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-rw-r--r--libloragw/tst/test_loragw_gps.c171
1 files changed, 30 insertions, 141 deletions
diff --git a/libloragw/tst/test_loragw_gps.c b/libloragw/tst/test_loragw_gps.c
index fd8c61b..bb84068 100644
--- a/libloragw/tst/test_loragw_gps.c
+++ b/libloragw/tst/test_loragw_gps.c
@@ -65,72 +65,6 @@ 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 -------------------------------------------------------- */
@@ -149,6 +83,7 @@ int main()
/* NMEA/UBX variables */
enum gps_msg latest_msg = UNKNOWN; /* keep track of latest NMEA/UBX message parsed */
+ static struct tref time_reference_gps; /* time reference used for GPS <-> timestamp conversion */
fd_set fds;
char delim[4] = "$";
@@ -196,82 +131,36 @@ int main()
memset(&ppm_ref, 0, sizeof ppm_ref);
/* loop until user action */
+
while ((quit_sig != 1) && (exit_sig != 1)) {
- 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);
- }
+ wait_ms(100);
+ int r = gps_read(&gpsdata, 0, 0);
+ int used=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: %d\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);
}
}
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