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|
/*
* This is the gpsd driver for Skytraq GPSes operating in binary mode.
*
* SkyTraq is Big Endian
*
* This file is Copyright (c) 2016-2018 by the GPSD project
* SPDX-License-Identifier: BSD-2-clause
*/
#include <stdio.h>
#include <stdlib.h>
#include <stdbool.h>
#include <string.h>
#include <strings.h>
#include <math.h>
#include <ctype.h>
#include <unistd.h>
#include "gpsd.h"
#include "bits.h"
#include "strfuncs.h"
#if defined(SKYTRAQ_ENABLE)
#define HI(n) ((n) >> 8)
#define LO(n) ((n) & 0xff)
/*
* No ACK/NAK? Just rety after 6 seconds
*/
#define SKY_RETRY_TIME 6
#define SKY_CHANNELS 48 /* max channels allowed in format */
static gps_mask_t sky_parse(struct gps_device_t *, unsigned char *, size_t);
static gps_mask_t sky_msg_80(struct gps_device_t *, unsigned char *, size_t);
static gps_mask_t sky_msg_DC(struct gps_device_t *, unsigned char *, size_t);
static gps_mask_t sky_msg_DD(struct gps_device_t *, unsigned char *, size_t);
static gps_mask_t sky_msg_DE(struct gps_device_t *, unsigned char *, size_t);
static gps_mask_t sky_msg_DF(struct gps_device_t *, unsigned char *, size_t);
static gps_mask_t sky_msg_E0(struct gps_device_t *, unsigned char *, size_t);
static gps_mask_t sky_msg_E2(struct gps_device_t *, unsigned char *, size_t);
static gps_mask_t sky_msg_E3(struct gps_device_t *, unsigned char *, size_t);
#ifdef __UNUSED
/* Poll Software Version MID 2 */
static unsigned char versionprobe[] = {
0xa0, 0xa1, 0x00, 0x02,
0x02, /* MID 2 */
0x01, /* System */
0x00, 0x0d, 0x0a
};
// cppcheck-suppress unusedFunction
static bool sky_write(struct gps_device_t *session, unsigned char *msg)
{
unsigned int crc;
size_t i, len;
bool ok;
unsigned int type = (unsigned int)msg[4];
len = (size_t) ((msg[2] << 8) | msg[3]);
/* calculate Checksum */
crc = 0;
/* coverity_submit[tainted_data] */
for (i = 0; i < len; i++)
crc ^= (int)msg[4 + i];
/* enter CRC after payload */
msg[len + 4] = (unsigned char)(crc & 0x00ff);
gpsd_log(&session->context->errout, LOG_PROG,
"Skytraq: Writing control type %02x:\n", type);
ok = (gpsd_write(session, (const char *)msg, len+7) == (ssize_t) (len+7));
return (ok);
}
#endif /* __UNUSED */
/*
* Convert PRN to gnssid and svid
*/
static void PRN2_gnssId_svId(short PRN, uint8_t *gnssId, uint8_t *svId)
{
/* fit into gnssid:svid */
if (0 == PRN) {
/* skip 0 PRN */
*gnssId = 0;
*svId = 0;
} else if ((1 <= PRN) && (32 >= PRN)) {
/* GPS */
*gnssId = 0;
*svId = PRN;
} else if ((65 <= PRN) && (96 >= PRN)) {
/* GLONASS */
*gnssId = 6;
*svId = PRN - 64;
} else if ((120 <= PRN) && (158 >= PRN)) {
/* SBAS */
*gnssId = 1;
*svId = PRN;
} else if ((201 <= PRN) && (239 >= PRN)) {
/* BeiDou */
*gnssId = 3;
*svId = PRN - 200;
} else if ((240 <= PRN) && (254 >= PRN)) {
/* IRNSS */
*gnssId = 20;
*svId = PRN - 240;
} else {
/* huh? */
*gnssId = 0;
*svId = 0;
}
return;
}
/*
* decode MID 0x80, Software Version
*
* 10 bytes
*/
static gps_mask_t sky_msg_80(struct gps_device_t *session,
unsigned char *buf, size_t len)
{
unsigned int kver_x; /* kernel version */
unsigned int kver_y; /* kernel version */
unsigned int kver_z; /* kernel version */
unsigned int over_x; /* ODM version */
unsigned int over_y; /* ODM version */
unsigned int over_z; /* ODM version */
unsigned int rev_yy; /* revision */
unsigned int rev_mm; /* revision */
unsigned int rev_dd; /* revision */
if ( 14 != len)
return 0;
kver_x = getbeu16(buf, 2);
kver_y = getub(buf, 4);
kver_z = getub(buf, 5);
over_x = getbeu16(buf, 6);
over_y = getub(buf, 8);
over_z = getub(buf, 9);
rev_yy = getbeu16(buf, 10);
rev_mm = getub(buf, 12);
rev_dd = getub(buf, 13);
(void)snprintf(session->subtype, sizeof(session->subtype) - 1,
"kver=%3u.%2u,%2u, over=%3u.%2u,%2u, rev=%02u.%02u.%02u",
kver_x, kver_y, kver_z,
over_x, over_y, over_z,
rev_yy, rev_mm, rev_dd);
gpsd_log(&session->context->errout, LOG_DATA,
"Skytraq: MID 0x80: kver=%u.%u,%u, over=%u.%u,%u, rev=%u.%u.%u\n",
kver_x, kver_y, kver_z,
over_x, over_y, over_z,
rev_yy, rev_mm, rev_dd);
return 0;
}
/*
* decode MID 0xDC, Measurement Time
*
* 10 bytes
*/
static gps_mask_t sky_msg_DC(struct gps_device_t *session,
unsigned char *buf, size_t len)
{
unsigned int iod; /* Issue of data 0 - 255 */
unsigned int wn; /* week number 0 - 65535 */
unsigned int tow; /* receiver tow 0 - 604799999 in mS */
unsigned int mp; /* measurement period 1 - 1000 ms */
/* calculated */
double f_tow; /* tow in seconds */
unsigned int msec; /* mSec part of tow */
if ( 10 != len)
return 0;
iod = (unsigned int)getub(buf, 1);
wn = getbeu16(buf, 2);
tow = getbeu32(buf, 4);
f_tow = (double)(tow / 1000);
msec = tow % 1000;
mp = getbeu16(buf, 8);
/* should this be newdata.skyview_time? */
session->gpsdata.skyview_time = gpsd_gpstime_resolve(session, wn, f_tow );
gpsd_log(&session->context->errout, LOG_DATA,
"Skytraq: MID 0xDC: iod=%u, wn=%u, tow=%u, mp=%u, t=%lld.%03u\n",
iod, wn, tow, mp,
(long long)session->gpsdata.skyview_time, msec);
return 0;
}
/*
* decode MID 0xDD, Raw Measurements
*
*/
static gps_mask_t sky_msg_DD(struct gps_device_t *session,
unsigned char *buf, size_t len UNUSED)
{
unsigned int iod; /* Issue of data 0 - 255 */
unsigned int nmeas; /* number of measurements */
unsigned int i; /* generic loop variable */
double t_intp;
iod = (unsigned int)getub(buf, 1);
nmeas = (unsigned int)getub(buf, 2);
gpsd_log(&session->context->errout, LOG_DATA,
"Skytraq: MID 0xDD: iod=%u, nmeas=%u\n",
iod, nmeas);
/* check IOD? */
session->gpsdata.raw.mtime.tv_nsec = \
modf(session->gpsdata.skyview_time, &t_intp) * 10e9;
session->gpsdata.raw.mtime.tv_sec = (time_t)t_intp;
/* zero the measurement data */
/* so we can tell which meas never got set */
memset(session->gpsdata.raw.meas, 0, sizeof(session->gpsdata.raw.meas));
for (i = 0; i < nmeas; i++) {
const char *obs_code;
int off = 3 + (23 * i);
uint8_t PRN = getub(buf, off + 0);
/* carrier-to-noise density ratio dB-Hz */
uint8_t cno = getub(buf, off + 1);
/* psuedorange in meters */
double prMes = getbed64((const char *)buf, off + 2);
/* carrier phase in cycles */
double cpMes = getbed64((const char *)buf, off + 10);
/* doppler in Hz, positive towards sat */
double doMes = getbef32((const char *)buf, off + 18);
/* tracking stat
* bit 0 - prMes valid
* bit 1 - doppler valid
* bit 2 - cpMes valid
* bit 3 - cp slip
* bit 4 - Coherent integration time?
*/
uint8_t trkStat = getub(buf, off + 22);
uint8_t gnssId = 0;
uint8_t svId = 0;
PRN2_gnssId_svId(PRN, &gnssId, &svId);
session->gpsdata.raw.meas[i].gnssid = gnssId;
switch (gnssId) {
case 0: /* GPS */
case 5: /* QZSS */
case 20: /* IRNSS, just guessing here */
obs_code = "L1C"; /* u-blox calls this L1C/A */
break;
case 1: /* SBAS */
svId -= 100; /* adjust for RINEX 3 svid */
obs_code = "L1C"; /* u-blox calls this L1C/A */
break;
case 2: /* GALILEO */
obs_code = "L1B"; /* u-blox calls this E1OS */
break;
case 3: /* BeiDou */
obs_code = "L2I"; /* u-blox calls this B1I */
break;
default: /* huh? */
case 4: /* IMES. really? */
obs_code = ""; /* u-blox calls this L1 */
break;
case 6: /* GLONASS */
obs_code = "L1C"; /* u-blox calls this L1OF */
break;
}
(void)strlcpy(session->gpsdata.raw.meas[i].obs_code, obs_code,
sizeof(session->gpsdata.raw.meas[i].obs_code));
session->gpsdata.raw.meas[i].svid = svId;
session->gpsdata.raw.meas[i].snr = cno;
session->gpsdata.raw.meas[i].satstat = trkStat;
if (trkStat & 1) {
/* prMes valid */
session->gpsdata.raw.meas[i].pseudorange = prMes;
} else {
session->gpsdata.raw.meas[i].pseudorange = NAN;
}
if (trkStat & 2) {
/* doppler valid */
session->gpsdata.raw.meas[i].doppler = doMes;
} else {
session->gpsdata.raw.meas[i].doppler = NAN;
}
if (trkStat & 4) {
/* cpMes valid */
session->gpsdata.raw.meas[i].carrierphase = cpMes;
} else {
session->gpsdata.raw.meas[i].carrierphase = NAN;
}
session->gpsdata.raw.meas[i].codephase = NAN;
session->gpsdata.raw.meas[i].deltarange = NAN;
/* skytraq does not report locktime, so assume max */
session->gpsdata.raw.meas[i].locktime = LOCKMAX;
if (trkStat & 8) {
/* possible slip */
session->gpsdata.raw.meas[i].lli = 2;
}
gpsd_log(&session->context->errout, LOG_DATA,
"PRN %u (%u:%u) prMes %f cpMes %f doMes %f\n"
"cno %u rtkStat %u\n", PRN,
gnssId, svId, prMes, cpMes, doMes, cno, trkStat);
}
// return RAW_IS; /* WIP */
return 0;
}
/*
* decode MID 0xDE, SV and channel status
*
* max payload: 3 + (Num_sats * 10) = 483 bytes
*/
static gps_mask_t sky_msg_DE(struct gps_device_t *session,
unsigned char *buf, size_t len UNUSED)
{
int st, nsv;
unsigned int i;
unsigned int iod; /* Issue of data 0 - 255 */
unsigned int nsvs; /* number of SVs in this packet */
iod = (unsigned int)getub(buf, 1);
nsvs = (unsigned int)getub(buf, 2);
/* too many sats? */
if ( SKY_CHANNELS < nsvs )
return 0;
gpsd_zero_satellites(&session->gpsdata);
for (i = st = nsv = 0; i < nsvs; i++) {
int off = 3 + (10 * i); /* offset into buffer of start of this sat */
bool good; /* do we have a good record ? */
unsigned short sv_stat;
unsigned short chan_stat;
unsigned short ura;
short PRN;
uint8_t gnssId = 0;
uint8_t svId = 0;
PRN = (short)getub(buf, off + 1);
/* fit into gnssid:svid */
if (0 == PRN) {
/* skip 0 PRN */
continue;
}
PRN2_gnssId_svId(PRN, &gnssId, &svId);
session->gpsdata.skyview[st].gnssid = gnssId;
session->gpsdata.skyview[st].svid = svId;
session->gpsdata.skyview[st].PRN = PRN;
sv_stat = (unsigned short)getub(buf, off + 2);
ura = (unsigned short)getub(buf, off + 3);
session->gpsdata.skyview[st].ss = (float)getub(buf, off + 4);
session->gpsdata.skyview[st].elevation =
(short)getbes16(buf, off + 5);
session->gpsdata.skyview[st].azimuth =
(short)getbes16(buf, off + 7);
chan_stat = (unsigned short)getub(buf, off + 9);
session->gpsdata.skyview[st].used = (bool)(chan_stat & 0x30);
good = session->gpsdata.skyview[st].PRN != 0 &&
session->gpsdata.skyview[st].azimuth != 0 &&
session->gpsdata.skyview[st].elevation != 0;
gpsd_log(&session->context->errout, LOG_DATA,
"Skytraq: PRN=%2d El=%d Az=%d ss=%3.2f stat=%02x,%02x ura=%d %c\n",
session->gpsdata.skyview[st].PRN,
session->gpsdata.skyview[st].elevation,
session->gpsdata.skyview[st].azimuth,
session->gpsdata.skyview[st].ss,
chan_stat, sv_stat, ura,
good ? '*' : ' ');
if ( good ) {
st += 1;
if (session->gpsdata.skyview[st].used)
nsv++;
}
}
session->gpsdata.satellites_visible = st;
session->gpsdata.satellites_used = nsv;
gpsd_log(&session->context->errout, LOG_DATA,
"Skytraq: MID 0xDE: nsvs=%u visible=%u iod=%u\n", nsvs,
session->gpsdata.satellites_visible, iod);
return SATELLITE_SET | USED_IS;
}
/*
* decode MID 0xDF, Nav status (PVT)
*
* 81 bytes
*/
static gps_mask_t sky_msg_DF(struct gps_device_t *session,
unsigned char *buf, size_t len)
{
unsigned int iod; /* Issue of data 0 - 255 */
unsigned short navstat;
unsigned int wn; /* week number 0 - 65535 */
double f_tow; /* receiver tow Sec */
double clock_bias;
double clock_drift;
gps_mask_t mask = 0;
if ( 81 != len)
return 0;
iod = (unsigned int)getub(buf, 1);
/* fix status is byte 2 */
navstat = (unsigned short)getub(buf, 2);
session->gpsdata.status = STATUS_NO_FIX;
session->newdata.mode = MODE_NO_FIX;
switch ( navstat ) {
case 1:
/* fix prediction, ignore */
break;
case 2:
session->gpsdata.status = STATUS_FIX;
session->newdata.mode = MODE_2D;
break;
case 3:
session->gpsdata.status = STATUS_FIX;
session->newdata.mode = MODE_3D;
mask |= ALTITUDE_SET | CLIMB_SET;
break;
case 4:
session->gpsdata.status = STATUS_DGPS_FIX;
session->newdata.mode = MODE_3D;
mask |= ALTITUDE_SET | CLIMB_SET;
break;
default:
break;
}
wn = getbeu16(buf, 3);
f_tow = getbed64((const char *)buf, 5);
/* position/velocity is bytes 13-48, meters and m/s */
session->newdata.ecef.x = (double)getbed64((const char *)buf, 13),
session->newdata.ecef.y = (double)getbed64((const char *)buf, 21),
session->newdata.ecef.z = (double)getbed64((const char *)buf, 29),
session->newdata.ecef.vx = (double)getbef32((const char *)buf, 37),
session->newdata.ecef.vy = (double)getbef32((const char *)buf, 41),
session->newdata.ecef.vz = (double)getbef32((const char *)buf, 45);
ecef_to_wgs84fix(&session->newdata, &session->gpsdata.separation,
session->newdata.ecef.x, session->newdata.ecef.y,
session->newdata.ecef.z, session->newdata.ecef.vx,
session->newdata.ecef.vy, session->newdata.ecef.vz);
clock_bias = getbed64((const char *)buf, 49);
clock_drift = getbes32(buf, 57);
session->gpsdata.dop.gdop = getbef32((const char *)buf, 61);
session->gpsdata.dop.pdop = getbef32((const char *)buf, 65);
session->gpsdata.dop.hdop = getbef32((const char *)buf, 69);
session->gpsdata.dop.vdop = getbef32((const char *)buf, 73);
session->gpsdata.dop.tdop = getbef32((const char *)buf, 77);
session->newdata.time = gpsd_gpstime_resolve(session, wn, f_tow );
gpsd_log(&session->context->errout, LOG_DATA,
"Skytraq: MID 0xDF: iod=%u, stat=%u, wn=%u, tow=%f, t=%.6f "
"cb: %f, cd: %f "
"gdop: %.2f, pdop: %.2f, hdop: %.2f, vdop: %.2f, tdop: %.2f\n",
iod, navstat, wn, f_tow,
session->newdata.time,
clock_bias, clock_drift,
session->gpsdata.dop.gdop,
session->gpsdata.dop.pdop,
session->gpsdata.dop.hdop,
session->gpsdata.dop.vdop,
session->gpsdata.dop.tdop);
mask |= TIME_SET | LATLON_SET | TRACK_SET | ECEF_SET | VECEF_SET
| SPEED_SET | STATUS_SET | MODE_SET | DOP_SET | CLEAR_IS
| REPORT_IS;
return mask;
}
/*
* decode MID 0xE0, GPS Subframe data
*
* len 33 bytes
*
*/
static gps_mask_t sky_msg_E0(struct gps_device_t *session,
unsigned char *buf, size_t len UNUSED)
{
int i;
unsigned int prn; /* GPS sat PRN */
unsigned int subf; /* subframe 1-5 */
/* the words are preprocessed, not raw, just the 24bits of data */
uint32_t words[10]; /* subframe 1-5 */
if ( 33 != len)
return 0;
prn = (unsigned int)getub(buf, 1);
subf = (unsigned int)getub(buf, 2);
for ( i = 0; i < 10; i++ ) {
words[i] = (uint32_t)getbeu24(buf, 3 + (i * 3));
}
gpsd_log(&session->context->errout, LOG_DATA,
"Skytraq: 50B MID 0xE0: prn=%u, subf=%u\n",
prn, subf);
return gpsd_interpret_subframe(session, prn, words);
}
/*
* pretend to decode MID 0xE2, Beiduo D1 Subframe data
*
* from Beidou Standard BDS-SIS-ICD-2.0
* D1, with the data rate of 50 bps, is broadcasted by the MEO/IGSO satellites
*
* len 31 bytes
*
*/
static gps_mask_t sky_msg_E2(struct gps_device_t *session,
unsigned char *buf, size_t len)
{
int i;
unsigned int prn; /* BeidouPS sat PRN 206-214 */
unsigned int subf; /* subframe 1-5 */
/* the words are preprocessed, not raw, just the 28 bytes of data */
uint8_t bytes[28]; /* raw data */
if ( 31 != len)
return 0;
prn = (unsigned int)getub(buf, 1);
subf = (unsigned int)getub(buf, 2);
for ( i = 0; i < 28; i++ ) {
bytes[i] = getub(buf, 3 + i);
}
/* extra guard prevents expensive hexdump calls */
if (session->context->errout.debug >= LOG_PROG) {
gpsd_log(&session->context->errout, LOG_PROG,
"Skytraq: Beidou D1 subframe PRN %d Subframe %d "
"length %zd byte:%s\n",
prn, subf,
len,
gpsd_hexdump(session->msgbuf, sizeof(session->msgbuf),
(char *)bytes, 28));
}
return ONLINE_SET;
}
/*
* pretend to decode MID 0xE3, Beiduo D2 Subframe data
*
* from Beidou Standard BDS-SIS-ICD-2.0
* D2, with the data rate of 500 bps, is broadcasted by the GEO satellites.
*
* len 31 bytes
*
*/
static gps_mask_t sky_msg_E3(struct gps_device_t *session,
unsigned char *buf, size_t len)
{
int i;
unsigned int prn; /* BeidouPS sat PRN 201-205 */
unsigned int subf; /* subframe 1-5 */
/* the words are preprocessed, not raw, just the 28 bytes of data */
uint8_t bytes[28]; /* raw data */
if ( 31 != len)
return 0;
prn = (unsigned int)getub(buf, 1);
subf = (unsigned int)getub(buf, 2);
for ( i = 0; i < 28; i++ ) {
bytes[i] = getub(buf, 3 + i);
}
/* extra guard prevents expensive hexdump calls */
if (session->context->errout.debug >= LOG_PROG) {
gpsd_log(&session->context->errout, LOG_PROG,
"Skytraq: Beidou D2 subframe PRN %d Subframe %d "
"length %zd byte:%s\n",
prn, subf,
len,
gpsd_hexdump(session->msgbuf, sizeof(session->msgbuf),
(char *)bytes, 28));
}
return ONLINE_SET;
}
static gps_mask_t sky_parse(struct gps_device_t * session, unsigned char *buf,
size_t len)
{
gps_mask_t mask = 0;
if (len == 0)
return mask;
buf += 4; /* skip the leaders and length */
len -= 7; /* don't count the leaders, length, csum and terminators */
// session->driver.sirf.lastid = buf[0];
/* check the checksum?? */
/* could change if the set of messages we enable does */
/* session->cycle_end_reliable = true; */
switch (buf[0]) {
case 0x80:
/* 128 */
return sky_msg_80(session, buf, len);
case 0x83:
/* 131 - ACK */
gpsd_log(&session->context->errout, LOG_PROG,
"Skytraq: ACK to MID %#02x\n", buf[1]);
break;
case 0x84:
/* 132 - NACK */
gpsd_log(&session->context->errout, LOG_INF,
"Skytraq: NACK to MID %#02x\n", buf[1]);
break;
case 0xDC:
/* 220 */
return sky_msg_DC(session, buf, len);
case 0xDD:
/* 221 */
return sky_msg_DD(session, buf, len);
case 0xDE:
/* 222 */
return sky_msg_DE(session, buf, len);
case 0xDF:
/* 223 - Nave status (PVT) */
return sky_msg_DF(session, buf, len);
case 0xE0:
/* 224 */
return sky_msg_E0(session, buf, len);
case 0xE2:
/* 226 - Beidou2 D1 Subframe data */
return sky_msg_E2(session, buf, len);
case 0xE3:
/* 227 - Beidou2 D2 Subframe data */
return sky_msg_E3(session, buf, len);
default:
gpsd_log(&session->context->errout, LOG_PROG,
"Skytraq: Unknown packet id %#02x length %zd\n",
buf[0], len);
}
return mask;
}
static gps_mask_t skybin_parse_input(struct gps_device_t *session)
{
if (session->lexer.type == SKY_PACKET) {
return sky_parse(session, session->lexer.outbuffer,
session->lexer.outbuflen);
#ifdef NMEA0183_ENABLE
} else if (session->lexer.type == NMEA_PACKET) {
return nmea_parse((char *)session->lexer.outbuffer, session);
#endif /* NMEA0183_ENABLE */
} else
return 0;
}
/* this is everything we export */
/* *INDENT-OFF* */
const struct gps_type_t driver_skytraq =
{
.type_name = "Skytraq", /* full name of type */
.packet_type = SKY_PACKET, /* associated lexer packet type */
.flags = DRIVER_STICKY, /* remember this */
.trigger = NULL, /* no trigger */
.channels = SKY_CHANNELS, /* consumer-grade GPS */
.probe_detect = NULL, /* no probe */
.get_packet = generic_get, /* be prepared for Skytraq or NMEA */
.parse_packet = skybin_parse_input,/* parse message packets */
.rtcm_writer = gpsd_write, /* send RTCM data straight */
.init_query = NULL, /* non-perturbing initial qury */
.event_hook = NULL, /* lifetime event handler */
};
/* *INDENT-ON* */
#endif /* defined( SKYTRAQ_ENABLE) && defined(BINARY_ENABLE) */
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