+++ /dev/null
-/*
- * Copyright © 2009 Keith Packard <keithp@keithp.com>
- *
- * This program is free software; you can redistribute it and/or modify
- * it under the terms of the GNU General Public License as published by
- * the Free Software Foundation; version 2 of the License.
- *
- * This program is distributed in the hope that it will be useful, but
- * WITHOUT ANY WARRANTY; without even the implied warranty of
- * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
- * General Public License for more details.
- *
- * You should have received a copy of the GNU General Public License along
- * with this program; if not, write to the Free Software Foundation, Inc.,
- * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA.
- */
-
-#ifndef AO_GPS_TEST
-#include "ao.h"
-#endif
-
-__xdata uint8_t ao_gps_mutex;
-__xdata struct ao_gps_data ao_gps_data;
-__xdata struct ao_gps_tracking_data ao_gps_tracking_data;
-
-static const char ao_gps_set_nmea[] = "\r\n$PSRF100,0,57600,8,1,0*37\r\n";
-
-const char ao_gps_config[] = {
-
- 0xa0, 0xa2, 0x00, 0x0e, /* length: 14 bytes */
- 136, /* mode control */
- 0, 0, /* reserved */
- 0, /* degraded mode (allow 1-SV navigation) */
- 0, 0, /* reserved */
- 0, 0, /* user specified altitude */
- 2, /* alt hold mode (disabled, require 3d fixes) */
- 0, /* alt hold source (use last computed altitude) */
- 0, /* reserved */
- 10, /* Degraded time out (10 sec) */
- 10, /* Dead Reckoning time out (10 sec) */
- 0, /* Track smoothing (disabled) */
- 0x00, 0x8e, 0xb0, 0xb3,
-
- 0xa0, 0xa2, 0x00, 0x08, /* length: 8 bytes */
- 166, /* Set message rate */
- 2, /* enable/disable all messages */
- 0, /* message id (ignored) */
- 0, /* update rate (0 = disable) */
- 0, 0, 0, 0, /* reserved */
- 0x00, 0xa8, 0xb0, 0xb3,
-
- 0xa0, 0xa2, 0x00, 0x02, /* length: 2 bytes */
- 143, /* static navigation */
- 0, /* disable */
- 0x00, 0x8f, 0xb0, 0xb3,
-};
-
-#define NAV_TYPE_GPS_FIX_TYPE_MASK (7 << 0)
-#define NAV_TYPE_NO_FIX (0 << 0)
-#define NAV_TYPE_SV_KF (1 << 0)
-#define NAV_TYPE_2_SV_KF (2 << 0)
-#define NAV_TYPE_3_SV_KF (3 << 0)
-#define NAV_TYPE_4_SV_KF (4 << 0)
-#define NAV_TYPE_2D_LEAST_SQUARES (5 << 0)
-#define NAV_TYPE_3D_LEAST_SQUARES (6 << 0)
-#define NAV_TYPE_DR (7 << 0)
-#define NAV_TYPE_TRICKLE_POWER (1 << 3)
-#define NAV_TYPE_ALTITUDE_HOLD_MASK (3 << 4)
-#define NAV_TYPE_ALTITUDE_HOLD_NONE (0 << 4)
-#define NAV_TYPE_ALTITUDE_HOLD_KF (1 << 4)
-#define NAV_TYPE_ALTITUDE_HOLD_USER (2 << 4)
-#define NAV_TYPE_ALTITUDE_HOLD_ALWAYS (3 << 4)
-#define NAV_TYPE_DOP_LIMIT_EXCEEDED (1 << 6)
-#define NAV_TYPE_DGPS_APPLIED (1 << 7)
-#define NAV_TYPE_SENSOR_DR (1 << 8)
-#define NAV_TYPE_OVERDETERMINED (1 << 9)
-#define NAV_TYPE_DR_TIMEOUT_EXCEEDED (1 << 10)
-#define NAV_TYPE_FIX_MI_EDIT (1 << 11)
-#define NAV_TYPE_INVALID_VELOCITY (1 << 12)
-#define NAV_TYPE_ALTITUDE_HOLD_DISABLED (1 << 13)
-#define NAV_TYPE_DR_ERROR_STATUS_MASK (3 << 14)
-#define NAV_TYPE_DR_ERROR_STATUS_GPS_ONLY (0 << 14)
-#define NAV_TYPE_DR_ERROR_STATUS_DR_FROM_GPS (1 << 14)
-#define NAV_TYPE_DR_ERROR_STATUS_DR_SENSOR_ERROR (2 << 14)
-#define NAV_TYPE_DR_ERROR_STATUS_DR_IN_TEST (3 << 14)
-
-struct sirf_geodetic_nav_data {
- uint16_t nav_type;
- uint16_t utc_year;
- uint8_t utc_month;
- uint8_t utc_day;
- uint8_t utc_hour;
- uint8_t utc_minute;
- uint16_t utc_second;
- int32_t lat;
- int32_t lon;
- int32_t alt_msl;
- uint16_t ground_speed;
- uint16_t course;
- int16_t climb_rate;
- uint32_t h_error;
- uint32_t v_error;
- uint8_t num_sv;
- uint8_t hdop;
-};
-
-static __xdata struct sirf_geodetic_nav_data ao_sirf_data;
-
-struct sirf_measured_sat_data {
- uint8_t svid;
- uint16_t state;
- uint8_t c_n_1;
-};
-
-struct sirf_measured_tracker_data {
- int16_t gps_week;
- uint32_t gps_tow;
- uint8_t channels;
- struct sirf_measured_sat_data sats[12];
-};
-
-static __xdata struct sirf_measured_tracker_data ao_sirf_tracker_data;
-
-static __pdata uint16_t ao_sirf_cksum;
-static __pdata uint16_t ao_sirf_len;
-
-#define ao_sirf_byte() ((uint8_t) ao_serial_getchar())
-
-static uint8_t data_byte(void)
-{
- uint8_t c = ao_sirf_byte();
- --ao_sirf_len;
- ao_sirf_cksum += c;
- return c;
-}
-
-static char __xdata *sirf_target;
-
-static void sirf_u16(uint8_t offset)
-{
- uint16_t __xdata *ptr = (uint16_t __xdata *) (sirf_target + offset);
- uint16_t val;
-
- val = data_byte() << 8;
- val |= data_byte ();
- *ptr = val;
-}
-
-static void sirf_u8(uint8_t offset)
-{
- uint8_t __xdata *ptr = (uint8_t __xdata *) (sirf_target + offset);
- uint8_t val;
-
- val = data_byte ();
- *ptr = val;
-}
-
-static void sirf_u32(uint8_t offset) __reentrant
-{
- uint32_t __xdata *ptr = (uint32_t __xdata *) (sirf_target + offset);
- uint32_t val;
-
- val = ((uint32_t) data_byte ()) << 24;
- val |= ((uint32_t) data_byte ()) << 16;
- val |= ((uint32_t) data_byte ()) << 8;
- val |= ((uint32_t) data_byte ());
- *ptr = val;
-}
-
-static void sirf_discard(uint8_t len)
-{
- while (len--)
- data_byte();
-}
-
-#define SIRF_END 0
-#define SIRF_DISCARD 1
-#define SIRF_U8 2
-#define SIRF_U16 3
-#define SIRF_U32 4
-#define SIRF_U8X10 5
-
-struct sirf_packet_parse {
- uint8_t type;
- uint8_t offset;
-};
-
-static void
-ao_sirf_parse(void __xdata *target, const struct sirf_packet_parse *parse) __reentrant
-{
- uint8_t i, offset, j;
-
- sirf_target = target;
- for (i = 0; ; i++) {
- offset = parse[i].offset;
- switch (parse[i].type) {
- case SIRF_END:
- return;
- case SIRF_DISCARD:
- sirf_discard(offset);
- break;
- case SIRF_U8:
- sirf_u8(offset);
- break;
- case SIRF_U16:
- sirf_u16(offset);
- break;
- case SIRF_U32:
- sirf_u32(offset);
- break;
- case SIRF_U8X10:
- for (j = 10; j--;)
- sirf_u8(offset++);
- break;
- }
- }
-}
-
-static const struct sirf_packet_parse geodetic_nav_data_packet[] = {
- { SIRF_DISCARD, 2 }, /* 1 nav valid */
- { SIRF_U16, offsetof(struct sirf_geodetic_nav_data, nav_type) }, /* 3 */
- { SIRF_DISCARD, 6 }, /* 5 week number, time of week */
- { SIRF_U16, offsetof(struct sirf_geodetic_nav_data, utc_year) }, /* 11 */
- { SIRF_U8, offsetof(struct sirf_geodetic_nav_data, utc_month) }, /* 13 */
- { SIRF_U8, offsetof(struct sirf_geodetic_nav_data, utc_day) }, /* 14 */
- { SIRF_U8, offsetof(struct sirf_geodetic_nav_data, utc_hour) }, /* 15 */
- { SIRF_U8, offsetof(struct sirf_geodetic_nav_data, utc_minute) }, /* 16 */
- { SIRF_U16, offsetof(struct sirf_geodetic_nav_data, utc_second) }, /* 17 */
- { SIRF_DISCARD, 4 }, /* satellite id list */ /* 19 */
- { SIRF_U32, offsetof(struct sirf_geodetic_nav_data, lat) }, /* 23 */
- { SIRF_U32, offsetof(struct sirf_geodetic_nav_data, lon) }, /* 27 */
- { SIRF_DISCARD, 4 }, /* altitude from ellipsoid */ /* 31 */
- { SIRF_U32, offsetof(struct sirf_geodetic_nav_data, alt_msl) }, /* 35 */
- { SIRF_DISCARD, 1 }, /* map datum */ /* 39 */
- { SIRF_U16, offsetof(struct sirf_geodetic_nav_data, ground_speed) }, /* 40 */
- { SIRF_U16, offsetof(struct sirf_geodetic_nav_data, course) }, /* 42 */
- { SIRF_DISCARD, 2 }, /* magnetic variation */ /* 44 */
- { SIRF_U16, offsetof(struct sirf_geodetic_nav_data, climb_rate) }, /* 46 */
- { SIRF_DISCARD, 2 }, /* turn rate */ /* 48 */
- { SIRF_U32, offsetof(struct sirf_geodetic_nav_data, h_error) }, /* 50 */
- { SIRF_U32, offsetof(struct sirf_geodetic_nav_data, v_error) }, /* 54 */
- { SIRF_DISCARD, 30 }, /* time error, h_vel error, clock_bias,
- clock bias error, clock drift,
- clock drift error, distance,
- distance error, heading error */ /* 58 */
- { SIRF_U8, offsetof(struct sirf_geodetic_nav_data, num_sv) }, /* 88 */
- { SIRF_U8, offsetof(struct sirf_geodetic_nav_data, hdop) }, /* 89 */
- { SIRF_DISCARD, 1 }, /* additional mode info */ /* 90 */
- { SIRF_END, 0 }, /* 91 */
-};
-
-static void
-ao_sirf_parse_41(void) __reentrant
-{
- ao_sirf_parse(&ao_sirf_data, geodetic_nav_data_packet);
-}
-
-static const struct sirf_packet_parse measured_tracker_data_packet[] = {
- { SIRF_U16, offsetof (struct sirf_measured_tracker_data, gps_week) }, /* 1 week */
- { SIRF_U32, offsetof (struct sirf_measured_tracker_data, gps_tow) }, /* 3 time of week */
- { SIRF_U8, offsetof (struct sirf_measured_tracker_data, channels) }, /* 7 channels */
- { SIRF_END, 0 },
-};
-
-static const struct sirf_packet_parse measured_sat_data_packet[] = {
- { SIRF_U8, offsetof (struct sirf_measured_sat_data, svid) }, /* 0 SV id */
- { SIRF_DISCARD, 2 }, /* 1 azimuth, 2 elevation */
- { SIRF_U16, offsetof (struct sirf_measured_sat_data, state) }, /* 2 state */
- { SIRF_U8, offsetof (struct sirf_measured_sat_data, c_n_1) }, /* C/N0 1 */
- { SIRF_DISCARD, 9 }, /* C/N0 2-10 */
- { SIRF_END, 0 },
-};
-
-static void
-ao_sirf_parse_4(void) __reentrant
-{
- uint8_t i;
- ao_sirf_parse(&ao_sirf_tracker_data, measured_tracker_data_packet);
- for (i = 0; i < 12; i++)
- ao_sirf_parse(&ao_sirf_tracker_data.sats[i], measured_sat_data_packet);
-}
-
-static void
-ao_gps_setup(void) __reentrant
-{
- uint8_t i, k;
- ao_serial_set_speed(AO_SERIAL_SPEED_4800);
- for (i = 0; i < 64; i++)
- ao_serial_putchar(0x00);
- for (k = 0; k < 3; k++)
- for (i = 0; i < sizeof (ao_gps_set_nmea); i++)
- ao_serial_putchar(ao_gps_set_nmea[i]);
- ao_serial_set_speed(AO_SERIAL_SPEED_57600);
- for (i = 0; i < 64; i++)
- ao_serial_putchar(0x00);
-}
-
-static const char ao_gps_set_message_rate[] = {
- 0xa0, 0xa2, 0x00, 0x08,
- 166,
- 0,
-};
-
-void
-ao_sirf_set_message_rate(uint8_t msg, uint8_t rate)
-{
- uint16_t cksum = 0x00a6;
- uint8_t i;
-
- for (i = 0; i < sizeof (ao_gps_set_message_rate); i++)
- ao_serial_putchar(ao_gps_set_message_rate[i]);
- ao_serial_putchar(msg);
- ao_serial_putchar(rate);
- cksum = 0xa6 + msg + rate;
- for (i = 0; i < 4; i++)
- ao_serial_putchar(0);
- ao_serial_putchar((cksum >> 8) & 0x7f);
- ao_serial_putchar(cksum & 0xff);
- ao_serial_putchar(0xb0);
- ao_serial_putchar(0xb3);
-}
-
-static const uint8_t sirf_disable[] = {
- 2,
- 9,
- 10,
- 27,
- 50,
- 52,
-};
-
-void
-ao_gps(void) __reentrant
-{
- uint8_t i, k;
- uint16_t cksum;
-
- ao_gps_setup();
- for (k = 0; k < 5; k++)
- {
- for (i = 0; i < sizeof (ao_gps_config); i++)
- ao_serial_putchar(ao_gps_config[i]);
- for (i = 0; i < sizeof (sirf_disable); i++)
- ao_sirf_set_message_rate(sirf_disable[i], 0);
- ao_sirf_set_message_rate(41, 1);
- ao_sirf_set_message_rate(4, 1);
- }
- for (;;) {
- /* Locate the begining of the next record */
- while (ao_sirf_byte() != (uint8_t) 0xa0)
- ;
- if (ao_sirf_byte() != (uint8_t) 0xa2)
- continue;
-
- /* Length */
- ao_sirf_len = ao_sirf_byte() << 8;
- ao_sirf_len |= ao_sirf_byte();
- if (ao_sirf_len > 1023)
- continue;
-
- ao_sirf_cksum = 0;
-
- /* message ID */
- i = data_byte (); /* 0 */
-
- switch (i) {
- case 41:
- if (ao_sirf_len < 90)
- break;
- ao_sirf_parse_41();
- break;
- case 4:
- if (ao_sirf_len < 187)
- break;
- ao_sirf_parse_4();
- break;
- }
- if (ao_sirf_len != 0)
- continue;
-
- /* verify checksum and end sequence */
- ao_sirf_cksum &= 0x7fff;
- cksum = ao_sirf_byte() << 8;
- cksum |= ao_sirf_byte();
- if (ao_sirf_cksum != cksum)
- continue;
- if (ao_sirf_byte() != (uint8_t) 0xb0)
- continue;
- if (ao_sirf_byte() != (uint8_t) 0xb3)
- continue;
-
- switch (i) {
- case 41:
- ao_mutex_get(&ao_gps_mutex);
- ao_gps_data.hour = ao_sirf_data.utc_hour;
- ao_gps_data.minute = ao_sirf_data.utc_minute;
- ao_gps_data.second = ao_sirf_data.utc_second / 1000;
- ao_gps_data.flags = ((ao_sirf_data.num_sv << AO_GPS_NUM_SAT_SHIFT) & AO_GPS_NUM_SAT_MASK) | AO_GPS_RUNNING;
- if ((ao_sirf_data.nav_type & NAV_TYPE_GPS_FIX_TYPE_MASK) >= NAV_TYPE_4_SV_KF)
- ao_gps_data.flags |= AO_GPS_VALID;
- ao_gps_data.latitude = ao_sirf_data.lat;
- ao_gps_data.longitude = ao_sirf_data.lon;
- ao_gps_data.altitude = ao_sirf_data.alt_msl / 100;
- ao_gps_data.ground_speed = ao_sirf_data.ground_speed;
- ao_gps_data.course = ao_sirf_data.course / 200;
- ao_gps_data.hdop = ao_sirf_data.hdop;
- ao_gps_data.climb_rate = ao_sirf_data.climb_rate;
- if (ao_sirf_data.h_error > 6553500)
- ao_gps_data.h_error = 65535;
- else
- ao_gps_data.h_error = ao_sirf_data.h_error / 100;
- if (ao_sirf_data.v_error > 6553500)
- ao_gps_data.v_error = 65535;
- else
- ao_gps_data.v_error = ao_sirf_data.v_error / 100;
- ao_mutex_put(&ao_gps_mutex);
- ao_wakeup(&ao_gps_data);
- break;
- case 4:
- ao_mutex_get(&ao_gps_mutex);
- ao_gps_tracking_data.channels = ao_sirf_tracker_data.channels;
- for (i = 0; i < 12; i++) {
- ao_gps_tracking_data.sats[i].svid = ao_sirf_tracker_data.sats[i].svid;
- ao_gps_tracking_data.sats[i].state = (uint8_t) ao_sirf_tracker_data.sats[i].state;
- ao_gps_tracking_data.sats[i].c_n_1 = ao_sirf_tracker_data.sats[i].c_n_1;
- }
- ao_mutex_put(&ao_gps_mutex);
- ao_wakeup(&ao_gps_tracking_data);
- break;
- }
- }
-}
-
-__xdata struct ao_task ao_gps_task;
-
-static void
-gps_dump(void) __reentrant
-{
- ao_mutex_get(&ao_gps_mutex);
- ao_gps_print(&ao_gps_data);
- putchar('\n');
- ao_gps_tracking_print(&ao_gps_tracking_data);
- putchar('\n');
- ao_mutex_put(&ao_gps_mutex);
-}
-
-__code struct ao_cmds ao_gps_cmds[] = {
- { 'g', gps_dump, "g Display current GPS values" },
- { 0, gps_dump, NULL },
-};
-
-void
-ao_gps_init(void)
-{
- ao_add_task(&ao_gps_task, ao_gps, "gps");
- ao_cmd_register(&ao_gps_cmds[0]);
-}
projects / fw / altos / blobdiff