diff options
Diffstat (limited to 'libloragw')
| -rw-r--r-- | libloragw/Makefile | 16 | ||||
| -rw-r--r-- | libloragw/README | 23 | ||||
| -rw-r--r-- | libloragw/VERSION | 4 | ||||
| -rw-r--r-- | libloragw/doc/CHANGELOG.TXT | 8 | ||||
| -rw-r--r-- | libloragw/doc/MANUAL.TXT | 59 | ||||
| -rw-r--r-- | libloragw/inc/loragw_aux.h | 2 | ||||
| -rw-r--r-- | libloragw/inc/loragw_gps.h | 179 | ||||
| -rw-r--r-- | libloragw/inc/loragw_hal.h | 7 | ||||
| -rw-r--r-- | libloragw/library.cfg | 1 | ||||
| -rw-r--r-- | libloragw/src/loragw_gps.c | 573 | ||||
| -rw-r--r-- | libloragw/src/loragw_hal.c | 52 | ||||
| -rw-r--r-- | libloragw/tst/test_loragw_gps.c | 177 |
12 files changed, 1049 insertions, 52 deletions
diff --git a/libloragw/Makefile b/libloragw/Makefile index db45383..2b91fa8 100644 --- a/libloragw/Makefile +++ b/libloragw/Makefile @@ -17,7 +17,7 @@ endif # general build targets -all: libloragw.a test_loragw_spi test_loragw_reg test_loragw_hal +all: libloragw.a test_loragw_spi test_loragw_reg test_loragw_hal test_loragw_gps clean: rm -f *.a @@ -43,8 +43,8 @@ endif # static library -libloragw.a: obj/loragw_hal.o obj/loragw_reg.o obj/loragw_spi.o obj/loragw_aux.o - $(CROSS_COMPILE)ar rcs libloragw.a obj/loragw_hal.o obj/loragw_reg.o obj/loragw_spi.o obj/loragw_aux.o +libloragw.a: obj/loragw_hal.o obj/loragw_gps.o obj/loragw_reg.o obj/loragw_spi.o obj/loragw_aux.o + $(CROSS_COMPILE)ar rcs libloragw.a obj/loragw_hal.o obj/loragw_gps.o obj/loragw_reg.o obj/loragw_spi.o obj/loragw_aux.o # library module target @@ -62,9 +62,12 @@ endif obj/loragw_reg.o: .conf_ok src/loragw_reg.c inc/loragw_reg.h inc/loragw_spi.h $(CROSS_COMPILE)$(CC) -c $(C99FLAGS) src/loragw_reg.c -o obj/loragw_reg.o $(FLAG_REG) -obj/loragw_hal.o: .conf_ok VERSION src/loragw_hal.c src/arb_fw.var src/agc_fw.var inc/loragw_hal.h inc/loragw_reg.h inc/loragw_spi.h inc/loragw_aux.h +obj/loragw_hal.o: .conf_ok src/loragw_hal.c inc/loragw_hal.h inc/loragw_reg.h inc/loragw_aux.h VERSION src/arb_fw.var src/agc_fw.var $(CROSS_COMPILE)$(CC) -c $(C99FLAGS) src/loragw_hal.c -o obj/loragw_hal.o -D LGW_PHY="\"$(LGW_PHY)\"" $(FLAG_HAL) +obj/loragw_gps.o: .conf_ok src/loragw_gps.c inc/loragw_gps.h + $(CROSS_COMPILE)$(CC) -c $(C99FLAGS) src/loragw_gps.c -o obj/loragw_gps.o $(FLAG_GPS) + # test programs test_loragw_spi: tst/test_loragw_spi.c obj/loragw_spi.o @@ -72,7 +75,10 @@ test_loragw_spi: tst/test_loragw_spi.c obj/loragw_spi.o test_loragw_reg: tst/test_loragw_reg.c obj/loragw_reg.o obj/loragw_spi.o $(CROSS_COMPILE)$(CC) $(C99FLAGS) tst/test_loragw_reg.c obj/loragw_reg.o obj/loragw_spi.o -o test_loragw_reg $(LDFLAGS) - + test_loragw_hal: tst/test_loragw_hal.c obj/loragw_hal.o obj/loragw_reg.o obj/loragw_spi.o obj/loragw_aux.o $(CROSS_COMPILE)$(CC) $(C99FLAGS) tst/test_loragw_hal.c obj/loragw_hal.o obj/loragw_reg.o obj/loragw_spi.o obj/loragw_aux.o -o test_loragw_hal $(LDFLAGS) +test_loragw_gps: tst/test_loragw_gps.c obj/loragw_gps.o obj/loragw_hal.o obj/loragw_reg.o obj/loragw_spi.o obj/loragw_aux.o + $(CROSS_COMPILE)$(CC) $(C99FLAGS) tst/test_loragw_gps.c obj/loragw_gps.o obj/loragw_hal.o obj/loragw_reg.o obj/loragw_spi.o obj/loragw_aux.o -o test_loragw_gps $(LDFLAGS) + diff --git a/libloragw/README b/libloragw/README index da4cd4d..821eff6 100644 --- a/libloragw/README +++ b/libloragw/README @@ -29,27 +29,4 @@ Contain library C sources. Contain the C sources for test programs to validate SPI link, register access and hardware functionality. -2. Legal notice ----------------- - -The information presented in this project documentation does not form part of -any quotation or contract, is believed to be accurate and reliable and may be -changed without notice. No liability will be accepted by the publisher for any -consequence of its use. Publication thereof does not convey nor imply any -license under patent or other industrial or intellectual property rights. -Semtech assumes no responsibility or liability whatsoever for any failure or -unexpected operation resulting from misuse, neglect improper installation, -repair or improper handling or unusual physical or electrical stress -including, but not limited to, exposure to parameters beyond the specified -maximum ratings or operation outside the specified range. - -SEMTECH PRODUCTS ARE NOT DESIGNED, INTENDED, AUTHORIZED OR WARRANTED TO BE -SUITABLE FOR USE IN LIFE-SUPPORT APPLICATIONS, DEVICES OR SYSTEMS OR OTHER -CRITICAL APPLICATIONS. INCLUSION OF SEMTECH PRODUCTS IN SUCH APPLICATIONS IS -UNDERSTOOD TO BE UNDERTAKEN SOLELY AT THE CUSTOMER’S OWN RISK. Should a -customer purchase or use Semtech products for any such unauthorized -application, the customer shall indemnify and hold Semtech and its officers, -employees, subsidiaries, affiliates, and distributors harmless against all -claims, costs damages and attorney fees which could arise. - *EOF*
\ No newline at end of file diff --git a/libloragw/VERSION b/libloragw/VERSION index 3440bb1..b44ab5c 100644 --- a/libloragw/VERSION +++ b/libloragw/VERSION @@ -1,8 +1,8 @@ /* Software library version: */ -#define VERSION_LIBRARY "1.1.0" +#define VERSION_LIBRARY "1.2.0" /* API version */ -#define VERSION_API "1.0" +#define VERSION_API "1" /* Accepted value of CHIP_ID (SPI registers) must match reg default value in loragw_reg.c */ #define ACCEPT_CHIP_ID "1" diff --git a/libloragw/doc/CHANGELOG.TXT b/libloragw/doc/CHANGELOG.TXT index 4a7d489..bdaab2d 100644 --- a/libloragw/doc/CHANGELOG.TXT +++ b/libloragw/doc/CHANGELOG.TXT @@ -1,6 +1,14 @@ Lora Gateway HAL changelog ========================== + v1.2.0 +--------------------- + + * Added feature: new GPS module in the library for synchronization + * Removed feature: no more missed deadline detection in TX because of incompatibility with GPS + * Added documentation for GPS and legal notice + * Added flags in Makefiles for easier cross-compilation + v1.1.0 --------------------- diff --git a/libloragw/doc/MANUAL.TXT b/libloragw/doc/MANUAL.TXT index a086761..7fdefeb 100644 --- a/libloragw/doc/MANUAL.TXT +++ b/libloragw/doc/MANUAL.TXT @@ -22,14 +22,15 @@ used to send and receive packets wirelessly using Lora or FSK modulations. 2. Components of the library ---------------------------- -The library is composed of 4 modules: +The library is composed of 5 modules: * loragw_hal * loragw_reg * loragw_spi * loragw_aux +* loragw_gps -The library also contains 3 test program to demonstrate code use and check +The library also contains 4 test programs to demonstrate code use and check functionality. ### 2.1. loragw_hal ### @@ -113,6 +114,33 @@ If the minimum delays are not guaranteed during the configuration and start procedure, the hardware might not work at nominal performance. Most likely, it will not work at all. +### 2.5. loragw_gps ### + +This module contains functions to synchronize the concentrator internal +counter with an absolute time reference, in our case a GPS satellite receiver. + +The internal concentrator counter is used to timestamp incoming packets and to +triggers outgoing packets with a microsecond accuracy. +In some cases, it might be useful to be able to transform that internal +timestamp (that is independent for each concentrator running in a typical +networked system) into an absolute UTC time. + +In a typical implementation a GPS specific thread will be called, doing the +following things after opening the serial port: + +* blocking reads on the serial port (using system read() function) +* parse NMEA sentences (using lgw_parse_nmea) + +And each time an RMC sentence has been received: +* get the concentrator timestamp (using lgw_get_trigcnt, mutex needed to + protect access to the concentrator) +* get the UTC time contained in the NMEA sentence (using lgw_gps_get) +* call the lgw_gps_sync function (use mutex to protect the time reference that + should be a global shared variable). + +Then, in other threads, you can simply used that continuously adjusted time +reference to convert internal timestamps to UTC time (using lgw_cnt2utc) or +the other way around (using lgw_utc2cnt). 3. Software dependencies ------------------------ @@ -167,6 +195,33 @@ Edit library.cfg to chose which SPI physical interface you want to use. You can use the test program test_loragw_spi to check with a logic analyser that the SPI communication is working +### 4.3. GPS receiver (or other GNSS system) ### + +To use the GPS module of the library, the host must be connected to a GPS +receiver via a serial link (or an equivalent receiver using a different +satellite constellation). +The serial link must appear as a "tty" device in the /dev/ directory, and the +user launching the program must have the proper system rights to read and +write on that device. +Use `chmod a+rw` to allow all users to access that specific tty device, or use +sudo to run all your programs (eg. `sudo ./test_loragw_gps`). + +In the current revision, the library only reads data from the serial port, +expecting to receive NMEA frames that are generally sent by GPS receivers as +soon as they are powered up. + +The GPS receiver __MUST__ send RMC NMEA sentences (starting with "$G<any +character>RMC") shortly after sending a PPS pulse on to allow internal +concentrator timestamps to be converted to absolute UTC time. +If the GPS receiver sends a GGA sentence, the gateway 3D position will also be +available. + +The PPS pulse must be sent to the pin 22 of connector CONN400 on the Semtech +FPGA-based nano-concentrator board. Ground is available on pins 2 and 12 of +the same connector. +The pin is loaded by an FPGA internal pull-down, and the signal level coming +in the FPGA must be 3.3V. +Timing is captured on the rising edge of the PPS signal. 5. Usage -------- diff --git a/libloragw/inc/loragw_aux.h b/libloragw/inc/loragw_aux.h index daaf3e3..8f485b4 100644 --- a/libloragw/inc/loragw_aux.h +++ b/libloragw/inc/loragw_aux.h @@ -7,7 +7,7 @@ ©2013 Semtech-Cycleo Description: - Lora gateway auxiliary functions + Lora gateway library common auxiliary functions License: Revised BSD License, see LICENSE.TXT file include in the project Maintainer: Sylvain Miermont diff --git a/libloragw/inc/loragw_gps.h b/libloragw/inc/loragw_gps.h new file mode 100644 index 0000000..3884fd5 --- /dev/null +++ b/libloragw/inc/loragw_gps.h @@ -0,0 +1,179 @@ +/* + / _____) _ | | +( (____ _____ ____ _| |_ _____ ____| |__ + \____ \| ___ | (_ _) ___ |/ ___) _ \ + _____) ) ____| | | || |_| ____( (___| | | | +(______/|_____)_|_|_| \__)_____)\____)_| |_| + ©2013 Semtech-Cycleo + +Description: + Library of functions to manage a GNSS module (typically GPS) for accurate + timestamping of packets and synchronisation of gateways. + A limited set of module brands/models are supported. + +License: Revised BSD License, see LICENSE.TXT file include in the project +Maintainer: Sylvain Miermont +*/ + + +#ifndef _LORAGW_GPS_H +#define _LORAGW_GPS_H + +/* -------------------------------------------------------------------------- */ +/* --- DEPENDANCIES --------------------------------------------------------- */ + +/* fix an issue between POSIX and C99 */ +#if __STDC_VERSION__ >= 199901L + #define _XOPEN_SOURCE 600 +#else + #define _XOPEN_SOURCE 500 +#endif + +#include <stdint.h> /* C99 types */ +#include <time.h> /* time library */ +#include <termios.h> /* speed_t */ + +/* -------------------------------------------------------------------------- */ +/* --- PUBLIC TYPES --------------------------------------------------------- */ + +/** +@struct coord_s +@brief Time solution required for timestamp to absolute time conversion +*/ +struct tref { + time_t systime; /*!> system time when solution was calculated */ + uint32_t count_us; /*!> reference concentrator internal timestamp */ + struct timespec utc; /*!> reference UTC time (from GPS) */ + double xtal_err; /*!> clock error estimation (eg. <1 'slow' XTAL) */ +}; + +/** +@struct coord_s +@brief Geodesic coordinates +*/ +struct coord_s { + double lat; /*!> latitude [-90,90] (North +, South -) */ + double lon; /*!> longitude [-180,180] (East +, West -)*/ + short alt; /*!> altitude in meters (WGS 84 geoid ref.) */ +}; + +/** +@enum gps_msg +@brief Type of GPS (and other GNSS) sentences +*/ +enum gps_msg { + UNKNOWN, /*!> neutral value */ + IGNORED, /*!> frame was not parsed by the system */ + INVALID, /*!> system try to parse frame but failed */ + /* NMEA messages of interest */ + NMEA_RMC, /*!> Recommended Minimum data (time + date) */ + NMEA_GGA, /*!> Global positioning system fix data (pos + alt) */ + NMEA_GNS, /*!> GNSS fix data (pos + alt, sat number) */ + NMEA_ZDA, /*!> Time and Date */ + /* NMEA message useful for time reference quality assessment */ + NMEA_GBS, /*!> GNSS Satellite Fault Detection */ + NMEA_GST, /*!> GNSS Pseudo Range Error Statistics */ + NMEA_GSA, /*!> GNSS DOP and Active Satellites (sat number) */ + NMEA_GSV, /*!> GNSS Satellites in View (sat SNR) */ + /* Misc. NMEA messages */ + NMEA_GLL, /*!> Latitude and longitude, with time fix and status */ + NMEA_TXT, /*!> Text Transmission */ + NMEA_VTG, /*!> Course over ground and Ground speed */ + /* uBlox proprietary NMEA messages of interest */ + UBX_POSITION, /*!> */ + UBX_TIME /*!> */ +}; + +/* -------------------------------------------------------------------------- */ +/* --- PUBLIC CONSTANTS ----------------------------------------------------- */ + +#define LGW_GPS_SUCCESS 0 +#define LGW_GPS_ERROR -1 + +/* -------------------------------------------------------------------------- */ +/* --- PUBLIC FUNCTIONS PROTOTYPES ------------------------------------------ */ + +/** +@brief Configure a GPS module + +@param tty_path path to the TTY connected to the GPS +@param gps_familly parameter (eg. ubx6 for uBlox gen.6) +@param target_brate target baudrate for communication (0 keeps default target baudrate) +@param fd_ptr pointer to a variable to receive file descriptor on GPS tty +@return success if the function was able to connect and configure a GPS module +*/ +int lgw_gps_enable(char* tty_path, char* gps_familly, speed_t target_brate, int* fd_ptr); + +/** +@brief Parse messages coming from the GPS system (or other GNSS) + +@param serial_buff pointer to the string to be parsed +@param buff_size maximum string lengths for NMEA parsing (incl. null char) +@return type of frame parsed + +The RAW NMEA sentences are parsed to a global set of variables shared with the +lgw_gps_get function. +If the lgw_parse_nmea and lgw_gps_get are used in different threads, a mutex +lock must be acquired before calling either function. +*/ +enum gps_msg lgw_parse_nmea(char* serial_buff, int buff_size); + +/** +@brief Get the GPS solution (space & time) for the gateway + +@param utc pointer to store UTC time, with ns precision (NULL to ignore) +@param loc pointer to store coordinates (NULL to ignore) +@param err pointer to store coordinates standard deviation (NULL to ignore) +@return success if the chosen elements could be returned + +This function read the global variables generated by the NMEA parsing function +lgw_parse_nmea. It returns time and location data in a format that is +exploitable by other functions in that library sub-module. +If the lgw_parse_nmea and lgw_gps_get are used in different threads, a mutex +lock must be acquired before calling either function. +*/ +int lgw_gps_get(struct timespec* utc, struct coord_s* loc, struct coord_s* err); + +/** +@brief Take a timestamp and UTC time and refresh reference for time conversion + +@param ref pointer to time reference structure +@param old_ref previous time reference (NULL for initial fix) +@param utc UTC time, with ns precision (leap seconds are ignored) +@return success if timestamp was read and time reference could be refreshed + +Set systime to 0 in ref to trigger initial synchronization. +*/ +int lgw_gps_sync(struct tref* ref, uint32_t count_us, struct timespec utc); + +/** +@brief Convert concentrator timestamp counter value to UTC time + +@param ref time reference structure required for time conversion +@param count_us internal timestamp counter of a Lora gateway +@param utc pointer to store UTC time, with ns precision (leap seconds ignored) +@return success if the function was able to convert timestamp to UTC + +This function is typically used when a packet is received to transform the +internal counter-based timestamp in an absolute timestamp with an accuracy in +the order of a couple microseconds (ns resolution). +*/ +int lgw_cnt2utc(struct tref ref, uint32_t count_us, struct timespec* utc); + +/** +@brief Convert UTC time to concentrator timestamp counter value + +@param ref time reference structure required for time conversion +@param utc UTC time, with ns precision (leap seconds are ignored) +@param count_us pointer to store internal timestamp counter of a Lora gateway +@return success if the function was able to convert UTC to timestamp + +This function is typically used when a packet must be sent at an accurate time +(eg. to send a piggy-back response after receiving a packet from a node) to +transform an absolute UTC time into a matching internal concentrator timestamp. +*/ +int lgw_utc2cnt(struct tref ref,struct timespec utc, uint32_t* count_us); + +#endif + +/* --- EOF ------------------------------------------------------------------ */ diff --git a/libloragw/inc/loragw_hal.h b/libloragw/inc/loragw_hal.h index 41d1d98..022313f 100644 --- a/libloragw/inc/loragw_hal.h +++ b/libloragw/inc/loragw_hal.h @@ -278,6 +278,13 @@ int lgw_send(struct lgw_pkt_tx_s pkt_data); int lgw_status(uint8_t select, uint8_t *code); /** +@brief Return value of internal counter when latest event (eg GPS pulse) was captured +@param trig_cnt_us pointer to receive timestamp value +@return LGW_HAL_ERROR id the operation failed, LGW_HAL_SUCCESS else +*/ +int lgw_get_trigcnt(uint32_t* trig_cnt_us); + +/** @brief Allow user to check the version/options of the library once compiled @return pointer on a human-readable null terminated string */ diff --git a/libloragw/library.cfg b/libloragw/library.cfg index 8e3ba0e..0e8c742 100644 --- a/libloragw/library.cfg +++ b/libloragw/library.cfg @@ -15,6 +15,7 @@ FLAG_AUX= -D DEBUG_AUX=0 FLAG_SPI= -D DEBUG_SPI=0 FLAG_REG= -D DEBUG_REG=0 FLAG_HAL= -D DEBUG_HAL=0 +FLAG_GPS= -D DEBUG_GPS=0 # The flags bellow define which physical link to the nano board will be used # Pick one and comment the other(s) diff --git a/libloragw/src/loragw_gps.c b/libloragw/src/loragw_gps.c new file mode 100644 index 0000000..84db3b8 --- /dev/null +++ b/libloragw/src/loragw_gps.c @@ -0,0 +1,573 @@ +/* + / _____) _ | | +( (____ _____ ____ _| |_ _____ ____| |__ + \____ \| ___ | (_ _) ___ |/ ___) _ \ + _____) ) ____| | | || |_| ____( (___| | | | +(______/|_____)_|_|_| \__)_____)\____)_| |_| + ©2013 Semtech-Cycleo + +Description: + Library of functions to manage a GNSS module (typically GPS) for accurate + timestamping of packets and synchronisation of gateways. + A limited set of module brands/models are supported. + +License: Revised BSD License, see LICENSE.TXT file include in the project +Maintainer: Sylvain Miermont +*/ + + +/* -------------------------------------------------------------------------- */ +/* --- DEPENDANCIES --------------------------------------------------------- */ + +/* fix an issue between POSIX and C99 */ +#if __STDC_VERSION__ >= 199901L + #define _XOPEN_SOURCE 600 +#else + #define _XOPEN_SOURCE 500 +#endif + +#include <stdint.h> /* C99 types */ +#include <stdbool.h> /* bool type */ +#include <stdio.h> /* printf fprintf */ +#include <string.h> /* memcpy */ + +#include <time.h> /* struct timespec */ +#include <fcntl.h> /* open */ +#include <termios.h> /* tcflush */ +#include <math.h> /* modf */ + +#include <stdlib.h> // DEBUG + +#include "loragw_gps.h" + +/* -------------------------------------------------------------------------- */ +/* --- PRIVATE MACROS ------------------------------------------------------- */ + +#define ARRAY_SIZE(a) (sizeof(a) / sizeof((a)[0])) +#if DEBUG_GPS == 1 + #define DEBUG_MSG(args...) fprintf(stderr, args) + #define DEBUG_ARRAY(a,b,c) for(a=0;a<b;++a) fprintf(stderr,"%x.",c[a]);fprintf(stderr,"end\n") + #define CHECK_NULL(a) if(a==NULL){fprintf(stderr,"%s:%d: ERROR: NULL POINTER AS ARGUMENT\n", __FUNCTION__, __LINE__);return LGW_GPS_ERROR;} +#else + #define DEBUG_MSG(args...) + #define DEBUG_ARRAY(a,b,c) for(a=0;a!=0;){} + #define CHECK_NULL(a) if(a==NULL){return LGW_GPS_ERROR;} +#endif + +/* -------------------------------------------------------------------------- */ +/* --- PRIVATE CONSTANTS ---------------------------------------------------- */ + +#define TS_CPS 1E6 /* count-per-second of the timestamp counter */ +#define PLUS_10PPM 1.00001 +#define MINUS_10PPM 0.99999 +#define DEFAULT_BAUDRATE B9600 + +/* -------------------------------------------------------------------------- */ +/* --- PRIVATE VARIABLES ---------------------------------------------------- */ + + +/* result of the NMEA parsing */ +static short gps_yea = 0; /* year (2 or 4 digits) */ +static short gps_mon = 0; /* month (1-12) */ +static short gps_day = 0; /* day of the month (1-31) */ +static short gps_hou = 0; /* hours (0-23) */ +static short gps_min = 0; /* minutes (0-59) */ +static short gps_sec = 0; /* seconds (0-60)(60 is for leap second) */ +static float gps_fra = 0.0; /* fractions of seconds (<1) */ +static bool gps_time_ok = false; + +static short gps_dla = 0; /* degrees of latitude */ +static double gps_mla = 0.0; /* minutes of latitude */ +static char gps_ola = 0; /* orientation (N-S) of latitude */ +static short gps_dlo = 0; /* degrees of longitude */ +static double gps_mlo = 0.0; /* minutes of longitude */ +static char gps_olo = 0; /* orientation (E-W) of longitude */ +static short gps_alt = 0; /* altitude */ +static bool gps_pos_ok = false; + +static char gps_mod = 'N'; /* GPS mode (N no fix, A autonomous, D differential) */ +static short gps_sat = 0; /* number of satellites used for fix */ + +/* -------------------------------------------------------------------------- */ +/* --- PRIVATE FUNCTIONS DECLARATION ---------------------------------------- */ + +int nmea_checksum(char *nmea_string, int buff_size, char *checksum); + +char nibble_to_hexchar(uint8_t a); + +bool validate_nmea_checksum(char *serial_buff, int buff_size); + +bool match_label(char *s, char *label, int size, char wildcard); + +int str_chop(char *s, int buff_size, char separator, int *idx_ary, int max_idx); + +/* -------------------------------------------------------------------------- */ +/* --- PRIVATE FUNCTIONS DEFINITION ----------------------------------------- */ + +/* +Calculate the checksum for a NMEA string +Skip the first '$' if necessary and calculate checksum until '*' character is +reached (or buff_size exceeded). +Checksum must point to a 2-byte (or more) char array. +Return position of the checksum in the string +*/ +int nmea_checksum(char *nmea_string, int buff_size, char *checksum) { + int i = 0; + uint8_t check_num = 0; + + /* check input parameters */ + if ((nmea_string == NULL) || (checksum == NULL) || (buff_size <= 1)) { + DEBUG_MSG("Invalid parameters for nmea_checksum\n"); + return -1; + } + + /* skip the first '$' if necessary */ + if (nmea_string[i] == '$') { + i += 1; + } + + /* xor until '*' or max length is reached */ + while (nmea_string[i] != '*') { + check_num ^= nmea_string[i]; + i += 1; + if (i >= buff_size) { + DEBUG_MSG("Maximum length reached for nmea_checksum\n"); + return -1; + } + } + + /* Convert checksum value to 2 hexadecimal characters */ + checksum[0] = nibble_to_hexchar(check_num / 16); /* upper nibble */ + checksum[1] = nibble_to_hexchar(check_num % 16); /* lower nibble */ + + return i + 1; +} + +/* ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ */ + +char nibble_to_hexchar(uint8_t a) { + if (a < 10) { + return '0' + a; + } else if (a < 16) { + return 'A' + (a-10); + } else { + return '?'; + } +} + +/* ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ */ + +/* +Calculate the checksum of a NMEA frame and compare it to the checksum that is +present at the end of it. +Return true if it matches +*/ +bool validate_nmea_checksum(char *serial_buff, int buff_size) { + int checksum_index; + char checksum[2]; /* 2 characters to calculate NMEA checksum */ + + checksum_index = nmea_checksum(serial_buff, buff_size, checksum); + + /* could we calculate a verification checksum ? */ + if (checksum_index < 0) { + DEBUG_MSG("ERROR: IMPOSSIBLE TO PARSE NMEA SENTENCE\n"); + return false; + } + + /* check if there are enough char in the serial buffer to read checksum */ + if (checksum_index >= (buff_size - 2)) { + DEBUG_MSG("ERROR: IMPOSSIBLE TO READ NMEA SENTENCE CHECKSUM\n"); + return false; + } + + /* check the checksum per se */ + if ((serial_buff[checksum_index] == checksum[0]) && (serial_buff[checksum_index+1] == checksum[1])) { + return true; + } else { + DEBUG_MSG("ERROR: NMEA CHECKSUM %c%c DOESN'T MATCH VERIFICATION CHECKSUM %c%c\n", serial_buff[checksum_index], serial_buff[checksum_index+1], checksum[0], checksum[1]); + return false; + } +} + +/* ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ */ + +/* +Return true if the "label" string (can contain wildcard characters) matches +the begining of the "s" string +*/ +bool match_label(char *s, char *label, int size, char wildcard) { + int i; + + for (i=0; i < size; i++) { + if (label[i] == wildcard) continue; + if (label[i] != s[i]) return false; + } + return true; +} + +/* ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ */ + +/* +Chop a string into smaller strings +Replace every separator in the input character buffer by a null character so +that all s[index] are valid strings. +Populate an array of integer 'idx_ary' representing indexes of token in the +string. +buff_size and max_idx are there to prevent segfaults. +Return the number of token found (number of idx_ary filled). +*/ +int str_chop(char *s, int buff_size, char separator, int *idx_ary, int max_idx) { + int i = 0; /* index in the string */ + int j = 0; /* index in the result array */ + + if ((s == NULL) || (buff_size < 0) || (separator == 0) || (idx_ary == NULL) || (max_idx < 0)) { + /* unsafe to do anything */ + return -1; + } + if ((buff_size == 0) || (max_idx == 0)) { + /* nothing to do */ + return 0; + } + s[buff_size - 1] = 0; /* add string terminator at the end of the buffer, just to be sure */ + idx_ary[j] = 0; + j += 1; + /* loop until string terminator is reached */ + while (s[i] != 0) { + if (s[i] == separator) { + s[i] = 0; /* replace separator by string terminator */ + if (j >= max_idx) { /* no more room in the index array */ + return j; + } + idx_ary[j] = i+1; /* next token start after replaced separator */ + ++j; + } + ++i; + } + return j; +} + +/* -------------------------------------------------------------------------- */ +/* --- PUBLIC FUNCTIONS DEFINITION ------------------------------------------ */ + +int lgw_gps_enable(char *tty_path, char *gps_familly, speed_t target_brate, int *fd_ptr) { + int i; + struct termios ttyopt; /* serial port options */ + int gps_tty_dev; /* file descriptor to the serial port of the GNSS module */ + + /* check input parameters */ + CHECK_NULL(tty_path); + CHECK_NULL(fd_ptr); + + /* open TTY device */ + gps_tty_dev = open(tty_path, O_RDWR | O_NOCTTY); + if (gps_tty_dev <= 0) { + DEBUG_MSG("ERROR: TTY PORT FAIL TO OPEN, CHECK PATH AND ACCESS RIGHTS\n"); + return LGW_GPS_ERROR; + } + *fd_ptr = gps_tty_dev; + + /* manage the different GPS modules families */ + if (gps_familly != NULL) { + DEBUG_MSG("WARNING: gps_familly parameter ignored for now\n"); // TODO + } + + /* manage the target bitrate */ + if (target_brate != 0) { + DEBUG_MSG("WARNING: target_brate parameter ignored for now\n"); // TODO + } + + /* get actual serial port configuration */ + i = tcgetattr(gps_tty_dev, &ttyopt); + if (i != 0) { + DEBUG_MSG("ERROR: IMPOSSIBLE TO GET TTY PORT CONFIGURATION\n"); + return LGW_GPS_ERROR; + } + + /* update baudrates */ + cfsetispeed(&ttyopt, DEFAULT_BAUDRATE); + cfsetospeed(&ttyopt, DEFAULT_BAUDRATE); + + /* update terminal parameters */ + ttyopt.c_cflag |= CLOCAL; /* local connection, no modem control */ + ttyopt.c_cflag |= CREAD; /* enable receiving characters */ + ttyopt.c_cflag |= CS8; /* 8 bit frames */ + ttyopt.c_cflag &= ~PARENB; /* no parity */ + ttyopt.c_cflag &= ~CSTOPB; /* one stop bit */ + ttyopt.c_iflag |= IGNPAR; /* ignore bytes with parity errors */ + ttyopt.c_iflag |= ICRNL; /* map CR to NL */ + ttyopt.c_iflag |= IGNCR; /* Ignore carriage return on input */ + ttyopt.c_lflag |= ICANON; /* enable canonical input */ + + /* set new serial ports parameters */ + i = tcsetattr(gps_tty_dev, TCSANOW, &ttyopt); + if (i != 0){ + DEBUG_MSG("ERROR: IMPOSSIBLE TO UPDATE TTY PORT CONFIGURATION\n"); + return LGW_GPS_ERROR; + } + tcflush(gps_tty_dev, TCIOFLUSH); + + /* initialize global variables */ + gps_time_ok = false; + gps_pos_ok = false; + gps_mod = 'N'; + + return LGW_GPS_SUCCESS; +} + +/* ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ */ + +enum gps_msg lgw_parse_nmea(char *serial_buff, int buff_size) { + int i, j, k; + int str_index[30]; /* string index from the string chopping */ + int nb_fields; /* number of strings detected by string chopping */ + + /* check input parameters */ + if (serial_buff == NULL) { + return UNKNOWN; + } + + /* display received serial data and checksum */ + DEBUG_MSG("Note: parsing NMEA frame> %s", serial_buff); + + /* look for some NMEA sentences in particular */ + if (buff_size < 8) { + DEBUG_MSG("ERROR: TOO SHORT TO BE A VALID NMEA SENTENCE\n"); + return UNKNOWN; + } else if (match_label(serial_buff, "$G?RMC", 6, '?')) { + /* + NMEA sentence format: $xxRMC,time,status,lat,NS,long,EW,spd,cog,date,mv,mvEW,posMode*cs<CR><LF> + Valid fix: $GPRMC,083559.34,A,4717.11437,N,00833.91522,E,0.004,77.52,091202,,,A*00 + No fix: $GPRMC,,V,,,,,,,,,,N*00 + */ + if (!validate_nmea_checksum(serial_buff, buff_size)) { + DEBUG_MSG("Warning: invalid RMC sentence (bad checksum)\n"); + return INVALID; + } + nb_fields = str_chop(serial_buff, buff_size, ',', str_index, ARRAY_SIZE(str_index)); + if (nb_fields != 13) { + DEBUG_MSG("Warning: invalid RMC sentence (number of fields)\n"); + return INVALID; + } + /* parse GPS status */ + gps_mod = *(serial_buff + str_index[12]); /* get first character, no need to bother with sscanf */ + if ((gps_mod != 'N') && (gps_mod != 'A') && (gps_mod != 'D')) { + gps_mod = 'N'; + } + /* parse complete time */ + i = sscanf(serial_buff + str_index[1], "%2hd%2hd%2hd%4f", &gps_hou, &gps_min, &gps_sec, &gps_fra); + j = sscanf(serial_buff + str_index[9], "%2hd%2hd%2hd", &gps_day, &gps_mon, &gps_yea); + if ((i == 4) && (j == 3)) { + if ((gps_mod == 'A') || (gps_mod == 'D')) { + gps_time_ok = true; + DEBUG_MSG("Note: Valid RMC sentence, GPS locked, date: 20%02d-%02d-%02dT%02d:%02d:%06.3fZ\n", gps_yea, gps_mon, gps_day, gps_hou, gps_min, gps_fra + (float)gps_sec); + } else { + gps_time_ok = false; + DEBUG_MSG("Note: Valid RMC sentence, no satellite fix, estimated date: 20%02d-%02d-%02dT%02d:%02d:%06.3fZ\n", gps_yea, gps_mon, gps_day, gps_hou, gps_min, gps_fra + (float)gps_sec); + } + } else { + /* could not get a valid hour AND date */ + gps_time_ok = false; + DEBUG_MSG("Note: Valid RMC sentence, mode %c, no date\n", gps_mod); + } + return NMEA_RMC; + } else if (match_label(serial_buff, "$G?GGA", 6, '?')) { + /* + NMEA sentence format: $xxGGA,time,lat,NS,long,EW,quality,numSV,HDOP,alt,M,sep,M,diffAge,diffStation*cs<CR><LF> + Valid fix: $GPGGA,092725.00,4717.11399,N,00833.91590,E,1,08,1.01,499.6,M,48.0,M,,*5B + */ + if (!validate_nmea_checksum(serial_buff, buff_size)) { + DEBUG_MSG("Warning: invalid GGA sentence (bad checksum)\n"); + return INVALID; + } + nb_fields = str_chop(serial_buff, buff_size, ',', str_index, ARRAY_SIZE(str_index)); + if (nb_fields != 15) { + DEBUG_MSG("Warning: invalid GGA sentence (number of fields)\n"); + return INVALID; + } + /* parse number of satellites used for fix */ + sscanf(serial_buff + str_index[7], "%hd", &gps_sat); + /* parse 3D coordinates */ + i = sscanf(serial_buff + str_index[2], "%2hd%10lf", &gps_dla, &gps_mla); + gps_ola = *(serial_buff + str_index[3]); + j = sscanf(serial_buff + str_index[4], "%3hd%10lf", &gps_dlo, &gps_mlo); + gps_olo = *(serial_buff + str_index[5]); + k = sscanf(serial_buff + str_index[9], "%hd", &gps_alt); + if ((i == 2) && (j == 2) && (k == 1) && ((gps_ola=='N')||(gps_ola=='S')) && ((gps_olo=='E')||(gps_olo=='W'))) { + gps_pos_ok = true; + DEBUG_MSG("Note: Valid GGA sentence, %d sat, lat %02ddeg %06.3fmin %c, lon %03ddeg%06.3fmin %c, alt %d\n", gps_sat, gps_dla, gps_mla, gps_ola, gps_dlo, gps_mlo, gps_olo, gps_alt); + } else { + /* could not get a valid latitude, longitude AND altitude */ + gps_pos_ok = false; + DEBUG_MSG("Note: Valid GGA sentence, %d sat, no coordinates\n", gps_sat); + } + return NMEA_GGA; + } else { + DEBUG_MSG("Note: ignored NMEA sentence\n"); /* quite verbose */ + return INVALID; + } +} + +/* ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ */ + +int lgw_gps_get(struct timespec *utc, struct coord_s *loc, struct coord_s *err) { + struct tm x; + time_t y; + + if (utc != NULL) { + if (!gps_time_ok) { + DEBUG_MSG("ERROR: NO VALID TIME TO RETURN\n"); + return LGW_GPS_ERROR; + } + memset(&x, 0, sizeof(x)); + if (gps_yea < 100) { /* 2-digits year, 20xx */ + x.tm_year = gps_yea + 100; /* 100 years offset to 1900 */ + } else { /* 4-digits year, Gregorian calendar */ + x.tm_year = gps_yea - 1900; + } + x.tm_mon = gps_mon - 1; /* tm_mon is [0,11], gps_mon is [1,12] */ + x.tm_mday = gps_day; + x.tm_hour = gps_hou; + x.tm_min = gps_min; + x.tm_sec = gps_sec; + y = mktime(&x); + if (y == (time_t)(-1)) { + DEBUG_MSG("ERROR: FAILED TO CONVERT BROKEN-DOWN TIME\n"); + return LGW_GPS_ERROR; + } + utc->tv_sec = y; + utc->tv_nsec = (int32_t)(gps_fra * 1e9); + } + if (loc != NULL) { + if (!gps_pos_ok) { + DEBUG_MSG("ERROR: NO VALID POSITION TO RETURN\n"); + return LGW_GPS_ERROR; + } + loc->lat = ((double)gps_dla + (gps_mla/60.0)) * ((gps_ola == 'N')?1.0:-1.0); + loc->lon = ((double)gps_dlo + (gps_mlo/60.0)) * ((gps_olo == 'E')?1.0:-1.0); + loc->alt = gps_alt; + } + if (err != NULL) { + DEBUG_MSG("Warning: localization error processing not implemented yet\n"); + err->lat = 0.0; + err->lon = 0.0; + err->alt = 0; + } + + return LGW_GPS_SUCCESS; +} + +/* ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ */ + +int lgw_gps_sync(struct tref *ref, uint32_t count_us, struct timespec utc) { + double cnt_diff; /* internal concentrator time difference (in seconds) */ + double utc_diff; /* UTC time difference (in seconds) */ + double slope; /* time slope between new reference and old reference (for sanity check) */ + + bool aber_n0; /* is the update value for synchronization aberrant or not ? */ + static bool aber_min1 = false; /* keep track of whether value at sync N-1 was aberrant or not */ + static bool aber_min2 = false; /* keep track of whether value at sync N-2 was aberrant or not */ + + CHECK_NULL(ref); + + /* calculate the slope */ + cnt_diff = (count_us - ref->count_us) / TS_CPS; /* uncorrected by xtal_err */ + utc_diff = (utc.tv_sec - (ref->utc).tv_sec) + 1E-9 * (utc.tv_nsec - (ref->utc).tv_nsec); + if (utc_diff == 0.0) { // prevent divide by zero + DEBUG_MSG("ERROR: ATTEMPT TO DIVIDE BY ZERO\n"); + return LGW_GPS_ERROR; + } + + /* detect aberrant points by measuring if slope limits are exceeded */ + slope = cnt_diff/utc_diff; + if ((slope > PLUS_10PPM) || (slope < MINUS_10PPM)) { + DEBUG_MSG("Warning: correction range exceeded\n"); + aber_n0 = true; + } else { + aber_n0 = false; + } + + /* watch if the 3 latest sync point were aberrant or not */ + if (aber_n0 == false) { + /* value no aberrant -> sync with smoothed slope */ + ref->systime = time(NULL); + ref->count_us = count_us; + ref->utc = utc; + ref->xtal_err = (0.9 * ref->xtal_err) + (0.1 * slope); /* 10% smoothing factor */ + aber_min2 = aber_min1; + aber_min1 = aber_n0; + return LGW_GPS_SUCCESS; + } else if (aber_n0 && aber_min1 && aber_min2) { + /* 3 successive aberrant values -> sync reset (keep xtal_err) */ + ref->systime = time(NULL); + ref->count_us = count_us; + ref->utc = utc; + /* reset xtal_err only if the present value is out of range */ + if ((ref->xtal_err > PLUS_10PPM) || (ref->xtal_err < MINUS_10PPM)) { + ref->xtal_err = 1.0; + } + DEBUG_MSG("Warning: 3 successive aberrant sync attempts, sync reset\n"); + aber_min2 = aber_min1; + aber_min1 = aber_n0; + return LGW_GPS_SUCCESS; + } else { + /* only 1 or 2 successive aberrant values -> ignore and return an error */ + aber_min2 = aber_min1; + aber_min1 = aber_n0; + return LGW_GPS_ERROR; + } + + return LGW_GPS_SUCCESS; +} + +/* ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ */ + +int lgw_cnt2utc(struct tref ref, uint32_t count_us, struct timespec *utc) { + double delta_sec; + double intpart, fractpart; + long tmp; + + CHECK_NULL(utc); + if ((ref.systime == 0) || (ref.xtal_err > PLUS_10PPM) || (ref.xtal_err < MINUS_10PPM)) { + DEBUG_MSG("ERROR: INVALID REFERENCE FOR CNT -> UTC CONVERSION\n"); + return LGW_GPS_ERROR; + } + + /* calculate delta in seconds between reference count_us and target count_us */ + delta_sec = (double)(count_us - ref.count_us) / (TS_CPS * ref.xtal_err); + + /* now add that delta to reference UTC time */ + fractpart = modf (delta_sec , &intpart); + tmp = ref.utc.tv_nsec + (long)(fractpart * 1E9); + if (tmp < (long)1E9) { /* the nanosecond part doesn't overflow */ + utc->tv_sec = ref.utc.tv_sec + (time_t)intpart; + utc->tv_nsec = tmp; + } else { /* must carry one second */ + utc->tv_sec = ref.utc.tv_sec + (time_t)intpart + 1; + utc->tv_nsec = tmp - (long)1E9; + } + + return LGW_GPS_SUCCESS; +} + +/* ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ */ + +int lgw_utc2cnt(struct tref ref, struct timespec utc, uint32_t *count_us) { + double delta_sec; + + CHECK_NULL(count_us); + if ((ref.systime == 0) || (ref.xtal_err > PLUS_10PPM) || (ref.xtal_err < MINUS_10PPM)) { + DEBUG_MSG("ERROR: INVALID REFERENCE FOR UTC -> CNT CONVERSION\n"); + return LGW_GPS_ERROR; + } + + /* calculate delta in seconds between reference utc and target utc */ + delta_sec = (double)(utc.tv_sec - ref.utc.tv_sec); + delta_sec += 1E-9 * (double)(utc.tv_nsec - ref.utc.tv_nsec); + + /* now convert that to internal counter tics and add that to reference counter value */ + *count_us = ref.count_us + (uint32_t)(delta_sec * TS_CPS * ref.xtal_err); + + return LGW_GPS_SUCCESS; +} + +/* --- EOF ------------------------------------------------------------------ */ diff --git a/libloragw/src/loragw_hal.c b/libloragw/src/loragw_hal.c index c2329fc..4319d5e 100644 --- a/libloragw/src/loragw_hal.c +++ b/libloragw/src/loragw_hal.c @@ -296,7 +296,7 @@ int setup_sx1257(uint8_t rf_chain, uint32_t freq_hz) { DEBUG_MSG("ERROR: INVALID RF_CHAIN\n"); return -1; } - + sx125x_write(rf_chain, 0x10, SX125x_TX_DAC_CLK_SEL + 2); /* Enable 'clock out' for both radios */ sx125x_write(rf_chain, 0x26, 0X2D); /* Disable gm of oscillator block */ @@ -669,7 +669,9 @@ int lgw_start(void) { /* configure Lora 'multi' demodulators aka. Lora 'sensor' channels (IF0-3) */ j = 0; - for(i=0;i<=7;++i) j += (if_rf_chain[i] == 1 ? 1 << i : 0); /* transform bool array into binary word */ + for(i=0; i<=7; ++i) { + j += (if_rf_chain[i] == 1 ? 1 << i : 0); /* transform bool array into binary word */ + } lgw_reg_w(LGW_RADIO_SELECT, j); /* IF mapping to radio A/B (per bit, 0=A, 1=B) */ lgw_reg_w(LGW_IF_FREQ_0, IF_HZ_TO_REG(if_freq[0])); /* default -384 */ @@ -694,7 +696,9 @@ int lgw_start(void) { case BW_125KHZ: lgw_reg_w(LGW_MBWSSF_MODEM_BW,0); break; case BW_250KHZ: lgw_reg_w(LGW_MBWSSF_MODEM_BW,1); break; case BW_500KHZ: lgw_reg_w(LGW_MBWSSF_MODEM_BW,2); break; - default: DEBUG_PRINTF("ERROR: UNEXPECTED VALUE %d IN SWITCH STATEMENT\n", lora_rx_bw); return LGW_HAL_ERROR; + default: + DEBUG_PRINTF("ERROR: UNEXPECTED VALUE %d IN SWITCH STATEMENT\n", lora_rx_bw); + return LGW_HAL_ERROR; } switch(lora_rx_sf) { case DR_LORA_SF7: lgw_reg_w(LGW_MBWSSF_RATE_SF,7); break; @@ -703,7 +707,9 @@ int lgw_start(void) { case DR_LORA_SF10: lgw_reg_w(LGW_MBWSSF_RATE_SF,10); break; case DR_LORA_SF11: lgw_reg_w(LGW_MBWSSF_RATE_SF,11); break; case DR_LORA_SF12: lgw_reg_w(LGW_MBWSSF_RATE_SF,12); break; - default: DEBUG_PRINTF("ERROR: UNEXPECTED VALUE %d IN SWITCH STATEMENT\n", lora_rx_sf); return LGW_HAL_ERROR; + default: + DEBUG_PRINTF("ERROR: UNEXPECTED VALUE %d IN SWITCH STATEMENT\n", lora_rx_sf); + return LGW_HAL_ERROR; } lgw_reg_w(LGW_MBWSSF_PPM_OFFSET, lora_rx_ppm_offset); /* default 0 */ lgw_reg_w(LGW_MBWSSF_MODEM_ENABLE, 1); /* default 0 */ @@ -730,6 +736,9 @@ int lgw_start(void) { lgw_reg_w(LGW_MCU_RST_0, 0); lgw_reg_w(LGW_MCU_RST_1, 0); + /* enable GPS event capture */ + lgw_reg_w(LGW_GPS_EN,1); + /* enable LEDs */ lgw_reg_w(LGW_GPIO_MODE,31); // lgw_reg_w(LGW_GPIO_SELECT_OUTPUT,0); /* default 0 */ @@ -786,7 +795,6 @@ int lgw_receive(uint8_t max_pkt, struct lgw_pkt_rx_s *pkt_data) { /* how many packets are in the RX buffer ? Break if zero */ if (buff[0] == 0) { - DEBUG_MSG("Note: RX packet buffer empty, receive function returning nothing\n"); break; /* no more packets to fetch, exit out of FOR loop */ } @@ -949,8 +957,6 @@ int lgw_send(struct lgw_pkt_tx_s pkt_data) { int transfer_size = 0; /* data to transfer from host to TX databuffer */ int payload_offset = 0; /* start of the payload content in the databuffer */ uint8_t power_nibble = 0; /* 4-bit value to set the firmware TX power */ - uint32_t current_tstamp; /* current timestamp, to check for missed TX deadlines */ - uint32_t deadline_tstamp; /* packet must be scheduled before that timestamp value is reached */ /* check if the gateway is running */ if (lgw_is_started == false) { @@ -1023,11 +1029,6 @@ int lgw_send(struct lgw_pkt_tx_s pkt_data) { } // TODO: implement LUT in the firmware and matched value in the HAL - /* reset TX command flags */ - lgw_reg_w(LGW_TX_TRIG_IMMEDIATE, 0); - lgw_reg_w(LGW_TX_TRIG_DELAYED, 0); - lgw_reg_w(LGW_TX_TRIG_GPS, 0); - /* fixed metadata, useful payload and misc metadata compositing */ transfer_size = TX_METADATA_NB + pkt_data.size; /* */ payload_offset = TX_METADATA_NB; /* start the payload just after the metadata */ @@ -1148,6 +1149,11 @@ int lgw_send(struct lgw_pkt_tx_s pkt_data) { /* copy payload from user struct to buffer containing metadata */ memcpy((void *)(buff + payload_offset), (void *)(pkt_data.payload), pkt_data.size); + /* reset TX command flags */ + lgw_reg_w(LGW_TX_TRIG_IMMEDIATE, 0); + lgw_reg_w(LGW_TX_TRIG_DELAYED, 0); + lgw_reg_w(LGW_TX_TRIG_GPS, 0); + /* put metadata + payload in the TX data buffer */ lgw_reg_w(LGW_TX_DATA_BUF_ADDR, 0); lgw_reg_wb(LGW_TX_DATA_BUF_DATA, buff, transfer_size); @@ -1161,13 +1167,6 @@ int lgw_send(struct lgw_pkt_tx_s pkt_data) { case TIMESTAMPED: lgw_reg_w(LGW_TX_TRIG_DELAYED, 1); - lgw_reg_r(LGW_TIMESTAMP, (int32_t *)¤t_tstamp); /* unusable value if GPS is enabled */ - deadline_tstamp = pkt_data.count_us - TX_START_DELAY; /* time at which the controller with start TX sequence */ - if ((deadline_tstamp - current_tstamp) > 0x7FFFFFFF) { - lgw_reg_w(LGW_TX_TRIG_DELAYED, 0); /* cancel TX if deadline was missed */ - DEBUG_MSG("ERROR: MISSED TX DEADLINE\n"); - return LGW_HAL_ERROR; // should return a specific error message - } break; case ON_GPS: @@ -1216,6 +1215,21 @@ int lgw_status(uint8_t select, uint8_t *code) { /* ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ */ +int lgw_get_trigcnt(uint32_t* trig_cnt_us) { + int i; + int32_t val; + + i = lgw_reg_r(LGW_TIMESTAMP, &val); + if (i == LGW_REG_SUCCESS) { + *trig_cnt_us = (uint32_t)val; + return LGW_HAL_SUCCESS; + } else { + return LGW_HAL_ERROR; + } +} + +/* ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ */ + const char* lgw_version_info() { return lgw_version_string; } diff --git a/libloragw/tst/test_loragw_gps.c b/libloragw/tst/test_loragw_gps.c new file mode 100644 index 0000000..77e5325 --- /dev/null +++ b/libloragw/tst/test_loragw_gps.c @@ -0,0 +1,177 @@ +/* + / _____) _ | | +( (____ _____ ____ _| |_ _____ ____| |__ + \____ \| ___ | (_ _) ___ |/ ___) _ \ + _____) ) ____| | | || |_| ____( (___| | | | +(______/|_____)_|_|_| \__)_____)\____)_| |_| + ©2013 Semtech-Cycleo + +Description: + Minimum test program for the loragw_gps 'library' + +License: Revised BSD License, see LICENSE.TXT file include in the project +Maintainer: Sylvain Miermont +*/ + + +/* -------------------------------------------------------------------------- */ +/* --- DEPENDANCIES --------------------------------------------------------- */ + +/* fix an issue between POSIX and C99 */ +#if __STDC_VERSION__ >= 199901L + #define _XOPEN_SOURCE 600 +#else + #define _XOPEN_SOURCE 500 +#endif + +#include <stdint.h> /* C99 types */ +#include <stdbool.h> /* bool type */ +#include <stdio.h> /* printf */ +#include <string.h> /* memset */ +#include <signal.h> /* sigaction */ +#include <stdlib.h> /* exit */ +#include <unistd.h> /* read */ + +#include "loragw_hal.h" +#include "loragw_gps.h" +#include "loragw_aux.h" + +/* -------------------------------------------------------------------------- */ +/* --- PRIVATE VARIABLES ---------------------------------------------------- */ + +static int exit_sig = 0; /* 1 -> application terminates cleanly (shut down hardware, close open files, etc) */ +static int quit_sig = 0; /* 1 -> application terminates without shutting down the hardware */ + +/* -------------------------------------------------------------------------- */ +/* --- PRIVATE FUNCTIONS DECLARATION ---------------------------------------- */ + +static void sig_handler(int sigio); + +/* -------------------------------------------------------------------------- */ +/* --- PRIVATE FUNCTIONS DEFINITION ----------------------------------------- */ + +static void sig_handler(int sigio) { + if (sigio == SIGQUIT) { + quit_sig = 1;; + } else if ((sigio == SIGINT) || (sigio == SIGTERM)) { + exit_sig = 1; + } +} + +/* -------------------------------------------------------------------------- */ +/* --- MAIN FUNCTION -------------------------------------------------------- */ + +int main() +{ + struct sigaction sigact; /* SIGQUIT&SIGINT&SIGTERM signal handling */ + + int i; + char tmp_str[80]; + + /* serial variables */ + char serial_buff[128]; /* buffer to receive GPS data */ + ssize_t nb_char; + int gps_tty_dev; /* file descriptor to the serial port of the GNSS module */ + + /* NMEA variables */ + enum gps_msg latest_msg; /* keep track of latest NMEA message parsed */ + + /* variables for PPM pulse GPS synchronization */ + uint32_t ppm_tstamp; + struct timespec ppm_utc; + struct tref ppm_ref; + + /* variables for timestamp <-> UTC conversions */ + uint32_t x, z; + struct timespec y; + + /* configure signal handling */ + sigemptyset(&sigact.sa_mask); + sigact.sa_flags = 0; + sigact.sa_handler = sig_handler; + sigaction(SIGQUIT, &sigact, NULL); + sigaction(SIGINT, &sigact, NULL); + sigaction(SIGTERM, &sigact, NULL); + + /* Intro message and library information */ + printf("Beginning of test for loragw_gps.c\n"); + printf("*** Library version information ***\n%s\n***\n", lgw_version_info()); + + /* Open and configure GPS */ + i = lgw_gps_enable("/dev/ttyACM0", NULL, 0, &gps_tty_dev); + if (i != LGW_GPS_SUCCESS) { + printf("ERROR: IMPOSSIBLE TO ENABLE GPS\n"); + exit(EXIT_FAILURE); + } + + /* start concentrator */ + lgw_start(); + + /* initialize some variables before loop */ + memset(serial_buff, 0, sizeof serial_buff); + memset(&ppm_ref, 0, sizeof ppm_ref); + + /* loop until user action */ + while ((quit_sig != 1) && (exit_sig != 1)) { + /* blocking canonical read on serial port */ + nb_char = read(gps_tty_dev, serial_buff, sizeof(serial_buff)-1); + if (nb_char <= 0) { + printf("Warning: read() returned value <= 0\n"); + continue; + } else { + serial_buff[nb_char] = 0; + } + + /* parse the received NMEA */ + latest_msg = lgw_parse_nmea(serial_buff, sizeof(serial_buff)); + + if (latest_msg == NMEA_RMC) { + + printf("\n~~ RMC NMEA sentence, triggering synchronization attempt ~~\n"); + + /* get UTC time for synchronization */ + i = lgw_gps_get(&ppm_utc, NULL, NULL); + if (i != LGW_GPS_SUCCESS) { + printf(" No valid reference UTC time available, synchronization impossible.\n"); + continue; + } + /* get timestamp for synchronization */ + i = lgw_get_trigcnt(&ppm_tstamp); + if (i != LGW_HAL_SUCCESS) { + printf(" Failed to read timestamp, synchronization impossible.\n"); + continue; + } + /* try to update synchronize time reference with the new UTC & timestamp */ + i = lgw_gps_sync(&ppm_ref, ppm_tstamp, ppm_utc); + if (i != LGW_GPS_SUCCESS) { + printf(" Synchronization error.\n"); + continue; + } + /* display result */ + printf(" * Synchronization successful *\n"); + strftime(tmp_str, sizeof(tmp_str), "%F %T", gmtime(&(ppm_ref.utc.tv_sec))); + printf(" UTC reference time: %s.%09ldZ\n", tmp_str, ppm_ref.utc.tv_nsec); + printf(" Internal counter reference value: %u\n", ppm_ref.count_us); + printf(" Clock error: %.9f\n", ppm_ref.xtal_err); + + x = ppm_tstamp + 500000; + printf(" * Test of timestamp counter <-> UTC value conversion *\n"); + printf(" Test value: %u\n", x); + lgw_cnt2utc(ppm_ref, x, &y); + strftime(tmp_str, sizeof(tmp_str), "%F %T", gmtime(&(y.tv_sec))); + printf(" Conversion to UTC: %s.%09ldZ\n", tmp_str, y.tv_nsec); + lgw_utc2cnt(ppm_ref, y, &z); + printf(" Converted back: %u\n", z); + } + } + + /* clean up before leaving */ + if (exit_sig == 1) { + lgw_stop(); + } + + printf("\nEnd of test for loragw_gps.c\n"); + exit(EXIT_SUCCESS); +} + +/* --- EOF ------------------------------------------------------------------ */ |