Add support for the SkyTraq GPS unit

This is a build-time option selected by hacking the Makefile at present.

Signed-off-by: Keith Packard <keithp@keithp.com>

1 files changed, 0 insertions, 457 deletions

diff --git a/src/ao_gps.c b/src/ao_gps.c
deleted file mode 100644
index 2b3a5178..00000000
--- a/src/ao_gps.c
+++ /dev/null
@@ -1,457 +0,0 @@
-/*
- * 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.
- */
-
-#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[] = {
-
-	0xa0, 0xa2, 0x00, 0x0e,	/* length: 14 bytes */
-	136,			/* mode control */
-	0, 0,			/* reserved */
-	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 */
-	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 */
-	0x00, 0x8f, 0xb0, 0xb3,
-};
-
-#define NAV_TYPE_GPS_FIX_TYPE_MASK			(7 << 0)
-#define NAV_TYPE_NO_FIX					(0 << 0)
-#define NAV_TYPE_SV_KF					(1 << 0)
-#define NAV_TYPE_2_SV_KF				(2 << 0)
-#define NAV_TYPE_3_SV_KF				(3 << 0)
-#define NAV_TYPE_4_SV_KF				(4 << 0)
-#define NAV_TYPE_2D_LEAST_SQUARES			(5 << 0)
-#define NAV_TYPE_3D_LEAST_SQUARES			(6 << 0)
-#define NAV_TYPE_DR					(7 << 0)
-#define NAV_TYPE_TRICKLE_POWER				(1 << 3)
-#define NAV_TYPE_ALTITUDE_HOLD_MASK			(3 << 4)
-#define NAV_TYPE_ALTITUDE_HOLD_NONE			(0 << 4)
-#define NAV_TYPE_ALTITUDE_HOLD_KF			(1 << 4)
-#define NAV_TYPE_ALTITUDE_HOLD_USER			(2 << 4)
-#define NAV_TYPE_ALTITUDE_HOLD_ALWAYS			(3 << 4)
-#define NAV_TYPE_DOP_LIMIT_EXCEEDED			(1 << 6)
-#define NAV_TYPE_DGPS_APPLIED				(1 << 7)
-#define NAV_TYPE_SENSOR_DR				(1 << 8)
-#define NAV_TYPE_OVERDETERMINED				(1 << 9)
-#define NAV_TYPE_DR_TIMEOUT_EXCEEDED			(1 << 10)
-#define NAV_TYPE_FIX_MI_EDIT				(1 << 11)
-#define NAV_TYPE_INVALID_VELOCITY			(1 << 12)
-#define NAV_TYPE_ALTITUDE_HOLD_DISABLED			(1 << 13)
-#define NAV_TYPE_DR_ERROR_STATUS_MASK			(3 << 14)
-#define NAV_TYPE_DR_ERROR_STATUS_GPS_ONLY		(0 << 14)
-#define NAV_TYPE_DR_ERROR_STATUS_DR_FROM_GPS		(1 << 14)
-#define NAV_TYPE_DR_ERROR_STATUS_DR_SENSOR_ERROR	(2 << 14)
-#define NAV_TYPE_DR_ERROR_STATUS_DR_IN_TEST		(3 << 14)
-
-struct sirf_geodetic_nav_data {
-	uint16_t	nav_type;
-	uint16_t	utc_year;
-	uint8_t 	utc_month;
-	uint8_t 	utc_day;
-	uint8_t 	utc_hour;
-	uint8_t 	utc_minute;
-	uint16_t 	utc_second;
-	int32_t		lat;
-	int32_t		lon;
-	int32_t		alt_msl;
-	uint16_t	ground_speed;
-	uint16_t	course;
-	int16_t		climb_rate;
-	uint32_t	h_error;
-	uint32_t	v_error;
-	uint8_t		num_sv;
-	uint8_t		hdop;
-};
-
-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;
-
-#define ao_sirf_byte()	((uint8_t) ao_serial_getchar())
-
-static uint8_t data_byte(void)
-{
-	uint8_t	c = ao_sirf_byte();
-	--ao_sirf_len;
-	ao_sirf_cksum += c;
-	return c;
-}
-
-static char __xdata *sirf_target;
-
-static void sirf_u16(uint8_t offset)
-{
-	uint16_t __xdata *ptr = (uint16_t __xdata *) (sirf_target + offset);
-	uint16_t val;
-
-	val = data_byte() << 8;
-	val |= data_byte ();
-	*ptr = val;
-}
-
-static void sirf_u8(uint8_t 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) __reentrant
-{
-	uint32_t __xdata *ptr = (uint32_t __xdata *) (sirf_target + offset);
-	uint32_t val;
-
-	val = ((uint32_t) data_byte ()) << 24;
-	val |= ((uint32_t) data_byte ()) << 16;
-	val |= ((uint32_t) data_byte ()) << 8;
-	val |= ((uint32_t) data_byte ());
-	*ptr = val;
-}
-
-static void sirf_discard(uint8_t len)
-{
-	while (len--)
-		data_byte();
-}
-
-#define SIRF_END	0
-#define SIRF_DISCARD	1
-#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 */
-	{ SIRF_DISCARD, 6 },							/* 5 week number, time of week */
-	{ SIRF_U16, offsetof(struct sirf_geodetic_nav_data, utc_year) },	/* 11 */
-	{ SIRF_U8, offsetof(struct sirf_geodetic_nav_data, utc_month) },	/* 13 */
-	{ SIRF_U8, offsetof(struct sirf_geodetic_nav_data, utc_day) },		/* 14 */
-	{ SIRF_U8, offsetof(struct sirf_geodetic_nav_data, utc_hour) },		/* 15 */
-	{ SIRF_U8, offsetof(struct sirf_geodetic_nav_data, utc_minute) },	/* 16 */
-	{ SIRF_U16, offsetof(struct sirf_geodetic_nav_data, utc_second) },	/* 17 */
-	{ SIRF_DISCARD, 4 },	/* satellite id list */				/* 19 */
-	{ SIRF_U32, offsetof(struct sirf_geodetic_nav_data, lat) },		/* 23 */
-	{ SIRF_U32, offsetof(struct sirf_geodetic_nav_data, lon) },		/* 27 */
-	{ SIRF_DISCARD, 4 },	/* altitude from ellipsoid */			/* 31 */
-	{ SIRF_U32, offsetof(struct sirf_geodetic_nav_data, alt_msl) },		/* 35 */
-	{ SIRF_DISCARD, 1 },	/* map datum */					/* 39 */
-	{ SIRF_U16, offsetof(struct sirf_geodetic_nav_data, ground_speed) },	/* 40 */
-	{ SIRF_U16, offsetof(struct sirf_geodetic_nav_data, course) },		/* 42 */
-	{ SIRF_DISCARD, 2 },	/* magnetic variation */			/* 44 */
-	{ SIRF_U16, offsetof(struct sirf_geodetic_nav_data, climb_rate) },	/* 46 */
-	{ SIRF_DISCARD, 2 },	/* turn rate */					/* 48 */
-	{ SIRF_U32, offsetof(struct sirf_geodetic_nav_data, h_error) },		/* 50 */
-	{ SIRF_U32, offsetof(struct sirf_geodetic_nav_data, v_error) },		/* 54 */
-	{ SIRF_DISCARD, 30 },	/* time error, h_vel error, clock_bias,
-				   clock bias error, clock drift,
-				   clock drift error, distance,
-				   distance error, heading error */		/* 58 */
-	{ SIRF_U8, offsetof(struct sirf_geodetic_nav_data, num_sv) },		/* 88 */
-	{ SIRF_U8, offsetof(struct sirf_geodetic_nav_data, hdop) },		/* 89 */
-	{ SIRF_DISCARD, 1 },	/* additional mode info */			/* 90 */
-	{ SIRF_END, 0 },							/* 91 */
-};
-
-static 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;
-	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);
-}
-
-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
-{
-	uint8_t	i, k;
-	uint16_t cksum;
-
-	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() != (uint8_t) 0xa0)
-			;
-		if (ao_sirf_byte() != (uint8_t) 0xa2)
-			continue;
-
-		/* Length */
-		ao_sirf_len = ao_sirf_byte() << 8;
-		ao_sirf_len |= ao_sirf_byte();
-		if (ao_sirf_len > 1023)
-			continue;
-
-		ao_sirf_cksum = 0;
-
-		/* message ID */
-		i = data_byte ();							/* 0 */
-
-		switch (i) {
-		case 41:
-			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;
-
-		/* verify checksum and end sequence */
-		ao_sirf_cksum &= 0x7fff;
-		cksum = ao_sirf_byte() << 8;
-		cksum |= ao_sirf_byte();
-		if (ao_sirf_cksum != cksum)
-			continue;
-		if (ao_sirf_byte() != (uint8_t) 0xb0)
-			continue;
-		if (ao_sirf_byte() != (uint8_t) 0xb3)
-			continue;
-
-		switch (i) {
-		case 41:
-			ao_mutex_get(&ao_gps_mutex);
-			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_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;
-		}
-	}
-}
-
-__xdata struct ao_task ao_gps_task;
-
-static void
-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);
-}
-
-__code struct ao_cmds ao_gps_cmds[] = {
-	{ 'g', gps_dump,	"g                                  Display current GPS values" },
-	{ 0, gps_dump, NULL },
-};
-
-void
-ao_gps_init(void)
-{
-	ao_add_task(&ao_gps_task, ao_gps, "gps");
-	ao_cmd_register(&ao_gps_cmds[0]);
-}