X-Git-Url: https://git.gag.com/?p=fw%2Faltos;a=blobdiff_plain;f=src%2Fao_gps.c;h=2b3a5178120029bee4998de33631a862dedf6432;hp=147b665c363de0cdc63a929254ea96f9f07f1c9f;hb=d256f8204e9fce53ae4309562bb4c0cde1fae43e;hpb=ee4919dd771b00e2a2dd1083c9528efa7baab50f diff --git a/src/ao_gps.c b/src/ao_gps.c index 147b665c..2b3a5178 100644 --- a/src/ao_gps.c +++ b/src/ao_gps.c @@ -15,36 +15,32 @@ * 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$PSRF100,0,57600,8,1,0*37\r\n"; const char ao_gps_config[] = { - /* Serial param - binary, 4800 baud, 8 bits, 1 stop, no parity */ - '$', 'P', 'S', 'R', 'F', '1', '0', '0', ',', '0', ',', - '4', '8', '0', '0', ',', '8', ',', '1', ',', '0', '*', - '0', 'F', '\r','\n', 0xa0, 0xa2, 0x00, 0x0e, /* length: 14 bytes */ 136, /* mode control */ 0, 0, /* reserved */ - 4, /* degraded mode (disabled) */ + 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 */ - 0, /* Degraded time out (disabled) */ - 0, /* Dead Reckoning time out (disabled) */ + 10, /* Degraded time out (10 sec) */ + 10, /* Dead Reckoning time out (10 sec) */ 0, /* Track smoothing (disabled) */ 0x00, 0x8e, 0xb0, 0xb3, - 0xa0, 0xa2, 0x00, 0x02, /* length: 2 bytes */ - 143, /* static navigation */ - 0, /* disable */ - 0x00, 0x8f, 0xb0, 0xb3, - 0xa0, 0xa2, 0x00, 0x08, /* length: 8 bytes */ 166, /* Set message rate */ 2, /* enable/disable all messages */ @@ -53,13 +49,10 @@ const char ao_gps_config[] = { 0, 0, 0, 0, /* reserved */ 0x00, 0xa8, 0xb0, 0xb3, - 0xa0, 0xa2, 0x00, 0x08, /* length: 8 bytes */ - 166, /* Set message rate */ - 0, /* enable/disable one message */ - 41, /* message 41 */ - 1, /* once per second */ - 0, 0, 0, 0, /* reserved */ - 0x00, 0xd0, 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) @@ -113,6 +106,21 @@ struct sirf_geodetic_nav_data { 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; @@ -126,9 +134,11 @@ static uint8_t data_byte(void) return c; } +static char __xdata *sirf_target; + static void sirf_u16(uint8_t offset) { - uint16_t __xdata *ptr = (uint16_t __xdata *) (((char __xdata *) &ao_sirf_data) + offset); + uint16_t __xdata *ptr = (uint16_t __xdata *) (sirf_target + offset); uint16_t val; val = data_byte() << 8; @@ -138,16 +148,16 @@ static void sirf_u16(uint8_t offset) static void sirf_u8(uint8_t offset) { - uint8_t __xdata *ptr = (uint8_t __xdata *) (((char __xdata *) &ao_sirf_data) + 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) +static void sirf_u32(uint8_t offset) __reentrant { - uint32_t __xdata *ptr = (uint32_t __xdata *) (((char __xdata *) &ao_sirf_data) + offset); + uint32_t __xdata *ptr = (uint32_t __xdata *) (sirf_target + offset); uint32_t val; val = ((uint32_t) data_byte ()) << 24; @@ -168,12 +178,44 @@ static void sirf_discard(uint8_t len) #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 */ @@ -208,45 +250,106 @@ static const struct sirf_packet_parse geodetic_nav_data_packet[] = { }; static void -ao_sirf_parse_41(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, offset; + 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); +} - for (i = 0; ; i++) { - offset = geodetic_nav_data_packet[i].offset; - switch (geodetic_nav_data_packet[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; - } - } +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 { - char c; - uint8_t i; + uint8_t i, k; uint16_t cksum; - for (i = 0; (c = ao_gps_config[i]); i++) - ao_serial_putchar(c); + 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() != 0xa0) + while (ao_sirf_byte() != (uint8_t) 0xa0) ; - if (ao_sirf_byte() != 0xa2) + if (ao_sirf_byte() != (uint8_t) 0xa2) continue; /* Length */ @@ -262,10 +365,15 @@ ao_gps(void) __reentrant switch (i) { case 41: - if (ao_sirf_len < 91) + 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; @@ -276,9 +384,9 @@ ao_gps(void) __reentrant cksum |= ao_sirf_byte(); if (ao_sirf_cksum != cksum) continue; - if (ao_sirf_byte() != 0xb0) + if (ao_sirf_byte() != (uint8_t) 0xb0) continue; - if (ao_sirf_byte() != 0xb3) + if (ao_sirf_byte() != (uint8_t) 0xb3) continue; switch (i) { @@ -287,12 +395,38 @@ ao_gps(void) __reentrant 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_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; } } } @@ -304,6 +438,9 @@ 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); }