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/*
* 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 <pthread.h>
#include <semaphore.h>
#define AO_GPS_NUM_SAT_MASK (0xf << 0)
#define AO_GPS_NUM_SAT_SHIFT (0)
#define AO_GPS_VALID (1 << 4)
struct ao_gps_data {
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 */
};
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;
static sem_t input_semaphore;
char
ao_serial_getchar(void)
{
char c;
int value;
char line[100];
sem_getvalue(&input_semaphore, &value);
// printf ("ao_serial_getchar %d\n", value);
sem_wait(&input_semaphore);
c = input_queue[input_head];
input_head = (input_head + 1) % QUEUE_LEN;
// sprintf (line, "%02x\n", ((int) c) & 0xff);
// write(1, line, strlen(line));
return c;
}
void *
ao_gps_input(void *arg)
{
int i;
char c;
printf("ao_gps_input\n");
for (;;) {
i = read(ao_gps_fd, &c, 1);
if (i == 1) {
int v;
input_queue[input_tail] = c;
input_tail = (input_tail + 1) % QUEUE_LEN;
sem_post(&input_semaphore);
sem_getvalue(&input_semaphore, &v);
// printf ("ao_gps_input %02x %d\n", ((int) c) & 0xff, v);
fflush(stdout);
continue;
}
if (i < 0 && (errno == EINTR || errno == EAGAIN))
continue;
perror("getchar");
exit(1);
}
}
void
ao_serial_putchar(char c)
{
int i;
ao_dbg_char(c);
for (;;) {
i = write(ao_gps_fd, &c, 1);
if (i == 1)
break;
if (i < 0 && (errno == EINTR || errno == EAGAIN))
continue;
perror("putchar");
exit(1);
}
}
static void
ao_serial_set_speed(uint8_t fast)
{
int fd = ao_gps_fd;
struct termios termios;
tcdrain(fd);
tcgetattr(fd, &termios);
cfsetspeed(&termios, fast ? B9600 : B4800);
tcsetattr(fd, TCSAFLUSH, &termios);
tcflush(fd, TCIFLUSH);
}
#include "ao_gps_print.c"
#include "ao_gps.c"
void
ao_dump_state(void)
{
printf ("dump state\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;
}
pthread_t input_thread;
int
main (int argc, char **argv)
{
char *gps_file = "/dev/ttyUSB0";
ao_gps_fd = ao_gps_open(gps_file);
if (ao_gps_fd < 0) {
perror (gps_file);
exit (1);
}
ao_gps_setup();
sem_init(&input_semaphore, 0, 0);
if (pthread_create(&input_thread, NULL, ao_gps_input, NULL) != 0)
perror("pthread_create");
ao_gps();
}
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