X-Git-Url: https://git.gag.com/?p=fw%2Faltos;a=blobdiff_plain;f=src%2Fao_gps.c;h=2b3a5178120029bee4998de33631a862dedf6432;hp=562899cd030c2a24405ea9b0ac00e34bad82747b;hb=6358041f846ba9a20fa650c367d907dc4336e54c;hpb=bfe1e76c82738baaf65abbc58c3244a07ea8fefe

diff --git a/src/ao_gps.c b/src/ao_gps.c
index 562899cd..2b3a5178 100644
--- a/src/ao_gps.c
+++ b/src/ao_gps.c
@@ -21,42 +21,34 @@
 
 __xdata uint8_t ao_gps_mutex;
 __xdata struct ao_gps_data	ao_gps_data;
+__xdata struct ao_gps_tracking_data	ao_gps_tracking_data;
 
-const char ao_gps_set_binary[] = {
-	'$', 'P', 'S', 'R', 'F', '1', '0', '0', ',', '0', ',',
-	'9', '6', '0', '0', ',', '8', ',', '1', ',', '0', '*',
-	'0', 'C', '\r','\n',
-
-	0x00, 0x00, 0x00, 0x00,	0x00, 0x00, 0x00, 0x00,
-	0x00, 0x00, 0x00, 0x00,	0x00, 0x00, 0x00, 0x00,
-	0x00, 0x00, 0x00, 0x00,	0x00, 0x00, 0x00, 0x00,
-	0x00, 0x00, 0x00, 0x00,	0x00, 0x00, 0x00, 0x00,
-
-	0xa0, 0xa2, 0x00, 0x09,	/* length 9 bytes */
-	134,			/* Set binary serial port */
-	0, 0, 0x25, 0x80,	/* 9600 baud */
-	8,			/* data bits */
-	1,			/* stop bits */
-	0,			/* parity */
-	0,			/* pad */
-	0x01, 0x34, 0xb0, 0xb3,
-};
+static const char ao_gps_set_nmea[] = "\r\n$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 */
-	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, 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 */
@@ -114,6 +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;
 
@@ -127,9 +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;
@@ -139,16 +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;
@@ -169,12 +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 */
@@ -209,54 +250,55 @@ static const struct sirf_packet_parse geodetic_nav_data_packet[] = {
 };
 
 static void
-ao_sirf_parse_41(void)
+ao_sirf_parse_41(void) __reentrant
 {
-	uint8_t	i, offset;
+	ao_sirf_parse(&ao_sirf_data, geodetic_nav_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 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);
 }
 
-void
+static void
 ao_gps_setup(void) __reentrant
 {
-	uint8_t	i, j;
-	for (j = 0; j < 2; j++) {
-#ifdef AO_GPS_TEST
-		ao_serial_set_speed(j);
-#endif
-		for (i = 255; i != 0; i--)
-			ao_serial_putchar(0);
-
-		for (i = 0; i < sizeof (ao_gps_set_binary); i++)
-			ao_serial_putchar(ao_gps_set_binary[i]);
-	}
+	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,
-#define SET_MESSAGE_RATE_ID	6
-#define SET_MESSAGE_RATE	7
-
 };
 
 void
@@ -280,31 +322,34 @@ ao_sirf_set_message_rate(uint8_t msg, uint8_t rate)
 
 static const uint8_t sirf_disable[] = {
 	2,
-	4,
 	9,
 	10,
 	27,
 	50,
 	52,
-	4,
 };
 
 void
 ao_gps(void) __reentrant
 {
-	uint8_t	i;
+	uint8_t	i, k;
 	uint16_t cksum;
 
-	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_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 */
@@ -317,7 +362,6 @@ ao_gps(void) __reentrant
 
 		/* message ID */
 		i = data_byte ();							/* 0 */
-		printf ("message %d len %d\n", i, ao_sirf_len);
 
 		switch (i) {
 		case 41:
@@ -325,6 +369,11 @@ ao_gps(void) __reentrant
 				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;
@@ -335,9 +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) {
@@ -346,7 +395,7 @@ 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;
@@ -367,6 +416,17 @@ ao_gps(void) __reentrant
 			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;
 		}
 	}
 }
@@ -378,6 +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);
 }