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paparazzi/sw/airborne/modules/gsm/gsm.c
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/*
* $Id$
*
* Copyright (C) 2009 ENAC, Arnaud Quintard, Pascal Brisset
*
* 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.
*
*/
/*
http://www.telit.com/en/products/gsm-gprs.php?p_ac=show&p=12#downloads
Init:
Out: ATE0
In: OK
Out: AT+CMGF=1
In: OK
Out: AT+CNMI=1,1,0,0,0
In: OK
Out : AT+CPMS=\"SM\"
In: +CPMS:
Reporting:
Out: AT+CSQ
In: +CSQ: <rssi>,<ber>
In: OK
Out: AT+CMGS=\"GCS_NUMBER\"
In: >
Out: gps.utm_pos.east, gps.utm_pos.north, gps.course, gps.hmsl, gps.gspeed, -gps.ned_vel.z, vsupply, estimator_flight_time, rssi CTRLZ
Receiving:
In: +CMTI: ...,<number>
Out: AT+CMGR=<number>
In: +CMGR ...
In: B42 (or S42 3.14)
Out: AT+CMGD=<number>
In: OK
*/
#include <stdbool.h>
#include <string.h>
#include <stdio.h>
#include <stdlib.h>
#include "gsm.h"
#include "mcu_periph/uart.h"
#include "std.h"
#ifdef USE_USB_SERIAL
#include "mcu_periph/usb_serial.h"
#endif
#ifndef DOWNLINK_DEVICE
#define DOWNLINK_DEVICE DOWNLINK_AP_DEVICE
#endif
#include "mcu_periph/uart.h"
#include "subsystems/datalink/downlink.h"
#include "ap_subsystems/datalink/downlink.h"
#include "subsystems/gps.h"
#include "autopilot.h"
#include "estimator.h"
//#include "subsystems/navigation/common_nav.h" //why is should this be needed?
#include "generated/settings.h"
#ifndef GSM_LINK
#define GSM_LINK Uart3100
#endif
#define GSM_MAX_PAYLOAD 160
#define __GSMLink(dev, _x) dev##_x
#define _GSMLink(dev, _x) __GSMLink(dev, _x)
#define GSMLink(_x) _GSMLink(GSM_LINK, _x)
#define GSMBuffer() GSMLink(ChAvailable())
#define ReadGSMBuffer() { while (GSMLink(ChAvailable())&&!gsm_line_received) gsm_parse(GSMLink(Getch())); }
#define GSMTransmit(_c) GSMLink(Transmit(_c))
#define CTRLZ 0x1A
#define GSM_ORIGIN_MAXLEN 32
#define DATA_MAXLEN 128
#define CMTI "+CMTI:"
#define MAXLEN_CMTI_ANSWER 32
#define MAXLEN_SMS_CONTENT DATA_MAXLEN
static bool gsm_line_received;
static bool prompt_received;
static bool waiting_for_reply; /* An AT command has been sent and an answer is expected */
// static char msg_status[16];
// static char msg_date[32];
static char expected_ack[10];
static char gsm_buf[GSM_MAX_PAYLOAD] __attribute__ ((aligned));
static uint8_t gsm_buf_idx, gsm_buf_len;
static char origin[GSM_ORIGIN_MAXLEN];
static char data_to_send[DATA_MAXLEN];
#define STATUS_NONE 0
#define STATUS_CSQ 1
#define STATUS_REQUESTING_MESSAGE 2
#define STATUS_SEND_AT 3
#define STATUS_SEND_CMGF 4
#define STATUS_SEND_CNMI 5
#define STATUS_SEND_CPMS 6
#define STATUS_RECEPTION_SMS2 7
#define STATUS_WAITING_DATA 8
#define STATUS_IDLE 9
#define STATUS_WAITING_PROMPT 10
#define STATUS_DELETE_SMS 11
#define STATUS_POWERON 12
static uint8_t gsm_status = STATUS_NONE;
static uint8_t index_msg;
static void Send_AT(void);
static void Send_CMGF(void);
static void Send_CNMI(void);
static void Send_CPMS(void);
static void Suppr_SMS(int);
static void gsm_send_report_continue(void);
static void gsm_parse(uint8_t c);
static void gsm_got_line(void);
static void gsm_got_prompt(void);
static void gsm_receive_content(void);
static void request_for_msg(void);
static void Send_CSQ(void);
static void Send(const char string[]);
static void parse_msg_header(void);
static char* indexn(char*, char, uint8_t);
static uint8_t gcs_index;
static uint8_t gcs_index_max;
/*****************************************************************************/
void gsm_init(void) {
if (gsm_status == STATUS_NONE) { /* First call */
LED_ON(GSM_ONOFF_LED);
gsm_status = STATUS_POWERON;
//} else { /* Second call */
// gsm_buf_idx = 0;
// gsm_line_received = false;
//
// Send_AT();
// gsm_status = STATUS_SEND_AT;
// gsm_gsm_init_status = FALSE;
}
gcs_index = 0;
gcs_index_max = 0;
#ifdef GCS_NUMBER_1
gcs_index_max++;
#endif
#ifdef GCS_NUMBER_2
gcs_index_max++;
#endif
}
void gsm_init_report(void) { /* Second call */
if (gsm_status != STATUS_NONE) {
gsm_buf_idx = 0;
gsm_line_received = false;
Send_AT();
gsm_status = STATUS_SEND_AT;
gsm_gsm_init_report_status = FALSE;
}
}
void gsm_event(void) {
if (GSMBuffer()) {
ReadGSMBuffer();
}
if (gsm_line_received) {
if (gsm_buf_len > 0) DOWNLINK_SEND_DEBUG_GSM_RECEIVE(DefaultChannel, DefaultDevice, gsm_buf_len, gsm_buf);
gsm_got_line();
gsm_line_received = false;
} else if (prompt_received) {
DOWNLINK_SEND_DEBUG_GSM_RECEIVE(DefaultChannel, DefaultDevice, 1, ">");
gsm_got_prompt();
prompt_received = false;
}
}
// A line of length gsm_buf_len is available in the gsm_buf buffer
static void gsm_got_line(void)
{
if (gsm_status == STATUS_WAITING_DATA) { // Currently receiving a SMS
gsm_receive_content();
Suppr_SMS(index_msg);
gsm_status = STATUS_DELETE_SMS;
} else if (gsm_status == STATUS_IDLE
&& strncmp(CMTI, gsm_buf, strlen(CMTI)) == 0) {
/* A SMS is available */
/* Extracting the index of the message */
char * first_comma = indexn(gsm_buf, ',',MAXLEN_CMTI_ANSWER);
if (first_comma) {
index_msg = atoi(first_comma+1);
request_for_msg();
gsm_status = STATUS_REQUESTING_MESSAGE;
}
} else if (waiting_for_reply) { // Other cases
// Do we get what we were expecting
bool gsm_answer = strncmp(expected_ack, gsm_buf, strlen(expected_ack)) == 0;
if (gsm_answer) {
waiting_for_reply = false;
switch(gsm_status) {
case STATUS_CSQ :
gsm_send_report_continue();
gsm_status = STATUS_WAITING_PROMPT;
break;
case STATUS_REQUESTING_MESSAGE:
parse_msg_header();
gsm_status = STATUS_WAITING_DATA;
break;
case STATUS_SEND_AT :
gsm_answer = false;
Send_CMGF();
gsm_status = STATUS_SEND_CMGF;
break;
case STATUS_SEND_CMGF :
gsm_answer = false;
Send_CNMI();
gsm_status = STATUS_SEND_CNMI;
break;
case STATUS_SEND_CNMI :
gsm_answer = false;
Send_CPMS();
gsm_status = STATUS_SEND_CPMS;
break;
case STATUS_SEND_CPMS :
gsm_answer = false;
gsm_status = STATUS_IDLE;
gsm_gsm_send_report_status = MODULES_START; /** Start reporting */
break;
case STATUS_DELETE_SMS :
gsm_status = STATUS_IDLE;
break;
default:
break;
}
} else { /** We did not get the expected answer */
/* Let's wait for the next line */
}
}
}
// Receiving a SMS, first step: asking for a given message
static void request_for_msg(void)
{
char demande_lecture_SMS[16];
strcpy(expected_ack, "+CMGR");
sprintf(demande_lecture_SMS, "AT+CMGR=%d", index_msg);
waiting_for_reply = true;
Send(demande_lecture_SMS);
}
/** Receiving a SMS, third step, content in gsm_buf
Message can be
Bdd where dd is a block index on two digits. WARNING: dd > 0
Sdd value where dd>0 is a var index on two digits and value is a float
*/
static void gsm_receive_content(void)
{
// ?????? sprintf(data_to_send, "%d %s %s %s %s", index_msg, flag, expediteur, dateheure, data_recue);
// ?????? Send(data_to_send);
// Checking the number of the sender
if (
//#if ! (defined GCS_NUMBER_1 || defined GCS_NUMBER_2 || defined SAFETY_NUMBER_1 || defined SAFETY_NUMBER_2)
true
//#else
// false
//#endif
#ifdef GCS_NUMBER_1
|| strncmp((char*)GCS_NUMBER_1, origin, strlen(GCS_NUMBER_1)) == 0
#endif
#ifdef GCS_NUMBER_2
|| strncmp((char*)GCS_NUMBER_2, origin, strlen(GCS_NUMBER_2)) == 0
#endif
#ifdef SAFETY_NUMBER_1
|| strncmp((char*)SAFETY_NUMBER_1, origin, strlen(SAFETY_NUMBER_1)) == 0
#endif
#ifdef SAFETY_NUMBER_2
|| strncmp((char*)SAFETY_NUMBER_2, origin, strlen(SAFETY_NUMBER_2)) == 0
#endif
) {
// Decoding the message ...
// Search for the instruction
switch (gsm_buf[0]) {
case 'B' :
{
uint8_t block_index = atoi(gsm_buf+1);
if (block_index > 0) /* Warning: no way to go to the first block */
nav_goto_block(block_index);
break;
}
case 'S' :
{
uint8_t var_index = atoi(gsm_buf+1);
if (var_index > 0) {
float value = atof(indexn(gsm_buf, ' ',MAXLEN_SMS_CONTENT)+1);
DlSetting(var_index, value);
}
}
default:
// Report an error ???
break;
}
}
}
// Deleting a SMS
void Suppr_SMS(int index_)
{
char demande_suppression[20];
sprintf(demande_suppression, "AT+CMGD=%d", index_);
strcpy(expected_ack, "OK");
waiting_for_reply = true;
Send(demande_suppression);
}
// We just have received a prompt ">" (we are sending a SMS)
static void gsm_got_prompt(void)
{
if (gsm_status == STATUS_WAITING_PROMPT) { // We were waiting for a prompt
char string[strlen(data_to_send) +3];
sprintf(string, "%s%c", data_to_send, CTRLZ);
Send(string);
}
gsm_status = STATUS_IDLE;
}
/** Message header in gsm_bug
*/
static void parse_msg_header(void)
{
/* Extraction du flag*/
/** Extraction(buffer2, '"', 1, 1, '"', 1, 0, msg_status); */
/* Extraction de l'expediteur*/
// Extraction(buffer2, '"', 2, 1, '"', 1, 0, origin);
/* Extraction de date heure*/
// Extraction(buffer2, '"', 4, 1, '"', 1, 0, msg_date);
//pb d'ecriture du flag => solution de fortune (pb si flag != rec unread)
//??????? strncpy(flag, flag, 10);
}
// Periodic message, first step (called every 60s)
void gsm_send_report()
{
gsm_status = STATUS_IDLE;
if(gsm_status == STATUS_IDLE) {
// Checking the network coverage
Send_CSQ();
gsm_status = STATUS_CSQ;
}
}
// Sending a message, second step; we have asked for network quality
void gsm_send_report_continue(void)
{
//We got "+CSQ: <rssi>,<ber>" <rssi> and <ber> on 2 digits (cf 3.5.4.4.4)
// and we expect "OK" on the second line
uint8_t rssi = atoi(gsm_buf + strlen("+CSQ: "));
// Donnee GPS :ne sont pas envoyes gps_mode, gps.tow, gps.utm_pos.zone, gps_nb_ovrn
// Donnees batterie (seuls vsupply et estimator_flight_time sont envoyes)
// concatenation de toutes les infos en un seul message à transmettre
sprintf(data_to_send, "%ld %ld %d %ld %d %d %d %d %d", gps.utm_pos.east, gps.utm_pos.north, gps_course, gps.hmsl, gps.gspeed, -gps.ned_vel.z, vsupply, estimator_flight_time, rssi);
// send the number and wait for the prompt
char buf[32];
switch (gcs_index) {
#ifdef GCS_NUMBER_1
case 0 :
sprintf(buf, "AT+CMGS=\"%s\"", GCS_NUMBER_1);
Send(buf);
break;
#endif
#ifdef GCS_NUMBER_2
case 1 :
sprintf(buf, "AT+CMGS=\"%s\"", GCS_NUMBER_2);
Send(buf);
break;
#endif
default :
gcs_index = 0;
break;
}
gcs_index++;
if (gcs_index == gcs_index_max) gcs_index = 0;
}
static void Send_AT(void)
{
strcpy(expected_ack, "OK");
waiting_for_reply = true;
Send("ATE0");
}
static void Send_CMGF(void)
{
strcpy(expected_ack, "OK");
waiting_for_reply = true;
Send("AT+CMGF=1");
}
static void Send_CSQ(void)
{
/***** FIXME ****** strcpy(expected_ack, "+CSQ:"); ****/
strcpy(expected_ack, "OK");
waiting_for_reply = true;
Send("AT+CSQ");
}
static void Send_CNMI(void)
{
strcpy(expected_ack, "OK");
waiting_for_reply = true;
Send("AT+CNMI=1,1,0,0,0");
}
static void Send_CPMS(void)
{
strcpy(expected_ack, "+CPMS:");
waiting_for_reply = true;
Send("AT+CPMS=\"SM\"");
}
static void gsm_parse(uint8_t c) {
switch(c) {
case GSM_CMD_LINE_TERMINATION:
break;
case '>':
prompt_received = true;
break;
case GSM_RESPONSE_FORMATING:
gsm_buf[gsm_buf_idx] = '\0';
gsm_line_received = true;
gsm_buf_len = gsm_buf_idx;
gsm_buf_idx=0;
break;
default:
if (gsm_buf_idx < GSM_MAX_PAYLOAD) {
gsm_buf[gsm_buf_idx] = c;
gsm_buf_idx++;
} /* else extra characters are ignored */
break;
}
}
// Sending a string to the GSM module (through the UART)
static void Send(const char string[])
{
int i = 0;
while(string[i])
GSMTransmit(string[i++]);
GSMTransmit(GSM_CMD_LINE_TERMINATION);
DOWNLINK_SEND_DEBUG_GSM_SEND(DefaultChannel, DefaultDevice, i, string);
}
/* Returns a pointer to the first occurrence of the character c in the firtn
n chars of string s. Return NULL if not found */
static char* indexn(char* s, char c, uint8_t n) {
while(n && (*s != c)) {
n--;
s++;
}
return (n ? s : NULL);
}
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