+++ /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.
- */
-
-#define AO_GPS_TEST
-#include "ao_host.h"
-#include <termios.h>
-#include <errno.h>
-#include <sys/types.h>
-#include <sys/stat.h>
-#include <fcntl.h>
-#define AO_GPS_NUM_SAT_MASK (0xf << 0)
-#define AO_GPS_NUM_SAT_SHIFT (0)
-
-#define AO_GPS_VALID (1 << 4)
-#define AO_GPS_RUNNING (1 << 5)
-#define AO_GPS_DATE_VALID (1 << 6)
-#define AO_GPS_COURSE_VALID (1 << 7)
-
-struct ao_gps_orig {
- uint8_t year;
- uint8_t month;
- uint8_t day;
- uint8_t hour;
- uint8_t minute;
- uint8_t second;
- uint8_t flags;
- int32_t latitude; /* degrees * 10⁷ */
- int32_t longitude; /* degrees * 10⁷ */
- int16_t altitude; /* m */
- uint16_t ground_speed; /* cm/s */
- uint8_t course; /* degrees / 2 */
- uint8_t hdop; /* * 5 */
- int16_t climb_rate; /* cm/s */
- uint16_t h_error; /* m */
- uint16_t v_error; /* m */
-};
-
-#define SIRF_SAT_STATE_ACQUIRED (1 << 0)
-#define SIRF_SAT_STATE_CARRIER_PHASE_VALID (1 << 1)
-#define SIRF_SAT_BIT_SYNC_COMPLETE (1 << 2)
-#define SIRF_SAT_SUBFRAME_SYNC_COMPLETE (1 << 3)
-#define SIRF_SAT_CARRIER_PULLIN_COMPLETE (1 << 4)
-#define SIRF_SAT_CODE_LOCKED (1 << 5)
-#define SIRF_SAT_ACQUISITION_FAILED (1 << 6)
-#define SIRF_SAT_EPHEMERIS_AVAILABLE (1 << 7)
-
-struct ao_gps_sat_orig {
- uint8_t svid;
- uint8_t c_n_1;
-};
-
-#define AO_MAX_GPS_TRACKING 12
-
-struct ao_gps_tracking_orig {
- uint8_t channels;
- struct ao_gps_sat_orig sats[AO_MAX_GPS_TRACKING];
-};
-
-#define ao_telemetry_location ao_gps_orig
-#define ao_telemetry_satellite ao_gps_tracking_orig
-#define ao_telemetry_satellite_info ao_gps_sat_orig
-
-void
-ao_mutex_get(uint8_t *mutex)
-{
-}
-
-void
-ao_mutex_put(uint8_t *mutex)
-{
-}
-
-static int
-ao_gps_fd;
-
-static void
-ao_dbg_char(char c)
-{
- char line[128];
- line[0] = '\0';
- if (c < ' ') {
- if (c == '\n')
- sprintf (line, "\n");
- else
- sprintf (line, "\\%02x", ((int) c) & 0xff);
- } else {
- sprintf (line, "%c", c);
- }
- write(1, line, strlen(line));
-}
-
-#define QUEUE_LEN 4096
-
-static char input_queue[QUEUE_LEN];
-int input_head, input_tail;
-
-#include <sys/time.h>
-
-int
-get_millis(void)
-{
- struct timeval tv;
- gettimeofday(&tv, NULL);
- return tv.tv_sec * 1000 + tv.tv_usec / 1000;
-}
-
-static void
-check_skytraq_message(char *from, uint8_t *msg, int len)
-{
- uint16_t encoded_len, encoded_cksum;
- uint16_t cksum;
- uint8_t id;
- int i;
-
-// fwrite(msg, 1, len, stdout);
- return;
- if (msg[0] != 0xa0 || msg[1] != 0xa2) {
- printf ("bad header\n");
- return;
- }
- if (len < 7) {
- printf("short\n");
- return;
- }
- if (msg[len-1] != 0xb3 || msg[len-2] != 0xb0) {
- printf ("bad trailer\n");
- return;
- }
- encoded_len = (msg[2] << 8) | msg[3];
- id = msg[4];
-/* printf ("%9d: %3d\n", get_millis(), id); */
- if (encoded_len != len - 8) {
- if (id != 52)
- printf ("length mismatch (got %d, wanted %d)\n",
- len - 8, encoded_len);
- return;
- }
- encoded_cksum = (msg[len - 4] << 8) | msg[len-3];
- cksum = 0;
- for (i = 4; i < len - 4; i++)
- cksum = (cksum + msg[i]) & 0x7fff;
- if (encoded_cksum != cksum) {
- printf ("cksum mismatch (got %04x wanted %04x)\n",
- cksum, encoded_cksum);
- return;
- }
- id = msg[4];
- switch (id) {
- case 41:{
- int off = 4;
-
- uint8_t id;
- uint16_t nav_valid;
- uint16_t nav_type;
- uint16_t week;
- uint32_t tow;
- uint16_t year;
- uint8_t month;
- uint8_t day;
- uint8_t hour;
- uint8_t minute;
- uint16_t second;
- uint32_t sat_list;
- int32_t lat;
- int32_t lon;
- int32_t alt_ell;
- int32_t alt_msl;
- int8_t datum;
- uint16_t sog;
- uint16_t cog;
- int16_t mag_var;
- int16_t climb_rate;
- int16_t heading_rate;
- uint32_t h_error;
- uint32_t v_error;
- uint32_t t_error;
- uint16_t h_v_error;
-
-#define get_u8(u) u = (msg[off]); off+= 1
-#define get_u16(u) u = (msg[off] << 8) | (msg[off + 1]); off+= 2
-#define get_u32(u) u = (msg[off] << 24) | (msg[off + 1] << 16) | (msg[off+2] << 8) | (msg[off+3]); off+= 4
-
- get_u8(id);
- get_u16(nav_valid);
- get_u16(nav_type);
- get_u16(week);
- get_u32(tow);
- get_u16(year);
- get_u8(month);
- get_u8(day);
- get_u8(hour);
- get_u8(minute);
- get_u16(second);
- get_u32(sat_list);
- get_u32(lat);
- get_u32(lon);
- get_u32(alt_ell);
- get_u32(alt_msl);
- get_u8(datum);
- get_u16(sog);
- get_u16(cog);
- get_u16(mag_var);
- get_u16(climb_rate);
- get_u16(heading_rate);
- get_u32(h_error);
- get_u32(v_error);
- get_u32(t_error);
- get_u16(h_v_error);
-
-
- printf ("Geodetic Navigation Data (41):\n");
- printf ("\tNav valid %04x\n", nav_valid);
- printf ("\tNav type %04x\n", nav_type);
- printf ("\tWeek %5d", week);
- printf (" TOW %9d", tow);
- printf (" %4d-%2d-%2d %02d:%02d:%07.4f\n",
- year, month, day,
- hour, minute, second / 1000.0);
- printf ("\tsats: %08x\n", sat_list);
- printf ("\tlat: %g", lat / 1.0e7);
- printf (" lon: %g", lon / 1.0e7);
- printf (" alt_ell: %g", alt_ell / 100.0);
- printf (" alt_msll: %g", alt_msl / 100.0);
- printf (" datum: %d\n", datum);
- printf ("\tground speed: %g", sog / 100.0);
- printf (" course: %g", cog / 100.0);
- printf (" climb: %g", climb_rate / 100.0);
- printf (" heading rate: %g\n", heading_rate / 100.0);
- printf ("\th error: %g", h_error / 100.0);
- printf (" v error: %g", v_error / 100.0);
- printf (" t error: %g", t_error / 100.0);
- printf (" h vel error: %g\n", h_v_error / 100.0);
- break;
- }
- case 4: {
- int off = 4;
- uint8_t id;
- int16_t gps_week;
- uint32_t gps_tow;
- uint8_t channels;
- int j, k;
-
- get_u8(id);
- get_u16(gps_week);
- get_u32(gps_tow);
- get_u8(channels);
-
- printf ("Measured Tracker Data (4):\n");
- printf ("GPS week: %d\n", gps_week);
- printf ("GPS time of week: %d\n", gps_tow);
- printf ("channels: %d\n", channels);
- for (j = 0; j < 12; j++) {
- uint8_t svid, azimuth, elevation;
- uint16_t state;
- uint8_t c_n[10];
- get_u8(svid);
- get_u8(azimuth);
- get_u8(elevation);
- get_u16(state);
- for (k = 0; k < 10; k++) {
- get_u8(c_n[k]);
- }
- printf ("Sat %3d:", svid);
- printf (" aziumuth: %6.1f", azimuth * 1.5);
- printf (" elevation: %6.1f", elevation * 0.5);
- printf (" state: 0x%02x", state);
- printf (" c_n:");
- for (k = 0; k < 10; k++)
- printf(" %3d", c_n[k]);
- if (state & SIRF_SAT_STATE_ACQUIRED)
- printf(" acq,");
- if (state & SIRF_SAT_STATE_CARRIER_PHASE_VALID)
- printf(" car,");
- if (state & SIRF_SAT_BIT_SYNC_COMPLETE)
- printf(" bit,");
- if (state & SIRF_SAT_SUBFRAME_SYNC_COMPLETE)
- printf(" sub,");
- if (state & SIRF_SAT_CARRIER_PULLIN_COMPLETE)
- printf(" pullin,");
- if (state & SIRF_SAT_CODE_LOCKED)
- printf(" code,");
- if (state & SIRF_SAT_ACQUISITION_FAILED)
- printf(" fail,");
- if (state & SIRF_SAT_EPHEMERIS_AVAILABLE)
- printf(" ephem,");
- printf ("\n");
- }
- break;
- }
- default:
- return;
- printf ("%s %4d:", from, encoded_len);
- for (i = 4; i < len - 4; i++) {
- if (((i - 4) & 0xf) == 0)
- printf("\n ");
- printf (" %3d", msg[i]);
- }
- printf ("\n");
- }
-}
-
-static uint8_t skytraq_message[4096];
-static int skytraq_message_len;
-static uint8_t skytraq_in_message[4096];
-static int skytraq_in_len;
-
-char
-ao_serial_getchar(void)
-{
- char c;
- uint8_t uc;
-
- while (input_head == input_tail) {
- for (;;) {
- input_tail = read(ao_gps_fd, input_queue, QUEUE_LEN);
- if (input_tail < 0) {
- if (errno == EINTR || errno == EAGAIN)
- continue;
- perror ("getchar");
- exit (1);
- }
- input_head = 0;
- break;
- }
- }
- c = input_queue[input_head];
- input_head = (input_head + 1) % QUEUE_LEN;
- uc = c;
-// printf ("c: %02x %c\n", uc, uc);
- if (skytraq_in_len || uc == '$') {
- if (skytraq_in_len < 4096)
- skytraq_in_message[skytraq_in_len++] = uc;
- if (uc == 0x0a) {
- check_skytraq_message("recv", skytraq_in_message, skytraq_in_len);
- skytraq_in_len = 0;
- }
- }
- return c;
-}
-
-
-void
-ao_serial_putchar(char c)
-{
- int i;
- uint8_t uc = (uint8_t) c;
-
- if (skytraq_message_len || uc == 0xa0) {
- if (skytraq_message_len < 4096)
- skytraq_message[skytraq_message_len++] = uc;
- if (uc == 0x0a) {
- check_skytraq_message("send", skytraq_message, skytraq_message_len);
- skytraq_message_len = 0;
- }
- }
- for (;;) {
- i = write(ao_gps_fd, &c, 1);
- if (i == 1) {
- if ((uint8_t) c == 0xb3 || c == '\r') {
- static const struct timespec delay = {
- .tv_sec = 0,
- .tv_nsec = 100 * 1000 * 1000
- };
- tcdrain(ao_gps_fd);
-// nanosleep(&delay, NULL);
- }
- break;
- }
- if (i < 0 && (errno == EINTR || errno == EAGAIN))
- continue;
- perror("putchar");
- exit(1);
- }
-}
-
-#define AO_SERIAL_SPEED_4800 0
-#define AO_SERIAL_SPEED_9600 1
-#define AO_SERIAL_SPEED_57600 2
-
-static void
-ao_serial_set_speed(uint8_t speed)
-{
- int fd = ao_gps_fd;
- struct termios termios;
-
- tcdrain(fd);
- tcgetattr(fd, &termios);
- switch (speed) {
- case AO_SERIAL_SPEED_4800:
- cfsetspeed(&termios, B4800);
- break;
- case AO_SERIAL_SPEED_9600:
- cfsetspeed(&termios, B38400);
- break;
- case AO_SERIAL_SPEED_57600:
- cfsetspeed(&termios, B57600);
- break;
- }
- tcsetattr(fd, TCSAFLUSH, &termios);
- tcflush(fd, TCIFLUSH);
-}
-
-#define ao_time() 0
-
-#include "ao_gps_print.c"
-#include "ao_gps_skytraq.c"
-
-void
-ao_dump_state(void *wchan)
-{
- double lat, lon;
- int i;
- if (wchan == &ao_gps_data)
- ao_gps_print(&ao_gps_data);
- else
- ao_gps_tracking_print(&ao_gps_tracking_data);
- putchar('\n');
- return;
-}
-
-int
-ao_gps_open(const char *tty)
-{
- struct termios termios;
- int fd;
-
- fd = open (tty, O_RDWR);
- if (fd < 0)
- return -1;
-
- tcgetattr(fd, &termios);
- cfmakeraw(&termios);
- cfsetspeed(&termios, B4800);
- tcsetattr(fd, TCSAFLUSH, &termios);
-
- tcdrain(fd);
- tcflush(fd, TCIFLUSH);
- return fd;
-}
-
-#include <getopt.h>
-
-static const struct option options[] = {
- { .name = "tty", .has_arg = 1, .val = 'T' },
- { 0, 0, 0, 0},
-};
-
-static void usage(char *program)
-{
- fprintf(stderr, "usage: %s [--tty <tty-name>]\n", program);
- exit(1);
-}
-
-int
-main (int argc, char **argv)
-{
- char *tty = "/dev/ttyUSB0";
- int c;
-
- while ((c = getopt_long(argc, argv, "T:", options, NULL)) != -1) {
- switch (c) {
- case 'T':
- tty = optarg;
- break;
- default:
- usage(argv[0]);
- break;
- }
- }
- ao_gps_fd = ao_gps_open(tty);
- if (ao_gps_fd < 0) {
- perror (tty);
- exit (1);
- }
- ao_gps();
-}
projects / fw / altos / blobdiff