-
Notifications
You must be signed in to change notification settings - Fork 2
/
driver_sirf.c
1573 lines (1405 loc) · 50.6 KB
/
driver_sirf.c
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
93
94
95
96
97
98
99
100
101
102
103
104
105
106
107
108
109
110
111
112
113
114
115
116
117
118
119
120
121
122
123
124
125
126
127
128
129
130
131
132
133
134
135
136
137
138
139
140
141
142
143
144
145
146
147
148
149
150
151
152
153
154
155
156
157
158
159
160
161
162
163
164
165
166
167
168
169
170
171
172
173
174
175
176
177
178
179
180
181
182
183
184
185
186
187
188
189
190
191
192
193
194
195
196
197
198
199
200
201
202
203
204
205
206
207
208
209
210
211
212
213
214
215
216
217
218
219
220
221
222
223
224
225
226
227
228
229
230
231
232
233
234
235
236
237
238
239
240
241
242
243
244
245
246
247
248
249
250
251
252
253
254
255
256
257
258
259
260
261
262
263
264
265
266
267
268
269
270
271
272
273
274
275
276
277
278
279
280
281
282
283
284
285
286
287
288
289
290
291
292
293
294
295
296
297
298
299
300
301
302
303
304
305
306
307
308
309
310
311
312
313
314
315
316
317
318
319
320
321
322
323
324
325
326
327
328
329
330
331
332
333
334
335
336
337
338
339
340
341
342
343
344
345
346
347
348
349
350
351
352
353
354
355
356
357
358
359
360
361
362
363
364
365
366
367
368
369
370
371
372
373
374
375
376
377
378
379
380
381
382
383
384
385
386
387
388
389
390
391
392
393
394
395
396
397
398
399
400
401
402
403
404
405
406
407
408
409
410
411
412
413
414
415
416
417
418
419
420
421
422
423
424
425
426
427
428
429
430
431
432
433
434
435
436
437
438
439
440
441
442
443
444
445
446
447
448
449
450
451
452
453
454
455
456
457
458
459
460
461
462
463
464
465
466
467
468
469
470
471
472
473
474
475
476
477
478
479
480
481
482
483
484
485
486
487
488
489
490
491
492
493
494
495
496
497
498
499
500
501
502
503
504
505
506
507
508
509
510
511
512
513
514
515
516
517
518
519
520
521
522
523
524
525
526
527
528
529
530
531
532
533
534
535
536
537
538
539
540
541
542
543
544
545
546
547
548
549
550
551
552
553
554
555
556
557
558
559
560
561
562
563
564
565
566
567
568
569
570
571
572
573
574
575
576
577
578
579
580
581
582
583
584
585
586
587
588
589
590
591
592
593
594
595
596
597
598
599
600
601
602
603
604
605
606
607
608
609
610
611
612
613
614
615
616
617
618
619
620
621
622
623
624
625
626
627
628
629
630
631
632
633
634
635
636
637
638
639
640
641
642
643
644
645
646
647
648
649
650
651
652
653
654
655
656
657
658
659
660
661
662
663
664
665
666
667
668
669
670
671
672
673
674
675
676
677
678
679
680
681
682
683
684
685
686
687
688
689
690
691
692
693
694
695
696
697
698
699
700
701
702
703
704
705
706
707
708
709
710
711
712
713
714
715
716
717
718
719
720
721
722
723
724
725
726
727
728
729
730
731
732
733
734
735
736
737
738
739
740
741
742
743
744
745
746
747
748
749
750
751
752
753
754
755
756
757
758
759
760
761
762
763
764
765
766
767
768
769
770
771
772
773
774
775
776
777
778
779
780
781
782
783
784
785
786
787
788
789
790
791
792
793
794
795
796
797
798
799
800
801
802
803
804
805
806
807
808
809
810
811
812
813
814
815
816
817
818
819
820
821
822
823
824
825
826
827
828
829
830
831
832
833
834
835
836
837
838
839
840
841
842
843
844
845
846
847
848
849
850
851
852
853
854
855
856
857
858
859
860
861
862
863
864
865
866
867
868
869
870
871
872
873
874
875
876
877
878
879
880
881
882
883
884
885
886
887
888
889
890
891
892
893
894
895
896
897
898
899
900
901
902
903
904
905
906
907
908
909
910
911
912
913
914
915
916
917
918
919
920
921
922
923
924
925
926
927
928
929
930
931
932
933
934
935
936
937
938
939
940
941
942
943
944
945
946
947
948
949
950
951
952
953
954
955
956
957
958
959
960
961
962
963
964
965
966
967
968
969
970
971
972
973
974
975
976
977
978
979
980
981
982
983
984
985
986
987
988
989
990
991
992
993
994
995
996
997
998
999
1000
/*
* This is the gpsd driver for SiRF GPSes operating in binary mode.
* It also handles early u-bloxes that were SiRF derivatives.
*
* The advantages: Reports climb/sink rate (raw-mode clients won't see this).
* Also, we can flag DGPS satellites used in the skyview when SBAS is in use.
* 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."
*
* There is a known problem with the SiRF IV: it is prone to freeze
* when being switched back to NMEA mode from SiRF binary. The
* failure is randomly flaky, you may get away with several mode
* flips before triggering it. Powering off the device resets and
* unfreezes it. We have tries waiting on command acknowledges as
* the manual advises; this does not fix the problem.
*
* 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 <unistd.h>
#include "gpsd.h"
#include "bits.h"
#include "strfuncs.h"
#if defined(SIRF_ENABLE) && defined(BINARY_ENABLE)
#define HI(n) ((n) >> 8)
#define LO(n) ((n) & 0xff)
/*
* According to the protocol reference, if you don't get ACK/NACK in response
* to a control send withing 6 seconds, you should just retry.
*/
#define SIRF_RETRY_TIME 6
/* Poll Software Version MID 132 */
static unsigned char versionprobe[] = {
0xa0, 0xa2, 0x00, 0x02,
0x84, /* MID 132 */
0x00, /* unused */
0x00, 0x00, 0xb0, 0xb3
};
#ifdef RECONFIGURE_ENABLE
/* Poll Navigation Parameters MID 152
* query for MID 19 */
static unsigned char navparams[] = {
0xa0, 0xa2, 0x00, 0x02,
0x98, /* MID 152 */
0x00,
0x00, 0x00, 0xb0, 0xb3
};
/* DGPS Source MID 133 */
static unsigned char dgpscontrol[] = {
0xa0, 0xa2, 0x00, 0x07,
0x85, /* MID 133 */
0x01, /* use SBAS */
0x00, 0x00,
0x00, 0x00, 0x00,
0x00, 0x00, 0xb0, 0xb3
};
/* Set SBAS Parameters MID 170 */
static unsigned char sbasparams[] = {
0xa0, 0xa2, 0x00, 0x06,
0xaa, /* MID 170 */
0x00, /* SBAS PRN */
0x01, /* SBAS Mode */
0x00, /* Auto PRN */
0x00, 0x00,
0x00, 0x00, 0xb0, 0xb3
};
/* Set Message Rate MID 166 */
static unsigned char requestecef[] = {
0xa0, 0xa2, 0x00, 0x08,
0xa6, /* MID 166 */
0x00, /* enable 1 */
0x02, /* MID 2 */
0x01, /* once per Sec */
0x00, 0x00, /* unused */
0x00, 0x00, /* unused */
0x00, 0x00, 0xb0, 0xb3
};
/* Set Message Rate MID 166 */
static unsigned char requesttracker[] = {
0xa0, 0xa2, 0x00, 0x08,
0xa6, /* MID 166 */
0x00, /* enable 1 */
0x04, /* MID 4 */
0x03, /* every 3 sec */
0x00, 0x00, /* unused */
0x00, 0x00, /* unused */
0x00, 0x00, 0xb0, 0xb3
};
/* disable MID XX */
static unsigned char unsetmidXX[] = {
0xa0, 0xa2, 0x00, 0x08,
0xa6, /* MID 166 */
0x00, /* enable 1 */
0x00, /* MID 0xXX */
0x00, /* never */
0x00, 0x00, /* unused */
0x00, 0x00, /* unused */
0x00, 0x00, 0xb0, 0xb3
};
/* 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 turns on MIDs 7, 8, 17, 28, 29, 30 and 31 */
0x10,
0x00, 0x00, 0xb0, 0xb3
};
/* disable subframe data */
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 turns off MIDs 7, 8, 17, 28, 29, 30 and 31 */
0x00, /* reset bit map */
0x00, 0x00, 0xb0, 0xb3
};
/* mode control MID */
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
};
#endif /* RECONFIGURE_ENABLE */
static gps_mask_t sirf_msg_debug(struct gps_device_t *,
unsigned char *, size_t);
static gps_mask_t sirf_msg_errors(struct gps_device_t *,
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_nl(struct gps_device_t *, unsigned char *,
size_t);
static gps_mask_t sirf_msg_ee(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_dgpsstatus(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;
unsigned int type = (unsigned int)msg[4];
/*
* Control strings spaced too closely together confuse the SiRF
* IV. This wasn't an issue on older SiRFs, but they've gone to a
* lower-powered processor that apparently has trouble keeping up.
* Now you have to wait for the ACK, otherwise chaos ensues.
* Add instrumentation to reveal when this may happen.
*/
/* can also be false because ACK was received after last send */
if (session->driver.sirf.need_ack > 0) {
gpsd_log(&session->context->errout, LOG_WARN,
"SiRF: warning, write of control type %02x while awaiting ACK for %02x.\n",
type, session->driver.sirf.need_ack);
}
len = (size_t) ((msg[2] << 8) | msg[3]);
/* calculate CRC */
crc = 0;
/* coverity_submit[tainted_data] */
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_log(&session->context->errout, LOG_PROG,
"SiRF: Writing control type %02x:\n", type);
ok = (gpsd_write(session, (const char *)msg, len+8) == (ssize_t) (len+8));
session->driver.sirf.need_ack = type;
return (ok);
}
#ifdef CONTROLSEND_ENABLE
static ssize_t sirf_control_send(struct gps_device_t *session, char *msg,
size_t len)
{
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* */
}
#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 */
{
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
};
gpsd_log(&session->context->errout, LOG_PROG,
"SiRF: sirf_speed(%u,%c,%d)\n",
(unsigned int)speed, parity, stopbits);
if (9600 >= speed) {
gpsd_log(&session->context->errout, 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[5] = (unsigned char)((speed >> 24) & 0xff);
msg[6] = (unsigned char)((speed >> 16) & 0xff);
msg[7] = (unsigned char)((speed >> 8) & 0xff);
msg[8] = (unsigned char)(speed & 0xff);
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 */
{
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
};
if (speed >= 0xffff) {
gpsd_log(&session->context->errout, LOG_ERROR,
"SiRF: can't switch from SiRF to NMEA because current speed %u is big.",
(unsigned int)speed);
return false;
}
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)
{
if (mode == MODE_NMEA) {
(void)sirf_to_nmea(session, session->gpsdata.dev.baudrate);
} else if (mode == MODE_BINARY) {
char parity = '0';
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);
}
session->back_to_nmea = false;
}
#endif /* RECONFIGURE_ENABLE */
static gps_mask_t sirf_msg_debug(struct gps_device_t *device,
unsigned char *buf, size_t len)
{
char msgbuf[MAX_PACKET_LENGTH * 3 + 2];
int i;
memset(msgbuf, 0, (int)sizeof(msgbuf));
if (0xe1 == buf[0]) { /* Development statistics messages */
for (i = 2; i < (int)len; i++)
str_appendf(msgbuf, sizeof(msgbuf), "%c", buf[i] ^ 0xff);
gpsd_log(&device->context->errout, 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]))
str_appendf(msgbuf, sizeof(msgbuf), "%c", buf[i]);
else
str_appendf(msgbuf, sizeof(msgbuf),
"\\x%02x", (unsigned int)buf[i]);
gpsd_log(&device->context->errout, LOG_PROG,
"SiRF: DBG 0xff: %s\n", msgbuf);
}
return 0;
}
static gps_mask_t sirf_msg_errors(struct gps_device_t *device,
unsigned char *buf,
size_t len UNUSED)
{
switch (getbeu16(buf, 1)) {
case 2:
gpsd_log(&device->context->errout, LOG_PROG,
"SiRF: EID 0x0a type 2: Subframe %u error on PRN %u\n",
getbeu32(buf, 9), getbeu32(buf, 5));
break;
case 4107:
gpsd_log(&device->context->errout, LOG_PROG,
"SiRF: EID 0x0a type 4107: neither KF nor LSQ fix.\n");
break;
default:
gpsd_log(&device->context->errout, 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,
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_log(&session->context->errout, 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 = safe_atof((const char *)cp);
if (fv < 231) {
session->driver.sirf.driverstate |= SIRF_LT_231;
#ifdef RECONFIGURE_ENABLE
if (fv > 200)
sirfbin_mode(session, 0);
#endif /* RECONFIGURE_ENABLE */
} else if (fv < 232) {
session->driver.sirf.driverstate |= SIRF_EQ_231;
} else {
session->driver.sirf.driverstate |= SIRF_GE_232;
}
if (strstr((char *)(buf + 1), "ES"))
gpsd_log(&session->context->errout, LOG_INF,
"SiRF: Firmware has XTrac capability\n");
gpsd_log(&session->context->errout, LOG_PROG,
"SiRF: fv: %0.2f, Driver state flags are: %0x\n",
fv, session->driver.sirf.driverstate);
#ifdef TIMEHINT_ENABLE
session->driver.sirf.time_seen = 0;
#endif /* TIMEHINT_ENABLE */
gpsd_log(&session->context->errout, 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_log(&session->context->errout, LOG_DATA,
"SiRF: NavData chan %u svid %u\n",chan,svid);
#ifdef RECONFIGURE_ENABLE
/* SiRF recommends at least 57600 for SiRF IV nav data */
if (!session->context->readonly && session->gpsdata.dev.baudrate < 57600) {
/* some USB are also too slow, no way to tell which ones */
gpsd_log(&session->context->errout, 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, nsv;
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 = nsv = 0; i < SIRF_CHANNELS; i++) {
int cn;
int off = 8 + 15 * i;
bool good;
unsigned short stat = (unsigned short)getbeu16(buf, off + 3);
session->gpsdata.skyview[st].PRN = (short)getub(buf, off);
session->gpsdata.skyview[st].azimuth =
(short)(((unsigned)getub(buf, off + 1) * 3) / 2.0);
session->gpsdata.skyview[st].elevation =
(short)((unsigned)getub(buf, off + 2) / 2.0);
cn = 0;
for (j = 0; j < 10; j++)
cn += (int)getub(buf, off + 5 + j);
session->gpsdata.skyview[st].ss = (float)(cn / 10.0);
session->gpsdata.skyview[st].used = (bool)(stat & 0x01);
good = session->gpsdata.skyview[st].PRN != 0 &&
session->gpsdata.skyview[st].azimuth != 0 &&
session->gpsdata.skyview[st].elevation != 0;
#ifdef __UNUSED__
gpsd_log(&session->context->errout, LOG_PROG,
"SiRF: PRN=%2d El=%3.2f Az=%3.2f ss=%3d stat=%04x %c\n",
prn,
getub(buf, off + 2) / 2.0,
(getub(buf, off + 1) * 3) / 2.0,
cn / 10, stat, good ? '*' : ' ');
#endif /* UNUSED */
if (good != 0) {
st += 1;
if (stat & 0x01)
nsv++;
}
}
session->gpsdata.satellites_visible = st;
session->gpsdata.satellites_used = nsv;
/* mark SBAS sats in use if SBAS was in use as of the last MID 27 */
for (i = 0; i < st; i++) {
int prn = session->gpsdata.skyview[i].PRN;
if (SBAS_PRN(prn) \
&& session->gpsdata.status == STATUS_DGPS_FIX \
&& session->driver.sirf.dgps_source == SIRF_DGPS_SOURCE_SBAS)
session->gpsdata.skyview[i].used = true;
}
#ifdef TIMEHINT_ENABLE
if (st < 3) {
gpsd_log(&session->context->errout, LOG_PROG,
"SiRF: NTPD not enough satellites seen: %d\n", st);
} else {
/* SiRF says if 3 sats in view the time is good */
gpsd_log(&session->context->errout, 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);
}
#endif /* TIMEHINT_ENABLE */
gpsd_log(&session->context->errout, LOG_DATA,
"SiRF: MTD 0x04: visible=%d mask={SATELLITE}\n",
session->gpsdata.satellites_visible);
return SATELLITE_SET;
}
#ifdef TIMEHINT_ENABLE
static double sirf_time_offset(struct gps_device_t *session)
/* return NTP time-offset fudge factor for this device */
{
double retval = 0;
/* 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 (session->driver.sirf.lastid == (unsigned char)52) {
retval = 0.3;
}
/* u-blox EMND message */
else if (session->driver.sirf.lastid == (unsigned char)98) {
retval = 0.570;
}
#ifdef __UNUSED__
/* geodetic-data message */
else if (session->driver.sirf.lastid == (unsigned char)41) {
retval = 0.570;
}
#endif /* __UNUSED__ */
/* the Navigation Solution message */
else if (session->driver.sirf.lastid == (unsigned char)2) {
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 /* TIMEHINT_ENABLE */
static gps_mask_t sirf_msg_navsol(struct gps_device_t *session,
unsigned char *buf, size_t len)
{
unsigned short navtype;
gps_mask_t mask = 0;
if (len != 41)
return 0;
/*
* A count of satellites used is an unsigned byte at offset 28
* and an array of unsigned bytes listing satellite PRNs used
* in this fix begins at offset 29, but we don't use either because
* in JSON the used bits are reported in the SKY sentence;
* we get that data from the svinfo packet.
*/
/* 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_log(&session->context->errout, 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 TIMEHINT_ENABLE
if (session->newdata.mode <= MODE_NO_FIX) {
gpsd_log(&session->context->errout, LOG_PROG,
"SiRF: NTPD no fix, mode: %d\n",
session->newdata.mode);
} else {
gpsd_log(&session->context->errout, 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 /* TIMEHINT_ENABLE */
/* fix quality data */
session->gpsdata.dop.hdop = (double)getub(buf, 20) / 5.0;
/* clear computed DOPs so they get recomputed. */
session->gpsdata.dop.tdop = NAN;
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 |= NTPTIME_IS;
}
gpsd_log(&session->context->errout, 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;
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_log(&session->context->errout, 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;
unpacked_date.tm_isdst = 0;
unpacked_date.tm_wday = unpacked_date.tm_yday = 0;
subseconds = getbeu16(buf, 17) * 1e-3;
session->newdata.time = (timestamp_t)mkgmtime(&unpacked_date) + subseconds;
gpsd_log(&session->context->errout, LOG_PROG,
"SiRF: GND 0x29 UTC: %lf\n",
session->newdata.time);
#ifdef TIMEHINT_ENABLE
if (session->newdata.mode <= MODE_NO_FIX) {
gpsd_log(&session->context->errout, LOG_PROG,
"SiRF: NTPD no fix, mode: $d\n",
session->newdata.mode);
} else if (0 == unpacked_date.tm_year) {
gpsd_log(&session->context->errout, LOG_PROG,
"SiRF: NTPD no year\n",
session->newdata.mode);
} else {
gpsd_log(&session->context->errout, LOG_PROG,
"SiRF: NTPD valid time MID 0x29, seen=0x%02x\n",
session->driver.sirf.time_seen);
}
if ( 3 <= session->gpsdata.satellites_visible ) {
mask |= NTPTIME_IS;
}
#endif /* TIMEHINT_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_log(&session->context->errout, 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);
return 0;
}
static gps_mask_t sirf_msg_dgpsstatus(struct gps_device_t *session,
unsigned char *buf, size_t len UNUSED)
/* only documentented from prorocol version 1.7 (2005) onwards */
{
session->driver.sirf.dgps_source = (unsigned int)getub(buf, 1);
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 u-blox 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_log(&session->context->errout, 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 |= NTPTIME_IS;