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-rw-r--r--NEWS3
-rw-r--r--driver_sirf.c290
-rw-r--r--gps.h2
-rw-r--r--test/daemon/sirfstarv.log.chk420
4 files changed, 713 insertions, 2 deletions
diff --git a/NEWS b/NEWS
index e0cc0d18..627d5bb1 100644
--- a/NEWS
+++ b/NEWS
@@ -2,7 +2,8 @@
3.19: not released yet
Rearrange rawdata_t. Bump the API because gps_data_t changed.
- Report sequwnce-ID fields in type 7 and 13 AIS messages.
+ Report sequence-ID fields in type 7 and 13 AIS messages.
+ Preliminary support for SiRFstar V
3.18.1: 2018-10-19 (Gary E. Miller <gem@rellim.com>)
Fix some installation issues.
diff --git a/driver_sirf.c b/driver_sirf.c
index d55b47f4..88fa0b44 100644
--- a/driver_sirf.c
+++ b/driver_sirf.c
@@ -547,6 +547,286 @@ static gps_mask_t sirf_msg_navnot(struct gps_device_t *session,
return mask;
}
+/* Multiconstellation Navigation Data response MID 67.1 (0x43)
+ * this replaces the deprecated MID 41 */
+static gps_mask_t sirf_msg_67_1(struct gps_device_t *session,
+ unsigned char *buf, size_t len)
+{
+ gps_mask_t mask = 0;
+ uint32_t solution_validity;
+ uint32_t solution_info;
+ uint32_t gps_tow = 0;
+ uint32_t gps_tow_sub_ms = 0;
+ uint16_t gps_week = 0;
+ timespec_t gps_tow_ns = {0};
+ timespec_t now = {0};
+ int16_t time_bias = 0;
+ uint8_t time_accuracy = 0;
+ uint8_t time_source = 0;
+
+ if (len < 126)
+ return 0;
+
+ gpsd_log(&session->context->errout, LOG_PROG,
+ "SiRF V: MID 67.1\n");
+
+ solution_validity = getbeu32(buf, 2);
+ if (0 != solution_validity) {
+ /* invalid fix, just give up */
+ return 0;
+ }
+
+ solution_info = getbeu32(buf, 6);
+ gps_week = getbeu16(buf, 10);
+ gps_tow = getbeu32(buf, 12) / 1000;
+ /* get ms part, conver to ns */
+ gps_tow_sub_ms = 1000000 * (getbeu32(buf, 12) % 1000);
+ gps_tow_sub_ms += getbeu32(buf, 16); /* add in the ns */
+ gps_tow_ns.tv_sec = gps_tow;
+ gps_tow_ns.tv_nsec = gps_tow_sub_ms;
+ now = gpsd_gpstime_resolv(session, gps_week, gps_tow_ns);
+ session->newdata.time = now.tv_sec + (now.tv_nsec * 1e-9);
+
+ /* got time now */
+ mask |= TIME_SET;
+
+ gpsd_log(&session->context->errout, LOG_IO,
+ "GPS Week %d, tow %d.%03d, time %ld.%09ld\n",
+ gps_week, gps_tow, gps_tow_sub_ms, now.tv_sec, now.tv_nsec);
+ return mask;
+}
+
+/* Multiconstellation Navigation Data response MID 67.16 (0x43)
+ * this replaces the deprecated MID 41 */
+static gps_mask_t sirf_msg_67_16(struct gps_device_t *session,
+ unsigned char *buf, size_t len)
+{
+ gps_mask_t mask = 0;
+ uint32_t solution_validity;
+ uint32_t solution_info;
+ uint32_t gps_tow = 0;
+ uint32_t gps_tow_sub_ms = 0;
+ uint16_t gps_week = 0;
+ timespec_t gps_tow_ns = {0};
+ timespec_t now = {0};
+ int16_t time_bias = 0;
+ uint8_t time_accuracy = 0;
+ uint8_t time_source = 0;
+ uint8_t msg_info = 0;
+ uint8_t num_of_sats = 0;
+ unsigned int sat_num;
+ int st; /* index into skyview */
+
+ if (len < 198) {
+ /* always payload of 15 sats */
+ return 0;
+ }
+
+ gpsd_log(&session->context->errout, LOG_PROG,
+ "SiRF V: MID 67.16 len %lu\n", len);
+
+ gps_week = getbeu16(buf, 2);
+ gps_tow = getbeu32(buf, 4) / 1000;
+ /* get ms part, convert to ns */
+ gps_tow_sub_ms = 1000000 * (getbeu32(buf, 4) % 1000);
+ gps_tow_sub_ms += getbeu32(buf, 8); /* add in the ns */
+ gps_tow_ns.tv_sec = gps_tow;
+ gps_tow_ns.tv_nsec = gps_tow_sub_ms;
+ now = gpsd_gpstime_resolv(session, gps_week, gps_tow_ns);
+ session->newdata.time = now.tv_sec + (now.tv_nsec * 1e-9);
+ session->gpsdata.skyview_time = session->newdata.time;
+ time_bias = getbes16(buf, 12);
+ /* time_accuracy is an odd 8 bit float */
+ time_accuracy = getub(buf, 14);
+ time_source = getub(buf, 15);
+ msg_info = getub(buf, 16);
+ if (0 == (msg_info & 0x0f)) {
+ /* WTF? */
+ return 0;
+ }
+ if (1 == (msg_info & 0x0f)) {
+ /* first set, zero the sats */
+ gpsd_zero_satellites(&session->gpsdata);
+ }
+ st = ((msg_info & 0x0f) - 1) * 15;
+ num_of_sats = getub(buf, 17);
+ /* got time now */
+ mask |= TIME_SET;
+ gpsd_log(&session->context->errout, LOG_IO,
+ "GPS Week %d, tow %d.%03d, time %ld.%09ld\n",
+ gps_week, gps_tow, gps_tow_sub_ms, now.tv_sec, now.tv_nsec);
+ gpsd_log(&session->context->errout, LOG_IO,
+ "Time bias: %u ns, accuracy %02x, source %u, "
+ "msg_info %#02x, sats %u\n",
+ time_bias, time_accuracy, time_source, msg_info,
+ num_of_sats);
+
+ session->gpsdata.satellites_visible = num_of_sats;
+ /* used? */
+
+ /* now decode the individual sat data */
+ /* num_of_sats is total sats tracked, not the number of sats in this
+ message */
+ for (sat_num = 0; sat_num < num_of_sats; sat_num++) {
+ int offset;
+ uint16_t sat_info;
+ uint16_t other_info;
+ unsigned char gnssId_sirf;
+ unsigned char gnssId;
+ unsigned char svId;
+ short PRN;
+ short azimuth;
+ short elevation;
+ short avg_cno;
+ double ss;
+ uint32_t status;
+
+ offset = 18 + (sat_num * 12);
+ if (offset >= len) {
+ /* end of this message */
+ break;
+ }
+ sat_info = getbeu16(buf, offset);
+ if (0 == sat_info) {
+ /* emtpy slot, ignore */
+ continue;;
+ }
+
+ /* 0 = GPS/QZSS
+ 1 = SBAS
+ 2 = GLONASS
+ 3 = Galileo
+ 4 = BDS
+ */
+ gnssId_sirf = sat_info >> 13;
+ svId = sat_info & 0x0ff;
+ other_info = (sat_info >> 8) & 0x1f;
+ /* make up a PRN based on gnssId:svId, using table 4-55
+ * from (CS-303979-SP-9) SiRFstarV OSP Extensions
+ * Note: the Qualcomm doc is very vague
+ */
+ switch (gnssId_sirf) {
+ case 0:
+ /* GPS, 1-32 maps to 1-32 */
+ /* and QZSS maps how??? */
+ gnssId = 0;
+ PRN = svId;
+ break;
+ case 1:
+ /* SBAS, 120-158 maps to 120-158 */
+ if (120 > svId || 158 < svId) {
+ /* skip bad svId */
+ continue;
+ }
+ gnssId = 1;
+ PRN = svId;
+ break;
+ case 2:
+ /* GLONASS, 1-32 maps to 65-96 */
+ if (1 > svId) {
+ /* skip bad svId */
+ continue;
+ }
+ if (32 < svId) {
+ /* skip bad svId */
+ continue;
+ }
+ gnssId = 6;
+ PRN = svId + 64;
+ break;
+ case 3:
+ /* Galileo, 1-36 maps to 211-246 */
+ if (1 > svId) {
+ /* skip bad svId */
+ continue;
+ }
+ if (37 < svId) {
+ /* skip bad svId */
+ continue;
+ }
+ gnssId = 2;
+ PRN = svId + 210;
+ break;
+ case 4:
+ /* BeiDou, 1-37 maps to 159-163,33-64 */
+ if (1 > svId) {
+ /* skip bad svId */
+ continue;
+ } else if (6 > svId) {
+ /* 1-5 maps to 159-163 */
+ PRN = svId + 158;
+ } else if (37 < svId) {
+ /* skip bad svId */
+ continue;
+ } else {
+ /* 6-37 maps to 33-64 */
+ PRN = svId + 27;
+ }
+ gnssId = 3;
+ break;
+ default:
+ /* Huh? Skip bad gnssId */
+ continue;
+ }
+
+ /* throw away tenths in az and el */
+ azimuth = getbeu16(buf, offset + 2) / 10;
+ /* what, no negative elevation? */
+ elevation = getbeu16(buf, offset + 4) / 10;
+ avg_cno = getbeu16(buf, offset + 6);
+ ss = avg_cno / 10.0;
+ status = getbeu32(buf, offset + 8);
+
+ session->gpsdata.skyview[st].PRN = PRN;
+ session->gpsdata.skyview[st].svid = svId;
+ session->gpsdata.skyview[st].gnssid = gnssId;
+ session->gpsdata.skyview[st].azimuth = azimuth;
+ session->gpsdata.skyview[st].elevation = elevation;
+ session->gpsdata.skyview[st].ss = ss;
+ if (0x08000 == (status & 0x08000)) {
+ session->gpsdata.skyview[st].used = true;
+ }
+ gpsd_log(&session->context->errout, LOG_IO,
+ "sat_info %04x gnssId %u svId %3u o %2u PRN %3u az %3u "
+ "el %2u ss %5.1f\n",
+ sat_info, gnssId, svId, other_info, PRN, azimuth,
+ elevation, ss);
+ st++;
+ if (st == MAXCHANNELS) {
+ /* filled up skyview */
+ break;
+ }
+ }
+ if ((msg_info >> 4) == (msg_info & 0x0f)) {
+ /* got all the sats */
+ mask |= SATELLITE_SET;
+ }
+ return mask;
+}
+
+/* Multiconstellation Navigation Data response MID 67 (0x43)
+ * this replaces the deprecated MID 41 */
+static gps_mask_t sirf_msg_67(struct gps_device_t *session,
+ unsigned char *buf, size_t len)
+{
+ gps_mask_t mask = 0;
+
+ if (len < 2)
+ return 0;
+
+ switch (buf[1]) {
+ case 1:
+ return sirf_msg_67_1(session, buf, len);
+ case 16:
+ return sirf_msg_67_16(session, buf, len);
+ default:
+ gpsd_log(&session->context->errout, LOG_PROG,
+ "SiRF V: unused MID 67 (0x43), SID: %d, len %ld\n", buf[1],
+ (long)len);
+ }
+ return mask;
+}
+
/* MID_QUERY_RESP MID 0x51 (81) */
static gps_mask_t sirf_msg_qresp(struct gps_device_t *session,
unsigned char *buf, size_t len)
@@ -623,6 +903,7 @@ static gps_mask_t sirf_msg_tcxo(struct gps_device_t *session,
gps_tow_ns.tv_sec = gps_tow;
gps_tow_ns.tv_nsec = 0;
now = gpsd_gpstime_resolv(session, gps_week, gps_tow_ns);
+ session->newdata.time = now.tv_sec + (now.tv_nsec * 1e-9);
(void)snprintf(output, sizeof(output),
", GPS Week %d, tow %d, time %ld, time_status %d",
gps_week, gps_tow, now.tv_sec, time_status);
@@ -682,6 +963,7 @@ static gps_mask_t sirf_msg_swversion(struct gps_device_t *session,
return DEVICEID_SET;
}
+/* subframe data MID 8 */
static gps_mask_t sirf_msg_navdata(struct gps_device_t *session,
unsigned char *buf, size_t len)
{
@@ -714,8 +996,11 @@ static gps_mask_t sirf_msg_navdata(struct gps_device_t *session,
return gpsd_interpret_subframe_raw(session, svid, words);
}
-#define SIRF_CHANNELS 12 /* max channels allowed in SiRF format */
+/* max channels allowed in old MID 4 SiRF format */
+#define SIRF_CHANNELS 12
+/* decode MID 4, Measured Tracker Data response
+ * deprecated on Sirfstar V, use MID 67.16 instead */
static gps_mask_t sirf_msg_svinfo(struct gps_device_t *session,
unsigned char *buf, size_t len)
{
@@ -1504,6 +1789,9 @@ gps_mask_t sirf_parse(struct gps_device_t * session, unsigned char *buf,
case 0x40: /* Nav Library MID 64 */
return sirf_msg_nl(session, buf, len);
+ case 0x43: /* Multiconstellation Nav Data Response MID 67 */
+ return sirf_msg_67(session, buf, len);
+
case 0x47: /* Hardware Config MID 71 */
gpsd_log(&session->context->errout, LOG_PROG,
"SiRF IV: unused Hardware Config 0x47\n");
diff --git a/gps.h b/gps.h
index cfafc341..1984230c 100644
--- a/gps.h
+++ b/gps.h
@@ -1837,6 +1837,8 @@ struct satellite_t {
*
* Not defined by u-blox:
* 20 = IRNSS 1-11
+ *
+ * Note: other GNSS receivers use different mappings!
*/
unsigned char gnssid;
/* ignore gnssid and sigid if svid is zero */
diff --git a/test/daemon/sirfstarv.log.chk b/test/daemon/sirfstarv.log.chk
index e69de29b..fc8f807f 100644
--- a/test/daemon/sirfstarv.log.chk
+++ b/test/daemon/sirfstarv.log.chk
@@ -0,0 +1,420 @@
+$GPGSV,6,1,23,00,00,000,00,00,00,000,00,00,00,000,00,00,00,000,00*7F
+$GPGSV,6,2,23,00,00,000,00,00,00,000,00,00,00,000,00,00,00,000,00*7C
+$GPGSV,6,3,23,00,00,000,00,00,00,000,00,00,00,000,00,00,00,000,00*7D
+$GPGSV,6,4,23,00,00,000,00,00,00,000,00,00,00,000,00,81,66,236,00*74
+$GPGSV,6,5,23,88,58,035,00,78,50,158,00,80,17,324,00,77,02,150,00*7B
+$GPGSV,6,6,23,123,30,152,35,136,34,186,00,120,29,212,00*7E
+{"class":"SKY","time":"2019-01-06T21:52:59.000Z","satellites":[]}
+$GPGSV,6,1,23,29,66,053,30,31,53,252,25,21,43,182,18,25,37,118,34*7D
+$GPGSV,6,2,23,26,36,299,22,05,16,069,31,16,10,297,17,02,09,040,32*72
+$GPGSV,6,3,23,12,06,115,29,23,04,329,17,82,15,226,00,87,11,042,22*7C
+$GPGSV,6,4,23,72,07,043,15,71,07,357,07,79,69,306,00,81,66,236,00*76
+$GPGSV,6,5,23,88,58,035,00,78,50,158,00,80,17,324,00,77,02,150,00*7B
+$GPGSV,6,6,23,123,30,152,35,136,34,186,00,120,29,212,00*7E
+{"class":"SKY","time":"2019-01-06T21:53:00.000Z","xdop":0.52,"ydop":0.72,"vdop":1.32,"tdop":0.75,"hdop":0.89,"gdop":1.76,"pdop":1.59,"satellites":[{"PRN":29,"el":66,"az":53,"ss":30,"used":true,"gnssid":0,"svid":29},{"PRN":31,"el":53,"az":252,"ss":25,"used":true,"gnssid":0,"svid":31},{"PRN":21,"el":43,"az":182,"ss":18,"used":true,"gnssid":0,"svid":21},{"PRN":25,"el":37,"az":118,"ss":34,"used":true,"gnssid":0,"svid":25},{"PRN":26,"el":36,"az":299,"ss":22,"used":true,"gnssid":0,"svid":26},{"PRN":5,"el":16,"az":69,"ss":31,"used":true,"gnssid":0,"svid":5},{"PRN":16,"el":10,"az":297,"ss":17,"used":true,"gnssid":0,"svid":16},{"PRN":2,"el":9,"az":40,"ss":32,"used":true,"gnssid":0,"svid":2},{"PRN":12,"el":6,"az":115,"ss":29,"used":true,"gnssid":0,"svid":12},{"PRN":23,"el":4,"az":329,"ss":17,"used":false,"gnssid":0,"svid":23},{"PRN":82,"el":15,"az":226,"ss":0,"used":false,"gnssid":6,"svid":18},{"PRN":87,"el":11,"az":42,"ss":22,"used":true,"gnssid":6,"svid":23},{"PRN":72,"el":7,"az":43,"ss":15,"used":false,"gnssid":6,"svid":8},{"PRN":71,"el":7,"az":357,"ss":7,"used":false,"gnssid":6,"svid":7},{"PRN":79,"el":69,"az":306,"ss":0,"used":false,"gnssid":6,"svid":15},{"PRN":81,"el":66,"az":236,"ss":0,"used":false,"gnssid":6,"svid":17},{"PRN":88,"el":58,"az":35,"ss":0,"used":false,"gnssid":6,"svid":24},{"PRN":78,"el":50,"az":158,"ss":0,"used":false,"gnssid":6,"svid":14},{"PRN":80,"el":17,"az":324,"ss":0,"used":false,"gnssid":6,"svid":16},{"PRN":77,"el":2,"az":150,"ss":0,"used":false,"gnssid":6,"svid":13},{"PRN":123,"el":30,"az":152,"ss":35,"used":false,"gnssid":1,"svid":123},{"PRN":136,"el":34,"az":186,"ss":0,"used":false,"gnssid":1,"svid":136},{"PRN":120,"el":29,"az":212,"ss":0,"used":false,"gnssid":1,"svid":120}]}
+$GPGSV,6,1,23,29,66,053,30,31,53,252,25,21,43,182,18,25,37,118,35*7C
+$GPGSV,6,2,23,26,36,299,22,05,16,069,31,16,10,297,17,02,09,040,32*72
+$GPGSV,6,3,23,12,06,115,29,23,04,329,17,82,15,226,00,87,11,042,22*7C
+$GPGSV,6,4,23,72,07,043,15,71,07,357,07,79,69,306,00,81,66,236,00*76
+$GPGSV,6,5,23,88,58,035,00,78,50,158,00,80,17,324,00,77,02,150,00*7B
+$GPGSV,6,6,23,123,30,152,35,136,34,186,00,120,29,212,00*7E
+{"class":"SKY","time":"2019-01-06T21:53:01.000Z","xdop":0.52,"ydop":0.72,"vdop":1.32,"tdop":0.75,"hdop":0.89,"gdop":1.76,"pdop":1.59,"satellites":[{"PRN":29,"el":66,"az":53,"ss":30,"used":true,"gnssid":0,"svid":29},{"PRN":31,"el":53,"az":252,"ss":25,"used":true,"gnssid":0,"svid":31},{"PRN":21,"el":43,"az":182,"ss":18,"used":true,"gnssid":0,"svid":21},{"PRN":25,"el":37,"az":118,"ss":35,"used":true,"gnssid":0,"svid":25},{"PRN":26,"el":36,"az":299,"ss":22,"used":true,"gnssid":0,"svid":26},{"PRN":5,"el":16,"az":69,"ss":31,"used":true,"gnssid":0,"svid":5},{"PRN":16,"el":10,"az":297,"ss":17,"used":true,"gnssid":0,"svid":16},{"PRN":2,"el":9,"az":40,"ss":32,"used":true,"gnssid":0,"svid":2},{"PRN":12,"el":6,"az":115,"ss":29,"used":true,"gnssid":0,"svid":12},{"PRN":23,"el":4,"az":329,"ss":17,"used":false,"gnssid":0,"svid":23},{"PRN":82,"el":15,"az":226,"ss":0,"used":false,"gnssid":6,"svid":18},{"PRN":87,"el":11,"az":42,"ss":22,"used":true,"gnssid":6,"svid":23},{"PRN":72,"el":7,"az":43,"ss":15,"used":false,"gnssid":6,"svid":8},{"PRN":71,"el":7,"az":357,"ss":7,"used":false,"gnssid":6,"svid":7},{"PRN":79,"el":69,"az":306,"ss":0,"used":false,"gnssid":6,"svid":15},{"PRN":81,"el":66,"az":236,"ss":0,"used":false,"gnssid":6,"svid":17},{"PRN":88,"el":58,"az":35,"ss":0,"used":false,"gnssid":6,"svid":24},{"PRN":78,"el":50,"az":158,"ss":0,"used":false,"gnssid":6,"svid":14},{"PRN":80,"el":17,"az":324,"ss":0,"used":false,"gnssid":6,"svid":16},{"PRN":77,"el":2,"az":150,"ss":0,"used":false,"gnssid":6,"svid":13},{"PRN":123,"el":30,"az":152,"ss":35,"used":false,"gnssid":1,"svid":123},{"PRN":136,"el":34,"az":186,"ss":0,"used":false,"gnssid":1,"svid":136},{"PRN":120,"el":29,"az":212,"ss":0,"used":false,"gnssid":1,"svid":120}]}
+$GPGSV,6,1,23,29,66,053,30,31,53,252,25,21,43,182,18,25,37,118,35*7C
+$GPGSV,6,2,23,26,36,299,22,05,16,069,31,16,10,297,17,02,09,040,32*72
+$GPGSV,6,3,23,12,06,115,28,23,04,329,16,82,15,226,00,87,11,042,22*7C
+$GPGSV,6,4,23,72,07,043,15,71,07,357,07,79,69,306,00,81,66,236,00*76
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