/usr/lib/python2.7/dist-packages/framework/subsystems/ogpsd/om.py is in fso-frameworkd 0.10.1-3.
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1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31 32 33 34 35 36 37 38 39 40 41 42 43 44 45 46 47 48 49 50 51 52 53 54 55 56 57 58 59 60 61 62 63 64 65 66 67 68 69 70 71 72 73 74 75 76 77 78 79 80 81 82 83 84 85 86 87 88 89 90 91 92 93 94 95 96 97 98 99 100 101 102 103 104 105 106 107 108 109 110 111 112 113 114 115 116 117 118 119 120 121 122 123 124 125 126 127 128 129 130 131 132 133 134 135 136 137 138 139 140 141 142 143 144 145 146 147 148 149 150 151 152 153 154 155 156 157 158 159 160 161 162 163 164 165 166 167 168 169 170 171 172 173 174 175 176 177 178 179 180 181 182 183 184 185 | #!/usr/bin/env python
# -*- coding: UTF-8 -*-
"""
Open GPS Daemon
(C) 2008 Jan 'Shoragan' Lübbe <jluebbe@lasnet.de>
(C) 2008 Daniel Willmann <daniel@totalueberwachung.de>
(C) 2008 Openmoko, Inc.
GPLv2 or later
"""
__version__ = "0.9.9.4"
MODULE_NAME = "ogpsd"
DEVICE_POWER_PATH_OLD = "/sys/bus/platform/devices/neo1973-pm-gps.0/pwron"
DEVICE_POWER_PATH_NEW = "/sys/bus/platform/devices/neo1973-pm-gps.0/power_on"
from ubx import UBXDevice
from ubx import CLIDPAIR
from framework.persist import persist
import helpers
import gobject
import os, sys, marshal, time
from datetime import datetime, timedelta
import logging
logger = logging.getLogger( MODULE_NAME )
class GTA02Device( UBXDevice ):
"""GTA02 specific GPS device"""
def __init__( self, bus, channel ):
# Kernel specific paths
global DEVICE_POWER_PATH_NEW
kernel_release = os.uname()[2]
if kernel_release >= "2.6.39":
DEVICE_POWER_PATH_NEW = "/sys/bus/platform/drivers/gta02-pm-gps/gta02-pm-gps.0/power_on"
logger.info( "Kernel >= 2.6.39, gps sysfs updated" )
elif kernel_release >= "2.6.32":
DEVICE_POWER_PATH_NEW = "/sys/bus/platform/devices/gta02-pm-gps.0/power_on"
logger.info( "Kernel >= 2.6.32, gps sysfs updated" )
# Make sure the GPS is off
helpers.writeToFile( DEVICE_POWER_PATH_OLD, "1" )
helpers.writeToFile( DEVICE_POWER_PATH_NEW, "1" )
time.sleep( 0.5 )
helpers.writeToFile( DEVICE_POWER_PATH_OLD, "0" )
helpers.writeToFile( DEVICE_POWER_PATH_NEW, "0" )
self.aidingData = persist.get( "ogpsd", "aidingdata" )
if self.aidingData is None:
self.aidingData = { "almanac": {}, "ephemeris": {}, "position": {}, "hui": {} }
self.huiTimeout = None
super( GTA02Device, self ).__init__( bus, channel )
def initializeDevice( self ):
helpers.writeToFile( DEVICE_POWER_PATH_OLD, "1" )
helpers.writeToFile( DEVICE_POWER_PATH_NEW, "1" )
# Wait for the device to be powered up
time.sleep(0.5)
# Reset the device
#self.send("CFG-RST", 4, {"nav_bbr" : 0xffff, "Reset" : 0x01})
super( GTA02Device, self ).initializeDevice()
# Load aiding data and only if that succeeds have the GPS chip ask for it
if self.aidingData["almanac"] or self.aidingData["ephemeris"] or self.aidingData["position"]:
self.send("CFG-MSG", 3, {"Class" : CLIDPAIR["AID-REQ"][0] , "MsgID" : CLIDPAIR["AID-REQ"][1] , "Rate": 1 })
# Enable NAV-POSECEF, AID-REQ (AID-DATA), AID-ALM, AID-EPH messages
self.send("CFG-MSG", 3, {"Class" : CLIDPAIR["NAV-POSECEF"][0] , "MsgID" : CLIDPAIR["NAV-POSECEF"][1] , "Rate": 8 })
self.send("CFG-MSG", 3, {"Class" : CLIDPAIR["AID-ALM"][0] , "MsgID" : CLIDPAIR["AID-ALM"][1] , "Rate": 1 })
self.send("CFG-MSG", 3, {"Class" : CLIDPAIR["AID-EPH"][0] , "MsgID" : CLIDPAIR["AID-EPH"][1] , "Rate": 1 })
self.huiTimeout = gobject.timeout_add_seconds( 300, self.requestHuiTimer )
def shutdownDevice( self ):
# Disable NAV-POSECEF, AID-REQ (AID-DATA), AID-ALM, AID-EPH messages
self.send("CFG-MSG", 3, {"Class" : CLIDPAIR["NAV-POSECEF"][0] , "MsgID" : CLIDPAIR["NAV-POSECEF"][1] , "Rate" : 0 })
self.send("CFG-MSG", 3, {"Class" : CLIDPAIR["AID-REQ"][0] , "MsgID" : CLIDPAIR["AID-REQ"][1] , "Rate" : 0 })
self.send("CFG-MSG", 3, {"Class" : CLIDPAIR["AID-ALM"][0] , "MsgID" : CLIDPAIR["AID-ALM"][1] , "Rate" : 0 })
self.send("CFG-MSG", 3, {"Class" : CLIDPAIR["AID-EPH"][0] , "MsgID" : CLIDPAIR["AID-EPH"][1] , "Rate" : 0 })
if self.huiTimeout is not None:
gobject.source_remove( self.huiTimeout )
self.huiTimeout = None
super( GTA02Device, self ).shutdownDevice()
helpers.writeToFile( DEVICE_POWER_PATH_OLD, "0" )
helpers.writeToFile( DEVICE_POWER_PATH_NEW, "0" )
# Save collected aiding data
persist.set( "ogpsd", "aidingdata", self.aidingData )
persist.sync( "ogpsd" )
def handle_NAV_POSECEF( self, data ):
data = data[0]
if data["Pacc"] < 100000:
self.aidingData["position"]["accuracy"] = data["Pacc"]
self.aidingData["position"]["x"] = data["ECEF_X"]
self.aidingData["position"]["y"] = data["ECEF_Y"]
self.aidingData["position"]["z"] = data["ECEF_Z"]
def handle_AID_DATA( self, data ):
pos = self.aidingData.get("position", {})
# Let's just try with 3km here and see how well this goes
pacc = 300000 # in cm (3 km)
# GPS week number
# FIXME: The Global Positioning System (GPS) epoch is January 6, 1980 UTC.
epoch = datetime(1980, 1, 6)
now = datetime.utcnow()
gpstime = (now - epoch)
# Week number
wn = gpstime.days / 7
try:
leapsecs = self.aidingData["hui"]["UTC_LS"]
except:
# If we don't have current leap seconds yet assume 14 seconds.
leapsecs = 14
# GPS time of week
towdelta = gpstime - timedelta(weeks=wn)
tow = (towdelta.days * 86400 + towdelta.seconds + leapsecs) * 1000
# Time accuracy needs to be changed, because the RTC is imprecise
tacc = 60000 # in ms (1 minute)
# We don't want the position to be valid if we don't know it
if pos:
flags = 0x03
else:
flags = 0x02
# Feed gps with ephemeris
if self.aidingData.get( "ephemeris", {} ):
for k, a in self.aidingData["ephemeris"].iteritems():
logger.debug("Loaded ephemeris for SV %d" % a["SVID"])
self.send("AID-EPH", 104, a);
# Feed GPS with position and time
self.send("AID-INI", 48, {"X" : pos.get("x", 0) , "Y" : pos.get("y", 0) , "Z" : pos.get("z", 0), \
"POSACC" : pacc, "TM_CFG" : 0 , "WN" : wn , "TOW" : tow , "TOW_NS" : 0 , \
"TACC_MS" : tacc , "TACC_NS" : 0 , "CLKD" : 0 , "CLKDACC" : 0 , "FLAGS" : flags })
if self.aidingData.get( "hui", {} ):
self.send("AID-HUI", 72, self.aidingData["hui"])
# Feed gps with almanac
if self.aidingData.get( "almanac", {} ):
for k, a in self.aidingData["almanac"].iteritems():
logger.debug("Loaded almanac for SV %d" % a["SVID"])
self.send("AID-ALM", 40, a);
def handle_AID_ALM( self, data ):
data = data[0]
# Save only, if there are values
if "DWRD0" in data:
self.aidingData["almanac"][ data["SVID"] ] = data
def handle_AID_EPH( self, data ):
data = data[0]
# Save only, if there are values
if "SF1D0" in data:
self.aidingData["ephemeris"][ data["SVID"] ] = data
def handle_AID_HUI( self, data ):
data = data[0]
self.aidingData["hui"] = data
def requestHuiTimer( self ):
self.send( "AID-HUI", 0, {} )
return True
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