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driver_ubx.c
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driver_ubx.c
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/*
* UBX driver. All capabilities are common to Antaris4 and u-blox 6.
* Reference manuals are at
* http://www.u-blox.com/en/download/documents-a-resources/u-blox-6-gps-modules-resources.html
*
* updated for u-blox 8
* http://www.ublox.com/images/downloads/Product_Docs/u-bloxM8_ReceiverDescriptionProtocolSpec_%28UBX-13003221%29_Public.pdf
*
* 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.
*
* For the Antaris 4, the default leap-second offset (before getting one from
* the sats, one presumes) is 0sec; for the u-blox 6 it's 15sec.
*
* 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 <assert.h>
#include <string.h>
#include <math.h>
#include <unistd.h>
#include "gpsd.h"
#if defined(UBLOX_ENABLE) && defined(BINARY_ENABLE)
#include "driver_ubx.h"
#include "bits.h"
/*
* A ubx packet looks like this:
* leader: 0xb5 0x62
* message class: 1 byte
* message type: 1 byte
* length of payload: 2 bytes
* payload: variable length
* checksum: 2 bytes
*
* see also the FV25 and UBX documents on reference.html
*/
#define UBX_PREFIX_LEN 6
#define UBX_CLASS_OFFSET 2
#define UBX_TYPE_OFFSET 3
/* because we hates magic numbers forever */
#define USART1_ID 1
#define USART2_ID 2
#define USB_ID 3
#define UBX_PROTOCOL_MASK 0x01
#define NMEA_PROTOCOL_MASK 0x02
#define RTCM_PROTOCOL_MASK 0x04
#define UBX_CFG_LEN 20
#define outProtoMask 14
static gps_mask_t ubx_parse(struct gps_device_t *session, unsigned char *buf,
size_t len);
static gps_mask_t ubx_msg_nav_dop(struct gps_device_t *session,
unsigned char *buf, size_t data_len);
static void ubx_msg_inf(struct gps_device_t *session, unsigned char *buf, size_t data_len);
static gps_mask_t ubx_msg_nav_pvt(struct gps_device_t *session,
unsigned char *buf, size_t data_len);
static void ubx_msg_sbas(struct gps_device_t *session, unsigned char *buf);
static gps_mask_t ubx_msg_nav_sol(struct gps_device_t *session,
unsigned char *buf, size_t data_len);
static gps_mask_t ubx_msg_nav_svinfo(struct gps_device_t *session,
unsigned char *buf, size_t data_len);
static gps_mask_t ubx_msg_nav_timegps(struct gps_device_t *session,
unsigned char *buf, size_t data_len);
static void ubx_msg_mon_ver(struct gps_device_t *session,
unsigned char *buf, size_t data_len);
#ifdef RECONFIGURE_ENABLE
static void ubx_mode(struct gps_device_t *session, int mode);
#endif /* RECONFIGURE_ENABLE */
/**
* Receiver/Software Version
* UBX-MON-VER
*
* sadly more info than fits in session->swtype for now.
* so squish the data hard, max is maybe 100?
*/
static void
ubx_msg_mon_ver(struct gps_device_t *session, unsigned char *buf,
size_t data_len)
{
size_t n = 0; /* extended info counter */
char obuf[128]; /* temp version string buffer */
if ( 44 > data_len ) {
/* incomplete message */
return;
}
/* save SW and HW Version as subtype */
(void)snprintf(obuf, sizeof(obuf),
"SW %.30s,HW %.10s",
(char *)&buf[UBX_MESSAGE_DATA_OFFSET + 0],
(char *)&buf[UBX_MESSAGE_DATA_OFFSET + 30]);
/* get n number of Extended info strings. what is max n? */
for ( n = 0; ; n++ ) {
size_t start_of_str = UBX_MESSAGE_DATA_OFFSET + 40 + (30 * n);
if ( (start_of_str + 2 ) > data_len ) {
/* last one can be shorter than 30 */
/* no more data */
break;
}
(void)strlcat(obuf, ",", sizeof(obuf));
(void)strlcat(obuf, (char *)&buf[start_of_str], sizeof(obuf));
}
/* save what we can */
(void)strlcpy(session->subtype, obuf, sizeof(session->subtype));
/* output SW and HW Version at LOG_INFO */
gpsd_log(&session->context->errout, LOG_INF,
"UBX_MON_VER: %.*s\n",
(int)sizeof(obuf), obuf);
}
/**
* Navigation Position Velocity Time solution message
*/
static gps_mask_t
ubx_msg_nav_pvt(struct gps_device_t *session, unsigned char *buf,
size_t data_len)
{
unsigned int flags;
gps_mask_t mask = 0;
if (data_len != 92)
return 0;
flags = (unsigned int)getub(buf, 21);
/* TODO: finish decoding UBX_MON_PVT
* no need until depreacaed UBX_MON_SOL is dead
*/
gpsd_log(&session->context->errout, LOG_DATA,
"NAV-PVT: flags:%02x\n", flags);
return mask;
}
/**
* Navigation solution message
*/
static gps_mask_t
ubx_msg_nav_sol(struct gps_device_t *session, unsigned char *buf,
size_t data_len)
{
unsigned int flags;
double epx, epy, epz, evx, evy, evz;
unsigned char navmode;
gps_mask_t mask;
if (data_len != 52)
return 0;
flags = (unsigned int)getub(buf, 11);
mask = 0;
if ((flags & (UBX_SOL_VALID_WEEK | UBX_SOL_VALID_TIME)) != 0) {
unsigned short gw;
unsigned int tow;
tow = (unsigned int)getleu32(buf, 0);
gw = (unsigned short)getles16(buf, 8);
session->newdata.time = gpsd_gpstime_resolve(session, gw, tow / 1000.0);
mask |= TIME_SET | PPSTIME_IS;
}
epx = (double)(getles32(buf, 12) / 100.0);
epy = (double)(getles32(buf, 16) / 100.0);
epz = (double)(getles32(buf, 20) / 100.0);
evx = (double)(getles32(buf, 28) / 100.0);
evy = (double)(getles32(buf, 32) / 100.0);
evz = (double)(getles32(buf, 36) / 100.0);
ecef_to_wgs84fix(&session->newdata, &session->gpsdata.separation,
epx, epy, epz, evx, evy, evz);
mask |= LATLON_SET | ALTITUDE_SET | SPEED_SET | TRACK_SET | CLIMB_SET;
if (session->driver.ubx.last_herr > 0.0) {
session->newdata.epx = session->newdata.epy = session->driver.ubx.last_herr;
mask |= HERR_SET;
session->driver.ubx.last_herr = 0.0;
}
if (session->driver.ubx.last_verr > 0.0) {
session->newdata.epv = session->driver.ubx.last_verr;
mask |= VERR_SET;
session->driver.ubx.last_verr = 0.0;
}
session->newdata.eps = (double)(getles32(buf, 40) / 100.0);
mask |= SPEEDERR_SET;
/* Better to have a single point of truth about DOPs */
//session->gpsdata.dop.pdop = (double)(getleu16(buf, 44)/100.0);
session->gpsdata.satellites_used = (int)getub(buf, 47);
navmode = (unsigned char)getub(buf, 10);
switch (navmode) {
case UBX_MODE_TMONLY:
case UBX_MODE_3D:
session->newdata.mode = MODE_3D;
break;
case UBX_MODE_2D:
case UBX_MODE_DR: /* consider this too as 2D */
case UBX_MODE_GPSDR: /* FIX-ME: DR-aided GPS may be valid 3D */
session->newdata.mode = MODE_2D;
break;
default:
session->newdata.mode = MODE_NO_FIX;
}
if ((flags & UBX_SOL_FLAG_DGPS) != 0)
session->gpsdata.status = STATUS_DGPS_FIX;
else if (session->newdata.mode != MODE_NO_FIX)
session->gpsdata.status = STATUS_FIX;
mask |= MODE_SET | STATUS_SET;
gpsd_log(&session->context->errout, LOG_DATA,
"NAVSOL: time=%.2f lat=%.2f lon=%.2f alt=%.2f track=%.2f speed=%.2f climb=%.2f mode=%d status=%d used=%d\n",
session->newdata.time,
session->newdata.latitude,
session->newdata.longitude,
session->newdata.altitude,
session->newdata.track,
session->newdata.speed,
session->newdata.climb,
session->newdata.mode,
session->gpsdata.status,
session->gpsdata.satellites_used);
return mask;
}
/**
* Geodetic position solution message
*/
static gps_mask_t
ubx_msg_nav_posllh(struct gps_device_t *session, unsigned char *buf,
size_t data_len UNUSED)
{
session->driver.ubx.last_herr = (double)(getleu32(buf, 20) / 1000.0);
session->driver.ubx.last_verr = (double)(getleu32(buf, 24) / 1000.0);
return 0;
}
/**
* Dilution of precision message
*/
static gps_mask_t
ubx_msg_nav_dop(struct gps_device_t *session, unsigned char *buf,
size_t data_len)
{
if (data_len != 18)
return 0;
/*
* We make a deliberate choice not to clear DOPs from the
* last skyview here, but rather to treat this as a supplement
* to our calculations from the visibility matrix, trusting
* the firmware algorithms over ours.
*/
session->gpsdata.dop.gdop = (double)(getleu16(buf, 4) / 100.0);
session->gpsdata.dop.pdop = (double)(getleu16(buf, 6) / 100.0);
session->gpsdata.dop.tdop = (double)(getleu16(buf, 8) / 100.0);
session->gpsdata.dop.vdop = (double)(getleu16(buf, 10) / 100.0);
session->gpsdata.dop.hdop = (double)(getleu16(buf, 12) / 100.0);
gpsd_log(&session->context->errout, LOG_DATA,
"NAVDOP: gdop=%.2f pdop=%.2f "
"hdop=%.2f vdop=%.2f tdop=%.2f mask={DOP}\n",
session->gpsdata.dop.gdop,
session->gpsdata.dop.hdop,
session->gpsdata.dop.vdop,
session->gpsdata.dop.pdop, session->gpsdata.dop.tdop);
return DOP_SET;
}
/**
* GPS Leap Seconds
*/
static gps_mask_t
ubx_msg_nav_timegps(struct gps_device_t *session, unsigned char *buf,
size_t data_len)
{
unsigned int gw, tow, flags;
if (data_len != 16)
return 0;
tow = (unsigned int)getleu32(buf, 0);
gw = (unsigned int)getles16(buf, 8);
flags = (unsigned int)getub(buf, 11);
if ((flags & 0x7) != 0)
session->context->leap_seconds = (int)getub(buf, 10);
session->newdata.time = gpsd_gpstime_resolve(session,
(unsigned short int)gw,
(double)tow / 1000.0);
gpsd_log(&session->context->errout, LOG_DATA,
"TIMEGPS: time=%.2f leap=%d, mask={TIME}\n",
session->newdata.time, session->context->leap_seconds);
return TIME_SET | PPSTIME_IS;
}
/**
* GPS Satellite Info
*/
static gps_mask_t
ubx_msg_nav_svinfo(struct gps_device_t *session, unsigned char *buf,
size_t data_len)
{
unsigned int i, nchan, nsv, st;
if (data_len < 152) {
gpsd_log(&session->context->errout, LOG_PROG,
"runt svinfo (datalen=%zd)\n", data_len);
return 0;
}
nchan = (unsigned int)getub(buf, 4);
if (nchan > MAXCHANNELS) {
gpsd_log(&session->context->errout, LOG_WARN,
"Invalid NAV SVINFO message, >%d reported visible",
MAXCHANNELS);
return 0;
}
gpsd_zero_satellites(&session->gpsdata);
nsv = 0;
for (i = st = 0; i < nchan; i++) {
unsigned int off = 8 + 12 * i;
bool used = (bool)(getub(buf, off + 2) & 0x01);
if ((int)getub(buf, off + 4) == 0)
continue; /* LEA-5H seems to have a bug reporting sats it does not see or hear */
session->gpsdata.skyview[st].PRN = (short)getub(buf, off + 1);
session->gpsdata.skyview[st].ss = (float)getub(buf, off + 4);
session->gpsdata.skyview[st].elevation = (short)getsb(buf, off + 5);
session->gpsdata.skyview[st].azimuth = (short)getles16(buf, off + 6);
session->gpsdata.skyview[st].used = used;
if (session->gpsdata.skyview[st].PRN == 0)
continue;
if (used || session->gpsdata.skyview[st].PRN == (short)session->driver.ubx.sbas_in_use) {
nsv++;
session->gpsdata.skyview[st].used = true;
}
st++;
}
session->gpsdata.skyview_time = NAN;
session->gpsdata.satellites_visible = (int)st;
session->gpsdata.satellites_used = (int)nsv;
gpsd_log(&session->context->errout, LOG_DATA,
"SVINFO: visible=%d used=%d mask={SATELLITE|USED}\n",
session->gpsdata.satellites_visible,
session->gpsdata.satellites_used);
return SATELLITE_SET | USED_IS;
}
/*
* SBAS Info
*/
static void ubx_msg_sbas(struct gps_device_t *session, unsigned char *buf)
{
#ifdef __UNUSED_DEBUG__
unsigned int i, nsv;
gpsd_log(&session->context->errout, LOG_WARN,
"SBAS: %d %d %d %d %d\n",
(int)getub(buf, 4), (int)getub(buf, 5), (int)getub(buf, 6),
(int)getub(buf, 7), (int)getub(buf, 8));
nsv = (int)getub(buf, 8);
for (i = 0; i < nsv; i++) {
int off = 12 + 12 * i;
gpsd_log(&session->context->errout, LOG_WARN,
"SBAS info on SV: %d\n", (int)getub(buf, off));
}
#endif /* __UNUSED_DEBUG__ */
/* really 'in_use' depends on the sats info, EGNOS is still in test */
/* In WAAS areas one might also check for the type of corrections indicated */
session->driver.ubx.sbas_in_use = (unsigned char)getub(buf, 4);
}
/*
* Raw Subframes
*/
static gps_mask_t ubx_msg_sfrb(struct gps_device_t *session, unsigned char *buf)
{
unsigned int i, chan, svid;
uint32_t words[10];
chan = (unsigned int)getub(buf, 0);
svid = (unsigned int)getub(buf, 1);
gpsd_log(&session->context->errout, LOG_PROG,
"UBX_RXM_SFRB: %u %u\n", chan, svid);
/* UBX does all the parity checking, but still bad data gets through */
for (i = 0; i < 10; i++) {
words[i] = (uint32_t)getleu32(buf, 4 * i + 2) & 0xffffff;
}
return gpsd_interpret_subframe(session, svid, words);
}
static void ubx_msg_inf(struct gps_device_t *session, unsigned char *buf, size_t data_len)
{
unsigned short msgid;
static char txtbuf[MAX_PACKET_LENGTH];
msgid = (unsigned short)((buf[2] << 8) | buf[3]);
if (data_len > MAX_PACKET_LENGTH - 1)
data_len = MAX_PACKET_LENGTH - 1;
(void)strlcpy(txtbuf, (char *)buf + UBX_PREFIX_LEN, sizeof(txtbuf));
txtbuf[data_len] = '\0';
switch (msgid) {
case UBX_INF_DEBUG:
gpsd_log(&session->context->errout, LOG_PROG, "UBX_INF_DEBUG: %s\n", txtbuf);
break;
case UBX_INF_TEST:
gpsd_log(&session->context->errout, LOG_PROG, "UBX_INF_TEST: %s\n", txtbuf);
break;
case UBX_INF_NOTICE:
gpsd_log(&session->context->errout, LOG_INF, "UBX_INF_NOTICE: %s\n", txtbuf);
break;
case UBX_INF_WARNING:
gpsd_log(&session->context->errout, LOG_WARN, "UBX_INF_WARNING: %s\n", txtbuf);
break;
case UBX_INF_ERROR:
gpsd_log(&session->context->errout, LOG_WARN, "UBX_INF_ERROR: %s\n", txtbuf);
break;
default:
break;
}
return;
}
gps_mask_t ubx_parse(struct gps_device_t * session, unsigned char *buf,
size_t len)
{
size_t data_len;
unsigned short msgid;
gps_mask_t mask = 0;
/* the packet at least contains a head long enough for an empty message */
if (len < UBX_PREFIX_LEN)
return 0;
session->cycle_end_reliable = true;
/* extract message id and length */
msgid = (buf[2] << 8) | buf[3];
data_len = (size_t) getles16(buf, 4);
switch (msgid) {
case UBX_NAV_POSECEF:
gpsd_log(&session->context->errout, LOG_DATA, "UBX_NAV_POSECEF\n");
break;
case UBX_NAV_POSLLH:
gpsd_log(&session->context->errout, LOG_DATA, "UBX_NAV_POSLLH\n");
mask = ubx_msg_nav_posllh(session, &buf[UBX_PREFIX_LEN], data_len);
break;
case UBX_NAV_STATUS:
gpsd_log(&session->context->errout, LOG_DATA, "UBX_NAV_STATUS\n");
break;
case UBX_NAV_DOP:
gpsd_log(&session->context->errout, LOG_PROG, "UBX_NAV_DOP\n");
mask = ubx_msg_nav_dop(session, &buf[UBX_PREFIX_LEN], data_len);
break;
case UBX_NAV_SOL:
/* UBX-NAV-SOL deprecated, use UBX-NAV-PVT instead */
gpsd_log(&session->context->errout, LOG_PROG, "UBX_NAV_SOL\n");
mask =
ubx_msg_nav_sol(session, &buf[UBX_PREFIX_LEN],
data_len) | (CLEAR_IS | REPORT_IS);
break;
case UBX_NAV_PVT:
gpsd_log(&session->context->errout, LOG_PROG, "UBX_NAV_PVT\n");
mask = ubx_msg_nav_pvt(session, &buf[UBX_PREFIX_LEN], data_len);
break;
case UBX_NAV_POSUTM:
gpsd_log(&session->context->errout, LOG_DATA, "UBX_NAV_POSUTM\n");
break;
case UBX_NAV_VELECEF:
gpsd_log(&session->context->errout, LOG_DATA, "UBX_NAV_VELECEF\n");
break;
case UBX_NAV_VELNED:
gpsd_log(&session->context->errout, LOG_DATA, "UBX_NAV_VELNED\n");
break;
case UBX_NAV_TIMEGPS:
gpsd_log(&session->context->errout, LOG_PROG, "UBX_NAV_TIMEGPS\n");
mask = ubx_msg_nav_timegps(session, &buf[UBX_PREFIX_LEN], data_len);
break;
case UBX_NAV_TIMEUTC:
gpsd_log(&session->context->errout, LOG_DATA, "UBX_NAV_TIMEUTC\n");
break;
case UBX_NAV_CLOCK:
gpsd_log(&session->context->errout, LOG_DATA, "UBX_NAV_CLOCK\n");
break;
case UBX_NAV_SVINFO:
gpsd_log(&session->context->errout, LOG_PROG, "UBX_NAV_SVINFO\n");
mask = ubx_msg_nav_svinfo(session, &buf[UBX_PREFIX_LEN], data_len);
/* this is a hack to move some initialization until after we
* get some u-blox message so we know the GPS is alive */
if ('\0' == session->subtype[0]) {
/* one time only */
(void)strlcpy(session->subtype, "Unknown", 8);
/* request SW and HW Versions */
(void)ubx_write(session, UBX_CLASS_MON, 0x04, NULL, 0);
}
break;
case UBX_NAV_DGPS:
gpsd_log(&session->context->errout, LOG_DATA, "UBX_NAV_DGPS\n");
break;
case UBX_NAV_SBAS:
gpsd_log(&session->context->errout, LOG_DATA, "UBX_NAV_SBAS\n");
ubx_msg_sbas(session, &buf[6]);
break;
case UBX_NAV_EKFSTATUS:
gpsd_log(&session->context->errout, LOG_DATA, "UBX_NAV_EKFSTATUS\n");
break;
case UBX_RXM_RAW:
gpsd_log(&session->context->errout, LOG_DATA, "UBX_RXM_RAW\n");
break;
case UBX_RXM_SFRB:
mask = ubx_msg_sfrb(session, &buf[UBX_PREFIX_LEN]);
break;
case UBX_RXM_SVSI:
gpsd_log(&session->context->errout, LOG_PROG, "UBX_RXM_SVSI\n");
break;
case UBX_RXM_ALM:
gpsd_log(&session->context->errout, LOG_DATA, "UBX_RXM_ALM\n");
break;
case UBX_RXM_EPH:
gpsd_log(&session->context->errout, LOG_DATA, "UBX_RXM_EPH\n");
break;
case UBX_RXM_POSREQ:
gpsd_log(&session->context->errout, LOG_DATA, "UBX_RXM_POSREQ\n");
break;
case UBX_MON_SCHED:
gpsd_log(&session->context->errout, LOG_DATA, "UBX_MON_SCHED\n");
break;
case UBX_MON_IO:
gpsd_log(&session->context->errout, LOG_DATA, "UBX_MON_IO\n");
break;
case UBX_MON_IPC:
gpsd_log(&session->context->errout, LOG_DATA, "UBX_MON_IPC\n");
break;
case UBX_MON_VER:
gpsd_log(&session->context->errout, LOG_DATA, "UBX_MON_VER\n");
ubx_msg_mon_ver(session, buf, data_len);
break;
case UBX_MON_EXCEPT:
gpsd_log(&session->context->errout, LOG_DATA, "UBX_MON_EXCEPT\n");
break;
case UBX_MON_MSGPP:
gpsd_log(&session->context->errout, LOG_DATA, "UBX_MON_MSGPP\n");
break;
case UBX_MON_RXBUF:
gpsd_log(&session->context->errout, LOG_DATA, "UBX_MON_RXBUF\n");
break;
case UBX_MON_TXBUF:
gpsd_log(&session->context->errout, LOG_DATA, "UBX_MON_TXBUF\n");
break;
case UBX_MON_HW:
gpsd_log(&session->context->errout, LOG_DATA, "UBX_MON_HW\n");
break;
case UBX_MON_USB:
gpsd_log(&session->context->errout, LOG_DATA, "UBX_MON_USB\n");
break;
case UBX_INF_DEBUG:
/* FALLTHROUGH */
case UBX_INF_TEST:
/* FALLTHROUGH */
case UBX_INF_NOTICE:
/* FALLTHROUGH */
case UBX_INF_WARNING:
/* FALLTHROUGH */
case UBX_INF_ERROR:
ubx_msg_inf(session, buf, data_len);
break;
case UBX_CFG_PRT:
session->driver.ubx.port_id = (unsigned char)buf[UBX_MESSAGE_DATA_OFFSET + 0];
gpsd_log(&session->context->errout, LOG_INF, "UBX_CFG_PRT: port %d\n",
session->driver.ubx.port_id);
break;
case UBX_TIM_TP:
gpsd_log(&session->context->errout, LOG_DATA, "UBX_TIM_TP\n");
break;
case UBX_TIM_TM:
gpsd_log(&session->context->errout, LOG_DATA, "UBX_TIM_TM\n");
break;
case UBX_TIM_TM2:
gpsd_log(&session->context->errout, LOG_DATA, "UBX_TIM_TM2\n");
break;
case UBX_TIM_SVIN:
gpsd_log(&session->context->errout, LOG_DATA, "UBX_TIM_SVIN\n");
break;
case UBX_ACK_NAK:
gpsd_log(&session->context->errout, LOG_WARN,
"UBX_ACK_NAK, class: %02x, id: %02x\n",
buf[UBX_CLASS_OFFSET],
buf[UBX_TYPE_OFFSET]);
break;
case UBX_ACK_ACK:
gpsd_log(&session->context->errout, LOG_DATA,
"UBX_ACK_ACK, class: %02x, id: %02x\n",
buf[UBX_CLASS_OFFSET],
buf[UBX_TYPE_OFFSET]);
break;
default:
gpsd_log(&session->context->errout, LOG_WARN,
"UBX: unknown packet id 0x%04hx (length %zd)\n",
msgid, len);
}
return mask | ONLINE_SET;
}
static gps_mask_t parse_input(struct gps_device_t *session)
{
if (session->lexer.type == UBX_PACKET) {
return ubx_parse(session, session->lexer.outbuffer,
session->lexer.outbuflen);
#ifdef NMEA0183_ENABLE
} else if (session->lexer.type == NMEA_PACKET) {
return nmea_parse((char *)session->lexer.outbuffer, session);
#endif /* NMEA0183_ENABLE */
} else
return 0;
}
bool ubx_write(struct gps_device_t * session,
unsigned int msg_class, unsigned int msg_id,
unsigned char *msg, size_t data_len)
{
unsigned char CK_A, CK_B;
ssize_t count;
size_t i;
bool ok;
session->msgbuf[0] = 0xb5;
session->msgbuf[1] = 0x62;
CK_A = CK_B = 0;
session->msgbuf[2] = msg_class;
session->msgbuf[3] = msg_id;
session->msgbuf[4] = data_len & 0xff;
session->msgbuf[5] = (data_len >> 8) & 0xff;
assert(msg != NULL || data_len == 0);
if (msg != NULL)
(void)memcpy(&session->msgbuf[6], msg, data_len);
/* calculate CRC */
for (i = 2; i < 6; i++) {
CK_A += session->msgbuf[i];
CK_B += CK_A;
}
if (msg != NULL)
for (i = 0; i < data_len; i++) {
CK_A += msg[i];
CK_B += CK_A;
}
session->msgbuf[6 + data_len] = CK_A;
session->msgbuf[7 + data_len] = CK_B;
session->msgbuflen = data_len + 8;
gpsd_log(&session->context->errout, LOG_PROG,
"=> GPS: UBX class: %02x, id: %02x, len: %zd, crc: %02x%02x\n",
msg_class, msg_id, data_len,
CK_A, CK_B);
count = gpsd_write(session, session->msgbuf, session->msgbuflen);
ok = (count == (ssize_t) session->msgbuflen);
return (ok);
}
#ifdef CONTROLSEND_ENABLE
static ssize_t ubx_control_send(struct gps_device_t *session, char *msg,
size_t data_len)
/* not used by gpsd, it's for gpsctl and friends */
{
return ubx_write(session, (unsigned int)msg[0], (unsigned int)msg[1],
(unsigned char *)msg + 2,
(size_t)(data_len - 2)) ? ((ssize_t) (data_len + 7)) : -1;
}
#endif /* CONTROLSEND_ENABLE */
static void ubx_init_query(struct gps_device_t *session)
{
/* MON_VER: query for version information */
(void)ubx_write(session, UBX_CLASS_MON, 0x04, NULL, 0);
}
static void ubx_event_hook(struct gps_device_t *session, event_t event)
{
if (session->context->readonly)
return;
else if (event == event_identified) {
unsigned char msg[32];
gpsd_log(&session->context->errout, LOG_DATA, "UBX configure\n");
msg[0] = 0x03; /* SBAS mode enabled, accept testbed mode */
msg[1] = 0x07; /* SBAS usage: range, differential corrections and integrity */
msg[2] = 0x03; /* use the maximum search range: 3 channels */
msg[3] = 0x00; /* PRN numbers to search for all set to 0 => auto scan */
msg[4] = 0x00;
msg[5] = 0x00;
msg[6] = 0x00;
msg[7] = 0x00;
(void)ubx_write(session, 0x06u, 0x16, msg, 8);
#ifdef RECONFIGURE_ENABLE
/*
* Turn off NMEA output, turn on UBX on this port.
*/
if (session->mode == O_OPTIMIZE) {
ubx_mode(session, MODE_BINARY);
}
#endif /* RECONFIGURE_ENABLE */
} else if (event == event_deactivate) {
unsigned char msg[4] = {
0x00, 0x00, /* hotstart */
0x01, /* controlled software reset */
0x00
}; /* reserved */
gpsd_log(&session->context->errout, LOG_DATA, "UBX revert\n");
/* Reverting all in one fast and reliable reset */
(void)ubx_write(session, 0x06, 0x04, msg, 4); /* CFG-RST */
}
}
#ifdef RECONFIGURE_ENABLE
static void ubx_cfg_prt(struct gps_device_t *session,
speed_t speed, const char parity, const int stopbits,
const int mode)
/* generate and send a configuration block */
{
unsigned long usart_mode = 0;
unsigned char buf[UBX_CFG_LEN];
memset(buf, '\0', UBX_CFG_LEN);
/*
* When this is called from gpsd, the initial probe for UBX should
* have picked up the device's port number from the CFG_PRT response.
*/
if (session->driver.ubx.port_id != 0)
buf[0] = session->driver.ubx.port_id;
/*
* This default can be hit if we haven't sent a CFG_PRT query yet,
* which can happen in gpsmon because it doesn't autoprobe.
*
* What we'd like to do here is dispatch to USART1_ID or
* USB_ID intelligently based on whether this is a USB or RS232
* source. Unfortunately the GR601-W screws that up by being
* a USB device with port_id 1. So we bite the bullet and
* default to port 1.
*
* Without further logic, this means gpsmon wouldn't be able to
* change the speed on the EVK 6H's USB port. But! To pick off
* the EVK 6H on Linux as a special case, we notice that its
* USB device name is /dev/ACMx - it presents as a USB modem.
*
* This logic will fail on any USB u-blox device that presents
* as an ordinary USB serial device (/dev/USB*) and actually
* has port ID 3 the way it ought to.
*/
else if (strstr(session->gpsdata.dev.path, "/ACM") != NULL)
buf[0] = USB_ID;
else
buf[0] = USART1_ID;
putle32(buf, 8, speed);
/*
* u-blox tech support explains the default contents of the mode
* field as follows:
*
* D0 08 00 00 mode (LSB first)
*
* re-ordering bytes: 000008D0
* dividing into fields: 000000000000000000 00 100 0 11 0 1 0000
* nStopbits = 00 = 1
* parity = 100 = none
* charLen = 11 = 8-bit
* reserved1 = 1
*
* The protocol reference further gives the following subfield values:
* 01 = 1.5 stop bits (?)
* 10 = 2 stopbits
* 000 = even parity
* 001 = odd parity
* 10x = no parity
* 10 = 7 bits
*
* Some UBX reference code amplifies this with:
*
* prtcfg.mode = (1<<4) | // compatibility with ANTARIS 4
* (1<<7) | // charLen = 11 = 8 bit
* (1<<6) | // charLen = 11 = 8 bit
* (1<<11); // parity = 10x = none
*/
usart_mode |= (1<<4); /* reserved1 Antaris 4 compatibility bit */
usart_mode |= (1<<7); /* high bit of charLen */
switch (parity) {
case (int)'E':
case 2:
usart_mode |= (1<<7); /* 7E */
break;
case (int)'O':
case 1:
usart_mode |= (1<<9) | (1<<7); /* 7O */
break;
case (int)'N':
case 0:
default:
usart_mode |= (1<<11) | (3<<6); /* 8N */
break;
}
if (stopbits == 2)
usart_mode |= (1<<13);
putle32(buf, 4, usart_mode);
/* enable all input protocols by default */
buf[12] = NMEA_PROTOCOL_MASK | UBX_PROTOCOL_MASK | RTCM_PROTOCOL_MASK;
/* selectively enable output protocols */
if (mode == MODE_NMEA) {
/*
* We have to club the GR601-W over the head to make it stop emitting
* UBX after we've told it to start. Turning off the UBX protocol
* mask, by itself, seems to be ineffective.
*/
unsigned char msg[3];
msg[0] = 0x01; /* class */
msg[1] = 0x04; /* msg id = UBX_NAV_DOP */
msg[2] = 0x00; /* rate */
(void)ubx_write(session, 0x06u, 0x01, msg, 3);
/* UBX-NAV-SOL deprecated, use UBX-NAV-PVT instead */
msg[0] = 0x01; /* class */
msg[1] = 0x06; /* msg id = NAV-SOL */
msg[2] = 0x00; /* rate */
(void)ubx_write(session, 0x06u, 0x01, msg, 3);
msg[0] = 0x01; /* class */
msg[1] = 0x20; /* msg id = UBX_NAV_TIMEGPS */
msg[2] = 0x00; /* rate */
(void)ubx_write(session, 0x06u, 0x01, msg, 3);
msg[0] = 0x01; /* class */
msg[1] = 0x30; /* msg id = NAV-SVINFO */
msg[2] = 0x00; /* rate */
(void)ubx_write(session, 0x06u, 0x01, msg, 3);
msg[0] = 0x01; /* class */
msg[1] = 0x32; /* msg id = NAV-SBAS */
msg[2] = 0x00; /* rate */
(void)ubx_write(session, 0x06u, 0x01, msg, 3);
/* try to improve the sentence mix. in particular by enabling ZDA */
msg[0] = 0xf0; /* class */
msg[1] = 0x09; /* msg id = GBS */
msg[2] = 0x01; /* rate */
(void)ubx_write(session, 0x06u, 0x01, msg, 3);
msg[0] = 0xf0; /* class */
msg[1] = 0x00; /* msg id = GGA */
msg[2] = 0x01; /* rate */
(void)ubx_write(session, 0x06u, 0x01, msg, 3);
msg[0] = 0xf0; /* class */
msg[1] = 0x02; /* msg id = GSA */
msg[2] = 0x01; /* rate */
(void)ubx_write(session, 0x06u, 0x01, msg, 3);
msg[0] = 0xf0; /* class */
msg[1] = 0x07; /* msg id = GST */
msg[2] = 0x01; /* rate */
(void)ubx_write(session, 0x06u, 0x01, msg, 3);
msg[0] = 0xf0; /* class */
msg[1] = 0x03; /* msg id = GSV */
msg[2] = 0x01; /* rate */
(void)ubx_write(session, 0x06u, 0x01, msg, 3);
msg[0] = 0xf0; /* class */
msg[1] = 0x04; /* msg id = RMC */
msg[2] = 0x01; /* rate */
(void)ubx_write(session, 0x06u, 0x01, msg, 3);
msg[0] = 0xf0; /* class */
msg[1] = 0x05; /* msg id = VTG */
msg[2] = 0x01; /* rate */
(void)ubx_write(session, 0x06u, 0x01, msg, 3);
msg[0] = 0xf0; /* class */
msg[1] = 0x08; /* msg id = ZDA */
msg[2] = 0x01; /* rate */
(void)ubx_write(session, 0x06u, 0x01, msg, 3);
buf[outProtoMask] &= ~UBX_PROTOCOL_MASK;
buf[outProtoMask] |= NMEA_PROTOCOL_MASK;
} else { /* MODE_BINARY */
/*
* Just enabling the UBX protocol for output is not enough to
* actually get UBX output; the sentence mix is initially empty.
* Fix that...
*/
/* FIXME: possibly sending too many messages without waiting
* for u-blox ACK, over running its input buffer.
*
* for example, the UBX_MON_VER fails here, but works in other
* contexts
*/
unsigned char msg[3] = {0, 0, 0};
/* request SW and HW Versions */
(void)ubx_write(session, UBX_CLASS_MON, 0x04, msg, 0);
msg[0] = 0x01; /* class */
msg[1] = 0x04; /* msg id = UBX_NAV_DOP */
msg[2] = 0x01; /* rate */
(void)ubx_write(session, 0x06u, 0x01, msg, 3);
/* UBX-NAV-SOL deprecated, use UBX-NAV-PVT instead */
msg[0] = 0x01; /* class */
msg[1] = 0x06; /* msg id = NAV-SOL */
msg[2] = 0x01; /* rate */
(void)ubx_write(session, 0x06u, 0x01, msg, 3);
#ifdef __UNUSED__
/* leave here for testing. No need to enable until gpsd
* can decode UBX-MON-VER */
msg[0] = 0x01; /* class */
msg[1] = 0x07; /* msg id = NAV-PVT */
msg[2] = 0x01; /* rate */
(void)ubx_write(session, 0x06u, 0x01, msg, 3);
#endif /* __UNUSED __ */
msg[0] = 0x01; /* class */
msg[1] = 0x20; /* msg id = UBX_NAV_TIMEGPS */
msg[2] = 0x01; /* rate */
(void)ubx_write(session, 0x06u, 0x01, msg, 3);
msg[0] = 0x01; /* class */
msg[1] = 0x30; /* msg id = NAV-SVINFO */
msg[2] = 0x0a; /* rate */
(void)ubx_write(session, 0x06u, 0x01, msg, 3);
msg[0] = 0x01; /* class */
msg[1] = 0x32; /* msg id = NAV-SBAS */
msg[2] = 0x0a; /* rate */
(void)ubx_write(session, 0x06u, 0x01, msg, 3);
#ifdef __UNUSED__
/*
* In theory this should turn off NMEA reporting even if
* clearing the NMEA protocol mask does not. In practice it
* doesn't work on the GR601-W. If it did, we could get rid
* of the crocky code that detects unsuppressed NMEA and
* suppresses UBX.
*/
msg[0] = 0xf0; /* class */
msg[1] = 0x09; /* msg id = GBS */
msg[2] = 0x00; /* rate */
(void)ubx_write(session, 0x06u, 0x01, msg, 3);
msg[0] = 0xf0; /* class */
msg[1] = 0x00; /* msg id = GGA */
msg[2] = 0x00; /* rate */
(void)ubx_write(session, 0x06u, 0x01, msg, 3);
msg[0] = 0xf0; /* class */
msg[1] = 0x02; /* msg id = GSA */
msg[2] = 0x00; /* rate */
(void)ubx_write(session, 0x06u, 0x01, msg, 3);
msg[0] = 0xf0; /* class */
msg[1] = 0x07; /* msg id = GST */
msg[2] = 0x00; /* rate */
(void)ubx_write(session, 0x06u, 0x01, msg, 3);
msg[0] = 0xf0; /* class */
msg[1] = 0x03; /* msg id = GSV */
msg[2] = 0x00; /* rate */
(void)ubx_write(session, 0x06u, 0x01, msg, 3);
msg[0] = 0xf0; /* class */
msg[1] = 0x04; /* msg id = RMC */
msg[2] = 0x00; /* rate */
(void)ubx_write(session, 0x06u, 0x01, msg, 3);
msg[0] = 0xf0; /* class */