The start of a UBX driver, from Andreas Stricker. Not yet

functional but committed to allow for in-tree development.

1 files changed, 190 insertions, 0 deletions

diff --git a/ubx.c b/ubx.c
new file mode 100644
index 00000000..291dcc87
--- /dev/null
+++ b/ubx.c
@@ -0,0 +1,190 @@
+/* $Id$
+ *
+ * UBX driver
+ */
+
+#include <sys/types.h>
+#include <stdio.h>
+#include <stdlib.h>
+#include <string.h>
+#include <math.h>
+#include <ctype.h>
+#include <unistd.h>
+#include <time.h>
+#include <stdio.h>
+
+#include "gpsd_config.h"
+#include "gpsd.h"
+#if defined(UBX_ENABLE) && defined(BINARY_ENABLE)
+#include "ubx.h"
+
+#define LITTLE_ENDIAN_PROTOCOL
+#include "bits.h"
+
+gps_mask_t ubx_parse(struct gps_device_t *session, unsigned char *buf, size_t len);
+gps_mask_t ubx_package_nav_sol(struct gps_device_t *session, unsigned char *buf, size_t data_len);
+
+/**
+ * Navigation solution package
+ */
+gps_mask_t
+ubx_package_nav_sol(struct gps_device_t *session, unsigned char *buf, size_t data_len)
+{
+    unsigned short gps_week;
+    unsigned int tow;
+
+    if (data_len < 52)
+	return 0;
+
+    gps_week = getsw(buf, 8);
+    tow = getul(buf, 4);
+    session->gpsdata.sentence_time = gpstime_to_unix(gps_week, tow) 
+			           - session->context->leap_seconds;
+#ifdef NTPSHM_ENABLE
+    if (session->context->enable_ntpshm)
+	(void)ntpshm_put(session, session->gpsdata.sentence_time); /* TODO overhead */
+#endif
+
+    if (buf[10] == UBX_MODE_3D)
+	session->gpsdata.fix.mode = MODE_3D;
+    if (buf[10] == UBX_MODE_2D || 
+	buf[10] == UBX_MODE_DR ||	    /* consider this too as 2D */
+	buf[10] == UBX_MODE_GPSDR)	    /* conservative */
+	session->gpsdata.fix.mode = MODE_2D;
+    else
+	session->gpsdata.fix.mode = MODE_NO_FIX;
+
+    return 0;
+}
+
+/*@ +charint @*/
+gps_mask_t ubx_parse(struct gps_device_t *session, unsigned char *buf, size_t len)
+{
+    unsigned short data_len;
+    unsigned short msgid;
+
+    if (len < 6)    /* the packet at least contains a head of six bytes */
+	return 0;
+
+    /* we may need to dump the raw packet */
+    gpsd_report(LOG_PROG, "UBX packet type %02hhx:%02hhx length %d: %s\n", 
+		buf[2], buf[3], len, gpsd_hexdump(buf, len));
+
+    /* extract message id and length */
+    msgid = (buf[2] << 8) | buf[3];
+    data_len = getsw(buf, 4);
+    switch (msgid)
+    {
+	case UBX_NAV_X:
+	    gpsd_report(LOG_PROG, "UBX_NAV_X\n");
+	    break;
+	case UBX_NAV_SOL:
+	    gpsd_report(LOG_PROG, "UBX_NAV_SOL\n");
+            ubx_package_nav_sol(session, &buf[6], data_len);
+	    break;
+	case UBX_NAV_POSLLH:
+	    gpsd_report(LOG_PROG, "UBX_NAV_POSLLH\n");
+	    break;
+	case UBX_NAV_STATUS:
+	    gpsd_report(LOG_PROG, "UBX_NAV_STATUS\n");
+	    break;
+	case UBX_NAV_SVINFO:
+	    gpsd_report(LOG_PROG, "UBX_NAV_SVINFO\n");
+	    break;
+	case UBX_MON_SCHED:
+	    gpsd_report(LOG_PROG, "UBX_MON_SCHED\n");
+	    break;
+	case UBX_MON_IO:
+	    gpsd_report(LOG_PROG, "UBX_MON_IO\n");
+	    break;
+	case UBX_MON_TXBUF:
+	    gpsd_report(LOG_PROG, "UBX_MON_TXBUF\n");
+	    break;
+	case UBX_INF_NOTICE:
+	    gpsd_report(LOG_PROG, "UBX_INF_NOTICE\n");
+	    break;
+	case UBX_INF_WARNING:
+	    gpsd_report(LOG_PROG, "UBX_INF_WARNING\n");
+	    break;
+    default:
+	gpsd_report(LOG_WARN, "UBX: unknown packet id %04hx (length: %d)\n", 
+		    msgid, len);
+    }
+    return 0;
+}
+/*@ -charint @*/
+
+static gps_mask_t parse_input(struct gps_device_t *session)
+{
+    gps_mask_t st;
+
+    if (session->packet.type == UBX_PACKET){
+	st = ubx_parse(session, session->packet.outbuffer, session->packet.outbuflen);
+	session->gpsdata.driver_mode = 1;
+	return st;
+#ifdef NMEA_ENABLE
+    } else if (session->packet.type == NMEA_PACKET) {
+	st = nmea_parse((char *)session->packet.outbuffer, session);
+	session->gpsdata.driver_mode = 0;
+	return st;
+#endif /* NMEA_ENABLE */
+    } else
+	return 0;
+}
+
+/* The methods in this code take parameters and have */
+/* return values that conform to the requirements AT */
+/* THE TIME THE CODE WAS WRITTEN.                    */
+/*                                                   */
+/* These values may well have changed by the time    */
+/* you read this and methods could have been added   */
+/* or deleted.                                       */
+/*                                                   */
+/* The latest situation can be found by inspecting   */
+/* the contents of struct gps_type_t in gpsd.h.      */
+/*                                                   */
+/* This always contains the correct definitions that */
+/* any driver must use to compile.                   */
+
+/* This is everything we export */
+struct gps_type_t ubx_binary = {
+    /* Full name of type */
+    .typename         = "uBlox UBX",
+    /* Response string that identifies device (not active) */
+    .trigger          = NULL,
+    /* Number of satellite channels supported by the device */
+    .channels         = 12,
+    /* Startup-time device detector */
+    .probe_detect     = /*probe_detect*/ NULL,
+    /* Wakeup to be done before each baud hunt */
+    .probe_wakeup     = /*probe_wakeup*/ NULL,
+    /* Initialize the device and get subtype */
+    .probe_subtype    = /*probe_subtype*/ NULL,
+#ifdef ALLOW_RECONFIGURE
+    /* Enable what reports we need */
+    .configurator     = /*configurator*/ NULL,
+#endif /* ALLOW_RECONFIGURE */
+    /* Packet getter (using default routine) */
+    .get_packet       = generic_get,
+    /* Parse message packets */
+    .parse_packet     = parse_input,
+    /* RTCM handler (using default routine) */
+    .rtcm_writer      = /*pass_rtcm*/ NULL,
+    /* Speed (baudrate) switch */
+    .speed_switcher   = /*set_speed*/ NULL,
+    /* Switch to NMEA mode */
+    .mode_switcher    = /* set_mode */ NULL,
+    /* Message delivery rate switcher */
+    .rate_switcher    = NULL,
+    /* Number of chars per report cycle */
+    .cycle_chars      = -1,
+#ifdef ALLOW_RECONFIGURE
+    /* Undo the actions of .configurator */
+    .revert           = /*ubx_revert*/ NULL,
+#endif /* ALLOW_RECONFIGURE */
+    /* Puts device back to original settings */
+    .wrapup           = /*ubx_wrapup*/ NULL,
+    /* Number of updates per second */
+    .cycle            = 1
+};
+#endif /* defined(UBX_ENABLE) && defined(BINARY_ENABLE) */