From 165ea28d49f4b0d06d64273177b9f77cca199add Mon Sep 17 00:00:00 2001 From: Harsh Sharma Date: Mon, 28 Dec 2020 13:19:31 -0600 Subject: Fixed test gps utility --- libloragw/tst/test_loragw_gps.c | 171 +++++++--------------------------------- 1 file 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); } } -- cgit v1.2.3