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driver_sirf.c
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/*
* This is the gpsd driver for SiRF GPSes operating in binary mode.
* It also handles uBlox, a SiRF derivative.
*
* The advantage: Reports climb/sink rate (raw-mode clients won't see this).
* The disadvantages: Doesn't return PDOP or VDOP, just HDOP.
*
* Chris Kuethe, our SiRF expert, tells us:
*
* "I don't see any indication in any of my material that PDOP, GDOP
* or VDOP are output. There are quantities called Estimated
* {Horizontal Position, Vertical Position, Time, Horizonal Velocity}
* Error, but those are apparently only valid when SiRFDRive is
* active."
*
* "(SiRFdrive is their Dead Reckoning augmented firmware. It
* allows you to feed odometer ticks, gyro and possibly
* accelerometer inputs to the chip to allow it to continue
* to navigate in the absence of satellite information, and
* to improve fixes when you do have satellites.)"
*
* "[When we need RINEX data, we can get it from] SiRF Message #5.
* If it's no longer implemented on your receiver, messages
* 7, 28, 29 and 30 will give you the same information."
*
* 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 <strings.h>
#include <math.h>
#include <ctype.h>
#include <termios.h>
#ifndef S_SPLINT_S
#include <unistd.h>
#endif /* S_SPLINT_S */
#include "gpsd.h"
#include "bits.h"
#if defined(SIRF_ENABLE) && defined(BINARY_ENABLE)
#define HI(n) ((n) >> 8)
#define LO(n) ((n) & 0xff)
#ifdef RECONFIGURE_ENABLE
/*@ +charint @*/
/* message to enable:
* MID 7 Clock Status
* MID 8 50Bps subframe data
* MID 17 Differential Corrections
* MID 28 Nav Lib Measurement Data
* MID 29 Nav Lib DGPS Data
* MID 30 Nav Lib SV State Data
* MID 31 Nav Lib Initialization data
* at 1Hz rate */
static unsigned char enablesubframe[] = {
0xa0, 0xa2, 0x00, 0x19,
0x80, /* MID 128 initialize Data Source */
0x00, 0x00, 0x00, 0x00, /* EXEF X */
0x00, 0x00, 0x00, 0x00, /* ECEF Y */
0x00, 0x00, 0x00, 0x00, /* ECEF Z */
0x00, 0x00, 0x00, 0x00, /* clock drift */
0x00, 0x00, 0x00, 0x00, /* time of week */
0x00, 0x00, /* week number */
0x0C, /* Chans 1-12 */
/* change the next 0x10 to 0x08
* for factory reset */
0x10,
0x00, 0x00, 0xb0, 0xb3
};
static unsigned char disablesubframe[] = {
0xa0, 0xa2, 0x00, 0x19,
0x80, /* MID 128 initialize Data Source */
0x00, 0x00, 0x00, 0x00, /* EXEF X */
0x00, 0x00, 0x00, 0x00, /* ECEF Y */
0x00, 0x00, 0x00, 0x00, /* ECEF Z */
0x00, 0x00, 0x00, 0x00, /* clock drift */
0x00, 0x00, 0x00, 0x00, /* time of week */
0x00, 0x00, /* week number */
0x0C, /* Chans 1-12 */
0x00,
0x00, 0x00, 0xb0, 0xb3
};
static unsigned char modecontrol[] = {
0xa0, 0xa2, 0x00, 0x0e,
0x88, /* MID 136 Mode Control */
0x00, 0x00, /* pad bytes */
0x00, /* degraded mode off */
0x00, 0x00, /* pad bytes */
0x00, 0x00, /* altitude */
0x00, /* altitude hold auto */
0x00, /* use last computed alt */
0x00, /* reserved */
0x00, /* disable degraded mode */
0x00, /* disable dead reckoning */
0x01, /* enable track smoothing */
0x00, 0x00, 0xb0, 0xb3
};
/* enable 1 PPS Time MID 52 *
* using Set Message Rate MID 166 */
static unsigned char enablemid52[] = {
0xa0, 0xa2, 0x00, 0x08,
0xa6, /* MID 166 */
0x00, /* enable/disable one message */
0x34, /* MID 52 */
0x01, /* sent once per second */
0x00, 0x00, 0x00, 0x00, /* unused, set to zero */
0x00, 0xdb, 0xb0, 0xb3
};
/*@ -charint @*/
#endif /* RECONFIGURE_ENABLE */
static gps_mask_t sirf_msg_debug(unsigned char *, size_t);
static gps_mask_t sirf_msg_errors(unsigned char *, size_t);
static gps_mask_t sirf_msg_navdata(struct gps_device_t *, unsigned char *,
size_t);
static gps_mask_t sirf_msg_navsol(struct gps_device_t *, unsigned char *,
size_t);
static gps_mask_t sirf_msg_nlmd(struct gps_device_t *, unsigned char *,
size_t);
static gps_mask_t sirf_msg_ppstime(struct gps_device_t *, unsigned char *,
size_t);
static gps_mask_t sirf_msg_svinfo(struct gps_device_t *, unsigned char *,
size_t);
static gps_mask_t sirf_msg_swversion(struct gps_device_t *, unsigned char *,
size_t);
static gps_mask_t sirf_msg_sysparam(struct gps_device_t *, unsigned char *,
size_t);
static gps_mask_t sirf_msg_ublox(struct gps_device_t *, unsigned char *,
size_t);
static bool sirf_write(struct gps_device_t *session, unsigned char *msg)
{
unsigned int crc;
size_t i, len;
bool ok;
len = (size_t) ((msg[2] << 8) | msg[3]);
/* calculate CRC */
crc = 0;
for (i = 0; i < len; i++)
crc += (int)msg[4 + i];
crc &= 0x7fff;
/* enter CRC after payload */
msg[len + 4] = (unsigned char)((crc & 0xff00) >> 8);
msg[len + 5] = (unsigned char)(crc & 0x00ff);
gpsd_report(LOG_IO, "SiRF: Writing control type %02x:\n", msg[4]);
ok = (gpsd_write(session, (const char *)msg, len+8) == (ssize_t) (len+8));
return (ok);
}
#ifdef CONTROLSEND_ENABLE
static ssize_t sirf_control_send(struct gps_device_t *session, char *msg,
size_t len)
{
/*@ +charint +matchanyintegral -initallelements -mayaliasunique @*/
session->msgbuf[0] = (char)0xa0;
session->msgbuf[1] = (char)0xa2;
session->msgbuf[2] = (len >> 8) & 0xff;
session->msgbuf[3] = len & 0xff;
memcpy(session->msgbuf + 4, msg, len);
session->msgbuf[len + 6] = (char)0xb0;
session->msgbuf[len + 7] = (char)0xb3;
session->msgbuflen = len + 8;
/* *INDENT-OFF* */
return sirf_write(session,
(unsigned char *)session->msgbuf) ? (int)session->msgbuflen : -1;
/* *INDENT-ON* */
/*@ -charint -matchanyintegral +initallelements +mayaliasunique @*/
}
#endif /* CONTROLSEND_ENABLE */
#ifdef RECONFIGURE_ENABLE
static bool sirfbin_speed(struct gps_device_t *session, speed_t speed, char parity, int stopbits)
/* change speed in binary mode */
{
/*@ +charint @*/
static unsigned char msg[] = {
0xa0, 0xa2, 0x00, 0x09,
0x86, /* byte 4:
* Set Binary Serial Port
* MID 134 */
0x00, 0x00, 0x12, 0xc0, /* bytes 5-8: 4800 bps */
0x08, /* byte 9: 8 data bits */
0x01, /* byte 10: 1 stop bit */
0x00, /* byte 11: no parity */
0x00, /* byte 12: reserved pad */
0x00, 0x00, 0xb0, 0xb3
};
/*@ -charint @*/
gpsd_report(LOG_PROG, "SiRF: sirf_speed(%d,%c,%d)\n",
speed, parity, stopbits);
if (9600 >= speed) {
gpsd_report(LOG_WARN, "SiRF may lag at 9600bps or less.\n");
}
switch (parity) {
case 'E':
case 2:
parity = (char)2;
break;
case 'O':
case 1:
parity = (char)1;
break;
case 'N':
case 0:
default:
parity = (char)0;
break;
}
msg[7] = (unsigned char)HI(speed);
msg[8] = (unsigned char)LO(speed);
msg[10] = (unsigned char)stopbits;
msg[11] = (unsigned char)parity;
return (sirf_write(session, msg));
}
static bool sirf_to_nmea(struct gps_device_t *session, speed_t speed)
/* switch from binary to NMEA at specified baud */
{
/*@ +charint @*/
static unsigned char msg[] = { 0xa0, 0xa2, 0x00, 0x18,
0x81, 0x02,
0x01, 0x01, /* GGA */
0x00, 0x00, /* suppress GLL */
0x01, 0x01, /* GSA */
0x05, 0x01, /* GSV */
0x01, 0x01, /* RMC */
0x00, 0x00, /* suppress VTG */
0x00, 0x01, /* suppress MSS */
0x00, 0x01, /* suppress EPE */
0x00, 0x01, /* suppress EPE */
0x00, 0x01, /* suppress ZDA */
0x00, 0x00, /* unused */
0x12, 0xc0, /* 4800 bps */
0xb0, 0xb3
};
/*@ -charint @*/
msg[26] = (unsigned char)HI(speed);
msg[27] = (unsigned char)LO(speed);
return (sirf_write(session, msg));
}
static void sirfbin_mode(struct gps_device_t *session, int mode)
{
char parity = '0';
if (mode == MODE_NMEA) {
(void)sirf_to_nmea(session, session->gpsdata.dev.baudrate);
} else if (mode == MODE_BINARY) {
switch (session->gpsdata.dev.parity) {
default:
case 'N':
parity = '0';
break;
case 'O':
parity = '1';
break;
case 'E':
parity = '2';
break;
}
// gpsd only supports 8[NO]1 or 7[EO]2
// thus the strange use of stopbits
(void)nmea_send(session,
"$PSRF100,0,%d,%d,%d,%c",
session->gpsdata.dev.baudrate,
9 - session->gpsdata.dev.stopbits,
session->gpsdata.dev.stopbits, parity);
(void)usleep(333); /* guessed settling time */
session->gpsdata.dev.driver_mode = MODE_BINARY;
}
session->back_to_nmea = false;
}
#endif /* RECONFIGURE_ENABLE */
static ssize_t sirf_get(struct gps_device_t *session)
{
ssize_t len = generic_get(session);
if (session->packet.type == SIRF_PACKET) {
session->gpsdata.dev.driver_mode = MODE_BINARY;
} else if (session->packet.type == NMEA_PACKET) {
session->gpsdata.dev.driver_mode = MODE_NMEA;
(void)gpsd_switch_driver(session, "Generic NMEA");
} else {
/* should never happen */
gpsd_report(LOG_PROG, "SiRF: Unexpected packet type %d\n",
session->packet.type);
(void)gpsd_switch_driver(session, "Generic NMEA");
}
return len;
}
static gps_mask_t sirf_msg_debug(unsigned char *buf, size_t len)
{
char msgbuf[MAX_PACKET_LENGTH * 3 + 2];
int i;
bzero(msgbuf, (int)sizeof(msgbuf));
/*@ +charint @*/
if (0xe1 == buf[0]) { /* Development statistics messages */
for (i = 2; i < (int)len; i++)
(void)snprintf(msgbuf + strlen(msgbuf),
sizeof(msgbuf) - strlen(msgbuf),
"%c", buf[i] ^ 0xff);
gpsd_report(LOG_PROG, "SiRF: DEV 0xe1: %s\n", msgbuf);
} else if (0xff == (unsigned char)buf[0]) { /* Debug messages */
for (i = 1; i < (int)len; i++)
if (isprint(buf[i]))
(void)snprintf(msgbuf + strlen(msgbuf),
sizeof(msgbuf) - strlen(msgbuf), "%c", buf[i]);
else
(void)snprintf(msgbuf + strlen(msgbuf),
sizeof(msgbuf) - strlen(msgbuf),
"\\x%02x", (unsigned int)buf[i]);
gpsd_report(LOG_PROG, "SiRF: DBG 0xff: %s\n", msgbuf);
}
/*@ -charint @*/
return 0;
}
static gps_mask_t sirf_msg_errors(unsigned char *buf, size_t len UNUSED)
{
switch (getbeu16(buf, 1)) {
case 2:
gpsd_report(LOG_PROG,
"SiRF: EID 0x0a type 2: Subframe %u error on PRN %u\n",
getbeu32(buf, 9), getbeu32(buf, 5));
break;
case 4107:
gpsd_report(LOG_PROG,
"SiRF: EID 0x0a type 4107: neither KF nor LSQ fix.\n");
break;
default:
gpsd_report(LOG_PROG, "SiRF: EID 0x0a: Error MID %d\n",
getbeu16(buf, 1));
break;
}
return 0;
}
/* Navigation Library Measurement Data MID 28 */
static gps_mask_t sirf_msg_nlmd(struct gps_device_t *session UNUSED,
unsigned char *buf UNUSED, size_t len)
{
double gps_tow = 0.0;
if (len != 56)
return 0;
/* oh barf, SiRF claims to be IEEE754 but supports two
* different double orders, neither IEEE754 */
/* FIXME - decode the time, since this is the first MID with a
* good time stamp this will be good for ntpshm time */
gpsd_report(LOG_PROG, "SiRF: MID 0x1c, NLMD, gps_tow: %f\n",
(double)gps_tow);
return 0;
}
static gps_mask_t sirf_msg_swversion(struct gps_device_t *session,
unsigned char *buf, size_t len)
{
double fv;
unsigned char *cp;
if (len < 20)
return 0;
(void)strlcpy(session->subtype, (char *)buf + 1,
sizeof(session->subtype));
for (cp = buf+1; *cp!=(unsigned char)'\0' && isdigit(*cp)==0; cp++)
continue;
fv = atof((const char *)cp);
if (fv < 231) {
session->driver.sirf.driverstate |= SIRF_LT_231;
if (fv > 200)
sirfbin_mode(session, 0);
} else if (fv < 232) {
session->driver.sirf.driverstate |= SIRF_EQ_231;
} else {
session->driver.sirf.driverstate |= SIRF_GE_232;
}
#ifdef RECONFIGURE_ENABLE
if (!session->context->readonly) {
gpsd_report(LOG_PROG, "SiRF: Enabling PPS message...\n");
(void)sirf_write(session, enablemid52);
}
#endif /* RECONFIGURE_ENABLE */
if (strstr((char *)(buf + 1), "ES"))
gpsd_report(LOG_INF, "SiRF: Firmware has XTrac capability\n");
gpsd_report(LOG_PROG, "SiRF: fv: %0.2f, Driver state flags are: %0x\n",
fv, session->driver.sirf.driverstate);
#ifdef NTPSHM_ENABLE
session->driver.sirf.time_seen = 0;
#endif /* NTPSHM_ENABLE */
#ifdef RECONFIGURE_ENABLE
if (!session->context->readonly && session->gpsdata.dev.baudrate >= 38400) {
/* some USB devices are also too slow, no way to tell which ones */
gpsd_report(LOG_PROG, "SiRF: Enabling subframe transmission...\n");
(void)sirf_write(session, enablesubframe);
}
#endif /* RECONFIGURE_ENABLE */
gpsd_report(LOG_DATA, "SiRF: FV MID 0x06: subtype='%s' mask={DEVICEID}\n",
session->subtype);
return DEVICEID_SET;
}
static gps_mask_t sirf_msg_navdata(struct gps_device_t *session,
unsigned char *buf, size_t len)
{
unsigned int i, chan, svid;
uint32_t words[10];
if (len != 43)
return 0;
chan = (unsigned int)getub(buf, 1);
svid = (unsigned int)getub(buf, 2);
for (i = 0; i < 10; i++) {
words[i] = (uint32_t)getbeu32(buf, 4 * i + 3);
}
gpsd_report(LOG_IO, "SiRF: NavData chan %u svid %u\n",chan,svid);
#ifdef RECONFIGURE_ENABLE
if (!session->context->readonly && session->gpsdata.dev.baudrate < 38400) {
/* some USB are also too slow, no way to tell which ones */
gpsd_report(LOG_WARN,
"WARNING: SiRF: link too slow, disabling subframes.\n");
(void)sirf_write(session, disablesubframe);
}
#endif /* RECONFIGURE_ENABLE */
return gpsd_interpret_subframe_raw(session, svid, words);
}
#define SIRF_CHANNELS 12 /* max channels allowed in SiRF format */
static gps_mask_t sirf_msg_svinfo(struct gps_device_t *session,
unsigned char *buf, size_t len)
{
int st, i, j, cn;
gps_mask_t mask = 0;
if (len != 188)
return 0;
session->gpsdata.skyview_time = gpsd_gpstime_resolve(session,
(unsigned short)getbes16(buf, 1),
(unsigned int)getbeu32(buf, 3) * 1e-2);
gpsd_zero_satellites(&session->gpsdata);
for (i = st = 0; i < SIRF_CHANNELS; i++) {
int off = 8 + 15 * i;
bool good;
session->gpsdata.PRN[st] = (int)getub(buf, off);
session->gpsdata.azimuth[st] =
(int)(((unsigned)getub(buf, off + 1) * 3) / 2.0);
session->gpsdata.elevation[st] =
(int)((unsigned)getub(buf, off + 2) / 2.0);
cn = 0;
for (j = 0; j < 10; j++)
cn += (int)getub(buf, off + 5 + j);
session->gpsdata.ss[st] = (float)(cn / 10.0);
good = session->gpsdata.PRN[st] != 0 &&
session->gpsdata.azimuth[st] != 0 &&
session->gpsdata.elevation[st] != 0;
#ifdef __UNUSED__
gpsd_report(LOG_PROG,
"SiRF: PRN=%2d El=%3.2f Az=%3.2f ss=%3d stat=%04x %c\n",
getub(buf, off),
getub(buf, off + 2) / 2.0,
(getub(buf, off + 1) * 3) / 2.0,
cn / 10, getbeu16(buf, off + 3), good ? '*' : ' ');
#endif /* UNUSED */
if (good != 0)
st += 1;
}
session->gpsdata.satellites_visible = st;
#ifdef NTPSHM_ENABLE
if (st < 3) {
gpsd_report(LOG_PROG,
"SiRF: NTPD not enough satellites seen: %d\n", st);
} else {
/* SiRF says if 3 sats in view the time is good */
gpsd_report(LOG_PROG,
"SiRF: NTPD valid time MID 0x04, seen=0x%02x, time:%.2lf, leap:%d\n",
session->driver.sirf.time_seen,
session->gpsdata.skyview_time,
session->context->leap_seconds);
/*
* Might be better if we didn't change the fix timestamp here,
* but presently there's no other way to pass the time to NTP.
*/
session->newdata.time = session->gpsdata.skyview_time;
mask |= TIME_SET | PPSTIME_IS;
/*
* This time stamp, at 4800bps, is so close to 1 sec old as to
* be confusing to ntpd, but ntpshm_put() will ignore it if a better
* time already seen
*/
}
#endif /* NTPSHM_ENABLE */
gpsd_report(LOG_DATA, "SiRF: MTD 0x04: visible=%d mask={SATELLITE}\n",
session->gpsdata.satellites_visible);
return SATELLITE_SET | mask;
}
#ifdef NTPSHM_ENABLE
static double sirf_ntp_offset(struct gps_device_t *session)
/* return NTP time-offset fudge factor for this device */
{
double retval = NAN;
/* we need to have seen UTC time with a valid leap-year offset */
if ((session->driver.sirf.time_seen & TIME_SEEN_UTC_2) != 0) {
retval = NAN;
}
/* the PPS time message */
else if (strcmp(session->gpsdata.tag, "MID52") == 0) {
retval = 0.3;
}
/* uBlox EMND message */
else if (strcmp(session->gpsdata.tag, "MID98") == 0) {
retval = 0.570;
}
#ifdef __UNUSED__
/* geodetic-data message */
else if (strcmp(session->gpsdata.tag, "MID41") == 0) {
retval = 0.570;
}
#endif /* __UNUSED__ */
/* the Navigation Solution message */
else if (strcmp(session->gpsdata.tag, "MID2") == 0) {
if (session->sourcetype == source_usb) {
retval = 0.640; /* USB, expect +/- 50mS jitter */
} else {
switch (session->gpsdata.dev.baudrate) {
default:
retval = 0.704; /* WAG */
break;
case 4800:
retval = 0.704; /* fudge valid at 4800bps */
break;
case 9600:
retval = 0.688;
break;
case 19200:
retval = 0.484;
break;
case 38400:
retval = 0.845; /* 0.388; ?? */
break;
}
}
}
return retval;
}
#endif /* NTPSHM_ENABLE */
static gps_mask_t sirf_msg_navsol(struct gps_device_t *session,
unsigned char *buf, size_t len)
{
int i;
unsigned short navtype;
gps_mask_t mask = 0;
if (len != 41)
return 0;
session->gpsdata.satellites_used = (int)getub(buf, 28);
memset(session->gpsdata.used, 0, sizeof(session->gpsdata.used));
for (i = 0; i < SIRF_CHANNELS; i++)
session->gpsdata.used[i] = (int)getub(buf, 29 + i);
/* position/velocity is bytes 1-18 */
ecef_to_wgs84fix(&session->newdata, &session->gpsdata.separation,
(double)getbes32(buf, 1) * 1.0,
(double)getbes32(buf, 5) * 1.0,
(double)getbes32(buf, 9) * 1.0,
(double)getbes16(buf, 13) / 8.0,
(double)getbes16(buf, 15) / 8.0,
(double)getbes16(buf, 17) / 8.0);
/* fix status is byte 19 */
navtype = (unsigned short)getub(buf, 19);
session->gpsdata.status = STATUS_NO_FIX;
session->newdata.mode = MODE_NO_FIX;
if ((navtype & 0x80) != 0)
session->gpsdata.status = STATUS_DGPS_FIX;
else if ((navtype & 0x07) > 0 && (navtype & 0x07) < 7)
session->gpsdata.status = STATUS_FIX;
if ((navtype & 0x07) == 4 || (navtype & 0x07) == 6)
session->newdata.mode = MODE_3D;
else if (session->gpsdata.status != 0)
session->newdata.mode = MODE_2D;
if (session->newdata.mode == MODE_3D)
mask |= ALTITUDE_SET | CLIMB_SET;
gpsd_report(LOG_PROG,
"SiRF: MND 0x02: Navtype = 0x%0x, Status = %d, mode = %d\n",
navtype, session->gpsdata.status, session->newdata.mode);
/* byte 20 is HDOP, see below */
/* byte 21 is "mode 2", not clear how to interpret that */
session->newdata.time = gpsd_gpstime_resolve(session,
(unsigned short)getbes16(buf, 22), (double)getbeu32(buf, 24) * 1e-2);
#ifdef NTPSHM_ENABLE
if (session->newdata.mode <= MODE_NO_FIX) {
gpsd_report(LOG_PROG, "SiRF: NTPD no fix, mode: %d\n",
session->newdata.mode);
} else {
gpsd_report(LOG_PROG,
"SiRF: NTPD valid time MID 0x02, seen=0x%02x, time;%.2lf, leap:%d\n",
session->driver.sirf.time_seen,
session->newdata.time, session->context->leap_seconds);
}
#endif /* NTPSHM_ENABLE */
/* fix quality data */
session->gpsdata.dop.hdop = (double)getub(buf, 20) / 5.0;
mask |=
TIME_SET | LATLON_SET | ALTITUDE_SET | TRACK_SET |
SPEED_SET | STATUS_SET | MODE_SET | DOP_SET | USED_IS;
if ( 3 <= session->gpsdata.satellites_visible ) {
mask |= PPSTIME_IS;
}
gpsd_report(LOG_DATA,
"SiRF: MND 0x02: time=%.2f lat=%.2f lon=%.2f alt=%.2f track=%.2f speed=%.2f mode=%d status=%d hdop=%.2f used=%d\n",
session->newdata.time, session->newdata.latitude,
session->newdata.longitude, session->newdata.altitude,
session->newdata.track, session->newdata.speed,
session->newdata.mode, session->gpsdata.status,
session->gpsdata.dop.hdop, session->gpsdata.satellites_used);
return mask;
}
#ifdef __UNUSED__
/***************************************************************************
We've stopped interpreting GND (0x29) for the following reasons:
1) Versions of SiRF firmware still in wide circulation (and likely to be
so for a while) don't report a valid time field, leading to annoying
twice-per-second jitter in client displays.
2) What we wanted out of this that MND didn't give us was horizontal and
vertical error estimates. But we have to do our own error estimation by
computing DOPs from the skyview covariance matrix anyway, because we
want separate epx and epy errors a la NMEA 3.0.
3) The fix-merge logic in gpsd.c is (unavoidably) NMEA-centric and
thinks multiple sentences in one cycle should be treated as
incremental updates. This leads to various silly results when (as
in GND) a subsequent sentence is (a) intended to be a complete fix
in itself, and (b) frequently broken.
4) Ignoring this dodgy sentence allows us to go to a nice clean single
fix update per cycle.
Code left in place in case we need to reverse this decision.
***************************************************************************/
static gps_mask_t sirf_msg_geodetic(struct gps_device_t *session,
unsigned char *buf, size_t len)
{
unsigned short navtype;
gps_mask_t mask = 0;
double eph;
if (len != 91)
return 0;
session->gpsdata.sentence_length = 91;
(void)strlcpy(session->gpsdata.tag, "GND", MAXTAGLEN + 1);
navtype = (unsigned short)getbeu16(buf, 3);
session->gpsdata.status = STATUS_NO_FIX;
session->newdata.mode = MODE_NO_FIX;
if (navtype & 0x80)
session->gpsdata.status = STATUS_DGPS_FIX;
else if ((navtype & 0x07) > 0 && (navtype & 0x07) < 7)
session->gpsdata.status = STATUS_FIX;
session->newdata.mode = MODE_NO_FIX;
if ((navtype & 0x07) == 4 || (navtype & 0x07) == 6)
session->newdata.mode = MODE_3D;
else if (session->gpsdata.status)
session->newdata.mode = MODE_2D;
gpsd_report(LOG_PROG,
"SiRF: GND 0x29: Navtype = 0x%0x, Status = %d, mode = %d\n",
navtype, session->gpsdata.status, session->newdata.mode);
mask |= STATUS_SET | MODE_SET;
session->newdata.latitude = getbes32(buf, 23) * 1e-7;
session->newdata.longitude = getbes32(buf, 27) * 1e-7;
if (session->newdata.latitude != 0 && session->newdata.latitude != 0)
mask |= LATLON_SET;
if ((eph = getbes32(buf, 50) * 1e-2) > 0) {
session->newdata.epx = session->newdata.epy = eph / sqrt(2);
mask |= HERR_SET;
}
if ((session->newdata.epv = getbes32(buf, 54) * 1e-2) > 0)
mask |= VERR_SET;
if ((session->newdata.eps = getbes16(buf, 62) * 1e-2) > 0)
mask |= SPEEDERR_SET;
/* HDOP should be available at byte 89, but in 231 it's zero. */
//session->gpsdata.dop.hdop = (unsigned int)getub(buf, 89) * 0.2;
if ((session->newdata.mode > MODE_NO_FIX)
&& (session->driver.sirf.driverstate & SIRF_GE_232)) {
struct tm unpacked_date;
double subseconds;
/*
* Early versions of the SiRF protocol manual don't document
* this sentence at all. Some that do incorrectly
* describe UTC Day, Hour, and Minute as 2-byte quantities,
* not 1-byte. Chris Kuethe, our SiRF expert, tells us:
*
* "The Geodetic Navigation packet (0x29) was not fully
* implemented in firmware prior to version 2.3.2. So for
* anyone running 231.000.000 or earlier (including ES,
* SiRFDRive, XTrac trains) you won't get UTC time. I don't
* know what's broken in firmwares before 2.3.1..."
*
* To work around the incomplete implementation of this
* packet in 231, we used to assume that only the altitude field
* from this packet is valid. But even this doesn't necessarily
* seem to be the case. Instead, we do our own computation
* of geoid separation now.
*
* UTC is left all zeros in 231 and older firmware versions,
* and misdocumented in version 1.4 of the Protocol Reference.
* Documented: Real:
* UTC year 2 2
* UTC month 1 1
* UTC day 2 1
* UTC hour 2 1
* UTC minute 2 1
* UTC second 2 2
* 11 8
*
* Documentation of this field was corrected in the 1.6 version
* of the protocol manual.
*/
unpacked_date.tm_year = (int)getbeu16(buf, 11) - 1900;
unpacked_date.tm_mon = (int)getub(buf, 13) - 1;
unpacked_date.tm_mday = (int)getub(buf, 14);
unpacked_date.tm_hour = (int)getub(buf, 15);
unpacked_date.tm_min = (int)getub(buf, 16);
unpacked_date.tm_sec = 0;
subseconds = getbeu16(buf, 17) * 1e-3;
/*@ -compdef -unrecog */
session->newdata.time = (timestamp_t)timegm(&unpacked_date) + subseconds;
/*@ +compdef +unrecog */
gpsd_report(LOG_PROG, "SiRF: GND 0x29 UTC: %lf\n",
session->newdata.time);
#ifdef NTPSHM_ENABLE
if (session->newdata.mode <= MODE_NO_FIX) {
gpsd_report(LOG_PROG, "SiRF: NTPD no fix, mode: $d\n",
session->newdata.mode);
} else if (0 == unpacked_date.tm_year) {
gpsd_report(LOG_PROG, "SiRF: NTPD no year\n",
session->newdata.mode);
} else {
gpsd_report(LOG_PROG,
"SiRF: NTPD valid time MID 0x29, seen=0x%02x\n",
session->driver.sirf.time_seen);
}
if ( 3 <= session->gpsdata.satellites_visible ) {
mask |= PPSTIME_IS;
}
#endif /* NTPSHM_ENABLE */
/* skip 4 bytes of satellite map */
session->newdata.altitude = getbes32(buf, 35) * 1e-2;
/* skip 1 byte of map datum */
session->newdata.speed = getbeu16(buf, 40) * 1e-2;
session->newdata.track = getbeu16(buf, 42) * 1e-2;
/* skip 2 bytes of magnetic variation */
session->newdata.climb = getbes16(buf, 46) * 1e-2;
mask |= TIME_SET | SPEED_SET | TRACK_SET;
if (session->newdata.mode == MODE_3D)
mask |= ALTITUDE_SET | CLIMB_SET;
}
gpsd_report(LOG_DATA,
"SiRF: GND 0x29: time=%.2f lat=%.2f lon=%.2f alt=%.2f track=%.2f speed=%.2f mode=%d status=%d\n",
session->newdata.time,
session->newdata.latitude,
session->newdata.longitude,
session->newdata.altitude,
session->newdata.track,
session->newdata.speed,
session->newdata.mode,
session->gpsdata.status);
return mask;
}
#endif /* __UNUSED__ */
static gps_mask_t sirf_msg_sysparam(struct gps_device_t *session,
unsigned char *buf, size_t len)
{
if (len != 65)
return 0;
/* save these to restore them in the revert method */
session->driver.sirf.nav_parameters_seen = true;
session->driver.sirf.altitude_hold_mode = (unsigned char)getub(buf, 5);
session->driver.sirf.altitude_hold_source = (unsigned char)getub(buf, 6);
session->driver.sirf.altitude_source_input = getbes16(buf, 7);
session->driver.sirf.degraded_mode = (unsigned char)getub(buf, 9);
session->driver.sirf.degraded_timeout = (unsigned char)getub(buf, 10);
session->driver.sirf.dr_timeout = (unsigned char)getub(buf, 11);
session->driver.sirf.track_smooth_mode = (unsigned char)getub(buf, 12);
#ifdef RECONFIGURE_ENABLE
if (!session->context->readonly) {
gpsd_report(LOG_PROG, "SiRF: Setting Navigation Parameters\n");
(void)sirf_write(session, modecontrol);
}
#endif /* RECONFIGURE_ENABLE */
return 0;
}
static gps_mask_t sirf_msg_ublox(struct gps_device_t *session,
unsigned char *buf, size_t len UNUSED)
{
gps_mask_t mask;
unsigned short navtype;
if (len != 39)
return 0;
/* this packet is only sent by uBlox firmware from version 1.32 */
mask = LATLON_SET | ALTITUDE_SET | SPEED_SET | TRACK_SET | CLIMB_SET |
STATUS_SET | MODE_SET | DOP_SET;
session->newdata.latitude = (double)getbes32(buf, 1) * RAD_2_DEG * 1e-8;
session->newdata.longitude = (double)getbes32(buf, 5) * RAD_2_DEG * 1e-8;
session->gpsdata.separation =
wgs84_separation(session->newdata.latitude,
session->newdata.longitude);
session->newdata.altitude =
(double)getbes32(buf, 9) * 1e-3 - session->gpsdata.separation;
session->newdata.speed = (double)getbes32(buf, 13) * 1e-3;
session->newdata.climb = (double)getbes32(buf, 17) * 1e-3;
session->newdata.track = (double)getbes32(buf, 21) * RAD_2_DEG * 1e-8;
navtype = (unsigned short)getub(buf, 25);
session->gpsdata.status = STATUS_NO_FIX;
session->newdata.mode = MODE_NO_FIX;
if (navtype & 0x80)
session->gpsdata.status = STATUS_DGPS_FIX;
else if ((navtype & 0x07) > 0 && (navtype & 0x07) < 7)
session->gpsdata.status = STATUS_FIX;
if ((navtype & 0x07) == 4 || (navtype & 0x07) == 6)
session->newdata.mode = MODE_3D;
else if (session->gpsdata.status)
session->newdata.mode = MODE_2D;
gpsd_report(LOG_PROG,
"SiRF: EMND 0x62: Navtype = 0x%0x, Status = %d, mode = %d\n",
navtype, session->gpsdata.status, session->newdata.mode);
if (navtype & 0x40) { /* UTC corrected timestamp? */
struct tm unpacked_date;
double subseconds;
mask |= TIME_SET;
if ( 3 <= session->gpsdata.satellites_visible ) {
mask |= PPSTIME_IS;
}
unpacked_date.tm_year = (int)getbeu16(buf, 26) - 1900;
unpacked_date.tm_mon = (int)getub(buf, 28) - 1;
unpacked_date.tm_mday = (int)getub(buf, 29);
unpacked_date.tm_hour = (int)getub(buf, 30);
unpacked_date.tm_min = (int)getub(buf, 31);
unpacked_date.tm_sec = 0;
subseconds = ((unsigned short)getbeu16(buf, 32)) * 1e-3;
/*@ -compdef */
session->newdata.time = (timestamp_t)mkgmtime(&unpacked_date) + subseconds;
/*@ +compdef */
#ifdef NTPSHM_ENABLE
if (0 == (session->driver.sirf.time_seen & TIME_SEEN_UTC_2)) {
gpsd_report(LOG_RAW, "SiRF: NTPD just SEEN_UTC_2\n");
}
gpsd_report(LOG_PROG,
"SiRF: NTPD valid time MID 0x62, seen=0x%02x\n",
session->driver.sirf.time_seen);
session->driver.sirf.time_seen |= TIME_SEEN_UTC_2;
#endif /* NTPSHM_ENABLE */
session->context->valid |= LEAP_SECOND_VALID;
}
session->gpsdata.dop.gdop = (int)getub(buf, 34) / 5.0;
session->gpsdata.dop.pdop = (int)getub(buf, 35) / 5.0;
session->gpsdata.dop.hdop = (int)getub(buf, 36) / 5.0;
session->gpsdata.dop.vdop = (int)getub(buf, 37) / 5.0;
session->gpsdata.dop.tdop = (int)getub(buf, 38) / 5.0;
session->driver.sirf.driverstate |= UBLOX;
gpsd_report(LOG_DATA,
"SiRF: EMD 0x62: time=%.2f lat=%.2f lon=%.2f alt=%.f speed=%.2f track=%.2f climb=%.2f mode=%d status=%d gdop=%.2f pdop=%.2f hdop=%.2f vdop=%.2f tdop=%.2f\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->gpsdata.dop.gdop,
session->gpsdata.dop.pdop, session->gpsdata.dop.hdop,
session->gpsdata.dop.vdop, session->gpsdata.dop.tdop);
return mask;
}
static gps_mask_t sirf_msg_ppstime(struct gps_device_t *session,
unsigned char *buf, size_t len)
{
gps_mask_t mask = 0;
if (len != 19)
return 0;
gpsd_report(LOG_PROG, "SiRF: PPS 0x34: Status = 0x%02x\n",
getub(buf, 14));
if (((int)getub(buf, 14) & 0x07) == 0x07) { /* valid UTC time? */
struct tm unpacked_date;
unpacked_date.tm_hour = (int)getub(buf, 1);
unpacked_date.tm_min = (int)getub(buf, 2);
unpacked_date.tm_sec = (int)getub(buf, 3);
unpacked_date.tm_mday = (int)getub(buf, 4);
unpacked_date.tm_mon = (int)getub(buf, 5) - 1;
unpacked_date.tm_year = (int)getbeu16(buf, 6) - 1900;
/*@ -compdef */
session->newdata.time = (timestamp_t)mkgmtime(&unpacked_date);
/*@ +compdef */
session->context->leap_seconds = (int)getbeu16(buf, 8);
session->context->valid |= LEAP_SECOND_VALID;
#ifdef NTPSHM_ENABLE
if (0 == (session->driver.sirf.time_seen & TIME_SEEN_UTC_2)) {
gpsd_report(LOG_RAW, "SiRF: NTPD just SEEN_UTC_2\n");
}
gpsd_report(LOG_PROG,
"SiRF: NTPD valid time MID 0x34, seen=0x%02x\n",
session->driver.sirf.time_seen);
session->driver.sirf.time_seen |= TIME_SEEN_UTC_2;
#endif /* NTPSHM_ENABLE */
mask |= TIME_SET;
if ( 3 <= session->gpsdata.satellites_visible ) {
mask |= PPSTIME_IS;
}
}
return mask;
}
gps_mask_t sirf_parse(struct gps_device_t * session, unsigned char *buf,
size_t len)
{
if (len == 0)
return 0;
buf += 4;
len -= 8;
gpsd_report(LOG_RAW, "SiRF: Raw packet type 0x%02x\n", buf[0]);
(void)snprintf(session->gpsdata.tag, sizeof(session->gpsdata.tag),
"MID%d", (int)buf[0]);
/* could change if the set of messages we enable does */
session->cycle_end_reliable = true;
switch (buf[0]) {
case 0x02: /* Measure Navigation Data Out MID 2 */
if ((session->driver.sirf.driverstate & UBLOX) == 0)
return sirf_msg_navsol(session, buf,
len) | (CLEAR_IS | REPORT_IS);
else {
gpsd_report(LOG_PROG,
"SiRF: MND 0x02 skipped, uBlox flag is on.\n");