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-rw-r--r--src/test/Makefile20
-rw-r--r--src/test/ao_flight_test.c716
-rw-r--r--src/test/ao_gps_test.c508
-rw-r--r--src/test/ao_gps_test_skytraq.c490
4 files changed, 1722 insertions, 12 deletions
diff --git a/src/test/Makefile b/src/test/Makefile
index 33203ffd..333850e4 100644
--- a/src/test/Makefile
+++ b/src/test/Makefile
@@ -1,9 +1,8 @@
-vpath % ..
-vpath % ../kalman
+vpath % ..:../core:../drivers
PROGS=ao_flight_test ao_flight_test_baro ao_flight_test_accel ao_gps_test ao_gps_test_skytraq ao_convert_test
-CFLAGS=-I.. -I.
+CFLAGS=-I.. -I. -I../core -I../drivers -O0 -g
all: $(PROGS)
@@ -13,22 +12,19 @@ clean:
install:
ao_flight_test: ao_flight_test.c ao_host.h ao_flight.c ao_sample.c ao_kalman.c altitude.h ao_kalman.h
- cc -g -o $@ $<
+ cc $(CFLAGS) -o $@ $<
ao_flight_test_baro: ao_flight_test.c ao_host.h ao_flight.c ao_sample.c ao_kalman.c altitude.h ao_kalman.h
- cc -g -o $@ -DHAS_ACCEL=0 ../ao_flight_test.c
+ cc $(CFLAGS) -o $@ -DHAS_ACCEL=0 ao_flight_test.c
ao_flight_test_accel: ao_flight_test.c ao_host.h ao_flight.c ao_sample.c ao_kalman.c altitude.h ao_kalman.h
- cc -g -o $@ -DFORCE_ACCEL=1 ../ao_flight_test.c
+ cc $(CFLAGS) -o $@ -DFORCE_ACCEL=1 ao_flight_test.c
ao_gps_test: ao_gps_test.c ao_gps_sirf.c ao_gps_print.c ao_host.h
- cc -g -o $@ $<
+ cc $(CFLAGS) -o $@ $<
ao_gps_test_skytraq: ao_gps_test_skytraq.c ao_gps_skytraq.c ao_gps_print.c ao_host.h
- cc -g -o $@ $<
+ cc $(CFLAGS) -o $@ $<
ao_convert_test: ao_convert_test.c ao_convert.c altitude.h
- cc -g -o $@ $<
-
-../ao_kalman.h: make-kalman kalman.5c kalman_filter.5c load_csv.5c matrix.5c
- sh $< > $@
+ cc $(CFLAGS) -o $@ $<
diff --git a/src/test/ao_flight_test.c b/src/test/ao_flight_test.c
new file mode 100644
index 00000000..56733c89
--- /dev/null
+++ b/src/test/ao_flight_test.c
@@ -0,0 +1,716 @@
+/*
+ * 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 _GNU_SOURCE
+
+#include <stdint.h>
+#include <stdio.h>
+#include <stdlib.h>
+#include <string.h>
+#include <getopt.h>
+#include <math.h>
+
+#define AO_HERTZ 100
+
+#define AO_ADC_RING 64
+#define ao_adc_ring_next(n) (((n) + 1) & (AO_ADC_RING - 1))
+#define ao_adc_ring_prev(n) (((n) - 1) & (AO_ADC_RING - 1))
+
+#define AO_M_TO_HEIGHT(m) ((int16_t) (m))
+#define AO_MS_TO_SPEED(ms) ((int16_t) ((ms) * 16))
+#define AO_MSS_TO_ACCEL(mss) ((int16_t) ((mss) * 16))
+
+/*
+ * One set of samples read from the A/D converter
+ */
+struct ao_adc {
+ uint16_t tick; /* tick when the sample was read */
+ int16_t accel; /* accelerometer */
+ int16_t pres; /* pressure sensor */
+ int16_t pres_real; /* unclipped */
+ int16_t temp; /* temperature sensor */
+ int16_t v_batt; /* battery voltage */
+ int16_t sense_d; /* drogue continuity sense */
+ int16_t sense_m; /* main continuity sense */
+};
+
+#define __pdata
+#define __data
+#define __xdata
+#define __code
+#define __reentrant
+
+#define to_fix16(x) ((int16_t) ((x) * 65536.0 + 0.5))
+#define to_fix32(x) ((int32_t) ((x) * 65536.0 + 0.5))
+#define from_fix(x) ((x) >> 16)
+
+/*
+ * Above this height, the baro sensor doesn't work
+ */
+#define AO_MAX_BARO_HEIGHT 12000
+#define AO_BARO_SATURATE 13000
+#define AO_MIN_BARO_VALUE ao_altitude_to_pres(AO_BARO_SATURATE)
+
+/*
+ * Above this speed, baro measurements are unreliable
+ */
+#define AO_MAX_BARO_SPEED 200
+
+#define ACCEL_NOSE_UP (ao_accel_2g >> 2)
+
+enum ao_flight_state {
+ ao_flight_startup = 0,
+ ao_flight_idle = 1,
+ ao_flight_pad = 2,
+ ao_flight_boost = 3,
+ ao_flight_fast = 4,
+ ao_flight_coast = 5,
+ ao_flight_drogue = 6,
+ ao_flight_main = 7,
+ ao_flight_landed = 8,
+ ao_flight_invalid = 9
+};
+
+extern enum ao_flight_state ao_flight_state;
+
+#define FALSE 0
+#define TRUE 1
+
+struct ao_adc ao_adc_ring[AO_ADC_RING];
+uint8_t ao_adc_head;
+int ao_summary = 0;
+
+#define ao_led_on(l)
+#define ao_led_off(l)
+#define ao_timer_set_adc_interval(i)
+#define ao_wakeup(wchan) ao_dump_state()
+#define ao_cmd_register(c)
+#define ao_usb_disable()
+#define ao_telemetry_set_interval(x)
+#define ao_rdf_set(rdf)
+#define ao_packet_slave_start()
+#define ao_packet_slave_stop()
+
+enum ao_igniter {
+ ao_igniter_drogue = 0,
+ ao_igniter_main = 1
+};
+
+struct ao_adc ao_adc_static;
+
+int drogue_height;
+double drogue_time;
+int main_height;
+double main_time;
+
+int tick_offset;
+
+static int32_t ao_k_height;
+
+void
+ao_ignite(enum ao_igniter igniter)
+{
+ double time = (double) (ao_adc_static.tick + tick_offset) / 100;
+
+ if (igniter == ao_igniter_drogue) {
+ drogue_time = time;
+ drogue_height = ao_k_height >> 16;
+ } else {
+ main_time = time;
+ main_height = ao_k_height >> 16;
+ }
+}
+
+struct ao_task {
+ int dummy;
+};
+
+#define ao_add_task(t,f,n)
+
+#define ao_log_start()
+#define ao_log_stop()
+
+#define AO_MS_TO_TICKS(ms) ((ms) / 10)
+#define AO_SEC_TO_TICKS(s) ((s) * 100)
+
+#define AO_FLIGHT_TEST
+
+int ao_flight_debug;
+
+FILE *emulator_in;
+char *emulator_app;
+char *emulator_name;
+double emulator_error_max = 4;
+double emulator_height_error_max = 20; /* noise in the baro sensor */
+
+void
+ao_dump_state(void);
+
+void
+ao_sleep(void *wchan);
+
+const char const * const ao_state_names[] = {
+ "startup", "idle", "pad", "boost", "fast",
+ "coast", "drogue", "main", "landed", "invalid"
+};
+
+struct ao_cmds {
+ void (*func)(void);
+ const char *help;
+};
+
+#include "ao_convert.c"
+
+struct ao_config {
+ uint16_t main_deploy;
+ int16_t accel_plus_g;
+ int16_t accel_minus_g;
+ uint8_t pad_orientation;
+};
+
+#define AO_PAD_ORIENTATION_ANTENNA_UP 0
+#define AO_PAD_ORIENTATION_ANTENNA_DOWN 1
+
+#define ao_config_get()
+
+struct ao_config ao_config;
+
+#define DATA_TO_XDATA(x) (x)
+
+#define HAS_FLIGHT 1
+#define HAS_ADC 1
+#define HAS_USB 1
+#define HAS_GPS 1
+#ifndef HAS_ACCEL
+#define HAS_ACCEL 1
+#define HAS_ACCEL_REF 0
+#endif
+
+#define GRAVITY 9.80665
+extern int16_t ao_ground_accel, ao_flight_accel;
+extern int16_t ao_accel_2g;
+
+extern uint16_t ao_sample_tick;
+
+extern int16_t ao_sample_height;
+extern int16_t ao_sample_accel;
+extern int32_t ao_accel_scale;
+extern int16_t ao_ground_height;
+extern int16_t ao_sample_alt;
+
+int ao_sample_prev_tick;
+uint16_t prev_tick;
+
+#include "ao_kalman.c"
+#include "ao_sample.c"
+#include "ao_flight.c"
+
+#define to_double(f) ((f) / 65536.0)
+
+static int ao_records_read = 0;
+static int ao_eof_read = 0;
+static int ao_flight_ground_accel;
+static int ao_flight_started = 0;
+static int ao_test_max_height;
+static double ao_test_max_height_time;
+static int ao_test_main_height;
+static double ao_test_main_height_time;
+static double ao_test_landed_time;
+static double ao_test_landed_height;
+static double ao_test_landed_time;
+static int landed_set;
+static double landed_time;
+static double landed_height;
+
+void
+ao_test_exit(void)
+{
+ double drogue_error;
+ double main_error;
+ double landed_error;
+ double landed_time_error;
+
+ if (!ao_test_main_height_time) {
+ ao_test_main_height_time = ao_test_max_height_time;
+ ao_test_main_height = ao_test_max_height;
+ }
+ drogue_error = fabs(ao_test_max_height_time - drogue_time);
+ main_error = fabs(ao_test_main_height_time - main_time);
+ landed_error = fabs(ao_test_landed_height - landed_height);
+ landed_time_error = ao_test_landed_time - landed_time;
+ if (drogue_error > emulator_error_max || main_error > emulator_error_max ||
+ landed_time_error > emulator_error_max || landed_error > emulator_height_error_max) {
+ printf ("%s %s\n",
+ emulator_app, emulator_name);
+ printf ("\tApogee error %g\n", drogue_error);
+ printf ("\tMain error %g\n", main_error);
+ printf ("\tLanded height error %g\n", landed_error);
+ printf ("\tLanded time error %g\n", landed_time_error);
+ printf ("\tActual: apogee: %d at %7.2f main: %d at %7.2f landed %7.2f at %7.2f\n",
+ ao_test_max_height, ao_test_max_height_time,
+ ao_test_main_height, ao_test_main_height_time,
+ ao_test_landed_height, ao_test_landed_time);
+ printf ("\tComputed: apogee: %d at %7.2f main: %d at %7.2f landed %7.2f at %7.2f\n",
+ drogue_height, drogue_time, main_height, main_time,
+ landed_height, landed_time);
+ exit (1);
+ }
+ exit(0);
+}
+
+void
+ao_insert(void)
+{
+ double time;
+
+ ao_adc_ring[ao_adc_head] = ao_adc_static;
+ ao_adc_head = ao_adc_ring_next(ao_adc_head);
+ if (ao_flight_state != ao_flight_startup) {
+ double height = ao_pres_to_altitude(ao_adc_static.pres_real) - ao_ground_height;
+ double accel = ((ao_flight_ground_accel - ao_adc_static.accel) * GRAVITY * 2.0) /
+ (ao_config.accel_minus_g - ao_config.accel_plus_g);
+
+ if (!tick_offset)
+ tick_offset = -ao_adc_static.tick;
+ if ((prev_tick - ao_adc_static.tick) > 0x400)
+ tick_offset += 65536;
+ prev_tick = ao_adc_static.tick;
+ time = (double) (ao_adc_static.tick + tick_offset) / 100;
+
+ if (ao_test_max_height < height) {
+ ao_test_max_height = height;
+ ao_test_max_height_time = time;
+ ao_test_landed_height = height;
+ ao_test_landed_time = time;
+ }
+ if (height > ao_config.main_deploy) {
+ ao_test_main_height_time = time;
+ ao_test_main_height = height;
+ }
+
+ if (ao_test_landed_height > height) {
+ ao_test_landed_height = height;
+ ao_test_landed_time = time;
+ }
+
+ if (ao_flight_state == ao_flight_landed && !landed_set) {
+ landed_set = 1;
+ landed_time = time;
+ landed_height = height;
+ }
+
+ if (!ao_summary) {
+ printf("%7.2f height %8.2f accel %8.3f state %-8.8s k_height %8.2f k_speed %8.3f k_accel %8.3f avg_height %5d drogue %4d main %4d error %5d\n",
+ time,
+ height,
+ accel,
+ ao_state_names[ao_flight_state],
+ ao_k_height / 65536.0,
+ ao_k_speed / 65536.0 / 16.0,
+ ao_k_accel / 65536.0 / 16.0,
+ ao_avg_height,
+ drogue_height,
+ main_height,
+ ao_error_h_sq_avg);
+
+// if (ao_flight_state == ao_flight_landed)
+// ao_test_exit();
+ }
+ }
+}
+
+#define AO_MAX_CALLSIGN 8
+#define AO_MAX_VERSION 8
+#define AO_MAX_TELEMETRY 128
+
+struct ao_telemetry_generic {
+ uint16_t serial; /* 0 */
+ uint16_t tick; /* 2 */
+ uint8_t type; /* 4 */
+ uint8_t payload[27]; /* 5 */
+ /* 32 */
+};
+
+#define AO_TELEMETRY_SENSOR_TELEMETRUM 0x01
+#define AO_TELEMETRY_SENSOR_TELEMINI 0x02
+#define AO_TELEMETRY_SENSOR_TELENANO 0x03
+
+struct ao_telemetry_sensor {
+ uint16_t serial; /* 0 */
+ uint16_t tick; /* 2 */
+ uint8_t type; /* 4 */
+
+ uint8_t state; /* 5 flight state */
+ int16_t accel; /* 6 accelerometer (TM only) */
+ int16_t pres; /* 8 pressure sensor */
+ int16_t temp; /* 10 temperature sensor */
+ int16_t v_batt; /* 12 battery voltage */
+ int16_t sense_d; /* 14 drogue continuity sense (TM/Tm) */
+ int16_t sense_m; /* 16 main continuity sense (TM/Tm) */
+
+ int16_t acceleration; /* 18 m/s² * 16 */
+ int16_t speed; /* 20 m/s * 16 */
+ int16_t height; /* 22 m */
+
+ int16_t ground_pres; /* 24 average pres on pad */
+ int16_t ground_accel; /* 26 average accel on pad */
+ int16_t accel_plus_g; /* 28 accel calibration at +1g */
+ int16_t accel_minus_g; /* 30 accel calibration at -1g */
+ /* 32 */
+};
+
+#define AO_TELEMETRY_CONFIGURATION 0x04
+
+struct ao_telemetry_configuration {
+ uint16_t serial; /* 0 */
+ uint16_t tick; /* 2 */
+ uint8_t type; /* 4 */
+
+ uint8_t device; /* 5 device type */
+ uint16_t flight; /* 6 flight number */
+ uint8_t config_major; /* 8 Config major version */
+ uint8_t config_minor; /* 9 Config minor version */
+ uint16_t apogee_delay; /* 10 Apogee deploy delay in seconds */
+ uint16_t main_deploy; /* 12 Main deploy alt in meters */
+ uint16_t flight_log_max; /* 14 Maximum flight log size in kB */
+ char callsign[AO_MAX_CALLSIGN]; /* 16 Radio operator identity */
+ char version[AO_MAX_VERSION]; /* 24 Software version */
+ /* 32 */
+};
+
+#define AO_TELEMETRY_LOCATION 0x05
+
+#define AO_GPS_MODE_NOT_VALID 'N'
+#define AO_GPS_MODE_AUTONOMOUS 'A'
+#define AO_GPS_MODE_DIFFERENTIAL 'D'
+#define AO_GPS_MODE_ESTIMATED 'E'
+#define AO_GPS_MODE_MANUAL 'M'
+#define AO_GPS_MODE_SIMULATED 'S'
+
+struct ao_telemetry_location {
+ uint16_t serial; /* 0 */
+ uint16_t tick; /* 2 */
+ uint8_t type; /* 4 */
+
+ uint8_t flags; /* 5 Number of sats and other flags */
+ int16_t altitude; /* 6 GPS reported altitude (m) */
+ int32_t latitude; /* 8 latitude (degrees * 10⁷) */
+ int32_t longitude; /* 12 longitude (degrees * 10⁷) */
+ uint8_t year; /* 16 (- 2000) */
+ uint8_t month; /* 17 (1-12) */
+ uint8_t day; /* 18 (1-31) */
+ uint8_t hour; /* 19 (0-23) */
+ uint8_t minute; /* 20 (0-59) */
+ uint8_t second; /* 21 (0-59) */
+ uint8_t pdop; /* 22 (m * 5) */
+ uint8_t hdop; /* 23 (m * 5) */
+ uint8_t vdop; /* 24 (m * 5) */
+ uint8_t mode; /* 25 */
+ uint16_t ground_speed; /* 26 cm/s */
+ int16_t climb_rate; /* 28 cm/s */
+ uint8_t course; /* 30 degrees / 2 */
+ uint8_t unused[1]; /* 31 */
+ /* 32 */
+};
+
+#define AO_TELEMETRY_SATELLITE 0x06
+
+struct ao_telemetry_satellite_info {
+ uint8_t svid;
+ uint8_t c_n_1;
+};
+
+struct ao_telemetry_satellite {
+ uint16_t serial; /* 0 */
+ uint16_t tick; /* 2 */
+ uint8_t type; /* 4 */
+ uint8_t channels; /* 5 number of reported sats */
+
+ struct ao_telemetry_satellite_info sats[12]; /* 6 */
+ uint8_t unused[2]; /* 30 */
+ /* 32 */
+};
+
+union ao_telemetry_all {
+ struct ao_telemetry_generic generic;
+ struct ao_telemetry_sensor sensor;
+ struct ao_telemetry_configuration configuration;
+ struct ao_telemetry_location location;
+ struct ao_telemetry_satellite satellite;
+};
+
+uint16_t
+uint16(uint8_t *bytes, int off)
+{
+ off++;
+ return (uint16_t) bytes[off] | (((uint16_t) bytes[off+1]) << 8);
+}
+
+int16_t
+int16(uint8_t *bytes, int off)
+{
+ return (int16_t) uint16(bytes, off);
+}
+
+void
+ao_sleep(void *wchan)
+{
+ if (wchan == &ao_adc_head) {
+ char type;
+ uint16_t tick;
+ uint16_t a, b;
+ int ret;
+ uint8_t bytes[1024];
+ union ao_telemetry_all telem;
+ char line[1024];
+ char *saveptr;
+ char *l;
+ char *words[64];
+ int nword;
+
+ for (;;) {
+ if (ao_records_read > 2 && ao_flight_state == ao_flight_startup)
+ {
+ ao_adc_static.accel = ao_flight_ground_accel;
+ ao_insert();
+ return;
+ }
+
+ if (!fgets(line, sizeof (line), emulator_in)) {
+ if (++ao_eof_read >= 1000) {
+ if (!ao_summary)
+ printf ("no more data, exiting simulation\n");
+ ao_test_exit();
+ }
+ ao_adc_static.tick += 10;
+ ao_insert();
+ return;
+ }
+ l = line;
+ for (nword = 0; nword < 64; nword++) {
+ words[nword] = strtok_r(l, " \t\n", &saveptr);
+ l = NULL;
+ if (words[nword] == NULL)
+ break;
+ }
+ if (nword == 4) {
+ type = words[0][0];
+ tick = strtoul(words[1], NULL, 16);
+ a = strtoul(words[2], NULL, 16);
+ b = strtoul(words[3], NULL, 16);
+ if (type == 'P')
+ type = 'A';
+ } else if (nword >= 6 && strcmp(words[0], "Accel") == 0) {
+ ao_config.accel_plus_g = atoi(words[3]);
+ ao_config.accel_minus_g = atoi(words[5]);
+ } else if (nword >= 4 && strcmp(words[0], "Main") == 0) {
+ ao_config.main_deploy = atoi(words[2]);
+ } else if (nword >= 36 && strcmp(words[0], "CALL") == 0) {
+ tick = atoi(words[10]);
+ if (!ao_flight_started) {
+ type = 'F';
+ a = atoi(words[26]);
+ ao_flight_started = 1;
+ } else {
+ type = 'A';
+ a = atoi(words[12]);
+ b = atoi(words[14]);
+ }
+ } else if (nword == 3 && strcmp(words[0], "BARO") == 0) {
+ tick = strtol(words[1], NULL, 16);
+ a = 16384 - 328;
+ b = strtol(words[2], NULL, 10);
+ type = 'A';
+ if (!ao_flight_started) {
+ ao_flight_ground_accel = 16384 - 328;
+ ao_config.accel_plus_g = 16384 - 328;
+ ao_config.accel_minus_g = 16384 + 328;
+ ao_flight_started = 1;
+ }
+ } else if (nword == 2 && strcmp(words[0], "TELEM") == 0) {
+ char *hex = words[1];
+ char elt[3];
+ int i, len;
+ uint8_t sum;
+
+ len = strlen(hex);
+ if (len > sizeof (bytes) * 2) {
+ len = sizeof (bytes)*2;
+ hex[len] = '\0';
+ }
+ for (i = 0; i < len; i += 2) {
+ elt[0] = hex[i];
+ elt[1] = hex[i+1];
+ elt[2] = '\0';
+ bytes[i/2] = (uint8_t) strtol(elt, NULL, 16);
+ }
+ len = i/2;
+ if (bytes[0] != len - 2) {
+ printf ("bad length %d != %d\n", bytes[0], len - 2);
+ continue;
+ }
+ sum = 0x5a;
+ for (i = 1; i < len-1; i++)
+ sum += bytes[i];
+ if (sum != bytes[len-1]) {
+ printf ("bad checksum\n");
+ continue;
+ }
+ if ((bytes[len-2] & 0x80) == 0) {
+ continue;
+ }
+ if (len == 36) {
+ memcpy(&telem, bytes + 1, 32);
+ tick = telem.generic.tick;
+ switch (telem.generic.type) {
+ case AO_TELEMETRY_SENSOR_TELEMETRUM:
+ case AO_TELEMETRY_SENSOR_TELEMINI:
+ case AO_TELEMETRY_SENSOR_TELENANO:
+ if (!ao_flight_started) {
+ ao_flight_ground_accel = telem.sensor.ground_accel;
+ ao_config.accel_plus_g = telem.sensor.accel_plus_g;
+ ao_config.accel_minus_g = telem.sensor.accel_minus_g;
+ ao_flight_started = 1;
+ }
+ type = 'A';
+ a = telem.sensor.accel;
+ b = telem.sensor.pres;
+ break;
+ }
+ } else if (len == 99) {
+ ao_flight_started = 1;
+ tick = uint16(bytes, 21);
+ ao_flight_ground_accel = int16(bytes, 7);
+ ao_config.accel_plus_g = int16(bytes, 17);
+ ao_config.accel_minus_g = int16(bytes, 19);
+ type = 'A';
+ a = int16(bytes, 23);
+ b = int16(bytes, 25);
+ } else if (len == 98) {
+ ao_flight_started = 1;
+ tick = uint16(bytes, 20);
+ ao_flight_ground_accel = int16(bytes, 6);
+ ao_config.accel_plus_g = int16(bytes, 16);
+ ao_config.accel_minus_g = int16(bytes, 18);
+ type = 'A';
+ a = int16(bytes, 22);
+ b = int16(bytes, 24);
+ } else {
+ printf("unknown len %d\n", len);
+ continue;
+ }
+ }
+ if (type != 'F' && !ao_flight_started)
+ continue;
+
+ switch (type) {
+ case 'F':
+ ao_flight_ground_accel = a;
+ if (ao_config.accel_plus_g == 0) {
+ ao_config.accel_plus_g = a;
+ ao_config.accel_minus_g = a + 530;
+ }
+ if (ao_config.main_deploy == 0)
+ ao_config.main_deploy = 250;
+ ao_flight_started = 1;
+ break;
+ case 'S':
+ break;
+ case 'A':
+ ao_adc_static.tick = tick;
+ ao_adc_static.accel = a;
+ ao_adc_static.pres_real = b;
+ if (b < AO_MIN_BARO_VALUE)
+ b = AO_MIN_BARO_VALUE;
+ ao_adc_static.pres = b;
+ ao_records_read++;
+ ao_insert();
+ return;
+ case 'T':
+ ao_adc_static.tick = tick;
+ ao_adc_static.temp = a;
+ ao_adc_static.v_batt = b;
+ break;
+ case 'D':
+ case 'G':
+ case 'N':
+ case 'W':
+ case 'H':
+ break;
+ }
+ }
+
+ }
+}
+#define COUNTS_PER_G 264.8
+
+void
+ao_dump_state(void)
+{
+}
+
+static const struct option options[] = {
+ { .name = "summary", .has_arg = 0, .val = 's' },
+ { .name = "debug", .has_arg = 0, .val = 'd' },
+ { 0, 0, 0, 0},
+};
+
+void run_flight_fixed(char *name, FILE *f, int summary)
+{
+ emulator_name = name;
+ emulator_in = f;
+ ao_summary = summary;
+ ao_flight_init();
+ ao_flight();
+}
+
+int
+main (int argc, char **argv)
+{
+ int summary = 0;
+ int c;
+ int i;
+
+#if HAS_ACCEL
+ emulator_app="full";
+#else
+ emulator_app="baro";
+#endif
+ while ((c = getopt_long(argc, argv, "sd", options, NULL)) != -1) {
+ switch (c) {
+ case 's':
+ summary = 1;
+ break;
+ case 'd':
+ ao_flight_debug = 1;
+ break;
+ }
+ }
+
+ if (optind == argc)
+ run_flight_fixed("<stdin>", stdin, summary);
+ else
+ for (i = optind; i < argc; i++) {
+ FILE *f = fopen(argv[i], "r");
+ if (!f) {
+ perror(argv[i]);
+ continue;
+ }
+ run_flight_fixed(argv[i], f, summary);
+ fclose(f);
+ }
+}
diff --git a/src/test/ao_gps_test.c b/src/test/ao_gps_test.c
new file mode 100644
index 00000000..93d7a9ab
--- /dev/null
+++ b/src/test/ao_gps_test.c
@@ -0,0 +1,508 @@
+/*
+ * 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>
+#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_gps_orig {
+ 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 hdop; /* * 5 */
+ int16_t climb_rate; /* cm/s */
+ uint16_t h_error; /* m */
+ uint16_t v_error; /* m */
+};
+
+#define SIRF_SAT_STATE_ACQUIRED (1 << 0)
+#define SIRF_SAT_STATE_CARRIER_PHASE_VALID (1 << 1)
+#define SIRF_SAT_BIT_SYNC_COMPLETE (1 << 2)
+#define SIRF_SAT_SUBFRAME_SYNC_COMPLETE (1 << 3)
+#define SIRF_SAT_CARRIER_PULLIN_COMPLETE (1 << 4)
+#define SIRF_SAT_CODE_LOCKED (1 << 5)
+#define SIRF_SAT_ACQUISITION_FAILED (1 << 6)
+#define SIRF_SAT_EPHEMERIS_AVAILABLE (1 << 7)
+
+struct ao_gps_sat_orig {
+ uint8_t svid;
+ uint8_t c_n_1;
+};
+
+#define AO_MAX_GPS_TRACKING 12
+
+struct ao_gps_tracking_orig {
+ uint8_t channels;
+ struct ao_gps_sat_orig sats[AO_MAX_GPS_TRACKING];
+};
+
+#define ao_telemetry_location ao_gps_orig
+#define ao_telemetry_satellite ao_gps_tracking_orig
+#define ao_telemetry_satellite_info ao_gps_sat_orig
+
+void
+ao_mutex_get(uint8_t *mutex)
+{
+}
+
+void
+ao_mutex_put(uint8_t *mutex)
+{
+}
+
+static int
+ao_gps_fd;
+
+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));
+}
+
+#define QUEUE_LEN 4096
+
+static char input_queue[QUEUE_LEN];
+int input_head, input_tail;
+
+#include <sys/time.h>
+
+int
+get_millis(void)
+{
+ struct timeval tv;
+ gettimeofday(&tv, NULL);
+ return tv.tv_sec * 1000 + tv.tv_usec / 1000;
+}
+
+static void
+check_sirf_message(char *from, uint8_t *msg, int len)
+{
+ uint16_t encoded_len, encoded_cksum;
+ uint16_t cksum;
+ uint8_t id;
+ int i;
+
+ if (msg[0] != 0xa0 || msg[1] != 0xa2) {
+ printf ("bad header\n");
+ return;
+ }
+ if (len < 7) {
+ printf("short\n");
+ return;
+ }
+ if (msg[len-1] != 0xb3 || msg[len-2] != 0xb0) {
+ printf ("bad trailer\n");
+ return;
+ }
+ encoded_len = (msg[2] << 8) | msg[3];
+ id = msg[4];
+/* printf ("%9d: %3d\n", get_millis(), id); */
+ if (encoded_len != len - 8) {
+ if (id != 52)
+ printf ("length mismatch (got %d, wanted %d)\n",
+ len - 8, encoded_len);
+ return;
+ }
+ encoded_cksum = (msg[len - 4] << 8) | msg[len-3];
+ cksum = 0;
+ for (i = 4; i < len - 4; i++)
+ cksum = (cksum + msg[i]) & 0x7fff;
+ if (encoded_cksum != cksum) {
+ printf ("cksum mismatch (got %04x wanted %04x)\n",
+ cksum, encoded_cksum);
+ return;
+ }
+ id = msg[4];
+ switch (id) {
+ case 41:{
+ int off = 4;
+
+ uint8_t id;
+ uint16_t nav_valid;
+ uint16_t nav_type;
+ uint16_t week;
+ uint32_t tow;
+ uint16_t year;
+ uint8_t month;
+ uint8_t day;
+ uint8_t hour;
+ uint8_t minute;
+ uint16_t second;
+ uint32_t sat_list;
+ int32_t lat;
+ int32_t lon;
+ int32_t alt_ell;
+ int32_t alt_msl;
+ int8_t datum;
+ uint16_t sog;
+ uint16_t cog;
+ int16_t mag_var;
+ int16_t climb_rate;
+ int16_t heading_rate;
+ uint32_t h_error;
+ uint32_t v_error;
+ uint32_t t_error;
+ uint16_t h_v_error;
+
+#define get_u8(u) u = (msg[off]); off+= 1
+#define get_u16(u) u = (msg[off] << 8) | (msg[off + 1]); off+= 2
+#define get_u32(u) u = (msg[off] << 24) | (msg[off + 1] << 16) | (msg[off+2] << 8) | (msg[off+3]); off+= 4
+
+ get_u8(id);
+ get_u16(nav_valid);
+ get_u16(nav_type);
+ get_u16(week);
+ get_u32(tow);
+ get_u16(year);
+ get_u8(month);
+ get_u8(day);
+ get_u8(hour);
+ get_u8(minute);
+ get_u16(second);
+ get_u32(sat_list);
+ get_u32(lat);
+ get_u32(lon);
+ get_u32(alt_ell);
+ get_u32(alt_msl);
+ get_u8(datum);
+ get_u16(sog);
+ get_u16(cog);
+ get_u16(mag_var);
+ get_u16(climb_rate);
+ get_u16(heading_rate);
+ get_u32(h_error);
+ get_u32(v_error);
+ get_u32(t_error);
+ get_u16(h_v_error);
+
+
+ printf ("Geodetic Navigation Data (41):\n");
+ printf ("\tNav valid %04x\n", nav_valid);
+ printf ("\tNav type %04x\n", nav_type);
+ printf ("\tWeek %5d", week);
+ printf (" TOW %9d", tow);
+ printf (" %4d-%2d-%2d %02d:%02d:%07.4f\n",
+ year, month, day,
+ hour, minute, second / 1000.0);
+ printf ("\tsats: %08x\n", sat_list);
+ printf ("\tlat: %g", lat / 1.0e7);
+ printf (" lon: %g", lon / 1.0e7);
+ printf (" alt_ell: %g", alt_ell / 100.0);
+ printf (" alt_msll: %g", alt_msl / 100.0);
+ printf (" datum: %d\n", datum);
+ printf ("\tground speed: %g", sog / 100.0);
+ printf (" course: %g", cog / 100.0);
+ printf (" climb: %g", climb_rate / 100.0);
+ printf (" heading rate: %g\n", heading_rate / 100.0);
+ printf ("\th error: %g", h_error / 100.0);
+ printf (" v error: %g", v_error / 100.0);
+ printf (" t error: %g", t_error / 100.0);
+ printf (" h vel error: %g\n", h_v_error / 100.0);
+ break;
+ }
+ case 4: {
+ int off = 4;
+ uint8_t id;
+ int16_t gps_week;
+ uint32_t gps_tow;
+ uint8_t channels;
+ int j, k;
+
+ get_u8(id);
+ get_u16(gps_week);
+ get_u32(gps_tow);
+ get_u8(channels);
+
+ printf ("Measured Tracker Data (4):\n");
+ printf ("GPS week: %d\n", gps_week);
+ printf ("GPS time of week: %d\n", gps_tow);
+ printf ("channels: %d\n", channels);
+ for (j = 0; j < 12; j++) {
+ uint8_t svid, azimuth, elevation;
+ uint16_t state;
+ uint8_t c_n[10];
+ get_u8(svid);
+ get_u8(azimuth);
+ get_u8(elevation);
+ get_u16(state);
+ for (k = 0; k < 10; k++) {
+ get_u8(c_n[k]);
+ }
+ printf ("Sat %3d:", svid);
+ printf (" aziumuth: %6.1f", azimuth * 1.5);
+ printf (" elevation: %6.1f", elevation * 0.5);
+ printf (" state: 0x%02x", state);
+ printf (" c_n:");
+ for (k = 0; k < 10; k++)
+ printf(" %3d", c_n[k]);
+ if (state & SIRF_SAT_STATE_ACQUIRED)
+ printf(" acq,");
+ if (state & SIRF_SAT_STATE_CARRIER_PHASE_VALID)
+ printf(" car,");
+ if (state & SIRF_SAT_BIT_SYNC_COMPLETE)
+ printf(" bit,");
+ if (state & SIRF_SAT_SUBFRAME_SYNC_COMPLETE)
+ printf(" sub,");
+ if (state & SIRF_SAT_CARRIER_PULLIN_COMPLETE)
+ printf(" pullin,");
+ if (state & SIRF_SAT_CODE_LOCKED)
+ printf(" code,");
+ if (state & SIRF_SAT_ACQUISITION_FAILED)
+ printf(" fail,");
+ if (state & SIRF_SAT_EPHEMERIS_AVAILABLE)
+ printf(" ephem,");
+ printf ("\n");
+ }
+ break;
+ }
+ default:
+ return;
+ printf ("%s %4d:", from, encoded_len);
+ for (i = 4; i < len - 4; i++) {
+ if (((i - 4) & 0xf) == 0)
+ printf("\n ");
+ printf (" %3d", msg[i]);
+ }
+ printf ("\n");
+ }
+}
+
+static uint8_t sirf_message[4096];
+static int sirf_message_len;
+static uint8_t sirf_in_message[4096];
+static int sirf_in_len;
+
+char
+ao_serial_getchar(void)
+{
+ char c;
+ uint8_t uc;
+
+ while (input_head == input_tail) {
+ for (;;) {
+ input_tail = read(ao_gps_fd, input_queue, QUEUE_LEN);
+ if (input_tail < 0) {
+ if (errno == EINTR || errno == EAGAIN)
+ continue;
+ perror ("getchar");
+ exit (1);
+ }
+ input_head = 0;
+ break;
+ }
+ }
+ c = input_queue[input_head];
+ input_head = (input_head + 1) % QUEUE_LEN;
+ uc = c;
+ if (sirf_in_len || uc == 0xa0) {
+ if (sirf_in_len < 4096)
+ sirf_in_message[sirf_in_len++] = uc;
+ if (uc == 0xb3) {
+ check_sirf_message("recv", sirf_in_message, sirf_in_len);
+ sirf_in_len = 0;
+ }
+ }
+ return c;
+}
+
+
+void
+ao_serial_putchar(char c)
+{
+ int i;
+ uint8_t uc = (uint8_t) c;
+
+ if (sirf_message_len || uc == 0xa0) {
+ if (sirf_message_len < 4096)
+ sirf_message[sirf_message_len++] = uc;
+ if (uc == 0xb3) {
+ check_sirf_message("send", sirf_message, sirf_message_len);
+ sirf_message_len = 0;
+ }
+ }
+ for (;;) {
+ i = write(ao_gps_fd, &c, 1);
+ if (i == 1) {
+ if ((uint8_t) c == 0xb3 || c == '\r') {
+ static const struct timespec delay = {
+ .tv_sec = 0,
+ .tv_nsec = 100 * 1000 * 1000
+ };
+ tcdrain(ao_gps_fd);
+// nanosleep(&delay, NULL);
+ }
+ break;
+ }
+ if (i < 0 && (errno == EINTR || errno == EAGAIN))
+ continue;
+ perror("putchar");
+ exit(1);
+ }
+}
+
+#define AO_SERIAL_SPEED_4800 0
+#define AO_SERIAL_SPEED_57600 1
+
+static void
+ao_serial_set_speed(uint8_t speed)
+{
+ int fd = ao_gps_fd;
+ struct termios termios;
+
+ tcdrain(fd);
+ tcgetattr(fd, &termios);
+ switch (speed) {
+ case AO_SERIAL_SPEED_4800:
+ cfsetspeed(&termios, B4800);
+ break;
+ case AO_SERIAL_SPEED_57600:
+ cfsetspeed(&termios, B57600);
+ break;
+ }
+ tcsetattr(fd, TCSAFLUSH, &termios);
+ tcflush(fd, TCIFLUSH);
+}
+
+#define ao_time() 0
+
+#include "ao_gps_print.c"
+#include "ao_gps_sirf.c"
+
+void
+ao_dump_state(void *wchan)
+{
+ double lat, lon;
+ int i;
+ if (wchan == &ao_gps_data)
+ ao_gps_print(&ao_gps_data);
+ else
+ ao_gps_tracking_print(&ao_gps_tracking_data);
+ putchar('\n');
+ return;
+ printf ("%02d:%02d:%02d",
+ ao_gps_data.hour, ao_gps_data.minute,
+ ao_gps_data.second);
+ printf (" nsat %d %svalid",
+ ao_gps_data.flags & AO_GPS_NUM_SAT_MASK,
+ ao_gps_data.flags & AO_GPS_VALID ? "" : "not ");
+ printf (" lat %g lon %g alt %d",
+ ao_gps_data.latitude / 1.0e7,
+ ao_gps_data.longitude / 1.0e7,
+ ao_gps_data.altitude);
+ printf (" speed %g climb %g course %d",
+ ao_gps_data.ground_speed / 100.0,
+ ao_gps_data.climb_rate / 100.0,
+ ao_gps_data.course * 2);
+ printf (" hdop %g h_error %d v_error %d",
+ ao_gps_data.hdop / 5.0,
+ ao_gps_data.h_error, ao_gps_data.v_error);
+ printf("\n");
+ printf ("\t");
+ for (i = 0; i < 12; i++)
+ printf (" %2d(%02d)",
+ ao_gps_tracking_data.sats[i].svid,
+ ao_gps_tracking_data.sats[i].c_n_1);
+ printf ("\n");
+}
+
+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_setup();
+ ao_gps();
+}
diff --git a/src/test/ao_gps_test_skytraq.c b/src/test/ao_gps_test_skytraq.c
new file mode 100644
index 00000000..a78fae0f
--- /dev/null
+++ b/src/test/ao_gps_test_skytraq.c
@@ -0,0 +1,490 @@
+/*
+ * 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>
+#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_gps_orig {
+ 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 hdop; /* * 5 */
+ int16_t climb_rate; /* cm/s */
+ uint16_t h_error; /* m */
+ uint16_t v_error; /* m */
+};
+
+#define SIRF_SAT_STATE_ACQUIRED (1 << 0)
+#define SIRF_SAT_STATE_CARRIER_PHASE_VALID (1 << 1)
+#define SIRF_SAT_BIT_SYNC_COMPLETE (1 << 2)
+#define SIRF_SAT_SUBFRAME_SYNC_COMPLETE (1 << 3)
+#define SIRF_SAT_CARRIER_PULLIN_COMPLETE (1 << 4)
+#define SIRF_SAT_CODE_LOCKED (1 << 5)
+#define SIRF_SAT_ACQUISITION_FAILED (1 << 6)
+#define SIRF_SAT_EPHEMERIS_AVAILABLE (1 << 7)
+
+struct ao_gps_sat_orig {
+ uint8_t svid;
+ uint8_t c_n_1;
+};
+
+#define AO_MAX_GPS_TRACKING 12
+
+struct ao_gps_tracking_orig {
+ uint8_t channels;
+ struct ao_gps_sat_orig sats[AO_MAX_GPS_TRACKING];
+};
+
+#define ao_telemetry_location ao_gps_orig
+#define ao_telemetry_satellite ao_gps_tracking_orig
+#define ao_telemetry_satellite_info ao_gps_sat_orig
+
+void
+ao_mutex_get(uint8_t *mutex)
+{
+}
+
+void
+ao_mutex_put(uint8_t *mutex)
+{
+}
+
+static int
+ao_gps_fd;
+
+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));
+}
+
+#define QUEUE_LEN 4096
+
+static char input_queue[QUEUE_LEN];
+int input_head, input_tail;
+
+#include <sys/time.h>
+
+int
+get_millis(void)
+{
+ struct timeval tv;
+ gettimeofday(&tv, NULL);
+ return tv.tv_sec * 1000 + tv.tv_usec / 1000;
+}
+
+static void
+check_skytraq_message(char *from, uint8_t *msg, int len)
+{
+ uint16_t encoded_len, encoded_cksum;
+ uint16_t cksum;
+ uint8_t id;
+ int i;
+
+// fwrite(msg, 1, len, stdout);
+ return;
+ if (msg[0] != 0xa0 || msg[1] != 0xa2) {
+ printf ("bad header\n");
+ return;
+ }
+ if (len < 7) {
+ printf("short\n");
+ return;
+ }
+ if (msg[len-1] != 0xb3 || msg[len-2] != 0xb0) {
+ printf ("bad trailer\n");
+ return;
+ }
+ encoded_len = (msg[2] << 8) | msg[3];
+ id = msg[4];
+/* printf ("%9d: %3d\n", get_millis(), id); */
+ if (encoded_len != len - 8) {
+ if (id != 52)
+ printf ("length mismatch (got %d, wanted %d)\n",
+ len - 8, encoded_len);
+ return;
+ }
+ encoded_cksum = (msg[len - 4] << 8) | msg[len-3];
+ cksum = 0;
+ for (i = 4; i < len - 4; i++)
+ cksum = (cksum + msg[i]) & 0x7fff;
+ if (encoded_cksum != cksum) {
+ printf ("cksum mismatch (got %04x wanted %04x)\n",
+ cksum, encoded_cksum);
+ return;
+ }
+ id = msg[4];
+ switch (id) {
+ case 41:{
+ int off = 4;
+
+ uint8_t id;
+ uint16_t nav_valid;
+ uint16_t nav_type;
+ uint16_t week;
+ uint32_t tow;
+ uint16_t year;
+ uint8_t month;
+ uint8_t day;
+ uint8_t hour;
+ uint8_t minute;
+ uint16_t second;
+ uint32_t sat_list;
+ int32_t lat;
+ int32_t lon;
+ int32_t alt_ell;
+ int32_t alt_msl;
+ int8_t datum;
+ uint16_t sog;
+ uint16_t cog;
+ int16_t mag_var;
+ int16_t climb_rate;
+ int16_t heading_rate;
+ uint32_t h_error;
+ uint32_t v_error;
+ uint32_t t_error;
+ uint16_t h_v_error;
+
+#define get_u8(u) u = (msg[off]); off+= 1
+#define get_u16(u) u = (msg[off] << 8) | (msg[off + 1]); off+= 2
+#define get_u32(u) u = (msg[off] << 24) | (msg[off + 1] << 16) | (msg[off+2] << 8) | (msg[off+3]); off+= 4
+
+ get_u8(id);
+ get_u16(nav_valid);
+ get_u16(nav_type);
+ get_u16(week);
+ get_u32(tow);
+ get_u16(year);
+ get_u8(month);
+ get_u8(day);
+ get_u8(hour);
+ get_u8(minute);
+ get_u16(second);
+ get_u32(sat_list);
+ get_u32(lat);
+ get_u32(lon);
+ get_u32(alt_ell);
+ get_u32(alt_msl);
+ get_u8(datum);
+ get_u16(sog);
+ get_u16(cog);
+ get_u16(mag_var);
+ get_u16(climb_rate);
+ get_u16(heading_rate);
+ get_u32(h_error);
+ get_u32(v_error);
+ get_u32(t_error);
+ get_u16(h_v_error);
+
+
+ printf ("Geodetic Navigation Data (41):\n");
+ printf ("\tNav valid %04x\n", nav_valid);
+ printf ("\tNav type %04x\n", nav_type);
+ printf ("\tWeek %5d", week);
+ printf (" TOW %9d", tow);
+ printf (" %4d-%2d-%2d %02d:%02d:%07.4f\n",
+ year, month, day,
+ hour, minute, second / 1000.0);
+ printf ("\tsats: %08x\n", sat_list);
+ printf ("\tlat: %g", lat / 1.0e7);
+ printf (" lon: %g", lon / 1.0e7);
+ printf (" alt_ell: %g", alt_ell / 100.0);
+ printf (" alt_msll: %g", alt_msl / 100.0);
+ printf (" datum: %d\n", datum);
+ printf ("\tground speed: %g", sog / 100.0);
+ printf (" course: %g", cog / 100.0);
+ printf (" climb: %g", climb_rate / 100.0);
+ printf (" heading rate: %g\n", heading_rate / 100.0);
+ printf ("\th error: %g", h_error / 100.0);
+ printf (" v error: %g", v_error / 100.0);
+ printf (" t error: %g", t_error / 100.0);
+ printf (" h vel error: %g\n", h_v_error / 100.0);
+ break;
+ }
+ case 4: {
+ int off = 4;
+ uint8_t id;
+ int16_t gps_week;
+ uint32_t gps_tow;
+ uint8_t channels;
+ int j, k;
+
+ get_u8(id);
+ get_u16(gps_week);
+ get_u32(gps_tow);
+ get_u8(channels);
+
+ printf ("Measured Tracker Data (4):\n");
+ printf ("GPS week: %d\n", gps_week);
+ printf ("GPS time of week: %d\n", gps_tow);
+ printf ("channels: %d\n", channels);
+ for (j = 0; j < 12; j++) {
+ uint8_t svid, azimuth, elevation;
+ uint16_t state;
+ uint8_t c_n[10];
+ get_u8(svid);
+ get_u8(azimuth);
+ get_u8(elevation);
+ get_u16(state);
+ for (k = 0; k < 10; k++) {
+ get_u8(c_n[k]);
+ }
+ printf ("Sat %3d:", svid);
+ printf (" aziumuth: %6.1f", azimuth * 1.5);
+ printf (" elevation: %6.1f", elevation * 0.5);
+ printf (" state: 0x%02x", state);
+ printf (" c_n:");
+ for (k = 0; k < 10; k++)
+ printf(" %3d", c_n[k]);
+ if (state & SIRF_SAT_STATE_ACQUIRED)
+ printf(" acq,");
+ if (state & SIRF_SAT_STATE_CARRIER_PHASE_VALID)
+ printf(" car,");
+ if (state & SIRF_SAT_BIT_SYNC_COMPLETE)
+ printf(" bit,");
+ if (state & SIRF_SAT_SUBFRAME_SYNC_COMPLETE)
+ printf(" sub,");
+ if (state & SIRF_SAT_CARRIER_PULLIN_COMPLETE)
+ printf(" pullin,");
+ if (state & SIRF_SAT_CODE_LOCKED)
+ printf(" code,");
+ if (state & SIRF_SAT_ACQUISITION_FAILED)
+ printf(" fail,");
+ if (state & SIRF_SAT_EPHEMERIS_AVAILABLE)
+ printf(" ephem,");
+ printf ("\n");
+ }
+ break;
+ }
+ default:
+ return;
+ printf ("%s %4d:", from, encoded_len);
+ for (i = 4; i < len - 4; i++) {
+ if (((i - 4) & 0xf) == 0)
+ printf("\n ");
+ printf (" %3d", msg[i]);
+ }
+ printf ("\n");
+ }
+}
+
+static uint8_t skytraq_message[4096];
+static int skytraq_message_len;
+static uint8_t skytraq_in_message[4096];
+static int skytraq_in_len;
+
+char
+ao_serial_getchar(void)
+{
+ char c;
+ uint8_t uc;
+
+ while (input_head == input_tail) {
+ for (;;) {
+ input_tail = read(ao_gps_fd, input_queue, QUEUE_LEN);
+ if (input_tail < 0) {
+ if (errno == EINTR || errno == EAGAIN)
+ continue;
+ perror ("getchar");
+ exit (1);
+ }
+ input_head = 0;
+ break;
+ }
+ }
+ c = input_queue[input_head];
+ input_head = (input_head + 1) % QUEUE_LEN;
+ uc = c;
+// printf ("c: %02x %c\n", uc, uc);
+ if (skytraq_in_len || uc == '$') {
+ if (skytraq_in_len < 4096)
+ skytraq_in_message[skytraq_in_len++] = uc;
+ if (uc == 0x0a) {
+ check_skytraq_message("recv", skytraq_in_message, skytraq_in_len);
+ skytraq_in_len = 0;
+ }
+ }
+ return c;
+}
+
+
+void
+ao_serial_putchar(char c)
+{
+ int i;
+ uint8_t uc = (uint8_t) c;
+
+ if (skytraq_message_len || uc == 0xa0) {
+ if (skytraq_message_len < 4096)
+ skytraq_message[skytraq_message_len++] = uc;
+ if (uc == 0x0a) {
+ check_skytraq_message("send", skytraq_message, skytraq_message_len);
+ skytraq_message_len = 0;
+ }
+ }
+ for (;;) {
+ i = write(ao_gps_fd, &c, 1);
+ if (i == 1) {
+ if ((uint8_t) c == 0xb3 || c == '\r') {
+ static const struct timespec delay = {
+ .tv_sec = 0,
+ .tv_nsec = 100 * 1000 * 1000
+ };
+ tcdrain(ao_gps_fd);
+// nanosleep(&delay, NULL);
+ }
+ 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
+
+static void
+ao_serial_set_speed(uint8_t speed)
+{
+ int fd = ao_gps_fd;
+ struct termios termios;
+
+ tcdrain(fd);
+ tcgetattr(fd, &termios);
+ switch (speed) {
+ case AO_SERIAL_SPEED_4800:
+ cfsetspeed(&termios, B4800);
+ break;
+ case AO_SERIAL_SPEED_9600:
+ cfsetspeed(&termios, B38400);
+ break;
+ case AO_SERIAL_SPEED_57600:
+ cfsetspeed(&termios, B57600);
+ break;
+ }
+ tcsetattr(fd, TCSAFLUSH, &termios);
+ tcflush(fd, TCIFLUSH);
+}
+
+#define ao_time() 0
+
+#include "ao_gps_print.c"
+#include "ao_gps_skytraq.c"
+
+void
+ao_dump_state(void *wchan)
+{
+ double lat, lon;
+ int i;
+ 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();
+}
generated by cgit v1.2.3 (git 2.39.1) at 2025-10-16 20:36:07 +0000