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/*
/ _____) _ | |
( (____ _____ ____ _| |_ _____ ____| |__
\____ \| ___ | (_ _) ___ |/ ___) _ \
_____) ) ____| | | || |_| ____( (___| | | |
(______/|_____)_|_|_| \__)_____)\____)_| |_|
(C)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: Michael Coracin
*/
/* -------------------------------------------------------------------------- */
/* --- 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 <gps.h>
#include <gpsd.h>
#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 */
static struct gps_data_t gpsdata;
static struct fixsource_t source;
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 ----------------------------------------- */
static void sig_handler(int sigio) {
if (sigio == SIGQUIT) {
quit_sig = 1;;
} else if ((sigio == SIGINT) || (sigio == SIGTERM)) {
exit_sig = 1;
}
}
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 -------------------------------------------------------- */
int main()
{
struct sigaction sigact; /* SIGQUIT&SIGINT&SIGTERM signal handling */
int i;
/* concentrator variables */
struct lgw_conf_board_s boardconf;
struct lgw_conf_rxrf_s rfconf;
/* 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 */
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);
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/ttyS0", "ubx7", 0, &gps_tty_dev, 1);
if (i != LGW_GPS_SUCCESS) {
printf("ERROR: Failed to enable GPS\n");
exit(EXIT_FAILURE);
}
/* start concentrator (default conf for IoT SK) */
/* board config */
memset(&boardconf, 0, sizeof(boardconf));
boardconf.lorawan_public = true;
boardconf.clksrc = 1;
lgw_board_setconf(boardconf);
/* RF config */
memset(&rfconf, 0, sizeof(rfconf));
rfconf.enable = true;
rfconf.freq_hz = 868000000;
rfconf.rssi_offset = 0.0;
rfconf.type = LGW_RADIO_TYPE_SX1257;
rfconf.tx_enable = true;
lgw_rxrf_setconf(0, rfconf);
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)) {
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(gps_tty_dev);
lgw_stop();
}
printf("\nEnd of test for loragw_gps.c\n");
exit(EXIT_SUCCESS);
}
/* --- EOF ------------------------------------------------------------------ */
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