Embedded_Projects/SX1302_HAL
1
0
Fork 0
Code Issues Pull Requests Packages Projects Releases Wiki Activity
4c61c5d48e
SX1302_HAL/libloragw/src/loragw_gps.c
Michael Coracin 4c61c5d48e v1.0.0 
* Initial release for SX1302 CoreCell Reference Design.
2019-07-12 15:40:13 +02:00

838 lines
32 KiB
C
Raw Blame History

/*
/ _____) _ | |
( (____ _____ ____ _| |_ _____ ____| |__
\____ \| ___ | (_ _) ___ |/ ___) _ \
_____) ) ____| | | || |_| ____( (___| | | |
(______/|_____)_|_|_| \__)_____)\____)_| |_|
(C)2019 Semtech
Description:
Library of functions to manage a GNSS module (typically GPS) for accurate
timestamping of packets and synchronisation of gateways.
A limited set of module brands/models are supported.
License: Revised BSD License, see LICENSE.TXT file include in the project
*/
/* -------------------------------------------------------------------------- */
/* --- DEPENDANCIES --------------------------------------------------------- */
#define _GNU_SOURCE /* needed for qsort_r to be defined */
#include <stdint.h> /* C99 types */
#include <stdbool.h> /* bool type */
#include <stdio.h> /* printf fprintf */
#include <string.h> /* memcpy */
#include <errno.h>
#include <time.h> /* struct timespec */
#include <fcntl.h> /* open */
#include <termios.h> /* tcflush */
#include <math.h> /* modf */
#include <stdlib.h>
#include "loragw_gps.h"
/* -------------------------------------------------------------------------- */
/* --- PRIVATE MACROS ------------------------------------------------------- */
#define ARRAY_SIZE(a) (sizeof(a) / sizeof((a)[0]))
#if DEBUG_GPS == 1
#define DEBUG_MSG(args...) fprintf(stderr, args)
#define DEBUG_PRINTF(fmt, args...) fprintf(stderr,"%s:%d: "fmt, __FUNCTION__, __LINE__, args)
#define DEBUG_ARRAY(a,b,c) for(a=0;a<b;++a) fprintf(stderr,"%x.",c[a]);fprintf(stderr,"end\n")
#define CHECK_NULL(a) if(a==NULL){fprintf(stderr,"%s:%d: ERROR: NULL POINTER AS ARGUMENT\n", __FUNCTION__, __LINE__);return LGW_GPS_ERROR;}
#else
#define DEBUG_MSG(args...)
#define DEBUG_PRINTF(fmt, args...)
#define DEBUG_ARRAY(a,b,c) for(a=0;a!=0;){}
#define CHECK_NULL(a) if(a==NULL){return LGW_GPS_ERROR;}
#endif
#define TRACE() fprintf(stderr, "@ %s %d\n", __FUNCTION__, __LINE__);
/* -------------------------------------------------------------------------- */
/* --- PRIVATE CONSTANTS ---------------------------------------------------- */
#define TS_CPS 1E6 /* count-per-second of the timestamp counter */
#define PLUS_10PPM 1.00001
#define MINUS_10PPM 0.99999
#define DEFAULT_BAUDRATE B9600
#define UBX_MSG_NAVTIMEGPS_LEN 16
/* -------------------------------------------------------------------------- */
/* --- PRIVATE VARIABLES ---------------------------------------------------- */
/* result of the NMEA parsing */
static short gps_yea = 0; /* year (2 or 4 digits) */
static short gps_mon = 0; /* month (1-12) */
static short gps_day = 0; /* day of the month (1-31) */
static short gps_hou = 0; /* hours (0-23) */
static short gps_min = 0; /* minutes (0-59) */
static short gps_sec = 0; /* seconds (0-60)(60 is for leap second) */
static float gps_fra = 0.0; /* fractions of seconds (<1) */
static bool gps_time_ok = false;
static int16_t gps_week = 0; /* GPS week number of the navigation epoch */
static uint32_t gps_iTOW = 0; /* GPS time of week in milliseconds */
static int32_t gps_fTOW = 0; /* Fractional part of iTOW (+/-500000) in nanosec */
static short gps_dla = 0; /* degrees of latitude */
static double gps_mla = 0.0; /* minutes of latitude */
static char gps_ola = 0; /* orientation (N-S) of latitude */
static short gps_dlo = 0; /* degrees of longitude */
static double gps_mlo = 0.0; /* minutes of longitude */
static char gps_olo = 0; /* orientation (E-W) of longitude */
static short gps_alt = 0; /* altitude */
static bool gps_pos_ok = false;
static char gps_mod = 'N'; /* GPS mode (N no fix, A autonomous, D differential) */
static short gps_sat = 0; /* number of satellites used for fix */
static struct termios ttyopt_restore;
/* -------------------------------------------------------------------------- */
/* --- PRIVATE FUNCTIONS DECLARATION ---------------------------------------- */
static int nmea_checksum(const char *nmea_string, int buff_size, char *checksum);
static char nibble_to_hexchar(uint8_t a);
static bool validate_nmea_checksum(const char *serial_buff, int buff_size);
static bool match_label(const char *s, char *label, int size, char wildcard);
static int str_chop(char *s, int buff_size, char separator, int *idx_ary, int max_idx);
/* -------------------------------------------------------------------------- */
/* --- PRIVATE FUNCTIONS DEFINITION ----------------------------------------- */
/*
Calculate the checksum for a NMEA string
Skip the first '$' if necessary and calculate checksum until '*' character is
reached (or buff_size exceeded).
Checksum must point to a 2-byte (or more) char array.
Return position of the checksum in the string
*/
static int nmea_checksum(const char *nmea_string, int buff_size, char *checksum) {
int i = 0;
uint8_t check_num = 0;
/* check input parameters */
if ((nmea_string == NULL) || (checksum == NULL) || (buff_size <= 1)) {
DEBUG_MSG("Invalid parameters for nmea_checksum\n");
return -1;
}
/* skip the first '$' if necessary */
if (nmea_string[i] == '$') {
i += 1;
}
/* xor until '*' or max length is reached */
while (nmea_string[i] != '*') {
check_num ^= nmea_string[i];
i += 1;
if (i >= buff_size) {
DEBUG_MSG("Maximum length reached for nmea_checksum\n");
return -1;
}
}
/* Convert checksum value to 2 hexadecimal characters */
checksum[0] = nibble_to_hexchar(check_num / 16); /* upper nibble */
checksum[1] = nibble_to_hexchar(check_num % 16); /* lower nibble */
return i + 1;
}
/* ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ */
static char nibble_to_hexchar(uint8_t a) {
if (a < 10) {
return '0' + a;
} else if (a < 16) {
return 'A' + (a-10);
} else {
return '?';
}
}
/* ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ */
/*
Calculate the checksum of a NMEA frame and compare it to the checksum that is
present at the end of it.
Return true if it matches
*/
static bool validate_nmea_checksum(const char *serial_buff, int buff_size) {
int checksum_index;
char checksum[2]; /* 2 characters to calculate NMEA checksum */
checksum_index = nmea_checksum(serial_buff, buff_size, checksum);
/* could we calculate a verification checksum ? */
if (checksum_index < 0) {
DEBUG_MSG("ERROR: IMPOSSIBLE TO PARSE NMEA SENTENCE\n");
return false;
}
/* check if there are enough char in the serial buffer to read checksum */
if (checksum_index >= (buff_size - 2)) {
DEBUG_MSG("ERROR: IMPOSSIBLE TO READ NMEA SENTENCE CHECKSUM\n");
return false;
}
/* check the checksum per se */
if ((serial_buff[checksum_index] == checksum[0]) && (serial_buff[checksum_index+1] == checksum[1])) {
return true;
} else {
DEBUG_MSG("ERROR: NMEA CHECKSUM %c%c DOESN'T MATCH VERIFICATION CHECKSUM %c%c\n", serial_buff[checksum_index], serial_buff[checksum_index+1], checksum[0], checksum[1]);
return false;
}
}
/* ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ */
/*
Return true if the "label" string (can contain wildcard characters) matches
the begining of the "s" string
*/
static bool match_label(const char *s, char *label, int size, char wildcard) {
int i;
for (i=0; i < size; i++) {
if (label[i] == wildcard) continue;
if (label[i] != s[i]) return false;
}
return true;
}
/* ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ */
/*
Chop a string into smaller strings
Replace every separator in the input character buffer by a null character so
that all s[index] are valid strings.
Populate an array of integer 'idx_ary' representing indexes of token in the
string.
buff_size and max_idx are there to prevent segfaults.
Return the number of token found (number of idx_ary filled).
*/
int str_chop(char *s, int buff_size, char separator, int *idx_ary, int max_idx) {
int i = 0; /* index in the string */
int j = 0; /* index in the result array */
if ((s == NULL) || (buff_size < 0) || (separator == 0) || (idx_ary == NULL) || (max_idx < 0)) {
/* unsafe to do anything */
return -1;
}
if ((buff_size == 0) || (max_idx == 0)) {
/* nothing to do */
return 0;
}
s[buff_size - 1] = 0; /* add string terminator at the end of the buffer, just to be sure */
idx_ary[j] = 0;
j += 1;
/* loop until string terminator is reached */
while (s[i] != 0) {
if (s[i] == separator) {
s[i] = 0; /* replace separator by string terminator */
if (j >= max_idx) { /* no more room in the index array */
return j;
}
idx_ary[j] = i+1; /* next token start after replaced separator */
++j;
}
++i;
}
return j;
}
/* -------------------------------------------------------------------------- */
/* --- 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");
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);
}
/* get timezone info */
tzset();
/* initialize global variables */
gps_time_ok = false;
gps_pos_ok = false;
gps_mod = 'N';
return LGW_GPS_SUCCESS;
}
/* ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ */
int lgw_gps_disable(int fd) {
int i;
/* restore serial ports parameters */
i = tcsetattr(fd, TCSANOW, &ttyopt_restore);
if (i != 0){
DEBUG_MSG("ERROR: IMPOSSIBLE TO RESTORE TTY PORT CONFIGURATION - %s\n", strerror(errno));
return LGW_GPS_ERROR;
}
tcflush(fd, TCIOFLUSH);
i = close(fd);
if (i != 0) {
DEBUG_PRINTF("ERROR: TTY PORT FAIL TO CLOSE - %s\n", strerror(errno));
return LGW_GPS_ERROR;
}
return LGW_GPS_SUCCESS;
}
/* ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ */
enum gps_msg lgw_parse_ubx(const char *serial_buff, size_t buff_size, size_t *msg_size) {
bool valid = 0; /* iTOW, fTOW and week validity */
unsigned int payload_length;
uint8_t ck_a, ck_b;
uint8_t ck_a_rcv, ck_b_rcv;
unsigned int i;
*msg_size = 0; /* ensure msg_size alway receives a value */
/* check input parameters */
if (serial_buff == NULL) {
return IGNORED;
}
if (buff_size < 8) {
DEBUG_MSG("ERROR: TOO SHORT TO BE A VALID UBX MESSAGE\n");
return IGNORED;
}
/* display received serial data and checksum */
DEBUG_MSG("Note: parsing UBX frame> ");
for (i=0; i<buff_size; i++) {
DEBUG_MSG("%02x ", serial_buff[i]);
}
DEBUG_MSG("\n");
/* Check for UBX sync chars 0xB5 0x62 */
if ((serial_buff[0] == (char)0xB5) && (serial_buff[1] == (char)0x62)) {
/* Get payload length to compute message size */
payload_length = (uint8_t)serial_buff[4];
payload_length |= (uint8_t)serial_buff[5] << 8;
*msg_size = 6 + payload_length + 2; /* header + payload + checksum */
/* check for complete message in buffer */
if(*msg_size <= buff_size) {
/* Validate checksum of message */
ck_a_rcv = serial_buff[*msg_size-2]; /* received checksum */
ck_b_rcv = serial_buff[*msg_size-1]; /* received checksum */
/* Use 8-bit Fletcher Algorithm to compute checksum of actual payload */
ck_a = 0; ck_b = 0;
for (i=0; i<(4 + payload_length); i++) {
ck_a = ck_a + serial_buff[i+2];
ck_b = ck_b + ck_a;
}
/* Compare checksums and parse if OK */
if ((ck_a == ck_a_rcv) && (ck_b == ck_b_rcv)) {
/* Check for Class 0x01 (NAV) and ID 0x20 (NAV-TIMEGPS) */
if ((serial_buff[2] == 0x01) && (serial_buff[3] == 0x20)) {
/* Check validity of information */
valid = serial_buff[17] & 0x3; /* towValid, weekValid */
if (valid) {
/* Parse buffer to extract GPS time */
/* Warning: payload byte ordering is Little Endian */
gps_iTOW = (uint8_t)serial_buff[6];
gps_iTOW |= (uint8_t)serial_buff[7] << 8;
gps_iTOW |= (uint8_t)serial_buff[8] << 16;
gps_iTOW |= (uint8_t)serial_buff[9] << 24; /* GPS time of week, in ms */
gps_fTOW = (uint8_t)serial_buff[10];
gps_fTOW |= (uint8_t)serial_buff[11] << 8;
gps_fTOW |= (uint8_t)serial_buff[12] << 16;
gps_fTOW |= (uint8_t)serial_buff[13] << 24; /* Fractional part of iTOW, in ns */
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 */
{
short ubx_gps_hou = 0; /* hours (0-23) */
short ubx_gps_min = 0; /* minutes (0-59) */
short ubx_gps_sec = 0; /* seconds (0-59) */
/* Format GPS time in hh:mm:ss based on iTOW */
ubx_gps_sec = (gps_iTOW / 1000) % 60;
ubx_gps_min = (gps_iTOW / 1000 / 60) % 60;
ubx_gps_hou = (gps_iTOW / 1000 / 60 / 60) % 24;
printf(" GPS time = %02d:%02d:%02d\n", ubx_gps_hou, ubx_gps_min, ubx_gps_sec);
}
#endif
} else { /* valid */
gps_time_ok = false;
}
return UBX_NAV_TIMEGPS;
} else if ((serial_buff[2] == 0x05) && (serial_buff[3] == 0x00)) {
DEBUG_MSG("NOTE: UBX ACK-NAK received\n");
return IGNORED;
} else if ((serial_buff[2] == 0x05) && (serial_buff[3] == 0x01)) {
DEBUG_MSG("NOTE: UBX ACK-ACK received\n");
return IGNORED;
} else { /* not a supported message */
DEBUG_MSG("ERROR: UBX message is not supported (%02x %02x)\n", serial_buff[2], serial_buff[3]);
return IGNORED;
}
} else { /* checksum failed */
DEBUG_MSG("ERROR: UBX message is corrupted, checksum failed\n");
return INVALID;
}
} else { /* message contains less bytes than indicated by header */
DEBUG_MSG("ERROR: UBX message incomplete\n");
return INCOMPLETE;
}
} else { /* Not a UBX message */
/* Ignore messages which are not UBX ones for now */
return IGNORED;
}
}
/* ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ */
enum gps_msg lgw_parse_nmea(const char *serial_buff, int buff_size) {
int i, j, k;
int str_index[30]; /* string index from the string chopping */
int nb_fields; /* number of strings detected by string chopping */
char parser_buf[256]; /* parsing modifies buffer so need a local copy */
/* check input parameters */
if (serial_buff == NULL) {
return UNKNOWN;
}
if(buff_size > (int)(sizeof(parser_buf) - 1)) {
DEBUG_MSG("Note: input string to big for parsing\n");
return INVALID;
}
/* look for some NMEA sentences in particular */
if (buff_size < 8) {
DEBUG_MSG("ERROR: TOO SHORT TO BE A VALID NMEA SENTENCE\n");
return UNKNOWN;
} 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, '?')) {
/*
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
No fix: $GPRMC,,V,,,,,,,,,,N*00
*/
memcpy(parser_buf, serial_buff, buff_size);
parser_buf[buff_size] = '\0';
nb_fields = str_chop(parser_buf, buff_size, ',', str_index, ARRAY_SIZE(str_index));
if (nb_fields != 13) {
DEBUG_MSG("Warning: invalid RMC sentence (number of fields)\n");
return IGNORED;
}
/* parse GPS status */
gps_mod = *(parser_buf + str_index[12]); /* get first character, no need to bother with sscanf */
if ((gps_mod != 'N') && (gps_mod != 'A') && (gps_mod != 'D')) {
gps_mod = 'N';
}
/* parse complete time */
i = sscanf(parser_buf + str_index[1], "%2hd%2hd%2hd%4f", &gps_hou, &gps_min, &gps_sec, &gps_fra);
j = sscanf(parser_buf + str_index[9], "%2hd%2hd%2hd", &gps_day, &gps_mon, &gps_yea);
if ((i == 4) && (j == 3)) {
if ((gps_mod == 'A') || (gps_mod == 'D')) {
gps_time_ok = true;
DEBUG_MSG("Note: Valid RMC sentence, GPS locked, date: 20%02d-%02d-%02dT%02d:%02d:%06.3fZ\n", gps_yea, gps_mon, gps_day, gps_hou, gps_min, gps_fra + (float)gps_sec);
} else {
gps_time_ok = false;
DEBUG_MSG("Note: Valid RMC sentence, no satellite fix, estimated date: 20%02d-%02d-%02dT%02d:%02d:%06.3fZ\n", gps_yea, gps_mon, gps_day, gps_hou, gps_min, gps_fra + (float)gps_sec);
}
} else {
/* could not get a valid hour AND date */
gps_time_ok = false;
DEBUG_MSG("Note: Valid RMC sentence, mode %c, no date\n", gps_mod);
}
return NMEA_RMC;
} else if (match_label(serial_buff, "$G?GGA", 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
*/
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 != 15) {
DEBUG_MSG("Warning: invalid GGA sentence (number of fields)\n");
return IGNORED;
}
/* parse number of satellites used for fix */
sscanf(parser_buf + str_index[7], "%hd", &gps_sat);
/* parse 3D coordinates */
i = sscanf(parser_buf + str_index[2], "%2hd%10lf", &gps_dla, &gps_mla);
gps_ola = *(parser_buf + str_index[3]);
j = sscanf(parser_buf + str_index[4], "%3hd%10lf", &gps_dlo, &gps_mlo);
gps_olo = *(parser_buf + str_index[5]);
k = sscanf(parser_buf + str_index[9], "%hd", &gps_alt);
if ((i == 2) && (j == 2) && (k == 1) && ((gps_ola=='N')||(gps_ola=='S')) && ((gps_olo=='E')||(gps_olo=='W'))) {
gps_pos_ok = true;
DEBUG_MSG("Note: Valid GGA sentence, %d sat, lat %02ddeg %06.3fmin %c, lon %03ddeg%06.3fmin %c, alt %d\n", gps_sat, gps_dla, gps_mla, gps_ola, gps_dlo, gps_mlo, gps_olo, gps_alt);
} else {
/* could not get a valid latitude, longitude AND altitude */
gps_pos_ok = false;
DEBUG_MSG("Note: Valid GGA sentence, %d sat, no coordinates\n", gps_sat);
}
return NMEA_GGA;
} else {
DEBUG_MSG("Note: ignored NMEA sentence\n"); /* quite verbose */
return IGNORED;
}
}
/* ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ */
int lgw_gps_get(struct timespec *utc, struct timespec *gps_time, struct coord_s *loc, struct coord_s *err) {
struct tm x;
time_t y;
double intpart, fractpart;
if (utc != NULL) {
if (!gps_time_ok) {
DEBUG_MSG("ERROR: NO VALID TIME TO RETURN\n");
return LGW_GPS_ERROR;
}
memset(&x, 0, sizeof(x));
if (gps_yea < 100) { /* 2-digits year, 20xx */
x.tm_year = gps_yea + 100; /* 100 years offset to 1900 */
} else { /* 4-digits year, Gregorian calendar */
x.tm_year = gps_yea - 1900;
}
x.tm_mon = gps_mon - 1; /* tm_mon is [0,11], gps_mon is [1,12] */
x.tm_mday = gps_day;
x.tm_hour = gps_hou;
x.tm_min = gps_min;
x.tm_sec = gps_sec;
y = mktime(&x) - timezone; /* need to substract timezone bc mktime assumes time vector is local time */
if (y == (time_t)(-1)) {
DEBUG_MSG("ERROR: FAILED TO CONVERT BROKEN-DOWN TIME\n");
return LGW_GPS_ERROR;
}
utc->tv_sec = y;
utc->tv_nsec = (int32_t)(gps_fra * 1e9);
}
if (gps_time != NULL) {
if (!gps_time_ok) {
DEBUG_MSG("ERROR: NO VALID TIME TO RETURN\n");
return LGW_GPS_ERROR;
}
fractpart = modf(((double)gps_iTOW / 1E3) + ((double)gps_fTOW / 1E9), &intpart);
/* Number of seconds since beginning on current GPS week */
gps_time->tv_sec = (time_t)intpart;
/* Number of seconds since GPS epoch 06.Jan.1980 */
gps_time->tv_sec += (time_t)gps_week * 604800; /* day*hours*minutes*secondes: 7*24*60*60; */
/* Fractional part in nanoseconds */
gps_time->tv_nsec = (long)(fractpart * 1E9);
}
if (loc != NULL) {
if (!gps_pos_ok) {
DEBUG_MSG("ERROR: NO VALID POSITION TO RETURN\n");
return LGW_GPS_ERROR;
}
loc->lat = ((double)gps_dla + (gps_mla/60.0)) * ((gps_ola == 'N')?1.0:-1.0);
loc->lon = ((double)gps_dlo + (gps_mlo/60.0)) * ((gps_olo == 'E')?1.0:-1.0);
loc->alt = gps_alt;
}
if (err != NULL) {
DEBUG_MSG("Warning: localization error processing not implemented yet\n");
err->lat = 0.0;
err->lon = 0.0;
err->alt = 0;
}
return LGW_GPS_SUCCESS;
}
/* ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ */
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; /* 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 */
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));
/* 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 {
aber_n0 = false;
}
} else {
DEBUG_MSG("Warning: aberrant UTC value for synchronization\n");
aber_n0 = true;
}
/* 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 = 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;
/* 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_SUCCESS;
}
/* ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ */
int lgw_cnt2utc(struct tref ref, uint32_t count_us, struct timespec *utc) {
double delta_sec;
double intpart, fractpart;
long tmp;
CHECK_NULL(utc);
if ((ref.systime == 0) || (ref.xtal_err > PLUS_10PPM) || (ref.xtal_err < MINUS_10PPM)) {
DEBUG_MSG("ERROR: INVALID REFERENCE FOR CNT -> UTC CONVERSION\n");
return LGW_GPS_ERROR;
}
/* calculate delta in seconds between reference count_us and target count_us */
delta_sec = (double)(count_us - ref.count_us) / (TS_CPS * ref.xtal_err);
/* now add that delta to reference UTC time */
fractpart = modf (delta_sec , &intpart);
tmp = ref.utc.tv_nsec + (long)(fractpart * 1E9);
if (tmp < (long)1E9) { /* the nanosecond part doesn't overflow */
utc->tv_sec = ref.utc.tv_sec + (time_t)intpart;
utc->tv_nsec = tmp;
} else { /* must carry one second */
utc->tv_sec = ref.utc.tv_sec + (time_t)intpart + 1;
utc->tv_nsec = tmp - (long)1E9;
}
return LGW_GPS_SUCCESS;
}
/* ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ */
int lgw_utc2cnt(struct tref ref, struct timespec utc, uint32_t *count_us) {
double delta_sec;
CHECK_NULL(count_us);
if ((ref.systime == 0) || (ref.xtal_err > PLUS_10PPM) || (ref.xtal_err < MINUS_10PPM)) {
DEBUG_MSG("ERROR: INVALID REFERENCE FOR UTC -> CNT CONVERSION\n");
return LGW_GPS_ERROR;
}
/* calculate delta in seconds between reference utc and target utc */
delta_sec = (double)(utc.tv_sec - ref.utc.tv_sec);
delta_sec += 1E-9 * (double)(utc.tv_nsec - ref.utc.tv_nsec);
/* now convert that to internal counter tics and add that to reference counter value */
*count_us = ref.count_us + (uint32_t)(delta_sec * TS_CPS * ref.xtal_err);
return LGW_GPS_SUCCESS;
}
/* ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ */
int lgw_cnt2gps(struct tref ref, uint32_t count_us, struct timespec *gps_time) {
double delta_sec;
double intpart, fractpart;
long tmp;
CHECK_NULL(gps_time);
if ((ref.systime == 0) || (ref.xtal_err > PLUS_10PPM) || (ref.xtal_err < MINUS_10PPM)) {
DEBUG_MSG("ERROR: INVALID REFERENCE FOR CNT -> GPS CONVERSION\n");
return LGW_GPS_ERROR;
}
/* calculate delta in milliseconds between reference count_us and target count_us */
delta_sec = (double)(count_us - ref.count_us) / (TS_CPS * ref.xtal_err);
/* now add that delta to reference GPS time */
fractpart = modf (delta_sec , &intpart);
tmp = ref.gps.tv_nsec + (long)(fractpart * 1E9);
if (tmp < (long)1E9) { /* the nanosecond part doesn't overflow */
gps_time->tv_sec = ref.gps.tv_sec + (time_t)intpart;
gps_time->tv_nsec = tmp;
} else { /* must carry one second */
gps_time->tv_sec = ref.gps.tv_sec + (time_t)intpart + 1;
gps_time->tv_nsec = tmp - (long)1E9;
}
return LGW_GPS_SUCCESS;
}
/* ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ */
int lgw_gps2cnt(struct tref ref, struct timespec gps_time, uint32_t *count_us) {
double delta_sec;
CHECK_NULL(count_us);
if ((ref.systime == 0) || (ref.xtal_err > PLUS_10PPM) || (ref.xtal_err < MINUS_10PPM)) {
DEBUG_MSG("ERROR: INVALID REFERENCE FOR GPS -> CNT CONVERSION\n");
return LGW_GPS_ERROR;
}
/* calculate delta in seconds between reference gps time and target gps time */
delta_sec = (double)(gps_time.tv_sec - ref.gps.tv_sec);
delta_sec += 1E-9 * (double)(gps_time.tv_nsec - ref.gps.tv_nsec);
/* now convert that to internal counter tics and add that to reference counter value */
*count_us = ref.count_us + (uint32_t)(delta_sec * TS_CPS * ref.xtal_err);
return LGW_GPS_SUCCESS;
}
/* --- EOF ------------------------------------------------------------------ */
Reference in New Issue View Git Blame Copy Permalink