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/*
* This file is Copyright (c) 2010-2018 by the GPSD project
* SPDX-License-Identifier: BSD-2-clause
*/
#include <stdio.h>
#include <stdbool.h>
#include <time.h>
#include <string.h>
#include <math.h>
#include <stdlib.h>
#include "gpsd.h"
#if defined(SUPERSTAR2_ENABLE) && defined(BINARY_ENABLE)
#include "bits.h"
#include "driver_superstar2.h"
/*
* These routines are specific to this driver
*/
static gps_mask_t superstar2_parse_input(struct gps_device_t *);
static gps_mask_t superstar2_dispatch(struct gps_device_t *,
unsigned char *, size_t);
static gps_mask_t superstar2_msg_ack(struct gps_device_t *,
unsigned char *, size_t);
static gps_mask_t superstar2_msg_navsol_lla(struct gps_device_t *,
unsigned char *, size_t);
static gps_mask_t superstar2_msg_timing(struct gps_device_t *,
unsigned char *, size_t);
static gps_mask_t superstar2_msg_svinfo(struct gps_device_t *,
unsigned char *, size_t);
static gps_mask_t superstar2_msg_iono_utc(struct gps_device_t *,
unsigned char *, size_t);
static gps_mask_t superstar2_msg_ephemeris(struct gps_device_t *,
unsigned char *, size_t);
/*
* These methods may be called elsewhere in gpsd
*/
#ifdef CONTROLSEND_ENABLE
static ssize_t superstar2_control_send(struct gps_device_t *, char *, size_t);
#endif /* CONTROLSEND_ENABLE */
static void superstar2_event_hook(struct gps_device_t *, event_t);
static ssize_t superstar2_write(struct gps_device_t *, char *, size_t);
#ifdef RECONFIGURE_ENABLE
static bool superstar2_set_speed(struct gps_device_t *, speed_t, char, int);
static void superstar2_set_mode(struct gps_device_t *, int);
#endif /* RECONFIGURE_ENABLE */
/*
* Decode the message ACK message
*/
static gps_mask_t
superstar2_msg_ack(struct gps_device_t *session,
unsigned char *buf, size_t data_len)
{
if (data_len == 11)
gpsd_log(&session->context->errout, LOG_PROG,
"superstar2 #126 - ACK %d %d %d %d %d\n",
buf[5], buf[6], buf[7], buf[8], buf[9]);
return 0;
}
/*
* Decode the navigation solution message. The ECEF version is intentionally
* unhandled. By suppressing evaluation of it, we gain the desirable feature
* that the fix update is atomic and exactly once per cycle.
*/
static gps_mask_t
superstar2_msg_navsol_lla(struct gps_device_t *session,
unsigned char *buf, size_t data_len)
{
gps_mask_t mask;
unsigned char flags;
double d;
struct tm tm;
if (data_len != 77)
return 0;
gpsd_log(&session->context->errout, LOG_PROG,
"superstar2 #20 - user navigation data\n");
mask = 0;
flags = (unsigned char)getub(buf, 72);
if ((flags & 0x0f) != 0x03) /* mode 3 is navigation */
return mask;
/* extract time data */
(void)memset(&tm, '\0', sizeof(tm));
tm.tm_hour = (int)getub(buf, 4) & 0x1f;
tm.tm_min = (int)getub(buf, 5);
d = getled64((char *)buf, 6);
tm.tm_sec = (int)d;
tm.tm_mday = (int)getub(buf, 14);
tm.tm_mon = (int)getub(buf, 15) - 1;
tm.tm_year = (int)getleu16(buf, 16) - 1900;
tm.tm_isdst = 0;
session->newdata.time = (timestamp_t)mkgmtime(&tm) + (d - tm.tm_sec);
mask |= TIME_SET | NTPTIME_IS;
/* extract the local tangential plane (ENU) solution */
session->newdata.latitude = getled64((char *)buf, 18) * RAD_2_DEG;
session->newdata.longitude = getled64((char *)buf, 26) * RAD_2_DEG;
session->newdata.altitude = getlef32((char *)buf, 34);
session->newdata.speed = getlef32((char *)buf, 38);
session->newdata.track = getlef32((char *)buf, 42) * RAD_2_DEG;
session->newdata.climb = getlef32((char *)buf, 54);
mask |= LATLON_SET | ALTITUDE_SET | SPEED_SET | TRACK_SET | CLIMB_SET;
session->gpsdata.satellites_used = (int)getub(buf, 71) & 0x0f;
session->gpsdata.dop.hdop = getleu16(buf, 66) * 0.1;
session->gpsdata.dop.vdop = getleu16(buf, 68) * 0.1;
/* other DOP if available */
mask |= DOP_SET | USED_IS;
flags = (unsigned char)getub(buf, 70);
switch (flags & 0x1f) {
case 2:
session->newdata.mode = MODE_3D;
session->gpsdata.status = STATUS_FIX;
break;
case 4:
session->newdata.mode = MODE_3D;
session->gpsdata.status = STATUS_DGPS_FIX;
break;
case 5:
session->newdata.mode = MODE_2D;
session->gpsdata.status = STATUS_DGPS_FIX;
break;
case 3:
case 6:
session->newdata.mode = MODE_2D;
session->gpsdata.status = STATUS_FIX;
break;
default:
session->gpsdata.status = STATUS_NO_FIX;
session->newdata.mode = MODE_NO_FIX;
}
mask |= MODE_SET | STATUS_SET;
gpsd_log(&session->context->errout, LOG_DATA,
"NAVSOL_LLA: time=%.2f lat=%.2f lon=%.2f alt=%.2f track=%.2f "
"speed=%.2f climb=%.2f mode=%d status=%d hdop=%.2f hdop=%.2f "
"used=%d\n",
session->newdata.time,
session->newdata.latitude,
session->newdata.longitude,
session->newdata.altitude,
session->newdata.track,
session->newdata.speed,
session->newdata.climb,
session->newdata.mode,
session->gpsdata.status,
session->gpsdata.dop.hdop,
session->gpsdata.dop.vdop,
session->gpsdata.satellites_used);
return mask;
}
/*
* GPS Satellite Info
*/
static gps_mask_t
superstar2_msg_svinfo(struct gps_device_t *session,
unsigned char *buf, size_t data_len)
{
int i, st, nchan, nsv;
if (data_len != 67)
return 0;
gpsd_log(&session->context->errout, LOG_PROG,
"superstar2 #33 - satellite data\n");
nchan = 12;
gpsd_zero_satellites(&session->gpsdata);
nsv = 0; /* number of actually used satellites */
for (i = st = 0; i < nchan; i++) {
/* get info for one channel/satellite */
int off = i * 5 + 5;
unsigned int porn;
bool used = (getub(buf, off) & 0x60) == 0x60;
if ((porn = (unsigned int)getub(buf, off) & 0x1f) == 0)
porn = (unsigned int)(getub(buf, off + 3) >> 1) + 87;
session->gpsdata.skyview[i].PRN = (short)porn;
session->gpsdata.skyview[i].ss = (float)getub(buf, off + 4);
session->gpsdata.skyview[i].elevation = (short)getsb(buf, off + 1);
session->gpsdata.skyview[i].azimuth = (short)getub(buf, off + 2) +
(short)((unsigned short)(getub(buf, off + 3) & 0x1) << 1);
session->gpsdata.skyview[i].used = used;
if (used)
nsv++;
if (session->gpsdata.skyview[i].PRN)
st++;
}
session->gpsdata.skyview_time = NAN;
session->gpsdata.satellites_used = nsv;
session->gpsdata.satellites_visible = st;
gpsd_log(&session->context->errout, LOG_DATA,
"SVINFO: visible=%d used=%d mask={SATELLITE|USED}\n",
session->gpsdata.satellites_visible,
session->gpsdata.satellites_used);
return SATELLITE_SET | USED_IS;
}
static gps_mask_t
superstar2_msg_version(struct gps_device_t *session,
unsigned char *buf, size_t data_len)
{
#define SZ 16
char main_sw[SZ], hw_part[SZ], boot_sw[SZ], ser_num[SZ];
/* byte 98 is device type, value = 3 means superstar2 */
if ((data_len != 101) || ((getub(buf, 98) & 0x0f) != 3))
return 0;
(void)snprintf(main_sw, 15, "%s", (char *)buf + 4);
(void)snprintf(hw_part, 15, "%s", (char *)buf + 18);
(void)snprintf(boot_sw, 15, "%s", (char *)buf + 36);
(void)snprintf(ser_num, 14, "%s", (char *)buf + 73);
gpsd_log(&session->context->errout, LOG_PROG,
"superstar2 #45 - hw part %s boot sw %s main sw %s ser num %s\n",
hw_part, boot_sw, main_sw, ser_num);
(void)strlcpy(session->subtype, main_sw, sizeof(session->subtype));
gpsd_log(&session->context->errout, LOG_DATA,
"VERSION: subtype='%s' mask={DEVEICEID}\n",
session->subtype);
return DEVICEID_SET;
}
/**
* GPS Leap Seconds
*/
static gps_mask_t
superstar2_msg_timing(struct gps_device_t *session, unsigned char *buf,
size_t data_len)
{
gps_mask_t mask;
struct tm tm;
if (data_len != 65)
return 0;
gpsd_log(&session->context->errout, LOG_PROG,
"superstar2 #113 - timing status\n");
if ((getub(buf, 55) & 0x30) != 0)
mask = 0;
else {
double d;
/* extract time data */
(void)memset(&tm, '\0', sizeof(tm));
tm.tm_mday = (int)getsb(buf, 37);
tm.tm_mon = (int)getsb(buf, 38) - 1;
tm.tm_year = (int)getles16(buf, 39) - 1900;
tm.tm_hour = (int)getsb(buf, 41);
tm.tm_min = (int)getsb(buf, 42);
d = getled64((char *)buf, 43);
tm.tm_sec = (int)d;
tm.tm_isdst = 0;
session->newdata.time = (timestamp_t)mkgmtime(&tm);
session->context->leap_seconds = (int)getsb(buf, 20);
mask = TIME_SET | NTPTIME_IS;
}
gpsd_log(&session->context->errout, LOG_DATA,
"TIMING: time=%.2f mask={TIME}\n",
session->newdata.time);
return mask;
}
/**
* Raw Measurements
*/
static gps_mask_t
superstar2_msg_measurement(struct gps_device_t *session, unsigned char *buf,
size_t data_len UNUSED)
{
gps_mask_t mask = 0;
int i, n;
double t, t_intp;
gpsd_log(&session->context->errout, LOG_PROG,
"superstar2 #23 - measurement block\n");
n = (int)getub(buf, 6); /* number of measurements */
if ((n < 1) || (n > MAXCHANNELS)) {
gpsd_log(&session->context->errout, LOG_INF,
"too many measurements\n");
return 0;
}
t = getled64((char *)buf, 7); /* measurement time */
session->gpsdata.raw.mtime.tv_nsec = modf(t, &t_intp) * 10e9;
session->gpsdata.raw.mtime.tv_sec = (time_t)t_intp;
/* this is so we can tell which never got set */
for (i = 0; i < MAXCHANNELS; i++)
session->gpsdata.raw.meas[i].svid = 0;
for (i = 0; i < n; i++) {
unsigned long ul;
session->gpsdata.skyview[i].PRN =
(short)(getub(buf, 11 * i + 15) & 0x1f);
session->gpsdata.skyview[i].ss =
(double)getub(buf, 11 * i * 15 + 1) / 4.0;
session->gpsdata.raw.meas[i].codephase =
(double)getleu32(buf, 11 * i * 15 + 2);
ul = (unsigned long)getleu32(buf, 11 * i * 15 + 6);
session->gpsdata.raw.meas[i].satstat = (unsigned int)(ul & 0x03L);
session->gpsdata.raw.meas[i].carrierphase =
(double)((ul >> 2) & 0x03ffL);
session->gpsdata.raw.meas[i].pseudorange = (double)(ul >> 12);
}
/*The above decode does not look correct, do not report */
/* mask |= RAW_IS; */
return mask;
}
/* request for ionospheric and utc time data #75 */
static unsigned char iono_utc_msg[] = { 0x01, 0x4b, 0xb4, 0x00, 0x00, 0x01 };
/**
* Ionospheric/UTC parameters
*/
static gps_mask_t
superstar2_msg_iono_utc(struct gps_device_t *session, unsigned char *buf,
size_t data_len UNUSED)
{
unsigned int i, u;
i = (unsigned int)getub(buf, 12);
u = (unsigned int)getub(buf, 21);
gpsd_log(&session->context->errout, LOG_PROG,
"superstar2 #75 - ionospheric & utc data: iono %s utc %s\n",
i ? "ok" : "bad", u ? "ok" : "bad");
session->driver.superstar2.last_iono = time(NULL);
return 0;
}
/**
* Ephemeris
*/
static gps_mask_t
superstar2_msg_ephemeris(struct gps_device_t *session, unsigned char *buf,
size_t data_len UNUSED)
{
unsigned int prn;
prn = (unsigned int)(getub(buf, 4) & 0x1f);
gpsd_log(&session->context->errout, LOG_PROG,
"superstar2 #22 - ephemeris data - prn %u\n", prn);
/* ephemeris data updates fairly slowly, but when it does, poll UTC */
if ((time(NULL) - session->driver.superstar2.last_iono) > 60)
(void)superstar2_write(session, (char *)iono_utc_msg,
sizeof(iono_utc_msg));
return ONLINE_SET;
}
static ssize_t
superstar2_write(struct gps_device_t *session, char *msg, size_t msglen)
{
unsigned short c = 0;
ssize_t i;
for (i = 0; i < (ssize_t) (msglen - 2); i++)
c += (unsigned short)msg[i];
c += 0x100;
msg[(int)msg[3] + 4] = (char)((c >> 8) & 0xff);
msg[(int)msg[3] + 5] = (char)(c & 0xff);
gpsd_log(&session->context->errout, LOG_PROG,
"writing superstar2 control type %d len %zu\n",
(int)msg[1] & 0x7f, msglen);
return gpsd_write(session, msg, msglen);
}
/**
* Parse the data from the device
*/
gps_mask_t
superstar2_dispatch(struct gps_device_t * session, unsigned char *buf,
size_t len)
{
int type;
if (len == 0)
return 0;
type = (int)buf[SUPERSTAR2_TYPE_OFFSET];
session->cycle_end_reliable = true;
switch (type) {
case SUPERSTAR2_ACK: /* Message Acknowledgement */
return superstar2_msg_ack(session, buf, len);
case SUPERSTAR2_SVINFO: /* Satellite Visibility Data */
return superstar2_msg_svinfo(session, buf, len);
case SUPERSTAR2_NAVSOL_LLA: /* Navigation Data */
return superstar2_msg_navsol_lla(session, buf,
len) | (CLEAR_IS | REPORT_IS);
case SUPERSTAR2_VERSION: /* Hardware/Software Version */
return superstar2_msg_version(session, buf, len);
case SUPERSTAR2_TIMING: /* Timing Parameters */
return superstar2_msg_timing(session, buf, len);
case SUPERSTAR2_MEASUREMENT: /* Timing Parameters */
return superstar2_msg_measurement(session, buf, len);
case SUPERSTAR2_IONO_UTC:
return superstar2_msg_iono_utc(session, buf, len);
case SUPERSTAR2_EPHEMERIS:
return superstar2_msg_ephemeris(session, buf, len);
default:
gpsd_log(&session->context->errout, LOG_WARN,
"unknown superstar2 packet id 0x%02x length %zd\n",
type, len);
return 0;
}
}
/**********************************************************
*
* Externally called routines below here
*
**********************************************************/
static void superstar2_event_hook(struct gps_device_t *session, event_t event)
{
if (session->context->readonly)
return;
if (event == event_identified) {
unsigned char version_msg[] = { 0x01, 0x2d, 0xd2, 0x00, 0x00, 0x01 };
unsigned char svinfo_msg[] = { 0x01, 0xa1, 0x5e, 0x00, 0x00, 0x01 };
unsigned char timing_msg[] = { 0x01, 0xf1, 0x0e, 0x00, 0x00, 0x01 };
unsigned char navsol_lla_msg[] = { 0x01, 0x94, 0x6b, 0x00, 0x00, 0x01 };
unsigned char ephemeris_msg[] = { 0x01, 0x96, 0x69, 0x00, 0x00, 0x01 };
unsigned char measurement_msg[] =
{ 0x01, 0x97, 0x68, 0x01, 0x00, 0x01, 0x01 };
(void)superstar2_write(session, (char *)timing_msg,
sizeof(timing_msg));
(void)superstar2_write(session, (char *)measurement_msg,
sizeof(measurement_msg));
(void)superstar2_write(session, (char *)svinfo_msg,
sizeof(svinfo_msg));
(void)superstar2_write(session, (char *)navsol_lla_msg,
sizeof(navsol_lla_msg));
(void)superstar2_write(session, (char *)version_msg,
sizeof(version_msg));
(void)superstar2_write(session, (char *)ephemeris_msg,
sizeof(ephemeris_msg));
(void)superstar2_write(session, (char *)iono_utc_msg,
sizeof(iono_utc_msg));
session->driver.superstar2.last_iono = time(NULL);
}
}
/*
* This is the entry point to the driver. When the packet sniffer recognizes
* a packet for this driver, it calls this method which passes the packet to
* the binary processor or the nmea processor, depending on the session type.
*/
static gps_mask_t superstar2_parse_input(struct gps_device_t *session)
{
if (session->lexer.type == SUPERSTAR2_PACKET) {
return superstar2_dispatch(session, session->lexer.outbuffer,
session->lexer.length);;
#ifdef NMEA0183_ENABLE
} else if (session->lexer.type == NMEA_PACKET) {
return nmea_parse((char *)session->lexer.outbuffer, session);
#endif /* NMEA0183_ENABLE */
} else
return 0;
}
#ifdef CONTROLSEND_ENABLE
static ssize_t
superstar2_control_send(struct gps_device_t *session, char *msg,
size_t msglen)
{
session->msgbuf[0] = 0x1; /* SOH */
session->msgbuf[1] = msg[0];
session->msgbuf[2] = msg[0] ^ 0xff;
session->msgbuf[3] = (char)(msglen + 1);
(void)memcpy(session->msgbuf + 4, msg + 1, msglen - 1);
session->msgbuflen = (size_t) (msglen + 5);
return superstar2_write(session, session->msgbuf, session->msgbuflen);
}
#endif /* CONTROLSEND_ENABLE */
#ifdef RECONFIGURE_ENABLE
static bool superstar2_set_speed(struct gps_device_t *session,
speed_t speed, char parity, int stopbits)
{
/* parity and stopbit switching aren't available on this chip */
if (parity != session->gpsdata.dev.parity
|| stopbits != (int)session->gpsdata.dev.stopbits) {
return false;
} else {
unsigned char speed_msg[] =
{ 0x01, 0x48, 0xB7, 0x01, 0x00, 0x00, 0x00 };
/* high bit 0 in the mode word means set NMEA mode */
speed_msg[4] = (unsigned char)(speed / 300);
return (superstar2_write(session, (char *)speed_msg, 7) == 7);
}
}
static void superstar2_set_mode(struct gps_device_t *session, int mode)
{
if (mode == MODE_NMEA) {
unsigned char mode_msg[] =
{ 0x01, 0x48, 0xB7, 0x01, 0x00, 0x00, 0x00 };
/* high bit 0 in the mode word means set NMEA mode */
mode_msg[4] = (unsigned char)(session->gpsdata.dev.baudrate / 300);
(void)superstar2_write(session, (char *)mode_msg, 7);
} else {
session->back_to_nmea = false;
}
}
#endif /* RECONFIGURE_ENABLE */
/* *INDENT-OFF* */
const struct gps_type_t driver_superstar2 = {
/* Full name of type */
.type_name = "SuperStarII",
/* Associated lexer packet type */
.packet_type = SUPERSTAR2_PACKET,
/* Driver type flags */
.flags = DRIVER_STICKY,
/* Response string that identifies device (not active) */
.trigger = NULL,
/* Number of satellite channels supported by the device */
.channels = 12,
/* Startup-time device detector */
.probe_detect = NULL,
/* Packet getter (using default routine) */
.get_packet = generic_get,
/* Parse message packets */
.parse_packet = superstar2_parse_input,
/* RTCM handler (using default routine) */
.rtcm_writer = gpsd_write,
/* non-perturbing initial query */
.init_query = NULL,
/* Fire on various lifetime events */
.event_hook = superstar2_event_hook,
#ifdef RECONFIGURE_ENABLE
/* Speed (baudrate) switch */
.speed_switcher = superstar2_set_speed,
/* Switch to NMEA mode */
.mode_switcher = superstar2_set_mode,
/* Message delivery rate switcher (not active) */
.rate_switcher = NULL,
/* Minimum cycle time (not used) */
.min_cycle = 1,
#endif /* RECONFIGURE_ENABLE */
#ifdef CONTROLSEND_ENABLE
/* Control string sender - should provide checksum and trailer */
.control_send = superstar2_control_send,
#endif /* CONTROLSEND_ENABLE */
#ifdef TIMEHINT_ENABLE
.time_offset = NULL, /* no method for NTP fudge factor */
#endif /* TIMEHINT_ENABLE */
};
/* *INDENT-ON* */
#endif /* defined(SUPERSTAR2_ENABLE) && defined(BINARY_ENABLE) */
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