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/*
* This file is Copyright (c)2010 by the GPSD project
* BSD terms apply: see the file COPYING in the distribution root for details.
*/
#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);
i = read(fd, buf, BUFSIZ-1);
buf[i] = '\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 */
{
char *p = sentence;
if (*p == '$') {
unsigned char sum = '\0';
char c;
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)strncat(buf, "*", sizeof(buf)-1);
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;
}
}
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