Add the contributed code to the repository.

3 files changed, 1381 insertions, 0 deletions

diff --git a/contrib/README b/contrib/README
new file mode 100644
index 00000000..7a1bf9b8
--- /dev/null
+++ b/contrib/README
@@ -0,0 +1,6 @@
+This directory contains various pieces of code for talking to GPSses 
+rgat have been contributed to gpsd.
+
+Someday, ideas from this code might make it into gpsd.  If you are looking
+for things to hack on, picking a useful idea from here and integrating
+it would be a good place to start.
diff --git a/contrib/gpsread.c b/contrib/gpsread.c
new file mode 100644
index 00000000..f92cfeea
--- /dev/null
+++ b/contrib/gpsread.c
@@ -0,0 +1,883 @@
+/************************************************************************
+**   gpsread.c
+**
+**   H.Berns, U.Washington, Seattle, for WALTA/Quarknet/CROP
+**   last edited: 22 May 2002
+**
+**   This is a test program to set up a Leadtek GPS-9532 receiver
+**   through the serial port.  Before startup, please reset the
+**   GPS-9532 (e.g. power off for approx. 1 minute) so it will start
+**   in default mode with NMEA protocol at 4800 baud.
+*************************************************************************
+**
+**   This program runs the following sequence:
+**   - setup serial port COM1 (/dev/ttyS0) to 4800 baud, 8N1, ascii.
+**   - read a couple of lines of NMEA serial data at 4800 baud and
+**     send NMEA command $PSRF105 to switch GPS "Development Data ON" 
+**   - send NMEA command $PSRF100 to switch GPS to SiRF mode & 19200 baud
+**   - switch serial port COM1 to 19200 baud, 8N1, binary (EOL=0xb3).
+**   - read a couple of SiRF messages and
+**     send SiRF command 0x97 to set GPS trickle power to "continuous".
+**   - send SiRF command 0x81 to switch GPS to NMEA with only
+**     RMC and GGA messaging enabled at 19200 baud.
+**   - set serial port COM1 back to ascii default at 19200 baud.
+**   - read NMEA lines indefinitely (until CTRL-C).
+**
+*************************************************************************
+**   The serial port routines are based on an example found at
+**   ftp://sunsite.unc.edu:/pub/Linux/docs/HOWTO/Serial-Programming-HOWTO
+**   "The Linux Serial Programming HOWTO" [v1.0, 22 January 1998]
+**   by Peter H. Baumann, Peter.Baumann@dlr.de
+**   (chapter 3.1. "Canonical Input Processing")
+************************************************************************/
+
+#include <sys/types.h>
+#include <sys/stat.h>
+#include <fcntl.h>
+#include <termios.h>
+#include <stdio.h>
+#include <stdlib.h>
+#include <string.h>
+#include <time.h>
+#include <sys/time.h>
+#include <unistd.h>
+
+/* baudrate settings are defined in <asm/termbits.h>, which is
+   included by <termios.h> */
+
+#define	BAUDRATE_4800	B4800	/*  4800 baud */
+#define	BAUDRATE_19200	B19200	/* 19200 baud */
+
+/* change this definition for the correct port
+** COM1: /dev/ttyS0, COM2: /dev/ttyS1, etc.
+**
+** Note: with a default Linux setup, only the superuser (root) has 
+** read/write permission to the serial port, unless permission is
+** set for all users.  E.g. set permission from root with command
+** `chmod 666 /dev/ttyS?`
+*/ 
+#define	MODEMDEVICE	"/dev/ttyS2"	/* COM1 */
+
+#define	_POSIX_SOURCE	1	/* POSIX compliant source */
+#define	FALSE	0
+#define	TRUE	1
+#define	DEBUG	1	/* 1=debug 0=no_debug */
+#define	BUFMAX	10000
+#define HEXFILE         "log/gps.hex"
+#define LOGFILE         "log/gps.log"
+#define DATFILE         "log/gps.dat"
+
+/* global variables */
+struct	termios	oldtio, newtio;
+struct	timeval	sys_time, prev_sys_time;
+struct	timezone	tz;
+int	fd;
+short   buf2[2*BUFMAX];
+char    buf[2*BUFMAX], buf_nmea[2*BUFMAX], payload[BUFMAX];
+int     sats=0, pos_fix=0;
+int     STOP=FALSE, START=TRUE;
+float   altitude=-1.0, hdop=-1.0;
+FILE    *out, *dout;
+
+/* -------------------------- main program --------------------------------- */
+
+main(int argc, char *argv[])
+{
+    int    i, j, k, n, res, sent, SiRF_loop=100, NMEA_loop=20;
+    int    STOP=FALSE, START=FALSE;
+    char   ctemp, choice;
+    short  mnem[4];
+    FILE   *hout;
+
+    if ((out=fopen(LOGFILE,"w")) == NULL)
+    {
+      fprintf(stderr,"can't open %s !\n", LOGFILE);
+      exit(1);
+    }
+
+    if ((hout=fopen(HEXFILE,"w")) == NULL)
+    {
+      fprintf(stderr,"can't open %s !\n", HEXFILE);
+      exit(1);
+    }
+
+    if ((dout=fopen(DATFILE,"w")) == NULL)
+    {
+      fprintf(stderr,"can't open %s !\n", DATFILE);
+      exit(1);
+    }
+    fprintf(stderr,"Did the Leadtek GPS just reset (power off/on) [y/n]? ");
+    choice = getc(stdin);
+    if (choice==0x59 || choice==0x79) START = TRUE;
+
+    fprintf(stderr,"###################################################\n");
+    fprintf(stderr,"# %s started\n# to stop program hit <CTRL><C>\n",argv[0]);
+    fprintf(stderr,"###################################################\n");
+
+    j=0;
+    bzero(buf_nmea, sizeof(buf_nmea));
+    bzero(buf,      sizeof(buf));
+    gettimeofday(&prev_sys_time, &tz);  /* read precision system time from PC */
+
+    if (START)
+    {
+      fprintf(stderr,"now waiting for serial NMEA data at 4800 baud from ");
+      if (strstr(MODEMDEVICE,"ttyS0")) fprintf(stderr,"COM1");
+      if (strstr(MODEMDEVICE,"ttyS1")) fprintf(stderr,"COM2");
+      if (strstr(MODEMDEVICE,"ttyS2")) fprintf(stderr,"COM3");
+      if (strstr(MODEMDEVICE,"ttyS3")) fprintf(stderr,"COM4");
+      fprintf(stderr," ...\n");
+
+      /* Open modem device for reading and writing and not as controlling
+         tty because we don't want to get killed if linenoise sends CTRL-C.
+      */
+
+      fd = setup_terminal(fd,0);  /* mode=0 = NMEA mode at 4800 baud */
+
+      for (i=0; i<NMEA_loop; i++)
+      {
+        res = (int) read(fd, buf, BUFMAX);
+        gettimeofday(&sys_time, &tz);  /* read precision system time from PC */
+
+        for (n=0; n<res; n++)
+        {
+          fprintf(stderr,"%c", buf[n] & 0xff);
+          fprintf(out,"%c", buf[n] & 0xff);
+          if (buf[n]==0x24)   /* "$" */
+          {
+            buf_nmea[j] = 0;
+            if (!strncmp(buf_nmea,"$GPRMC,",7)) extract_RMC_data();
+            if (!strncmp(buf_nmea,"$GPGGA,",7)) extract_GGA_data();
+            buf_nmea[0] = buf[n] & 0xff;
+            j=1;
+          }
+          else
+          {
+            buf_nmea[j] = buf[n] & 0xff;
+            j++;
+          }         
+        }
+        fflush(out);
+        memcpy(&prev_sys_time, &sys_time, sizeof(sys_time));  /* save system time for next readout */
+
+        if (i==20)
+        {
+          /* send NMEA command - switch "Development Data" on */
+          sprintf(payload,"PSRF105,1");
+          send_NMEA_message(9);
+        }
+        if (DEBUG && i>=30 && i<=35)
+        {
+          /* send NMEA commands to set query controls */
+
+          if (i==30) sprintf(payload,"PSRF103,00,00,10,01");   /* set GGA to 1/10 Hz */
+          if (i==31) sprintf(payload,"PSRF103,01,00,00,01");   /* disable GLL */
+          if (i==32) sprintf(payload,"PSRF103,02,00,00,01");   /* disable GSA */
+          if (i==33) sprintf(payload,"PSRF103,03,00,00,01");   /* disable GSV */
+          if (i==34) sprintf(payload,"PSRF103,04,00,01,01");   /* set RMC to 1 Hz */
+          if (i==35) sprintf(payload,"PSRF103,05,00,00,01");   /* disable VTG */
+          send_NMEA_message(19);
+        }
+      }
+
+      /* send NMEA command to switch GPS to SiRF mode and 19200 baud */
+
+      sprintf(payload,"PSRF100,0,19200,8,1,0");
+      send_NMEA_message(21);
+
+      if (DEBUG)
+      {
+        sprintf(payload,"PSRF100,0,19200,8,1,0"); /* send again to make sure... */
+        send_NMEA_message(21);
+      }
+
+      /* switch PC's serial port now to 19200 baud */
+
+      sleep(1);                   /* wait 1 second */
+      restore_terminal(fd);
+      fprintf(stderr,"\n================================================\n");
+      fprintf(stderr,"Switch to 19200 baud for SiRF binary protocol\n");
+      fprintf(stderr,"================================================\n");
+      fd = setup_terminal(fd,1);  /* mode=1 = SiRF mode at 19200 baud */
+
+      /* poll software version */
+
+      j  = k = 0;
+      for (i=0; i<4; i++) mnem[i]=0;
+
+      for (i=0; i<SiRF_loop; i++)     /* loop over some serial port readout lines */
+      {
+        /* read blocks program execution until a line terminating character 
+           is input, even if more than BUFMAX chars are input. If the number
+           of characters read is smaller than the number of chars available,
+           subsequent reads will return the remaining chars. res will be set
+           to the actual number of characters actually read
+        */
+      
+        res = (int) read(fd, buf, BUFMAX);
+
+        for (n=0; n<res; n++)
+        {
+          mnem[j%4] = (short) buf[n] & 0xff;
+          buf2[k]   = (short) buf[n] & 0xff;
+
+          if (j>1) fprintf(hout,"%02x", mnem[(j-2)%4]);
+
+          if (mnem[(j-3)%4]==176 && mnem[(j-2)%4]==179 && mnem[(j-1)%4]==160 && mnem[j%4]==162)
+          {
+            fprintf(stderr,"\nSiRF ID %2d (%3d bytes): ", buf2[4], k-1);
+
+            if (buf2[4]==2)  display_SiRF_message_02();
+            if (buf2[4]==4)  display_SiRF_message_04();
+            if (buf2[4]==6)  display_SiRF_message_06();
+            if (buf2[4]==11) display_SiRF_message_11();
+            if (buf2[4]==12) display_SiRF_message_12();
+            if (buf2[4]==19) display_SiRF_message_19();
+
+            k=1;
+            buf2[0] = 160;
+            buf2[1] = 162;
+            fprintf(hout,"\n");
+            fflush(hout);
+          }
+          k++;
+          j++;
+        }
+
+        /* send SiRF commands at certain times */
+
+        if (i==4)
+        {
+          /* poll software version */
+
+          payload[0] = 0x84;
+          payload[1] = 0x00;
+          send_SiRF_message(2);
+        }
+        if (i==5)
+        {
+          /* Enable WAAS */
+
+          payload[0] = 0x81;
+          payload[1] = 0x01;
+          payload[2] = 0x00;
+          payload[3] = 0x00;
+          send_SiRF_message(4);
+        }
+        else if (i==6)
+        {
+          /* set trickle power parameters to "continuous" */
+/*
+          payload[0] = 0x97;
+          payload[1] = 0x00;
+          payload[2] = 0x00;
+          payload[3] = 0x03;
+          payload[4] = 0xe8;
+          payload[5] = 0x00;
+          payload[6] = 0x00;
+          payload[7] = 0x01;
+          payload[8] = 0xf4;
+*/
+          payload[0] = 0x97;
+          payload[1] = 0x00;
+          payload[2] = 0x00;
+          payload[3] = 0xc8;
+          payload[4] = 0x00;
+          payload[5] = 0x00;
+          payload[6] = 0x00;
+          payload[7] = 0xc8;
+          payload[8] = 0x00;
+          send_SiRF_message(9);
+        }
+        else if (i==8)
+        {
+          /* poll Navigation parameters */
+
+          payload[0] = 0x98;
+          payload[1] = 0x00;
+          send_SiRF_message(2);
+        }
+        else if (i==(SiRF_loop-10))
+        {
+          /* switch to NMEA protocol */
+
+          payload[0]  = 0x81;  /* message ID 129 (0x81) */
+          payload[1]  = 0x02;
+          payload[2]  = 0x0a;  /* GGA on at 10 second interval */
+          payload[3]  = 0x01;
+          payload[4]  = 0x00;  /* GLL off */
+          payload[5]  = 0x01;
+          payload[6]  = 0x00;  /* GSA off */
+          payload[7]  = 0x01;
+          payload[8]  = 0x00;  /* GSV off */
+          payload[9]  = 0x01;
+          payload[10] = 0x01;  /* RMC on at 1 second */
+          payload[11] = 0x01;
+          payload[12] = 0x00;  /* VTG message off */
+          payload[13] = 0x01;
+          payload[14] = 0x00;
+          payload[15] = 0x01;
+          payload[16] = 0x00;
+          payload[17] = 0x01;
+          payload[18] = 0x00;
+          payload[19] = 0x01;
+          payload[20] = 0x00;
+          payload[21] = 0x01;
+          payload[22] = 0x4b;  /* baudrate = 19200 */
+          payload[23] = 0x00;
+          send_SiRF_message(24);
+        }
+      }
+      fclose(hout);
+
+      /* done with SiRF protocol, now switch back to NMEA protocol */ 
+
+      restore_terminal(fd);
+      sleep(1);
+
+      fprintf(stderr,"\n================================================\n");
+      fprintf(stderr,"Switch back to NMEA protocol, stay at 19200 baud\n");
+      fprintf(stderr,"================================================\n");
+    }
+
+    fd = setup_terminal(fd,2);  /* mode=0 = NMEA mode at 19200 baud */
+
+    sprintf(payload,"PSRF105,1");            /* "Development Data" on */
+    send_NMEA_message(9);
+    sprintf(payload,"PSRF103,00,00,05,01");  /* set GGA to 5 sec interval */
+    send_NMEA_message(19);
+    sprintf(payload,"PSRF103,01,00,00,01");  /* disable GLL */
+    send_NMEA_message(19);
+    sprintf(payload,"PSRF103,02,00,00,01");  /* disable GSA */
+    send_NMEA_message(19);
+    sprintf(payload,"PSRF103,03,00,00,01");  /* disable GSV */
+    send_NMEA_message(19);
+    sprintf(payload,"PSRF103,04,00,01,01");  /* set RMC to 1 sec interval */
+    send_NMEA_message(19);
+    sprintf(payload,"PSRF103,05,00,00,01");  /* disable VTG */
+    send_NMEA_message(19);
+
+    j=0;
+    gettimeofday(&prev_sys_time, &tz);
+
+/*    START = FALSE; */
+
+/*    for (;;)  /* run indefinitely or until CTRL-C */
+    for (i=0; i<NMEA_loop; i++)
+    {
+      gettimeofday(&prev_sys_time, &tz);
+      res = (int) read(fd, buf, BUFMAX);
+
+      for (n=0; n<res; n++)
+      {
+        fprintf(stderr,"%c", buf[n] & 0xff);
+        fprintf(out,"%c", buf[n] & 0xff);
+        
+        buf_nmea[j] = buf[n] & 0xff;
+        if (buf_nmea[j]==0x0a)
+        {
+          buf_nmea[j+1]=0;
+          if (!strncmp(buf_nmea,"$GPRMC,",7)) extract_RMC_data();
+          if (!strncmp(buf_nmea,"$GPGGA,",7)) extract_GGA_data();
+          j=0;
+        }
+        else
+        {
+          j++;
+        }
+      }
+      fflush(out);
+    }
+      /* send NMEA command to switch GPS to NMEA mode and 4800 baud */
+
+    sprintf(payload,"PSRF100,1,4800,8,1,0");
+    send_NMEA_message(21);
+    sleep(1);
+
+    sprintf(payload,"PSRF100,1,4800,8,1,0");
+    send_NMEA_message(21);
+
+    restore_terminal(fd);
+    sleep(1);
+
+    fprintf(stderr,"\n================================================\n");
+    fprintf(stderr,"Switch back to NMEA protocol, 4800 baud\n");
+    fprintf(stderr,"================================================\n");
+    fd = setup_terminal(fd,0);  /* mode=0 = NMEA mode at 4800 baud */
+
+    sprintf(payload,"PSRF105,1");            /* "Development Data" on */
+    send_NMEA_message(9);
+    sprintf(payload,"PSRF108,1");            /* "WAAS" on */
+    send_NMEA_message(9);
+    sprintf(payload,"PSRF103,00,00,01,01");  /* set GGA to 5 sec interval */
+    send_NMEA_message(19);
+    sprintf(payload,"PSRF103,01,00,01,01");  /* disable GLL */
+    send_NMEA_message(19);
+    sprintf(payload,"PSRF103,02,00,01,01");  /* disable GSA */
+    send_NMEA_message(19);
+    sprintf(payload,"PSRF103,03,00,01,01");  /* disable GSV */
+    send_NMEA_message(19);
+    sprintf(payload,"PSRF103,04,00,01,01");  /* set RMC to 1 sec interval */
+    send_NMEA_message(19);
+    sprintf(payload,"PSRF103,05,00,01,01");  /* disable VTG */
+    send_NMEA_message(19);
+
+    for (i=0; i<NMEA_loop; i++)
+    {
+      gettimeofday(&prev_sys_time, &tz);
+      res = (int) read(fd, buf, BUFMAX);
+
+      for (n=0; n<res; n++)
+      {
+        fprintf(stderr,"%c", buf[n] & 0xff);
+        fprintf(out,"%c", buf[n] & 0xff);
+        
+        buf_nmea[j] = buf[n] & 0xff;
+        if (buf_nmea[j]==0x0a)
+        {
+          buf_nmea[j+1]=0;
+          if (!strncmp(buf_nmea,"$GPRMC,",7)) extract_RMC_data();
+          if (!strncmp(buf_nmea,"$GPGGA,",7)) extract_GGA_data();
+          j=0;
+        }
+        else
+        {
+          j++;
+        }
+      }
+      fflush(out);
+    }
+
+    fclose(out);
+    fclose(dout);
+}
+
+/* ------------------------------ subroutines ------------------------------ */
+
+int setup_terminal(int fd, int mode)
+{
+    /* mode: 0 = NMEA mode at 4800 baud (GPS power up default)
+             1 = SiRF mode at 19200 baud
+             2 = NMEA mode at 19200 baud
+    */
+
+    fd = open(MODEMDEVICE, O_RDWR | O_NOCTTY );
+    if (fd <0) { perror(MODEMDEVICE); exit(-1); }
+
+    if (DEBUG) fprintf(stderr,"   %s open\n", MODEMDEVICE);
+
+    tcgetattr(fd,&oldtio);         /* save current serial port settings */
+    bzero(&newtio, sizeof(newtio)); /* clear struct for new port settings */
+
+    /* BAUDRATE: Set bps rate. You could also use cfsetispeed and
+                 cfsetospeed.
+       CRTSCTS : output hardware flow control (only used if the cable has
+                 all necessary lines. See sect. 7 of Serial-HOWTO)
+                 [not used here = no flow control]
+       CS8     : 8n1 (8bit,no parity,1 stopbit)
+       CLOCAL  : local connection, no modem contol
+       CREAD   : enable receiving characters
+    */
+
+/*  newtio.c_cflag = BAUDRATE | CRTSCTS | CS8 | CLOCAL | CREAD;  */
+
+    if (mode==0)
+    {
+      newtio.c_cflag = BAUDRATE_4800 | CS8 | CLOCAL | CREAD; /* no flow control */
+    }
+    else
+    {
+      newtio.c_cflag = BAUDRATE_19200 | CS8 | CLOCAL | CREAD; /* no flow control */
+    }
+
+    /* IGNPAR  : ignore bytes with parity errors
+       ICRNL   : map CR to NL (otherwise a CR input on the other computer
+                 will not terminate input)
+       otherwise make device raw (no other input processing)
+    */
+
+    newtio.c_iflag = IGNPAR;
+
+    /* Raw output. */
+
+    newtio.c_oflag = 0;
+
+    /*  ICANON  : enable canonical input
+        disable all echo functionality, and don't send signals to calling
+        program
+    */
+
+    newtio.c_lflag = ICANON;
+
+    /* initialize all control characters
+       default values can be found in /usr/include/termios.h, and are
+       given in the comments, but we don't need them here
+    */
+
+    newtio.c_cc[VINTR]    = 0;   /* Ctrl-c */
+    newtio.c_cc[VQUIT]    = 0;   /* Ctrl-\ */
+    newtio.c_cc[VERASE]   = 0;   /* del */
+    newtio.c_cc[VKILL]    = 0;   /* @ */
+    newtio.c_cc[VEOF]     = 0;   /* Ctrl-d */
+    newtio.c_cc[VTIME]    = 0;   /* inter-character timer unused */
+    newtio.c_cc[VMIN]     = 0;   /* blocking read until 1 character arrives */
+    newtio.c_cc[VSWTC]    = 0;   /* '\0' */
+    newtio.c_cc[VSTART]   = 0;   /* Ctrl-q */
+    newtio.c_cc[VSTOP]    = 0;   /* Ctrl-s */
+    newtio.c_cc[VSUSP]    = 0;   /* Ctrl-z */
+    if (mode==1)
+    {
+      newtio.c_cc[VEOL]   = 0xb3;  /* EOL character for SiRF mode = 0xb3 */
+    }
+    else
+    {
+      newtio.c_cc[VEOL]   = 0;   /* 0='\0' */
+    }
+    newtio.c_cc[VREPRINT] = 0;   /* Ctrl-r */
+    newtio.c_cc[VDISCARD] = 0;   /* Ctrl-u */
+    newtio.c_cc[VWERASE]  = 0;   /* Ctrl-w */
+    newtio.c_cc[VLNEXT]   = 0;   /* Ctrl-v */
+    newtio.c_cc[VEOL2]    = 0;   /* '\0' */
+
+    /* now clean the modem line and activate the settings for the port */
+
+    if (DEBUG) fprintf(stderr,"   %s new terminal settings loaded\n",MODEMDEVICE);
+
+    tcflush(fd, TCIFLUSH);
+    tcsetattr(fd,TCSANOW,&newtio);
+
+    /* terminal settings done, now handle input
+       In this example, inputting a 'z' at the beginning of a line will
+       exit the program.
+    */
+
+    if (DEBUG) fprintf(stderr,"   %s activated ...\n",MODEMDEVICE);
+    return(fd);
+}
+
+restore_terminal(int fd)
+{
+    /* restore the old port settings */
+
+    tcsetattr(fd,TCSANOW,&oldtio);
+}
+
+display_SiRF_message_02()
+{
+    /* Message ID 2: Navigation & Time data */
+
+    u_int week, t100, seconds, day, hour, min, sec;
+    int   n, Xpos, Ypos, Zpos, mode, sats;
+
+    /* x,y,z position in meters (from Earth center) */
+
+    Xpos = ((buf2[5]  << 24) & 0xff000000) + \
+           ((buf2[6]  << 16) & 0x00ff0000) + \
+           ((buf2[7]  <<  8) & 0x0000ff00) + \
+            (buf2[8]         & 0x000000ff);
+    Ypos = ((buf2[9]  << 24) & 0xff000000) + \
+           ((buf2[10] << 16) & 0x00ff0000) + \
+           ((buf2[11] <<  8) & 0x0000ff00) + \
+            (buf2[12]        & 0x000000ff);
+    Zpos = ((buf2[13] << 24) & 0xff000000) + \
+           ((buf2[14] << 16) & 0x00ff0000) + \
+           ((buf2[15] <<  8) & 0x0000ff00) + \
+            (buf2[16]        & 0x000000ff);
+
+    /* GPS week since Jan. 1980 (modulo 1024) */
+
+    week = ((buf2[26] <<  8) & 0x0000ff00) + \
+            (buf2[27]        & 0x000000ff);
+
+    /* time in 1/100 seconds since start of GPS week */
+
+    t100 = ((buf2[28] << 24) & 0xff000000) + \
+           ((buf2[29] << 16) & 0x00ff0000) + \
+           ((buf2[30] <<  8) & 0x0000ff00) + \
+            (buf2[31]        & 0x000000ff);
+
+    seconds = t100/100;
+    day  = seconds / 86400;
+    hour = (seconds%86400) / 3600;
+    min  = (seconds%3600) / 60;
+    sec  = seconds%60;
+
+    mode = (int) buf2[23];  /* satellite tracking mode */
+    sats = (int) buf2[32];  /* number of tracked satellites */
+
+    fprintf(stderr," Week=%d Time=%d:%02d:%02d:%02d.%02d mode=%02x X=%d Y=%d Z=%d sats=%d",\
+            week, day, hour, min, sec, t100%100, mode, Xpos, Ypos, Zpos, sats);
+    if (sats>0)
+    {
+      fprintf(stderr," sat#");
+      for (n=0; n<sats; n++) fprintf(stderr," %02d", buf2[33+n]);
+    }
+}
+
+display_SiRF_message_04()
+{
+    /* Message ID 4: Tracker data */
+
+    u_int week, t100, seconds, day, hour, min, sec;
+
+    /* GPS week */
+
+    week = ((buf2[5]  <<  8) & 0x0000ff00) + \
+            (buf2[6]         & 0x000000ff);
+
+    /* time in 1/100 seconds since start of GPS week */
+
+    t100 = ((buf2[7]  << 24) & 0xff000000) + \
+           ((buf2[8]  << 16) & 0x00ff0000) + \
+           ((buf2[9]  <<  8) & 0x0000ff00) + \
+            (buf2[10]        & 0x000000ff);
+
+    seconds = t100/100;
+    day  = seconds / 86400;
+    hour = (seconds%86400) / 3600;
+    min  = (seconds%3600) / 60;
+    sec  = seconds%60;
+
+    fprintf(stderr," Week=%d Time=%d:%02d:%02d:%02d.%02d",\
+            week, day, hour, min, sec, t100%100);
+}
+
+display_SiRF_message_06()
+{
+    /* Message ID 6: Software version */
+
+    int n=0;
+    
+    fprintf(stderr," = S/W VERSION: ");
+    while(n<20 && buf2[n+5]!=0)
+    {
+      fprintf(stderr,"%c",(char) buf2[n+5]);
+      n++;
+    }
+}
+
+display_SiRF_message_11()
+{
+    /* Message ID 11: Command Acknowledgement */
+
+    fprintf(stderr," => Command 0x%02x acknowledged", buf2[5]);
+}
+
+display_SiRF_message_12()
+{
+    /* Message ID 12: Command NAcknowledgement */
+
+    fprintf(stderr," => Command 0x%02x not understood - ERROR!!", buf2[5]);
+}
+
+display_SiRF_message_19()
+{
+    /* Message ID 19: Navigation Parameter response */
+
+    int n;
+
+    fprintf(stderr," Navigation Parameters: ");
+    for (n=0; n<23; n++) fprintf(stderr,"%02x", buf2[n+5]);
+}
+
+send_SiRF_message(int numpayload)
+{
+    short checksum=0;
+    int   n, sent, numbytes;
+    char  bufs[BUFMAX];
+
+    bufs[0] = 0xa0;
+    bufs[1] = 0xa2;
+    bufs[2] = (numpayload >> 8) & 0xff;
+    bufs[3] = numpayload & 0xff;
+
+    for (n=0; n<numpayload; n++)
+    {
+      bufs[n+4] = payload[n] & 0xff;
+      checksum += (short) (payload[n] & 0xff);
+    }
+
+    bufs[numpayload+4] = (checksum >> 8) & 0xff;
+    bufs[numpayload+5] = checksum & 0xff;
+    bufs[numpayload+6] = 0xb0;
+    bufs[numpayload+7] = 0xb3;
+    
+    numbytes = numpayload + 8;
+
+    sent = (int) write(fd, bufs, numbytes);
+    if (sent != numbytes)
+    {
+      fprintf(stderr,"\nSerial Port Write Error, wstat=%d\n", sent);
+    }
+    else
+    {
+      fprintf(stderr,"\n---------------------------------------------\n");
+      fprintf(stderr,"SiRF message %d sent with %d bytes\n", payload[0] & 0xff, numbytes);
+      fprintf(stderr,"---------------------------------------------\n");
+    }
+}
+
+send_NMEA_message(int numpayload)
+{
+    char  checksum=0, check_sum[2];
+    int   n, sent, numbytes;
+    char  bufs[BUFMAX];
+
+    bufs[0] = 0x24;  /* "$" */
+
+    for (n=0; n<numpayload; n++)
+    {
+      bufs[n+1] = payload[n] & 0xff;
+      checksum ^= payload[n] & 0xff;
+    }
+
+    sprintf(check_sum,"%02x",checksum & 0xff);
+
+    bufs[numpayload+1] = 0x2a;  /* "*" */
+    bufs[numpayload+2] = check_sum[0] & 0xff;
+    bufs[numpayload+3] = check_sum[1] & 0xff;
+    bufs[numpayload+4] = 0x0d;  /* <CR> */
+    bufs[numpayload+5] = 0x0a;  /* <LF> */
+    
+    numbytes = numpayload + 6;
+
+    sent = (int) write(fd, bufs, numbytes);
+    if (sent != numbytes)
+    {
+      fprintf(stderr,"\nSerial Port Write Error, wstat=%d\n", sent);
+    }
+    else if (START)   /* display sent message for debug */
+    {
+      fprintf(stderr,"\n-----------------------------------------------------------\n");
+      fprintf(stderr,"NMEA message sent (%d bytes): ", numbytes);
+      for (n=0; n<numbytes; n++) fprintf(stderr,"%c", bufs[n] & 0xff);
+      fprintf(stderr,"-----------------------------------------------------------\n");
+    }
+}
+
+extract_RMC_data()
+{
+    int    DATA_VALID=FALSE;
+    int    itime, mtime, ilat, mlat, ilong, mlong;
+    int    date, year, month, day, hour, min, sec, msec;
+    int    latdeg, latmin, longdeg, longmin;
+    int    igps_sec;
+    float  course, speed;
+    long double gps_sec, sys_sec, psys_sec, diff_sec, wait_sec;
+    char   valid_flag[10], lat_dir[10], long_dir[10];
+
+    if (!START) gettimeofday(&sys_time, &tz);
+
+//    fprintf(stderr,"RMC data detected: %s\n", buf_nmea);
+
+    if (12==sscanf(buf_nmea,"$GPRMC,%6d.%3d,%[AV],%4d.%4d,%[NS],%5d.%4d,%[EW],%f,%f,%6d", \
+                   &itime, &msec, valid_flag, &ilat, &mlat, lat_dir, &ilong, &mlong, \
+                   long_dir, &speed, &course, &date))
+    {
+      DATA_VALID=TRUE;
+    }
+    else if(11==sscanf(buf_nmea,"$GPRMC,%6d.%3d,%[AV],%4d.%4d,%[NS],%5d.%4d,%[EW],%f,,%6d", \
+                   &itime, &msec, valid_flag, &ilat, &mlat, lat_dir, &ilong, &mlong, \
+                   long_dir, &speed, &date))
+    {
+      DATA_VALID=TRUE;
+    }
+    else if (10==sscanf(buf_nmea,"$GPRMC,%6d.%3d,%[AV],%4d.%4d,%[NS],%5d.%4d,%[EW],,,%6d", \
+                   &itime, &msec, valid_flag, &ilat, &mlat, lat_dir, &ilong, &mlong,  \
+                   long_dir, &date))
+    {
+      DATA_VALID=TRUE;
+    }
+    else
+    {
+      DATA_VALID=FALSE;
+    }
+
+    if (DATA_VALID)
+    {
+
+      hour  = itime/10000;
+      min   = (itime%10000)/100;
+      sec   = itime%100;
+
+      year  = 2000 + (date%100);
+      month = (date%10000)/100;
+      day   = date/10000;
+
+      igps_sec = calc_daytime(year, month, day, hour, min, sec);
+      gps_sec  = (long double) igps_sec + (long double) msec / 1000.0;
+      sys_sec  = (long double) sys_time.tv_sec + (long double) sys_time.tv_usec / 1000000.0;
+      psys_sec = (long double) prev_sys_time.tv_sec + (long double) prev_sys_time.tv_usec / 1000000.0;
+      diff_sec = sys_sec - gps_sec;
+      wait_sec = sys_sec - psys_sec;
+
+      latdeg   = ilat/100;
+      latmin   = ilat%100;
+
+      longdeg  = ilong/100;
+      longmin  = ilong%100;
+
+      fprintf(dout,"%4d/%02d/%02d", year, month, day);
+      fprintf(dout," %02d:%02d:%02d.%03d %c", hour, min, sec, msec, valid_flag[0]);      
+      fprintf(dout," Lat=%02d:%02d.%04d-%c", latdeg, latmin, mlat, lat_dir[0]);
+      fprintf(dout," Lng=%03d:%02d.%04d-%c", longdeg, longmin, mlong, long_dir[0]);
+      fprintf(dout," Alt=%05.1f sats=%02d", altitude, sats);
+      fprintf(dout," hdop=%04.1f fix=%d", hdop, pos_fix);
+      fprintf(dout," SYS-GPS=%5.3Lf wait=%5.3Lf\n", diff_sec, wait_sec);
+      fflush(dout);
+    }
+}
+
+extract_GGA_data()
+{
+    float  latsec, longsec;
+    int    itime, mtime, ilat, mlat, ilong, mlong;
+    int    date, year, month, day, hour, min, sec, msec;
+    int    latdeg, latmin, longdeg, longmin;
+    char   valid_flag[10], lat_dir[10], long_dir[10];
+
+//    fprintf(stderr,"GGA data detected: %s\n", buf_nmea);
+
+    if (12==sscanf(buf_nmea,"$GPGGA,%6d.%3d,%4d.%4d%[NS,]%5d.%4d%[EW,]%d,%2d,%f,%f", \
+                   &itime, &msec, &ilat, &mlat, lat_dir, &ilong, &mlong, long_dir, \
+                   &pos_fix, &sats, &hdop, &altitude))
+    {
+      hour  = itime/10000;
+      min   = (itime%10000)/100;
+      sec   = itime%100;
+
+      latdeg   = ilat/100;
+      latmin   = ilat%100;
+      latsec   = (float) mlat * 0.006;
+
+      longdeg  = ilong/100;
+      longmin  = ilong%100;
+      longsec  = (float) mlong * 0.006;
+    }
+}
+
+int calc_daytime(int year,int month,int day,int hh,int mm,int ss)
+{
+  /* author credits: M.Kohama for K2K GPS, Japan, 4/7/1999 */
+
+  static int year0 = 1970;
+  static int m[12] = {31,28,31,30,31,30,31,31,30,31,30,31};
+  int i,daytime,k1,k2,k3,k4,d0,u1,time0,timeu0;
+ 
+  u1 = 24 * 3600;
+  d0 = 365 * 24 * 3600;
+ 
+  timeu0 = (year0-1)/4 - (year0-1)/100 + (year0-1)/400;
+  time0 = (year0-1) * 365 + timeu0;
+ 
+  k1 = (year-1)/4 - (year-1)/100 + (year-1)/400;
+  k2 = ((year-1) * 365 + k1 - time0 )* u1;
+ 
+  k3 = 0;
+  for(i=0;i<month-1;i++) k3 += u1*m[i];
+  if ((year%4)==0 && ((year%100)!=0 || (year%400)==0) && month>2) k3 += u1;
+ 
+  k4 = (day-1) * u1 + 3600 * hh + 60 * mm + ss;
+  daytime = k2 + k3 + k4;
+  return daytime;
+}
diff --git a/contrib/sirf.box b/contrib/sirf.box
new file mode 100644
index 00000000..1a2080e7
--- /dev/null
+++ b/contrib/sirf.box
@@ -0,0 +1,492 @@
+From lmendez19@austin.rr.com  Tue Aug 31 14:03:34 2004
+Return-Path: <lmendez19@austin.rr.com>
+Received: from localhost (localhost [127.0.0.1])
+	by snark.thyrsus.com (8.12.11/8.12.11) with ESMTP id i7VI3XHC030622
+	for <esr@localhost>; Tue, 31 Aug 2004 14:03:34 -0400
+Received: from grelber.thyrsus.com [192.168.1.31]
+	by localhost with IMAP (fetchmail-6.2.5)
+	for esr@localhost (single-drop); Tue, 31 Aug 2004 14:03:34 -0400 (EDT)
+Received: from ms-smtp-02-eri0.texas.rr.com (ms-smtp-02.texas.rr.com [24.93.47.41])
+	by grelber.thyrsus.com (8.12.11/8.12.11) with ESMTP id i7VI2AsC018087
+	for <esr@thyrsus.com>; Tue, 31 Aug 2004 14:02:10 -0400
+Received: from jedi (cs679161-75.austin.rr.com [67.9.161.75])
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+	for <esr@thyrsus.com>; Tue, 31 Aug 2004 12:58:43 -0500 (CDT)
+Message-ID: <000f01c48f84$2cfeaf00$0500a8c0@jedi>
+From: "Lonnie Mendez" <lmendez19@austin.rr.com>
+To: <esr@thyrsus.com>
+References: <20040831110333.GE16228@us.netrek.org> <20040831164431.GB14818@thyrsus.com>
+Subject: Re: [Gpsd-dev] CS7 or CS8
+Date: Tue, 31 Aug 2004 12:58:50 -0500
+MIME-Version: 1.0
+Content-Type: multipart/mixed;
+	boundary="----=_NextPart_000_000C_01C48F5A.42AFE9B0"
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+	RCVD_IN_SORBS autolearn=no version=2.63
+Status: RO
+Content-Length: 33325
+Lines: 454
+
+This is a multi-part message in MIME format.
+
+------=_NextPart_000_000C_01C48F5A.42AFE9B0
+Content-Type: text/plain;
+	format=flowed;
+	charset="iso-8859-1";
+	reply-type=original
+Content-Transfer-Encoding: 7bit
+
+    I just got back from having surgery, so please forgive my english..etc.
+
+    I have some code I've been using to message around with my usb earthmate 
+in sirf binary protocol mode.... I thought it might be of some use for you 
+and the project.  The code is definitely not a good example in programming 
+style and tactics, but it should allow for messing around with the device 
+and enabling/disabling nmea messages, setting power rate, etc (ephemeris and 
+almanac not supported).  Since I have not used this in soo long and have no 
+plans for using it later, I might as well contribute it... another example 
+of sirf handling would be the Janszoon sirf library, which uses wgs84 for 
+lla to xyz datum calculations.  It can be found at freshmeat.net.  The sirf 
+lib is attached to this message.  I can imagine, if this were to be made 
+functional, using it for obtaining sirf data for the gpstk library would be 
+the most practical use...as they spent well over a million dollars to 
+develop the library!
+
+Datasheet for SiRF binary protocol I used here (General Downloads->GPS):
+http://www.rayming.com/downloads.asp#7
+
+Best regards,
+    Lonnie Mendez
+
+
+
+------=_NextPart_000_000C_01C48F5A.42AFE9B0
+Content-Type: application/octet-stream;
+	name="libsirf-devel-0.1.tar.bz2"
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