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drivers.c
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/*
* This file is Copyright (c) 2010 by the GPSD project
* BSD terms apply: see the file COPYING in the distribution root for details.
*/
#include <stdio.h>
#include <stdlib.h>
#include <stdbool.h>
#include <string.h>
#include <stdarg.h>
#include <ctype.h>
#include <termios.h>
#ifndef S_SPLINT_S
#include <unistd.h>
#endif /* S_SPLINT_S */
#include "gpsd.h"
#include "bits.h" /* for getbeu16(), to extract big-endian words */
extern const struct gps_type_t zodiac_binary;
extern const struct gps_type_t ubx_binary;
extern const struct gps_type_t sirf_binary;
ssize_t generic_get(struct gps_device_t *session)
{
return packet_get(session->gpsdata.gps_fd, &session->packet);
}
gps_mask_t generic_parse_input(struct gps_device_t *session)
{
const struct gps_type_t **dp;
if (session->packet.type == COMMENT_PACKET) {
gpsd_set_century(session);
return 0;
#ifdef NMEA_ENABLE
} else if (session->packet.type == NMEA_PACKET) {
gps_mask_t st = 0;
char *sentence = (char *)session->packet.outbuffer;
if (sentence[strlen(sentence)-1] != '\n')
gpsd_report(LOG_IO, "<= GPS: %s\n", sentence);
else
gpsd_report(LOG_IO, "<= GPS: %s", sentence);
if ((st=nmea_parse(sentence, session)) == 0) {
gpsd_report(LOG_WARN, "unknown sentence: \"%s\"\n", sentence);
}
for (dp = gpsd_drivers; *dp; dp++) {
char *trigger = (*dp)->trigger;
if (trigger!=NULL && strncmp(sentence,trigger,strlen(trigger))==0) {
gpsd_report(LOG_PROG, "found trigger string %s.\n", trigger);
if (*dp != session->device_type) {
(void)gpsd_switch_driver(session, (*dp)->type_name);
if (session->device_type != NULL
&& session->device_type->event_hook != NULL)
session->device_type->event_hook(session,
event_triggermatch);
st |= DEVICEID_SET;
}
}
}
return st;
#endif /* NMEA_ENABLE */
} else {
for (dp = gpsd_drivers; *dp; dp++) {
if (session->packet.type == (*dp)->packet_type) {
(void)gpsd_switch_driver(session, (*dp)->type_name);
return (*dp)->parse_packet(session);
}
}
return 0;
}
}
/**************************************************************************
*
* Generic driver -- make no assumptions about the device type
*
**************************************************************************/
/* *INDENT-OFF* */
const struct gps_type_t unknown = {
.type_name = "Unknown", /* full name of type */
.packet_type = COMMENT_PACKET, /* associated lexer packet type */
.flags = DRIVER_NOFLAGS, /* no flags set */
.trigger = NULL, /* it's the default */
.channels = 12, /* consumer-grade GPS */
.probe_detect = NULL, /* no probe */
.get_packet = generic_get, /* use generic packet getter */
.parse_packet = generic_parse_input, /* how to interpret a packet */
.rtcm_writer = NULL, /* write RTCM data straight */
.event_hook = NULL, /* lifetime event handler */
#ifdef RECONFIGURE_ENABLE
.speed_switcher = NULL, /* no speed switcher */
.mode_switcher = NULL, /* no mode switcher */
.rate_switcher = NULL, /* no sample-rate switcher */
.min_cycle = 1, /* not relevant, no rate switch */
#endif /* RECONFIGURE_ENABLE */
#ifdef CONTROLSEND_ENABLE
.control_send = NULL, /* how to send control strings */
#endif /* CONTROLSEND_ENABLE */
#ifdef NTPSHM_ENABLE
.ntp_offset = NULL, /* no method for NTP fudge factor */
#endif /* NTPSHM_ ENABLE */
};
/* *INDENT-ON* */
#ifdef NMEA_ENABLE
/**************************************************************************
*
* NMEA 0183
*
* This is separate from the 'unknown' driver because we don't want to
* ship NMEA subtype probe strings to a device until we've seen at
* least one NMEA packet. This avoids spamming devices that might
* actually be USB modems or other things in USB device class FF that
* just happen to have one of 'our' adaptor chips in pront of them.
*
**************************************************************************/
static void nmea_event_hook(struct gps_device_t *session, event_t event)
{
if (session->context->readonly)
return;
/*
* This is where we try to tickle NMEA devices into revealing their
* inner natures.
*/
if (event == event_configure) {
/*
* The reason for splitting these probes up by packet sequence
* number, interleaving them with the first few packet receives,
* is because many generic-NMEA devices get confused if you send
* too much at them in one go.
*
* A fast response to an early probe will change drivers so the
* later ones won't be sent at all. Thus, for best overall
* performance, order these to probe for the most popular types
* soonest.
*
* Note: don't make the trigger strings identical to the probe,
* because some NMEA devices (notably SiRFs) will just echo
* unknown strings right back at you. A useful dodge is to append
* a comma to the trigger, because that won't be in the response
* unless there is actual following data.
*/
switch (session->packet.counter) {
#ifdef NMEA_ENABLE
case 0:
/* probe for Garmin serial GPS -- expect $PGRMC followed by data */
gpsd_report(LOG_PROG, "=> Probing for Garmin NMEA\n");
(void)nmea_send(session, "$PGRMCE");
break;
#endif /* NMEA_ENABLE */
#ifdef SIRF_ENABLE
case 1:
/*
* We used to try to probe for SiRF by issuing "$PSRF105,1"
* and expecting "$Ack Input105.". But it turns out this
* only works for SiRF-IIs; SiRF-I and SiRF-III don't respond.
* Thus the only reliable probe is to try to flip the SiRF into
* binary mode, cluing in the library to revert it on close.
*
* SiRFs dominate the GPS-mouse market, so we used to put this test
* first. Unfortunately this causes problems for gpsctl, as it cannot
* select the NMEA driver without switching the device back to
* binary mode! Fix this if we ever find a nondisruptive probe string.
*/
gpsd_report(LOG_PROG, "=> Probing for SiRF\n");
(void)nmea_send(session,
"$PSRF100,0,%d,%d,%d,0",
session->gpsdata.dev.baudrate,
9 - session->gpsdata.dev.stopbits,
session->gpsdata.dev.stopbits);
session->back_to_nmea = true;
break;
#endif /* SIRF_ENABLE */
#ifdef NMEA_ENABLE
case 2:
/* probe for the FV-18 -- expect $PFEC,GPint followed by data */
gpsd_report(LOG_PROG, "=> Probing for FV-18\n");
(void)nmea_send(session, "$PFEC,GPint");
break;
case 3:
/* probe for the Trimble Copernicus */
gpsd_report(LOG_PROG, "=> Probing for Trimble Copernicus\n");
(void)nmea_send(session, "$PTNLSNM,0139,01");
break;
#endif /* NMEA_ENABLE */
#ifdef EVERMORE_ENABLE
case 4:
gpsd_report(LOG_PROG, "=> Probing for Evermore\n");
/* Enable checksum and GGA(1s), GLL(0s), GSA(1s), GSV(1s), RMC(1s), VTG(0s), PEMT101(1s) */
/* EverMore will reply with: \x10\x02\x04\x38\x8E\xC6\x10\x03 */
(void)gpsd_write(session,
"\x10\x02\x12\x8E\x7F\x01\x01\x00\x01\x01\x01\x00\x01\x00\x00\x00\x00\x00\x00\x13\x10\x03",
22);
break;
#endif /* EVERMORE_ENABLE */
#ifdef GPSCLOCK_ENABLE
case 5:
/* probe for Furuno Electric GH-79L4-N (GPSClock); expect $PFEC,GPssd */
gpsd_report(LOG_PROG, "=> Probing for GPSClock\n");
(void)nmea_send(session, "$PFEC,GPsrq");
break;
#endif /* GPSCLOCK_ENABLE */
#ifdef ASHTECH_ENABLE
case 6:
/* probe for Ashtech -- expect $PASHR,RID */
gpsd_report(LOG_PROG, "=> Probing for Ashtech\n");
(void)nmea_send(session, "$PASHQ,RID");
break;
#endif /* ASHTECH_ENABLE */
#ifdef UBX_ENABLE
case 7:
/* probe for UBX -- query software version */
gpsd_report(LOG_PROG, "=> Probing for UBX\n");
(void)ubx_write(session, 0x0au, 0x04, NULL, 0);
break;
#endif /* UBX_ENABLE */
#ifdef MTK3301_ENABLE
case 8:
/* probe for MTK-3301 -- expect $PMTK705 */
gpsd_report(LOG_PROG, "=> Probing for MediaTek\n");
(void)nmea_send(session, "$PMTK605");
break;
#endif /* MTK3301_ENABLE */
default:
break;
}
}
}
#if defined(RECONFIGURE_ENABLE) && defined(BINARY_ENABLE)
static void nmea_mode_switch(struct gps_device_t *session, int mode)
{
/*
* If the daemon has seen this device in a binary mode, we may
* actually know how to switch back.
*/
if (mode == MODE_BINARY)
{
const struct gps_type_t **dp;
/*@-shiftnegative@*/
for (dp = gpsd_drivers; *dp; dp++) {
if ((*dp)->packet_type > 0 && (*dp)->packet_type != session->packet.type &&
(session->observed & PACKET_TYPEMASK((*dp)->packet_type))!=0) {
(*dp)->mode_switcher(session, mode);
break;
}
}
/*@+shiftnegative@*/
}
}
#endif /* defined(RECONFIGURE_ENABLE) && defined(BINARY_ENABLE) */
/* *INDENT-OFF* */
const struct gps_type_t nmea = {
.type_name = "Generic NMEA", /* full name of type */
.packet_type = NMEA_PACKET, /* associated lexer packet type */
.flags = DRIVER_NOFLAGS, /* no flags set */
.trigger = NULL, /* it's the default */
.channels = 12, /* consumer-grade GPS */
.probe_detect = NULL, /* no probe */
.get_packet = generic_get, /* use generic packet getter */
.parse_packet = generic_parse_input, /* how to interpret a packet */
.rtcm_writer = gpsd_write, /* write RTCM data straight */
.event_hook = nmea_event_hook, /* lifetime event handler */
#ifdef RECONFIGURE_ENABLE
.speed_switcher = NULL, /* no speed switcher */
#ifdef BINARY_ENABLE
.mode_switcher = nmea_mode_switch, /* maybe switchable if it was a SiRF */
#else
.mode_switcher = NULL, /* no binary mode to revert to */
#endif /* BINARY_ENABLE */
.rate_switcher = NULL, /* no sample-rate switcher */
.min_cycle = 1, /* not relevant, no rate switch */
#endif /* RECONFIGURE_ENABLE */
#ifdef CONTROLSEND_ENABLE
.control_send = nmea_write, /* how to send control strings */
#endif /* CONTROLSEND_ENABLE */
#ifdef NTPSHM_ENABLE
.ntp_offset = NULL, /* no method for NTP fudge factor */
#endif /* NTPSHM_ ENABLE */
};
/* *INDENT-ON* */
#if defined(GARMIN_ENABLE) && defined(NMEA_ENABLE)
/**************************************************************************
*
* Garmin NMEA
*
**************************************************************************/
#ifdef RECONFIGURE_ENABLE
static void garmin_mode_switch(struct gps_device_t *session, int mode)
/* only does anything in one direction, going to Garmin binary driver */
{
if (mode == MODE_BINARY) {
(void)nmea_send(session, "$PGRMC1,1,2,1,,,,2,W,N");
(void)nmea_send(session, "$PGRMI,,,,,,,R");
(void)usleep(333); /* standard Garmin settling time */
session->gpsdata.dev.driver_mode = MODE_BINARY;
}
}
#endif /* RECONFIGURE_ENABLE */
static void garmin_nmea_event_hook(struct gps_device_t *session,
event_t event)
{
if (session->context->readonly)
return;
if (event == event_driver_switch) {
/* forces a reconfigure as the following packets come in */
session->packet.counter = 0;
}
if (event == event_configure) {
/*
* And here's that reconfigure. It's split up like this because
* receivers like the Garmin GPS-10 don't handle having having a lot of
* probes shoved at them very well.
*/
switch (session->packet.counter) {
case 0:
/* reset some config, AutoFix, WGS84, PPS
* Set the PPS pulse length to 40ms which leaves the Garmin 18-5hz
* with a 160ms low state.
* NOTE: new PPS only takes effect after next power cycle
*/
(void)nmea_send(session, "$PGRMC,A,,100,,,,,,A,,1,2,1,30");
break;
case 1:
/* once a sec, no averaging, NMEA 2.3, WAAS */
(void)nmea_send(session, "$PGRMC1,1,1,1,,,,2,W,N");
break;
case 2:
/* get some more config info */
(void)nmea_send(session, "$PGRMC1E");
break;
case 3:
/* turn off all output except GGA */
(void)nmea_send(session, "$PGRMO,,2");
(void)nmea_send(session, "$PGRMO,GPGGA,1");
break;
case 4:
/* enable GPGGA, GPGSA, GPGSV, GPRMC on Garmin serial GPS */
(void)nmea_send(session, "$PGRMO,GPGSA,1");
break;
case 5:
(void)nmea_send(session, "$PGRMO,GPGSV,1");
break;
case 6:
(void)nmea_send(session, "$PGRMO,GPRMC,1");
break;
case 7:
(void)nmea_send(session, "$PGRMO,PGRME,1");
break;
}
}
}
/* *INDENT-OFF* */
const struct gps_type_t garmin = {
.type_name = "Garmin NMEA", /* full name of type */
.packet_type = NMEA_PACKET, /* associated lexer packet type */
.flags = DRIVER_NOFLAGS, /* no flags set */
.trigger = "$PGRMC,", /* Garmin private */
.channels = 12, /* not used by this driver */
.probe_detect = NULL, /* no probe */
.get_packet = generic_get, /* use generic packet getter */
.parse_packet = generic_parse_input, /* how to interpret a packet */
.rtcm_writer = NULL, /* some do, some don't, skip for now */
.event_hook = garmin_nmea_event_hook, /* lifetime event handler */
#ifdef RECONFIGURE_ENABLE
.speed_switcher = NULL, /* no speed switcher */
.mode_switcher = garmin_mode_switch, /* mode switcher */
.rate_switcher = NULL, /* no sample-rate switcher */
.min_cycle = 1, /* not relevant, no rate switch */
#endif /*RECONFIGURE_ENABLE */
#ifdef CONTROLSEND_ENABLE
.control_send = nmea_write, /* how to send control strings */
#endif /* CONTROLSEND_ENABLE */
#ifdef NTPSHM_ENABLE
.ntp_offset = NULL, /* no method for NTP fudge factor */
#endif /* NTPSHM_ ENABLE */
};
/* *INDENT-ON* */
#endif /* GARMIN_ENABLE && NMEA_ENABLE */
#ifdef ASHTECH_ENABLE
/**************************************************************************
*
* Ashtech (then Thales, now Magellan Professional) Receivers
*
**************************************************************************/
static void ashtech_event_hook(struct gps_device_t *session, event_t event)
{
if (session->context->readonly)
return;
if (event == event_wakeup)
(void)nmea_send(session, "$PASHQ,RID");
if (event == event_identified) {
/* turn WAAS on. can't hurt... */
(void)nmea_send(session, "$PASHS,WAS,ON");
/* reset to known output state */
(void)nmea_send(session, "$PASHS,NME,ALL,A,OFF");
/* then turn on some useful sentences */
#ifdef __future__
/* we could parse these, but they're oversize so they get dropped */
(void)nmea_send(session, "$PASHS,NME,POS,A,ON");
(void)nmea_send(session, "$PASHS,NME,SAT,A,ON");
#else
(void)nmea_send(session, "$PASHS,NME,GGA,A,ON");
(void)nmea_send(session, "$PASHS,NME,GSA,A,ON");
(void)nmea_send(session, "$PASHS,NME,GSV,A,ON");
(void)nmea_send(session, "$PASHS,NME,RMC,A,ON");
#endif
(void)nmea_send(session, "$PASHS,NME,ZDA,A,ON");
}
}
/* *INDENT-OFF* */
const struct gps_type_t ashtech = {
.type_name = "Ashtech", /* full name of type */
.packet_type = NMEA_PACKET, /* associated lexer packet type */
.flags = DRIVER_NOFLAGS, /* no flags set */
.trigger = "$PASHR,RID,", /* Ashtech receivers respond thus */
.channels = 24, /* not used, GG24 has 24 channels */
.probe_detect = NULL, /* no probe */
.get_packet = generic_get, /* how to get a packet */
.parse_packet = generic_parse_input, /* how to interpret a packet */
.rtcm_writer = gpsd_write, /* write RTCM data straight */
.event_hook = ashtech_event_hook, /* lifetime event handler */
#ifdef RECONFIGURE_ENABLE
.speed_switcher = NULL, /* no speed switcher */
.mode_switcher = NULL, /* no mode switcher */
.rate_switcher = NULL, /* no sample-rate switcher */
.min_cycle = 1, /* not relevant, no rate switch */
#endif /* RECONFIGURE_ENABLE */
#ifdef CONTROLSEND_ENABLE
.control_send = nmea_write, /* how to send control strings */
#endif /* CONTROLSEND_ENABLE */
#ifdef NTPSHM_ENABLE
.ntp_offset = NULL, /* no method for NTP fudge factor */
#endif /* NTPSHM_ ENABLE */
};
/* *INDENT-ON* */
#endif /* ASHTECH_ENABLE */
#ifdef FV18_ENABLE
/**************************************************************************
*
* FV18 -- uses 2 stop bits, needs to be told to send GSAs
*
**************************************************************************/
static void fv18_event_hook(struct gps_device_t *session, event_t event)
{
if (session->context->readonly)
return;
/*
* Tell an FV18 to send GSAs so we'll know if 3D is accurate.
* Suppress GLL and VTG. Enable ZDA so dates will be accurate for replay.
* It's possible we might not need to redo this on event_reactivate,
* but doing so is safe and cheap.
*/
if (event == event_identified || event == event_reactivate)
(void)nmea_send(session,
"$PFEC,GPint,GSA01,DTM00,ZDA01,RMC01,GLL00,VTG00,GSV05");
}
/* *INDENT-OFF* */
const struct gps_type_t fv18 = {
.type_name = "San Jose Navigation FV18", /* full name of type */
.packet_type = NMEA_PACKET, /* associated lexer packet type */
.flags = DRIVER_NOFLAGS, /* no flags set */
.trigger = "$PFEC,GPint,", /* FV18s should echo the probe */
.channels = 12, /* not used by this driver */
.probe_detect = NULL, /* no probe */
.get_packet = generic_get, /* how to get a packet */
.parse_packet = generic_parse_input, /* how to interpret a packet */
.rtcm_writer = gpsd_write, /* write RTCM data straight */
.event_hook = fv18_event_hook, /* lifetime event handler */
#ifdef RECONFIGURE_ENABLE
.speed_switcher = NULL, /* no speed switcher */
.mode_switcher = NULL, /* no mode switcher */
.rate_switcher = NULL, /* no sample-rate switcher */
.min_cycle = 1, /* not relevant, no rate switch */
#endif /* RECONFIGURE_ENABLE */
#ifdef CONTROLSEND_ENABLE
.control_send = nmea_write, /* how to send control strings */
#endif /* CONTROLSEND_ENABLE */
#ifdef NTPSHM_ENABLE
.ntp_offset = NULL, /* no method for NTP fudge factor */
#endif /* NTPSHM_ ENABLE */
};
/* *INDENT-ON* */
#endif /* FV18_ENABLE */
#ifdef GPSCLOCK_ENABLE
/**************************************************************************
*
* Furuno Electric GPSClock (GH-79L4)
*
**************************************************************************/
/*
* Based on http://www.tecsys.de/fileadmin/user_upload/pdf/gh79_1an_intant.pdf
*/
static void gpsclock_event_hook(struct gps_device_t *session, event_t event)
{
if (session->context->readonly)
return;
/*
* Michael St. Laurent <[email protected]> reports that you have to
* ignore the trailing PPS edge when extracting time from this chip.
*/
if (event == event_identified || event == event_reactivate) {
gpsd_report(LOG_INF, "PPS trailing edge will be ignored\n");
session->driver.nmea.ignore_trailing_edge = true;
}
}
/* *INDENT-OFF* */
const struct gps_type_t gpsclock = {
.type_name = "Furuno Electric GH-79L4", /* full name of type */
.packet_type = NMEA_PACKET, /* associated lexer packet type */
.flags = DRIVER_NOFLAGS, /* no flags set */
.trigger = "$PFEC,GPssd", /* GPSclock should return this */
.channels = 12, /* not used by this driver */
.probe_detect = NULL, /* no probe */
.get_packet = generic_get, /* how to get a packet */
.parse_packet = generic_parse_input, /* how to interpret a packet */
.rtcm_writer = gpsd_write, /* write RTCM data straight */
.event_hook = gpsclock_event_hook, /* lifetime event handler */
#ifdef RECONFIGURE_ENABLE
.speed_switcher = NULL, /* no speed switcher */
.mode_switcher = NULL, /* no mode switcher */
.rate_switcher = NULL, /* sample rate is fixed */
.min_cycle = 1, /* sample rate is fixed */
#endif /* RECONFIGURE_ENABLE */
#ifdef CONTROLSEND_ENABLE
.control_send = nmea_write, /* how to send control strings */
#endif /* CONTROLSEND_ENABLE */
#ifdef NTPSHM_ENABLE
.ntp_offset = NULL, /* no method for NTP fudge factor */
#endif /* NTPSHM_ ENABLE */
};
/* *INDENT-ON* */
#endif /* GPSCLOCK_ENABLE */
#ifdef TRIPMATE_ENABLE
/**************************************************************************
*
* TripMate -- extended NMEA, gets faster fix when primed with lat/long/time
*
**************************************************************************/
/*
* Some technical FAQs on the TripMate:
* http://vancouver-webpages.com/pub/peter/tripmate.faq
* http://www.asahi-net.or.jp/~KN6Y-GTU/tripmate/trmfaqe.html
* The TripMate was discontinued sometime before November 1998
* and was replaced by the Zodiac EarthMate.
*/
static void tripmate_event_hook(struct gps_device_t *session, event_t event)
{
if (session->context->readonly)
return;
/* TripMate requires this response to the ASTRAL it sends at boot time */
if (event == event_identified)
(void)nmea_send(session, "$IIGPQ,ASTRAL");
/* stop it sending PRWIZCH */
if (event == event_identified || event == event_reactivate)
(void)nmea_send(session, "$PRWIILOG,ZCH,V,,");
}
/* *INDENT-OFF* */
static const struct gps_type_t tripmate = {
.type_name = "Delorme TripMate", /* full name of type */
.packet_type = NMEA_PACKET, /* lexer packet type */
.flags = DRIVER_NOFLAGS, /* no rollover or other flags */
.trigger ="ASTRAL", /* tells us to switch */
.channels = 12, /* consumer-grade GPS */
.probe_detect = NULL, /* no probe */
.get_packet = generic_get, /* how to get a packet */
.parse_packet = generic_parse_input, /* how to interpret a packet */
.rtcm_writer = gpsd_write, /* send RTCM data straight */
.event_hook = tripmate_event_hook, /* lifetime event handler */
#ifdef RECONFIGURE_ENABLE
.speed_switcher= NULL, /* no speed switcher */
.mode_switcher = NULL, /* no mode switcher */
.rate_switcher = NULL, /* no sample-rate switcher */
.min_cycle = 1, /* no rate switch */
#endif /* RECONFIGURE_ENABLE */
#ifdef CONTROLSEND_ENABLE
.control_send = nmea_write, /* how to send control strings */
#endif /* CONTROLSEND_ENABLE */
#ifdef NTPSHM_ENABLE
.ntp_offset = NULL, /* no method for NTP fudge factor */
#endif /* NTPSHM_ ENABLE */
};
/* *INDENT-ON* */
#endif /* TRIPMATE_ENABLE */
#ifdef EARTHMATE_ENABLE
/**************************************************************************
*
* Zodiac EarthMate textual mode
*
* Note: This is the pre-2003 version using Zodiac binary protocol.
* There is a good HOWTO at <http://www.hamhud.net/ka9mva/earthmate.htm>.
* It has been replaced with a design that uses a SiRF chipset.
*
**************************************************************************/
static void earthmate_event_hook(struct gps_device_t *session, event_t event)
{
if (session->context->readonly)
return;
if (event == event_identified) {
(void)gpsd_write(session, "EARTHA\r\n", 8);
(void)usleep(10000);
(void)gpsd_switch_driver(session, "Zodiac Binary");
}
}
/*@ -redef @*/
/* *INDENT-OFF* */
static const struct gps_type_t earthmate = {
.type_name = "Delorme EarthMate (pre-2003, Zodiac chipset)",
.packet_type = NMEA_PACKET, /* associated lexer packet type */
.flags = DRIVER_NOFLAGS, /* no rollover or other flags */
.trigger = "EARTHA", /* Earthmate trigger string */
.channels = 12, /* not used by NMEA parser */
.probe_detect = NULL, /* no probe */
.get_packet = generic_get, /* how to get a packet */
.parse_packet = generic_parse_input, /* how to interpret a packet */
.rtcm_writer = NULL, /* don't send RTCM data */
.event_hook = earthmate_event_hook, /* lifetime event handler */
#ifdef RECONFIGURE_ENABLE
.speed_switcher= NULL, /* no speed switcher */
.mode_switcher = NULL, /* no mode switcher */
.rate_switcher = NULL, /* no sample-rate switcher */
.min_cycle = 1, /* no rate switch */
#endif /* RECONFIGURE_ENABLE */
#ifdef CONTROLSEND_ENABLE
.control_send = nmea_write, /* how to send control strings */
#endif /* CONTROLSEND_ENABLE */
#ifdef NTPSHM_ENABLE
.ntp_offset = NULL, /* no method for NTP fudge factor */
#endif /* NTPSHM_ ENABLE */
};
/*@ -redef @*/
/* *INDENT-ON* */
#endif /* EARTHMATE_ENABLE */
#endif /* NMEA_ENABLE */
#ifdef TNT_ENABLE
/**************************************************************************
* True North Technologies - Revolution 2X Digital compass
*
* More info: http://www.tntc.com/
*
* This is a digital compass which uses magnetometers to measure the
* strength of the earth's magnetic field. Based on these measurements
* it provides a compass heading using NMEA formatted output strings.
* This is useful to supplement the heading provided by another GPS
* unit. A GPS heading is unreliable at slow speed or no speed.
*
**************************************************************************/
static void tnt_add_checksum(char *sentence)
/* add NMEA-style CRC checksum to a command */
{
unsigned char sum = '\0';
char c, *p = sentence;
if (*p == '@') {
p++;
} else {
gpsd_report(LOG_ERROR, "Bad TNT sentence: '%s'\n", sentence);
}
while (((c = *p) != '\0')) {
sum ^= c;
p++;
}
(void)snprintf(p, 6, "*%02X\r\n", (unsigned int)sum);
}
static ssize_t tnt_control_send(struct gps_device_t *session,
char *msg, size_t len UNUSED)
/* send a control string in TNT native formal */
{
ssize_t status;
tnt_add_checksum(msg);
status = write(session->gpsdata.gps_fd, msg, strlen(msg));
(void)tcdrain(session->gpsdata.gps_fd);
return status;
}
static bool tnt_send(struct gps_device_t *session, const char *fmt, ...)
/* printf(3)-like TNT command generator */
{
char buf[BUFSIZ];
va_list ap;
ssize_t sent;
va_start(ap, fmt);
(void)vsnprintf(buf, sizeof(buf) - 5, fmt, ap);
va_end(ap);
sent = tnt_control_send(session, buf, strlen(buf));
if (sent == (ssize_t) strlen(buf)) {
gpsd_report(LOG_IO, "=> GPS: %s\n", buf);
return true;
} else {
gpsd_report(LOG_WARN, "=> GPS: %s FAILED\n", buf);
return false;
}
}
#ifdef RECONFIGURE_ENABLE
static bool tnt_speed(struct gps_device_t *session,
speed_t speed, char parity UNUSED, int stopbits UNUSED)
{
/*
* Baud rate change followed by device reset.
* See page 40 of Technical Guide 1555-B. We need:
* 2400 -> 1, 4800 -> 2, 9600 -> 3, 19200 -> 4, 38400 -> 5
*/
unsigned int val = speed / 2400u; /* 2400->1, 4800->2, 9600->4, 19200->8... */
unsigned int i = 0;
/* fast way to compute log2(val) */
while ((val >> i) > 1)
++i;
return tnt_send(session, "@B6=%d", i + 1)
&& tnt_send(session, "@F28.6=1");
}
#endif /* RECONFIGURE_ENABLE */
static void tnt_event_hook(struct gps_device_t *session, event_t event)
/* TNT lifetime event hook */
{
if (session->context->readonly)
return;
if (event == event_wakeup) {
(void)tnt_send(session, "@F0.3=1"); /* set run mode */
(void)tnt_send(session, "@F2.2=1"); /* report in degrees */
}
}
/* *INDENT-OFF* */
const struct gps_type_t trueNorth = {
.type_name = "True North", /* full name of type */
.packet_type = NMEA_PACKET, /* associated lexer packet type */
.flags = DRIVER_NOFLAGS, /* no flags set */
.trigger = "$PTNTHTM", /* their proprietary sentence */
.channels = 0, /* not an actual GPS at all */
.probe_detect = NULL, /* no probe in run mode */
.get_packet = generic_get, /* how to get a packet */
.parse_packet = generic_parse_input, /* how to interpret a packet */
.rtcm_writer = NULL, /* Don't send */
.event_hook = tnt_event_hook, /* lifetime event handler */
#ifdef RECONFIGURE_ENABLE
.speed_switcher = tnt_speed, /* no speed switcher */
.mode_switcher = NULL, /* no mode switcher */
.rate_switcher = NULL, /* no wrapup */
.min_cycle = 0.5, /* fixed at 20 samples per second */
#endif /* RECONFIGURE_ENABLE */
#ifdef CONTROLSEND_ENABLE
.control_send = tnt_control_send, /* how to send control strings */
#endif /* CONTROLSEND_ENABLE */
#ifdef NTPSHM_ENABLE
.ntp_offset = NULL,
#endif /* NTPSHM_ ENABLE */
};
/* *INDENT-ON* */
#endif
#ifdef OCEANSERVER_ENABLE
/**************************************************************************
* OceanServer - Digital Compass, OS5000 Series
*
* More info: http://www.ocean-server.com/download/OS5000_Compass_Manual.pdf
*
* This is a digital compass which uses magnetometers to measure the
* strength of the earth's magnetic field. Based on these measurements
* it provides a compass heading using NMEA formatted output strings.
* This is useful to supplement the heading provided by another GPS
* unit. A GPS heading is unreliable at slow speed or no speed.
*
**************************************************************************/
static int oceanserver_send(int fd, const char *fmt, ...)
{
int status;
char buf[BUFSIZ];
va_list ap;
va_start(ap, fmt);
(void)vsnprintf(buf, sizeof(buf) - 5, fmt, ap);
va_end(ap);
(void)strlcat(buf, "", BUFSIZ);
status = (int)write(fd, buf, strlen(buf));
(void)tcdrain(fd);
if (status == (int)strlen(buf)) {
gpsd_report(LOG_IO, "=> GPS: %s\n", buf);
return status;
} else {
gpsd_report(LOG_WARN, "=> GPS: %s FAILED\n", buf);
return -1;
}
}
static void oceanserver_event_hook(struct gps_device_t *session,
event_t event)
{
if (session->context->readonly)
return;
if (event == event_configure && session->packet.counter == 0) {
/* report in NMEA format */
(void)oceanserver_send(session->gpsdata.gps_fd, "2\n");
/* ship all fields */
(void)oceanserver_send(session->gpsdata.gps_fd, "X2047");
}
}
/* *INDENT-OFF* */
static const struct gps_type_t oceanServer = {
.type_name = "OceanServer Digital Compass OS5000", /* full name of type */
.packet_type = NMEA_PACKET, /* associated lexer packet type */
.flags = DRIVER_NOFLAGS, /* no rollover or other flags */
.trigger = "$OHPR,", /* detect their main sentence */
.channels = 0, /* not an actual GPS at all */
.probe_detect = NULL,
.get_packet = generic_get, /* how to get a packet */
.parse_packet = generic_parse_input, /* how to interpret a packet */
.rtcm_writer = NULL, /* Don't send */
.event_hook = oceanserver_event_hook,
#ifdef RECONFIGURE_ENABLE
.speed_switcher = NULL, /* no speed switcher */
.mode_switcher = NULL, /* no mode switcher */
.rate_switcher = NULL, /* no wrapup */
.min_cycle = 1, /* not relevant, no rate switch */
#endif /* RECONFIGURE_ENABLE */
#ifdef CONTROLSEND_ENABLE
.control_send = nmea_write, /* how to send control strings */
#endif /* CONTROLSEND_ENABLE */
#ifdef NTPSHM_ENABLE
.ntp_offset = NULL,
#endif /* NTPSHM_ ENABLE */
};
/* *INDENT-ON* */
#endif
#ifdef FURY_ENABLE
/**************************************************************************
*
* Jackson Labs Fury, a high-precision laboratory clock
*
* Will also support other Jackon Labs boards, including the Firefly.
*
* Note: you must either build with fixed_port_speed=115200 or tweak the
* speed on the port to 115200 before running. The device's default mode
* does not stream output, so our hunt loop will simply time out otherwise.
*
**************************************************************************/
static bool fury_rate_switcher(struct gps_device_t *session, double rate)
{
char buf[78];
double inverted;
/* rate is a frequency, but the command takes interval in # of sedconds */
if (rate == 0.0)
inverted = 0.0;
else
inverted = 1.0/rate;
if (inverted > 256)
return false;
(void)snprintf(buf, sizeof(buf), "GPS:GPGGA %d\r\n", (int)inverted);
(void)gpsd_write(session, buf, strlen(buf));
return true;
}
static void fury_event_hook(struct gps_device_t *session, event_t event)
{
if (event == event_wakeup && gpsd_get_speed(&session->ttyset) == 115200)
(void)fury_rate_switcher(session, 1.0);
else if (event == event_deactivate)
(void)fury_rate_switcher(session, 0.0);
}
/* *INDENT-OFF* */
static const struct gps_type_t fury = {
.type_name = "Jackson Labs Fury", /* full name of type */
.packet_type = NMEA_PACKET, /* associated lexer packet type */
.flags = DRIVER_NOFLAGS, /* no rollover or other flags */
.trigger = NULL, /* detect their main sentence */
.channels = 0, /* not an actual GPS at all */
.probe_detect = NULL,
.get_packet = generic_get, /* how to get a packet */
.parse_packet = generic_parse_input, /* how to interpret a packet */
.rtcm_writer = NULL, /* Don't send */
.event_hook = fury_event_hook,
#ifdef RECONFIGURE_ENABLE
.speed_switcher = NULL, /* no speed switcher */
.mode_switcher = NULL, /* no mode switcher */
.rate_switcher = fury_rate_switcher,
.min_cycle = 1, /* has rate switch */
#endif /* RECONFIGURE_ENABLE */
#ifdef CONTROLSEND_ENABLE
.control_send = nmea_write, /* how to send control strings */
#endif /* CONTROLSEND_ENABLE */
#ifdef NTPSHM_ENABLE
.ntp_offset = NULL,
#endif /* NTPSHM_ ENABLE */
};
/* *INDENT-ON* */
#endif /* FURY_ENABLE */
#ifdef RTCM104V2_ENABLE
/**************************************************************************
*
* RTCM-104 (v2), used for broadcasting DGPS corrections and by DGPS radios
*
**************************************************************************/
static gps_mask_t rtcm104v2_analyze(struct gps_device_t *session)
{
rtcm2_unpack(&session->gpsdata.rtcm2, (char *)session->packet.isgps.buf);
/* extra guard prevents expensive hexdump calls */
if (session->context->debug >= LOG_RAW)
gpsd_report(LOG_RAW, "RTCM 2.x packet type 0x%02x length %d words from %zd bytes: %s\n",
session->gpsdata.rtcm2.type,
session->gpsdata.rtcm2.length + 2,
session->packet.isgps.buflen,
gpsd_hexdump((char *)session->packet.isgps.buf,
(session->gpsdata.rtcm2.length +
2) * sizeof(isgps30bits_t)));
session->cycle_end_reliable = true;
return RTCM2_SET;
}
/* *INDENT-OFF* */
static const struct gps_type_t rtcm104v2 = {
.type_name = "RTCM104V2", /* full name of type */
.packet_type = RTCM2_PACKET, /* associated lexer packet type */
.flags = DRIVER_NOFLAGS, /* no rollover or other flags */
.trigger = NULL, /* no recognition string */
.channels = 0, /* not used */
.probe_detect = NULL, /* no probe */
.get_packet = generic_get, /* how to get a packet */
.parse_packet = rtcm104v2_analyze, /* */
.rtcm_writer = NULL, /* don't send RTCM data, */
.event_hook = NULL, /* no event_hook */
#ifdef RECONFIGURE_ENABLE
.speed_switcher= NULL, /* no speed switcher */
.mode_switcher = NULL, /* no mode switcher */
.rate_switcher = NULL, /* no sample-rate switcher */
.min_cycle = 1, /* not relevant, no rate switch */
#endif /* RECONFIGURE_ENABLE */
#ifdef CONTROLSEND_ENABLE
.control_send = nmea_write, /* how to send control strings */
#endif /* CONTROLSEND_ENABLE */
#ifdef NTPSHM_ENABLE
.ntp_offset = NULL,
#endif /* NTPSHM_ ENABLE */
};
/* *INDENT-ON* */
#endif /* RTCM104V2_ENABLE */
#ifdef RTCM104V3_ENABLE
/**************************************************************************
*
* RTCM-104 (v3), used for broadcasting DGPS corrections and by DGPS radios
*
**************************************************************************/
static gps_mask_t rtcm104v3_analyze(struct gps_device_t *session)
{
uint16_t type = getbeu16(session->packet.inbuffer, 3) >> 4;
gpsd_report(LOG_RAW, "RTCM 3.x packet %d\n", type);
rtcm3_unpack(&session->gpsdata.rtcm3, (char *)session->packet.outbuffer);
session->cycle_end_reliable = true;