/* $Id$ */ /**************************************************************************** NAME: packet.c -- a packet-sniffing engine for reading from GPS devices DESCRIPTION: Initial conditions of the problem: 1. We have a file descriptor open for (possibly non-blocking) read. The device on the other end is sending packets at us. 2. It may require more than one read to gather a packet. Reads may span packet boundaries. 3. There may be leading garbage before the first packet. After the first start-of-packet, the input should be well-formed. The problem: how do we recognize which kind of packet we're getting? No need to handle Garmin USB binary, we know that type by the fact we're connected to the Garmin kernel driver. But we need to be able to tell the others apart and distinguish them from baud barf. ***************************************************************************/ #include #include #include #include #include #include #include "gpsd_config.h" #include "gpsd.h" #include "crc24q.h" /* * The packet-recognition state machine. This takes an incoming byte stream * and tries to segment it into packets. There are three types of packets: * * 1) NMEA lines. These begin with $, and with \r\n, and have a checksum. * * 2) Binary packets. These begin with some fixed leader character(s), * have a length embedded in them, and end with a checksum (and possibly) * some fixed trailing bytes. * * 3) ISGPS packets. The input may be a bitstream containing IS-GPS-200 * packets. Each includes a fixed leader byte, a length, and check bits. * In this case, it is not guaranted that packet starts begin on byte * bounaries; the recognizer has to run a separate state machine against * each byte just to achieve synchronization lock with the bitstream. * * Adding support for a new GPS protocol typically reqires adding state * transitions to support whatever binary packet structure it has. The * goal is for the lexer to be able to cope with arbitrarily mixed packet * types on the input stream. This is a requirement because (1) sometimes * gpsd wants to switch a device that supports both NMEA and a binary * packet protocol to the latter for more detailed reporting, and (b) in * the presence of device hotplugging, the type of GPS report coming * in is subject to change at any time. * * Caller should consume a packet when it sees one of the *_RECOGNIZED * states. It's good practice to follow the _RECOGNIZED transition * with one that recognizes a leader of the same packet type rather * than dropping back to ground state -- this for example will prevent * the state machine from hopping between recognizing TSIP and * EverMore packets that both start with a DLE. * * Error handling is brutally simple; any time we see an unexpected * character, go to GROUND_STATE and reset the machine (except that a * $ in an NMEA payload only resets back to NMEA_DOLLAR state). Because * another good packet will usually be along in less than a second * repeating the same data, Boyer-Moore-like attempts to do parallel * recognition beyond the headers would make no sense in this * application, they'd just add complexity. * * The NMEA portion of state machine allows the following talker IDs: * GP -- Global Positioning System. * II -- Integrated Instrumentation (Raytheon's SeaTalk system). * IN -- Integrated Navigation (Garmin uses this). * */ enum { #include "packet_states.h" }; #define DLE 0x10 #define STX 0x02 #define ETX 0x03 static void nextstate(struct gps_packet_t *lexer, unsigned char c) { #ifdef RTCM104V2_ENABLE enum isgpsstat_t isgpsstat; #endif /* RTCM104V2_ENABLE */ /*@ +charint -casebreak @*/ switch(lexer->state) { case GROUND_STATE: if (c == '#') { lexer->state = COMMENT_BODY; break; } #ifdef NMEA_ENABLE if (c == '$') { lexer->state = NMEA_DOLLAR; break; } if (c == '!') { lexer->state = NMEA_BANG; break; } #endif /* NMEA_ENABLE */ #if defined(TNT_ENABLE) || defined(GARMINTXT_ENABLE) if (c == '@') { lexer->state = TNT_LEADER; break; } #endif #ifdef SIRF_ENABLE if (c == 0xa0) { lexer->state = SIRF_LEADER_1; break; } #endif /* SIRF_ENABLE */ #if defined(TSIP_ENABLE) || defined(EVERMORE_ENABLE) || defined(GARMIN_ENABLE) if (c == DLE) { lexer->state = DLE_LEADER; break; } #endif /* TSIP_ENABLE || EVERMORE_ENABLE || GARMIN_ENABLE */ #ifdef TRIPMATE_ENABLE if (c == 'A') { #ifdef RTCM104V2_ENABLE if (rtcm2_decode(lexer, c) == ISGPS_MESSAGE) { lexer->state = RTCM2_RECOGNIZED; break; } #endif /* RTCM104V2_ENABLE */ lexer->state = ASTRAL_1; break; } #endif /* TRIPMATE_ENABLE */ #ifdef EARTHMATE_ENABLE if (c == 'E') { #ifdef RTCM104V2_ENABLE if (rtcm2_decode(lexer, c) == ISGPS_MESSAGE) { lexer->state = RTCM2_RECOGNIZED; break; } #endif /* RTCM104V2_ENABLE */ lexer->state = EARTHA_1; break; } #endif /* EARTHMATE_ENABLE */ #ifdef ZODIAC_ENABLE if (c == 0xff) { lexer->state = ZODIAC_LEADER_1; break; } #endif /* ZODIAC_ENABLE */ #ifdef UBX_ENABLE if (c == 0xb5) { lexer->state = UBX_LEADER_1; break; } #endif /* UBX_ENABLE */ #ifdef ITRAX_ENABLE if (c == '<') { lexer->state = ITALK_LEADER_1; break; } #endif /* ITRAX_ENABLE */ #ifdef NAVCOM_ENABLE if (c == 0x02) { lexer->state = NAVCOM_LEADER_1; break; } #endif /* NAVCOM_ENABLE */ #ifdef RTCM104V2_ENABLE if ((isgpsstat = rtcm2_decode(lexer, c)) == ISGPS_SYNC) { lexer->state = RTCM2_SYNC_STATE; break; } else if (isgpsstat == ISGPS_MESSAGE) { lexer->state = RTCM2_RECOGNIZED; break; } #endif /* RTCM104V2_ENABLE */ #ifdef RTCM104V3_ENABLE if (c == 0xD3) { lexer->state = RTCM3_LEADER_1; break; } #endif /* RTCM104V3_ENABLE */ break; case COMMENT_BODY: if (c == '\n') lexer->state = COMMENT_RECOGNIZED; else if (!isprint(c)) lexer->state = GROUND_STATE; break; #ifdef NMEA_ENABLE case NMEA_DOLLAR: if (c == 'G') lexer->state = NMEA_PUB_LEAD; else if (c == 'P') /* vendor sentence */ lexer->state = NMEA_VENDOR_LEAD; else if (c == 'I') /* Seatalk */ lexer->state = SEATALK_LEAD_1; else if (c == 'A') /* SiRF Ack */ lexer->state = SIRF_ACK_LEAD_1; #ifdef OCEANSERVER_ENABLE else if (c == 'C') lexer->state = NMEA_LEADER_END; #endif /* OCEANSERVER_ENABLE */ else lexer->state = GROUND_STATE; break; case NMEA_PUB_LEAD: if (c == 'P') lexer->state = NMEA_LEADER_END; else lexer->state = GROUND_STATE; break; case NMEA_VENDOR_LEAD: if (isalpha(c)) lexer->state = NMEA_LEADER_END; else lexer->state = GROUND_STATE; break; case NMEA_BANG: if (c == 'A') lexer->state = AIS_LEAD_1; else lexer->state = GROUND_STATE; break; case AIS_LEAD_1: if (c == 'I') lexer->state = AIS_LEAD_2; else lexer->state = GROUND_STATE; break; case AIS_LEAD_2: if (isalpha(c)) lexer->state = NMEA_LEADER_END; else lexer->state = GROUND_STATE; break; #if defined(TNT_ENABLE) || defined(GARMINTXT_ENABLE) case TNT_LEADER: lexer->state = NMEA_LEADER_END; break; #endif case NMEA_LEADER_END: if (c == '\r') lexer->state = NMEA_CR; else if (c == '\n') /* not strictly correct, but helps for interpreting logfiles */ lexer->state = NMEA_RECOGNIZED; else if (c == '$') /* faster recovery from missing sentence trailers */ lexer->state = NMEA_DOLLAR; else if (!isprint(c)) lexer->state = GROUND_STATE; break; case NMEA_CR: if (c == '\n') lexer->state = NMEA_RECOGNIZED; else lexer->state = GROUND_STATE; break; case NMEA_RECOGNIZED: if (c == '$') lexer->state = NMEA_DOLLAR; else if (c == '!') lexer->state = NMEA_BANG; #ifdef UBX_ENABLE else if (c == 0xb5) /* LEA-5H can and will output NMEA and UBX back to back */ lexer->state = UBX_LEADER_1; #endif else lexer->state = GROUND_STATE; break; case SEATALK_LEAD_1: if (c == 'I' || c == 'N') /* II or IN are accepted */ lexer->state = NMEA_LEADER_END; else lexer->state = GROUND_STATE; break; #ifdef TRIPMATE_ENABLE case ASTRAL_1: if (c == 'S') { #ifdef RTCM104V2_ENABLE if (rtcm2_decode(lexer, c) == ISGPS_MESSAGE) { lexer->state = RTCM2_RECOGNIZED; break; } #endif /* RTCM104V2_ENABLE */ lexer->state = ASTRAL_2; } else lexer->state = GROUND_STATE; break; case ASTRAL_2: if (c == 'T') { #ifdef RTCM104V2_ENABLE if (rtcm2_decode(lexer, c) == ISGPS_MESSAGE) { lexer->state = RTCM2_RECOGNIZED; break; } #endif /* RTCM104V2_ENABLE */ lexer->state = ASTRAL_3; } else lexer->state = GROUND_STATE; break; case ASTRAL_3: if (c == 'R') { #ifdef RTCM104V2_ENABLE if (rtcm2_decode(lexer, c) == ISGPS_MESSAGE) { lexer->state = RTCM2_RECOGNIZED; break; } #endif /* RTCM104V2_ENABLE */ lexer->state = ASTRAL_5; } else lexer->state = GROUND_STATE; break; case ASTRAL_4: if (c == 'A') { #ifdef RTCM104V2_ENABLE if (rtcm2_decode(lexer, c) == ISGPS_MESSAGE) { lexer->state = RTCM2_RECOGNIZED; break; } #endif /* RTCM104V2_ENABLE */ lexer->state = ASTRAL_2; } else lexer->state = GROUND_STATE; break; case ASTRAL_5: if (c == 'L') { #ifdef RTCM104V2_ENABLE if (rtcm2_decode(lexer, c) == ISGPS_MESSAGE) { lexer->state = RTCM2_RECOGNIZED; break; } #endif /* RTCM104V2_ENABLE */ lexer->state = NMEA_RECOGNIZED; } else lexer->state = GROUND_STATE; break; #endif /* TRIPMATE_ENABLE */ #ifdef EARTHMATE_ENABLE case EARTHA_1: if (c == 'A') { #ifdef RTCM104V2_ENABLE if (rtcm2_decode(lexer, c) == ISGPS_MESSAGE) { lexer->state = RTCM2_RECOGNIZED; break; } #endif /* RTCM104V2_ENABLE */ lexer->state = EARTHA_2; } else lexer->state = GROUND_STATE; break; case EARTHA_2: if (c == 'R') { #ifdef RTCM104V2_ENABLE if (rtcm2_decode(lexer, c) == ISGPS_MESSAGE) { lexer->state = RTCM2_RECOGNIZED; break; } #endif /* RTCM104V2_ENABLE */ lexer->state = EARTHA_3; } else lexer->state = GROUND_STATE; break; case EARTHA_3: if (c == 'T') { #ifdef RTCM104V2_ENABLE if (rtcm2_decode(lexer, c) == ISGPS_MESSAGE) { lexer->state = RTCM2_RECOGNIZED; break; } #endif /* RTCM104V2_ENABLE */ lexer->state = EARTHA_4; } else lexer->state = GROUND_STATE; break; case EARTHA_4: if (c == 'H') { #ifdef RTCM104V2_ENABLE if (rtcm2_decode(lexer, c) == ISGPS_MESSAGE) { lexer->state = RTCM2_RECOGNIZED; break; } #endif /* RTCM104V2_ENABLE */ lexer->state = EARTHA_5; } else lexer->state = GROUND_STATE; break; case EARTHA_5: if (c == 'A') { #ifdef RTCM104V2_ENABLE if (rtcm2_decode(lexer, c) == ISGPS_MESSAGE) { lexer->state = RTCM2_RECOGNIZED; break; } #endif /* RTCM104V2_ENABLE */ lexer->state = NMEA_RECOGNIZED; } else lexer->state = GROUND_STATE; break; #endif /* EARTHMATE_ENABLE */ case SIRF_ACK_LEAD_1: if (c == 'c') lexer->state = SIRF_ACK_LEAD_2; else if (c == 'I') lexer->state = AIS_LEAD_2; else lexer->state = GROUND_STATE; break; case SIRF_ACK_LEAD_2: if (c == 'k') lexer->state = NMEA_LEADER_END; else lexer->state = GROUND_STATE; break; #endif /* NMEA_ENABLE */ #ifdef SIRF_ENABLE case SIRF_LEADER_1: if (c == 0xa2) lexer->state = SIRF_LEADER_2; else lexer->state = GROUND_STATE; break; case SIRF_LEADER_2: lexer->length = (size_t)(c << 8); lexer->state = SIRF_LENGTH_1; break; case SIRF_LENGTH_1: lexer->length += c + 2; if (lexer->length <= MAX_PACKET_LENGTH) lexer->state = SIRF_PAYLOAD; else lexer->state = GROUND_STATE; break; case SIRF_PAYLOAD: if (--lexer->length == 0) lexer->state = SIRF_DELIVERED; break; case SIRF_DELIVERED: if (c == 0xb0) lexer->state = SIRF_TRAILER_1; else lexer->state = GROUND_STATE; break; case SIRF_TRAILER_1: if (c == 0xb3) lexer->state = SIRF_RECOGNIZED; else lexer->state = GROUND_STATE; break; case SIRF_RECOGNIZED: if (c == 0xa0) lexer->state = SIRF_LEADER_1; else lexer->state = GROUND_STATE; break; #endif /* SIRF_ENABLE */ #if defined(TSIP_ENABLE) || defined(EVERMORE_ENABLE) || defined(GARMIN_ENABLE) case DLE_LEADER: #ifdef EVERMORE_ENABLE if (c == STX) { lexer->state = EVERMORE_LEADER_2; break; } #endif /* EVERMORE_ENABLE */ #if defined(TSIP_ENABLE) || defined(GARMIN_ENABLE) || defined(NAVCOM_ENABLE) /* garmin is special case of TSIP */ /* check last because there's no checksum */ if (c >= 0x13) { lexer->state = TSIP_PAYLOAD; break; } if (c == DLE) { lexer->state = GROUND_STATE; break; } // FALL-THRU!!!!! no break here #endif /* TSIP_ENABLE */ #ifdef NAVCOM_ENABLE case NAVCOM_LEADER_1: if (c == 0x99) lexer->state = NAVCOM_LEADER_2; else lexer->state = GROUND_STATE; break; case NAVCOM_LEADER_2: if (c == 0x66) lexer->state = NAVCOM_LEADER_3; else lexer->state = GROUND_STATE; break; case NAVCOM_LEADER_3: lexer->state = NAVCOM_ID; break; case NAVCOM_ID: lexer->length = (size_t)c - 4; lexer->state = NAVCOM_LENGTH_1; break; case NAVCOM_LENGTH_1: lexer->length += (c << 8); lexer->state = NAVCOM_LENGTH_2; break; case NAVCOM_LENGTH_2: if (--lexer->length == 0) lexer->state = NAVCOM_PAYLOAD; break; case NAVCOM_PAYLOAD: { unsigned int n; unsigned char csum = lexer->inbuffer[3]; for(n=4; (unsigned char *)(lexer->inbuffer + n) < lexer->inbufptr - 1; n++) csum ^= lexer->inbuffer[n]; if(csum != c) { gpsd_report(LOG_IO, "Navcom packet type 0x%hx bad checksum 0x%hx, expecting 0x%hx\n", lexer->inbuffer[3], csum, c); gpsd_report(LOG_RAW, "Navcom packet dump: %s\n", gpsd_hexdump_wrapper(lexer->inbuffer, lexer->inbuflen, LOG_RAW)); lexer->state = GROUND_STATE; break; } } lexer->state = NAVCOM_CSUM; break; case NAVCOM_CSUM: if (c == 0x03) lexer->state = NAVCOM_RECOGNIZED; else lexer->state = GROUND_STATE; break; case NAVCOM_RECOGNIZED: if (c == 0x02) lexer->state = NAVCOM_LEADER_1; else lexer->state = GROUND_STATE; break; #endif /* NAVCOM_ENABLE */ #endif /* TSIP_ENABLE || EVERMORE_ENABLE || GARMIN_ENABLE */ #ifdef RTCM104V3_ENABLE case RTCM3_LEADER_1: if ((c & 0xFC) == 0) { lexer->length = (size_t)(c << 8); lexer->state = RTCM3_LEADER_2; break; } else lexer->state = GROUND_STATE; break; case RTCM3_LEADER_2: lexer->length |= c; lexer->length += 3; /* to get the three checksum bytes */ lexer->state = RTCM3_PAYLOAD; break; case RTCM3_PAYLOAD: if (--lexer->length == 0) lexer->state = RTCM3_RECOGNIZED; break; #endif /* RTCM104V3_ENABLE */ #ifdef ZODIAC_ENABLE case ZODIAC_EXPECTED: case ZODIAC_RECOGNIZED: if (c == 0xff) lexer->state = ZODIAC_LEADER_1; else lexer->state = GROUND_STATE; break; case ZODIAC_LEADER_1: if (c == 0x81) lexer->state = ZODIAC_LEADER_2; else lexer->state = GROUND_STATE; break; case ZODIAC_LEADER_2: lexer->state = ZODIAC_ID_1; break; case ZODIAC_ID_1: lexer->state = ZODIAC_ID_2; break; case ZODIAC_ID_2: lexer->length = (size_t)c; lexer->state = ZODIAC_LENGTH_1; break; case ZODIAC_LENGTH_1: lexer->length += (c << 8); lexer->state = ZODIAC_LENGTH_2; break; case ZODIAC_LENGTH_2: lexer->state = ZODIAC_FLAGS_1; break; case ZODIAC_FLAGS_1: lexer->state = ZODIAC_FLAGS_2; break; case ZODIAC_FLAGS_2: lexer->state = ZODIAC_HSUM_1; break; case ZODIAC_HSUM_1: { #define getword(i) (short)(lexer->inbuffer[2*(i)] | (lexer->inbuffer[2*(i)+1] << 8)) short sum = getword(0) + getword(1) + getword(2) + getword(3); sum *= -1; if (sum != getword(4)) { gpsd_report(LOG_IO, "Zodiac Header checksum 0x%hx expecting 0x%hx\n", sum, getword(4)); lexer->state = GROUND_STATE; break; } } gpsd_report(LOG_RAW+1,"Zodiac header id=%hd len=%hd flags=%hx\n", getword(1), getword(2), getword(3)); #undef getword if (lexer->length == 0) { lexer->state = ZODIAC_RECOGNIZED; break; } lexer->length *= 2; /* word count to byte count */ lexer->length += 2; /* checksum */ /* 10 bytes is the length of the Zodiac header */ if (lexer->length <= MAX_PACKET_LENGTH - 10) lexer->state = ZODIAC_PAYLOAD; else lexer->state = GROUND_STATE; break; case ZODIAC_PAYLOAD: if (--lexer->length == 0) lexer->state = ZODIAC_RECOGNIZED; break; #endif /* ZODIAC_ENABLE */ #ifdef UBX_ENABLE case UBX_LEADER_1: if (c == 0x62) lexer->state = UBX_LEADER_2; else lexer->state = GROUND_STATE; break; case UBX_LEADER_2: lexer->state = UBX_CLASS_ID; break; case UBX_CLASS_ID: lexer->state = UBX_MESSAGE_ID; break; case UBX_MESSAGE_ID: lexer->length = (size_t)c; lexer->state = UBX_LENGTH_1; break; case UBX_LENGTH_1: lexer->length += (c << 8); if (lexer->length <= MAX_PACKET_LENGTH) lexer->state = UBX_LENGTH_2; else lexer->state = GROUND_STATE; break; case UBX_LENGTH_2: lexer->state = UBX_PAYLOAD; break; case UBX_PAYLOAD: if (--lexer->length == 0) lexer->state = UBX_CHECKSUM_A; /* else stay in payload state */ break; case UBX_CHECKSUM_A: lexer->state = UBX_RECOGNIZED; break; case UBX_RECOGNIZED: if (c == 0xb5) lexer->state = UBX_LEADER_1; else if (c == '$') /* LEA-5H can and will output NMEA and UBX back to back */ lexer->state = NMEA_DOLLAR; else lexer->state = GROUND_STATE; break; #endif /* UBX_ENABLE */ #ifdef EVERMORE_ENABLE case EVERMORE_LEADER_1: if (c == STX) lexer->state = EVERMORE_LEADER_2; else lexer->state = GROUND_STATE; break; case EVERMORE_LEADER_2: lexer->length = (size_t)c; if (c == DLE) lexer->state = EVERMORE_PAYLOAD_DLE; else lexer->state = EVERMORE_PAYLOAD; break; case EVERMORE_PAYLOAD: if (c == DLE) lexer->state = EVERMORE_PAYLOAD_DLE; else if (--lexer->length == 0) lexer->state = GROUND_STATE; break; case EVERMORE_PAYLOAD_DLE: switch (c) { case DLE: lexer->state = EVERMORE_PAYLOAD; break; case ETX: lexer->state = EVERMORE_RECOGNIZED; break; default: lexer->state = GROUND_STATE; } break; case EVERMORE_RECOGNIZED: if (c == DLE) lexer->state = EVERMORE_LEADER_1; else lexer->state = GROUND_STATE; break; #endif /* EVERMORE_ENABLE */ #ifdef ITRAX_ENABLE case ITALK_LEADER_1: if (c == '!') lexer->state = ITALK_LEADER_2; else lexer->state = GROUND_STATE; break; case ITALK_LEADER_2: lexer->length = (size_t)(lexer->inbuffer[6] & 0xff); lexer->state = ITALK_LENGTH; break; case ITALK_LENGTH: lexer->length += 1; /* fix number of words in payload */ lexer->length *= 2; /* convert to number of bytes */ lexer->length += 3; /* add trailer length */ lexer->state = ITALK_PAYLOAD; break; case ITALK_PAYLOAD: /* lookahead for "') && (lexer->inbufptr[0] == '<') && (lexer->inbufptr[1] == '!')){ lexer->state = ITALK_RECOGNIZED; gpsd_report(LOG_IO, "ITALK: trying to process runt packet\n"); break; } else if (--lexer->length == 0) lexer->state = ITALK_DELIVERED; break; case ITALK_DELIVERED: if (c == '>') lexer->state = ITALK_RECOGNIZED; else lexer->state = GROUND_STATE; break; case ITALK_RECOGNIZED: if (c == '<') lexer->state = ITALK_LEADER_1; else lexer->state = GROUND_STATE; break; #endif /* ITRAX_ENABLE */ #ifdef TSIP_ENABLE case TSIP_LEADER: /* unused case */ if (c >= 0x13) lexer->state = TSIP_PAYLOAD; else lexer->state = GROUND_STATE; break; case TSIP_PAYLOAD: if (c == DLE) lexer->state = TSIP_DLE; break; case TSIP_DLE: switch (c) { case ETX: lexer->state = TSIP_RECOGNIZED; break; case DLE: lexer->state = TSIP_PAYLOAD; break; default: lexer->state = GROUND_STATE; break; } break; case TSIP_RECOGNIZED: if (c == DLE) /* * Don't go to TSIP_LEADER state -- TSIP packets aren't * checksummed, so false positives are easy. We might be * looking at another DLE-stuffed protocol like EverMore * or Garmin streaming binary. */ lexer->state = DLE_LEADER; else lexer->state = GROUND_STATE; break; #endif /* TSIP_ENABLE */ #ifdef RTCM104V2_ENABLE case RTCM2_SYNC_STATE: case RTCM2_SKIP_STATE: if ((isgpsstat = rtcm2_decode(lexer, c)) == ISGPS_MESSAGE) { lexer->state = RTCM2_RECOGNIZED; break; } else if (isgpsstat == ISGPS_NO_SYNC) lexer->state = GROUND_STATE; break; case RTCM2_RECOGNIZED: if (rtcm2_decode(lexer, c) == ISGPS_SYNC) { lexer->state = RTCM2_SYNC_STATE; break; } else lexer->state = GROUND_STATE; break; #endif /* RTCM104V2_ENABLE */ } /*@ -charint +casebreak @*/ } #define STATE_DEBUG static void packet_accept(struct gps_packet_t *lexer, int packet_type) /* packet grab succeeded, move to output buffer */ { size_t packetlen = lexer->inbufptr-lexer->inbuffer; if (packetlen < sizeof(lexer->outbuffer)) { memcpy(lexer->outbuffer, lexer->inbuffer, packetlen); lexer->outbuflen = packetlen; lexer->outbuffer[packetlen] = '\0'; lexer->type = packet_type; #ifdef STATE_DEBUG gpsd_report(LOG_RAW+1, "Packet type %d accepted %zu = %s\n", packet_type, packetlen, gpsd_hexdump_wrapper(lexer->outbuffer, lexer->outbuflen, LOG_IO)); #endif /* STATE_DEBUG */ } else { gpsd_report(LOG_ERROR, "Rejected too long packet type %d len %zu\n", packet_type, packetlen); } } static void packet_discard(struct gps_packet_t *lexer) /* shift the input buffer to discard all data up to current input pointer */ { size_t discard = lexer->inbufptr - lexer->inbuffer; size_t remaining = lexer->inbuflen - discard; lexer->inbufptr = memmove(lexer->inbuffer, lexer->inbufptr, remaining); lexer->inbuflen = remaining; #ifdef STATE_DEBUG gpsd_report(LOG_RAW+1, "Packet discard of %zu, chars remaining is %zu = %s\n", discard, remaining, gpsd_hexdump_wrapper(lexer->inbuffer, lexer->inbuflen, LOG_RAW)); #endif /* STATE_DEBUG */ } static void character_discard(struct gps_packet_t *lexer) /* shift the input buffer to discard one character and reread data */ { memmove(lexer->inbuffer, lexer->inbuffer+1, (size_t)--lexer->inbuflen); lexer->inbufptr = lexer->inbuffer; #ifdef STATE_DEBUG gpsd_report(LOG_RAW+1, "Character discarded, buffer %zu chars = %s\n", lexer->inbuflen, gpsd_hexdump_wrapper(lexer->inbuffer, lexer->inbuflen, LOG_RAW)); #endif /* STATE_DEBUG */ } /* get 0-origin big-endian words relative to start of packet buffer */ #define getword(i) (short)(lexer->inbuffer[2*(i)] | (lexer->inbuffer[2*(i)+1] << 8)) /* entry points begin here */ void packet_parse(struct gps_packet_t *lexer) /* grab a packet from the input buffer */ { lexer->outbuflen = 0; while (packet_buffered_input(lexer) > 0) { /*@ -modobserver @*/ unsigned char c = *lexer->inbufptr++; /*@ +modobserver @*/ char *state_table[] = { #include "packet_names.h" }; nextstate(lexer, c); gpsd_report(LOG_RAW+2, "%08ld: character '%c' [%02x], new state: %s\n", lexer->char_counter, (isprint(c)?c:'.'), c, state_table[lexer->state]); lexer->char_counter++; if (lexer->state == GROUND_STATE) { character_discard(lexer); } else if (lexer->state == COMMENT_RECOGNIZED) { packet_accept(lexer, COMMENT_PACKET); packet_discard(lexer); lexer->state = GROUND_STATE; break; } #ifdef NMEA_ENABLE else if (lexer->state == NMEA_RECOGNIZED) { bool checksum_ok = true; char csum[3]; char *trailer = (char *)lexer->inbufptr-5; if (*trailer == '*') { unsigned int n, crc = 0; for (n = 1; (char *)lexer->inbuffer + n < trailer; n++) crc ^= lexer->inbuffer[n]; (void)snprintf(csum, sizeof(csum), "%02X", crc); checksum_ok = (csum[0]==toupper(trailer[1]) && csum[1]==toupper(trailer[2])); } if (checksum_ok) packet_accept(lexer, NMEA_PACKET); else lexer->state = GROUND_STATE; packet_discard(lexer); break; } #endif /* NMEA_ENABLE */ #ifdef SIRF_ENABLE else if (lexer->state == SIRF_RECOGNIZED) { unsigned char *trailer = lexer->inbufptr-4; unsigned int checksum = (unsigned)((trailer[0] << 8) | trailer[1]); unsigned int n, crc = 0; for (n = 4; n < (unsigned)(trailer - lexer->inbuffer); n++) crc += (int)lexer->inbuffer[n]; crc &= 0x7fff; if (checksum == crc) packet_accept(lexer, SIRF_PACKET); else lexer->state = GROUND_STATE; packet_discard(lexer); break; } #endif /* SIRF_ENABLE */ #if defined(TSIP_ENABLE) || defined(GARMIN_ENABLE) else if (lexer->state == TSIP_RECOGNIZED) { size_t packetlen = lexer->inbufptr - lexer->inbuffer; if ( packetlen < 5) { lexer->state = GROUND_STATE; } else { unsigned int pkt_id, len; size_t n; #ifdef GARMIN_ENABLE unsigned int ch, chksum; n = 0; /*@ +charint */ #ifdef TSIP_ENABLE /* shortcut garmin */ if (TSIP_PACKET == lexer->type) goto not_garmin; #endif /* TSIP_ENABLE */ if (lexer->inbuffer[n++] != DLE) goto not_garmin; pkt_id = lexer->inbuffer[n++]; /* packet ID */ len = lexer->inbuffer[n++]; chksum = len + pkt_id; if (len == DLE) { if (lexer->inbuffer[n++] != DLE) goto not_garmin; } for (; len > 0; len--) { chksum += lexer->inbuffer[n]; if (lexer->inbuffer[n++] == DLE) { if (lexer->inbuffer[n++] != DLE) goto not_garmin; } } /* check sum byte */ ch = lexer->inbuffer[n++]; chksum += ch; if (ch == DLE) { if (lexer->inbuffer[n++] != DLE) goto not_garmin; } if (lexer->inbuffer[n++] != DLE) goto not_garmin; if (lexer->inbuffer[n++] != ETX) goto not_garmin; /*@ +charint */ chksum &= 0xff; if (chksum) { gpsd_report(LOG_IO, "Garmin checksum failed: %02x!=0\n",chksum); goto not_garmin; } /* Debug gpsd_report(LOG_IO, "Garmin n= %#02x\n %s\n", n, gpsd_hexdump_wrapper(lexer->inbuffer, packetlen, LOG_IO)); */ packet_accept(lexer, GARMIN_PACKET); packet_discard(lexer); break; not_garmin:; gpsd_report(LOG_RAW+1,"Not a Garmin packet\n"); #endif /* GARMIN_ENABLE */ #ifdef TSIP_ENABLE /* check for some common TSIP packet types: * 0x13, TSIP Parsing Error Notification * 0x41, GPS time, data length 10 * 0x42, Single Precision Fix, data length 16 * 0x43, Velocity Fix, data length 20 * 0x45, Software Version Information, data length 10 * 0x46, Health of Receiver, data length 2 * 0x48, GPS System Messages * 0x4a, LLA Position, data length 20 * 0x4b, Machine Code Status, data length 3 * 0x56, Velocity Fix (ENU), data length 20 * 0x5a, Raw Measurements * 0x5c, Satellite Tracking Status, data length 24 * 0x6d, All-In-View Satellite Selection, data length 16+numSV * 0x82, Differential Position Fix Mode, data length 1 * 0x83, Double Precision XYZ, data length 36 * 0x84, Double Precision LLA, data length 36 * 0xbb, GPS Navigation Configuration * 0xbc, Receiver Port Configuration * * [pkt id] [data] */ /*@ +charint @*/ pkt_id = lexer->inbuffer[1]; /* packet ID */ if (!((0x13 == pkt_id) || (0xbb == pkt_id) || (0xbc == pkt_id)) && ((0x41 > pkt_id) || (0x8f < pkt_id))) { gpsd_report(LOG_IO, "Packet ID 0x%02x out of range for TSIP\n", pkt_id); goto not_tsip; } /*@ -ifempty */ if ((0x13 == pkt_id) && (0x01 <= packetlen)) /* pass */; else if ((0x41 == pkt_id) && (0x0e == packetlen)) /* pass */; else if ((0x42 == pkt_id) && (0x14 == packetlen )) /* pass */; else if ((0x43 == pkt_id) && (0x18 == packetlen)) /* pass */; else if ((0x45 == pkt_id) && (0x0e == packetlen)) /* pass */; else if ((0x46 == pkt_id) && (0x06 == packetlen)) /* pass */; else if ((0x48 == pkt_id) && (0x1a == packetlen)) /* pass */; else if ((0x4a == pkt_id) && (0x18 == packetlen)) /* pass */; else if ((0x4b == pkt_id) && (0x07 == packetlen)) /* pass */; else if ((0x55 == pkt_id) && (0x08 == packetlen)) /* pass */; else if ((0x56 == pkt_id) && (0x18 == packetlen)) /* pass */; else if ((0x5a == pkt_id) && (0x1d == packetlen)) /* pass */; else if ((0x5c == pkt_id) && ((0x1c <= packetlen) && (0x1e >= packetlen))) /* pass */; else if ((0x6d == pkt_id) && ((0x14 <= packetlen) && (0x20 >= packetlen))) /* pass */; else if ((0x82 == pkt_id) && (0x05 == packetlen)) /* pass */; else if ((0x84 == pkt_id) && ((0x28 <= packetlen) && (0x29 >= packetlen))) /* pass */; else if ((0x8e == pkt_id)) /* pass */; else if ((0x8f == pkt_id)) /* pass */; else if ((0xbb == pkt_id) && (0x2c == packetlen)) /* pass */; else { gpsd_report(LOG_IO, "TSIP REJECT pkt_id = %#02x, packetlen= %zu\n", pkt_id, packetlen); goto not_tsip; } /* Debug */ gpsd_report(LOG_RAW, "TSIP pkt_id = %#02x, packetlen= %zu\n", pkt_id, packetlen); /*@ -charint +ifempty @*/ packet_accept(lexer, TSIP_PACKET); packet_discard(lexer); break; not_tsip: gpsd_report(LOG_RAW+1,"Not a TSIP packet\n"); /* * More attempts to recognize ambiguous TSIP-like * packet types could go here. */ lexer->state = GROUND_STATE; packet_discard(lexer); break; #endif /* TSIP_ENABLE */ } } #endif /* TSIP_ENABLE || GARMIN_ENABLE */ #ifdef RTCM104V3_ENABLE else if (lexer->state == RTCM3_RECOGNIZED) { if (crc24q_check(lexer->inbuffer, lexer->inbufptr-lexer->inbuffer)) { packet_accept(lexer, RTCM3_PACKET); packet_discard(lexer); } else { gpsd_report(LOG_IO, "RTCM3 data checksum failure, " "%0x against %02x %02x %02x\n", crc24q_hash(lexer->inbuffer, lexer->inbufptr-lexer->inbuffer - 3), lexer->inbufptr[-3], lexer->inbufptr[-2], lexer->inbufptr[-1]); lexer->state = GROUND_STATE; packet_discard(lexer); } break; } #endif /* RTCM104V3_ENABLE */ #ifdef ZODIAC_ENABLE else if (lexer->state == ZODIAC_RECOGNIZED) { short len, n, sum; len = getword(2); for (n = sum = 0; n < len; n++) sum += getword(5+n); sum *= -1; if (len == 0 || sum == getword(5 + len)) { packet_accept(lexer, ZODIAC_PACKET); } else { gpsd_report(LOG_IO, "Zodiac data checksum 0x%hx over length %hd, expecting 0x%hx\n", sum, len, getword(5 + len)); lexer->state = GROUND_STATE; } packet_discard(lexer); break; } #endif /* ZODIAC_ENABLE */ #ifdef UBX_ENABLE else if (lexer->state == UBX_RECOGNIZED) { /* UBX use a TCP like checksum */ int n, len; unsigned char ck_a = (unsigned char)0; unsigned char ck_b = (unsigned char)0; len = lexer->inbufptr - lexer->inbuffer; gpsd_report(LOG_IO, "UBX: len %d\n", len); for (n = 2; n < (len-2); n++) { ck_a += lexer->inbuffer[n]; ck_b += ck_a; } if (ck_a == lexer->inbuffer[len-2] && ck_b == lexer->inbuffer[len-1]) packet_accept(lexer, UBX_PACKET); else { gpsd_report(LOG_IO, "UBX checksum 0x%02hhx%02hhx over length %hd,"\ " expecting 0x%02hhx%02hhx (type 0x%02hhx%02hhx)\n", ck_a, ck_b, len, lexer->inbuffer[len-2], lexer->inbuffer[len-1], lexer->inbuffer[2], lexer->inbuffer[3]); lexer->state = GROUND_STATE; } packet_discard(lexer); break; } #endif /* UBX_ENABLE */ #ifdef EVERMORE_ENABLE else if (lexer->state == EVERMORE_RECOGNIZED) { unsigned int n, crc, checksum, len; n = 0; /*@ +charint */ if (lexer->inbuffer[n++] != DLE) goto not_evermore; if (lexer->inbuffer[n++] != STX) goto not_evermore; len = lexer->inbuffer[n++]; if (len == DLE) { if (lexer->inbuffer[n++] != DLE) goto not_evermore; } len -= 2; crc = 0; for (; len > 0; len--) { crc += lexer->inbuffer[n]; if (lexer->inbuffer[n++] == DLE) { if (lexer->inbuffer[n++] != DLE) goto not_evermore; } } checksum = lexer->inbuffer[n++]; if (checksum == DLE) { if (lexer->inbuffer[n++] != DLE) goto not_evermore; } if (lexer->inbuffer[n++] != DLE) goto not_evermore; if (lexer->inbuffer[n++] != ETX) goto not_evermore; crc &= 0xff; if (crc != checksum) { gpsd_report(LOG_IO, "EverMore checksum failed: %02x != %02x\n", crc, checksum); goto not_evermore; } /*@ +charint */ packet_accept(lexer, EVERMORE_PACKET); packet_discard(lexer); break; not_evermore: lexer->state = GROUND_STATE; packet_discard(lexer); break; } #endif /* EVERMORE_ENABLE */ /* XXX CSK */ #ifdef ITRAX_ENABLE #define getib(j) ((u_int8_t)lexer->inbuffer[(j)]) #define getiw(i) ((u_int16_t)(((u_int16_t)getib((i)+1) << 8) | (u_int16_t)getib((i)))) else if (lexer->state == ITALK_RECOGNIZED) { volatile u_int16_t len, n, csum, xsum, tmpw; volatile u_int32_t tmpdw; /* number of words */ len = (unsigned short)(lexer->inbuffer[6] &0xff); /*@ -type @*/ /* initialize all my registers */ csum = tmpw = tmpdw = 0; /* expected checksum */ xsum = getiw(7+2*len); for (n = 0; n < len; n++){ tmpw = getiw(7 + 2*n); tmpdw = (csum + 1) * (tmpw + n); csum ^= (tmpdw & 0xffff) ^ ((tmpdw >>16) & 0xffff); } /*@ +type @*/ if (len == 0 || csum == xsum) packet_accept(lexer, ITALK_PACKET); else { gpsd_report(LOG_IO, "ITALK: checksum failed - " "type 0x%02x expected 0x%04x got 0x%04x\n", lexer->inbuffer[4], xsum, csum); lexer->state = GROUND_STATE; } packet_discard(lexer); break; } #undef getiw #undef getib #endif /* ITRAX_ENABLE */ #ifdef NAVCOM_ENABLE else if (lexer->state == NAVCOM_RECOGNIZED) { /* By the time we got here we know checksum is OK */ packet_accept(lexer, NAVCOM_PACKET); packet_discard(lexer); break; } #endif /* NAVCOM_ENABLE */ #ifdef RTCM104V2_ENABLE else if (lexer->state == RTCM2_RECOGNIZED) { /* * RTCM packets don't have checksums. The six bits of parity * per word and the preamble better be good enough. */ packet_accept(lexer, RTCM2_PACKET); lexer->state = RTCM2_SYNC_STATE; packet_discard(lexer); break; } #endif /* RTCM104V2_ENABLE */ } /* while */ } #undef getword ssize_t packet_get(int fd, struct gps_packet_t *lexer) /* grab a packet; return -1=>I/O error, 0=>EOF, BAD_PACKET or a length */ { ssize_t recvd; /*@ -modobserver @*/ recvd = read(fd, lexer->inbuffer+lexer->inbuflen, sizeof(lexer->inbuffer)-(lexer->inbuflen)); /*@ +modobserver @*/ if (recvd == -1) { if ((errno == EAGAIN) || (errno == EINTR)) { #ifdef STATE_DEBUG gpsd_report(LOG_RAW+2, "no bytes ready\n"); /* fall through, input buffer may be nonempty */ #endif /* STATE_DEBUG */ } else { #ifdef STATE_DEBUG gpsd_report(LOG_RAW+2, "errno: %s\n", strerror(errno)); #endif /* STATE_DEBUG */ return -1; } } else { #ifdef STATE_DEBUG gpsd_report(LOG_RAW+1, "Read %zd chars to buffer offset %zd (total %zd): %s\n", recvd, lexer->inbuflen, lexer->inbuflen+recvd, gpsd_hexdump_wrapper(lexer->inbufptr, (size_t)recvd, LOG_RAW+1)); #endif /* STATE_DEBUG */ lexer->inbuflen += recvd; } /* * Bail out, indicating no more input, only if we just received * nothing from the device and there is nothing waiting in the * packet input buffer. */ if (recvd <= 0 && packet_buffered_input(lexer) <= 0) return recvd; /* Otherwise, consume from the packet input buffer */ packet_parse(lexer); /* * recvd can still be 0 or -1 at this point even if buffer data * was consumed. It could be -1 on a transient read error. */ return recvd; } void packet_reset(struct gps_packet_t *lexer) /* return the packet machine to the ground state */ { lexer->type = BAD_PACKET; lexer->state = GROUND_STATE; lexer->inbuflen = 0; lexer->inbufptr = lexer->inbuffer; #ifdef BINARY_ENABLE isgps_init(lexer); #endif /* BINARY_ENABLE */ } #ifdef __UNUSED__ void packet_pushback(struct gps_packet_t *lexer) /* push back the last packet grabbed */ { if (lexer->outbuflen + lexer->inbuflen < MAX_PACKET_LENGTH) { memmove(lexer->inbuffer+lexer->outbuflen, lexer->inbuffer, lexer->inbuflen); memmove(lexer->inbuffer, lexer->outbuffer, lexer->outbuflen); lexer->inbuflen += lexer->outbuflen; lexer->inbufptr += lexer->outbuflen; lexer->outbuflen = 0; } } #endif /* __UNUSED */