ashctl is a simple test tool to configure an ashtech receiver...

...to (not)? output raw measurements and to set up a useful set of
output messages.

1 files changed, 172 insertions, 0 deletions

diff --git a/contrib/ashctl.c b/contrib/ashctl.c
new file mode 100644
index 00000000..6ec153d6
--- /dev/null
+++ b/contrib/ashctl.c
@@ -0,0 +1,172 @@
+/* $Id$ */
+#include <sys/types.h>
+#include <err.h>
+#include <errno.h>
+#include <fcntl.h>
+#include <stdarg.h>
+#include <stdio.h>
+#include <stdlib.h>
+#include <string.h>
+#include <termios.h>
+#include <unistd.h>
+
+#define MODE_RAW 0
+#define MODE_NORMAL 1
+#define ASHSPD_9600 5
+#define ASHSPD_57600 8
+
+static int nmea_send(int , const char *, ... );
+static void nmea_add_checksum(char *);
+static void serial_speed(int, int);
+static void config_raw(int);
+static void config_normal(int);
+
+int main(int argc, char **argv) {
+	int i, speed, op, fd;
+	int rates[] = {57600, 9600, 115200, 4800, 19200, 1200, 0}; /* RTFM */
+	char buf[BUFSIZ];
+
+	/* check number of args */
+	if (argc != 3){
+u:		fprintf(stderr, "usage: ashctl <port> [raw|normal]\n"
+				"normal = 9600, GGA+GSA+GSV+RMC+ZDA\n"
+				"raw = 57600, normal+XPG+POS+SAT+MCA+PBN+SNV\n"
+				);
+		return 1;
+	}
+
+	/* validate command */
+	if (strcmp(argv[2], "raw") == 0)
+		op = MODE_RAW;
+	else if (strcmp(argv[2], "normal") == 0)
+		op = MODE_NORMAL;
+	else
+		goto u;
+
+	if ((fd = open(argv[1], O_RDWR | O_NONBLOCK | O_NOCTTY, 0644)) == -1)
+		err(1, "open");
+
+	i = 0;
+	/* spam receiver w/ config messages */
+	while((speed = rates[i++])){
+		fprintf(stderr,
+			"\010\010\010\010\010\010\010\010"
+			"\010\010\010\010\010\010\010\010"
+			"\010\010\010\010\010\010\010\010"
+			"\010\010\010\010\010\010\010\010"
+			"configuring at %d bps...  ", speed);
+		serial_speed(fd, speed);
+		if (op == MODE_NORMAL) {
+			config_normal(fd);
+			serial_speed(fd, 9600);
+		} else if (op == MODE_RAW) {
+			config_raw(fd);
+			serial_speed(fd, 57600);
+		}
+
+		sleep(1);
+		read(fd, buf, BUFSIZ-1);
+		buf[BUFSIZ-1] = '\0';
+		if (strstr(buf, "$PASH") || strstr(buf, "$GP"))
+			goto done;
+	}
+done:	fprintf(stderr,
+		"\010\010\010\010\010\010\010\010"
+		"\010\010\010\010\010\010\010\010"
+		"\010\010\010\010\010\010\010\010"
+		"\010\010\010\010\010\010\010\010"
+		"receiver configuration done         \n");
+	return 0;
+}
+
+static void serial_speed(int fd, int speed){
+	struct termios term;
+
+	tcgetattr(fd, &term);
+	cfmakeraw(&term);
+	cfsetospeed(&term, speed);
+	cfsetispeed(&term, speed);
+	if (tcsetattr(fd, TCSANOW | TCSAFLUSH, &term) == -1)
+		err(1, "tcsetattr");
+
+	tcflush(fd, TCIOFLUSH);
+	return;
+}
+
+static void config_normal(int fd){
+	nmea_send(fd, "$PASHS,NME,ALL,A,OFF"); /* silence outbound chatter */
+	nmea_send(fd, "$PASHS,NME,ALL,B,OFF");
+	nmea_send(fd, "$PASHS,NME,GGA,A,ON");
+	nmea_send(fd, "$PASHS,NME,GSA,A,ON");
+	nmea_send(fd, "$PASHS,NME,GSV,A,ON");
+	nmea_send(fd, "$PASHS,NME,RMC,A,ON");
+	nmea_send(fd, "$PASHS,NME,ZDA,A,ON");
+
+	nmea_send(fd, "$PASHS,INI,%d,%d,,,0,",ASHSPD_9600, ASHSPD_9600);
+	sleep(6); /* it takes 4-6 sec for the receiver to reboot */
+	nmea_send(fd, "$PASHS,WAS,ON"); /* enable WAAS */
+}
+
+static void config_raw(int fd){
+	nmea_send(fd, "$PASHS,NME,ALL,A,OFF"); /* silence outbound chatter */
+	nmea_send(fd, "$PASHS,NME,ALL,B,OFF");
+	nmea_send(fd, "$PASHS,NME,GGA,A,ON");
+	nmea_send(fd, "$PASHS,NME,GSA,A,ON");
+	nmea_send(fd, "$PASHS,NME,GSV,A,ON");
+	nmea_send(fd, "$PASHS,NME,RMC,A,ON");
+	nmea_send(fd, "$PASHS,NME,ZDA,A,ON");
+
+	nmea_send(fd, "$PASHS,INI,%d,%d,,,0,",ASHSPD_57600, ASHSPD_9600);
+	sleep(6); /* it takes 4-6 sec for the receiver to reboot */
+	nmea_send(fd, "$PASHS,WAS,ON"); /* enable WAAS */
+
+	nmea_send(fd, "$PASHS,NME,POS,A,ON"); /* Ashtech PVT solution */
+	nmea_send(fd, "$PASHS,NME,SAT,A,ON"); /* Ashtech Satellite status */
+	nmea_send(fd, "$PASHS,NME,MCA,A,ON"); /* MCA measurements */
+	nmea_send(fd, "$PASHS,NME,PBN,A,ON"); /* ECEF PVT solution */
+	nmea_send(fd, "$PASHS,NME,SNV,A,ON,10"); /* Almanac data */
+
+	nmea_send(fd, "$PASHS,NME,XMG,A,ON"); /* exception messages */
+}
+
+static void nmea_add_checksum(char *sentence)
+/* add NMEA checksum to a possibly  *-terminated sentence */
+{
+	unsigned char sum = '\0';
+	char c, *p = sentence;
+
+	if (*p == '$') {
+		p++;
+		while ( ((c = *p) != '*') && (c != '\0')) {
+			sum ^= c;
+			p++;
+		}
+		*p++ = '*';
+		(void)snprintf(p, 5, "%02X\r\n", (unsigned int)sum);
+	}
+}
+
+static int nmea_send(int fd, const char *fmt, ... )
+/* ship a command to the GPS, adding * and correct checksum */
+{
+	size_t status;
+	char buf[BUFSIZ];
+	va_list ap;
+
+	va_start(ap, fmt) ;
+	(void)vsnprintf(buf, sizeof(buf)-5, fmt, ap);
+	va_end(ap);
+	(void)strlcat(buf, "*", BUFSIZ);
+	nmea_add_checksum(buf);
+	// (void)fputs(buf, stderr); /* debug output */
+	tcflush(fd, TCIOFLUSH);
+	status = (size_t)write(fd, buf, strlen(buf));
+	tcdrain(fd);
+	usleep(100000);
+	if (status == strlen(buf)) {
+		return (int)status;
+	} else {
+		perror("nmea_send");
+		return -1;
+	}
+}