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Diffstat (limited to 'packet.c')
-rw-r--r--packet.c97
1 files changed, 81 insertions, 16 deletions
diff --git a/packet.c b/packet.c
index d0e6ab30..f4cc4356 100644
--- a/packet.c
+++ b/packet.c
@@ -67,6 +67,9 @@ enum {
static void nextstate(struct gps_device_t *session, unsigned char c)
{
+#ifdef RTCM104_ENABLE
+ enum isgpsstat_t isgpsstat;
+#endif /* RTCM104_ENABLE */
/*@ +charint */
switch(session->packet_state)
{
@@ -91,12 +94,18 @@ static void nextstate(struct gps_device_t *session, unsigned char c)
#endif /* defined(TSIP_ENABLE) || defined(EVERMORE_ENABLE) */
#ifdef TRIPMATE_ENABLE
if (c == 'A') {
+#ifdef RTCM104_ENABLE
+ rtcm_decode(session, c);
+#endif /* RTCM104_ENABLE */
session->packet_state = ASTRAL_1;
break;
}
#endif /* TRIPMATE_ENABLE */
#ifdef EARTHMATE_ENABLE
if (c == 'E') {
+#ifdef RTCM104_ENABLE
+ rtcm_decode(session, c);
+#endif /* RTCM104_ENABLE */
session->packet_state = EARTHA_1;
break;
}
@@ -113,6 +122,12 @@ static void nextstate(struct gps_device_t *session, unsigned char c)
break;
}
#endif /* ITALK_ENABLE */
+#ifdef RTCM104_ENABLE
+ if (rtcm_decode(session, c) == ISGPS_SYNC) {
+ session->packet_state = RTCM_SYNC_STATE;
+ break;
+ }
+#endif /* RTCM104_ENABLE */
break;
/*@ +casebreak @*/
#ifdef NMEA_ENABLE
@@ -166,30 +181,45 @@ static void nextstate(struct gps_device_t *session, unsigned char c)
break;
#ifdef TRIPMATE_ENABLE
case ASTRAL_1:
+#ifdef RTCM104_ENABLE
+ rtcm_decode(session, c);
+#endif /* RTCM104_ENABLE */
if (c == 'S')
session->packet_state = ASTRAL_2;
else
session->packet_state = GROUND_STATE;
break;
case ASTRAL_2:
+#ifdef RTCM104_ENABLE
+ rtcm_decode(session, c);
+#endif /* RTCM104_ENABLE */
if (c == 'T')
session->packet_state = ASTRAL_3;
else
session->packet_state = GROUND_STATE;
break;
case ASTRAL_3:
+#ifdef RTCM104_ENABLE
+ rtcm_decode(session, c);
+#endif /* RTCM104_ENABLE */
if (c == 'R')
session->packet_state = ASTRAL_5;
else
session->packet_state = GROUND_STATE;
break;
case ASTRAL_4:
+#ifdef RTCM104_ENABLE
+ rtcm_decode(session, c);
+#endif /* RTCM104_ENABLE */
if (c == 'A')
session->packet_state = ASTRAL_2;
else
session->packet_state = GROUND_STATE;
break;
case ASTRAL_5:
+#ifdef RTCM104_ENABLE
+ rtcm_decode(session, c);
+#endif /* RTCM104_ENABLE */
if (c == 'L')
session->packet_state = NMEA_RECOGNIZED;
else
@@ -198,30 +228,45 @@ static void nextstate(struct gps_device_t *session, unsigned char c)
#endif /* TRIPMATE_ENABLE */
#ifdef EARTHMATE_ENABLE
case EARTHA_1:
+#ifdef RTCM104_ENABLE
+ rtcm_decode(session, c);
+#endif /* RTCM104_ENABLE */
if (c == 'A')
session->packet_state = EARTHA_2;
else
session->packet_state = GROUND_STATE;
break;
case EARTHA_2:
+#ifdef RTCM104_ENABLE
+ rtcm_decode(session, c);
+#endif /* RTCM104_ENABLE */
if (c == 'R')
session->packet_state = EARTHA_3;
else
session->packet_state = GROUND_STATE;
break;
case EARTHA_3:
+#ifdef RTCM104_ENABLE
+ rtcm_decode(session, c);
+#endif /* RTCM104_ENABLE */
if (c == 'T')
session->packet_state = EARTHA_4;
else
session->packet_state = GROUND_STATE;
break;
case EARTHA_4:
+#ifdef RTCM104_ENABLE
+ rtcm_decode(session, c);
+#endif /* RTCM104_ENABLE */
if (c == 'H')
session->packet_state = EARTHA_5;
else
session->packet_state = GROUND_STATE;
break;
case EARTHA_5:
+#ifdef RTCM104_ENABLE
+ rtcm_decode(session, c);
+#endif /* RTCM104_ENABLE */
if (c == 'A')
session->packet_state = NMEA_RECOGNIZED;
else
@@ -476,6 +521,25 @@ static void nextstate(struct gps_device_t *session, unsigned char c)
session->packet_state = GROUND_STATE;
break;
#endif /* TSIP_ENABLE */
+#ifdef RTCM104_ENABLE
+ case RTCM_SYNC_STATE:
+ case RTCM_SKIP_STATE:
+ isgpsstat = rtcm_decode(session, c);
+ if (isgpsstat == ISGPS_MESSAGE) {
+ session->packet_state = RTCM_RECOGNIZED;
+ break;
+ } else if (isgpsstat == ISGPS_NO_SYNC)
+ session->packet_state = GROUND_STATE;
+ break;
+
+ case RTCM_RECOGNIZED:
+ if (rtcm_decode(session, c) == ISGPS_SYNC) {
+ session->packet_state = RTCM_SYNC_STATE;
+ break;
+ } else
+ session->packet_state = GROUND_STATE;
+ break;
+#endif /* RTCM104_ENABLE */
}
/*@ -charint */
}
@@ -518,18 +582,6 @@ static void packet_discard(struct gps_device_t *session)
#endif /* STATE_DEBUG */
}
-static void character_discard(struct gps_device_t *session)
-/* shift the input buffer to discard one character and reread data */
-{
- memmove(session->inbuffer, session->inbuffer+1, (size_t)--session->inbuflen);
- session->inbufptr = session->inbuffer;
-#ifdef STATE_DEBUG
- gpsd_report(6, "Character discarded, buffer %d chars = %s\n",
- session->inbuflen,
- gpsd_hexdump(session->inbuffer, session->inbuflen));
-#endif /* STATE_DEBUG */
-}
-
/* entry points begin here */
/* get 0-origin big-endian words relative to start of packet buffer */
@@ -564,7 +616,7 @@ ssize_t packet_parse(struct gps_device_t *session, size_t newdata)
state_table[session->packet_state]);
if (session->packet_state == GROUND_STATE) {
- character_discard(session);
+ packet_discard(session);
#ifdef NMEA_ENABLE
} else if (session->packet_state == NMEA_RECOGNIZED) {
bool checksum_ok = true;
@@ -663,7 +715,7 @@ ssize_t packet_parse(struct gps_device_t *session, size_t newdata)
/*@ +charint */
if (ok)
- packet_accept(session, EVERMORE_PACKET);
+ packet_accept(session, EVERMORE_PACKET);
else
session->packet_state = GROUND_STATE;
packet_discard(session);
@@ -684,15 +736,16 @@ ssize_t packet_parse(struct gps_device_t *session, size_t newdata)
session->packet_state = GROUND_STATE;
packet_discard(session);
#endif /* ITALK_ENABLE */
-#ifdef RTCM_ENABLE
+#ifdef RTCM104_ENABLE
} else if (session->packet_state == RTCM_RECOGNIZED) {
/*
* RTCM packets don't have checksums. The six bits of parity
* per word and the preamble better be good enough.
*/
packet_accept(session, RTCM_PACKET);
+ session->packet_state = RTCM_SYNC_STATE;
packet_discard(session);
-#endif /* ITALK_ENABLE */
+#endif /* RTCM104_ENABLE */
}
} /* while */
@@ -726,6 +779,18 @@ void packet_reset(struct gps_device_t *session)
}
#ifdef __UNUSED__
+static void character_discard(struct gps_device_t *session)
+/* shift the input buffer to discard one character and reread data */
+{
+ memmove(session->inbuffer, session->inbuffer+1, (size_t)--session->inbuflen);
+ session->inbufptr = session->inbuffer;
+#ifdef STATE_DEBUG
+ gpsd_report(6, "Character discarded, buffer %d chars = %s\n",
+ session->inbuflen,
+ gpsd_hexdump(session->inbuffer, session->inbuflen));
+#endif /* STATE_DEBUG */
+}
+
void packet_pushback(struct gps_device_t *session)
/* push back the last packet grabbed */
{
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