I connected my ultimate gps breakout to my raspberry pi using the USB to TTL serial cable. Using C code I can easily connect to and read NMEA sentences from the GPS. But when I write configuration commands such as PMTK220 to set the update rate, they are ignored. I should get back a PMTK_ACK reporting success or failure, but it is not forthcoming. The problem also occurs when I use terminal windows. ie. I run:
while (true) do cat -A /dev/ttyUSB0 ; done
in one terminal, and get a stream of $GPGGA, $GPGSA, $GPRMC etc messages. In another terminal I run:
echo "$PMTK220,200*2C\r\n" > /dev/ttyUSB0
The NMEA messages continue but there is no PMTK001 coming back. Any ideas?
Ok, here's some code (inspired by gpsd source) that demonstrates sending a configuration message and getting an acknowledgement:
#define _BSD_SOURCE
#include <stdio.h>
#include <stdarg.h>
#include <sys/ioctl.h>
#include <termios.h>
#include <fcntl.h>
#include <unistd.h>
#include <assert.h>
#include <semaphore.h>
#include <string.h>
#ifndef CRTSCTS
# ifdef CNEW_RTSCTS
# define CRTSCTS CNEW_RTSCTS
# else
# define CRTSCTS 0
# endif /* CNEW_RTSCTS */
#endif /* !CRTSCTS */
int main (int argc, char **argv) {
int const baudr = B9600, mode = O_RDWR | O_NONBLOCK | O_NOCTTY;
int const fd = open("/dev/ttyUSB0", mode);
assert (fd != -1);
ioctl(fd, (unsigned long)TIOCEXCL);
struct termios ttyOld, ttyNew;
assert(tcgetattr(fd, &ttyOld) != -1);
ttyNew = ttyOld;
ttyNew.c_cflag &= ~(CSIZE | PARENB | PARODD | CRTSCTS | CSTOPB);
ttyNew.c_cflag |= CREAD | CLOCAL | CS8;
ttyNew.c_iflag = ttyNew.c_oflag = 0;
ttyNew.c_lflag = ICANON;
cfsetispeed(&ttyNew, baudr);
cfsetospeed(&ttyNew, baudr);
assert(tcsetattr(fd, TCSANOW, &ttyNew) != -1);
tcflush(fd, TCIOFLUSH);
usleep(200000);
tcflush(fd, TCIOFLUSH);
int const oldfl = fcntl(fd, F_GETFL);
assert (oldfl != -1);
fcntl(fd, F_SETFL, oldfl & ~O_NONBLOCK);
tcdrain(fd);
printf("port opened baudr=%d mode=%d i=%d o=%d c=%d l=%d fl=%d\n", baudr, mode, ttyNew.c_iflag, ttyNew.c_oflag, ttyNew.c_cflag, ttyNew.c_lflag, oldfl);
unsigned char buf[2048];
int count = 0;
while(++count < 20) {
if (count == 4) {
char const *const cmd = "$PMTK220,200*2C\r\n";
int const n = strlen(cmd);
assert(write(fd, cmd, n) == n);
tcdrain(fd);
printf("wrote command %d: %s\n", n, cmd);
}
int const n = read(fd, buf, sizeof(buf));
buf[(n >= sizeof(buf)) ? (sizeof(buf) - 1) : n] = 0;
printf(buf);
}
tcsetattr(fd, TCSANOW, &ttyOld);
close(fd);
}
with results:
pi#pi01 ~/c $ ./test
port opened baudr=13 mode=2306 i=0 o=0 c=3261 l=2 fl=2050
$GPGGA,175748.089,,,,,0,00,,,M,,M,,*71
$GPGSA,A,1,,,,,,,,,,,,,,,*1E
$GPRMC,175748.089,V,,,,,0.00,0.00,260715,,,N*43
wrote command 17: $PMTK220,200*2C
$GPVTG,0.00,T,,M,0.00,N,0.00,K,N*32
$PMTK001,220,2*31
$GPGGA,175749.089,,,,,0,00,,,M,,M,,*70
$GPGSA,A,1,,,,,,,,,,,,,,,*1E
$GPGSV,1,1,01,11,,,31*7A
$GPRMC,175749.089,V,,,,,0.00,0.00,260715,,,N*42
$GPVTG,0.00,T,,M,0.00,N,0.00,K,N*32
$GPGGA,175750.089,,,,,0,00,,,M,,M,,*78
$GPGSA,A,1,,,,,,,,,,,,,,,*1E
$GPRMC,175750.089,V,,,,,0.00,0.00,260715,,,N*4A
$GPVTG,0.00,T,,M,0.00,N,0.00,K,N*32
$GPGGA,175751.089,,,,,0,00,,,M,,M,,*79
$GPGSA,A,1,,,,,,,,,,,,,,,*1E
$GPRMC,175751.089,V,,,,,0.00,0.00,260715,,,N*4B
$GPVTG,0.00,T,,M,0.00,N,0.00,K,N*32
$GPGGA,175752.089,,,,,0,00,,,M,,M,,*7A
pi#pi01 ~/c $
i am trying to implement the upnp level communication between the devices .. but facing problem in getting the response message .and more over on sending the ssdp:discovery multicast not able to recieve the messages from the devices ... please guide me through i am completely newto this topic
pre-requisite done by me :
1.able to send the M-Search ..and notify message on the network .. and have confirmed via wireshark
2.gone through the upnp architecture related pdf
response got in wireshark :
when ever i am sending the message i am getting the icmp error message that destination is not reachable ..
< client side code > is the first one and second one is the for time being i am just sending up the data on local host
#include <arpa/inet.h>
#include <netinet/in.h>
#include <stdio.h>
#include <sys/types.h>
#include <sys/socket.h>
#include <unistd.h>
#define SRV_IP "127.0.0.1"
/* diep(), #includes and #defines like in the server */
#define BUFLEN 512
#define NPACK 10
#define PORT 1900
void diep(char *s)
{
perror(s);
exit(1);
}
int main(void)
{
struct sockaddr_in si_other;
int s, i, slen=sizeof(si_other);
char buf[BUFLEN];
if ((s=socket(AF_INET, SOCK_DGRAM, IPPROTO_UDP))==-1)
diep("socket");
memset((char *) &si_other, 0, sizeof(si_other));
si_other.sin_family = AF_INET;
si_other.sin_port = htons(PORT);
if (inet_aton(SRV_IP, &si_other.sin_addr)==0) {
fprintf(stderr, "inet_aton() failed\n");
exit(1);
}
for (i=0; i<NPACK; i++) {
printf("Sending packet %d\n", i);
sprintf(buf, "\n");
if (sendto(s, buf, BUFLEN, 0, &si_other, slen)==-1)
diep("sendto()");
}
close(s);
return 0;
}
#include <arpa/inet.h>
#include <netinet/in.h>
#include <stdio.h>
#include <sys/types.h>
#include <sys/socket.h>
#include <unistd.h>
#define BUFLEN 512
#define NPACK 10
#define PORT 1900
void diep(char *s)
{
perror(s);
exit(1);
}
int main(void)
{
struct sockaddr_in si_me, si_other;
int s, i, slen=sizeof(si_other);
char buf[BUFLEN];
if ((s=socket(AF_INET, SOCK_DGRAM, IPPROTO_UDP))==-1)
diep("socket");
memset((char *) &si_me, 0, sizeof(si_me));
si_me.sin_family = AF_INET;
si_me.sin_port = htons(PORT);
si_me.sin_addr.s_addr = htonl(INADDR_ANY);
if (bind(s, &si_me, sizeof(si_me))==-1)
diep("bind");
for (i=0; i<NPACK; i++) {
if (recvfrom(s, buf, BUFLEN, 0, &si_other, &slen)==-1)
diep("recvfrom()");
printf("Received packet from %s:%d\nData: %s\n\n",
inet_ntoa(si_other.sin_addr), ntohs(si_other.sin_port), buf);
}
close(s);
return 0;
}
The individual lines in you M-SEARCH need to have "\r\n" at the end of each line, not just a "\n". Your system may just be sending "\n" across the wire. Check the bytes you're sending for a 13 followed by a 10. That's "\r\n".
I have a short test program to fetch the IP address of the local machine. On Raspbian, only the loopback address is returned, while the same code on OS X return both normal and loopback IPs.
The code is
#include <stdio.h>
#include <string.h>
#include <stdlib.h>
#include <unistd.h>
#include <iostream>
#include <sys/types.h>
#include <sys/socket.h>
#include <netdb.h>
#include <arpa/inet.h>
#include <errno.h>
using namespace std;
int main (int argc, char * const argv[]) {
char hostname[128];
int result = gethostname(hostname, 127);
if (result != 0) {
cout << "FATAL: gethostname failed: " << result << errno;
return -1;
}
cout << "Host name is " << hostname << endl;
struct addrinfo hints, *res;
int errcode;
char addrstr[100];
void *ptr;
memset(&hints, 0, sizeof(hints));
hints.ai_family = PF_UNSPEC;
hints.ai_socktype = SOCK_STREAM;
hints.ai_flags |= AI_CANONNAME;
errcode = getaddrinfo(hostname, NULL, &hints, &res);
if (errcode != 0) {
perror("getaddrinfo");
return -1;
}
while(res) {
inet_ntop(res->ai_family, res->ai_addr->sa_data, addrstr, 100);
switch(res->ai_family) {
case AF_INET:
ptr = &((struct sockaddr_in *)res->ai_addr)->sin_addr;
break;
case AF_INET6:
ptr = &((struct sockaddr_in6 *)res->ai_addr)->sin6_addr;
break;
default:
cout << "Unknown family" << endl;
}
inet_ntop(res->ai_family, ptr, addrstr, 100);
printf("IPV%d address: %s (%s)\n", res->ai_family == PF_INET6 ? 6 : 4, addrstr, res->ai_canonname);
res = res->ai_next;
}
return 0;
}
On OS X I get:
[Coyote]collector$ ./quick
Host name is Coyote.local
IPV4 address: 192.168.1.108 (coyote.local)
IPV6 address: fe80::223:dfff:fea0:a230 (coyote.local)
But on Raspbian I only get:
pi:~$ ./quick
Host name is pi
IPV4 address: 127.0.1.1 (pi)
yet
pi:~$ ifconfig
eth0 Link encap:Ethernet HWaddr b8:27:eb:62:15:fc
inet addr:192.168.1.162 Bcast:192.168.1.255 Mask:255.255.255.0
[...]
What do I need to do on Raspbian to get the correct result?
This is probably due to the contents of your /etc/hosts file. If your goal is to obtain the ip addresses of the system, consider using getifaddrs instead. It's of BSD origin, but works on Linux as well.
If you want for sure to know which address will be used when you connect somewhere, the best way to do it than to connect and then obtain the address using getsockname. The other option would be to read the routing tables.
Also, getnameinfo is usually a better choice than inet_ntop.