Jason von Nieda's TSIP patch.

4 files changed, 32 insertions, 21 deletions

diff --git a/TODO b/TODO
index 0709a5e5..3665b1b9 100644
--- a/TODO
+++ b/TODO
@@ -4,16 +4,6 @@ will unfold them again.
 
 ** Bugs in gpsd and its clients:
 
-*** EPH and EPV reports are zeroed too often in the TSIP driver 
-
-There is some bad interaction between the policy code in
-libgpsd_core.c and the TSIP driver that we haven't figured out.
-
-This may be a symptom of more general problems in data management
-on devices that ship several sentences of fix and related data
-per cycle.  It does not affect devices speaking SiRF or Zodiac or 
-Garmin-binary protocol.
-
 *** PPS code is flaky, possibly due to a pthreads bug
 
 Some code attempting to terminate the PPS-monitoring thread when there
@@ -27,8 +17,8 @@ The default build has ENABLE_PPS off until we figure this one out.
 
 There's a report that RoyalTek support broke between 2.25 and 2.28 by
 David Mandala <davidm@them.com>.  His workaround is to condition out
-SiRF-II support; it works OK in NMEA mode.  He has undertaken to
-pin down the SVN revision that broke things after OLS.
+SiRF-II support; it works OK in NMEA mode.  The Royaltek died in an
+accident, so we're stuck until someone else can test this.
 
 *** Axiom Sandpiper II OEM NMEA GPS Module gets mistaken for an FV-18
 
@@ -168,7 +158,7 @@ an elevation test.
 
 gpsd relies on the GPS to periodically send PVT reports to it.
 
-Most GPSes send PVT reports once a second.  No GPS I am aware of
+Most GPSes send PVT reports once a second.  No NMEA GPS I've ever seen
 allows you to set a cycle time of less than a second.  This is because
 at 4800bps, a full PVT report takes just under one second in NMEA.
 
@@ -184,6 +174,9 @@ a second, and a SiRF one maybe 18 times a second.
 Is this worth doing?  Maybe.  It would reduce fix latency, possibly
 to good effect if your GPS is in motion.  Opinions?  Calculations?
 
+Gary Miller reports that the Garmin GPS 18 LVC-5m and the GPS 18-5Hz
+both report 5 times a second, but he doesn't have either to test.
+
 *** Set the system time zone from latitude/longitude
 
 If we're going to give gpsd the capability to set system time via
diff --git a/gpsd.h b/gpsd.h
index f0be8104..59232be6 100644
--- a/gpsd.h
+++ b/gpsd.h
@@ -187,6 +187,7 @@ struct gps_device_t {
 	    time_t last_41;		/* Timestamps for packet requests */
 	    time_t last_5c;
 	    time_t last_6d;
+	    time_t last_46;
 	    unsigned int parity, stopbits; /* saved RS232 link parameters */
 	} tsip;
 #endif /* TSIP_ENABLE */
diff --git a/gpsd.spec.in b/gpsd.spec.in
index b736a114..58c829d5 100644
--- a/gpsd.spec.in
+++ b/gpsd.spec.in
@@ -146,7 +146,8 @@ cp gps.py gpsfake.py "$RPM_BUILD_ROOT"%{_libdir}/python${PYVERSION}/site-package
   NMEA.  Slightly better time handling under NMEA.  Daemon now builds with
   all but NMEA disabled.  Update the leap-second offset.  Fix bad unit 
   conversion in V output. cgpxlogger introduced.  Upgrade gpxlogger 
-  to DBUS 0.60 conformance.
+  to DBUS 0.60 conformance.  Jason von Nieda's patch may fix the chronic TSIP
+  driver problems.
 
 * Wed Sep 14 2005 Eric S. Raymond <esr@snark.thyrsus.com> - 2.30-1
 - Prevent core dump on -d option.  The .log option is no longer required for
diff --git a/tsip.c b/tsip.c
index e440d734..09c8e335 100644
--- a/tsip.c
+++ b/tsip.c
@@ -3,7 +3,6 @@
  * by Rob Janssen, PE1CHL.
  */
 #include <stdio.h>
-#include <stdlib.h>
 #include <string.h>
 #include <unistd.h>
 #include <math.h>
@@ -221,8 +220,19 @@ static gps_mask_t tsip_analyze(struct gps_device_t *session)
     case 0x46:		/* Health of Receiver */
 	if (len != 2)
 	    break;
+	session->driver.tsip.last_46 = now;
 	u1 = getub(buf,0);			/* Status code */
 	u2 = getub(buf,1);			/* Antenna/Battery */
+        if (u1) {
+            session->gpsdata.status = STATUS_NO_FIX;
+	    mask |= STATUS_SET;
+        }
+	else {
+	    if (session->gpsdata.status < STATUS_FIX) {
+                session->gpsdata.status = STATUS_FIX;
+                mask |= STATUS_SET;
+            }
+        }
 	gpsd_report(4, "Receiver health %02x %02x\n",u1,u2);
 	break;
     case 0x47:		/* Signal Levels for all Satellites */
@@ -318,7 +328,7 @@ static gps_mask_t tsip_analyze(struct gps_device_t *session)
 	f5 = getf(buf,16);			/* time-of-fix */
 	session->gpsdata.newdata.climb = f3;
 	/*@ -evalorder @*/
-	session->gpsdata.newdata.speed = sqrt(pow(f2,2) + pow(f1,2));
+	session->gpsdata.newdata.speed = sqrt(pow(f2,2) + pow(f1,2)) * MPS_TO_KNOTS;
 	/*@ +evalorder @*/
 	if ((session->gpsdata.newdata.track = atan2(f1,f2) * RAD_2_DEG) < 0)
 	    session->gpsdata.newdata.track += 360.0;
@@ -390,15 +400,15 @@ static gps_mask_t tsip_analyze(struct gps_device_t *session)
 	switch (u1 & 7)				/* dimension */
 	{
 	case 3:
-	    session->gpsdata.status = STATUS_FIX;
+	    //session->gpsdata.status = STATUS_FIX;
 	    session->gpsdata.newdata.mode = MODE_2D;
 	    break;
 	case 4:
-	    session->gpsdata.status = STATUS_FIX;
+	    //session->gpsdata.status = STATUS_FIX;
 	    session->gpsdata.newdata.mode = MODE_3D;
 	    break;
 	default:
-	    session->gpsdata.status = STATUS_NO_FIX;
+	    //session->gpsdata.status = STATUS_NO_FIX;
 	    session->gpsdata.newdata.mode = MODE_NO_FIX;
 	    break;
 	}
@@ -524,7 +534,7 @@ static gps_mask_t tsip_analyze(struct gps_device_t *session)
 	    d2 = s2 * d5;			/* north velocity m/s */
 	    session->gpsdata.newdata.climb = s3 * d5; /* up velocity m/s */
 	    /*@ -evalorder @*/
-	    session->gpsdata.newdata.speed = sqrt(pow(d2,2) + pow(d1,2));
+	    session->gpsdata.newdata.speed = sqrt(pow(d2,2) + pow(d1,2)) * MPS_TO_KNOTS;
 	    /*@ +evalorder @*/
 	    if ((session->gpsdata.newdata.track = atan2(d1,d2) * RAD_2_DEG) < 0)
 		session->gpsdata.newdata.track += 360.0;
@@ -599,7 +609,7 @@ static gps_mask_t tsip_analyze(struct gps_device_t *session)
 	    d2 = s3 * d5;			/* north velocity m/s */
 	    session->gpsdata.newdata.climb = s4 * d5; /* up velocity m/s */
 	    /*@ -evalorder @*/
-	    session->gpsdata.newdata.speed = sqrt(pow(d2,2) + pow(d1,2));
+	    session->gpsdata.newdata.speed = sqrt(pow(d2,2) + pow(d1,2)) * MPS_TO_KNOTS;
 	    /*@ +evalorder @*/
 	    if ((session->gpsdata.newdata.track = atan2(d1,d2) * RAD_2_DEG) < 0)
 		session->gpsdata.newdata.track += 360.0;
@@ -650,6 +660,12 @@ static gps_mask_t tsip_analyze(struct gps_device_t *session)
 	session->driver.tsip.last_5c = now;
     }
 
+    if ((now - session->driver.tsip.last_46) > 5) {
+        /* Request Health of Receiver */
+        (void)tsip_write(session->gpsdata.gps_fd, 0x26, buf, 0);
+        session->driver.tsip.last_46 = now;
+    }
+
     return mask;
 }