Support Galileo $GA... talkers and fix a couple of $GB cases

Now that the Galileo constellation is live, the NMEA 4.1 standard
appears to have standardized on the "$GA..." prefix for
Galileo-specific messages. The lexer currently filters these out; this
patch ensures they go through to e.g. gpspipe -r. (I tore my hair out
for days trying to figure out why these were not being passed through
even though I could see them using screen etc.)

Also added logic to the GSA and GSV message parsing to account for the
Galileo messages. It probably needs more work to match up satellite
numbers between the GSA and GSV messages and to account for the GNSS
type field in NMEA 4.1, but it's a start at least.

I also fixed a couple of situations where the 'GB' prefix was being
ignored even though 'BD' was not. This leads to a regression in
test/daemon/beidou-gb.log, but the "regression" is actually incorrect
old behavior (JSON messages omitting BeiDou satellites) exposed by the
patch.

Signed-off-by: Gary E. Miller <gem@rellim.com>

1 files changed, 13 insertions, 6 deletions

diff --git a/driver_nmea0183.c b/driver_nmea0183.c
index ba3ddfd5..235d76e8 100644
--- a/driver_nmea0183.c
+++ b/driver_nmea0183.c
@@ -615,6 +615,8 @@ static int nmeaid_to_prn(char *talker, int satnum)
 	/* QZSS */
 	if (talker[0] == 'Q' && talker[1] == 'Z')
 	    satnum += 193;
+	if (talker[0] == 'G' && talker[1] == 'A')
+	    satnum += 300; /* Used by u-blox at least */
     }
 
     return satnum;
@@ -708,12 +710,15 @@ static gps_mask_t processGSA(int count, char *field[],
 	    memset(session->nmea.sats_used, 0, sizeof(session->nmea.sats_used));
 	}
 	session->nmea.last_gsa_talker = GSA_TALKER;
-	if (session->nmea.last_gsa_talker == 'D')
+	if ((session->nmea.last_gsa_talker == 'D')
+            || (session->nmea.last_gsa_talker == 'B'))
 	    session->nmea.seen_bdgsa = true;
 	else if (session->nmea.last_gsa_talker == 'L')
 	    session->nmea.seen_glgsa = true;
 	else if (session->nmea.last_gsa_talker == 'N')
 	    session->nmea.seen_gngsa = true;
+ 	else if (session->nmea.last_gsa_talker == 'A')
+ 	    session->nmea.seen_gagsa = true;
 
 	/* the magic 6 here counts the tag, two mode fields, and DOP fields */
 	for (i = 0; i < count - 6; i++) {
@@ -744,7 +749,7 @@ static gps_mask_t processGSA(int count, char *field[],
     }
     /* assumes GLGSA or BDGSA, if present, is emitted  directly
      * after the GPGSA*/
-    if ((session->nmea.seen_glgsa || session->nmea.seen_bdgsa)
+    if ((session->nmea.seen_glgsa || session->nmea.seen_bdgsa || session->nmea.seen_gagsa)
        && GSA_TALKER == 'P')
 	return ONLINE_SET;
 
@@ -849,10 +854,12 @@ static gps_mask_t processGSV(int count, char *field[],
 	session->nmea.last_gsv_talker = GSV_TALKER;
 	if (session->nmea.last_gsv_talker == 'L')
 	    session->nmea.seen_glgsv = true;
-	if (session->nmea.last_gsv_talker == 'D')
+	if (session->nmea.last_gsv_talker == 'D' || session->nmea.last_gsv_talker == 'B')
 	    session->nmea.seen_bdgsv = true;
 	if (session->nmea.last_gsv_talker == 'Z')
 	    session->nmea.seen_qzss = true;
+	if (session->nmea.last_gsv_talker == 'A')
+	    session->nmea.seen_gagsv = true;
     }
 
     for (fldnum = 4; fldnum < count / 4 * 4;) {
@@ -896,13 +903,12 @@ static gps_mask_t processGSV(int count, char *field[],
      * FIXME: Add per-talker totals so we can do this check properly.
      */
     if (!(session->nmea.seen_glgsv || session->nmea.seen_bdgsv
-          || session->nmea.seen_qzss)) {
+        || session->nmea.seen_qzss || session->nmea.seen_gagsv))
 	if (session->nmea.part == session->nmea.await
 		&& atoi(field[3]) != session->gpsdata.satellites_visible)
 	    gpsd_log(&session->context->errout, LOG_WARN,
 		     "GPGSV field 3 value of %d != actual count %d\n",
 		     atoi(field[3]), session->gpsdata.satellites_visible);
-    }
 
     /* not valid data until we've seen a complete set of parts */
     if (session->nmea.part < session->nmea.await) {
@@ -935,7 +941,8 @@ static gps_mask_t processGSV(int count, char *field[],
 
     /* assumes GLGSV or BDGSV group, if present, is emitted after the GPGSV */
     if ((session->nmea.seen_glgsv || session->nmea.seen_bdgsv
-         || session->nmea.seen_qzss) && GSV_TALKER == 'P')
+         || session->nmea.seen_qzss  || session->nmea.seen_gagsv)
+        && GSV_TALKER == 'P')
 	return ONLINE_SET;
 
     /* clear computed DOPs so they get recomputed. */