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