/* $Id$ */ /* * 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; Like OK? * 10 02 04 38 8d c5 10 03 answer from GPS to 0x8d message; Like OK? * 10 02 04 38 8e c6 10 03 answer from GPS to 0x8e message; Like OK? * 10 02 04 38 8f c7 10 03 answer from GPS to 0x8f message; Like OK? * * Message described as 0x89 in the manual is message 0x8f in the * actual command set (manual error?). * * Message 0x89 is used for serial port configuration. * * 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) * 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, 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 #include #include #include #include "gpsd_config.h" #include "gpsd.h" #if defined(EVERMORE_ENABLE) && defined(BINARY_ENABLE) #define LITTLE_ENDIAN_PROTOCOL #define GET_ORIGIN 1 #define PUT_ORIGIN 0 #include "bits.h" #define EVERMORE_CHANNELS 12 /*@ +charint -usedef -compdef @*/ static bool evermore_write(struct gps_device_t *session, unsigned char *msg, size_t msglen) { unsigned int crc; size_t i, len; unsigned char stuffed[MAX_PACKET_LENGTH*2], *cp; /* prepare a DLE-stuffed copy of the message */ cp = stuffed; *cp++ = 0x10; /* message starts with DLE STX */ *cp++ = 0x02; len = (size_t)(msglen + 2); /* msglen < 254 !! */ *cp++ = (unsigned char)len; /* message length */ if (len == 0x10) *cp++ = 0x10; /* payload */ crc = 0; for (i = 0; i < msglen; i++) { *cp++ = msg[i]; crc += msg[i]; if (msg[i] == 0x10) *cp++ = 0x10; } crc &= 0xff; /* enter CRC after payload */ *cp++ = crc; if (crc == 0x10) *cp++ = 0x10; *cp++ = 0x10; /* message ends with DLE ETX */ *cp++ = 0x03; len = (size_t)(cp - stuffed); /* we may need to dump the message */ gpsd_report(4, "writing EverMore control type 0x%02x: %s\n", msg[0], gpsd_hexdump(stuffed, len)); #ifdef ALLOW_RECONFIGURE return gpsd_write(session, stuffed, len); #else return 0; #endif /* ALLOW_RECONFIGURE */ } /*@ -charint +usedef +compdef @*/ /*@ +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 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(7, "raw EverMore packet type 0x%02x, length %d: %s\n", *cp, len, gpsd_hexdump(buf, len)); datalen -= 2; for (i = 0; i < (size_t)datalen; i++) { *tp = *cp++; if (*tp == 0x10) cp++; tp++; } /*@ -usedef -compdef @*/ gpsd_report(6, "EverMore packet type 0x%02x, length %d: %s\n", buf2[0], datalen, gpsd_hexdump(buf2, datalen)); /*@ +usedef +compdef @*/ (void)snprintf(session->gpsdata.tag, sizeof(session->gpsdata.tag), "EID%d",(int)buf2[0]); switch (getub(buf2, 1)) { case 0x02: /* Navigation Data Output */ session->gpsdata.fix.time = session->gpsdata.sentence_time = gpstime_to_unix((int)getuw(buf2, 2), getul(buf2, 4)*0.01) - session->context->leap_seconds; ecef_to_wgs84fix(&session->gpsdata, getsl(buf2, 8)*1.0, getsl(buf2, 12)*1.0, getsl(buf2, 16)*1.0, getsw(buf2, 20)/10.0, getsw(buf2, 22)/10.0, getsw(buf2, 24)/10.0); used = getub(buf2, 26) & 0x0f; visible = (getub(buf2, 26) & 0xf0) >> 4; version = getuw(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; } gpsd_report(4, "NDO 0x02: version %3.2f, mode=%d, status=%d, visible=%d, used=%d\n", version, session->gpsdata.fix.mode, session->gpsdata.status, visible, used); mask |= TIME_SET | LATLON_SET | TRACK_SET | SPEED_SET | MODE_SET | CYCLE_START_SET; if (session->subtype[0] == '\0') { (void)snprintf(session->subtype, sizeof(session->subtype), "%3.2f", version); mask |= DEVICEID_SET; } return mask; case 0x04: /* DOP Data Output */ session->gpsdata.fix.time = session->gpsdata.sentence_time = gpstime_to_unix((int)getuw(buf2, 2), getul(buf2, 4)*0.01) - session->context->leap_seconds; session->gpsdata.gdop = (double)getub(buf2, 8)*0.1; session->gpsdata.pdop = (double)getub(buf2, 9)*0.1; session->gpsdata.hdop = (double)getub(buf2, 10)*0.1; session->gpsdata.vdop = (double)getub(buf2, 11)*0.1; session->gpsdata.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 */ gpsd_report(4, "DDO 0x04: mode=%d, status=%d\n", session->gpsdata.fix.mode, session->gpsdata.status); return TIME_SET | DOP_SET | MODE_SET | STATUS_SET; case 0x06: /* Channel Status Output */ session->gpsdata.fix.time = session->gpsdata.sentence_time = gpstime_to_unix((int)getuw(buf2, 2), getul(buf2, 4)*0.01) - session->context->leap_seconds; session->gpsdata.satellites = (int)getub(buf2, 8); session->gpsdata.satellites_used = 0; memset(session->gpsdata.used, 0, sizeof(session->gpsdata.used)); if (session->gpsdata.satellites > 12) { gpsd_report(4, "Warning: EverMore packet has information about %d satellites!\n", session->gpsdata.satellites); } if (session->gpsdata.satellites > EVERMORE_CHANNELS) session->gpsdata.satellites = EVERMORE_CHANNELS; satcnt = 0; for (i = 0; i < (size_t)session->gpsdata.satellites; 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)getuw(buf2, 7*i+7+4); session->gpsdata.elevation[satcnt] = (int)getub(buf2, 7*i+7+6); session->gpsdata.ss[satcnt] = (int)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 = (int)satcnt; /* that's all the information in this packet */ gpsd_report(4, "CSO 0x04: %d satellites used\n", session->gpsdata.satellites_used); return TIME_SET | SATELLITE_SET | USED_SET; case 0x08: /* Measurement Data Output */ // clock offset is a manufacturer diagnostic // (int)getuw(buf2, 8); clock offset, 29000..29850 ?? session->gpsdata.fix.time = session->gpsdata.sentence_time = gpstime_to_unix((int)getuw(buf2, 2), getul(buf2, 4)*0.01) - session->context->leap_seconds; visible = getub(buf2, 10); /* FIXME: read full statellite status for each channel */ /* gpsd_report(4, "MDO 0x04: visible=%d\n", visible); */ gpsd_report(4, "MDO 0x04:\n"); return TIME_SET; case 0x20: /* LogConfig Info, could be used as a probe for EverMore GPS */ gpsd_report(3, "LogConfig EverMore packet, length %d: %s\n", datalen, gpsd_hexdump(buf2, datalen)); return ONLINE_SET; case 0x22: /* LogData */ gpsd_report(3, "LogData EverMore packet, length %d: %s\n", datalen, gpsd_hexdump(buf2, datalen)); return ONLINE_SET; default: gpsd_report(3, "unknown EverMore packet id 0x%02x, length %d: %s\n", buf2[0], datalen, gpsd_hexdump(buf2, datalen)); 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->outbuffer, session->outbuflen); session->gpsdata.driver_mode = 1; /* binary */ return st; #ifdef NMEA_ENABLE } else if (session->packet_type == NMEA_PACKET) { st = nmea_parse((char *)session->outbuffer, session); session->gpsdata.driver_mode = 0; /* NMEA */ return st; #endif /* NMEA_ENABLE */ } else return 0; } /* configure various EverMore settings to default */ static bool evermore_default(struct gps_device_t *session, int mode) { bool ok = true; /*@ +charint @*/ unsigned char evrm_elevation_mask[] = { 0x86, /* 0: msg ID, Set Elevation Mask */ 5, /* 1: elevation Mask, degree 0..89 */ }; unsigned char evrm_dop_mask[] = { 0x87, /* 0: msg ID, Set DOP MAsk */ 1, /* 1: DOP mask, GDOP(0), auto(1), PDOP(2), HDOP(3), no mask(4) */ 20, /* 2: GDOP, 1..99 */ 15, /* 3: PDOP, 1..99 */ 8, /* 4: HDOP, 1..99 */ }; #ifdef __UNUSED__ unsigned char evrm_opmode_config[] = { 0x8f, /* 0: msg ID, Operational Mode Configuartion */ 0, /* 1: operation mode, normal(0), power save(1), 1PPS(2) */ 1, /* 2: navigation update rate, 1/Hz, 1..10 */ 0, /* 3: RF/GPSBBP On time, 160ms(0), 220(1), 280(2), 340(3), 440(4) */ }; unsigned char evrm_nmeaout_config[] = { 0x8e, /* 0: msg ID, NMEA Message Control */ 0x1d, /* 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 */ 5, /* 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: reserved */ }; unsigned char evrm_nmeaout_config2[] = { 0x8e, /* 0: msg ID, NMEA message control */ 0x7f, /* 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 */ 1, /* 4: GPGLL, interval 0-255s */ 1, /* 5: GPGSA, interval 0-255s */ 5, /* 6: GPGSV, interval 0-255s */ 1, /* 7: GPRMC, interval 0-255s */ 1, /* 8: GPVTG, interval 0-255s */ 1, /* 9: PEMT,101, interval 0-255s */ 0, 0, 0, 0, 0, 0, /* 10: ?? */ }; unsigned char evrm_select_datum[] = { 0x8d, /* 0: msg ID, select Datum */ 0x00, /* 1: 0 (hi byte of datum ID) */ 0x01, /* 2: datum ID, 1 is WGS-84 */ 0x00, /* 3: datum ID, high byte; datum ID is int16 */ }; unsigned char evrm_restart[] = { 0x85, /* 0: msg ID, Restart */ 0x00, /* 1: restart mode (0 default, 1 hot, 2 warm, 3 cold) */ 0x00, /* 2: test start search PRN (1-32) */ 0x00, /* 3: UTC second (0-59) */ 0x00, /* 4: UTC Minute (0-59) */ 0x00, /* 5: UTC Hour (0-23) */ 0x01, /* 6: UTC Day (1-31) */ 0x01, /* 7: UTC Month (1-12) */ 0x00, /* 8: UTC year lo (1980+x, uint16) */ 0x00, /* 9: UTC year hi (1980+x, uint16) */ 0x00, /* 10: Lat WGS-84 lo (+/-900, 1/10 deg, + for, int16) */ 0x00, /* 11: Lat WGS-84 hi (+/-900, 1/10 deg, + for, int16) */ 0x00, /* 12: Lon WGS-84 lo (+/-1800, 1/10 deg, + for E, int16) */ 0x00, /* 13: Lon WGS-84 hi (+/-1800, 1/10 deg, + for E, int16) */ 0x00, /* 14: Alt WGS-84 lo (-1000..+18000, meters, int16) */ 0x00, /* 15: Alt WGS-84 hi (-1000..+18000, meters, int16) */ }; unsigned char evrm_position_pinning[] = { 0x92, /* 0: msg ID, Position Pinning Configuration */ 0x00, /* 1: position pinning control, 0 disable, 1 enable */ 0x00, /* 2: reserved */ 0x00, /* 3: reserved */ }; unsigned char evrm_dgps_control[] = { 0x94, /* 0: msg ID, Differentil GPS Control */ 0x00, /* 1: diff GPS control, 0 disable, 1 SBAS, 2 RTCM */ 0x00, /* 2: RTCM DGPS time out, lo */ 0x00, /* 3: RTCM DGPS time out, hi */ 0x00, /* 4: the first SAB satellite to be searched (0-5) */ 0x00, /* 5: reserved */ 0x00, /* 6: reserved */ 0x00, /* 7: reserved */ }; /* SBAS ID, SBAS (PRN) * * 0 WAAS POR (134) * * 1 WAAS AOR-W (122) * * 2 EGNOS AOR-E (120) * * 3 EGNOS IOR (131) * * 4 MTSAT-1 (129) * * 5 MTSAT-2 (137) * */ unsigned char msg95[] = { 0x95, /* 0: msg ID, Reset Receiver to Defaults */ 0x01, /* 1: reset ephemeris control (0 disable, 1 enable) */ 0x00, /* 2: reserved */ 0x00, /* 3: reserved */ }; #endif /* __UNUSED__ */ unsigned char evrm_protocol_config[] = { 0x84, /* 0: msg ID, Protocol Configuration */ 0x01, /* 1: mode; EverMore binary(0), NMEA(1) */ 0x00, /* 2: reserved */ 0x00, /* 3: reserved */ }; gpsd_report(5, "evermore_default call(%d)\n", mode); ok &= evermore_write(session, evrm_elevation_mask, sizeof(evrm_elevation_mask)); ok &= evermore_write(session, evrm_dop_mask, sizeof(evrm_dop_mask)); #ifdef __UNUSED__ ok &= evermore_write(session, evrm_opmode_config, sizeof(evrm_opmode_config)); ok &= evermore_write(session, evrm_nmeaout_config, sizeof(evrm_nmeaout_config)); ok &= evermore_write(session, evrm_nmeaout_config2, sizeof(evrm_nmeaout_config2)); ok &= evermore_write(session, evrm_select_datum, sizeof(evrm_select_datum)); ok &= evermore_write(session, evrm_restart, sizeof(evrm_restart)); #endif /* __UNUSED__ */ if (mode == 1) { gpsd_report(1, "Switching chip mode to EverMore binary.\n"); evrm_protocol_config[1] = 0; /* binary mode */ } ok &= evermore_write(session, evrm_protocol_config, sizeof(evrm_protocol_config)); /*@ +charint @*/ return ok; } #ifdef ALLOW_RECONFIGURE #ifdef __UNUSED__ static bool evermore_set_mode(struct gps_device_t *session, speed_t speed, bool mode) { u_int8_t tmp8; double tow; int week; /*@ +charint @*/ unsigned char msg[] = { 0x80, /* 0: msg ID */ 0x33, 0x05, /* 1: GPS week; when 0 is here, we finish with year 1985 */ 0x00, 0x00, 0x00, 0x00, /* 3: GPS TOW */ 0x00, 0x00, /* 7: Latitude */ 0x00, 0x00, /* 9: Longitude */ 0x00, 0x00, /* 11: Altitude */ 0x00, 0x00, /* 13: Datum ID WGS84 */ 0x01, /* 15: hot start */ 0x5d, /* 16: bitmask; cksum(6), bin(7), GGA(0), GSA(2), GSV(3), RMC(4) */ 0, /* 17: baud rate */ }; 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[17] = tmp8; session->gpsdata.baudrate = (unsigned int)speed; //gpsd_set_speed(session, speed, 'N', 1); if (mode) { gpsd_report(1, "Switching chip mode to EverMore binary.\n"); msg[16] |= 0x80; /* binary mode */ } unix_to_gpstime(timestamp(), &week, &tow); putword(msg, 1, (unsigned int) week); putlong(msg, 3, (unsigned long) tow); return evermore_write(session, msg, sizeof(msg)); /*@ +charint @*/ } #endif /* __UNUSED__ */ #endif /* ALLOW_RECONFIGURE */ static bool evermore_speed(struct gps_device_t *session, speed_t speed) { #if 0 gpsd_report(5, "evermore_speed call (%d)\n", speed); return evermore_set_mode(session, speed, true); #else unsigned char tmp8; unsigned char msg[] = { 0x89, /* 0: msg ID, Serial Port Configuartion */ 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 */ }; gpsd_report(5, "evermore_speed call (%d)\n", speed); 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_write(session, msg, sizeof(msg)); #endif } static void evermore_mode(struct gps_device_t *session, int mode) { gpsd_report(5, "evermore_mode call (%d)\n", mode); if (mode == 0) { (void)gpsd_switch_driver(session, "Generic NMEA"); // (void)evermore_set_mode(session, session->gpsdata.baudrate, false); (void)evermore_default(session, 0); session->gpsdata.driver_mode = 0; } else { (void)evermore_default(session, 1); session->gpsdata.driver_mode = 1; } } static void evermore_configurator(struct gps_device_t *session) { gpsd_report(5, "evermore_configurator call\n"); if (session->packet_type == NMEA_PACKET) { gpsd_report(5, "NMEA_PACKET packet\n"); } (void)evermore_default(session, 1); /* switch GPS to binary mode */ } #ifdef __UNUSED__ static void evermore_probe(struct gps_device_t *session) /* send a binary message to probe for EverMore GPS */ /* * There is a way to probe for EverMore chipset. When binary message 0x81 is sent: * 10 02 04 81 13 94 10 03 * * EverMore will reply with something 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 * */ { unsigned char msg[] = { 0x81, /* 0: msg ID */ 0x13, /* 1: LogRead = 0x13 */ }; bool ok; gpsd_report(5, "evermore_probe call\n"); ok = evermore_write(session, msg, sizeof(msg)); return; } #endif /* __UNUSED__ */ #ifdef __UNUSED__ static void evermore_close(struct gps_device_t *session) /* set GPS to NMEA, 4800, GGA, GSA, GSV, RMC (default) */ { gpsd_report(5, "evermore_close call\n"); (void)evermore_set_mode(session, 4800, false); } #endif /* __UNUSED__ */ /* this is everything we export */ struct gps_type_t evermore_binary = { .typename = "EverMore binary", /* full name of type */ .trigger = "\x10\x02\x04\x38\x8d\xc5\x10\x03", /* recognize the type */ .channels = EVERMORE_CHANNELS, /* consumer-grade GPS */ .probe_wakeup = NULL, /* no wakeup to be done before hunt */ .probe_detect = NULL, /* no probe */ .probe_subtype = NULL, /* no subtype probing */ .configurator = evermore_configurator, /* switch to binary */ .get_packet = packet_get, /* use generic one */ .parse_packet = evermore_parse_input, /* parse message packets */ .rtcm_writer = pass_rtcm, /* send RTCM data straight */ .speed_switcher = evermore_speed, /* we can change baud rates */ .mode_switcher = evermore_mode, /* there is a mode switcher */ .rate_switcher = NULL, /* no sample-rate switcher */ .cycle_chars = -1, /* ignore, no rate switch */ .wrapup = NULL, /* ignore, no wrapup */ .cycle = 1, /* updates every second */ }; #endif /* defined(EVERMORE_ENABLE) && defined(BINARY_ENABLE) */