/* * This file is Copyright (c) 2010 by the GPSD project * BSD terms apply: see the file COPYING in the distribution root for details. */ #include #include #include #include #include #include #include #include "gpsd.h" #ifdef NMEA_ENABLE /************************************************************************** * * Parser helpers begin here * **************************************************************************/ static void do_lat_lon(char *field[], struct gps_fix_t *out) /* process a pair of latitude/longitude fields starting at field index BEGIN */ { double lat, lon, d, m; char str[20], *p; if (*(p = field[0]) != '\0') { (void)strlcpy(str, p, sizeof(str)); (void)sscanf(p, "%lf", &lat); m = 100.0 * modf(lat / 100.0, &d); lat = d + m / 60.0; p = field[1]; if (*p == 'S') lat = -lat; out->latitude = lat; } if (*(p = field[2]) != '\0') { (void)strlcpy(str, p, sizeof(str)); (void)sscanf(p, "%lf", &lon); m = 100.0 * modf(lon / 100.0, &d); lon = d + m / 60.0; p = field[3]; if (*p == 'W') lon = -lon; out->longitude = lon; } } /************************************************************************** * * Scary timestamp fudging begins here * * Four sentences, GGA and GLL and RMC and ZDA, contain timestamps. * GGA/GLL/RMC timestamps look like hhmmss.ss, with the trailing .ss * part optional. RMC has a date field, in the format ddmmyy. ZDA * has separate fields for day/month/year, with a 4-digit year. This * means that for RMC we must supply a century and for GGA and GLL we * must supply a century, year, and day. We get the missing data from * a previous RMC or ZDA; century in RMC is supplied from the daemon's * context (initialized at startup time) if there has been no previous * ZDA. * **************************************************************************/ #define DD(s) ((int)((s)[0]-'0')*10+(int)((s)[1]-'0')) static void merge_ddmmyy(char *ddmmyy, struct gps_device_t *session) /* sentence supplied ddmmyy, but no century part */ { int yy = DD(ddmmyy + 4); int mon = DD(ddmmyy + 2); int mday = DD(ddmmyy); int year; /* check for century wrap */ if (session->driver.nmea.date.tm_year % 100 == 99 && yy == 0) { session->context->century += 100; gpsd_report(LOG_WARN, "century rollover detected.\n"); } year = (session->context->century + yy); if ( (1 > mon ) || (12 < mon ) ) { gpsd_report(LOG_WARN, "merge_ddmmyy(%s), malformed month\n", ddmmyy); } else if ( (1 > mday ) || (31 < mday ) ) { gpsd_report(LOG_WARN, "merge_ddmmyy(%s), malformed day\n", ddmmyy); } else { gpsd_report(LOG_DATA, "merge_ddmmyy(%s) sets year %d\n", ddmmyy, year); session->driver.nmea.date.tm_year = year - 1900; session->driver.nmea.date.tm_mon = mon - 1; session->driver.nmea.date.tm_mday = mday; } } static void merge_hhmmss(char *hhmmss, struct gps_device_t *session) /* update from a UTC time */ { int old_hour = session->driver.nmea.date.tm_hour; session->driver.nmea.date.tm_hour = DD(hhmmss); if (session->driver.nmea.date.tm_hour < old_hour) /* midnight wrap */ session->driver.nmea.date.tm_mday++; session->driver.nmea.date.tm_min = DD(hhmmss + 2); session->driver.nmea.date.tm_sec = DD(hhmmss + 4); session->driver.nmea.subseconds = atof(hhmmss + 4) - session->driver.nmea.date.tm_sec; } static void register_fractional_time(const char *tag, const char *fld, struct gps_device_t *session) { if (fld[0] != '\0') { session->driver.nmea.last_frac_time = session->driver.nmea.this_frac_time; session->driver.nmea.this_frac_time = atof(fld); session->driver.nmea.latch_frac_time = true; gpsd_report(LOG_DATA, "%s: registers fractional time %.2f\n", tag, session->driver.nmea.this_frac_time); } } /************************************************************************** * * Compare GPS timestamps for equality. Depends on the fact that the * timestamp granularity of GPS is 1/100th of a second. Use this to avoid * naive float comparisons. * **************************************************************************/ #define GPS_TIME_EQUAL(a, b) (fabs((a) - (b)) < 0.01) /************************************************************************** * * NMEA sentence handling begins here * **************************************************************************/ static gps_mask_t processGPRMC(int count, char *field[], struct gps_device_t *session) /* Recommend Minimum Course Specific GPS/TRANSIT Data */ { /* * RMC,225446.33,A,4916.45,N,12311.12,W,000.5,054.7,191194,020.3,E,A*68 * 1 225446.33 Time of fix 22:54:46 UTC * 2 A Status of Fix: A = Autonomous, valid; * D = Differential, valid; V = invalid * 3,4 4916.45,N Latitude 49 deg. 16.45 min North * 5,6 12311.12,W Longitude 123 deg. 11.12 min West * 7 000.5 Speed over ground, Knots * 8 054.7 Course Made Good, True north * 9 181194 Date of fix 18 November 1994 * 10,11 020.3,E Magnetic variation 20.3 deg East * 12 A FAA mode indicator (NMEA 2.3 and later) * A=autonomous, D=differential, E=Estimated, * N=not valid, S=Simulator, M=Manual input mode * *68 mandatory nmea_checksum * * * SiRF chipsets don't return either Mode Indicator or magnetic variation. */ gps_mask_t mask = 0; if (strcmp(field[2], "V") == 0) { /* copes with Magellan EC-10X, see below */ if (session->gpsdata.status != STATUS_NO_FIX) { session->gpsdata.status = STATUS_NO_FIX; mask |= STATUS_SET; } if (session->newdata.mode >= MODE_2D) { session->newdata.mode = MODE_NO_FIX; mask |= MODE_SET; } /* set something nz, so it won't look like an unknown sentence */ mask |= ONLINE_SET; } else if (strcmp(field[2], "A") == 0) { /* * The MTK3301, Royaltek RGM-3800, and possibly other * devices deliver bogus time values when the navigation * warning bit is set. */ if (count > 9 && field[1][0] != '\0' && field[9][0] != '\0') { merge_hhmmss(field[1], session); merge_ddmmyy(field[9], session); mask |= TIME_SET; register_fractional_time(field[0], field[1], session); } do_lat_lon(&field[3], &session->newdata); mask |= LATLON_SET; session->newdata.speed = atof(field[7]) * KNOTS_TO_MPS; session->newdata.track = atof(field[8]); mask |= (TRACK_SET | SPEED_SET); /* * This copes with GPSes like the Magellan EC-10X that *only* emit * GPRMC. In this case we set mode and status here so the client * code that relies on them won't mistakenly believe it has never * received a fix. */ if (session->gpsdata.status == STATUS_NO_FIX) { session->gpsdata.status = STATUS_FIX; /* could be DGPS_FIX, we can't tell */ mask |= STATUS_SET; } if (session->newdata.mode < MODE_2D) { session->newdata.mode = MODE_2D; mask |= MODE_SET; } } gpsd_report(LOG_DATA, "RMC: ddmmyy=%s hhmmss=%s lat=%.2f lon=%.2f " "speed=%.2f track=%.2f mode=%d status=%d\n", field[9], field[1], session->newdata.latitude, session->newdata.longitude, session->newdata.speed, session->newdata.track, session->newdata.mode, session->gpsdata.status); return mask; } static gps_mask_t processGPGLL(int count, char *field[], struct gps_device_t *session) /* Geographic position - Latitude, Longitude */ { /* Introduced in NMEA 3.0. * * $GPGLL,4916.45,N,12311.12,W,225444,A,A*5C * * 1,2: 4916.46,N Latitude 49 deg. 16.45 min. North * 3,4: 12311.12,W Longitude 123 deg. 11.12 min. West * 5: 225444 Fix taken at 22:54:44 UTC * 6: A Data valid * 7: A Autonomous mode * 8: *5C Mandatory NMEA checksum * * 1,2 Latitude, N (North) or S (South) * 3,4 Longitude, E (East) or W (West) * 5 UTC of position * 6 A=Active, V=Void * 7 Mode Indicator * A = Autonomous mode * D = Differential Mode * E = Estimated (dead-reckoning) mode * M = Manual Input Mode * S = Simulated Mode * N = Data Not Valid * * I found a note at * indicating that the Garmin 65 does not return time and status. * SiRF chipsets don't return the Mode Indicator. * This code copes gracefully with both quirks. * * Unless you care about the FAA indicator, this sentence supplies nothing * that GPRMC doesn't already. But at least one Garmin GPS -- the 48 * actually ships updates in GLL that aren't redundant. */ char *status = field[7]; gps_mask_t mask = 0; if (field[5][0] != '\0') { merge_hhmmss(field[5], session); register_fractional_time(field[0], field[5], session); if (session->driver.nmea.date.tm_year == 0) gpsd_report(LOG_WARN, "can't use GLL time until after ZDA or RMC has supplied a year.\n"); else { mask = TIME_SET; } } if (strcmp(field[6], "A") == 0 && (count < 8 || *status != 'N')) { int newstatus; do_lat_lon(&field[1], &session->newdata); mask |= LATLON_SET; if (count >= 8 && *status == 'D') newstatus = STATUS_DGPS_FIX; /* differential */ else newstatus = STATUS_FIX; /* * This is a bit dodgy. Technically we shouldn't set the mode * bit until we see GSA. But it may be later in the cycle, * some devices like the FV-18 don't send it by default, and * elsewhere in the code we want to be able to test for the * presence of a valid fix with mode > MODE_NO_FIX. */ if (session->newdata.mode < MODE_2D) { session->newdata.mode = MODE_2D; mask |= MODE_SET; } session->gpsdata.status = newstatus; mask |= STATUS_SET; } gpsd_report(LOG_DATA, "GLL: hhmmss=%s lat=%.2f lon=%.2f mode=%d status=%d\n", field[5], session->newdata.latitude, session->newdata.longitude, session->newdata.mode, session->gpsdata.status); return mask; } static gps_mask_t processGPGGA(int c UNUSED, char *field[], struct gps_device_t *session) /* Global Positioning System Fix Data */ { /* * GGA,123519,4807.038,N,01131.324,E,1,08,0.9,545.4,M,46.9,M, , *42 * 1 123519 Fix taken at 12:35:19 UTC * 2,3 4807.038,N Latitude 48 deg 07.038' N * 4,5 01131.324,E Longitude 11 deg 31.324' E * 6 1 Fix quality: 0 = invalid, 1 = GPS, 2 = DGPS, * 3=PPS (Precise Position Service), * 4=RTK (Real Time Kinematic) with fixed integers, * 5=Float RTK, 6=Estimated, 7=Manual, 8=Simulator * 7 08 Number of satellites being tracked * 8 0.9 Horizontal dilution of position * 9,10 545.4,M Altitude, Metres above mean sea level * 11,12 46.9,M Height of geoid (mean sea level) above WGS84 * ellipsoid, in Meters * (empty field) time in seconds since last DGPS update * (empty field) DGPS station ID number (0000-1023) */ gps_mask_t mask; session->gpsdata.status = atoi(field[6]); mask = STATUS_SET; /* * There are some receivers (the Trimble Placer 450 is an example) that * don't ship a GSA with mode 1 when they lose satellite lock. Instead * they just keep reporting GGA and GSA on subsequent cycles with the * timestamp not advancing and a bogus mode. On the assumption that GGA * is only issued once per cycle we can detect this here (it would be * nicer to do it on GSA but GSA has no timestamp). */ session->driver.nmea.latch_mode = strncmp(field[1], session->driver.nmea.last_gga_timestamp, sizeof(session->driver.nmea.last_gga_timestamp))==0; if (session->driver.nmea.latch_mode) { session->gpsdata.status = STATUS_NO_FIX; session->newdata.mode = MODE_NO_FIX; } else (void)strlcpy(session->driver.nmea.last_gga_timestamp, field[1], sizeof(session->driver.nmea.last_gga_timestamp)); /* if we have a fix and the mode latch is off, go... */ if (session->gpsdata.status > STATUS_NO_FIX) { char *altitude; merge_hhmmss(field[1], session); register_fractional_time(field[0], field[1], session); if (session->driver.nmea.date.tm_year == 0) gpsd_report(LOG_WARN, "can't use GGA time until after ZDA or RMC has supplied a year.\n"); else { mask |= TIME_SET; } do_lat_lon(&field[2], &session->newdata); mask |= LATLON_SET; session->gpsdata.satellites_used = atoi(field[7]); altitude = field[9]; /* * SiRF chipsets up to version 2.2 report a null altitude field. * See . * If we see this, force mode to 2D at most. */ if (altitude[0] == '\0') { if (session->newdata.mode == MODE_3D) { session->newdata.mode = session->gpsdata.status ? MODE_2D : MODE_NO_FIX; mask |= MODE_SET; } } else { session->newdata.altitude = atof(altitude); mask |= ALTITUDE_SET; /* * This is a bit dodgy. Technically we shouldn't set the mode * bit until we see GSA. But it may be later in the cycle, * some devices like the FV-18 don't send it by default, and * elsewhere in the code we want to be able to test for the * presence of a valid fix with mode > MODE_NO_FIX. */ if (session->newdata.mode < MODE_3D) { session->newdata.mode = MODE_3D; mask |= MODE_SET; } } if (strlen(field[11]) > 0) { session->gpsdata.separation = atof(field[11]); } else { session->gpsdata.separation = wgs84_separation(session->newdata.latitude, session->newdata.longitude); } } gpsd_report(LOG_DATA, "GGA: hhmmss=%s lat=%.2f lon=%.2f alt=%.2f mode=%d status=%d\n", field[1], session->newdata.latitude, session->newdata.longitude, session->newdata.altitude, session->newdata.mode, session->gpsdata.status); return mask; } static gps_mask_t processGPGST(int count, char *field[], struct gps_device_t *session) /* GST - GPS Pseudorange Noise Statistics */ { /* * GST,hhmmss.ss,x,x,x,x,x,x,x,*hh * 1 TC time of associated GGA fix * 2 Total RMS standard deviation of ranges inputs to the navigation solution * 3 Standard deviation (meters) of semi-major axis of error ellipse * 4 Standard deviation (meters) of semi-minor axis of error ellipse * 5 Orientation of semi-major axis of error ellipse (true north degrees) * 6 Standard deviation (meters) of latitude error * 7 Standard deviation (meters) of longitude error * 8 Standard deviation (meters) of altitude error * 9 Checksum */ if (count < 8) { return 0; } #define PARSE_FIELD(n) (*field[n]!='\0' ? atof(field[n]) : NAN) session->gpsdata.gst.utctime = PARSE_FIELD(1); session->gpsdata.gst.rms_deviation = PARSE_FIELD(2); session->gpsdata.gst.smajor_deviation = PARSE_FIELD(3); session->gpsdata.gst.sminor_deviation = PARSE_FIELD(4); session->gpsdata.gst.smajor_orientation = PARSE_FIELD(5); session->gpsdata.gst.lat_err_deviation = PARSE_FIELD(6); session->gpsdata.gst.lon_err_deviation = PARSE_FIELD(7); session->gpsdata.gst.alt_err_deviation = PARSE_FIELD(8); #undef PARSE_FIELD register_fractional_time(field[0], field[1], session); gpsd_report(LOG_DATA, "GST: utc = %.2f, rms = %.2f, maj = %.2f, min = %.2f, ori = %.2f, lat = %.2f, lon = %.2f, alt = %.2f\n", session->gpsdata.gst.utctime, session->gpsdata.gst.rms_deviation, session->gpsdata.gst.smajor_deviation, session->gpsdata.gst.sminor_deviation, session->gpsdata.gst.smajor_orientation, session->gpsdata.gst.lat_err_deviation, session->gpsdata.gst.lon_err_deviation, session->gpsdata.gst.alt_err_deviation); return GST_SET | ONLINE_SET; } static gps_mask_t processGPGSA(int count, char *field[], struct gps_device_t *session) /* GPS DOP and Active Satellites */ { /* * eg1. $GPGSA,A,3,,,,,,16,18,,22,24,,,3.6,2.1,2.2*3C * eg2. $GPGSA,A,3,19,28,14,18,27,22,31,39,,,,,1.7,1.0,1.3*35 * 1 = Mode: * M=Manual, forced to operate in 2D or 3D * A=Automatic, 3D/2D * 2 = Mode: 1=Fix not available, 2=2D, 3=3D * 3-14 = PRNs of satellites used in position fix (null for unused fields) * 15 = PDOP * 16 = HDOP * 17 = VDOP */ gps_mask_t mask; /* * One chipset called the i.Trek M3 issues GPGSA lines that look like * this: "$GPGSA,A,1,,,,*32" when it has no fix. This is broken * in at least two ways: it's got the wrong number of fields, and * it claims to be a valid sentence (A flag) when it isn't. * Alarmingly, it's possible this error may be generic to SiRFstarIII. */ if (count < 17) { gpsd_report(LOG_DATA, "GPGSA: malformed, setting ONLINE_SET only.\n"); mask = ONLINE_SET; } else if (session->driver.nmea.latch_mode) { /* last GGA had a non-advancing timestamp; don't trust this GSA */ mask = ONLINE_SET; } else { int i; session->newdata.mode = atoi(field[2]); /* * The first arm of this conditional ignores dead-reckoning * fixes from an Antaris chipset. which returns E in field 2 * for a dead-reckoning estimate. Fix by Andreas Stricker. */ if (session->newdata.mode == 0 && field[2][0] == 'E') mask = 0; else mask = MODE_SET; gpsd_report(LOG_PROG, "GPGSA sets mode %d\n", session->newdata.mode); session->gpsdata.dop.pdop = atof(field[15]); session->gpsdata.dop.hdop = atof(field[16]); session->gpsdata.dop.vdop = atof(field[17]); session->gpsdata.satellites_used = 0; memset(session->gpsdata.used, 0, sizeof(session->gpsdata.used)); /* the magic 6 here counts the tag, two mode fields, and the DOP fields */ for (i = 0; i < count - 6; i++) { int prn = atoi(field[i + 3]); if (prn > 0) session->gpsdata.used[session->gpsdata.satellites_used++] = prn; } mask |= DOP_SET | USED_IS; gpsd_report(LOG_DATA, "GPGSA: mode=%d used=%d pdop=%.2f hdop=%.2f vdop=%.2f\n", session->newdata.mode, session->gpsdata.satellites_used, session->gpsdata.dop.pdop, session->gpsdata.dop.hdop, session->gpsdata.dop.vdop); } return mask; } static gps_mask_t processGPGSV(int count, char *field[], struct gps_device_t *session) /* GPS Satellites in View */ { /* * GSV,2,1,08,01,40,083,46,02,17,308,41,12,07,344,39,14,22,228,45*75 * 2 Number of sentences for full data * 1 Sentence 1 of 2 * 08 Total number of satellites in view * 01 Satellite PRN number * 40 Elevation, degrees * 083 Azimuth, degrees * 46 Signal-to-noise ratio in decibels * * There my be up to three GSV sentences in a data packet */ int n, fldnum; if (count <= 3) { gpsd_report(LOG_WARN, "malformed GPGSV - fieldcount %d <= 3\n", count); gpsd_zero_satellites(&session->gpsdata); session->gpsdata.satellites_visible = 0; return ONLINE_SET; } if (count % 4 != 0) { gpsd_report(LOG_WARN, "malformed GPGSV - fieldcount %d %% 4 != 0\n", count); gpsd_zero_satellites(&session->gpsdata); session->gpsdata.satellites_visible = 0; return ONLINE_SET; } session->driver.nmea.await = atoi(field[1]); if (sscanf(field[2], "%d", &session->driver.nmea.part) < 1) { gpsd_report(LOG_WARN, "malformed GPGSV - bad part\n"); gpsd_zero_satellites(&session->gpsdata); return ONLINE_SET; } else if (session->driver.nmea.part == 1) gpsd_zero_satellites(&session->gpsdata); for (fldnum = 4; fldnum < count;) { if (session->gpsdata.satellites_visible >= MAXCHANNELS) { gpsd_report(LOG_ERROR, "internal error - too many satellites [%d]!\n", session->gpsdata.satellites_visible); gpsd_zero_satellites(&session->gpsdata); break; } session->gpsdata.PRN[session->gpsdata.satellites_visible] = atoi(field[fldnum++]); session->gpsdata.elevation[session->gpsdata.satellites_visible] = atoi(field[fldnum++]); session->gpsdata.azimuth[session->gpsdata.satellites_visible] = atoi(field[fldnum++]); session->gpsdata.ss[session->gpsdata.satellites_visible] = (float)atoi(field[fldnum++]); /* * Incrementing this unconditionally falls afoul of chipsets like * the Motorola Oncore GT+ that emit empty fields at the end of the * last sentence in a GPGSV set if the number of satellites is not * a multiple of 4. */ if (session->gpsdata.PRN[session->gpsdata.satellites_visible] != 0) session->gpsdata.satellites_visible++; } if (session->driver.nmea.part == session->driver.nmea.await && atoi(field[3]) != session->gpsdata.satellites_visible) gpsd_report(LOG_WARN, "GPGSV field 3 value of %d != actual count %d\n", atoi(field[3]), session->gpsdata.satellites_visible); /* not valid data until we've seen a complete set of parts */ if (session->driver.nmea.part < session->driver.nmea.await) { gpsd_report(LOG_PROG, "Partial satellite data (%d of %d).\n", session->driver.nmea.part, session->driver.nmea.await); return ONLINE_SET; } /* * This sanity check catches an odd behavior of SiRFstarII receivers. * When they can't see any satellites at all (like, inside a * building) they sometimes cough up a hairball in the form of a * GSV packet with all the azimuth entries 0 (but nonzero * elevations). This behavior was observed under SiRF firmware * revision 231.000.000_A2. */ for (n = 0; n < session->gpsdata.satellites_visible; n++) if (session->gpsdata.azimuth[n] != 0) goto sane; gpsd_report(LOG_WARN, "Satellite data no good (%d of %d).\n", session->driver.nmea.part, session->driver.nmea.await); gpsd_zero_satellites(&session->gpsdata); return ONLINE_SET; sane: session->gpsdata.skyview_time = NAN; gpsd_report(LOG_DATA, "GSV: Satellite data OK (%d of %d).\n", session->driver.nmea.part, session->driver.nmea.await); return SATELLITE_SET; } static gps_mask_t processPGRME(int c UNUSED, char *field[], struct gps_device_t *session) /* Garmin Estimated Position Error */ { /* * $PGRME,15.0,M,45.0,M,25.0,M*22 * 1 = horizontal error estimate * 2 = units * 3 = vertical error estimate * 4 = units * 5 = spherical error estimate * 6 = units * * * * Garmin won't say, but the general belief is that these are 50% CEP. * * We follow the advice at . * * If this assumption changes here, it should also change in garmin.c * * where we scale error estimates from Garmin binary packets, and * * in libgpsd_core.c where we generate $PGRME. */ gps_mask_t mask; if ((strcmp(field[2], "M") != 0) || (strcmp(field[4], "M") != 0) || (strcmp(field[6], "M") != 0)) { session->newdata.epx = session->newdata.epy = session->newdata.epv = session->gpsdata.epe = 100; mask = 0; } else { session->newdata.epx = session->newdata.epy = atof(field[1]) * (1 / sqrt(2)) * (GPSD_CONFIDENCE / CEP50_SIGMA); session->newdata.epv = atof(field[3]) * (GPSD_CONFIDENCE / CEP50_SIGMA); session->gpsdata.epe = atof(field[5]) * (GPSD_CONFIDENCE / CEP50_SIGMA); mask = HERR_SET | VERR_SET | PERR_IS; } gpsd_report(LOG_DATA, "PGRME: epx=%.2f epy=%.2f epv=%.2f\n", session->newdata.epx, session->newdata.epy, session->newdata.epv); return mask; } static gps_mask_t processGPGBS(int c UNUSED, char *field[], struct gps_device_t *session) /* NMEA 3.0 Estimated Position Error */ { /* * $GPGBS,082941.00,2.4,1.5,3.9,25,,-43.7,27.5*65 * 1) UTC time of the fix associated with this sentence (hhmmss.ss) * 2) Expected error in latitude (meters) * 3) Expected error in longitude (meters) * 4) Expected error in altitude (meters) * 5) PRN of most likely failed satellite * 6) Probability of missed detection for most likely failed satellite * 7) Estimate of bias in meters on most likely failed satellite * 8) Standard deviation of bias estimate * 9) Checksum */ /* register fractional time for end-of-cycle detection */ register_fractional_time(field[0], field[1], session); /* check that we're associated with the current fix */ if (session->driver.nmea.date.tm_hour == DD(field[1]) && session->driver.nmea.date.tm_min == DD(field[1] + 2) && session->driver.nmea.date.tm_sec == DD(field[1] + 4)) { session->newdata.epy = atof(field[2]); session->newdata.epx = atof(field[3]); session->newdata.epv = atof(field[4]); gpsd_report(LOG_DATA, "GBS: epx=%.2f epy=%.2f epv=%.2f\n", session->newdata.epx, session->newdata.epy, session->newdata.epv); return HERR_SET | VERR_SET; } else { gpsd_report(LOG_PROG, "second in $GPGBS error estimates doesn't match.\n"); return 0; } } static gps_mask_t processGPZDA(int c UNUSED, char *field[], struct gps_device_t *session) /* Time & Date */ { /* * $GPZDA,160012.71,11,03,2004,-1,00*7D * 1) UTC time (hours, minutes, seconds, may have fractional subsecond) * 2) Day, 01 to 31 * 3) Month, 01 to 12 * 4) Year (4 digits) * 5) Local zone description, 00 to +- 13 hours * 6) Local zone minutes description, apply same sign as local hours * 7) Checksum * * Note: some devices, like the uBlox ANTARIS 4h, are known to ship ZDAs * with some fields blank under poorly-understood circumstances (probably * when they don't have satellite lock yet). */ gps_mask_t mask = 0; if (field[1][0] == '\0' || field[2][0] == '\0' || field[3][0] == '\0' || field[4][0] == '\0') { gpsd_report(LOG_WARN, "malformed ZDA\n"); } else { int year, mon, mday, century; merge_hhmmss(field[1], session); /* * We don't register fractional time here because want to leave * ZDA out of end-of-cycle detection. Some devices sensibly emit it only * when they have a fix, so watching for it can make them look * like they have a variable fix reporting cycle. */ year = atoi(field[4]); mon = atoi(field[3]); mday = atoi(field[2]); century = year - year % 100; if ( (1900 > year ) || (2200 < year ) ) { gpsd_report(LOG_WARN, "malformed ZDA year: %s\n", field[4]); } else if ( (1 > mon ) || (12 < mon ) ) { gpsd_report(LOG_WARN, "malformed ZDA month: %s\n", field[3]); } else if ( (1 > mday ) || (31 < mday ) ) { gpsd_report(LOG_WARN, "malformed ZDA day: %s\n", field[2]); } else { if (century > session->context->century) { /* * This mismatch is almost certainly not due to a GPS week * rollover, because that would throw the ZDA report backward * into the last rollover period instead of forward. Almost * certainly it means that a century mark has passed while * gpsd was running, and we should trust the new ZDA year. */ gpsd_report(LOG_WARN, "century rollover detected.\n"); session->context->century = century; } else if (session->context->start_time >= GPS_EPOCH && century < session->context->century) { /* * This looks like a GPS week-counter rollover. */ gpsd_report(LOG_WARN, "ZDA year %d less than clock year, " "probable GPS week rollover lossage\n", year); } session->driver.nmea.date.tm_year = year - 1900; session->driver.nmea.date.tm_mon = mon - 1; session->driver.nmea.date.tm_mday = mday; mask = TIME_SET; } }; return mask; } static gps_mask_t processHDT(int c UNUSED, char *field[], struct gps_device_t *session) { /* * $HEHDT,341.8,T*21 * * HDT,x.x*hh * * The only data field is true heading in degrees. * The following field is required to be 'T' indicating a true heading. * It is followed by a mandatory nmea_checksum. */ gps_mask_t mask; mask = ONLINE_SET; session->gpsdata.attitude.heading = atof(field[1]); session->gpsdata.attitude.mag_st = '\0'; session->gpsdata.attitude.pitch = NAN; session->gpsdata.attitude.pitch_st = '\0'; session->gpsdata.attitude.roll = NAN; session->gpsdata.attitude.roll_st = '\0'; session->gpsdata.attitude.yaw = NAN; session->gpsdata.attitude.yaw_st = '\0'; session->gpsdata.attitude.dip = NAN; session->gpsdata.attitude.mag_len = NAN; session->gpsdata.attitude.mag_x = NAN; session->gpsdata.attitude.mag_y = NAN; session->gpsdata.attitude.mag_z = NAN; session->gpsdata.attitude.acc_len = NAN; session->gpsdata.attitude.acc_x = NAN; session->gpsdata.attitude.acc_y = NAN; session->gpsdata.attitude.acc_z = NAN; session->gpsdata.attitude.gyro_x = NAN; session->gpsdata.attitude.gyro_y = NAN; mask |= (ATTITUDE_SET); gpsd_report(LOG_RAW, "time %.3f, heading %lf.\n", session->newdata.time, session->gpsdata.attitude.heading); return mask; } #ifdef TNT_ENABLE static gps_mask_t processTNTHTM(int c UNUSED, char *field[], struct gps_device_t *session) { /* * Proprietary sentence for True North Technologies Magnetic Compass. * This may also apply to some Honeywell units since they may have been * designed by True North. $PTNTHTM,14223,N,169,N,-43,N,13641,2454*15 HTM,x.x,a,x.x,a,x.x,a,x.x,x.x*hh Fields in order: 1. True heading (compass measurement + deviation + variation) 2. magnetometer status character: C = magnetometer calibration alarm L = low alarm M = low warning N = normal O = high warning P = high alarm V = magnetometer voltage level alarm 3. pitch angle 4. pitch status character - see field 2 above 5. roll angle 6. roll status character - see field 2 above 7. dip angle 8. relative magnitude horizontal component of earth's magnetic field *hh mandatory nmea_checksum By default, angles are reported as 26-bit integers: weirdly, the technical manual says either 0 to 65535 or -32768 to 32767 can occur as a range. */ gps_mask_t mask; mask = ONLINE_SET; session->gpsdata.attitude.heading = atof(field[1]); session->gpsdata.attitude.mag_st = *field[2]; session->gpsdata.attitude.pitch = atof(field[3]); session->gpsdata.attitude.pitch_st = *field[4]; session->gpsdata.attitude.roll = atof(field[5]); session->gpsdata.attitude.roll_st = *field[6]; session->gpsdata.attitude.yaw = NAN; session->gpsdata.attitude.yaw_st = '\0'; session->gpsdata.attitude.dip = atof(field[7]); session->gpsdata.attitude.mag_len = NAN; session->gpsdata.attitude.mag_x = atof(field[8]); session->gpsdata.attitude.mag_y = NAN; session->gpsdata.attitude.mag_z = NAN; session->gpsdata.attitude.acc_len = NAN; session->gpsdata.attitude.acc_x = NAN; session->gpsdata.attitude.acc_y = NAN; session->gpsdata.attitude.acc_z = NAN; session->gpsdata.attitude.gyro_x = NAN; session->gpsdata.attitude.gyro_y = NAN; mask |= (ATTITUDE_SET); gpsd_report(LOG_RAW, "time %.3f, heading %lf (%c).\n", session->newdata.time, session->gpsdata.attitude.heading, session->gpsdata.attitude.mag_st); return mask; } #endif /* TNT_ENABLE */ #ifdef OCEANSERVER_ENABLE static gps_mask_t processOHPR(int c UNUSED, char *field[], struct gps_device_t *session) { /* * Proprietary sentence for OceanServer Magnetic Compass. OHPR,x.x,x.x,x.x,x.x,x.x,x.x,x.x,x.x,x.x,x.x,x.x,x.x,x.x,x.x,x.x,x.x,x.x,x.x*hh Fields in order: 1. Azimuth 2. Pitch Angle 3. Roll Angle 4. Sensor temp, degrees centigrade 5. Depth (feet) 6. Magnetic Vector Length 7-9. 3 axis Magnetic Field readings x,y,z 10. Acceleration Vector Length 11-13. 3 axis Acceleration Readings x,y,z 14. Reserved 15-16. 2 axis Gyro Output, X,y 17. Reserved 18. Reserved *hh mandatory nmea_checksum */ gps_mask_t mask; mask = ONLINE_SET; session->gpsdata.attitude.heading = atof(field[1]); session->gpsdata.attitude.mag_st = '\0'; session->gpsdata.attitude.pitch = atof(field[2]); session->gpsdata.attitude.pitch_st = '\0'; session->gpsdata.attitude.roll = atof(field[3]); session->gpsdata.attitude.roll_st = '\0'; session->gpsdata.attitude.yaw = NAN; session->gpsdata.attitude.yaw_st = '\0'; session->gpsdata.attitude.dip = NAN; session->gpsdata.attitude.temp = atof(field[4]); session->gpsdata.attitude.depth = atof(field[5]) / METERS_TO_FEET; session->gpsdata.attitude.mag_len = atof(field[6]); session->gpsdata.attitude.mag_x = atof(field[7]); session->gpsdata.attitude.mag_y = atof(field[8]); session->gpsdata.attitude.mag_z = atof(field[9]); session->gpsdata.attitude.acc_len = atof(field[10]); session->gpsdata.attitude.acc_x = atof(field[11]); session->gpsdata.attitude.acc_y = atof(field[12]); session->gpsdata.attitude.acc_z = atof(field[13]); session->gpsdata.attitude.gyro_x = atof(field[15]); session->gpsdata.attitude.gyro_y = atof(field[16]); mask |= (ALTITUDE_SET); gpsd_report(LOG_RAW, "Heading %lf.\n", session->gpsdata.attitude.heading); return mask; } #endif /* OCEANSERVER_ENABLE */ #ifdef ASHTECH_ENABLE static gps_mask_t processPASHR(int c UNUSED, char *field[], struct gps_device_t *session) { gps_mask_t mask; mask = 0; if (0 == strcmp("RID", field[1])) { /* Receiver ID */ (void)snprintf(session->subtype, sizeof(session->subtype) - 1, "%s ver %s", field[2], field[3]); gpsd_report(LOG_DATA, "PASHR,RID: subtype=%s mask={}\n", session->subtype); return mask; } else if (0 == strcmp("POS", field[1])) { /* 3D Position */ mask |= MODE_SET | STATUS_SET | CLEAR_IS; if (0 == strlen(field[2])) { /* empty first field means no 3D fix is available */ session->gpsdata.status = STATUS_NO_FIX; session->newdata.mode = MODE_NO_FIX; } else { /* if we make it this far, we at least have a 3D fix */ session->newdata.mode = MODE_3D; if (1 == atoi(field[2])) session->gpsdata.status = STATUS_DGPS_FIX; else session->gpsdata.status = STATUS_FIX; session->gpsdata.satellites_used = atoi(field[3]); merge_hhmmss(field[4], session); register_fractional_time(field[0], field[4], session); do_lat_lon(&field[5], &session->newdata); session->newdata.altitude = atof(field[9]); session->newdata.track = atof(field[11]); session->newdata.speed = atof(field[12]) / MPS_TO_KPH; session->newdata.climb = atof(field[13]); session->gpsdata.dop.pdop = atof(field[14]); session->gpsdata.dop.hdop = atof(field[15]); session->gpsdata.dop.vdop = atof(field[16]); session->gpsdata.dop.tdop = atof(field[17]); mask |= (TIME_SET | LATLON_SET | ALTITUDE_SET); mask |= (SPEED_SET | TRACK_SET | CLIMB_SET); mask |= DOP_SET; gpsd_report(LOG_DATA, "PASHR,POS: hhmmss=%s lat=%.2f lon=%.2f alt=%.f speed=%.2f track=%.2f climb=%.2f mode=%d status=%d pdop=%.2f hdop=%.2f vdop=%.2f tdop=%.2f\n", field[4], session->newdata.latitude, session->newdata.longitude, session->newdata.altitude, session->newdata.speed, session->newdata.track, session->newdata.climb, session->newdata.mode, session->gpsdata.status, session->gpsdata.dop.pdop, session->gpsdata.dop.hdop, session->gpsdata.dop.vdop, session->gpsdata.dop.tdop); } } else if (0 == strcmp("SAT", field[1])) { /* Satellite Status */ int i, n, p, u; n = session->gpsdata.satellites_visible = atoi(field[2]); u = 0; for (i = 0; i < n; i++) { session->gpsdata.PRN[i] = p = atoi(field[3 + i * 5 + 0]); session->gpsdata.azimuth[i] = atoi(field[3 + i * 5 + 1]); session->gpsdata.elevation[i] = atoi(field[3 + i * 5 + 2]); session->gpsdata.ss[i] = atof(field[3 + i * 5 + 3]); if (field[3 + i * 5 + 4][0] == 'U') session->gpsdata.used[u++] = p; } session->gpsdata.satellites_used = u; gpsd_report(LOG_DATA, "PASHR,SAT: used=%d\n", session->gpsdata.satellites_used); session->gpsdata.skyview_time = NAN; mask |= SATELLITE_SET | USED_IS; } return mask; } #endif /* ASHTECH_ENABLE */ /************************************************************************** * * Entry points begin here * **************************************************************************/ /*@ -mayaliasunique @*/ gps_mask_t nmea_parse(char *sentence, struct gps_device_t * session) /* parse an NMEA sentence, unpack it into a session structure */ { typedef gps_mask_t(*nmea_decoder) (int count, char *f[], struct gps_device_t * session); static struct { char *name; int nf; /* minimum number of fields required to parse */ nmea_decoder decoder; } nmea_phrase[] = { /*@ -nullassign @*/ {"PGRMC", 0, NULL}, /* ignore Garmin Sensor Config */ {"PGRME", 7, processPGRME}, {"PGRMI", 0, NULL}, /* ignore Garmin Sensor Init */ {"PGRMO", 0, NULL}, /* ignore Garmin Sentence Enable */ /* * Basic sentences must come after the PG* ones, otherwise * Garmins can get stuck in a loop that looks like this: * * 1. A Garmin GPS in NMEA mode is detected. * * 2. PGRMC is sent to reconfigure to Garmin binary mode. * If successful, the GPS echoes the phrase. * * 3. nmea_parse() sees the echo as RMC because the talker ID is * ignored, and fails to recognize the echo as PGRMC and ignore it. * * 4. The mode is changed back to NMEA, resulting in an infinite loop. */ {"RMC", 8, processGPRMC}, {"GGA", 13, processGPGGA}, {"GST", 8, processGPGST}, {"GLL", 7, processGPGLL}, {"GSA", 17, processGPGSA}, {"GSV", 0, processGPGSV}, {"VTG", 0, NULL}, /* ignore Velocity Track made Good */ {"ZDA", 4, processGPZDA}, {"GBS", 7, processGPGBS}, {"HDT", 1, processHDT}, #ifdef TNT_ENABLE {"PTNTHTM", 9, processTNTHTM}, #endif /* TNT_ENABLE */ #ifdef ASHTECH_ENABLE {"PASHR", 3, processPASHR}, /* general handler for Ashtech */ #endif /* ASHTECH_ENABLE */ #ifdef OCEANSERVER_ENABLE {"OHPR", 18, processOHPR}, #endif /* OCEANSERVER_ENABLE */ /*@ +nullassign @*/ }; int count; gps_mask_t retval = 0; unsigned int i, thistag; char *p, *s, *e; volatile char *t; /* * We've had reports that on the Garmin GPS-10 the device sometimes * (1:1000 or so) sends garbage packets that have a valid checksum * but are like 2 successive NMEA packets merged together in one * with some fields lost. Usually these are much longer than the * legal limit for NMEA, so we can cope by just tossing out overlong * packets. This may be a generic bug of all Garmin chipsets. */ if (strlen(sentence) > NMEA_MAX) { gpsd_report(LOG_WARN, "Overlong packet of %zd chars rejected.\n", strlen(sentence)); return ONLINE_SET; } /*@ -usedef @*//* splint 3.1.1 seems to have a bug here */ /* make an editable copy of the sentence */ (void)strlcpy((char *)session->driver.nmea.fieldcopy, sentence, NMEA_MAX); /* discard the checksum part */ for (p = (char *)session->driver.nmea.fieldcopy; (*p != '*') && (*p >= ' ');) ++p; if (*p == '*') *p++ = ','; /* otherwise we drop the last field */ *p = '\0'; e = p; /* split sentence copy on commas, filling the field array */ count = 0; t = p; /* end of sentence */ p = (char *)session->driver.nmea.fieldcopy + 1; /* beginning of tag, 'G' not '$' */ /* while there is a search string and we haven't run off the buffer... */ while ((p != NULL) && (p <= t)) { session->driver.nmea.field[count] = p; /* we have a field. record it */ /*@ -compdef @*/ if ((p = strchr(p, ',')) != NULL) { /* search for the next delimiter */ *p = '\0'; /* replace it with a NUL */ count++; /* bump the counters and continue */ p++; } /*@ +compdef @*/ } /* point remaining fields at empty string, just in case */ for (i = (unsigned int)count; i < (unsigned)(sizeof(session->driver.nmea.field) / sizeof(session->driver.nmea.field[0])); i++) session->driver.nmea.field[i] = e; /* sentences handlers will tell us whren they have fractional time */ session->driver.nmea.latch_frac_time = false; /* dispatch on field zero, the sentence tag */ for (thistag = i = 0; i < (unsigned)(sizeof(nmea_phrase) / sizeof(nmea_phrase[0])); ++i) { s = session->driver.nmea.field[0]; if (strlen(nmea_phrase[i].name) == 3) s += 2; /* skip talker ID */ if (strcmp(nmea_phrase[i].name, s) == 0) { if (nmea_phrase[i].decoder != NULL && (count >= nmea_phrase[i].nf)) { retval = (nmea_phrase[i].decoder) (count, session->driver.nmea.field, session); (void)strlcpy(session->gpsdata.tag, nmea_phrase[i].name, MAXTAGLEN); /* * Must force this to be nz, as we're going to rely on a zero * value to mean "no previous tag" later. */ thistag = i + 1; } else retval = ONLINE_SET; /* unknown sentence */ break; } } /* timestamp recording for fixes happens here */ if ((retval & TIME_SET) != 0) { session->newdata.time = gpsd_utc_resolve(session); /* * WARNING: This assumes time is always field 0, and that field 0 * is a timestamp whenever TIME_SET is set. */ gpsd_report(LOG_DATA, "%s time is %2f = %d-%02d-%02dT%02d:%02d:%02.2fZ\n", session->driver.nmea.field[0], session->newdata.time, 1900 + session->driver.nmea.date.tm_year, session->driver.nmea.date.tm_mon + 1, session->driver.nmea.date.tm_mday, session->driver.nmea.date.tm_hour, session->driver.nmea.date.tm_min, session->driver.nmea.date.tm_sec + session->driver.nmea.subseconds); /* * Conservative heuristic for whether we should try using the * device for precision time service. Wait for it to stabilize * after initialization. (We know this is required on some * Garmins in binary mode; safest to do it in case we're * talking to a Garmin in text mode.) */ if (session->fixcnt > 3) retval |= PPSTIME_IS; } /* * The end-of-cycle detector. This code depends on just one * assumption: if a sentence with a timestamp occurs just before * start of cycle, then it is always good to trigger a reort on * that sentence in the future. For devices with a fixed cycle * this should work perfectly, locking in detection after one * cycle. Most split-cycle devices (Garmin 48, for example) will * work fine. Problems will only arise if a a sentence that * occurs just befiore timestamp increments also occurs in * mid-cycle, as in the Garmin eXplorist 210; those might jitter. */ if (session->driver.nmea.latch_frac_time) { gpsd_report(LOG_PROG, "%s reporting cycle started on %.2f.\n", session->driver.nmea.field[0], session->driver.nmea.this_frac_time); if (!GPS_TIME_EQUAL (session->driver.nmea.this_frac_time, session->driver.nmea.last_frac_time)) { uint lasttag = session->driver.nmea.lasttag; retval |= CLEAR_IS; gpsd_report(LOG_PROG, "%s starts a reporting cycle.\n", session->driver.nmea.field[0]); /* * Have we seen a previously timestamped NMEA tag? * If so, designate as end-of-cycle marker. */ if (lasttag > 0 && (session->driver.nmea.cycle_enders & (1 << lasttag)) == 0) { session->driver.nmea.cycle_enders |= (1 << lasttag); gpsd_report(LOG_PROG, "tagged %s as a cycle ender.\n", nmea_phrase[lasttag - 1].name); } } /* here's where we check for end-of-cycle */ if (session->driver.nmea.cycle_enders & (1 << thistag)) { gpsd_report(LOG_PROG, "%s ends a reporting cycle.\n", session->driver.nmea.field[0]); retval |= REPORT_IS; } session->driver.nmea.lasttag = thistag; } /* we might have a reliable end-of-cycle */ if (session->driver.nmea.cycle_enders != 0) session->cycle_end_reliable = true; return retval; } /*@ +mayaliasunique @*/ #endif /* NMEA_ENABLE */ void nmea_add_checksum(char *sentence) /* add NMEA checksum to a possibly *-terminated sentence */ { unsigned char sum = '\0'; char c, *p = sentence; if (*p == '$' || *p == '!') { p++; } else { gpsd_report(LOG_ERROR, "Bad NMEA sentence: '%s'\n", sentence); } while (((c = *p) != '*') && (c != '\0')) { sum ^= c; p++; } *p++ = '*'; (void)snprintf(p, 5, "%02X\r\n", (unsigned)sum); } ssize_t nmea_write(struct gps_device_t *session, char *buf, size_t len UNUSED) /* ship a command to the GPS, adding * and correct checksum */ { (void)strlcpy(session->msgbuf, buf, sizeof(session->msgbuf)); if (session->msgbuf[0] == '$') { (void)strlcat(session->msgbuf, "*", sizeof(session->msgbuf)); nmea_add_checksum(session->msgbuf); } else (void)strlcat(session->msgbuf, "\r\n", sizeof(session->msgbuf)); session->msgbuflen = strlen(session->msgbuf); return gpsd_write(session, session->msgbuf, session->msgbuflen); } ssize_t nmea_send(struct gps_device_t * session, const char *fmt, ...) { char buf[BUFSIZ]; va_list ap; va_start(ap, fmt); (void)vsnprintf(buf, sizeof(buf) - 5, fmt, ap); va_end(ap); return nmea_write(session, buf, strlen(buf)); }