Add driver_skytraq.c.

It grabs packets, but does not decode any yet.

1 files changed, 88 insertions, 0 deletions

diff --git a/driver_skytraq.c b/driver_skytraq.c
new file mode 100644
index 00000000..ea8e926f
--- /dev/null
+++ b/driver_skytraq.c
@@ -0,0 +1,88 @@
+/*
+ * This is the gpsd driver for Skytraq GPSes operating in binary mode.
+ *
+ * This file is Copyright (c) 2016 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>
+#include <unistd.h>
+
+#include "gpsd.h"
+#include "bits.h"
+#include "strfuncs.h"
+#if defined(SKYTRAQ_ENABLE)
+
+#define HI(n)		((n) >> 8)
+#define LO(n)		((n) & 0xff)
+
+/*
+ * No ACK/NAK?  Just rety after 6 seconds
+ */
+#define SKY_RETRY_TIME	6
+#define SKY_CHANNELS	28	/* max channels allowed in format */
+
+static gps_mask_t sky_parse(struct gps_device_t *, unsigned char *, size_t);
+
+
+static gps_mask_t sky_parse(struct gps_device_t * session, unsigned char *buf,
+		      size_t len)
+{
+
+    if (len == 0)
+	return 0;
+
+    buf += 4;
+    len -= 8;
+    // session->driver.sirf.lastid = buf[0];
+
+    /* could change if the set of messages we enable does */
+    session->cycle_end_reliable = true;
+
+    switch (buf[0]) {
+    default:
+	gpsd_log(&session->context->errout, LOG_PROG,
+		 "Skytraq: Unknown packet id %d length %zd\n",
+		 buf[0], len);
+	return 0;
+    }
+    return 0;
+}
+
+static gps_mask_t skybin_parse_input(struct gps_device_t *session)
+{
+    if (session->lexer.type ==  SKY_PACKET) {
+	return  sky_parse(session, session->lexer.outbuffer,
+			session->lexer.outbuflen);
+#ifdef NMEA0183_ENABLE
+    } else if (session->lexer.type == NMEA_PACKET) {
+	return nmea_parse((char *)session->lexer.outbuffer, session);
+#endif /* NMEA0183_ENABLE */
+    } else
+	return 0;
+}
+
+/* this is everything we export */
+/* *INDENT-OFF* */
+const struct gps_type_t driver_skytraq =
+{
+    .type_name      = "Skytraq",		/* full name of type */
+    .packet_type    = SKY_PACKET,	/* associated lexer packet type */
+    .flags	    = DRIVER_STICKY,	/* remember this */
+    .trigger	    = NULL,		/* no trigger */
+    .channels       =  SKY_CHANNELS,	/* consumer-grade GPS */
+    .probe_detect   = NULL,		/* no probe */
+    .get_packet     = generic_get,	/* be prepared for Skytraq or NMEA */
+    .parse_packet   = skybin_parse_input,/* parse message packets */
+    .rtcm_writer    = gpsd_write,	/* send RTCM data straight */
+    .init_query     = NULL,              /* non-perturbing initial qury */
+    .event_hook     = NULL,              /* lifetime event handler */
+};
+/* *INDENT-ON* */
+#endif /* defined( SKYTRAQ_ENABLE) && defined(BINARY_ENABLE) */