path: root/src/drivers/ao_gps_skytraq.c

/*
 * 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

#define AO_GPS_LEADER          2

static __code char ao_gps_header[] = "GP";

__xdata uint8_t ao_gps_mutex;
static __data char ao_gps_char;
static __pdata uint8_t ao_gps_cksum;
static __pdata uint8_t ao_gps_error;

__pdata uint16_t ao_gps_tick;
__xdata struct ao_telemetry_location	ao_gps_data;
__xdata struct ao_telemetry_satellite	ao_gps_tracking_data;

static __pdata uint16_t				ao_gps_next_tick;
static __xdata struct ao_telemetry_location	ao_gps_next;
static __pdata uint8_t				ao_gps_date_flags;
static __xdata struct ao_telemetry_satellite	ao_gps_tracking_next;

#define STQ_S 0xa0, 0xa1
#define STQ_E 0x0d, 0x0a
#define SKYTRAQ_MSG_2(id,a,b) \
    STQ_S, 0, 3, id, a,b, (id^a^b), STQ_E
#define SKYTRAQ_MSG_3(id,a,b,c) \
    STQ_S, 0, 4, id, a,b,c, (id^a^b^c), STQ_E
#define SKYTRAQ_MSG_8(id,a,b,c,d,e,f,g,h) \
    STQ_S, 0, 9, id, a,b,c,d,e,f,g,h, (id^a^b^c^d^e^f^g^h), STQ_E
#define SKYTRAQ_MSG_14(id,a,b,c,d,e,f,g,h,i,j,k,l,m,n) \
    STQ_S, 0,15, id, a,b,c,d,e,f,g,h,i,j,k,l,m,n, \
    (id^a^b^c^d^e^f^g^h^i^j^k^l^m^n), STQ_E

static __code uint8_t ao_gps_config[] = {
	SKYTRAQ_MSG_8(0x08, 1, 1, 1, 1, 1, 1, 1, 0), /* configure nmea */
	/* gga interval */
	/* gsa interval */
	/* gsv interval */
	/* gll interval */
	/* rmc interval */
	/* vtg interval */
	/* zda interval */
	/* attributes (0 = update to sram, 1 = update flash too) */

	SKYTRAQ_MSG_2(0x3c, 0x00, 0x00), /* configure navigation mode */
	/* 0 = car, 1 = pedestrian */
	/* 0 = update to sram, 1 = update sram + flash */
};

static void
ao_gps_lexchar(void)
{
	if (ao_gps_error)
		ao_gps_char = '\n';
	else
		ao_gps_char = ao_serial_getchar();
	ao_gps_cksum ^= ao_gps_char;
}

void
ao_gps_skip_field(void)
{
	while (ao_gps_char != ',' && ao_gps_char != '*' && ao_gps_char != '\n')
		ao_gps_lexchar();
}

void
ao_gps_skip_sep(void)
{
	if (ao_gps_char == ',' || ao_gps_char == '.' || ao_gps_char == '*')
		ao_gps_lexchar();
}

__pdata static uint8_t ao_gps_num_width;

static int16_t
ao_gps_decimal(uint8_t max_width)
{
	int16_t	v;
	__pdata uint8_t	neg = 0;

	ao_gps_skip_sep();
	if (ao_gps_char == '-') {
		neg = 1;
		ao_gps_lexchar();
	}
	v = 0;
	ao_gps_num_width = 0;
	while (ao_gps_num_width < max_width) {
		if (ao_gps_char < '0' || '9' < ao_gps_char)
			break;
		v = v * (int16_t) 10 + ao_gps_char - '0';
		ao_gps_num_width++;
		ao_gps_lexchar();
	}
	if (neg)
		v = -v;
	return v;
}

static uint8_t
ao_gps_hex(uint8_t max_width)
{
	uint8_t	v, d;

	ao_gps_skip_sep();
	v = 0;
	ao_gps_num_width = 0;
	while (ao_gps_num_width < max_width) {
		if ('0' <= ao_gps_char && ao_gps_char <= '9')
			d = ao_gps_char - '0';
		else if ('A' <= ao_gps_char && ao_gps_char <= 'F')
			d = ao_gps_char - 'A' + 10;
		else if ('a' <= ao_gps_char && ao_gps_char <= 'f')
			d = ao_gps_char - 'a' + 10;
		else
			break;
		v = (v << 4) | d;
		ao_gps_num_width++;
		ao_gps_lexchar();
	}
	return v;
}

static int32_t
ao_gps_parse_pos(uint8_t deg_width) __reentrant
{
	int32_t	d;
	int32_t	m;
	int32_t	f;

	d = ao_gps_decimal(deg_width);
	m = ao_gps_decimal(2);
	if (ao_gps_char == '.') {
		f = ao_gps_decimal(4);
		while (ao_gps_num_width < 4) {
			f *= 10;
			ao_gps_num_width++;
		}
	} else {
		f = 0;
		if (ao_gps_char != ',')
			ao_gps_error = 1;
	}
	d = d * 10000000l;
	m = m * 10000l + f;
	d = d + m * 50 / 3;
	return d;
}

static uint8_t
ao_gps_parse_flag(char no_c, char yes_c) __reentrant
{
	uint8_t	ret = 0;
	ao_gps_skip_sep();
	if (ao_gps_char == yes_c)
		ret = 1;
	else if (ao_gps_char == no_c)
		ret = 0;
	else
		ao_gps_error = 1;
	ao_gps_lexchar();
	return ret;
}

static void
ao_nmea_gga()
{
	uint8_t	i;

	/* Now read the data into the gps data record
	 *
	 * $GPGGA,025149.000,4528.1723,N,12244.2480,W,1,05,2.0,103.5,M,-19.5,M,,0000*66
	 *
	 * Essential fix data
	 *
	 *	   025149.000	time (02:51:49.000 GMT)
	 *	   4528.1723,N	Latitude 45°28.1723' N
	 *	   12244.2480,W	Longitude 122°44.2480' W
	 *	   1		Fix quality:
	 *				   0 = invalid
	 *				   1 = GPS fix (SPS)
	 *				   2 = DGPS fix
	 *				   3 = PPS fix
	 *				   4 = Real Time Kinematic
	 *				   5 = Float RTK
	 *				   6 = estimated (dead reckoning)
	 *				   7 = Manual input mode
	 *				   8 = Simulation mode
	 *	   05		Number of satellites (5)
	 *	   2.0		Horizontal dilution
	 *	   103.5,M		Altitude, 103.5M above msl
	 *	   -19.5,M		Height of geoid above WGS84 ellipsoid
	 *	   ?		time in seconds since last DGPS update
	 *	   0000		DGPS station ID
	 *	   *66		checksum
	 */

	ao_gps_next_tick = ao_time();
	ao_gps_next.flags = AO_GPS_RUNNING | ao_gps_date_flags;
	ao_gps_next.hour = ao_gps_decimal(2);
	ao_gps_next.minute = ao_gps_decimal(2);
	ao_gps_next.second = ao_gps_decimal(2);
	ao_gps_skip_field();	/* skip seconds fraction */

	ao_gps_next.latitude = ao_gps_parse_pos(2);
	if (ao_gps_parse_flag('N', 'S'))
		ao_gps_next.latitude = -ao_gps_next.latitude;
	ao_gps_next.longitude = ao_gps_parse_pos(3);
	if (ao_gps_parse_flag('E', 'W'))
		ao_gps_next.longitude = -ao_gps_next.longitude;

	i = ao_gps_decimal(0xff);
	if (i == 1)
		ao_gps_next.flags |= AO_GPS_VALID;

	i = ao_gps_decimal(0xff) << AO_GPS_NUM_SAT_SHIFT;
	if (i > AO_GPS_NUM_SAT_MASK)
		i = AO_GPS_NUM_SAT_MASK;
	ao_gps_next.flags |= i;

	ao_gps_lexchar();
	i = ao_gps_decimal(0xff);
	if (i <= 50) {
		i = (uint8_t) 5 * i;
		if (ao_gps_char == '.')
			i = (i + ((uint8_t) ao_gps_decimal(1) >> 1));
	} else
		i = 255;
	ao_gps_next.hdop = i;
	ao_gps_skip_field();

	ao_gps_next.altitude = ao_gps_decimal(0xff);
	ao_gps_skip_field();	/* skip any fractional portion */

	/* Skip remaining fields */
	while (ao_gps_char != '*' && ao_gps_char != '\n' && ao_gps_char != '\r') {
		ao_gps_lexchar();
		ao_gps_skip_field();
	}
	if (ao_gps_char == '*') {
		uint8_t cksum = ao_gps_cksum ^ '*';
		if (cksum != ao_gps_hex(2))
			ao_gps_error = 1;
	} else
		ao_gps_error = 1;
	if (!ao_gps_error) {
		ao_mutex_get(&ao_gps_mutex);
		ao_gps_tick = ao_gps_next_tick;
		memcpy(&ao_gps_data, &ao_gps_next, sizeof (ao_gps_data));
		ao_mutex_put(&ao_gps_mutex);
		ao_wakeup(&ao_gps_data);
	}
}

static void
ao_nmea_gsv(void)
{
	char	c;
	uint8_t	i;
	uint8_t	done;
	/* Now read the data into the GPS tracking data record
	 *
	 * $GPGSV,3,1,12,05,54,069,45,12,44,061,44,21,07,184,46,22,78,289,47*72<CR><LF>
	 *
	 * Satellites in view data
	 *
	 *	3		Total number of GSV messages
	 *	1		Sequence number of current GSV message
	 *	12		Total sats in view (0-12)
	 *	05		SVID
	 *	54		Elevation
	 *	069		Azimuth
	 *	45		C/N0 in dB
	 *	...		other SVIDs
	 *	72		checksum
	 */
	c = ao_gps_decimal(1);	/* total messages */
	i = ao_gps_decimal(1);	/* message sequence */
	if (i == 1) {
		ao_gps_tracking_next.channels = 0;
	}
	done = (uint8_t) c == i;
	ao_gps_lexchar();
	ao_gps_skip_field();	/* sats in view */
	while (ao_gps_char != '*' && ao_gps_char != '\n' && ao_gps_char != '\r') {
		i = ao_gps_tracking_next.channels;
		c = ao_gps_decimal(2);	/* SVID */
		if (i < AO_MAX_GPS_TRACKING)
			ao_gps_tracking_next.sats[i].svid = c;
		ao_gps_lexchar();
		ao_gps_skip_field();	/* elevation */
		ao_gps_lexchar();
		ao_gps_skip_field();	/* azimuth */
		c = ao_gps_decimal(2);	/* C/N0 */
		if (i < AO_MAX_GPS_TRACKING) {
			if ((ao_gps_tracking_next.sats[i].c_n_1 = c) != 0)
				ao_gps_tracking_next.channels = i + 1;
		}
	}
	if (ao_gps_char == '*') {
		uint8_t cksum = ao_gps_cksum ^ '*';
		if (cksum != ao_gps_hex(2))
			ao_gps_error = 1;
	}
	else
		ao_gps_error = 1;
	if (ao_gps_error)
		ao_gps_tracking_next.channels = 0;
	else if (done) {
		ao_mutex_get(&ao_gps_mutex);
		memcpy(&ao_gps_tracking_data, &ao_gps_tracking_next,
		       sizeof(ao_gps_tracking_data));
		ao_mutex_put(&ao_gps_mutex);
		ao_wakeup(&ao_gps_tracking_data);
	}
}

static void
ao_nmea_rmc(void)
{
	char	a, c;
	uint8_t	i;
	/* Parse the RMC record to read out the current date */

	/* $GPRMC,111636.932,A,2447.0949,N,12100.5223,E,000.0,000.0,030407,,,A*61
	 *
	 * Recommended Minimum Specific GNSS Data
	 *
	 *	111636.932	UTC time 11:16:36.932
	 *	A		Data Valid (V = receiver warning)
	 *	2447.0949	Latitude
	 *	N		North/south indicator
	 *	12100.5223	Longitude
	 *	E		East/west indicator
	 *	000.0		Speed over ground
	 *	000.0		Course over ground
	 *	030407		UTC date (ddmmyy format)
	 *	A		Mode indicator:
	 *			N = data not valid
	 *			A = autonomous mode
	 *			D = differential mode
	 *			E = estimated (dead reckoning) mode
	 *			M = manual input mode
	 *			S = simulator mode
	 *	61		checksum
	 */
	ao_gps_skip_field();
	for (i = 0; i < 8; i++) {
		ao_gps_lexchar();
		ao_gps_skip_field();
	}
	a = ao_gps_decimal(2);
	c = ao_gps_decimal(2);
	i = ao_gps_decimal(2);
	/* Skip remaining fields */
	while (ao_gps_char != '*' && ao_gps_char != '\n' && ao_gps_char != '\r') {
		ao_gps_lexchar();
		ao_gps_skip_field();
	}
	if (ao_gps_char == '*') {
		uint8_t cksum = ao_gps_cksum ^ '*';
		if (cksum != ao_gps_hex(2))
			ao_gps_error = 1;
	} else
		ao_gps_error = 1;
	if (!ao_gps_error) {
		ao_gps_next.year = i;
		ao_gps_next.month = c;
		ao_gps_next.day = a;
		ao_gps_date_flags = AO_GPS_DATE_VALID;
	}
}

#define ao_skytraq_sendstruct(s) ao_skytraq_sendbytes((s), sizeof(s))

static void
ao_skytraq_sendbytes(__code uint8_t *b, uint8_t l)
{
	while (l--) {
		uint8_t	c = *b++;
		if (c == 0xa0)
			ao_delay(AO_MS_TO_TICKS(500));
		ao_serial_putchar(c);
	}
}

static void
ao_gps_nmea_parse(void)
{
	uint8_t	a, b, c;

	ao_gps_cksum = 0;
	ao_gps_error = 0;

	for (a = 0; a < AO_GPS_LEADER; a++) {
		ao_gps_lexchar();
		if (ao_gps_char != ao_gps_header[a])
			return;
	}

	ao_gps_lexchar();
	a = ao_gps_char;
	ao_gps_lexchar();
	b = ao_gps_char;
	ao_gps_lexchar();
	c = ao_gps_char;
	ao_gps_lexchar();

	if (ao_gps_char != ',')
		return;

	if (a == (uint8_t) 'G' && b == (uint8_t) 'G' && c == (uint8_t) 'A') {
		ao_nmea_gga();
	} else if (a == (uint8_t) 'G' && b == (uint8_t) 'S' && c == (uint8_t) 'V') {
		ao_nmea_gsv();
	} else if (a == (uint8_t) 'R' && b == (uint8_t) 'M' && c == (uint8_t) 'C') {
		ao_nmea_rmc();
	}
}

void
ao_gps(void) __reentrant
{
	ao_serial_set_speed(AO_SERIAL_SPEED_9600);

	/* give skytraq time to boot in case of cold start */
	ao_delay(AO_MS_TO_TICKS(2000));

	ao_skytraq_sendstruct(ao_gps_config);

	for (;;) {
		/* Locate the begining of the next record */
		if (ao_serial_getchar() == '$') {
			ao_gps_nmea_parse();
		}

	}
}

__xdata struct ao_task ao_gps_task;

static void
gps_dump(void) __reentrant
{
	uint8_t	i;
	ao_mutex_get(&ao_gps_mutex);
	printf ("Date: %02d/%02d/%02d\n", ao_gps_data.year, ao_gps_data.month, ao_gps_data.day);
	printf ("Time: %02d:%02d:%02d\n", ao_gps_data.hour, ao_gps_data.minute, ao_gps_data.second);
	printf ("Lat/Lon: %ld %ld\n", ao_gps_data.latitude, ao_gps_data.longitude);
	printf ("Alt: %d\n", ao_gps_data.altitude);
	printf ("Flags: 0x%x\n", ao_gps_data.flags);
	printf ("Sats: %d", ao_gps_tracking_data.channels);
	for (i = 0; i < ao_gps_tracking_data.channels; i++)
		printf (" %d %d",
			ao_gps_tracking_data.sats[i].svid,
			ao_gps_tracking_data.sats[i].c_n_1);
	printf ("\ndone\n");
	ao_mutex_put(&ao_gps_mutex);
}

__code struct ao_cmds ao_gps_cmds[] = {
	{ gps_dump, 	"g\0Display GPS" },
	{ 0, NULL },
};

void
ao_gps_init(void)
{
	ao_add_task(&ao_gps_task, ao_gps, "gps");
	ao_cmd_register(&ao_gps_cmds[0]);
}