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do it with Linux!

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Martin Mueller
2005-11-03 23:53:39 +00:00
parent 904ace1ac2
commit d4d7513187
2 changed files with 418 additions and 0 deletions
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conf/gps/Makefile
+12
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CC=gcc
MODCFLAGS=-Wall
all: ublox_conf
clean:
rm -f core *.o ublox_conf
ublox_conf: ublox_conf.c Makefile
$(CC) $(MODCFLAGS) ublox_conf.c -o ublox_conf
conf/gps/ublox_conf.c
+406
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/*
* Paparazzi ublox gps rx configurator $Id$
*
* Copyright (C) 2005 Martin Mueller
*
* This file is part of paparazzi.
*
* paparazzi is free software; you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation; either version 2, or (at your option)
* any later version.
*
* paparazzi is distributed in the hope that it will be useful,
* but WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
* GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with paparazzi; see the file COPYING. If not, write to
* the Free Software Foundation, 59 Temple Place - Suite 330,
* Boston, MA 02111-1307, USA.
*
*/
#include <stdio.h>
#include <unistd.h>
#include <errno.h>
#include <termios.h>
#include <fcntl.h>
#include <sys/types.h>
#include <sys/stat.h>
#include <sys/time.h>
/* serial port that is used at the ublox gps receiver */
#define UBLOX_PORT 1
/* serial speed that is used at the ublox gps receiver at startup */
#define DEFAULT_BAUDRATE 9600
/* this is the name of the input configuration text from ublox */
#define IN_FILE_NAME "sam_ls_cfg_05_02.txt"
/* this is where your gps receiver lives on the PC */
#define OUT_FILE_NAME "/dev/ttyS0"
#define SYNC_CHAR_1 0xB5
#define SYNC_CHAR_2 0x62
#define BLANK_CHAR ' '
#define MINUS_CHAR '-'
#define NAV 0x01
#define RXM 0x02
#define INF 0x04
#define ACK 0x05
#define ACK_ACK 0x01
#define CFG 0x06
#define CFG_PRT 0x00
#define CFG_MSG 0x01
#define CFG_INF 0x02
#define CFG_DAT 0x06
#define CFG_TP 0x07
#define CFG_RATE 0x08
#define CFG_TM 0x10
#define CFG_RXM 0x11
#define CFG_FXN 0x0E
#define CFG_ANT 0x13
#define CFG_SBAS 0x16
#define CFG_NMEA 0x17
#define UPD 0x09
#define MON 0x0A
#define MON_VER 0x04
#define AID 0x0B
#define TIM 0x0D
#define ACK_LENGTH 0x0A
struct speed_map
{
speed_t speed;
unsigned int speed_value;
};
static const struct speed_map speeds[] = {
{B0, 0},
{B50, 50},
{B75, 75},
{B110, 110},
{B134, 134},
{B150, 150},
{B200, 200},
{B300, 300},
{B600, 600},
{B1200, 1200},
{B1800, 1800},
{B2400, 2400},
{B4800, 4800},
{B9600, 9600},
{B19200, 19200},
{B38400, 38400},
{B57600, 57600},
{B115200, 115200},
{B230400, 230400},
};
static const int NUM_SPEEDS = (sizeof(speeds) / sizeof(struct speed_map));
static speed_t int_to_baud(unsigned int value)
{
int i;
for (i = 0; i < NUM_SPEEDS; ++i)
{
if (value == speeds[i].speed_value)
{
return speeds[i].speed;
}
}
return (speed_t) - 1;
}
int main (void)
{
char in_file_name[80] = IN_FILE_NAME;
char out_file_name[80] = OUT_FILE_NAME;
struct termios orig_termios, cur_termios;
unsigned char data[65536] = { SYNC_CHAR_1, SYNC_CHAR_2 };
unsigned char ack_ack[ACK_LENGTH] = { SYNC_CHAR_1, SYNC_CHAR_2, ACK,
ACK_ACK, 0x02, 0x00 };
unsigned char data_temp;
FILE *in_file;
int serial_fd;
int count, i;
int br;
fd_set read_fd_set;
int max_fd;
struct timeval select_tv;
int baud;
int ack_index;
int no_ack;
if ((br = int_to_baud(DEFAULT_BAUDRATE)) < 0 )
{
printf("invalid baudrate %d\n", DEFAULT_BAUDRATE);
return( -1 );
}
if ( (in_file = fopen( in_file_name, "r" )) == NULL )
{
perror("could not open in file");
return( -1 );
}
if ( (serial_fd = open( out_file_name, O_RDWR )) == 0 )
{
perror("could not open out file");
return( -1 );
}
if (tcgetattr(serial_fd, &orig_termios))
{
perror("getting modem serial device attr");
return( -1 );
}
cur_termios = orig_termios;
/* input modes */
cur_termios.c_iflag &= ~(IGNBRK|BRKINT|IGNPAR|PARMRK|INPCK|ISTRIP|INLCR|IGNCR
|ICRNL |IXON|IXANY|IXOFF|IMAXBEL);
/* IGNCR does not pass 0x0D */
cur_termios.c_iflag |= BRKINT;
/* output_flags */
cur_termios.c_oflag &=~(OPOST|ONLCR|OCRNL|ONOCR|ONLRET);
/* control modes */
cur_termios.c_cflag &= ~(CSIZE|CSTOPB|CREAD|PARENB|PARODD|HUPCL|CLOCAL|CRTSCTS);
cur_termios.c_cflag |= CREAD|CS8|CLOCAL;
/* local modes */
cur_termios.c_lflag &= ~(ISIG|ICANON|IEXTEN|ECHO|FLUSHO|PENDIN);
cur_termios.c_lflag |= NOFLSH;
if (cfsetispeed(&cur_termios, B0))
{
perror("setting input modem serial device speed");
return( -1 );
}
if (cfsetospeed(&cur_termios, br))
{
perror("setting modem serial device speed");
return( -1 );
}
if (tcsetattr(serial_fd, TCSADRAIN, &cur_termios))
{
perror("setting modem serial device attr");
return( -1 );
}
while (!feof(in_file))
{
/* search for first ' ' character */
while( ((data_temp = fgetc(in_file)) != BLANK_CHAR) &&
(!feof(in_file)) )
{
printf("%c", data_temp);
}
/* check for minus sign */
if ( (!feof(in_file)) &&
(fgetc(in_file) != MINUS_CHAR) )
{
printf("format error (no minus)\n");
return(-1);
}
/* search for second ' ' character */
while( (fgetc(in_file) != BLANK_CHAR) &&
(!feof(in_file)) ){}
if (feof(in_file)) break;
printf(" ");
/* read message */
count = 2;
do
{
data_temp = fgetc(in_file);
if ( (data_temp <= '9') && (data_temp >= '0') )
{
data[count] = (data_temp - '0') << 4;
}
else
if ( (data_temp <= 'f') && (data_temp >= 'a') )
{
data[count] = (data_temp - 'a' + 10) << 4;
}
else
if ( (data_temp <= 'F') && (data_temp >= 'A') )
{
data[count] = (data_temp - 'A' + 10) << 4;
}
else
{
printf("format error (letters a)\n");
return(-1);
}
data_temp = fgetc(in_file);
if ( (data_temp <= '9') && (data_temp >= '0') )
{
data[count] += (data_temp - '0');
}
else
if ( (data_temp <= 'f') && (data_temp >= 'a') )
{
data[count] += (data_temp - 'a' + 10);
}
else
if ( (data_temp <= 'F') && (data_temp >= 'A') )
{
data[count] += (data_temp - 'A' + 10);
}
else
{
printf("format error (letters b)\n");
return(-1);
}
count++;
}
while( (fgetc(in_file) == BLANK_CHAR) &&
(!feof(in_file)) );
if ( (data[4] + (data[5] << 8) + 4) != count-2)
{
printf("format error (length)");
return(-1);
}
/* calc checksum */
data[count] = 0;
data[count+1] = 0;
for (i=2; i < count; i++)
{
data[count] = data[count] + data[i];
data[count+1] = data[count+1] + data[count];
}
/* send data */
write(serial_fd, data, count+2);
/* did we configure something: check for acknowledge */
if (data[2] == CFG)
{
no_ack = 1;
ack_index = 0;
/* did we change baudrate: change PC as well */
if (data[3] == CFG_PRT)
{
baud = (data[6+8]) +
(data[6+9] << 8) +
(data[6+10] << 16) +
(data[6+11] << 24);
if (data[6] == UBLOX_PORT)
{
printf("port in use, ");
if ((br = int_to_baud(baud)) < 0 )
{
printf("invalid baudrate %d\n", baud);
break;
}
if (cfsetospeed(&cur_termios, br))
{
perror("setting modem serial device speed");
return( -1 );
}
else
{
if (tcsetattr(serial_fd, TCSADRAIN, &cur_termios))
{
perror("setting modem serial device attr");
return( -1 );
}
else
{
printf("baudrate set to %d ", baud);
}
}
}
}
/* calc ACK checksum */
ack_ack[6] = data[2];
ack_ack[7] = data[3];
ack_ack[8] = 0;
ack_ack[9] = 0;
for (i=2; i < ACK_LENGTH-2; i++)
{
ack_ack[8] = ack_ack[8] + ack_ack[i];
ack_ack[9] = ack_ack[9] + ack_ack[8];
}
/* 900 msec timeout for reply */
select_tv.tv_sec = 0;
select_tv.tv_usec = 900000;
while (no_ack)
{
/* wait for ACK-ACK */
FD_ZERO( &read_fd_set );
FD_SET( 0, &read_fd_set );
FD_SET( serial_fd, &read_fd_set );
max_fd = serial_fd;
i = select( max_fd + 1,
&read_fd_set,
NULL,
NULL,
&select_tv );
if ( FD_ISSET(serial_fd, &read_fd_set) )
{
read(serial_fd, &data_temp, 1);
if (data_temp != ack_ack[ack_index++])
{
ack_index = 0;
}
if (ack_index == ACK_LENGTH)
{
printf("OK\n");
no_ack = 0;
}
}
else
{
printf("*** no ACK from gps rx ***\n");
break;
}
}
}
else
{
printf("-\n");
}
}
fclose(in_file);
close(serial_fd);
return(0);
}