sirfctl still has a use.

several SS3 receivers i've seen in the last few weeks have become
sufficiently jammed up that gpsctl has not been able to reset them,
but sirfctl can. I think it's just a hardware problem.

1 files changed, 303 insertions, 0 deletions

diff --git a/contrib/sirfctl.c b/contrib/sirfctl.c
new file mode 100644
index 00000000..8c54bc45
--- /dev/null
+++ b/contrib/sirfctl.c
@@ -0,0 +1,303 @@
+/* $Id: sirfctl.c 3648 2006-10-25 19:37:52Z ckuethe $ */
+/* $CSK: sirfproto.c,v 1.6 2006/10/13 17:48:54 ckuethe Exp $ */
+
+/*
+ * Copyright (c) 2006 Chris Kuethe <chris.kuethe@gmail.com>
+ *
+ * Permission to use, copy, modify, and distribute this software for any
+ * purpose with or without fee is hereby granted, provided that the above
+ * copyright notice and this permission notice appear in all copies.
+ *
+ * THE SOFTWARE IS PROVIDED "AS IS" AND THE AUTHOR DISCLAIMS ALL WARRANTIES
+ * WITH REGARD TO THIS SOFTWARE INCLUDING ALL IMPLIED WARRANTIES OF
+ * MERCHANTABILITY AND FITNESS. IN NO EVENT SHALL THE AUTHOR BE LIABLE FOR
+ * ANY SPECIAL, DIRECT, INDIRECT, OR CONSEQUENTIAL DAMAGES OR ANY DAMAGES
+ * WHATSOEVER RESULTING FROM LOSS OF USE, DATA OR PROFITS, WHETHER IN AN
+ * ACTION OF CONTRACT, NEGLIGENCE OR OTHER TORTIOUS ACTION, ARISING OUT OF
+ * OR IN CONNECTION WITH THE USE OR PERFORMANCE OF THIS SOFTWARE.
+ */
+
+#include <sys/types.h>
+
+#include <err.h>
+#include <errno.h>
+#include <fcntl.h>
+#include <stdarg.h>
+#include <stdio.h>
+#include <stdlib.h>
+#include <string.h>
+#include <termios.h>
+#include <unistd.h>
+
+#define PROTO_SIRF 0
+#define PROTO_NMEA 1
+#define MAX_PACKET_LENGTH 512
+
+int sirfSetProto(int , struct termios *, unsigned int , unsigned int );
+int sirf_write(int , unsigned char *);
+void nmea_add_checksum(char *);
+int nmea_send(int , const char *, ... );
+int serialConfig(int , struct termios *, int );
+int serialSpeed(int , struct termios *, int );
+
+int
+sirfSetProto(int pfd, struct termios *term, unsigned int speed, unsigned int proto){
+	int i;
+	int spd[8] = {115200, 57600, 38400, 28800, 19200, 14400, 9600, 4800};
+	unsigned char sirf[] =	{
+				0xa0,0xa2,	/* header */
+				0x00,0x31,	/* message length */
+				0xa5,		/* message 0xa5: UART config */
+				0x00,0,0, 0,0,0,0, 8,1,0, 0,0, /* port 0 */
+				0xff,5,5, 0,0,0,0, 0,0,0, 0,0, /* port 1 */
+				0xff,5,5, 0,0,0,0, 0,0,0, 0,0, /* port 2 */
+				0xff,5,5, 0,0,0,0, 0,0,0, 0,0, /* port 3 */
+				0x00,0x00,	/* checksum */
+				0xb0,0xb3};	/* trailer */
+
+	if (serialConfig(pfd, term, 38400) == -1)
+		return -1;
+
+	sirf[7] = sirf[6] = (unsigned char)proto;
+	i = htonl(speed); /* borrow "i" to put speed into proper byte order */
+	bcopy(&i, sirf+8, 4);
+
+	/* send at whatever baud we're currently using */
+	sirf_write(pfd, sirf);
+	tcdrain(pfd);
+	usleep(200000);
+	nmea_send(pfd, "$PSRF100,%u,%u,8,1,0", speed, proto);
+	tcdrain(pfd);
+	usleep(200000);
+
+	/* now spam the receiver with the config messages */
+	for(i = 0; i < (int)(sizeof(spd)/sizeof(spd[0])); i++) {
+		serialSpeed(pfd, term, spd[i]);
+		sirf_write(pfd, sirf);
+		usleep(100000);
+		printf("sirf/%d -> %d\n", spd[i], speed);
+
+		nmea_send(pfd, "$PSRF100,%u,%u,8,1,0", proto, speed);
+		printf("nmea/%d -> %d\n", spd[i], speed);
+		tcdrain(pfd);
+		usleep(200000);
+	}
+
+	serialSpeed(pfd, term, speed);
+	tcdrain(pfd);
+	tcflush(pfd, TCIFLUSH);
+
+	return 0;
+}
+
+int sirf_write(int fd, unsigned char *msg) {
+	unsigned int	crc;
+	size_t	i, len;
+	int	ok;
+
+	len = (size_t)((msg[2] << 8) | msg[3]);
+
+	/* calculate CRC */
+	crc = 0;
+	for (i = 0; i < len; i++)
+	crc += (int)msg[4 + i];
+	crc &= 0x7fff;
+
+	/* enter CRC after payload */
+	msg[len + 4] = (unsigned char)((crc & 0xff00) >> 8);
+	msg[len + 5] = (unsigned char)( crc & 0x00ff);
+
+	tcflush(fd, TCIOFLUSH);
+	ok = (write(fd, msg, len+8) == (ssize_t)(len+8));
+	tcdrain(fd);
+	return(ok);
+}
+
+
+void nmea_add_checksum(char *sentence)
+/* add NMEA checksum to a possibly  *-terminated sentence */
+{
+	unsigned char sum = '\0';
+	char c, *p = sentence;
+
+	if (*p == '$') {
+	p++;
+	}
+	while ( ((c = *p) != '*') && (c != '\0')) {
+	sum ^= c;
+	p++;
+	}
+	*p++ = '*';
+	snprintf(p, 5, "%02X\r\n", (unsigned)sum);
+}
+
+int nmea_send(int fd, const char *fmt, ... )
+/* ship a command to the GPS, adding * and correct checksum */
+{
+	int status;
+	char buf[BUFSIZ];
+	va_list ap;
+
+	va_start(ap, fmt) ;
+	vsnprintf(buf, sizeof(buf)-5, fmt, ap);
+	va_end(ap);
+	if (fmt[0] == '$') {
+		strlcat(buf, "*", BUFSIZ);
+		nmea_add_checksum(buf);
+	} else
+		strlcat(buf, "\r\n", BUFSIZ);
+
+	tcflush(fd, TCIOFLUSH);
+	status = (int)write(fd, buf, strlen(buf));
+	tcdrain(fd);
+	if (status == (int)strlen(buf)) {
+		return status;
+	} else {
+		return -1;
+	}
+}
+
+int serialConfig(int pfd, struct termios *term, int speed){
+	int rv;
+	int r = 0;
+
+	/* get the current terminal settings */
+	tcgetattr(pfd, term);
+	cfmakeraw(term);
+	term->c_cflag |= (CLOCAL | CREAD);
+	term->c_cflag &=~ (PARENB | CRTSCTS);
+	term->c_iflag = term->c_oflag = term->c_lflag = (tcflag_t) 0;
+	term->c_oflag = (ONLCR);
+
+	/* we'd like to read back at least 2 characters in .2sec */
+	term->c_cc[VMIN] = 2;
+	term->c_cc[VTIME] = 2;
+
+	/* apply all the funky control settings */
+	while (((rv = tcsetattr(pfd, TCSAFLUSH, term)) == -1) && \
+	    (errno == EINTR) && (r < 3)) {
+		/* retry up to 3 times on EINTR */
+		usleep(1000);
+		r++;
+	}
+
+	if(rv == -1){
+		printf("serialConfig failed: %s\n", strerror(errno));
+		return -1;
+	}
+	
+	/* and if that all worked, try change the UART speed */
+	return serialSpeed(pfd, term, speed);
+}
+
+
+int serialSpeed(int pfd, struct termios *term, int speed){
+	int rv;
+	int r = 0;
+
+	switch(speed){
+#ifdef B115200
+	case 115200:
+		speed = B115200;
+		break;
+#endif
+#ifdef B57600
+	case 57600:
+		speed = B57600;
+		break;
+#endif
+	case 38400:
+		speed = B38400;
+		break;
+#ifdef B28800
+	case 28800:
+		speed = B28800;
+		break;
+#endif
+	case 19200:
+		speed = B19200;
+		break;
+#ifdef B14400
+	case 14400:
+		speed = B14400;
+		break;
+#endif
+	case 9600:
+		speed = B9600;
+		break;
+	case 4800:
+		speed = B4800;
+		break;
+	default:
+		errno = EINVAL;
+		return -1;
+	}
+
+	/* set UART speed */
+	(int)tcgetattr(pfd, term);
+	cfsetispeed(term, speed);
+	cfsetospeed(term, speed);
+	while (((rv = tcsetattr(pfd, TCSAFLUSH, term)) == -1) && \
+		(errno == EINTR) && (r < 3)) {
+		/* retry up to 3 times on EINTR */
+		usleep(1000);
+		r++;
+	}
+
+	if(rv == -1)
+		return -1;
+	else
+		return 0;
+}
+
+int
+main(int argc, char **argv){
+	int fd, speed, proto;
+	struct termios term;
+
+	if (argc !=  4){
+		printf("Usage: %s <tty> <nmea|sirf> <speed>\n", argv[0]);
+		exit(1);
+	}
+
+	if (strcmp(argv[2], "nmea") == 0)
+		proto = PROTO_NMEA;
+	else if (strcmp(argv[2], "sirf") == 0)
+		proto = PROTO_NMEA;
+	else {
+		printf("bad protocol '%s'. use 'nmea' or 'sirf'\n", argv[2]);
+		exit(1);
+	}
+
+	speed = atoi(argv[3]);
+	switch(speed){
+	case 4800:
+	case 9600:
+#ifdef B14400
+	case 14400:
+#endif
+#ifdef B28800
+	case 28800:
+#endif
+#ifdef B38400
+	case 38400:
+#endif
+#ifdef B57600
+	case 57600:
+#endif
+#ifdef B115200
+	case 115200:
+#endif
+		break;
+	default:
+		printf("bad speed %d\n", speed);
+		exit(1);
+	}
+	
+	if ((fd = open(argv[1], O_RDWR|O_NONBLOCK|O_EXCL, 0644)) == -1)
+		err(1, "open(%s)", argv[1]);
+
+	sirfSetProto(fd, &term, speed, proto);
+	close(fd);
+	return 0;
+}