--- /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>
+#include <unistd.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_telemetry_location {
+ 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 pdop; /* * 5 */
+ uint8_t hdop; /* * 5 */
+ uint8_t vdop; /* * 5 */
+ int16_t climb_rate; /* cm/s */
+ uint16_t h_error; /* m */
+ uint16_t v_error; /* m */
+};
+
+#define UBLOX_SAT_STATE_ACQUIRED (1 << 0)
+#define UBLOX_SAT_STATE_CARRIER_PHASE_VALID (1 << 1)
+#define UBLOX_SAT_BIT_SYNC_COMPLETE (1 << 2)
+#define UBLOX_SAT_SUBFRAME_SYNC_COMPLETE (1 << 3)
+#define UBLOX_SAT_CARRIER_PULLIN_COMPLETE (1 << 4)
+#define UBLOX_SAT_CODE_LOCKED (1 << 5)
+#define UBLOX_SAT_ACQUISITION_FAILED (1 << 6)
+#define UBLOX_SAT_EPHEMERIS_AVAILABLE (1 << 7)
+
+struct ao_telemetry_satellite_info {
+ uint8_t svid;
+ uint8_t c_n_1;
+};
+
+#define AO_TELEMETRY_SATELLITE_MAX_SAT 12
+
+struct ao_telemetry_satellite {
+ uint8_t channels;
+ struct ao_telemetry_satellite_info sats[AO_TELEMETRY_SATELLITE_MAX_SAT];
+};
+
+#define ao_gps_orig ao_telemetry_location
+#define ao_gps_tracking_orig ao_telemetry_satellite
+#define ao_gps_sat_orig ao_telemetry_satellite_info
+
+void
+ao_mutex_get(uint8_t *mutex)
+{
+}
+
+void
+ao_mutex_put(uint8_t *mutex)
+{
+}
+
+static int ao_gps_fd;
+static FILE *ao_gps_file;
+
+#if 0
+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));
+}
+#endif
+
+#include <sys/time.h>
+
+int
+get_millis(void)
+{
+ struct timeval tv;
+ gettimeofday(&tv, NULL);
+ return tv.tv_sec * 1000 + tv.tv_usec / 1000;
+}
+
+static uint8_t in_message[4096];
+static int in_len;
+static uint16_t recv_len;
+
+static void check_ublox_message(char *which, uint8_t *msg);
+
+char
+ao_serial1_getchar(void)
+{
+ char c;
+ uint8_t uc;
+ int i;
+
+ i = getc(ao_gps_file);
+ if (i == EOF) {
+ perror("getchar");
+ exit(1);
+ }
+ c = i;
+ uc = (uint8_t) c;
+ if (in_len || uc == 0xb5) {
+ in_message[in_len++] = c;
+ if (in_len == 6) {
+ recv_len = in_message[4] | (in_message[5] << 8);
+ } else if (in_len > 6 && in_len == recv_len + 8) {
+ check_ublox_message("recv", in_message + 2);
+ in_len = 0;
+ }
+
+ }
+ return c;
+}
+
+#define MESSAGE_LEN 4096
+
+static uint8_t message[MESSAGE_LEN];
+static int message_len;
+static uint16_t send_len;
+
+void
+ao_serial1_putchar(char c)
+{
+ int i;
+ uint8_t uc = (uint8_t) c;
+
+ if (message_len || uc == 0xb5) {
+ if (message_len < MESSAGE_LEN)
+ message[message_len++] = uc;
+ if (message_len == 6) {
+ send_len = message[4] | (message[5] << 8);
+ } else if (message_len > 6 && message_len == send_len + 8) {
+ check_ublox_message("send", message + 2);
+ message_len = 0;
+ }
+ }
+
+ for (;;) {
+ i = write(ao_gps_fd, &c, 1);
+ if (i == 1)
+ 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
+#define AO_SERIAL_SPEED_115200 3
+
+static void
+ao_serial1_set_speed(uint8_t speed)
+{
+ int fd = ao_gps_fd;
+ struct termios termios;
+
+ printf ("\t\tset speed %d\n", speed);
+ tcdrain(fd);
+ tcgetattr(fd, &termios);
+ switch (speed) {
+ case AO_SERIAL_SPEED_4800:
+ cfsetspeed(&termios, B4800);
+ break;
+ case AO_SERIAL_SPEED_9600:
+ cfsetspeed(&termios, B9600);
+ break;
+ case AO_SERIAL_SPEED_57600:
+ cfsetspeed(&termios, B57600);
+ break;
+ case AO_SERIAL_SPEED_115200:
+ cfsetspeed(&termios, B115200);
+ break;
+ }
+ tcsetattr(fd, TCSAFLUSH, &termios);
+ tcflush(fd, TCIFLUSH);
+}
+
+#define ao_time() 0
+
+uint8_t ao_task_minimize_latency;
+
+#define ao_usb_getchar() 0
+
+#include "ao_gps_print.c"
+#include "ao_gps_ublox.c"
+
+static void
+check_ublox_message(char *which, uint8_t *msg)
+{
+ uint8_t class = msg[0];
+ uint8_t id = msg[1];
+ uint16_t len = msg[2] | (msg[3] << 8);
+ uint16_t i;
+ struct ao_ublox_cksum cksum_msg = { .a = msg[4 + len],
+ .b = msg[4 + len + 1] };
+ struct ao_ublox_cksum cksum= { 0, 0 };
+
+ for (i = 0; i < 4 + len; i++) {
+ add_cksum(&cksum, msg[i]);
+ }
+ if (cksum.a != cksum_msg.a || cksum.b != cksum_msg.b) {
+ printf ("\t%s: cksum mismatch %02x,%02x != %02x,%02x\n",
+ which,
+ cksum_msg.a & 0xff,
+ cksum_msg.b & 0xff,
+ cksum.a & 0xff,
+ cksum.b & 0xff);
+ return;
+ }
+ switch (class) {
+ case UBLOX_NAV:
+ switch (id) {
+ case UBLOX_NAV_DOP: ;
+ struct ublox_nav_dop *nav_dop = (void *) msg;
+ printf ("\tnav-dop iTOW %9u gDOP %5u dDOP %5u tDOP %5u vDOP %5u hDOP %5u nDOP %5u eDOP %5u\n",
+ nav_dop->itow,
+ nav_dop->gdop,
+ nav_dop->ddop,
+ nav_dop->tdop,
+ nav_dop->vdop,
+ nav_dop->hdop,
+ nav_dop->ndop,
+ nav_dop->edop);
+ return;
+ case UBLOX_NAV_POSLLH: ;
+ struct ublox_nav_posllh *nav_posllh = (void *) msg;
+ printf ("\tnav-posllh iTOW %9u lon %12.7f lat %12.7f height %10.3f hMSL %10.3f hAcc %10.3f vAcc %10.3f\n",
+ nav_posllh->itow,
+ nav_posllh->lon / 1e7,
+ nav_posllh->lat / 1e7,
+ nav_posllh->height / 1e3,
+ nav_posllh->hmsl / 1e3,
+ nav_posllh->hacc / 1e3,
+ nav_posllh->vacc / 1e3);
+ return;
+ case UBLOX_NAV_SOL: ;
+ struct ublox_nav_sol *nav_sol = (struct ublox_nav_sol *) msg;
+ printf ("\tnav-sol iTOW %9u fTOW %9d week %5d gpsFix %2d flags %02x\n",
+ nav_sol->itow, nav_sol->ftow, nav_sol->week,
+ nav_sol->gpsfix, nav_sol->flags);
+ return;
+ case UBLOX_NAV_SVINFO: ;
+ struct ublox_nav_svinfo *nav_svinfo = (struct ublox_nav_svinfo *) msg;
+ printf ("\tnav-svinfo iTOW %9u numCH %3d globalFlags %02x\n",
+ nav_svinfo->itow, nav_svinfo->numch, nav_svinfo->globalflags);
+ int i;
+ for (i = 0; i < nav_svinfo->numch; i++) {
+ struct ublox_nav_svinfo_block *nav_svinfo_block = (void *) (msg + 12 + 12 * i);
+ printf ("\t\tchn %3u svid %3u flags %02x quality %3u cno %3u elev %3d azim %6d prRes %9d\n",
+ nav_svinfo_block->chn,
+ nav_svinfo_block->svid,
+ nav_svinfo_block->flags,
+ nav_svinfo_block->quality,
+ nav_svinfo_block->cno,
+ nav_svinfo_block->elev,
+ nav_svinfo_block->azim,
+ nav_svinfo_block->prres);
+ }
+ return;
+ case UBLOX_NAV_VELNED: ;
+ struct ublox_nav_velned *nav_velned = (void *) msg;
+ 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",
+ nav_velned->itow,
+ nav_velned->veln / 1e2,
+ nav_velned->vele / 1e2,
+ nav_velned->veld / 1e2,
+ nav_velned->speed / 1e2,
+ nav_velned->gspeed / 1e2,
+ nav_velned->heading / 1e5,
+ nav_velned->sacc / 1e5,
+ nav_velned->cacc / 1e6);
+ return;
+ case UBLOX_NAV_TIMEUTC:;
+ struct ublox_nav_timeutc *nav_timeutc = (void *) msg;
+ printf ("\tnav-timeutc iTOW %9u tAcc %5u nano %5d %4u-%2d-%2d %2d:%02d:%02d flags %02x\n",
+ nav_timeutc->itow,
+ nav_timeutc->tacc,
+ nav_timeutc->nano,
+ nav_timeutc->year,
+ nav_timeutc->month,
+ nav_timeutc->day,
+ nav_timeutc->hour,
+ nav_timeutc->min,
+ nav_timeutc->sec,
+ nav_timeutc->valid);
+ return;
+ }
+ break;
+ }
+#if 1
+ printf ("\t%s: class %02x id %02x len %d:", which, class & 0xff, id & 0xff, len & 0xffff);
+ for (i = 0; i < len; i++)
+ printf (" %02x", msg[4 + i]);
+ printf (" cksum %02x %02x", cksum_msg.a & 0xff, cksum_msg.b & 0xff);
+#endif
+ printf ("\n");
+}
+
+void
+ao_dump_state(void *wchan)
+{
+ 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_file = fdopen(ao_gps_fd, "r");
+ ao_gps();
+ return 0;
+}
projects / fw / altos / blobdiff