/* $Id$ */ /* * This is the gpsd driver for EverMore GPSes operating in binary mode. * About the only thing this gives us that NMEA won't is TDOP. * But we'll get atomic position reports from it, which is good. * * The vendor site is . * * This driver was written by Petr Slansky based on a framework by Eric S. * Raymond. The following remarks are by Petr Slansky. * * Snooping on the serial the communication between a Windows program and * an Evermore chipset reveals some messages not described in the vendor * documentation (Issue C of Aug 2002): * * 10 02 06 84 00 00 00 84 10 03 switch to binary mode (84 00 00 00) * 10 02 06 84 01 00 00 85 10 03 switch to NMEA mode (84 01 00 00) * * 10 02 06 89 01 00 00 8a 10 03 set baud rate 4800 * 10 02 06 89 01 01 00 8b 10 03 set baud rate 9600 * 10 02 06 89 01 02 00 8c 10 03 set baud rate 19200 * 10 02 06 89 01 03 00 8d 10 03 set baud rate 38400 * * 10 02 06 8D 00 01 00 8E 10 03 switch to datum ID 001 (WGS-84) * 10 02 06 8D 00 D8 00 65 10 03 switch to datum ID 217 (WGS-72) * * These don't entail a reset of GPS as the 0x80 message does. * * 10 02 04 38 85 bd 10 03 answer from GPS to 0x85 message; ACK message * 10 02 04 38 8d c5 10 03 answer from GPS to 0x8d message; ACK message * 10 02 04 38 8e c6 10 03 answer from GPS to 0x8e message; ACK message * 10 02 04 38 8f c7 10 03 answer from GPS to 0x8f message; ACK message * * The chip sometimes sends vendor extension messages with the prefix * $PEMT,100. After restart, it sends a $PEMT,100 message describing the * chip's configuration. Here is a sample: * * $PEMT,100,05.42g,100303,180,05,1,20,15,08,0,0,2,1*5A * 100 - message type * 05.42g - firmware version * 100303 - date of firmware release DDMMYY * 180 - datum ID; 001 is WGS-84 * 05 - default elevation mask; see message 0x86 * 1 - default DOP select (1 is auto DOP mask); see message 0x87 * 20 - default GDOP; see message 0x87 * 15 - default PDOP * 08 - default HDOP * 0 - Normal mode, without 1PPS * 0 - default position pinning control (0 disable, 1 enable) * 2 - altitude hold mode (0 disable, 1 always, 2 auto) * 1 - 2/1 satellite nav mode (0,1,2,3,4) * 0 disable 2/1 sat nav mode * 1 hold direction (2 sat) * 2 clock hold only (2 sat) * 3 direction hold then clock hold (1 sat) * 4 clock hold then direction hold (1 sat) * * Message $PEMT,100 could be forced with message 0x85 (restart): * 10 02 12 85 00 00 00 00 00 01 01 00 00 00 00 00 00 00 00 87 10 03 * 0x85 ID, Restart * 0x00 restart mode (0 default, 1 hot, 2 warm, 3 cold, 4 test) * 0x00 test start search PRN (1-32) * 0x00 UTC second (0-59) * 0x00 UTC Minute (0-59) * 0x00 UTC Hour (0-23) * 0x01 UTC Day (1-31) * 0x01 UTC Month (1-12) * 0x0000 UTC year (1980+x, uint16) * 0x0000 Latitude WGS-84 (+/-900, 1/10 degree, + for N, int16) * 0x0000 Longtitude WGS-84 (+/-1800, 1/10 degree, + for E, int16) * 0x0000 Altitude WGS-84 (-1000..+18000, meters, int16) * 0x87 CRC * * With message 0x8e it is possible to define how often each NMEA * message is sent (0-255 seconds). It is possible with message 0x8e * to activate PEMT,101 messages that have information about time, * position, velocity and HDOP. * * $PEMT,101,1,02,00.0,300906190446,5002.5062,N,01427.6166,E,00259,000,0000*27 * $PEMT,101,2,06,02.1,300906185730,5002.7546,N,01426.9524,E,00323,020,0011*26 * 101 - message type, Compact Navigation Solution * 2 - position status (1,2,3,4,5,6) * (1 invalid, 2 2D fix, 3 3D fix, 4 2D with DIFF, 5 3D with DIFF, * 6 2/1 sat degrade mode) * 06 - number of used satelites * 02.1 - DOP (00.0 no fix, HDOP 2D fix, PDOP 3D fix) * 300906185730 - date and time, UTC ddmmyyHHMMSS (30/09/2006 18:57:30) * 5002.7546,N - Latitude (degree) * 01426.9524,E - Longitude (degree) * 00323 - Altitude (323 metres) * 020 - heading (20 degrees from true north) * 0011 - speed over ground (11 metres per second); documentation says km per h * * This is an exampe of an 0x8e message that activates all NMEA sentences * with 1s period: * 10 02 12 8E 7F 01 01 01 01 01 01 01 01 00 00 00 00 00 00 15 10 03 * * There is a way to probe for this chipset. When binary message 0x81 is sent: * 10 02 04 81 13 94 10 03 * * EverMore will reply with message like this: * *10 *02 *0D *20 E1 00 00 *00 0A 00 1E 00 32 00 5B *10 *03 * bytes marked with * are fixed * Message in reply is information about logging configuration of GPS * * Another way to detect the EverMore chipset is to send one of the messages * 0x85, 0x8d, 0x8e or 0x8f and check for a reply. * The reply message from an EverMore GPS will look like this: * *10 *02 *04 *38 8d c5 *10 *03 * 8d indicates that message 0x8d was sent; * c5 is EverMore checksum, other bytes are fixed * */ #include #include #include #include #include #include #ifndef S_SPLINT_S #include #endif /* S_SPLINT_S */ #include #include #include "gpsd_config.h" #include "gpsd.h" #if defined(EVERMORE_ENABLE) && defined(BINARY_ENABLE) #define GET_ORIGIN 1 #define PUT_ORIGIN 0 #include "bits.h" #define EVERMORE_CHANNELS 12 /*@ +charint @*/ gps_mask_t evermore_parse(struct gps_device_t *session, unsigned char *buf, size_t len) { unsigned char buf2[MAX_PACKET_LENGTH], *cp, *tp; size_t i, datalen; unsigned int type, used, visible, satcnt; double version; gps_mask_t mask = 0; if (len == 0) return 0; /* time to unstuff it and discard the header and footer */ cp = buf + 2; tp = buf2; if (*cp == 0x10) cp++; datalen = (size_t)*cp++; gpsd_report(LOG_RAW, "raw EverMore packet type 0x%02x, length %zd: %s\n", *cp, len, gpsd_hexdump_wrapper(buf, len, LOG_RAW)); datalen -= 2; /*@ -usedef @*/ for (i = 0; i < (size_t)datalen; i++) { *tp = *cp++; if (*tp == 0x10) cp++; tp++; } type = (unsigned char)getub(buf2, 1); /*@ +usedef @*/ /*@ -usedef -compdef @*/ gpsd_report(LOG_RAW, "EverMore packet type 0x%02x, length %zd: %s\n", type, datalen, gpsd_hexdump_wrapper(buf2, datalen, LOG_RAW)); /*@ +usedef +compdef @*/ (void)snprintf(session->gpsdata.tag, sizeof(session->gpsdata.tag), "EID%u", type); session->cycle_end_reliable = true; switch (type) { case 0x02: /* Navigation Data Output */ /*@ ignore @*//*@ splint is confused @*/ session->gpsdata.fix.time = gpstime_to_unix((int)getleuw(buf2, 2), getleul(buf2, 4)*0.01) - session->context->leap_seconds; /*@ end @*/ ecef_to_wgs84fix(&session->gpsdata, getlesl(buf2, 8)*1.0, getlesl(buf2, 12)*1.0, getlesl(buf2, 16)*1.0, getlesw(buf2, 20)/10.0, getlesw(buf2, 22)/10.0, getlesw(buf2, 24)/10.0); used = (unsigned char)getub(buf2, 26) & 0x0f; //visible = (getub(buf2, 26) & 0xf0) >> 4; version = (uint)getleuw(buf2, 27)/100.0; /* that's all the information in this packet */ if (used < 3) session->gpsdata.fix.mode = MODE_NO_FIX; else if (used == 3) session->gpsdata.fix.mode = MODE_2D; else { session->gpsdata.fix.mode = MODE_3D; mask |= ALTITUDE_SET | CLIMB_SET; } mask |= TIME_SET | LATLON_SET | TRACK_SET | SPEED_SET | MODE_SET; if (session->subtype[0] == '\0') { (void)snprintf(session->subtype, sizeof(session->subtype), "%3.2f", version); mask |= DEVICEID_SET; } gpsd_report(LOG_DATA, "NDO 0x02: time=%.2f, lat=%.2f lon=%.2f alt=%.2f speed=%.2f track=%.2f climb=%.2f mode=%d subtype='%s' mask=%s\n", session->gpsdata.fix.time, session->gpsdata.fix.latitude, session->gpsdata.fix.longitude, session->gpsdata.fix.altitude, session->gpsdata.fix.speed, session->gpsdata.fix.track, session->gpsdata.fix.climb, session->gpsdata.fix.mode, session->gpsdata.dev.subtype, gpsd_maskdump(mask)); return mask | CLEAR_SET | REPORT_SET; case 0x04: /* DOP Data Output */ /*@ ignore @*//*@ splint is confused @*/ session->gpsdata.fix.time = gpstime_to_unix((int)getleuw(buf2, 2), getleul(buf2, 4)*0.01) - session->context->leap_seconds; /*@ end @*/ clear_dop(&session->gpsdata.dop); session->gpsdata.dop.gdop = (double)getub(buf2, 8)*0.1; session->gpsdata.dop.pdop = (double)getub(buf2, 9)*0.1; session->gpsdata.dop.hdop = (double)getub(buf2, 10)*0.1; session->gpsdata.dop.vdop = (double)getub(buf2, 11)*0.1; session->gpsdata.dop.tdop = (double)getub(buf2, 12)*0.1; switch (getub(buf2, 13)) { case 0: /* no position fix */ case 1: /* manual calls this "1D navigation" */ session->gpsdata.status = STATUS_NO_FIX; session->gpsdata.fix.mode = MODE_NO_FIX; break; case 2: /* 2D navigation */ session->gpsdata.status = STATUS_FIX; session->gpsdata.fix.mode = MODE_2D; break; case 3: /* 3D navigation */ session->gpsdata.status = STATUS_FIX; session->gpsdata.fix.mode = MODE_3D; break; case 4: /* 3D navigation with DGPS */ session->gpsdata.status = STATUS_DGPS_FIX; session->gpsdata.fix.mode = MODE_3D; break; } /* that's all the information in this packet */ mask = TIME_SET | DOP_SET | MODE_SET | STATUS_SET; gpsd_report(LOG_DATA, "DDO 0x04: gdop=%.2f pdop=%.2f hdop=%.2f vdop=%.2f tdop=%.2f mode=%d, status=%d mask={TIME| DOP|MODE|STATUS}\n", session->gpsdata.dop.gdop, session->gpsdata.dop.pdop, session->gpsdata.dop.hdop, session->gpsdata.dop.vdop, session->gpsdata.dop.tdop, session->gpsdata.fix.mode, session->gpsdata.status); return mask; case 0x06: /* Channel Status Output */ /*@ ignore @*//*@ splint is confused @*/ session->gpsdata.skyview_time = gpstime_to_unix((int)getleuw(buf2, 2), getleul(buf2, 4)*0.01) - session->context->leap_seconds; /*@ end @*/ session->gpsdata.satellites_visible = (int)getub(buf2, 8); session->gpsdata.satellites_used = 0; memset(session->gpsdata.used, 0, sizeof(session->gpsdata.used)); if (session->gpsdata.satellites_visible > 12) { gpsd_report(LOG_WARN, "Warning: EverMore packet has information about %d satellites!\n", session->gpsdata.satellites_visible); } if (session->gpsdata.satellites_visible > EVERMORE_CHANNELS) session->gpsdata.satellites_visible = EVERMORE_CHANNELS; satcnt = 0; for (i = 0; i < (size_t)session->gpsdata.satellites_visible; i++) { int prn; // channel = getub(buf2, 7*i+7+2) prn = (int)getub(buf2, 7*i+7+3); if (prn == 0) continue; /* satellite record is not valid */ session->gpsdata.PRN[satcnt] = prn; session->gpsdata.azimuth[satcnt] = (int)getleuw(buf2, 7*i+7+4); session->gpsdata.elevation[satcnt] = (int)getub(buf2, 7*i+7+6); session->gpsdata.ss[satcnt] = (float)getub(buf2, 7*i+7+7); /* * Status bits at offset 8: * bit0 = 1 satellite acquired * bit1 = 1 code-tracking loop locked * bit2 = 1 carrier-tracking loop locked * bit3 = 1 data-bit synchronization done * bit4 = 1 frame synchronization done * bit5 = 1 ephemeris data collected * bit6 = 1 used for position fix */ if (getub(buf2, 7*i+7+8) & 0x40) { session->gpsdata.used[session->gpsdata.satellites_used++]=prn; } satcnt++; } session->gpsdata.satellites_visible = (int)satcnt; /* that's all the information in this packet */ mask = SATELLITE_SET | USED_SET; gpsd_report(LOG_DATA, "CSO 0x06: time=%.2f used=%d visible=%d mask={TIME|SATELLITE|USED}\n", session->gpsdata.fix.time, session->gpsdata.satellites_used, session->gpsdata.satellites_visible); return mask; case 0x08: /* Measurement Data Output */ /* clock offset is a manufacturer diagnostic */ /* (int)getleuw(buf2, 8); clock offset, 29000..29850 ?? */ /*@ ignore @*//*@ splint is confused @*/ session->gpsdata.fix.time = gpstime_to_unix((int)getleuw(buf2, 2), getleul(buf2, 4)*0.01) - session->context->leap_seconds; /*@ end @*/ visible = (unsigned char)getub(buf2, 10); /* FIXME: read full statellite status for each channel */ /* we can get pseudo range (m), delta-range (m/s), doppler (Hz) and status for each channel */ /* gpsd_report(LOG_PROG, "MDO 0x04: visible=%d\n", visible); */ gpsd_report(LOG_DATA, "MDO 0x04: time=%.2f mask={TIME}\n", session->gpsdata.fix.time); return TIME_SET; case 0x20: /* LogConfig Info, could be used as a probe for EverMore GPS */ gpsd_report(LOG_IO, "LogConfig EverMore packet, length %zd: %s\n", datalen, gpsd_hexdump_wrapper(buf2, datalen, LOG_IO)); return ONLINE_SET; case 0x22: /* LogData */ gpsd_report(LOG_IO, "LogData EverMore packet, length %zd: %s\n", datalen, gpsd_hexdump_wrapper(buf2, datalen, LOG_IO)); return ONLINE_SET; case 0x38: /* ACK */ gpsd_report(LOG_PROG, "EverMore command %02X ACK\n", getub(buf2, 2)); return ONLINE_SET; default: gpsd_report(LOG_WARN, "unknown EverMore packet EID 0x%02x, length %zd: %s\n", buf2[0], datalen, gpsd_hexdump_wrapper(buf2, datalen, LOG_IO)); return 0; } } /*@ -charint @*/ static gps_mask_t evermore_parse_input(struct gps_device_t *session) { gps_mask_t st; if (session->packet.type == EVERMORE_PACKET) { st = evermore_parse(session, session->packet.outbuffer, session->packet.outbuflen); return st; #ifdef NMEA_ENABLE } else if (session->packet.type == NMEA_PACKET) { st = nmea_parse((char *)session->packet.outbuffer, session); return st; #endif /* NMEA_ENABLE */ } else return 0; } #ifdef ALLOW_CONTROLSEND /*@ +charint -usedef -compdef @*/ static ssize_t evermore_control_send(struct gps_device_t *session, char *buf, size_t len) { unsigned int crc; size_t i; char *cp; /*@ +charint +ignoresigns @*/ /* prepare a DLE-stuffed copy of the message */ cp = session->msgbuf; *cp++ = 0x10; /* message starts with DLE STX */ *cp++ = 0x02; session->msgbuflen = (size_t)(len + 2); /* len < 254 !! */ *cp++ = (char)session->msgbuflen; /* message length */ if (session->msgbuflen == 0x10) *cp++ = 0x10; /* payload */ crc = 0; for (i = 0; i < len; i++) { *cp++ = buf[i]; if (buf[i] == 0x10) *cp++ = 0x10; crc += buf[i]; } crc &= 0xff; /* enter CRC after payload */ *cp++ = crc; if (crc == 0x10) *cp++ = 0x10; *cp++ = 0x10; /* message ends with DLE ETX */ *cp++ = 0x03; session->msgbuflen = (size_t)(cp - session->msgbuf); /*@ -charint -ignoresigns @*/ return gpsd_write(session, session->msgbuf, session->msgbuflen); } /*@ -charint +usedef +compdef @*/ #endif /* ALLOW_CONTROLSEND */ #ifdef ALLOW_RECONFIGURE static bool evermore_speed(struct gps_device_t *session, speed_t speed, char parity, int stopbits) { /*@ -type @*/ gpsd_report(LOG_PROG, "evermore_speed(%d%c%d)\n", speed, parity, stopbits); /* parity and stopbit switching aren't available on this chip */ if (parity!=session->gpsdata.dev.parity || stopbits!=(int)session->gpsdata.dev.parity) { return false; } else { unsigned char tmp8; char msg[] = { 0x89, /* 0: msg ID, Serial Port Configuration */ 0x01, /* 1: bit 0 cfg for main serial, bit 1 cfg for DGPS port */ 0x00, /* 2: baud rate for main serial; 4800(0), 9600(1), 19200(2), 38400(3) */ 0x00, /* 3: baud rate for DGPS serial port; 4800(0), 9600(1), etc */ }; switch (speed) { case 4800: tmp8 = 0; break; case 9600: tmp8 = 1; break; case 19200: tmp8 = 2; break; case 38400: tmp8 = 3; break; default: return false; } msg[2] = tmp8; return (evermore_control_send(session, msg, sizeof(msg)) != -1); } /*@ +type @*/ } static bool evermore_protocol(struct gps_device_t *session, int protocol) { /*@ +charint */ char tmp8; char evrm_protocol_config[] = { 0x84, /* 0: msg ID, Protocol Configuration */ 0x00, /* 1: mode; EverMore binary(0), NMEA(1) */ 0x00, /* 2: reserved */ 0x00, /* 3: reserved */ }; /*@ -charint */ gpsd_report(LOG_PROG, "evermore_protocol(%d)\n", protocol); /*@i1@*/tmp8 = (protocol != 0) ? 1 : 0; /* NMEA : binary */ evrm_protocol_config[1] = tmp8; return (evermore_control_send(session, evrm_protocol_config, sizeof(evrm_protocol_config)) != -1); } static bool evermore_nmea_config(struct gps_device_t *session, int mode) /* mode = 0 : EverMore default */ /* mode = 1 : gpsd best */ /* mode = 2 : EverMore search, activate PEMT101 message */ { char tmp8; /*@ +charint */ char evrm_nmeaout_config[] = { 0x8e, /* 0: msg ID, NMEA Message Control */ 0xff, /* 1: NMEA sentence bitmask, GGA(0), GLL(1), GSA(2), GSV(3), ... */ 0x01, /* 2: nmea checksum no(0), yes(1) */ 1, /* 3: GPGGA, interval 0-255s */ 0, /* 4: GPGLL, interval 0-255s */ 1, /* 5: GPGSA, interval 0-255s */ 1, /* 6: GPGSV, interval 0-255s */ 1, /* 7: GPRMC, interval 0-255s */ 0, /* 8: GPVTG, interval 0-255s */ 0, /* 9: PEMT,101, interval 0-255s */ 0, 0, 0, 0, 0, 0, /* 10-15: reserved */ }; /*@ -charint */ gpsd_report(LOG_PROG, "evermore_nmea_config(%d)\n", mode); /*@i1@*/tmp8 = (mode == 1) ? 5 : 1; /* NMEA GPGSV, gpsd */ evrm_nmeaout_config[6] = tmp8; /* GPGSV, 1s or 5s */ /*@i1@*/tmp8 = (mode == 2) ? 1 : 0; /* NMEA PEMT101 */ evrm_nmeaout_config[9] = tmp8; /* PEMT101, 1s or 0s */ return (evermore_control_send(session, evrm_nmeaout_config, sizeof(evrm_nmeaout_config)) != -1); } static void evermore_mode(struct gps_device_t *session, int mode) { gpsd_report(LOG_PROG, "evermore_mode(%d), %d\n", mode, session->back_to_nmea ? 1 : 0); if (mode == MODE_NMEA) { /* NMEA */ (void) evermore_protocol(session, 1); session->gpsdata.dev.driver_mode = MODE_NMEA; (void) evermore_nmea_config(session, 1); /* configure NMEA messages for gpsd */ } else { /* binary */ (void) evermore_protocol(session, 0); session->back_to_nmea = false; session->gpsdata.dev.driver_mode = MODE_BINARY; } } static void evermore_event_hook(struct gps_device_t *session, event_t event) { /* * FIXME: It might not be necessary to call this on reactivate. * Experiment to see if the holds its settings through a close. */ if (event == event_identified || event == event_reactivate) { if (session->packet.type == NMEA_PACKET) { (void) evermore_nmea_config(session, 1); /* configure NMEA messages for gpsd (GPGSV every 5s) */ } (void) evermore_mode(session, 1); /* switch GPS to binary mode */ session->back_to_nmea = true; } else if (event == event_deactivate) { (void) evermore_nmea_config(session, 0); /* configure NMEA messages to default */ } } static bool evermore_rate_switcher(struct gps_device_t *session, double rate) /* change the sample rate of the GPS */ { /*@ +charint @*/ char evrm_rate_config[] = { 0x84, /* 1: msg ID, Operating Mode Configuration */ 0x02, /* 2: normal mode with 1PPS */ 0x00, /* 3: navigation update rate */ 0x00, /* 4: RF/GPSBBP On Time */ }; if (rate < 1 || rate > 10) { gpsd_report(LOG_ERROR, "valid rate range is 1-10.\n"); return false; } else { evrm_rate_config[2] = (char)trunc(rate); return (evermore_control_send(session, evrm_rate_config, sizeof(evrm_rate_config)) != -1); } /*@ -charint @*/ } #endif /* ALLOW_RECONFIGURE */ /* this is everything we export */ const struct gps_type_t evermore_binary = { .type_name = "EverMore binary", /* full name of type */ .packet_type = EVERMORE_PACKET, /* lexer packet type */ .trigger = "$PEMT,", /* recognize the type */ .channels = EVERMORE_CHANNELS, /* consumer-grade GPS */ .probe_detect = NULL, /* no probe */ .get_packet = generic_get, /* use generic one */ .parse_packet = evermore_parse_input, /* parse message packets */ .rtcm_writer = pass_rtcm, /* send RTCM data straight */ .event_hook = evermore_event_hook, /* lifetime event handler */ #ifdef ALLOW_RECONFIGURE .speed_switcher = evermore_speed, /* we can change baud rates */ .mode_switcher = evermore_mode, /* there is a mode switcher */ .rate_switcher = evermore_rate_switcher, /* change sample rate */ .min_cycle = 1, /* ignore, no rate switch */ #endif /* ALLOW_RECONFIGURE */ #ifdef ALLOW_CONTROLSEND .control_send = evermore_control_send, /* how to send a control string */ #endif /* ALLOW_CONTROLSEND */ }; #endif /* defined(EVERMORE_ENABLE) && defined(BINARY_ENABLE) */