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driver_sirf.c
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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 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>
#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)
/*
* 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
/*@ +charint @*/
/* Poll Software Version MID 132 */
static unsigned char versionprobe[] = {
0xa0, 0xa2, 0x00, 0x02,
0x84, /* MID 132 */
0x00, /* unused */
0x00, 0x00, 0xb0, 0xb3
};
/* 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
};
#ifdef RECONFIGURE_ENABLE
/* 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 */
/*@ -charint @*/
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_report(&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;
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(&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)
{
/*@ +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(&session->context->errout, LOG_PROG,
"SiRF: sirf_speed(%u,%c,%d)\n",
(unsigned int)speed, parity, stopbits);
if (9600 >= speed) {
gpsd_report(&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 */
{
/*@ +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 @*/
if (speed >= 0xffff) {
gpsd_report(&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;
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(&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]))
(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(&device->context->errout, LOG_PROG,
"SiRF: DBG 0xff: %s\n", msgbuf);
}
/*@ -charint @*/
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_report(&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_report(&device->context->errout, LOG_PROG,
"SiRF: EID 0x0a type 4107: neither KF nor LSQ fix.\n");
break;
default:
gpsd_report(&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_report(&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_report(&session->context->errout, LOG_INF,
"SiRF: Firmware has XTrac capability\n");
gpsd_report(&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_report(&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_report(&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_report(&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;
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 cn;
int off = 8 + 15 * i;
bool good;
session->gpsdata.skyview[st].PRN = (int)getub(buf, off);
session->gpsdata.skyview[st].azimuth =
(int)(((unsigned)getub(buf, off + 1) * 3) / 2.0);
session->gpsdata.skyview[st].elevation =
(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.skyview[st].ss = (float)(cn / 10.0);
session->gpsdata.skyview[st].used = false;
for (j = 0; j < SIRF_CHANNELS; j++)
if (session->sats_used[j] == session->gpsdata.skyview[st].PRN)
session->gpsdata.skyview[st].used = true;
good = session->gpsdata.skyview[st].PRN != 0 &&
session->gpsdata.skyview[st].azimuth != 0 &&
session->gpsdata.skyview[st].elevation != 0;
#ifdef __UNUSED__
gpsd_report(&session->context->errout, 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;
/* 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->sats_used[session->gpsdata.satellites_used++] = prn;
}
#ifdef TIMEHINT_ENABLE
if (st < 3) {
gpsd_report(&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_report(&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_report(&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 = 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 (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)
{
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->sats_used, 0, sizeof(session->sats_used));
for (i = 0; i < SIRF_CHANNELS; i++)
session->sats_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(&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_report(&session->context->errout, LOG_PROG,
"SiRF: NTPD no fix, mode: %d\n",
session->newdata.mode);
} else {
gpsd_report(&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;
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(&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_report(&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;
subseconds = getbeu16(buf, 17) * 1e-3;
/*@ -compdef -unrecog */
session->newdata.time = (timestamp_t)mkgmtime(&unpacked_date) + subseconds;
/*@ +compdef +unrecog */
gpsd_report(&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_report(&session->context->errout, LOG_PROG,
"SiRF: NTPD no fix, mode: $d\n",
session->newdata.mode);
} else if (0 == unpacked_date.tm_year) {
gpsd_report(&session->context->errout, LOG_PROG,
"SiRF: NTPD no year\n",
session->newdata.mode);
} else {
gpsd_report(&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 |= PPSTIME_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_report(&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_report(&session->context->errout, LOG_PROG,