diff options
Diffstat (limited to 'recipes-connectivity/lora/lora-gateway/lora-gateway-gpsd.patch')
| -rw-r--r-- | recipes-connectivity/lora/lora-gateway/lora-gateway-gpsd.patch | 471 |
1 files changed, 471 insertions, 0 deletions
diff --git a/recipes-connectivity/lora/lora-gateway/lora-gateway-gpsd.patch b/recipes-connectivity/lora/lora-gateway/lora-gateway-gpsd.patch new file mode 100644 index 0000000..471cd82 --- /dev/null +++ b/recipes-connectivity/lora/lora-gateway/lora-gateway-gpsd.patch @@ -0,0 +1,471 @@ +diff --git a/libloragw/Makefile b/libloragw/Makefile +index 53c33d9..4575bdc 100644 +--- a/libloragw/Makefile ++++ b/libloragw/Makefile +@@ -10,14 +10,14 @@ CROSS_COMPILE ?= + CC := $(CROSS_COMPILE)gcc + AR := $(CROSS_COMPILE)ar + +-CFLAGS := -O2 -Wall -Wextra -std=c99 -Iinc -I. ++CFLAGS := -O2 -Wall -Wextra -std=c99 -Iinc -I. -isystem =/usr/include/gps + + OBJDIR = obj + INCLUDES = $(wildcard inc/*.h) + + ### linking options + +-LIBS := -lloragw -lrt -lm ++LIBS := -lloragw -lrt -lm -lgps + + ### general build targets + +diff --git a/libloragw/inc/loragw_gps.h b/libloragw/inc/loragw_gps.h +index 6dbd30b..59b2d37 100644 +--- a/libloragw/inc/loragw_gps.h ++++ b/libloragw/inc/loragw_gps.h +@@ -27,9 +27,11 @@ Maintainer: Michael Coracin + #include <time.h> /* time library */ + #include <termios.h> /* speed_t */ + #include <unistd.h> /* ssize_t */ ++#include <gpsd.h> ++#include <gpsdclient.h> ++#include <errno.h> /* error messages */ + + #include "config.h" /* library configuration options (dynamically generated) */ +- + /* -------------------------------------------------------------------------- */ + /* --- PUBLIC TYPES --------------------------------------------------------- */ + +@@ -83,6 +85,7 @@ enum gps_msg { + UBX_NAV_TIMEUTC /*!> UTC Time Solution */ + }; + ++// struct gps_data_t gpsdata; + /* -------------------------------------------------------------------------- */ + /* --- PUBLIC CONSTANTS ----------------------------------------------------- */ + +@@ -99,21 +102,19 @@ enum gps_msg { + /** + @brief Configure a GPS module + +-@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 ++@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 + */ +-int lgw_gps_enable(char* tty_path, char* gps_familly, speed_t target_brate, int* fd_ptr); ++int lgw_gps_enable(struct gps_data_t *gpsdata, struct fixsource_t *source); + + /** + @brief Restore GPS serial configuration and close serial device + +-@param fd file descriptor on GPS tty ++@param gpsdata handler for gpsd data + @return success if the function was able to complete + */ +-int lgw_gps_disable(int fd); ++int lgw_gps_disable(struct gps_data_t *gpsdata); + + /** + @brief Parse messages coming from the GPS system (or other GNSS) +diff --git a/libloragw/src/loragw_gps.c b/libloragw/src/loragw_gps.c +index c0e0ded..d3d1ca1 100644 +--- a/libloragw/src/loragw_gps.c ++++ b/libloragw/src/loragw_gps.c +@@ -251,109 +251,22 @@ int str_chop(char *s, int buff_size, char separator, int *idx_ary, int max_idx) + /* -------------------------------------------------------------------------- */ + /* --- PUBLIC FUNCTIONS DEFINITION ------------------------------------------ */ + +-int lgw_gps_enable(char *tty_path, char *gps_family, speed_t target_brate, int *fd_ptr) { +- int i; +- struct termios ttyopt; /* serial port options */ +- int gps_tty_dev; /* file descriptor to the serial port of the GNSS module */ +- uint8_t ubx_cmd_timegps[UBX_MSG_NAVTIMEGPS_LEN] = { +- 0xB5, 0x62, /* UBX Sync Chars */ +- 0x06, 0x01, /* CFG-MSG Class/ID */ +- 0x08, 0x00, /* Payload length */ +- 0x01, 0x20, 0x00, 0x01, 0x01, 0x00, 0x00, 0x00, /* Enable NAV-TIMEGPS output on serial */ +- 0x32, 0x94 }; /* Checksum */ +- ssize_t num_written; +- +- /* check input parameters */ +- CHECK_NULL(tty_path); +- CHECK_NULL(fd_ptr); +- +- /* open TTY device */ +- gps_tty_dev = open(tty_path, O_RDWR | O_NOCTTY); +- if (gps_tty_dev <= 0) { +- DEBUG_MSG("ERROR: TTY PORT FAIL TO OPEN, CHECK PATH AND ACCESS RIGHTS\n"); +- return LGW_GPS_ERROR; +- } +- *fd_ptr = gps_tty_dev; +- +- /* manage the different GPS modules families */ +- if (gps_family == NULL) { +- DEBUG_MSG("WARNING: this version of GPS module may not be supported\n"); +- } else if (strncmp(gps_family, "ubx7", 4) != 0) { +- /* The current implementation relies on proprietary messages from U-Blox */ +- /* GPS modules (UBX, NAV-TIMEGPS...) and has only be tested with a u-blox 7. */ +- /* Those messages allow to get NATIVE GPS time (no leap seconds) required */ +- /* for class-B handling and GPS synchronization */ +- /* see lgw_parse_ubx() function for details */ +- DEBUG_MSG("WARNING: this version of GPS module may not be supported\n"); +- } +- +- /* manage the target bitrate */ +- if (target_brate != 0) { +- DEBUG_MSG("WARNING: target_brate parameter ignored for now\n"); // TODO +- } +- +- /* get actual serial port configuration */ +- i = tcgetattr(gps_tty_dev, &ttyopt); +- if (i != 0) { +- DEBUG_MSG("ERROR: IMPOSSIBLE TO GET TTY PORT CONFIGURATION\n"); +- return LGW_GPS_ERROR; +- } +- +- /* Save current serial port configuration for restoring later */ +- memcpy(&ttyopt_restore, &ttyopt, sizeof ttyopt); +- +- /* update baudrates */ +- cfsetispeed(&ttyopt, DEFAULT_BAUDRATE); +- cfsetospeed(&ttyopt, DEFAULT_BAUDRATE); +- +- /* update terminal parameters */ +- /* The following configuration should allow to: +- - Get ASCII NMEA messages +- - Get UBX binary messages +- - Send UBX binary commands +- Note: as binary data have to be read/written, we need to disable +- various character processing to avoid loosing data */ +- /* Control Modes */ +- ttyopt.c_cflag |= CLOCAL; /* local connection, no modem control */ +- ttyopt.c_cflag |= CREAD; /* enable receiving characters */ +- ttyopt.c_cflag |= CS8; /* 8 bit frames */ +- ttyopt.c_cflag &= ~PARENB; /* no parity */ +- ttyopt.c_cflag &= ~CSTOPB; /* one stop bit */ +- /* Input Modes */ +- ttyopt.c_iflag |= IGNPAR; /* ignore bytes with parity errors */ +- ttyopt.c_iflag &= ~ICRNL; /* do not map CR to NL on input*/ +- ttyopt.c_iflag &= ~IGNCR; /* do not ignore carriage return on input */ +- ttyopt.c_iflag &= ~IXON; /* disable Start/Stop output control */ +- ttyopt.c_iflag &= ~IXOFF; /* do not send Start/Stop characters */ +- /* Output Modes */ +- ttyopt.c_oflag = 0; /* disable everything on output as we only write binary */ +- /* Local Modes */ +- ttyopt.c_lflag &= ~ICANON; /* disable canonical input - cannot use with binary input */ +- ttyopt.c_lflag &= ~ISIG; /* disable check for INTR, QUIT, SUSP special characters */ +- ttyopt.c_lflag &= ~IEXTEN; /* disable any special control character */ +- ttyopt.c_lflag &= ~ECHO; /* do not echo back every character typed */ +- ttyopt.c_lflag &= ~ECHOE; /* does not erase the last character in current line */ +- ttyopt.c_lflag &= ~ECHOK; /* do not echo NL after KILL character */ +- +- /* settings for non-canonical mode +- read will block for until the lesser of VMIN or requested chars have been received */ +- ttyopt.c_cc[VMIN] = LGW_GPS_MIN_MSG_SIZE; +- ttyopt.c_cc[VTIME] = 0; +- +- /* set new serial ports parameters */ +- i = tcsetattr(gps_tty_dev, TCSANOW, &ttyopt); +- if (i != 0){ +- DEBUG_MSG("ERROR: IMPOSSIBLE TO UPDATE TTY PORT CONFIGURATION\n"); ++int lgw_gps_enable(struct gps_data_t *gpsdata, struct fixsource_t *source) { ++ ++ unsigned int flags; ++ fd_set fds; ++ flags = WATCH_ENABLE; ++ flags |= WATCH_RAW; ++ flags |= WATCH_NMEA; ++ gpsd_source_spec(NULL, source); ++ ++ 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); + return LGW_GPS_ERROR; + } +- tcflush(gps_tty_dev, TCIOFLUSH); + +- /* Send UBX CFG NAV-TIMEGPS message to tell GPS module to output native GPS time */ +- /* This is a binary message, serial port has to be properly configured to handle this */ +- num_written = write (gps_tty_dev, ubx_cmd_timegps, UBX_MSG_NAVTIMEGPS_LEN); +- if (num_written != UBX_MSG_NAVTIMEGPS_LEN) { +- DEBUG_MSG("ERROR: Failed to write on serial port (written=%d)\n", (int) num_written); +- } ++ (void)gps_stream(gpsdata, flags, source->device); + + /* get timezone info */ + tzset(); +@@ -368,20 +281,13 @@ int lgw_gps_enable(char *tty_path, char *gps_family, speed_t target_brate, int * + + /* ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ */ + +-int lgw_gps_disable(int fd) { ++int lgw_gps_disable(struct gps_data_t *gpsdata) { + int i; + +- /* restore serial ports parameters */ +- i = tcsetattr(fd, TCSANOW, &ttyopt_restore); +- if (i != 0){ +- DEBUG_MSG("ERROR: IMPOSSIBLE TO RESTORE TTY PORT CONFIGURATION\n"); +- return LGW_GPS_ERROR; +- } +- tcflush(fd, TCIOFLUSH); +- +- i = close(fd); +- if (i <= 0) { +- DEBUG_MSG("ERROR: TTY PORT FAIL TO CLOSE\n"); ++ /* ends the session */ ++ i = gps_close(gpsdata); ++ if (i != 0) { ++ DEBUG_MSG("ERROR: GPSD FAILED TO CLOSE\n"); + return LGW_GPS_ERROR; + } + +@@ -526,7 +432,7 @@ 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", 6, '?')) { ++ } else if (match_label(serial_buff, "G?RMC", 5, '?')) { + /* + NMEA sentence format: $xxRMC,time,status,lat,NS,long,EW,spd,cog,date,mv,mvEW,posMode*cs<CR><LF> + Valid fix: $GPRMC,083559.34,A,4717.11437,N,00833.91522,E,0.004,77.52,091202,,,A*00 +@@ -535,19 +441,19 @@ enum gps_msg lgw_parse_nmea(const char *serial_buff, int buff_size) { + memcpy(parser_buf, serial_buff, buff_size); + parser_buf[buff_size] = '\0'; + nb_fields = str_chop(parser_buf, buff_size, ',', str_index, ARRAY_SIZE(str_index)); +- if (nb_fields != 13) { ++ if (nb_fields != 12) { + DEBUG_MSG("Warning: invalid RMC sentence (number of fields)\n"); + return IGNORED; + } + /* parse GPS status */ +- gps_mod = *(parser_buf + str_index[12]); /* get first character, no need to bother with sscanf */ ++ gps_mod = *(parser_buf + str_index[2]); /* get first character, no need to bother with sscanf */ + if ((gps_mod != 'N') && (gps_mod != 'A') && (gps_mod != 'D')) { + gps_mod = 'N'; + } + /* parse complete time */ + i = sscanf(parser_buf + str_index[1], "%2hd%2hd%2hd%4f", &gps_hou, &gps_min, &gps_sec, &gps_fra); + j = sscanf(parser_buf + str_index[9], "%2hd%2hd%2hd", &gps_day, &gps_mon, &gps_yea); +- if ((i == 4) && (j == 3)) { ++ if ((i == 3) && (j == 3)) { + if ((gps_mod == 'A') || (gps_mod == 'D')) { + gps_time_ok = true; + DEBUG_MSG("Note: Valid RMC sentence, GPS locked, date: 20%02d-%02d-%02dT%02d:%02d:%06.3fZ\n", gps_yea, gps_mon, gps_day, gps_hou, gps_min, gps_fra + (float)gps_sec); +@@ -561,7 +467,7 @@ enum gps_msg lgw_parse_nmea(const char *serial_buff, int buff_size) { + DEBUG_MSG("Note: Valid RMC sentence, mode %c, no date\n", gps_mod); + } + return NMEA_RMC; +- } else if (match_label(serial_buff, "$G?GGA", 6, '?')) { ++ } else if (match_label(serial_buff, "G?GGA", 5, '?')) { + /* + NMEA sentence format: $xxGGA,time,lat,NS,long,EW,quality,numSV,HDOP,alt,M,sep,M,diffAge,diffStation*cs<CR><LF> + Valid fix: $GPGGA,092725.00,4717.11399,N,00833.91590,E,1,08,1.01,499.6,M,48.0,M,,*5B +diff --git a/libloragw/tst/test_loragw_gps.c b/libloragw/tst/test_loragw_gps.c +index a4164a3..e4b1546 100644 +--- a/libloragw/tst/test_loragw_gps.c ++++ b/libloragw/tst/test_loragw_gps.c +@@ -31,6 +31,8 @@ Maintainer: Michael Coracin + #include <signal.h> /* sigaction */ + #include <stdlib.h> /* exit */ + #include <unistd.h> /* read */ ++#include <gps.h> ++#include <gpsd.h> + + #include "loragw_hal.h" + #include "loragw_gps.h" +@@ -41,7 +43,8 @@ Maintainer: Michael Coracin + + static int exit_sig = 0; /* 1 -> application terminates cleanly (shut down hardware, close open files, etc) */ + static int quit_sig = 0; /* 1 -> application terminates without shutting down the hardware */ +- ++static struct gps_data_t gpsdata; ++static struct fixsource_t source; + struct tref ppm_ref; + + /* -------------------------------------------------------------------------- */ +@@ -149,6 +152,10 @@ int main() + /* NMEA/UBX variables */ + enum gps_msg latest_msg; /* keep track of latest NMEA/UBX message parsed */ + ++ fd_set fds; ++ char delim[4] = "$"; ++ char *token[254]; ++ + /* configure signal handling */ + sigemptyset(&sigact.sa_mask); + sigact.sa_flags = 0; +@@ -162,7 +169,7 @@ int main() + printf("*** Library version information ***\n%s\n***\n", lgw_version_info()); + + /* Open and configure GPS */ +- i = lgw_gps_enable("/dev/ttyAMA0", "ubx7", 0, &gps_tty_dev); ++ i = lgw_gps_enable(&gpsdata, &source); + if (i != LGW_GPS_SUCCESS) { + printf("ERROR: IMPOSSIBLE TO ENABLE GPS\n"); + exit(EXIT_FAILURE); +@@ -192,92 +199,87 @@ int main() + + /* loop until user action */ + while ((quit_sig != 1) && (exit_sig != 1)) { +- size_t rd_idx = 0; +- size_t frame_end_idx = 0; +- +- /* blocking non-canonical read on serial port */ +- ssize_t nb_char = read(gps_tty_dev, serial_buff + wr_idx, LGW_GPS_MIN_MSG_SIZE); +- if (nb_char <= 0) { +- printf("WARNING: [gps] read() returned value %d\n", nb_char); ++ 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; +- } +- wr_idx += (size_t)nb_char; + +- /******************************************* +- * Scan buffer for UBX/NMEA sync chars and * +- * attempt to decode frame if one is found * +- *******************************************/ +- while (rd_idx < wr_idx) { ++ /* 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; +- +- /* Scan buffer for UBX sync char */ +- if (serial_buff[rd_idx] == LGW_GPS_UBX_SYNC_CHAR) { +- +- /*********************** +- * Found UBX sync char * +- ***********************/ +- latest_msg = lgw_parse_ubx(&serial_buff[rd_idx], (wr_idx - rd_idx), &frame_size); +- +- if (frame_size > 0) { +- if (latest_msg == INCOMPLETE) { +- /* UBX header found but frame appears to be missing bytes */ +- frame_size = 0; +- } else if (latest_msg == INVALID) { +- /* message header received but message appears to be corrupted */ +- printf("WARNING: [gps] could not get a valid message from GPS (no time)\n"); +- frame_size = 0; +- } else if (latest_msg == UBX_NAV_TIMEGPS) { +- printf("\n~~ UBX NAV-TIMEGPS sentence, triggering synchronization attempt ~~\n"); +- gps_process_sync(); ++ 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); + } +- } +- } else if(serial_buff[rd_idx] == LGW_GPS_NMEA_SYNC_CHAR) { +- /************************ +- * Found NMEA sync char * +- ************************/ +- /* scan for NMEA end marker (LF = 0x0a) */ +- char* nmea_end_ptr = memchr(&serial_buff[rd_idx],(int)0x0a, (wr_idx - rd_idx)); +- +- if (nmea_end_ptr) { +- /* found end marker */ +- frame_size = nmea_end_ptr - &serial_buff[rd_idx] + 1; +- latest_msg = lgw_parse_nmea(&serial_buff[rd_idx], frame_size); +- +- 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(); ++ 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(); ++ } ++ } ++ } + } + } +- +- if (frame_size > 0) { +- /* At this point message is a checksum verified frame +- we're processed or ignored. Remove frame from buffer */ +- rd_idx += frame_size; +- frame_end_idx = rd_idx; ++ } else { ++ if (r == -1) { ++ if (errno == EAGAIN) ++ continue; ++ else { ++ printf(stderr, "gpspipe: read error %s(%d)\n", strerror(errno), errno); ++ exit(EXIT_FAILURE); ++ } + } else { +- rd_idx++; ++ exit(EXIT_SUCCESS); + } +- } /* ...for(rd_idx = 0... */ +- +- if (frame_end_idx) { +- /* Frames have been processed. Remove bytes to end of last processed frame */ +- memcpy(serial_buff,&serial_buff[frame_end_idx],wr_idx - frame_end_idx); +- wr_idx -= frame_end_idx; +- } /* ...for(rd_idx = 0... */ +- +- /* Prevent buffer overflow */ +- if ((sizeof(serial_buff) - wr_idx) < LGW_GPS_MIN_MSG_SIZE) { +- memcpy(serial_buff,&serial_buff[LGW_GPS_MIN_MSG_SIZE],wr_idx - LGW_GPS_MIN_MSG_SIZE); +- wr_idx -= LGW_GPS_MIN_MSG_SIZE; + } + } + + /* clean up before leaving */ + if (exit_sig == 1) { +- lgw_gps_disable(gps_tty_dev); ++ lgw_gps_disable(&gpsdata); + lgw_stop(); + } + |