/* * Drivers for generic NMEA device, TripMate and EarthMate in text mode. */ #include "config.h" #include #include #include #include #include #include "gps.h" #include "gpsd.h" /************************************************************************** * * Generic driver -- straight NMEA 0183 * **************************************************************************/ void gpsd_NMEA_handle_message(struct gps_session_t *session, char *sentence) /* visible so the direct-connect clients can use it */ { gpscli_report(2, "<= GPS: %s\n", sentence); if (*sentence == '$') { if (nmea_parse(sentence, &session->gNMEAdata) < 0) /* * Some of the stuff that comes out of supposedly NMEA-compliant * GPses is a doozy. For example, my BU-303 occasionally and * randomly issues an ID message like this: * * $Version 231.000.000_A2 * $TOW: 506058 * $WK: 1284 * $POS: 1222777 -4734973 4081037 * $CLK: 95872 * $CHNL:12 * $Baud rate: 4800 System clock: 12.277MHz * $HW Type: S2AM * $Asic Version: 0x23 * $Clock Source: GPSCLK * $Internal Beacon: None * * Other SiRF-II-based GPSses probably do the same. */ gpscli_report(2, "unknown sentence: \"%s\"\n", sentence); } else { struct gps_type_t **dp; /* maybe this is a trigger string for a driver we know about? */ for (dp = gpsd_drivers; dp < gpsd_drivers + sizeof(gpsd_drivers)/sizeof(gpsd_drivers[0]); dp++) { char *trigger = (*dp)->trigger; if (trigger && !strncmp(trigger, sentence, strlen(trigger)) && isatty(session->fdout)) { gpscli_report(1, "found %s.", (*dp)->typename); session->device_type = &earthmate_b; session->device_type->initializer(session); return; } } gpscli_report(1, "unknown exception: \"%s\"\n", sentence); } } static int nmea_handle_input(struct gps_session_t *session) { static unsigned char buf[BUFSIZE]; /* that is more then a sentence */ static int offset = 0; while (offset < BUFSIZE) { if (read(session->fdin, buf + offset, 1) != 1) return 1; if (buf[offset] == '\n' || buf[offset] == '\r') { buf[offset] = '\0'; if (strlen(buf)) { gpsd_NMEA_handle_message(session, buf); /* also copy the sentence up to clients in raw mode */ strcat(buf, "\r\n"); if (session->gNMEAdata.raw_hook) session->gNMEAdata.raw_hook(buf); } offset = 0; return 1; } offset++; buf[offset] = '\0'; } offset = 0; /* discard input ! */ return 1; } static int nmea_write_rtcm(struct gps_session_t *session, char *buf, int rtcmbytes) { return write(session->fdout, buf, rtcmbytes); } struct gps_type_t nmea = { 'n', /* select explicitly with -T n */ "NMEA", /* full name of type */ NULL, /* no recognition string, it's the default */ NULL, /* no initialization */ nmea_handle_input, /* read text sentence */ nmea_write_rtcm, /* write RTCM data straight */ NULL, /* no wrapup */ 4800, /* default speed to connect at */ 1, /* updates every second */ }; /************************************************************************** * * TripMate -- extended NMEA, gets faster fix when primed with lat/long/time * **************************************************************************/ /* * Some technical FAQs on the TripMate: * http://vancouver-webpages.com/pub/peter/tripmate.faq * http://www.asahi-net.or.jp/~KN6Y-GTU/tripmate/trmfaqe.html * Maybe we could use the logging-interval command? * According to file://localhost/home/esr/svn/gpsd/trunk/hardware.html, * sending "$PRWIIPRO,0,RBIN\r\n" snd waiting 1.5 seconds * will switch the TripMate into Rockwell binary mode at 4800. * * The TripMate was discontinued sometime before November 1998 * and has been replaced by the EarthMate. */ void tripmate_initializer(struct gps_session_t *session) { char buf[82]; time_t t; struct tm *tm; /* TripMate requires this response to the ASTRAL it sends at boot time */ write(session->fdout, "$IIGPQ,ASTRAL*73\r\n", 18); #ifndef PROCESS_PRWIZCH write(session->fdout, "PRWIILOG,ZCH,V,,", 16); /* stop it sending PRWIZCH */ #endif /* PROCESS_PRWIZCH */ if (session->initpos.latitude && session->initpos.longitude) { t = time(NULL); tm = gmtime(&t); if(tm->tm_year > 100) tm->tm_year = tm->tm_year - 100; sprintf(buf, "$PRWIINIT,V,,,%s,%c,%s,%c,100.0,0.0,M,0.0,T,%02d%02d%02d,%02d%02d%02d*", session->initpos.latitude, session->initpos.latd, session->initpos.longitude, session->initpos.lond, tm->tm_hour, tm->tm_min, tm->tm_sec, tm->tm_mday, tm->tm_mon + 1, tm->tm_year); nmea_add_checksum(buf + 1); /* add c-sum + cr/lf */ if (session->fdout != -1) { write(session->fdout, buf, strlen(buf)); gpscli_report(1, "=> GPS: %s", buf); } } } struct gps_type_t tripmate = { 't', /* select explicitly with -T t */ "TripMate", /* full name of type */ "ASTRAL", /* tells us to switch */ tripmate_initializer, /* wants to see lat/long for faster fix */ nmea_handle_input, /* read text sentence */ nmea_write_rtcm, /* send RTCM data straight */ NULL, /* no wrapup */ 4800, /* default speed to connect at */ 1, /* updates every second */ }; #ifdef EARTHMATE_ENABLE /************************************************************************** * * EarthMate textual mode * **************************************************************************/ /* * Treat this as a straight NMEA device unless we get the exception * code back that says to go binary. In that case process_exception() * will flip us over to the earthmate_b driver. But, connect at 9600 * rather than 4800. The Rockwell chipset does not accept DGPS in text * mode. */ struct gps_type_t earthmate_a = { 'e', /* select explicitly with -T e */ "EarthMate (a)", /* full name of type */ "EARTHA", /* tells us to switch to Earthmate-B */ NULL, /* no initializer */ nmea_handle_input, /* read text sentence */ NULL, /* don't send RTCM data */ NULL, /* no wrapup code */ 9600, /* connecting at 4800 will fail */ 1, /* updates every second */ }; #endif /* EARTHMATE_ENABLE */ /************************************************************************** * * Logfile playback driver * **************************************************************************/ struct gps_type_t logfile = { 'l', /* select explicitly with -T l */ "Logfile", /* full name of type */ NULL, /* no recognition string */ NULL, /* no initializer */ nmea_handle_input, /* read text sentence */ NULL, /* don't send RTCM data */ NULL, /* no wrapup code */ 0, /* don't set a speed */ -1, /* should never time out */ }; struct gps_type_t *gpsd_drivers[5] = {&nmea, &tripmate, #ifdef EARTHMATE_ENABLE &earthmate_a, &earthmate_b, #endif /* EARTHMATE_ENABLE */ &logfile};