/src/gpsd/gpsd-3.25.1~dev/drivers/driver_tsip.c
Line | Count | Source (jump to first uncovered line) |
1 | | /* |
2 | | * Handle the Trimble TSIP packet format |
3 | | * by Rob Janssen, PE1CHL. |
4 | | * Acutime Gold support by Igor Socec <igorsocec@gmail.com> |
5 | | * Trimble RES multi-constellation support by Nuno Goncalves <nunojpg@gmail.com> |
6 | | * |
7 | | * Week counters are not limited to 10 bits. It's unknown what |
8 | | * the firmware is doing to disambiguate them, if anything; it might just |
9 | | * be adding a fixed offset based on a hidden epoch value, in which case |
10 | | * unhappy things will occur on the next rollover. |
11 | | * |
12 | | * TSIPv1n RES270 Resolution SMTx support added by: |
13 | | * Gary E. Miller <gem@rellim.com> |
14 | | * |
15 | | * This file is Copyright by the GPSD project |
16 | | * SPDX-License-Identifier: BSD-2-clause |
17 | | */ |
18 | | |
19 | | #include "../include/gpsd_config.h" // must be before all includes |
20 | | |
21 | | #include <math.h> |
22 | | #include <stdbool.h> |
23 | | #include <stdio.h> |
24 | | #include <stdlib.h> // For llabs() |
25 | | #include <string.h> |
26 | | #include <time.h> |
27 | | #include <unistd.h> |
28 | | |
29 | | #include "../include/compiler.h" // for FALLTHROUGH |
30 | | #include "../include/gpsd.h" |
31 | | #include "../include/bits.h" |
32 | | #include "../include/strfuncs.h" |
33 | | #include "../include/timespec.h" |
34 | | |
35 | | #ifdef TSIP_ENABLE |
36 | | // RES SMT 360 has 32 max channels, use 64 for next gen |
37 | 0 | #define TSIP_CHANNELS 64 |
38 | | |
39 | | /* defines for Set or Request I/O Options (0x35) |
40 | | * SMT 360 default: IO1_DP|IO1_LLA, IO2_ENU, 0, IO4_DBHZ */ |
41 | | // byte 1 Position |
42 | 0 | #define IO1_ECEF 1 |
43 | 0 | #define IO1_LLA 2 |
44 | 0 | #define IO1_MSL 4 |
45 | 0 | #define IO1_DP 0x10 |
46 | | // IO1_8F20 not in SMT 360 |
47 | 0 | #define IO1_8F20 0x20 |
48 | | // byte 2 Velocity |
49 | 0 | #define IO2_VECEF 1 |
50 | 0 | #define IO2_ENU 2 |
51 | | // byte 3 Timing |
52 | | #define IO3_UTC 1 |
53 | | // byte 4 Aux/Reserved |
54 | | #define IO4_RAW 1 |
55 | 0 | #define IO4_DBHZ 8 |
56 | | |
57 | 0 | #define SEMI_2_DEG (180.0 / 2147483647) // 2^-31 semicircle to deg |
58 | | |
59 | | // Start TSIPv1 values and flags |
60 | | |
61 | | /* Data Bits v1 |
62 | | * Used in x91-00 */ |
63 | | static struct vlist_t vdbits1[] = { |
64 | | {3, "8 bits"}, |
65 | | {0, NULL}, |
66 | | }; |
67 | | |
68 | | /* Fix Type v1 |
69 | | * Used in xa1-11 */ |
70 | | static struct vlist_t vfix_type1[] = { |
71 | | {0, "No Fix"}, |
72 | | {1, "1D"}, |
73 | | {2, "3D"}, |
74 | | {0, NULL}, |
75 | | }; |
76 | | |
77 | | /* GNSS Decoding Status to string |
78 | | * Used in xa3-11 */ |
79 | | static struct vlist_t vgnss_decode_status1[] = { |
80 | | {0, "Doing Fixes"}, |
81 | | {1, "No GPS time"}, |
82 | | {2, "PDOP too high"}, |
83 | | {3, "0 usable sats"}, |
84 | | {4, "1 usable sat"}, |
85 | | {5, "2 usable sats"}, |
86 | | {6, "3 usable sats"}, |
87 | | {0xff, "GPS Time Fix (OD mode)"}, |
88 | | {0, NULL}, |
89 | | }; |
90 | | |
91 | | /* Major Alarm Flags v1 |
92 | | * Used in xa3-00 */ |
93 | | static struct flist_t vmajor_alarms1[] = { |
94 | | {1, 1, "Not tracking sats"}, |
95 | | {2, 2, "PPS bad"}, |
96 | | {4, 4, "PPS not generated"}, |
97 | | {0x80, 0x80, "Spoofing/Multipath"}, |
98 | | {0x100, 0x100, "Jamming"}, |
99 | | {0, 0, NULL}, |
100 | | }; |
101 | | |
102 | | /* Minor Alarm Flags v1 |
103 | | * Used in xa3-00 */ |
104 | | static struct flist_t vminor_alarms1[] = { |
105 | | {1, 1, "Ant Open"}, |
106 | | {2, 2, "Ant Short"}, |
107 | | {4, 4, "Leap Pending"}, |
108 | | {8, 8, "Almanac Incomplete"}, |
109 | | {0x10, 0x10, "Survey in Progress"}, |
110 | | {0x20, 0x20, "GPS Almanac Incomplete"}, |
111 | | {0x20, 0x20, "GLO Almanac Incomplete"}, |
112 | | {0x40, 0x40, "BDS Almanac Incomplete"}, |
113 | | {0x80, 0x80, "GAL Almanac Incomplete"}, |
114 | | {0x100, 0x100, "Leap Second Insertion"}, |
115 | | {0x200, 0x200, "Leap Second Deletion"}, |
116 | | {0, 0, NULL}, |
117 | | }; |
118 | | |
119 | | /* Parity v1 |
120 | | * Used in x91-00 */ |
121 | | static struct vlist_t vparity1[] = { |
122 | | {0, "None bits"}, |
123 | | {1, "Odd"}, |
124 | | {2, "Even"}, |
125 | | {255, "Ignore"}, |
126 | | {0, NULL}, |
127 | | }; |
128 | | |
129 | | /* Port Name v1 |
130 | | * Used in x91-00 */ |
131 | | static struct vlist_t vport_name1[] = { |
132 | | {0, "Port A"}, |
133 | | {1, "Port B"}, |
134 | | {255, "Current Port"}, |
135 | | {0, NULL}, |
136 | | }; |
137 | | |
138 | | /* Port Type v1 |
139 | | * Used in x91-00 */ |
140 | | static struct vlist_t vport_type1[] = { |
141 | | {0, "UART"}, |
142 | | {0, NULL}, |
143 | | }; |
144 | | |
145 | | /* Position Mask |
146 | | * Used in xa1-11 */ |
147 | | static struct flist_t vpos_mask1[] = { |
148 | | {0, 1, "Real Time Position"}, |
149 | | {1, 1, "Surveyed Position"}, |
150 | | {0, 2, "LLA Position"}, |
151 | | {2, 2, "XYZ ECEF"}, |
152 | | {0, 4, "HAE"}, |
153 | | {4, 4, "MSL"}, |
154 | | {0, 8, "Velocity ENU"}, |
155 | | {8, 8, "Velocity ECEF"}, |
156 | | {0, 0, NULL}, |
157 | | }; |
158 | | |
159 | | /* PPS Mask v1 |
160 | | * Used in x91-03 */ |
161 | | static struct vlist_t vpps_mask1[] = { |
162 | | {0, "Off"}, |
163 | | {1, "On"}, |
164 | | {2, "Fix Based"}, |
165 | | {3, "When Valid"}, |
166 | | {4, "Off"}, |
167 | | {5, "On/Negative"}, |
168 | | {6, "Fix Based/Negative"}, |
169 | | {7, "When Valid/Negative"}, |
170 | | {0, NULL}, |
171 | | }; |
172 | | |
173 | | /* Protocol v1 |
174 | | * Used in x91-00 */ |
175 | | static struct vlist_t vprotocol1[] = { |
176 | | {2, "TSIP"}, |
177 | | {4, "NMEA"}, |
178 | | {255, "Ignore"}, |
179 | | {0, NULL}, |
180 | | }; |
181 | | |
182 | | /* Receiver Mode v1 |
183 | | * Used in xa3-11 */ |
184 | | static struct vlist_t vrec_mode1[] = { |
185 | | {0, "2D"}, |
186 | | {1, "(3D) Time Only"}, |
187 | | {3, "Automatic"}, |
188 | | {6, "Overdetermined"}, |
189 | | {0, NULL}, |
190 | | }; |
191 | | |
192 | | /* Satellite Flags v1 |
193 | | * Used in xa2-00 */ |
194 | | static struct flist_t vsflags1[] = { |
195 | | {1, 1, "Acquired"}, |
196 | | {2, 2, "Used in Position"}, |
197 | | {4, 4, "Used in PPS"}, |
198 | | // Bits 8 - 15 "Satellite Status, otherwise undocumented. |
199 | | {0, 0, NULL}, |
200 | | }; |
201 | | |
202 | | /* Speed v1 |
203 | | * Used in x91-00 */ |
204 | | static struct vlist_t vspeed1[] = { |
205 | | {11, "115200"}, |
206 | | {12, "230400"}, |
207 | | {13, "460800"}, |
208 | | {14, "1821600"}, |
209 | | {255, "Ignore"}, |
210 | | {0, NULL}, |
211 | | }; |
212 | | |
213 | | /* Self-Survey Mask v1 |
214 | | * Used in x91-04 */ |
215 | | static struct flist_t vss_mask1[] = { |
216 | | {1, 1, "SS restarted"}, |
217 | | {0, 2, "SS Disabled"}, |
218 | | {2, 2, "SS Enabled"}, |
219 | | {0, 8, "Don't save position"}, |
220 | | {8, 8, "Save position"}, |
221 | | {0, 0, NULL}, |
222 | | }; |
223 | | |
224 | | /* Stop Bits v1 |
225 | | * Used in x91-00 */ |
226 | | static struct vlist_t vstop1[] = { |
227 | | {0, "1 bit"}, |
228 | | {1, "2 bit"}, |
229 | | {255, "Ignore"}, |
230 | | {0, NULL}, |
231 | | }; |
232 | | |
233 | | /* SV Type v1 |
234 | | * Used in xa2-00 */ |
235 | | static struct vlist_t vsv_type1[] = { |
236 | | {1, "GPS L1C"}, |
237 | | {2, "GPS L2"}, |
238 | | {3, "GPS L5"}, |
239 | | {5, "GLO G1"}, |
240 | | {6, "GLO G2"}, |
241 | | {9, "SBAS"}, |
242 | | {13, "BDS B1"}, |
243 | | {14, "BDS B2i"}, |
244 | | {15, "BDS B2a"}, |
245 | | {17, "GAL E1"}, |
246 | | {18, "GAL E5a"}, |
247 | | {19, "GAL E5b"}, |
248 | | {20, "GAL E6"}, |
249 | | {22, "QZSS L1"}, |
250 | | {23, "QZSS L2C"}, |
251 | | {24, "QZSS L5"}, |
252 | | {26, "IRNSS L5"}, |
253 | | {0, NULL}, |
254 | | }; |
255 | | |
256 | | /* SV Types v1 |
257 | | * Used in x91-01 */ |
258 | | static struct flist_t vsv_types1[] = { |
259 | | {1, 1, "GPS L1C"}, |
260 | | {2, 2, "GPS L2"}, |
261 | | {4, 3, "GPS L5"}, |
262 | | {0x20, 0x20, "GLO G1"}, |
263 | | {0x40, 0x40, "GLO G2"}, |
264 | | {0x100, 0x100, "SBAS"}, |
265 | | {0x1000, 0x1000, "BDS B1"}, |
266 | | {0x2000, 0x2000, "BDS B2i"}, |
267 | | {0x4000, 0x4000, "BDS B2a"}, |
268 | | {0x10000, 0x10000, "GAL E1"}, |
269 | | {0x20000, 0x20000, "GAL E5a"}, |
270 | | {0x40000, 0x40000, "GAL E5b"}, |
271 | | {0x80000, 0x80000, "GAL E6"}, |
272 | | {0x100000, 0x100000, "QZSS L1"}, |
273 | | {0x200000, 0x200000, "QZSS L2C"}, |
274 | | {0x400000, 0x400000, "QZSS L5"}, |
275 | | {0x1000000, 0x1000000, "IRNSS L5"}, |
276 | | {0, 0, NULL}, |
277 | | }; |
278 | | |
279 | | /* Time Base v1 |
280 | | * Used in x91-03, xa1-00 */ |
281 | | static struct vlist_t vtime_base1[] = { |
282 | | {0, "GPS"}, |
283 | | {1, "GLO"}, |
284 | | {2, "BDS"}, |
285 | | {3, "GAL"}, |
286 | | {4, "GPS/UTC"}, |
287 | | {6, "GLO/UTC"}, |
288 | | {6, "BDS/UTC"}, |
289 | | {7, "GAL/UTC"}, |
290 | | {0, NULL}, |
291 | | }; |
292 | | |
293 | | /* Time Flags v1 |
294 | | * Used in xa1-00 */ |
295 | | static struct flist_t vtime_flags1[] = { |
296 | | {0, 1, "UTC Invalid"}, |
297 | | {1, 1, "UTC Valid"}, |
298 | | {0, 2, "Time Invalid"}, |
299 | | {2, 2, "Time Valid"}, |
300 | | {0, 0, NULL}, |
301 | | }; |
302 | | |
303 | | // End TSIPv1 values and flags |
304 | | |
305 | | // Start TSIP values and flags |
306 | | |
307 | | /* GNSS Decoding Status to string |
308 | | * Used in x46, x8f-ac */ |
309 | | static struct vlist_t vgnss_decode_status[] = { |
310 | | {0, "Doing Fixes"}, |
311 | | {1, "No GPS time"}, |
312 | | {2, "Needs Init"}, // ACE II, LassenSQ |
313 | | {3, "PDOP too high"}, |
314 | | {8, "0 usable sats"}, |
315 | | {9, "1 usable sat"}, |
316 | | {10, "2 usable sats"}, |
317 | | {11, "3 usable sats"}, |
318 | | {12, "chosen sat unusable"}, |
319 | | {16, "TRAIM rejected"}, // Thunderbolt E |
320 | | {0xbb, "GPS Time Fix (OD mode)"}, // Acutime 360 |
321 | | {0, NULL}, |
322 | | }; |
323 | | |
324 | | /* Receiver Mode |
325 | | * Used in xbb, x8f-ac */ |
326 | | static struct vlist_t vrec_mode[] = { |
327 | | {0, "Autonomous (2D/3D)"}, |
328 | | {1, "Time Only (1-SV)"}, // Accutime 2000, Tbolt |
329 | | {3, "2D"}, // Accutime 2000, Tbolt |
330 | | {4, "3D"}, // Accutime 2000, Tbolt |
331 | | {5, "DGPS"}, // Accutime 2000, Tbolt |
332 | | {6, "2D Clock hold"}, // Accutime 2000, Tbolt |
333 | | {7, "Overdetermined"}, // Stationary Timing, surveyed |
334 | | {0, NULL}, |
335 | | }; |
336 | | |
337 | | /* Error Code Flags |
338 | | * Used in x46 */ |
339 | | static struct flist_t verr_codes[] = { |
340 | | {1, 1, "No Bat"}, |
341 | | {0x10, 0x30, "Ant Open"}, |
342 | | {0x30, 0x30, "Ant Short"}, |
343 | | {0, 0, NULL}, |
344 | | }; |
345 | | |
346 | | /* Error Code Flags |
347 | | * Used in xa3-21 */ |
348 | | static struct vlist_t verr_codes1[] = { |
349 | | {1, "Parameter Error"}, |
350 | | {2, "Length Error"}, |
351 | | {3, "Invalid Parket Format"}, |
352 | | {4, "Invalid Checksum"}, |
353 | | {5, "Bad TNL/User mode"}, |
354 | | {6, "Invalid Packet ID"}, |
355 | | {7, "Invalid Subacket ID"}, |
356 | | {8, "Update in Progress"}, |
357 | | {9, "Internal Error (div by 0)"}, |
358 | | {10, "Internal Error (failed queuing)"}, |
359 | | {0, NULL}, |
360 | | }; |
361 | | |
362 | | /* Status 1 |
363 | | * Used in x4b */ |
364 | | static struct flist_t vstat1[] = { |
365 | | {2, 2, "RTC invalid"}, |
366 | | {8, 8, "No Almanac"}, |
367 | | {0, 0, NULL}, |
368 | | }; |
369 | | |
370 | | /* Status 2 |
371 | | * Used in x4b */ |
372 | | static struct flist_t vstat2[] = { |
373 | | {1, 1, "Superpackets"}, // x8f-20 (LFwEI) |
374 | | {2, 2, "Superpackets 2"}, // x8f-1b, x8f-ac |
375 | | {0, 0, NULL}, |
376 | | }; |
377 | | |
378 | | /* Fis Dimension, Fix Mode |
379 | | * Used in x6c, x6d */ |
380 | | static struct flist_t vfix[] = { |
381 | | // Accutime calls 0 "Auto" |
382 | | {0, 7, "No Fix"}, |
383 | | // in x6d, Thunderbolt E calls 1 "1D Time Fix", not an OD Fix |
384 | | {1, 7, "OD Fix"}, |
385 | | // Accutime calls 3 "2D Clock Hold" |
386 | | {3, 7, "2D Fix"}, |
387 | | {4, 7, "3D Fix"}, |
388 | | {5, 7, "OD Fix"}, // in Thunderbolt E, x6d, others |
389 | | {6, 7, "DGPS"}, // in Accutime |
390 | | {0, 8, "Auto"}, |
391 | | {1, 8, "Manual"}, |
392 | | {0, 0, NULL}, |
393 | | }; |
394 | | |
395 | | /* Timing Flags |
396 | | * Used in x8f-ab */ |
397 | | static struct flist_t vtiming[] = { |
398 | | {0, 1, "GPS time"}, |
399 | | {1, 1, "UTC time"}, |
400 | | {0, 2, "GPS PPS"}, |
401 | | {1, 2, "UTC PPS"}, |
402 | | {4, 4, "Time not set"}, |
403 | | {8, 8, "no UTC info"}, |
404 | | {0x10, 0x10, "time from user"}, |
405 | | {0, 0, NULL}, |
406 | | }; |
407 | | |
408 | | /* Critical Alarm Flags |
409 | | * Used in x8f-ac */ |
410 | | static struct flist_t vcrit_alarms[] = { |
411 | | {1, 1, "ROM error"}, // Thunderbolt |
412 | | {2, 2, "RAM error"}, // Thunderbolt |
413 | | {4, 4, "FPGA error"}, // Thunderbolt |
414 | | {8, 8, "Power error"}, // Thunderbolt |
415 | | {0x10, 0x10, "OSC error"}, // Thunderbolt |
416 | | {0, 0, NULL}, |
417 | | }; |
418 | | |
419 | | /* Minor Alarm Flags |
420 | | * Used in x8f-ac */ |
421 | | static struct flist_t vminor_alarms[] = { |
422 | | {1, 1, "OSC warning"}, // Thunderbolt |
423 | | {2, 2, "Ant Open"}, |
424 | | {4, 4, "Ant Short"}, |
425 | | {8, 8, "Not tracking Sats"}, |
426 | | {0x10, 0x10, "Osc unlocked"}, // Thunderbolt |
427 | | {0x20, 0x20, "Survey in progress"}, |
428 | | {0x40, 0x40, "No stored Position"}, |
429 | | {0x80, 0x80, "Leap Sec Pending"}, |
430 | | {0x100, 0x100, "Test Mode"}, |
431 | | {0x200, 0x200, "Position questionable"}, |
432 | | {0x400, 0x400, "EEROM corrupt"}, // Thunderbolt |
433 | | {0x800, 0x800, "Almanac Incomplete"}, |
434 | | {0x1000, 0x1000, "PPS generated"}, |
435 | | {0, 0, NULL}, |
436 | | }; |
437 | | |
438 | | /* convert TSIP SV Type to satellite_t.gnssid and satellite_t.svid |
439 | | * return gnssid directly, svid indirectly through pointer */ |
440 | | static unsigned char tsip_gnssid(unsigned svtype, short prn, |
441 | | unsigned char *svid) |
442 | 0 | { |
443 | | // initialized to shut up clang |
444 | 0 | unsigned char gnssid = 0; |
445 | |
|
446 | 0 | *svid = 0; |
447 | |
|
448 | 0 | switch (svtype) { |
449 | 0 | case 0: |
450 | 0 | if (0 < prn && 33 > prn) { |
451 | 0 | gnssid = GNSSID_GPS; |
452 | 0 | *svid = prn; |
453 | 0 | } else if (32 < prn && 55 > prn) { |
454 | | // RES SMT 360 and ICM SMT 360 put SBAS in 33-54 |
455 | 0 | gnssid = GNSSID_SBAS; |
456 | 0 | *svid = prn + 87; |
457 | 0 | } else if (64 < prn && 97 > prn) { |
458 | | // RES SMT 360 and ICM SMT 360 put GLONASS in 65-96 |
459 | 0 | gnssid = GNSSID_GLO; |
460 | 0 | *svid = prn - 64; |
461 | 0 | } else if (96 < prn && 134 > prn) { |
462 | | // RES SMT 360 and ICM SMT 360 put Galileo in 97-133 |
463 | 0 | gnssid = GNSSID_GAL; |
464 | 0 | *svid = prn - 96; |
465 | 0 | } else if (119 < prn && 139 > prn) { |
466 | | // Copernicus (II) put SBAS in 120-138 |
467 | 0 | gnssid = GNSSID_SBAS; |
468 | 0 | *svid = prn + 87; |
469 | 0 | } else if (183 == prn) { |
470 | 0 | gnssid = GNSSID_QZSS; |
471 | 0 | *svid = 1; |
472 | 0 | } else if (192 <= prn && 193 >= prn) { |
473 | 0 | gnssid = GNSSID_QZSS; |
474 | 0 | *svid = prn - 190; |
475 | 0 | } else if (200 == prn) { |
476 | 0 | gnssid = GNSSID_QZSS; |
477 | 0 | *svid = 4; |
478 | 0 | } else if (200 < prn && 238 > prn) { |
479 | | // BeidDou in 201-237 |
480 | 0 | gnssid = GNSSID_BD; |
481 | 0 | *svid = prn - 200; |
482 | 0 | } |
483 | | // else: huh? |
484 | 0 | break; |
485 | 0 | case 1: |
486 | 0 | gnssid = GNSSID_GLO; // GLONASS |
487 | 0 | *svid = prn - 64; |
488 | 0 | break; |
489 | 0 | case 2: |
490 | 0 | gnssid = GNSSID_BD; // BeiDou |
491 | 0 | *svid = prn - 200; |
492 | 0 | break; |
493 | 0 | case 3: |
494 | 0 | gnssid = GNSSID_GAL; // Galileo |
495 | 0 | *svid = prn - 96; |
496 | 0 | break; |
497 | 0 | case 5: |
498 | 0 | gnssid = GNSSID_QZSS; // QZSS |
499 | 0 | switch (prn) { |
500 | 0 | case 183: |
501 | 0 | *svid = 1; |
502 | 0 | break; |
503 | 0 | case 192: |
504 | 0 | *svid = 2; |
505 | 0 | break; |
506 | 0 | case 193: |
507 | 0 | *svid = 3; |
508 | 0 | break; |
509 | 0 | case 200: |
510 | 0 | *svid = 4; |
511 | 0 | break; |
512 | 0 | default: |
513 | 0 | *svid = prn; |
514 | 0 | break; |
515 | 0 | } |
516 | 0 | break; |
517 | 0 | case 4: |
518 | 0 | FALLTHROUGH |
519 | 0 | case 6: |
520 | 0 | FALLTHROUGH |
521 | 0 | case 7: |
522 | 0 | FALLTHROUGH |
523 | 0 | default: |
524 | 0 | *svid = 0; |
525 | 0 | gnssid = 0; |
526 | 0 | break; |
527 | 0 | } |
528 | 0 | return gnssid; |
529 | 0 | } |
530 | | |
531 | | /* tsip1_checksum() |
532 | | * compute TSIP version 1 checksum |
533 | | * |
534 | | * Return: checksum |
535 | | */ |
536 | | static char tsip1_checksum(const char *buf, size_t len) |
537 | 0 | { |
538 | 0 | char checksum = 0; |
539 | 0 | size_t index; |
540 | |
|
541 | 0 | for(index = 0; index < len; index++) { |
542 | 0 | checksum ^= buf[index]; |
543 | 0 | } |
544 | 0 | return checksum; |
545 | 0 | } |
546 | | |
547 | | /* tsip_write1() - send old style TSIP message, improved tsip_write() |
548 | | * buf - the packet |
549 | | * len - length of buf |
550 | | * |
551 | | * Adds leading DLE, and the trailing DLE, ETX |
552 | | * |
553 | | * Return: 0 == OK |
554 | | * -1 == write fail |
555 | | */ |
556 | | static ssize_t tsip_write1(struct gps_device_t *session, |
557 | | char *buf, size_t len) |
558 | 0 | { |
559 | 0 | char *ep, *cp; |
560 | 0 | char obuf[100]; |
561 | 0 | size_t olen = len; |
562 | |
|
563 | 0 | if (session->context->readonly) { |
564 | 0 | return 0; |
565 | 0 | } |
566 | 0 | if ((NULL == buf) || |
567 | 0 | 0 == len || |
568 | 0 | (sizeof(session->msgbuf) / 2) < len) { |
569 | | // could over run, do not chance it |
570 | 0 | return -1; |
571 | 0 | } |
572 | 0 | session->msgbuf[0] = '\x10'; |
573 | 0 | ep = session->msgbuf + 1; |
574 | 0 | for (cp = buf; olen-- > 0; cp++) { |
575 | 0 | if ('\x10' == *cp) { |
576 | 0 | *ep++ = '\x10'; |
577 | 0 | } |
578 | 0 | *ep++ = *cp; |
579 | 0 | } |
580 | 0 | *ep++ = '\x10'; |
581 | 0 | *ep++ = '\x03'; |
582 | 0 | session->msgbuflen = (size_t)(ep - session->msgbuf); |
583 | | // Don't bore the user with the header (DLE) or trailer (DLE, STX). |
584 | 0 | GPSD_LOG(LOG_PROG, &session->context->errout, |
585 | 0 | "TSIP: tsip_write1(0x%s)\n", |
586 | 0 | gps_hexdump(obuf, sizeof(obuf), |
587 | 0 | (unsigned char *)&session->msgbuf[1], len)); |
588 | 0 | if (gpsd_write(session, session->msgbuf, session->msgbuflen) != |
589 | 0 | (ssize_t) session->msgbuflen) |
590 | 0 | return -1; |
591 | | |
592 | 0 | return 0; |
593 | 0 | } |
594 | | |
595 | | /* tsip_detect() |
596 | | * |
597 | | * see if it looks like a TSIP device (speaking 9600O81) is listening and |
598 | | * return 1 if found, 0 if not |
599 | | */ |
600 | | static bool tsip_detect(struct gps_device_t *session) |
601 | 0 | { |
602 | 0 | bool ret = false; |
603 | 0 | int myfd; |
604 | 0 | speed_t old_baudrate; |
605 | 0 | char old_parity; |
606 | 0 | unsigned int old_stopbits; |
607 | 0 | bool override = true; |
608 | |
|
609 | 0 | if ((speed_t)0 == session->context->fixed_port_speed && |
610 | 0 | '\0' == session->context->fixed_port_framing[0]) { |
611 | | // Only try 9600 8O1 is no speed or framing override |
612 | 0 | old_baudrate = session->gpsdata.dev.baudrate; |
613 | 0 | old_parity = session->gpsdata.dev.parity; |
614 | 0 | old_stopbits = session->gpsdata.dev.stopbits; |
615 | 0 | gpsd_set_speed(session, 9600, 'O', 1); |
616 | 0 | override = false; |
617 | 0 | } |
618 | | |
619 | | /* request firmware revision and look for a valid response |
620 | | * send 0x1f, expext 0x45. TSIPv1 does not have this, but it |
621 | | * will respond with a TSIPv1 error message, so all good. */ |
622 | 0 | if (0 == tsip_write1(session, "\x1f", 1)) { |
623 | 0 | unsigned int n; |
624 | 0 | struct timespec to; |
625 | |
|
626 | 0 | myfd = session->gpsdata.gps_fd; |
627 | | |
628 | | // FIXME: this holds the main loop from running... |
629 | 0 | for (n = 0; n < 3; n++) { |
630 | | // wait 100 milli second |
631 | 0 | to.tv_sec = 0; |
632 | 0 | to.tv_nsec = 100000000; |
633 | 0 | if (!nanowait(myfd, &to)) { |
634 | 0 | break; |
635 | 0 | } |
636 | 0 | if (0 <= packet_get1(session)) { |
637 | 0 | if (TSIP_PACKET == session->lexer.type) { |
638 | 0 | GPSD_LOG(LOG_RAW, &session->context->errout, |
639 | 0 | "TSIP: tsip_detect found\n"); |
640 | 0 | ret = true; |
641 | 0 | break; |
642 | 0 | } |
643 | 0 | } |
644 | 0 | } |
645 | 0 | } |
646 | |
|
647 | 0 | if (!ret && |
648 | 0 | !override) { |
649 | | // return serial port to original settings |
650 | 0 | gpsd_set_speed(session, old_baudrate, old_parity, old_stopbits); |
651 | 0 | } |
652 | |
|
653 | 0 | return ret; |
654 | 0 | } |
655 | | |
656 | | // configure generic Trimble TSIP device to a known state |
657 | | static void configuration_packets_generic(struct gps_device_t *session) |
658 | 0 | { |
659 | 0 | char buf[100]; |
660 | |
|
661 | 0 | GPSD_LOG(LOG_PROG, &session->context->errout, |
662 | 0 | "TSIP: configuration_packets_generic()\n"); |
663 | | |
664 | | // Set basic configuration, using Set or Request I/O Options (0x35). |
665 | | // Position: enable: Double Precision, LLA, disable: ECEF |
666 | 0 | buf[0] = 0x35; |
667 | | // Time: enable: 0x42, 0x43, 0x4a, disable: 0x83, 0x84, 0x56 |
668 | 0 | buf[1] = IO1_8F20|IO1_DP|IO1_LLA; |
669 | | // Velocity: enable: ENU, disable ECEF |
670 | 0 | buf[2] = IO2_ENU; |
671 | 0 | buf[3] = 0x00; |
672 | 0 | buf[4] = IO4_DBHZ; // Aux: enable: 0x5A, dBHz |
673 | 0 | (void)tsip_write1(session, buf, 5); |
674 | | |
675 | | // Request Software Version (0x1f), returns 0x45 |
676 | 0 | (void)tsip_write1(session, "\x1f", 1); |
677 | | |
678 | | // Current Time Request (0x21), returns 0x41 |
679 | 0 | (void)tsip_write1(session, "\x21", 1); |
680 | | |
681 | | /* Set Operating Parameters (0x2c) |
682 | | * not present in: |
683 | | * Lassen SQ (2002) |
684 | | * Lassen iQ (2005) |
685 | | * RES SMT 360 */ |
686 | | /* dynamics code: enabled: 1=land |
687 | | * disabled: 2=sea, 3=air, 4=static |
688 | | * default is land */ |
689 | 0 | buf[0] = 0x2c; |
690 | 0 | buf[1] = 0x01; |
691 | | // elevation mask, 10 degrees is a common default, TSIP default is 15 |
692 | 0 | putbef32(buf, 2, (float)10.0 * DEG_2_RAD); |
693 | | // signal level mask, default is 2.0 AMU. 5.0 to 6.0 for high accuracy |
694 | 0 | putbef32(buf, 6, (float)06.0); |
695 | | // PDOP mask default is 12. 5.0 to 6.0 for high accuracy |
696 | 0 | putbef32(buf, 10, (float)8.0); |
697 | | // PDOP switch, default is 8.0 |
698 | 0 | putbef32(buf, 14, (float)6.0); |
699 | 0 | (void)tsip_write1(session, buf, 18); |
700 | | |
701 | | /* Set Position Fix Mode (0x22) |
702 | | * 0=auto 2D/3D, 1=time only, 3=2D, 4=3D, 10=Overdetermined clock */ |
703 | 0 | (void)tsip_write1(session, "\x22\x00", 2); |
704 | | |
705 | | /* Request GPS System Message (0x48) |
706 | | * not supported on model RES SMT 360 */ |
707 | 0 | (void)tsip_write1(session, "\x28", 1); |
708 | | |
709 | | /* Last Position and Velocity Request (0x37) |
710 | | * returns 0x57 and (0x42, 0x4a, 0x83, or 0x84) and (0x43 or 0x56) */ |
711 | 0 | (void)tsip_write1(session, "\x37", 1); |
712 | | |
713 | | // 0x8e-15 request output datum |
714 | 0 | (void)tsip_write1(session, "\x8e\x15", 2); |
715 | | |
716 | | /* Primary Receiver Configuration Parameters Request (0xbb-00) |
717 | | * returns Primary Receiver Configuration Block (0xbb-00) */ |
718 | 0 | (void)tsip_write1(session, "\xbb\x00", 2); |
719 | 0 | } |
720 | | |
721 | | // configure Acutime Gold to a known state |
722 | | static void configuration_packets_acutime_gold(struct gps_device_t *session) |
723 | 0 | { |
724 | 0 | char buf[100]; |
725 | |
|
726 | 0 | GPSD_LOG(LOG_PROG, &session->context->errout, |
727 | 0 | "TSIP: configuration_packets_acutime_gold()\n"); |
728 | | |
729 | | /* Request Firmware Version (0x1c-01) |
730 | | * returns Firmware component version information (0x1x-81) */ |
731 | 0 | (void)tsip_write1(session, "\x1c\x01", 2); |
732 | |
|
733 | 0 | buf[0] = 0x8e; // Set Self-Survey Parameters (0x8e-a9) |
734 | 0 | buf[1] = 0xa9; // Subcode |
735 | 0 | buf[2] = 0x01; // Self-Survey Enable = enable |
736 | 0 | buf[3] = 0x01; // Position Save Flag = save position |
737 | 0 | putbe32(buf, 4, 2000); // Self-Survey Length = 2000 fixes, default 2000 |
738 | | // Horizontal Uncertainty, 1-100, 1=best, 100=worst, default 100 |
739 | 0 | putbef32(buf, 8, 100); |
740 | | // Verical Uncertainty, 1-100, 1=best, 100=worst, default 100 |
741 | 0 | putbef32(buf, 12, 100); |
742 | 0 | (void)tsip_write1(session, buf, 16); |
743 | | |
744 | | /* Set PPS Output Option (0x8e-4e) |
745 | | * 0x4e Subcode |
746 | | * 2 == PPS driver switch (PPS is always output) */ |
747 | 0 | (void)tsip_write1(session, "\x8e\x4e\x02", 3); |
748 | |
|
749 | 0 | buf[0] = 0xbb; // Set Primary Receiver Configuration (0xbb-00) |
750 | 0 | buf[1] = 0x00; // 00 = Subcode |
751 | 0 | buf[2] = 0x07; // Receiver mode, 7 = Force Overdetermined clock |
752 | 0 | buf[3] = 0xff; // Not enabled = unchanged, must be 0xff on RES SMT 360 |
753 | 0 | buf[4] = 0x01; // Dynamics code = default must be 0xff on RES SMT 360 |
754 | 0 | buf[5] = 0x01; // Solution Mode = default must be 0xff on RES SMT 360 |
755 | | // Elevation Mask = 10 deg |
756 | 0 | putbef32((char *)buf, 6, (float)10.0 * DEG_2_RAD); |
757 | | // AMU Mask. 0 to 55. default is 4.0 |
758 | 0 | putbef32((char *)buf, 10, (float)4.0); |
759 | | // PDOP Mask = 8.0, default = 6 |
760 | 0 | putbef32((char *)buf, 14, (float)8.0); |
761 | | // PDOP Switch = 6.0, ignored in RES SMT 360 |
762 | 0 | putbef32((char *)buf, 18, (float)6.0); |
763 | 0 | buf[22] = 0xff; // must be 0xff |
764 | 0 | buf[23] = 0x0; // Anti-Jam Mode, 0=Off, 1=On |
765 | 0 | putbe16(buf, 24, 0xffff); // Reserved. Must be 0xffff |
766 | | /* Measurement Rate and Position Fix Rate = default |
767 | | * must be 0xffff on res smt 360 */ |
768 | 0 | putbe16(buf, 26, 0x0000); |
769 | | /* 27 is Constellation on RES SMT 360. |
770 | | * 1 = GPS, 2=GLONASS, 8=BeiDou, 0x10=Galileo, 5=QZSS */ |
771 | 0 | putbe32(buf, 28, 0xffffffff); // Reserved |
772 | 0 | putbe32(buf, 32, 0xffffffff); // Reserved |
773 | 0 | putbe32(buf, 36, 0xffffffff); // Reserved |
774 | 0 | putbe32(buf, 40, 0xffffffff); // Reserved |
775 | 0 | (void)tsip_write1(session, buf, 44); |
776 | |
|
777 | 0 | buf[0] = 0x8e; // Set Packet Broadcast Mask (0x8e-a5) |
778 | 0 | buf[1] = 0xa5; // Subcode a5 |
779 | | /* Packets bit field = default + Primary timing, |
780 | | * Supplemental timing 32e1 |
781 | | * 1=0x8f-ab, 4=0x8f-ac, 0x40=Automatic Output Packets */ |
782 | 0 | putbe16(buf, 2, 0x32e1); |
783 | 0 | buf[4] = 0x00; // not used |
784 | 0 | buf[5] = 0x00; // not used |
785 | 0 | (void)tsip_write1(session, buf, 6); |
786 | 0 | } |
787 | | |
788 | | // configure RES 360, Resolution SMTx, and similar to a known state |
789 | | static void configuration_packets_res360(struct gps_device_t *session) |
790 | 0 | { |
791 | 0 | char buf[100]; |
792 | |
|
793 | 0 | GPSD_LOG(LOG_PROG, &session->context->errout, |
794 | 0 | "TSIP: configuration_packets_res360()\n"); |
795 | | |
796 | | // should already have versions 0x8f-81 and 0x8f-83. |
797 | | |
798 | | // Request Self Survey Parameters (0x8e-a9) |
799 | 0 | (void)tsip_write1(session, "\x8e\xa9", 2); |
800 | |
|
801 | 0 | if (session->context->passive) { |
802 | | // request I/O Options (0x55) |
803 | 0 | (void)tsip_write1(session, "\x35", 1); |
804 | | |
805 | | // request Receiver Configuration (0xbb) |
806 | 0 | (void)tsip_write1(session, "\xbb\x00", 2); |
807 | | |
808 | | // Request Packet Broadcast Mask (0x8e-a5) |
809 | 0 | (void)tsip_write1(session, "\x8e\xa5", 2); |
810 | |
|
811 | 0 | } else { |
812 | | // PPS Output Option (0x8e-4e) is default on |
813 | |
|
814 | 0 | buf[0] = 0x8e; // Set Packet Broadcast Mask (0x8e-a5) |
815 | 0 | buf[1] = 0xa5; // a5 = Subcode |
816 | | /* Packets bit field = default + Auto output packets |
817 | | * 1=0x8f-ab, 4=0x8f-ac, 0x40=Automatic Output Packets */ |
818 | 0 | buf[2] = 0; // reserved |
819 | 0 | buf[3] = 0x45; |
820 | 0 | buf[4] = 0; // reserved |
821 | 0 | buf[5] = 0; // reserved |
822 | 0 | (void)tsip_write1(session, buf, 6); |
823 | | |
824 | | /* IO Options defaults: |
825 | | * Lassen iQ: 02 02 00 00 |
826 | | * RES SMT 360: 12 02 00 08 |
827 | | * Resolution SMTx: 12 02 00 08 |
828 | | */ |
829 | 0 | buf[0] = 0x35; // set I/O Options |
830 | | // position and velocity only sent during self-survey. |
831 | | // Position |
832 | 0 | buf[1] = IO1_DP|IO1_LLA|IO1_ECEF; |
833 | | // Velocity |
834 | 0 | buf[2] = IO2_VECEF|IO2_ENU; |
835 | | // Timing |
836 | 0 | buf[3] = 0x01; // Use 0x8e-a2 |
837 | | // Auxiliary |
838 | 0 | buf[4] = 0x08; // Packet 0x5a off, dBHz |
839 | 0 | (void)tsip_write1(session, buf, 5); |
840 | |
|
841 | | #ifdef __UNUSED__ |
842 | | // #if 1 |
843 | | // Restart Self-Survey (0x8e-a6) |
844 | | // which gives us 2,000 normal fixes, before going quiet again. |
845 | | (void)tsip_write1(session, "\x8e\xa6\x00", 3); |
846 | | #endif // __UNUSED__ |
847 | 0 | } |
848 | 0 | } |
849 | | |
850 | | /* send the next TSIPv1 query |
851 | | * Return: void |
852 | | */ |
853 | | static void tsipv1_query(struct gps_device_t *session) |
854 | 0 | { |
855 | 0 | char snd_buf[24]; // send buffer |
856 | | |
857 | | // advance to next queue item. |
858 | 0 | session->driver.tsip.queue++; |
859 | | // allow it to repeat every x1000 packets |
860 | 0 | session->driver.tsip.queue &= 0x0ffff; |
861 | |
|
862 | 0 | if (0 != (session->driver.tsip.queue % 4)) { |
863 | | // once every 4 messages |
864 | 0 | return; |
865 | 0 | } |
866 | 0 | switch (session->driver.tsip.queue / 4) { |
867 | 0 | case 1: |
868 | | // x90-00, query protocol version |
869 | 0 | snd_buf[0] = 0x90; // id |
870 | 0 | snd_buf[1] = 0x00; // sub id |
871 | 0 | putbe16(snd_buf, 2, 2); // length |
872 | 0 | snd_buf[4] = 0; // mode: query |
873 | 0 | snd_buf[5] = tsip1_checksum(snd_buf, 5); // checksum |
874 | 0 | (void)tsip_write1(session, snd_buf, 6); |
875 | 0 | break; |
876 | 0 | case 2: |
877 | | // x90-01, query GNSS config version |
878 | 0 | snd_buf[0] = 0x90; // id |
879 | 0 | snd_buf[1] = 0x01; // sub id |
880 | 0 | putbe16(snd_buf, 2, 2); // length |
881 | 0 | snd_buf[4] = 0; // mode: query |
882 | 0 | snd_buf[5] = tsip1_checksum(snd_buf, 5); // checksum |
883 | 0 | (void)tsip_write1(session, snd_buf, 6); |
884 | 0 | break; |
885 | 0 | case 3: |
886 | | // x91-00, Port config |
887 | 0 | snd_buf[0] = 0x91; // id |
888 | 0 | snd_buf[1] = 0x00; // sub id |
889 | 0 | putbe16(snd_buf, 2, 3); // length |
890 | 0 | snd_buf[4] = 0; // mode: query |
891 | 0 | snd_buf[5] = 0; // current port |
892 | 0 | snd_buf[6] = tsip1_checksum(snd_buf, 6); // checksum |
893 | 0 | (void)tsip_write1(session, snd_buf, 7); |
894 | 0 | break; |
895 | 0 | case 4: |
896 | | // x81-01, GNSS config |
897 | 0 | snd_buf[0] = 0x91; // id |
898 | 0 | snd_buf[1] = 0x01; // sub id |
899 | 0 | putbe16(snd_buf, 2, 2); // length |
900 | 0 | snd_buf[4] = 0; // mode: query |
901 | 0 | snd_buf[5] = tsip1_checksum(snd_buf, 5); // checksum |
902 | 0 | (void)tsip_write1(session, snd_buf, 6); |
903 | 0 | break; |
904 | 0 | case 5: |
905 | | // x91-03, query timing config |
906 | 0 | snd_buf[0] = 0x91; // id |
907 | 0 | snd_buf[1] = 0x03; // sub id |
908 | 0 | putbe16(snd_buf, 2, 2); // length |
909 | 0 | snd_buf[4] = 0; // mode: query |
910 | 0 | snd_buf[5] = tsip1_checksum(snd_buf, 5); // checksum |
911 | 0 | (void)tsip_write1(session, snd_buf, 6); |
912 | 0 | break; |
913 | 0 | case 6: |
914 | | // x91-04, self survey config |
915 | 0 | snd_buf[0] = 0x91; // id |
916 | 0 | snd_buf[1] = 0x04; // sub id |
917 | 0 | putbe16(snd_buf, 2, 2); // length |
918 | 0 | snd_buf[4] = 0; // mode: query |
919 | 0 | snd_buf[5] = tsip1_checksum(snd_buf, 5); // checksum |
920 | 0 | (void)tsip_write1(session, snd_buf, 6); |
921 | 0 | break; |
922 | 0 | case 7: |
923 | 0 | if (session->context->passive) { |
924 | | // x91-05, query current periodic messages |
925 | 0 | snd_buf[0] = 0x91; // id |
926 | 0 | snd_buf[1] = 0x05; // sub id |
927 | 0 | putbe16(snd_buf, 2, 3); // length |
928 | 0 | snd_buf[4] = 0; // mode: query |
929 | 0 | snd_buf[5] = 0xff; // port: current port |
930 | 0 | snd_buf[6] = tsip1_checksum(snd_buf, 6); // checksum |
931 | 0 | (void)tsip_write1(session, snd_buf, 7); |
932 | 0 | } else { |
933 | | /* request periodic messages, x91-05 |
934 | | * little harm at 115.2 kbps, this also responses as a query */ |
935 | 0 | snd_buf[0] = 0x91; // id |
936 | 0 | snd_buf[1] = 0x05; // sub id |
937 | 0 | putbe16(snd_buf, 2, 19); // length |
938 | 0 | snd_buf[4] = 0x01; // mode: set |
939 | 0 | snd_buf[5] = 0xff; // port: current port |
940 | | // 0xaaaaa, everything preiodic |
941 | 0 | putbe32(snd_buf, 6, 0xaaaaa); |
942 | 0 | putbe32(snd_buf, 10, 0); // reserved |
943 | 0 | putbe32(snd_buf, 14, 0); // reserved |
944 | 0 | putbe32(snd_buf, 18, 0); // reserved |
945 | 0 | snd_buf[22] = tsip1_checksum(snd_buf, 22); // checksum |
946 | 0 | (void)tsip_write1(session, snd_buf, 23); |
947 | 0 | } |
948 | 0 | break; |
949 | 0 | case 8: |
950 | | // x93-00, production info |
951 | 0 | snd_buf[0] = 0x93; // id |
952 | 0 | snd_buf[1] = 0x00; // sub id |
953 | 0 | putbe16(snd_buf, 2, 2); // length |
954 | 0 | snd_buf[4] = 0; // mode: query |
955 | 0 | snd_buf[5] = tsip1_checksum(snd_buf, 5); // checksum |
956 | 0 | (void)tsip_write1(session, snd_buf, 6); |
957 | 0 | break; |
958 | 0 | default: |
959 | | // nothing to do |
960 | 0 | break; |
961 | 0 | } |
962 | 0 | } |
963 | | |
964 | | /* tsipv1_svtype() |
965 | | * convert TSIPv1 SV Type to satellite_t.gnssid and satellite_t.sigid |
966 | | * PRN is already GNSS specific (1-99) |
967 | | * return gnssid directly, sigid indirectly through pointer |
968 | | * |
969 | | * Return: gnssid |
970 | | * 0xff on error |
971 | | */ |
972 | | static unsigned char tsipv1_svtype(unsigned svtype, unsigned char *sigid) |
973 | 0 | { |
974 | |
|
975 | 0 | unsigned char gnssid; |
976 | |
|
977 | 0 | switch (svtype) { |
978 | 0 | case 1: // GPS L1C |
979 | 0 | gnssid = GNSSID_GPS; |
980 | 0 | *sigid = 0; |
981 | 0 | break; |
982 | 0 | case 2: // GPS L2. CL or CM? |
983 | 0 | gnssid = GNSSID_GPS; |
984 | 0 | *sigid = 3; // or, maybe 4 |
985 | 0 | break; |
986 | 0 | case 3: // GPS L5. I or Q? |
987 | 0 | gnssid = GNSSID_GPS; |
988 | 0 | *sigid = 6; // or maybe 7 |
989 | 0 | break; |
990 | 0 | case 5: // GLONASS G1 |
991 | 0 | gnssid = GNSSID_GLO; |
992 | 0 | *sigid = 0; |
993 | 0 | break; |
994 | 0 | case 6: // GLONASS G2 |
995 | 0 | gnssid = GNSSID_GLO; |
996 | 0 | *sigid = 2; |
997 | 0 | break; |
998 | 0 | case 9: // SBAS, assume L1 |
999 | 0 | gnssid = GNSSID_SBAS; |
1000 | 0 | *sigid = 0; |
1001 | 0 | break; |
1002 | 0 | case 13: // Beidou B1, D1 or D2? |
1003 | 0 | gnssid = GNSSID_BD; |
1004 | 0 | *sigid = 0; // or maybe 1 |
1005 | 0 | break; |
1006 | 0 | case 14: // Beidou B2i |
1007 | 0 | gnssid = GNSSID_BD; |
1008 | 0 | *sigid = 2; |
1009 | 0 | break; |
1010 | 0 | case 15: // Beidou B2a |
1011 | 0 | gnssid = GNSSID_BD; |
1012 | 0 | *sigid = 3; |
1013 | 0 | break; |
1014 | 0 | case 17: // Galileo E1, C or B? |
1015 | 0 | gnssid = GNSSID_GAL; |
1016 | 0 | *sigid = 0; // or maybe 1 |
1017 | 0 | break; |
1018 | 0 | case 18: // Galileo E5a, aI or aQ? |
1019 | 0 | gnssid = GNSSID_GAL; |
1020 | 0 | *sigid = 3; // or maybe 4? |
1021 | 0 | break; |
1022 | 0 | case 19: // Galileo E5b, bI or bQ? |
1023 | 0 | gnssid = GNSSID_GAL; |
1024 | 0 | *sigid = 5; // or maybe 6 |
1025 | 0 | break; |
1026 | 0 | case 20: // Galileo E6 |
1027 | 0 | gnssid = GNSSID_GAL; |
1028 | 0 | *sigid = 8; // no idea |
1029 | 0 | break; |
1030 | 0 | case 22: // QZSS L1 |
1031 | 0 | gnssid = GNSSID_QZSS; |
1032 | 0 | *sigid = 0; |
1033 | 0 | break; |
1034 | 0 | case 23: // QZSS L2C |
1035 | 0 | gnssid = GNSSID_QZSS; |
1036 | 0 | *sigid = 4; // or maybe 5 |
1037 | 0 | break; |
1038 | 0 | case 24: // QZSS L5 |
1039 | 0 | gnssid = GNSSID_QZSS; |
1040 | 0 | *sigid = 8; // no idea |
1041 | 0 | break; |
1042 | 0 | case 26: // IRNSS L5 |
1043 | 0 | gnssid = GNSSID_IRNSS; |
1044 | 0 | *sigid = 8; // no idea |
1045 | 0 | break; |
1046 | 0 | case 4: // Reserved |
1047 | 0 | FALLTHROUGH |
1048 | 0 | case 7: // Reserved |
1049 | 0 | FALLTHROUGH |
1050 | 0 | case 8: // Reserved |
1051 | 0 | FALLTHROUGH |
1052 | 0 | case 10: // Reservced |
1053 | 0 | FALLTHROUGH |
1054 | 0 | case 11: // Reservced |
1055 | 0 | FALLTHROUGH |
1056 | 0 | case 12: // Reservced |
1057 | 0 | FALLTHROUGH |
1058 | 0 | case 16: // Reserved |
1059 | 0 | FALLTHROUGH |
1060 | 0 | case 21: // Reserved |
1061 | 0 | FALLTHROUGH |
1062 | 0 | case 25: // Reserved |
1063 | 0 | FALLTHROUGH |
1064 | 0 | default: |
1065 | 0 | *sigid = 0xff; |
1066 | 0 | return 0xff; |
1067 | 0 | } |
1068 | 0 | return gnssid; |
1069 | 0 | } |
1070 | | |
1071 | | // decode packet xa3-00 |
1072 | | static gps_mask_t decode_xa3_00(struct gps_device_t *session, const char *buf) |
1073 | 0 | { |
1074 | 0 | gps_mask_t mask = 0; |
1075 | 0 | char buf2[BUFSIZ]; |
1076 | 0 | char buf3[BUFSIZ]; |
1077 | |
|
1078 | 0 | unsigned minor_alarm = getbeu32(buf, 4); // Minor Alarms |
1079 | 0 | unsigned res1 = getbeu32(buf, 8); // reserved |
1080 | 0 | unsigned major_alarm = getbeu32(buf, 12); // Major Alarms |
1081 | 0 | unsigned res2 = getbeu32(buf, 16); // reserved |
1082 | |
|
1083 | 0 | if (1 == (major_alarm & 1)) { |
1084 | | // not tracking sats, assume surveyed-in |
1085 | 0 | session->newdata.status = STATUS_DR; |
1086 | 0 | } else { |
1087 | 0 | session->newdata.status = STATUS_GPS; |
1088 | 0 | } |
1089 | 0 | mask |= STATUS_SET; |
1090 | |
|
1091 | 0 | if (1 & minor_alarm) { |
1092 | 0 | session->newdata.ant_stat = ANT_OPEN; |
1093 | 0 | } else if (2 & minor_alarm) { |
1094 | 0 | session->newdata.ant_stat = ANT_SHORT; |
1095 | 0 | } else { |
1096 | 0 | session->newdata.ant_stat = ANT_OK; |
1097 | 0 | } |
1098 | 0 | GPSD_LOG(LOG_PROG, &session->context->errout, |
1099 | 0 | "TSIPv1 xa3-00: Minor x%04x res x%04x Major x%04x " |
1100 | 0 | "res x%04u status %d\n", |
1101 | 0 | minor_alarm, res1, major_alarm, res2, |
1102 | 0 | session->newdata.status); |
1103 | 0 | GPSD_LOG(LOG_IO, &session->context->errout, |
1104 | 0 | "TSIPv1: minor:%s mojor:%s status:%s\n", |
1105 | 0 | flags2str(minor_alarm, vminor_alarms1, buf2, sizeof(buf2)), |
1106 | 0 | flags2str(major_alarm, vmajor_alarms1, buf3, sizeof(buf3)), |
1107 | 0 | val2str(session->newdata.status, vstatus_str)); |
1108 | 0 | return mask; |
1109 | 0 | } |
1110 | | |
1111 | | // decode packet xa3-11 |
1112 | | static gps_mask_t decode_xa3_11(struct gps_device_t *session, const char *buf) |
1113 | 0 | { |
1114 | 0 | gps_mask_t mask = 0; |
1115 | |
|
1116 | 0 | unsigned rec_mode = getub(buf, 4); // receiver mode |
1117 | 0 | unsigned rec_status = getub(buf, 5); // status |
1118 | 0 | unsigned ssp = getub(buf, 6); // self survey progress 0 - 100 |
1119 | 0 | session->gpsdata.dop.pdop = getbef32(buf, 7); // PDOP |
1120 | 0 | session->gpsdata.dop.hdop = getbef32(buf, 11); // HDOP |
1121 | 0 | session->gpsdata.dop.vdop = getbef32(buf, 15); // VDOP |
1122 | 0 | session->gpsdata.dop.tdop = getbef32(buf, 19); // TDOP |
1123 | 0 | session->newdata.temp = getbef32(buf, 23); // Temperature, degrees C |
1124 | | |
1125 | | // don't have tow, so use the one from xa2-00, if any |
1126 | 0 | session->driver.tsip.last_a311 = session->driver.tsip.last_a200; |
1127 | |
|
1128 | 0 | if (0 < session->driver.tsip.last_a200) { |
1129 | 0 | session->driver.tsip.last_a200 = 0; |
1130 | | // TSIPv1 seem to be sent in numerical order, so this |
1131 | | // is after xa2-00 and the sats. Push out any lingering sats. |
1132 | 0 | mask |= SATELLITE_SET; |
1133 | 0 | } |
1134 | 0 | mask |= REPORT_IS | DOP_SET; |
1135 | 0 | switch (rec_status) { |
1136 | 0 | case 0: // 2D |
1137 | 0 | session->newdata.mode = MODE_2D; |
1138 | 0 | mask |= MODE_SET; |
1139 | 0 | break; |
1140 | 0 | case 1: // 3D (time only) |
1141 | 0 | session->newdata.mode = MODE_3D; |
1142 | 0 | mask |= MODE_SET; |
1143 | 0 | break; |
1144 | 0 | case 3: // Automatic (?) |
1145 | 0 | break; |
1146 | 0 | case 4: // OD clock |
1147 | 0 | session->newdata.status = STATUS_TIME; |
1148 | 0 | mask |= STATUS_SET; |
1149 | 0 | break; |
1150 | 0 | default: // Huh? |
1151 | 0 | break; |
1152 | 0 | } |
1153 | | |
1154 | 0 | switch (rec_status) { |
1155 | 0 | case 0: // doing position fixes |
1156 | 0 | FALLTHROUGH |
1157 | 0 | case 4: // using 1 sat |
1158 | 0 | FALLTHROUGH |
1159 | 0 | case 5: // using 2 sat |
1160 | 0 | FALLTHROUGH |
1161 | 0 | case 6: // using 3 sat |
1162 | 0 | session->newdata.status = STATUS_GPS; |
1163 | 0 | mask |= STATUS_SET; |
1164 | 0 | break; |
1165 | 0 | case 1: // no GPS time |
1166 | 0 | FALLTHROUGH |
1167 | 0 | case 2: // PDOP too high |
1168 | 0 | FALLTHROUGH |
1169 | 0 | case 3: // no sats |
1170 | 0 | session->newdata.status = STATUS_UNK; |
1171 | 0 | mask |= STATUS_SET; |
1172 | 0 | break; |
1173 | 0 | case 255: |
1174 | 0 | session->newdata.mode = MODE_3D; |
1175 | 0 | session->newdata.status = STATUS_TIME; |
1176 | 0 | mask |= STATUS_SET | MODE_SET; |
1177 | 0 | break; |
1178 | 0 | default: |
1179 | | // huh? |
1180 | 0 | break; |
1181 | 0 | } |
1182 | | |
1183 | 0 | if (10.0 < session->gpsdata.dop.pdop) { |
1184 | 0 | session->newdata.status = STATUS_DR; |
1185 | 0 | mask |= STATUS_SET; |
1186 | 0 | } |
1187 | |
|
1188 | 0 | GPSD_LOG(LOG_PROG, &session->context->errout, |
1189 | 0 | "TSIPv1 xa3-11: mode %d status %d rm %u stat %u survey %u " |
1190 | 0 | "PDOP %f HDOP %f VDOP %f TDOP %f temp %f\n", |
1191 | 0 | session->newdata.mode, |
1192 | 0 | session->newdata.status, |
1193 | 0 | rec_mode, rec_status, ssp, |
1194 | 0 | session->gpsdata.dop.pdop, |
1195 | 0 | session->gpsdata.dop.hdop, |
1196 | 0 | session->gpsdata.dop.vdop, |
1197 | 0 | session->gpsdata.dop.tdop, |
1198 | 0 | session->newdata.temp); |
1199 | 0 | GPSD_LOG(LOG_IO, &session->context->errout, |
1200 | 0 | "TSIPv1: mode:%s status:%s rm:%s stat:%s\n", |
1201 | 0 | val2str(session->newdata.mode, vmode_str), |
1202 | 0 | val2str(session->newdata.status, vstatus_str), |
1203 | 0 | val2str(rec_mode, vrec_mode1), |
1204 | 0 | val2str(rec_status, vgnss_decode_status1)); |
1205 | |
|
1206 | 0 | return mask; |
1207 | 0 | } |
1208 | | |
1209 | | |
1210 | | /* parse TSIP v1 packages. |
1211 | | * Currently only in RES720 devices, from 2020 onward. |
1212 | | * buf: raw data, with DLE stuffing removed |
1213 | | * len: length of data in buf |
1214 | | * |
1215 | | * return: mask |
1216 | | */ |
1217 | | static gps_mask_t tsipv1_parse(struct gps_device_t *session, unsigned id, |
1218 | | const char *buf, int len) |
1219 | 0 | { |
1220 | 0 | gps_mask_t mask = 0; |
1221 | 0 | unsigned sub_id, length, mode; |
1222 | 0 | unsigned short week; |
1223 | 0 | uint32_t tow; // time of week in milli seconds |
1224 | 0 | timespec_t ts_tow; |
1225 | 0 | unsigned u1, u2, u3, u4, u5, u6, u7, u8, u9; |
1226 | 0 | unsigned u10, u11; |
1227 | 0 | int s1; |
1228 | 0 | double d1, d2, d3, d4, d5, d6, d7, d8, d9; |
1229 | 0 | struct tm date = {0}; |
1230 | 0 | bool bad_len = false; |
1231 | 0 | unsigned char chksum; |
1232 | 0 | char buf2[BUFSIZ]; |
1233 | 0 | char buf3[BUFSIZ]; |
1234 | 0 | unsigned char gnssid, sigid; |
1235 | |
|
1236 | 0 | if (4 > len) { |
1237 | | // should never happen |
1238 | 0 | GPSD_LOG(LOG_WARN, &session->context->errout, |
1239 | 0 | "TSIPv1 0x%02x: runt, got len %u\n", |
1240 | 0 | id, len); |
1241 | 0 | return mask; |
1242 | 0 | } |
1243 | | /* Note: bug starts at sub id, offset 2 of the wire packet. |
1244 | | * So subtract 2 from the offsets in the Trimble doc. */ |
1245 | 0 | sub_id = getub(buf, 0); |
1246 | 0 | length = getbeu16(buf, 1); // expected length |
1247 | 0 | mode = getub(buf, 3); |
1248 | |
|
1249 | 0 | if ((length + 3) != (unsigned)len) { |
1250 | 0 | GPSD_LOG(LOG_WARN, &session->context->errout, |
1251 | 0 | "TSIPv1 x%02x-%02x: Bad Length, " |
1252 | 0 | "length got %d expected %u mode %u\n", |
1253 | 0 | id, sub_id, len, length + 3, mode); |
1254 | 0 | return mask; |
1255 | 0 | } |
1256 | | |
1257 | | // checksum is id, sub id, length, mode, data, not including trailer |
1258 | | // length is mode + data + checksum |
1259 | 0 | chksum = id; |
1260 | 0 | for (u1 = 0; u1 < (length + 3); u1++ ) { |
1261 | 0 | chksum ^= buf[u1]; |
1262 | 0 | } |
1263 | 0 | if (0 != chksum) { |
1264 | 0 | GPSD_LOG(LOG_WARN, &session->context->errout, |
1265 | 0 | "TSIPv1 x%02x-%02x: Bad Checksum " |
1266 | 0 | "length %d/%u mode %u\n", |
1267 | 0 | id, sub_id, len, length + 3, mode); |
1268 | 0 | return mask; |
1269 | 0 | } |
1270 | | |
1271 | 0 | GPSD_LOG(LOG_DATA, &session->context->errout, |
1272 | 0 | "TSIPv1 x%02x-%02x: length %d/%u mode %u\n", |
1273 | 0 | id, sub_id, len, length + 3, mode); |
1274 | |
|
1275 | 0 | if (2 != mode) { |
1276 | | /* Don't decode queries (mode 0) or set (mode 1). |
1277 | | * Why would we even see one? */ |
1278 | 0 | return mask; |
1279 | 0 | } |
1280 | | // FIXME: check len/length |
1281 | 0 | switch ((id << 8) | sub_id) { |
1282 | 0 | case 0x9000: |
1283 | | // Protocol Version, x90-00 |
1284 | 0 | if (11 > length) { |
1285 | 0 | bad_len = true; |
1286 | 0 | break; |
1287 | 0 | } |
1288 | 0 | u1 = getub(buf, 4); // NMEA Major version |
1289 | 0 | u2 = getub(buf, 5); // NMEA Minor version |
1290 | 0 | u3 = getub(buf, 6); // TSIP version |
1291 | 0 | u4 = getub(buf, 7); // Trimble NMEA version |
1292 | 0 | u6 = getbeu32(buf, 8); // reserved |
1293 | 0 | u7 = getub(buf, 12); // reserved |
1294 | 0 | GPSD_LOG(LOG_PROG, &session->context->errout, |
1295 | 0 | "TSIPv1 x90-00: NMEA %u.%u TSIP %u TNMEA %u " |
1296 | 0 | "res x%04x x%02x \n", |
1297 | 0 | u1, u2, u3, u4, u6, u7); |
1298 | 0 | break; |
1299 | 0 | case 0x9001: |
1300 | | /* Receiver Version Information, x90-01 |
1301 | | * Received in response to the TSIPv1 probe */ |
1302 | 0 | if (11 > length) { |
1303 | 0 | bad_len = true; |
1304 | 0 | break; |
1305 | 0 | } |
1306 | 0 | u1 = getub(buf, 4); // Major version |
1307 | 0 | u2 = getub(buf, 5); // Minor version |
1308 | 0 | u3 = getub(buf, 6); // Build number |
1309 | 0 | u4 = getub(buf, 7); // Build month |
1310 | 0 | u5 = getub(buf, 8); // Build day |
1311 | 0 | u6 = getbeu16(buf, 9); // Build year |
1312 | 0 | u7 = getbeu16(buf, 11); // Hardware ID |
1313 | 0 | u8 = getub(buf, 13); // Product Name length |
1314 | 0 | session->driver.tsip.hardware_code = u7; |
1315 | | // check for valid module name length |
1316 | | // RES720 is 27 long |
1317 | | // check for valid module name length, again |
1318 | 0 | if (40 < u8) { |
1319 | 0 | u8 = 40; |
1320 | 0 | } |
1321 | 0 | if ((int)u8 > (len - 13)) { |
1322 | 0 | u8 = len - 13; |
1323 | 0 | } |
1324 | 0 | memcpy(buf2, &buf[14], u8); |
1325 | 0 | buf2[u8] = '\0'; |
1326 | 0 | (void)snprintf(session->subtype, sizeof(session->subtype), |
1327 | 0 | "fw %u.%u %u %02u/%02u/%04u %.40s", |
1328 | 0 | u1, u2, u3, u6, u5, u4, buf2); |
1329 | 0 | GPSD_LOG(LOG_PROG, &session->context->errout, |
1330 | 0 | "TSIPv1 x90-01: Version %u.%u Build %u %u/%u/%u hwid %u, " |
1331 | 0 | "%.*s[%u]\n", |
1332 | 0 | u1, u2, u3, u6, u5, u4, u7, u8, buf2, u8); |
1333 | 0 | mask |= DEVICEID_SET; |
1334 | |
|
1335 | 0 | break; |
1336 | 0 | case 0x9100: |
1337 | | // Port Configuration, x91-00 |
1338 | 0 | if (17 > length) { |
1339 | 0 | bad_len = true; |
1340 | 0 | break; |
1341 | 0 | } |
1342 | 0 | u1 = getub(buf, 4); // port |
1343 | 0 | u2 = getub(buf, 5); // port type |
1344 | 0 | u3 = getub(buf, 6); // protocol |
1345 | 0 | u4 = getub(buf, 7); // baud rate |
1346 | 0 | u5 = getub(buf, 8); // data bits |
1347 | 0 | u6 = getub(buf, 9); // parity |
1348 | 0 | u7 = getub(buf, 10); // stop bits |
1349 | 0 | u8 = getbeu32(buf, 11); // reserved |
1350 | 0 | u9 = getbeu32(buf, 12); // reserved |
1351 | 0 | GPSD_LOG(LOG_PROG, &session->context->errout, |
1352 | 0 | "TSIPv1 x91-00: port %u type %u proto %u baud %u bits %u " |
1353 | 0 | "parity %u stop %u res x%04x %04x\n", |
1354 | 0 | u1, u2, u3, u4, u5, u6, u7, u8, u9); |
1355 | 0 | GPSD_LOG(LOG_IO, &session->context->errout, |
1356 | 0 | "TSIPv1: port:%s type:%s, proto:%s speed:%s bits:%s %s %s\n", |
1357 | 0 | val2str(u1, vport_name1), |
1358 | 0 | val2str(u2, vport_type1), |
1359 | 0 | val2str(u3, vprotocol1), |
1360 | 0 | val2str(u4, vspeed1), |
1361 | 0 | val2str(u5, vdbits1), |
1362 | 0 | val2str(u6, vparity1), |
1363 | 0 | val2str(u6, vstop1)); |
1364 | |
|
1365 | 0 | break; |
1366 | 0 | case 0x9101: |
1367 | | // GNSS Configuration, x91-01 |
1368 | 0 | if (28 > length) { |
1369 | 0 | bad_len = true; |
1370 | 0 | break; |
1371 | 0 | } |
1372 | | /* constellations, 0 to 26, mashup of constellation and signal |
1373 | | * ignore if 0xffffffff */ |
1374 | 0 | u1 = getbeu32(buf, 4); // constellation |
1375 | 0 | d1 = getbef32(buf, 8); // elevation mask |
1376 | 0 | d2 = getbef32(buf, 12); // signal mask |
1377 | 0 | d3 = getbef32(buf, 16); // PDOP mask |
1378 | 0 | u2 = getub(buf, 20); // anti-jamming |
1379 | 0 | u3 = getub(buf, 21); // fix rate |
1380 | 0 | d4 = getbef32(buf, 22); // Antenna CAble delay, seconds |
1381 | 0 | u4 = getbeu32(buf, 26); // reserved |
1382 | 0 | GPSD_LOG(LOG_PROG, &session->context->errout, |
1383 | 0 | "TSIPv1 x91-01: cons x%x el %f signal %f PDOP %f jam %u " |
1384 | 0 | "rate %u delay %f res x%04x\n", |
1385 | 0 | u1, d1, d2, d3, u2, u3, d4, u4); |
1386 | 0 | GPSD_LOG(LOG_IO, &session->context->errout, |
1387 | 0 | "TSIPv1: cons %s\n", |
1388 | 0 | flags2str(u1, vsv_types1, buf2, sizeof(buf2))); |
1389 | 0 | break; |
1390 | 0 | case 0x9102: |
1391 | | // NVS Configuration, x91-02 |
1392 | 0 | if (8 > length) { |
1393 | 0 | bad_len = true; |
1394 | 0 | break; |
1395 | 0 | } |
1396 | 0 | u1 = getub(buf, 6); // status |
1397 | 0 | u2 = getbeu32(buf, 7); // reserved |
1398 | 0 | GPSD_LOG(LOG_PROG, &session->context->errout, |
1399 | 0 | "TSIPv1 x91-02: status %u res x%04x\n", |
1400 | 0 | u1, u2); |
1401 | 0 | break; |
1402 | 0 | case 0x9103: |
1403 | | // Timing Configuration, x91-03 |
1404 | 0 | if (19 > length) { |
1405 | 0 | bad_len = true; |
1406 | 0 | break; |
1407 | 0 | } |
1408 | 0 | u1 = getub(buf, 4); // time basee |
1409 | 0 | u2 = getub(buf, 5); // PPS base |
1410 | 0 | u3 = getub(buf, 6); // PPS mask |
1411 | 0 | u4 = getbeu16(buf, 7); // reserved |
1412 | 0 | u5 = getbeu16(buf, 9); // PPS width |
1413 | 0 | d1 = getbed64(buf, 11); // PPS offset, in seconds |
1414 | 0 | GPSD_LOG(LOG_PROG, &session->context->errout, |
1415 | 0 | "TSIPv1 x91-03: time base %u PPS base %u mask %u res x%04x " |
1416 | 0 | "width %u offset %f\n", |
1417 | 0 | u1, u2, u3, u4, u5, d1); |
1418 | 0 | GPSD_LOG(LOG_IO, &session->context->errout, |
1419 | 0 | "TSIPv1: time base:%s pps base:%s pps mask:%s\n", |
1420 | 0 | val2str(u1, vtime_base1), |
1421 | 0 | val2str(u2, vtime_base1), |
1422 | 0 | val2str(u3, vpps_mask1)); |
1423 | 0 | break; |
1424 | 0 | case 0x9104: |
1425 | | // Self-Survey Configuration, x91-04 |
1426 | 0 | if (11 > length) { |
1427 | 0 | bad_len = true; |
1428 | 0 | break; |
1429 | 0 | } |
1430 | 0 | u1 = getub(buf, 4); // self-survey mask |
1431 | 0 | u2 = getbeu32(buf, 5); // self-survey length, # fixes |
1432 | 0 | u3 = getbeu16(buf, 9); // horz uncertainty, meters |
1433 | 0 | u4 = getbeu16(buf, 11); // vert uncertainty, meters |
1434 | 0 | GPSD_LOG(LOG_PROG, &session->context->errout, |
1435 | 0 | "TSIPv1 x91-04: mask x%x length %u eph %u epv %u\n", |
1436 | 0 | u1, u2, u3, u4); |
1437 | 0 | GPSD_LOG(LOG_IO, &session->context->errout, |
1438 | 0 | "TSIPv1:ssmask %s\n", |
1439 | 0 | flags2str(u1, vss_mask1, buf2, sizeof(buf2))); |
1440 | 0 | break; |
1441 | 0 | case 0x9105: |
1442 | | // Receiver Configuration, xx91-05 |
1443 | 0 | if (19 > length) { |
1444 | 0 | bad_len = true; |
1445 | 0 | break; |
1446 | 0 | } |
1447 | 0 | u1 = getub(buf, 4); // port |
1448 | 0 | u2 = getbeu32(buf, 5); // type of output |
1449 | 0 | u3 = getbeu32(buf, 9); // reserved |
1450 | 0 | u4 = getbeu32(buf, 13); // reserved |
1451 | 0 | u5 = getbeu32(buf, 17); // reserved |
1452 | 0 | GPSD_LOG(LOG_PROG, &session->context->errout, |
1453 | 0 | "TSIPv1 x91-05: port %u type x%04x res x%04x x%04x x%04x\n", |
1454 | 0 | u1, u2, u3, u4, u5); |
1455 | 0 | GPSD_LOG(LOG_IO, &session->context->errout, |
1456 | 0 | "TSIPv1: port %s\n", |
1457 | 0 | val2str(u1, vport_name1)); |
1458 | 0 | break; |
1459 | 0 | case 0x9201: |
1460 | | // Reset Cause, x92-01 |
1461 | 0 | if (3 > length) { |
1462 | 0 | bad_len = true; |
1463 | 0 | break; |
1464 | 0 | } |
1465 | 0 | u1 = getub(buf, 6); // reset cause |
1466 | 0 | GPSD_LOG(LOG_WARN, &session->context->errout, |
1467 | 0 | "TSIPv1 x92-01: cause %u\n", u1); |
1468 | 0 | break; |
1469 | 0 | case 0x9300: |
1470 | | // Production Information, x93-00 |
1471 | 0 | if (78 > length) { |
1472 | 0 | bad_len = true; |
1473 | 0 | break; |
1474 | 0 | } |
1475 | 0 | u1 = getub(buf, 4); // reserved. always 0xff |
1476 | 0 | u2 = getbeu32(buf, 5); // serial number |
1477 | 0 | u3 = getbeu64(buf, 9); // extended serial number |
1478 | 0 | u4 = getbeu64(buf, 17); // extended serial number |
1479 | 0 | u5 = getub(buf, 25); // build day |
1480 | 0 | u6 = getub(buf, 26); // build month |
1481 | 0 | u7 = getbeu16(buf, 27); // build year |
1482 | 0 | u8 = getub(buf, 29); // build hour |
1483 | 0 | u9 = getbeu16(buf, 30); // machine id |
1484 | | // getbeu64(buf, 32); // hardware ID string |
1485 | | // getbeu64(buf, 40); // hardware ID string |
1486 | | // getbeu64(buf, 48); // product ID string |
1487 | | // getbeu64(buf, 56); // product ID string |
1488 | 0 | u10 = getbeu32(buf, 64); // premium options |
1489 | 0 | u11 = getbeu32(buf, 78); // reserved |
1490 | | // ignore 77 Osc search range, and 78–81 Osc offset, always 0xff |
1491 | 0 | (void)snprintf(session->subtype1, sizeof(session->subtype1), |
1492 | 0 | "hw %u %02u/%02u/%04u", |
1493 | 0 | u9, u5, u6, u7); |
1494 | | // The sernum I get does not match the printed one on the device... |
1495 | | // extended sernum seems to be zeros... |
1496 | 0 | (void)snprintf(session->gpsdata.dev.sernum, |
1497 | 0 | sizeof(session->gpsdata.dev.sernum), |
1498 | 0 | "%x", u2); |
1499 | 0 | GPSD_LOG(LOG_WARN, &session->context->errout, |
1500 | 0 | "TSIPv1 x93-00: res %u ser %s x%x-%x Build %u/%u/%u %u " |
1501 | 0 | "machine %u hardware %s product %s " |
1502 | 0 | "options x%04x res x%04x\n", |
1503 | 0 | u1, session->gpsdata.dev.sernum, |
1504 | 0 | u3, u4, u7, u6, u5, u8, u9, |
1505 | 0 | gpsd_packetdump(buf2, sizeof(buf2), |
1506 | 0 | (const unsigned char *)&buf[32], 16), |
1507 | 0 | gpsd_packetdump(buf3, sizeof(buf3), |
1508 | 0 | (const unsigned char *)&buf[48], 16), |
1509 | 0 | u10, u11); |
1510 | 0 | mask |= DEVICEID_SET; |
1511 | 0 | break; |
1512 | 0 | case 0xa000: |
1513 | | // Firmware Upload, xa0-00 |
1514 | | // could be length 3, or 8, different data... |
1515 | 0 | switch (length) { |
1516 | 0 | case 3: |
1517 | 0 | u1 = getub(buf, 6); // command |
1518 | 0 | GPSD_LOG(LOG_PROG, &session->context->errout, |
1519 | 0 | "TSIPv1 xa0-00: command %u\n", u1); |
1520 | 0 | break; |
1521 | 0 | case 8: |
1522 | | // ACK/NAK |
1523 | 0 | u1 = getub(buf, 6); // command |
1524 | 0 | u2 = getub(buf, 7); // status |
1525 | 0 | u3 = getbeu16(buf, 8); // frame |
1526 | 0 | GPSD_LOG(LOG_PROG, &session->context->errout, |
1527 | 0 | "TSIPv1 xa0-00: command %u status %u frame %u\n", |
1528 | 0 | u1, u2, u3); |
1529 | 0 | break; |
1530 | 0 | default: |
1531 | 0 | bad_len = true; |
1532 | 0 | break; |
1533 | 0 | } |
1534 | 0 | break; |
1535 | 0 | case 0xa100: |
1536 | | // Timing Information. xa1-00 |
1537 | | // the only message on by default |
1538 | 0 | if (32 > length) { |
1539 | 0 | bad_len = true; |
1540 | 0 | break; |
1541 | 0 | } |
1542 | | |
1543 | 0 | tow = getbeu32(buf, 4); |
1544 | 0 | week = getbeu16(buf, 8); |
1545 | 0 | session->context->gps_week = week; |
1546 | |
|
1547 | 0 | date.tm_hour = getub(buf, 10); // hours 0 - 23 |
1548 | 0 | date.tm_min = getub(buf, 11); // minutes 0 -59 |
1549 | 0 | date.tm_sec = getub(buf, 12); // seconds 0 - 60 |
1550 | 0 | date.tm_mon = getub(buf, 13) - 1; // month 1 - 12 |
1551 | 0 | date.tm_mday = getub(buf, 14); // day of month 1 - 31 |
1552 | 0 | date.tm_year = getbeu16(buf, 15) - 1900; // year |
1553 | |
|
1554 | 0 | u1 = getub(buf, 17); // time base |
1555 | 0 | u2 = getub(buf, 18); // PPS base |
1556 | 0 | u3 = getub(buf, 19); // flags |
1557 | 0 | s1 = getbes16(buf, 20); // UTC Offset |
1558 | 0 | d1 = getbef32(buf, 22); // PPS Quantization Error |
1559 | 0 | d2 = getbef32(buf, 26); // Bias |
1560 | 0 | d3 = getbef32(buf, 30); // Bias Rate |
1561 | | |
1562 | | // convert seconds to pico seconds |
1563 | 0 | session->gpsdata.qErr = (long)(d1 * 10e12); |
1564 | | // fix.time is w/o leap seconds... |
1565 | 0 | session->newdata.time.tv_sec = mkgmtime(&date) - s1; |
1566 | 0 | session->newdata.time.tv_nsec = 0; |
1567 | |
|
1568 | 0 | session->context->leap_seconds = s1; |
1569 | 0 | session->context->valid |= LEAP_SECOND_VALID; |
1570 | 0 | GPSD_LOG(LOG_PROG, &session->context->errout, |
1571 | 0 | "TSIPv1 xa1-00: tow %u week %u %02u:%02u:%02u %4u/%02u/%02u " |
1572 | 0 | "tbase %u/%u tflags x%x UTC offset %d qErr %f Bias %f/%f\n", |
1573 | 0 | tow, week, date.tm_hour, date.tm_min, date.tm_sec, |
1574 | 0 | date.tm_year + 1900, date.tm_mon, date.tm_mday, |
1575 | 0 | u1, u2, u3, s1, d1, d2, d3); |
1576 | 0 | GPSD_LOG(LOG_IO, &session->context->errout, |
1577 | 0 | "TSIPv1: tbase:%s pbase:%s tflags:%s\n", |
1578 | 0 | val2str(u1, vtime_base1), |
1579 | 0 | val2str(u2, vtime_base1), |
1580 | 0 | flags2str(u3, vtime_flags1, buf2, sizeof(buf2))); |
1581 | |
|
1582 | 0 | if (2 == (u3 & 2)) { |
1583 | | // flags say we have good time |
1584 | | // if we have good time, can we guess at fix mode? |
1585 | 0 | mask |= TIME_SET; |
1586 | 0 | if (1 == (u3 & 1)) { |
1587 | | // good UTC |
1588 | 0 | mask |= NTPTIME_IS; |
1589 | 0 | } |
1590 | 0 | } |
1591 | 0 | if (0 == session->driver.tsip.hardware_code) { |
1592 | | // Query Receiver Version Information |
1593 | 0 | (void)tsip_write1(session, "\x90\x01\x00\x02\x00\x93", 6); |
1594 | 0 | } |
1595 | 0 | mask |= CLEAR_IS; // ssems to always be first. Time to clear. |
1596 | 0 | break; |
1597 | 0 | case 0xa102: |
1598 | | // Frequency Information, xa1-02 |
1599 | 0 | if (17 > length) { |
1600 | 0 | bad_len = true; |
1601 | 0 | break; |
1602 | 0 | } |
1603 | 0 | d1 = getbef32(buf, 6); // DAC voltage |
1604 | 0 | u1 = getbeu16(buf, 10); // DAC value |
1605 | 0 | u2 = getub(buf, 12); // holdover status |
1606 | 0 | u3 = getbeu32(buf, 13); // holdover time |
1607 | 0 | session->newdata.temp = getbef32(buf, 17); // Temperature, degrees C |
1608 | 0 | GPSD_LOG(LOG_PROG, &session->context->errout, |
1609 | 0 | "TSIPv1 xa1-02: DAC voltage %f value %u Holdover status %u " |
1610 | 0 | "time %u temp %f\n", |
1611 | 0 | d1, u1, u2, u3, session->newdata.temp); |
1612 | 0 | break; |
1613 | | |
1614 | 0 | case 0xa111: |
1615 | | // Position Information, xa1-11 |
1616 | 0 | if (52 > length) { |
1617 | 0 | bad_len = true; |
1618 | 0 | break; |
1619 | 0 | } |
1620 | 0 | u1 = getub(buf, 4); // position mask |
1621 | 0 | u2 = getub(buf, 5); // fix type |
1622 | 0 | d1 = getbed64(buf, 6); // latitude or X |
1623 | 0 | d2 = getbed64(buf, 14); // longitude or Y |
1624 | 0 | d3 = getbed64(buf, 22); // altitude or Z |
1625 | 0 | d4 = getbef32(buf, 30); // velocity X or E |
1626 | 0 | d5 = getbef32(buf, 34); // velocity Y or N |
1627 | 0 | d6 = getbef32(buf, 38); // velocity Z or U |
1628 | 0 | d7 = getbef32(buf, 42); // PDOP, surveyed or current |
1629 | 0 | d8 = getbef32(buf, 46); // horz uncertainty |
1630 | 0 | d9 = getbef32(buf, 50); // vert uncertainty |
1631 | 0 | session->gpsdata.dop.pdop = d7; |
1632 | 0 | mask |= DOP_SET; |
1633 | | // position mask bit 0 does not tell us if we are in OD mode |
1634 | 0 | if (0 == (u1 & 2)) { |
1635 | | // LLA |
1636 | 0 | session->newdata.latitude = d1; |
1637 | 0 | session->newdata.longitude = d2; |
1638 | 0 | if (0 == (u1 & 4)) { |
1639 | | // HAE |
1640 | 0 | session->newdata.altHAE = d3; |
1641 | 0 | } else { |
1642 | | // MSL |
1643 | 0 | session->newdata.altMSL = d3; |
1644 | 0 | } |
1645 | 0 | mask |= LATLON_SET | ALTITUDE_SET; |
1646 | 0 | } else { |
1647 | | // XYZ ECEF |
1648 | 0 | session->newdata.ecef.x = d1; |
1649 | 0 | session->newdata.ecef.y = d2; |
1650 | 0 | session->newdata.ecef.z = d3; |
1651 | 0 | mask |= ECEF_SET; |
1652 | 0 | } |
1653 | 0 | if (0 == (u1 & 1)) { |
1654 | | // valid velocity |
1655 | 0 | if (0 == (u1 & 8)) { |
1656 | | // Velocity ENU |
1657 | 0 | session->newdata.NED.velN = d5; |
1658 | 0 | session->newdata.NED.velE = d4; |
1659 | 0 | session->newdata.NED.velD = -d6; |
1660 | 0 | mask |= VNED_SET; |
1661 | 0 | } else { |
1662 | | // Velocity ECEF |
1663 | 0 | session->newdata.ecef.vx = d4; |
1664 | 0 | session->newdata.ecef.vy = d5; |
1665 | 0 | session->newdata.ecef.vz = d6; |
1666 | 0 | mask |= VECEF_SET; |
1667 | 0 | } |
1668 | 0 | } |
1669 | 0 | switch (u2) { |
1670 | 0 | default: |
1671 | 0 | FALLTHROUGH |
1672 | 0 | case 0: |
1673 | 0 | session->newdata.mode = MODE_NO_FIX; |
1674 | 0 | break; |
1675 | 0 | case 1: |
1676 | 0 | session->newdata.mode = MODE_2D; |
1677 | 0 | break; |
1678 | 0 | case 2: |
1679 | 0 | session->newdata.mode = MODE_3D; |
1680 | 0 | } |
1681 | 0 | session->gpsdata.dop.pdop = d7; |
1682 | 0 | session->newdata.eph = d8; // 0 - 100, unknown units |
1683 | 0 | session->newdata.epv = d9; // 0 - 100, unknown units |
1684 | | // status NOT set |
1685 | 0 | mask |= MODE_SET | DOP_SET | HERR_SET | VERR_SET; |
1686 | 0 | GPSD_LOG(LOG_PROG, &session->context->errout, |
1687 | 0 | "TSIPv1 xa1-11: mode %d status %d pmask %u fixt %u " |
1688 | 0 | "Pos %f %f %f Vel %f %f %f PDOP %f eph %f epv %f\n", |
1689 | 0 | session->newdata.mode, |
1690 | 0 | session->newdata.status, |
1691 | 0 | u1, u2, d1, d2, d3, d4, d5, d6, d7, d8, d9); |
1692 | 0 | GPSD_LOG(LOG_IO, &session->context->errout, |
1693 | 0 | "TSIPv1: mode:%s status:%s pmask:%s fixt %s\n", |
1694 | 0 | val2str(session->newdata.mode, vmode_str), |
1695 | 0 | val2str(session->newdata.status, vstatus_str), |
1696 | 0 | flags2str(u1, vpos_mask1, buf2, sizeof(buf2)), |
1697 | 0 | val2str(u2, vfix_type1)); |
1698 | 0 | break; |
1699 | 0 | case 0xa200: |
1700 | | // Satellite Information, xa2-00 |
1701 | 0 | if (25 > length) { |
1702 | 0 | bad_len = true; |
1703 | 0 | break; |
1704 | 0 | } |
1705 | 0 | u1 = getub(buf, 4); // message number, 1 to X |
1706 | 0 | if (1 == u1) { |
1707 | | // message number starts at 1, no way to know last number |
1708 | 0 | gpsd_zero_satellites(&session->gpsdata); |
1709 | | // start of new cycle, save last count |
1710 | 0 | session->gpsdata.satellites_visible = |
1711 | 0 | session->driver.tsip.last_chan_seen; |
1712 | 0 | } |
1713 | 0 | session->driver.tsip.last_chan_seen = u1; |
1714 | | |
1715 | | // SV type, 0 to 26, mashup of constellation and signal |
1716 | 0 | u2 = getub(buf, 5); |
1717 | 0 | u3 = getub(buf, 6); // PRN (svid) 1 to 32 (99) |
1718 | 0 | d1 = getbef32(buf, 7); // azimuth, degrees |
1719 | 0 | d2 = getbef32(buf, 11); // elevation, degrees |
1720 | 0 | d3 = getbef32(buf, 15); // signal level, db-Hz |
1721 | 0 | u4 = getbeu32(buf, 19); // Flags |
1722 | | // TOW of measurement, not current TOW! |
1723 | 0 | tow = getbeu32(buf, 23); // TOW, seconds |
1724 | 0 | session->driver.tsip.last_a200 = tow; |
1725 | 0 | ts_tow.tv_sec = tow; |
1726 | 0 | ts_tow.tv_nsec = 0; |
1727 | 0 | session->gpsdata.skyview_time = |
1728 | 0 | gpsd_gpstime_resolv(session, session->context->gps_week, |
1729 | 0 | ts_tow); |
1730 | | |
1731 | | // convert svtype to gnssid and svid |
1732 | 0 | gnssid = tsipv1_svtype(u2, &sigid); |
1733 | 0 | session->gpsdata.skyview[u1 - 1].gnssid = gnssid; |
1734 | 0 | session->gpsdata.skyview[u1 - 1].svid = u3; |
1735 | 0 | session->gpsdata.skyview[u1 - 1].sigid = sigid; |
1736 | | // "real" NMEA 4.0 (not 4.10 ir 4.11) PRN |
1737 | 0 | session->gpsdata.skyview[u1 - 1].PRN = ubx2_to_prn(gnssid, u3); |
1738 | 0 | if (0 != (1 & u4)) { |
1739 | 0 | if (90.0 >= fabs(d2)) { |
1740 | 0 | session->gpsdata.skyview[u1 - 1].elevation = d2; |
1741 | 0 | } |
1742 | 0 | if (360.0 >= d1 && |
1743 | 0 | 0.0 <= d1) { |
1744 | 0 | session->gpsdata.skyview[u1 - 1].azimuth = d1; |
1745 | 0 | } |
1746 | 0 | } |
1747 | 0 | session->gpsdata.skyview[u1 - 1].ss = d3; |
1748 | 0 | if (0 != (6 & u4)) { |
1749 | 0 | session->gpsdata.skyview[u1 - 1].used = true; |
1750 | 0 | } |
1751 | |
|
1752 | 0 | if ((int)u1 >= session->gpsdata.satellites_visible) { |
1753 | | /* Last of the series? Assume same number of sats as |
1754 | | * last cycle. |
1755 | | * This will cause extra SKY if this set has more |
1756 | | * sats than the last set. Will cause drop outs when |
1757 | | * number of sats decreases. */ |
1758 | 0 | if (10 < llabs(session->driver.tsip.last_a311 - |
1759 | 0 | session->driver.tsip.last_a200)) { |
1760 | | // no xa3-11 in 10 seconds, so push out now |
1761 | 0 | mask |= SATELLITE_SET; |
1762 | 0 | session->driver.tsip.last_a200 = 0; |
1763 | 0 | } |
1764 | 0 | } |
1765 | | /* If this series has fewer than last series there will |
1766 | | * be no SKY, unless the cycle ender pushes the SKY */ |
1767 | 0 | GPSD_LOG(LOG_PROG, &session->context->errout, |
1768 | 0 | "TSIPv1 xa2-00: num %u type %u (gnss %u sigid %u) PRN %u " |
1769 | 0 | "az %f el %f snr %f sflags x%0x4 tow %u\n", |
1770 | 0 | u1, u2, gnssid, sigid, u3, d1, d2, d3, u4, tow); |
1771 | 0 | GPSD_LOG(LOG_IO, &session->context->errout, |
1772 | 0 | "TSIPv1: svtype:%s flags:%s\n", |
1773 | 0 | val2str(u2, vsv_type1), |
1774 | 0 | flags2str(u4, vsflags1, buf2, sizeof(buf2))); |
1775 | 0 | break; |
1776 | | |
1777 | 0 | case 0xa300: |
1778 | | // System Alarms, xa3-00 |
1779 | 0 | if (18 > length) { |
1780 | 0 | bad_len = true; |
1781 | 0 | break; |
1782 | 0 | } |
1783 | 0 | mask = decode_xa3_00(session, buf); |
1784 | 0 | break; |
1785 | 0 | case 0xa311: |
1786 | | /* Receiver Status, xa3-11 |
1787 | | * RES 720 |
1788 | | */ |
1789 | 0 | if (29 > length) { |
1790 | 0 | bad_len = true; |
1791 | 0 | break; |
1792 | 0 | } |
1793 | | // usually the last message, except for A2-00 (sats) |
1794 | 0 | mask = decode_xa3_11(session, buf); |
1795 | 0 | break; |
1796 | 0 | case 0xa321: |
1797 | | /* Error Report xa3-21 |
1798 | | * expect errors for x1c-03 and x35-32 from TSIP probes |
1799 | | */ |
1800 | 0 | if (5 > length) { |
1801 | 0 | bad_len = true; |
1802 | 0 | break; |
1803 | 0 | } |
1804 | 0 | u1 = getub(buf, 4); // reference packet id |
1805 | 0 | u2 = getub(buf, 5); // reference sub packet id |
1806 | 0 | u3 = getub(buf, 6); // error code |
1807 | 0 | GPSD_LOG(LOG_WARN, &session->context->errout, |
1808 | 0 | "TSIPv1 xa3-21: id x%02x-%02x error: %u\n", |
1809 | 0 | u1, u2, u3); |
1810 | 0 | GPSD_LOG(LOG_IO, &session->context->errout, |
1811 | 0 | "TSIPv1: ec:%s\n", |
1812 | 0 | val2str(u3, verr_codes1)); |
1813 | 0 | break; |
1814 | 0 | case 0xd000: |
1815 | | // Debug Output type packet, xd0-00 |
1816 | 0 | if (3 > length) { |
1817 | 0 | bad_len = true; |
1818 | 0 | break; |
1819 | 0 | } |
1820 | 0 | u1 = getub(buf, 6); // debug output type |
1821 | 0 | GPSD_LOG(LOG_WARN, &session->context->errout, |
1822 | 0 | "TSIPv1 xd0-00: debug %u\n", u1); |
1823 | 0 | break; |
1824 | 0 | case 0xd001: |
1825 | | // Trimble Debug config packet, xd0-01 |
1826 | 0 | if (4 > length) { |
1827 | 0 | bad_len = true; |
1828 | 0 | break; |
1829 | 0 | } |
1830 | 0 | u1 = getub(buf, 6); // debug type |
1831 | 0 | u2 = getub(buf, 7); // debug level |
1832 | 0 | GPSD_LOG(LOG_WARN, &session->context->errout, |
1833 | 0 | "TSIPv1 xd0-01: debug type %u level %u\n", u1, u2); |
1834 | 0 | break; |
1835 | 0 | case 0xd040: |
1836 | | // Trimble Raw GNSS Debug Output packet. xd0-40 |
1837 | | // length can be zero, contents undefined |
1838 | 0 | GPSD_LOG(LOG_WARN, &session->context->errout, |
1839 | 0 | "TSIPv1 xd0-40: raw GNSS data\n"); |
1840 | 0 | break; |
1841 | 0 | case 0xd041: |
1842 | | // Trimble Raw GNSS Debug Output packet. xd0-41 |
1843 | | // length can be zero, contents undefined |
1844 | 0 | GPSD_LOG(LOG_WARN, &session->context->errout, |
1845 | 0 | "TSIPv1 xd0-41: raw GNSS data\n"); |
1846 | 0 | break; |
1847 | | |
1848 | | // undecoded: |
1849 | 0 | case 0x9200: |
1850 | | // Receiver Reset, send only, x92-00 |
1851 | 0 | FALLTHROUGH |
1852 | 0 | case 0xa400: |
1853 | | // AGNSS, send only, xa4-00 |
1854 | 0 | FALLTHROUGH |
1855 | 0 | default: |
1856 | | // Huh? |
1857 | 0 | GPSD_LOG(LOG_WARN, &session->context->errout, |
1858 | 0 | "TSIPv1 x%02x-%02x: unknown packet id/su-id\n", |
1859 | 0 | id, sub_id); |
1860 | 0 | break; |
1861 | 0 | } |
1862 | 0 | if (bad_len) { |
1863 | 0 | GPSD_LOG(LOG_WARN, &session->context->errout, |
1864 | 0 | "TSIPv1 0x%02x-%02x: runt, got length %u\n", |
1865 | 0 | id, sub_id, length); |
1866 | 0 | mask = 0; |
1867 | 0 | } |
1868 | | // get next item off queue |
1869 | 0 | tsipv1_query(session); |
1870 | |
|
1871 | 0 | return mask; |
1872 | 0 | } |
1873 | | |
1874 | | // decode packet x6d |
1875 | | static gps_mask_t decode_x6d(struct gps_device_t *session, const char *buf, |
1876 | | int len) |
1877 | 0 | { |
1878 | 0 | gps_mask_t mask = 0; |
1879 | 0 | int i, count; |
1880 | 0 | unsigned fix_dim; |
1881 | 0 | char buf2[BUFSIZ]; |
1882 | |
|
1883 | 0 | fix_dim = getub(buf, 0); // nsvs/dimension |
1884 | 0 | count = (int)((fix_dim >> 4) & 0x0f); |
1885 | 0 | if ((17 + count) != len) { |
1886 | 0 | GPSD_LOG(LOG_ERROR, &session->context->errout, |
1887 | 0 | "TSIP: x6d: bad length %d s/b %d\n", len, 17 + count); |
1888 | 0 | return 0; |
1889 | 0 | } |
1890 | | |
1891 | | /* |
1892 | | * This looks right, but it sets a spurious mode value when |
1893 | | * the satellite constellation looks good to the chip but no |
1894 | | * actual fix has yet been acquired. We should set the mode |
1895 | | * field (which controls gpsd's fix reporting) only from sentences |
1896 | | * that convey actual fix information, like 0x8f-20, but some |
1897 | | * TSIP do not support 0x8f-20, and 0x6c may be all we got. |
1898 | | */ |
1899 | 0 | if (0 != isfinite(session->gpsdata.fix.longitude)) { |
1900 | | // have a fix? |
1901 | 0 | switch (fix_dim & 7) { // dimension |
1902 | 0 | case 1: // clock fix (surveyed in) |
1903 | 0 | FALLTHROUGH |
1904 | 0 | case 5: // Overdetermined clock fix |
1905 | 0 | session->newdata.status = STATUS_TIME; |
1906 | 0 | session->newdata.mode = MODE_3D; |
1907 | 0 | break; |
1908 | 0 | case 3: |
1909 | | // Copernicus ii can output this for OD mode. |
1910 | 0 | session->newdata.mode = MODE_2D; |
1911 | 0 | break; |
1912 | 0 | case 4: |
1913 | | // SMTx can output this for OD mode. |
1914 | 0 | session->newdata.mode = MODE_3D; |
1915 | 0 | break; |
1916 | 0 | case 6: |
1917 | | // Accutime |
1918 | 0 | session->newdata.status = STATUS_DGPS; |
1919 | 0 | session->newdata.mode = MODE_3D; |
1920 | 0 | break; |
1921 | 0 | case 2: |
1922 | 0 | FALLTHROUGH |
1923 | 0 | case 7: |
1924 | 0 | FALLTHROUGH |
1925 | 0 | default: |
1926 | 0 | session->newdata.mode = MODE_NO_FIX; |
1927 | 0 | break; |
1928 | 0 | } |
1929 | 0 | if (0 == count) { |
1930 | | // reports a fix even ith no sats! |
1931 | 0 | session->newdata.status = STATUS_DR; |
1932 | 0 | } |
1933 | 0 | } else { |
1934 | 0 | session->newdata.mode = MODE_NO_FIX; |
1935 | 0 | } |
1936 | 0 | if (STATUS_UNK < session->newdata.status) { |
1937 | 0 | mask |= STATUS_SET; |
1938 | 0 | } |
1939 | 0 | mask |= MODE_SET; |
1940 | |
|
1941 | 0 | session->gpsdata.satellites_used = count; |
1942 | 0 | session->gpsdata.dop.pdop = getbef32(buf, 1); |
1943 | 0 | session->gpsdata.dop.hdop = getbef32(buf, 5); |
1944 | 0 | session->gpsdata.dop.vdop = getbef32(buf, 9); |
1945 | 0 | session->gpsdata.dop.tdop = getbef32(buf, 13); |
1946 | 0 | mask |= DOP_SET; |
1947 | |
|
1948 | 0 | memset(session->driver.tsip.sats_used, 0, |
1949 | 0 | sizeof(session->driver.tsip.sats_used)); |
1950 | 0 | buf2[0] = '\0'; |
1951 | 0 | for (i = 0; i < count; i++) { |
1952 | | // negative PRN means sat unhealthy why use an unhealthy sat?? |
1953 | |
|
1954 | 0 | session->driver.tsip.sats_used[i] = getsb(buf, 17 + i); |
1955 | 0 | if (LOG_PROG <= session->context->errout.debug ) { |
1956 | 0 | str_appendf(buf2, sizeof(buf2), |
1957 | 0 | " %u", session->driver.tsip.sats_used[i]); |
1958 | 0 | } |
1959 | 0 | } |
1960 | 0 | GPSD_LOG(LOG_PROG, &session->context->errout, |
1961 | 0 | "TSIP x6d: AIVSS: fix_dim=x%x status=%d mode=%d used=%d " |
1962 | 0 | "pdop=%.1f hdop=%.1f vdop=%.1f tdop=%.1f used >%s<\n", |
1963 | 0 | fix_dim, |
1964 | 0 | session->newdata.status, |
1965 | 0 | session->newdata.mode, |
1966 | 0 | session->gpsdata.satellites_used, |
1967 | 0 | session->gpsdata.dop.pdop, |
1968 | 0 | session->gpsdata.dop.hdop, |
1969 | 0 | session->gpsdata.dop.vdop, |
1970 | 0 | session->gpsdata.dop.tdop, buf2); |
1971 | 0 | GPSD_LOG(LOG_IO, &session->context->errout, |
1972 | 0 | "TSIP: fix::%s\n", |
1973 | 0 | flags2str(fix_dim, vfix, buf2, sizeof(buf2))); |
1974 | 0 | mask |= USED_IS; |
1975 | |
|
1976 | 0 | return mask; |
1977 | 0 | } |
1978 | | |
1979 | | /* decode Superpacket x8f-ab |
1980 | | * Oddly, no flag to say if the time is valid... |
1981 | | */ |
1982 | | static gps_mask_t decode_x8f_ab(struct gps_device_t *session, const char *buf) |
1983 | 0 | { |
1984 | 0 | gps_mask_t mask = 0; |
1985 | 0 | uint32_t tow; // time of week in milli seconds |
1986 | 0 | timespec_t ts_tow; |
1987 | 0 | unsigned short week; |
1988 | 0 | char ts_buf[TIMESPEC_LEN]; |
1989 | 0 | unsigned time_flag; |
1990 | 0 | char buf2[BUFSIZ]; |
1991 | | |
1992 | | // we assume the receiver not in some crazy mode, and is GPS time |
1993 | 0 | tow = getbeu32(buf, 1); // gpstime in seconds |
1994 | 0 | ts_tow.tv_sec = tow; |
1995 | 0 | ts_tow.tv_nsec = 0; |
1996 | 0 | week = getbeu16(buf, 5); // week |
1997 | | // leap seconds |
1998 | 0 | session->context->leap_seconds = (int)getbes16(buf, 7); |
1999 | 0 | time_flag = buf[9]; // Time Flag |
2000 | | /* ignore the broken down time, use the GNSS time. |
2001 | | * Hope it is not BeiDou time */ |
2002 | |
|
2003 | 0 | if (1 == (time_flag & 1)) { |
2004 | | // time is UTC, have leap seconds. |
2005 | 0 | session->context->valid |= LEAP_SECOND_VALID; |
2006 | 0 | } else { |
2007 | | // time is GPS |
2008 | 0 | if (0 == (time_flag & 8)) { |
2009 | | // have leap seconds. |
2010 | 0 | session->context->valid |= LEAP_SECOND_VALID; |
2011 | 0 | } |
2012 | 0 | } |
2013 | 0 | if (0 == (time_flag & 0x14)) { |
2014 | | // time it good, not in test mode |
2015 | 0 | session->newdata.time = gpsd_gpstime_resolv(session, week, |
2016 | 0 | ts_tow); |
2017 | 0 | mask |= TIME_SET | NTPTIME_IS; |
2018 | 0 | } else { |
2019 | | // time is bad |
2020 | 0 | } |
2021 | |
|
2022 | 0 | if (!TS_EQ(&ts_tow, &session->driver.tsip.last_tow)) { |
2023 | 0 | mask |= CLEAR_IS; |
2024 | 0 | session->driver.tsip.last_tow = ts_tow; |
2025 | 0 | } |
2026 | | |
2027 | | /* since we compute time from weeks and tow, we ignore the |
2028 | | * supplied H:M:S M/D/Y */ |
2029 | 0 | GPSD_LOG(LOG_PROG, &session->context->errout, |
2030 | 0 | "TSIP x8f-ab: SP-TTS: tow %u wk %u ls %d flag x%x " |
2031 | 0 | "time %s mask %s\n", |
2032 | 0 | tow, week, session->context->leap_seconds, time_flag, |
2033 | 0 | timespec_str(&session->newdata.time, ts_buf, |
2034 | 0 | sizeof(ts_buf)), |
2035 | 0 | gps_maskdump(mask)); |
2036 | 0 | GPSD_LOG(LOG_IO, &session->context->errout, |
2037 | 0 | "TSIP: tf::%s\n", |
2038 | 0 | flags2str(time_flag, vtiming, buf2, sizeof(buf2))); |
2039 | |
|
2040 | 0 | return mask; |
2041 | 0 | } |
2042 | | |
2043 | | // decode Superpacket x8f-ac |
2044 | | static gps_mask_t decode_x8f_ac(struct gps_device_t *session, const char *buf) |
2045 | 0 | { |
2046 | 0 | gps_mask_t mask = 0; |
2047 | 0 | unsigned rec_mode; |
2048 | 0 | unsigned disc_mode; |
2049 | 0 | unsigned survey_prog; |
2050 | 0 | unsigned crit_alarm; |
2051 | 0 | unsigned minor_alarm; |
2052 | 0 | unsigned decode_stat; |
2053 | 0 | double fqErr; // PPS Offset. positive is slow. |
2054 | 0 | char buf2[BUFSIZ]; |
2055 | 0 | char buf3[BUFSIZ]; |
2056 | | |
2057 | | // byte 0 is Subpacket ID |
2058 | 0 | rec_mode = getub(buf, 1); // Receiver Mode |
2059 | | // Disciplining Mode, reserved on Resolution SMTx |
2060 | 0 | disc_mode = getub(buf, 2); |
2061 | | // Self-Survey Progress |
2062 | 0 | survey_prog = getub(buf, 3); |
2063 | | // ignore 4-7, Holdover Duration, reserved on Resolution SMTx |
2064 | | // ignore 8-9, Critical Alarms, reserved on Resolution SMTx |
2065 | 0 | crit_alarm = getbeu16(buf, 8); |
2066 | | // Minor Alarms |
2067 | 0 | minor_alarm = getbeu16(buf, 10); |
2068 | 0 | switch (minor_alarm & 6) { |
2069 | 0 | case 2: |
2070 | 0 | session->newdata.ant_stat = ANT_OPEN; |
2071 | 0 | break; |
2072 | 0 | case 4: |
2073 | 0 | session->newdata.ant_stat = ANT_SHORT; |
2074 | 0 | break; |
2075 | 0 | default: |
2076 | 0 | session->newdata.ant_stat = ANT_OK; |
2077 | 0 | break; |
2078 | 0 | } |
2079 | | |
2080 | 0 | decode_stat = getub(buf, 12); // GNSS Decoding Status |
2081 | | // ignore 13, Disciplining Activity |
2082 | | // ignore 14, PPS indication |
2083 | | // ignore 15, PPS reference |
2084 | | /* PPS Offset in ns |
2085 | | * save as (long)pico seconds |
2086 | | * can't really use it as it is not referenced to any PPS */ |
2087 | 0 | fqErr = getbef32(buf, 16); |
2088 | 0 | session->gpsdata.qErr = (long)(fqErr * 1000); |
2089 | | // ignore 20-23, Clock Offset |
2090 | | // ignore 24-27, DAC Value |
2091 | | // ignore 28-31, DAC Voltage |
2092 | | // 32-35, Temperature degrees C |
2093 | 0 | session->newdata.temp = getbef32(buf, 32); |
2094 | 0 | session->newdata.latitude = getbed64(buf, 36) * RAD_2_DEG; |
2095 | 0 | session->newdata.longitude = getbed64(buf, 44) * RAD_2_DEG; |
2096 | | // SMT 360 doc says this is always altHAE in meters |
2097 | 0 | session->newdata.altHAE = getbed64(buf, 52); |
2098 | | // ignore 60-63, always zero |
2099 | | // ignore 64-67, reserved |
2100 | | |
2101 | | // We don;t know enough to set status, probably TIME_TIME |
2102 | | |
2103 | | // Decode Fix modes |
2104 | 0 | switch (rec_mode & 7) { |
2105 | 0 | case 0: // Auto |
2106 | | /* |
2107 | | * According to the Thunderbolt Manual, the |
2108 | | * first byte of the supplemental timing packet |
2109 | | * simply indicates the configuration of the |
2110 | | * device, not the actual lock, so we need to |
2111 | | * look at the decode status. |
2112 | | */ |
2113 | 0 | switch (decode_stat) { |
2114 | 0 | case 0: // "Doing Fixes" |
2115 | 0 | session->newdata.mode = MODE_3D; |
2116 | 0 | break; |
2117 | 0 | case 0x0B: // "Only 3 usable sats" |
2118 | 0 | session->newdata.mode = MODE_2D; |
2119 | 0 | break; |
2120 | 0 | case 0x1: // "Don't have GPS time" |
2121 | 0 | FALLTHROUGH |
2122 | 0 | case 0x3: // "PDOP is too high" |
2123 | 0 | FALLTHROUGH |
2124 | 0 | case 0x8: // "No usable sats" |
2125 | 0 | FALLTHROUGH |
2126 | 0 | case 0x9: // "Only 1 usable sat" |
2127 | 0 | FALLTHROUGH |
2128 | 0 | case 0x0A: // "Only 2 usable sats |
2129 | 0 | FALLTHROUGH |
2130 | 0 | case 0x0C: // "The chosen sat is unusable" |
2131 | 0 | FALLTHROUGH |
2132 | 0 | case 0x10: // TRAIM rejected the fix |
2133 | 0 | FALLTHROUGH |
2134 | 0 | default: |
2135 | 0 | session->newdata.mode = MODE_NO_FIX; |
2136 | 0 | break; |
2137 | 0 | } |
2138 | 0 | break; |
2139 | 0 | case 6: // Clock Hold 2D |
2140 | | /* Not present: |
2141 | | * SMT 360 |
2142 | | * Acutime 360 |
2143 | | */ |
2144 | 0 | FALLTHROUGH |
2145 | 0 | case 3: // forced 2D Position Fix |
2146 | | // Does this mean STATUS_TIME? |
2147 | 0 | session->newdata.mode = MODE_2D; |
2148 | 0 | break; |
2149 | 0 | case 1: // Single Satellite Time |
2150 | | /* Present in: |
2151 | | * Acutime 360 |
2152 | | */ |
2153 | 0 | FALLTHROUGH |
2154 | 0 | case 7: // overdetermined clock |
2155 | | /* Present in: |
2156 | | * Acutiome 360 |
2157 | | * Resolution SMTx |
2158 | | */ |
2159 | | /* |
2160 | | * According to the Thunderbolt Manual, the |
2161 | | * first byte of the supplemental timing packet |
2162 | | * simply indicates the configuration of the |
2163 | | * device, not the actual lock, so we need to |
2164 | | * look at the decode status. |
2165 | | */ |
2166 | 0 | session->newdata.status = STATUS_TIME; |
2167 | 0 | switch (decode_stat) { |
2168 | 0 | case 0: // "Doing Fixes" |
2169 | 0 | session->newdata.mode = MODE_3D; |
2170 | 0 | break; |
2171 | 0 | case 0x9: // "Only 1 usable sat" |
2172 | 0 | FALLTHROUGH |
2173 | 0 | case 0x0A: // "Only 2 usable sats |
2174 | 0 | FALLTHROUGH |
2175 | 0 | case 0x0B: // "Only 3 usable sats" |
2176 | 0 | session->newdata.mode = MODE_2D; |
2177 | 0 | break; |
2178 | 0 | case 0x1: // "Don't have GPS time" |
2179 | 0 | FALLTHROUGH |
2180 | 0 | case 0x3: // "PDOP is too high" |
2181 | 0 | FALLTHROUGH |
2182 | 0 | case 0x8: // "No usable sats" |
2183 | 0 | FALLTHROUGH |
2184 | 0 | case 0x0C: // "The chosen sat is unusable" |
2185 | 0 | FALLTHROUGH |
2186 | 0 | case 0x10: // TRAIM rejected the fix |
2187 | 0 | FALLTHROUGH |
2188 | 0 | default: |
2189 | 0 | session->newdata.mode = MODE_NO_FIX; |
2190 | 0 | break; |
2191 | 0 | } |
2192 | 0 | break; |
2193 | 0 | case 4: // forced 3D position Fix |
2194 | 0 | session->newdata.mode = MODE_3D; |
2195 | 0 | break; |
2196 | 0 | default: |
2197 | 0 | session->newdata.mode = MODE_NO_FIX; |
2198 | 0 | break; |
2199 | 0 | } |
2200 | 0 | if (0 != (0x208 & minor_alarm) && |
2201 | 0 | 7 == (rec_mode & 7)) { |
2202 | | // OD, No sats or position questionable, must be Dead reckoning |
2203 | 0 | session->newdata.mode = MODE_3D; |
2204 | 0 | session->newdata.status = STATUS_DR; |
2205 | 0 | } |
2206 | 0 | if (STATUS_UNK != session->newdata.status) { |
2207 | 0 | mask |= STATUS_SET; |
2208 | 0 | } |
2209 | |
|
2210 | 0 | mask |= LATLON_SET | ALTITUDE_SET | MODE_SET; |
2211 | 0 | GPSD_LOG(LOG_PROG, &session->context->errout, |
2212 | 0 | "TSIP x8f-ac: SP-TPS: lat=%.2f lon=%.2f altHAE=%.2f " |
2213 | 0 | "mode %d status %d temp %.1f fqErr %.4f rm x%x dm %u " |
2214 | 0 | "sp %u ca %x ma x%x gds x%x\n", |
2215 | 0 | session->newdata.latitude, |
2216 | 0 | session->newdata.longitude, |
2217 | 0 | session->newdata.altHAE, |
2218 | 0 | session->newdata.mode, |
2219 | 0 | session->newdata.status, |
2220 | 0 | session->newdata.temp, fqErr, rec_mode, |
2221 | 0 | disc_mode, survey_prog, crit_alarm, |
2222 | 0 | minor_alarm, decode_stat); |
2223 | 0 | GPSD_LOG(LOG_IO, &session->context->errout, |
2224 | 0 | "TSIP: mode:%s rm:%s gds:%s ca:%s ma:%s\n", |
2225 | 0 | val2str(session->newdata.mode, vmode_str), |
2226 | 0 | val2str(rec_mode, vrec_mode), |
2227 | 0 | val2str(decode_stat, vgnss_decode_status), |
2228 | 0 | flags2str(crit_alarm, vcrit_alarms, buf2, |
2229 | 0 | sizeof(buf2)), |
2230 | 0 | flags2str(minor_alarm, vminor_alarms, buf3, |
2231 | 0 | sizeof(buf3))); |
2232 | 0 | return mask; |
2233 | 0 | } |
2234 | | |
2235 | | /* This is the meat of parsing all the TSIP packets, except v1 |
2236 | | * |
2237 | | * Return: mask |
2238 | | */ |
2239 | | static gps_mask_t tsip_parse_input(struct gps_device_t *session) |
2240 | 0 | { |
2241 | 0 | int i, j, len, count; |
2242 | 0 | gps_mask_t mask = 0; |
2243 | 0 | unsigned int id; |
2244 | 0 | unsigned short week; |
2245 | 0 | uint8_t u1, u2, u3, u4, u5, u6, u7, u8, u9, u10; |
2246 | 0 | int16_t s1, s2, s3, s4; |
2247 | 0 | int32_t sl1, sl2, sl3; |
2248 | 0 | uint32_t ul1, ul2; |
2249 | 0 | float f1, f2, f3, f4; |
2250 | 0 | double d1, d2, d3, d4, d5; |
2251 | 0 | time_t now; |
2252 | 0 | char buf[BUFSIZ]; |
2253 | 0 | char buf2[BUFSIZ]; |
2254 | 0 | char buf3[BUFSIZ]; |
2255 | 0 | uint32_t tow; // time of week in milli seconds |
2256 | 0 | double ftow; // time of week in seconds |
2257 | 0 | timespec_t ts_tow; |
2258 | 0 | char ts_buf[TIMESPEC_LEN]; |
2259 | 0 | int bad_len = 0; |
2260 | |
|
2261 | 0 | if (TSIP_PACKET != session->lexer.type) { |
2262 | | // this should not happen |
2263 | 0 | GPSD_LOG(LOG_INF, &session->context->errout, |
2264 | 0 | "TSIP: tsip_analyze packet type %d\n", |
2265 | 0 | session->lexer.type); |
2266 | 0 | return 0; |
2267 | 0 | } |
2268 | | |
2269 | 0 | if (4 > session->lexer.outbuflen || |
2270 | 0 | 0x10 != session->lexer.outbuffer[0]) { |
2271 | | // packet too short, or does not start with DLE |
2272 | 0 | GPSD_LOG(LOG_INF, &session->context->errout, |
2273 | 0 | "TSIP: tsip_analyze packet bad packet\n"); |
2274 | 0 | return 0; |
2275 | 0 | } |
2276 | | |
2277 | | /* get receive time, first |
2278 | | * using system time breaks regressions! |
2279 | | * so use latest from receiver */ |
2280 | 0 | if (0 != session->lastfix.time.tv_sec) { |
2281 | 0 | now = session->lastfix.time.tv_sec; |
2282 | 0 | } else if (0 != session->oldfix.time.tv_sec) { |
2283 | 0 | now = session->oldfix.time.tv_sec; |
2284 | 0 | } else { |
2285 | 0 | now = 0; |
2286 | 0 | } |
2287 | | |
2288 | | // put data part of message in buf |
2289 | |
|
2290 | 0 | memset(buf, 0, sizeof(buf)); |
2291 | 0 | len = 0; |
2292 | 0 | for (i = 2; i < (int)session->lexer.outbuflen; i++) { |
2293 | 0 | if (0x10 == session->lexer.outbuffer[i] && |
2294 | 0 | 0x03 == session->lexer.outbuffer[++i]) { |
2295 | | // DLE, STX. end of packet, we know the length |
2296 | 0 | break; |
2297 | 0 | } |
2298 | 0 | buf[len++] = session->lexer.outbuffer[i]; |
2299 | 0 | } |
2300 | |
|
2301 | 0 | id = (unsigned)session->lexer.outbuffer[1]; |
2302 | | #ifdef __UNUSED__ // debug code |
2303 | | GPSD_LOG(LOG_SHOUT, &session->context->errout, |
2304 | | "TSIP x%02x: length %d: %s\n", |
2305 | | id, len, gps_hexdump(buf2, sizeof(buf2), |
2306 | | (char *)session->lexer.outbuffer, session->lexer.outbuflen)); |
2307 | | #endif // __UNUSED__ |
2308 | 0 | GPSD_LOG(LOG_DATA, &session->context->errout, |
2309 | 0 | "TSIP x%02x: length %d: %s\n", |
2310 | 0 | id, len, gps_hexdump(buf2, sizeof(buf2), |
2311 | 0 | (unsigned char *)buf, len)); |
2312 | | |
2313 | | // session->cycle_end_reliable = true; |
2314 | 0 | switch (id) { |
2315 | 0 | case 0x13: |
2316 | | /* Packet Received |
2317 | | * Present in: |
2318 | | * pre-2000 models |
2319 | | * ICM SMT 360 (2018) |
2320 | | * RES SMT 360 (2018) |
2321 | | * Resolution SMTx |
2322 | | * Not present in: |
2323 | | * Copernicus II |
2324 | | */ |
2325 | 0 | if (1 > len) { |
2326 | 0 | bad_len = 1; |
2327 | 0 | break; |
2328 | 0 | } |
2329 | 0 | u1 = getub(buf, 0); // Packet ID of non-parsable packet |
2330 | 0 | if (2 <= len) { |
2331 | 0 | u2 = getub(buf, 1); // Data byte 0 of non-parsable packet |
2332 | 0 | } else { |
2333 | 0 | u2 = 0; |
2334 | 0 | } |
2335 | 0 | GPSD_LOG(LOG_WARN, &session->context->errout, |
2336 | 0 | "TSIP x13: Report Packet: request x%02x %02x " |
2337 | 0 | "cannot be parsed\n", |
2338 | 0 | u1, u2); |
2339 | | // ignore the rest of the bad data |
2340 | 0 | if (0x8e == (int)u1 && |
2341 | 0 | 0x23 == (int)u2) { |
2342 | | // no Compact Super Packet 0x8e-23 |
2343 | 0 | GPSD_LOG(LOG_WARN, &session->context->errout, |
2344 | 0 | "TSIP x8e-23: not available, use LFwEI (0x8f-20)\n"); |
2345 | | |
2346 | | /* Request LFwEI Super Packet instead |
2347 | | * SMT 360 does not support 0x8e-20 either */ |
2348 | 0 | (void)tsip_write1(session, "\x8e\x20\x01", 3); |
2349 | 0 | } |
2350 | 0 | break; |
2351 | | |
2352 | 0 | case 0x1c: // Hardware/Software Version Information |
2353 | | /* Present in: |
2354 | | * Acutime Gold |
2355 | | * Lassen iQ (2005) fw 1.16+ |
2356 | | * Copernicus (2006) |
2357 | | * Copernicus II (2009) |
2358 | | * Thunderbolt E (2012) |
2359 | | * RES SMT 360 (2018) |
2360 | | * ICM SMT 360 (2018) |
2361 | | * RES360 17x22 (2018) |
2362 | | * Acutime 360 |
2363 | | * Not Present in: |
2364 | | * pre-2000 models |
2365 | | * ACE II (1999) |
2366 | | * ACE III (2000) |
2367 | | * Lassen SQ (2002) |
2368 | | * Lassen iQ (2005) pre fw 1.16 |
2369 | | */ |
2370 | 0 | u1 = getub(buf, 0); |
2371 | | // decode by sub-code |
2372 | 0 | switch (u1) { |
2373 | 0 | case 0x81: |
2374 | | /* Firmware component version information (0x1c-81) |
2375 | | * polled by 0x1c-01 |
2376 | | * Present in: |
2377 | | * Copernicus II (2009) |
2378 | | */ |
2379 | | // byte 1, reserved |
2380 | 0 | u2 = getub(buf, 2); // Major version |
2381 | 0 | u3 = getub(buf, 3); // Minor version |
2382 | 0 | u4 = getub(buf, 4); // Build number |
2383 | 0 | u5 = getub(buf, 5); // Build Month |
2384 | 0 | u6 = getub(buf, 6); // Build Day |
2385 | 0 | ul1 = getbeu16(buf, 7); // Build Year |
2386 | 0 | u7 = getub(buf, 9); // Length of product name |
2387 | | // check for valid module name length |
2388 | 0 | if (40 < u7) { |
2389 | 0 | u7 = 40; |
2390 | 0 | } |
2391 | | // check for valid module name length, again |
2392 | 0 | if ((len - 10) < u7) { |
2393 | 0 | u7 = len - 10; |
2394 | 0 | } |
2395 | | // Product name in ASCII |
2396 | 0 | memcpy(buf2, &buf[10], u7); |
2397 | 0 | buf2[u7] = '\0'; |
2398 | |
|
2399 | 0 | (void)snprintf(session->subtype, sizeof(session->subtype), |
2400 | 0 | "fw %u.%u %u %02u/%02u/%04u %.40s", |
2401 | 0 | u2, u3, u4, u6, u5, ul1, buf2); |
2402 | 0 | GPSD_LOG(LOG_PROG, &session->context->errout, |
2403 | 0 | "TSIP x1c-81: Firmware version: %s\n", |
2404 | 0 | session->subtype); |
2405 | |
|
2406 | 0 | mask |= DEVICEID_SET; |
2407 | 0 | if ('\0' == session->subtype1[0]) { |
2408 | | // request actual subtype1 from 0x1c-83 |
2409 | 0 | (void)tsip_write1(session, "\x1c\x03", 2); |
2410 | 0 | } |
2411 | 0 | break; |
2412 | | |
2413 | 0 | case 0x83: |
2414 | | /* Hardware component version information (0x1c-83) |
2415 | | * polled by 0x1c-03 |
2416 | | * Present in: |
2417 | | * Resolution SMTx |
2418 | | * Not Present in: |
2419 | | * LassenSQ (2002) |
2420 | | * Copernicus II (2009) |
2421 | | */ |
2422 | 0 | ul1 = getbeu32(buf, 1); // Serial number |
2423 | 0 | u2 = getub(buf, 5); // Build day |
2424 | 0 | u3 = getub(buf, 6); // Build month |
2425 | 0 | ul2 = getbeu16(buf, 7); // Build year |
2426 | 0 | u4 = getub(buf, 9); // Build hour |
2427 | | // Hardware Code |
2428 | 0 | session->driver.tsip.hardware_code = getbeu16(buf, 10); |
2429 | 0 | u5 = getub(buf, 12); // Length of Hardware ID |
2430 | | // check for valid module name length |
2431 | | // copernicus ii is 27 long |
2432 | 0 | if (40 < u5) { |
2433 | 0 | u5 = 40; |
2434 | 0 | } |
2435 | | // check for valid module name length, again |
2436 | 0 | if ((len - 13) < u5) { |
2437 | 0 | u5 = len - 13; |
2438 | 0 | } |
2439 | 0 | memcpy(buf2, &buf[13], u5); |
2440 | 0 | buf2[u5] = '\0'; |
2441 | |
|
2442 | 0 | (void)snprintf(session->gpsdata.dev.sernum, |
2443 | 0 | sizeof(session->gpsdata.dev.sernum), |
2444 | 0 | "%x", ul1); |
2445 | 0 | (void)snprintf(session->subtype1, sizeof(session->subtype1), |
2446 | 0 | "hw %02u/%02u/%04u %02u %04u %.40s", |
2447 | 0 | u2, u3, ul2, u4, |
2448 | 0 | session->driver.tsip.hardware_code, |
2449 | 0 | buf2); |
2450 | 0 | GPSD_LOG(LOG_PROG, &session->context->errout, |
2451 | 0 | "TSIP x1c-83: Hardware vers %s Sernum %s\n", |
2452 | 0 | session->subtype1, |
2453 | 0 | session->gpsdata.dev.sernum); |
2454 | |
|
2455 | 0 | mask |= DEVICEID_SET; |
2456 | 0 | session->driver.tsip.subtype = |
2457 | 0 | session->driver.tsip.hardware_code; |
2458 | | |
2459 | | // Detecting device by Hardware Code |
2460 | 0 | switch (session->driver.tsip.hardware_code) { |
2461 | 0 | case 3001: // Acutime Gold |
2462 | 0 | configuration_packets_acutime_gold(session); |
2463 | 0 | break; |
2464 | | |
2465 | | // RES look-alikes |
2466 | 0 | case 3002: // TSIP_REST |
2467 | 0 | FALLTHROUGH |
2468 | 0 | case 3009: // TSIP_RESSMT, Model 66266 |
2469 | 0 | FALLTHROUGH |
2470 | 0 | case 3017: // Resolution SMTx, Model 99889 |
2471 | 0 | FALLTHROUGH |
2472 | 0 | case 3023: // RES SMT 360 |
2473 | 0 | FALLTHROUGH |
2474 | 0 | case 3026: // ICM SMT 360 |
2475 | 0 | FALLTHROUGH |
2476 | 0 | case 3031: // RES360 17x22 |
2477 | 0 | FALLTHROUGH |
2478 | 0 | case 3100: // TSIP_RES720 |
2479 | 0 | configuration_packets_res360(session); |
2480 | 0 | break; |
2481 | | |
2482 | | // Unknown |
2483 | 0 | default: |
2484 | 0 | GPSD_LOG(LOG_WARN, &session->context->errout, |
2485 | 0 | "TSIP x1c-83: Unknown hw code %x\n", |
2486 | 0 | session->driver.tsip.hardware_code); |
2487 | 0 | FALLTHROUGH |
2488 | 0 | case 1001: // Lassen iQ |
2489 | 0 | FALLTHROUGH |
2490 | 0 | case 1002: // Copernicus |
2491 | 0 | FALLTHROUGH |
2492 | 0 | case 1003: // Copernicus II |
2493 | 0 | FALLTHROUGH |
2494 | 0 | case 3007: // Thunderbolt E |
2495 | 0 | FALLTHROUGH |
2496 | 0 | case 3032: // Acutime 360 |
2497 | 0 | configuration_packets_generic(session); |
2498 | 0 | break; |
2499 | 0 | } |
2500 | 0 | break; |
2501 | 0 | default: |
2502 | 0 | GPSD_LOG(LOG_WARN, &session->context->errout, |
2503 | 0 | "TSIP x1c-%02x: Unhandled subpacket\n", u1); |
2504 | 0 | break; |
2505 | 0 | } |
2506 | | // request x8f-42 Stored Production Parameters |
2507 | 0 | (void)tsip_write1(session, "\x8e\x42", 2); |
2508 | 0 | break; |
2509 | 0 | case 0x41: |
2510 | | /* GPS Time (0x41). polled by 0x21 |
2511 | | * Note: this is not the time of current fix |
2512 | | * Present in: |
2513 | | * pre-2000 models |
2514 | | * Copernicus II (2009) |
2515 | | * ICM SMT 360 (2018) |
2516 | | * RES SMT 360 (2018) |
2517 | | * Resolution SMTx |
2518 | | */ |
2519 | 0 | if (10 != len) { |
2520 | 0 | bad_len = 10; |
2521 | 0 | break; |
2522 | 0 | } |
2523 | 0 | session->driver.tsip.last_41 = now; // keep timestamp for request |
2524 | 0 | ftow = getbef32(buf, 0); // gpstime |
2525 | 0 | week = getbes16(buf, 4); // week, yes, signed! |
2526 | 0 | f2 = getbef32(buf, 6); // leap seconds |
2527 | 0 | if (0.0 <= ftow && |
2528 | 0 | 10.0 < f2) { |
2529 | 0 | session->context->leap_seconds = (int)round(f2); |
2530 | 0 | session->context->valid |= LEAP_SECOND_VALID; |
2531 | 0 | DTOTS(&ts_tow, ftow); |
2532 | 0 | session->newdata.time = |
2533 | 0 | gpsd_gpstime_resolv(session, week, ts_tow); |
2534 | 0 | mask |= TIME_SET | NTPTIME_IS; |
2535 | | /* Note: this is not the time of current fix |
2536 | | * Do not use in tsip.last_tow */ |
2537 | 0 | } |
2538 | 0 | GPSD_LOG(LOG_PROG, &session->context->errout, |
2539 | 0 | "TSIP x41: GPS Time: tow %.2f week %u ls %.1f %s\n", |
2540 | 0 | ftow, week, f2, |
2541 | 0 | timespec_str(&session->newdata.time, ts_buf, sizeof(ts_buf))); |
2542 | 0 | break; |
2543 | 0 | case 0x42: |
2544 | | /* Single-Precision Position Fix, XYZ ECEF |
2545 | | * Present in: |
2546 | | * pre-2000 models |
2547 | | * Copernicus II (2009) |
2548 | | * ICM SMT 360 (2018) |
2549 | | * RES SMT 360 (2018) |
2550 | | */ |
2551 | 0 | if (16 > len) { |
2552 | 0 | bad_len = 16; |
2553 | 0 | break; |
2554 | 0 | } |
2555 | 0 | session->newdata.ecef.x = getbef32(buf, 0); // X |
2556 | 0 | session->newdata.ecef.y = getbef32(buf, 4); // Y |
2557 | 0 | session->newdata.ecef.z = getbef32(buf, 8); // Z |
2558 | 0 | ftow = getbef32(buf, 12); // time-of-fix |
2559 | 0 | DTOTS(&ts_tow, ftow); |
2560 | 0 | session->newdata.time = gpsd_gpstime_resolv(session, |
2561 | 0 | session->context->gps_week, |
2562 | 0 | ts_tow); |
2563 | 0 | GPSD_LOG(LOG_PROG, &session->context->errout, |
2564 | 0 | "TSIP x42: SP-XYZ: %f %f %f ftow %f\n", |
2565 | 0 | session->newdata.ecef.x, |
2566 | 0 | session->newdata.ecef.y, |
2567 | 0 | session->newdata.ecef.z, |
2568 | 0 | ftow); |
2569 | 0 | mask = ECEF_SET | TIME_SET | NTPTIME_IS; |
2570 | 0 | if (!TS_EQ(&ts_tow, &session->driver.tsip.last_tow)) { |
2571 | 0 | mask |= CLEAR_IS; |
2572 | 0 | session->driver.tsip.last_tow = ts_tow; |
2573 | 0 | } |
2574 | 0 | break; |
2575 | 0 | case 0x43: |
2576 | | /* Velocity Fix, XYZ ECEF |
2577 | | * Present in: |
2578 | | * pre-2000 models |
2579 | | * ICM SMT 360 (2018) |
2580 | | * RES SMT 360 (2018) |
2581 | | * Not Present in: |
2582 | | * Copernicus II (2009) |
2583 | | */ |
2584 | 0 | if (20 != len) { |
2585 | 0 | bad_len = 20; |
2586 | 0 | break; |
2587 | 0 | } |
2588 | 0 | session->newdata.ecef.vx = getbef32(buf, 0); // X velocity |
2589 | 0 | session->newdata.ecef.vy = getbef32(buf, 4); // Y velocity |
2590 | 0 | session->newdata.ecef.vz = getbef32(buf, 8); // Z velocity |
2591 | 0 | f4 = getbef32(buf, 12); // bias rate |
2592 | 0 | ftow = getbef32(buf, 16); // time-of-fix |
2593 | 0 | DTOTS(&ts_tow, ftow); |
2594 | 0 | session->newdata.time = gpsd_gpstime_resolv(session, |
2595 | 0 | session->context->gps_week, |
2596 | 0 | ts_tow); |
2597 | 0 | GPSD_LOG(LOG_PROG, &session->context->errout, |
2598 | 0 | "TSIP x43: Vel XYZ: %f %f %f %f ftow %f\n", |
2599 | 0 | session->newdata.ecef.vx, |
2600 | 0 | session->newdata.ecef.vy, |
2601 | 0 | session->newdata.ecef.vz, |
2602 | 0 | f4, ftow); |
2603 | 0 | mask = VECEF_SET | TIME_SET | NTPTIME_IS; |
2604 | 0 | if (!TS_EQ(&ts_tow, &session->driver.tsip.last_tow)) { |
2605 | 0 | mask |= CLEAR_IS; |
2606 | 0 | session->driver.tsip.last_tow = ts_tow; |
2607 | 0 | } |
2608 | 0 | break; |
2609 | 0 | case 0x45: |
2610 | | /* Software Version Information (0x45) |
2611 | | * Present in: |
2612 | | * pre-2000 models |
2613 | | * ACE II (1999) |
2614 | | * ACE III (2000) |
2615 | | * Lassen SQ (2002) |
2616 | | * Lassen iQ (2005) |
2617 | | * Copernicus II (2009) |
2618 | | * ICM SMT 360 |
2619 | | * RES SMT 360 |
2620 | | * Not present in: |
2621 | | * RES 720 |
2622 | | */ |
2623 | 0 | if (10 > len) { |
2624 | 0 | bad_len = 10; |
2625 | 0 | break; |
2626 | 0 | } |
2627 | | // convert 2 digit years to 4 digit years |
2628 | 0 | ul1 = getub(buf, 3); |
2629 | 0 | if (80 > ul1) { |
2630 | 0 | ul1 += 2000; |
2631 | 0 | } else { |
2632 | 0 | ul1 += 1900; |
2633 | 0 | } |
2634 | 0 | ul2 = getub(buf, 8); |
2635 | 0 | if (80 > ul2) { |
2636 | 0 | ul2 += 2000; |
2637 | 0 | } else { |
2638 | 0 | ul2 += 1900; |
2639 | 0 | } |
2640 | | /* ACE calls these "NAV processor firmware" and |
2641 | | * "SIG processor firmware". |
2642 | | * RES SMT 360 calls these "application" and "GPS core". |
2643 | | */ |
2644 | 0 | (void)snprintf(session->subtype, sizeof(session->subtype), |
2645 | 0 | "sw %u.%u %02u/%02u/%04u hw %u.%u %02u/%02u/%04u", |
2646 | 0 | getub(buf, 0), |
2647 | 0 | getub(buf, 1), |
2648 | 0 | getub(buf, 4), |
2649 | 0 | getub(buf, 2), |
2650 | 0 | ul1, |
2651 | 0 | getub(buf, 5), |
2652 | 0 | getub(buf, 6), |
2653 | 0 | getub(buf, 9), |
2654 | 0 | getub(buf, 7), |
2655 | 0 | ul2); |
2656 | 0 | GPSD_LOG(LOG_PROG, &session->context->errout, |
2657 | 0 | "TSIP x45: Software version: %s\n", session->subtype); |
2658 | 0 | mask |= DEVICEID_SET; |
2659 | | |
2660 | | // request I/O Options (0x55) |
2661 | 0 | (void)tsip_write1(session, "\x35", 1); |
2662 | | |
2663 | | /* request actual subtype using x1c-01, returns x1c-81 |
2664 | | * which in turn requests 0x1c-83 |
2665 | | * then requests x8f-42 */ |
2666 | 0 | (void)tsip_write1(session, "\x1c\x01", 2); |
2667 | 0 | break; |
2668 | 0 | case 0x46: |
2669 | | /* Health of Receiver (0x46). Poll with 0x26 |
2670 | | * Present in: |
2671 | | * pre-2000 models |
2672 | | * Copernicus II (2009) |
2673 | | * ICM SMT 360 (2018) |
2674 | | * RES SMT 360 (2018) |
2675 | | * Resolution SMTx |
2676 | | * all models? |
2677 | | * RES SMT 360 says use 0x8f-ab or 0x8f-ac instead |
2678 | | */ |
2679 | 0 | if (2 > len) { |
2680 | 0 | bad_len = 2; |
2681 | 0 | break; |
2682 | 0 | } |
2683 | 0 | session->driver.tsip.last_46 = now; |
2684 | | // Status code, see vgnss_decode_status |
2685 | 0 | u1 = getub(buf, 0); |
2686 | 0 | switch (u1) { |
2687 | 0 | case 0: // "Doing Fixes" |
2688 | 0 | session->newdata.mode = MODE_3D; |
2689 | 0 | break; |
2690 | 0 | case 9: // "1 usable sat" |
2691 | 0 | session->newdata.mode = MODE_2D; |
2692 | 0 | break; |
2693 | 0 | case 10: // "2 usable sats" |
2694 | 0 | session->newdata.mode = MODE_2D; |
2695 | 0 | break; |
2696 | 0 | case 11: // "3 usable sats" |
2697 | 0 | session->newdata.mode = MODE_2D; |
2698 | 0 | break; |
2699 | 0 | case 1: // "No GPS time" |
2700 | 0 | FALLTHROUGH |
2701 | 0 | case 2: // "Needs Init" |
2702 | 0 | FALLTHROUGH |
2703 | 0 | case 3: // "PDOP too high" |
2704 | 0 | FALLTHROUGH |
2705 | 0 | case 8: // "0 usable sats" |
2706 | 0 | FALLTHROUGH |
2707 | 0 | case 12: // "chosen sat unusable" |
2708 | 0 | FALLTHROUGH |
2709 | 0 | case 16: // "TRAIM rejected" |
2710 | 0 | session->newdata.mode = MODE_NO_FIX; |
2711 | 0 | break; |
2712 | 0 | case 0xbb: // "GPS Time Fix (OD mode)" |
2713 | 0 | session->newdata.status = STATUS_TIME; |
2714 | 0 | session->newdata.mode = MODE_3D; |
2715 | 0 | break; |
2716 | 0 | } |
2717 | | |
2718 | | /* Error codes, model dependent |
2719 | | * 0x01 -- no battery, always set on RES SMT 360 |
2720 | | * 0x10 -- antenna is open |
2721 | | * 0x30 -- antenna is shorted |
2722 | | */ |
2723 | 0 | u2 = getub(buf, 1); |
2724 | 0 | switch (u2 & 0x30) { |
2725 | 0 | case 0x10: |
2726 | 0 | session->newdata.ant_stat = ANT_OPEN; |
2727 | 0 | break; |
2728 | 0 | case 0x30: |
2729 | 0 | session->newdata.ant_stat = ANT_SHORT; |
2730 | 0 | break; |
2731 | 0 | default: |
2732 | 0 | session->newdata.ant_stat = ANT_OK; |
2733 | 0 | break; |
2734 | 0 | } |
2735 | | |
2736 | 0 | if (STATUS_UNK != session->newdata.status) { |
2737 | 0 | mask |= STATUS_SET; |
2738 | 0 | } |
2739 | 0 | GPSD_LOG(LOG_PROG, &session->context->errout, |
2740 | 0 | "TSIP x46: Receiver Health: mode %d status %d gds:x%x " |
2741 | 0 | "ec:x%x\n", |
2742 | 0 | session->newdata.status, |
2743 | 0 | session->newdata.mode, |
2744 | 0 | u1, u2); |
2745 | 0 | GPSD_LOG(LOG_IO, &session->context->errout, |
2746 | 0 | "TSIP: gds:%s ec:%s\n", |
2747 | 0 | val2str(u1, vgnss_decode_status), |
2748 | 0 | flags2str(u2, verr_codes, buf2, sizeof(buf2))); |
2749 | 0 | break; |
2750 | 0 | case 0x47: |
2751 | | /* Signal Levels for all Satellites |
2752 | | * Present in: |
2753 | | * pre-2000 models |
2754 | | * Copernicus II (2009) |
2755 | | * ICM SMT 360 (2018) |
2756 | | * RES SMT 360 (2018) |
2757 | | */ |
2758 | 0 | if (1 > len) { |
2759 | 0 | bad_len = 1; |
2760 | 0 | break; |
2761 | 0 | } |
2762 | 0 | gpsd_zero_satellites(&session->gpsdata); |
2763 | | // satellite count, RES SMT 360 doc says 12 max |
2764 | 0 | count = (int)getub(buf, 0); |
2765 | 0 | if ((5 * count + 1) != len) { |
2766 | 0 | bad_len = 5 * count + 1; |
2767 | 0 | break; |
2768 | 0 | } |
2769 | 0 | buf2[0] = '\0'; |
2770 | 0 | for (i = 0; i < count; i++) { |
2771 | 0 | u1 = getub(buf, 5 * i + 1); |
2772 | 0 | if (0 > (f1 = getbef32(buf, 5 * i + 2))) { |
2773 | 0 | f1 = 0.0; |
2774 | 0 | } |
2775 | 0 | for (j = 0; j < TSIP_CHANNELS; j++) { |
2776 | 0 | if (session->gpsdata.skyview[j].PRN == (short)u1) { |
2777 | 0 | session->gpsdata.skyview[j].ss = f1; |
2778 | 0 | break; |
2779 | 0 | } |
2780 | 0 | } |
2781 | 0 | str_appendf(buf2, sizeof(buf2), " %d=%.1f", (int)u1, f1); |
2782 | 0 | } |
2783 | 0 | GPSD_LOG(LOG_PROG, &session->context->errout, |
2784 | 0 | "TSIP x47: Signal Levels: (%d):%s\n", count, buf2); |
2785 | 0 | mask |= SATELLITE_SET; |
2786 | 0 | break; |
2787 | 0 | case 0x48: |
2788 | | /* GPS System Message |
2789 | | * Present in: |
2790 | | * pre-2000 models |
2791 | | * Not Present in: |
2792 | | * Copernicus II (2009) |
2793 | | * ICM SMT 360 (2018) |
2794 | | * RES SMT 360 (2018) |
2795 | | */ |
2796 | 0 | buf[len] = '\0'; |
2797 | 0 | GPSD_LOG(LOG_PROG, &session->context->errout, |
2798 | 0 | "TSIP x48: GPS System Message: %s\n", buf); |
2799 | 0 | break; |
2800 | 0 | case 0x4a: |
2801 | | /* Single-Precision Position LLA |
2802 | | * Only sent when valid |
2803 | | * Present in: |
2804 | | * pre-2000 models |
2805 | | * Copernicus II (2009) |
2806 | | * ICM SMT 360 (2018) |
2807 | | * RES SMT 360 (2018) |
2808 | | */ |
2809 | 0 | if (20 != len) { |
2810 | 0 | bad_len = 20; |
2811 | 0 | break; |
2812 | 0 | } |
2813 | 0 | session->newdata.latitude = getbef32(buf, 0) * RAD_2_DEG; |
2814 | 0 | session->newdata.longitude = getbef32(buf, 4) * RAD_2_DEG; |
2815 | | // depending on GPS config, could be either WGS84 or MSL |
2816 | 0 | d1 = getbef32(buf, 8); |
2817 | 0 | if (0 == session->driver.tsip.alt_is_msl) { |
2818 | 0 | session->newdata.altHAE = d1; |
2819 | 0 | } else { |
2820 | 0 | session->newdata.altMSL = d1; |
2821 | 0 | } |
2822 | | |
2823 | | //f1 = getbef32(buf, 12); // clock bias |
2824 | 0 | ftow = getbef32(buf, 16); // time-of-fix |
2825 | 0 | if (0 != (session->context->valid & GPS_TIME_VALID)) { |
2826 | 0 | DTOTS(&ts_tow, ftow); |
2827 | 0 | session->newdata.time = |
2828 | 0 | gpsd_gpstime_resolv(session, session->context->gps_week, |
2829 | 0 | ts_tow); |
2830 | 0 | mask |= TIME_SET | NTPTIME_IS; |
2831 | 0 | if (!TS_EQ(&ts_tow, &session->driver.tsip.last_tow)) { |
2832 | 0 | mask |= CLEAR_IS; |
2833 | 0 | session->driver.tsip.last_tow = ts_tow; |
2834 | 0 | } |
2835 | 0 | } |
2836 | | // this seems to be often first in cycle |
2837 | | // REPORT_IS here breaks reports in read-only mode |
2838 | 0 | mask |= LATLON_SET | ALTITUDE_SET; |
2839 | 0 | GPSD_LOG(LOG_PROG, &session->context->errout, |
2840 | 0 | "TSIP x4a: SP-LLA: time=%s lat=%.2f lon=%.2f " |
2841 | 0 | "alt=%.2f\n", |
2842 | 0 | timespec_str(&session->newdata.time, ts_buf, sizeof(ts_buf)), |
2843 | 0 | session->newdata.latitude, |
2844 | 0 | session->newdata.longitude, d1); |
2845 | 0 | break; |
2846 | 0 | case 0x4b: |
2847 | | /* Machine/Code ID and Additional Status (0x4b) |
2848 | | * polled by 0x25 (soft reset) or 0x26 (request health). |
2849 | | * Sent with 0x46 (receiver health). |
2850 | | * Present in: |
2851 | | * pre-2000 models |
2852 | | * Copernicus II (2009) |
2853 | | * ICM SMT 360 (2018) |
2854 | | * RES SMT 360 (2018) |
2855 | | * Resolution SMTx |
2856 | | * Deprecated in: |
2857 | | * Resolution SMTx |
2858 | | * Not in: |
2859 | | * Thunderbolt (2003) |
2860 | | */ |
2861 | 0 | if (3 != len) { |
2862 | 0 | bad_len = 3; |
2863 | 0 | break; |
2864 | 0 | } |
2865 | 0 | session->driver.tsip.machine_id = getub(buf, 0); // Machine ID |
2866 | | /* Status 1 |
2867 | | * bit 1 -- No RTC at power up |
2868 | | * bit 3 -- almanac not complete and current */ |
2869 | 0 | u2 = getub(buf, 1); // status 1 |
2870 | 0 | u3 = getub(buf, 2); // Status 2/Superpacket Support |
2871 | 0 | GPSD_LOG(LOG_PROG, &session->context->errout, |
2872 | 0 | "TSIP x4b: Machine ID: %02x %02x %02x\n", |
2873 | 0 | session->driver.tsip.machine_id, |
2874 | 0 | u2, u3); |
2875 | 0 | GPSD_LOG(LOG_IO, &session->context->errout, |
2876 | 0 | "TSIP: stat1:%s stat2:%s\n", |
2877 | 0 | flags2str(u2, vstat1, buf2, sizeof(buf2)), |
2878 | 0 | flags2str(u3, vstat2, buf3, sizeof(buf3))); |
2879 | |
|
2880 | 0 | if ('\0' == session->subtype[0]) { |
2881 | 0 | const char *name; |
2882 | | // better than nothing |
2883 | 0 | switch (session->driver.tsip.machine_id) { |
2884 | 0 | case 1: |
2885 | | // should use better name from superpacket |
2886 | 0 | name = " SMT 360"; |
2887 | | /* request actual subtype from 0x1c-81 |
2888 | | * which in turn requests 0x1c-83 */ |
2889 | 0 | (void)tsip_write1(session, "\x1c\x01", 2); |
2890 | 0 | break; |
2891 | 0 | case 0x32: |
2892 | 0 | name = " Acutime 360"; |
2893 | 0 | break; |
2894 | 0 | case 0x5a: |
2895 | 0 | name = " Lassen iQ"; |
2896 | | /* request actual subtype from 0x1c-81 |
2897 | | * which in turn requests 0x1c-83. |
2898 | | * Only later firmware Lassen iQ supports this */ |
2899 | 0 | (void)tsip_write1(session, "\x1c\x01", 2); |
2900 | 0 | break; |
2901 | 0 | case 0x61: |
2902 | 0 | name = " Acutime 2000"; |
2903 | 0 | break; |
2904 | 0 | case 0x62: |
2905 | 0 | name = " ACE UTC"; |
2906 | 0 | break; |
2907 | 0 | case 0x96: |
2908 | | // Also Copernicus II |
2909 | 0 | name = " Copernicus, Thunderbolt E"; |
2910 | | /* so request actual subtype from 0x1c-81 |
2911 | | * which in turn requests 0x1c-83 */ |
2912 | 0 | (void)tsip_write1(session, "\x1c\x01", 2); |
2913 | 0 | break; |
2914 | 0 | case 0: |
2915 | | // Resolution SMTx |
2916 | 0 | FALLTHROUGH |
2917 | 0 | default: |
2918 | 0 | name = ""; |
2919 | 0 | } |
2920 | 0 | (void)snprintf(session->subtype, sizeof(session->subtype), |
2921 | 0 | "Machine ID x%x(%s)", |
2922 | 0 | session->driver.tsip.machine_id, name); |
2923 | 0 | } |
2924 | 0 | if (u3 != session->driver.tsip.superpkt) { |
2925 | 0 | session->driver.tsip.superpkt = u3; |
2926 | 0 | GPSD_LOG(LOG_PROG, &session->context->errout, |
2927 | 0 | "TSIP: Switching to Super Packet mode %d\n", u3); |
2928 | 0 | switch (u3){ |
2929 | 0 | default: |
2930 | 0 | FALLTHROUGH |
2931 | 0 | case 0: |
2932 | | // old Trimble, no superpackets |
2933 | 0 | break; |
2934 | 0 | case 1: |
2935 | | // 1 == superpacket is acutime 360, support 0x8f-20 |
2936 | | |
2937 | | /* set I/O Options for Super Packet output |
2938 | | * Position: 8F20, ECEF, DP */ |
2939 | 0 | buf[0] = 0x35; |
2940 | 0 | buf[1] = IO1_8F20|IO1_DP|IO1_ECEF; |
2941 | 0 | buf[2] = 0x00; // Velocity: none (via SP) |
2942 | 0 | buf[3] = 0x00; // Time: GPS |
2943 | 0 | buf[4] = IO4_DBHZ; // Aux: dBHz |
2944 | 0 | (void)tsip_write1(session, buf, 5); |
2945 | 0 | break; |
2946 | 0 | case 2: |
2947 | | /* 2 == SMT 360, or Resolution SMTx |
2948 | | * no 0x8f-20, or x8f-23. |
2949 | | * request x8f-a5 */ |
2950 | 0 | (void)tsip_write1(session, "\x8e\xa5", 2); |
2951 | 0 | break; |
2952 | 0 | } |
2953 | 0 | } |
2954 | 0 | break; |
2955 | 0 | case 0x4c: |
2956 | | /* Operating Parameters Report (0x4c). Polled by 0x2c |
2957 | | * Present in: |
2958 | | * pre-2000 models |
2959 | | * Lassen iQ, but not documented |
2960 | | * Not Present in: |
2961 | | * Copernicus II (2009) |
2962 | | * ICM SMT 360 (2018) |
2963 | | * RES SMT 360 (2018) |
2964 | | */ |
2965 | 0 | if (17 != len) { |
2966 | 0 | bad_len = 17; |
2967 | 0 | break; |
2968 | 0 | } |
2969 | 0 | u1 = getub(buf, 0); // Dynamics Code |
2970 | 0 | f1 = getbef32(buf, 1); // Elevation Mask |
2971 | 0 | f2 = getbef32(buf, 5); // Signal Level Mask |
2972 | 0 | f3 = getbef32(buf, 9); // PDOP Mask |
2973 | 0 | f4 = getbef32(buf, 13); // PDOP Switch |
2974 | 0 | GPSD_LOG(LOG_PROG, &session->context->errout, |
2975 | 0 | "TSIP x4c: Operating Params: x%02x %f %f %f %f\n", |
2976 | 0 | u1, f1, f2, f3, f4); |
2977 | 0 | break; |
2978 | 0 | case 0x54: |
2979 | | /* Bias and Bias Rate Report (0x54) |
2980 | | * Present in: |
2981 | | * pre-2000 models |
2982 | | * Acutime 360 |
2983 | | * ICM SMT 360 (undocumented) |
2984 | | * RES SMT 360 (undocumented) |
2985 | | * Not Present in: |
2986 | | * Copernicus II (2009) |
2987 | | */ |
2988 | 0 | { |
2989 | 0 | float bias, bias_rate; |
2990 | 0 | bias = getbef32(buf, 0); // Bias |
2991 | 0 | bias_rate = getbef32(buf, 4); // Bias rate |
2992 | 0 | ftow = getbef32(buf, 8); // tow |
2993 | 0 | DTOTS(&ts_tow, ftow); |
2994 | 0 | session->newdata.time = |
2995 | 0 | gpsd_gpstime_resolv(session, session->context->gps_week, |
2996 | 0 | ts_tow); |
2997 | 0 | GPSD_LOG(LOG_PROG, &session->context->errout, |
2998 | 0 | "TSIP x54: Bias and Bias Rate Report: %f %f %f\n", |
2999 | 0 | bias, bias_rate, ftow); |
3000 | 0 | mask |= TIME_SET | NTPTIME_IS; |
3001 | 0 | if (!TS_EQ(&ts_tow, &session->driver.tsip.last_tow)) { |
3002 | 0 | mask |= CLEAR_IS; |
3003 | 0 | session->driver.tsip.last_tow = ts_tow; |
3004 | 0 | } |
3005 | 0 | } |
3006 | 0 | break; |
3007 | 0 | case 0x55: |
3008 | | /* IO Options (0x55), polled by 0x35 |
3009 | | * Present in: |
3010 | | * pre-2000 models |
3011 | | * ICM SMT 360 (2018) |
3012 | | * RES SMT 360 (2018) |
3013 | | * Resolution SMTx |
3014 | | * all TSIP? |
3015 | | * |
3016 | | * Defaults: |
3017 | | * Lassen iQ: 02 02 00 00 |
3018 | | * RES SMT 360: 12 02 00 08 |
3019 | | * Resolution SMTx: 12 02 00 08 |
3020 | | */ |
3021 | 0 | if (4 != len) { |
3022 | 0 | bad_len = 4; |
3023 | 0 | break; |
3024 | 0 | } |
3025 | 0 | u1 = getub(buf, 0); // Position |
3026 | | // decode HAE/MSL from Position byte |
3027 | 0 | if (IO1_MSL == (IO1_MSL & u1)) { |
3028 | 0 | session->driver.tsip.alt_is_msl = 1; |
3029 | 0 | } else { |
3030 | 0 | session->driver.tsip.alt_is_msl = 0; |
3031 | 0 | } |
3032 | 0 | u2 = getub(buf, 1); // Velocity |
3033 | | /* Timing |
3034 | | * bit 0 - reserved use 0x8e-a2 ? |
3035 | | */ |
3036 | 0 | u3 = getub(buf, 2); |
3037 | | /* Aux |
3038 | | * bit 0 - packet 0x5a (raw data) |
3039 | | * bit 3 -- Output dbHz |
3040 | | */ |
3041 | 0 | u4 = getub(buf, 3); |
3042 | 0 | GPSD_LOG(LOG_PROG, &session->context->errout, |
3043 | 0 | "TSIP x55: IO Options: %02x %02x %02x %02x\n", |
3044 | 0 | u1, u2, u3, u4); |
3045 | 0 | if ((u1 & 0x20) != (uint8_t) 0) { |
3046 | | /* Try to get Super Packets |
3047 | | * Turn off 0x8f-20 LFwEI Super Packet */ |
3048 | 0 | (void)tsip_write1(session, "\x8e\x20\x00", 3); |
3049 | | |
3050 | | // Turn on Compact Super Packet 0x8f-23 |
3051 | 0 | (void)tsip_write1(session, "\x8e\x23\x01", 3); |
3052 | 0 | session->driver.tsip.req_compact = now; |
3053 | 0 | } |
3054 | 0 | break; |
3055 | 0 | case 0x56: |
3056 | | /* Velocity Fix, East-North-Up (ENU) |
3057 | | * Present in: |
3058 | | * pre-2000 models |
3059 | | * Copernicus II (2009) |
3060 | | * ICM SMT 360 (2018) |
3061 | | * RES SMT 360 (2018) |
3062 | | */ |
3063 | 0 | if (20 != len) { |
3064 | 0 | bad_len = 20; |
3065 | 0 | break; |
3066 | 0 | } |
3067 | 0 | f1 = getbef32(buf, 0); // East velocity |
3068 | 0 | f2 = getbef32(buf, 4); // North velocity |
3069 | 0 | f3 = getbef32(buf, 8); // Up velocity |
3070 | 0 | f4 = getbef32(buf, 12); // clock bias rate |
3071 | 0 | ftow = getbef32(buf, 16); // time-of-fix |
3072 | 0 | DTOTS(&ts_tow, ftow); |
3073 | 0 | session->newdata.time = gpsd_gpstime_resolv(session, |
3074 | 0 | session->context->gps_week, |
3075 | 0 | ts_tow); |
3076 | 0 | session->newdata.NED.velN = f2; |
3077 | 0 | session->newdata.NED.velE = f1; |
3078 | 0 | session->newdata.NED.velD = -f3; |
3079 | 0 | mask |= VNED_SET | TIME_SET | NTPTIME_IS; |
3080 | 0 | if (!TS_EQ(&ts_tow, &session->driver.tsip.last_tow)) { |
3081 | 0 | mask |= CLEAR_IS; |
3082 | 0 | session->driver.tsip.last_tow = ts_tow; |
3083 | 0 | } |
3084 | 0 | GPSD_LOG(LOG_PROG, &session->context->errout, |
3085 | 0 | "TSIP x56: Vel ENU: %f %f %f %f ftow %f\n", |
3086 | 0 | f1, f2, f3, f4, ftow); |
3087 | 0 | break; |
3088 | 0 | case 0x57: |
3089 | | /* Information About Last Computed Fix |
3090 | | * Present in: |
3091 | | * pre-2000 models |
3092 | | * Copernicus II (2009) |
3093 | | * ICM SMT 360 (2018) |
3094 | | * RES SMT 360 (2018) |
3095 | | */ |
3096 | 0 | if (8 != len) { |
3097 | 0 | bad_len = 8; |
3098 | 0 | break; |
3099 | 0 | } |
3100 | 0 | u1 = getub(buf, 0); // Source of information |
3101 | 0 | u2 = getub(buf, 1); // Mfg. diagnostic |
3102 | 0 | ftow = getbef32(buf, 2); // gps_time |
3103 | 0 | week = getbeu16(buf, 6); // tsip.gps_week |
3104 | 0 | if (0x01 == getub(buf, 0)) { |
3105 | | // good current fix |
3106 | 0 | DTOTS(&ts_tow, ftow); |
3107 | 0 | (void)gpsd_gpstime_resolv(session, week, ts_tow); |
3108 | 0 | mask |= TIME_SET | NTPTIME_IS; |
3109 | 0 | if (!TS_EQ(&ts_tow, &session->driver.tsip.last_tow)) { |
3110 | 0 | mask |= CLEAR_IS; |
3111 | 0 | session->driver.tsip.last_tow = ts_tow; |
3112 | 0 | } |
3113 | 0 | } |
3114 | 0 | GPSD_LOG(LOG_PROG, &session->context->errout, |
3115 | 0 | "TSIP x57: Fix info: %02x %02x %u %f\n", |
3116 | 0 | u1, u2, week, ftow); |
3117 | 0 | break; |
3118 | 0 | case 0x5a: |
3119 | | /* Raw Measurement Data |
3120 | | * Present in: |
3121 | | * pre-2000 models |
3122 | | * Copernicus II (2009) |
3123 | | * ICM SMT 360 (2018) |
3124 | | * RES SMT 360 (2018) |
3125 | | */ |
3126 | 0 | if (25 > len) { |
3127 | 0 | bad_len = 25; |
3128 | 0 | break; |
3129 | 0 | } |
3130 | | // Useless without the pseudorange... |
3131 | 0 | u1 = getub(buf, 0); // PRN 1-237 |
3132 | 0 | f1 = getbef32(buf, 1); // sample length |
3133 | 0 | f2 = getbef32(buf, 5); // Signal Level, dbHz |
3134 | 0 | f3 = getbef32(buf, 9); // Code phase, 1/16th chip |
3135 | 0 | f4 = getbef32(buf, 13); // Doppler, Hz @ L1 |
3136 | 0 | d1 = getbed64(buf, 17); // Time of Measurement |
3137 | 0 | GPSD_LOG(LOG_PROG, &session->context->errout, |
3138 | 0 | "TSIP x5a: Raw Measurement Data: %d %f %f %f %f %f\n", |
3139 | 0 | u1, f1, f2, f3, f4, d1); |
3140 | 0 | break; |
3141 | 0 | case 0x5c: |
3142 | | /* Satellite Tracking Status (0x5c) polled by 0x3c |
3143 | | * |
3144 | | * GPS only, no WAAS reported here or used in fix |
3145 | | * Present in: |
3146 | | * pre-2000 models |
3147 | | * Copernicus, Copernicus II |
3148 | | * Thunderbold E |
3149 | | * Not Present in: |
3150 | | * ICM SMT 360 (2018) |
3151 | | * RES SMT 360 (2018) |
3152 | | */ |
3153 | 0 | if (24 != len) { |
3154 | 0 | bad_len = 24; |
3155 | 0 | break; |
3156 | 0 | } |
3157 | 0 | u1 = getub(buf, 0); // PRN 1-32 |
3158 | 0 | u2 = getub(buf, 1); // slot:chan |
3159 | 0 | u3 = getub(buf, 2); // Acquisition flag |
3160 | 0 | u4 = getub(buf, 3); // Ephemeris flag |
3161 | 0 | f1 = getbef32(buf, 4); // Signal level |
3162 | | // time of skyview, not current time, or time of fix |
3163 | 0 | ftow = getbef32(buf, 8); |
3164 | 0 | DTOTS(&session->gpsdata.skyview_time, ftow); |
3165 | |
|
3166 | 0 | d1 = getbef32(buf, 12) * RAD_2_DEG; // Elevation |
3167 | 0 | d2 = getbef32(buf, 16) * RAD_2_DEG; // Azimuth |
3168 | |
|
3169 | 0 | u5 = getub(buf, 20); // Old Meassurement flag |
3170 | | /* Channel number, bits 0-2 reserved/unused as of 1999. |
3171 | | * Seems to always start series at zero and increment to last one. |
3172 | | * No way to know how many there will be. |
3173 | | * Save current channel to check for last 0x5c message |
3174 | | */ |
3175 | 0 | i = (int)(u2 >> 3); // channel number, starting at 0 |
3176 | 0 | if (0 == i) { |
3177 | | // start of new cycle, save last count |
3178 | 0 | session->gpsdata.satellites_visible = |
3179 | 0 | session->driver.tsip.last_chan_seen; |
3180 | 0 | } |
3181 | 0 | session->driver.tsip.last_chan_seen = i; |
3182 | |
|
3183 | 0 | GPSD_LOG(LOG_PROG, &session->context->errout, |
3184 | 0 | "TSIP x5c: Satellite Tracking Status: Ch %2d PRN %3d " |
3185 | 0 | "es %d Acq %d Eph %2d SNR %4.1f LMT %.04f El %4.1f Az %5.1f " |
3186 | 0 | "omf %u\n", |
3187 | 0 | i, u1, u2 & 7, u3, u4, f1, ftow, d1, d2, u5); |
3188 | 0 | if (i < TSIP_CHANNELS) { |
3189 | 0 | session->gpsdata.skyview[i].PRN = (short)u1; |
3190 | 0 | session->gpsdata.skyview[i].svid = (unsigned char)u1; |
3191 | 0 | session->gpsdata.skyview[i].gnssid = GNSSID_GPS; |
3192 | 0 | session->gpsdata.skyview[i].ss = (double)f1; |
3193 | 0 | session->gpsdata.skyview[i].elevation = (double)d1; |
3194 | 0 | session->gpsdata.skyview[i].azimuth = (double)d2; |
3195 | 0 | session->gpsdata.skyview[i].used = false; |
3196 | 0 | session->gpsdata.skyview[i].gnssid = tsip_gnssid(0, u1, |
3197 | 0 | &session->gpsdata.skyview[i].svid); |
3198 | 0 | if (0.1 < f1) { |
3199 | | // check used list, if ss is non-zero |
3200 | | // FIXME: what about negative PRN? |
3201 | 0 | for (j = 0; j < session->gpsdata.satellites_used; j++) { |
3202 | 0 | if (session->gpsdata.skyview[i].PRN != 0 && |
3203 | 0 | session->driver.tsip.sats_used[j] != 0) { |
3204 | 0 | session->gpsdata.skyview[i].used = true; |
3205 | 0 | } |
3206 | 0 | } |
3207 | 0 | } |
3208 | | /* when polled by 0x3c, all the skyview times will be the same |
3209 | | * in one cluster */ |
3210 | 0 | if (0.0 < ftow) { |
3211 | 0 | DTOTS(&ts_tow, ftow); |
3212 | 0 | session->gpsdata.skyview_time = |
3213 | 0 | gpsd_gpstime_resolv(session, session->context->gps_week, |
3214 | 0 | ts_tow); |
3215 | | /* do not save in session->driver.tsip.last_tow |
3216 | | * as this is skyview time, not fix time */ |
3217 | 0 | } |
3218 | 0 | if (++i >= session->gpsdata.satellites_visible) { |
3219 | | /* Last of the series? |
3220 | | * This will cause extra SKY if this set has more |
3221 | | * sats than the last set */ |
3222 | 0 | mask |= SATELLITE_SET; |
3223 | 0 | session->gpsdata.satellites_visible = i; |
3224 | 0 | } |
3225 | | /* If this series has fewer than last series there will |
3226 | | * be no SKY, unless the cycle ender pushes the SKY */ |
3227 | 0 | } |
3228 | 0 | break; |
3229 | | |
3230 | 0 | case 0x5d: |
3231 | | /* GNSS Satellite Tracking Status (multi-GNSS operation) (0x5d) |
3232 | | * polled by 0x3c |
3233 | | * |
3234 | | * GNSS only, no WAAS reported here or used in fix |
3235 | | * Present in: |
3236 | | * ICM SMT 360 (2018) |
3237 | | * RES SMT 360 (2018) |
3238 | | * Not Present in: |
3239 | | * pre-2000 models |
3240 | | * Copernicus, Copernicus II |
3241 | | * Thunderbold E |
3242 | | */ |
3243 | 0 | if (26 != len) { |
3244 | 0 | bad_len = 26; |
3245 | 0 | break; |
3246 | 0 | } |
3247 | 0 | u1 = getub(buf, 0); // PRN |
3248 | | |
3249 | | /* Channel number, bits 0-2 reserved/unused as of 1999. |
3250 | | * Seems to always start series at zero and increment to last one. |
3251 | | * No way to know how many there will be. |
3252 | | * Save current channel to check for last 0x5d message |
3253 | | */ |
3254 | 0 | i = getub(buf, 1); // chan |
3255 | 0 | if (0 == i) { |
3256 | | // start of new cycle, save last count |
3257 | 0 | session->gpsdata.satellites_visible = |
3258 | 0 | session->driver.tsip.last_chan_seen; |
3259 | 0 | } |
3260 | 0 | session->driver.tsip.last_chan_seen = i; |
3261 | |
|
3262 | 0 | u3 = getub(buf, 2); // Acquisition flag |
3263 | 0 | u4 = getub(buf, 3); // SV used in Position or Time calculation |
3264 | 0 | f1 = getbef32(buf, 4); // Signal level |
3265 | | // This can be one second behind the TPV on RES SMT 360 |
3266 | 0 | ftow = getbef32(buf, 8); // time of Last measurement |
3267 | 0 | d1 = getbef32(buf, 12) * RAD_2_DEG; // Elevation |
3268 | 0 | d2 = getbef32(buf, 16) * RAD_2_DEG; // Azimuth |
3269 | 0 | u5 = getub(buf, 20); // old measurement flag |
3270 | 0 | u6 = getub(buf, 21); // integer msec flag |
3271 | 0 | u7 = getub(buf, 22); // bad data flag |
3272 | 0 | u8 = getub(buf, 23); // data collection flag |
3273 | 0 | u9 = getub(buf, 24); // Used flags |
3274 | 0 | u10 = getub(buf, 25); // SV Type |
3275 | | |
3276 | |
|
3277 | 0 | GPSD_LOG(LOG_PROG, &session->context->errout, |
3278 | 0 | "TSIP x5d: Satellite Tracking Status: Ch %2d Con %d PRN %3d " |
3279 | 0 | "Acq %d Use %d SNR %4.1f LMT %.04f El %4.1f Az %5.1f Old %d " |
3280 | 0 | "Int %d Bad %d Col %d TPF %d SVT %d\n", |
3281 | 0 | i, u10, u1, u3, u4, f1, ftow, d1, d2, u5, u6, u7, u8, u9, u10); |
3282 | 0 | if (TSIP_CHANNELS > i) { |
3283 | 0 | session->gpsdata.skyview[i].PRN = (short)u1; |
3284 | 0 | session->gpsdata.skyview[i].ss = (double)f1; |
3285 | 0 | session->gpsdata.skyview[i].elevation = (double)d1; |
3286 | 0 | session->gpsdata.skyview[i].azimuth = (double)d2; |
3287 | 0 | session->gpsdata.skyview[i].used = (bool)u4; |
3288 | 0 | session->gpsdata.skyview[i].gnssid = tsip_gnssid(u10, u1, |
3289 | 0 | &session->gpsdata.skyview[i].svid); |
3290 | 0 | if (0 == u7) { |
3291 | 0 | session->gpsdata.skyview[i].health = SAT_HEALTH_OK; |
3292 | 0 | } else { |
3293 | 0 | session->gpsdata.skyview[i].health = SAT_HEALTH_BAD; |
3294 | 0 | } |
3295 | | |
3296 | | /* when polled by 0x3c, all the skyview times will be the same |
3297 | | * in one cluster */ |
3298 | 0 | if (0.0 < ftow) { |
3299 | 0 | DTOTS(&ts_tow, ftow); |
3300 | 0 | session->gpsdata.skyview_time = |
3301 | 0 | gpsd_gpstime_resolv(session, session->context->gps_week, |
3302 | 0 | ts_tow); |
3303 | | /* do not save in session->driver.tsip.last_tow |
3304 | | * as this is skyview time, not fix time */ |
3305 | 0 | } |
3306 | 0 | if (++i >= session->gpsdata.satellites_visible) { |
3307 | | /* Last of the series? |
3308 | | * This will cause extra SKY if this set has more |
3309 | | * sats than the last set */ |
3310 | 0 | mask |= SATELLITE_SET; |
3311 | 0 | session->gpsdata.satellites_visible = i; |
3312 | 0 | } |
3313 | | /* If this series has fewer than last series there will |
3314 | | * be no SKY, unless the cycle ender pushes the SKY */ |
3315 | 0 | } |
3316 | 0 | break; |
3317 | 0 | case 0x6c: |
3318 | | /* Satellite Selection List (0x6c) polled by 0x24 |
3319 | | * Eeerily similar to 0x6d, the difference is where the sat count is. |
3320 | | * |
3321 | | * Present in: |
3322 | | * ICM SMT 360 (2018) |
3323 | | * RES SMT 360 (2018) |
3324 | | * Not present in: |
3325 | | * pre-2000 models |
3326 | | * Copernicus II (2009) |
3327 | | * Lassen SQ (2002) |
3328 | | * Lassen iQ (2005) */ |
3329 | 0 | if (18 > len) { |
3330 | 0 | bad_len = 18; |
3331 | 0 | break; |
3332 | 0 | } |
3333 | 0 | u1 = getub(buf, 0); // fix dimension, mode |
3334 | 0 | count = (int)getub(buf, 17); |
3335 | 0 | if ((18 + count) != len) { |
3336 | 0 | bad_len = 18 + count; |
3337 | 0 | break; |
3338 | 0 | } |
3339 | | |
3340 | | // why same as 6d? |
3341 | 0 | session->driver.tsip.last_6d = now; // keep timestamp for request |
3342 | | /* |
3343 | | * This looks right, but it sets a spurious mode value when |
3344 | | * the satellite constellation looks good to the chip but no |
3345 | | * actual fix has yet been acquired. We should set the mode |
3346 | | * field (which controls gpsd's fix reporting) only from sentences |
3347 | | * that convey actual fix information, like 0x8f-20, but some |
3348 | | * TSIP do not support 0x8f-20, and 0x6c may be all we got. |
3349 | | */ |
3350 | 0 | switch (u1 & 7) { // dimension |
3351 | 0 | case 1: // clock fix (surveyed in) |
3352 | 0 | FALLTHROUGH |
3353 | 0 | case 5: // Overdetermined clock fix |
3354 | 0 | session->newdata.status = STATUS_TIME; |
3355 | 0 | session->newdata.mode = MODE_3D; |
3356 | 0 | break; |
3357 | 0 | case 3: |
3358 | 0 | session->newdata.mode = MODE_2D; |
3359 | 0 | break; |
3360 | 0 | case 4: |
3361 | 0 | session->newdata.mode = MODE_3D; |
3362 | 0 | break; |
3363 | 0 | case 6: |
3364 | | // Accutime |
3365 | 0 | session->newdata.status = STATUS_DGPS; |
3366 | 0 | session->newdata.mode = MODE_3D; |
3367 | 0 | break; |
3368 | 0 | case 0: |
3369 | | // Sometimes this is No Fix, sometimes Auto.... |
3370 | 0 | FALLTHROUGH |
3371 | 0 | case 2: |
3372 | 0 | FALLTHROUGH |
3373 | 0 | case 7: |
3374 | 0 | FALLTHROUGH |
3375 | 0 | default: |
3376 | 0 | session->newdata.mode = MODE_NO_FIX; |
3377 | 0 | break; |
3378 | 0 | } |
3379 | 0 | if (8 == (u1 & 8)) { |
3380 | | // Surveyed in |
3381 | 0 | session->newdata.status = STATUS_TIME; |
3382 | 0 | } |
3383 | 0 | if (STATUS_UNK < session->newdata.status) { |
3384 | 0 | mask |= STATUS_SET; |
3385 | 0 | } |
3386 | 0 | mask |= MODE_SET; |
3387 | |
|
3388 | 0 | session->gpsdata.satellites_used = count; |
3389 | 0 | session->gpsdata.dop.pdop = getbef32(buf, 1); |
3390 | 0 | session->gpsdata.dop.hdop = getbef32(buf, 5); |
3391 | 0 | session->gpsdata.dop.vdop = getbef32(buf, 9); |
3392 | | // RES SMT 360 and ICM SMT 360 always report tdop == 1 |
3393 | 0 | session->gpsdata.dop.tdop = getbef32(buf, 13); |
3394 | 0 | mask |= DOP_SET; |
3395 | |
|
3396 | 0 | memset(session->driver.tsip.sats_used, 0, |
3397 | 0 | sizeof(session->driver.tsip.sats_used)); |
3398 | 0 | buf2[0] = '\0'; |
3399 | 0 | for (i = 0; i < count; i++) { |
3400 | | // negative PRN means sat unhealthy why use an unhealthy sat?? |
3401 | 0 | session->driver.tsip.sats_used[i] = getsb(buf, 18 + i); |
3402 | 0 | if (LOG_PROG <= session->context->errout.debug) { |
3403 | 0 | str_appendf(buf2, sizeof(buf2), |
3404 | 0 | " %d", session->driver.tsip.sats_used[i]); |
3405 | 0 | } |
3406 | 0 | } |
3407 | 0 | GPSD_LOG(LOG_PROG, &session->context->errout, |
3408 | 0 | "TSIP xcc: AIVSS: mode %d status %d used %d " |
3409 | 0 | "pdop %.1f hdop %.1f vdop %.1f tdop %.1f Used %s fixd x%x\n", |
3410 | 0 | session->newdata.mode, |
3411 | 0 | session->newdata.status, |
3412 | 0 | session->gpsdata.satellites_used, |
3413 | 0 | session->gpsdata.dop.pdop, |
3414 | 0 | session->gpsdata.dop.hdop, |
3415 | 0 | session->gpsdata.dop.vdop, |
3416 | 0 | session->gpsdata.dop.tdop, |
3417 | 0 | buf2, u1); |
3418 | 0 | GPSD_LOG(LOG_IO, &session->context->errout, |
3419 | 0 | "TSIP: fixd %s\n", |
3420 | 0 | flags2str(u1, vfix, buf2, sizeof(buf2))); |
3421 | 0 | mask |= USED_IS; |
3422 | 0 | break; |
3423 | 0 | case 0x6d: |
3424 | | /* All-In-View Satellite Selection (0x6d) polled by 0x24 |
3425 | | * Sent after every fix |
3426 | | * |
3427 | | * Present in: |
3428 | | * pre-2000 models |
3429 | | * Copernicus II (2009) |
3430 | | * Lassen SQ |
3431 | | * Lassen iQ |
3432 | | * Deprecated in: |
3433 | | * Resolution SMTx |
3434 | | * Not present in: |
3435 | | * ICM SMT 360 (2018) |
3436 | | * RES SMT 360 (2018) |
3437 | | */ |
3438 | 0 | if (17 > len) { |
3439 | 0 | bad_len = 17; |
3440 | 0 | break; |
3441 | 0 | } |
3442 | 0 | session->driver.tsip.last_6d = now; // keep timestamp for request |
3443 | |
|
3444 | 0 | mask = decode_x6d(session, buf, len); |
3445 | 0 | break; |
3446 | 0 | case 0x82: |
3447 | | /* Differential Position Fix Mode (0x82) poll with 0x62-ff |
3448 | | * Sent after every position fix in Auto GPS/DGPS, |
3449 | | * so potential cycle ender |
3450 | | * |
3451 | | * Present in: |
3452 | | * pre-2000 models |
3453 | | * Copernicus II (2009) |
3454 | | * Lassen SQ |
3455 | | * Lassen iQ, deprecated use 0xbb instead |
3456 | | * Not Present in: |
3457 | | * ICM SMT 360 (2018) |
3458 | | * RES SMT 360 (2018) |
3459 | | */ |
3460 | 0 | if (1 != len) { |
3461 | 0 | bad_len = 1; |
3462 | 0 | break; |
3463 | 0 | } |
3464 | | // differential position fix mode |
3465 | 0 | u1 = getub(buf, 0); |
3466 | 0 | if (3 == (u1 & 3)) { |
3467 | | // currently mode 3 (auto DGPS) and so have DGPS |
3468 | 0 | session->newdata.status = STATUS_DGPS; |
3469 | 0 | mask |= STATUS_SET; |
3470 | 0 | } |
3471 | 0 | GPSD_LOG(LOG_PROG, &session->context->errout, |
3472 | 0 | "TSIP x82: DPFM: mode %d status=%d\n", |
3473 | 0 | u1, session->newdata.status); |
3474 | 0 | break; |
3475 | 0 | case 0x83: |
3476 | | /* Double-Precision XYZ Position Fix and Bias Information |
3477 | | * Only sent when valid |
3478 | | * Present in: |
3479 | | * pre-2000 models |
3480 | | * LasenSQ (2002) |
3481 | | * Copernicus II (2009) |
3482 | | * ICM SMT 360 (2018) |
3483 | | * RES SMT 360 (2018) |
3484 | | */ |
3485 | 0 | if (36 > len) { |
3486 | 0 | bad_len = 36; |
3487 | 0 | break; |
3488 | 0 | } |
3489 | 0 | session->newdata.ecef.x = getbed64(buf, 0); // X |
3490 | 0 | session->newdata.ecef.y = getbed64(buf, 8); // Y |
3491 | 0 | session->newdata.ecef.z = getbed64(buf, 16); // Z |
3492 | 0 | d4 = getbed64(buf, 24); // clock bias |
3493 | 0 | ftow = getbef32(buf, 32); // time-of-fix |
3494 | 0 | DTOTS(&ts_tow, ftow); |
3495 | 0 | session->newdata.time = gpsd_gpstime_resolv(session, |
3496 | 0 | session->context->gps_week, |
3497 | 0 | ts_tow); |
3498 | | /* No fix mode info!! That comes later in 0x6d. |
3499 | | * This message only sent when there is 2D or 3D fix. |
3500 | | * This is a problem as gpsd will send a report with no mode. |
3501 | | * Steal mode from last fix. |
3502 | | * The last fix is likely lastfix, not oldfix, as this is likely |
3503 | | * a new time and starts a new cycle! */ |
3504 | 0 | session->newdata.status = session->lastfix.status; |
3505 | 0 | if (MODE_2D > session->oldfix.mode) { |
3506 | 0 | session->newdata.mode = MODE_2D; // At least 2D |
3507 | 0 | } else { |
3508 | 0 | session->newdata.mode = session->lastfix.mode; |
3509 | 0 | } |
3510 | 0 | mask |= STATUS_SET | MODE_SET; |
3511 | |
|
3512 | 0 | GPSD_LOG(LOG_PROG, &session->context->errout, |
3513 | 0 | "TSIP x83: DP-XYZ: %f %f %f %f tow %f mode %u\n", |
3514 | 0 | session->newdata.ecef.x, |
3515 | 0 | session->newdata.ecef.y, |
3516 | 0 | session->newdata.ecef.z, |
3517 | 0 | d4, ftow, |
3518 | 0 | session->newdata.mode); |
3519 | 0 | mask |= ECEF_SET | TIME_SET | NTPTIME_IS; |
3520 | 0 | if (!TS_EQ(&ts_tow, &session->driver.tsip.last_tow)) { |
3521 | | // New time, so new fix. |
3522 | 0 | mask |= CLEAR_IS; |
3523 | 0 | session->driver.tsip.last_tow = ts_tow; |
3524 | 0 | } |
3525 | 0 | break; |
3526 | 0 | case 0x84: |
3527 | | /* Double-Precision LLA Position Fix and Bias Information |
3528 | | * Present in: |
3529 | | * pre-2000 models |
3530 | | * Copernicus II (2009) |
3531 | | * LassenSQ (2002) |
3532 | | * ICM SMT 360 (2018) |
3533 | | * RES SMT 360 (2018) |
3534 | | */ |
3535 | 0 | if (36 != len) { |
3536 | 0 | bad_len = 36; |
3537 | 0 | break; |
3538 | 0 | } |
3539 | 0 | session->newdata.latitude = getbed64(buf, 0) * RAD_2_DEG; |
3540 | 0 | session->newdata.longitude = getbed64(buf, 8) * RAD_2_DEG; |
3541 | | // depending on GPS config, could be either WGS84 or MSL |
3542 | 0 | d1 = getbed64(buf, 16); |
3543 | 0 | if (0 == session->driver.tsip.alt_is_msl) { |
3544 | 0 | session->newdata.altHAE = d1; |
3545 | 0 | } else { |
3546 | 0 | session->newdata.altMSL = d1; |
3547 | 0 | } |
3548 | 0 | mask |= ALTITUDE_SET; |
3549 | | // d1 = getbed64(buf, 24); // clock bias |
3550 | 0 | ftow = getbef32(buf, 32); // time-of-fix |
3551 | 0 | if (0 != (session->context->valid & GPS_TIME_VALID)) { |
3552 | | // fingers crossed receiver set to UTC, not GPS. |
3553 | 0 | DTOTS(&ts_tow, ftow); |
3554 | 0 | session->newdata.time = |
3555 | 0 | gpsd_gpstime_resolv(session, session->context->gps_week, |
3556 | 0 | ts_tow); |
3557 | 0 | mask |= TIME_SET | NTPTIME_IS; |
3558 | 0 | if (!TS_EQ(&ts_tow, &session->driver.tsip.last_tow)) { |
3559 | 0 | mask |= CLEAR_IS; |
3560 | 0 | session->driver.tsip.last_tow = ts_tow; |
3561 | 0 | } |
3562 | 0 | } |
3563 | 0 | mask |= LATLON_SET; |
3564 | | /* No fix mode info!! That comes later in 0x6d. |
3565 | | * Message sent when there is 2D or 3D fix. |
3566 | | * This is a problem as gpsd will send a report with no mode. |
3567 | | * This message only sent on 2D or 3D fix. |
3568 | | * Steal mode from last fix. */ |
3569 | 0 | session->newdata.status = session->oldfix.status; |
3570 | 0 | session->newdata.mode = session->oldfix.mode; |
3571 | 0 | mask |= STATUS_SET | MODE_SET; |
3572 | |
|
3573 | 0 | GPSD_LOG(LOG_PROG, &session->context->errout, |
3574 | 0 | "TSIP x84: DP-LLA: time=%s lat=%.2f lon=%.2f alt=%.2f\n", |
3575 | 0 | timespec_str(&session->newdata.time, ts_buf, sizeof(ts_buf)), |
3576 | 0 | session->newdata.latitude, |
3577 | 0 | session->newdata.longitude, d1); |
3578 | 0 | break; |
3579 | 0 | case 0x8f: |
3580 | | /* Super Packet. |
3581 | | * Present in: |
3582 | | * pre-2000 models |
3583 | | * ACE II |
3584 | | * ACE III |
3585 | | * Copernicus II (2009) |
3586 | | * ICM SMT 360 |
3587 | | * RES SMT 360 |
3588 | | * Resolution SMTx |
3589 | | */ |
3590 | 0 | u1 = (uint8_t) getub(buf, 0); |
3591 | 0 | switch (u1) { // sub-code ID |
3592 | 0 | case 0x15: |
3593 | | /* Current Datum Values |
3594 | | * Not Present in: |
3595 | | * pre-2000 models |
3596 | | * Copernicus II (2009) |
3597 | | * ICM SMT 360 (2018) |
3598 | | * RES SMT 360 (2018) |
3599 | | */ |
3600 | 0 | if (43 != len) { |
3601 | 0 | bad_len = 43; |
3602 | 0 | break; |
3603 | 0 | } |
3604 | 0 | s1 = getbes16(buf, 1); // Datum Index |
3605 | 0 | d1 = getbed64(buf, 3); // DX |
3606 | 0 | d2 = getbed64(buf, 11); // DY |
3607 | 0 | d3 = getbed64(buf, 19); // DZ |
3608 | 0 | d4 = getbed64(buf, 27); // A-axis |
3609 | 0 | d5 = getbed64(buf, 35); // Eccentricity Squared |
3610 | 0 | GPSD_LOG(LOG_PROG, &session->context->errout, |
3611 | 0 | "TSIP x8f-15: Current Datum: %d %f %f %f %f %f\n", |
3612 | 0 | s1, d1, d2, d3, d4, d5); |
3613 | 0 | break; |
3614 | | |
3615 | 0 | case 0x20: |
3616 | | /* Last Fix with Extra Information (binary fixed point) 0x8f-20 |
3617 | | * Only output when fix is available. |
3618 | | * CSK sez "why does my Lassen SQ output oversize packets?" |
3619 | | * Present in: |
3620 | | * pre-2000 models |
3621 | | * ACE II |
3622 | | * Copernicus, Copernicus II (64-bytes) |
3623 | | * Not present in: |
3624 | | * ICM SMT 360 |
3625 | | * RES SMT 360 |
3626 | | */ |
3627 | 0 | if (56 != (len) && |
3628 | 0 | 64 != (len)) { |
3629 | 0 | bad_len = 56; |
3630 | 0 | break; |
3631 | 0 | } |
3632 | 0 | s1 = getbes16(buf, 2); // east velocity |
3633 | 0 | s2 = getbes16(buf, 4); // north velocity |
3634 | 0 | s3 = getbes16(buf, 6); // up velocity |
3635 | 0 | tow = getbeu32(buf, 8); // time in ms |
3636 | 0 | sl1 = getbes32(buf, 12); // latitude |
3637 | 0 | ul2 = getbeu32(buf, 16); // longitude |
3638 | | // Lassen iQ, and copernicus (ii) doc says this is always altHAE |
3639 | 0 | sl2 = getbes32(buf, 20); // altitude |
3640 | 0 | u1 = getub(buf, 24); // velocity scaling |
3641 | 0 | u2 = getub(buf, 27); // fix flags |
3642 | 0 | u3 = getub(buf, 28); // num svs |
3643 | 0 | u4 = getub(buf, 29); // utc offset |
3644 | 0 | week = getbeu16(buf, 30); // tsip.gps_week |
3645 | | // PRN/IODE data follows |
3646 | 0 | GPSD_LOG(LOG_PROG, &session->context->errout, |
3647 | 0 | "TSIP x8f-20: LFwEI: %d %d %d tow %u %d " |
3648 | 0 | " %u %u %x %x %u leap %u week %d\n", |
3649 | 0 | s1, s2, s3, tow, sl1, ul2, sl2, u1, u2, u3, u4, week); |
3650 | |
|
3651 | 0 | if ((u1 & 0x01) != (uint8_t) 0) { // check velocity scaling |
3652 | 0 | d5 = 0.02; |
3653 | 0 | } else { |
3654 | 0 | d5 = 0.005; |
3655 | 0 | } |
3656 | | |
3657 | | // 0x8000 is over-range |
3658 | 0 | if ((int16_t)0x8000 != s2) { |
3659 | 0 | d2 = (double)s2 * d5; // north velocity m/s |
3660 | 0 | session->newdata.NED.velN = d2; |
3661 | 0 | } |
3662 | 0 | if ((int16_t)0x8000 != s1) { |
3663 | 0 | d1 = (double)s1 * d5; // east velocity m/s |
3664 | 0 | session->newdata.NED.velE = d1; |
3665 | 0 | } |
3666 | 0 | if ((int16_t)0x8000 != s3) { |
3667 | 0 | d3 = (double)s3 * d5; // up velocity m/s |
3668 | 0 | session->newdata.NED.velD = -d3; |
3669 | 0 | } |
3670 | |
|
3671 | 0 | session->newdata.latitude = (double)sl1 * SEMI_2_DEG; |
3672 | 0 | session->newdata.longitude = (double)ul2 * SEMI_2_DEG; |
3673 | 0 | if (180.0 < session->newdata.longitude) { |
3674 | 0 | session->newdata.longitude -= 360.0; |
3675 | 0 | } |
3676 | | // Lassen iQ doc says this is always altHAE in mm |
3677 | 0 | session->newdata.altHAE = (double)sl2 * 1e-3; |
3678 | 0 | mask |= ALTITUDE_SET; |
3679 | |
|
3680 | 0 | session->newdata.status = STATUS_UNK; |
3681 | 0 | session->newdata.mode = MODE_NO_FIX; |
3682 | 0 | if ((u2 & 0x01) == (uint8_t)0) { // Fix Available |
3683 | 0 | session->newdata.status = STATUS_GPS; |
3684 | 0 | if ((u2 & 0x02) != (uint8_t)0) { // DGPS Corrected |
3685 | 0 | session->newdata.status = STATUS_DGPS; |
3686 | 0 | } |
3687 | 0 | if ((u2 & 0x04) != (uint8_t)0) { // Fix Dimension |
3688 | 0 | session->newdata.mode = MODE_2D; |
3689 | 0 | } else { |
3690 | 0 | session->newdata.mode = MODE_3D; |
3691 | 0 | } |
3692 | 0 | } |
3693 | 0 | session->gpsdata.satellites_used = (int)u3; |
3694 | 0 | if (10 < (int)u4) { |
3695 | 0 | session->context->leap_seconds = (int)u4; |
3696 | 0 | session->context->valid |= LEAP_SECOND_VALID; |
3697 | | /* check for week rollover |
3698 | | * Trimble uses 15 bit weeks, but can guess the epoch wrong |
3699 | | * Can not be in gpsd_gpstime_resolv() because that |
3700 | | * may see BUILD_LEAPSECONDS instead of leap_seconds |
3701 | | * from receiver. |
3702 | | */ |
3703 | 0 | if (17 < u4 && |
3704 | 0 | 1930 > week) { |
3705 | | // leap second 18 added in gps week 1930 |
3706 | 0 | week += 1024; |
3707 | 0 | if (1930 > week) { |
3708 | | // and again? |
3709 | 0 | week += 1024; |
3710 | 0 | } |
3711 | 0 | } |
3712 | 0 | } |
3713 | 0 | MSTOTS(&ts_tow, tow); |
3714 | 0 | session->newdata.time = gpsd_gpstime_resolv(session, week, |
3715 | 0 | ts_tow); |
3716 | 0 | mask |= TIME_SET | NTPTIME_IS | LATLON_SET | |
3717 | 0 | STATUS_SET | MODE_SET | VNED_SET; |
3718 | 0 | if (!TS_EQ(&ts_tow, &session->driver.tsip.last_tow)) { |
3719 | 0 | mask |= CLEAR_IS; |
3720 | 0 | session->driver.tsip.last_tow = ts_tow; |
3721 | 0 | } |
3722 | 0 | GPSD_LOG(LOG_PROG, &session->context->errout, |
3723 | 0 | "TSIP x8f-20: LFwEI: time=%s lat=%.2f lon=%.2f " |
3724 | 0 | "altHAE=%.2f mode=%d status=%d\n", |
3725 | 0 | timespec_str(&session->newdata.time, ts_buf, |
3726 | 0 | sizeof(ts_buf)), |
3727 | 0 | session->newdata.latitude, session->newdata.longitude, |
3728 | 0 | session->newdata.altHAE, |
3729 | 0 | session->newdata.mode, session->newdata.status); |
3730 | 0 | break; |
3731 | 0 | case 0x23: |
3732 | | /* Compact Super Packet (0x8f-23) |
3733 | | * Present in: |
3734 | | * Copernicus, Copernicus II |
3735 | | * Not present in: |
3736 | | * pre-2000 models |
3737 | | * Lassen iQ |
3738 | | * ICM SMT 360 |
3739 | | * RES SMT 360 |
3740 | | */ |
3741 | 0 | session->driver.tsip.req_compact = 0; |
3742 | | // CSK sez "i don't trust this to not be oversized either." |
3743 | 0 | if (29 > len) { |
3744 | 0 | bad_len = 29; |
3745 | 0 | break; |
3746 | 0 | } |
3747 | 0 | tow = getbeu32(buf, 1); // time in ms |
3748 | 0 | week = getbeu16(buf, 5); // tsip.gps_week |
3749 | 0 | u1 = getub(buf, 7); // utc offset |
3750 | 0 | u2 = getub(buf, 8); // fix flags |
3751 | 0 | sl1 = getbes32(buf, 9); // latitude |
3752 | 0 | ul2 = getbeu32(buf, 13); // longitude |
3753 | | // Copernicus (ii) doc says this is always altHAE in mm |
3754 | 0 | sl3 = getbes32(buf, 17); // altitude |
3755 | | // set xNED here |
3756 | 0 | s2 = getbes16(buf, 21); // east velocity |
3757 | 0 | s3 = getbes16(buf, 23); // north velocity |
3758 | 0 | s4 = getbes16(buf, 25); // up velocity |
3759 | 0 | GPSD_LOG(LOG_PROG, &session->context->errout, |
3760 | 0 | "TSIP x8f-23: CSP: %u %d %u %u %d %u %d %d %d %d\n", |
3761 | 0 | tow, week, u1, u2, sl1, ul2, sl3, s2, s3, s4); |
3762 | 0 | if (10 < (int)u1) { |
3763 | 0 | session->context->leap_seconds = (int)u1; |
3764 | 0 | session->context->valid |= LEAP_SECOND_VALID; |
3765 | 0 | } |
3766 | 0 | MSTOTS(&ts_tow, tow); |
3767 | 0 | session->newdata.time = |
3768 | 0 | gpsd_gpstime_resolv(session, week, ts_tow); |
3769 | 0 | session->newdata.status = STATUS_UNK; |
3770 | 0 | session->newdata.mode = MODE_NO_FIX; |
3771 | 0 | if ((u2 & 0x01) == (uint8_t)0) { // Fix Available |
3772 | 0 | session->newdata.status = STATUS_GPS; |
3773 | 0 | if ((u2 & 0x02) != (uint8_t)0) { // DGPS Corrected |
3774 | 0 | session->newdata.status = STATUS_DGPS; |
3775 | 0 | } |
3776 | 0 | if ((u2 & 0x04) != (uint8_t)0) { // Fix Dimension |
3777 | 0 | session->newdata.mode = MODE_2D; |
3778 | 0 | } else { |
3779 | 0 | session->newdata.mode = MODE_3D; |
3780 | 0 | } |
3781 | 0 | } |
3782 | 0 | session->newdata.latitude = (double)sl1 * SEMI_2_DEG; |
3783 | 0 | session->newdata.longitude = (double)ul2 * SEMI_2_DEG; |
3784 | 0 | if (180.0 < session->newdata.longitude) { |
3785 | 0 | session->newdata.longitude -= 360.0; |
3786 | 0 | } |
3787 | | // Copernicus (ii) doc says this is always altHAE in mm |
3788 | 0 | session->newdata.altHAE = (double)sl3 * 1e-3; |
3789 | 0 | mask |= ALTITUDE_SET; |
3790 | 0 | if ((u2 & 0x20) != (uint8_t)0) { // check velocity scaling |
3791 | 0 | d5 = 0.02; |
3792 | 0 | } else { |
3793 | 0 | d5 = 0.005; |
3794 | 0 | } |
3795 | 0 | d1 = (double)s2 * d5; // east velocity m/s |
3796 | 0 | d2 = (double)s3 * d5; // north velocity m/s |
3797 | 0 | d3 = (double)s4 * d5; // up velocity m/s |
3798 | 0 | session->newdata.NED.velN = d2; |
3799 | 0 | session->newdata.NED.velE = d1; |
3800 | 0 | session->newdata.NED.velD = -d3; |
3801 | |
|
3802 | 0 | mask |= TIME_SET | NTPTIME_IS | LATLON_SET | |
3803 | 0 | STATUS_SET | MODE_SET | VNED_SET; |
3804 | 0 | if (!TS_EQ(&ts_tow, &session->driver.tsip.last_tow)) { |
3805 | 0 | mask |= CLEAR_IS; |
3806 | 0 | session->driver.tsip.last_tow = ts_tow; |
3807 | 0 | } |
3808 | 0 | GPSD_LOG(LOG_PROG, &session->context->errout, |
3809 | 0 | "TSIP x8f-23: SP-CSP: time %s lat %.2f lon %.2f " |
3810 | 0 | "altHAE %.2f mode %d status %d\n", |
3811 | 0 | timespec_str(&session->newdata.time, ts_buf, |
3812 | 0 | sizeof(ts_buf)), |
3813 | 0 | session->newdata.latitude, session->newdata.longitude, |
3814 | 0 | session->newdata.altHAE, |
3815 | 0 | session->newdata.mode, session->newdata.status); |
3816 | 0 | break; |
3817 | | |
3818 | 0 | case 0x42: |
3819 | | /* Stored production parameters |
3820 | | * Present in: |
3821 | | * ICM SMT 360 (2018) |
3822 | | * RES SMT 360 (2018) |
3823 | | * Resolution SMTx (2013) |
3824 | | * Not Present in: |
3825 | | * pre-2000 models |
3826 | | * Copernicus II (2009) |
3827 | | */ |
3828 | 0 | if (19 > len) { |
3829 | 0 | bad_len = 19; |
3830 | 0 | break; |
3831 | 0 | } |
3832 | 0 | u1 = getub(buf, 1); // Production Options Prefix |
3833 | 0 | u2 = getub(buf, 2); // Production Number Extension |
3834 | 0 | u3 = getbeu16(buf, 3); // Case Sernum Prefix |
3835 | 0 | u4 = getbeu32(buf, 5); // Case Sernum |
3836 | 0 | u5 = getbeu32(buf, 9); // Production Number |
3837 | 0 | u6 = getbeu32(buf, 13); // Resevered |
3838 | 0 | u7 = getbeu16(buf, 15); // Machine ID |
3839 | 0 | u8 = getbeu16(buf, 17); // Reserved |
3840 | 0 | GPSD_LOG(LOG_PROG, &session->context->errout, |
3841 | 0 | "TSIP x8f-42: SPP: Prod x%x-%x Sernum %x-%x " |
3842 | 0 | "Prod %x Res %x ID %x Res %x\n", |
3843 | 0 | u1, u2, u3, u4, u5, u6, u7, u8); |
3844 | 0 | break; |
3845 | 0 | case 0xa5: |
3846 | | /* Packet Broadcast Mask (0x8f-a5) polled by 0x8e-a5 |
3847 | | * |
3848 | | * Present in: |
3849 | | * ICM SMT 360 |
3850 | | * RES SMT 360 |
3851 | | * Not Present in: |
3852 | | * pre-2000 models |
3853 | | * Copernicus II (2009) |
3854 | | * |
3855 | | * Defaults: |
3856 | | * RES SMT 360: 05, 00 |
3857 | | * Resolution SMTx: 05 00 |
3858 | | */ |
3859 | 0 | { |
3860 | 0 | uint16_t mask0, mask1; |
3861 | 0 | if (5 > len) { |
3862 | 0 | bad_len = 5; |
3863 | 0 | break; |
3864 | 0 | } |
3865 | 0 | mask0 = getbeu16(buf, 1); // Mask 0 |
3866 | 0 | mask1 = getbeu16(buf, 3); // Mask 1 |
3867 | 0 | GPSD_LOG(LOG_PROG, &session->context->errout, |
3868 | 0 | "TSIP x8f-a5: PBM: mask0 x%04x mask1 x%04x\n", |
3869 | 0 | mask0, mask1); |
3870 | 0 | } |
3871 | 0 | break; |
3872 | | |
3873 | 0 | case 0xa6: |
3874 | | /* Self-Survey Command (0x8f-a6) polled by 0x8e-a6 |
3875 | | * |
3876 | | * Present in: |
3877 | | * ICM SMT 360 |
3878 | | * RES SMT 360 |
3879 | | * Not Present in: |
3880 | | * pre-2000 models |
3881 | | * Copernicus II (2009) |
3882 | | */ |
3883 | 0 | if (3 > len) { |
3884 | 0 | bad_len = 3; |
3885 | 0 | break; |
3886 | 0 | } |
3887 | 0 | u2 = getub(buf, 1); // Command |
3888 | 0 | u3 = getub(buf, 2); // Status |
3889 | 0 | GPSD_LOG(LOG_PROG, &session->context->errout, |
3890 | 0 | "TSIP x8f-a6: SSC: command x%x status x%x\n", |
3891 | 0 | u2, u3); |
3892 | 0 | break; |
3893 | | |
3894 | 0 | case 0xa7: |
3895 | | /* Thunderbolt Individual Satellite Solutions |
3896 | | * partial decode |
3897 | | */ |
3898 | 0 | if (10 > len) { |
3899 | 0 | bad_len = 10; |
3900 | 0 | break; |
3901 | 0 | } |
3902 | | // we assume the receiver not in some crazy mode, and is GPS time |
3903 | 0 | tow = getbeu32(buf, 2); // gpstime in seconds |
3904 | 0 | ts_tow.tv_sec = tow; |
3905 | 0 | ts_tow.tv_nsec = 0; |
3906 | 0 | u1 = buf[1]; // format, 0 Float, 1 Int |
3907 | |
|
3908 | 0 | if (0 == u1) { |
3909 | | // floating point mode |
3910 | 0 | d1 = getbef32(buf, 6); // clock bias (combined) |
3911 | 0 | d2 = getbef32(buf, 10); // clock bias rate (combined) |
3912 | | // FIXME: decode the individual biases |
3913 | 0 | GPSD_LOG(LOG_PROG, &session->context->errout, |
3914 | 0 | "TSIP x8f-a7: tow %llu mode %u bias %e " |
3915 | 0 | "bias rate %e\n", |
3916 | 0 | (long long unsigned)tow, u1, d1, d2); |
3917 | 0 | } else if (1 == u1) { |
3918 | | // integer mode |
3919 | 0 | s1 = getbeu16(buf, 6); // Clock Bias (combined) |
3920 | 0 | s2 = getbeu16(buf, 8); // Clock Bias rate (combined) |
3921 | | // FIXME: decode the individual biases |
3922 | 0 | GPSD_LOG(LOG_PROG, &session->context->errout, |
3923 | 0 | "TSIP x8f-a7: tow %llu mode %u bias %d " |
3924 | 0 | "bias rate %d\n", |
3925 | 0 | (long long unsigned)tow, u1, s1, s2); |
3926 | 0 | } else { |
3927 | | // unknown mode |
3928 | 0 | GPSD_LOG(LOG_WARN, &session->context->errout, |
3929 | 0 | "TSIP x8f-a7: tow %llu mode %u. Unnown mode\n", |
3930 | 0 | (long long unsigned)tow, u1); |
3931 | 0 | } |
3932 | 0 | break; |
3933 | 0 | case 0xa9: |
3934 | | /* Self Survey Parameters |
3935 | | * Present in: |
3936 | | * ICM SMT 360 (2018) |
3937 | | * RES SMT 360 (2018) |
3938 | | * Resolution SMTx |
3939 | | * Not Present in: |
3940 | | * pre-2000 models |
3941 | | * Copernicus II (2009) |
3942 | | */ |
3943 | 0 | if (11 > len) { |
3944 | 0 | bad_len = 11; |
3945 | 0 | break; |
3946 | 0 | } |
3947 | 0 | u1 = getub(buf, 1); // Self Survey Enable |
3948 | 0 | u2 = getub(buf, 2); // Position Save Flag |
3949 | 0 | u3 = getbeu32(buf, 3); // Self Survey Length |
3950 | 0 | u4 = getbeu32(buf, 7); // Reserved |
3951 | 0 | GPSD_LOG(LOG_WARN, &session->context->errout, |
3952 | 0 | "TSIP x8f-a9 SSP: sse %u psf %u length %d rex x%x \n", |
3953 | 0 | u1, u2, u3, u4); |
3954 | 0 | break; |
3955 | 0 | case 0xab: |
3956 | | /* Thunderbolt Timing Superpacket |
3957 | | * Present in: |
3958 | | * Resolution SMTx |
3959 | | * Not Present in: |
3960 | | * pre-2000 models |
3961 | | * Copernicus II (2009) |
3962 | | */ |
3963 | 0 | if (17 > len) { |
3964 | 0 | bad_len = 17; |
3965 | 0 | break; |
3966 | 0 | } |
3967 | 0 | session->driver.tsip.last_41 = now; // keep timestamp for request |
3968 | 0 | mask = decode_x8f_ab(session, buf); |
3969 | 0 | break; |
3970 | | |
3971 | 0 | case 0xac: |
3972 | | /* Supplemental Timing Packet (0x8f-ac) |
3973 | | * present in: |
3974 | | * ThunderboltE |
3975 | | * ICM SMT 360 |
3976 | | * RES SMT 360 |
3977 | | * Resolution SMTx |
3978 | | * Not Present in: |
3979 | | * pre-2000 models |
3980 | | * Lassen iQ |
3981 | | * Copernicus II (2009) |
3982 | | */ |
3983 | 0 | if (68 != len) { |
3984 | 0 | bad_len = 68; |
3985 | 0 | break; |
3986 | 0 | } |
3987 | 0 | mask = decode_x8f_ac(session, buf); |
3988 | 0 | break; |
3989 | | |
3990 | 0 | case 0x02: |
3991 | | /* UTC Information |
3992 | | * Present in: |
3993 | | * ICM SMT 360 (2018) |
3994 | | * RES SMT 360 (2018) |
3995 | | * Not Present in: |
3996 | | * pre-2000 models |
3997 | | * Copernicus II (2009) |
3998 | | */ |
3999 | 0 | FALLTHROUGH |
4000 | 0 | case 0x21: |
4001 | | /* Request accuracy information |
4002 | | * Present in: |
4003 | | * Copernicus II (2009) |
4004 | | * Not Present in: |
4005 | | * pre-2000 models |
4006 | | */ |
4007 | 0 | FALLTHROUGH |
4008 | 0 | case 0x2a: |
4009 | | /* Request Fix and Channel Tracking info, Type 1 |
4010 | | * Present in: |
4011 | | * Copernicus II (2009) |
4012 | | * Not Present in: |
4013 | | * pre-2000 models |
4014 | | */ |
4015 | 0 | FALLTHROUGH |
4016 | 0 | case 0x2b: |
4017 | | /* Request Fix and Channel Tracking info, Type 2 |
4018 | | * Present in: |
4019 | | * Copernicus II (2009) |
4020 | | * Not Present in: |
4021 | | * pre-2000 models |
4022 | | */ |
4023 | 0 | FALLTHROUGH |
4024 | 0 | case 0x41: |
4025 | | /* Stored manufacturing operating parameters |
4026 | | * Present in: |
4027 | | * ICM SMT 360 (2018) |
4028 | | * RES SMT 360 (2018) |
4029 | | * Not Present in: |
4030 | | * pre-2000 models |
4031 | | * Copernicus II (2009) |
4032 | | */ |
4033 | 0 | FALLTHROUGH |
4034 | 0 | case 0x4a: |
4035 | | /* PPS characteristics |
4036 | | * Present in: |
4037 | | * ICM SMT 360 (2018) |
4038 | | * RES SMT 360 (2018) |
4039 | | * Copernicus II (2009) |
4040 | | * Not Present in: |
4041 | | * pre-2000 models |
4042 | | */ |
4043 | 0 | FALLTHROUGH |
4044 | 0 | case 0x4e: |
4045 | | /* PPS Output options |
4046 | | * Present in: |
4047 | | * ICM SMT 360 (2018) |
4048 | | * RES SMT 360 (2018) |
4049 | | * Not Present in: |
4050 | | * pre-2000 models |
4051 | | * Copernicus II (2009) |
4052 | | */ |
4053 | 0 | FALLTHROUGH |
4054 | 0 | case 0x4f: |
4055 | | /* Set PPS Width |
4056 | | * Present in: |
4057 | | * Copernicus II (2009) |
4058 | | * Not Present in: |
4059 | | * pre-2000 models |
4060 | | * ICM SMT 360 (2018) |
4061 | | * RES SMT 360 (2018) |
4062 | | */ |
4063 | 0 | FALLTHROUGH |
4064 | 0 | case 0x60: |
4065 | | /* DR Calibration and Status Report |
4066 | | * Present in: |
4067 | | * pre-2000 models |
4068 | | * Not Present in: |
4069 | | * Copernicus II (2009) |
4070 | | * ICM SMT 360 (2018) |
4071 | | * RES SMT 360 (2018) |
4072 | | */ |
4073 | 0 | FALLTHROUGH |
4074 | 0 | case 0x62: |
4075 | | /* GPS/DR Position/Velocity Report |
4076 | | * Present in: |
4077 | | * pre-2000 models |
4078 | | * Not Present in: |
4079 | | * Copernicus II (2009) |
4080 | | * ICM SMT 360 (2018) |
4081 | | * RES SMT 360 (2018) |
4082 | | */ |
4083 | 0 | FALLTHROUGH |
4084 | 0 | case 0x64: |
4085 | | /* Firmware Version and Configuration Report |
4086 | | * Present in: |
4087 | | * pre-2000 models |
4088 | | * Not Present in: |
4089 | | * Copernicus II (2009) |
4090 | | * ICM SMT 360 (2018) |
4091 | | * RES SMT 360 (2018) |
4092 | | */ |
4093 | 0 | FALLTHROUGH |
4094 | 0 | case 0x6b: |
4095 | | /* Last Gyroscope Readings Report |
4096 | | * Present in: |
4097 | | * pre-2000 models |
4098 | | * Not Present in: |
4099 | | * Copernicus II (2009) |
4100 | | * ICM SMT 360 (2018) |
4101 | | * RES SMT 360 (2018) |
4102 | | */ |
4103 | 0 | FALLTHROUGH |
4104 | 0 | case 0x6d: |
4105 | | /* Last Odometer Readings Report |
4106 | | * Present in: |
4107 | | * pre-2000 models |
4108 | | * Not Present in: |
4109 | | * Copernicus II (2009) |
4110 | | * ICM SMT 360 (2018) |
4111 | | * RES SMT 360 (2018) |
4112 | | */ |
4113 | 0 | FALLTHROUGH |
4114 | 0 | case 0x6f: |
4115 | | /* Firmware Version Name Report |
4116 | | * Present in: |
4117 | | * pre-2000 models |
4118 | | * Not Present in: |
4119 | | * Copernicus II (2009) |
4120 | | * ICM SMT 360 (2018) |
4121 | | * RES SMT 360 (2018) |
4122 | | */ |
4123 | 0 | FALLTHROUGH |
4124 | 0 | case 0x70: |
4125 | | /* Beacon Channel Status Report |
4126 | | * Present in: |
4127 | | * pre-2000 models |
4128 | | * Not Present in: |
4129 | | * Copernicus II (2009) |
4130 | | * ICM SMT 360 (2018) |
4131 | | * RES SMT 360 (2018) |
4132 | | */ |
4133 | 0 | FALLTHROUGH |
4134 | 0 | case 0x71: |
4135 | | /* DGPS Station Database Reports |
4136 | | * Present in: |
4137 | | * pre-2000 models |
4138 | | * Not Present in: |
4139 | | * Copernicus II (2009) |
4140 | | * ICM SMT 360 (2018) |
4141 | | * RES SMT 360 (2018) |
4142 | | */ |
4143 | 0 | FALLTHROUGH |
4144 | 0 | case 0x73: |
4145 | | /* Beacon Channel Control Acknowledgment |
4146 | | * Present in: |
4147 | | * pre-2000 models |
4148 | | * Not Present in: |
4149 | | * Copernicus II (2009) |
4150 | | * ICM SMT 360 (2018) |
4151 | | * RES SMT 360 (2018) |
4152 | | */ |
4153 | 0 | FALLTHROUGH |
4154 | 0 | case 0x74: |
4155 | | /* Clear Beacon Database Acknowledgment |
4156 | | * Present in: |
4157 | | * pre-2000 models |
4158 | | * Not Present in: |
4159 | | * Copernicus II (2009) |
4160 | | * ICM SMT 360 (2018) |
4161 | | * RES SMT 360 (2018) |
4162 | | */ |
4163 | 0 | FALLTHROUGH |
4164 | 0 | case 0x75: |
4165 | | /* FFT Start Acknowledgment |
4166 | | * Present in: |
4167 | | * pre-2000 models |
4168 | | * Not Present in: |
4169 | | * Copernicus II (2009) |
4170 | | * ICM SMT 360 (2018) |
4171 | | * RES SMT 360 (2018) |
4172 | | */ |
4173 | 0 | FALLTHROUGH |
4174 | 0 | case 0x76: |
4175 | | /* FFT Stop Acknowledgment |
4176 | | * Present in: |
4177 | | * pre-2000 models |
4178 | | * Not Present in: |
4179 | | * Copernicus II (2009) |
4180 | | * ICM SMT 360 (2018) |
4181 | | * RES SMT 360 (2018) |
4182 | | */ |
4183 | 0 | FALLTHROUGH |
4184 | 0 | case 0x77: |
4185 | | /* FFT Reports |
4186 | | * Present in: |
4187 | | * pre-2000 models |
4188 | | * Not Present in: |
4189 | | * Copernicus II (2009) |
4190 | | * ICM SMT 360 (2018) |
4191 | | * RES SMT 360 (2018) |
4192 | | */ |
4193 | 0 | FALLTHROUGH |
4194 | 0 | case 0x78: |
4195 | | /* RTCM Reports |
4196 | | * Present in: |
4197 | | * pre-2000 models |
4198 | | * Not Present in: |
4199 | | * Copernicus II (2009) |
4200 | | * ICM SMT 360 (2018) |
4201 | | * RES SMT 360 (2018) |
4202 | | */ |
4203 | 0 | FALLTHROUGH |
4204 | 0 | case 0x79: |
4205 | | /* Beacon Station Attributes Acknowledgment |
4206 | | * Present in: |
4207 | | * pre-2000 models |
4208 | | * Not Present in: |
4209 | | * Copernicus II (2009) |
4210 | | * ICM SMT 360 (2018) |
4211 | | * RES SMT 360 (2018) |
4212 | | */ |
4213 | 0 | FALLTHROUGH |
4214 | 0 | case 0x7a: |
4215 | | /* Beacon Station Attributes Report |
4216 | | * Present in: |
4217 | | * pre-2000 models |
4218 | | * Not Present in: |
4219 | | * Copernicus II (2009) |
4220 | | * ICM SMT 360 (2018) |
4221 | | * RES SMT 360 (2018) |
4222 | | */ |
4223 | 0 | FALLTHROUGH |
4224 | 0 | case 0x7b: |
4225 | | /* DGPS Receiver RAM Configuration Block Report |
4226 | | * Present in: |
4227 | | * pre-2000 models |
4228 | | * Not Present in: |
4229 | | * Copernicus II (2009) |
4230 | | * ICM SMT 360 (2018) |
4231 | | * RES SMT 360 (2018) |
4232 | | */ |
4233 | 0 | FALLTHROUGH |
4234 | 0 | case 0x7c: |
4235 | | /* DGPS Receiver Configuration Block Acknowledgment |
4236 | | * Present in: |
4237 | | * pre-2000 models |
4238 | | * Not Present in: |
4239 | | * Copernicus II (2009) |
4240 | | * ICM SMT 360 (2018) |
4241 | | * RES SMT 360 (2018) |
4242 | | */ |
4243 | 0 | FALLTHROUGH |
4244 | 0 | case 0x7e: |
4245 | | /* Satellite Line-of-Sight (LOS) Message |
4246 | | * Present in: |
4247 | | * pre-2000 models |
4248 | | * Not Present in: |
4249 | | * Copernicus II (2009) |
4250 | | * ICM SMT 360 (2018) |
4251 | | * RES SMT 360 (2018) |
4252 | | */ |
4253 | 0 | FALLTHROUGH |
4254 | 0 | case 0x7f: |
4255 | | /* DGPS Receiver ROM Configuration Block Report |
4256 | | * Present in: |
4257 | | * pre-2000 models |
4258 | | * Not Present in: |
4259 | | * Copernicus II (2009) |
4260 | | * ICM SMT 360 (2018) |
4261 | | * RES SMT 360 (2018) |
4262 | | */ |
4263 | 0 | FALLTHROUGH |
4264 | 0 | case 0x80: |
4265 | | /* DGPS Service Provider System Information Report |
4266 | | * Present in: |
4267 | | * pre-2000 models |
4268 | | * Not Present in: |
4269 | | * Copernicus II (2009) |
4270 | | * ICM SMT 360 (2018) |
4271 | | * RES SMT 360 (2018) |
4272 | | */ |
4273 | 0 | FALLTHROUGH |
4274 | 0 | case 0x81: |
4275 | | /* Decoder Station Information Report and Selection Acknowledgment |
4276 | | * Present in: |
4277 | | * pre-2000 models |
4278 | | * Not Present in: |
4279 | | * Copernicus II (2009) |
4280 | | * ICM SMT 360 (2018) |
4281 | | * RES SMT 360 (2018) |
4282 | | */ |
4283 | 0 | FALLTHROUGH |
4284 | 0 | case 0x82: |
4285 | | /* Decoder Diagnostic Information Report |
4286 | | * Present in: |
4287 | | * pre-2000 models |
4288 | | * Not Present in: |
4289 | | * Copernicus II (2009) |
4290 | | * ICM SMT 360 (2018) |
4291 | | * RES SMT 360 (2018) |
4292 | | */ |
4293 | 0 | FALLTHROUGH |
4294 | 0 | case 0x84: |
4295 | | /* Satellite FFT Control Acknowledgment |
4296 | | * Present in: |
4297 | | * pre-2000 models |
4298 | | * Not Present in: |
4299 | | * Copernicus II (2009) |
4300 | | * ICM SMT 360 (2018) |
4301 | | * RES SMT 360 (2018) |
4302 | | */ |
4303 | 0 | FALLTHROUGH |
4304 | 0 | case 0x85: |
4305 | | /* DGPS Source Tracking Status Report |
4306 | | * Present in: |
4307 | | * pre-2000 models |
4308 | | * Not Present in: |
4309 | | * Copernicus II (2009) |
4310 | | * ICM SMT 360 (2018) |
4311 | | * RES SMT 360 (2018) |
4312 | | */ |
4313 | 0 | FALLTHROUGH |
4314 | 0 | case 0x86: |
4315 | | /* Clear Satellite Database Acknowledgment |
4316 | | * Present in: |
4317 | | * pre-2000 models |
4318 | | * Not Present in: |
4319 | | * Copernicus II (2009) |
4320 | | * ICM SMT 360 (2018) |
4321 | | * RES SMT 360 (2018) |
4322 | | */ |
4323 | 0 | FALLTHROUGH |
4324 | 0 | case 0x87: |
4325 | | /* Network Statistics Report |
4326 | | * Present in: |
4327 | | * pre-2000 models |
4328 | | * Not Present in: |
4329 | | * Copernicus II (2009) |
4330 | | * ICM SMT 360 (2018) |
4331 | | * RES SMT 360 (2018) |
4332 | | */ |
4333 | 0 | FALLTHROUGH |
4334 | 0 | case 0x88: |
4335 | | /* Diagnostic Output Options Report |
4336 | | * Present in: |
4337 | | * pre-2000 models |
4338 | | * Not Present in: |
4339 | | * Copernicus II (2009) |
4340 | | * ICM SMT 360 (2018) |
4341 | | * RES SMT 360 (2018) |
4342 | | */ |
4343 | 0 | FALLTHROUGH |
4344 | 0 | case 0x89: |
4345 | | /* DGPS Source Control Report /Acknowledgment |
4346 | | * Present in: |
4347 | | * pre-2000 models |
4348 | | * Not Present in: |
4349 | | * Copernicus II (2009) |
4350 | | * ICM SMT 360 (2018) |
4351 | | * RES SMT 360 (2018) |
4352 | | */ |
4353 | 0 | FALLTHROUGH |
4354 | 0 | case 0x8a: |
4355 | | /* Service Provider Information Report and Acknowledgment |
4356 | | * Present in: |
4357 | | * pre-2000 models |
4358 | | * Not Present in: |
4359 | | * Copernicus II (2009) |
4360 | | * ICM SMT 360 (2018) |
4361 | | * RES SMT 360 (2018) |
4362 | | */ |
4363 | 0 | FALLTHROUGH |
4364 | 0 | case 0x8b: |
4365 | | /* Service Provider Activation Information Report & Acknowledgment |
4366 | | * Present in: |
4367 | | * pre-2000 models |
4368 | | * Not Present in: |
4369 | | * Copernicus II (2009) |
4370 | | * ICM SMT 360 (2018) |
4371 | | * RES SMT 360 (2018) |
4372 | | */ |
4373 | 0 | FALLTHROUGH |
4374 | 0 | case 0x8e: |
4375 | | /* Service Provider Data Load Report |
4376 | | * Present in: |
4377 | | * pre-2000 models |
4378 | | * Not Present in: |
4379 | | * Copernicus II (2009) |
4380 | | * ICM SMT 360 (2018) |
4381 | | * RES SMT 360 (2018) |
4382 | | */ |
4383 | 0 | FALLTHROUGH |
4384 | 0 | case 0x8f: |
4385 | | /* Receiver Identity Report |
4386 | | * Present in: |
4387 | | * pre-2000 models |
4388 | | * Not Present in: |
4389 | | * Copernicus II (2009) |
4390 | | * ICM SMT 360 (2018) |
4391 | | * RES SMT 360 (2018) |
4392 | | */ |
4393 | 0 | FALLTHROUGH |
4394 | 0 | case 0x90: |
4395 | | /* Guidance Status Report |
4396 | | * Present in: |
4397 | | * pre-2000 models |
4398 | | * Not Present in: |
4399 | | * Copernicus II (2009) |
4400 | | * ICM SMT 360 (2018) |
4401 | | * RES SMT 360 (2018) |
4402 | | */ |
4403 | 0 | FALLTHROUGH |
4404 | 0 | case 0x91: |
4405 | | /* Guidance Configuration Report |
4406 | | * Present in: |
4407 | | * pre-2000 models |
4408 | | * Not Present in: |
4409 | | * Copernicus II (2009) |
4410 | | * ICM SMT 360 (2018) |
4411 | | * RES SMT 360 (2018) |
4412 | | */ |
4413 | 0 | FALLTHROUGH |
4414 | 0 | case 0x92: |
4415 | | /* Lightbar Configuration Report |
4416 | | * Present in: |
4417 | | * pre-2000 models |
4418 | | * Not Present in: |
4419 | | * Copernicus II (2009) |
4420 | | * ICM SMT 360 (2018) |
4421 | | * RES SMT 360 (2018) |
4422 | | */ |
4423 | 0 | FALLTHROUGH |
4424 | 0 | case 0x94: |
4425 | | /* Guidance Operation Acknowledgment |
4426 | | * Present in: |
4427 | | * pre-2000 models |
4428 | | * Not Present in: |
4429 | | * Copernicus II (2009) |
4430 | | * ICM SMT 360 (2018) |
4431 | | * RES SMT 360 (2018) |
4432 | | */ |
4433 | 0 | FALLTHROUGH |
4434 | 0 | case 0x95: |
4435 | | /* Button Box Configuration Type Report |
4436 | | * Present in: |
4437 | | * pre-2000 models |
4438 | | * Not Present in: |
4439 | | * Copernicus II (2009) |
4440 | | * ICM SMT 360 (2018) |
4441 | | * RES SMT 360 (2018) |
4442 | | */ |
4443 | 0 | FALLTHROUGH |
4444 | 0 | case 0x96: |
4445 | | /* Point Manipulation Report |
4446 | | * Present in: |
4447 | | * pre-2000 models |
4448 | | * Not Present in: |
4449 | | * Copernicus II (2009) |
4450 | | * ICM SMT 360 (2018) |
4451 | | * RES SMT 360 (2018) |
4452 | | */ |
4453 | 0 | FALLTHROUGH |
4454 | 0 | case 0x97: |
4455 | | /* Utility Information Report |
4456 | | * Present in: |
4457 | | * pre-2000 models |
4458 | | * Not Present in: |
4459 | | * Copernicus II (2009) |
4460 | | * ICM SMT 360 (2018) |
4461 | | * RES SMT 360 (2018) |
4462 | | */ |
4463 | 0 | FALLTHROUGH |
4464 | 0 | case 0x98: |
4465 | | /* Individual Button Configuration Report |
4466 | | * Present in: |
4467 | | * pre-2000 models |
4468 | | * Not Present in: |
4469 | | * Copernicus II (2009) |
4470 | | * ICM SMT 360 (2018) |
4471 | | * RES SMT 360 (2018) |
4472 | | */ |
4473 | 0 | FALLTHROUGH |
4474 | 0 | case 0x9a: |
4475 | | /* Differential Correction Information Report |
4476 | | * Present in: |
4477 | | * pre-2000 models |
4478 | | * Not Present in: |
4479 | | * Copernicus II (2009) |
4480 | | * ICM SMT 360 (2018) |
4481 | | * RES SMT 360 (2018) |
4482 | | */ |
4483 | 0 | FALLTHROUGH |
4484 | 0 | case 0xa0: |
4485 | | /* DAC value |
4486 | | * Present in: |
4487 | | * ICM SMT 360 (2018) |
4488 | | * RES SMT 360 (2018) |
4489 | | * Not Present in: |
4490 | | * pre-2000 models |
4491 | | * Copernicus II (2009) |
4492 | | */ |
4493 | 0 | FALLTHROUGH |
4494 | 0 | case 0xa2: |
4495 | | /* UTC/GPS timing |
4496 | | * Present in: |
4497 | | * ICM SMT 360 (2018) |
4498 | | * RES SMT 360 (2018) |
4499 | | * Not Present in: |
4500 | | * pre-2000 models |
4501 | | * Copernicus II (2009) |
4502 | | */ |
4503 | 0 | FALLTHROUGH |
4504 | 0 | case 0xa3: |
4505 | | /* Oscillator disciplining command |
4506 | | * Present in: |
4507 | | * ICM SMT 360 (2018) |
4508 | | * RES SMT 360 (2018) |
4509 | | * Not Present in: |
4510 | | * pre-2000 models |
4511 | | * Copernicus II (2009) |
4512 | | */ |
4513 | 0 | FALLTHROUGH |
4514 | 0 | case 0xa8: |
4515 | | /* Oscillator disciplining parameters |
4516 | | * Present in: |
4517 | | * ICM SMT 360 (2018) |
4518 | | * RES SMT 360 (2018) |
4519 | | * Not Present in: |
4520 | | * pre-2000 models |
4521 | | * Copernicus II (2009) |
4522 | | */ |
4523 | 0 | FALLTHROUGH |
4524 | 0 | default: |
4525 | 0 | GPSD_LOG(LOG_WARN, &session->context->errout, |
4526 | 0 | "TSIP x8f-%02x: Unhandled TSIP superpacket\n", u1); |
4527 | 0 | } |
4528 | 0 | break; |
4529 | | // Start of TSIP V1 |
4530 | 0 | case 0x90: |
4531 | | /* Version Information, TSIP v1 |
4532 | | * Present in: |
4533 | | * RES720 |
4534 | | */ |
4535 | 0 | FALLTHROUGH |
4536 | 0 | case 0x91: |
4537 | | /* Receiver Configuration, TSIP v1 |
4538 | | * Present in: |
4539 | | * RES720 |
4540 | | */ |
4541 | 0 | FALLTHROUGH |
4542 | 0 | case 0x92: |
4543 | | /* Resets, TSIP v1 |
4544 | | * Present in: |
4545 | | * RES720 |
4546 | | */ |
4547 | 0 | FALLTHROUGH |
4548 | 0 | case 0x93: |
4549 | | /* Production & Manufacturing, TSIP v1 |
4550 | | * Present in: |
4551 | | * RES720 |
4552 | | */ |
4553 | 0 | FALLTHROUGH |
4554 | 0 | case 0xa0: |
4555 | | /* Firmware Upload, TSIP v1 |
4556 | | * Present in: |
4557 | | * RES720 |
4558 | | */ |
4559 | 0 | FALLTHROUGH |
4560 | 0 | case 0xa1: |
4561 | | /* PVT, TSIP v1 |
4562 | | * Present in: |
4563 | | * RES720 |
4564 | | */ |
4565 | 0 | FALLTHROUGH |
4566 | 0 | case 0xa2: |
4567 | | /* GNSS Information, TSIP v1 |
4568 | | * Present in: |
4569 | | * RES720 |
4570 | | */ |
4571 | 0 | FALLTHROUGH |
4572 | 0 | case 0xa3: |
4573 | | /* Alarms % Status, TSIP v1 |
4574 | | * Present in: |
4575 | | * RES720 |
4576 | | */ |
4577 | 0 | FALLTHROUGH |
4578 | 0 | case 0xa4: |
4579 | | /* AGNSS, TSIP v1 |
4580 | | * Present in: |
4581 | | * RES720 |
4582 | | */ |
4583 | 0 | FALLTHROUGH |
4584 | 0 | case 0xa5: |
4585 | | /* Miscellaneous, TSIP v1 |
4586 | | * Present in: |
4587 | | * RES720 |
4588 | | */ |
4589 | 0 | FALLTHROUGH |
4590 | 0 | case 0xd0: |
4591 | | /* Debug & Logging, TSIP v1 |
4592 | | * Present in: |
4593 | | * RES720 |
4594 | | */ |
4595 | 0 | return tsipv1_parse(session, id, buf, len); |
4596 | | // end of TSIP V1 |
4597 | 0 | case 0xbb: |
4598 | | /* Navigation Configuration |
4599 | | * Present in: |
4600 | | * pre-2000 models |
4601 | | * Copernicus II (2009) |
4602 | | * ICM SMT 360 (2018) |
4603 | | * RES SMT 360 (2018) |
4604 | | */ |
4605 | 0 | if (40 != len && |
4606 | 0 | 43 != len) { |
4607 | | // see packet.c for explamation |
4608 | 0 | bad_len = 40; |
4609 | 0 | break; |
4610 | 0 | } |
4611 | 0 | u1 = getub(buf, 0); // Subcode, always zero? |
4612 | 0 | u2 = getub(buf, 1); // Operating Dimension (Receiver Mode) |
4613 | 0 | u3 = getub(buf, 2); // DGPS Mode (not in Acutime Gold) |
4614 | 0 | u4 = getub(buf, 3); // Dynamics Code |
4615 | 0 | f1 = getbef32(buf, 5); // Elevation Mask |
4616 | 0 | f2 = getbef32(buf, 9); // AMU Mask |
4617 | 0 | f3 = getbef32(buf, 13); // DOP Mask |
4618 | 0 | f4 = getbef32(buf, 17); // DOP Switch |
4619 | 0 | u5 = getub(buf, 21); // DGPS Age Limit (not in Acutime Gold) |
4620 | | /* Constellation |
4621 | | * bit 0 - GPS |
4622 | | * bit 1 - GLONASS |
4623 | | * bit 2 - reserved |
4624 | | * bit 3 - BeiDou |
4625 | | * bit 4 - Galileo |
4626 | | * bit 5 - QZSS |
4627 | | * bit 6 - reserved |
4628 | | * bit 7 - reserved |
4629 | | */ |
4630 | | // RES SMT 360 defaults to Mode 7, Constellation 3 |
4631 | 0 | u6 = getub(buf, 27); |
4632 | |
|
4633 | 0 | GPSD_LOG(LOG_PROG, &session->context->errout, |
4634 | 0 | "TSIP xbb: Navigation Configuration: %u %u %u %u %f %f %f " |
4635 | 0 | "%f %u x%x\n", |
4636 | 0 | u1, u2, u3, u4, f1, f2, f3, f4, u5, u6); |
4637 | 0 | GPSD_LOG(LOG_IO, &session->context->errout, |
4638 | 0 | "TSIP: rm %s\n", |
4639 | 0 | val2str(u1, vrec_mode)); |
4640 | 0 | break; |
4641 | | |
4642 | 0 | case 0x1a: |
4643 | | /* TSIP RTCM Wrapper Command |
4644 | | * Present in: |
4645 | | * pre-2000 models |
4646 | | * Not Present in: |
4647 | | * ICM SMT 360 (2018) |
4648 | | * RES SMT 360 (2018) |
4649 | | * Copernicus II (2009) |
4650 | | */ |
4651 | 0 | FALLTHROUGH |
4652 | 0 | case 0x2e: |
4653 | | /* Request GPS Time |
4654 | | * Present in: |
4655 | | * ICM SMT 360 (2018) |
4656 | | * RES SMT 360 (2018) |
4657 | | * Not Present in: |
4658 | | * pre-2000 models |
4659 | | * Copernicus II (2009) |
4660 | | */ |
4661 | 0 | FALLTHROUGH |
4662 | 0 | case 0x32: |
4663 | | /* Request Unit Position |
4664 | | * Present in: |
4665 | | * ICM SMT 360 (2018) |
4666 | | * RES SMT 360 (2018) |
4667 | | * Not Present in: |
4668 | | * pre-2000 models |
4669 | | * Copernicus II (2009) |
4670 | | */ |
4671 | 0 | FALLTHROUGH |
4672 | 0 | case 0x38: |
4673 | | /* Request SV System data |
4674 | | * Present in: |
4675 | | * ICM SMT 360 (2018) |
4676 | | * RES SMT 360 (2018) |
4677 | | * Not Present in: |
4678 | | * pre-2000 models |
4679 | | * Copernicus II (2009) |
4680 | | */ |
4681 | 0 | FALLTHROUGH |
4682 | 0 | case 0x40: |
4683 | | /* Almanac Data for Single Satellite Report |
4684 | | * Present in: |
4685 | | * pre-2000 models |
4686 | | * Not Present in: |
4687 | | * ICM SMT 360 (2018) |
4688 | | * RES SMT 360 (2018) |
4689 | | * Copernicus II (2009) |
4690 | | */ |
4691 | 0 | FALLTHROUGH |
4692 | 0 | case 0x44: |
4693 | | /* Non-Overdetermined Satellite Selection Report |
4694 | | * Present in: |
4695 | | * pre-2000 models |
4696 | | * Not Present in: |
4697 | | * ICM SMT 360 (2018) |
4698 | | * RES SMT 360 (2018) |
4699 | | * Copernicus II (2009) |
4700 | | */ |
4701 | 0 | FALLTHROUGH |
4702 | 0 | case 0x49: |
4703 | | /* Almanac Health Page |
4704 | | * Present in: |
4705 | | * pre-2000 models |
4706 | | * Not Present in: |
4707 | | * Copernicus II (2009) |
4708 | | */ |
4709 | 0 | FALLTHROUGH |
4710 | 0 | case 0x4d: |
4711 | | /* Oscillator Offset |
4712 | | * Present in: |
4713 | | * pre-2000 models |
4714 | | * Copernicus II (2009) |
4715 | | */ |
4716 | 0 | FALLTHROUGH |
4717 | 0 | case 0x4e: |
4718 | | /* Response to set GPS time |
4719 | | * Present in: |
4720 | | * pre-2000 models |
4721 | | * Copernicus II (2009) |
4722 | | * ICM SMT 360 (2018) |
4723 | | * RES SMT 360 (2018) |
4724 | | */ |
4725 | 0 | FALLTHROUGH |
4726 | 0 | case 0x4f: |
4727 | | /* UTC Parameters Report |
4728 | | * Present in: |
4729 | | * pre-2000 models |
4730 | | * Not Present in: |
4731 | | * ICM SMT 360 (2018) |
4732 | | * RES SMT 360 (2018) |
4733 | | * Copernicus II (2009) |
4734 | | */ |
4735 | 0 | FALLTHROUGH |
4736 | 0 | case 0x53: |
4737 | | /* Analog-to-Digital Readings Report |
4738 | | * Present in: |
4739 | | * pre-2000 models |
4740 | | * Not Present in: |
4741 | | * ICM SMT 360 (2018) |
4742 | | * RES SMT 360 (2018) |
4743 | | * Copernicus II (2009) |
4744 | | */ |
4745 | 0 | FALLTHROUGH |
4746 | 0 | case 0x58: |
4747 | | /* Satellite System Data/Acknowledge from Receiver |
4748 | | * Present in: |
4749 | | * pre-2000 models |
4750 | | * Copernicus II (2009) |
4751 | | * ICM SMT 360 (2018) |
4752 | | * RES SMT 360 (2018) |
4753 | | */ |
4754 | 0 | FALLTHROUGH |
4755 | 0 | case 0x59: |
4756 | | /* Status of Satellite Disable or Ignore Health |
4757 | | * aka Satellite Attribute Database Status Report |
4758 | | * Present in: |
4759 | | * pre-2000 models |
4760 | | * ICM SMT 360 (2018) |
4761 | | * RES SMT 360 (2018) |
4762 | | * Not Present in: |
4763 | | * Copernicus II (2009) |
4764 | | */ |
4765 | 0 | FALLTHROUGH |
4766 | 0 | case 0x5b: |
4767 | | /* Satellite Ephemeris Status |
4768 | | * Present in: |
4769 | | * pre-2000 models |
4770 | | * Not Present in: |
4771 | | * Copernicus II (2009) |
4772 | | * ICM SMT 360 (2018) |
4773 | | * RES SMT 360 (2018) |
4774 | | */ |
4775 | 0 | FALLTHROUGH |
4776 | 0 | case 0x5e: |
4777 | | /* Additional Fix Status Report |
4778 | | * Present in: |
4779 | | * pre-2000 models |
4780 | | * Not Present in: |
4781 | | * Copernicus II (2009) |
4782 | | * ICM SMT 360 (2018) |
4783 | | * RES SMT 360 (2018) |
4784 | | */ |
4785 | 0 | FALLTHROUGH |
4786 | 0 | case 0x5f: |
4787 | | /* Severe Failure Notification |
4788 | | * Present in: |
4789 | | * pre-2000 models |
4790 | | * Not Present in: |
4791 | | * ICM SMT 360 (2018) |
4792 | | * RES SMT 360 (2018) |
4793 | | * Copernicus II (2009) |
4794 | | */ |
4795 | 0 | FALLTHROUGH |
4796 | 0 | case 0x60: |
4797 | | /* Differential GPS Pseudorange Corrections Report |
4798 | | * Present in: |
4799 | | * pre-2000 models |
4800 | | * Not Present in: |
4801 | | * ICM SMT 360 (2018) |
4802 | | * RES SMT 360 (2018) |
4803 | | * Copernicus II (2009) |
4804 | | */ |
4805 | 0 | FALLTHROUGH |
4806 | 0 | case 0x61: |
4807 | | /* Differential GPS Delta Pseudorange Corrections Report |
4808 | | * Present in: |
4809 | | * pre-2000 models |
4810 | | * Not Present in: |
4811 | | * ICM SMT 360 (2018) |
4812 | | * RES SMT 360 (2018) |
4813 | | * Copernicus II (2009) |
4814 | | */ |
4815 | 0 | FALLTHROUGH |
4816 | 0 | case 0x6a: |
4817 | | /* Differential Corrections Used in the Fix Repor |
4818 | | * Present in: |
4819 | | * pre-2000 models |
4820 | | * Not Present in: |
4821 | | * ICM SMT 360 (2018) |
4822 | | * RES SMT 360 (2018) |
4823 | | * Copernicus II (2009) |
4824 | | */ |
4825 | 0 | FALLTHROUGH |
4826 | 0 | case 0x6e: |
4827 | | /* Synchronized Measurements |
4828 | | * Present in: |
4829 | | * pre-2000 models |
4830 | | * Not Present in: |
4831 | | * Copernicus II (2009) |
4832 | | * ICM SMT 360 (2018) |
4833 | | * RES SMT 360 (2018) |
4834 | | */ |
4835 | 0 | FALLTHROUGH |
4836 | 0 | case 0x6f: |
4837 | | /* Synchronized Measurements Report |
4838 | | * Present in: |
4839 | | * pre-2000 models |
4840 | | * Not Present in: |
4841 | | * Copernicus II (2009) |
4842 | | * ICM SMT 360 (2018) |
4843 | | * RES SMT 360 (2018) |
4844 | | */ |
4845 | 0 | FALLTHROUGH |
4846 | 0 | case 0x70: |
4847 | | /* Filter Report |
4848 | | * Present in: |
4849 | | * pre-2000 models |
4850 | | * Not Present in: |
4851 | | * Copernicus II (2009) |
4852 | | * ICM SMT 360 (2018) |
4853 | | * RES SMT 360 (2018) |
4854 | | */ |
4855 | 0 | FALLTHROUGH |
4856 | 0 | case 0x76: |
4857 | | /* Overdetermined Mode Report |
4858 | | * Present in: |
4859 | | * pre-2000 models |
4860 | | * Not Present in: |
4861 | | * ICM SMT 360 (2018) |
4862 | | * RES SMT 360 (2018) |
4863 | | * Copernicus II (2009) |
4864 | | */ |
4865 | 0 | FALLTHROUGH |
4866 | 0 | case 0x78: |
4867 | | /* Maximum PRC Age Report |
4868 | | * Present in: |
4869 | | * pre-2000 models |
4870 | | * Not Present in: |
4871 | | * ICM SMT 360 (2018) |
4872 | | * RES SMT 360 (2018) |
4873 | | * Copernicus II (2009) |
4874 | | */ |
4875 | 0 | FALLTHROUGH |
4876 | 0 | case 0x7a: |
4877 | | /* NMEA settings |
4878 | | * Not Present in: |
4879 | | * pre-2000 models |
4880 | | * Copernicus II (2009) |
4881 | | * ICM SMT 360 (2018) |
4882 | | * RES SMT 360 (2018) |
4883 | | */ |
4884 | 0 | FALLTHROUGH |
4885 | 0 | case 0x7b: |
4886 | | /* NMEA interval and message mask response |
4887 | | * Present in: |
4888 | | * pre-2000 models |
4889 | | * ICM SMT 360 (2018) |
4890 | | * RES SMT 360 (2018) |
4891 | | * Not Present in: |
4892 | | * Copernicus II (2009) |
4893 | | */ |
4894 | 0 | FALLTHROUGH |
4895 | 0 | case 0x7d: |
4896 | | /* Position Fix Rate Configuration Reports |
4897 | | * Present in: |
4898 | | * pre-2000 models |
4899 | | * Not Present in: |
4900 | | * ICM SMT 360 (2018) |
4901 | | * RES SMT 360 (2018) |
4902 | | * Copernicus II (2009) |
4903 | | */ |
4904 | 0 | FALLTHROUGH |
4905 | 0 | case 0x85: |
4906 | | /* Differential Correction Status Report |
4907 | | * Present in: |
4908 | | * pre-2000 models |
4909 | | * Not Present in: |
4910 | | * ICM SMT 360 (2018) |
4911 | | * RES SMT 360 (2018) |
4912 | | * Copernicus II (2009) |
4913 | | */ |
4914 | 0 | FALLTHROUGH |
4915 | 0 | case 0x87: |
4916 | | /* Reference Station Parameters Report |
4917 | | * Present in: |
4918 | | * pre-2000 models |
4919 | | * Not Present in: |
4920 | | * ICM SMT 360 (2018) |
4921 | | * RES SMT 360 (2018) |
4922 | | * Copernicus II (2009) |
4923 | | */ |
4924 | 0 | FALLTHROUGH |
4925 | 0 | case 0x89: |
4926 | | /* Receiver acquisition sensitivity mode |
4927 | | * Present in: |
4928 | | * Copernicus II (2009) |
4929 | | * Not Present in: |
4930 | | * pre-2000 models |
4931 | | * ICM SMT 360 (2018) |
4932 | | * RES SMT 360 (2018) |
4933 | | */ |
4934 | 0 | FALLTHROUGH |
4935 | 0 | case 0x88: |
4936 | | /* Mobile Differential Parameters Report |
4937 | | * Present in: |
4938 | | * pre-2000 models |
4939 | | * Not Present in: |
4940 | | * ICM SMT 360 (2018) |
4941 | | * RES SMT 360 (2018) |
4942 | | * Copernicus II (2009) |
4943 | | */ |
4944 | 0 | FALLTHROUGH |
4945 | 0 | case 0x8b: |
4946 | | /* QA/QC Reports |
4947 | | * Present in: |
4948 | | * pre-2000 models |
4949 | | * Not Present in: |
4950 | | * ICM SMT 360 (2018) |
4951 | | * RES SMT 360 (2018) |
4952 | | * Copernicus II (2009) |
4953 | | */ |
4954 | 0 | FALLTHROUGH |
4955 | 0 | case 0x8d: |
4956 | | /* Average Position Reports |
4957 | | * Present in: |
4958 | | * pre-2000 models |
4959 | | * Not Present in: |
4960 | | * ICM SMT 360 (2018) |
4961 | | * RES SMT 360 (2018) |
4962 | | * Copernicus II (2009) |
4963 | | */ |
4964 | 0 | FALLTHROUGH |
4965 | 0 | case 0xb0: |
4966 | | /* PPS and Event Report Packets |
4967 | | * Present in: |
4968 | | * pre-2000 models |
4969 | | * Not Present in: |
4970 | | * ICM SMT 360 (2018) |
4971 | | * RES SMT 360 (2018) |
4972 | | * Copernicus II (2009) |
4973 | | */ |
4974 | 0 | FALLTHROUGH |
4975 | 0 | case 0xbc: |
4976 | | /* Receiver port configuration |
4977 | | * Present in: |
4978 | | * pre-2000 models |
4979 | | * Copernicus II (2009) |
4980 | | * Not Present in: |
4981 | | * ICM SMT 360 (2018) |
4982 | | * RES SMT 360 (2018) |
4983 | | */ |
4984 | 0 | FALLTHROUGH |
4985 | 0 | case 0xc1: |
4986 | | /* Bit Mask for GPIOs in Standby Mode |
4987 | | * Present in: |
4988 | | * Copernicus II (2009) |
4989 | | * ICM SMT 360 (2018) |
4990 | | * RES SMT 360 (2018) |
4991 | | * Not Present in: |
4992 | | * pre-2000 models |
4993 | | */ |
4994 | 0 | FALLTHROUGH |
4995 | 0 | case 0xc2: |
4996 | | /* SBAS SV Mask |
4997 | | * Present in: |
4998 | | * Copernicus II (2009) |
4999 | | * ICM SMT 360 (2018) |
5000 | | * RES SMT 360 (2018) |
5001 | | * Not Present in: |
5002 | | * pre-2000 models |
5003 | | */ |
5004 | 0 | FALLTHROUGH |
5005 | 0 | default: |
5006 | 0 | GPSD_LOG(LOG_WARN, &session->context->errout, |
5007 | 0 | "TSIP x%02x: Unhandled packet type\n", id); |
5008 | 0 | break; |
5009 | 0 | } |
5010 | | |
5011 | | #ifdef __UNUSED__ |
5012 | | // #if 1 |
5013 | | // full reset |
5014 | | (void)tsip_write1(session, "\x1e\x46", 2); |
5015 | | #endif |
5016 | | |
5017 | 0 | if (bad_len) { |
5018 | 0 | GPSD_LOG(LOG_WARNING, &session->context->errout, |
5019 | 0 | "TSIP x%02x: wrong len %d s/b >= %d \n", id, len, bad_len); |
5020 | 0 | } else { |
5021 | 0 | GPSD_LOG(LOG_IO, &session->context->errout, |
5022 | 0 | "TSIP x%02x: mask %s\n", id, gps_maskdump(mask)); |
5023 | 0 | } |
5024 | | /* See if it is time to send some request packets for reports that. |
5025 | | * The receiver won't send at fixed intervals. |
5026 | | * Use llabs() as time sometimes goes backwards. */ |
5027 | |
|
5028 | 0 | if (5 < llabs(now - session->driver.tsip.last_41)) { |
5029 | | /* Request Current Time returns 0x41. |
5030 | | * Easiest way to get GPS weeks and current leap seconds */ |
5031 | 0 | (void)tsip_write1(session, "\x21", 1); |
5032 | 0 | session->driver.tsip.last_41 = now; |
5033 | 0 | } |
5034 | |
|
5035 | 0 | if (5 < llabs(now - session->driver.tsip.last_6d)) { |
5036 | | /* Request GPS Receiver Position Fix Mode |
5037 | | * Returns 0x44, 0x6c, or 0x6d. */ |
5038 | 0 | (void)tsip_write1(session, "\x24", 1); |
5039 | 0 | session->driver.tsip.last_6d = now; |
5040 | | #ifdef __UNUSED__ |
5041 | | // #if 1 |
5042 | | // request Receiver Configuration (0xbb) |
5043 | | (void)tsip_write1(session, "\xbb\x00", 2); |
5044 | | |
5045 | | // request Packet Broadcast Mask |
5046 | | (void)tsip_write1(session, "\x8e\xa5", 2); |
5047 | | #endif // UNUSED |
5048 | 0 | } |
5049 | |
|
5050 | 0 | if (1 > session->driver.tsip.superpkt && |
5051 | 0 | 60 < llabs(now - session->driver.tsip.last_48)) { |
5052 | | /* Request GPS System Message |
5053 | | * Returns 0x48. |
5054 | | * not supported on: |
5055 | | * Lassen SQ (2002) |
5056 | | * Lassen iQ (2005) |
5057 | | * ICM SMT 360 |
5058 | | * RES SMT 360 |
5059 | | * and post 2005 |
5060 | | * SuperPackets replaced 0x28 */ |
5061 | 0 | (void)tsip_write1(session, "\x28", 1); |
5062 | 0 | session->driver.tsip.last_48 = now; |
5063 | 0 | } |
5064 | |
|
5065 | 0 | if (5 < llabs(now - session->driver.tsip.last_5c)) { |
5066 | | /* Request Current Satellite Tracking Status |
5067 | | * Returns: 0x5c or 0x5d |
5068 | | * 5c from GPS only devices |
5069 | | * 5d from multi-gnss devices */ |
5070 | | // 00 == All satellites |
5071 | 0 | (void)tsip_write1(session, "\x3c\x00", 2); |
5072 | 0 | session->driver.tsip.last_5c = now; |
5073 | 0 | } |
5074 | |
|
5075 | 0 | if (5 < llabs(now - session->driver.tsip.last_46)) { |
5076 | | /* Request Health of Receiver |
5077 | | * Returns 0x46 and 0x4b. */ |
5078 | 0 | (void)tsip_write1(session, "\x26", 1); |
5079 | 0 | session->driver.tsip.last_46 = now; |
5080 | 0 | } |
5081 | 0 | if ((0 < session->driver.tsip.req_compact) && |
5082 | 0 | (5 < llabs(now - session->driver.tsip.req_compact))) { |
5083 | | /* Compact Superpacket requested but no response |
5084 | | * Not in: |
5085 | | * ICM SMT 360 |
5086 | | * RES SMT 360 |
5087 | | */ |
5088 | 0 | session->driver.tsip.req_compact = 0; |
5089 | 0 | GPSD_LOG(LOG_WARN, &session->context->errout, |
5090 | 0 | "TSIP x8f-23: No Compact Super Packet, " |
5091 | 0 | "try LFwEI (0x8f-20)\n"); |
5092 | | |
5093 | | // Request LFwEI Super Packet 0x8f-20, enabled |
5094 | 0 | (void)tsip_write1(session, "\x8e\x20\x01", 3); |
5095 | 0 | } |
5096 | |
|
5097 | 0 | return mask; |
5098 | 0 | } |
5099 | | |
5100 | | static void tsip_init_query(struct gps_device_t *session) |
5101 | 0 | { |
5102 | | // Use 0x1C-03 to Request Hardware Version Information (0x1C-83) |
5103 | 0 | (void)tsip_write1(session, "\x1c\x03", 2); |
5104 | | /* |
5105 | | * After HW information packet is received, a |
5106 | | * decision is made how to configure the device. |
5107 | | */ |
5108 | 0 | } |
5109 | | |
5110 | | static void tsip_event_hook(struct gps_device_t *session, event_t event) |
5111 | 0 | { |
5112 | 0 | GPSD_LOG(LOG_SPIN, &session->context->errout, |
5113 | 0 | "TSIP: event_hook event %d ro %d\n", |
5114 | 0 | event, session->context->readonly); |
5115 | |
|
5116 | 0 | if (session->context->readonly || |
5117 | 0 | session->context->passive) { |
5118 | 0 | return; |
5119 | 0 | } |
5120 | 0 | switch (event) { |
5121 | 0 | case event_identified: |
5122 | 0 | FALLTHROUGH |
5123 | 0 | case event_reactivate: |
5124 | | /* reactivate style needs to depend on model |
5125 | | * So send Request Software Version (0x1f), which returns 0x45. |
5126 | | * Once we have the x45, we can decide how to configure */ |
5127 | 0 | (void)tsip_write1(session, "\x1f", 1); |
5128 | 0 | break; |
5129 | 0 | case event_configure: |
5130 | | // this seems to get called on every packet... |
5131 | 0 | if (0 == session->lexer.counter) { |
5132 | | /* but the above if() makes it never execute |
5133 | | * formerely tried to force 801 here, but luckily it |
5134 | | * never fired as some Trimble are 8N1 */ |
5135 | 0 | } |
5136 | 0 | break; |
5137 | 0 | case event_deactivate: |
5138 | | // used to revert serial port parms here. No need for that. |
5139 | 0 | FALLTHROUGH |
5140 | 0 | default: |
5141 | 0 | break; |
5142 | 0 | } |
5143 | 0 | } |
5144 | | |
5145 | | static bool tsip_speed_switch(struct gps_device_t *session, |
5146 | | speed_t speed, char parity, int stopbits) |
5147 | 0 | { |
5148 | 0 | char buf[100]; |
5149 | |
|
5150 | 0 | switch (parity) { |
5151 | 0 | case 'E': |
5152 | 0 | case 2: |
5153 | 0 | parity = (char)2; |
5154 | 0 | break; |
5155 | 0 | case 'O': |
5156 | 0 | case 1: |
5157 | 0 | parity = (char)1; |
5158 | 0 | break; |
5159 | 0 | case 'N': |
5160 | 0 | case 0: |
5161 | 0 | default: |
5162 | 0 | parity = (char)0; |
5163 | 0 | break; |
5164 | 0 | } |
5165 | | |
5166 | 0 | buf[0] = 0xbc; // Set Port Configuration (0xbc) |
5167 | 0 | buf[1] = 0xff; // current port |
5168 | | // input dev.baudrate |
5169 | 0 | buf[2] = (round(log((double)speed / 300) / GPS_LN2)) + 2; |
5170 | 0 | buf[3] = buf[2]; // output baudrate |
5171 | 0 | buf[4] = 3; // character width (8 bits) |
5172 | 0 | buf[5] = parity; // parity (normally odd) |
5173 | 0 | buf[6] = stopbits - 1; // stop bits (normally 1 stopbit) |
5174 | 0 | buf[7] = 0; // flow control (none) |
5175 | 0 | buf[8] = 0x02; // input protocol (TSIP) |
5176 | 0 | buf[9] = 0x02; // output protocol (TSIP) |
5177 | 0 | buf[10] = 0; // reserved |
5178 | 0 | (void)tsip_write1(session, buf, 11); |
5179 | |
|
5180 | 0 | return true; // it would be nice to error-check this |
5181 | 0 | } |
5182 | | |
5183 | | static void tsip_mode(struct gps_device_t *session, int mode) |
5184 | 0 | { |
5185 | 0 | if (MODE_NMEA == mode) { |
5186 | 0 | char buf[16]; |
5187 | | |
5188 | | /* send NMEA Interval and Message Mask Command (0x7a) |
5189 | | * First turn on the NMEA messages we want */ |
5190 | 0 | buf[0] = 0x7a; |
5191 | 0 | buf[1] = 0x00; // subcode 0 |
5192 | 0 | buf[2] = 0x01; // 1-second fix interval |
5193 | 0 | buf[3] = 0x00; // Reserved |
5194 | 0 | buf[4] = 0x00; // Reserved |
5195 | 0 | buf[5] = 0x01; // 1=GST, Reserved |
5196 | | /* 1=GGA, 2=GGL, 4=VTG, 8=GSV, |
5197 | | * 0x10=GSA, 0x20=ZDA, 0x40=Reserved, 0x80=RMC */ |
5198 | 0 | buf[6] = 0x19; |
5199 | |
|
5200 | 0 | (void)tsip_write1(session, buf, 7); |
5201 | | |
5202 | | // Now switch to NMEA mode |
5203 | 0 | memset(buf, 0, sizeof(buf)); |
5204 | |
|
5205 | 0 | buf[0] = 0x8c; // Set Port Configuration (0xbc) |
5206 | 0 | buf[1] = 0xff; // current port |
5207 | 0 | buf[2] = 0x06; // 4800 bps input. 4800, really? |
5208 | 0 | buf[3] = buf[2]; // output SAME AS INPUT |
5209 | 0 | buf[4] = 0x03; // 8 data bits |
5210 | 0 | buf[5] = 0x00; // No parity |
5211 | 0 | buf[6] = 0x00; // 1 stop bit |
5212 | 0 | buf[7] = 0x00; // No flow control |
5213 | 0 | buf[8] = 0x02; // Input protocol TSIP |
5214 | 0 | buf[9] = 0x04; // Output protocol NMEA |
5215 | 0 | buf[10] = 0x00; // Reserved |
5216 | |
|
5217 | 0 | (void)tsip_write1(session, buf, 11); |
5218 | |
|
5219 | 0 | } else if (MODE_BINARY == mode) { |
5220 | | /* The speed switcher also puts us back in TSIP, so call it |
5221 | | * with the default 9600 8O1. */ |
5222 | | // FIXME: Should preserve the current speed. |
5223 | | // (void)tsip_speed_switch(session, 9600, 'O', 1); |
5224 | | // FIXME: should config TSIP binary! |
5225 | 0 | ; |
5226 | |
|
5227 | 0 | } else { |
5228 | 0 | GPSD_LOG(LOG_ERROR, &session->context->errout, |
5229 | 0 | "TSIP: unknown mode %i requested\n", mode); |
5230 | 0 | } |
5231 | 0 | } |
5232 | | |
5233 | | // this is everything we export |
5234 | | // *INDENT-OFF* |
5235 | | const struct gps_type_t driver_tsip = |
5236 | | { |
5237 | | .type_name = "Trimble TSIP", // full name of type |
5238 | | .packet_type = TSIP_PACKET, // associated lexer packet type |
5239 | | .flags = DRIVER_STICKY, // remember this |
5240 | | .trigger = NULL, // no trigger |
5241 | | .channels = TSIP_CHANNELS, // consumer-grade GPS |
5242 | | .probe_detect = tsip_detect, // probe for 9600O81 device |
5243 | | .get_packet = packet_get1, // use the generic packet getter |
5244 | | .parse_packet = tsip_parse_input, // parse message packets |
5245 | | .rtcm_writer = NULL, // doesn't accept DGPS corrections |
5246 | | .init_query = tsip_init_query, // non-perturbing initial query |
5247 | | .event_hook = tsip_event_hook, // fire on various lifetime events |
5248 | | .speed_switcher = tsip_speed_switch, // change baud rate |
5249 | | .mode_switcher = tsip_mode, // there is a mode switcher |
5250 | | .rate_switcher = NULL, // no rate switcher |
5251 | | .min_cycle.tv_sec = 1, // not relevant, no rate switch |
5252 | | .min_cycle.tv_nsec = 0, // not relevant, no rate switch |
5253 | | .control_send = tsip_write1, // how to send commands |
5254 | | .time_offset = NULL, |
5255 | | }; |
5256 | | // *INDENT-ON* |
5257 | | |
5258 | | #endif // TSIP_ENABLE |
5259 | | |
5260 | | // vim: set expandtab shiftwidth=4 |