/src/gpsd/gpsd-3.27.6~dev/drivers/driver_sirf.c
Line | Count | Source |
1 | | /* |
2 | | * This is the gpsd driver for SiRF GPSes operating in binary mode. |
3 | | * It also handles early u-bloxes that were SiRF derivatives. |
4 | | * |
5 | | * The advantages: Reports climb/sink rate (raw-mode clients won't see this). |
6 | | * Also, we can flag DGPS satellites used in the skyview when SBAS is in use. |
7 | | * The disadvantages: Doesn't return PDOP or VDOP, just HDOP. |
8 | | * |
9 | | * Chris Kuethe, our SiRF expert, tells us: |
10 | | * |
11 | | * "I don't see any indication in any of my material that PDOP, GDOP |
12 | | * or VDOP are output. There are quantities called Estimated |
13 | | * {Horizontal Position, Vertical Position, Time, Horizontal Velocity} |
14 | | * Error, but those are apparently only valid when SiRFDRive is |
15 | | * active." |
16 | | * |
17 | | * "(SiRFdrive is their Dead Reckoning augmented firmware. It |
18 | | * allows you to feed odometer ticks, gyro and possibly |
19 | | * accelerometer inputs to the chip to allow it to continue |
20 | | * to navigate in the absence of satellite information, and |
21 | | * to improve fixes when you do have satellites.)" |
22 | | * |
23 | | * "[When we need RINEX data, we can get it from] SiRF Message #5. |
24 | | * If it's no longer implemented on your receiver, messages |
25 | | * 7, 28, 29 and 30 will give you the same information." |
26 | | * |
27 | | * There is a known problem with the SiRF IV: it is prone to freeze |
28 | | * when being switched back to NMEA mode from SiRF binary. The |
29 | | * failure is randomly flaky, you may get away with several mode |
30 | | * flips before triggering it. Powering off the device resets and |
31 | | * unfreezes it. We have tries waiting on command acknowledges as |
32 | | * the manual advises; this does not fix the problem. |
33 | | * |
34 | | * This file is Copyright 2010 by the GPSD project |
35 | | * SPDX-License-Identifier: BSD-2-clause |
36 | | */ |
37 | | |
38 | | #include "../include/gpsd_config.h" // must be before all includes |
39 | | |
40 | | #include <ctype.h> |
41 | | #include <math.h> |
42 | | #include <stdbool.h> |
43 | | #include <stdio.h> |
44 | | #include <stdlib.h> |
45 | | #include <string.h> |
46 | | #include <strings.h> |
47 | | #include <unistd.h> |
48 | | |
49 | | #include "../include/compiler.h" // for FALLTHROUGH |
50 | | #include "../include/gpsd.h" |
51 | | #include "../include/bits.h" |
52 | | #include "../include/strfuncs.h" |
53 | | #include "../include/timespec.h" |
54 | | |
55 | | #if defined(SIRF_ENABLE) |
56 | | |
57 | 0 | #define HI(n) ((n) >> 8) |
58 | 0 | #define LO(n) ((n) & 0xff) |
59 | | |
60 | | /* |
61 | | * According to the protocol reference, if you don't get ACK/NACK in response |
62 | | * to a control send within 6 seconds, you should just retry. |
63 | | */ |
64 | | #define SIRF_RETRY_TIME 6 |
65 | | |
66 | | // Poll Software Version MID 132 |
67 | | static unsigned char versionprobe[] = { |
68 | | 0xa0, 0xa2, 0x00, 0x02, |
69 | | 0x84, // MID 132 |
70 | | 0x00, // unused |
71 | | 0x00, 0x00, 0xb0, 0xb3 |
72 | | }; |
73 | | |
74 | | // Poll Navigation Parameters MID 152, query for MID 19 |
75 | | static unsigned char navparams[] = { |
76 | | 0xa0, 0xa2, 0x00, 0x02, |
77 | | 0x98, // MID 152 |
78 | | 0x00, |
79 | | 0x00, 0x00, 0xb0, 0xb3 |
80 | | }; |
81 | | |
82 | | // DGPS Source MID 133 |
83 | | static unsigned char dgpscontrol[] = { |
84 | | 0xa0, 0xa2, 0x00, 0x07, |
85 | | 0x85, // MID 133 |
86 | | 0x01, // use SBAS |
87 | | 0x00, 0x00, |
88 | | 0x00, 0x00, 0x00, |
89 | | 0x00, 0x00, 0xb0, 0xb3 |
90 | | }; |
91 | | |
92 | | // Set SBAS Parameters MID 170 |
93 | | static unsigned char sbasparams[] = { |
94 | | 0xa0, 0xa2, 0x00, 0x06, |
95 | | 0xaa, // MID 170 |
96 | | 0x00, // SBAS PRN |
97 | | 0x01, // SBAS Mode |
98 | | 0x00, // Auto PRN |
99 | | 0x00, 0x00, |
100 | | 0x00, 0x00, 0xb0, 0xb3 |
101 | | }; |
102 | | |
103 | | // Set Message Rate MID 166 |
104 | | static unsigned char requestecef[] = { |
105 | | 0xa0, 0xa2, 0x00, 0x08, |
106 | | 0xa6, // MID 166 |
107 | | 0x00, // enable 1 |
108 | | 0x02, // MID 2 |
109 | | 0x01, // once per Sec |
110 | | 0x00, 0x00, // unused |
111 | | 0x00, 0x00, // unused |
112 | | 0x00, 0x00, 0xb0, 0xb3 |
113 | | }; |
114 | | |
115 | | // Set Message Rate MID 166 |
116 | | static unsigned char requesttracker[] = { |
117 | | 0xa0, 0xa2, 0x00, 0x08, |
118 | | 0xa6, // MID 166 |
119 | | 0x00, // enable 1 |
120 | | 0x04, // MID 4 |
121 | | 0x03, // every 3 sec |
122 | | 0x00, 0x00, // unused |
123 | | 0x00, 0x00, // unused |
124 | | 0x00, 0x00, 0xb0, 0xb3 |
125 | | }; |
126 | | |
127 | | // disable MID XX |
128 | | static unsigned char unsetmidXX[] = { |
129 | | 0xa0, 0xa2, 0x00, 0x08, |
130 | | 0xa6, // MID 166 |
131 | | 0x00, // enable XX |
132 | | 0x00, // MID 0xXX |
133 | | 0x00, // rate: never |
134 | | 0x00, 0x00, // reserved |
135 | | 0x00, 0x00, // reserved |
136 | | 0x00, 0x00, 0xb0, 0xb3 |
137 | | }; |
138 | | |
139 | | /* message to enable: |
140 | | * MID 7 Clock Status |
141 | | * MID 8 50Bps subframe data |
142 | | * MID 17 Differential Corrections |
143 | | * MID 28 Nav Lib Measurement Data |
144 | | * MID 29 Nav Lib DGPS Data |
145 | | * MID 30 Nav Lib SV State Data |
146 | | * MID 31 Nav Lib Initialization data |
147 | | * at 1Hz rate */ |
148 | | static unsigned char enablesubframe[] = { |
149 | | 0xa0, 0xa2, 0x00, 0x19, |
150 | | 0x80, // MID 128 initialize Data Source |
151 | | 0x00, 0x00, 0x00, 0x00, // EXEF X |
152 | | 0x00, 0x00, 0x00, 0x00, // ECEF Y |
153 | | 0x00, 0x00, 0x00, 0x00, // ECEF Z |
154 | | 0x00, 0x00, 0x00, 0x00, // clock drift |
155 | | 0x00, 0x00, 0x00, 0x00, // time of week |
156 | | 0x00, 0x00, // week number |
157 | | 0x0C, // Chans 1-12 |
158 | | /* change the next 0x10 to 0x08 for factory reset |
159 | | * 0x10 turns on MIDs 7, 8, 17, 28, 29, 30 and 31 */ |
160 | | 0x10, |
161 | | 0x00, 0x00, 0xb0, 0xb3 |
162 | | }; |
163 | | |
164 | | // disable subframe data |
165 | | static unsigned char disablesubframe[] = { |
166 | | 0xa0, 0xa2, 0x00, 0x19, |
167 | | 0x80, // MID 128 initialize Data Source |
168 | | 0x00, 0x00, 0x00, 0x00, // EXEF X |
169 | | 0x00, 0x00, 0x00, 0x00, // ECEF Y |
170 | | 0x00, 0x00, 0x00, 0x00, // ECEF Z |
171 | | 0x00, 0x00, 0x00, 0x00, // clock drift |
172 | | 0x00, 0x00, 0x00, 0x00, // time of week |
173 | | 0x00, 0x00, // week number |
174 | | 0x0C, // Chans 1-12 |
175 | | |
176 | | // 0x00 turns off MIDs 7, 8, 17, 28, 29, 30 and 31 |
177 | | 0x00, // reset bit map |
178 | | |
179 | | 0x00, 0x00, 0xb0, 0xb3 |
180 | | }; |
181 | | |
182 | | // mode control MID |
183 | | static unsigned char modecontrol[] = { |
184 | | 0xa0, 0xa2, 0x00, 0x0e, |
185 | | 0x88, // MID 136 Mode Control |
186 | | 0x00, 0x00, // pad bytes |
187 | | 0x00, // degraded mode off |
188 | | 0x00, 0x00, // pad bytes |
189 | | 0x00, 0x00, // altitude |
190 | | 0x00, // altitude hold auto |
191 | | 0x00, // use last computed alt |
192 | | 0x00, // reserved |
193 | | 0x00, // disable degraded mode |
194 | | 0x00, // disable dead reckoning |
195 | | 0x01, // enable track smoothing |
196 | | 0x00, 0x00, 0xb0, 0xb3 |
197 | | }; |
198 | | |
199 | | // enable 1 PPS Time MID 52, using Set Message Rate MID 166 |
200 | | static unsigned char enablemid52[] = { |
201 | | 0xa0, 0xa2, 0x00, 0x08, |
202 | | 0xa6, // MID 166 |
203 | | 0x00, // enable/disable one message |
204 | | 0x34, // MID 52 |
205 | | 0x01, // sent once per second |
206 | | 0x00, 0x00, 0x00, 0x00, // reserved, set to zero |
207 | | 0x00, 0xdb, 0xb0, 0xb3 |
208 | | }; |
209 | | |
210 | | |
211 | | static gps_mask_t sirf_msg_debug(struct gps_device_t *, |
212 | | unsigned char *, size_t); |
213 | | static gps_mask_t sirf_msg_errors(struct gps_device_t *, |
214 | | unsigned char *, size_t); |
215 | | static gps_mask_t sirf_msg_navdata(struct gps_device_t *, unsigned char *, |
216 | | size_t); |
217 | | static gps_mask_t sirf_msg_navsol(struct gps_device_t *, unsigned char *, |
218 | | size_t); |
219 | | static gps_mask_t sirf_msg_nlmd(struct gps_device_t *, unsigned char *, |
220 | | size_t); |
221 | | static gps_mask_t sirf_msg_ppstime(struct gps_device_t *, unsigned char *, |
222 | | size_t); |
223 | | static gps_mask_t sirf_msg_nl(struct gps_device_t *, unsigned char *, |
224 | | size_t); |
225 | | static gps_mask_t sirf_msg_ee(struct gps_device_t *, unsigned char *, |
226 | | size_t); |
227 | | static gps_mask_t sirf_msg_svinfo(struct gps_device_t *, unsigned char *, |
228 | | size_t); |
229 | | static gps_mask_t sirf_msg_swversion(struct gps_device_t *, unsigned char *, |
230 | | size_t); |
231 | | static gps_mask_t sirf_msg_sysparam(struct gps_device_t *, unsigned char *, |
232 | | size_t); |
233 | | static gps_mask_t sirf_msg_dgpsstatus(struct gps_device_t *, unsigned char *, |
234 | | size_t); |
235 | | static gps_mask_t sirf_msg_ublox(struct gps_device_t *, unsigned char *, |
236 | | size_t); |
237 | | |
238 | | |
239 | | static bool sirf_write(struct gps_device_t *session, unsigned char *msg, |
240 | | size_t msg_size) |
241 | 772 | { |
242 | 772 | unsigned int crc; |
243 | 772 | size_t i, len; |
244 | 772 | bool ok; |
245 | 772 | unsigned int type; |
246 | | |
247 | | // do not write if -b (readonly) option set |
248 | 772 | if (session->context->readonly) { |
249 | 0 | return true; |
250 | 0 | } |
251 | 772 | if (10 > msg_size) { |
252 | | // message is smaller than minimum size |
253 | 0 | GPSD_LOG(LOG_ERROR, &session->context->errout, |
254 | 0 | "SiRF: sirf_write() msg too small!\n"); |
255 | 0 | return false; |
256 | 0 | } |
257 | 772 | type = msg[4]; |
258 | | |
259 | | /* |
260 | | * Control strings spaced too closely together confuse the SiRF |
261 | | * IV. This wasn't an issue on older SiRFs, but they've gone to a |
262 | | * lower-powered processor that apparently has trouble keeping up. |
263 | | * Now you have to wait for the ACK, otherwise chaos ensues. |
264 | | * Add instrumentation to reveal when this may happen. |
265 | | */ |
266 | | // can also be false because ACK was received after last send |
267 | 772 | if (0 < session->driver.sirf.need_ack) { |
268 | 213 | GPSD_LOG(LOG_WARN, &session->context->errout, |
269 | 213 | "SiRF: warning, write of MID %#02x while " |
270 | 213 | "awaiting ACK for %#02x.\n", |
271 | 213 | type, session->driver.sirf.need_ack); |
272 | 213 | } |
273 | | |
274 | 772 | len = (size_t)((msg[2] << 8) | msg[3]); |
275 | 772 | if ((len + 8) > msg_size) { |
276 | | // message is smaller than len + leader + trailer |
277 | 0 | GPSD_LOG(LOG_ERROR, &session->context->errout, |
278 | 0 | "SiRF: sirf_write() msg less than %zu!\n", len + 8); |
279 | 0 | return false; |
280 | 0 | } |
281 | | // calculate CRC |
282 | 772 | crc = 0; |
283 | 5.07k | for (i = 0; i < len; i++) { |
284 | 4.29k | crc += (int)msg[4 + i]; |
285 | 4.29k | } |
286 | 772 | crc &= 0x7fff; |
287 | | |
288 | | // enter CRC after payload |
289 | 772 | msg[len + 4] = (unsigned char)((crc & 0xff00) >> 8); |
290 | 772 | msg[len + 5] = (unsigned char)(crc & 0x00ff); |
291 | | |
292 | 772 | GPSD_LOG(LOG_PROG, &session->context->errout, |
293 | 772 | "SiRF: Writing MID %#02x:\n", type); |
294 | 772 | ok = (gpsd_write(session, (const char *)msg, len + 8) == |
295 | 772 | (ssize_t) (len + 8)); |
296 | | |
297 | 772 | session->driver.sirf.need_ack = type; |
298 | 772 | return ok; |
299 | 772 | } |
300 | | |
301 | | static ssize_t sirf_control_send(struct gps_device_t *session, char *msg, |
302 | | size_t len) |
303 | 0 | { |
304 | 0 | session->msgbuf[0] = (char)0xa0; |
305 | 0 | session->msgbuf[1] = (char)0xa2; |
306 | 0 | session->msgbuf[2] = (len >> 8) & 0xff; |
307 | 0 | session->msgbuf[3] = len & 0xff; |
308 | 0 | memcpy(session->msgbuf + 4, msg, len); |
309 | 0 | session->msgbuf[len + 6] = (char)0xb0; |
310 | 0 | session->msgbuf[len + 7] = (char)0xb3; |
311 | 0 | session->msgbuflen = len + 8; |
312 | | |
313 | | // *INDENT-OFF* |
314 | 0 | return sirf_write(session, |
315 | 0 | (unsigned char *)session->msgbuf, |
316 | 0 | sizeof(session->msgbuf)) ? (int)session->msgbuflen : -1; |
317 | | // *INDENT-ON* |
318 | 0 | } |
319 | | |
320 | | // change speed in binary mode |
321 | | static bool sirfbin_speed(struct gps_device_t *session, speed_t speed, |
322 | | char parity, int stopbits) |
323 | 0 | { |
324 | 0 | static unsigned char msg[] = { |
325 | 0 | 0xa0, 0xa2, 0x00, 0x09, |
326 | 0 | 0x86, /* byte 4: |
327 | | * Set Binary Serial Port |
328 | | * MID 134 */ |
329 | 0 | 0x00, 0x00, 0x12, 0xc0, // bytes 5-8: 4800 bps |
330 | 0 | 0x08, // byte 9: 8 data bits |
331 | 0 | 0x01, // byte 10: 1 stop bit |
332 | 0 | 0x00, // byte 11: no parity |
333 | 0 | 0x00, // byte 12: reserved pad |
334 | 0 | 0x00, 0x00, 0xb0, 0xb3 |
335 | 0 | }; |
336 | 0 | GPSD_LOG(LOG_PROG, &session->context->errout, |
337 | 0 | "SiRF: sirf_speed(%u,%c,%d)\n", |
338 | 0 | (unsigned int)speed, parity, stopbits); |
339 | 0 | if (9600 >= speed) { |
340 | 0 | GPSD_LOG(LOG_WARN, &session->context->errout, |
341 | 0 | "SiRF may lag at 9600bps or less.\n"); |
342 | 0 | } |
343 | |
|
344 | 0 | switch (parity) { |
345 | 0 | case 'E': |
346 | 0 | case 2: |
347 | 0 | parity = (char)2; |
348 | 0 | break; |
349 | 0 | case 'O': |
350 | 0 | case 1: |
351 | 0 | parity = (char)1; |
352 | 0 | break; |
353 | 0 | case 'N': |
354 | 0 | case 0: |
355 | 0 | default: |
356 | 0 | parity = (char)0; |
357 | 0 | break; |
358 | 0 | } |
359 | 0 | msg[5] = (unsigned char)((speed >> 24) & 0xff); |
360 | 0 | msg[6] = (unsigned char)((speed >> 16) & 0xff); |
361 | 0 | msg[7] = (unsigned char)((speed >> 8) & 0xff); |
362 | 0 | msg[8] = (unsigned char)(speed & 0xff); |
363 | 0 | msg[10] = (unsigned char)stopbits; |
364 | 0 | msg[11] = (unsigned char)parity; |
365 | 0 | return sirf_write(session, msg, sizeof(msg)); |
366 | 0 | } |
367 | | |
368 | | /* switch from binary to NMEA at specified baud |
369 | | * FIXME: does not seem to work... */ |
370 | | static bool sirf_to_nmea(struct gps_device_t *session, speed_t speed) |
371 | 0 | { |
372 | 0 | static unsigned char msg[] = { 0xa0, 0xa2, 0x00, 0x18, |
373 | 0 | 0x81, 0x02, |
374 | 0 | 0x01, 0x01, // GGA |
375 | 0 | 0x00, 0x00, // suppress GLL |
376 | 0 | 0x01, 0x01, // GSA |
377 | 0 | 0x05, 0x01, // GSV |
378 | 0 | 0x01, 0x01, // RMC |
379 | 0 | 0x00, 0x00, // suppress VTG |
380 | 0 | 0x00, 0x01, // suppress MSS |
381 | 0 | 0x00, 0x01, // suppress EPE |
382 | 0 | 0x00, 0x01, // suppress EPE |
383 | 0 | 0x00, 0x01, // suppress ZDA |
384 | 0 | 0x00, 0x00, // unused |
385 | 0 | 0x12, 0xc0, // 4800 bps |
386 | 0 | 0xb0, 0xb3 |
387 | 0 | }; |
388 | |
|
389 | 0 | if (0xffff <= speed) { |
390 | 0 | GPSD_LOG(LOG_ERROR, &session->context->errout, |
391 | 0 | "SiRF: can't switch from SiRF to NMEA because " |
392 | 0 | " current speed %u is big.", |
393 | 0 | (unsigned int)speed); |
394 | 0 | return false; |
395 | 0 | } |
396 | | |
397 | | // stop binary initialization |
398 | 0 | session->cfg_stage = UINT_MAX; |
399 | |
|
400 | 0 | msg[26] = (unsigned char)HI(speed); |
401 | 0 | msg[27] = (unsigned char)LO(speed); |
402 | 0 | return sirf_write(session, msg, sizeof(msg)); |
403 | 0 | } |
404 | | |
405 | | static void sirfbin_mode(struct gps_device_t *session, int mode) |
406 | 0 | { |
407 | 0 | if (MODE_NMEA == mode) { |
408 | 0 | (void)sirf_to_nmea(session, session->gpsdata.dev.baudrate); |
409 | 0 | } else if (MODE_BINARY == mode) { |
410 | 0 | char parity = '0'; |
411 | 0 | switch (session->gpsdata.dev.parity) { |
412 | 0 | default: |
413 | 0 | case 'N': |
414 | 0 | parity = '0'; |
415 | 0 | break; |
416 | 0 | case 'O': |
417 | 0 | parity = '1'; |
418 | 0 | break; |
419 | 0 | case 'E': |
420 | 0 | parity = '2'; |
421 | 0 | break; |
422 | |
|
423 | 0 | } |
424 | | // gpsd only supports 8[NO]1 or 7[EO]2 |
425 | | // thus the strange use of stopbits |
426 | 0 | (void)nmea_send(session, |
427 | 0 | "$PSRF100,0,%d,%d,%d,%c", |
428 | 0 | session->gpsdata.dev.baudrate, |
429 | 0 | 9 - session->gpsdata.dev.stopbits, |
430 | 0 | session->gpsdata.dev.stopbits, parity); |
431 | | // reset binary init steps |
432 | 0 | session->cfg_stage = 0; |
433 | 0 | session->cfg_step = 0; |
434 | 0 | } |
435 | 0 | } |
436 | | |
437 | | // Debug messages MID 255 (0xff) |
438 | | static gps_mask_t sirf_msg_debug(struct gps_device_t *device, |
439 | | unsigned char *buf, size_t len) |
440 | 178 | { |
441 | 178 | char msgbuf[MAX_PACKET_LENGTH * 3 + 2]; |
442 | 178 | int i; |
443 | | |
444 | 178 | memset(msgbuf, 0, (int)sizeof(msgbuf)); |
445 | | |
446 | | // FIXME: always/only ID 255 |
447 | 178 | if (0xe1 == buf[0]) { // Development statistics messages |
448 | 0 | if (2 > len) { |
449 | | // too short |
450 | 0 | GPSD_LOG(LOG_INF, &device->context->errout, |
451 | 0 | "SiRF: DBG (0xe1) runt len %zu\n", len); |
452 | 0 | return 0; |
453 | 0 | } |
454 | 0 | for (i = 2; i < (int)len; i++) { |
455 | 0 | str_appendf(msgbuf, sizeof(msgbuf), "%c", buf[i] ^ 0xff); |
456 | 0 | } |
457 | 0 | GPSD_LOG(LOG_PROG, &device->context->errout, |
458 | 0 | "SiRF: MID 0xe1 (225) SID %#0x %s\n", buf[1], msgbuf); |
459 | 178 | } else if (0xff == (unsigned char)buf[0]) { // Debug messages |
460 | 881 | for (i = 1; i < (int)len; i++) { |
461 | 703 | if (isprint(buf[i])) { |
462 | 147 | str_appendf(msgbuf, sizeof(msgbuf), "%c", buf[i]); |
463 | 556 | } else { |
464 | 556 | str_appendf(msgbuf, sizeof(msgbuf), |
465 | 556 | "\\x%02x", (unsigned int)buf[i]); |
466 | 556 | } |
467 | 703 | } |
468 | 178 | GPSD_LOG(LOG_PROG, &device->context->errout, |
469 | 178 | "SiRF: DBG 0xff: %s\n", msgbuf); |
470 | 178 | } |
471 | 178 | return 0; |
472 | 178 | } |
473 | | |
474 | | // decode Error ID Data MID 10 (0x0a) |
475 | | static gps_mask_t sirf_msg_errors(struct gps_device_t *device, |
476 | | unsigned char *buf, |
477 | | size_t len UNUSED) |
478 | 133 | { |
479 | 133 | unsigned count; |
480 | | |
481 | 133 | if (5 > len) { |
482 | | // too short |
483 | 108 | GPSD_LOG(LOG_INF, &device->context->errout, |
484 | 108 | "SiRF: EID (0x0a) runt len %zu\n", len); |
485 | 108 | return 0; |
486 | 108 | } |
487 | | |
488 | 25 | count = getbeu16(buf, 3); |
489 | | |
490 | 25 | switch (getbeu16(buf, 1)) { |
491 | 0 | case 2: |
492 | | // ErrId_CS_SVParity |
493 | 0 | GPSD_LOG(LOG_PROG, &device->context->errout, |
494 | 0 | "SiRF: EID 0x0a type 2: Subframe %u error on PRN %u\n", |
495 | 0 | getbeu32(buf, 9), getbeu32(buf, 5)); |
496 | 0 | break; |
497 | | |
498 | 0 | case 4: |
499 | | // ErrId_RMC_GettingPosition |
500 | 0 | GPSD_LOG(LOG_PROG, &device->context->errout, |
501 | 0 | "SiRF: EID 0x0a type 4: RMC_GettingPosition on PRN %u\n", |
502 | 0 | getbeu32(buf, 5)); |
503 | 0 | break; |
504 | | |
505 | 0 | case 10: |
506 | | // ErrId_RXM_TimeExceeded |
507 | 0 | GPSD_LOG(LOG_PROG, &device->context->errout, |
508 | 0 | "SiRF: EID 0x0a type 10: RXM_TimeExceeded PR %u\n", |
509 | 0 | getbeu32(buf, 5)); |
510 | 0 | break; |
511 | | |
512 | 0 | case 11: |
513 | | // ErrId_RXM_TDOPOverflow |
514 | 0 | GPSD_LOG(LOG_PROG, &device->context->errout, |
515 | 0 | "SiRF: EID 0x0a type 11: RXM_TDOPOverflow doppler %u\n", |
516 | 0 | getbeu32(buf, 5)); |
517 | 0 | break; |
518 | | |
519 | 0 | case 12: |
520 | | // ErrId_RXM_ValidDurationExceeded |
521 | 0 | GPSD_LOG(LOG_PROG, &device->context->errout, |
522 | 0 | "SiRF: EID 0x0a type 12: RXM_ValidDurationExceeded PRN %u\n", |
523 | 0 | getbeu32(buf, 5)); |
524 | 0 | break; |
525 | | |
526 | 0 | case 13: |
527 | | // ErrId_STRTP_BadPostion |
528 | 0 | GPSD_LOG(LOG_PROG, &device->context->errout, |
529 | 0 | "SiRF: EID 0x0a type 13: STRTP_BadPostion\n"); |
530 | 0 | break; |
531 | | |
532 | 0 | case 4097: |
533 | | // ErrId_MI_VCOClockLost |
534 | 0 | GPSD_LOG(LOG_PROG, &device->context->errout, |
535 | 0 | "SiRF: EID 0x0a type 4097: MI_VCOClockLost %u\n", |
536 | 0 | getbeu32(buf, 5)); |
537 | 0 | break; |
538 | | |
539 | 0 | case 4099: |
540 | | // ErrId_MI_FalseAcqReceiverReset |
541 | 0 | GPSD_LOG(LOG_PROG, &device->context->errout, |
542 | 0 | "SiRF: EID 0x0a type 4099: MI_FalseAcqReceiverReset %u\n", |
543 | 0 | getbeu32(buf, 5)); |
544 | 0 | break; |
545 | | |
546 | 0 | case 4104: |
547 | | // ErrId_STRTP_SRAMCksum |
548 | 0 | GPSD_LOG(LOG_PROG, &device->context->errout, |
549 | 0 | "SiRF: EID 0x0a type 4104: Failed SRAM " |
550 | 0 | "checksum during startup.\n"); |
551 | 0 | break; |
552 | | |
553 | 0 | case 4105: |
554 | | // ErrId_STRTP_RTCTimeInvalid |
555 | 0 | GPSD_LOG(LOG_PROG, &device->context->errout, |
556 | 0 | "SiRF: EID 0x0a type 4105: Failed RTC SRAM checksum.\n"); |
557 | 0 | break; |
558 | | |
559 | 0 | case 4106: |
560 | | // ErrId_KFC_BackupFailed_Velocity |
561 | 0 | GPSD_LOG(LOG_PROG, &device->context->errout, |
562 | 0 | "SiRF: EID 0x0a type 4106: Failed saving position " |
563 | 0 | "to NVRAM.\n"); |
564 | 0 | break; |
565 | | |
566 | 0 | case 4107: |
567 | | // ErrId_KFC_BackupFailed_NumSV |
568 | 0 | GPSD_LOG(LOG_PROG, &device->context->errout, |
569 | 0 | "SiRF: EID 0x0a type 4107: neither KF nor LSQ fix.\n"); |
570 | 0 | break; |
571 | | |
572 | 0 | case 8193: |
573 | | // ErrId_MI_BufferAllocFailure |
574 | 0 | GPSD_LOG(LOG_PROG, &device->context->errout, |
575 | 0 | "SiRF: EID 0x0a type 8193: " |
576 | 0 | "Error ID Description:Buffer allocation error.\n"); |
577 | 0 | break; |
578 | | |
579 | 0 | case 8194: |
580 | | // ErrId_MI_UpdateTimeFailure |
581 | 0 | GPSD_LOG(LOG_PROG, &device->context->errout, |
582 | 0 | "SiRF: EID 0x0a type 8194: " |
583 | 0 | "PROCESS_1SEC task unable to complete\n"); |
584 | 0 | break; |
585 | | |
586 | 0 | case 8195: |
587 | | // ErrId_MI_MemoryTestFailed |
588 | 0 | GPSD_LOG(LOG_PROG, &device->context->errout, |
589 | 0 | "SiRF: EID 0x0a type 8195: " |
590 | 0 | "Failure of hardware memory test.\n"); |
591 | 0 | break; |
592 | | |
593 | 25 | default: |
594 | 25 | GPSD_LOG(LOG_PROG, &device->context->errout, |
595 | 25 | "SiRF: EID 0x0a: Error MID %u, count %u\n", |
596 | 25 | getbeu16(buf, 1), count); |
597 | 25 | break; |
598 | 25 | } |
599 | 25 | return 0; |
600 | 25 | } |
601 | | |
602 | | // Navigation Library Measurement Data MID 28 (0x1c) |
603 | | static gps_mask_t sirf_msg_nlmd(struct gps_device_t *session, |
604 | | unsigned char *buf UNUSED, size_t len) |
605 | 114 | { |
606 | | |
607 | 114 | double gps_tow = 0.0; |
608 | | |
609 | 114 | if (56 != len) { |
610 | 114 | GPSD_LOG(LOG_INF, &session->context->errout, |
611 | 114 | "SiRF: NLMD (0x0a) runt len %zu\n", len); |
612 | 114 | return 0; |
613 | 114 | } |
614 | | |
615 | | /* oh barf, SiRF claims to be IEEE754 but supports two |
616 | | * different double orders, neither IEEE754 */ |
617 | | /* FIXME - decode the time, since this is the first MID with a |
618 | | * good time stamp this will be good for ntpshm time */ |
619 | 0 | GPSD_LOG(LOG_PROG, &session->context->errout, |
620 | 0 | "SiRF: NLMD 0x1c gps_tow: %f\n", |
621 | 0 | (double)gps_tow); |
622 | |
|
623 | 0 | return 0; |
624 | 114 | } |
625 | | |
626 | | // MID_SiRFNavNotification MID 51 (0x33) |
627 | | static gps_mask_t sirf_msg_navnot(struct gps_device_t *session, |
628 | | unsigned char *buf, size_t len) |
629 | 252 | { |
630 | 252 | const char *definition = "Unknown"; |
631 | 252 | gps_mask_t mask = 0; |
632 | | |
633 | 252 | if (3 > len) { |
634 | 26 | GPSD_LOG(LOG_INF, &session->context->errout, |
635 | 26 | "SiRF: MID (0x33) runt len %zu\n", len); |
636 | 26 | return 0; |
637 | 26 | } |
638 | | |
639 | 226 | switch (buf[1]) { |
640 | 1 | case 1: |
641 | | // last message sent every cycle |
642 | 1 | definition = "SID_GPS_SIRFNAV_COMPLETE"; |
643 | | /* so push a report now */ |
644 | 1 | mask = REPORT_IS; |
645 | 1 | break; |
646 | 12 | case 2: |
647 | 12 | definition = "SID_GPS_SIRFNAV_TIMING"; |
648 | 12 | break; |
649 | 6 | case 3: |
650 | 6 | definition = "SID_GPS_DEMO_TIMING"; |
651 | 6 | break; |
652 | 65 | case 4: |
653 | 65 | definition = "SID_GPS_SIRFNAV_TIME_TAGS"; |
654 | 65 | break; |
655 | 5 | case 5: |
656 | 5 | definition = "SID_GPS_NAV_IS801_PSEUDORANGE_DATA"; |
657 | 5 | break; |
658 | 5 | case 6: |
659 | 5 | definition = "GPS_TRACKER_LOADER_STATE"; |
660 | 5 | break; |
661 | 5 | case 7: |
662 | 5 | definition = "SSB_SIRFNAV_START"; |
663 | 5 | break; |
664 | 5 | case 8: |
665 | 5 | definition = "SSB_SIRFNAV_STOP"; |
666 | 5 | break; |
667 | 0 | case 9: |
668 | 0 | definition = "SSB_RESULT"; |
669 | 0 | break; |
670 | 5 | case 16: |
671 | 5 | definition = "DEMO_TEST_STATUS"; |
672 | 5 | break; |
673 | 0 | case 17: |
674 | 0 | definition = "DEMO_TEST_STATE"; |
675 | 0 | break; |
676 | 37 | case 18: |
677 | 37 | definition = "DEMO_TEST_DATA"; |
678 | 37 | break; |
679 | 3 | case 19: |
680 | 3 | definition = "DEMO_TEST_STATS"; |
681 | 3 | break; |
682 | 10 | case 20: |
683 | 10 | definition = "DEMO_TEST_ERROR"; |
684 | 10 | break; |
685 | 67 | default: |
686 | 67 | break; |
687 | 226 | } |
688 | | |
689 | 226 | GPSD_LOG(LOG_PROG, &session->context->errout, |
690 | 226 | "SiRF IV: NavNotification 51 (0x33), SID: %d (%s), len %lu\n", |
691 | 226 | buf[1], definition, (long unsigned)len); |
692 | | |
693 | 226 | return mask; |
694 | 226 | } |
695 | | |
696 | | /* Multiconstellation Navigation Data response MID 67,1 (0x43) |
697 | | * SIRF_MSG_SSB_GNSS_NAV_DATA |
698 | | * this replaces the deprecated MID 41 */ |
699 | | static gps_mask_t sirf_msg_67_1(struct gps_device_t *session, |
700 | | unsigned char *buf, size_t len) |
701 | 108 | { |
702 | 108 | gps_mask_t mask = 0; |
703 | 108 | uint32_t solution_validity; |
704 | 108 | uint32_t solution_info; |
705 | 108 | uint32_t gps_tow = 0; |
706 | 108 | uint32_t msecs; // tow in ms |
707 | 108 | uint32_t gps_tow_sub_ms = 0; |
708 | 108 | uint16_t gps_week = 0; |
709 | 108 | timespec_t gps_tow_ns = {0}; |
710 | 108 | timespec_t now; |
711 | 108 | int16_t time_bias = 0; |
712 | 108 | uint8_t time_accuracy = 0; |
713 | 108 | uint8_t time_source = 0; |
714 | 108 | struct tm unpacked_date = {0}; |
715 | 108 | unsigned char datum; |
716 | 108 | int64_t clk_bias; |
717 | 108 | uint32_t clk_bias_error; |
718 | 108 | int32_t clk_offset; |
719 | 108 | uint32_t clk_offset_error; |
720 | 108 | int16_t heading_rate; // rate of change cog deg/s * 100 |
721 | 108 | uint32_t distance_travel; // distance traveled m * 100 |
722 | 108 | uint16_t distance_travel_error; // distance traveled error in m * 100 |
723 | | |
724 | 108 | uint32_t ehpe; // Est horizontal position error * 100 |
725 | 108 | unsigned char num_svs_in_sol; // Num of satellites used in solution |
726 | 108 | uint32_t sv_list_1; |
727 | 108 | uint32_t sv_list_2; |
728 | 108 | uint32_t sv_list_3; |
729 | 108 | uint32_t sv_list_4; |
730 | 108 | uint32_t sv_list_5; |
731 | 108 | uint32_t additional_info; |
732 | 108 | int debug_base = LOG_PROG; |
733 | | |
734 | 108 | if (126 > len) { |
735 | 108 | GPSD_LOG(LOG_INF, &session->context->errout, |
736 | 108 | "SiRF: MID 67,1 runt len %zu\n", len); |
737 | 108 | return 0; |
738 | 108 | } |
739 | | |
740 | 0 | GPSD_LOG(LOG_PROG, &session->context->errout, |
741 | 0 | "SiRF V: MND 67,1 Multiconstellation Navigation Data Response \n"); |
742 | |
|
743 | 0 | solution_validity = getbeu32(buf, 2); |
744 | 0 | if (0 != solution_validity) { |
745 | | // invalid fix, just give up |
746 | 0 | return 0; |
747 | 0 | } |
748 | | |
749 | 0 | solution_info = getbeu32(buf, 6); |
750 | 0 | gps_week = getbeu16(buf, 10); |
751 | 0 | msecs = getbeu32(buf, 12); |
752 | 0 | gps_tow = msecs / 1000; |
753 | 0 | gps_tow_ns.tv_sec = gps_tow; |
754 | | // get ms part |
755 | 0 | gps_tow_sub_ms = msecs % 1000; |
756 | | // add in the ns |
757 | 0 | gps_tow_ns.tv_nsec = (gps_tow_sub_ms * 1000000L) + getbeu32(buf, 16); |
758 | 0 | now = gpsd_gpstime_resolv(session, gps_week, gps_tow_ns); |
759 | | /* we'll not use this time, instead the unpacked date below, |
760 | | * to get the right epoch */ |
761 | |
|
762 | 0 | time_bias = getbes16(buf, 20); // add in the ns |
763 | | // time_accuracy is an odd 8 bit float |
764 | 0 | time_accuracy = getub(buf, 22); |
765 | 0 | time_source = getub(buf, 23); // unused |
766 | |
|
767 | 0 | memset(&unpacked_date, 0, sizeof(unpacked_date)); |
768 | 0 | unpacked_date.tm_year = (int)getbeu16(buf, 24) - 1900; |
769 | 0 | unpacked_date.tm_mon = (int)getub(buf, 26) - 1; |
770 | 0 | unpacked_date.tm_mday = (int)getub(buf, 27); |
771 | 0 | unpacked_date.tm_hour = (int)getub(buf, 28); |
772 | 0 | unpacked_date.tm_min = (int)getub(buf, 29); |
773 | 0 | unpacked_date.tm_sec = (int)getbeu16(buf, 30) / 1000; |
774 | 0 | session->context->leap_seconds = (int)getub(buf, 32); |
775 | 0 | session->context->valid |= LEAP_SECOND_VALID; |
776 | 0 | session->newdata.time.tv_sec = mkgmtime(&unpacked_date); |
777 | 0 | session->newdata.time.tv_nsec = gps_tow_ns.tv_nsec; |
778 | | // got time now |
779 | 0 | mask |= TIME_SET; |
780 | |
|
781 | 0 | datum = getub(buf, 33); |
782 | 0 | datum_code_string(datum, session->newdata.datum, |
783 | 0 | sizeof(session->newdata.datum)); |
784 | |
|
785 | 0 | clk_bias = getbes64(buf, 34) / 100.0; |
786 | 0 | clk_bias_error = getbeu32(buf, 42) / 100.0; |
787 | 0 | clk_offset = getbes32(buf, 46) / 100.0; |
788 | 0 | clk_offset_error = getbeu32(buf, 50) / 100.0; |
789 | 0 | session->newdata.latitude = getbes32(buf, 54) * 1e-7; |
790 | 0 | session->newdata.longitude = getbes32(buf, 58) * 1e-7; |
791 | | // altitude WGS84 |
792 | 0 | session->newdata.altHAE = getbes32(buf, 62) * 1e-2; |
793 | | // altitude MSL |
794 | 0 | session->newdata.altMSL = getbes32(buf, 66) * 1e-2; |
795 | | // Let gpsd_error_model() deal with geoid_sep |
796 | |
|
797 | 0 | mask |= LATLON_SET; |
798 | |
|
799 | 0 | switch (solution_info & 0x07) { |
800 | 0 | case 0: // no fix |
801 | 0 | session->newdata.mode = MODE_NO_FIX; |
802 | 0 | break; |
803 | 0 | case 1: // unused |
804 | 0 | session->newdata.mode = MODE_NO_FIX; |
805 | 0 | break; |
806 | 0 | case 2: // unused |
807 | 0 | session->newdata.mode = MODE_NO_FIX; |
808 | 0 | break; |
809 | 0 | case 3: // 3-SV KF Solution |
810 | 0 | session->newdata.mode = MODE_2D; |
811 | 0 | break; |
812 | 0 | case 4: // Four or more SV KF Solution |
813 | 0 | session->newdata.mode = MODE_3D; |
814 | 0 | break; |
815 | 0 | case 5: // 2-D Least-squares Solution |
816 | 0 | session->newdata.mode = MODE_2D; |
817 | 0 | break; |
818 | 0 | case 6: // 3-D Least-squaresSolution |
819 | 0 | session->newdata.mode = MODE_3D; |
820 | 0 | break; |
821 | 0 | case 7: // DR solution, assume 3D |
822 | 0 | session->newdata.mode = MODE_3D; |
823 | 0 | break; |
824 | 0 | default: // can't really happen |
825 | 0 | session->newdata.mode = MODE_NO_FIX; |
826 | 0 | break; |
827 | 0 | } |
828 | 0 | mask |= MODE_SET; |
829 | |
|
830 | 0 | if (!(solution_info & 0x01000)) { |
831 | | // sog - speed over ground m/s * 100 |
832 | 0 | session->newdata.speed = getbeu16(buf, 70) / 100.0; |
833 | 0 | mask |= SPEED_SET; |
834 | 0 | } |
835 | | // cog - course over ground fm true north deg * 100 |
836 | 0 | session->newdata.track = getbeu16(buf, 72) / 100.0; |
837 | 0 | mask |= TRACK_SET; |
838 | | |
839 | | // climb_rate - vertical velocity m/s * 100 |
840 | 0 | session->newdata.climb = getbes16(buf, 74) / 100.0; |
841 | |
|
842 | 0 | if (MODE_3D == session->newdata.mode) { |
843 | 0 | mask |= ALTITUDE_SET | CLIMB_SET; |
844 | 0 | } |
845 | |
|
846 | 0 | heading_rate = getbes16(buf, 76); // rate of change cog deg/s * 100 |
847 | 0 | distance_travel = getbeu32(buf, 78); // distance traveled m * 100 |
848 | | // heading_error error of cog deg * 100 |
849 | 0 | session->newdata.epd = getbeu16(buf, 82) / 100.0; |
850 | | // distance traveled error in m * 100 |
851 | 0 | distance_travel_error = getbeu16(buf, 84) / 100.0; |
852 | |
|
853 | 0 | ehpe = getbeu32(buf, 86); // Estimated horizontal position error * 100 |
854 | | // Estimated vertical position error * 100 |
855 | 0 | session->newdata.epv = getbeu32(buf, 90) / 100.0; |
856 | | // Estimated horizontal velocity error * 100 |
857 | 0 | session->newdata.eps = getbeu16(buf, 94) / 100.0; |
858 | 0 | mask |= SPEEDERR_SET; |
859 | |
|
860 | 0 | session->gpsdata.dop.gdop = (int)getub(buf, 96) / 5.0; |
861 | 0 | session->gpsdata.dop.pdop = (int)getub(buf, 97) / 5.0; |
862 | 0 | session->gpsdata.dop.hdop = (int)getub(buf, 98) / 5.0; |
863 | 0 | session->gpsdata.dop.vdop = (int)getub(buf, 99) / 5.0; |
864 | 0 | session->gpsdata.dop.tdop = (int)getub(buf, 100) / 5.0; |
865 | 0 | mask |= DOP_SET; |
866 | |
|
867 | 0 | num_svs_in_sol = getub(buf, 101); |
868 | 0 | sv_list_1 = getbeu32(buf, 102); |
869 | 0 | sv_list_2 = getbeu32(buf, 106); |
870 | 0 | sv_list_3 = getbeu32(buf, 110); |
871 | 0 | sv_list_4 = getbeu32(buf, 114); |
872 | 0 | sv_list_5 = getbeu32(buf, 118); |
873 | 0 | additional_info = getbeu32(buf, 122); |
874 | |
|
875 | 0 | mask |= REPORT_IS; // send it |
876 | | |
877 | | // skip all the debug pushing and popping, unless needed |
878 | 0 | if (session->context->errout.debug >= debug_base) { |
879 | 0 | char ts_buf[TIMESPEC_LEN]; |
880 | | |
881 | | /* coerce time_t to long to placate older OS, like 32-bit FreeBSD, |
882 | | * where time_t is int */ |
883 | 0 | GPSD_LOG(debug_base, &session->context->errout, |
884 | 0 | "SiRF V: MND 67,1 GPS Week %d, tow %d.%03d, time %s\n", |
885 | 0 | gps_week, gps_tow, gps_tow_sub_ms, |
886 | 0 | timespec_str(&now, ts_buf, sizeof(ts_buf))); |
887 | 0 | GPSD_LOG(debug_base, &session->context->errout, |
888 | 0 | "SiRF V: MND 67,1 UTC time %s leaps %u, datum %s\n", |
889 | 0 | timespec_str(&session->newdata.time, ts_buf, sizeof(ts_buf)), |
890 | 0 | session->context->leap_seconds, |
891 | 0 | session->newdata.datum); |
892 | 0 | GPSD_LOG(debug_base, &session->context->errout, |
893 | 0 | "SiRF V: MND 67,1 packed: %02d%02d%02d %02d:%02d:%02d\n", |
894 | 0 | unpacked_date.tm_mday, unpacked_date.tm_mon + 1, |
895 | 0 | unpacked_date.tm_year % 100, |
896 | 0 | unpacked_date.tm_hour, unpacked_date.tm_min, |
897 | 0 | unpacked_date.tm_sec); |
898 | 0 | GPSD_LOG(debug_base, &session->context->errout, |
899 | 0 | "SiRF V: MND 67,1 solution_info %08x\n", solution_info); |
900 | 0 | GPSD_LOG(debug_base, &session->context->errout, |
901 | 0 | "SiRF V: MND 67,1 lat %.7f lon %.7f altHAE %.2f altMSL %.2f\n", |
902 | 0 | session->newdata.latitude, session->newdata.longitude, |
903 | 0 | session->newdata.altHAE, session->newdata.altMSL); |
904 | 0 | GPSD_LOG(debug_base, &session->context->errout, |
905 | 0 | "SiRF V: MND 67,1 speed %.2f track %.2f climb %.2f " |
906 | 0 | "heading_rate %d\n", |
907 | 0 | session->newdata.speed, session->newdata.track, |
908 | 0 | session->newdata.climb, heading_rate); |
909 | 0 | GPSD_LOG(debug_base, &session->context->errout, |
910 | 0 | "SiRF V: MND 67,1 time_bias %d time_accuracy %u " |
911 | 0 | "time_source %u\n", |
912 | 0 | time_bias, time_accuracy, time_source); |
913 | 0 | GPSD_LOG(debug_base, &session->context->errout, |
914 | 0 | "SiRF V: MND 67,1 distance_travel %u " |
915 | 0 | "distance_travel_error %d\n", |
916 | 0 | distance_travel, distance_travel_error); |
917 | 0 | GPSD_LOG(debug_base, &session->context->errout, |
918 | 0 | "SiRF V: MND 67,1 clk_bias %.2f clk_bias_error %u\n", |
919 | 0 | clk_bias / 100.0, clk_bias_error); |
920 | 0 | GPSD_LOG(debug_base, &session->context->errout, |
921 | 0 | "SiRF V: MND 67,1 clk_offset %d clk_offset_error %u\n", |
922 | 0 | clk_offset, clk_offset_error); |
923 | 0 | GPSD_LOG(debug_base, &session->context->errout, |
924 | 0 | "SiRF V: MND 67,1 ehpe %d epv %.2f eps %.2f epd %.2f " |
925 | 0 | "num_svs_in_sol %u\n", |
926 | 0 | ehpe, session->newdata.epv, session->newdata.eps, |
927 | 0 | session->newdata.epd, num_svs_in_sol); |
928 | 0 | GPSD_LOG(debug_base, &session->context->errout, |
929 | 0 | "SiRF V: MND 67,1 sv_list_1 %08x sv_list_2 %08x s" |
930 | 0 | "v_list_3 %08x\n", |
931 | 0 | sv_list_1, sv_list_2, sv_list_3); |
932 | 0 | GPSD_LOG(debug_base, &session->context->errout, |
933 | 0 | "SiRF V: MND 67,1 sv_list_4 %08x sv_list_5 %08x " |
934 | 0 | "add_info %08x\n", |
935 | 0 | sv_list_4, sv_list_5, additional_info); |
936 | 0 | } |
937 | |
|
938 | 0 | return mask; |
939 | 0 | } |
940 | | |
941 | | /* Multiconstellation Navigation Data response MID 67,16 (0x43) |
942 | | * this replaces the deprecated MID 41 */ |
943 | | static gps_mask_t sirf_msg_67_16(struct gps_device_t *session, |
944 | | unsigned char *buf, size_t len) |
945 | 93 | { |
946 | 93 | gps_mask_t mask = 0; |
947 | 93 | uint32_t gps_tow = 0; |
948 | 93 | uint32_t gps_tow_sub_ms = 0; |
949 | 93 | uint16_t gps_week = 0; |
950 | 93 | timespec_t gps_tow_ns = {0}; |
951 | 93 | timespec_t now = {0}; |
952 | 93 | int16_t time_bias = 0; |
953 | 93 | uint8_t time_accuracy = 0; |
954 | 93 | uint8_t time_source = 0; |
955 | 93 | uint8_t msg_info = 0; |
956 | 93 | uint8_t num_of_sats = 0; |
957 | 93 | unsigned int sat_num; |
958 | 93 | int st; // index into skyview |
959 | | |
960 | 93 | if (18 > len) { |
961 | | // zero sats is len == 18 |
962 | 93 | GPSD_LOG(LOG_WARN, &session->context->errout, |
963 | 93 | "SiRF V: MID 67,16 runt packet. Len %lu\n", |
964 | 93 | (unsigned long)len); |
965 | 93 | return 0; |
966 | 93 | } |
967 | | |
968 | 0 | if (198 < len) { |
969 | | // max sats per message is 15 |
970 | 0 | GPSD_LOG(LOG_WARN, &session->context->errout, |
971 | 0 | "SiRF V: MID 67,16 packet too big. Len %lu\n", |
972 | 0 | (unsigned long)len); |
973 | 0 | return 0; |
974 | 0 | } |
975 | | |
976 | 0 | GPSD_LOG(LOG_PROG, &session->context->errout, |
977 | 0 | "SiRF V: MID 67,16 Multiconstellation Satellite Data Response\n"); |
978 | |
|
979 | 0 | gps_week = getbeu16(buf, 2); |
980 | 0 | gps_tow = getbeu32(buf, 4) / 1000; |
981 | | // get ms part, convert to ns |
982 | 0 | gps_tow_sub_ms = 1000000 * (getbeu32(buf, 4) % 1000); |
983 | 0 | gps_tow_sub_ms += getbeu32(buf, 8); // add in the ns |
984 | 0 | gps_tow_ns.tv_sec = gps_tow; |
985 | 0 | gps_tow_ns.tv_nsec = gps_tow_sub_ms; |
986 | 0 | session->newdata.time = gpsd_gpstime_resolv(session, gps_week, gps_tow_ns); |
987 | 0 | session->gpsdata.skyview_time = session->newdata.time; |
988 | 0 | time_bias = getbes16(buf, 12); |
989 | | // time_accuracy is an odd 8 bit float |
990 | 0 | time_accuracy = getub(buf, 14); |
991 | 0 | time_source = getub(buf, 15); |
992 | 0 | msg_info = getub(buf, 16); |
993 | 0 | if (0 == (msg_info & 0x0f)) { |
994 | | // WTF? |
995 | 0 | return 0; |
996 | 0 | } |
997 | 0 | if (1 == (msg_info & 0x0f)) { |
998 | | // first set, zero the sats |
999 | 0 | gpsd_zero_satellites(&session->gpsdata); |
1000 | 0 | } |
1001 | 0 | st = ((msg_info & 0x0f) - 1) * 15; |
1002 | 0 | num_of_sats = getub(buf, 17); |
1003 | | // got time now |
1004 | 0 | mask |= TIME_SET; |
1005 | | |
1006 | | // skip all the debug pushing and popping, unless needed |
1007 | 0 | if (LOG_IO <= session->context->errout.debug) { |
1008 | | /* coerce time_t to long to placate older OS, like 32-bit FreeBSD, |
1009 | | * where time_t is int */ |
1010 | 0 | char ts_buf[TIMESPEC_LEN]; |
1011 | |
|
1012 | 0 | GPSD_LOG(LOG_IO, &session->context->errout, |
1013 | 0 | "SiRF V: MID 67,16 GPS Week %d, tow %d.%03d, time %s\n", |
1014 | 0 | gps_week, gps_tow, gps_tow_sub_ms, |
1015 | 0 | timespec_str(&now, ts_buf, sizeof(ts_buf))); |
1016 | 0 | GPSD_LOG(LOG_IO, &session->context->errout, |
1017 | 0 | "SiRF V: MID 67,16 Time bias: %u ns, accuracy %#02x, source %u, " |
1018 | 0 | "msg_info %#02x, sats %u\n", |
1019 | 0 | time_bias, time_accuracy, time_source, msg_info, |
1020 | 0 | num_of_sats); |
1021 | 0 | } |
1022 | | |
1023 | | // used? |
1024 | |
|
1025 | 0 | if (MAXCHANNELS < num_of_sats) { |
1026 | | // shut up coverity |
1027 | 0 | num_of_sats = MAXCHANNELS; |
1028 | 0 | } |
1029 | 0 | session->gpsdata.satellites_visible = num_of_sats; |
1030 | | |
1031 | | // now decode the individual sat data |
1032 | | /* FIXME: num_of_sats is total sats tracked, not the number of sats |
1033 | | * in this message, so this looks wrong? */ |
1034 | 0 | for (sat_num = 0; sat_num < num_of_sats; sat_num++) { |
1035 | 0 | unsigned offset; |
1036 | 0 | uint16_t sat_info; |
1037 | 0 | uint16_t other_info; |
1038 | 0 | unsigned char gnssId_sirf; |
1039 | 0 | unsigned char gnssId; |
1040 | 0 | unsigned char svId; |
1041 | 0 | short PRN; |
1042 | 0 | double azimuth; |
1043 | 0 | double elevation; |
1044 | 0 | short avg_cno; |
1045 | 0 | double ss; |
1046 | 0 | uint32_t status; |
1047 | |
|
1048 | 0 | offset = 18 + (sat_num * 12); |
1049 | 0 | if (offset >= len) { |
1050 | | // end of this message |
1051 | 0 | break; |
1052 | 0 | } |
1053 | 0 | sat_info = getbeu16(buf, offset); |
1054 | 0 | if (0 == sat_info) { |
1055 | | // empty slot, ignore |
1056 | 0 | continue; |
1057 | 0 | } |
1058 | | |
1059 | | /* 0 = GPS/QZSS |
1060 | | 1 = SBAS |
1061 | | 2 = GLONASS |
1062 | | 3 = Galileo |
1063 | | 4 = BDS |
1064 | | */ |
1065 | 0 | gnssId_sirf = sat_info >> 13; |
1066 | 0 | svId = sat_info & 0x0ff; |
1067 | 0 | other_info = (sat_info >> 8) & 0x1f; |
1068 | | /* make up a PRN based on gnssId:svId, using table 4-55 |
1069 | | * from (CS-303979-SP-9) SiRFstarV OSP Extensions |
1070 | | * Note: the Qualcomm doc is very vague |
1071 | | */ |
1072 | 0 | switch (gnssId_sirf) { |
1073 | 0 | case 0: |
1074 | | /* GPS, 1-32 maps to 1-32 |
1075 | | * 173 to 182: QZSS IMES |
1076 | | * 183 to 187: QZSS SAIF |
1077 | | * 193 to 202: QZSS */ |
1078 | 0 | if ((173 <= svId) && |
1079 | 0 | (182 >= svId)){ |
1080 | | // IMES |
1081 | 0 | gnssId = 4; |
1082 | 0 | PRN = svId; |
1083 | 0 | svId -= 172; |
1084 | 0 | } else if ((193 <= svId) && |
1085 | 0 | (202 >= svId)){ |
1086 | | // QZSS |
1087 | 0 | gnssId = 5; |
1088 | 0 | PRN = svId; |
1089 | 0 | svId -= 192; |
1090 | 0 | } else { |
1091 | | // GPS, or?? |
1092 | 0 | gnssId = 0; |
1093 | 0 | PRN = svId; |
1094 | 0 | } |
1095 | 0 | break; |
1096 | 0 | case 1: |
1097 | | // SBAS, 120-158 maps to 120-158 |
1098 | 0 | if (120 > svId || |
1099 | 0 | 158 < svId) { |
1100 | | // skip bad svId |
1101 | 0 | continue; |
1102 | 0 | } |
1103 | 0 | gnssId = 1; |
1104 | 0 | PRN = svId; |
1105 | 0 | break; |
1106 | 0 | case 2: |
1107 | | // GLONASS, 1-32 maps to 65-96 |
1108 | 0 | if (1 > svId) { |
1109 | | // skip bad svId |
1110 | 0 | continue; |
1111 | 0 | } |
1112 | 0 | if (32 < svId) { |
1113 | | // skip bad svId |
1114 | 0 | continue; |
1115 | 0 | } |
1116 | 0 | gnssId = 6; |
1117 | 0 | PRN = svId + 64; |
1118 | 0 | break; |
1119 | 0 | case 3: |
1120 | | // Galileo, 1-36 maps to 211-246 |
1121 | 0 | if (1 > svId) { |
1122 | | // skip bad svId |
1123 | 0 | continue; |
1124 | 0 | } |
1125 | 0 | if (37 < svId) { |
1126 | | // skip bad svId |
1127 | 0 | continue; |
1128 | 0 | } |
1129 | 0 | gnssId = 2; |
1130 | 0 | PRN = svId + 210; |
1131 | 0 | break; |
1132 | 0 | case 4: |
1133 | | // BeiDou, 1-37 maps to 159-163,33-64 |
1134 | 0 | if (1 > svId) { |
1135 | | // skip bad svId |
1136 | 0 | continue; |
1137 | 0 | } else if (6 > svId) { |
1138 | | // 1-5 maps to 159-163 |
1139 | 0 | PRN = svId + 158; |
1140 | 0 | } else if (37 < svId) { |
1141 | | // skip bad svId |
1142 | 0 | continue; |
1143 | 0 | } else { |
1144 | | // 6-37 maps to 33-64 |
1145 | 0 | PRN = svId + 27; |
1146 | 0 | } |
1147 | 0 | gnssId = 3; |
1148 | 0 | break; |
1149 | 0 | default: |
1150 | | // Huh? Skip bad gnssId |
1151 | 0 | continue; |
1152 | 0 | } |
1153 | | |
1154 | | // note tenths in az and el |
1155 | 0 | azimuth = (double)getbeu16(buf, offset + 2) / 10.0; |
1156 | | // what, no negative elevation? |
1157 | 0 | elevation = (double)getbeu16(buf, offset + 4) / 10.0; |
1158 | 0 | avg_cno = getbeu16(buf, offset + 6); |
1159 | 0 | ss = (double)avg_cno / 10.0; |
1160 | 0 | status = getbeu32(buf, offset + 8); |
1161 | 0 | if ((0 == avg_cno) && |
1162 | 0 | (0 >= elevation) && |
1163 | 0 | (0 >= azimuth)) { |
1164 | | // null data, skip it |
1165 | 0 | continue; |
1166 | 0 | } |
1167 | | |
1168 | 0 | session->gpsdata.skyview[st].PRN = PRN; |
1169 | 0 | session->gpsdata.skyview[st].svid = svId; |
1170 | 0 | session->gpsdata.skyview[st].gnssid = gnssId; |
1171 | 0 | session->gpsdata.skyview[st].azimuth = azimuth; |
1172 | 0 | session->gpsdata.skyview[st].elevation = elevation; |
1173 | 0 | session->gpsdata.skyview[st].ss = ss; |
1174 | 0 | if (0x08000 == (status & 0x08000)) { |
1175 | 0 | session->gpsdata.skyview[st].used = true; |
1176 | 0 | } |
1177 | 0 | GPSD_LOG(LOG_IO, &session->context->errout, |
1178 | 0 | "SiRF V: MID 67,16 sat_info %04x gnssId %u svId %3u " |
1179 | 0 | "o %2u PRN %3u az %4.1f " |
1180 | 0 | "el %5.1f ss %5.1f\n", |
1181 | 0 | sat_info, gnssId, svId, other_info, PRN, azimuth, |
1182 | 0 | elevation, ss); |
1183 | 0 | st++; |
1184 | 0 | if (st == MAXCHANNELS) { |
1185 | | // filled up skyview |
1186 | 0 | break; |
1187 | 0 | } |
1188 | 0 | } |
1189 | 0 | if ((msg_info >> 4) == (msg_info & 0x0f)) { |
1190 | | // got all the sats |
1191 | 0 | mask |= SATELLITE_SET; |
1192 | 0 | } |
1193 | 0 | return mask; |
1194 | 0 | } |
1195 | | |
1196 | | /* Multiconstellation Navigation Data response MID 67 (0x43) |
1197 | | * this replaces the deprecated MID 41 */ |
1198 | | static gps_mask_t sirf_msg_67(struct gps_device_t *session, |
1199 | | unsigned char *buf, size_t len) |
1200 | 344 | { |
1201 | 344 | gps_mask_t mask = 0; |
1202 | | |
1203 | 344 | if (2 > len) { |
1204 | 74 | GPSD_LOG(LOG_INF, &session->context->errout, |
1205 | 74 | "SiRF: MID (0x43) runt len %zu\n", len); |
1206 | 74 | return 0; |
1207 | 74 | } |
1208 | | |
1209 | 270 | switch (buf[1]) { |
1210 | 108 | case 1: |
1211 | 108 | return sirf_msg_67_1(session, buf, len); |
1212 | 93 | case 16: |
1213 | 93 | return sirf_msg_67_16(session, buf, len); |
1214 | 69 | default: |
1215 | 69 | GPSD_LOG(LOG_PROG, &session->context->errout, |
1216 | 270 | "SiRF V: unused MID 67 (0x43), SID: %d, len %ld\n", buf[1], |
1217 | 270 | (long)len); |
1218 | 270 | } |
1219 | 69 | return mask; |
1220 | 270 | } |
1221 | | |
1222 | | // MID_QUERY_RESP MID 81 (0x51) |
1223 | | static gps_mask_t sirf_msg_qresp(struct gps_device_t *session, |
1224 | | unsigned char *buf, size_t len) |
1225 | 177 | { |
1226 | | |
1227 | 177 | if (3 > len) { |
1228 | 91 | GPSD_LOG(LOG_INF, &session->context->errout, |
1229 | 91 | "SiRF: MID (0x51) runt len %zu\n", len); |
1230 | 91 | return 0; |
1231 | 91 | } |
1232 | | |
1233 | 86 | GPSD_LOG(LOG_PROG, &session->context->errout, |
1234 | 86 | "SiRF IV: unused MID_QUERY_RESP 0x51 (81), Q MID: %d, " |
1235 | 86 | "SID: %d Elen: %d\n", |
1236 | 86 | buf[1], buf[2], buf[3]); |
1237 | 86 | return 0; |
1238 | 177 | } |
1239 | | |
1240 | | // SBAS 50 (0x32) |
1241 | | static gps_mask_t sirf_msg_sbas(struct gps_device_t *session, |
1242 | | unsigned char *buf, size_t len) |
1243 | 90 | { |
1244 | 90 | unsigned char prn, mode, timeout, flags; |
1245 | | |
1246 | 90 | if (13 != len) { |
1247 | 90 | GPSD_LOG(LOG_INF, &session->context->errout, |
1248 | 90 | "SiRF: MID (0x32) runt len %zu\n", len); |
1249 | 90 | return 0; |
1250 | 90 | } |
1251 | | |
1252 | 0 | prn = buf[1]; |
1253 | 0 | mode = buf[2]; |
1254 | 0 | timeout = buf[3]; |
1255 | 0 | flags = buf[4]; |
1256 | 0 | GPSD_LOG(LOG_PROG, &session->context->errout, |
1257 | 0 | "SiRF: SBAS 0x32 PRN %u mode %u timeout %u flags x%x\n", |
1258 | 0 | prn, mode, timeout, flags); |
1259 | 0 | return 0; |
1260 | 90 | } |
1261 | | |
1262 | | // Statistics Channel MID 225 (0xe1) |
1263 | | static gps_mask_t sirf_msg_stats(struct gps_device_t *session, |
1264 | | unsigned char *buf, size_t len) |
1265 | 237 | { |
1266 | 237 | const char *definition = "Unknown"; |
1267 | 237 | char output[255] = "unused"; |
1268 | 237 | uint16_t ttff_reset; |
1269 | 237 | uint16_t ttff_aid; |
1270 | 237 | uint16_t ttff_nav; |
1271 | | |
1272 | 237 | if (2 > len) { |
1273 | 166 | GPSD_LOG(LOG_INF, &session->context->errout, |
1274 | 166 | "SiRF: MID (0xe1) runt len %zu\n", len); |
1275 | 166 | return 0; |
1276 | 166 | } |
1277 | | |
1278 | 71 | switch (buf[1]) { |
1279 | 0 | case 6: |
1280 | 0 | definition = "SSB_SIRF_STATS 6"; |
1281 | 0 | ttff_reset = getbeu16(buf, 2); |
1282 | 0 | ttff_aid = getbeu16(buf, 4); |
1283 | 0 | ttff_nav = getbeu16(buf, 6); |
1284 | 0 | (void)snprintf(output, sizeof(output), |
1285 | 0 | "ttff reset %.1f, aid %.1f nav %.1f", |
1286 | 0 | ttff_reset * 0.1, ttff_aid * 0.1, ttff_nav * 0.1); |
1287 | 0 | break; |
1288 | 0 | case 7: |
1289 | 0 | definition = "SSB_SIRF_STATS 7"; |
1290 | 0 | ttff_reset = getbeu16(buf, 2); |
1291 | 0 | ttff_aid = getbeu16(buf, 4); |
1292 | 0 | ttff_nav = getbeu16(buf, 6); |
1293 | 0 | (void)snprintf(output, sizeof(output), |
1294 | 0 | "ttff reset %.1f, aid %.1f nav %.1f", |
1295 | 0 | ttff_reset * 0.1, ttff_aid * 0.1, ttff_nav * 0.1); |
1296 | 0 | break; |
1297 | 0 | case 32: |
1298 | 0 | definition = "SIRF_MSG_SSB_DL_COMPAT_REC_OUT "; |
1299 | 0 | break; |
1300 | 0 | case 33: |
1301 | 0 | definition = "SIRF_MSG_SSB_DL_OUT_TERM"; |
1302 | 0 | break; |
1303 | 0 | case 34: |
1304 | 0 | definition = "SIRF_MSG_SSB_DL_STATUS_OUT"; |
1305 | 0 | break; |
1306 | 0 | case 35: |
1307 | 0 | definition = "SIRF_MSG_SSB_SIRF_INTERNAL_OUT"; |
1308 | 0 | break; |
1309 | 0 | case 65: |
1310 | 0 | definition = "SIRF_MSG_SSB_EE_SEA_PROVIDE_EPH_EXT"; |
1311 | 0 | break; |
1312 | 71 | default: |
1313 | 71 | break; |
1314 | 71 | } |
1315 | | |
1316 | 71 | GPSD_LOG(LOG_PROG, &session->context->errout, |
1317 | 71 | "SiRF IV: MID 225 (0xe1), SID: %d (%s)%s\n", |
1318 | 71 | buf[1], definition, output); |
1319 | | |
1320 | 71 | return 0; |
1321 | 71 | } |
1322 | | |
1323 | | // MID_TCXO_LEARNING_OUT MID 93 (0x5d) |
1324 | | static gps_mask_t sirf_msg_tcxo(struct gps_device_t *session, |
1325 | | unsigned char *buf, size_t len) |
1326 | 1.22k | { |
1327 | 1.22k | const char *definition = "Unknown"; |
1328 | 1.22k | uint32_t gps_tow = 0; |
1329 | 1.22k | uint16_t gps_week = 0; |
1330 | 1.22k | timespec_t gps_tow_ns = {0}; |
1331 | 1.22k | char output[255] = ""; |
1332 | 1.22k | timespec_t now = {0}; |
1333 | 1.22k | gps_mask_t mask = 0; |
1334 | 1.22k | unsigned int time_status = 0; |
1335 | 1.22k | int clock_offset = 0; |
1336 | 1.22k | unsigned int temp = 0; |
1337 | | |
1338 | 1.22k | if (2 > len) { |
1339 | 92 | GPSD_LOG(LOG_INF, &session->context->errout, |
1340 | 92 | "SiRF: MID (0x5d) runt len %zu\n", len); |
1341 | 92 | return 0; |
1342 | 92 | } |
1343 | | |
1344 | 1.13k | switch (buf[1]) { |
1345 | 94 | case 1: |
1346 | 94 | definition = "CLOCK_MODEL_DATA_BASE_OUT"; |
1347 | 94 | break; |
1348 | 67 | case 2: |
1349 | 67 | definition = "TEMPERATURE_TABLE"; |
1350 | 67 | break; |
1351 | 69 | case 4: |
1352 | 69 | definition = "TEMP_RECORDER_MESSAGE"; |
1353 | 69 | break; |
1354 | 81 | case 5: |
1355 | 81 | definition = "EARC"; |
1356 | 81 | break; |
1357 | 104 | case 6: |
1358 | 104 | definition = "RTC_ALARM"; |
1359 | 104 | break; |
1360 | 156 | case 7: |
1361 | 156 | definition = "RTC_CAL"; |
1362 | 156 | break; |
1363 | 68 | case 8: |
1364 | 68 | definition = "MPM_ACQUIRED"; |
1365 | 68 | break; |
1366 | 73 | case 9: |
1367 | 73 | definition = "MPM_SEARCHES"; |
1368 | 73 | break; |
1369 | 66 | case 10: |
1370 | 66 | definition = "MPM_PREPOS"; |
1371 | 66 | break; |
1372 | 65 | case 11: |
1373 | 65 | definition = "MICRO_NAV_MEASUREMENT"; |
1374 | 65 | break; |
1375 | 70 | case 12: |
1376 | 70 | definition = "TCXO_UNCEARTAINTY"; |
1377 | 70 | break; |
1378 | 80 | case 13: |
1379 | 80 | definition = "SYSTEM_TIME_STAMP"; |
1380 | 80 | break; |
1381 | 74 | case 18: |
1382 | 74 | if (26 > len) { |
1383 | 74 | GPSD_LOG(LOG_PROG, &session->context->errout, |
1384 | 74 | "SiRF IV: TCXO 0x5D (93), SID: %d BAD len %zd\n", |
1385 | 74 | buf[1], len); |
1386 | 74 | return 0; |
1387 | 74 | } |
1388 | | |
1389 | 0 | definition = "SIRF_MSG_SSB_XO_TEMP_REC_VALUE"; |
1390 | 0 | gps_tow = getbeu32(buf, 2); |
1391 | 0 | gps_week = getbeu16(buf, 6); |
1392 | 0 | time_status = getub(buf, 8); |
1393 | 0 | clock_offset = getsb(buf, 9); // looks like leapseconds? |
1394 | 0 | temp = getub(buf, 22); |
1395 | 0 | gps_tow_ns.tv_sec = gps_tow / 100; |
1396 | 0 | gps_tow_ns.tv_nsec = (gps_tow % 100) * 10000000L; |
1397 | 0 | session->newdata.time = gpsd_gpstime_resolv(session, gps_week, |
1398 | 0 | gps_tow_ns); |
1399 | | |
1400 | | // skip all the debug pushing and popping, unless needed |
1401 | 0 | if (LOG_PROG <= session->context->errout.debug) { |
1402 | | /* coerce time_t to long to placate older OS, like 32-bit FreeBSD, |
1403 | | * where time_t is int */ |
1404 | 0 | (void)snprintf(output, sizeof(output), |
1405 | 0 | ", GPS Week %u, tow %u, time %lld, time_status %u " |
1406 | 0 | "ClockOffset %d, Temp %.1f", |
1407 | 0 | gps_week, gps_tow, (long long)now.tv_sec, |
1408 | 0 | time_status, |
1409 | 0 | clock_offset, temp * 0.54902); |
1410 | 0 | } |
1411 | |
|
1412 | 0 | if (7 == (time_status & 7)) { |
1413 | 0 | mask |= TIME_SET; |
1414 | 0 | } |
1415 | 0 | break; |
1416 | 68 | default: |
1417 | 68 | break; |
1418 | 1.13k | } |
1419 | | |
1420 | 1.06k | GPSD_LOG(LOG_PROG, &session->context->errout, |
1421 | 1.06k | "SiRF IV: TCXO 0x5D (93), SID: %d (%s)%s\n", |
1422 | 1.06k | buf[1], definition, output); |
1423 | | |
1424 | 1.06k | return mask; |
1425 | 1.13k | } |
1426 | | |
1427 | | /* Software Version String MID 6 |
1428 | | * response to Poll Software Version MID 132 */ |
1429 | | static gps_mask_t sirf_msg_swversion(struct gps_device_t *session, |
1430 | | unsigned char *buf, size_t len) |
1431 | 1.55k | { |
1432 | 1.55k | double fv; |
1433 | 1.55k | unsigned char *cp; |
1434 | | |
1435 | 1.55k | if (1 > len) { |
1436 | 0 | GPSD_LOG(LOG_INF, &session->context->errout, |
1437 | 0 | "SiRF: MID (0x06) runt len %zu\n", len); |
1438 | 0 | return 0; |
1439 | 0 | } |
1440 | | |
1441 | 1.55k | if ((3 < len) && |
1442 | 468 | (len == (unsigned int)(buf[1] + buf[2] + 3))) { |
1443 | | // new style message, Version 4+, max 162 bytes |
1444 | 257 | (void)strlcpy(session->subtype, (char *)buf + 3, |
1445 | 257 | sizeof(session->subtype)); |
1446 | 257 | (void)strlcat(session->subtype, ";", sizeof(session->subtype)); |
1447 | 257 | (void)strlcat(session->subtype, (char *)buf + 3 + buf[1], |
1448 | 257 | sizeof(session->subtype)); |
1449 | 257 | session->driver.sirf.driverstate |= SIRF_GE_232; |
1450 | | // FIXME: this only finding major version, not minor version |
1451 | 478 | for (cp = buf+1; *cp != (unsigned char)'\0' && |
1452 | 221 | 0 == isdigit(*cp); cp++) { |
1453 | 221 | continue; |
1454 | 221 | } |
1455 | 257 | fv = safe_atof((const char *)cp); |
1456 | 1.29k | } else { |
1457 | | // old style, version 3 and below |
1458 | | |
1459 | 1.29k | (void)strlcpy(session->subtype, (char *)buf + 1, |
1460 | 1.29k | sizeof(session->subtype)); |
1461 | | |
1462 | 1.92k | for (cp = buf+1; *cp != (unsigned char)'\0' && |
1463 | 762 | 0 == isdigit(*cp); cp++) { |
1464 | 626 | continue; |
1465 | 626 | } |
1466 | 1.29k | fv = safe_atof((const char *)cp); |
1467 | 1.29k | if (231 > fv) { |
1468 | 136 | session->driver.sirf.driverstate |= SIRF_LT_231; |
1469 | 136 | if (200 < fv) { |
1470 | 0 | sirfbin_mode(session, 0); |
1471 | 0 | } |
1472 | 1.16k | } else if (232 > fv) { |
1473 | 0 | session->driver.sirf.driverstate |= SIRF_EQ_231; |
1474 | 1.16k | } else { |
1475 | 1.16k | session->driver.sirf.driverstate |= SIRF_GE_232; |
1476 | 1.16k | } |
1477 | 1.29k | if (strstr((char *)(buf + 1), "ES")) { |
1478 | 0 | GPSD_LOG(LOG_INF, &session->context->errout, |
1479 | 0 | "SiRF: Firmware has XTrac capability\n"); |
1480 | 0 | } |
1481 | 1.29k | } |
1482 | 1.55k | GPSD_LOG(LOG_PROG, &session->context->errout, |
1483 | 1.55k | "SiRF: FV 0x06: fv: %0.2f, driverstate %0x " |
1484 | 1.55k | "subtype '%s' len %lu buf1 %u buf2 %u\n", |
1485 | 1.55k | fv, session->driver.sirf.driverstate, |
1486 | 1.55k | session->subtype, (long)len, buf[1], buf[2]); |
1487 | 1.55k | session->driver.sirf.time_seen = 0; |
1488 | 1.55k | return DEVICEID_SET; |
1489 | 1.55k | } |
1490 | | |
1491 | | /* subframe data MID 8 |
1492 | | * Use Message ID 14 and 15 instead? |
1493 | | * Use Message ID 56, Sub ID 5, instead? */ |
1494 | | static gps_mask_t sirf_msg_navdata(struct gps_device_t *session, |
1495 | | unsigned char *buf, size_t len) |
1496 | 76 | { |
1497 | 76 | unsigned int i, chan, svid; |
1498 | 76 | uint32_t words[10]; |
1499 | 76 | const unsigned int numwords = 10; |
1500 | | |
1501 | 76 | if (43 != len) { |
1502 | 76 | GPSD_LOG(LOG_INF, &session->context->errout, |
1503 | 76 | "SiRF: MID (0x08) runt len %zu\n", len); |
1504 | 76 | return 0; |
1505 | 76 | } |
1506 | | |
1507 | 0 | chan = (unsigned int)getub(buf, 1); |
1508 | 0 | svid = (unsigned int)getub(buf, 2); |
1509 | |
|
1510 | 0 | for (i = 0; i < numwords; i++) { |
1511 | | // packing undocumented... |
1512 | 0 | words[i] = (uint32_t)getbeu32(buf, 4 * i + 3); |
1513 | 0 | } |
1514 | |
|
1515 | 0 | GPSD_LOG(LOG_DATA, &session->context->errout, |
1516 | 0 | "SiRF: NavData chan %u svid %u\n", chan, svid); |
1517 | | |
1518 | | // SiRF recommends at least 57600 for SiRF IV nav data |
1519 | 0 | if (57600 > session->gpsdata.dev.baudrate) { |
1520 | | // some USB are also too slow, no way to tell which ones |
1521 | 0 | if (session->context->readonly || |
1522 | 0 | session->context->passive) { |
1523 | | // FIXME: duplicated in gpsd_internet_subframe_raw() |
1524 | 0 | GPSD_LOG(LOG_WARN, &session->context->errout, |
1525 | 0 | "WARNING: SiRF: link too slow.\n"); |
1526 | 0 | } else { |
1527 | 0 | GPSD_LOG(LOG_WARN, &session->context->errout, |
1528 | 0 | "WARNING: SiRF: link too slow, disabling subframes.\n"); |
1529 | 0 | (void)sirf_write(session, disablesubframe, sizeof(disablesubframe)); |
1530 | 0 | } |
1531 | 0 | } |
1532 | |
|
1533 | 0 | return gpsd_interpret_subframe_raw(session, GNSSID_GPS, 0, svid, words, |
1534 | 0 | numwords); |
1535 | 76 | } |
1536 | | |
1537 | | // max channels allowed in old MID 4 SiRF format |
1538 | 0 | #define SIRF_CHANNELS 12 |
1539 | | |
1540 | | /* decode Measured Tracker Data response ID 4 (0x04) |
1541 | | * deprecated on Sirfstar V, use MID 67,16 instead */ |
1542 | | static gps_mask_t sirf_msg_svinfo(struct gps_device_t *session, |
1543 | | unsigned char *buf, size_t len) |
1544 | 78 | { |
1545 | 78 | int st, i, j, nsv; |
1546 | 78 | uint32_t hsec; // TOW in hundredths of seconds |
1547 | 78 | timespec_t ts_tow; |
1548 | 78 | char ts_buf[TIMESPEC_LEN]; |
1549 | 78 | gps_mask_t mask = 0; |
1550 | | |
1551 | 78 | if (188 != len) { |
1552 | 78 | GPSD_LOG(LOG_INF, &session->context->errout, |
1553 | 78 | "SiRF: MID (0x04) runt len %zu\n", len); |
1554 | 78 | return 0; |
1555 | 78 | } |
1556 | | |
1557 | 0 | hsec = getbeu32(buf, 3); |
1558 | 0 | ts_tow.tv_sec = hsec / 100; |
1559 | 0 | ts_tow.tv_nsec = (long)((hsec % 100) * 10000000L); |
1560 | 0 | session->gpsdata.skyview_time = gpsd_gpstime_resolv(session, |
1561 | 0 | (unsigned short)getbes16(buf, 1), ts_tow); |
1562 | |
|
1563 | 0 | gpsd_zero_satellites(&session->gpsdata); |
1564 | 0 | for (i = st = nsv = 0; i < SIRF_CHANNELS; i++) { |
1565 | 0 | int cn; |
1566 | 0 | int off = 8 + 15 * i; |
1567 | 0 | bool good; |
1568 | 0 | short prn = (short)getub(buf, off); |
1569 | 0 | unsigned short stat = (unsigned short)getbeu16(buf, off + 3); |
1570 | |
|
1571 | 0 | session->gpsdata.skyview[st].PRN = prn; |
1572 | 0 | session->gpsdata.skyview[st].svid = prn; |
1573 | 0 | if (120 <= prn && |
1574 | 0 | 158 >= prn) { |
1575 | | // SBAS |
1576 | 0 | session->gpsdata.skyview[st].gnssid = 1; |
1577 | 0 | } else { |
1578 | | // GPS |
1579 | 0 | session->gpsdata.skyview[st].gnssid = 0; |
1580 | 0 | } |
1581 | 0 | session->gpsdata.skyview[st].azimuth = |
1582 | 0 | (double)(((unsigned)getub(buf, off + 1) * 3.0) / 2.0); |
1583 | 0 | session->gpsdata.skyview[st].elevation = |
1584 | 0 | (double)((unsigned)getub(buf, off + 2) / 2.0); |
1585 | 0 | cn = 0; |
1586 | 0 | for (j = 0; j < 10; j++) { |
1587 | 0 | cn += (int)getub(buf, off + 5 + j); |
1588 | 0 | } |
1589 | |
|
1590 | 0 | session->gpsdata.skyview[st].ss = (float)(cn / 10.0); |
1591 | 0 | session->gpsdata.skyview[st].used = (bool)(stat & 0x01); |
1592 | 0 | good = session->gpsdata.skyview[st].PRN != 0 && |
1593 | 0 | session->gpsdata.skyview[st].azimuth != 0 && |
1594 | 0 | session->gpsdata.skyview[st].elevation != 0; |
1595 | | #ifdef __UNUSED__ |
1596 | | GPSD_LOG(LOG_PROG, &session->context->errout, |
1597 | | "SiRF: MTD 4 PRN=%2d El=%3.2f Az=%3.2f ss=%3d stat=%04x %c\n", |
1598 | | prn, |
1599 | | getub(buf, off + 2) / 2.0, |
1600 | | (getub(buf, off + 1) * 3) / 2.0, |
1601 | | cn / 10, stat, good ? '*' : ' '); |
1602 | | #endif /* UNUSED */ |
1603 | 0 | if (good != 0) { |
1604 | 0 | st += 1; |
1605 | 0 | if (stat & 0x01) { |
1606 | 0 | nsv++; |
1607 | 0 | } |
1608 | 0 | } |
1609 | 0 | } |
1610 | 0 | if (MAXCHANNELS < st) { |
1611 | 0 | GPSD_LOG(LOG_WARN, &session->context->errout, |
1612 | 0 | "SiRF: MTD 4 too many satellites %d\n", st); |
1613 | 0 | st = MAXCHANNELS; |
1614 | 0 | } |
1615 | 0 | session->gpsdata.satellites_visible = st; |
1616 | 0 | session->gpsdata.satellites_used = nsv; |
1617 | | // mark SBAS sats in use if SBAS was in use as of the last MID 27 |
1618 | 0 | for (i = 0; i < st; i++) { |
1619 | 0 | int prn = session->gpsdata.skyview[i].PRN; |
1620 | 0 | if (120 <= prn && |
1621 | 0 | 158 >= prn && |
1622 | 0 | STATUS_DGPS == session->lastfix.status && |
1623 | 0 | SIRF_DGPS_SOURCE_SBAS == session->driver.sirf.dgps_source) { |
1624 | | /* used does not seem right, DGPS means got the correction |
1625 | | * data, not that the geometry was improved... */ |
1626 | 0 | session->gpsdata.skyview[i].used = true; |
1627 | 0 | } |
1628 | 0 | } |
1629 | 0 | if (3 <= st) { |
1630 | | // SiRF says if 3 sats in view the time is good |
1631 | 0 | mask |= NTPTIME_IS; |
1632 | 0 | GPSD_LOG(LOG_PROG, &session->context->errout, |
1633 | 0 | "SiRF: MTD 0x04 NTPD valid time seen %#02x time %s, " |
1634 | 0 | "leap:%d\n", |
1635 | 0 | session->driver.sirf.time_seen, |
1636 | 0 | timespec_str(&session->gpsdata.skyview_time, ts_buf, |
1637 | 0 | sizeof(ts_buf)), |
1638 | 0 | session->context->leap_seconds); |
1639 | 0 | } |
1640 | 0 | GPSD_LOG(LOG_DATA, &session->context->errout, |
1641 | 0 | "SiRF: MTD 0x04: visible=%d mask={SATELLITE}\n", |
1642 | 0 | session->gpsdata.satellites_visible); |
1643 | 0 | return mask | SATELLITE_SET; |
1644 | 78 | } |
1645 | | |
1646 | | // return NTP time-offset fudge factor for this device |
1647 | | // FIXME: this is pointless... |
1648 | | static double sirf_time_offset(struct gps_device_t *session) |
1649 | 0 | { |
1650 | 0 | double retval = 0; |
1651 | | |
1652 | | // we need to have seen UTC time with a valid leap-year offset |
1653 | 0 | if (0 != (session->driver.sirf.time_seen & TIME_SEEN_UTC_2)) { |
1654 | 0 | retval = NAN; |
1655 | 0 | } else if ((unsigned char)52 == session->driver.sirf.lastid) { |
1656 | | // the PPS time message |
1657 | 0 | retval = 0.3; |
1658 | 0 | } else if ((unsigned char)98 == session->driver.sirf.lastid) { |
1659 | | // u-blox EMND message |
1660 | 0 | retval = 0.570; |
1661 | 0 | } else if ((unsigned char)41 == session->driver.sirf.lastid) { |
1662 | | // geodetic-data message |
1663 | 0 | retval = 0.570; |
1664 | 0 | } else if ((unsigned char)2 == session->driver.sirf.lastid) { |
1665 | | // the Navigation Solution message |
1666 | 0 | if (SOURCE_USB == session->sourcetype || |
1667 | 0 | SOURCE_ACM == session->sourcetype) { |
1668 | 0 | retval = 0.640; // USB or ACM, expect +/- 50mS jitter |
1669 | 0 | } else { |
1670 | 0 | switch (session->gpsdata.dev.baudrate) { |
1671 | 0 | default: |
1672 | 0 | retval = 0.704; // WAG |
1673 | 0 | break; |
1674 | 0 | case 4800: |
1675 | 0 | retval = 0.704; // fudge valid at 4800bps |
1676 | 0 | break; |
1677 | 0 | case 9600: |
1678 | 0 | retval = 0.688; |
1679 | 0 | break; |
1680 | 0 | case 19200: |
1681 | 0 | retval = 0.484; |
1682 | 0 | break; |
1683 | 0 | case 38400: |
1684 | 0 | retval = 0.845; // 0.388; ?? |
1685 | 0 | break; |
1686 | 0 | } |
1687 | 0 | } |
1688 | 0 | } |
1689 | | |
1690 | 0 | return retval; |
1691 | 0 | } |
1692 | | |
1693 | | // Measured Navigation Data Out MND ID 2 (0x02) |
1694 | | static gps_mask_t sirf_msg_navsol(struct gps_device_t *session, |
1695 | | unsigned char *buf, size_t len) |
1696 | 441 | { |
1697 | 441 | unsigned short navtype; |
1698 | 441 | unsigned short nav_mode2; |
1699 | 441 | unsigned short gps_week; |
1700 | 441 | uint32_t iTOW; |
1701 | 441 | timespec_t tow; |
1702 | 441 | gps_mask_t mask = 0; |
1703 | 441 | char ts_buf[TIMESPEC_LEN]; |
1704 | 441 | double d; |
1705 | | |
1706 | | // later versions are 47 bytes long |
1707 | 441 | if (41 > len) { |
1708 | 257 | GPSD_LOG(LOG_INF, &session->context->errout, |
1709 | 257 | "SiRF: MID (0x02) runt len %zu\n", len); |
1710 | 257 | return 0; |
1711 | 257 | } |
1712 | | |
1713 | | /* |
1714 | | * A count of satellites used is an unsigned byte at offset 28 |
1715 | | * and an array of unsigned bytes listing satellite PRNs used |
1716 | | * in this fix begins at offset 29, but we don't use either because |
1717 | | * in JSON the used bits are reported in the SKY sentence; |
1718 | | * we get that data from the svinfo packet. |
1719 | | */ |
1720 | | // position/velocity is bytes 1-18 |
1721 | | // ecef position is in meters |
1722 | 184 | session->newdata.ecef.x = (double)getbes32(buf, 1); |
1723 | 184 | session->newdata.ecef.y = (double)getbes32(buf, 5); |
1724 | 184 | session->newdata.ecef.z = (double)getbes32(buf, 9); |
1725 | | // ecef velocity is in meters/second * 8 |
1726 | 184 | session->newdata.ecef.vx = (double)getbes16(buf, 13) / 8.0; |
1727 | 184 | session->newdata.ecef.vy = (double)getbes16(buf, 15) / 8.0; |
1728 | 184 | session->newdata.ecef.vz = (double)getbes16(buf, 17) / 8.0; |
1729 | | |
1730 | 184 | mask |= ECEF_SET | VECEF_SET; |
1731 | | |
1732 | | // fix status is byte 19 |
1733 | 184 | navtype = (unsigned short)getub(buf, 19); |
1734 | 184 | session->newdata.mode = MODE_NO_FIX; |
1735 | 184 | if (0 == (navtype & 0x07)) { |
1736 | | // no fix |
1737 | 53 | session->newdata.status = STATUS_UNK; |
1738 | 131 | } else if (7 == (navtype & 0x07)) { |
1739 | 38 | session->newdata.status = STATUS_DR; |
1740 | 93 | } else if (0x80 == (navtype & 0x80)) { |
1741 | 44 | session->newdata.status = STATUS_DGPS; |
1742 | 49 | } else { |
1743 | 49 | session->newdata.status = STATUS_GPS; |
1744 | 49 | } |
1745 | | // byte 20 is HDOP, or PDOP! |
1746 | 184 | d = (double)getub(buf, 20) / 5.0; |
1747 | 184 | if (4 == (navtype & 0x07) || |
1748 | 150 | 6 == (navtype & 0x07)) { |
1749 | 61 | session->newdata.mode = MODE_3D; |
1750 | 61 | session->gpsdata.dop.pdop = d; |
1751 | 61 | mask |= DOP_SET; |
1752 | 123 | } else if (0 != session->newdata.status) { |
1753 | 70 | session->newdata.mode = MODE_2D; |
1754 | 70 | session->gpsdata.dop.hdop = d; |
1755 | 70 | mask |= DOP_SET; |
1756 | 70 | } |
1757 | | // byte 21 is nav_mode2, not clear how to interpret that |
1758 | 184 | nav_mode2 = getub(buf, 21); |
1759 | | |
1760 | 184 | gps_week = getbeu16(buf, 22); // modulo 1024 |
1761 | 184 | iTOW = getbeu32(buf, 24); |
1762 | | /* Gack. The doc says early SiRF scales iTOW by 100, later ones |
1763 | | * by 1000. But that does not seem to be true in sirfstar V. */ |
1764 | 184 | tow.tv_sec = iTOW / 100; |
1765 | 184 | tow.tv_nsec = (iTOW % 100) * 10000000L; |
1766 | 184 | session->newdata.time = gpsd_gpstime_resolv(session, gps_week, tow); |
1767 | | |
1768 | 184 | if (MODE_NO_FIX >= session->newdata.mode) { |
1769 | 53 | GPSD_LOG(LOG_PROG, &session->context->errout, |
1770 | 53 | "SiRF: MND 0x02 NTPD no fix, mode: %d\n", |
1771 | 53 | session->newdata.mode); |
1772 | 131 | } else { |
1773 | 131 | GPSD_LOG(LOG_PROG, &session->context->errout, |
1774 | 131 | "SiRF: MND 0x02 NTPD valid time, seen %#02x time %s " |
1775 | 131 | "leap %d nav_mode2 %#x\n", |
1776 | 131 | session->driver.sirf.time_seen, |
1777 | 131 | timespec_str(&session->newdata.time, ts_buf, sizeof(ts_buf)), |
1778 | 131 | session->context->leap_seconds, |
1779 | 131 | nav_mode2); |
1780 | 131 | } |
1781 | 184 | mask |= TIME_SET | STATUS_SET | MODE_SET | USED_IS; |
1782 | 184 | if (3 <= session->gpsdata.satellites_visible) { |
1783 | 146 | mask |= NTPTIME_IS; |
1784 | 146 | } |
1785 | | |
1786 | 184 | GPSD_LOG(LOG_PROG, &session->context->errout, |
1787 | 184 | "SiRF: MND 0x02: Navtype %#0x, Status %d mode %d " |
1788 | 184 | "gps_week %u iTOW %u\n", |
1789 | 184 | navtype, session->newdata.status, session->newdata.mode, |
1790 | 184 | gps_week, iTOW); |
1791 | 184 | GPSD_LOG(LOG_DATA, &session->context->errout, |
1792 | 184 | "SiRF: MND 0x02: time %s ecef x: %.2f y: %.2f z: %.2f " |
1793 | 184 | "mode %d status %d hdop %.2f used %d\n", |
1794 | 184 | timespec_str(&session->newdata.time, ts_buf, sizeof(ts_buf)), |
1795 | 184 | session->newdata.ecef.x, |
1796 | 184 | session->newdata.ecef.y, session->newdata.ecef.z, |
1797 | 184 | session->newdata.mode, session->newdata.status, |
1798 | 184 | session->gpsdata.dop.hdop, session->gpsdata.satellites_used); |
1799 | 184 | return mask; |
1800 | 441 | } |
1801 | | |
1802 | | /*************************************************************************** |
1803 | | We've stopped interpreting GND (0x29) for the following reasons: |
1804 | | |
1805 | | 1) Versions of SiRF firmware still in wide circulation (and likely to be |
1806 | | so for a while) don't report a valid time field, leading to annoying |
1807 | | twice-per-second jitter in client displays. |
1808 | | |
1809 | | 2) What we wanted out of this that MND didn't give us was horizontal and |
1810 | | vertical error estimates. But we have to do our own error estimation by |
1811 | | computing DOPs from the skyview covariance matrix anyway, because we |
1812 | | want separate epx and epy errors a la NMEA 3.0. |
1813 | | |
1814 | | 3) The fix-merge logic in gpsd.c is (unavoidably) NMEA-centric and |
1815 | | thinks multiple sentences in one cycle should be treated as |
1816 | | incremental updates. This leads to various silly results when (as |
1817 | | in GND) a subsequent sentence is (a) intended to be a complete fix |
1818 | | in itself, and (b) frequently broken. |
1819 | | |
1820 | | 4) Ignoring this dodgy sentence allows us to go to a nice clean single |
1821 | | fix update per cycle. |
1822 | | |
1823 | | Code left in place in case we need to reverse this decision. |
1824 | | |
1825 | | update: Jan 2022 |
1826 | | |
1827 | | Decode the sentence, we need the extended week. |
1828 | | The cycle ender seems to be preventing the previously seen duplicate TPV. |
1829 | | For now be cautious on the mask. |
1830 | | |
1831 | | ***************************************************************************/ |
1832 | | static gps_mask_t sirf_msg_geodetic(struct gps_device_t *session, |
1833 | | unsigned char *buf, size_t len) |
1834 | 69 | { |
1835 | 69 | unsigned navtype; |
1836 | 69 | gps_mask_t mask = 0; |
1837 | 69 | char ts_buf[TIMESPEC_LEN]; |
1838 | 69 | unsigned gps_week; |
1839 | 69 | timespec_t tow; |
1840 | 69 | unsigned long iTOW; |
1841 | | |
1842 | 69 | if (91 != len) { |
1843 | 69 | GPSD_LOG(LOG_INF, &session->context->errout, |
1844 | 69 | "SiRF: MID (0x29) runt len %zu\n", len); |
1845 | 69 | return 0; |
1846 | 69 | } |
1847 | | |
1848 | 0 | navtype = getbeu16(buf, 3); |
1849 | 0 | if (0 == (navtype & 0x07)) { |
1850 | | // no fix |
1851 | 0 | session->newdata.status = STATUS_UNK; |
1852 | 0 | } else if (7 == (navtype & 0x07)) { |
1853 | 0 | session->newdata.status = STATUS_DR; |
1854 | 0 | } else if (0x80 == (navtype & 0x80)) { |
1855 | 0 | session->newdata.status = STATUS_DGPS; |
1856 | 0 | } else { |
1857 | 0 | session->newdata.status = STATUS_GPS; |
1858 | 0 | } |
1859 | |
|
1860 | 0 | session->newdata.mode = MODE_NO_FIX; |
1861 | 0 | if (4 == (navtype & 0x07) || |
1862 | 0 | 6 == (navtype & 0x07)) { |
1863 | 0 | session->newdata.mode = MODE_3D; |
1864 | 0 | } else if (session->newdata.status) { |
1865 | 0 | session->newdata.mode = MODE_2D; |
1866 | 0 | } |
1867 | |
|
1868 | 0 | gps_week = getbeu16(buf, 5); // extended gps week |
1869 | 0 | iTOW = getbeu32(buf, 7); |
1870 | 0 | MSTOTS(&tow, iTOW); |
1871 | 0 | session->newdata.time = gpsd_gpstime_resolv(session, gps_week, tow); |
1872 | 0 | GPSD_LOG(LOG_PROG, &session->context->errout, |
1873 | 0 | "SiRF: GND 0x29: Navtype 0x%0x Status %d mode %d week %u " |
1874 | 0 | "iTOW %lu\n", |
1875 | 0 | navtype, session->newdata.status, session->newdata.mode, |
1876 | 0 | gps_week, iTOW); |
1877 | 0 | mask |= STATUS_SET | MODE_SET | TIME_SET; |
1878 | |
|
1879 | 0 | session->newdata.latitude = getbes32(buf, 23) * 1e-7; |
1880 | 0 | session->newdata.longitude = getbes32(buf, 27) * 1e-7; |
1881 | 0 | if (MODE_NO_FIX < session->newdata.mode) { |
1882 | 0 | unsigned u; |
1883 | |
|
1884 | 0 | if (3 <= session->gpsdata.satellites_visible) { |
1885 | 0 | mask |= NTPTIME_IS; |
1886 | 0 | } |
1887 | 0 | if (0 != session->newdata.latitude && |
1888 | 0 | 0 != session->newdata.longitude) { |
1889 | | // annoying if you happen be be at 9/0 |
1890 | 0 | mask |= LATLON_SET; |
1891 | 0 | } |
1892 | |
|
1893 | 0 | u = getbeu32(buf, 50); |
1894 | 0 | if (0 != u) { |
1895 | 0 | session->newdata.eph = u * 1e-2; |
1896 | 0 | mask |= HERR_SET; |
1897 | 0 | } |
1898 | 0 | u = getbeu32(buf, 54); |
1899 | 0 | if (0 != u) { |
1900 | | // vertical error |
1901 | 0 | session->newdata.epv = u * 1e-2; |
1902 | 0 | mask |= VERR_SET; |
1903 | 0 | } |
1904 | 0 | u = getbeu16(buf, 62); |
1905 | 0 | if (0 != u) { |
1906 | 0 | session->newdata.eps = u * 1e-2; |
1907 | 0 | mask |= SPEEDERR_SET; |
1908 | 0 | } |
1909 | | // HDOP should be available at byte 89, but in 231 it's zero. |
1910 | 0 | u = getub(buf, 89); |
1911 | 0 | if (0 != u) { |
1912 | 0 | session->gpsdata.dop.hdop = u * 0.2; |
1913 | 0 | mask |= DOP_SET; |
1914 | 0 | } |
1915 | 0 | } |
1916 | | |
1917 | |
|
1918 | 0 | if ((MODE_NO_FIX < session->newdata.mode) && |
1919 | 0 | (session->driver.sirf.driverstate & SIRF_GE_232)) { |
1920 | 0 | struct tm unpacked_date = {0}; |
1921 | 0 | unsigned subseconds; |
1922 | | /* |
1923 | | * Early versions of the SiRF protocol manual don't document |
1924 | | * this sentence at all. Some that do incorrectly |
1925 | | * describe UTC Day, Hour, and Minute as 2-byte quantities, |
1926 | | * not 1-byte. Chris Kuethe, our SiRF expert, tells us: |
1927 | | * |
1928 | | * "The Geodetic Navigation packet (0x29) was not fully |
1929 | | * implemented in firmware prior to version 2.3.2. So for |
1930 | | * anyone running 231.000.000 or earlier (including ES, |
1931 | | * SiRFDRive, XTrac trains) you won't get UTC time. I don't |
1932 | | * know what's broken in firmwares before 2.3.1..." |
1933 | | * |
1934 | | * To work around the incomplete implementation of this |
1935 | | * packet in 231, we used to assume that only the altitude field |
1936 | | * from this packet is valid. But even this doesn't necessarily |
1937 | | * seem to be the case. Instead, we do our own computation |
1938 | | * of geoid separation now. |
1939 | | * |
1940 | | * UTC is left all zeros in 231 and older firmware versions, |
1941 | | * and misdocumented in version 1.4 of the Protocol Reference. |
1942 | | * Documented: Real: |
1943 | | * UTC year 2 2 |
1944 | | * UTC month 1 1 |
1945 | | * UTC day 2 1 |
1946 | | * UTC hour 2 1 |
1947 | | * UTC minute 2 1 |
1948 | | * UTC second 2 2 |
1949 | | * 11 8 |
1950 | | * |
1951 | | * Documentation of this field was corrected in the 1.6 version |
1952 | | * of the protocol manual. |
1953 | | */ |
1954 | 0 | memset(&unpacked_date, 0, sizeof(unpacked_date)); |
1955 | 0 | unpacked_date.tm_year = (int)getbeu16(buf, 11) - 1900; |
1956 | 0 | unpacked_date.tm_mon = (int)buf[13] - 1; |
1957 | 0 | unpacked_date.tm_mday = (int)buf[14]; |
1958 | 0 | unpacked_date.tm_hour = (int)buf[15]; |
1959 | 0 | unpacked_date.tm_min = (int)buf[16]; |
1960 | 0 | subseconds = getbeu16(buf, 17); |
1961 | 0 | unpacked_date.tm_sec = subseconds / 1000; |
1962 | | // we use iTOW time, not this UTC time, which is often missing |
1963 | |
|
1964 | 0 | if (MODE_2D <= session->newdata.mode && |
1965 | 0 | 0 != unpacked_date.tm_year) { |
1966 | 0 | GPSD_LOG(LOG_PROG, &session->context->errout, |
1967 | 0 | "SiRF: GND 0x29 NTPD valid time, seen=%#02x " |
1968 | 0 | "%4d/%02d/%02d %02d:%02d:%02.6f\n", |
1969 | 0 | session->driver.sirf.time_seen, |
1970 | 0 | unpacked_date.tm_year + 1900, |
1971 | 0 | unpacked_date.tm_mon + 1, |
1972 | 0 | unpacked_date.tm_mday, |
1973 | 0 | unpacked_date.tm_hour, |
1974 | 0 | unpacked_date.tm_min, |
1975 | 0 | subseconds * 0.001); |
1976 | 0 | } |
1977 | | |
1978 | | // alititude WGS84 |
1979 | 0 | session->newdata.altHAE = getbes32(buf, 31) * 1e-2; |
1980 | 0 | session->newdata.altMSL = getbes32(buf, 35) * 1e-2; |
1981 | | // Let gpsd_error_model() deal with geoid_sep and altHAE |
1982 | | // skip 1 byte of map datum |
1983 | 0 | session->newdata.speed = getbeu16(buf, 40) * 1e-2; |
1984 | | // true track |
1985 | 0 | session->newdata.track = getbeu16(buf, 42) * 1e-2; |
1986 | | // skip 2 bytes of magnetic variation, doc says not implemented |
1987 | 0 | session->newdata.climb = getbes16(buf, 46) * 1e-2; |
1988 | 0 | mask |= TIME_SET | SPEED_SET | TRACK_SET; |
1989 | 0 | if (MODE_3D == session->newdata.mode) { |
1990 | 0 | mask |= ALTITUDE_SET | CLIMB_SET; |
1991 | 0 | } |
1992 | 0 | } |
1993 | |
|
1994 | 0 | GPSD_LOG(LOG_PROG, &session->context->errout, |
1995 | 0 | "SiRF: GND 0x29: time=%s lat=%.2f lon=%.2f altHAE=%.2f " |
1996 | 0 | "track=%.2f speed=%.2f mode=%d status=%d\n", |
1997 | 0 | timespec_str(&session->newdata.time, ts_buf, sizeof(ts_buf)), |
1998 | 0 | session->newdata.latitude, |
1999 | 0 | session->newdata.longitude, |
2000 | 0 | session->newdata.altHAE, |
2001 | 0 | session->newdata.track, |
2002 | 0 | session->newdata.speed, |
2003 | 0 | session->newdata.mode, |
2004 | 0 | session->newdata.status); |
2005 | 0 | return mask; |
2006 | 69 | } |
2007 | | |
2008 | | // decode Navigation Parameters MID 19 (0x13) response to ID 152 |
2009 | | static gps_mask_t sirf_msg_sysparam(struct gps_device_t *session, |
2010 | | unsigned char *buf, size_t len) |
2011 | 114 | { |
2012 | | |
2013 | 114 | if (65 > len) { |
2014 | 100 | GPSD_LOG(LOG_INF, &session->context->errout, |
2015 | 100 | "SiRF: MID (0x13) runt len %zu\n", len); |
2016 | 100 | return 0; |
2017 | 100 | } |
2018 | | |
2019 | | // save these to restore them in the revert method |
2020 | 14 | session->driver.sirf.nav_parameters_seen = true; |
2021 | 14 | session->driver.sirf.altitude_hold_mode = (unsigned char)getub(buf, 5); |
2022 | 14 | session->driver.sirf.altitude_hold_source = (unsigned char)getub(buf, 6); |
2023 | 14 | session->driver.sirf.altitude_source_input = getbes16(buf, 7); |
2024 | 14 | session->driver.sirf.degraded_mode = (unsigned char)getub(buf, 9); |
2025 | 14 | session->driver.sirf.degraded_timeout = (unsigned char)getub(buf, 10); |
2026 | 14 | session->driver.sirf.dr_timeout = (unsigned char)getub(buf, 11); |
2027 | 14 | session->driver.sirf.track_smooth_mode = (unsigned char)getub(buf, 12); |
2028 | 14 | return 0; |
2029 | 114 | } |
2030 | | |
2031 | | /* DGPS status MID 27 (0x1b) |
2032 | | * only documentented from prorocol version 1.7 (2005) onwards */ |
2033 | | static gps_mask_t sirf_msg_dgpsstatus(struct gps_device_t *session, |
2034 | | unsigned char *buf, size_t len UNUSED) |
2035 | 82 | { |
2036 | 82 | session->driver.sirf.dgps_source = (unsigned int)getub(buf, 1); |
2037 | 82 | return 0; |
2038 | 82 | } |
2039 | | |
2040 | | /* decode Extended Measured Navigation Data MID 98 (0x62) |
2041 | | * Used in u-blox TIM GPS receivers (SiRF2-ublox) |
2042 | | * "Firmware Release 2.1 UBX 1.0" */ |
2043 | | static gps_mask_t sirf_msg_ublox(struct gps_device_t *session, |
2044 | | unsigned char *buf, size_t len UNUSED) |
2045 | 97 | { |
2046 | 97 | gps_mask_t mask; |
2047 | 97 | unsigned short navtype; |
2048 | 97 | char ts_buf[TIMESPEC_LEN]; |
2049 | | |
2050 | 97 | if (39 != len) { |
2051 | 97 | GPSD_LOG(LOG_INF, &session->context->errout, |
2052 | 97 | "SiRF: MID (0x62) runt len %zu\n", len); |
2053 | 97 | return 0; |
2054 | 97 | } |
2055 | | |
2056 | | // this packet is only sent by u-blox firmware from version 1.32 |
2057 | 0 | mask = LATLON_SET | ALTITUDE_SET | SPEED_SET | TRACK_SET | CLIMB_SET | |
2058 | 0 | STATUS_SET | MODE_SET; |
2059 | 0 | session->newdata.latitude = (double)getbes32(buf, 1) * RAD_2_DEG * 1e-8; |
2060 | 0 | session->newdata.longitude = (double)getbes32(buf, 5) * RAD_2_DEG * 1e-8; |
2061 | | // defaults to WGS84 |
2062 | 0 | session->newdata.altHAE = (double)getbes32(buf, 9) * 1e-3; |
2063 | 0 | session->newdata.speed = (double)getbes32(buf, 13) * 1e-3; |
2064 | 0 | session->newdata.climb = (double)getbes32(buf, 17) * 1e-3; |
2065 | 0 | session->newdata.track = (double)getbes32(buf, 21) * RAD_2_DEG * 1e-8; |
2066 | |
|
2067 | 0 | navtype = (unsigned short)getub(buf, 25); |
2068 | 0 | session->newdata.status = STATUS_UNK; |
2069 | 0 | session->newdata.mode = MODE_NO_FIX; |
2070 | 0 | if (0 == (navtype & 0x07)) { |
2071 | | // no fix |
2072 | 0 | session->newdata.status = STATUS_UNK; |
2073 | 0 | } else if (7 == (navtype & 0x07)) { |
2074 | 0 | session->newdata.status = STATUS_DR; |
2075 | 0 | } else if (0x80 == (navtype & 0x80)) { |
2076 | 0 | session->newdata.status = STATUS_DGPS; |
2077 | 0 | } else { |
2078 | 0 | session->newdata.status = STATUS_GPS; |
2079 | 0 | } |
2080 | 0 | if (4 == (navtype & 0x07) || |
2081 | 0 | 6 == (navtype & 0x07)) { |
2082 | 0 | session->newdata.mode = MODE_3D; |
2083 | 0 | } else if (session->newdata.status) { |
2084 | 0 | session->newdata.mode = MODE_2D; |
2085 | 0 | } |
2086 | 0 | GPSD_LOG(LOG_PROG, &session->context->errout, |
2087 | 0 | "SiRF: EMND 0x62: Navtype = 0x%0x, Status = %d, mode = %d\n", |
2088 | 0 | navtype, session->newdata.status, session->newdata.mode); |
2089 | |
|
2090 | 0 | if (navtype & 0x40) { // UTC corrected timestamp? |
2091 | 0 | struct tm unpacked_date = {0}; |
2092 | 0 | uint32_t msec; |
2093 | |
|
2094 | 0 | mask |= TIME_SET; |
2095 | 0 | if (3 <= session->gpsdata.satellites_visible) { |
2096 | 0 | mask |= NTPTIME_IS; |
2097 | 0 | } |
2098 | 0 | memset(&unpacked_date, 0, sizeof(unpacked_date)); |
2099 | 0 | unpacked_date.tm_year = (int)getbeu16(buf, 26) - 1900; |
2100 | 0 | unpacked_date.tm_mon = (int)getub(buf, 28) - 1; |
2101 | 0 | unpacked_date.tm_mday = (int)getub(buf, 29); |
2102 | 0 | unpacked_date.tm_hour = (int)getub(buf, 30); |
2103 | 0 | unpacked_date.tm_min = (int)getub(buf, 31); |
2104 | 0 | msec = getbeu16(buf, 32); |
2105 | 0 | unpacked_date.tm_sec = msec / 1000; |
2106 | 0 | session->newdata.time.tv_sec = mkgmtime(&unpacked_date); |
2107 | | // ms to ns |
2108 | 0 | session->newdata.time.tv_nsec = (msec % 1000) * 1000000L; |
2109 | 0 | if (0 == (session->driver.sirf.time_seen & TIME_SEEN_UTC_2)) { |
2110 | 0 | GPSD_LOG(LOG_RAW, &session->context->errout, |
2111 | 0 | "SiRF: EMND 0x62 NTPD just SEEN_UTC_2\n"); |
2112 | 0 | } |
2113 | 0 | GPSD_LOG(LOG_PROG, &session->context->errout, |
2114 | 0 | "SiRF: EMND 0x62 NTPD valid time, seen=%#02x\n", |
2115 | 0 | session->driver.sirf.time_seen); |
2116 | 0 | session->driver.sirf.time_seen |= TIME_SEEN_UTC_2; |
2117 | | /* The mode byte, bit 6 tells us if leap second is valid. |
2118 | | * But not what the leap second is. |
2119 | | * session->context->valid |= LEAP_SECOND_VALID; |
2120 | | */ |
2121 | 0 | } |
2122 | |
|
2123 | 0 | session->gpsdata.dop.gdop = (int)getub(buf, 34) / 5.0; |
2124 | 0 | session->gpsdata.dop.pdop = (int)getub(buf, 35) / 5.0; |
2125 | 0 | session->gpsdata.dop.hdop = (int)getub(buf, 36) / 5.0; |
2126 | 0 | session->gpsdata.dop.vdop = (int)getub(buf, 37) / 5.0; |
2127 | 0 | session->gpsdata.dop.tdop = (int)getub(buf, 38) / 5.0; |
2128 | 0 | mask |= DOP_SET; |
2129 | 0 | session->driver.sirf.driverstate |= UBLOX; |
2130 | 0 | GPSD_LOG(LOG_DATA, &session->context->errout, |
2131 | 0 | "SiRF: EMND 0x62: time=%s lat=%.2f lon=%.2f altHAE=%.2f " |
2132 | 0 | "speed=%.2f track=%.2f climb=%.2f mode=%d status=%d gdop=%.2f " |
2133 | 0 | "pdop=%.2f hdop=%.2f vdop=%.2f tdop=%.2f\n", |
2134 | 0 | timespec_str(&session->newdata.time, ts_buf, sizeof(ts_buf)), |
2135 | 0 | session->newdata.latitude, |
2136 | 0 | session->newdata.longitude, session->newdata.altHAE, |
2137 | 0 | session->newdata.speed, session->newdata.track, |
2138 | 0 | session->newdata.climb, session->newdata.mode, |
2139 | 0 | session->newdata.status, session->gpsdata.dop.gdop, |
2140 | 0 | session->gpsdata.dop.pdop, session->gpsdata.dop.hdop, |
2141 | 0 | session->gpsdata.dop.vdop, session->gpsdata.dop.tdop); |
2142 | 0 | return mask; |
2143 | 97 | } |
2144 | | |
2145 | | // decode PPS Time MID 52 (0x34) |
2146 | | static gps_mask_t sirf_msg_ppstime(struct gps_device_t *session, |
2147 | | unsigned char *buf, size_t len) |
2148 | 154 | { |
2149 | 154 | gps_mask_t mask = 0; |
2150 | | |
2151 | 154 | if (19 > len) { |
2152 | 85 | GPSD_LOG(LOG_INF, &session->context->errout, |
2153 | 85 | "SiRF: MID (0x34) runt len %zu\n", len); |
2154 | 85 | return 0; |
2155 | 85 | } |
2156 | | |
2157 | 69 | GPSD_LOG(LOG_PROG, &session->context->errout, |
2158 | 69 | "SiRF: PPS 0x34: Status = %#02x\n", |
2159 | 69 | getub(buf, 14)); |
2160 | 69 | if (0x07 == ((int)getub(buf, 14) & 0x07)) { |
2161 | | // valid UTC time |
2162 | 0 | struct tm unpacked_date = {0}; |
2163 | |
|
2164 | 0 | memset(&unpacked_date, 0, sizeof(unpacked_date)); |
2165 | 0 | unpacked_date.tm_hour = (int)getub(buf, 1); |
2166 | 0 | unpacked_date.tm_min = (int)getub(buf, 2); |
2167 | 0 | unpacked_date.tm_sec = (int)getub(buf, 3); |
2168 | 0 | unpacked_date.tm_mday = (int)getub(buf, 4); |
2169 | 0 | unpacked_date.tm_mon = (int)getub(buf, 5) - 1; |
2170 | 0 | unpacked_date.tm_year = (int)getbeu16(buf, 6) - 1900; |
2171 | 0 | session->newdata.time.tv_sec = mkgmtime(&unpacked_date); |
2172 | 0 | session->newdata.time.tv_nsec = 0; |
2173 | 0 | session->context->leap_seconds = (int)getbeu16(buf, 8); |
2174 | | // Ignore UTCOffsetFrac1 |
2175 | 0 | session->context->valid |= LEAP_SECOND_VALID; |
2176 | 0 | if (0 == (session->driver.sirf.time_seen & TIME_SEEN_UTC_2)) { |
2177 | 0 | GPSD_LOG(LOG_RAW, &session->context->errout, |
2178 | 0 | "SiRF: NTPD just SEEN_UTC_2\n"); |
2179 | 0 | } |
2180 | 0 | GPSD_LOG(LOG_PROG, &session->context->errout, |
2181 | 0 | "SiRF: NTPD valid time MID 0x34, seen=%#02x, leap=%d\n", |
2182 | 0 | session->driver.sirf.time_seen, |
2183 | 0 | session->context->leap_seconds); |
2184 | 0 | session->driver.sirf.time_seen |= TIME_SEEN_UTC_2; |
2185 | 0 | mask |= TIME_SET; |
2186 | 0 | if (3 <= session->gpsdata.satellites_visible) { |
2187 | 0 | mask |= NTPTIME_IS; |
2188 | 0 | } |
2189 | 0 | } |
2190 | 69 | return mask; |
2191 | 154 | } |
2192 | | |
2193 | | // decode Navigation Library Measurement Data MID 28 (0x38) |
2194 | | static gps_mask_t sirf_msg_nl(struct gps_device_t *session, |
2195 | | unsigned char *buf, size_t len) |
2196 | 75 | { |
2197 | | |
2198 | 75 | if (67 != len) { |
2199 | 75 | GPSD_LOG(LOG_INF, &session->context->errout, |
2200 | 75 | "SiRF: MID (0x38) runt len %zu\n", len); |
2201 | 75 | return 0; |
2202 | 75 | } |
2203 | | |
2204 | 0 | switch (buf[1]) { |
2205 | 0 | case 1: |
2206 | 0 | GPSD_LOG(LOG_PROG, &session->context->errout, |
2207 | 0 | "SiRF IV: unused NL 0x38, SubID: 1, GPS Data\n"); |
2208 | 0 | break; |
2209 | 0 | case 2: |
2210 | 0 | GPSD_LOG(LOG_PROG, &session->context->errout, |
2211 | 0 | "SiRF IV: unused NL 0x38, SubID: 2, EE Integrity\n"); |
2212 | 0 | break; |
2213 | 0 | case 3: |
2214 | 0 | GPSD_LOG(LOG_PROG, &session->context->errout, |
2215 | 0 | "SiRF IV: unused NL 0x38, SubID: 3, EE Integrity\n"); |
2216 | 0 | break; |
2217 | 0 | case 4: |
2218 | 0 | GPSD_LOG(LOG_PROG, &session->context->errout, |
2219 | 0 | "SiRF IV: unused NL 0x38, SubID: 4, EE Clock Bias\n"); |
2220 | 0 | break; |
2221 | 0 | case 5: |
2222 | 0 | GPSD_LOG(LOG_PROG, &session->context->errout, |
2223 | 0 | "SiRF IV: unused NL 0x38, SubID: 4, 50bps\n"); |
2224 | 0 | break; |
2225 | 0 | case 32: |
2226 | 0 | GPSD_LOG(LOG_PROG, &session->context->errout, |
2227 | 0 | "SiRF IV: unused NL 0x38, SubID: 4, ECLM ACK/NACK\n"); |
2228 | 0 | break; |
2229 | 0 | case 33: |
2230 | 0 | GPSD_LOG(LOG_PROG, &session->context->errout, |
2231 | 0 | "SiRF IV: unused NL 0x38, SubID: 4, ECLM EE Age\n"); |
2232 | 0 | break; |
2233 | 0 | case 34: |
2234 | 0 | GPSD_LOG(LOG_PROG, &session->context->errout, |
2235 | 0 | "SiRF IV: unused NL 0x38, SubID: 4, ECLM SGEE Age\n"); |
2236 | 0 | break; |
2237 | 0 | case 35: |
2238 | 0 | GPSD_LOG(LOG_PROG, &session->context->errout, |
2239 | 0 | "SiRF IV: unused NL 0x38, SubID: 4, ECLM Download Initiate\n"); |
2240 | 0 | break; |
2241 | 0 | case 255: |
2242 | 0 | GPSD_LOG(LOG_PROG, &session->context->errout, |
2243 | 0 | "SiRF IV: unused NL 0x38, SubID: 4, EE ACK\n"); |
2244 | 0 | break; |
2245 | 0 | default: |
2246 | 0 | GPSD_LOG(LOG_PROG, &session->context->errout, |
2247 | 0 | "SiRF IV: unused NL 0x38, unknown SubID: %d\n", |
2248 | 0 | buf[1]); |
2249 | 0 | } |
2250 | | |
2251 | 0 | return 0; |
2252 | 0 | } |
2253 | | |
2254 | | // decode Extended Ephemeris Data MID 56 (0x38) |
2255 | | static gps_mask_t sirf_msg_ee(struct gps_device_t *session, |
2256 | | unsigned char *buf, size_t len) |
2257 | 76 | { |
2258 | | |
2259 | 76 | if (67 != len) { |
2260 | 76 | GPSD_LOG(LOG_INF, &session->context->errout, |
2261 | 76 | "SiRF: MID (0x38) runt len %zu\n", len); |
2262 | 76 | return 0; |
2263 | 76 | } |
2264 | | |
2265 | 0 | switch (buf[1]) { |
2266 | 0 | case 1: |
2267 | 0 | GPSD_LOG(LOG_PROG, &session->context->errout, |
2268 | 0 | "SiRF IV: unused EE 0x40, SubID: 1\n"); |
2269 | 0 | break; |
2270 | 0 | case 2: |
2271 | 0 | GPSD_LOG(LOG_PROG, &session->context->errout, |
2272 | 0 | "SiRF IV: unused EE 0x40, SubID: 2, PRN: %d\n", |
2273 | 0 | buf[2]); |
2274 | 0 | break; |
2275 | 0 | default: |
2276 | 0 | GPSD_LOG(LOG_PROG, &session->context->errout, |
2277 | 0 | "SiRF IV: unused EE 0x40, unknown SubID: %d\n", |
2278 | 0 | buf[1]); |
2279 | 0 | } |
2280 | | |
2281 | 0 | return 0; |
2282 | 0 | } |
2283 | | |
2284 | | |
2285 | | gps_mask_t sirf_parse(struct gps_device_t * session, unsigned char *buf, |
2286 | | size_t len) |
2287 | 10.1k | { |
2288 | | |
2289 | 10.1k | if (0 == len) { |
2290 | 0 | GPSD_LOG(LOG_INF, &session->context->errout, |
2291 | 0 | "SiRF: runt len %zu\n", len); |
2292 | 0 | return 0; |
2293 | 0 | } |
2294 | | |
2295 | 10.1k | buf += 4; |
2296 | 10.1k | len -= 8; |
2297 | | // cast for 32/64 bit compatiility |
2298 | 10.1k | GPSD_LOG(LOG_RAW, &session->context->errout, |
2299 | 10.1k | "SiRF: Raw packet type %#04x len %ld\n", buf[0], |
2300 | 10.1k | (long)len); |
2301 | 10.1k | session->driver.sirf.lastid = buf[0]; |
2302 | | |
2303 | | // could change if the set of messages we enable does |
2304 | 10.1k | session->cycle_end_reliable = true; |
2305 | | |
2306 | 10.1k | switch (buf[0]) { |
2307 | 441 | case 0x02: // Measure Navigation Data Out MID 2 |
2308 | 441 | if (0 == (session->driver.sirf.driverstate & UBLOX)) { |
2309 | 441 | return sirf_msg_navsol(session, buf, |
2310 | 441 | len) | (CLEAR_IS | REPORT_IS); |
2311 | 441 | } |
2312 | 0 | GPSD_LOG(LOG_PROG, &session->context->errout, |
2313 | 0 | "SiRF: MID 2 (0x02) MND skipped, u-blox flag is on.\n"); |
2314 | 0 | return 0; |
2315 | | |
2316 | 78 | case 0x04: // Measured tracker data out MID 4 |
2317 | 78 | return sirf_msg_svinfo(session, buf, len); |
2318 | | |
2319 | 119 | case 0x05: // Raw Tracker Data Out MID 5 |
2320 | 119 | GPSD_LOG(LOG_PROG, &session->context->errout, |
2321 | 119 | "SiRF: unused MID 5 (0x05) Raw Tracker Data\n"); |
2322 | 119 | return 0; |
2323 | | |
2324 | 1.55k | case 0x06: // Software Version String MID 6 |
2325 | 1.55k | return sirf_msg_swversion(session, buf, len); |
2326 | | |
2327 | 103 | case 0x07: // Clock Status Data MID 7 |
2328 | 103 | GPSD_LOG(LOG_PROG, &session->context->errout, |
2329 | 103 | "SiRF: unused MID 7 (0x07) CLK\n"); |
2330 | 103 | return 0; |
2331 | | |
2332 | 76 | case 0x08: // subframe data MID 8 |
2333 | | // extract leap-second from this |
2334 | | /* |
2335 | | * Chris Kuethe says: |
2336 | | * "Message 8 is generated as the data is received. It is not |
2337 | | * buffered on the chip. So when you enable message 8, you'll |
2338 | | * get one subframe every 6 seconds. Of the data received, the |
2339 | | * almanac and ephemeris are buffered and stored, so you can |
2340 | | * query them at will. Alas, the time parameters are not |
2341 | | * stored, which is really lame, as the UTC-GPS correction |
2342 | | * changes 1 second every few years. Maybe." |
2343 | | */ |
2344 | 76 | return sirf_msg_navdata(session, buf, len); |
2345 | | |
2346 | 1.05k | case 0x09: // CPU Throughput MID 9 (0x09) |
2347 | 1.05k | GPSD_LOG(LOG_PROG, &session->context->errout, |
2348 | 1.05k | "SiRF: THR 0x09: SegStatMax=%.3f, SegStatLat=%3.f, " |
2349 | 1.05k | "AveTrkTime=%.3f, Last MS=%u\n", |
2350 | 1.05k | (float)getbeu16(buf, 1) / 186, (float)getbeu16(buf, 3) / 186, |
2351 | 1.05k | (float)getbeu16(buf, 5) / 186, getbeu16(buf, 7)); |
2352 | 1.05k | return 0; |
2353 | | |
2354 | 133 | case 0x0a: // Error ID Data MID 10 |
2355 | 133 | return sirf_msg_errors(session, buf, len); |
2356 | | |
2357 | 1.67k | case 0x0b: // Command Acknowledgement MID 11 |
2358 | 1.67k | if (2 > len) { |
2359 | 50 | return 0; |
2360 | 50 | } |
2361 | 1.62k | if (2 == len) { |
2362 | 1.55k | GPSD_LOG(LOG_PROG, &session->context->errout, |
2363 | 1.55k | "SiRF: ACK 0x0b: %#02x\n", getub(buf, 1)); |
2364 | 1.55k | } else { |
2365 | | // SiRF III+, has ACK ID |
2366 | 73 | GPSD_LOG(LOG_PROG, &session->context->errout, |
2367 | 73 | "SiRF: ACK 0x0b: %#02x/%02x\n", |
2368 | 73 | getub(buf, 1), getub(buf, 2)); |
2369 | 73 | } |
2370 | 1.62k | session->driver.sirf.need_ack = 0; |
2371 | 1.62k | return 0; |
2372 | | |
2373 | 305 | case 0x0c: // Command NAcknowledgement MID 12 |
2374 | 305 | if (2 > len) { |
2375 | 83 | return 0; |
2376 | 83 | } |
2377 | 222 | if (2 == len) { |
2378 | 92 | GPSD_LOG(LOG_PROG, &session->context->errout, |
2379 | 92 | "SiRF: NACK 0x0c: %#02x\n", getub(buf, 1)); |
2380 | 130 | } else { |
2381 | | // SiRF III+, has NACK ID |
2382 | 130 | GPSD_LOG(LOG_PROG, &session->context->errout, |
2383 | 130 | "SiRF: NACK 0x0c: %#02x/%02x\n", |
2384 | 130 | getub(buf, 1), getub(buf, 2)); |
2385 | 130 | } |
2386 | | // ugh -- there's no alternative but silent failure here |
2387 | 222 | session->driver.sirf.need_ack = 0; |
2388 | 222 | return 0; |
2389 | | |
2390 | 92 | case 0x0d: // Visible List MID 13 |
2391 | | // no data here not already in MID 67,16 |
2392 | 92 | GPSD_LOG(LOG_PROG, &session->context->errout, |
2393 | 92 | "SiRF: unused MID 13 (0x0d) Visible List, len %zd\n", len); |
2394 | 92 | return 0; |
2395 | | |
2396 | 100 | case 0x0e: // Almanac Data MID 14 |
2397 | 100 | GPSD_LOG(LOG_PROG, &session->context->errout, |
2398 | 100 | "SiRF: unused MID 14 (0x0e) ALM\n"); |
2399 | 100 | return 0; |
2400 | | |
2401 | 107 | case 0x0f: // Ephemeris Data MID 15 |
2402 | 107 | GPSD_LOG(LOG_PROG, &session->context->errout, |
2403 | 107 | "SiRF: unused MID 15 (0x0f) EPH\n"); |
2404 | 107 | return 0; |
2405 | | |
2406 | 128 | case 0x11: // Differential Corrections MID 17 |
2407 | 128 | GPSD_LOG(LOG_PROG, &session->context->errout, |
2408 | 128 | "SiRF: unused MID 17 (0x11) DIFF\n"); |
2409 | 128 | return 0; |
2410 | | |
2411 | 67 | case 0x12: // OK To Send MID 18 (0x12) |
2412 | 67 | GPSD_LOG(LOG_PROG, &session->context->errout, |
2413 | 67 | "SiRF: MID 18 (0x12) OkToSend: OK = %d\n", |
2414 | 67 | getub(buf, 1)); |
2415 | 67 | return 0; |
2416 | | |
2417 | 114 | case 0x13: // Navigation Parameters MID 19 (0x13) |
2418 | 114 | return sirf_msg_sysparam(session, buf, len); |
2419 | | |
2420 | 82 | case 0x1b: // DGPS status MID 27 |
2421 | 82 | return sirf_msg_dgpsstatus(session, buf, len); |
2422 | | |
2423 | 114 | case 0x1c: // Navigation Library Measurement Data MID 28 |
2424 | 114 | return sirf_msg_nlmd(session, buf, len); |
2425 | | |
2426 | 77 | case 0x1d: // Navigation Library DGPS Data MID 29 |
2427 | 77 | GPSD_LOG(LOG_PROG, &session->context->errout, |
2428 | 77 | "SiRF: unused MID 29 (0x1d) NLDG\n"); |
2429 | 77 | return 0; |
2430 | | |
2431 | 147 | case 0x1e: // Navigation Library SV State Data MID 30 |
2432 | 147 | GPSD_LOG(LOG_PROG, &session->context->errout, |
2433 | 147 | "SiRF: unused MID 30 (0x1e) NLSV\n"); |
2434 | 147 | return 0; |
2435 | | |
2436 | 85 | case 0x1f: // Navigation Library Initialization Data MID 31 |
2437 | 85 | GPSD_LOG(LOG_PROG, &session->context->errout, |
2438 | 85 | "SiRF: unused MID 32 (0x1f) NLID\n"); |
2439 | 85 | return 0; |
2440 | | |
2441 | 69 | case 0x29: // Geodetic Navigation Data MID 41 |
2442 | 69 | return sirf_msg_geodetic(session, buf, len); |
2443 | | |
2444 | 90 | case 0x32: // SBAS corrections MID 50 |
2445 | 90 | return sirf_msg_sbas(session, buf, len); |
2446 | | |
2447 | 252 | case 0x33: // MID_SiRFNavNotification MID 51, 0x33 |
2448 | 252 | return sirf_msg_navnot(session, buf, len); |
2449 | | |
2450 | 154 | case 0x34: // PPS Time MID 52 |
2451 | | /* |
2452 | | * Carl Carter from SiRF writes: "We do not output on the |
2453 | | * second (unless you are using MID 52). We make |
2454 | | * measurements in the receiver in time with an internal |
2455 | | * counter that is not slaved to GPS time, so the measurements |
2456 | | * are made at a time that wanders around the second. Then, |
2457 | | * after the measurements are made (all normalized to the same |
2458 | | * point in time) we dispatch the navigation software to make |
2459 | | * a solution, and that solution comes out some 200 to 300 ms |
2460 | | * after the measurement time. So you may get a message at |
2461 | | * 700 ms after the second that uses measurements time tagged |
2462 | | * 450 ms after the second. And if some other task jumps up |
2463 | | * and delays things, that message may not come out until 900 |
2464 | | * ms after the second. Things can get out of sync to the |
2465 | | * point that if you try to resolve the GPS time of our 1 PPS |
2466 | | * pulses using the navigation messages, you will find it |
2467 | | * impossible to be consistent. That is why I added |
2468 | | * MID 52 to our system -- it is tied to the creation of the 1 |
2469 | | * PPS and always comes out right around the top of the |
2470 | | * second." |
2471 | | */ |
2472 | 154 | return sirf_msg_ppstime(session, buf, len); |
2473 | | |
2474 | 76 | case 0x38: // EE Output MID 56 |
2475 | 76 | return sirf_msg_ee(session, buf, len); |
2476 | | |
2477 | 75 | case 0x40: // Nav Library MID 64 |
2478 | 75 | return sirf_msg_nl(session, buf, len); |
2479 | | |
2480 | 344 | case 0x43: // Multiconstellation Nav Data Response MID 67 |
2481 | 344 | return sirf_msg_67(session, buf, len); |
2482 | | |
2483 | 129 | case 0x47: // Hardware Config MID 71 |
2484 | | // MID_HW_CONFIG_REQ |
2485 | 129 | GPSD_LOG(LOG_PROG, &session->context->errout, |
2486 | 129 | "SiRF IV: unused MID 71 (0x47) Hardware Config Request, " |
2487 | 129 | "len %zd\n", len); |
2488 | 129 | return 0; |
2489 | | |
2490 | 177 | case 0x51: // MID_QUERY_RESP MID 81 |
2491 | 177 | return sirf_msg_qresp(session, buf, len); |
2492 | | |
2493 | 99 | case 0x5c: // Controller Interference Report MID 92 |
2494 | 99 | GPSD_LOG(LOG_PROG, &session->context->errout, |
2495 | 99 | "SiRF IV: unused MID 92 (0x5c) CW Interference Report\n"); |
2496 | 99 | return 0; |
2497 | | |
2498 | 1.22k | case 0x5d: // TCXO Output MID 93 |
2499 | 1.22k | return sirf_msg_tcxo(session, buf, len); |
2500 | | |
2501 | 97 | case 0x62: // u-blox Extended Measured Navigation Data MID 98 |
2502 | 97 | GPSD_LOG(LOG_PROG, &session->context->errout, |
2503 | 97 | "SiRF: MID 98 (0x62) u-blox EMND\n"); |
2504 | 97 | return sirf_msg_ublox(session, buf, len) | (CLEAR_IS | REPORT_IS); |
2505 | | |
2506 | 84 | case 0x80: // Initialize Data Source MID 128 |
2507 | 84 | GPSD_LOG(LOG_PROG, &session->context->errout, |
2508 | 84 | "SiRF: unused MID 128 (0x80) INIT\n"); |
2509 | 84 | return 0; |
2510 | | |
2511 | 237 | case 0xe1: // statistics messages MID 225 |
2512 | 237 | return sirf_msg_stats(session, buf, len); |
2513 | | |
2514 | 178 | case 0xff: // Debug messages MID 255 |
2515 | 178 | (void)sirf_msg_debug(session, buf, len); |
2516 | 178 | return 0; |
2517 | | |
2518 | 204 | default: |
2519 | 204 | GPSD_LOG(LOG_PROG, &session->context->errout, |
2520 | 204 | "SiRF: Unknown packet id %d (%#x) length %zd\n", |
2521 | 204 | buf[0], buf[0], len); |
2522 | 204 | return 0; |
2523 | 10.1k | } |
2524 | 10.1k | } |
2525 | | |
2526 | | static gps_mask_t sirfbin_parse_input(struct gps_device_t *session) |
2527 | 11.6k | { |
2528 | 11.6k | if (SIRF_PACKET == session->lexer.type) { |
2529 | 10.1k | return sirf_parse(session, session->lexer.outbuffer, |
2530 | 10.1k | session->lexer.outbuflen); |
2531 | 10.1k | } |
2532 | 1.54k | if (NMEA_PACKET == session->lexer.type) { |
2533 | 1.54k | return nmea_parse((char *)session->lexer.outbuffer, session); |
2534 | 1.54k | } |
2535 | 0 | return 0; |
2536 | 1.54k | } |
2537 | | |
2538 | | static void sirfbin_init_query(struct gps_device_t *session) |
2539 | 147 | { |
2540 | 147 | GPSD_LOG(LOG_PROG, &session->context->errout, |
2541 | 147 | "SiRF: Probing for firmware version.\n"); |
2542 | | |
2543 | | // reset binary init steps |
2544 | 147 | session->cfg_stage = 0; |
2545 | 147 | session->cfg_step = 0; |
2546 | | |
2547 | | // MID 132 |
2548 | 147 | (void)sirf_write(session, versionprobe, sizeof(versionprobe)); |
2549 | | // ask twice, SiRF IV on USB often misses the first request |
2550 | 147 | (void)sirf_write(session, versionprobe, sizeof(versionprobe)); |
2551 | 147 | } |
2552 | | |
2553 | | static void sirfbin_event_hook(struct gps_device_t *session, event_t event) |
2554 | 16.2k | { |
2555 | 16.2k | static unsigned char moderevert[] = { |
2556 | 16.2k | 0xa0, 0xa2, 0x00, 0x0e, |
2557 | 16.2k | 0x88, |
2558 | 16.2k | 0x00, 0x00, // pad bytes |
2559 | 16.2k | 0x00, // degraded mode |
2560 | 16.2k | 0x00, 0x00, // pad bytes |
2561 | 16.2k | 0x00, 0x00, // altitude source |
2562 | 16.2k | 0x00, // altitude hold mode |
2563 | 16.2k | 0x00, // use last computed alt |
2564 | 16.2k | 0x00, // reserved |
2565 | 16.2k | 0x00, // degraded mode timeout |
2566 | 16.2k | 0x00, // dead reckoning timeout |
2567 | 16.2k | 0x00, // track smoothing |
2568 | 16.2k | 0x00, 0x00, 0xb0, 0xb3 |
2569 | 16.2k | }; |
2570 | | |
2571 | 16.2k | if (session->context->readonly || |
2572 | 10.6k | session->context->passive) { |
2573 | 9.04k | return; |
2574 | 9.04k | } |
2575 | | |
2576 | 7.19k | switch (event) { |
2577 | 90 | case EVENT_IDENTIFIED: |
2578 | 90 | FALLTHROUGH |
2579 | 90 | case EVENT_REACTIVATE: |
2580 | 90 | if (NMEA_PACKET == session->lexer.type) { |
2581 | 0 | GPSD_LOG(LOG_PROG, &session->context->errout, |
2582 | 0 | "SiRF: Switching chip mode to binary.\n"); |
2583 | 0 | (void)nmea_send(session, |
2584 | 0 | "$PSRF100,0,%d,8,1,0", |
2585 | 0 | session->gpsdata.dev.baudrate); |
2586 | 0 | } |
2587 | 90 | break; |
2588 | | |
2589 | 6.48k | case EVENT_CONFIGURE: |
2590 | | /* This wakes up on every received packet. |
2591 | | * Use this hook to step, slowly, through the init messages. |
2592 | | * We try, but not always succeed, to wait for the ACK/NACK. |
2593 | | * Send a message only every 15 times so we get an ACK/NACK |
2594 | | * before next one. |
2595 | | * |
2596 | | * This tries to avoid overrunning the input buffer, and makes |
2597 | | * it much easier to identify which messages get a NACK |
2598 | | */ |
2599 | | |
2600 | | |
2601 | 6.48k | if (UINT_MAX == session->cfg_stage) { |
2602 | | // init done |
2603 | 4.50k | return; |
2604 | 4.50k | } |
2605 | 1.97k | session->cfg_step++; |
2606 | | |
2607 | 1.97k | if ((0 < session->driver.sirf.need_ack) && |
2608 | 1.47k | (15 > session->cfg_step)) { |
2609 | | // we are waiting for ACK, just wait for 15 messages |
2610 | 1.42k | return; |
2611 | 1.42k | } |
2612 | 547 | session->cfg_step = 0; |
2613 | 547 | session->cfg_stage++; |
2614 | 547 | GPSD_LOG(LOG_PROG, &session->context->errout, "stage: %d\n", |
2615 | 547 | session->cfg_stage); |
2616 | | |
2617 | | |
2618 | 547 | switch (session->cfg_stage) { |
2619 | 0 | case 0: |
2620 | | // this slot used by EVENT_IDENTIFIED |
2621 | 0 | return; |
2622 | | |
2623 | 72 | case 1: |
2624 | 72 | (void)sirf_write(session, versionprobe, sizeof(versionprobe)); |
2625 | 72 | break; |
2626 | 58 | case 2: |
2627 | | // unset MID 0x40 = 64 first since there is a flood of them |
2628 | 58 | GPSD_LOG(LOG_PROG, &session->context->errout, |
2629 | 58 | "SiRF: unset MID 0x40.\n"); |
2630 | 58 | unsetmidXX[5] = 1; // enable/disable |
2631 | 58 | unsetmidXX[6] = 0x40; // MID 0x40 |
2632 | 58 | (void)sirf_write(session, unsetmidXX, sizeof(unsetmidXX)); |
2633 | 58 | break; |
2634 | | |
2635 | 44 | case 3: |
2636 | | /* |
2637 | | * The response to this request will save the navigation |
2638 | | * parameters so they can be reverted before close. |
2639 | | */ |
2640 | 44 | GPSD_LOG(LOG_PROG, &session->context->errout, |
2641 | 44 | "SiRF: Requesting navigation parameters.\n"); |
2642 | 44 | (void)sirf_write(session, navparams, sizeof(navparams)); |
2643 | 44 | break; |
2644 | | |
2645 | 41 | case 4: |
2646 | | // unset GND (0x29 = 41), it's not reliable on SiRF II |
2647 | 41 | GPSD_LOG(LOG_PROG, &session->context->errout, |
2648 | 41 | "SiRF: unset MID 0x29.\n"); |
2649 | 41 | unsetmidXX[5] = 1; // enable/disable |
2650 | 41 | unsetmidXX[6] = 0x29; // MID 0x29 |
2651 | 41 | (void)sirf_write(session, unsetmidXX, sizeof(unsetmidXX)); |
2652 | 41 | break; |
2653 | | |
2654 | 36 | case 5: |
2655 | 36 | GPSD_LOG(LOG_PROG, &session->context->errout, |
2656 | 36 | "SiRF: Setting Navigation Parameters.\n"); |
2657 | 36 | (void)sirf_write(session, modecontrol, sizeof(modecontrol)); |
2658 | 36 | break; |
2659 | | |
2660 | 39 | case 6: |
2661 | 39 | GPSD_LOG(LOG_PROG, &session->context->errout, |
2662 | 39 | "SiRF: Requesting periodic ecef reports.\n"); |
2663 | 39 | (void)sirf_write(session, requestecef, sizeof(requestecef)); |
2664 | 39 | break; |
2665 | | |
2666 | 36 | case 7: |
2667 | 36 | GPSD_LOG(LOG_PROG, &session->context->errout, |
2668 | 36 | "SiRF: Requesting periodic tracker reports.\n"); |
2669 | 36 | (void)sirf_write(session, requesttracker, sizeof(requesttracker)); |
2670 | 36 | break; |
2671 | | |
2672 | 34 | case 8: |
2673 | 34 | GPSD_LOG(LOG_PROG, &session->context->errout, |
2674 | 34 | "SiRF: Setting DGPS control to use SBAS.\n"); |
2675 | 34 | (void)sirf_write(session, dgpscontrol, sizeof(dgpscontrol)); |
2676 | 34 | break; |
2677 | | |
2678 | 29 | case 9: |
2679 | 29 | GPSD_LOG(LOG_PROG, &session->context->errout, |
2680 | 29 | "SiRF: Setting SBAS to auto/integrity mode.\n"); |
2681 | 29 | (void)sirf_write(session, sbasparams, sizeof(sbasparams)); |
2682 | 29 | break; |
2683 | | |
2684 | 31 | case 10: |
2685 | 31 | GPSD_LOG(LOG_PROG, &session->context->errout, |
2686 | 31 | "SiRF: Enabling PPS message MID 52 (0x32).\n"); |
2687 | | /* Not supported on some GPS. |
2688 | | * It will be NACKed is not supported */ |
2689 | 31 | (void)sirf_write(session, enablemid52, sizeof(enablemid52)); |
2690 | 31 | break; |
2691 | | |
2692 | 27 | case 11: |
2693 | | // SiRF recommends at least 57600 for SiRF IV subframe data |
2694 | 27 | if (57600 <= session->gpsdata.dev.baudrate) { |
2695 | | // fast enough, turn on subframe data |
2696 | 0 | GPSD_LOG(LOG_PROG, &session->context->errout, |
2697 | 0 | "SiRF: Enabling subframe transmission.\n"); |
2698 | 0 | (void)sirf_write(session, enablesubframe, |
2699 | 0 | sizeof(enablesubframe)); |
2700 | 27 | } else { |
2701 | | // too slow, turn off subframe data |
2702 | 27 | GPSD_LOG(LOG_PROG, &session->context->errout, |
2703 | 27 | "SiRF: Disabling subframe transmission.\n"); |
2704 | 27 | (void)sirf_write(session, disablesubframe, |
2705 | 27 | sizeof(disablesubframe)); |
2706 | 27 | } |
2707 | 27 | break; |
2708 | | |
2709 | 31 | case 12: |
2710 | | /* |
2711 | | * Disable navigation debug messages (the value 5 is magic) |
2712 | | * must be done *after* subframe enable. |
2713 | | */ |
2714 | 31 | GPSD_LOG(LOG_PROG, &session->context->errout, |
2715 | 31 | "SiRF: disable MID 7, 28, 29, 30, 31.\n"); |
2716 | 31 | unsetmidXX[5] = 5; |
2717 | 31 | unsetmidXX[6] = 0; |
2718 | 31 | (void)sirf_write(session, unsetmidXX, sizeof(unsetmidXX)); |
2719 | 31 | break; |
2720 | | |
2721 | 69 | default: |
2722 | | // initialization is done |
2723 | 69 | session->cfg_stage = UINT_MAX; |
2724 | 69 | session->cfg_step = 0; |
2725 | 69 | return; |
2726 | 547 | } |
2727 | 478 | break; |
2728 | | |
2729 | 478 | case EVENT_DEACTIVATE: |
2730 | |
|
2731 | 0 | putbyte(moderevert, 7, session->driver.sirf.degraded_mode); |
2732 | 0 | putbe16(moderevert, 10, session->driver.sirf.altitude_source_input); |
2733 | 0 | putbyte(moderevert, 12, session->driver.sirf.altitude_hold_mode); |
2734 | 0 | putbyte(moderevert, 13, session->driver.sirf.altitude_hold_source); |
2735 | 0 | putbyte(moderevert, 15, session->driver.sirf.degraded_timeout); |
2736 | 0 | putbyte(moderevert, 16, session->driver.sirf.dr_timeout); |
2737 | 0 | putbyte(moderevert, 17, session->driver.sirf.track_smooth_mode); |
2738 | 0 | GPSD_LOG(LOG_PROG, &session->context->errout, |
2739 | 0 | "SiRF: Reverting navigation parameters...\n"); |
2740 | 0 | (void)sirf_write(session, moderevert, sizeof(moderevert)); |
2741 | 0 | break; |
2742 | | |
2743 | 624 | case EVENT_DRIVER_SWITCH: |
2744 | | // do what here? |
2745 | 624 | break; |
2746 | 0 | case EVENT_TRIGGERMATCH: |
2747 | | // do what here? |
2748 | 0 | break; |
2749 | 0 | case EVENT_WAKEUP: |
2750 | | // do what here? |
2751 | 0 | break; |
2752 | 7.19k | } |
2753 | 7.19k | } |
2754 | | |
2755 | | |
2756 | | |
2757 | | // this is everything we export |
2758 | | // *INDENT-OFF* |
2759 | | const struct gps_type_t driver_sirf = |
2760 | | { |
2761 | | .type_name = "SiRF", // full name of type |
2762 | | .packet_type = SIRF_PACKET, // associated lexer packet type |
2763 | | .flags = DRIVER_STICKY, // remember this |
2764 | | .trigger = NULL, // no trigger |
2765 | | .channels = SIRF_CHANNELS, // consumer-grade GPS |
2766 | | .probe_detect = NULL, // no probe |
2767 | | .get_packet = packet_get1, // be prepared for SiRF or NMEA |
2768 | | .parse_packet = sirfbin_parse_input, // parse message packets |
2769 | | .rtcm_writer = gpsd_write, // send RTCM data straight |
2770 | | .init_query = sirfbin_init_query, // non-perturbing initial query |
2771 | | .event_hook = sirfbin_event_hook, // lifetime event handler |
2772 | | .speed_switcher = sirfbin_speed, // we can change baud rate |
2773 | | .mode_switcher = sirfbin_mode, // there's a mode switcher |
2774 | | .rate_switcher = NULL, // no sample-rate switcher |
2775 | | .min_cycle.tv_sec = 1, // not relevant, no rate switch |
2776 | | .min_cycle.tv_nsec = 0, // not relevant, no rate switch |
2777 | | .control_send = sirf_control_send, // how to send a control string |
2778 | | .time_offset = sirf_time_offset, |
2779 | | }; |
2780 | | // *INDENT-ON* |
2781 | | #endif // defined(SIRF_ENABLE) |
2782 | | |
2783 | | // vim: set expandtab shiftwidth=4 |