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|
/*
*
* This is the gpsd driver for EverMore GPSes. They have both an NMEA and
* a binary reporting mode, with the interesting property that they will
* cheerfully accept binary commands (such as speed changes) while in NMEA
* mode.
*
* Binary mode would give us atomic fix reports, but it has one large drawback:
* the Navigation Data Out message doesn't report a leap-second offset, so it
* is not actually possible to collect a leap-second offset from it. Therefore
* we'll normally run the driver in NMEA mode.
*
* About the only thing binary mode gives that NMEA won't is TDOP and raw
* pseudoranges, but gpsd does its own DOPs from skyview. By default we'll
* trade away raw data to get accurate time.
*
* The vendor site is <http://www.emt.com.tw>.
*
* This driver was written by Petr Slansky based on a framework by Eric S.
* Raymond. The following remarks are by Petr Slansky.
*
* Snooping on the serial the communication between a Windows program and
* an Evermore chipset reveals some messages not described in the vendor
* documentation (Issue C of Aug 2002):
*
* 10 02 06 84 00 00 00 84 10 03 switch to binary mode (84 00 00 00)
* 10 02 06 84 01 00 00 85 10 03 switch to NMEA mode (84 01 00 00)
*
* 10 02 06 89 01 00 00 8a 10 03 set baud rate 4800
* 10 02 06 89 01 01 00 8b 10 03 set baud rate 9600
* 10 02 06 89 01 02 00 8c 10 03 set baud rate 19200
* 10 02 06 89 01 03 00 8d 10 03 set baud rate 38400
*
* 10 02 06 8D 00 01 00 8E 10 03 switch to datum ID 001 (WGS-84)
* 10 02 06 8D 00 D8 00 65 10 03 switch to datum ID 217 (WGS-72)
*
* These don't entail a reset of GPS as the 0x80 message does.
*
* 10 02 04 38 85 bd 10 03 answer from GPS to 0x85 message; ACK message
* 10 02 04 38 8d c5 10 03 answer from GPS to 0x8d message; ACK message
* 10 02 04 38 8e c6 10 03 answer from GPS to 0x8e message; ACK message
* 10 02 04 38 8f c7 10 03 answer from GPS to 0x8f message; ACK message
*
* The chip sometimes sends vendor extension messages with the prefix
* $PEMT,100. After restart, it sends a $PEMT,100 message describing the
* chip's configuration. Here is a sample:
*
* $PEMT,100,05.42g,100303,180,05,1,20,15,08,0,0,2,1*5A
* 100 - message type
* 05.42g - firmware version
* 100303 - date of firmware release DDMMYY
* 180 - datum ID; 001 is WGS-84
* 05 - default elevation mask; see message 0x86
* 1 - default DOP select, 1 is auto DOP mask; see message 0x87
* 20 - default GDOP; see message 0x87
* 15 - default PDOP
* 08 - default HDOP
* 0 - Normal mode, without 1PPS
* 0 - default position pinning control (0 disable, 1 enable)
* 2 - altitude hold mode (0 disable, 1 always, 2 auto)
* 1 - 2/1 satellite nav mode (0,1,2,3,4)
* 0 disable 2/1 sat nav mode
* 1 hold direction (2 sat)
* 2 clock hold only (2 sat)
* 3 direction hold then clock hold (1 sat)
* 4 clock hold then direction hold (1 sat)
*
* Message $PEMT,100 could be forced with message 0x85 (restart):
* 10 02 12 85 00 00 00 00 00 01 01 00 00 00 00 00 00 00 00 87 10 03
* 0x85 ID, Restart
* 0x00 restart mode (0 default, 1 hot, 2 warm, 3 cold, 4 test)
* 0x00 test start search PRN (1-32)
* 0x00 UTC second (0-59)
* 0x00 UTC Minute (0-59)
* 0x00 UTC Hour (0-23)
* 0x01 UTC Day (1-31)
* 0x01 UTC Month (1-12)
* 0x0000 UTC year (1980+x, uint16)
* 0x0000 Latitude WGS-84 (+/-900, 1/10 degree, + for N, int16)
* 0x0000 Longtitude WGS-84 (+/-1800, 1/10 degree, + for E, int16)
* 0x0000 Altitude WGS-84 (-1000..+18000, meters, int16)
* 0x87 CRC
*
* With message 0x8e it is possible to define how often each NMEA
* message is sent (0-255 seconds). It is possible with message 0x8e
* to activate PEMT,101 messages that have information about time,
* position, velocity and HDOP.
*
* $PEMT,101,1,02,00.0,300906190446,5002.5062,N,01427.6166,E,00259,000,0000*27
* $PEMT,101,2,06,02.1,300906185730,5002.7546,N,01426.9524,E,00323,020,0011*26
* 101 - message type, Compact Navigation Solution
* 2 - position status (1,2,3,4,5,6)
* (1 invalid, 2 2D fix, 3 3D fix, 4 2D with DIFF, 5 3D with DIFF,
* 6 2/1 sat degrade mode)
* 06 - number of used satelites
* 02.1 - DOP (00.0 no fix, HDOP 2D fix, PDOP 3D fix)
* 300906185730 - date and time, UTC ddmmyyHHMMSS (30/09/2006 18:57:30)
* 5002.7546,N - Latitude (degree)
* 01426.9524,E - Longitude (degree)
* 00323 - Altitude (323 metres)
* 020 - heading (20 degrees from true north)
* 0011 - speed over ground (11 metres per second); documentation says km per h
*
* This is an exampe of an 0x8e message that activates all NMEA sentences
* with 1s period:
* 10 02 12 8E 7F 01 01 01 01 01 01 01 01 00 00 00 00 00 00 15 10 03
*
* There is a way to probe for this chipset. When binary message 0x81 is sent:
* 10 02 04 81 13 94 10 03
*
* EverMore will reply with message like this:
* *10 *02 *0D *20 E1 00 00 *00 0A 00 1E 00 32 00 5B *10 *03
* bytes marked with * are fixed
* Message in reply is information about logging configuration of GPS
*
* Another way to detect the EverMore chipset is to send one of the messages
* 0x85, 0x8d, 0x8e or 0x8f and check for a reply.
* The reply message from an EverMore GPS will look like this:
* *10 *02 *04 *38 8d c5 *10 *03
* 8d indicates that message 0x8d was sent;
* c5 is EverMore checksum, other bytes are fixed
*
* This file is Copyright (c) 2010 by the GPSD project
* BSD terms apply: see the file COPYING in the distribution root for details.
*/
#include <stdio.h>
#include <stdbool.h>
#include <string.h>
#include <math.h>
#include "gpsd.h"
#if defined(EVERMORE_ENABLE) && defined(BINARY_ENABLE)
#include "bits.h"
#define EVERMORE_CHANNELS 12
#ifdef __UNUSED__
gps_mask_t evermore_parse(struct gps_device_t * session, unsigned char *buf,
size_t len)
{
unsigned char buf2[MAX_PACKET_LENGTH], *cp, *tp;
size_t i, datalen;
unsigned int type, used, visible, satcnt, j, k;
double version;
gps_mask_t mask = 0;
/* must have two leader bytes, length, and two trailer bytes minimum */
if (len < 5)
return 0;
/* time to unstuff it and discard the header and footer */
cp = buf + 2;
if (*cp == 0x10)
cp++;
datalen = (size_t) * cp++;
datalen -= 2;
/* prevent 'Assigned value is garbage or undefined' from scan-build */
memset(buf2, '\0', sizeof(buf2));
tp = buf2;
for (i = 0; i < (size_t) datalen; i++) {
*tp = *cp++;
if (*tp == 0x10)
cp++;
tp++;
}
type = (unsigned char)getub(buf2, 0);
gpsd_log(&session->context->errout, LOG_RAW,
"EverMore packet type 0x%02x (%zd bytes)\n", type, tp-buf2);
session->cycle_end_reliable = true;
switch (type) {
case 0x02: /* Navigation Data Output */
session->newdata.time = gpsd_gpstime_resolve(session,
(unsigned short)getleu16(buf2, 3),
(double)getleu32(buf2, 5) * 0.01);
ecef_to_wgs84fix(&session->newdata, &session->gpsdata.separation,
(double)getles32(buf2, 9) * 1.0,
(double)getles32(buf2, 13) * 1.0,
(double)getles32(buf2, 17) * 1.0,
(double)getles16(buf2, 21) / 10.0,
(double)getles16(buf2, 23) / 10.0,
(double)getles16(buf2, 25) / 10.0);
used = (unsigned char)getub(buf2, 27) & 0x0f;
//visible = (getub(buf2, 27) & 0xf0) >> 4;
version = (uint) getleu16(buf2, 28) / 100.0;
/* that's all the information in this packet */
if (used < 3)
session->newdata.mode = MODE_NO_FIX;
else if (used == 3)
session->newdata.mode = MODE_2D;
else {
session->newdata.mode = MODE_3D;
mask |= ALTITUDE_SET | CLIMB_SET;
}
mask |= TIME_SET | PPSTIME_IS | LATLON_SET | TRACK_SET | SPEED_SET | MODE_SET;
if (session->subtype[0] == '\0') {
(void)snprintf(session->subtype, sizeof(session->subtype),
"%3.2f", version);
mask |= DEVICEID_SET;
}
gpsd_log(&session->context->errout, LOG_DATA,
"NDO 0x02: time=%.2f, lat=%.2f lon=%.2f alt=%.2f speed=%.2f track=%.2f climb=%.2f mode=%d subtype='%s\n",
session->newdata.time, session->newdata.latitude,
session->newdata.longitude, session->newdata.altitude,
session->newdata.speed, session->newdata.track,
session->newdata.climb, session->newdata.mode,
session->gpsdata.dev.subtype);
return mask | CLEAR_IS | REPORT_IS;
case 0x04: /* DOP Data Output */
session->newdata.time = gpsd_gpstime_resolve(session,
(unsigned short)getleu16(buf2, 3),
(double)getleu32(buf2, 5) * 0.01);
/*
* We make a deliberate choice not to clear DOPs from the
* last skyview here, but rather to treat this as a supplement
* to our calculations from the visibility matrix, trusting
* the firmware algorithms over ours.
*/
session->gpsdata.dop.gdop = (double)getub(buf2, 9) * 0.1;
session->gpsdata.dop.pdop = (double)getub(buf2, 10) * 0.1;
session->gpsdata.dop.hdop = (double)getub(buf2, 11) * 0.1;
session->gpsdata.dop.vdop = (double)getub(buf2, 12) * 0.1;
session->gpsdata.dop.tdop = (double)getub(buf2, 13) * 0.1;
switch (getub(buf2, 14)) {
case 0: /* no position fix */
case 1: /* manual calls this "1D navigation" */
session->gpsdata.status = STATUS_NO_FIX;
session->newdata.mode = MODE_NO_FIX;
break;
case 2: /* 2D navigation */
session->gpsdata.status = STATUS_FIX;
session->newdata.mode = MODE_2D;
break;
case 3: /* 3D navigation */
session->gpsdata.status = STATUS_FIX;
session->newdata.mode = MODE_3D;
break;
case 4: /* 3D navigation with DGPS */
session->gpsdata.status = STATUS_DGPS_FIX;
session->newdata.mode = MODE_3D;
break;
}
/* that's all the information in this packet */
mask = TIME_SET | PPSTIME_IS | DOP_SET | MODE_SET | STATUS_SET;
gpsd_log(&session->context->errout, LOG_DATA,
"DDO 0x04: gdop=%.2f pdop=%.2f hdop=%.2f vdop=%.2f tdop=%.2f mode=%d, status=%d mask={TIME| DOP|MODE|STATUS}\n",
session->gpsdata.dop.gdop, session->gpsdata.dop.pdop,
session->gpsdata.dop.hdop, session->gpsdata.dop.vdop,
session->gpsdata.dop.tdop, session->newdata.mode,
session->gpsdata.status);
return mask;
case 0x06: /* Channel Status Output */
session->gpsdata.skyview_time = gpsd_gpstime_resolve(session,
(unsigned short)getleu16(buf2, 3),
(double)getleu32(buf2, 5) * 0.01);
session->gpsdata.satellites_visible = (int)getub(buf2, 9);
gpsd_zero_satellites(&session->gpsdata);
memset(session->gpsdata.used, 0, sizeof(session->gpsdata.used));
if (session->gpsdata.satellites_visible > 12) {
gpsd_log(&session->context->errout, LOG_WARN,
"Warning: EverMore packet has information about %d satellites!\n",
session->gpsdata.satellites_visible);
}
if (session->gpsdata.satellites_visible > EVERMORE_CHANNELS)
session->gpsdata.satellites_visible = EVERMORE_CHANNELS;
satcnt = 0;
for (i = 0; i < (size_t) session->gpsdata.satellites_visible; i++) {
int prn;
// channel = getub(buf2, 7*i+7+3)
prn = (int)getub(buf2, 7 * i + 7 + 4);
if (prn == 0)
continue; /* satellite record is not valid */
session->gpsdata.PRN[satcnt] = prn;
session->gpsdata.azimuth[satcnt] =
(int)getleu16(buf2, 7 * i + 7 + 5);
session->gpsdata.elevation[satcnt] =
(int)getub(buf2, 7 * i + 7 + 7);
session->gpsdata.ss[satcnt] = (float)getub(buf2, 7 * i + 7 + 8);
/*
* 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 + 9) & 0x40) {
session->gpsdata.used[session->gpsdata.satellites_used++] =
prn;
}
satcnt++;
}
session->gpsdata.satellites_visible = (int)satcnt;
/* that's all the information in this packet */
mask = SATELLITE_SET | USED_IS;
gpsd_log(&session->context->errout, LOG_DATA,
"CSO 0x06: time=%.2f used=%d visible=%d mask={TIME|SATELLITE|USED}\n",
session->newdata.time, session->gpsdata.satellites_used,
session->gpsdata.satellites_visible);
return mask;
case 0x08: /* Measurement Data Output */
/* clock offset is a manufacturer diagnostic */
/* (int)getleu16(buf2, 9); clock offset, 29000..29850 ?? */
session->newdata.time = gpsd_gpstime_resolve(session,
(unsigned short)getleu16(buf2, 3),
(double)getleu32(buf2, 5) * 0.01);
visible = (unsigned char)getub(buf2, 11);
/*
* Note: This code is untested. It was written from the manual.
* The results need to be sanity-checked against a GPS with
* known-good raw decoding and the same skyview.
*
* We can get pseudo range (m), delta-range (m/s), doppler (Hz)
* and status for each channel from the chip. We cannot get
* codephase or carrierphase.
*/
#define SBITS(sat, s, l) sbits((signed char *)buf, 10 + (sat*14) + s, l, false)
#define UBITS(sat, s, l) ubits((unsigned char *)buf, 10 + (sat*14) + s, l, false)
for (k = 0; k < visible; k++) {
int prn = (int)UBITS(k, 4, 5);
/* this is so we can tell which never got set */
for (j = 0; j < MAXCHANNELS; j++)
session->gpsdata.raw.mtime[j] = 0;
for (j = 0; j < MAXCHANNELS; j++) {
if (session->gpsdata.PRN[j] == prn) {
session->gpsdata.raw.codephase[j] = NAN;
session->gpsdata.raw.carrierphase[j] = NAN;
session->gpsdata.raw.mtime[j] = session->newdata.time;
session->gpsdata.raw.satstat[j] = (unsigned)UBITS(k, 24, 8);
session->gpsdata.raw.pseudorange[j] = (double)SBITS(k,40,32);
session->gpsdata.raw.deltarange[j] = (double)SBITS(k,72,32);
session->gpsdata.raw.doppler[j] = (double)SBITS(k, 104, 16);
}
}
}
#undef SBITS
#undef UBITS
gpsd_log(&session->context->errout, LOG_DATA,
"MDO 0x04: time=%.2f mask={TIME|RAW}\n",
session->newdata.time);
return TIME_SET | PPSTIME_IS | RAW_IS;
case 0x20: /* LogConfig Info, could be used as a probe for EverMore GPS */
gpsd_log(&session->context->errout, LOG_DATA,
"LogConfig EverMore packet, length %zd\n", datalen);
return ONLINE_SET;
case 0x22: /* LogData */
gpsd_log(&session->context->errout, LOG_DATA,
"LogData EverMore packet, length %zd\n", datalen);
return ONLINE_SET;
case 0x38: /* ACK */
gpsd_log(&session->context->errout, LOG_PROG,
"EverMore command %02X ACK\n", getub(buf2, 3));
return ONLINE_SET;
default:
gpsd_log(&session->context->errout, LOG_WARN,
"unknown EverMore packet EID 0x%02x, length %zd\n",
buf2[0], datalen);
return 0;
}
}
static gps_mask_t evermore_parse_input(struct gps_device_t *session)
{
gps_mask_t st;
if (session->lexer.type == EVERMORE_PACKET) {
st = evermore_parse(session, session->lexer.outbuffer,
session->lexer.outbuflen);
return st;
}
#ifdef NMEA_ENABLE
else if (session->lexer.type == NMEA_PACKET) {
st = nmea_parse((char *)session->lexer.outbuffer, session);
return st;
}
#endif /* NMEA_ENABLE */
else
return 0;
}
#endif /* __UNUSED__ */
static ssize_t evermore_control_send(struct gps_device_t *session, char *buf,
size_t len)
{
unsigned int crc;
size_t i;
char *cp;
/* prepare a DLE-stuffed copy of the message */
cp = session->msgbuf;
*cp++ = 0x10; /* message starts with DLE STX */
*cp++ = 0x02;
session->msgbuflen = (size_t) (len + 2); /* len < 254 !! */
*cp++ = (char)session->msgbuflen; /* message length */
if (session->msgbuflen == 0x10)
*cp++ = 0x10;
/* payload */
crc = 0;
for (i = 0; i < len; i++) {
*cp++ = buf[i];
if (buf[i] == 0x10)
*cp++ = 0x10;
crc += buf[i];
}
crc &= 0xff;
/* enter CRC after payload */
*cp++ = crc;
if (crc == 0x10)
*cp++ = 0x10;
*cp++ = 0x10; /* message ends with DLE ETX */
*cp++ = 0x03;
session->msgbuflen = (size_t) (cp - session->msgbuf);
return gpsd_write(session, session->msgbuf, session->msgbuflen);
}
static bool evermore_protocol(struct gps_device_t *session, int protocol)
{
char tmp8;
char evrm_protocol_config[] = {
(char)0x84, /* 0: msg ID, Protocol Configuration */
(char)0x00, /* 1: mode; EverMore binary(0), NMEA(1) */
(char)0x00, /* 2: reserved */
(char)0x00, /* 3: reserved */
};
gpsd_log(&session->context->errout, LOG_PROG,
"evermore_protocol(%d)\n", protocol);
tmp8 = (protocol != 0) ? 1 : 0;
/* NMEA : binary */
evrm_protocol_config[1] = tmp8;
return (evermore_control_send
(session, evrm_protocol_config,
sizeof(evrm_protocol_config)) != -1);
}
static bool evermore_nmea_config(struct gps_device_t *session, int mode)
/* mode = 0 : EverMore default */
/* mode = 1 : gpsd best */
/* mode = 2 : EverMore search, activate PEMT101 message */
{
unsigned char tmp8;
unsigned char evrm_nmeaout_config[] = {
0x8e, /* 0: msg ID, NMEA Message Control */
0xff, /* 1: NMEA sentence bitmask, GGA(0), GLL(1), GSA(2), GSV(3), ... */
0x01, /* 2: nmea checksum no(0), yes(1) */
1, /* 3: GPGGA, interval 0-255s */
0, /* 4: GPGLL, interval 0-255s */
1, /* 5: GPGSA, interval 0-255s */
1, /* 6: GPGSV, interval 0-255s */
1, /* 7: GPRMC, interval 0-255s */
0, /* 8: GPVTG, interval 0-255s */
0, /* 9: PEMT,101, interval 0-255s */
0, 0, 0, 0, 0, 0, /* 10-15: reserved */
};
gpsd_log(&session->context->errout, LOG_PROG,
"evermore_nmea_config(%d)\n", mode);
tmp8 = (mode == 1) ? 5 : 1;
/* NMEA GPGSV, gpsd */
evrm_nmeaout_config[6] = tmp8; /* GPGSV, 1s or 5s */
tmp8 = (mode == 2) ? 1 : 0;
/* NMEA PEMT101 */
evrm_nmeaout_config[9] = tmp8; /* PEMT101, 1s or 0s */
return (evermore_control_send(session, (char *)evrm_nmeaout_config,
sizeof(evrm_nmeaout_config)) != -1);
}
static void evermore_mode(struct gps_device_t *session, int mode)
{
gpsd_log(&session->context->errout, LOG_PROG,
"evermore_mode(%d), %d\n", mode,
session->back_to_nmea ? 1 : 0);
if (mode == MODE_NMEA) {
/* NMEA */
(void)evermore_protocol(session, 1);
(void)evermore_nmea_config(session, 1); /* configure NMEA messages for gpsd */
} else {
/* binary */
(void)evermore_protocol(session, 0);
session->back_to_nmea = false;
}
}
static void evermore_event_hook(struct gps_device_t *session, event_t event)
{
if (session->context->readonly)
return;
/*
* FIX-ME: It might not be necessary to call this on reactivate.
* Experiment to see if the holds its settings through a close.
*/
if (event == event_identified || event == event_reactivate) {
/*
* We used to run this driver in binary mode, but that has the
* problem that Evermore binary mode doesn't report a
* leap-second correction in the Navigation Data Out sentence.
* So, run it in NMEA mode to getbUTC corrected by firmware.
* Fortunately the Evermore firmware interprets binary
* commands in NMEA mode, so nothing else needs to change.
*/
(void)evermore_mode(session, 0); /* switch GPS to NMEA mode */
(void)evermore_nmea_config(session, 1); /* configure NMEA messages for gpsd (GPGSV every 5s) */
session->back_to_nmea = false;
} else if (event == event_deactivate) {
(void)evermore_nmea_config(session, 0); /* configure NMEA messages to default */
}
}
#ifdef RECONFIGURE_ENABLE
static bool evermore_speed(struct gps_device_t *session,
speed_t speed, char parity, int stopbits)
{
gpsd_log(&session->context->errout, LOG_PROG,
"evermore_speed(%u%c%d)\n", (unsigned int)speed, parity,
stopbits);
/* parity and stopbit switching aren't available on this chip */
if (parity != session->gpsdata.dev.parity
|| stopbits != (int)session->gpsdata.dev.parity) {
return false;
} else {
unsigned char tmp8;
unsigned char msg[] = {
0x89, /* 0: msg ID, Serial Port Configuration */
0x01, /* 1: bit 0 cfg for main serial, bit 1 cfg for DGPS port */
0x00, /* 2: baud rate for main serial; 4800(0), 9600(1), 19200(2), 38400(3) */
0x00, /* 3: baud rate for DGPS serial port; 4800(0), 9600(1), etc */
};
switch (speed) {
case 4800:
tmp8 = 0;
break;
case 9600:
tmp8 = 1;
break;
case 19200:
tmp8 = 2;
break;
case 38400:
tmp8 = 3;
break;
default:
return false;
}
msg[2] = tmp8;
return (evermore_control_send(session, (char *)msg, sizeof(msg)) !=
-1);
}
}
static bool evermore_rate_switcher(struct gps_device_t *session, double rate)
/* change the sample rate of the GPS */
{
if (rate < 1 || rate > 10) {
gpsd_log(&session->context->errout, LOG_ERROR,
"valid rate range is 1-10.\n");
return false;
} else {
unsigned char evrm_rate_config[] = {
0x84, /* 1: msg ID, Operating Mode Configuration */
0x02, /* 2: normal mode with 1PPS */
0x00, /* 3: navigation update rate */
0x00, /* 4: RF/GPSBBP On Time */
};
evrm_rate_config[2] = (unsigned char)trunc(rate);
return (evermore_control_send(session, (char *)evrm_rate_config,
sizeof(evrm_rate_config)) != -1);
}
}
#endif /* RECONFIGURE_ENABLE */
/* this is everything we export */
/* *INDENT-OFF* */
const struct gps_type_t driver_evermore =
{
.type_name = "EverMore", /* full name of type */
.packet_type = EVERMORE_PACKET, /* lexer packet type */
.flags = DRIVER_STICKY, /* remember this */
.trigger = NULL, /* recognize the type */
.channels = EVERMORE_CHANNELS, /* consumer-grade GPS */
.probe_detect = NULL, /* no probe */
.get_packet = generic_get, /* use generic one */
.parse_packet = generic_parse_input, /* parse message packets */
.rtcm_writer = gpsd_write, /* send RTCM data straight */
.init_query = NULL, /* non-perturbing query */
.event_hook = evermore_event_hook, /* lifetime event handler */
#ifdef RECONFIGURE_ENABLE
.speed_switcher = evermore_speed, /* we can change baud rates */
.mode_switcher = evermore_mode, /* there is a mode switcher */
.rate_switcher = evermore_rate_switcher, /* change sample rate */
.min_cycle = 1, /* ignore, no rate switch */
#endif /* RECONFIGURE_ENABLE */
#ifdef CONTROLSEND_ENABLE
.control_send = evermore_control_send, /* how to send a control string */
#endif /* CONTROLSEND_ENABLE */
#ifdef TIMEHINT_ENABLE
.time_offset = NULL, /* no method for NTP fudge factor */
#endif /* TIMEHINT_ENABLE */
};
/* *INDENT-ON* */
#endif /* defined(EVERMORE_ENABLE) && defined(BINARY_ENABLE) */
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