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authorHarsh Sharma <harsh.sharma@multitech.com>2022-04-21 16:22:04 -0500
committerHarsh Sharma <harsh.sharma@multitech.com>2022-04-21 16:22:04 -0500
commit54b764826671d750d40d1b717f2a171a093aaafb (patch)
tree021f949f7a7e22f6da76c89e8c81ee70ad8e8072 /libloragw
parente4b66900abb578d3e3d7a1c15f0b31d637984f7b (diff)
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Changed gps functions to use gpspipe5.0.12
Diffstat (limited to 'libloragw')
-rw-r--r--libloragw/inc/loragw_gps.h17
-rw-r--r--libloragw/src/loragw_gps.c191
-rw-r--r--libloragw/tst/test_loragw_gps.c185
3 files changed, 280 insertions, 113 deletions
diff --git a/libloragw/inc/loragw_gps.h b/libloragw/inc/loragw_gps.h
index 0714974..3accae2 100644
--- a/libloragw/inc/loragw_gps.h
+++ b/libloragw/inc/loragw_gps.h
@@ -30,6 +30,7 @@ Maintainer: Michael Coracin
#include <gpsd.h>
#include <gpsdclient.h>
#include <errno.h> /* error messages */
+#include <sys/stat.h>
#include "config.h" /* library configuration options (dynamically generated) */
/* -------------------------------------------------------------------------- */
@@ -102,19 +103,21 @@ enum gps_msg {
/**
@brief Configure a GPS module
-@param gpsdata handler for gpsd data
-@param source source for setup of gpsd
-@return success if the function was able to connect and configure a GPSD stream
+@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(struct gps_data_t *gpsdata, struct fixsource_t *source);
+int lgw_gps_enable(char* tty_path, char* gps_familly, speed_t target_brate, int* fd_ptr, int slot);
/**
@brief Restore GPS serial configuration and close serial device
-@param gpsdata handler for gpsd data
+@param fd file descriptor on GPS tty
@return success if the function was able to complete
*/
-int lgw_gps_disable(struct gps_data_t *gpsdata);
+int lgw_gps_disable(int fd);
/**
@brief Get updated leap seconds
@@ -180,7 +183,7 @@ int lgw_gps_get(struct timespec *utc, struct timespec *gps_time, struct coord_s
Set systime to 0 in ref to trigger initial synchronization.
*/
-int lgw_gps_sync(struct tref *ref, uint32_t count_us, struct timespec gps_time);
+int lgw_gps_sync(struct tref *ref, uint32_t count_us, struct timespec utc, struct timespec gps_time);
/**
@brief Convert concentrator timestamp counter value to UTC time
diff --git a/libloragw/src/loragw_gps.c b/libloragw/src/loragw_gps.c
index 2698c4b..43ec0bc 100644
--- a/libloragw/src/loragw_gps.c
+++ b/libloragw/src/loragw_gps.c
@@ -59,6 +59,20 @@ Maintainer: Michael Coracin
#define UBX_MSG_NAVTIMEGPS_LEN 16
+char* fifo_name;
+FILE* pipe_fd;
+
+#define FIFO_1_NAME "/dev/gps1.fifo"
+#define FIFO_2_NAME "/dev/gps2.fifo"
+
+char fifo_1_make[] = "mkfifo " FIFO_1_NAME;
+char fifo_1_pipe[] = "gpspipe -R -r -o " FIFO_1_NAME;
+char fifo_1_kill[] = "pkill -f \"gpspipe.*" FIFO_1_NAME "\"";
+
+char fifo_2_make[] = "mkfifo " FIFO_2_NAME;
+char fifo_2_pipe[] = "gpspipe -R -r -o " FIFO_2_NAME;
+char fifo_2_kill[] = "pkill -f \"gpspipe.*" FIFO_2_NAME "\"";
+
/* -------------------------------------------------------------------------- */
/* --- PRIVATE VARIABLES ---------------------------------------------------- */
@@ -253,26 +267,40 @@ int str_chop(char *s, int buff_size, char separator, int *idx_ary, int max_idx)
/* -------------------------------------------------------------------------- */
/* --- PUBLIC FUNCTIONS DEFINITION ------------------------------------------ */
-int lgw_gps_enable(struct gps_data_t *gpsdata, struct fixsource_t *source) {
+int lgw_gps_enable(char *tty_path, char *gps_family, speed_t target_brate, int *fd_ptr, int slot) {
+ int i;
+ int gps_tty_dev; /* file descriptor to the serial port of the GNSS module */
- unsigned int flags = WATCH_ENABLE| WATCH_JSON;
- gpsd_source_spec(NULL, source);
+ /* check input parameters */
+ CHECK_NULL(tty_path);
+ CHECK_NULL(fd_ptr);
- /* Update leap seconds from gpspipe */
- if (lgw_get_leap_seconds() != LGW_GPS_SUCCESS) {
- DEBUG_MSG("WARNING: Could not update leap seconds, using default value: %d\n", leap_seconds);
+ struct stat buf;
+
+ if (slot == 1) {
+ if (stat(FIFO_1_NAME, &buf) != 0) {
+ system(fifo_1_make);
+ }
+ system(fifo_1_kill);
+ pipe_fd = popen(fifo_1_pipe, "r");
+ fifo_name = FIFO_1_NAME;
} else {
- DEBUG_MSG("Updated leap seconds to: %d\n", leap_seconds);
+ if (stat(FIFO_2_NAME, &buf) != 0) {
+ system(fifo_2_make);
+ }
+ system(fifo_2_kill);
+ pipe_fd = popen(fifo_2_pipe, "r");
+ fifo_name = FIFO_2_NAME;
}
+ /* open gps fifo */
+ gps_tty_dev = open(fifo_name, O_RDONLY );
- if (gps_open(source->server, source->port, gpsdata) != 0) {
- DEBUG_MSG("gpspipe: could not connect to gpsd %s:%s, %s(%d)\n",
- source->server, source->port, gps_errstr(errno), errno);
+ if (gps_tty_dev <= 0) {
+ printf("ERROR: TTY PORT FAIL TO OPEN, CHECK PATH AND ACCESS RIGHTS\n");
return LGW_GPS_ERROR;
}
-
- (void)gps_stream(gpsdata, flags, source->device);
+ *fd_ptr = gps_tty_dev;
/* get timezone info */
tzset();
@@ -287,15 +315,19 @@ int lgw_gps_enable(struct gps_data_t *gpsdata, struct fixsource_t *source) {
/* ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ */
-int lgw_gps_disable(struct gps_data_t *gpsdata) {
+int lgw_gps_disable(int fd) {
int i;
- (void) gps_stream(&gps_data, WATCH_DISABLE, NULL);
+ i = close(fd);
+ i = pclose(pipe_fd);
+
+ if (memcmp(fifo_name, FIFO_1_NAME, 14) == 0)
+ system("rm /dev/gps1.fifo");
+ else
+ system("rm /dev/gps2.fifo");
- /* ends the session */
- i = gps_close(gpsdata);
if (i != 0) {
- DEBUG_MSG("ERROR: GPSD FAILED TO CLOSE\n");
+ DEBUG_MSG("ERROR: TTY PORT FAIL TO CLOSE - %s\n", strerror(errno));
return LGW_GPS_ERROR;
}
@@ -405,8 +437,7 @@ enum gps_msg lgw_parse_ubx(const char *serial_buff, size_t buff_size, size_t *ms
gps_week = (uint8_t)serial_buff[14];
gps_week |= (uint8_t)serial_buff[15] << 8; /* GPS week number */
-
-
+ gps_time_ok = true;
#if 0
/* For debug */
{
@@ -421,23 +452,11 @@ enum gps_msg lgw_parse_ubx(const char *serial_buff, size_t buff_size, size_t *ms
printf(" GPS time = %02d:%02d:%02d\n", ubx_gps_hou, ubx_gps_min, ubx_gps_sec);
}
#endif
- if (gps_lock_ok)
- gps_time_ok = true;
-
- return UBX_NAV_TIMEGPS;
- } else {
- gps_time_ok = false;
- return INVALID;
- }
- } else if ((serial_buff[2] == 0x01) && (serial_buff[3] == 0x04)) {
- if (serial_buff[10] == 0x0F && serial_buff[11] == 0x27
- && serial_buff[10] == 0x0F && serial_buff[11] == 0x27
- && serial_buff[10] == 0x0F && serial_buff[11] == 0x27
- && serial_buff[10] == 0x0F && serial_buff[11] == 0x27) {
+ } else { /* valid */
gps_time_ok = false;
- gps_lock_ok = false;
}
- return UBX_NAV_TIMEUTC;
+
+ return UBX_NAV_TIMEGPS;
} else if ((serial_buff[2] == 0x05) && (serial_buff[3] == 0x00)) {
DEBUG_MSG("NOTE: UBX ACK-NAK received\n");
return IGNORED;
@@ -462,6 +481,7 @@ enum gps_msg lgw_parse_ubx(const char *serial_buff, size_t buff_size, size_t *ms
}
}
+
/* ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ */
enum gps_msg lgw_parse_nmea(const char *serial_buff, int buff_size) {
@@ -487,7 +507,7 @@ enum gps_msg lgw_parse_nmea(const char *serial_buff, int buff_size) {
} else if (!validate_nmea_checksum(serial_buff, buff_size)) {
DEBUG_MSG("Warning: invalid NMEA sentence (bad checksum)\n");
return INVALID;
- } else if (match_label(serial_buff, "G?RMC", 5, '?')) {
+ } 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: $GPRMC,083559.34,A,4717.11437,N,00833.91522,E,0.004,77.52,091202,,,A*00
@@ -500,28 +520,35 @@ enum gps_msg lgw_parse_nmea(const char *serial_buff, int buff_size) {
DEBUG_MSG("Warning: invalid RMC sentence (number of fields)\n");
return IGNORED;
}
+
/* parse GPS status */
- gps_mod = *(parser_buf + str_index[2]); /* get first character, no need to bother with sscanf */
- if ((gps_mod != 'N') && (gps_mod != 'A') && (gps_mod != 'D')) {
+ if (str_index[12] < 0) {
gps_mod = 'N';
+ } else {
+ gps_mod = (char)*(parser_buf + str_index[12]); /* get first character, no need to bother with sscanf */
+ if ((gps_mod != 'N') && (gps_mod != 'A') && (gps_mod != 'D')) {
+ gps_mod = 'N';
+ }
}
+
/* parse complete time */
i = sscanf(parser_buf + str_index[1], "%2hd%2hd%2hd%4f", &gps_hou, &gps_min, &gps_sec, &gps_fra);
j = sscanf(parser_buf + str_index[9], "%2hd%2hd%2hd", &gps_day, &gps_mon, &gps_yea);
- if ((i == 3) && (j == 3)) {
+ if ((i == 4) && (j == 3)) {
if ((gps_mod == 'A') || (gps_mod == 'D')) {
- gps_lock_ok = true;
+ gps_time_ok = true;
DEBUG_MSG("Note: Valid RMC sentence, GPS locked, date: 20%02d-%02d-%02dT%02d:%02d:%06.3fZ\n", gps_yea, gps_mon, gps_day, gps_hou, gps_min, gps_fra + (float)gps_sec);
} else {
- gps_lock_ok = false;
+ gps_time_ok = false;
DEBUG_MSG("Note: Valid RMC sentence, no satellite fix, estimated date: 20%02d-%02d-%02dT%02d:%02d:%06.3fZ\n", gps_yea, gps_mon, gps_day, gps_hou, gps_min, gps_fra + (float)gps_sec);
}
} else {
/* could not get a valid hour AND date */
+ gps_time_ok = false;
DEBUG_MSG("Note: Valid RMC sentence, mode %c, no date\n", gps_mod);
}
return NMEA_RMC;
- } else if (match_label(serial_buff, "G?GGA", 5, '?')) {
+ } else if (match_label(serial_buff, "$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
@@ -547,8 +574,6 @@ enum gps_msg lgw_parse_nmea(const char *serial_buff, int buff_size) {
} else {
/* could not get a valid latitude, longitude AND altitude */
gps_pos_ok = false;
- gps_time_ok = false;
- gps_lock_ok = false;
DEBUG_MSG("Note: Valid GGA sentence, %d sat, no coordinates\n", gps_sat);
}
return NMEA_GGA;
@@ -558,6 +583,7 @@ enum gps_msg lgw_parse_nmea(const char *serial_buff, int buff_size) {
}
}
+
/* ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ */
int lgw_gps_get(struct timespec *utc, struct timespec *gps_time, struct coord_s *loc, struct coord_s *err) {
@@ -623,57 +649,74 @@ int lgw_gps_get(struct timespec *utc, struct timespec *gps_time, struct coord_s
/* ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ */
-int lgw_gps_sync(struct tref *ref, uint32_t count_us, struct timespec gps_time) {
- bool update = false;
+int lgw_gps_sync(struct tref *ref, uint32_t count_us, struct timespec utc, struct timespec gps_time) {
double cnt_diff; /* internal concentrator time difference (in seconds) */
double utc_diff; /* UTC time difference (in seconds) */
- double slope = 1.0; /* time slope between new reference and old reference (for sanity check) */
- static bool calibrating = true;
+ 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 */
- if (ref->systime != 0) {
- cnt_diff = (double)(count_us - ref->count_us) / (double)(TS_CPS); /* uncorrected by xtal_err */
- utc_diff = (double)((gps_time.tv_sec - timezone) - (ref->utc).tv_sec) + (1E-9 * (double)(gps_time.tv_nsec - (ref->utc).tv_nsec));
+ cnt_diff = (double)(count_us - ref->count_us) / (double)(TS_CPS); /* uncorrected by xtal_err */
+ utc_diff = (double)(utc.tv_sec - (ref->utc).tv_sec) + (1E-9 * (double)(utc.tv_nsec - (ref->utc).tv_nsec));
- if (!calibrating && utc_diff < 1.0)
- return LGW_GPS_ERROR;
-
- if (cnt_diff != 0 && utc_diff != 0) { // prevent divide by zero
- slope = cnt_diff/utc_diff;
+ /* detect aberrant points by measuring if slope limits are exceeded */
+ if (utc_diff != 0) { // prevent divide by zero
+ slope = cnt_diff/utc_diff;
+ if ((slope > PLUS_10PPM) || (slope < MINUS_10PPM)) {
+ DEBUG_MSG("Warning: correction range exceeded\n");
+ aber_n0 = true;
} else {
- slope = 0.0;
- }
-
- update = (slope >= MINUS_10PPM && slope <= PLUS_10PPM);
-
- if (calibrating && !update && utc_diff > 1.5) {
- update = true;
- } else if (update) {
- calibrating = false;
+ aber_n0 = false;
}
-
} else {
- update = true;
- slope = 1.0;
+ DEBUG_MSG("Warning: aberrant UTC value for synchronization\n");
+ aber_n0 = true;
}
- if (update || calibrating) {
+ /* 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.tv_sec = utc.tv_sec;
+ ref->utc.tv_nsec = utc.tv_nsec;
+ ref->gps.tv_sec = gps_time.tv_sec;
+ ref->gps.tv_nsec = gps_time.tv_nsec;
+ ref->xtal_err = slope;
+ 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.tv_sec = gps_time.tv_sec - timezone;
- ref->utc.tv_nsec = gps_time.tv_nsec;
- ref->gps.tv_sec = gps_time.tv_sec + leap_seconds - 315964800;
+ ref->utc.tv_sec = utc.tv_sec;
+ ref->utc.tv_nsec = utc.tv_nsec;
+ ref->gps.tv_sec = gps_time.tv_sec;
ref->gps.tv_nsec = gps_time.tv_nsec;
- ref->xtal_err = (slope >= MINUS_10PPM && slope <= PLUS_10PPM) ? slope : 1.0;
+ /* 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_ERROR;
+ return LGW_GPS_SUCCESS;
}
-
/* ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ */
int lgw_cnt2utc(struct tref ref, uint32_t count_us, struct timespec *utc) {
diff --git a/libloragw/tst/test_loragw_gps.c b/libloragw/tst/test_loragw_gps.c
index 994c0ad..16ea6f0 100644
--- a/libloragw/tst/test_loragw_gps.c
+++ b/libloragw/tst/test_loragw_gps.c
@@ -51,6 +51,8 @@ struct tref ppm_ref;
/* --- PRIVATE FUNCTIONS DECLARATION ---------------------------------------- */
static void sig_handler(int sigio);
+static void gps_process_sync(void);
+static void gps_process_coords(void);
/* -------------------------------------------------------------------------- */
/* --- PRIVATE FUNCTIONS DEFINITION ----------------------------------------- */
@@ -63,6 +65,72 @@ static void sig_handler(int sigio) {
}
}
+static void gps_process_sync(void) {
+ /* variables for PPM pulse GPS synchronization */
+ uint32_t ppm_tstamp;
+ struct timespec ppm_gps;
+ struct timespec ppm_utc;
+
+ /* variables for timestamp <-> GPS time conversions */
+ uint32_t x, z;
+ struct timespec y;
+
+ /* get GPS time for synchronization */
+ int i = lgw_gps_get(&ppm_utc, &ppm_gps, NULL, NULL);
+ if (i != LGW_GPS_SUCCESS) {
+ printf(" No valid reference GPS time available, synchronization impossible.\n");
+ return;
+ }
+
+ /* get timestamp for synchronization */
+ i = lgw_get_trigcnt(&ppm_tstamp);
+ if (i != LGW_HAL_SUCCESS) {
+ printf(" Failed to read timestamp, synchronization impossible.\n");
+ return;
+ }
+
+ /* try to update synchronize time reference with the new GPS & timestamp */
+ i = lgw_gps_sync(&ppm_ref, ppm_tstamp, ppm_utc, ppm_gps);
+ if (i != LGW_GPS_SUCCESS) {
+ printf(" Synchronization error.\n");
+ return;
+ }
+
+ /* display result */
+ printf(" * Synchronization successful *\n");
+ printf(" UTC reference time: %lld.%09ld\n", (long long)ppm_ref.utc.tv_sec, ppm_ref.utc.tv_nsec);
+ printf(" GPS reference time: %lld.%09ld\n", (long long)ppm_ref.gps.tv_sec, ppm_ref.gps.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 <-> GPS value conversion *\n");
+ printf(" Test value: %u\n", x);
+ lgw_cnt2gps(ppm_ref, x, &y);
+ printf(" Conversion to GPS: %lld.%09ld\n", (long long)y.tv_sec, y.tv_nsec);
+ lgw_gps2cnt(ppm_ref, y, &z);
+ printf(" Converted back: %u ==> %dµs\n", z, (int32_t)(z-x));
+ printf(" * Test of timestamp counter <-> UTC value conversion *\n");
+ printf(" Test value: %u\n", x);
+ lgw_cnt2utc(ppm_ref, x, &y);
+ printf(" Conversion to UTC: %lld.%09ld\n", (long long)y.tv_sec, y.tv_nsec);
+ lgw_utc2cnt(ppm_ref, y, &z);
+ printf(" Converted back: %u ==> %dµs\n", z, (int32_t)(z-x));
+}
+
+static void gps_process_coords(void) {
+ /* position variable */
+ struct coord_s coord;
+ struct coord_s gpserr;
+ int i = lgw_gps_get(NULL, NULL, &coord, &gpserr);
+
+ /* update gateway coordinates */
+ if (i == LGW_GPS_SUCCESS) {
+ printf("# GPS coordinates: latitude %.5f, longitude %.5f, altitude %i m\n", coord.lat, coord.lon, coord.alt);
+ printf("# GPS err: latitude %.5f, longitude %.5f, altitude %i m\n", gpserr.lat, gpserr.lon, gpserr.alt);
+ }
+}
+
/* -------------------------------------------------------------------------- */
/* --- MAIN FUNCTION -------------------------------------------------------- */
@@ -78,9 +146,15 @@ int main()
/* serial variables */
char serial_buff[128]; /* buffer to receive GPS data */
+ size_t wr_idx = 0; /* pointer to end of chars in buffer */
+ int gps_tty_dev; /* file descriptor to the serial port of the GNSS module */
/* NMEA/UBX variables */
- static struct tref time_reference_gps; /* time reference used for GPS <-> timestamp conversion */
+ enum gps_msg latest_msg = UNKNOWN; /* keep track of latest NMEA/UBX message parsed */
+
+ fd_set fds;
+ char delim[4] = "$";
+ char *token[254];
/* configure signal handling */
sigemptyset(&sigact.sa_mask);
@@ -95,9 +169,9 @@ int main()
printf("*** Library version information ***\n%s\n***\n", lgw_version_info());
/* Open and configure GPS */
- i = lgw_gps_enable(&gpsdata, &source);
+ i = lgw_gps_enable("/dev/ttyS0", "ubx7", 0, &gps_tty_dev, 1);
if (i != LGW_GPS_SUCCESS) {
- printf("ERROR: IMPOSSIBLE TO ENABLE GPS\n");
+ printf("ERROR: Failed to enable GPS\n");
exit(EXIT_FAILURE);
}
@@ -124,41 +198,88 @@ int main()
memset(&ppm_ref, 0, sizeof ppm_ref);
/* loop until user action */
-
while ((quit_sig != 1) && (exit_sig != 1)) {
- wait_ms(100);
- int r = gps_read(&gpsdata, 0, 0);
- if (r!= -1 && (gpsdata.status != STATUS_NO_FIX) &&
- (gpsdata.fix.mode == MODE_2D || gpsdata.fix.mode == MODE_3D) &&
- !isnan(gpsdata.fix.latitude) &&
- !isnan(gpsdata.fix.longitude)) {
-
-
- uint32_t trig_tstamp; /* concentrator timestamp associated with PPM pulse */
-
- i = lgw_get_trigcnt(&trig_tstamp);
- lgw_gps_sync(&time_reference_gps, trig_tstamp, gpsdata.fix.time);
-
- printf("\n--- GPS ---\n");
- printf("Set: %lld\n", gpsdata.set);
- printf("Online: %10.0f\n", gpsdata.online);
- printf("Status: %d\n", gpsdata.status);
- printf("Satellites Used: %d\n", gpsdata.satellites_used);
- printf("Mode: %d\n", gpsdata.fix.mode);
- printf("UTC time: %lld.%09ld\n", (long long)time_reference_gps.utc.tv_sec, time_reference_gps.utc.tv_nsec);
- printf("GPS time: %lld.%09ld\n", (long long)time_reference_gps.gps.tv_sec, time_reference_gps.gps.tv_nsec);
- printf("Latitude: %f\n", gpsdata.fix.latitude);
- printf("Longitude: %f\n", gpsdata.fix.longitude);
- printf("Altitude: %fm\n", gpsdata.fix.altitude);
- printf("Speed: %f\n", gpsdata.fix.speed);
- printf("Track: %f\n", gpsdata.fix.track);
- printf("Pdop: %f\n", gpsdata.dop.pdop);
+ int r = 0;
+ struct timeval tv;
+ tv.tv_sec = 0;
+ tv.tv_usec = 100000;
+ FD_ZERO(&fds);
+ FD_SET(gpsdata.gps_fd, &fds);
+ errno = 0;
+ r = select(gpsdata.gps_fd+1, &fds, NULL, NULL, &tv);
+ if (r == -1 && errno != EINTR) {
+ printf("gpspipe: select error %s(%d)\n", strerror(errno), errno);
+ exit(EXIT_FAILURE);
+ } else if (r == 0)
+ continue;
+
+ /* reading directly from the socket avoids decode overhead */
+ errno = 0;
+ r = (int)read(gpsdata.gps_fd, serial_buff, sizeof(serial_buff));
+ if (r > 0) {
+ int i = 0;
+ size_t frame_size = 0;
+ for (i = 0; i < r; i++) {
+ if (serial_buff[i] == (char)LGW_GPS_UBX_SYNC_CHAR) {
+ /***********************
+ * Found UBX sync char *
+ ***********************/
+ size_t ubx_size = (uint8_t)serial_buff[i+4];
+ ubx_size |= (uint8_t)serial_buff[i+5] << 8;
+ ubx_size += 8;
+ if (ubx_size < 27){
+ latest_msg = lgw_parse_ubx(&serial_buff[i], ubx_size , &frame_size);
+ }
+ if (frame_size > 0) {
+ if(latest_msg == INVALID || latest_msg == UNKNOWN) {
+ /* checksum failed */
+ frame_size = 0;
+ } else if (latest_msg == UBX_NAV_TIMEGPS) {
+ gps_process_sync();
+ }
+ }
+ } else if((serial_buff[i] == LGW_GPS_NMEA_SYNC_CHAR) && (serial_buff[i+1] == 0x47) && (serial_buff[i+2] == 0x50)){
+ /************************
+ * Found NMEA sync char *
+ ************************/
+ int k, l= 0;
+ token[0] = strtok(serial_buff, delim);
+
+ while (token[l] != NULL) {
+ l++;
+ token[l] = strtok(NULL, delim);
+ }
+ for (k=0; k<=l-1; k++) {
+ if ((strlen(token[k]) > 66) && (strlen(token[k]) < 74)){
+ lgw_parse_nmea(token[k], strlen(token[k]));
+ if(latest_msg == INVALID || latest_msg == UNKNOWN) {
+ /* checksum failed */
+ frame_size = 0;
+ } else if (latest_msg == NMEA_RMC) {
+ /* Get location from RMC frames */
+ gps_process_coords();
+ }
+ }
+ }
+ }
+ }
+ } else {
+ if (r == -1) {
+ if (errno == EAGAIN)
+ continue;
+ else {
+ printf(stderr, "gpspipe: read error %s(%d)\n", strerror(errno), errno);
+ exit(EXIT_FAILURE);
+ }
+ } else {
+ exit(EXIT_SUCCESS);
+ }
}
}
/* clean up before leaving */
if (exit_sig == 1) {
- lgw_gps_disable(&gpsdata);
+ lgw_gps_disable(gps_tty_dev);
lgw_stop();
}