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#include <stdlib.h>
#include <unistd.h>
#include <string.h>
#include "gpsd.h"
/**************************************************************************
*
* Generic driver -- straight NMEA 0183
*
**************************************************************************/
static void gpsd_NMEA_handle_message(struct gps_session_t *session, char *sentence)
{
gpsd_report(2, "<= GPS: %s\n", sentence);
if (*sentence == '$') {
if (nmea_parse(sentence, &session->gNMEAdata) < 0)
gpsd_report(2, "unknown sentence: \"%s\"\n", sentence);
} else {
#ifdef NON_NMEA_ENABLE
struct gps_type_t **dp;
/* maybe this is a trigger string for a driver we know about? */
for (dp = gpsd_drivers; *dp; dp++) {
char *trigger = (*dp)->trigger;
if (trigger && !strncmp(sentence, trigger, strlen(trigger)) && isatty(session->gNMEAdata.gps_fd)) {
gpsd_report(1, "found %s.\n", (*dp)->typename);
session->device_type = *dp;
session->device_type->initializer(session);
return;
}
}
#endif /* NON_NMEA_ENABLE */
gpsd_report(1, "unknown exception: \"%s\"\n", sentence);
}
}
static void nmea_handle_input(struct gps_session_t *session)
{
static char buf[BUFSIZE]; /* that is more then a sentence */
static int offset = 0;
while (offset < BUFSIZE) {
if (read(session->gNMEAdata.gps_fd, buf + offset, 1) != 1)
return;
if (buf[offset] == '\n' || buf[offset] == '\r') {
buf[offset] = '\0';
if (strlen(buf)) {
gpsd_NMEA_handle_message(session, buf);
/* also copy the sentence up to clients in raw mode */
strcat(buf, "\r\n");
if (session->gNMEAdata.raw_hook)
session->gNMEAdata.raw_hook(buf);
}
offset = 0;
return;
}
offset++;
buf[offset] = '\0';
}
offset = 0; /* discard input ! */
return;
}
static int nmea_write_rtcm(struct gps_session_t *session, char *buf, int rtcmbytes)
{
return write(session->gNMEAdata.gps_fd, buf, rtcmbytes);
}
struct gps_type_t nmea = {
'n', /* select explicitly with -T n */
"Generic NMEA", /* full name of type */
NULL, /* no recognition string, it's the default */
NULL, /* no initialization */
nmea_handle_input, /* read text sentence */
nmea_write_rtcm, /* write RTCM data straight */
NULL, /* no wrapup */
4800, /* default speed to connect at */
1, /* 1 stop bit */
1, /* updates every second */
};
#if FV18_ENABLE
/**************************************************************************
*
* FV18 -- uses 2 stop bits, needs to be told to send GSAs
*
**************************************************************************/
static void fv18_initializer(struct gps_session_t *session)
{
/* tell it to send GSAs so we'll know if 3D is accurate */
nmea_send(session->gNMEAdata.gps_fd, "$PFEC,GPint,GSA01,DTM00,ZDA00,RMC01,GLL01");
}
struct gps_type_t fv18 = {
'f', /* select explicitly with -T f */
"San Jose Navigation FV18", /* full name of type */
NULL, /* no recognition string */
fv18_initializer, /* to be sent unconditionally */
nmea_handle_input, /* read text sentence */
nmea_write_rtcm, /* write RTCM data straight */
NULL, /* no wrapup */
4800, /* default speed to connect at */
2, /* 2 stop bits */
1, /* updates every second */
};
#endif /* FV18_ENABLE */
#if TRIPMATE_ENABLE
/**************************************************************************
*
* TripMate -- extended NMEA, gets faster fix when primed with lat/long/time
*
**************************************************************************/
/*
* Some technical FAQs on the TripMate:
* http://vancouver-webpages.com/pub/peter/tripmate.faq
* http://www.asahi-net.or.jp/~KN6Y-GTU/tripmate/trmfaqe.html
* The TripMate was discontinued sometime before November 1998
* and was replaced by the Zodiac EarthMate.
*/
static void tripmate_initializer(struct gps_session_t *session)
{
time_t t;
struct tm *tm;
/* TripMate requires this response to the ASTRAL it sends at boot time */
nmea_send(session->gNMEAdata.gps_fd, "$IIGPQ,ASTRAL");
/* stop it sending PRWIZCH */
nmea_send(session->gNMEAdata.gps_fd, "$PRWIILOG,ZCH,V,,");
if (session->latitude && session->longitude) {
t = time(NULL);
tm = gmtime(&t);
if (tm->tm_year > 100)
tm->tm_year = tm->tm_year - 100;
nmea_send(session->gNMEAdata.gps_fd,
"$PRWIINIT,V,,,%s,%c,%s,%c,100.0,0.0,M,0.0,T,%02d%02d%02d,%02d%02d%02d",
session->latitude, session->latd,
session->longitude, session->lond,
tm->tm_hour, tm->tm_min, tm->tm_sec,
tm->tm_mday, tm->tm_mon + 1, tm->tm_year);
}
}
struct gps_type_t tripmate = {
't', /* select explicitly with -T t */
"Delorme TripMate", /* full name of type */
"ASTRAL", /* tells us to switch */
tripmate_initializer, /* wants to see lat/long for faster fix */
nmea_handle_input, /* read text sentence */
nmea_write_rtcm, /* send RTCM data straight */
NULL, /* no wrapup */
4800, /* default speed to connect at */
1, /* 1 stop bit */
1, /* updates every second */
};
#endif /* TRIPMATE_ENABLE */
#ifdef EARTHMATE_ENABLE
/**************************************************************************
*
* Zodiac EarthMate textual mode
*
* Note: This is the pre-2003 version using Zodiac binary protocol.
* It has been replaced with a design that uses a SiRF-II chipset.
* Use the NMEA driver for that one.
*
**************************************************************************/
extern struct gps_type_t zodiac_binary, earthmate;
/*
* There is a good HOWTO at <http://www.hamhud.net/ka9mva/earthmate.htm>.
*/
static void earthmate_close(struct gps_session_t *session)
{
session->device_type = &earthmate;
}
static void earthmate_initializer(struct gps_session_t *session)
{
write(session->gNMEAdata.gps_fd, "EARTHA\r\n", 8);
sleep(30);
session->device_type = &zodiac_binary;
zodiac_binary.wrapup = earthmate_close;
zodiac_binary.initializer(session);
}
struct gps_type_t earthmate = {
'e', /* select explicitly with -T e */
"Delorme EarthMate (pre-2003, Zodiac chipset)", /* full name of type */
"EARTHA", /* tells us to switch to Earthmate */
earthmate_initializer, /* switch us to Zodiac mode */
nmea_handle_input, /* read text sentence */
NULL, /* don't send RTCM data */
NULL, /* no wrapup code */
9600, /* connecting at 4800 will fail */
1, /* 1 stop bit */
1, /* updates every second */
};
#endif /* EARTHMATE_ENABLE */
#ifdef LOGFILE_ENABLE
/**************************************************************************
*
* Logfile playback driver
*
**************************************************************************/
struct gps_type_t logfile = {
'l', /* select explicitly with -T l */
"Logfile", /* full name of type */
NULL, /* no recognition string */
NULL, /* no initializer */
nmea_handle_input, /* read text sentence */
NULL, /* don't send RTCM data */
NULL, /* no wrapup code */
0, /* don't set a speed */
1, /* 1 stop bit (not used) */
-1, /* should never time out */
};
#endif /* LOGFILE_ENABLE */
/* the point of this rigamarole is to not have to export a table size */
static struct gps_type_t *gpsd_driver_array[] = {
&nmea,
#if FV18_ENABLE
&fv18,
#endif /* FV18_ENABLE */
#if TRIPMATE_ENABLE
&tripmate,
#endif /* TRIPMATE_ENABLE */
#if EARTHMATE_ENABLE
&earthmate,
#endif /* EARTHMATE_ENABLE */
#ifdef ZODIAC_ENABLE
&zodiac_binary,
#endif /* ZODIAC_ENABLE */
#ifdef LOGFILE_ENABLE
&logfile,
#endif /* LOGFILE_ENABLE */
NULL,
};
struct gps_type_t **gpsd_drivers = &gpsd_driver_array[0];
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