getopt.h>
 386
 387 static const struct option options[] = {
 388         { .name = "tty", .has_arg = 1, .val = 'T' },
 389         { 0, 0, 0, 0},
 390 };
 391
 392 static void usage(char *program)
 393 {
 394         fprintf(stderr, "usage: %s [--tty <tty-name>]\n", program);
 395         exit(1);
 396 }
 397
 398 int
 399 main (int argc, char **argv)
 400 {
 401         char    *tty = "/dev/ttyUSB0";
 402         int     c;
 403
 404         while ((c = getopt_long(argc, argv, "T:", options, NULL)) != -1) {
 405                 switch (c) {
 406                 case 'T':
 407                         tty = optarg;
 408                         break;
 409                 default:
 410                         usage(argv[0]);
 411                         break;
 412                 }
 413         }
 414         ao_gps_fd = ao_gps_open(tty);
 415         if (ao_gps_fd < 0) {
 416                 perror (tty);
 417                 exit (1);
 418         }
 419         ao_gps_file = fdopen(ao_gps_fd, "r");
 420         ao_gps();
 421         return 0;
 422 }