Uses binary mode.
Signed-off-by: Keith Packard <keithp@keithp.com>
--- /dev/null
+/*
+ * Copyright © 2013 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
+
+#include "ao_gps_ublox.h"
+
+__xdata uint8_t ao_gps_mutex;
+__pdata uint16_t ao_gps_tick;
+__xdata struct ao_telemetry_location ao_gps_data;
+__xdata struct ao_telemetry_satellite ao_gps_tracking_data;
+
+static const char ao_gps_set_nmea[] = "\r\n$PUBX,41,1,3,1,57600,0*2d\r\n";
+
+const char ao_gps_config[] = {
+
+};
+
+struct ao_ublox_cksum {
+ uint8_t a, b;
+};
+
+static __pdata struct ao_ublox_cksum ao_ublox_cksum;
+static __pdata uint16_t ao_ublox_len;
+
+#ifndef ao_ublox_getchar
+#define ao_ublox_getchar ao_serial1_getchar
+#define ao_ublox_putchar ao_serial1_putchar
+#define ao_ublox_set_speed ao_serial1_set_speed
+#endif
+
+#define ao_ublox_byte() ((uint8_t) ao_ublox_getchar())
+
+static inline void add_cksum(struct ao_ublox_cksum *cksum, uint8_t c)
+{
+ cksum->a += c;
+ cksum->b += cksum->a;
+}
+
+static void ao_ublox_init_cksum(void)
+{
+ ao_ublox_cksum.a = ao_ublox_cksum.b = 0;
+}
+
+static void ao_ublox_putchar_cksum(uint8_t c)
+{
+ add_cksum(&ao_ublox_cksum, c);
+ ao_ublox_putchar(c);
+}
+
+static uint8_t header_byte(void)
+{
+ uint8_t c = ao_ublox_byte();
+ add_cksum(&ao_ublox_cksum, c);
+ return c;
+}
+
+static uint8_t data_byte(void)
+{
+ --ao_ublox_len;
+ return header_byte();
+}
+
+static char __xdata *ublox_target;
+
+static void ublox_u16(uint8_t offset)
+{
+ uint16_t __xdata *ptr = (uint16_t __xdata *) (ublox_target + offset);
+ uint16_t val;
+
+ val = data_byte();
+ val |= data_byte () << 8;
+ *ptr = val;
+}
+
+static void ublox_u8(uint8_t offset)
+{
+ uint8_t __xdata *ptr = (uint8_t __xdata *) (ublox_target + offset);
+ uint8_t val;
+
+ val = data_byte ();
+ *ptr = val;
+}
+
+static void ublox_u32(uint8_t offset) __reentrant
+{
+ uint32_t __xdata *ptr = (uint32_t __xdata *) (ublox_target + offset);
+ uint32_t val;
+
+ val = ((uint32_t) data_byte ());
+ val |= ((uint32_t) data_byte ()) << 8;
+ val |= ((uint32_t) data_byte ()) << 16;
+ val |= ((uint32_t) data_byte ()) << 24;
+ *ptr = val;
+}
+
+static void ublox_discard(uint8_t len)
+{
+ while (len--)
+ data_byte();
+}
+
+#define UBLOX_END 0
+#define UBLOX_DISCARD 1
+#define UBLOX_U8 2
+#define UBLOX_U16 3
+#define UBLOX_U32 4
+
+struct ublox_packet_parse {
+ uint8_t type;
+ uint8_t offset;
+};
+
+static void
+ao_ublox_parse(void __xdata *target, const struct ublox_packet_parse *parse) __reentrant
+{
+ uint8_t i, offset;
+
+ ublox_target = target;
+ for (i = 0; ; i++) {
+ offset = parse[i].offset;
+ switch (parse[i].type) {
+ case UBLOX_END:
+ return;
+ case UBLOX_DISCARD:
+ ublox_discard(offset);
+ break;
+ case UBLOX_U8:
+ ublox_u8(offset);
+ break;
+ case UBLOX_U16:
+ ublox_u16(offset);
+ break;
+ case UBLOX_U32:
+ ublox_u32(offset);
+ break;
+ }
+ }
+}
+
+/*
+ * NAV-DOP message parsing
+ */
+
+static struct nav_dop {
+ uint16_t pdop;
+ uint16_t hdop;
+ uint16_t vdop;
+} nav_dop;
+
+static const struct ublox_packet_parse nav_dop_packet[] = {
+ { UBLOX_DISCARD, 6 }, /* 0 GPS Millisecond Time of Week, gDOP */
+ { UBLOX_U16, offsetof(struct nav_dop, pdop) }, /* 6 pDOP */
+ { UBLOX_DISCARD, 2 }, /* 8 tDOP */
+ { UBLOX_U16, offsetof(struct nav_dop, vdop) }, /* 10 vDOP */
+ { UBLOX_U16, offsetof(struct nav_dop, hdop) }, /* 12 hDOP */
+ { UBLOX_DISCARD, 4 }, /* 14 nDOP, eDOP */
+ { UBLOX_END, 0 }
+};
+
+static void
+ao_ublox_parse_nav_dop(void)
+{
+ ao_ublox_parse(&nav_dop, nav_dop_packet);
+}
+
+/*
+ * NAV-POSLLH message parsing
+ */
+static struct nav_posllh {
+ int32_t lat;
+ int32_t lon;
+ int32_t alt_msl;
+} nav_posllh;
+
+static const struct ublox_packet_parse nav_posllh_packet[] = {
+ { UBLOX_DISCARD, 4 }, /* 0 GPS Millisecond Time of Week */
+ { UBLOX_U32, offsetof(struct nav_posllh, lon) }, /* 4 Longitude */
+ { UBLOX_U32, offsetof(struct nav_posllh, lat) }, /* 8 Latitude */
+ { UBLOX_DISCARD, 4 }, /* 12 Height above Ellipsoid */
+ { UBLOX_U32, offsetof(struct nav_posllh, alt_msl) }, /* 16 Height above mean sea level */
+ { UBLOX_DISCARD, 8 }, /* 20 hAcc, vAcc */
+ { UBLOX_END, 0 }, /* 28 */
+};
+
+static void
+ao_ublox_parse_nav_posllh(void)
+{
+ ao_ublox_parse(&nav_posllh, nav_posllh_packet);
+}
+
+/*
+ * NAV-SOL message parsing
+ */
+static struct nav_sol {
+ uint8_t gps_fix;
+ uint8_t flags;
+ uint8_t nsat;
+} nav_sol;
+
+static const struct ublox_packet_parse nav_sol_packet[] = {
+ { UBLOX_DISCARD, 10 }, /* 0 iTOW, fTOW, week */
+ { UBLOX_U8, offsetof(struct nav_sol, gps_fix) }, /* 10 gpsFix */
+ { UBLOX_U8, offsetof(struct nav_sol, flags) }, /* 11 flags */
+ { UBLOX_DISCARD, 35 }, /* 12 ecefX, ecefY, ecefZ, pAcc, ecefVX, ecefVY, ecefVZ, sAcc, pDOP, reserved1 */
+ { UBLOX_U8, offsetof(struct nav_sol, nsat) }, /* 47 numSV */
+ { UBLOX_DISCARD, 4 }, /* 48 reserved2 */
+ { UBLOX_END, 0 }
+};
+
+#define NAV_SOL_FLAGS_GPSFIXOK 0
+#define NAV_SOL_FLAGS_DIFFSOLN 1
+#define NAV_SOL_FLAGS_WKNSET 2
+#define NAV_SOL_FLAGS_TOWSET 3
+
+static void
+ao_ublox_parse_nav_sol(void)
+{
+ ao_ublox_parse(&nav_sol, nav_sol_packet);
+}
+
+/*
+ * NAV-SVINFO message parsing
+ */
+
+static struct nav_svinfo {
+ uint8_t num_ch;
+ uint8_t flags;
+} nav_svinfo;
+
+static const struct ublox_packet_parse nav_svinfo_packet[] = {
+ { UBLOX_DISCARD, 4 }, /* 0 iTOW */
+ { UBLOX_U8, offsetof(struct nav_svinfo, num_ch) }, /* 4 numCh */
+ { UBLOX_U8, offsetof(struct nav_svinfo, flags) }, /* 5 globalFlags */
+ { UBLOX_DISCARD, 2 }, /* 6 reserved2 */
+ { UBLOX_END, 0 }
+};
+
+#define NAV_SVINFO_MAX_SAT 16
+
+static struct nav_svinfo_sat {
+ uint8_t chn;
+ uint8_t svid;
+ uint8_t flags;
+ uint8_t quality;
+ uint8_t cno;
+} nav_svinfo_sat[NAV_SVINFO_MAX_SAT];
+
+static uint8_t nav_svinfo_nsat;
+
+static const struct ublox_packet_parse nav_svinfo_sat_packet[] = {
+ { UBLOX_U8, offsetof(struct nav_svinfo_sat, chn) }, /* 8 + 12*N chn */
+ { UBLOX_U8, offsetof(struct nav_svinfo_sat, svid) }, /* 9 + 12*N svid */
+ { UBLOX_U8, offsetof(struct nav_svinfo_sat, flags) }, /* 10 + 12*N flags */
+ { UBLOX_U8, offsetof(struct nav_svinfo_sat, quality) }, /* 11 + 12*N quality */
+ { UBLOX_U8, offsetof(struct nav_svinfo_sat, cno) }, /* 12 + 12*N cno */
+ { UBLOX_DISCARD, 7 }, /* 13 + 12*N elev, azim, prRes */
+ { UBLOX_END, 0 }
+};
+
+#define NAV_SVINFO_SAT_FLAGS_SVUSED 0
+#define NAV_SVINFO_SAT_FLAGS_DIFFCORR 1
+#define NAV_SVINFO_SAT_FLAGS_ORBITAVAIL 2
+#define NAV_SVINFO_SAT_FLAGS_ORBITEPH 3
+#define NAV_SVINFO_SAT_FLAGS_UNHEALTHY 4
+#define NAV_SVINFO_SAT_FLAGS_ORBITALM 5
+#define NAV_SVINFO_SAT_FLAGS_ORBITAOP 6
+#define NAV_SVINFO_SAT_FLAGS_SMOOTHED 7
+
+#define NAV_SVINFO_SAT_QUALITY_IDLE 0
+#define NAV_SVINFO_SAT_QUALITY_SEARCHING 1
+#define NAV_SVINFO_SAT_QUALITY_ACQUIRED 2
+#define NAV_SVINFO_SAT_QUALITY_UNUSABLE 3
+#define NAV_SVINFO_SAT_QUALITY_LOCKED 4
+#define NAV_SVINFO_SAT_QUALITY_RUNNING 5
+
+static void
+ao_ublox_parse_nav_svinfo(void)
+{
+ uint8_t nsat;
+ nav_svinfo_nsat = 0;
+ ao_ublox_parse(&nav_svinfo, nav_svinfo_packet);
+ for (nsat = 0; nsat < nav_svinfo.num_ch && ao_ublox_len >= 12; nsat++) {
+ if (nsat < NAV_SVINFO_MAX_SAT) {
+ ao_ublox_parse(&nav_svinfo_sat[nav_svinfo_nsat++], nav_svinfo_sat_packet);
+ } else {
+ ublox_discard(12);
+ }
+ }
+}
+
+/*
+ * NAV-TIMEUTC message parsing
+ */
+static struct nav_timeutc {
+ uint16_t year;
+ uint8_t month;
+ uint8_t day;
+ uint8_t hour;
+ uint8_t min;
+ uint8_t sec;
+ uint8_t valid;
+} nav_timeutc;
+
+#define NAV_TIMEUTC_VALID_TOW 0
+#define NAV_TIMEUTC_VALID_WKN 1
+#define NAV_TIMEUTC_VALID_UTC 2
+
+static const struct ublox_packet_parse nav_timeutc_packet[] = {
+ { UBLOX_DISCARD, 12 }, /* 0 iTOW, tAcc, nano */
+ { UBLOX_U16, offsetof(struct nav_timeutc, year) }, /* 12 year */
+ { UBLOX_U8, offsetof(struct nav_timeutc, month) }, /* 14 month */
+ { UBLOX_U8, offsetof(struct nav_timeutc, day) }, /* 15 day */
+ { UBLOX_U8, offsetof(struct nav_timeutc, hour) }, /* 16 hour */
+ { UBLOX_U8, offsetof(struct nav_timeutc, min) }, /* 17 min */
+ { UBLOX_U8, offsetof(struct nav_timeutc, sec) }, /* 18 sec */
+ { UBLOX_U8, offsetof(struct nav_timeutc, valid) }, /* 19 valid */
+ { UBLOX_END, 0 }
+};
+
+static void
+ao_ublox_parse_nav_timeutc(void)
+{
+ ao_ublox_parse(&nav_timeutc, nav_timeutc_packet);
+}
+
+/*
+ * NAV-VELNED message parsing
+ */
+
+static struct nav_velned {
+ int32_t vel_d;
+ uint32_t g_speed;
+ int32_t heading;
+} nav_velned;
+
+static const struct ublox_packet_parse nav_velned_packet[] = {
+ { UBLOX_DISCARD, 12 }, /* 0 iTOW, velN, velE */
+ { UBLOX_U32, offsetof(struct nav_velned, vel_d) }, /* 12 velD */
+ { UBLOX_DISCARD, 4 }, /* 16 speed */
+ { UBLOX_U32, offsetof(struct nav_velned, g_speed) }, /* 20 gSpeed */
+ { UBLOX_U32, offsetof(struct nav_velned, heading) }, /* 24 heading */
+ { UBLOX_DISCARD, 8 }, /* 28 sAcc, cAcc */
+ { UBLOX_END, 0 }
+};
+
+static void
+ao_ublox_parse_nav_velned(void)
+{
+ ao_ublox_parse(&nav_velned, nav_velned_packet);
+}
+
+/*
+ * Set the protocol mode and baud rate
+ */
+
+static void
+ao_gps_setup(void)
+{
+ uint8_t i, k;
+ ao_ublox_set_speed(AO_SERIAL_SPEED_9600);
+
+ /*
+ * A bunch of nulls so the start bit
+ * is clear
+ */
+ for (i = 0; i < 64; i++)
+ ao_ublox_putchar(0x00);
+
+ /*
+ * Send the baud-rate setting and protocol-setting
+ * command three times
+ */
+ for (k = 0; k < 3; k++)
+ for (i = 0; i < sizeof (ao_gps_set_nmea); i++)
+ ao_ublox_putchar(ao_gps_set_nmea[i]);
+
+ /*
+ * Increase the baud rate
+ */
+ ao_ublox_set_speed(AO_SERIAL_SPEED_57600);
+
+ /*
+ * Pad with nulls to give the chip
+ * time to see the baud rate switch
+ */
+ for (i = 0; i < 64; i++)
+ ao_ublox_putchar(0x00);
+}
+
+void
+ao_ublox_putstart(uint8_t class, uint8_t id, uint16_t len)
+{
+ ao_ublox_init_cksum();
+ ao_ublox_putchar(0xb5);
+ ao_ublox_putchar(0x62);
+ ao_ublox_putchar_cksum(class);
+ ao_ublox_putchar_cksum(id);
+ ao_ublox_putchar_cksum(len);
+ ao_ublox_putchar_cksum(len >> 8);
+}
+
+void
+ao_ublox_putend(void)
+{
+ ao_ublox_putchar(ao_ublox_cksum.a);
+ ao_ublox_putchar(ao_ublox_cksum.b);
+}
+
+void
+ao_ublox_set_message_rate(uint8_t class, uint8_t msgid, uint8_t rate)
+{
+ ao_ublox_putstart(0x06, 0x01, 3);
+ ao_ublox_putchar_cksum(class);
+ ao_ublox_putchar_cksum(msgid);
+ ao_ublox_putchar_cksum(rate);
+ ao_ublox_putend();
+}
+
+/*
+ * Disable all MON message
+ */
+static const uint8_t ublox_disable_mon[] = {
+ 0x0b, 0x09, 0x02, 0x06, 0x07, 0x21, 0x08, 0x04
+};
+
+/*
+ * Disable all NAV messages. The desired
+ * ones will be explicitly re-enabled
+ */
+
+static const uint8_t ublox_disable_nav[] = {
+ 0x60, 0x22, 0x31, 0x04, 0x40, 0x01, 0x02, 0x32,
+ 0x06, 0x03, 0x30, 0x20, 0x21, 0x11, 0x12
+};
+
+void
+ao_gps(void) __reentrant
+{
+ uint8_t class, id;
+ struct ao_ublox_cksum cksum;
+ uint8_t i;
+
+ ao_gps_setup();
+
+ for (i = 0; i < sizeof (ublox_disable_mon); i++)
+ ao_ublox_set_message_rate(0x0a, ublox_disable_mon[i], 0);
+ for (i = 0; i < sizeof (ublox_disable_nav); i++)
+ ao_ublox_set_message_rate(0x01, ublox_disable_nav[i], 0);
+
+ /* Enable all of the messages we want */
+
+ /* DOP */
+ ao_ublox_set_message_rate(0x01, 0x04, 1);
+
+ /* POSLLH */
+ ao_ublox_set_message_rate(0x01, 0x02, 1);
+
+ /* SOL */
+ ao_ublox_set_message_rate(0x01, 0x06, 1);
+
+ /* SVINFO */
+ ao_ublox_set_message_rate(0x01, 0x30, 1);
+
+ /* VELNED */
+ ao_ublox_set_message_rate(0x01, 0x12, 1);
+
+ /* TIMEUTC */
+ ao_ublox_set_message_rate(0x01, 0x21, 1);
+
+ for (;;) {
+ /* Locate the begining of the next record */
+ while (ao_ublox_byte() != (uint8_t) 0xb5)
+ ;
+ if (ao_ublox_byte() != (uint8_t) 0x62)
+ continue;
+
+ ao_ublox_init_cksum();
+
+ class = header_byte();
+ id = header_byte();
+
+ /* Length */
+ ao_ublox_len = header_byte();
+ ao_ublox_len |= header_byte() << 8;
+
+ if (ao_ublox_len > 1023)
+ continue;
+
+ switch (class) {
+ case UBLOX_NAV:
+ switch (id) {
+ case UBLOX_NAV_DOP:
+ if (ao_ublox_len != 18)
+ break;
+ ao_ublox_parse_nav_dop();
+ break;
+ case UBLOX_NAV_POSLLH:
+ if (ao_ublox_len != 28)
+ break;
+ ao_ublox_parse_nav_posllh();
+ break;
+ case UBLOX_NAV_SOL:
+ if (ao_ublox_len != 52)
+ break;
+ ao_ublox_parse_nav_sol();
+ break;
+ case UBLOX_NAV_SVINFO:
+ if (ao_ublox_len < 8)
+ break;
+ ao_ublox_parse_nav_svinfo();
+ break;
+ case UBLOX_NAV_VELNED:
+ if (ao_ublox_len != 36)
+ break;
+ ao_ublox_parse_nav_velned();
+ break;
+ case UBLOX_NAV_TIMEUTC:
+ if (ao_ublox_len != 20)
+ break;
+ ao_ublox_parse_nav_timeutc();
+ break;
+ }
+ break;
+ }
+
+ if (ao_ublox_len != 0)
+ continue;
+
+ /* verify checksum and end sequence */
+ cksum.a = ao_ublox_byte();
+ cksum.b = ao_ublox_byte();
+ if (ao_ublox_cksum.a != cksum.a || ao_ublox_cksum.b != cksum.b)
+ continue;
+
+ switch (class) {
+ case 0x01:
+ switch (id) {
+ case 0x21:
+ ao_mutex_get(&ao_gps_mutex);
+ ao_gps_tick = ao_time();
+
+ ao_gps_data.flags = 0;
+ ao_gps_data.flags |= AO_GPS_RUNNING;
+ if (nav_sol.gps_fix & (1 << NAV_SOL_FLAGS_GPSFIXOK)) {
+ uint8_t nsat = nav_sol.nsat;
+ ao_gps_data.flags |= AO_GPS_VALID;
+ if (nsat > 15)
+ nsat = 15;
+ ao_gps_data.flags |= nsat;
+ }
+ if (nav_timeutc.valid & (1 << NAV_TIMEUTC_VALID_UTC))
+ ao_gps_data.flags |= AO_GPS_DATE_VALID;
+
+ ao_gps_data.altitude = nav_posllh.alt_msl / 1000;
+ ao_gps_data.latitude = nav_posllh.lat;
+ ao_gps_data.longitude = nav_posllh.lon;
+
+ ao_gps_data.year = nav_timeutc.year - 2000;
+ ao_gps_data.month = nav_timeutc.month;
+ ao_gps_data.day = nav_timeutc.day;
+
+ ao_gps_data.hour = nav_timeutc.hour;
+ ao_gps_data.minute = nav_timeutc.min;
+ ao_gps_data.second = nav_timeutc.sec;
+
+ ao_gps_data.pdop = nav_dop.pdop;
+ ao_gps_data.hdop = nav_dop.hdop;
+ ao_gps_data.vdop = nav_dop.vdop;
+
+ /* mode is not set */
+
+ ao_gps_data.ground_speed = nav_velned.g_speed;
+ ao_gps_data.climb_rate = -nav_velned.vel_d;
+ ao_gps_data.course = nav_velned.heading / 200000;
+
+ ao_gps_tracking_data.channels = 0;
+
+ struct ao_telemetry_satellite_info *dst = &ao_gps_tracking_data.sats[0];
+
+ for (i = 0; i < nav_svinfo_nsat; i++) {
+ struct nav_svinfo_sat *src = &nav_svinfo_sat[i];
+
+ if (!(src->flags & (1 << NAV_SVINFO_SAT_FLAGS_UNHEALTHY)) &&
+ src->quality >= NAV_SVINFO_SAT_QUALITY_ACQUIRED)
+ {
+ dst->svid = src->svid;
+ dst->c_n_1 = src->cno;
+ dst++;
+ ao_gps_tracking_data.channels++;
+ }
+ }
+
+ ao_mutex_put(&ao_gps_mutex);
+ ao_wakeup(&ao_gps_data);
+ ao_wakeup(&ao_gps_tracking_data);
+ break;
+ }
+ break;
+ }
+ }
+}
+
+__xdata struct ao_task ao_gps_task;
+
+void
+ao_gps_init(void)
+{
+ ao_add_task(&ao_gps_task, ao_gps, "gps");
+}
--- /dev/null
+/*
+ * Copyright © 2013 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_UBLOX_H_
+#define _AO_GPS_UBLOX_H_
+
+struct ublox_hdr {
+ uint8_t class, message;
+ uint16_t length;
+};
+
+#define UBLOX_NAV 0x01
+
+#define UBLOX_NAV_DOP 0x04
+
+struct ublox_nav_dop {
+ uint8_t class; /* 0x01 */
+ uint8_t message; /* 0x04 */
+ uint16_t length; /* 18 */
+
+ uint32_t itow; /* ms */
+ uint16_t gdop;
+ uint16_t ddop;
+ uint16_t tdop;
+ uint16_t vdop;
+ uint16_t hdop;
+ uint16_t ndop;
+ uint16_t edop;
+};
+
+#define UBLOX_NAV_POSLLH 0x02
+
+struct ublox_nav_posllh {
+ uint8_t class; /* 0x01 */
+ uint8_t message; /* 0x02 */
+ uint16_t length; /* 28 */
+
+ uint32_t itow; /* ms */
+ int32_t lat; /* deg * 1e7 */
+ int32_t lon; /* deg * 1e7 */
+ int32_t height; /* mm */
+ int32_t hmsl; /* mm */
+ uint32_t hacc; /* mm */
+ uint32_t vacc; /* mm */
+};
+
+#define UBLOX_NAV_SOL 0x06
+
+struct ublox_nav_sol {
+ uint8_t class; /* 0x01 */
+ uint8_t message; /* 0x06 */
+ uint16_t length; /* 52 */
+
+ uint32_t itow; /* ms */
+ int32_t ftow; /* ns */
+ int16_t week;
+ int8_t gpsfix;
+ uint8_t flags;
+ int32_t exefx; /* cm */
+ int32_t exefy; /* cm */
+ int32_t exefz; /* cm */
+ uint32_t pacc; /* cm */
+ int32_t exefvx; /* cm/s */
+ int32_t exefvy; /* cm/s */
+ int32_t exefvz; /* cm/s */
+ uint32_t sacc; /* cm/s */
+ uint16_t pdop; /* * 100 */
+ uint8_t reserved1;
+ uint8_t numsv;
+ uint32_t reserved2;
+};
+
+#define UBLOX_NAV_SOL_GPSFIX_NO_FIX 0
+#define UBLOX_NAV_SOL_GPSFIX_DEAD_RECKONING 1
+#define UBLOX_NAV_SOL_GPSFIX_2D 2
+#define UBLOX_NAV_SOL_GPSFIX_3D 3
+#define UBLOX_NAV_SOL_GPSFIX_GPS_DEAD_RECKONING 4
+#define UBLOX_NAV_SOL_GPSFIX_TIME_ONLY 5
+
+#define UBLOX_NAV_SOL_FLAGS_GPSFIXOK 0
+#define UBLOX_NAV_SOL_FLAGS_DIFFSOLN 1
+#define UBLOX_NAV_SOL_FLAGS_WKNSET 2
+#define UBLOX_NAV_SOL_FLAGS_TOWSET 3
+
+#define UBLOX_NAV_STATUS 0x03
+
+struct ublox_nav_status {
+ uint8_t class; /* 0x01 */
+ uint8_t message; /* 0x03 */
+ uint16_t length; /* 16 */
+
+ uint8_t gpsfix;
+ uint8_t flags;
+ uint8_t fixstat;
+ uint8_t flags2;
+
+ uint32_t ttff; /* ms */
+ uint32_t msss; /* ms */
+};
+
+#define UBLOX_NAV_STATUS_GPSFIX_NO_FIX 0
+#define UBLOX_NAV_STATUS_GPSFIX_DEAD_RECKONING 1
+#define UBLOX_NAV_STATUS_GPSFIX_2D 2
+#define UBLOX_NAV_STATUS_GPSFIX_3D 3
+#define UBLOX_NAV_STATUS_GPSFIX_GPS_DEAD_RECKONING 4
+#define UBLOX_NAV_STATUS_GPSFIX_TIME_ONLY 5
+
+#define UBLOX_NAV_STATUS_FLAGS_GPSFIXOK 0
+#define UBLOX_NAV_STATUS_FLAGS_DIFFSOLN 1
+#define UBLOX_NAV_STATUS_FLAGS_WKNSET 2
+#define UBLOX_NAV_STATUS_FLAGS_TOWSET 3
+
+#define UBLOX_NAV_STATUS_FIXSTAT_DGPSISTAT 0
+#define UBLOX_NAV_STATUS_FIXSTAT_MAPMATCHING 6
+#define UBLOX_NAV_STATUS_FIXSTAT_MAPMATCHING_NONE 0
+#define UBLOX_NAV_STATUS_FIXSTAT_MAPMATCHING_VALID 1
+#define UBLOX_NAV_STATUS_FIXSTAT_MAPMATCHING_USED 2
+#define UBLOX_NAV_STATUS_FIXSTAT_MAPMATCHING_DR 3
+#define UBLOX_NAV_STATUS_FIXSTAT_MAPMATCHING_MASK 3
+
+#define UBLOX_NAV_STATUS_FLAGS2_PSMSTATE 0
+#define UBLOX_NAV_STATUS_FLAGS2_PSMSTATE_ACQUISITION 0
+#define UBLOX_NAV_STATUS_FLAGS2_PSMSTATE_TRACKING 1
+#define UBLOX_NAV_STATUS_FLAGS2_PSMSTATE_POWER_OPTIMIZED_TRACKING 2
+#define UBLOX_NAV_STATUS_FLAGS2_PSMSTATE_INACTIVE 3
+#define UBLOX_NAV_STATUS_FLAGS2_PSMSTATE_MASK 3
+
+#define UBLOX_NAV_SVINFO 0x30
+
+struct ublox_nav_svinfo {
+ uint8_t class; /* 0x01 */
+ uint8_t message; /* 0x30 */
+ uint16_t length; /* 8 + 12 * numch */
+
+ uint32_t itow; /* ms */
+
+ uint8_t numch;
+ uint8_t globalflags;
+ uint16_t reserved;
+};
+
+#define UBLOX_NAV_SVINFO_GLOBAL_FLAGS_CHIPGEN 0
+#define UBLOX_NAV_SVINFO_GLOBAL_FLAGS_CHIPGEN_ANTARIS 0
+#define UBLOX_NAV_SVINFO_GLOBAL_FLAGS_CHIPGEN_U_BLOX_5 1
+#define UBLOX_NAV_SVINFO_GLOBAL_FLAGS_CHIPGEN_U_BLOX_6 2
+#define UBLOX_NAV_SVINFO_GLOBAL_FLAGS_CHIPGEN_MASK 7
+
+struct ublox_nav_svinfo_block {
+ uint8_t chn;
+ uint8_t svid;
+ uint8_t flags;
+ uint8_t quality;
+
+ uint8_t cno; /* dbHz */
+ int8_t elev; /* deg */
+ int16_t azim; /* deg */
+
+ int32_t prres; /* cm */
+};
+
+#define UBLOX_NAV_SVINFO_BLOCK_FLAGS_SVUSED 0
+#define UBLOX_NAV_SVINFO_BLOCK_FLAGS_DIFFCORR 1
+#define UBLOX_NAV_SVINFO_BLOCK_FLAGS_ORBITAVAIL 2
+#define UBLOX_NAV_SVINFO_BLOCK_FLAGS_ORBITEPH 3
+#define UBLOX_NAV_SVINFO_BLOCK_FLAGS_UNHEALTHY 4
+#define UBLOX_NAV_SVINFO_BLOCK_FLAGS_ORBITALM 5
+#define UBLOX_NAV_SVINFO_BLOCK_FLAGS_ORBITAOP 6
+#define UBLOX_NAV_SVINFO_BLOCK_FLAGS_SMOOTHED 7
+
+#define UBLOX_NAV_SVINFO_BLOCK_QUALITY_QUALITYIND 0
+#define UBLOX_NAV_SVINFO_BLOCK_QUALITY_QUALITYIND_IDLE 0
+#define UBLOX_NAV_SVINFO_BLOCK_QUALITY_QUALITYIND_SEARCHING 1
+#define UBLOX_NAV_SVINFO_BLOCK_QUALITY_QUALITYIND_ACQUIRED 2
+#define UBLOX_NAV_SVINFO_BLOCK_QUALITY_QUALITYIND_UNUSABLE 3
+#define UBLOX_NAV_SVINFO_BLOCK_QUALITY_QUALITYIND_CODE_LOCK 4
+#define UBLOX_NAV_SVINFO_BLOCK_QUALITY_QUALITYIND_CARRIER_LOCKED_5 5
+#define UBLOX_NAV_SVINFO_BLOCK_QUALITY_QUALITYIND_CARRIER_LOCKED_6 6
+#define UBLOX_NAV_SVINFO_BLOCK_QUALITY_QUALITYIND_CARRIER_LOCKED_7 7
+#define UBLOX_NAV_SVINFO_BLOCK_QUALITY_QUALITYIND_MASK 7
+
+#define UBLOX_NAV_TIMEUTC 0x21
+
+struct ublox_nav_timeutc {
+ uint8_t class; /* 0x01 */
+ uint8_t message; /* 0x21 */
+ uint16_t length; /* 20 */
+
+ uint32_t itow; /* ms */
+ uint32_t tacc; /* ns */
+ int32_t nano; /* ns */
+
+ uint16_t year;
+ uint8_t month;
+ uint8_t day;
+
+ uint8_t hour;
+ uint8_t min;
+ uint8_t sec;
+ uint8_t valid;
+};
+
+#define UBLOX_NAV_TIMEUTC_VALID_VALIDTOW 0
+#define UBLOX_NAV_TIMEUTC_VALID_VALIDWKN 1
+#define UBLOX_NAV_TIMEUTC_VALID_VALIDUTC 2
+
+#define UBLOX_NAV_VELNED 0x12
+
+struct ublox_nav_velned {
+ uint8_t class; /* 0x01 */
+ uint8_t message; /* 0x12 */
+ uint16_t length; /* 36 */
+
+ uint32_t itow; /* ms */
+
+ int32_t veln; /* cm/s */
+ int32_t vele; /* cm/s */
+ int32_t veld; /* cm/s */
+
+ uint32_t speed; /* cm/s */
+ uint32_t gspeed; /* cm/s */
+
+ int32_t heading; /* deg */
+ uint32_t sacc; /* cm/s */
+ uint32_t cacc; /* deg */
+};
+
+#endif /* _AO_GPS_UBLOX_H_ */
vpath % ..:../core:../drivers:../util:../micropeak:../aes
PROGS=ao_flight_test ao_flight_test_baro ao_flight_test_accel ao_flight_test_noisy_accel ao_flight_test_mm \
- ao_gps_test ao_gps_test_skytraq ao_convert_test ao_convert_pa_test ao_fec_test \
+ ao_gps_test ao_gps_test_skytraq ao_gps_test_ublox ao_convert_test ao_convert_pa_test ao_fec_test \
ao_aprs_test ao_micropeak_test ao_fat_test ao_aes_test
INCS=ao_kalman.h ao_ms5607.h ao_log.h ao_data.h altitude-pa.h altitude.h
ao_gps_test_skytraq: ao_gps_test_skytraq.c ao_gps_skytraq.c ao_gps_print.c ao_host.h
cc $(CFLAGS) -o $@ $<
+ao_gps_test_ublox: ao_gps_test_ublox.c ao_gps_ublox.c ao_gps_print.c ao_host.h
+ cc $(CFLAGS) -o $@ $<
+
ao_convert_test: ao_convert_test.c ao_convert.c altitude.h
cc $(CFLAGS) -o $@ $<
--- /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 / commitdiff