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driver_navcom.c
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/*
* Driver for Navcom receivers using propietary NCT messages, a binary protocol.
*
* Vendor website: http://www.navcomtech.com/
* Technical references: http://www.navcomtech.com/support/docs.cfm
*
* Tested with two SF-2040G models
*
* At this stage, this driver implements the following commands:
*
* 0x20: Data Request (tell the unit which responses you want)
* 0x3f: LED Configuration (controls the front panel LEDs -- for testing)
* 0x1c: Test Support Block (again, blinks the front panel lights)
*
* and it understands the following responses:
*
* 0x06: Acknowledgement (without error)
* 0x15: Negative Acknowledge
* 0x86: Channel Status
* 0xae: Identification Block
* 0xb0: Raw Meas. Data Block
* 0xb1: PVT Block
* 0xb5: Pseudorange Noise Statistics
* 0xd3: LBM DSP Status Block
* 0xef: Clock Drift and Offset
*
* By Diego Berge. Contact via web form at http://www.navlost.eu/contact
*
* Week counters are not limited to 10 bits. It's unknown what
* the firmware is doing to disambiguate them, if anything; it might just
* be adding a fixed offset based on a hidden epoch value, in which case
* unhappy things will occur on the next rollover.
*
* 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 <stdbool.h>
#include <string.h>
#include <math.h>
#include "gpsd.h"
#if defined(NAVCOM_ENABLE) && defined(BINARY_ENABLE)
#include "bits.h"
/* Have data which is 24 bits long */
#define getles3224(buf,off) (int32_t)(((uint32_t)getub((buf), (off)+2)<<24 | (uint32_t)getub((buf), (off)+1)<<16 | (uint32_t)getub((buf), (off))<<8)>>8)
#define getleu3224(buf,off) (uint32_t)(((uint32_t)getub((buf), (off)+2)<<24 | (uint32_t)getub((buf), (off)+1)<<16 | (uint32_t)getub((buf), (off))<<8)>>8)
/* And just to be difficult, Navcom is little endian but the GPS data stream
is big endian. Some messages contain raw GPS data */
#define getles16_be(buf, off) (int16_t)((((uint16_t)getub(buf, (off)) << 8) \
| (uint16_t)getub(buf, (off)+1)))
#define getleu16_be(buf, off) (uint16_t)((((uint16_t)getub(buf, (off)) << 8) \
| (uint16_t)getub(buf, (off)+1)))
#define getles32_be(buf, off) (int32_t)((((uint16_t)getleu16_be(buf, (off)) << 16) \
| getleu16_be(buf, (off)+2)))
#define getleu32_be(buf, off) (uint32_t)((((uint16_t)getleu16_be(buf, (off)) << 16) \
| getleu16_be(buf, (off)+2)))
#define getles64_be(buf, off) (int64_t)((((uint64_t)getleu32_be(buf, (off)) << 32) \
| getleu32_be(buf, (off)+4)))
#define getleu64_be(buf, off) (uint64_t)((((uint64_t)getleu32_be(buf, (off)) << 32) \
| getleu32_be(buf, (off)+4)))
#define getles3224_be(buf,off) (int32_t)(((uint32_t)getub((buf), (off))<<24 \
| (uint32_t)getub((buf), (off)+1)<<16 \
| (uint32_t)getub((buf), (off)+2)<<8)>>8)
#define NAVCOM_CHANNELS 12
static uint8_t checksum(unsigned char *buf, size_t len)
{
size_t n;
uint8_t csum = (uint8_t) 0x00;
for (n = 0; n < len; n++)
csum ^= buf[n];
return csum;
}
static bool navcom_send_cmd(struct gps_device_t *session, unsigned char *cmd,
size_t len)
{
return (gpsd_write(session, (const char *)cmd, len) == (ssize_t) len);
}
/* Data Request */
static void navcom_cmd_0x20(struct gps_device_t *session, uint8_t block_id,
uint16_t rate)
{
unsigned char msg[18];
putbyte(msg, 0, 0x02);
putbyte(msg, 1, 0x99);
putbyte(msg, 2, 0x66);
putbyte(msg, 3, 0x20); /* Cmd ID */
putle16(msg, 4, 0x000e); /* Length */
putbyte(msg, 6, 0x00); /* Action */
putbyte(msg, 7, 0x01); /* Count of blocks */
putbyte(msg, 8, block_id); /* Data Block ID */
putbyte(msg, 9, 0x02); /* Logical Ports */
putle16(msg, 10, rate); /* Data rate */
putbyte(msg, 12, 0x71);
putbyte(msg, 13, 0x00);
putle16(msg, 14, 0x0000);
putbyte(msg, 16, checksum(msg + 3, 13));
putbyte(msg, 17, 0x03);
(void)navcom_send_cmd(session, msg, 18);
gpsd_report(LOG_PROG,
"Navcom: sent command 0x20 (Data Request) "
"- data block id = %02x at rate %02x\n", block_id, rate);
}
/*@ unused @*/
/* Changes the LED settings in the receiver */
static void UNUSED navcom_cmd_0x3f(struct gps_device_t *session)
{
unsigned char msg[12];
putbyte(msg, 0, 0x02);
putbyte(msg, 1, 0x99);
putbyte(msg, 2, 0x66);
putbyte(msg, 3, 0x3f); /* Cmd ID */
putle16(msg, 4, 0x0008);
putbyte(msg, 6, 0x01); /* Action */
putbyte(msg, 7, 0x00); /* Reserved */
putbyte(msg, 8, 0x02); /* Link LED setting */
putbyte(msg, 9, 0x0a); /* Battery LED setting */
putbyte(msg, 10, checksum(msg + 3, 7));
putbyte(msg, 11, 0x03);
(void)navcom_send_cmd(session, msg, 12);
gpsd_report(LOG_PROG,
"Navcom: sent command 0x3f (LED Configuration Block)\n");
}
/* Test Support Block - Blinks the LEDs */
static void navcom_cmd_0x1c(struct gps_device_t *session, uint8_t mode,
uint8_t length)
{
unsigned char msg[12];
putbyte(msg, 0, 0x02);
putbyte(msg, 1, 0x99);
putbyte(msg, 2, 0x66);
putbyte(msg, 3, 0x1c); /* Cmd ID */
putle16(msg, 4, 0x0008);
putbyte(msg, 6, 0x04); /* Use ACK/NAK */
putbyte(msg, 7, mode); /* 0x01 or 0x02 */
putbyte(msg, 8, length); /* Only if mode == 0x01 */
putbyte(msg, 9, 0x00);
putbyte(msg, 10, checksum(msg + 3, 7));
putbyte(msg, 11, 0x03);
(void)navcom_send_cmd(session, msg, 12);
gpsd_report(LOG_PROG, "Navcom: sent command 0x1c (Test Support Block)\n");
gpsd_report(LOG_IO,
"Navcom: command 0x1c mode = %02x, length = %u\n",
mode, length);
}
#ifdef RECONFIGURE_ENABLE
/* Serial Port Configuration */
static void navcom_cmd_0x11(struct gps_device_t *session,
uint8_t port_selection)
{
/* NOTE - We only allow changing one port at a time,
* although the message supports doing both at once. */
unsigned char msg[12];
putbyte(msg, 0, 0x02);
putbyte(msg, 1, 0x99);
putbyte(msg, 2, 0x66);
putbyte(msg, 3, 0x11); /* Cmd ID */
putle16(msg, 4, 0x0008); /* Length */
putbyte(msg, 6, 0x04); /* Action - Use ACK/NAK) */
putbyte(msg, 7, port_selection);
putbyte(msg, 8, 0x00); /* Reserved */
putbyte(msg, 9, 0x00); /* Reserved */
putbyte(msg, 10, checksum(msg + 3, 7));
putbyte(msg, 11, 0x03);
(void)navcom_send_cmd(session, msg, 12);
gpsd_report(LOG_PROG,
"Navcom: sent command 0x11 (Serial Port Configuration)\n");
gpsd_report(LOG_IO,
"Navcom: serial port selection: 0x%02x\n", port_selection);
}
#endif /* RECONFIGURE_ENABLE */
static void navcom_event_hook(struct gps_device_t *session, event_t event)
{
if (session->context->readonly)
return;
/* Request the following messages: */
if (event == event_identified) {
/* NOTE - Channel Status allows us to know into which of the
* unit's various serial ports we are connected.
* Its value gets updated every time we receive a 0x06 (Ack)
* message. Note that if commands are being fed into the
* unit from more than one port (which is entirely possible
* although not necessarily a bright idea), there is a good
* chance that we might misidentify our port */
/*@ +charint @*/
navcom_cmd_0x1c(session, 0x02, 0); /* Test Support Block */
navcom_cmd_0x20(session, 0xae, 0x0000); /* Identification Block */
navcom_cmd_0x20(session, 0x86, 0x000a); /* Channel Status */
navcom_cmd_0x1c(session, 0x01, 5); /* Blink LEDs on receiver */
navcom_cmd_0x20(session, 0xae, 0x1770); /* Identification Block - send every 10 min */
navcom_cmd_0x20(session, 0xb1, 0x4000); /* PVT Block */
navcom_cmd_0x20(session, 0xb5, 0x00c8); /* Pseudorange Noise Statistics - send every 20s */
navcom_cmd_0x20(session, 0xb0, 0x4000); /* Raw Meas Data Block */
navcom_cmd_0x20(session, 0x81, 0x0000); /* Packed Ephemeris Data - send once */
navcom_cmd_0x20(session, 0x81, 0x4000); /* Packed Ephemeris Data */
navcom_cmd_0x20(session, 0x86, 0x4000); /* Channel Status */
navcom_cmd_0x20(session, 0x83, 0x4000); /* Ionosphere and UTC Data */
navcom_cmd_0x20(session, 0xef, 0x0bb8); /* Clock Drift - send every 5 min */
/*@ -charint @*/
}
}
/* Ionosphere and UTC Data */
static gps_mask_t handle_0x83(struct gps_device_t *session)
{
/* NOTE - At the present moment this is only being used
* for determining the GPS-UTC time difference,
* for which the iono data is not needed as far
* as we are concerned. However, I am still
* reporting it (if debuglevel >= LOG_IO) as a
* matter of interest */
/* 2^-30 */
#define SF_A0 (0.000000000931322574615478515625)
/* 2^-50 */
#define SF_A1 (0.000000000000000888178419700125)
/* 2^12 */
#define SF_TOT (4096)
/* 2^-30 */
#define SF_ALPHA0 (0.000000000931322574615478515625)
/* 2^-27 */
#define SF_ALPHA1 (0.000000007450580596923828125)
/* 2^-24 */
#define SF_ALPHA2 (0.000000059604644775390625)
/* 2^-24 */
#define SF_ALPHA3 (0.000000059604644775390625)
/* 2^11 */
#define SF_BETA0 (2048)
/* 2^14 */
#define SF_BETA1 (16384)
/* 2^16 */
#define SF_BETA2 (65536)
/* 2^16 */
#define SF_BETA3 (65536)
unsigned char *buf = session->packet.outbuffer + 3;
uint16_t week = getleu16(buf, 3);
uint32_t tow = getleu32(buf, 5);
int8_t alpha0 = getsb(buf, 9);
int8_t alpha1 = getsb(buf, 10);
int8_t alpha2 = getsb(buf, 11);
int8_t alpha3 = getsb(buf, 12);
int8_t beta0 = getsb(buf, 13);
int8_t beta1 = getsb(buf, 14);
int8_t beta2 = getsb(buf, 15);
int8_t beta3 = getsb(buf, 16);
int32_t a1 = getles32(buf, 17);
int32_t a0 = getles32(buf, 21);
uint8_t tot = getub(buf, 25);
uint8_t wnt = getub(buf, 26);
int8_t dtls = getsb(buf, 27);
uint8_t wnlsf = getub(buf, 28);
uint8_t dn = getub(buf, 29);
int8_t dtlsf = getsb(buf, 30);
/*@ +charint +relaxtypes @*/
/* Ref.: ICD-GPS-200C 20.3.3.5.2.4 */
if ((week % 256) * 604800 + tow / 1000.0 < wnlsf * 604800 + dn * 86400) {
/* Effectivity time is in the future, use dtls */
session->context->leap_seconds = (int)dtls;
} else {
/* Effectivity time is not in the future, use dtlsf */
session->context->leap_seconds = (int)dtlsf;
}
/*@ -relaxtypes -charint @*/
gpsd_report(LOG_PROG,
"Navcom: received packet type 0x83 (Ionosphere and UTC Data)\n");
gpsd_report(LOG_IO, "Navcom: Scaled parameters follow:\n");
gpsd_report(LOG_IO,
"Navcom: GPS Week: %u, GPS Time of Week: %u (GPS Time: %f)\n",
week, tow, week * 604800 + tow / 1000.0);
gpsd_report(LOG_IO,
"Navcom: a0: %12.4E, a1: %12.4E, a2: %12.4E, a3: %12.4E, "
"b0: %12.4E, b1: %12.4E, b2: %12.4E, b3: %12.4E\n",
(double)alpha0 * SF_ALPHA0, (double)alpha1 * SF_ALPHA1,
(double)alpha2 * SF_ALPHA2, (double)alpha3 * SF_ALPHA3,
(double)beta0 * SF_BETA0, (double)beta1 * SF_BETA1,
(double)beta2 * SF_BETA2, (double)beta3 * SF_BETA3);
gpsd_report(LOG_IO,
"Navcom: A0: %19.12E, A1: %19.12E\n", (double)a0 * SF_A0,
(double)a1 * SF_A1);
gpsd_report(LOG_IO,
"Navcom: UTC Ref. Time: %lu, UTC Ref. Week: %u, dTls: %d\n",
(unsigned long)tot * SF_TOT, wnt, dtls);
gpsd_report(LOG_IO,
"Navcom: Week of leap seconds: %u, Day number of leap seconds: %u, dTlsf: %d\n",
wnlsf, dn, dtlsf);
return 0; /* No flag for update of leap seconds (Not part of a fix) */
#undef SF_A0
#undef SF_A1
#undef SF_TOT
#undef SF_ALPHA0
#undef SF_ALPHA1
#undef SF_ALPHA2
#undef SF_ALPHA3
#undef SF_BETA0
#undef SF_BETA1
#undef SF_BETA2
#undef SF_BETA3
}
/* Acknowledgement (without error) */
static gps_mask_t handle_0x06(struct gps_device_t *session)
{
unsigned char *buf = session->packet.outbuffer + 3;
uint8_t cmd_id = getub(buf, 3);
uint8_t port = getub(buf, 4);
session->driver.navcom.physical_port = port; /* This tells us which serial port was used last */
gpsd_report(LOG_PROG,
"Navcom: received packet type 0x06 (Acknowledgement (without error))\n");
/*@ -type @*/
gpsd_report(LOG_IO,
"Navcom: acknowledged command id 0x%02x on port %c\n",
cmd_id, (port == 0 ? 'A' : (port == 1 ? 'B' : '?')));
/*@ +type @*/
return 0; /* Nothing updated */
}
/* Negative Acknowledge */
static gps_mask_t handle_0x15(struct gps_device_t *session)
{
size_t n;
unsigned char *buf = session->packet.outbuffer + 3;
size_t msg_len = (size_t) getleu16(buf, 1);
/*@ -type @*/
uint8_t port, cmd_id = getub(buf, 3);
gpsd_report(LOG_PROG,
"Navcom: received packet type 0x15 (Negative Acknowledge)\n");
for (n = 4; n < (msg_len - 2); n += 2) {
uint8_t err_id = getub(buf, n);
uint8_t err_desc = getub(buf, n + 1);
gpsd_report(LOG_IO,
"Navcom: error id = 0x%02x, error description = 0x%02x\n",
err_id, err_desc);
}
port = getub(buf, n);
gpsd_report(LOG_IO,
"Navcom: negative acknowledge was for command id 0x%02x on port %c\n",
cmd_id, (port == 0 ? 'A' : (port == 1 ? 'B' : '?')));
/*@ -type @*/
return 0; /* Nothing updated */
}
/* PVT Block */
static gps_mask_t handle_0xb1(struct gps_device_t *session)
{
gps_mask_t mask;
unsigned int n;
unsigned char *buf = session->packet.outbuffer + 3;
uint16_t week;
uint32_t tow;
uint32_t sats_used;
int32_t lat, lon;
/* Resolution of lat/lon values (2^-11) */
#define LL_RES (0.00048828125)
uint8_t lat_fraction, lon_fraction;
/* Resolution of lat/lon fractions (2^-15) */
#define LL_FRAC_RES (0.000030517578125)
uint8_t nav_mode;
int32_t ellips_height, altitude;
/* Resolution of height and altitude values (2.0^-10) */
#define EL_RES (0.0009765625)
double vel_north, vel_east, vel_up;
/* Resolution of velocity values (2.0^-10) */
#define VEL_RES (0.0009765625)
double track;
uint8_t fom, gdop, pdop, hdop, vdop, tdop, tfom;
double eph;
/* This value means "undefined" */
#define DOP_UNDEFINED (255)
int16_t ant_height_adj;
int32_t set_delta_up;
/* Resolution of delta north, east, and up,
* and ant. height adjustment values (1mm) */
#define D_RES (0.001)
#ifdef __UNUSED__
/* Other values provided by the PVT block which we
* may want to provide in the future. At the present
* moment, the gpsd protocol does not have a mechanism
* to make this available to the user */
uint8_t dgps_conf;
uint16_t max_dgps_age;
uint8_t ext_nav_mode;
int32_t set_delta_north, set_delta_east;
uint8_t nav_failure_code;
#endif /* __UNUSED__ */
/* Timestamp */
week = (uint16_t) getleu16(buf, 3);
tow = (uint32_t) getleu32(buf, 5);
session->newdata.time = gpsd_gpstime_resolve(session, week, tow / 1000.0);
/* Satellites used */
sats_used = (uint32_t) getleu32(buf, 9);
session->gpsdata.satellites_used = 0;
for (n = 0; n < 31; n++) {
if ((sats_used & (0x01 << n)) != 0)
session->gpsdata.used[session->gpsdata.satellites_used++] =
(int)(n + 1);
}
/* Get latitude, longitude */
lat = getles32(buf, 13);
lon = getles32(buf, 17);
lat_fraction = (uint8_t) (getub(buf, 21) >> 4);
lon_fraction = (uint8_t) (getub(buf, 21) & 0x0f);
session->newdata.latitude =
(double)(lat * LL_RES + lat_fraction * LL_FRAC_RES) / 3600;
session->newdata.longitude =
(double)(lon * LL_RES + lon_fraction * LL_FRAC_RES) / 3600;
/* Nav mode */
nav_mode = (uint8_t) getub(buf, 22);
if (-nav_mode & 0x80) {
session->gpsdata.status = STATUS_NO_FIX;
session->newdata.mode = MODE_NO_FIX;
} else {
session->newdata.mode = ((nav_mode & 0x40)!=0 ? MODE_3D : MODE_2D);
session->gpsdata.status =
((nav_mode & 0x03)!=0 ? STATUS_DGPS_FIX : STATUS_FIX);
}
/* Height Data */
ellips_height = getles32(buf, 23);
altitude = getles32(buf, 27);
ant_height_adj = getles16(buf, 51);
set_delta_up = getles32(buf, 79);
session->newdata.altitude = (double)(altitude * EL_RES)
+ (ant_height_adj * D_RES) + (set_delta_up * D_RES);
session->gpsdata.separation = (double)(ellips_height - altitude) * EL_RES
+ (ant_height_adj * D_RES) + (set_delta_up * D_RES);
/* Speed Data */
vel_north = (double)getles3224(buf, 31);
vel_east = (double)getles3224(buf, 34);
/* vel_up = getles3224(buf, 37); */
vel_up = (double)getles3224(buf, 37);
track = atan2(vel_east, vel_north);
if (track < 0)
track += 2 * GPS_PI;
session->newdata.track = track * RAD_2_DEG;
/*@ -evalorder @*/
session->newdata.speed =
sqrt(pow(vel_east, 2) + pow(vel_north, 2)) * VEL_RES;
/*@ +evalorder @*/
session->newdata.climb = vel_up * VEL_RES;
/* Quality indicators */
/*@ -type @*/
fom = getub(buf, 40);
gdop = getub(buf, 41);
pdop = getub(buf, 42);
hdop = getub(buf, 43);
vdop = getub(buf, 44);
tdop = getub(buf, 45);
tfom = getub(buf, 46);
/* Get two-sigma horizontal circular error estimate */
eph = fom / 100.0 * 1.96;
/* approximate epx and epy errors from it */
session->newdata.epx = session->newdata.epy = eph / sqrt(2);
session->newdata.ept = tfom * 1.96 /*Two sigma */ ;
if (gdop != DOP_UNDEFINED)
session->gpsdata.dop.gdop = gdop / 10.0;
if (pdop != DOP_UNDEFINED)
session->gpsdata.dop.pdop = pdop / 10.0;
if (hdop != DOP_UNDEFINED)
session->gpsdata.dop.hdop = hdop / 10.0;
if (vdop != DOP_UNDEFINED)
session->gpsdata.dop.vdop = vdop / 10.0;
if (tdop != DOP_UNDEFINED)
session->gpsdata.dop.tdop = tdop / 10.0;
gpsd_report(LOG_PROG, "Navcom: received packet type 0xb1 (PVT Report)\n");
gpsd_report(LOG_IO, "Navcom: navigation mode %s (0x%02x) - %s - %s\n",
((-nav_mode & 0x80)!='\0' ? "invalid" : "valid"), nav_mode,
((nav_mode & 0x40)!='\0' ? "3D" : "2D"),
((nav_mode & 0x03)!='\0' ? "DGPS" : "GPS"));
/*@ +type @*/
gpsd_report(LOG_IO,
"Navcom: latitude = %f, longitude = %f, altitude = %f, geoid = %f\n",
session->newdata.latitude, session->newdata.longitude,
session->newdata.altitude, session->gpsdata.separation);
gpsd_report(LOG_IO,
"Navcom: velocities: north = %f, east = %f, up = %f (track = %f, speed = %f)\n",
vel_north * VEL_RES, vel_east * VEL_RES, vel_up * VEL_RES,
session->newdata.track, session->newdata.speed);
#undef D_RES
#undef LL_RES
#undef LL_FRAC_RES
#undef EL_RES
#undef VEL_RES
#undef DOP_UNDEFINED
mask = LATLON_SET | ALTITUDE_SET | CLIMB_SET | SPEED_SET | TRACK_SET
| STATUS_SET | MODE_SET | USED_IS | HERR_SET | VERR_SET
| TIMERR_SET | DOP_SET
| TIME_SET | PPSTIME_IS;
gpsd_report(LOG_DATA, "PVT 0xb1: time=%.2f, lat=%.2f lon=%.2f alt=%.f "
"speed=%.2f track=%.2f climb=%.2f mode=%d status=%d "
"epx=%.2f epy=%.2f epv=%.2f "
"gdop=%.2f pdop=%.2f hdop=%.2f vdop=%.2f tdop=%.2f "
"mask={LATLON|ALTITUDE|CLIMB|SPEED|TRACK|TIME|STATUS|MODE|"
"USED|HERR|VERR|TIMERR|DOP}\n",
session->newdata.time,
session->newdata.latitude,
session->newdata.longitude,
session->newdata.altitude,
session->newdata.speed,
session->newdata.track,
session->newdata.climb,
session->newdata.mode,
session->gpsdata.status,
session->newdata.epx,
session->newdata.epy,
session->newdata.epv,
session->gpsdata.dop.gdop,
session->gpsdata.dop.pdop,
session->gpsdata.dop.hdop,
session->gpsdata.dop.vdop, session->gpsdata.dop.tdop);
return mask;
}
/* Packed Ephemeris Data */
static gps_mask_t handle_0x81(struct gps_device_t *session)
{
/* Scale factors for everything */
/* 2^-31 */
#define SF_TGD (.000000000465661287307739257812)
/* 2^4 */
#define SF_TOC (16)
/* 2^-55 */
#define SF_AF2 (.000000000000000027755575615628)
/* 2^-43 */
#define SF_AF1 (.000000000000113686837721616029)
/* 2^-31 */
#define SF_AF0 (.000000000465661287307739257812)
/* 2^-5 */
#define SF_CRS (.031250000000000000000000000000)
/* 2^-43 */
#define SF_DELTA_N (.000000000000113686837721616029)
/* 2^-31 */
#define SF_M0 (.000000000465661287307739257812)
/* 2^-29 */
#define SF_CUC (.000000001862645149230957031250)
/* 2^-33 */
#define SF_E (.000000000116415321826934814453)
/* 2^-29 */
#define SF_CUS (.000000001862645149230957031250)
/* 2^-19 */
#define SF_SQRT_A (.000001907348632812500000000000)
/* 2^4 */
#define SF_TOE (16)
/* 2^-29 */
#define SF_CIC (.000000001862645149230957031250)
/* 2^-31 */
#define SF_OMEGA0 (.000000000465661287307739257812)
/* 2^-29 */
#define SF_CIS (.000000001862645149230957031250)
/* 2^-31 */
#define SF_I0 (.000000000465661287307739257812)
/* 2^-5 */
#define SF_CRC (.031250000000000000000000000000)
/* 2^-31 */
#define SF_OMEGA (.000000000465661287307739257812)
/* 2^-43 */
#define SF_OMEGADOT (.000000000000113686837721616029)
/* 2^-43 */
#define SF_IDOT (.000000000000113686837721616029)
unsigned char *buf = session->packet.outbuffer + 3;
uint8_t prn = getub(buf, 3);
uint16_t week = getleu16(buf, 4);
uint32_t tow = getleu32(buf, 6);
uint16_t iodc = getleu16(buf, 10);
/* And now the fun starts... everything that follows is
* raw GPS data minus parity */
/* Subframe 1, words 3 to 10 minus parity */
uint16_t wn = (getleu16_be(buf, 12) & 0xffc0) >> 6;
uint8_t cl2 = (getub(buf, 13) & 0x30) >> 4;
uint8_t ura = getub(buf, 13) & 0x0f;
uint8_t svh = (getub(buf, 14) & 0xfc) >> 2;
/* We already have IODC from earlier in the message, so
* we do not decode again */
/* uint16_t iodc = (getub(buf, 14)&0x03)<<8;*/
uint8_t l2pd = (getub(buf, 15) & 0x80) >> 7;
int8_t tgd = getsb(buf, 26);
/* iodc |= getub(buf, 27);*/
uint16_t toc = getleu16_be(buf, 28);
int8_t af2 = getsb(buf, 30);
int16_t af1 = getles16_be(buf, 31);
/*@ -shiftimplementation @*/
int32_t af0 = getles3224_be(buf, 33) >> 2;
/*@ +shiftimplementation @*/
/* Subframe 2, words 3 to 10 minus parity */
uint8_t iode = getub(buf, 36);
int16_t crs = getles16_be(buf, 37);
int16_t delta_n = getles16_be(buf, 39);
int32_t m0 = getles32_be(buf, 41);
int16_t cuc = getles16_be(buf, 45);
uint32_t e = getleu32_be(buf, 47);
int16_t cus = getles16_be(buf, 51);
uint32_t sqrt_a = getleu32_be(buf, 53);
uint16_t toe = getleu16_be(buf, 57);
/* NOTE - Fit interval & AODO not collected */
/* Subframe 3, words 3 to 10 minus parity */
int16_t cic = getles16_be(buf, 60);
int32_t Omega0 = getles32_be(buf, 62);
int16_t cis = getles16_be(buf, 66);
int32_t i0 = getles32_be(buf, 68);
int16_t crc = getles16_be(buf, 72);
int32_t omega = getles32_be(buf, 74);
int32_t Omegadot = getles3224_be(buf, 78);
/*@ -predboolothers @*/
/* Question: What is the proper way of shifting a signed int 2 bits to
* the right, preserving sign? Answer: integer division by 4. */
int16_t idot =
(int16_t) (((getles16_be(buf, 82) & 0xfffc) /
4) | (getub(buf, 82) & 80 ? 0xc000 : 0x0000));
/*@ +predboolothers @*/
session->context->gps_week = (unsigned short)wn;
session->context->gps_tow = (double)(toc * SF_TOC);
/* leap second? */
gpsd_report(LOG_PROG,
"Navcom: received packet type 0x81 (Packed Ephemeris Data)\n");
gpsd_report(LOG_IO,
"Navcom: PRN: %u, Week: %u, TOW: %.3f SV clock bias/drift/drift rate: %#19.12E/%#19.12E/%#19.12E\n",
prn,
session->context->gps_week,
session->context->gps_tow,
((double)af0) * SF_AF0,
((double)af1) * SF_AF1, ((double)af2) * SF_AF2);
gpsd_report(LOG_IO,
"Navcom: IODE (!AODE): %u Crs: %19.12e, Delta n: %19.12e, M0: %19.12e\n",
iode, (double)crs * SF_CRS,
(double)delta_n * SF_DELTA_N * GPS_PI,
(double)m0 * SF_M0 * GPS_PI);
gpsd_report(LOG_IO,
"Navcom: Cuc: %19.12e, Eccentricity: %19.12e, Cus: %19.12e, A^1/2: %19.12e\n",
(double)cuc * SF_CUC, (double)e * SF_E, (double)cus * SF_CUS,
(double)sqrt_a * SF_SQRT_A);
gpsd_report(LOG_IO,
"Navcom: TOE: %u, Cic: %19.12e, Omega %19.12e, Cis: %19.12e\n",
toe * SF_TOE, (double)cic * SF_CIC,
(double)Omega0 * SF_OMEGA0 * GPS_PI, (double)cis * SF_CIS);
gpsd_report(LOG_IO,
"Navcom: i0: %19.12e, Crc: %19.12e, omega: %19.12e, Omega dot: %19.12e\n",
(double)i0 * SF_I0 * GPS_PI, (double)crc * SF_CRC,
(double)omega * SF_OMEGA * GPS_PI,
(double)Omegadot * SF_OMEGADOT * GPS_PI);
gpsd_report(LOG_IO,
"Navcom: IDOT: %19.12e, Codes on L2: 0x%x, GPS Week: %u, L2 P data flag: %x\n",
(double)idot * SF_IDOT * GPS_PI, cl2,
week - (week % 1024) + wn, l2pd);
gpsd_report(LOG_IO,
"Navcom: SV accuracy: 0x%x, SV health: 0x%x, TGD: %f, IODC (!AODC): %u\n",
ura, svh, (double)tgd * SF_TGD, iodc);
gpsd_report(LOG_IO, "Navcom: Transmission time: %u\n", tow);
#undef SF_TGD
#undef SF_TOC
#undef SF_AF2
#undef SF_AF1
#undef SF_AF0
#undef SF_CRS
#undef SF_DELTA_N
#undef SF_M0
#undef SF_CUC
#undef SF_E
#undef SF_CUS
#undef SF_SQRT_A
#undef SF_TOE
#undef SF_CIC
#undef SF_OMEGA0
#undef SF_CIS
#undef SF_I0
#undef SF_CRC
#undef SF_OMEGA
#undef SF_OMEGADOT
#undef SF_IDOT
return 0;
}
/* Channel Status */
static gps_mask_t handle_0x86(struct gps_device_t *session)
{
size_t n, i;
uint8_t prn, ele, ca_snr, p2_snr, log_channel, hw_channel, s;
uint16_t azm, dgps_age;
unsigned char *buf = session->packet.outbuffer + 3;
size_t msg_len = (size_t) getleu16(buf, 1);
uint16_t week = getleu16(buf, 3);
uint32_t tow = getleu32(buf, 5);
uint8_t eng_status = getub(buf, 9);
uint16_t sol_status = getleu16(buf, 10);
uint8_t sats_visible = getub(buf, 12);
//uint8_t sats_tracked = getub(buf, 13);
uint8_t sats_used = getub(buf, 14);
//uint8_t pdop = getub(buf, 15);
/* Timestamp */
session->gpsdata.skyview_time = gpsd_gpstime_resolve(session,
(unsigned short)week,
(double)tow / 1000.0f);
/* Give this driver a single point of truth about DOPs */
//session->gpsdata.dop.pdop = (int)pdop / 10.0;
/* Satellite count */
session->gpsdata.satellites_visible = (int)sats_visible;
session->gpsdata.satellites_used = (int)sats_used;
/* Fix mode */
switch (sol_status & 0x05) {
case 0x05:
session->gpsdata.status = STATUS_DGPS_FIX;
break;
case 0x01:
session->gpsdata.status = STATUS_FIX;
break;
default:
session->gpsdata.status = STATUS_NO_FIX;
}
/*@ -predboolothers @*/
gpsd_report(LOG_IO,
"Navcom: engine status = 0x%x, almanac = %s, time = 0x%x, pos = 0x%x\n",
eng_status & 0x07, (eng_status & 0x08 ? "valid" : "invalid"),
eng_status & 0x30 >> 4, eng_status & 0xc0 >> 6);
/*@ +predboolothers @*/
/* Satellite details */
i = 0;
for (n = 17; n < msg_len; n += 14) {
if (i >= MAXCHANNELS) {
gpsd_report(LOG_ERROR,
"Navcom: packet type 0x86: too many satellites!\n");
gpsd_zero_satellites(&session->gpsdata);
return 0;
}
prn = getub(buf, n);
/* tracking_status = getub(buf, n + 1); */
log_channel = getub(buf, n + 2);
ele = getub(buf, n + 5);
azm = getleu16(buf, n + 6);
ca_snr = getub(buf, n + 8);
p2_snr = getub(buf, n + 10);
dgps_age = getleu16(buf, n + 11);
hw_channel = getub(buf, n + 13);
s = (unsigned char)0;
/*@ -predboolothers +charint @*/
/* NOTE - In theory, I think one would check for hw channel number to
* see if one is dealing with a GPS or other satellite, but the
* channel numbers reported bear no resemblance to what the spec
* says should be. So I check for the fact that if all three
* values below are zero, one is not interested on this satellite */
if (!(ele == 0 && azm == 0 && dgps_age == 0)) {
session->gpsdata.PRN[i] = (int)prn;
session->gpsdata.elevation[i] = (int)ele;
session->gpsdata.azimuth[i] = (int)azm;
/*@ ignore @*//* splint is confused */
s = session->gpsdata.ss[i++] = (p2_snr ? p2_snr : ca_snr) / 4.0;
/*@ end @*/
}
gpsd_report(LOG_IO,
"Navcom: prn = %3u, ele = %02u, azm = %03u, snr = %d (%s), "
"dgps age = %.1fs, log ch = %d, hw ch = 0x%02x\n",
prn, ele, azm, s, (p2_snr ? "P2" : "C/A"),
(double)dgps_age * 0.1, log_channel & 0x3f, hw_channel);
gpsd_report(LOG_IO,
"Navcom: sol. valid = %c, clock = %s, pos. = %s, "
"height = %s, err. code = 0x%x\n",
(sol_status & 0x01 ? 'Y' : 'N'),
(sol_status & 0x02 ? "stable" : "unstable"),
(sol_status & 0x04 ? "dgps" : "unaided"),
(sol_status & 0x08 ? "solved" : "constrained"),
(sol_status & 0x01 ? 0x00 : sol_status & 0x0f00 >> 8));
/*@ +predboolothers -charint @*/
}
gpsd_report(LOG_DATA,
"CS 0x86: visible=%d, used=%d, mask={SATELLITE|STATUS}\n",
session->gpsdata.satellites_visible,
session->gpsdata.satellites_used);
return SATELLITE_SET | STATUS_SET;
}
/* Raw Meas. Data Block */
static gps_mask_t handle_0xb0(struct gps_device_t *session)
{
/* L1 wavelength (299792458m/s / 1575420000Hz) */
#define LAMBDA_L1 (.190293672798364880476317426464)
size_t n;
unsigned char *buf = session->packet.outbuffer + 3;
size_t msg_len = (size_t) getleu16(buf, 1);
uint16_t week = getleu16(buf, 3);
uint32_t tow = getleu32(buf, 5);
uint8_t tm_slew_acc = getub(buf, 9);
uint8_t status = getub(buf, 10);
session->context->gps_week = (unsigned short)week;
session->context->gps_tow = (double)tow / 1000.0;
gpsd_report(LOG_PROG,
"Navcom: received packet type 0xb0 (Raw Meas. Data Block)\n");
/*@ -predboolothers @*/
gpsd_report(LOG_IO,
"Navcom: week = %u, tow = %.3f, time slew accumulator = %u (1/1023mS), status = 0x%02x "
"(%sclock %s - %u blocks follow)\n",
session->context->gps_week,
session->context->gps_tow,
tm_slew_acc, status,
(status & 0x80 ? "channel time set - " : ""),
(status & 0x40 ? "stable" : "not stable"), status & 0x0f);
/*@ +predboolothers @*/
for (n = 11; n < msg_len - 1; n += 16) {
uint8_t sv_status = getub(buf, n);
uint8_t ch_status = getub(buf, n + 1);
uint32_t ca_pseudorange = getleu32(buf, n + 2);
/* integer division by 16 is a sign-preserving right shift of 4 bits */
int32_t l1_phase = getles3224(buf, n + 6) / 16;
uint8_t l1_slips = (uint8_t) (getles3224(buf, n + 6) & 0x0f);
int16_t p1_ca_pseudorange = getles16(buf, n + 9);
int16_t p2_ca_pseudorange = getles16(buf, n + 11);
int32_t l2_phase = getles3224(buf, n + 13) / 16;
uint8_t l2_slips = (uint8_t) (getles3224(buf, n + 13) & 0x0f);
/*@ -predboolothers +charint @*/
double c1 =
(sv_status & 0x80 ? (double)ca_pseudorange / 16.0 *
LAMBDA_L1 : NAN);
double l1 =
(sv_status & 0x80 ? (double)ca_pseudorange / 16.0 +
(double)l1_phase / 256.0 : NAN);
double l2 =
(sv_status & 0x20
? ((double)ca_pseudorange / 16.0 +
(double)p2_ca_pseudorange / 16.0) * (120.0 / 154.0)
+ (double)l2_phase / 256.0 : NAN);
double p1 =
(sv_status & 0x40 ? c1 +
(double)p1_ca_pseudorange / 16.0 * LAMBDA_L1 : NAN);
double p2 =
(sv_status & 0x20 ? c1 +
(double)p2_ca_pseudorange / 16.0 * LAMBDA_L1 : NAN);
gpsd_report(LOG_IO + 1,
"Navcom: >> sv status = 0x%02x (PRN %u - C/A & L1 %s - P1 %s - P2 & L2 %s)\n",
sv_status, (sv_status & 0x1f),
(sv_status & 0x80 ? "valid" : "invalid"),
(sv_status & 0x40 ? "valid" : "invalid"),
(sv_status & 0x20 ? "valid" : "invalid"));
gpsd_report(LOG_IO + 1,
"Navcom: >>> ch status = 0x%02x (Logical channel: %u - CA C/No: %u dBHz) "
"sL1: %u, sL2: %u\n", ch_status, ch_status & 0x0f,
((ch_status & 0xf0) >> 4) + 35, l1_slips, l2_slips);
gpsd_report(LOG_IO + 1,
"Navcom: >>> C1: %14.3f, L1: %14.3f, L2: %14.3f, P1: %14.3f, P2: %14.3f\n",
c1, l1, l2, p1, p2);
/*@ +predboolothers -charint @*/
}
#undef LAMBDA_L1
return 0; /* Raw measurements not yet implemented in gpsd */
}
/* Pseudorange Noise Statistics */
static gps_mask_t handle_0xb5(struct gps_device_t *session)
{
if (sizeof(double) == 8) {
gps_mask_t mask = TIME_SET;
union long_double l_d;
unsigned char *buf = session->packet.outbuffer + 3;
uint16_t week = getleu16(buf, 3);
uint32_t tow = getleu32(buf, 5);
double rms = getled(buf, 9);
#ifdef __UNUSED__
/* Reason why it's unused is these figures do not agree
* with those obtained from the PVT report (handle_0xb1).
* The figures from 0xb1 do agree with the values reported
* by Navcom's PC utility */
double ellips_maj = getled(buf, 17);
double ellips_min = getled(buf, 25);
double ellips_azm = getled(buf, 33);
double lat_sd = getled(buf, 41);
double lon_sd = getled(buf, 49);
double alt_sd = getled(buf, 57);
double hrms = sqrt(pow(lat_sd, 2) + pow(lon_sd, 2));
#endif /* __UNUSED__ */
session->gpsdata.epe = rms * 1.96;
mask |= PERR_IS;
#ifdef __UNUSED__
session->newdata.eph = hrms * 1.96;
session->newdata.epv = alt_sd * 1.96;
mask |= (HERR_SET | VERR_SET);
#endif /* __UNUSED__ */
session->newdata.time = gpsd_gpstime_resolve(session,
(unsigned short)week,
(double)tow / 1000.0f);
gpsd_report(LOG_PROG,
"Navcom: received packet type 0xb5 (Pseudorange Noise Statistics)\n");
gpsd_report(LOG_IO, "Navcom: epe = %f\n", session->gpsdata.epe);
return mask;
} else {
/* Ignore this message block */
if (!session->driver.navcom.warned) {
gpsd_report(LOG_WARN,
"Navcom: received packet type 0xb5 (Pseudorange Noise Statistics) ignored "
" - sizeof(double) == 64 bits required\n");
session->driver.navcom.warned = true;
}
return 0; /* Block ignored - wrong sizeof(double) */
}
}
/* LBM DSP Status Block */
static gps_mask_t handle_0xd3(struct gps_device_t *session UNUSED)
{
/* This block contains status information about the
* unit's L-band (Inmarsat) module. There is nothing
* interesting in it for our purposes so we do not deal
* with it. This callback is purely to a) stop
* "unrecognised packet" messages appearing in the log
* and b) explain what it is for the curious */
return 0; /* Nothing updated */
}
/* Identification Block */
static gps_mask_t handle_0xae(struct gps_device_t *session)
{
/*@-modobserver@*/
char *engconfstr, *asicstr;
unsigned char *buf = session->packet.outbuffer + 3;
size_t msg_len = (size_t) getleu16(buf, 1);
uint8_t engconf = getub(buf, 3);
uint8_t asic = getub(buf, 4);
uint8_t swvermaj = getub(buf, 5);
uint8_t swvermin = getub(buf, 6);
uint16_t dcser = getleu16(buf, 7);
uint8_t dcclass = getub(buf, 9);
uint16_t rfcser = getleu16(buf, 10);
uint8_t rfcclass = getub(buf, 12);
/*@ -stringliteralnoroomfinalnull -type @*/
uint8_t softtm[17] = "\0\0\0\0\0\0\0\0\0\0\0\0\0\0\0\0\0";
uint8_t bootstr[17] = "\0\0\0\0\0\0\0\0\0\0\0\0\0\0\0\0\0";
uint8_t ioptm[17] = "\0\0\0\0\0\0\0\0\0\0\0\0\0\0\0\0\0";
/*@ +stringliteralnoroomfinalnull +type @*/
uint8_t iopvermaj = (uint8_t) 0x00;
uint8_t iopvermin = (uint8_t) 0x00;
uint8_t picver = (uint8_t) 0x00;
uint8_t slsbn = (uint8_t) 0x00;
uint8_t iopsbn = (uint8_t) 0x00;
memcpy(softtm, &buf[13], 16);
memcpy(bootstr, &buf[29], 16);
if (msg_len == 0x0037) { /* No IOP */
slsbn = getub(buf, 53);
} else { /* IOP Present */
iopvermaj = getub(buf, 53);
iopvermin = getub(buf, 54);
memcpy(ioptm, &buf[55], 16);
picver = getub(buf, 71);
slsbn = getub(buf, 72);
iopsbn = getub(buf, 73);
}
switch (engconf) {
case 0x00:
engconfstr = "Unknown/Undefined";
break;
case 0x01:
engconfstr = "NCT 2000 S";
break;
case 0x02:
engconfstr = "NCT 2000 D";
break;
case 0x03:
engconfstr = "Startfire Single";
break;
case 0x04:
engconfstr = "Starfire Dual";
break;
case 0x05: