ao-tools: Add ao-test-gps program
authorKeith Packard <keithp@keithp.com>
Sat, 13 Sep 2014 00:22:03 +0000 (17:22 -0700)
committerKeith Packard <keithp@keithp.com>
Sat, 13 Sep 2014 00:22:03 +0000 (17:22 -0700)
This waits for GPS to report lock

Signed-off-by: Keith Packard <keithp@keithp.com>
ao-tools/Makefile.am
ao-tools/ao-test-gps/.gitignore [new file with mode: 0644]
ao-tools/ao-test-gps/Makefile.am [new file with mode: 0644]
ao-tools/ao-test-gps/ao-test-gps.1 [new file with mode: 0644]
ao-tools/ao-test-gps/ao-test-gps.c [new file with mode: 0644]
configure.ac

index 2d873e5..769c470 100644 (file)
@@ -2,7 +2,7 @@ SUBDIRS=lib ao-rawload ao-dbg ao-bitbang ao-eeprom ao-list \
        ao-load ao-telem ao-send-telem ao-sky-flash \
        ao-dumpflash ao-edit-telem ao-dump-up ao-elftohex \
        ao-flash ao-usbload ao-test-igniter ao-test-baro \
-       ao-test-flash ao-cal-accel
+       ao-test-flash ao-cal-accel ao-test-gps
 if LIBSTLINK
 SUBDIRS += ao-stmload
 endif
diff --git a/ao-tools/ao-test-gps/.gitignore b/ao-tools/ao-test-gps/.gitignore
new file mode 100644 (file)
index 0000000..ac203bc
--- /dev/null
@@ -0,0 +1 @@
+ao-test-gps
diff --git a/ao-tools/ao-test-gps/Makefile.am b/ao-tools/ao-test-gps/Makefile.am
new file mode 100644 (file)
index 0000000..d89dddd
--- /dev/null
@@ -0,0 +1,11 @@
+bin_PROGRAMS=ao-test-gps
+
+AM_CFLAGS=-I$(top_srcdir)/ao-tools/lib $(LIBUSB_CFLAGS)
+
+ao_test_gps_DEPENDENCIES = $(top_builddir)/ao-tools/lib/libao-tools.a
+
+ao_test_gps_LDADD=$(top_builddir)/ao-tools/lib/libao-tools.a $(LIBUSB_LIBS)
+
+ao_test_gps_SOURCES=ao-test-gps.c
+
+man_MANS = ao-test-gps.1
diff --git a/ao-tools/ao-test-gps/ao-test-gps.1 b/ao-tools/ao-test-gps/ao-test-gps.1
new file mode 100644 (file)
index 0000000..3d99c24
--- /dev/null
@@ -0,0 +1,55 @@
+.\"
+.\" 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; either version 2 of the License, or
+.\" (at your option) any later version.
+.\"
+.\" 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.
+.\"
+.\"
+.TH AO-LOAD 1 "ao-test-gps" ""
+.SH NAME
+ao-test-baro \- test AltOS tracker GPS receiver
+.SH SYNOPSIS
+.B "ao-test-gps"
+[\-T \fItty-device\fP]
+[\--tty \fItty-device\fP]
+[\-D \fIaltos-device\fP]
+[\--device \fIaltos-device\fP]
+\fIgps-name...\fP
+.SH DESCRIPTION
+.I ao-test-gps
+Waits for the GPS receiver to report lock.
+.SH OPTIONS
+.TP
+\-T tty-device | --tty tty-device
+This selects which tty device the debugger uses to communicate with
+the target device.
+.TP
+\-D AltOS-device | --device AltOS-device
+Search for a connected device. This requires an argument of one of the
+following forms:
+.IP
+TeleMega:2
+.br
+TeleMega
+.br
+2
+.IP
+Leaving out the product name will cause the tool to select a suitable
+product, leaving out the serial number will cause the tool to match
+one of the available devices.
+.SH USAGE
+.I ao-test-gps
+opens the target device and waits for it to report GPS lock.
+.SH AUTHOR
+Keith Packard
diff --git a/ao-tools/ao-test-gps/ao-test-gps.c b/ao-tools/ao-test-gps/ao-test-gps.c
new file mode 100644 (file)
index 0000000..08b6602
--- /dev/null
@@ -0,0 +1,240 @@
+/*
+ * Copyright © 2014 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.
+ */
+
+#include <err.h>
+#include <fcntl.h>
+#include <gelf.h>
+#include <stdio.h>
+#include <stdint.h>
+#include <stdlib.h>
+#include <sysexits.h>
+#include <unistd.h>
+#include <getopt.h>
+#include <string.h>
+#include <stdbool.h>
+#include "ao-elf.h"
+#include "ccdbg.h"
+#include "cc-usb.h"
+#include "cc.h"
+#include "ao-verbose.h"
+
+static const struct option options[] = {
+       { .name = "tty", .has_arg = 1, .val = 'T' },
+       { .name = "device", .has_arg = 1, .val = 'D' },
+       { .name = "raw", .has_arg = 0, .val = 'r' },
+       { .name = "verbose", .has_arg = 1, .val = 'v' },
+       { 0, 0, 0, 0},
+};
+
+static void usage(char *program)
+{
+       fprintf(stderr, "usage: %s [--verbose=<verbose>] [--device=<device>] [-tty=<tty>] main|drogue\n", program);
+       exit(1);
+}
+
+void
+done(struct cc_usb *cc, int code)
+{
+/*     cc_usb_printf(cc, "a\n"); */
+       cc_usb_close(cc);
+       exit (code);
+}
+
+static int
+ends_with(char *whole, char *suffix)
+{
+       int whole_len = strlen(whole);
+       int suffix_len = strlen(suffix);
+
+       if (suffix_len > whole_len)
+               return 0;
+       return strcmp(whole + whole_len - suffix_len, suffix) == 0;
+}
+
+static int
+starts_with(char *whole, char *prefix)
+{
+       int whole_len = strlen(whole);
+       int prefix_len = strlen(prefix);
+
+       if (prefix_len > whole_len)
+               return 0;
+       return strncmp(whole, prefix, prefix_len) == 0;
+}
+
+static char **
+tok(char *line) {
+       char    **strs = malloc (sizeof (char *)), *str;
+       int     n = 0;
+
+       while ((str = strtok(line, " \t"))) {
+               line = NULL;
+               strs = realloc(strs, (n + 2) * sizeof (char *));
+               strs[n] = strdup(str);
+               n++;
+       }
+       strs[n] = '\0';
+       return strs;
+}
+
+static void
+free_strs(char **strs) {
+       char    *str;
+       int     i;
+
+       for (i = 0; (str = strs[i]) != NULL; i++)
+               free(str);
+       free(strs);
+}
+
+struct gps {
+       struct gps      *next;
+       char            **strs;
+};
+
+static struct gps *
+gps(struct cc_usb *usb)
+{
+       struct gps      *head = NULL, **tail = &head;
+       cc_usb_printf(usb, "g\nv\n");
+       for (;;) {
+               char    line[512];
+               struct gps      *b;
+
+               cc_usb_getline(usb, line, sizeof (line));
+               b = malloc (sizeof (struct gps));
+               b->strs = tok(line);
+               b->next = NULL;
+               *tail = b;
+               tail = &b->next;
+               if (strstr(line, "software-version"))
+                       break;
+       }
+       return head;
+}
+
+static void
+free_gps(struct gps *b) {
+       struct gps *n;
+
+       while (b) {
+               n = b->next;
+               free_strs(b->strs);
+               free(b);
+               b = n;
+       }
+}
+
+char **
+find_gps(struct gps *b, char *word0) {
+       int i;
+       for (;b; b = b->next)
+               if (b->strs[0] && !strcmp(b->strs[0], word0))
+                       return b->strs;
+       return NULL;
+}
+
+int
+do_gps(struct cc_usb *usb) {
+       int     count = 0;
+
+       for (;;) {
+               struct gps *b = gps(usb);
+               char **flags = find_gps(b, "Flags:");
+               char **sats = find_gps(b, "Sats:");
+               int actual_flags = strtol(flags[1], NULL, 0);
+               int actual_sats = strtol(sats[1], NULL, 0);
+
+               if (actual_flags & (1 << 4)) {
+                       printf("Flags: %s (0x%x)\n", flags[1], actual_flags);
+                       printf("Sats: %s (%d)\n", sats[1], actual_sats);
+                       break;
+               }
+
+               free_gps(b);
+               printf("%d", actual_sats);
+               ++count;
+               if (count >= 50) {
+                       putchar('\n');
+                       count = 0;
+               }
+               else if (count % 10 == 0)
+                       putchar(' ');
+               fflush(stdout);
+               sleep(1);
+       }
+       return 1;
+}
+
+int
+main (int argc, char **argv)
+{
+       char                    *device = NULL;
+       char                    *filename;
+       Elf                     *e;
+       unsigned int            s;
+       int                     i;
+       int                     c;
+       int                     tries;
+       struct cc_usb           *cc = NULL;
+       char                    *tty = NULL;
+       int                     success;
+       int                     verbose = 0;
+       int                     ret = 0;
+
+       while ((c = getopt_long(argc, argv, "rT:D:c:s:v:", options, NULL)) != -1) {
+               switch (c) {
+               case 'T':
+                       tty = optarg;
+                       break;
+               case 'D':
+                       device = optarg;
+                       break;
+               case 'v':
+                       verbose++;
+                       break;
+               default:
+                       usage(argv[0]);
+                       break;
+               }
+       }
+
+       ao_verbose = verbose;
+
+       if (verbose > 1)
+               ccdbg_add_debug(CC_DEBUG_BITBANG);
+
+       if (!tty)
+               tty = cc_usbdevs_find_by_arg(device, "TeleGPS");
+       if (!tty)
+               tty = cc_usbdevs_find_by_arg(device, "TeleMega");
+       if (!tty)
+               tty = cc_usbdevs_find_by_arg(device, "TeleMetrum");
+       if (!tty)
+               tty = getenv("ALTOS_TTY");
+       if (!tty)
+               tty="/dev/ttyACM0";
+
+       cc = cc_usb_open(tty);
+
+       if (!cc)
+               exit(1);
+
+       if (!do_gps(cc))
+               ret = 1;
+       done(cc, ret);
+}
index 9f2cb0d..60c346e 100644 (file)
@@ -546,6 +546,7 @@ ao-tools/ao-test-igniter/Makefile
 ao-tools/ao-test-baro/Makefile
 ao-tools/ao-test-flash/Makefile
 ao-tools/ao-cal-accel/Makefile
+ao-tools/ao-test-gps/Makefile
 ao-utils/Makefile
 src/Version
 ])