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/*
* This file is Copyright (c) 2010 by the GPSD project
* BSD terms apply: see the file COPYING in the distribution root for details.
*
* Driver for the iTalk binary protocol used by FasTrax
*
* Week counters are not limited to 10 bits. It's unknown what
* the firmware is doing to disambiguate them, if anything; it might just
* be adding a fixed offset based on a hidden epoch value, in which case
* unhappy things will occur on the next rollover.
*/
#include <stdio.h>
#include <stdbool.h>
#include <string.h>
#include <math.h>
#include <termios.h>
#ifndef S_SPLINT_S
#include <unistd.h>
#endif /* S_SPLINT_S */
#include "gpsd.h"
#if defined(ITRAX_ENABLE) && defined(BINARY_ENABLE)
#include "bits.h"
#include "driver_italk.h"
static gps_mask_t italk_parse(struct gps_device_t *, unsigned char *, size_t);
static gps_mask_t decode_itk_navfix(struct gps_device_t *, unsigned char *,
size_t);
static gps_mask_t decode_itk_prnstatus(struct gps_device_t *, unsigned char *,
size_t);
static gps_mask_t decode_itk_utcionomodel(struct gps_device_t *,
unsigned char *, size_t);
static gps_mask_t decode_itk_subframe(struct gps_device_t *, unsigned char *,
size_t);
static gps_mask_t decode_itk_navfix(struct gps_device_t *session,
unsigned char *buf, size_t len)
{
unsigned short flags, pflags;
gps_mask_t mask = 0;
double epx, epy, epz, evx, evy, evz, eph;
if (len != 296) {
gpsd_report(LOG_PROG, "ITALK: bad NAV_FIX (len %zu, should be 296)\n",
len);
return -1;
}
flags = (ushort) getleu16(buf, 7 + 4);
//cflags = (ushort) getleu16(buf, 7 + 6);
pflags = (ushort) getleu16(buf, 7 + 8);
session->gpsdata.status = STATUS_NO_FIX;
session->newdata.mode = MODE_NO_FIX;
mask = ONLINE_SET | MODE_SET | STATUS_SET | CLEAR_IS;
/* just bail out if this fix is not marked valid */
if (0 != (pflags & FIX_FLAG_MASK_INVALID)
|| 0 == (flags & FIXINFO_FLAG_VALID))
return mask;
session->newdata.time = gpsd_gpstime_resolve(session,
(unsigned short) getles16(buf, 7 + 82),
(unsigned int)getleu32(buf, 7 + 84) / 1000.0);
mask |= TIME_SET | PPSTIME_IS;
epx = (double)(getles32(buf, 7 + 96) / 100.0);
epy = (double)(getles32(buf, 7 + 100) / 100.0);
epz = (double)(getles32(buf, 7 + 104) / 100.0);
evx = (double)(getles32(buf, 7 + 186) / 1000.0);
evy = (double)(getles32(buf, 7 + 190) / 1000.0);
evz = (double)(getles32(buf, 7 + 194) / 1000.0);
ecef_to_wgs84fix(&session->newdata, &session->gpsdata.separation,
epx, epy, epz, evx, evy, evz);
mask |= LATLON_SET | ALTITUDE_SET | SPEED_SET | TRACK_SET | CLIMB_SET;
eph = (double)(getles32(buf, 7 + 252) / 100.0);
/* eph is a circular error, sqrt(epx**2 + epy**2) */
session->newdata.epx = session->newdata.epy = eph / sqrt(2);
session->newdata.eps = (double)(getles32(buf, 7 + 254) / 100.0);
#define MAX(a,b) (((a) > (b)) ? (a) : (b))
session->gpsdata.satellites_used =
(int)MAX(getleu16(buf, 7 + 12), getleu16(buf, 7 + 14));
mask |= USED_IS;
if (flags & FIX_CONV_DOP_VALID) {
session->gpsdata.dop.hdop = (double)(getleu16(buf, 7 + 56) / 100.0);
session->gpsdata.dop.gdop = (double)(getleu16(buf, 7 + 58) / 100.0);
session->gpsdata.dop.pdop = (double)(getleu16(buf, 7 + 60) / 100.0);
session->gpsdata.dop.vdop = (double)(getleu16(buf, 7 + 62) / 100.0);
session->gpsdata.dop.tdop = (double)(getleu16(buf, 7 + 64) / 100.0);
mask |= DOP_SET;
}
if ((pflags & FIX_FLAG_MASK_INVALID) == 0
&& (flags & FIXINFO_FLAG_VALID) != 0) {
if (pflags & FIX_FLAG_3DFIX)
session->newdata.mode = MODE_3D;
else
session->newdata.mode = MODE_2D;
if (pflags & FIX_FLAG_DGPS_CORRECTION)
session->gpsdata.status = STATUS_DGPS_FIX;
else
session->gpsdata.status = STATUS_FIX;
}
gpsd_report(LOG_DATA,
"NAV_FIX: time=%.2f, lat=%.2f lon=%.2f alt=%.f speed=%.2f track=%.2f climb=%.2f mode=%d status=%d gdop=%.2f pdop=%.2f hdop=%.2f vdop=%.2f tdop=%.2f\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.status, session->gpsdata.dop.gdop,
session->gpsdata.dop.pdop, session->gpsdata.dop.hdop,
session->gpsdata.dop.vdop, session->gpsdata.dop.tdop);
return mask;
}
static gps_mask_t decode_itk_prnstatus(struct gps_device_t *session,
unsigned char *buf, size_t len)
{
unsigned int i, nsv, nchan, st;
gps_mask_t mask;
if (len < 62) {
gpsd_report(LOG_PROG, "ITALK: runt PRN_STATUS (len=%zu)\n", len);
mask = 0;
} else {
session->gpsdata.skyview_time = gpsd_gpstime_resolve(session,
(unsigned short)getleu16(buf, 7 + 4),
(unsigned int)getleu32(buf, 7 + 6) / 1000.0),
gpsd_zero_satellites(&session->gpsdata);
nsv = 0;
nchan = (unsigned int)getleu16(buf, 7 + 50);
if (nchan > MAX_NR_VISIBLE_PRNS)
nchan = MAX_NR_VISIBLE_PRNS;
for (i = st = 0; i < nchan; i++) {
unsigned int off = 7 + 52 + 10 * i;
unsigned short flags;
flags = (ushort) getleu16(buf, off);
session->gpsdata.ss[i] = (float)(getleu16(buf, off + 2) & 0xff);
session->gpsdata.PRN[i] = (int)getleu16(buf, off + 4) & 0xff;
session->gpsdata.elevation[i] = (int)getles16(buf, off + 6) & 0xff;
session->gpsdata.azimuth[i] = (int)getles16(buf, off + 8) & 0xff;
if (session->gpsdata.PRN[i]) {
st++;
if (flags & PRN_FLAG_USE_IN_NAV)
session->gpsdata.used[nsv++] = session->gpsdata.PRN[i];
}
}
session->gpsdata.satellites_visible = (int)st;
session->gpsdata.satellites_used = (int)nsv;
mask = USED_IS | SATELLITE_SET;;
gpsd_report(LOG_DATA,
"PRN_STATUS: time=%.2f visible=%d used=%d mask={USED|SATELLITE}\n",
session->newdata.time,
session->gpsdata.satellites_visible,
session->gpsdata.satellites_used);
}
return mask;
}
static gps_mask_t decode_itk_utcionomodel(struct gps_device_t *session,
unsigned char *buf, size_t len)
{
int leap;
unsigned short flags;
if (len != 64) {
gpsd_report(LOG_PROG,
"ITALK: bad UTC_IONO_MODEL (len %zu, should be 64)\n",
len);
return 0;
}
flags = (ushort) getleu16(buf, 7);
if (0 == (flags & UTC_IONO_MODEL_UTCVALID))
return 0;
leap = (int)getleu16(buf, 7 + 24);
if (session->context->leap_seconds < leap)
session->context->leap_seconds = leap;
session->newdata.time = gpsd_gpstime_resolve(session,
(unsigned short) getleu16(buf, 7 + 36),
(unsigned int)getleu32(buf, 7 + 38) / 1000.0);
gpsd_report(LOG_DATA,
"UTC_IONO_MODEL: time=%.2f mask={TIME}\n",
session->newdata.time);
return TIME_SET | PPSTIME_IS;
}
static gps_mask_t decode_itk_subframe(struct gps_device_t *session,
unsigned char *buf, size_t len)
{
unsigned short flags, prn, sf;
unsigned int i;
uint32_t words[10];
if (len != 64) {
gpsd_report(LOG_PROG,
"ITALK: bad SUBFRAME (len %zu, should be 64)\n", len);
return 0;
}
flags = (ushort) getleu16(buf, 7 + 4);
prn = (ushort) getleu16(buf, 7 + 6);
sf = (ushort) getleu16(buf, 7 + 8);
gpsd_report(LOG_PROG, "iTalk 50B SUBFRAME prn %u sf %u - decode %s %s\n",
prn, sf,
flags & SUBFRAME_WORD_FLAG_MASK ? "error" : "ok",
flags & SUBFRAME_GPS_PREAMBLE_INVERTED ? "(inverted)" : "");
if (flags & SUBFRAME_WORD_FLAG_MASK)
return 0; // don't try decode an erroneous packet
/*
* Timo says "SUBRAME message contains decoded navigation message subframe
* words with parity checking done but parity bits still present."
*/
for (i = 0; i < 10; i++)
words[i] = (uint32_t)(getleu32(buf, 7 + 14 + 4 * i) >> 6) & 0xffffff;
return gpsd_interpret_subframe(session, prn, words);
}
static gps_mask_t decode_itk_pseudo(struct gps_device_t *session,
unsigned char *buf, size_t len)
{
unsigned short flags, n, i;
union long_double l_d;
n = (ushort) getleu16(buf, 7 + 4);
if ((n < 1) || (n > MAXCHANNELS)){
gpsd_report(LOG_INF, "ITALK: bad PSEUDO channel count\n");
return 0;
}
if (len != (size_t)((n+1)*36)) {
gpsd_report(LOG_PROG,
"ITALK: bad PSEUDO len %zu\n", len);
}
gpsd_report(LOG_PROG, "iTalk PSEUDO [%u]\n", n);
flags = (unsigned short)getleu16(buf, 7 + 6);
if ((flags & 0x3) != 0x3)
return 0; // bail if measurement time not valid.
session->newdata.time = gpsd_gpstime_resolve(session,
(unsigned short int) getleu16(buf, 7 + 8),
(unsigned int)getleu32(buf, 7 + 38) / 1000.0);
/*@-type@*/
for (i = 0; i < n; i++){
session->gpsdata.PRN[i] = getleu16(buf, 7 + 26 + (i*36)) & 0xff;
session->gpsdata.ss[i] = getleu16(buf, 7 + 26 + (i*36 + 2)) & 0x3f;
session->gpsdata.raw.satstat[i] = getleu32(buf, 7 + 26 + (i*36 + 4));
session->gpsdata.raw.pseudorange[i] = getled(buf, 7 + 26 + (i*36 + 8));
session->gpsdata.raw.doppler[i] = getled(buf, 7 + 26 + (i*36 + 16));
session->gpsdata.raw.carrierphase[i] = getleu16(buf, 7 + 26 + (i*36 + 28));
session->gpsdata.raw.mtime[i] = session->newdata.time;
session->gpsdata.raw.codephase[i] = NAN;
session->gpsdata.raw.deltarange[i] = NAN;
}
/*@+type@*/
return RAW_IS;
}
/*@ +charint @*/
static gps_mask_t italk_parse(struct gps_device_t *session,
unsigned char *buf, size_t len)
{
unsigned int type;
gps_mask_t mask = 0;
if (len == 0)
return 0;
type = (uint) getub(buf, 4);
/* we may need to dump the raw packet */
gpsd_report(LOG_RAW, "raw italk packet type 0x%02x\n", type);
session->cycle_end_reliable = true;
switch (type) {
case ITALK_NAV_FIX:
gpsd_report(LOG_IO, "iTalk NAV_FIX len %zu\n", len);
mask = decode_itk_navfix(session, buf, len) | (CLEAR_IS | REPORT_IS);
break;
case ITALK_PRN_STATUS:
gpsd_report(LOG_IO, "iTalk PRN_STATUS len %zu\n", len);
mask = decode_itk_prnstatus(session, buf, len);
break;
case ITALK_UTC_IONO_MODEL:
gpsd_report(LOG_IO, "iTalk UTC_IONO_MODEL len %zu\n", len);
mask = decode_itk_utcionomodel(session, buf, len);
break;
case ITALK_ACQ_DATA:
gpsd_report(LOG_IO, "iTalk ACQ_DATA len %zu\n", len);
break;
case ITALK_TRACK:
gpsd_report(LOG_IO, "iTalk TRACK len %zu\n", len);
break;
case ITALK_PSEUDO:
gpsd_report(LOG_IO, "iTalk PSEUDO len %zu\n", len);
mask = decode_itk_pseudo(session, buf, len);
break;
case ITALK_RAW_ALMANAC:
gpsd_report(LOG_IO, "iTalk RAW_ALMANAC len %zu\n", len);
break;
case ITALK_RAW_EPHEMERIS:
gpsd_report(LOG_IO, "iTalk RAW_EPHEMERIS len %zu\n", len);
break;
case ITALK_SUBFRAME:
mask = decode_itk_subframe(session, buf, len);
break;
case ITALK_BIT_STREAM:
gpsd_report(LOG_IO, "iTalk BIT_STREAM len %zu\n", len);
break;
case ITALK_AGC:
case ITALK_SV_HEALTH:
case ITALK_PRN_PRED:
case ITALK_FREQ_PRED:
case ITALK_DBGTRACE:
case ITALK_START:
case ITALK_STOP:
case ITALK_SLEEP:
case ITALK_STATUS:
case ITALK_ITALK_CONF:
case ITALK_SYSINFO:
case ITALK_ITALK_TASK_ROUTE:
case ITALK_PARAM_CTRL:
case ITALK_PARAMS_CHANGED:
case ITALK_START_COMPLETED:
case ITALK_STOP_COMPLETED:
case ITALK_LOG_CMD:
case ITALK_SYSTEM_START:
case ITALK_STOP_SEARCH:
case ITALK_SEARCH:
case ITALK_PRED_SEARCH:
case ITALK_SEARCH_DONE:
case ITALK_TRACK_DROP:
case ITALK_TRACK_STATUS:
case ITALK_HANDOVER_DATA:
case ITALK_CORE_SYNC:
case ITALK_WAAS_RAWDATA:
case ITALK_ASSISTANCE:
case ITALK_PULL_FIX:
case ITALK_MEMCTRL:
case ITALK_STOP_TASK:
gpsd_report(LOG_IO,
"iTalk not processing packet: id 0x%02x length %zu\n",
type, len);
break;
default:
gpsd_report(LOG_IO, "iTalk unknown packet: id 0x%02x length %zu\n",
type, len);
}
(void)snprintf(session->gpsdata.tag, sizeof(session->gpsdata.tag),
"ITK-%02x", type);
return mask | ONLINE_SET;
}
/*@ -charint @*/
static gps_mask_t italk_parse_input(struct gps_device_t *session)
{
gps_mask_t st;
if (session->packet.type == ITALK_PACKET) {
st = italk_parse(session, session->packet.outbuffer,
session->packet.outbuflen);
session->gpsdata.dev.driver_mode = MODE_BINARY; /* binary */
return st;
#ifdef NMEA_ENABLE
} else if (session->packet.type == NMEA_PACKET) {
st = nmea_parse((char *)session->packet.outbuffer, session);
session->gpsdata.dev.driver_mode = MODE_NMEA; /* NMEA */
return st;
#endif /* NMEA_ENABLE */
} else
return 0;
}
#ifdef __future__
static void italk_ping(struct gps_device_t *session)
/* send a "ping". it may help us detect an itrax more quickly */
{
char *ping = "<?>";
(void)gpsd_write(session, ping, 3);
}
#endif /* __future__ */
/* *INDENT-OFF* */
const struct gps_type_t italk_binary =
{
.type_name = "iTalk binary", /* full name of type */
.packet_type = ITALK_PACKET, /* associated lexer packet type */
.flags = DRIVER_NOFLAGS, /* no rollover or other flags */
.trigger = NULL, /* recognize the type */
.channels = 12, /* consumer-grade GPS */
.probe_detect = NULL, /* how to detect at startup time */
.get_packet = generic_get, /* use generic packet grabber */
.parse_packet = italk_parse_input,/* parse message packets */
.rtcm_writer = gpsd_write, /* send RTCM data straight */
.event_hook = NULL, /* lifetime event handler */
#ifdef RECONFIGURE_ENABLE
.speed_switcher = NULL, /* no speed switcher */
.mode_switcher = NULL, /* no mode switcher */
.rate_switcher = NULL, /* no sample-rate switcher */
.min_cycle = 1, /* not relevant, no rate switch */
#endif /* RECONFIGURE_ENABLE */
#ifdef CONTROLSEND_ENABLE
.control_send = NULL, /* no control string sender */
#endif /* CONTROLSEND_ENABLE */
#ifdef NTPSHM_ENABLE
.ntp_offset = NULL, /* no method for NTP fudge factor */
#endif /* NTPSHM_ ENABLE */
};
/* *INDENT-ON* */
#endif /* defined(ITRAX_ENABLE) && defined(BINARY_ENABLE) */
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