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Diffstat (limited to 'libloragw/src/loragw_gps.c')
-rw-r--r--libloragw/src/loragw_gps.c191
1 files changed, 117 insertions, 74 deletions
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) {
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