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html/*
attic/*
/.project
/.cproject
/.pydevproject
/.externalToolBuilders
/.settings
.directory
generated*
sysroots
bitbake-logs
/temp
*.o
image
src/nmea2exif
src/log_imu
src/.depend
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may consider it more useful to permit linking proprietary applications with
the library. If this is what you want to do, use the GNU Lesser General
Public License instead of this License. But first, please read
<http://www.gnu.org/philosophy/why-not-lgpl.html>.
Makefile 0 → 100644
View file @ 09f51911
# Runs 'make', 'make install', and 'make clean' in specified subdirectories
SUBDIRS := src
INSTALLDIRS = $(SUBDIRS:%=install-%)
CLEANDIRS = $(SUBDIRS:%=clean-%)
#TARGETDIR=$(DESTDIR)/www/pages
all: $(SUBDIRS)
@echo "make all top"
$(SUBDIRS):
$(MAKE) -C $@
install: $(INSTALLDIRS)
@echo "make install top"
$(INSTALLDIRS):
$(MAKE) -C $(@:install-%=%) install
clean: $(CLEANDIRS)
@echo "make clean top"
$(CLEANDIRS):
$(MAKE) -C $(@:clean-%=%) clean
.PHONY: all install clean $(SUBDIRS) $(INSTALLDIRS) $(CLEANDIRS)
eclipse_project_setup/.cproject 0 → 100644
View file @ 09f51911
<?xml version="1.0" encoding="UTF-8" standalone="no"?>
<?fileVersion 4.0.0?><cproject storage_type_id="org.eclipse.cdt.core.XmlProjectDescriptionStorage">
<storageModule moduleId="org.eclipse.cdt.core.settings">
<cconfiguration id="0.1150476775">
<storageModule buildSystemId="org.eclipse.cdt.managedbuilder.core.configurationDataProvider" id="0.1150476775" moduleId="org.eclipse.cdt.core.settings" name="Default">
<externalSettings/>
<extensions>
<extension id="org.eclipse.cdt.core.GASErrorParser" point="org.eclipse.cdt.core.ErrorParser"/>
<extension id="org.eclipse.cdt.core.GmakeErrorParser" point="org.eclipse.cdt.core.ErrorParser"/>
<extension id="org.eclipse.cdt.core.GLDErrorParser" point="org.eclipse.cdt.core.ErrorParser"/>
<extension id="org.eclipse.cdt.core.VCErrorParser" point="org.eclipse.cdt.core.ErrorParser"/>
<extension id="org.eclipse.cdt.core.CWDLocator" point="org.eclipse.cdt.core.ErrorParser"/>
<extension id="org.eclipse.cdt.core.GCCErrorParser" point="org.eclipse.cdt.core.ErrorParser"/>
</extensions>
</storageModule>
<storageModule moduleId="cdtBuildSystem" version="4.0.0">
<configuration artifactName="${ProjName}" buildProperties="" description="" id="0.1150476775" name="Default" parent="org.eclipse.cdt.build.core.prefbase.cfg">
<folderInfo id="0.1150476775." name="/" resourcePath="">
<toolChain id="org.eclipse.cdt.build.core.prefbase.toolchain.1042691196" name="No ToolChain" resourceTypeBasedDiscovery="false" superClass="org.eclipse.cdt.build.core.prefbase.toolchain">
<targetPlatform id="org.eclipse.cdt.build.core.prefbase.toolchain.1042691196.1296727294" name=""/>
<builder arguments="apps-gps" command="${workspace_loc:/elphel-apps-editconf/run_bitbake.sh}" enableCleanBuild="false" id="org.eclipse.cdt.build.core.settings.default.builder.851629087" incrementalBuildTarget="-c compile -f -v" keepEnvironmentInBuildfile="false" managedBuildOn="false" name="Gnu Make Builder" superClass="org.eclipse.cdt.build.core.settings.default.builder"/>
<tool id="org.eclipse.cdt.build.core.settings.holder.libs.2089670226" name="holder for library settings" superClass="org.eclipse.cdt.build.core.settings.holder.libs"/>
<tool id="org.eclipse.cdt.build.core.settings.holder.1645067780" name="Assembly" superClass="org.eclipse.cdt.build.core.settings.holder">
<option id="org.eclipse.cdt.build.core.settings.holder.incpaths.1912421658" name="Include Paths" superClass="org.eclipse.cdt.build.core.settings.holder.incpaths" valueType="includePath">
<listOptionValue builtIn="false" value="&quot;${workspace_loc:/elphel-apps-gps/sysroots/elphel393/usr/include-uapi}&quot;"/>
</option>
<inputType id="org.eclipse.cdt.build.core.settings.holder.inType.98116389" languageId="org.eclipse.cdt.core.assembly" languageName="Assembly" sourceContentType="org.eclipse.cdt.core.asmSource" superClass="org.eclipse.cdt.build.core.settings.holder.inType"/>
</tool>
<tool id="org.eclipse.cdt.build.core.settings.holder.1272302733" name="GNU C++" superClass="org.eclipse.cdt.build.core.settings.holder">
<option id="org.eclipse.cdt.build.core.settings.holder.incpaths.1282220181" name="Include Paths" superClass="org.eclipse.cdt.build.core.settings.holder.incpaths" valueType="includePath">
<listOptionValue builtIn="false" value="&quot;${workspace_loc:/elphel-apps-gps/sysroots}&quot;"/>
<listOptionValue builtIn="false" value="&quot;${workspace_loc:/elphel-apps-gps/sysroots/elphel393/usr/include-uapi}&quot;"/>
</option>
<inputType id="org.eclipse.cdt.build.core.settings.holder.inType.1122993166" languageId="org.eclipse.cdt.core.g++" languageName="GNU C++" sourceContentType="org.eclipse.cdt.core.cxxSource,org.eclipse.cdt.core.cxxHeader" superClass="org.eclipse.cdt.build.core.settings.holder.inType"/>
</tool>
<tool id="org.eclipse.cdt.build.core.settings.holder.605559330" name="GNU C" superClass="org.eclipse.cdt.build.core.settings.holder">
<option id="org.eclipse.cdt.build.core.settings.holder.incpaths.515081863" name="Include Paths" superClass="org.eclipse.cdt.build.core.settings.holder.incpaths" valueType="includePath">
<listOptionValue builtIn="false" value="&quot;${workspace_loc:/elphel-apps-gps/sysroots}&quot;"/>
<listOptionValue builtIn="false" value="&quot;${workspace_loc:/elphel-apps-gps/sysroots/elphel393/usr/include-uapi}&quot;"/>
</option>
<inputType id="org.eclipse.cdt.build.core.settings.holder.inType.899853425" languageId="org.eclipse.cdt.core.gcc" languageName="GNU C" sourceContentType="org.eclipse.cdt.core.cSource,org.eclipse.cdt.core.cHeader" superClass="org.eclipse.cdt.build.core.settings.holder.inType"/>
</tool>
<tool id="org.eclipse.cdt.build.core.settings.holder.1363226103" name="LLVM bytecode assembly" superClass="org.eclipse.cdt.build.core.settings.holder">
<option id="org.eclipse.cdt.build.core.settings.holder.incpaths.513031495" name="Include Paths" superClass="org.eclipse.cdt.build.core.settings.holder.incpaths" valueType="includePath">
<listOptionValue builtIn="false" value="&quot;${workspace_loc:/elphel-apps-gps/sysroots}&quot;"/>
<listOptionValue builtIn="false" value="&quot;${workspace_loc:/elphel-apps-gps/sysroots/elphel393/usr/include-uapi}&quot;"/>
</option>
<inputType id="org.eclipse.cdt.build.core.settings.holder.inType.370831508" languageId="org.eclipse.cdt.managedbuilder.llvm.ui.llvmAssembly" languageName="LLVM bytecode assembly" sourceContentType="org.eclipse.cdt.managedbuilder.llvm.ui.llvmAssemblySource" superClass="org.eclipse.cdt.build.core.settings.holder.inType"/>
</tool>
<tool id="org.eclipse.cdt.build.core.settings.holder.1740441857" name="UPC" superClass="org.eclipse.cdt.build.core.settings.holder">
<option id="org.eclipse.cdt.build.core.settings.holder.incpaths.550102451" name="Include Paths" superClass="org.eclipse.cdt.build.core.settings.holder.incpaths" valueType="includePath">
<listOptionValue builtIn="false" value="&quot;${workspace_loc:/elphel-apps-gps/sysroots}&quot;"/>
<listOptionValue builtIn="false" value="&quot;${workspace_loc:/elphel-apps-gps/sysroots/elphel393/usr/include-uapi}&quot;"/>
</option>
<inputType id="org.eclipse.cdt.build.core.settings.holder.inType.1420737322" languageId="org.eclipse.cdt.core.parser.upc.upc" languageName="UPC" sourceContentType="org.eclipse.cdt.core.parser.upc.upcSource" superClass="org.eclipse.cdt.build.core.settings.holder.inType"/>
</tool>
</toolChain>
</folderInfo>
<sourceEntries>
<entry flags="VALUE_WORKSPACE_PATH" kind="sourcePath" name="src"/>
</sourceEntries>
</configuration>
</storageModule>
<storageModule moduleId="org.eclipse.cdt.core.externalSettings"/>
</cconfiguration>
</storageModule>
<storageModule moduleId="org.eclipse.cdt.make.core.buildtargets"/>
<storageModule moduleId="cdtBuildSystem" version="4.0.0">
<project id="elphel-apps-gps.null.420984123" name="elphel-apps-gps"/>
</storageModule>
<storageModule moduleId="scannerConfiguration">
<autodiscovery enabled="true" problemReportingEnabled="true" selectedProfileId=""/>
<scannerConfigBuildInfo instanceId="0.1150476775">
<autodiscovery enabled="true" problemReportingEnabled="true" selectedProfileId=""/>
</scannerConfigBuildInfo>
</storageModule>
<storageModule moduleId="org.eclipse.cdt.core.LanguageSettingsProviders"/>
<storageModule moduleId="refreshScope" versionNumber="2">
<configuration configurationName="Default">
<resource resourceType="PROJECT" workspacePath="/elphel-apps-gps"/>
</configuration>
</storageModule>
</cproject>
eclipse_project_setup/.externalToolBuilders/SCP apps-gps to target.launch 0 → 100644
View file @ 09f51911
<?xml version="1.0" encoding="UTF-8" standalone="no"?>
<launchConfiguration type="org.eclipse.ui.externaltools.ProgramBuilderLaunchConfigurationType">
<booleanAttribute key="org.eclipse.debug.ui.ATTR_LAUNCH_IN_BACKGROUND" value="false"/>
<stringAttribute key="org.eclipse.ui.externaltools.ATTR_LOCATION" value="${workspace_loc:/elphel-apps-gps/run_bitbake.sh}"/>
<stringAttribute key="org.eclipse.ui.externaltools.ATTR_RUN_BUILD_KINDS" value="full,incremental,"/>
<stringAttribute key="org.eclipse.ui.externaltools.ATTR_TOOL_ARGUMENTS" value="apps-gps -c target_scp -f"/>
<booleanAttribute key="org.eclipse.ui.externaltools.ATTR_TRIGGERS_CONFIGURED" value="true"/>
</launchConfiguration>
eclipse_project_setup/.project 0 → 100644
View file @ 09f51911
<?xml version="1.0" encoding="UTF-8"?>
<projectDescription>
<name>elphel-apps-gps</name>
<comment></comment>
<projects>
</projects>
<buildSpec>
<buildCommand>
<name>org.python.pydev.PyDevBuilder</name>
<arguments>
</arguments>
</buildCommand>
<buildCommand>
<name>org.eclipse.cdt.managedbuilder.core.genmakebuilder</name>
<triggers>full,incremental,</triggers>
<arguments>
</arguments>
</buildCommand>
<buildCommand>
<name>org.eclipse.ui.externaltools.ExternalToolBuilder</name>
<triggers>full,incremental,</triggers>
<arguments>
<dictionary>
<key>LaunchConfigHandle</key>
<value>&lt;project&gt;/.externalToolBuilders/SCP apps-gps to target.launch</value>
</dictionary>
</arguments>
</buildCommand>
</buildSpec>
<natures>
<nature>org.eclipse.cdt.core.cnature</nature>
<nature>org.eclipse.cdt.core.ccnature</nature>
<nature>org.eclipse.cdt.managedbuilder.core.managedBuildNature</nature>
<nature>org.eclipse.cdt.managedbuilder.core.ScannerConfigNature</nature>
<nature>org.python.pydev.pythonNature</nature>
</natures>
</projectDescription>
run_bitbake.sh 0 → 100755
View file @ 09f51911
#!/bin/bash
args="$@"
while (( "$#" )); do
shift
done
DIR="$( cd "$( dirname "${BASH_SOURCE[0]}" )" && pwd )"
echo "Launching bitbake $args"
cd $DIR/../../poky
. ./oe-init-build-env
bitbake $args | sed -u 's@| @@'
exit 0
src/Makefile 0 → 100644
View file @ 09f51911
WWW_PAGES = /www/pages
BINDIR = /usr/bin/
INSTMODE = 0755
INSTDOCS = 0644
INSTOWNER = root
INSTGROUP = root
PROGS = nmea2exif log_imu
SRCS = nmea2exif.c log_imu.c
OBJS = nmea2exif.o
PHPSCRIPTS= logger_launcher.php imu_setup.php start_gps_compass.php
CFLAGS += -Wall -I$(STAGING_DIR_HOST)/usr/include-uapi
LDLIBS += -lm
all: $(PROGS)
log_imu: log_imu.o
$(CC) $(LDFLAGS) $^ $(LDLIBS) -o $@
nmea2exif: nmea2exif.o
$(CC) $(LDFLAGS) $^ $(LDLIBS) -o $@
install: $(PROGS)
$(INSTALL) $(OWN) -d $(DESTDIR)
$(INSTALL) -d $(DESTDIR)$(BINDIR)
$(INSTALL) -d $(DESTDIR)$(WWW_PAGES)
$(INSTALL) -m $(INSTMODE) -o $(INSTOWNER) -g $(INSTGROUP) $(PROGS) $(DESTDIR)$(BINDIR)
$(INSTALL) -o $(INSTOWNER) -m $(INSTDOCS) $(PHPSCRIPTS) $(DESTDIR)$(WWW_PAGES)
clean:
rm -rf $(PROGS) *.o *~
depend: .depend
.depend: $(SRCS)
rm -f ./.depend
$(CC) $(CFLAGS) -MM $^ > ./.depend;
include .depend
src/imu_setup.php 0 → 100755
View file @ 09f51911
#!/usr/bin/env php -q
<?php
/*
*! FILE NAME : imu_setup.php
*! DESCRIPTION: Handles GPS/compass and IMU/logger. Will replace star-compass_gps.php
*!
*! Copyright (C) 2008 Elphel, Inc
*! -----------------------------------------------------------------------------**
*!
*! This program 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 3 of the License, or
*! (at your option) any later version.
*!
*! This program 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 this program. If not, see <http://www.gnu.org/licenses/>.
*! -----------------------------------------------------------------------------**
*! $Log: imu_setup.php,v $
*! Revision 1.8 2012/07/03 20:54:36 elphel
*! bug fix
*!
*! Revision 1.7 2011/12/22 05:40:36 elphel
*! missed revision
*!
*! Revision 1.5 2011/09/06 22:02:49 elphel
*! added 'list' link
*!
*! Revision 1.4 2011/09/06 21:56:31 elphel
*! help typo
*!
*! Revision 1.3 2011/09/06 21:53:49 elphel
*! adding to help
*!
*! Revision 1.2 2011/09/06 21:31:48 elphel
*! added help
*!
*! Revision 1.1 2011/09/06 19:07:50 elphel
*! initial release, based on start_gps_compass.php
*!
*/
#require 'i2c.inc';
set_include_path(get_include_path() . PATH_SEPARATOR . '/www/pages/include');
require 'i2c_include.php';
# $xclk_freq=80000000; // 80 MHz in NC353
$xclk_freq=100000000; // 100 MHz in NC393
$messageOffset=0xb0; // offset to start of "odometer" message in the device driver file
$config_name="/etc/elphel393/imu_logger.xml";
$gps_compass_xml = "/www/pages/gps_compass.xml";
$i2cbus = 4;
if (isset($_SERVER["SERVER_PROTOCOL"])) {
// echo "web server\n";
if (isset($_GET['msg'])) {
setMessage(urldecode($_GET['msg']));
} else if (isset($_GET['lmsg'])) {
setMessage(urldecode($_GET['msg']));
// software toggle input "odometer" line
}
/// modify parameters if specified
$conf=readSettings(init_default_config()); // read current settings
$apply=0;
// echo "<pre>\n";
if (count($_GET)==0) {
help();
exit(0);
}
if (array_key_exists('source',$_GET)) {
$source=file_get_contents ($_SERVER['SCRIPT_FILENAME']);
header("Content-Type: text/php");
header("Content-Length: ".strlen($source)."\n");
header("Pragma: no-cache\n");
echo $source;
exit (0);
}
foreach ($_GET as $key=>$value) {
$access=split(':',$key);
if ($value==='') continue;
if (count($access)<1) continue;
if (!isset($conf[$access[0]])) continue;
if (count($access)==1) {
if (($access[0]=='imu_period') && ($value=='auto')) $value = 0xffffff00;
if (is_string($conf[$access[0]])) $conf[$access[0]]=$value;
else $conf[$access[0]]=$value+0;
$apply++;
} else { // count($access)>1
if (!isset($conf[$access[0]][$access[1]])) continue;
if (count($access)==2) {
if (is_string($conf[$access[0]][$access[1]])) $conf[$access[0]][$access[1]]=$value;
else $conf[$access[0]][$access[1]]=$value+0;
$apply++;
} else { // count($access)>2)
if (count($access)>3) continue;
if ($access[2]=='sentence') $access[2]=0;
else if ($access[2]=='format') $access[2]=1;
if (!isset($conf[$access[0]][$access[1]][$access[2]])) continue;
if (is_string($conf[$access[0]][$access[1]][$access[2]])) $conf[$access[0]][$access[1]][$access[2]]=$value;
else $conf[$access[0]][$access[1]][$access[2]]=$value+0;
$apply++;
}
}
/*
echo 'key='.$key."\n";
print_r($access);
var_dump($value);
*/
}
if ($apply>0) {
echo 'modified '.$apply."parameters<br/>\n";
// print_r($conf);
setup_IMU_logger($conf);
}
if (isset($_GET['save'])) {
// if ($verbose) echo 'Writing IMU logger configuration to '. $config_name."\n";
$conf=readSettings(init_default_config());
$logger_xml=loggerConfigToXML($conf);
$conf_file=fopen($config_name,"w");
fwrite($conf_file,$logger_xml->asXML());
fclose($conf_file);
exec ('sync');
}
if (isset($_GET['list'])) {
$conf=readSettings(init_default_config());
$logger_xml=loggerConfigToXML($conf);
$logger_xml_text=$logger_xml->asXML();
header("Content-Type: text/xml");
header("Content-Length: ".strlen($logger_xml_text)."\n");
header("Pragma: no-cache\n");
printf($logger_xml_text);
} else echo 'OK';
exit(0);
} else {
// echo "CGI\n";
}
/*
echo "<!--\n";
var_dump($_GET);
var_dump($_SERVER);
echo "-->";
echo 'OK';
exit(0);
*/
//! Here comes if CLI
$ids=scanGrandDaughters();
$b_index=indexGrandDaughters($ids);
// print_r($ids);
// print_r($b_index);
$baud=null;
if (isset($b_index[103696])) {
$baud=$ids[$b_index[103696]]['baud'];
if ($baud===0) $baud=='auto';
}
// exit (0);
$wait_time=20; // wait for $wait_time if both devices were not found, retry
$compass=null;
$GPS=null;
$verbose=true;
foreach ($_SERVER['argv'] as $param) {
if ((substr($param,0,2)=="-q") || (substr($param,0,8)=="--silent")){
$verbose=false;
}
}
/// kill those GPS and compass if they are running already
exec('killall -q garminusb2exif');
exec('killall -q nmea2exif');
exec('killall -q compass');
// find_gps_compass();
$devs=find_gps_compass($baud);
// echo "compass: ";var_dump($compass);echo "\n";
// echo "GPS: ";var_dump($GPS);echo "\n";
// if ((!$compass || !$GPS) && ((exec('date +%s')+0) <30)) {
if ((count($devs)==0) && ((exec('date +%s')+0) <30)) {
if ($verbose) echo "waiting $wait_time sec for USB devices to start up\n";
sleep($wait_time);
if ($verbose) echo "Retrying detection\n";
$devs=find_gps_compass($baud);
}
listSensorDevices($devs,$b_index,$ids);
//var_dump($GPS);
// if (file_exists ($sensor_state_file)) $sensor_board=parse_ini_file($sensor_state_file);
// exec ('sync');
$logger_config=null;
$write_config=false;
if (file_exists ($config_name)) {
if ($verbose) echo 'Reading IMU logger configuration from '. $config_name."\n";
$config_xml = simplexml_load_file($config_name);
$logger_config=loggerConfigFromXML($config_xml);
} else if (isset($b_index[103696]) || isset($b_index[103696])) {
if ($verbose) echo "Generating IMU logger configuration\n";
// $default_config=init_default_config();
// $logger_config=init_default_config();
$logger_config=array();
if (isset($GPS) && isset($b_index[103696])) {
$logger_config['baud_rate']=$GPS['baud'];
$logger_config['gps_slot']=$ids[$b_index[103696]]['port'];
$logger_config['gps_mode']=$ids[$b_index[103696]]['sync'];
}
if (isset($b_index[103695])) {
$logger_config['imu_slot']=$ids[$b_index[103695]]['port'];
$logger_config['imu_sa']=$b_index[103695];
}
$write_config=true; // write configuration to /etc after applying defaults
}
if (isset($logger_config)){
// var_dump($logger_config);
$logger_config=combineLoggerConfigs($logger_config,init_default_config());
// var_dump($logger_config);
// var_dump($default_config);
$logger_xml=loggerConfigToXML($logger_config);
$conf_file=fopen('/var/html/logger_config.xml',"w");
fwrite($conf_file,$logger_xml->asXML());
fclose($conf_file);
setup_IMU_logger($logger_config);
if ($write_config) {
if ($verbose) echo 'Writing IMU logger configuration to '. $config_name."\n";
$conf_file=fopen($config_name,"w");
fwrite($conf_file,$logger_xml->asXML());
fclose($conf_file);
exec ('sync');
}
}
// echo "compass: ";var_dump($compass);echo "\n";
// echo "GPS: ";var_dump($GPS);echo "\n";
$noGPS= ($compass || $GPS)?"" : "noGPS";
$nocompass=($compass)?"" : "nocompass";
$cmd="/usr/html/exif.php init $noGPS $nocompass";
if ($verbose) echo "Initializing Exif template: $cmd\n";
exec($cmd);
if ($GPS) {
if ($verbose) echo "Starting ".$GPS["name"]. " as ". $GPS["file"]. "\n";
if (strpos($GPS['name'],'NMEA')!==false) {
$cmd ="/usr/local/bin/nmea2exif ". $GPS["file"]." &";
} else {
$cmd ="/usr/local/bin/garminusb2exif ". $GPS["file"]." &";
}
if ($verbose) echo "exec: $cmd \n";
popen($cmd,"r");
}
if ($compass) {
if ($verbose) echo "Starting ".$compass["name"]. " as ". $compass["file"]. "\n";
exec ("stty -F ".$compass["file"]." -echo speed 19200");
$cmd="/usr/local/bin/compass ". $compass["file"]." &";
if ($verbose) echo "exec: $cmd \n";
popen($cmd,"r");
}
exit ((isset($b_index[103695])?4:0) | ($compass?2:0) | ($GPS?1:0));
function help(){
$GP='$GP';
$GPRMC='$GPRMC';
$GPGGA='$GPGGA';
$GPGSA='$GPGSA';
$GPVTG='$GPVTG';
$script_name=$_SERVER['SCRIPT_NAME'];
$prefix_url='http://'.$_SERVER['SERVER_ADDR'].$_SERVER['SCRIPT_NAME'];
// echo <<<USAGE
// <h4> Control links:</h4>
// <ul>
// <li><a href="?$url_init">Initialization Parameters (i.e. after powerup)</a></li>
echo <<<USAGE
<head>
<meta http-equiv="Content-Type" content="text/html; charset=utf-8"/>
<title>Usage of IMU/GPS logger ($script_name)</title>
</head>
<body>
<h2>Usage of IMU/GPS logger ($script_name)</h2>
<p>This script controls IMU/GPS logger. When the camera starts, the script looks for the <i>/etc/imu_logger.xml</i>" and if it is found, the settings from this file are applied to the logger. If there is no such file (i.e. at first boot after reflashing the camera) script looks for the optional extension boards <a href=""http://wiki.elphel.com/index.php?title=103695>103695</a> and <a href="http://wiki.elphel.com/index.php?title=103696">103696</a> and uses the information from their flash memory (not erased during reflash) combined with the defaults to create initial <i>/etc/imu_logger.xml</i> file that can be modified later</p>
<p>Script receives parameters as HTTP GET request, there are five special parameters:
<ul>
<li><b><a href="$prefix_url?source">source</a></b> - returns the source of this script</li>
<li><b><a href="$prefix_url?list">list</a></b> - returns an XML containing current logger settings, the names of the nodes can be used to modify specific settings</li>
<li><b>save</b> - overwrite <i>/etc/imu_logger.xml</i> with the current settings - they will be used next time camera will boot up</li>
<li><b>msg=url-encoded-text-up-to-56-bytes</b> - set the &quot;odometer&quot; message that will be logged next time the external input is toggled </li>
<li><b>smsg=url-encoded-text-up-to-56-bytes</b> - (not yet implemented) set the &quot;odometer&quot; message and trigger logging immediately</li>
</ul>
Other parameters are just <i>name=value</i> pairs with colons separating names and subnames
<ul>
<li><b>imu_period</b> - set the IMU logging period in SPI SCLK periods, maybe set to <i>auto</i> (default value, same as 0xff000000) to log when the IMU data is ready. Value 0 turns the IMU logging off</li>
<li><b>sclk_freq</b> - set SPI clock frequency, in Hz. Default is 5000000 (5MHz)</li>
<li><b>stall</b> - set SPI 'stall' time, in microseconds. Default is 2 usec</li>
<li><b>baud_rate</b> - set baud rate for the serial GPS, default is 19200</li>
<li><b>imu_slot</b> - specify the IMU board (<a href="http://wiki.elphel.com/index.php?title=103695">103695</a>) connection to the <a href="http://wiki.elphel.com/index.php?title=10369">10369</a> board 0 - none, 1 - J9, 2 - J10, 3 - J11. Default is 1 (J9)</li>
<li><b>gps_slot</b> - specify the GPS board (<a href="http://wiki.elphel.com/index.php?title=103696">103696</a>) connection to the <a href="http://wiki.elphel.com/index.php?title=10369">10369</a> board 0 - none, 1 - J9, 2 - J10, 3 - J11. Default is 2 (J10)</li>
<li><b>gps_mode</b> - synchronization mode for the GPS: 0 - pulse-per-sample external input, negative front, 1 - pps input positive front, 2 - start of a first sentence after pause, 3 - start of each individual sentence. Mode 2 is the default, modes 0 and 1 require that GPS has a dedicated synchro output</li>
<li><b>msg_conf</b> - GPIO number and polarity (+16 - invert polarity) uses to log external events (i.e. odometer pulses from a vehicle wheel sensor). Timestamp uses leading edge, software may write to the 56-byte buffer (see 'msg=' command above) before the trailing edge to attach the message to the event after the event occured. In the case of short external pulses the logged message will be the last written before the event</li>
<li><b>img_sync</b> - 0 - disable logging of the images, 1 - enable. In the case of the multiple synchronized cameras this provides a way to match external (master) camera timestamps transmitted over the synchronization cable, with the local camera timestamps used by the logger - both are logged. Default is 1</li>
<li><b>extra_conf</b> - Development signals (0 - config_long_sda_en, 1 -config_late_clk, 2 - config_single_wire, should be set for 103695 rev A). Default is 4</li>
<li><b>slow_spi</b> - may be set to 1 for slow SPI devices (other changes may be needed, i.e. changing power from 3.3V to 5.0V selected by a resistor divider). Default is 0 </li>
<li><b>imu_sa</b> - i2c slave address modifier (matches hardware jumpers). Default is 3</li>
<li><b>sleep_busy</b> - setting for the driver. It is a sleep time (in microseconds) before the driver will poll the logger buffer if it does not have the full sample record (64 bytes of data) ready</li>
<li><b>imu_registers</b> - setting the IMU register addresses to be logged (total number of logged registers is 28). You may see the complete list of the registers in the IMU datasheet. The registers are addressed as 'imu_registers:NN', where NN is the register sequnce number, starting with 0. Below are the default values:
<ul>
<li><b>imu_registers:0</b>=0x10 - x gyro low</li>
<li><b>imu_registers:1</b>=0x12 - x gyro high</li>
<li><b>imu_registers:2</b>=0x14 - y gyro low</li>
<li><b>imu_registers:3</b>=0x16 - y gyro high</li>
<li><b>imu_registers:4</b>=0x18 - z gyro low</li>
<li><b>imu_registers:5</b>=0x1a - z gyro high</li>
<li><b>imu_registers:6</b>=0x1c - x accel low</li>
<li><b>imu_registers:7</b>=0x1e - x accel high</li>
<li><b>imu_registers:8</b>=0x20 - y accel low</li>
<li><b>imu_registers:9</b>=0x22 - y accel high</li>
<li><b>imu_registers:10</b>=0x24 - z accel low</li>
<li><b>imu_registers:11</b>=0x26 - z accel high</li>
<li><b>imu_registers:12</b>=0x40 - x delta angle low</li>
<li><b>imu_registers:13</b>=0x42 - x delta angle high</li>
<li><b>imu_registers:14</b>=0x44 - y delta angle low</li>
<li><b>imu_registers:15</b>=0x46 - y delta angle high</li>
<li><b>imu_registers:16</b>=0x48 - z delta angle low</li>
<li><b>imu_registers:17</b>=0x4a - z delta angle high</li>
<li><b>imu_registers:18</b>=0x4c - x delta velocity low</li>
<li><b>imu_registers:19</b>=0x4e - x delta velocity high</li>
<li><b>imu_registers:20</b>=0x50 - y delta velocity low</li>
<li><b>imu_registers:21</b>=0x52 - y delta velocity high</li>
<li><b>imu_registers:22</b>=0x54 - z delta velocity low</li>
<li><b>imu_registers:23</b>=0x56 - z delta velocity high</li>
<li><b>imu_registers:24</b>=0x0e - temperature</li>
<li><b>imu_registers:25</b>=0x70 - time m/s</li>
<li><b>imu_registers:26</b>=0x72 - time d/h</li>
<li><b>imu_registers:27</b>=0x74 - time y/m</li>
</ul></li>
<li><b>nmea</b> - set format of the four logged NMEA sentences. For each sentence two text fields have to be specified - 'sentence' (the three letters following the comman prefix '$GP'), and 'format' that consists of a sequence of 'n' (for number) and 'b' (for bytes), up to 24 total. Numbers consisting of digits, minus sign and decimal point are encoded with 2 digits per byte (to make sure the longest sentence fits into the 56 byte logger payload buffer), followed by the 0xf nibble (half-byte). Bytes are encoded with MSB cleared ( & 0x7f) for all bytes in a field but the last, the last byte has it set (|0x80). Empty byte field is logged as 0xff. Below are the default settings:
<ul>
<li><b>nmea:0:sentence</b>=RMC - sentence $GPRMC</li>
<li><b>nmea:0:format</b>=nbnbnbnnnnb - format for the $GPRMC</li>
<li><b>nmea:1:sentence</b>=GGA - sentence $GPGGA</li>
<li><b>nmea:1:format</b>=nnbnbnnnnbnbbb - format for the $GPGGA</li>
<li><b>nmea:2:sentence</b>=GSA - sentence $GPGSA</li>
<li><b>nmea:2:format</b>=bnnnnnnnnnnnnnnnn - format for the $GPGSA</li>
<li><b>nmea:3:sentence</b>=VTG - sentence $GPVTG</li>
<li><b>nmea:3:format</b>=nbnbnbnb - format for the $GPVTG</li>
</ul>
</li>
</ul>
</p>
<p>You may record the log to a file (i.e. on external USB stick or SSD/HDD) with teh following command:<br/>
<b>cat /dev/imu &gt;<i>log-file-path</i></b></p>
<p>Test logger and GPS:<br/>
<b>fpcf -imu 10000 | grep &quot;1:&quot;</b><p/>
<p>The fpcf output starts the line (logged sample) with the source of the sample:
<ul>
<li><b>0:</b> - IMU (normally 2560 samples/sec)</li>
<li><b>1:</b> - GPS </li>
<li><b>2:</b> - camera images</li>
<li><b>3:</b> - 'odometer' - external events</li>
</ul>
'10000' means that fpcf should output 10000 samples, that takes approximately 4 seconds if IMU output is being logged.
</p>
</body>
USAGE;
}
function scanGrandDaughters() {
global $i2cbus;
$ids = array ();
$id = "";
for($i = 2; $i < 8; $i ++) {
$id = i2c_read256b ( 0xa0 + 2 * $i, $i2cbus );
$xml = simplexml_load_string ( $id );
if (($xml !== false) && ($xml->getName () == 'board')) {
$ids [$i] = array ();
foreach ( $xml->children () as $entry ) {
$ids [$i] [$entry->getName ()] = ( string ) $entry;
}
}
}
return $ids;
}
function indexGrandDaughters($ids) {
$index = array ();
foreach ( $ids as $i => $id )
if (isset ( $id ['model'] )) {
$index [$id ['model']] = $i;
}
return $index;
}
/// compass/GPS programs should be killed before detection
// baud=null - search USB Garmin and compass
// baud=auto - try to autodetect baud rate
// baud=number - used specified baud rate, do not wait for the GPS response
function find_gps_compass($baud=null,$timeout=5) {
global $verbose;
$ttyOptions=array (
'-echo speed 19200', /// maybe other options, like '-echo speed 4800 -ixoff'
'-echo speed 9600',
'-echo speed 4800',
'-echo speed 2400'
);
if (isset($baud) && ($baud!='auto') && ($baud!=0)) {
$ttyOptions=array (
'-echo speed '.$baud);
}
// global $GPS, $compass;
$devices=array(
"compass"=>array(array("name"=>"Ocean Server OS-5000","driver"=>"cp2101")),
"GPS" =>array(array("name"=>"Garmin GPS 18 USB","driver"=>"garmin_gps")));
exec("ls /sys/bus/usb-serial/devices",$usb_ser_devs); // ("ttyUSB0","ttyUSB1")
$devs = new SimpleXMLElement("<?xml version='1.0' standalone='yes'?><USB_serial_devices/>");
$serialDevices=array();
$compassPresent=false;
$gpsPresent=false;
$driver=array();
//echo "usb_ser_devs"; var_dump($usb_ser_devs);
foreach ($usb_ser_devs as $dev) {
//echo "dev=$dev\n";
$arr=split("/",exec("ls /sys/bus/usb-serial/devices/".$dev."/driver -l"));
$driver[$dev]=$arr[count($arr)-1];
$serialDevices[$dev]='';
if (!isset($baud)) { // if baud is set (auto or number - skip compass, it is 103696)
foreach ($devices["compass"] as $d) {
if ($d["driver"]==$driver[$dev]) {
$dd=$devs->addChild ('compass');
$dd->addChild ('name',$d["name"]);
$dd->addChild ('driver',$d["driver"]);
$dd->addChild ('file',"/dev/".$dev);
$serialDevices[$dev]='compass';
$compassPresent=true;
}
}
}
if ($serialDevices[$dev]) continue;
foreach ($devices["GPS"] as $d) {
if ($d["driver"]==$driver[$dev]) {
$dd=$devs->addChild ('GPS');
$dd->addChild ('name',$d["name"]);
$dd->addChild ('driver',$d["driver"]);
$dd->addChild ('file',"/dev/".$dev);
$serialDevices[$dev]='gps';
$gpsPresent=true;
}
}
}
/// Do we need to look for a NMEA GPS?
if (!$gpsPresent) foreach ($serialDevices as $dev=>$type) if (!$type && !$gpsPresent) {
if ($verbose) printf ("could be $dev\n");
foreach ($ttyOptions as $ttyOpt) {
$cmd='stty -F /dev/'.$dev.' '.$ttyOpt;
if (count($ttyOptions)==1) { /// single baud option, will not wait for confirmation. Has to be only one serial adapter !!
if ($verbose) echo "Setting: $cmd\n";
exec ($cmd);
$gpsPresent=true;
} else {
if ($verbose) echo "Trying: $cmd\n";
exec ($cmd);
unset ($fullOutput);
exec ('timeout '.$timeout.' cat /dev/'.$dev, $fullOutput); // &$fullOutput - Fatal error: Call-time pass-by-reference has been removed in php
//var_dump($fullOutput);
foreach ($fullOutput as $line) if (strpos ($line, '$GP')===0) {
$gpsPresent=true;
break;
}
}
if ($gpsPresent) {
$dd=$devs->addChild ('GPS');
$dd->addChild ('name','NMEA 0183 GPS receiver');
$dd->addChild ('driver',$driver[$dev]);
$dd->addChild ('file',"/dev/".$dev);
$arr=split(" ",$ttyOpt);
$dd->addChild ('baud',$arr[count($arr)-1]);
$serialDevices[$dev]='gps';
if ($verbose) echo "\nfound NMEA GPS unit\n";
break;
}
// var_dump($fullOutput);
}
}
/// list unused USB serial adapters
foreach ($serialDevices as $dev=>$type) if (!$type) {
$dd=$devs->addChild ('unused');
$dd->addChild ('name','USB serial converter');
$dd->addChild ('driver',$driver[$dev]);
$dd->addChild ('file',"/dev/".$dev);
}
return $devs;
}
function listSensorDevices($devs,$b_index,$ids) {
global $GPS, $compass,$gps_compass_xml;
foreach ($devs->compass as $a) {
$compass=array("file"=>(string) $a->file, "name"=> (string) $a->name);
break; // use first one
}
foreach ($devs->GPS as $a) {
$GPS=array("file"=>(string) $a->file, "name"=> (string) $a->name, "baud"=>(string) $a->baud);
if (isset($b_index[103696])) {
$a->addChild ('part_number',$ids[$b_index[103696]]['part']);
$a->addChild ('port',$ids[$b_index[103696]]['port']);
$a->addChild ('mode',$ids[$b_index[103696]]['mode']);
}
break; // use first one
}
$state_file=fopen($gps_compass_xml,"w");
fwrite($state_file,$devs->asXML());
fclose($state_file);
}
function loggerConfigToXML($conf){
$logger_xml = new SimpleXMLElement("<?xml version='1.0' standalone='yes'?><Logger_configuration/>");
foreach ($conf as $key=>$value) {
switch ($key) {
case 'imu_registers':
$subtree=$logger_xml->addChild ($key);
for ($i=0;$i<count($value);$i++) {
$subtree->addChild ('R_'.sprintf('%02d',$i),sprintf("0x%02x",$value[$i]));
}
break;
case 'nmea':
$subtree=$logger_xml->addChild ($key);
for ($i=0;$i<count($value);$i++) {
$sentence=$subtree->addChild ('S_'.sprintf('%01d',$i));
$sentence->addChild ('sentence',$value[$i][0]);
$sentence->addChild ('format',$value[$i][1]);
}
break;
default:
$logger_xml->addChild ($key,$value);
}
}
return $logger_xml;
}
function loggerConfigFromXML($confXML){
$conf=array();
// var_dump($confXML);
foreach ($confXML as $item) {
// var_dump($item);
$key=$item->getName();
switch ($key) {
case 'imu_registers':
$conf[$key]=array();
foreach ($item as $reg) {
$rname=substr($reg->getName(),2);
$conf[$key][$rname+0]=((string) $reg)+0;
}
break;
case 'nmea':
$conf[$key]=array();
foreach ($item as $reg) {
$rname=substr($reg->getName(),2);
$conf[$key][$rname+0]=array((string) $reg->sentence, (string) $reg->format);
}
break;
case 'imu_period':
$conf[$key]=(string) $item;
if ($conf[$key]!='auto') $conf[$key]+=0;
break;
case 'message':
$conf[$key]=(string) $item;
break;
default:
// $conf[$key]=(int) $item;
$conf[$key]=((string) $item)+0;
}
}
return $conf;
}
function init_default_config(){
$default_config=array(
'imu_period'=>'auto',// 0xFFFFFFFF, // 0 - off, >=0xff000000 - "when ready", else - number of SCLK periods
'sclk_freq'=>5000000, // $clkr_divr= 8, // 80MHz divisor to get half SCLK rate (defaulkt SCLK=5MHz)
'stall' => 2, // SPI stall time in usec
'baud_rate'=>19200, // $rs232_div=80/2/$baud
'imu_slot'=>1,
'gps_slot'=>2,
'gps_mode'=>2, // 0 - pps neg, 1 - pps pos, 2 - start of first sentence after pause, 3 start of sentence
'msg_conf'=>10, // GPIO bit number for external (odometer) input (+16 - invert polarity). Timestamp uses leading edge, software may write to 56-byte buffer before the trailing edge
'img_sync'=>1, // enable logging image acquisition starts (0 - disable)
'extra_conf'=>4, // 0 - config_long_sda_en, 1 -config_late_clk, 2 - config_single_wire, should be set for 103695 rev "A"
'slow_spi'=>0, // set to 1 for slow SPI devices (0 for ADIS-16375)
'imu_sa'=>3, // i2c slave address modifier for the 103695A pca9500
'sleep_busy'=>30000, //microseconds
'imu_registers'=>array( /// Up to 28 total
0x10, // x gyro low
0x12, // x gyro high
0x14, // y gyro low
0x16, // y gyro high
0x18, // z gyro low
0x1a, // z gyro high
0x1c, // x accel low
0x1e, // x accel high
0x20, // y accel low
0x22, // y accel high
0x24, // z accel low
0x26, // z accel high
0x40, // x delta angle low
0x42, // x delta angle high
0x44, // y delta angle low
0x46, // y delta angle high
0x48, // z delta angle low
0x4a, // z delta angle high
0x4c, // x delta velocity low
0x4e, // x delta velocity high
0x50, // y delta velocity low
0x52, // y delta velocity high
0x54, // z delta velocity low
0x56, // z delta velocity high
0x0e, // temperature
0x70, // time m/s
0x72, // time d/h
0x74// time y/m
),
'nmea'=>array(
/// first three letters - sentence to log (letters after "$GP"). next "n"/"b" (up to 24 total) - "n" number (will be encoded 2 digits/byte, follwed by "0xF"
/// "b" - byte - all but last will have MSB 0 (& 0x7f), the last one - with MSB set (| 0x80). If there are no characters in the field 0xff will be output
array('RMC','nbnbnbnnnnb'),
array('GGA','nnbnbnnnnbnbbb'),
array('GSA','bnnnnnnnnnnnnnnnn'),
array('VTG','nbnbnbnb')
),
'message'=>'Odometer message' // Message - up to 56 bytes
);
return $default_config;
}
/**
Combines $conf and $dflt arrays - all driver parameters are overwritten aftre the call
*/
function combineLoggerConfigs($new_conf,$dflt=null){
global $default_config;
# $xclk_freq=80000000; // 80 MHz in NC353
$xclk_freq=100000000; // 100 MHz in NC393
$data=array();
$index=0;
if (!isset ($dflt)) {
$dflt=$default_config;
}
$conf=$dflt;
if (isset($new_conf)) foreach ($conf as $key=>$oldvalue) if (isset($new_conf[$key])) $conf[$key]=$new_conf[$key];
/// fix insufficient data from default
while (count($conf['imu_registers'])<28) $conf['imu_registers'][count($conf['imu_registers'])]=0; // zero pad if less than 28 registers
/// Configure NMEA sentences to log. If there are less than 4 - copy additional (unique) from defaults
while (count($conf['nmea'])<4) {
for ($i=0;$i<4;$i++) {
$new=true;
for ($j=0;$j<count($conf['nmea']);$j++) if ($conf['nmea'][$j][0]==$dflt['nmea'][$i][0]){ // compare sentence code last 3 letters
$new=false;
break;
}
if ($new) {
$conf['nmea'][count($conf['nmea'])]=$dflt['nmea'][$i];
break;
}
}
}
for ($i=0;$i<4;$i++) {
while (strlen($conf['nmea'][$i][0])<3) $conf['nmea'][$i][0].="A"; // just to avoid errors - nonexistent sentences will not hurt, just never logged
}
return $conf;
}
function setup_IMU_logger($conf){
global $verbose,$xclk_freq;
$data=array();
$index=0;
/// program period
if (strtolower($conf['imu_period'])=='auto') $conf['imu_period']=0xffffffff;
else $conf['imu_period']+=0;
$data[$index++]= $conf['imu_period'] & 0xff;
$data[$index++]=($conf['imu_period']>> 8) & 0xff;
$data[$index++]=($conf['imu_period']>>16) & 0xff;
$data[$index++]=($conf['imu_period']>>24) & 0xff;
/// program SCLK divisor and SPI stall time
$sclk_div=round($xclk_freq/$conf['sclk_freq']/2);
if ($sclk_div<1) $sclk_div=1;
else if ($sclk_div>255) $sclk_div=255;
$conf['sclk_freq']=$xclk_freq/$sclk_div/2;
$stall=(( $conf['stall'] * ( $xclk_freq / $sclk_div )) / 1000000 );
if ($stall< 1) $stall= 1; /// does 0 work? need to verify
else if ($stall>255) $stall=255;
$conf['stall']=$stall * 1000000 / ($xclk_freq / $sclk_div);
$data[$index++]= $sclk_div;
$data[$index++]= $stall;
$data[$index++]= 0;
$data[$index++]= 0;
/// Program rs232 baud rate
$rs232_div=round($xclk_freq /2/$conf['baud_rate']);
$conf['baud_rate']=$xclk_freq /2/$rs232_div;
$data[$index++]= $rs232_div & 0xff;
$data[$index++]=($rs232_div>> 8) & 0xff;
$data[$index++]=($rs232_div>>16) & 0xff;
$data[$index++]=($rs232_div>>24) & 0xff;
/// Program logger configuration (possible to modify only some fields - maybe support it here?)
$logger_conf=0;
/// #define IMUCR__IMU_SLOT__BITNM 0 // slot, where 103695 (imu) board is connected: 0 - none, 1 - J9, 2 - J10, 3 - J11)
/// #define IMUCR__IMU_SLOT__WIDTH 2
$logger_conf |= (($conf['imu_slot'] & 0x3) | 0x4 )<< 0; /// "4" (bit 2 set) here means that the data in bits 0,1 will be applied in the FPGA register
/// #define IMUCR__GPS_CONF__BITNM 3 // slot, where 103695 (imu) bnoard is connected: 0 - none, 1 - J9, 2 - J10, 3 - J11)
/// #define IMUCR__GPS_CONF__WIDTH 4 // bits 0,1 - slot #, same as for IMU_SLOT, bits 2,3:
// 0 - ext pulse, leading edge,
// 1 - ext pulse, trailing edge
// 2 - start of the first rs232 character after pause
// 3 - start of the last "$" character (start of each NMEA sentence)
$logger_conf |= ((($conf['gps_slot'] & 0x3) | (($conf['gps_mode'] & 0x3)<<2) ) | 0x10 )<< 3;
/// #define IMUCR__MSG_CONF__BITNM 8 // source of external pulses to log:
/// #define IMUCR__MSG_CONF__WIDTH 5 // bits 0-3 - number of fpga GPIO input 0..11 (i.e. 0x0a - external optoisolated sync input (J15)
// 0x0f - disable MSG module
// bit 4 - invert polarity: 0 - timestamp leading edge, log at trailing edge, 1 - opposite
// software may set (up to 56 bytes) log message before trailing end of the pulse
$logger_conf |= (($conf['msg_conf'] & 0x1f) | 0x20 )<< 8;
/// #define IMUCR__SYN_CONF__BITNM 14 // logging frame time stamps (may be synchronized by another camera and have timestamp of that camera)
/// #define IMUCR__SYN_CONF__WIDTH 1 // 0 - disable, 1 - enable
$logger_conf |= (($conf['img_sync'] & 0x1) | 0x2 )<< 14;
/// #define IMUCR__RST_CONF__BITNM 16 // reset module
/// #define IMUCR__RST_CONF__WIDTH 1 // 0 - enable, 1 -reset (needs resettimng DMA address in ETRAX also)
/// #define IMUCR__DBG_CONF__BITNM 18 // several extra IMU configuration bits
/// #define IMUCR__DBG_CONF__WIDTH 4 // 0 - config_long_sda_en, 1 -config_late_clk, 2 - config_single_wire, should be set for 103695 rev "A"
$logger_conf |= (($conf['extra_conf'] & 0xf) | 0x10 )<< 18;
/// next bits used by the driver only, not the FPGA
/// ((SLOW_SPI & 1)<<23) | \
/// (DFLT_SLAVE_ADDR << 24))
$logger_conf |= ($conf['slow_spi'] & 0x1)<< 23;
$logger_conf |= ($conf['imu_sa'] & 0x7)<< 24;
$data[$index++]= $logger_conf & 0xff;
$data[$index++]=($logger_conf>> 8) & 0xff;
$data[$index++]=($logger_conf>>16) & 0xff;
$data[$index++]=($logger_conf>>24) & 0xff;
/// Set time driver will go to sleep if the data is not ready yet (less than full sample in the buffer)
$data[$index++]= $conf['sleep_busy'] & 0xff;
$data[$index++]=($conf['sleep_busy']>> 8) & 0xff;
$data[$index++]=($conf['sleep_busy']>>16) & 0xff;
$data[$index++]=($conf['sleep_busy']>>24) & 0xff;
/// Set IMU register addresses to logger
// echo "1\n";
for ($i=0;$i<28;$i++) $data[$index++]= $conf['imu_registers'][$i]; // truncate to 28
/// Configure NMEA sentences to log. If there are less than 4 - copy additional (unique) from defaults
// echo "2\n";
for ($i=0;$i<4;$i++) {
$d =str_split($conf['nmea'][$i][0]);
// print_r($d);
for ($j=0;$j<3;$j++) $data[$index++]=ord($d[$j]);
$d =str_split($conf['nmea'][$i][1]);
// print_r($d);
for ($j=0;$j<29;$j++) $data[$index++]=($j<count($d))?ord($d[$j]):0;
}
// echo "3\n";
/// Set default message
$d =str_split($conf['message']);
for ($j=0;$j<56;$j++) $data[$index++]=($j<count($d))?ord($d[$j]):0;
// Print the result array as hex data
/*
print_r($conf);
echo "\n";
for ($i=0;$i<count($data);$i++) {
if (($i & 0xf)==0) printf ("\n%04x:",$i);
printf (" %02x",$data[$i]);
}
echo "\n";
*/
$bindata="";
for($i=0;$i<count($data);$i++) $bindata.=chr($data[$i]);
$dev_imu_ctl = fopen('/dev/imu_ctl', 'w');
fwrite($dev_imu_ctl, $bindata, strlen($bindata));
fseek($dev_imu_ctl,3,SEEK_END); // start IMU
fclose($dev_imu_ctl);
/// Readback - just testing
$bd=file_get_contents('/dev/imu_ctl');
$data =str_split($bd);
if ($verbose) {
echo "\n";
for ($i=0;$i<count($data);$i++) {
if (($i & 0xf)==0) printf ("\n%04x:",$i);
printf (" %02x",ord($data[$i]));
}
echo "\n";
}
}
function setMessage($msg) {
global $messageOffset;
$data=array();
$d =str_split($msg);
$index=0;
for ($j=0;$j<56;$j++) $data[$index++]=($j<count($d))?ord($d[$j]):0;
$bindata="";
for($i=0;$i<count($data);$i++) $bindata.=chr($data[$i]);
$dev_imu_ctl = fopen('/dev/imu_ctl', 'w');
fseek($dev_imu_ctl,$messageOffset,SEEK_SET); // start IMU
echo ftell($dev_imu_ctl)."<br/>\n";
fwrite($dev_imu_ctl, $bindata, strlen($bindata));
// fseek($dev_imu_ctl,3,SEEK_END); // start IMU
fclose($dev_imu_ctl);
var_dump ( $bindata);
}
function readSettings($conf=null) {
global $xclk_freq; // =80000000; // 80 MHz
$bd=file_get_contents('/dev/imu_ctl');
$data =str_split($bd);
for ($i=0;$i<count($data);$i++) $data[$i]=ord($data[$i]);
/*
// if ($verbose) {
echo "\n";
for ($i=0;$i<count($data);$i++) {
if (($i & 0xf)==0) printf ("\n%04x:",$i);
printf (" %02x",$data[$i]);
}
echo "\n";
// }
*/
if ($conf!=null) {
/// read current period
$conf['imu_period'] =$data[$index++];
$conf['imu_period']|=$data[$index++]<<8;
$conf['imu_period']|=$data[$index++]<<16;
$conf['imu_period']|=$data[$index++]<<24;
/// read current SCLK divisor and SPI stall time
$sclk_div =$data[$index++];
$stall =$data[$index++];
$index++;
$index++;
$conf['sclk_freq']=$xclk_freq/$sclk_div/2;
$conf['stall']=$stall * 1000000 / ($xclk_freq / $sclk_div);
/// read current rs232 baud rate
$rs232_div =$data[$index++];
$rs232_div|=$data[$index++]<<8;
$rs232_div|=$data[$index++]<<16;
$rs232_div|=$data[$index++]<<24;
$conf['baud_rate']=$xclk_freq /2/$rs232_div;
/// read current logger configuration (possible to modify only some fields - maybe support it here?)
/// assuming set bits are set, otherwise it is impossible to find out the old value
$logger_conf =$data[$index++];
$logger_conf|=$data[$index++]<<8;
$logger_conf|=$data[$index++]<<16;
$logger_conf|=$data[$index++]<<24;
/// #define IMUCR__IMU_SLOT__BITNM 0 // slot, where 103695 (imu) board is connected: 0 - none, 1 - J9, 2 - J10, 3 - J11)
/// #define IMUCR__IMU_SLOT__WIDTH 2
$conf['imu_slot']= ($logger_conf>>0) & 3;
/// #define IMUCR__GPS_CONF__BITNM 3 // slot, where 103695 (imu) bnoard is connected: 0 - none, 1 - J9, 2 - J10, 3 - J11)
/// #define IMUCR__GPS_CONF__WIDTH 4 // bits 0,1 - slot #, same as for IMU_SLOT, bits 2,3:
// 0 - ext pulse, leading edge,
// 1 - ext pulse, trailing edge
// 2 - start of the first rs232 character after pause
// 3 - start of the last "$" character (start of each NMEA sentence)
// $logger_conf |= ((($conf['gps_slot'] & 0x3) | (($conf['gps_mode'] & 0x3)<<2) ) | 0x10 )<< 3;
$conf['gps_slot']= ($logger_conf >> 3) & 3;
$conf['gps_mode']= ($logger_conf >> 5) & 3;
/// #define IMUCR__MSG_CONF__BITNM 8 // source of external pulses to log:
/// #define IMUCR__MSG_CONF__WIDTH 5 // bits 0-3 - number of fpga GPIO input 0..11 (i.e. 0x0a - external optoisolated sync input (J15)
// 0x0f - disable MSG module
// bit 4 - invert polarity: 0 - timestamp leading edge, log at trailing edge, 1 - opposite
// software may set (up to 56 bytes) log message before trailing end of the pulse
// $logger_conf |= (($conf['msg_conf'] & 0x1f) | 0x20 )<< 8;
$conf['msg_conf']= ($logger_conf >> 8) & 0x1f;
/// #define IMUCR__SYN_CONF__BITNM 14 // logging frame time stamps (may be synchronized by another camera and have timestamp of that camera)
/// #define IMUCR__SYN_CONF__WIDTH 1 // 0 - disable, 1 - enable
// $logger_conf |= (($conf['img_sync'] & 0x1) | 0x2 )<< 14;
$conf['img_sync']= ($logger_conf >> 14) & 0x1;
/// #define IMUCR__RST_CONF__BITNM 16 // reset module
/// #define IMUCR__RST_CONF__WIDTH 1 // 0 - enable, 1 -reset (needs resettimng DMA address in ETRAX also)
/// #define IMUCR__DBG_CONF__BITNM 18 // several extra IMU configuration bits
/// #define IMUCR__DBG_CONF__WIDTH 4 // 0 - config_long_sda_en, 1 -config_late_clk, 2 - config_single_wire, should be set for 103695 rev "A"
// $logger_conf |= (($conf['extra_conf'] & 0xf) | 0x10 )<< 18;
$conf['extra_conf']= ($logger_conf >> 18) & 0xf;
/// next bits used by the driver only, not the FPGA
/// ((SLOW_SPI & 1)<<23) | \
/// (DFLT_SLAVE_ADDR << 24))
// $logger_conf |= ($conf['slow_spi'] & 0x1)<< 23;
// $logger_conf |= ($conf['imu_sa'] & 0x7)<< 24;
$conf['slow_spi']= ($logger_conf >> 23) & 0x1;
$conf['imu_sa']= ($logger_conf >> 24) & 0x7;
/// read current time driver will go to sleep if the data is not ready yet (less than full sample in the buffer)
$conf['sleep_busy'] =$data[$index++];
$conf['sleep_busy']|=$data[$index++]<<8;
$conf['sleep_busy']|=$data[$index++]<<16;
$conf['sleep_busy']|=$data[$index++]<<24;
/// read current IMU register addresses to logger
// echo "1\n";
// for ($i=0;$i<28;$i++) $data[$index++]= $conf['imu_registers'][$i]; // truncate to 28
for ($i=0;$i<28;$i++) $conf['imu_registers'][$i]=$data[$index++];
/// read current NMEA sentences to log. If there are less than 4 - copy additional (unique) from defaults
// echo "2\n";
$conf['nmea']=array(array("",""),array("",""),array("",""),array("",""));
for ($i=0;$i<count($conf['nmea']);$i++) {
// $d =str_split($conf['nmea'][$i][0]);
// for ($j=0;$j<3;$j++) $data[$index++]=ord($d[$j]);
for ($j=0;$j<3;$j++) $conf['nmea'][$i][0].=chr($data[$index++]);
// $d =str_split($conf['nmea'][$i][1]);
// for ($j=0;$j<29;$j++) $data[$index++]=($j<count($d))?ord($d[$j]):0;
for ($j=0;$j<29;$j++) {
$d=$data[$index++];
if ($d!=0) $conf['nmea'][$i][1].=chr($d);
else {
$index+=(29-1-$j);
break;
}
}
}
/// read current message
// $conf['message_offset']=$index;
// $d =str_split($conf['message']);
// for ($j=0;$j<56;$j++) $data[$index++]=($j<count($d))?ord($d[$j]):0;
$conf['message']="";
for ($j=0;$j<56;$j++) {
$d=$data[$index++];
if ($d!=0) $conf['message'].=chr($d);
else {
$index+=(56-1-$j);
break;
}
}
// var_dump ($conf);
return $conf;
}
}
?>
src/log_imu.c 0 → 100644
View file @ 09f51911
/*!***************************************************************************
*! FILE NAME : log_imu.c
*! DESCRIPTION: Read IMU data, copy to stdout
*! Copyright (C) 2011 Elphel, Inc.
*! -----------------------------------------------------------------------------**
*! This program 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 3 of the License, or
*! (at your option) any later version.
*!
*! This program 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 this program. If not, see <http://www.gnu.org/licenses/>.
*! -----------------------------------------------------------------------------**
*! $Log: log_imu.c,v $
*! Revision 1.4 2012/04/14 05:51:19 elphel
*! lseek->lseek64
*!
*! Revision 1.3 2012/04/14 03:53:09 elphel
*! Added parameter to specify how much ahead of the current write pointer to open /dev/imu
*!
*! Revision 1.2 2012/04/13 00:49:59 dzhimiev
*! 1. added 'starting index' to logger
*!
*! Revision 1.1 2012/04/12 00:18:38 elphel
*! simple log program for IMU/GPS/camera output
*!
*/
#define _LARGEFILE64_SOURCE
#define _FILE_OFFSET_BITS 64
#include <sys/types.h>
#include <sys/stat.h>
#include <fcntl.h>
#include <stdio.h>
#include <unistd.h>
#include <stdlib.h>
#include <string.h>
#include <termios.h>
#include <errno.h>
#include <elphel/exifa.h>
#include <signal.h>
#include <asm/byteorder.h> //endians
//#include <elphel/c313a.h>
#include <elphel/x393_devices.h>
//#include "exifgen.h"
//#define EXIF_DEV "/dev/imu"
#define D(x) x
int fd_imu=-1;
int fd_out=-1;
char outFileName [256];
const char dev_path[]=DEV393_PATH(DEV393_LOGGER);
void signalHandler (int signum){
printf ("Received signal %d\n",signum);
if (fd_imu>=0) {
printf ("Closing %s\n",dev_path);
close (fd_imu);
fd_imu=-1;
}
if (fd_out>=0) {
printf ("Closing output file %s\n",outFileName);
close (fd_out);
fd_out=-1;
}
exit(0);
}
int main(int argc, char *argv[]) {
const char usage[]= "Usage:\n%s outfile [start_file_index [number_of_records_per_file] [rewind_by_samples]]\n\n"
"Copy IMU data to the output files, start new file after i/o error or specified number_of_records_per_file (64 bytes each)\n"
"rewind_by_samples - start reading specified number of samples earlier than the last recorded (~2500 samples/sec,\n"
" each sample size is 64-byte, rewind is limited by the 1MB buffer).\n"
"Five-digit file number will be added to the specified output file name.\n\n";
int numFile=1;
int rewindSamples=2500; //~1 sec back
int buf_records=64;
char buffer[buf_records*64];
if (argc < 2) {
printf (usage,argv[0]);
return 0;
}
int numRecords=1000000; // 1 million records (64MB, ~400 seconds)
if (argc >2) numFile= strtol(argv[2], NULL, 10);
if (argc >3) numRecords= strtol(argv[3], NULL, 10);
if (argc >4) rewindSamples= strtol(argv[4], NULL, 10);
strncpy(outFileName,argv[1],249);
outFileName[249]='\0';
char * suffixP=&outFileName[strlen(outFileName)];
int readRecords;
off_t position;
signal (SIGINT,signalHandler);
signal (SIGHUP,signalHandler);
signal (SIGTERM,signalHandler);
while (1) {
if ((fd_imu = open(dev_path, O_RDONLY))<0) {printf("error opening %s\n",dev_path); return -1;}
position= lseek64(fd_imu,0,SEEK_CUR);
if (position == (off_t) -1) {
printf("Error in lseek %s, returned %d, errno=%d - %s, position=0x%llx\n",dev_path,(int) position,errno,strerror(errno), (long long) position);
} else {
printf("Opened %s at position 0x%llx\n",dev_path, (long long) position);
int thisRewind=(position<(64*rewindSamples))?position:(64*rewindSamples);
position= lseek64(fd_imu,-thisRewind,SEEK_CUR);
printf("Rewind back by %d to 0x%llx\r\n",thisRewind, (long long) position);
}
int imu_OK=1;
while (imu_OK) { // will break on error
sprintf(suffixP,"-%05d",numFile);
fd_out=open(outFileName,O_WRONLY | O_CREAT, 0777);
if (fd_out<0) {printf("error opening %s for writing\n",outFileName); return -1;}
int records_left;
for (records_left=numRecords;records_left>0;records_left-=readRecords) {
readRecords=(records_left>buf_records)?buf_records:records_left;
int readBytes=64*readRecords;
int gotBytes=0;
int bp;
for (bp=0;bp<readBytes; bp+=gotBytes) {
gotBytes=read (fd_imu,&buffer[bp], readBytes-bp);
if (gotBytes<0) {
printf("Error reading %s, returned %d, errno=%d - %s, position=0x%llx\r\n", dev_path, gotBytes,errno,strerror(errno), (long long) lseek(fd_imu,0,SEEK_CUR));
imu_OK=0;
break;
}
}
if (!imu_OK) break;
write(fd_out,buffer,readBytes);
}
close (fd_out); // error or end of file
fd_out=-1;
numFile++;
if (!imu_OK) break;
}
close (fd_imu); // after errors
fd_imu=-1;
}
return 0;
}
src/logger_launcher.php 0 → 100755
View file @ 09f51911
<?php
/*!***************************************************************************
*! FILE NAME : logger_launcher.php
*! DESCRIPTION: launches the event logger (IMU/GPS/External trigger/Other sensor) a dies
*! Copyright (C) 2012 Elphel, Inc
*! -----------------------------------------------------------------------------**
*!
*! This program 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 3 of the License, or
*! (at your option) any later version.
*!
*! This program 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 this program. If not, see <http://www.gnu.org/licenses/>.
*! -----------------------------------------------------------------------------**
*! $Log: logger_launcher.php,v $
*! Revision 1.6 2013/05/29 18:43:01 dzhimiev
*! 1. sync instead of unmount at stop
*!
*! Revision 1.4 2012/10/10 22:44:52 dzhimiev
*! 1. added _help & _usage
*!
*! Revision 1.3 2012/07/09 23:49:26 dzhimiev
*! 1. added mount/umount options
*!
*! Revision 1.2 2012/04/13 00:49:59 dzhimiev
*! 1. added 'starting index' to logger
*!
*!
*! Revision 1.1 2012/04/13 00:22:51 dzhimiev
*! 1. added logger_launcher.php
*!
*!
*/
include 'show_source.inc';
//default parameters
$cmd = "start";
$file = "/usr/html/CF/imu_log.log";
$index = 1;
$n = 5000000;
$mount_point = "/usr/html/CF";
$force_dev = false;
$xml = "<Document>\n";
//get parameters
if (isset($_GET['cmd'])) $cmd = $_GET['cmd'];
if (isset($_GET['file'])) $file = $_GET['file'];
if (isset($_GET['index'])) $index = $_GET['index'];
if (isset($_GET['n'])) $n = $_GET['n'];
if (isset($_GET['mount_point'])) $mount_point = $_GET['mount_point'];
if (isset($_GET['dev'])) {
$dev = $_GET['dev'];
$force_dev = true;
}
if ($cmd=="start") {
if (!is_dir($mount_point)) mkdir($mount_point);
//detect devices
//$dev = "/dev/hda1";
if (!$force_dev) {
$hda1 = exec("cat /proc/diskstats | grep 'hda1'");
$hdb1 = exec("cat /proc/diskstats | grep 'hdb1'");
if (strlen($hda1)>0) $dev = "/dev/hda1";
else if (strlen($hdb1)>0) $dev = "/dev/hdb1";
else {
$xml .= "\t<error>CF cards not found</error>\n";
send_response($xml);
}
}
exec("mount $dev $mount_point");
exec("/usr/local/bin/log_imu $file $index $n >/dev/null 2>&1 &");
$xml .= "\t<result>ok</result>\n";
}
if ($cmd=="stop") {
exec("killall -1 log_imu");
//unmount
//exec("umount $mount_point");
exec("sync");
$xml .= "\t<result>ok</result>\n";
}
$xml .= "</Document>";
send_response($xml);
function send_response($xml){
header("Content-Type: text/xml");
header("Content-Length: ".strlen($xml)."\n");
header("Pragma: no-cache\n");
printf("%s", $xml);
flush();
}
function _help(){
echo "<pre>\n";
echo "Usage example: 'http://192.168.0.9/logger_launcher.php?file=/usr/html/CF/test.log&index=1&n=1000000&dev=/dev/hdb1', where\n";
echo "'file'- log name (includes absolute path), '/usr/html/CF/' is the 'dev's mount point\n";
echo "'index'- index added to the log name\n";
echo "'n'- max number of records in a single log file\n";
echo "'dev'- device name: '/dev/hda1' or '/dev/hdb1'\n";
}
function _usage(){
_help();
}
?>
\ No newline at end of file
src/nmea2exif.c 0 → 100644
View file @ 09f51911
/*!***************************************************************************
*! FILE NAME : nmea2exif.c
*! DESCRIPTION: converts GPS NMEA output (just $GPRMC, $GPGGA) to Exif
*! in Elphel cameras
*! Copyright (C) 2009 Elphel, Inc.
*! -----------------------------------------------------------------------------**
*! This program 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 3 of the License, or
*! (at your option) any later version.
*!
*! This program 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 this program. If not, see <http://www.gnu.org/licenses/>.
*! -----------------------------------------------------------------------------**
*! $Log: nmea2exif.c,v $
*! Revision 1.4 2011/01/15 23:22:46 elphel
*! fixed reporting fraction of second in GPS timestamp
*!
*! Revision 1.3 2009/02/19 09:09:30 elphel
*! Bug fix in GPS seconds
*!
*! Revision 1.2 2009/02/19 09:02:39 elphel
*! added GPGGA
*!
*! Revision 1.1 2009/02/19 08:24:07 elphel
*! added nmea2exif that processes NMEA $GPRMC sentences and encodes them in Exif headers
*!
*!
*/
#include <sys/types.h>
#include <sys/stat.h>
#include <fcntl.h>
#include <stdio.h>
#include <unistd.h>
#include <stdlib.h>
#include <string.h>
#include <termios.h>
#include <elphel/exifa.h>
#include <asm/byteorder.h> //endians
#include <elphel/x393_devices.h>
#include <elphel/c313a.h>
//#include "exifgen.h"
//#define EXIF_DEV "/dev/exif_meta"
#define PROGRAM_SERIAL 0
//#define D(x)
#define D(x) x
// TODO: use only existing sensor channels?
const char *exif_paths[SENSOR_PORTS] = {
DEV393_PATH(DEV393_EXIF_META0),
DEV393_PATH(DEV393_EXIF_META1),
DEV393_PATH(DEV393_EXIF_META2),
DEV393_PATH(DEV393_EXIF_META3)};
void exif_init_meta(struct meta_GPSInfo_t *meta) {
meta->GPSLatitudeRef= 'N';
meta->GPSLatitude_deg_nom= __cpu_to_be32((int) 0);
meta->GPSLatitude_deg_denom= __cpu_to_be32((int) 1);
meta->GPSLatitude_min_nom= __cpu_to_be32((int) 0);
meta->GPSLatitude_min_denom= __cpu_to_be32((int) EXIF_GPS_MIN_DENOM);
meta->GPSLongitudeRef= 'W';
meta->GPSLongitude_deg_nom= __cpu_to_be32((int) 0);
meta->GPSLongitude_deg_denom=__cpu_to_be32((int) 1);
meta->GPSLongitude_min_nom= __cpu_to_be32((int) 0);
meta->GPSLongitude_min_denom=__cpu_to_be32((int) EXIF_GPS_MIN_DENOM);
meta->GPSAltitudeRef= 0; //byte, not ascii 0 - above sea level, 1 - below
meta->GPSAltitude_nom= __cpu_to_be32((int) 0); //in meters
meta->GPSAltitude_denom= __cpu_to_be32((int) EXIF_GPS_METERS_DENOM);
meta->GPSTimeStamp_hrs_nom= __cpu_to_be32((int) 0);
meta->GPSTimeStamp_hrs_denom=__cpu_to_be32((int) 1);
meta->GPSTimeStamp_min_nom= __cpu_to_be32((int) 0);
meta->GPSTimeStamp_min_denom=__cpu_to_be32((int) 1);
meta->GPSTimeStamp_sec_nom= __cpu_to_be32((int) 0);
meta->GPSMeasureMode= '0';
meta->GPSTimeStamp_sec_denom=__cpu_to_be32((int) EXIF_GPS_TIMESEC_DENOM);
// meta->GPSDateStamp[10]; //1 less than defined - no '\0';
}
/*
eg2. $GPRMC,225446,A,4916.45,N,12311.12,W,000.5,054.7,191194,020.3,E*68
225446 Time of fix 22:54:46 UTC
A Navigation receiver warning A = OK, V = warning
4916.45,N Latitude 49 deg. 16.45 min North
12311.12,W Longitude 123 deg. 11.12 min West
000.5 Speed over ground, Knots
054.7 Course Made Good, True
191194 Date of fix 19 November 1994
020.3,E Magnetic variation 20.3 deg East
*68 mandatory checksum
*/
void process_GPRMC(char*response, struct meta_GPSInfo_t *meta) {
char * cp;
int h, m, s, isOK,idg,imn,mm,dd,yy;
double lld;
double ds;
cp=strchr(response,',');
/// Read UTC time hhmmss
if (cp) {
cp++; /// first charater in time
// s=strtol(cp, &cp,10); ///cp now "," after time s=hhmmss
ds=strtod(cp, &cp); ///cp now "," after time s=hhmmss.sss
s=(int) ds;
ds-=s;
h=s/10000; s-=h*10000;
m=s/100; s-=m*100;
ds+=s;
// D(printf ("%02d:%02d:%02d\n",h,m,s));
// D(printf ("%02d:%02d:%05d (%f)\n",h,m,(int) (ds*EXIF_GPS_TIMESEC_DENOM+0.5), ds));
meta->GPSTimeStamp_hrs_nom= __cpu_to_be32((int) h);
meta->GPSTimeStamp_min_nom= __cpu_to_be32((int) m);
meta->GPSTimeStamp_sec_nom= __cpu_to_be32((int) (ds*EXIF_GPS_TIMESEC_DENOM+0.5));
cp=strchr(cp,',');
}
///Read is OK use as fix/no fix?
isOK=0;
if (cp) {
cp++; /// first charater
isOK=(cp[0]=='A')?1:0;
meta->GPSMeasureMode= (isOK)?'3':'2'; /// '0' is not allowed
cp=strchr(cp,',');
}
/// Read latitude
if (cp) {
cp++; /// first character
lld=strtod(cp, &cp); ///cp now "," dddmm.mmmmm
idg=lld/100;
lld-=100*idg;
imn=lld*EXIF_GPS_MIN_DENOM+0.5;
meta->GPSLatitude_deg_nom= __cpu_to_be32(idg);
meta->GPSLatitude_min_nom= __cpu_to_be32(imn);
cp=strchr(cp,',');
}
/// Read latitude reference (N/S)
if (cp) {
cp++; /// first character
if (cp[0]=='S') meta->GPSLatitudeRef='S';
else meta->GPSLatitudeRef='N';
cp=strchr(cp,',');
}
/// Read longitude
if (cp) {
cp++; /// first character
lld=strtod(cp, &cp); ///cp now "," dddmm.mmmmm
idg=lld/100;
lld-=100*idg;
imn=lld*EXIF_GPS_MIN_DENOM+0.5;
meta->GPSLongitude_deg_nom= __cpu_to_be32(idg);
meta->GPSLongitude_min_nom= __cpu_to_be32(imn);
cp=strchr(cp,',');
}
/// Read longitude reference (E/W)
if (cp) {
cp++; /// first character
if (cp[0]=='W') meta->GPSLongitudeRef='W';
else meta->GPSLongitudeRef='E';
cp=strchr(cp,',');
}
/// Skip Speed, Course,
if (cp) {
cp++; /// first character
cp=strchr(cp,',');
}
if (cp) {
cp++; /// first character
cp=strchr(cp,',');
}
/// Read date DDMMYY
if (cp) {
cp++; /// first character in time
yy=strtol(cp, &cp,10); ///cp now ","yy=DDMMYY
dd=yy/10000; yy-=dd*10000;
mm=yy/100; yy-=mm*100;
sprintf((char *) (meta->GPSDateStamp), "20%02d:%02d:%02d", yy, mm,dd);
cp=strchr(cp,',');
}
/// skip the rest - magnetic variation and it's direction (E/W)
}
/*
$GPGGA
Global Positioning System Fix Data
Name Example Data Description
Sentence Identifier $GPGGA Global Positioning System Fix Data
Time 170834 17:08:34 Z
Latitude 4124.8963, N 41d 24.8963' N or 41d 24' 54" N
Longitude 08151.6838, W 81d 51.6838' W or 81d 51' 41" W
Fix Quality:
- 0 = Invalid
- 1 = GPS fix
- 2 = DGPS fix 1 Data is from a GPS fix
Number of Satellites 05 5 Satellites are in view
Horizontal Dilution of Precision (HDOP) 1.5 Relative accuracy of horizontal position
Altitude 280.2, M 280.2 meters above mean sea level
Height of geoid above WGS84 ellipsoid -34.0, M -34.0 meters
Time since last DGPS update blank No last update
DGPS reference station id blank No station id
Checksum *75 Used by program to check for transmission errors
---
eg3. $GPGGA,hhmmss.ss,llll.ll,a,yyyyy.yy,a,x,xx,x.x,x.x,M,x.x,M,x.x,xxxx*hh
1 = UTC of Position
2 = Latitude
3 = N or S
4 = Longitude
5 = E or W
6 = GPS quality indicator (0=invalid; 1=GPS fix; 2=Diff. GPS fix)
7 = Number of satellites in use [not those in view]
8 = Horizontal dilution of position
9 = Antenna altitude above/below mean sea level (geoid)
10 = Meters (Antenna height unit)
11 = Geoidal separation (Diff. between WGS-84 earth ellipsoid and
mean sea level. -=geoid is below WGS-84 ellipsoid)
12 = Meters (Units of geoidal separation)
13 = Age in seconds since last update from diff. reference station
14 = Diff. reference station ID#
15 = Checksum
*/
void process_GPGGA(char*response, struct meta_GPSInfo_t *meta) {
char * cp;
int h, m, s, isOK,idg,imn;
double lld;
double ds;
cp=strchr(response,',');
/// Read UTC time hhmmss
if (cp) {
cp++; /// first character in time
// s=strtol(cp, &cp,10); ///cp now "," after time s=hhmmss
ds=strtod(cp, &cp); ///cp now "," after time s=hhmmss.sss
s=(int) ds;
ds-=s;
h=s/10000; s-=h*10000;
m=s/100; s-=m*100;
ds+=s;
meta->GPSTimeStamp_hrs_nom= __cpu_to_be32((int) h);
meta->GPSTimeStamp_min_nom= __cpu_to_be32((int) m);
meta->GPSTimeStamp_sec_nom= __cpu_to_be32((int) (ds*EXIF_GPS_TIMESEC_DENOM+0.5));
cp=strchr(cp,',');
}
/// Read latitude
if (cp) {
cp++; /// first character
lld=strtod(cp, &cp); ///cp now "," dddmm.mmmmm
idg=lld/100;
lld-=100*idg;
imn=lld*EXIF_GPS_MIN_DENOM+0.5;
meta->GPSLatitude_deg_nom= __cpu_to_be32(idg);
meta->GPSLatitude_min_nom= __cpu_to_be32(imn);
cp=strchr(cp,',');
}
/// Read latitude reference (N/S)
if (cp) {
cp++; /// first character
if (cp[0]=='S') meta->GPSLatitudeRef='S';
else meta->GPSLatitudeRef='N';
cp=strchr(cp,',');
}
/// Read longitude
if (cp) {
cp++; /// first character
lld=strtod(cp, &cp); ///cp now "," dddmm.mmmmm
idg=lld/100;
lld-=100*idg;
imn=lld*EXIF_GPS_MIN_DENOM+0.5;
meta->GPSLongitude_deg_nom= __cpu_to_be32(idg);
meta->GPSLongitude_min_nom= __cpu_to_be32(imn);
cp=strchr(cp,',');
}
/// Read longitude reference (E/W)
if (cp) {
cp++; /// first character
if (cp[0]=='W') meta->GPSLongitudeRef='W';
else meta->GPSLongitudeRef='E';
cp=strchr(cp,',');
}
///6 = GPS quality indicator (0=invalid; 1=GPS fix; 2=Diff. GPS fix)
isOK=0;
if (cp) {
cp++; /// first character
isOK=(cp[0]=='0')?0:1;
meta->GPSMeasureMode= (isOK)?'3':'2'; /// '0' is not allowed
cp=strchr(cp,',');
}
/*
7 = Number of satellites in use [not those in view]
8 = Horizontal dilution of position
9 = Antenna altitude above/below mean sea level (geoid)
*/
/// Skip 7 = Number of satellites in use [not those in view]
if (cp) {
cp++; /// first character
cp=strchr(cp,',');
}
/// Skip 8 = Horizontal dilution of position
if (cp) {
cp++; /// first character
cp=strchr(cp,',');
}
/// Read 9 = Antenna altitude above/below mean sea level (geoid)
if (cp) {
cp++; /// first character
idg=EXIF_GPS_METERS_DENOM*strtod(cp, &cp)+0.5; ///cp now "," +/-mm.mmmmm
if (idg <0) {
idg=-idg;
meta->GPSAltitudeRef=1;
} else {
meta->GPSAltitudeRef=0;
}
meta->GPSAltitude_nom= __cpu_to_be32(idg); /// in meters
cp=strchr(cp,',');
}
/// Skip 10 = Meters (Antenna height unit) 'M'
if (cp) {
cp++; /// first character
cp=strchr(cp,',');
}
/// Skip 11 = Geoidal separation (Diff. between WGS-84 earth ellipsoid and mean sea level. -=geoid is below WGS-84 ellipsoid)
if (cp) {
cp++; /// first character
cp=strchr(cp,',');
}
/// Skip 12 = Meters (Antenna height unit) 'M'
if (cp) {
cp++; /// first character
cp=strchr(cp,',');
}
/// skip the rest:
/// Skip 13 = Age in seconds since last update from diff. reference station
/// Skip 14 = Diff. reference station ID#
}
int main(int argc, char *argv[]) {
FILE *fgps;
int i,chn, good_chns;
int fd_exif[SENSOR_PORTS];
char response[256];
int response_len;
char * cp, *cp_cs;
unsigned char cs_calc, cs_read;
struct meta_GPSInfo_t meta;
#if PROGRAM_SERIAL
int fd_gps;
struct termios termio;
#endif
exif_init_meta(&meta);
if (argc < 2) {
printf("Usage: %s GPS_device\n", argv[0]);
exit (-1);
}
good_chns=0;
for (chn =0; chn < SENSOR_PORTS; chn++){
if (exif_paths[chn]) { // make them null if inactive
fd_exif[chn] = open(exif_paths[chn], O_RDWR);
if (fd_exif[chn] < 0) {
fprintf(stderr,"Can not open device file %s\n",exif_paths[chn]);
}
} else good_chns++;
}
if (!good_chns){
fprintf(stderr,"Could not open any of EXIF channel device files, aborting\n");
exit (-1);
}
#if PROGRAM_SERIAL
fd_gps = open(argv[1], O_RDWR);
if (fd_gps == -1) {
perror("Cannot open gps device");
for (chn =0; chn < SENSOR_PORTS; chn++) if (fd_exif[chn]>=0){
close(fd_exif[chn]);
}
exit (-1);
}
tcgetattr(fd_gps, &termio);
/// exec ("stty -F $ser_port onlcr -echo speed 19200");
//int cfsetispeed(struct termios *termios_p, speed_t speed);
//int cfsetospeed(struct termios *termios_p, speed_t speed);
//B19200
///TODO: use xml configuration file for different devices. Or just move it out of this program?
cfsetospeed(&termio, B19200);
tcsetattr(fd_gps, TCIOFLUSH, &termio);
#endif
#if PROGRAM_SERIAL
fgps=fopen(argv[1], "r+"); // probably "r" is enough - we do not want to control it here
#else
fgps=fopen(argv[1], "r");
#endif
if (!fgps) {
perror("Cannot open gps device!");
exit (-1);
}
while (1) {
fgets(response,sizeof(response),fgps);
if ((cp=strchr(response,'\n'))) cp[0]='\0';
if ((cp=strchr(response,'\r'))) cp[0]='\0';
// D(printf("response: >>%s<<\n",response));
///verify NMEA $...*HH
response_len=strlen(response);
if (response_len>0) {
if (response_len>4) {
if ((cp_cs=strchr(response,'*'))) {
cp_cs[0]='\0';
cp_cs++;
cs_read= strtol(cp_cs, NULL, 16);
cs_calc=0;
for (i=1; response[i]; i++) cs_calc^=response[i];
// unsigned char cs_calc, cs_read;
if (cs_calc==cs_read ) {
// D(printf ("Got NMEA string >>%s<<\n",response+1));
/// Is it $GPRMC string?
// if (!strncmp(response+1,"GPRMC", sizeof("GPRMC"))) {
if (!memcmp(response+1,"GPRMC", sizeof("GPRMC")-1)) {
// D(printf ("Got GPRMC\n"));
D(printf ("Got NMEA string >>%s<<\n",response+1));
process_GPRMC(response, &meta);
for (chn =0; chn < SENSOR_PORTS; chn++) if (fd_exif[chn]>=0){
lseek (fd_exif[chn],Exif_GPSInfo_GPSLatitudeRef,SEEK_END); /// position file pointer at the beginning of the data field for GPSLatitudeRef
write (fd_exif[chn], &meta, sizeof(meta));
}
} else if (!memcmp(response+1,"GPGGA", sizeof("GPGGA")-1)) {
// D(printf ("Got GPRMC\n"));
D(printf ("Got NMEA string >>%s<<\n",response+1));
process_GPGGA(response, &meta);
for (chn =0; chn < SENSOR_PORTS; chn++) if (fd_exif[chn]>=0){
lseek (fd_exif[chn],Exif_GPSInfo_GPSLatitudeRef,SEEK_END); /// position file pointer at the beginning of the data field for GPSLatitudeRef
write (fd_exif[chn], &meta, sizeof(meta));
}
} else {
// D(printf ("Got other NMEA string >>%s<<\n",response+1));
}
} else D(printf("Checksum mismatch: read 0x%x, calculated 0x%x\n",(int)cs_read,(int)cs_calc));
} else D(printf("No '*' in response, ignoring\n"));
} else D(printf("response to short (%d), ignoring\n",response_len));
}
}
return 0;
}
src/start_gps_compass.php 0 → 100755
View file @ 09f51911
#!/usr/bin/env php -q
<?php
/*
*! FILE NAME : start_gps_compass.php
*! DESCRIPTION: Looks for USB GPS (currently Garmin GPS 18 USB) and compass
*! (currently Ocean Server OS-5000), re-initializes Exif header
*! and starts the devices if found
*!
*! Copyright (C) 2008 Elphel, Inc
*! -----------------------------------------------------------------------------**
*!
*! This program 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 3 of the License, or
*! (at your option) any later version.
*!
*! This program 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 this program. If not, see <http://www.gnu.org/licenses/>.
*! -----------------------------------------------------------------------------**
*! $Log: start_gps_compass.php,v $
*! Revision 1.6 2012/03/14 00:05:41 elphel
*! 8.2.1 - GPS speed, x353.bit file tested on Eyesis
*!
*! Revision 1.5 2011/08/13 00:55:14 elphel
*! support for detection 103595 and 103696 boards, programming the logger
*!
*! Revision 1.4 2011/01/15 23:22:10 elphel
*! added 19200
*!
*! Revision 1.3 2009/02/20 21:49:52 elphel
*! bugfix - was killing daemons after detection, not before (as should)
*!
*! Revision 1.2 2009/02/19 22:38:37 elphel
*! 8.0.2.3 - added several USB serial adapters, nmea->exif support, detection of NMEA GPS at boot
*!
*! Revision 1.1.1.1 2008/11/27 20:04:01 elphel
*!
*!
*! Revision 1.2 2008/11/20 07:03:40 elphel
*! exit value now encodes detected devices
*!
*! Revision 1.1 2008/04/07 09:14:47 elphel
*! Discover/startup GPS and compass
*!
*/
//look uptime, sleep if just started (no USB yet)
//require '/usr/html/includes/i2c.inc';
#require 'i2c.inc';
set_include_path(get_include_path() . PATH_SEPARATOR . '/www/pages/include');
require 'i2c_include.php';
$config_name = "/etc/elphel393/imu_logger.xml";
$gps_compass_xml = "/www/pages/gps_compass.xml";
$i2cbus = 4;
$ids=scanGrandDaughters();
$b_index=indexGrandDaughters($ids);
// print_r($ids);
// print_r($b_index);
$baud=null;
if (isset($b_index[103696])) {
$baud=$ids[$b_index[103696]]['baud'];
if ($baud===0) $baud=='auto';
}
// exit (0);
$wait_time=20; // wait for $wait_time if both devices were not found, retry
$compass=null;
$GPS=null;
$verbose=true;
foreach ($_SERVER['argv'] as $param) {
if ((substr($param,0,2)=="-q") || (substr($param,0,8)=="--silent")){
$verbose=false;
}
}
/// kill those GPS and compass if they are running already
exec('killall -q garminusb2exif');
exec('killall -q nmea2exif');
exec('killall -q compass');
// find_gps_compass();
$devs=find_gps_compass($baud);
// echo "compass: ";var_dump($compass);echo "\n";
// echo "GPS: ";var_dump($GPS);echo "\n";
// if ((!$compass || !$GPS) && ((exec('date +%s')+0) <30)) {
if ((count($devs)==0) && ((exec('date +%s')+0) <30)) {
if ($verbose) echo "waiting $wait_time sec for USB devices to start up\n";
sleep($wait_time);
if ($verbose) echo "Retrying detection\n";
$devs=find_gps_compass($baud);
}
listSensorDevices($devs,$b_index,$ids);
//var_dump($GPS);
// if (file_exists ($sensor_state_file)) $sensor_board=parse_ini_file($sensor_state_file);
// exec ('sync');
$logger_config=null;
$write_config=false;
if (file_exists ($config_name)) {
if ($verbose) echo 'Reading IMU logger configuration from '. $config_name."\n";
$config_xml = simplexml_load_file($config_name);
$logger_config=loggerConfigFromXML($config_xml);
} else if (isset($b_index[103696]) || isset($b_index[103696])) {
if ($verbose) echo "Generating IMU logger configuration\n";
// $default_config=init_default_config();
// $logger_config=init_default_config();
$logger_config=array();
if (isset($GPS) && isset($b_index[103696])) {
$logger_config['baud_rate']=$GPS['baud'];
$logger_config['gps_slot']=$ids[$b_index[103696]]['port'];
$logger_config['gps_mode']=$ids[$b_index[103696]]['sync'];
}
if (isset($b_index[103695])) {
$logger_config['imu_slot']=$ids[$b_index[103695]]['port'];
$logger_config['imu_sa']=$b_index[103695];
}
$write_config=true; // write configuration to /etc after applying defaults
}
if (isset($logger_config)){
// var_dump($logger_config);
$logger_config=combineLoggerConfigs($logger_config,init_default_config());
// var_dump($logger_config);
// var_dump($default_config);
$logger_xml=loggerConfigToXML($logger_config);
$conf_file=fopen('/var/html/logger_config.xml',"w");
fwrite($conf_file,$logger_xml->asXML());
fclose($conf_file);
setup_IMU_logger($logger_config);
if ($write_config) {
if ($verbose) echo 'Writing IMU logger configuration to '. $config_name."\n";
$conf_file=fopen($config_name,"w");
fwrite($conf_file,$logger_xml->asXML());
fclose($conf_file);
exec ('sync');
}
}
// echo "compass: ";var_dump($compass);echo "\n";
// echo "GPS: ";var_dump($GPS);echo "\n";
$noGPS= ($compass || $GPS)?"" : "noGPS";
$nocompass=($compass)?"" : "nocompass";
$cmd="/usr/html/exif.php init $noGPS $nocompass";
if ($verbose) echo "Initializing Exif template: $cmd\n";
exec($cmd);
if ($GPS) {
if ($verbose) echo "Starting ".$GPS["name"]. " as ". $GPS["file"]. "\n";
if (strpos($GPS['name'],'NMEA')!==false) {
$cmd ="/usr/local/bin/nmea2exif ". $GPS["file"]." &";
} else {
$cmd ="/usr/local/bin/garminusb2exif ". $GPS["file"]." &";
}
if ($verbose) echo "exec: $cmd \n";
popen($cmd,"r");
}
if ($compass) {
if ($verbose) echo "Starting ".$compass["name"]. " as ". $compass["file"]. "\n";
exec ("stty -F ".$compass["file"]." -echo speed 19200");
$cmd="/usr/local/bin/compass ". $compass["file"]." &";
if ($verbose) echo "exec: $cmd \n";
popen($cmd,"r");
}
exit ((isset($b_index[103695])?4:0) | ($compass?2:0) | ($GPS?1:0));
function scanGrandDaughters(){
global $i2cbus;
$ids=array();
$id="";
for ($i=2;$i<8;$i++) {
$id=i2c_read256b(0xa0+2*$i,$i2cbus);
$xml=simplexml_load_string($id);
if (($xml!==false) && ($xml->getName()=='board')) {
$ids[$i]=array();
foreach ($xml->children() as $entry) {
$ids[$i][$entry->getName()]=(string) $entry ;
}
}
}
return $ids;
}
function indexGrandDaughters($ids) {
$index=array();
foreach($ids as $i=>$id) if (isset($id['model'])) {
$index[$id['model']]=$i;
}
return $index;
}
/// compass/GPS programs should be killed before detection
// baud=null - search USB Garmin and compass
// baud=auto - try to autodetect baud rate
// baud=number - used specified baud rate, do not wait for the GPS response
function find_gps_compass($baud=null,$timeout=5) {
global $verbose;
$ttyOptions=array (
'-echo speed 115200',
'-echo speed 57600',
'-echo speed 56000',
'-echo speed 38400',
'-echo speed 19200', /// maybe other options, like '-echo speed 4800 -ixoff'
'-echo speed 9600',
'-echo speed 4800',
'-echo speed 2400'
);
if (isset($baud) && ($baud!='auto') && ($baud!=0)) {
$ttyOptions=array (
'-echo speed '.$baud);
}
// global $GPS, $compass;
$devices=array(
"compass"=>array(array("name"=>"Ocean Server OS-5000","driver"=>"cp2101")),
"GPS" =>array(array("name"=>"Garmin GPS 18 USB","driver"=>"garmin_gps")));
exec("ls /sys/bus/usb-serial/devices",$usb_ser_devs); // ("ttyUSB0","ttyUSB1")
$devs = new SimpleXMLElement("<?xml version='1.0' standalone='yes'?><USB_serial_devices/>");
$serialDevices=array();
$compassPresent=false;
$gpsPresent=false;
$driver=array();
//echo "usb_ser_devs"; var_dump($usb_ser_devs);
foreach ($usb_ser_devs as $dev) {
//echo "dev=$dev\n";
$arr=split("/",exec("ls /sys/bus/usb-serial/devices/".$dev."/driver -l"));
$driver[$dev]=$arr[count($arr)-1];
$serialDevices[$dev]='';
if (!isset($baud)) { // if baud is set (auto or number - skip compass, it is 103696)
foreach ($devices["compass"] as $d) {
if ($d["driver"]==$driver[$dev]) {
$dd=$devs->addChild ('compass');
$dd->addChild ('name',$d["name"]);
$dd->addChild ('driver',$d["driver"]);
$dd->addChild ('file',"/dev/".$dev);
$serialDevices[$dev]='compass';
$compassPresent=true;
}
}
}
if ($serialDevices[$dev]) continue;
foreach ($devices["GPS"] as $d) {
if ($d["driver"]==$driver[$dev]) {
$dd=$devs->addChild ('GPS');
$dd->addChild ('name',$d["name"]);
$dd->addChild ('driver',$d["driver"]);
$dd->addChild ('file',"/dev/".$dev);
$serialDevices[$dev]='gps';
$gpsPresent=true;
}
}
}
/// Do we need to look for a NMEA GPS?
if (!$gpsPresent) foreach ($serialDevices as $dev=>$type) if (!$type && !$gpsPresent) {
if ($verbose) printf ("could be $dev\n");
foreach ($ttyOptions as $ttyOpt) {
$cmd='stty -F /dev/'.$dev.' '.$ttyOpt;
if (count($ttyOptions)==1) { /// single baud option, will not wait for confirmation. Has to be only one serial adapter !!
if ($verbose) echo "Setting: $cmd\n";
exec ($cmd);
$gpsPresent=true;
} else {
if ($verbose) echo "Trying: $cmd\n";
exec ($cmd);
unset ($fullOutput);
exec ('timeout '.$timeout.' cat /dev/'.$dev, $fullOutput); // &$fullOutput - Fatal error: Call-time pass-by-reference has been removed in php
//var_dump($fullOutput);
foreach ($fullOutput as $line) if (strpos ($line, '$GP')===0) {
$gpsPresent=true;
break;
}
}
if ($gpsPresent) {
$dd=$devs->addChild ('GPS');
$dd->addChild ('name','NMEA 0183 GPS receiver');
$dd->addChild ('driver',$driver[$dev]);
$dd->addChild ('file',"/dev/".$dev);
$arr=split(" ",$ttyOpt);
$dd->addChild ('baud',$arr[count($arr)-1]);
$serialDevices[$dev]='gps';
if ($verbose) echo "\nfound NMEA GPS unit\n";
break;
}
// var_dump($fullOutput);
}
}
/// list unused USB serial adapters
foreach ($serialDevices as $dev=>$type) if (!$type) {
$dd=$devs->addChild ('unused');
$dd->addChild ('name','USB serial converter');
$dd->addChild ('driver',$driver[$dev]);
$dd->addChild ('file',"/dev/".$dev);
}
return $devs;
}
function listSensorDevices($devs,$b_index,$ids) {
global $GPS, $compass,$gps_compass_xml;
foreach ($devs->compass as $a) {
$compass=array("file"=>(string) $a->file, "name"=> (string) $a->name);
break; // use first one
}
foreach ($devs->GPS as $a) {
$GPS=array("file"=>(string) $a->file, "name"=> (string) $a->name, "baud"=>(string) $a->baud);
if (isset($b_index[103696])) {
$a->addChild ('part_number',$ids[$b_index[103696]]['part']);
$a->addChild ('port',$ids[$b_index[103696]]['port']);
$a->addChild ('mode',$ids[$b_index[103696]]['mode']);
}
break; // use first one
}
$state_file=fopen($gps_compass_xml,"w");
fwrite($state_file,$devs->asXML());
fclose($state_file);
}
function loggerConfigToXML($conf){
$logger_xml = new SimpleXMLElement("<?xml version='1.0' standalone='yes'?><Logger_configuration/>");
foreach ($conf as $key=>$value) {
switch ($key) {
case 'imu_registers':
$subtree=$logger_xml->addChild ($key);
for ($i=0;$i<count($value);$i++) {
$subtree->addChild ('R_'.sprintf('%02d',$i),sprintf("0x%02x",$value[$i]));
}
break;
case 'nmea':
$subtree=$logger_xml->addChild ($key);
for ($i=0;$i<count($value);$i++) {
$sentence=$subtree->addChild ('S_'.sprintf('%01d',$i));
$sentence->addChild ('sentence',$value[$i][0]);
$sentence->addChild ('format',$value[$i][1]);
}
break;
default:
$logger_xml->addChild ($key,$value);
}
}
return $logger_xml;
}
function loggerConfigFromXML($confXML){
$conf=array();
// var_dump($confXML);
foreach ($confXML as $item) {
// var_dump($item);
$key=$item->getName();
switch ($key) {
case 'imu_registers':
$conf[$key]=array();
foreach ($item as $reg) {
$rname=substr($reg->getName(),2);
$conf[$key][$rname+0]=((string) $reg)+0;
}
break;
case 'nmea':
$conf[$key]=array();
foreach ($item as $reg) {
$rname=substr($reg->getName(),2);
$conf[$key][$rname+0]=array((string) $reg->sentence, (string) $reg->format);
}
break;
case 'imu_period':
$conf[$key]=(string) $item;
if ($conf[$key]!='auto') $conf[$key]+=0;
break;
case 'message':
$conf[$key]=(string) $item;
break;
default:
// $conf[$key]=(int) $item;
$conf[$key]=((string) $item)+0;
}
}
return $conf;
}
function init_default_config(){
$default_config=array(
'imu_period'=>'auto',// 0xFFFFFFFF, // 0 - off, >=0xff000000 - "when ready", else - number of SCLK periods
'sclk_freq'=>5000000, // $clkr_divr= 8, // 80MHz divisor to get half SCLK rate (defaulkt SCLK=5MHz)
'stall' => 2, // SPI stall time in usec
'baud_rate'=>19200, // $rs232_div=80/2/$baud
'imu_slot'=>1,
'gps_slot'=>2,
'gps_mode'=>2, // 0 - pps pos, 1 - pps neg, 2 - start of first sesntence after pause, 3 start of sentence
'msg_conf'=>10, // GPIO bit number for external (odometer) input (+16 - invert polarity). Timestamp uses leading edge, software may write to 56-byte buffer before the trailing edge
'img_sync'=>1, // enable logging image acquisition starts (0 - disable)
'extra_conf'=>4, // 0 - config_long_sda_en, 1 -config_late_clk, 2 - config_single_wire, should be set for 103695 rev "A"
'slow_spi'=>0, // set to 1 for slow SPI devices (0 for ADIS-16375)
'imu_sa'=>3, // i2c slave address modifier for the 103695A pca9500
'sleep_busy'=>30000, //microseconds
'imu_registers'=>array( /// Up to 28 total
0x10, // x gyro low
0x12, // x gyro high
0x14, // y gyro low
0x16, // y gyro high
0x18, // z gyro low
0x1a, // z gyro high
0x1c, // x accel low
0x1e, // x accel high
0x20, // y accel low
0x22, // y accel high
0x24, // z accel low
0x26, // z accel high
0x40, // x delta angle low
0x42, // x delta angle high
0x44, // y delta angle low
0x46, // y delta angle high
0x48, // z delta angle low
0x4a, // z delta angle high
0x4c, // x delta velocity low
0x4e, // x delta velocity high
0x50, // y delta velocity low
0x52, // y delta velocity high
0x54, // z delta velocity low
0x56, // z delta velocity high
0x0e, // temperature
0x70, // time m/s
0x72, // time d/h
0x74// time y/m
),
'nmea'=>array(
/// first three letters - sentence to log (letters after "$GP"). next "n"/"b" (up to 24 total) - "n" number (will be encoded 4 digits/byte, follwed by "0xF"
/// "b" - byte - all but last will have MSB 0 (& 0x7f), the last one - with MSB set (| 0x80). If there are no characters in the field 0xff will be output
array('RMC','nbnbnbnnnnb'),
array('GGA','nnbnbnnnnbnbbb'),
array('GSA','bnnnnnnnnnnnnnnnn'),
array('VTG','nbnbnbnb')
),
'message'=>'Odometer message' // Message - up to 56 bytes
);
return $default_config;
}
/**
Combines $conf and $dflt arrays - all driver parameters are overwritten aftre the call
*/
function combineLoggerConfigs($new_conf,$dflt=null){
global $default_config;
// $xclk_freq=80000000; // 80 MHz in NC353
$xclk_freq=100000000; // 100 MHz in NC393
$data=array();
$index=0;
if (!isset ($dflt)) {
$dflt=$default_config;
}
$conf=$dflt;
if (isset($new_conf)) foreach ($conf as $key=>$oldvalue) if (isset($new_conf[$key])) $conf[$key]=$new_conf[$key];
/// fix insufficient data from default
while (count($conf['imu_registers'])<28) $conf['imu_registers'][count($conf['imu_registers'])]=0; // zero pad if less than 28 registers
/// Configure NMEA sentences to log. If there are less than 4 - copy additional (unique) from defaults
while (count($conf['nmea'])<4) {
for ($i=0;$i<4;$i++) {
$new=true;
for ($j=0;$j<count($conf['nmea']);$j++) if ($conf['nmea'][$j][0]==$dflt['nmea'][$i][0]){ // compare sentence code last 3 letters
$new=false;
break;
}
if ($new) {
$conf['nmea'][count($conf['nmea'])]=$dflt['nmea'][$i];
break;
}
}
}
for ($i=0;$i<4;$i++) {
while (strlen($conf['nmea'][$i][0])<3) $conf['nmea'][$i][0].="A"; // just to avoid errors - nonexistent sentences will not hurt, just never logged
}
return $conf;
}
function setup_IMU_logger($conf){
global $verbose;
// $xclk_freq=80000000; // 80 MHz in NC353
$xclk_freq=100000000; // 100 MHz in NC393
$data=array();
$index=0;
/// program period
if (strtolower($conf['imu_period'])=='auto') $conf['imu_period']=0xffffffff;
else $conf['imu_period']+=0;
$data[$index++]= $conf['imu_period'] & 0xff;
$data[$index++]=($conf['imu_period']>> 8) & 0xff;
$data[$index++]=($conf['imu_period']>>16) & 0xff;
$data[$index++]=($conf['imu_period']>>24) & 0xff;
/// program SCLK divisor and SPI stall time
$sclk_div=round($xclk_freq/$conf['sclk_freq']/2);
if ($sclk_div<1) $sclk_div=1;
else if ($sclk_div>255) $sclk_div=255;
$conf['sclk_freq']=$xclk_freq/$sclk_div/2;
$stall=(( $conf['stall'] * ( $xclk_freq / $sclk_div )) / 1000000 );
if ($stall< 1) $stall= 1; /// does 0 work? need to verify
else if ($stall>255) $stall=255;
$conf['stall']=$stall * 1000000 / ($xclk_freq / $sclk_div);
$data[$index++]= $sclk_div;
$data[$index++]= $stall;
$data[$index++]= 0;
$data[$index++]= 0;
/// Program rs232 baud rate
$rs232_div=round($xclk_freq /2/$conf['baud_rate']);
$conf['baud_rate']=$xclk_freq /2/$rs232_div;
$data[$index++]= $rs232_div & 0xff;
$data[$index++]=($rs232_div>> 8) & 0xff;
$data[$index++]=($rs232_div>>16) & 0xff;
$data[$index++]=($rs232_div>>24) & 0xff;
/// Program logger configuration (possible to modify only some fields - maybe support it here?)
$logger_conf=0;
/// #define IMUCR__IMU_SLOT__BITNM 0 // slot, where 103695 (imu) board is connected: 0 - none, 1 - J9, 2 - J10, 3 - J11)
/// #define IMUCR__IMU_SLOT__WIDTH 2
$logger_conf |= (($conf['imu_slot'] & 0x3) | 0x4 )<< 0; /// "4" (bit 2 set) here means that the data in bits 0,1 will be applied in the FPGA register
/// #define IMUCR__GPS_CONF__BITNM 3 // slot, where 103695 (imu) bnoard is connected: 0 - none, 1 - J9, 2 - J10, 3 - J11)
/// #define IMUCR__GPS_CONF__WIDTH 4 // bits 0,1 - slot #, same as for IMU_SLOT, bits 2,3:
// 0 - ext pulse, leading edge,
// 1 - ext pulse, trailing edge
// 2 - start of the first rs232 character after pause
// 3 - start of the last "$" character (start of each NMEA sentence)
$logger_conf |= ((($conf['gps_slot'] & 0x3) | (($conf['gps_mode'] & 0x3)<<2) ) | 0x10 )<< 3;
/// #define IMUCR__MSG_CONF__BITNM 8 // source of external pulses to log:
/// #define IMUCR__MSG_CONF__WIDTH 5 // bits 0-3 - number of fpga GPIO input 0..11 (i.e. 0x0a - external optoisolated sync input (J15)
// 0x0f - disable MSG module
// bit 4 - invert polarity: 0 - timestamp leading edge, log at trailing edge, 1 - opposite
// software may set (up to 56 bytes) log message before trailing end of the pulse
$logger_conf |= (($conf['msg_conf'] & 0x1f) | 0x20 )<< 8;
/// #define IMUCR__SYN_CONF__BITNM 14 // logging frame time stamps (may be synchronized by another camera and have timestamp of that camera)
/// #define IMUCR__SYN_CONF__WIDTH 1 // 0 - disable, 1 - enable
$logger_conf |= (($conf['img_sync'] & 0x1) | 0x2 )<< 14;
/// #define IMUCR__RST_CONF__BITNM 16 // reset module
/// #define IMUCR__RST_CONF__WIDTH 1 // 0 - enable, 1 -reset (needs resettimng DMA address in ETRAX also)
/// #define IMUCR__DBG_CONF__BITNM 18 // several extra IMU configuration bits
/// #define IMUCR__DBG_CONF__WIDTH 4 // 0 - config_long_sda_en, 1 -config_late_clk, 2 - config_single_wire, should be set for 103695 rev "A"
$logger_conf |= (($conf['extra_conf'] & 0xf) | 0x10 )<< 18;
/// next bits used by the driver only, not the FPGA
/// ((SLOW_SPI & 1)<<23) | \
/// (DFLT_SLAVE_ADDR << 24))
$logger_conf |= ($conf['slow_spi'] & 0x1)<< 23;
$logger_conf |= ($conf['imu_sa'] & 0x7)<< 24;
$data[$index++]= $logger_conf & 0xff;
$data[$index++]=($logger_conf>> 8) & 0xff;
$data[$index++]=($logger_conf>>16) & 0xff;
$data[$index++]=($logger_conf>>24) & 0xff;
/// Set time driver will go to sleep if the data is not ready yet (less than full sample in the buffer)
$data[$index++]= $conf['sleep_busy'] & 0xff;
$data[$index++]=($conf['sleep_busy']>> 8) & 0xff;
$data[$index++]=($conf['sleep_busy']>>16) & 0xff;
$data[$index++]=($conf['sleep_busy']>>24) & 0xff;
/// Set IMU register addresses to logger
// echo "1\n";
for ($i=0;$i<28;$i++) $data[$index++]= $conf['imu_registers'][$i]; // truncate to 28
/// Configure NMEA sentences to log. If there are less than 4 - copy additional (unique) from defaults
// echo "2\n";
for ($i=0;$i<4;$i++) {
$d =str_split($conf['nmea'][$i][0]);
// print_r($d);
for ($j=0;$j<3;$j++) $data[$index++]=ord($d[$j]);
$d =str_split($conf['nmea'][$i][1]);
// print_r($d);
for ($j=0;$j<29;$j++) $data[$index++]=($j<count($d))?ord($d[$j]):0;
}
// echo "3\n";
/// Set default message
$d =str_split($conf['message']);
for ($j=0;$j<56;$j++) $data[$index++]=($j<count($d))?ord($d[$j]):0;
// Print the result array as hex data
/*
print_r($conf);
echo "\n";
for ($i=0;$i<count($data);$i++) {
if (($i & 0xf)==0) printf ("\n%04x:",$i);
printf (" %02x",$data[$i]);
}
echo "\n";
*/
$bindata="";
for($i=0;$i<count($data);$i++) $bindata.=chr($data[$i]);
$dev_imu_ctl = fopen('/dev/imu_ctl', 'w');
fwrite($dev_imu_ctl, $bindata, strlen($bindata));
fseek($dev_imu_ctl,3,SEEK_END); // start IMU
fclose($dev_imu_ctl);
/// Readback - just testing
$bd=file_get_contents('/dev/imu_ctl');
$data =str_split($bd);
if ($verbose) {
echo "\n";
for ($i=0;$i<count($data);$i++) {
if (($i & 0xf)==0) printf ("\n%04x:",$i);
printf (" %02x",ord($data[$i]));
}
echo "\n";
}
}
//ls /sys/bus/usb-serial/devices/ttyUSB0/driver -l
// $xml->addChild ('error','No sync capable board detected, use "role=self" for the onboard timer');
// $sxml=$xml->asXML();
?>
used_files.py 0 → 100755
View file @ 09f51911
#!/usr/bin/env python
# encoding: utf-8
from __future__ import division
from __future__ import print_function
"""
# @file used_files.py
# @brief Extract file access data after build, modify CDT project configuration
# (.cproject) accordingly
# @copyright Copyright (C) 2016, Elphel.inc.
# @param <b>License</b>
# This program 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 3 of the License, or
# (at your option) any later version.
# This program 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 this program. If not, see <http:#www.gnu.org/licenses/>.
@author: Andrey Filippov
@license: GPLv3.0+
@contact: andrey@elphel.coml
@deffield updated: Updated
"""
__author__ = "Andrey Filippov"
__copyright__ = "Copyright 2016, Elphel, Inc."
__license__ = "GPL"
__version__ = "3.0+"
__maintainer__ = "Andrey Filippov"
__email__ = "andrey@elphel.com"
__status__ = "Development"
import sys
import os
import time
import xml.etree.ElementTree as ET
'''
TODO:Automate, find out why separate touch commands are needed
Run this program twice:
1-st run ./used_files.py linux -1
and save shown timestamp
Then run (some mystery here)
touch src/drivers/ata/ahci_elphel.c
touch src/drivers/elphel/sensor_common.c
Wait 5 seconds and run (in a different console with appropriate sourcing)
bitbake linux-xlnx -c compile -f
Then again
./used_files.py linux <timestamp_from_the_first_run>
If somethong went wrong you will need to resore .cproject from eclipse_project_setup directory
For php:
bitbake php -c cleansstate
bitbake php -c unpack -f
bitbake php -c configure -f
./used_files.py php -1
bitbake php -c compile -f
./used_files.py php 1471044836.8
Doing:
bitbake php -c compile -f
./used_files.py php -1
bitbake php -c compile -f
./used_files.py php 1471044836.8
Corrupts make process
'''
def file_tree(flist): # Each file in list is a file, no directories
ftree={}
for p in flist:
node = ftree
seg_list=p.split(os.sep)
last_i=len(seg_list)-1
for i,segm in enumerate(seg_list):
if not segm in node:
if i == last_i:
node[segm] = None
else:
node[segm] = {}
node=node[segm]
return ftree
def exclude_list(ftree, flist):
mark = "*" # no file/dir name can be "*"
def list_tree_recursive(root):
rslt = []
if not mark in root:
return [[""]] # convert to trailing "/" for directories
for n in root:
if not n == mark:
if root[n] is None:
rslt.append([n])
else:
for l in list_tree_recursive(root[n]):
rslt.append([n]+l)
return rslt
ftree[mark]=None # mark top level dir
for p in flist:
node = ftree
for segm in p.split(os.sep)[:-1]:
node=node[segm]
node[mark]=None # [mark] means used in flist
del node[p.split(os.sep)[-1]]
#print (ftree)
# for k in ftree:
# print(k)
#Now prune unused directories
#prune_recursive(ftree) # (assuming root is used)
# now create list
files_list_list = list_tree_recursive(ftree)
# print (files_list_list)
#converrt to file paths
pl = []
for l in files_list_list:
pl.append(os.path.join(*(l[1:])))
pl = sorted (pl)
return pl
def proc_tree():
DEBUG = True
extensions = [".h",".c",".cpp"]
exclude_start = ["linux"+os.sep+"scripts"+os.sep,"linux"+os.sep+"source"+os.sep+"scripts"+os.sep]
delta_t = 3 # seconds
try:
root_path = sys.argv[1]
except:
print ("Calling %s <root directory path> [timestamp]"%(os.path.basename(sys.argv[0])))
try:
start_time = float(sys.argv[2])
except:
start_time = 0.0
touch_files= start_time < 0.0
print ("root_path = %s"%(root_path))
# root_path = "/home/eyesis/git/poky/linux-elphel/linux/"
lstFiles = []
# Append files to a list
for path, _, files in os.walk(root_path, followlinks = True):
for f in files:
for ext in extensions:
if f.endswith(ext):
lstFiles.append(os.path.join(path, f))
break
all_tree= file_tree(sorted(lstFiles))
include_lst=[]
lst_a = []
latest_at=0
for p in lstFiles:
if touch_files:
if os.path.islink(p):
try:
os.utime(os.path.realpath(p), None)
except:
print("missing linked file: %s"%(os.path.realpath(p)))
else:
os.utime(p, None)
else:
# at = time.ctime(os.stat(p).st_atime)
try:
at = os.stat(p).st_atime
l = None
except:
at = 0
if os.path.islink(p):
try:
l = os.path.realpath(p)
at = os.stat(l).st_atime
except:
at = 0 # missing file
latest_at = max((latest_at,at))
if at > (start_time + delta_t):
#Scripts/lexers result in problems
exclude=False
for exStr in exclude_start:
if p.startswith(exStr):
exclude=True
break
if exclude:
break
#exclude_start
lst_a.append([p,at,l])
include_lst.append(p)
if touch_files:
print (len(lstFiles), "last time = ", time.time())
return
excluding = exclude_list(all_tree, include_lst)
# print (all_tree)
# print (sorted(include_lst))
# print ("|".join(excluding))
if DEBUG:
with open("all_sources.lst","w" ) as f:
for p in sorted(lstFiles):
try:
at = os.stat(p).st_atime
except:
at = 0
lnk=""
if os.path.islink(p):
try:
at = os.stat(os.path.realpath(p)).st_atime
except:
at = 0
lnk = os.path.realpath(p)
print (p,at,lnk, file=f)
with open("excluding.lst","w" ) as f:
for p in excluding:
print (p, file=f)
with open("including.lst","w" ) as f:
for p in include_lst:
print (p, file=f)
# include_tree= file_tree(sorted(include_lst))
# print(include_tree)
root_dir=include_lst[0].split(os.sep)[0]
print ("root_dir=",root_dir)
xml= ET.parse(".cproject")
root=xml.getroot()
# for child in root:
# print(child.tag, child.attrib)
for child in root.iter('sourceEntries'):
for gchild in child:
print(gchild.tag)
for child in root.iter('sourceEntries'):
for gchild in child:
if gchild.tag == 'entry':
attr = gchild.attrib
try:
if (attr['kind'] == 'sourcePath') and (attr['name'] == root_dir):
child.remove (gchild)
print ("Removed existing entry ",gchild.tag)
break
except:
print ("error matching attributes for ",gchild.tag)
pass
break #after first 'sourceEntries' - should be just one?
ET.SubElement(child, 'entry', {"flags":"VALUE_WORKSPACE_PATH", "kind":"sourcePath", "name":root_dir, "excluding":"|".join(excluding)})
for child in root.iter('sourceEntries'):
for gchild in child:
print(gchild.tag)
oneliner= ET.tostring(root)
#overwrites original .cproject, may change to somethong different
with open(".cproject", "wr") as f:
f.write("""<?xml version="1.0" encoding="UTF-8" standalone="no"?>
<?fileVersion 4.0.0?>""")
f.write(oneliner)
print (len(lstFiles), len(lst_a), "last access time = ",latest_at)
if __name__ == '__main__':
proc_tree()
"""
Usage for new applications:
1) add src to sources, remove root folder
2) Do not add sysroots to sources, just add include directory (sysroots/elphel393/usr/include-uapi) - sysroot created with 'bitbake -c unpack'
3) run following steps - they will add sysroots to .cproject, together with the exclude filter
make clean # otherwise compiled files are preserved
bitbake apps-editconf -c cleansstate
bitbake apps-editconf -c unpack -f
bitbake apps-editconf -c configure -f
./used_files.py sysroots -1
bitbake apps-editconf -c compile -f
./used_files.py sysroots 1473297567.42 # result of previous run
4)Add SCP <name> to target in "builders" "new" "program".
5) remove "configuration builder' in 2 steps - remove it from .externalToolBuilders, run Eclipse again and then remove from builders.
6) copy .externalToolBuilders (just 1 entry), .project and .cproject to eclipse_project_setup
7) make sure .gitignore ignores all what it should
"""
\ No newline at end of file
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