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|
/*
* This file is Copyright (c) 2010 by the GPSD project
* SPDX-License-Identifier: BSD-2-clause
*/
/* for vsnprintf() FreeBSD wants __ISO_C_VISIBLE >= 1999 */
#define __ISO_C_VISIBLE 1999
#include <stdio.h>
#include <stdlib.h>
#include <stdbool.h>
#include <string.h>
#include <stdarg.h>
#include <assert.h>
#include <ctype.h>
#include <unistd.h>
#include "gpsd.h"
#include "bits.h" /* for getbeu16(), to extract big-endian words */
#include "strfuncs.h"
ssize_t generic_get(struct gps_device_t *session)
{
return packet_get(session->gpsdata.gps_fd, &session->lexer);
}
gps_mask_t generic_parse_input(struct gps_device_t *session)
{
if (session->lexer.type == BAD_PACKET)
return 0;
else if (session->lexer.type == COMMENT_PACKET) {
gpsd_set_century(session);
return 0;
#ifdef NMEA0183_ENABLE
} else if (session->lexer.type == NMEA_PACKET) {
const struct gps_type_t **dp;
gps_mask_t st = 0;
char *sentence = (char *)session->lexer.outbuffer;
if (sentence[strlen(sentence)-1] != '\n')
gpsd_log(&session->context->errout, LOG_IO,
"<= GPS: %s\n", sentence);
else
gpsd_log(&session->context->errout, LOG_IO,
"<= GPS: %s", sentence);
if ((st=nmea_parse(sentence, session)) == 0) {
gpsd_log(&session->context->errout, LOG_WARN,
"unknown sentence: \"%s\"\n", sentence);
}
for (dp = gpsd_drivers; *dp; dp++) {
char *trigger = (*dp)->trigger;
if (trigger!=NULL && str_starts_with(sentence, trigger)) {
gpsd_log(&session->context->errout, LOG_PROG,
"found trigger string %s.\n", trigger);
if (*dp != session->device_type) {
(void)gpsd_switch_driver(session, (*dp)->type_name);
if (session->device_type != NULL
&& session->device_type->event_hook != NULL)
session->device_type->event_hook(session,
event_triggermatch);
st |= DEVICEID_SET;
}
}
}
return st;
#endif /* NMEA0183_ENABLE */
} else {
gpsd_log(&session->context->errout, LOG_SHOUT,
"packet type %d fell through (should never happen): %s.\n",
session->lexer.type, gpsd_prettydump(session));
return 0;
}
}
/**************************************************************************
*
* Generic driver -- make no assumptions about the device type
*
**************************************************************************/
/* *INDENT-OFF* */
const struct gps_type_t driver_unknown = {
.type_name = "Unknown", /* full name of type */
.packet_type = COMMENT_PACKET, /* associated lexer packet type */
.flags = DRIVER_NOFLAGS, /* no flags set */
.trigger = NULL, /* it's the default */
.channels = 12, /* consumer-grade GPS */
.probe_detect = NULL, /* no probe */
.get_packet = generic_get, /* use generic packet getter */
.parse_packet = generic_parse_input, /* how to interpret a packet */
.rtcm_writer = NULL, /* write RTCM data straight */
.init_query = NULL, /* non-perturbing initial query */
.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, /* how to send control strings */
#endif /* CONTROLSEND_ENABLE */
#ifdef TIMEHINT_ENABLE
.time_offset = NULL, /* no method for NTP fudge factor */
#endif /* TIMEHINT_ENABLE */
};
/* *INDENT-ON* */
#ifdef NMEA0183_ENABLE
/**************************************************************************
*
* NMEA 0183
*
* This is separate from the 'unknown' driver because we don't want to
* ship NMEA subtype probe strings to a device until we've seen at
* least one NMEA packet. This avoids spamming devices that might
* actually be USB modems or other things in USB device class FF that
* just happen to have one of 'our' adaptor chips in front of them.
*
**************************************************************************/
static void nmea_event_hook(struct gps_device_t *session, event_t event)
{
if (session->context->readonly)
return;
/*
* This is where we try to tickle NMEA devices into revealing their
* inner natures.
*/
if (event == event_configure) {
/*
* The reason for splitting these probes up by packet sequence
* number, interleaving them with the first few packet receives,
* is because many generic-NMEA devices get confused if you send
* too much at them in one go.
*
* A fast response to an early probe will change drivers so the
* later ones won't be sent at all. Thus, for best overall
* performance, order these to probe for the most popular types
* soonest.
*
* Note: don't make the trigger strings identical to the probe,
* because some NMEA devices (notably SiRFs) will just echo
* unknown strings right back at you. A useful dodge is to append
* a comma to the trigger, because that won't be in the response
* unless there is actual following data.
*/
switch (session->lexer.counter) {
#ifdef NMEA0183_ENABLE
case 0:
/* probe for Garmin serial GPS -- expect $PGRMC followed by data */
gpsd_log(&session->context->errout, LOG_PROG,
"=> Probing for Garmin NMEA\n");
(void)nmea_send(session, "$PGRMCE");
break;
#endif /* NMEA0183_ENABLE */
#ifdef SIRF_ENABLE
case 1:
/*
* We used to try to probe for SiRF by issuing
* "$PSRF105,1" and expecting "$Ack Input105.". But it
* turns out this only works for SiRF-IIs; SiRF-I and
* SiRF-III don't respond. Sadly, the MID132 binary
* request for firmware version is ignored in NMEA mode.
* Thus the only reliable probe is to try to flip the SiRF
* into binary mode, cluing in the library to revert it on
* close.
*
* SiRFs dominate the consumer-grade GPS-mouse market, so
* we used to put this test first. Unfortunately this
* causes problems for gpsctl, as it cannot select the
* NMEA driver without switching the device back to binary
* mode! Fix this if we ever find a nondisruptive probe
* string.
*/
gpsd_log(&session->context->errout, LOG_PROG,
"=> Probing for SiRF\n");
(void)nmea_send(session,
"$PSRF100,0,%d,%d,%d,0",
session->gpsdata.dev.baudrate,
9 - session->gpsdata.dev.stopbits,
session->gpsdata.dev.stopbits);
session->back_to_nmea = true;
break;
#endif /* SIRF_ENABLE */
#ifdef NMEA0183_ENABLE
case 2:
/* probe for the FV-18 -- expect $PFEC,GPint followed by data */
gpsd_log(&session->context->errout, LOG_PROG,
"=> Probing for FV-18\n");
(void)nmea_send(session, "$PFEC,GPint");
break;
case 3:
/* probe for the Trimble Copernicus */
gpsd_log(&session->context->errout, LOG_PROG,
"=> Probing for Trimble Copernicus\n");
(void)nmea_send(session, "$PTNLSNM,0139,01");
break;
#endif /* NMEA0183_ENABLE */
#ifdef EVERMORE_ENABLE
case 4:
gpsd_log(&session->context->errout, LOG_PROG,
"=> Probing for Evermore\n");
/* Enable checksum and GGA(1s), GLL(0s), GSA(1s), GSV(1s), RMC(1s), VTG(0s), PEMT101(0s) */
/* EverMore will reply with: \x10\x02\x04\x38\x8E\xC6\x10\x03 */
(void)gpsd_write(session,
"\x10\x02\x12\x8E\x7F\x01\x01\x00\x01\x01\x01\x00\x00\x00\x00\x00\x00\x00\x00\x13\x10\x03",
22);
break;
#endif /* EVERMORE_ENABLE */
#ifdef GPSCLOCK_ENABLE
case 5:
/* probe for Furuno Electric GH-79L4-N (GPSClock); expect $PFEC,GPssd */
gpsd_log(&session->context->errout, LOG_PROG,
"=> Probing for GPSClock\n");
(void)nmea_send(session, "$PFEC,GPsrq");
break;
#endif /* GPSCLOCK_ENABLE */
#ifdef ASHTECH_ENABLE
case 6:
/* probe for Ashtech -- expect $PASHR,RID */
gpsd_log(&session->context->errout, LOG_PROG,
"=> Probing for Ashtech\n");
(void)nmea_send(session, "$PASHQ,RID");
break;
#endif /* ASHTECH_ENABLE */
#ifdef UBLOX_ENABLE
case 7:
/* probe for UBX -- query port configuration */
gpsd_log(&session->context->errout, LOG_PROG,
"=> Probing for UBX\n");
(void)ubx_write(session, 0x06, 0x00, NULL, 0);
break;
#endif /* UBLOX_ENABLE */
#ifdef MTK3301_ENABLE
case 8:
/* probe for MTK-3301 -- expect $PMTK705 */
gpsd_log(&session->context->errout, LOG_PROG,
"=> Probing for MediaTek\n");
(void)nmea_send(session, "$PMTK605");
break;
#endif /* MTK3301_ENABLE */
#ifdef GREIS_ENABLE
case 9:
/* probe for Javad GREIS -- expect reply with JAVAD */
gpsd_log(&session->context->errout, LOG_PROG,
"=> Probing for Javad GREIS\n");
/* TODO: confirm this actually gets JAVAD response */
(void)nmea_send(session, "print,/par/rcv/vendor");
break;
#endif /* GREIS_ENABLE */
default:
break;
}
}
}
/* *INDENT-OFF* */
const struct gps_type_t driver_nmea0183 = {
.type_name = "NMEA0183", /* full name of type */
.packet_type = NMEA_PACKET, /* associated lexer packet type */
.flags = DRIVER_NOFLAGS, /* remember this */
.trigger = NULL, /* it's the default */
.channels = 12, /* consumer-grade GPS */
.probe_detect = NULL, /* no probe */
.get_packet = generic_get, /* use generic packet getter */
.parse_packet = generic_parse_input, /* how to interpret a packet */
.rtcm_writer = gpsd_write, /* write RTCM data straight */
.init_query = NULL, /* non-perturbing initial query */
.event_hook = nmea_event_hook, /* lifetime event handler */
#ifdef RECONFIGURE_ENABLE
.speed_switcher = NULL, /* no speed switcher */
#ifdef BINARY_ENABLE
.mode_switcher = NULL, /* maybe switchable if it was a SiRF */
#else
.mode_switcher = NULL, /* no binary mode to revert to */
#endif /* BINARY_ENABLE */
.rate_switcher = NULL, /* no sample-rate switcher */
.min_cycle = 1, /* not relevant, no rate switch */
#endif /* RECONFIGURE_ENABLE */
#ifdef CONTROLSEND_ENABLE
.control_send = nmea_write, /* how to send control strings */
#endif /* CONTROLSEND_ENABLE */
#ifdef TIMEHINT_ENABLE
.time_offset = NULL, /* no method for NTP fudge factor */
#endif /* TIMEHINT_ENABLE */
};
/* *INDENT-ON* */
#if defined(GARMIN_ENABLE) && defined(NMEA0183_ENABLE)
/**************************************************************************
*
* Garmin NMEA
*
**************************************************************************/
#ifdef RECONFIGURE_ENABLE
static void garmin_mode_switch(struct gps_device_t *session, int mode)
/* only does anything in one direction, going to Garmin binary driver */
{
struct timespec delay;
if (mode == MODE_BINARY) {
(void)nmea_send(session, "$PGRMC1,1,2,1,,,,2,W,N");
(void)nmea_send(session, "$PGRMI,,,,,,,R");
/* wait 333 uSec, standard Garmin settling time */
delay.tv_sec = 0;
delay.tv_nsec = 333000L;
nanosleep(&delay, NULL);
}
}
#endif /* RECONFIGURE_ENABLE */
static void garmin_nmea_event_hook(struct gps_device_t *session,
event_t event)
{
if (session->context->readonly)
return;
if (event == event_driver_switch) {
/* forces a reconfigure as the following packets come in */
session->lexer.counter = 0;
}
if (event == event_configure) {
/*
* And here's that reconfigure. It's split up like this because
* receivers like the Garmin GPS-10 don't handle having having a lot of
* probes shoved at them very well.
*/
switch (session->lexer.counter) {
case 0:
/* reset some config, AutoFix, WGS84, PPS
* Set the PPS pulse length to 40ms which leaves the Garmin 18-5hz
* with a 160ms low state.
* NOTE: new PPS only takes effect after next power cycle
*/
(void)nmea_send(session, "$PGRMC,A,,100,,,,,,A,,1,2,1,30");
break;
case 1:
/* once a sec, no averaging, NMEA 2.3, WAAS */
(void)nmea_send(session, "$PGRMC1,1,1,1,,,,2,W,N");
break;
case 2:
/* get some more config info */
(void)nmea_send(session, "$PGRMC1E");
break;
case 3:
/* turn off all output except GGA */
(void)nmea_send(session, "$PGRMO,,2");
(void)nmea_send(session, "$PGRMO,GPGGA,1");
break;
case 4:
/* enable GPGGA, GPGSA, GPGSV, GPRMC on Garmin serial GPS */
(void)nmea_send(session, "$PGRMO,GPGSA,1");
break;
case 5:
(void)nmea_send(session, "$PGRMO,GPGSV,1");
break;
case 6:
(void)nmea_send(session, "$PGRMO,GPRMC,1");
break;
case 7:
(void)nmea_send(session, "$PGRMO,PGRME,1");
break;
}
}
}
/* *INDENT-OFF* */
const struct gps_type_t driver_garmin = {
.type_name = "Garmin NMEA", /* full name of type */
.packet_type = NMEA_PACKET, /* associated lexer packet type */
.flags = DRIVER_STICKY, /* remember this */
.trigger = "$PGRMC,", /* Garmin private */
.channels = 12, /* not used by this driver */
.probe_detect = NULL, /* no probe */
.get_packet = generic_get, /* use generic packet getter */
.parse_packet = generic_parse_input, /* how to interpret a packet */
.rtcm_writer = NULL, /* some do, some don't, skip for now */
.init_query = NULL, /* non-perturbing initial query */
.event_hook = garmin_nmea_event_hook, /* lifetime event handler */
#ifdef RECONFIGURE_ENABLE
.speed_switcher = NULL, /* no speed switcher */
.mode_switcher = garmin_mode_switch, /* 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 = nmea_write, /* how to send control strings */
#endif /* CONTROLSEND_ENABLE */
#ifdef TIMEHINT_ENABLE
.time_offset = NULL, /* no method for NTP fudge factor */
#endif /* TIMEHINT_ENABLE */
};
/* *INDENT-ON* */
#endif /* GARMIN_ENABLE && NMEA0183_ENABLE */
#ifdef ASHTECH_ENABLE
/**************************************************************************
*
* Ashtech (then Thales, now Magellan Professional) Receivers
*
**************************************************************************/
static void ashtech_event_hook(struct gps_device_t *session, event_t event)
{
if (session->context->readonly)
return;
if (event == event_wakeup)
(void)nmea_send(session, "$PASHQ,RID");
if (event == event_identified) {
/* turn WAAS on. can't hurt... */
(void)nmea_send(session, "$PASHS,WAS,ON");
/* reset to known output state */
(void)nmea_send(session, "$PASHS,NME,ALL,A,OFF");
/* then turn on some useful sentences */
#ifdef __future__
/* we could parse these, but they're oversize so they get dropped */
(void)nmea_send(session, "$PASHS,NME,POS,A,ON");
(void)nmea_send(session, "$PASHS,NME,SAT,A,ON");
#else
(void)nmea_send(session, "$PASHS,NME,GGA,A,ON");
(void)nmea_send(session, "$PASHS,NME,GSA,A,ON");
(void)nmea_send(session, "$PASHS,NME,GSV,A,ON");
(void)nmea_send(session, "$PASHS,NME,RMC,A,ON");
#endif
(void)nmea_send(session, "$PASHS,NME,ZDA,A,ON");
}
}
/* *INDENT-OFF* */
const struct gps_type_t driver_ashtech = {
.type_name = "Ashtech", /* full name of type */
.packet_type = NMEA_PACKET, /* associated lexer packet type */
.flags = DRIVER_STICKY, /* remember this */
.trigger = "$PASHR,RID,", /* Ashtech receivers respond thus */
.channels = 24, /* not used, GG24 has 24 channels */
.probe_detect = NULL, /* no probe */
.get_packet = generic_get, /* how to get a packet */
.parse_packet = generic_parse_input, /* how to interpret a packet */
.rtcm_writer = gpsd_write, /* write RTCM data straight */
.init_query = NULL, /* non-perturbing initial query */
.event_hook = ashtech_event_hook, /* lifetime event handler */
#ifdef RECONFIGURE_ENABLE
.speed_switcher = NULL, /* no speed switcher */
.mode_switcher = NULL, /* no mode switcher */
.rate_switcher = NULL, /* no sample-rate switcher */
.min_cycle = 1, /* not relevant, no rate switch */
#endif /* RECONFIGURE_ENABLE */
#ifdef CONTROLSEND_ENABLE
.control_send = nmea_write, /* how to send control strings */
#endif /* CONTROLSEND_ENABLE */
#ifdef TIMEHINT_ENABLE
.time_offset = NULL, /* no method for NTP fudge factor */
#endif /* TIMEHINT_ENABLE */
};
/* *INDENT-ON* */
#endif /* ASHTECH_ENABLE */
#ifdef FV18_ENABLE
/**************************************************************************
*
* FV18 -- uses 2 stop bits, needs to be told to send GSAs
*
**************************************************************************/
static void fv18_event_hook(struct gps_device_t *session, event_t event)
{
if (session->context->readonly)
return;
/*
* Tell an FV18 to send GSAs so we'll know if 3D is accurate.
* Suppress GLL and VTG. Enable ZDA so dates will be accurate for replay.
* It's possible we might not need to redo this on event_reactivate,
* but doing so is safe and cheap.
*/
if (event == event_identified || event == event_reactivate)
(void)nmea_send(session,
"$PFEC,GPint,GSA01,DTM00,ZDA01,RMC01,GLL00,VTG00,GSV05");
}
/* *INDENT-OFF* */
const struct gps_type_t driver_fv18 = {
.type_name = "San Jose Navigation FV18", /* full name of type */
.packet_type = NMEA_PACKET, /* associated lexer packet type */
.flags = DRIVER_STICKY, /* remember this */
.trigger = "$PFEC,GPint,", /* FV18s should echo the probe */
.channels = 12, /* not used by this driver */
.probe_detect = NULL, /* no probe */
.get_packet = generic_get, /* how to get a packet */
.parse_packet = generic_parse_input, /* how to interpret a packet */
.rtcm_writer = gpsd_write, /* write RTCM data straight */
.init_query = NULL, /* non-perturbing initial query */
.event_hook = fv18_event_hook, /* lifetime event handler */
#ifdef RECONFIGURE_ENABLE
.speed_switcher = NULL, /* no speed switcher */
.mode_switcher = NULL, /* no mode switcher */
.rate_switcher = NULL, /* no sample-rate switcher */
.min_cycle = 1, /* not relevant, no rate switch */
#endif /* RECONFIGURE_ENABLE */
#ifdef CONTROLSEND_ENABLE
.control_send = nmea_write, /* how to send control strings */
#endif /* CONTROLSEND_ENABLE */
#ifdef TIMEHINT_ENABLE
.time_offset = NULL, /* no method for NTP fudge factor */
#endif /* TIMEHINT_ENABLE */
};
/* *INDENT-ON* */
#endif /* FV18_ENABLE */
#ifdef GPSCLOCK_ENABLE
/**************************************************************************
*
* Furuno Electric GPSClock (GH-79L4)
*
**************************************************************************/
/*
* Based on http://www.tecsys.de/fileadmin/user_upload/pdf/gh79_1an_intant.pdf
*/
/* *INDENT-OFF* */
const struct gps_type_t driver_gpsclock = {
.type_name = "Furuno Electric GH-79L4", /* full name of type */
.packet_type = NMEA_PACKET, /* associated lexer packet type */
.flags = DRIVER_STICKY, /* remember this */
.trigger = "$PFEC,GPssd", /* GPSClock should return this */
.channels = 12, /* not used by this driver */
.probe_detect = NULL, /* no probe */
.get_packet = generic_get, /* how to get a packet */
.parse_packet = generic_parse_input, /* how to interpret a packet */
.rtcm_writer = gpsd_write, /* write RTCM data straight */
.init_query = NULL, /* non-perturbing initial query */
.event_hook = NULL, /* no lifetime event handler */
#ifdef RECONFIGURE_ENABLE
.speed_switcher = NULL, /* no speed switcher */
.mode_switcher = NULL, /* no mode switcher */
.rate_switcher = NULL, /* sample rate is fixed */
.min_cycle = 1, /* sample rate is fixed */
#endif /* RECONFIGURE_ENABLE */
#ifdef CONTROLSEND_ENABLE
.control_send = nmea_write, /* how to send control strings */
#endif /* CONTROLSEND_ENABLE */
#ifdef TIMEHINT_ENABLE
.time_offset = NULL, /* no method for NTP fudge factor */
#endif /* TIMEHINT_ENABLE */
};
/* *INDENT-ON* */
#endif /* GPSCLOCK_ENABLE */
#ifdef 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_event_hook(struct gps_device_t *session, event_t event)
{
if (session->context->readonly)
return;
/* TripMate requires this response to the ASTRAL it sends at boot time */
if (event == event_identified)
(void)nmea_send(session, "$IIGPQ,ASTRAL");
/* stop it sending PRWIZCH */
if (event == event_identified || event == event_reactivate)
(void)nmea_send(session, "$PRWIILOG,ZCH,V,,");
}
/* *INDENT-OFF* */
static const struct gps_type_t driver_tripmate = {
.type_name = "Delorme TripMate", /* full name of type */
.packet_type = NMEA_PACKET, /* lexer packet type */
.flags = DRIVER_STICKY, /* no rollover or other flags */
.trigger ="ASTRAL", /* tells us to switch */
.channels = 12, /* consumer-grade GPS */
.probe_detect = NULL, /* no probe */
.get_packet = generic_get, /* how to get a packet */
.parse_packet = generic_parse_input, /* how to interpret a packet */
.rtcm_writer = gpsd_write, /* send RTCM data straight */
.init_query = NULL, /* non-perturbing query */
.event_hook = tripmate_event_hook, /* 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, /* no rate switch */
#endif /* RECONFIGURE_ENABLE */
#ifdef CONTROLSEND_ENABLE
.control_send = nmea_write, /* how to send control strings */
#endif /* CONTROLSEND_ENABLE */
#ifdef TIMEHINT_ENABLE
.time_offset = NULL, /* no method for NTP fudge factor */
#endif /* TIMEHINT_ENABLE */
};
/* *INDENT-ON* */
#endif /* TRIPMATE_ENABLE */
#ifdef EARTHMATE_ENABLE
/**************************************************************************
*
* Zodiac EarthMate textual mode
*
* Note: This is the pre-2003 version using Zodiac binary protocol.
* There is a good HOWTO at <http://www.hamhud.net/ka9mva/earthmate.htm>.
* It has been replaced with a design that uses a SiRF chipset.
*
**************************************************************************/
static void earthmate_event_hook(struct gps_device_t *session, event_t event)
{
struct timespec delay;
if (session->context->readonly)
return;
if (event == event_triggermatch) {
(void)gpsd_write(session, "EARTHA\r\n", 8);
/* wait 10,000 uSec */
delay.tv_sec = 0;
delay.tv_nsec = 10000000L;
nanosleep(&delay, NULL);
(void)gpsd_switch_driver(session, "Zodiac");
}
}
/* *INDENT-OFF* */
static const struct gps_type_t driver_earthmate = {
.type_name = "Pre-2003 Delorme EarthMate",
.packet_type = NMEA_PACKET, /* associated lexer packet type */
.flags = DRIVER_STICKY, /* no rollover or other flags */
.trigger = "EARTHA", /* Earthmate trigger string */
.channels = 12, /* not used by NMEA parser */
.probe_detect = NULL, /* no probe */
.get_packet = generic_get, /* how to get a packet */
.parse_packet = generic_parse_input, /* how to interpret a packet */
.rtcm_writer = NULL, /* don't send RTCM data */
.init_query = NULL, /* non-perturbing query */
.event_hook = earthmate_event_hook, /* 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, /* no rate switch */
#endif /* RECONFIGURE_ENABLE */
#ifdef CONTROLSEND_ENABLE
.control_send = nmea_write, /* never actually used. */
#endif /* CONTROLSEND_ENABLE */
#ifdef TIMEHINT_ENABLE
.time_offset = NULL, /* no method for NTP fudge factor */
#endif /* TIMEHINT_ENABLE */
};
/* *INDENT-ON* */
#endif /* EARTHMATE_ENABLE */
#endif /* NMEA0183_ENABLE */
#ifdef TNT_ENABLE
/**************************************************************************
* True North Technologies - Revolution 2X Digital compass
*
* More info: http://www.tntc.com/
*
* This is a digital compass which uses magnetometers to measure the
* strength of the earth's magnetic field. Based on these measurements
* it provides a compass heading using NMEA formatted output strings.
* This is useful to supplement the heading provided by another GPS
* unit. A GPS heading is unreliable at slow speed or no speed.
*
**************************************************************************/
static ssize_t tnt_control_send(struct gps_device_t *session,
char *msg, size_t len UNUSED)
/* send a control string in TNT native formal */
{
ssize_t status;
unsigned char sum = '\0';
char c, *p = msg;
if (*p == '@') {
p++;
}
#ifdef __UNUSED__
else {
gpsd_log(&session->context->errout, LOG_ERROR,
"Bad TNT sentence: '%s'\n", msg);
}
#endif /* __UNUSED__ */
while (((c = *p) != '\0')) {
sum ^= c;
p++;
}
(void)snprintf(p, 6, "*%02X\r\n", (unsigned int)sum);
status = gpsd_write(session, msg, strlen(msg));
return status;
}
static bool tnt_send(struct gps_device_t *session, const char *fmt, ...)
/* printf(3)-like TNT command generator */
{
char buf[BUFSIZ];
va_list ap;
ssize_t sent;
va_start(ap, fmt);
(void)vsnprintf(buf, sizeof(buf) - 5, fmt, ap);
va_end(ap);
sent = tnt_control_send(session, buf, strlen(buf));
if (sent == (ssize_t) strlen(buf)) {
gpsd_log(&session->context->errout, LOG_IO,
"=> GPS: %s\n", buf);
return true;
} else {
gpsd_log(&session->context->errout, LOG_WARN,
"=> GPS: %s FAILED\n", buf);
return false;
}
}
#ifdef RECONFIGURE_ENABLE
static bool tnt_speed(struct gps_device_t *session,
speed_t speed, char parity UNUSED, int stopbits UNUSED)
{
/*
* Baud rate change followed by device reset.
* See page 40 of Technical Guide 1555-B. We need:
* 2400 -> 1, 4800 -> 2, 9600 -> 3, 19200 -> 4, 38400 -> 5
*/
unsigned int val = speed / 2400u; /* 2400->1, 4800->2, 9600->4, 19200->8... */
unsigned int i = 0;
/* fast way to compute log2(val) */
while ((val >> i) > 1)
++i;
return tnt_send(session, "@B6=%d", i + 1)
&& tnt_send(session, "@F28.6=1");
}
#endif /* RECONFIGURE_ENABLE */
static void tnt_event_hook(struct gps_device_t *session, event_t event)
/* TNT lifetime event hook */
{
if (session->context->readonly)
return;
if (event == event_wakeup) {
(void)tnt_send(session, "@F0.3=1"); /* set run mode */
(void)tnt_send(session, "@F2.2=1"); /* report in degrees */
}
}
/* *INDENT-OFF* */
const struct gps_type_t driver_trueNorth = {
.type_name = "True North", /* full name of type */
.packet_type = NMEA_PACKET, /* associated lexer packet type */
.flags = DRIVER_STICKY, /* remember this */
.trigger = "$PTNTHTM", /* their proprietary sentence */
.channels = 0, /* not an actual GPS at all */
.probe_detect = NULL, /* no probe in run mode */
.get_packet = generic_get, /* how to get a packet */
.parse_packet = generic_parse_input, /* how to interpret a packet */
.rtcm_writer = NULL, /* Don't send */
.init_query = NULL, /* non-perturbing initial query */
.event_hook = tnt_event_hook, /* lifetime event handler */
#ifdef RECONFIGURE_ENABLE
.speed_switcher = tnt_speed, /* no speed switcher */
.mode_switcher = NULL, /* no mode switcher */
.rate_switcher = NULL, /* no wrapup */
.min_cycle = 0.5, /* fixed at 20 samples per second */
#endif /* RECONFIGURE_ENABLE */
#ifdef CONTROLSEND_ENABLE
.control_send = tnt_control_send, /* how to send control strings */
#endif /* CONTROLSEND_ENABLE */
#ifdef TIMEHINT_ENABLE
.time_offset = NULL,
#endif /* TIMEHINT_ENABLE */
};
/* *INDENT-ON* */
#endif
#ifdef OCEANSERVER_ENABLE
/**************************************************************************
* OceanServer - Digital Compass, OS5000 Series
*
* More info: http://www.ocean-server.com/download/OS5000_Compass_Manual.pdf
*
* This is a digital compass which uses magnetometers to measure the
* strength of the earth's magnetic field. Based on these measurements
* it provides a compass heading using NMEA formatted output strings.
* This is useful to supplement the heading provided by another GPS
* unit. A GPS heading is unreliable at slow speed or no speed.
*
**************************************************************************/
static int oceanserver_send(struct gpsd_errout_t *errout,
const int fd, const char *fmt, ...)
{
int status;
char buf[BUFSIZ];
va_list ap;
va_start(ap, fmt);
(void)vsnprintf(buf, sizeof(buf) - 5, fmt, ap);
va_end(ap);
(void)strlcat(buf, "", sizeof(buf));
status = (int)write(fd, buf, strlen(buf));
(void)tcdrain(fd);
if (status == (int)strlen(buf)) {
gpsd_log(errout, LOG_IO, "=> GPS: %s\n", buf);
return status;
} else {
gpsd_log(errout, LOG_WARN, "=> GPS: %s FAILED\n", buf);
return -1;
}
}
static void oceanserver_event_hook(struct gps_device_t *session,
event_t event)
{
if (session->context->readonly)
return;
if (event == event_configure && session->lexer.counter == 0) {
/* report in NMEA format */
(void)oceanserver_send(&session->context->errout,
session->gpsdata.gps_fd, "2\n");
/* ship all fields */
(void)oceanserver_send(&session->context->errout,
session->gpsdata.gps_fd, "X2047");
}
}
/* *INDENT-OFF* */
static const struct gps_type_t driver_oceanServer = {
.type_name = "OceanServer OS5000", /* full name of type */
.packet_type = NMEA_PACKET, /* associated lexer packet type */
.flags = DRIVER_STICKY, /* no rollover or other flags */
.trigger = "$OHPR,", /* detect their main sentence */
.channels = 0, /* not an actual GPS at all */
.probe_detect = NULL,
.get_packet = generic_get, /* how to get a packet */
.parse_packet = generic_parse_input, /* how to interpret a packet */
.rtcm_writer = NULL, /* Don't send */
.init_query = NULL, /* non-perturbing initial query */
.event_hook = oceanserver_event_hook,
#ifdef RECONFIGURE_ENABLE
.speed_switcher = NULL, /* no speed switcher */
.mode_switcher = NULL, /* no mode switcher */
.rate_switcher = NULL, /* no wrapup */
.min_cycle = 1, /* not relevant, no rate switch */
#endif /* RECONFIGURE_ENABLE */
#ifdef CONTROLSEND_ENABLE
.control_send = nmea_write, /* how to send control strings */
#endif /* CONTROLSEND_ENABLE */
#ifdef TIMEHINT_ENABLE
.time_offset = NULL,
#endif /* TIMEHINT_ENABLE */
};
/* *INDENT-ON* */
#endif
#ifdef FURY_ENABLE
/**************************************************************************
*
* Jackson Labs Fury, a high-precision laboratory clock
*
* Will also support other Jackon Labs boards, including the Firefly.
*
* Note: you must either build with fixed_port_speed=115200 or tweak the
* speed on the port to 115200 before running. The device's default mode
* does not stream output, so our hunt loop will simply time out otherwise.
*
**************************************************************************/
static bool fury_rate_switcher(struct gps_device_t *session, double rate)
{
char buf[78];
double inverted;
/* rate is a frequency, but the command takes interval in # of seconds */
if (rate == 0.0)
inverted = 0.0;
else
inverted = 1.0/rate;
if (inverted > 256)
return false;
(void)snprintf(buf, sizeof(buf), "GPS:GPGGA %d\r\n", (int)inverted);
(void)gpsd_write(session, buf, strlen(buf));
return true;
}
static void fury_event_hook(struct gps_device_t *session, event_t event)
{
if (event == event_wakeup && gpsd_get_speed(session) == 115200)
(void)fury_rate_switcher(session, 1.0);
else if (event == event_deactivate)
(void)fury_rate_switcher(session, 0.0);
}
/* *INDENT-OFF* */
static const struct gps_type_t driver_fury = {
.type_name = "Jackson Labs Fury", /* full name of type */
.packet_type = NMEA_PACKET, /* associated lexer packet type */
.flags = DRIVER_STICKY, /* no rollover or other flags */
.trigger = NULL, /* detect their main sentence */
.channels = 0, /* not an actual GPS at all */
.probe_detect = NULL,
.get_packet = generic_get, /* how to get a packet */
.parse_packet = generic_parse_input, /* how to interpret a packet */
.rtcm_writer = NULL, /* Don't send */
.init_query = NULL, /* non-perturbing initial query */
.event_hook = fury_event_hook,
#ifdef RECONFIGURE_ENABLE
.speed_switcher = NULL, /* no speed switcher */
.mode_switcher = NULL, /* no mode switcher */
.rate_switcher = fury_rate_switcher,
.min_cycle = 1, /* has rate switch */
#endif /* RECONFIGURE_ENABLE */
#ifdef CONTROLSEND_ENABLE
.control_send = nmea_write, /* how to send control strings */
#endif /* CONTROLSEND_ENABLE */
#ifdef TIMEHINT_ENABLE
.time_offset = NULL,
#endif /* TIMEHINT_ENABLE */
};
/* *INDENT-ON* */
#endif /* FURY_ENABLE */
#ifdef RTCM104V2_ENABLE
/**************************************************************************
*
* RTCM-104 (v2), used for broadcasting DGPS corrections and by DGPS radios
*
**************************************************************************/
static gps_mask_t rtcm104v2_analyze(struct gps_device_t *session)
{
rtcm2_unpack(&session->gpsdata.rtcm2, (char *)session->lexer.isgps.buf);
/* extra guard prevents expensive hexdump calls */
if (session->context->errout.debug >= LOG_RAW)
gpsd_log(&session->context->errout, LOG_RAW,
"RTCM 2.x packet type 0x%02x length %d words from %zd bytes: %s\n",
session->gpsdata.rtcm2.type,
session->gpsdata.rtcm2.length + 2,
session->lexer.isgps.buflen,
gpsd_hexdump(session->msgbuf, sizeof(session->msgbuf),
(char *)session->lexer.isgps.buf,
(session->gpsdata.rtcm2.length +
2) * sizeof(isgps30bits_t)));
session->cycle_end_reliable = true;
return RTCM2_SET;
}
/* *INDENT-OFF* */
static const struct gps_type_t driver_rtcm104v2 = {
.type_name = "RTCM104V2", /* full name of type */
.packet_type = RTCM2_PACKET, /* associated lexer packet type */
.flags = DRIVER_NOFLAGS, /* no rollover or other flags */
.trigger = NULL, /* no recognition string */
.channels = 0, /* not used */
.probe_detect = NULL, /* no probe */
.get_packet = generic_get, /* how to get a packet */
.parse_packet = rtcm104v2_analyze, /* */
.rtcm_writer = NULL, /* don't send RTCM data, */
.init_query = NULL, /* non-perturbing initial query */
.event_hook = NULL, /* no event_hook */
#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, /* how to send control strings */
#endif /* CONTROLSEND_ENABLE */
#ifdef TIMEHINT_ENABLE
.time_offset = NULL,
#endif /* TIMEHINT_ENABLE */
};
/* *INDENT-ON* */
#endif /* RTCM104V2_ENABLE */
#ifdef RTCM104V3_ENABLE
/**************************************************************************
*
* RTCM-104 (v3), used for broadcasting DGPS corrections and by DGPS radios
*
**************************************************************************/
static gps_mask_t rtcm104v3_analyze(struct gps_device_t *session)
{
uint16_t type = getbeu16(session->lexer.inbuffer, 3) >> 4;
gpsd_log(&session->context->errout, LOG_RAW, "RTCM 3.x packet %d\n", type);
rtcm3_unpack(session->context,
&session->gpsdata.rtcm3,
(char *)session->lexer.outbuffer);
session->cycle_end_reliable = true;
return RTCM3_SET;
}
/* *INDENT-OFF* */
static const struct gps_type_t driver_rtcm104v3 = {
.type_name = "RTCM104V3", /* full name of type */
.packet_type = RTCM3_PACKET, /* associated lexer packet type */
.flags = DRIVER_NOFLAGS, /* no rollover or other flags */
.trigger = NULL, /* no recognition string */
.channels = 0, /* not used */
.probe_detect = NULL, /* no probe */
.get_packet = generic_get, /* how to get a packet */
.parse_packet = rtcm104v3_analyze, /* */
.rtcm_writer = NULL, /* don't send RTCM data, */
.init_query = NULL, /* non-perturbing initial query */
.event_hook = NULL, /* no event hook */
#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, /* how to send control strings */
#endif /* CONTROLSEND_ENABLE */
#ifdef TIMEHINT_ENABLE
.time_offset = NULL,
#endif /* TIMEHINT_ENABLE */
};
/* *INDENT-ON* */
#endif /* RTCM104V3_ENABLE */
#ifdef GARMINTXT_ENABLE
/**************************************************************************
*
* Garmin Simple Text protocol
*
**************************************************************************/
/* *INDENT-OFF* */
static const struct gps_type_t driver_garmintxt = {
.type_name = "Garmin Simple Text", /* full name of type */
.packet_type = GARMINTXT_PACKET, /* associated lexer packet type */
.flags = DRIVER_NOFLAGS, /* no rollover or other flags */
.trigger = NULL, /* no recognition string */
.channels = 0, /* not used */
.probe_detect = NULL, /* no probe */
.get_packet = generic_get, /* how to get a packet */
.parse_packet = garmintxt_parse, /* how to parse one */
.rtcm_writer = NULL, /* don't send RTCM data, */
.init_query = NULL, /* non-perturbing initial query */
.event_hook = NULL, /* no event hook */
#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, /* how to send control strings */
#endif /* CONTROLSEND_ENABLE */
#ifdef TIMEHINT_ENABLE
.time_offset = NULL,
#endif /* TIMEHINT_ENABLE */
};
/* *INDENT-ON* */
#endif /* GARMINTXT_ENABLE */
#ifdef MTK3301_ENABLE
/**************************************************************************
*
* MediaTek MTK-3301, 3329, 3339
*
* OEMs for several GPS vendors, notably including Garmin, FasTrax, Trimble,
* and AdaFruit. Website at <http://www.mediatek.com/>.
*
* The Trimble Condor appears to be an MTK3329. It behaves as an MTK3301
* and positively acknowledges all 3301 sentences as valid. It ignores $PMTK
* sentence fields that are not implemented in the Trimble Condor. It does
* not have power-save mode and ignores $PMTK320. For $PMTK314 it silently
* ignores periodic enabling of messages that aren't supported.
*
* From its datasheet the MTK3339 seems to add QZSS support not present in
* earlier versions. The data sheet says it has 66 channels, which mkes
* sense given the multi-constellation capability. The channel count
* in the driver is never used by the NMEA driver so leaving the lower MTK3301
* value in there is OK.
*
* The Adafruit GPS HAT for the Raspberry Pi is an MTK3339. It works with this
* driver; in fact AdaFruit's overview page for the product features GPSD.
*
**************************************************************************/
static void mtk3301_event_hook(struct gps_device_t *session, event_t event)
{
/*
0 NMEA_SEN_GLL, GPGLL interval - Geographic Position - Latitude longitude
1 NMEA_SEN_RMC, GPRMC interval - Recommended Minimum Specific GNSS Sentence
2 NMEA_SEN_VTG, GPVTG interval - Course Over Ground and Ground Speed
3 NMEA_SEN_GGA, GPGGA interval - GPS Fix Data
4 NMEA_SEN_GSA, GPGSA interval - GNSS DOPS and Active Satellites
5 NMEA_SEN_GSV, GPGSV interval - GNSS Satellites in View
6 NMEA_SEN_GRS, GPGRS interval - GNSS Range Residuals
7 NMEA_SEN_GST, GPGST interval - GNSS Pseudorange Errors Statistics
13 NMEA_SEN_MALM, PMTKALM interval - GPS almanac information
14 NMEA_SEN_MEPH, PMTKEPH interval - GPS ephemeris information
15 NMEA_SEN_MDGP, PMTKDGP interval - GPS differential correction information
16 NMEA_SEN_MDBG, PMTKDBG interval – MTK debug information
17 NMEA_SEN_ZDA, GPZDA interval - Time & Date
18 NMEA_SEN_MCHN, PMTKCHN interval – GPS channel status
"$PMTK314,1,1,1,1,1,5,1,1,0,0,0,0,0,0,0,0,0,1,0"
*/
if (session->context->readonly)
return;
if (event == event_triggermatch) {
(void)nmea_send(session, "$PMTK320,0"); /* power save off */
(void)nmea_send(session, "$PMTK300,1000,0,0,0.0,0.0");/* Fix interval */
(void)nmea_send(session,
"$PMTK314,0,1,0,1,1,5,1,1,0,0,0,0,0,0,0,0,0,1,0");
(void)nmea_send(session, "$PMTK301,2"); /* DGPS is WAAS */
(void)nmea_send(session, "$PMTK313,1"); /* SBAS enable */
/* PMTK_API_Q_OUTPUT_CTL - Query PPS pulse width - Trimble only?
* http://trl.trimble.com/docushare/dsweb/Get/Document-482603/CONDOR_UG_2C_75263-00.pdf *
* badly documented */
(void)nmea_send(session, "$PMTK424");
}
}
#ifdef RECONFIGURE_ENABLE
static bool mtk3301_rate_switcher(struct gps_device_t *session, double rate)
{
char buf[78];
unsigned int milliseconds = (unsigned int)(1000 * rate);
if (rate > 1)
milliseconds = 1000;
else if (rate < 0.2)
milliseconds = 200;
(void)snprintf(buf, sizeof(buf), "$PMTK300,%u,0,0,0,0", milliseconds);
(void)nmea_send(session, buf); /* Fix interval */
return true;
}
#endif /* RECONFIGURE_ENABLE */
/* *INDENT-OFF* */
const struct gps_type_t driver_mtk3301 = {
.type_name = "MTK-3301", /* full name of type */
.packet_type = NMEA_PACKET, /* associated lexer packet type */
.flags = DRIVER_STICKY, /* remember this */
.trigger = "$PMTK705,", /* firmware release name and version */
.channels = 12, /* not used by this driver */
.probe_detect = NULL, /* no probe */
.get_packet = generic_get, /* how to get a packet */
.parse_packet = generic_parse_input, /* how to interpret a packet */
.rtcm_writer = gpsd_write, /* write RTCM data straight */
.init_query = NULL, /* non-perturbing initial query */
.event_hook = mtk3301_event_hook, /* lifetime event handler */
#ifdef RECONFIGURE_ENABLE
.speed_switcher = NULL, /* no speed switcher */
.mode_switcher = NULL, /* no mode switcher */
.rate_switcher = mtk3301_rate_switcher, /* sample rate switcher */
.min_cycle = 0.2, /* max 5Hz */
#endif /* RECONFIGURE_ENABLE */
#ifdef CONTROLSEND_ENABLE
.control_send = nmea_write, /* how to send control strings */
#endif /* CONTROLSEND_ENABLE */
#ifdef TIMEHINT_ENABLE
.time_offset = NULL,
#endif /* TIMEHINT_ENABLE */
};
/* *INDENT-ON* */
#endif /* MTK3301_ENABLE */
#ifdef ISYNC_ENABLE
/**************************************************************************
*
* Spectratime LNRCLOK / GRCLOK iSync GPS-disciplined rubidium oscillators
*
* These devices comprise a u-blox 6 attached to a separate iSync
* microcontroller which drives the rubidium oscillator. The iSync
* microcontroller can be configured to pass through the underlying
* GPS communication channel, while still using the GPS PPSREF signal
* to discipline the rubidium oscillator.
*
* The iSync can also generate its own periodic status packets in NMEA
* format. These describe the state of the oscillator (including
* whether or not the oscillator PPSOUT is synced to the GPS PPSREF).
* These packets are transmitted in the middle of the underlying GPS
* packets, forcing us to handle interrupted NMEA packets.
*
* The default state of the device is to generate no periodic output.
* We send a probe string to initiate beating of the iSync-proprietary
* $PTNTS,B message, which is then detected as a NMEA trigger.
*
**************************************************************************/
static ssize_t isync_write(struct gps_device_t *session, const char *data)
{
return gpsd_write(session, data, strlen(data));
}
static bool isync_detect(struct gps_device_t *session)
{
speed_t old_baudrate;
char old_parity;
unsigned int old_stopbits;
/* Set 9600 8N1 */
old_baudrate = session->gpsdata.dev.baudrate;
old_parity = session->gpsdata.dev.parity;
old_stopbits = session->gpsdata.dev.stopbits;
gpsd_set_speed(session, 9600, 'N', 1);
/* Cancel pass-through mode and initiate beating of $PTNTS,B
* message, which can subsequently be detected as a trigger.
*/
(void)isync_write(session, "@@@@\r\nMAW0C0B\r\n");
/* return serial port to original settings */
gpsd_set_speed(session, old_baudrate, old_parity, old_stopbits);
return false;
}
static void isync_event_hook(struct gps_device_t *session, event_t event)
{
if (session->context->readonly)
return;
if (event == event_driver_switch) {
session->lexer.counter = 0;
}
if (event == event_configure) {
switch (session->lexer.counter) {
case 1:
/* Configure timing and frequency flags:
* - Thermal compensation active
* - PPSREF active
* - PPSOUT active
*/
(void)isync_write(session, "MAW040B\r\n");
/* Configure tracking flags:
* - Save frequency every 24 hours
* - Align PPSOUT to PPSINT
* - Track PPSREF
*/
(void)isync_write(session, "MAW0513\r\n");
/* Configure tracking start flags:
* - Tracking restart allowed
* - Align to PPSREF
*/
(void)isync_write(session, "MAW0606\r\n");
/* Configure tracking window:
* - 4us
*/
(void)isync_write(session, "MAW1304\r\n");
/* Configure alarm window:
* - 4us
*/
(void)isync_write(session, "MAW1404\r\n");
break;
case 2:
/* Configure pulse every d second:
* - pulse every second
*/
(void)isync_write(session, "MAW1701\r\n");
/* Configure pulse origin:
* - zero offset
*/
(void)isync_write(session, "MAW1800\r\n");
/* Configure pulse width:
* - 600ms
*/
(void)isync_write(session, "MAW1223C34600\r\n");
break;
case 3:
/* Configure GPS resource utilization:
* - do not consider GPS messages
*/
(void)isync_write(session, "MAW2200\r\n");
/* Restart sync */
(void)isync_write(session, "SY1\r\n");
/* Restart tracking */
(void)isync_write(session, "TR1\r\n");
break;
case 4:
/* Cancel BTx messages (if any) */
(void)isync_write(session, "BT0\r\n");
/* Configure messages coming out every second:
* - Oscillator status ($PTNTA) at 750ms
*/
(void)isync_write(session, "MAW0B00\r\n");
(void)isync_write(session, "MAW0C0A\r\n");
break;
case 5:
/* Enable GPS passthrough and force u-blox driver to
* select NMEA mode.
*/
session->mode = 0;
session->drivers_identified = 0;
(void)isync_write(session, "@@@@GPS\r\n");
break;
case 6:
/* Trigger detection of underlying u-blox (if necessary) */
(void)ubx_write(session, 0x06, 0x00, NULL, 0);
break;
}
}
}
/* *INDENT-OFF* */
const struct gps_type_t driver_isync = {
.type_name = "iSync", /* full name of type */
.packet_type = NMEA_PACKET, /* associated lexer packet type */
.flags = DRIVER_STICKY, /* remember this */
.trigger = "$PTNTS,B,", /* iSync status message */
.channels = 50, /* copied from driver_ubx */
.probe_detect = isync_detect, /* how to detect at startup time */
.get_packet = generic_get, /* how to get a packet */
.parse_packet = generic_parse_input, /* how to interpret a packet */
.init_query = NULL, /* non-perturbing initial query */
.event_hook = isync_event_hook, /* 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 = nmea_write, /* how to send control strings */
#endif /* CONTROLSEND_ENABLE */
#ifdef TIMEHINT_ENABLE
.time_offset = NULL, /* no method for NTP fudge factor */
#endif /* TIMEHINT_ENABLE */
};
/* *INDENT-ON* */
#endif /* ISYNC_ENABLE */
#ifdef AIVDM_ENABLE
/**************************************************************************
*
* AIVDM - ASCII armoring of binary AIS packets
*
**************************************************************************/
static bool aivdm_decode(const char *buf, size_t buflen,
struct gps_device_t *session,
struct ais_t *ais,
int debug)
{
#ifdef __UNUSED_DEBUG__
char *sixbits[64] = {
"000000", "000001", "000010", "000011", "000100",
"000101", "000110", "000111", "001000", "001001",
"001010", "001011", "001100", "001101", "001110",
"001111", "010000", "010001", "010010", "010011",
"010100", "010101", "010110", "010111", "011000",
"011001", "011010", "011011", "011100", "011101",
"011110", "011111", "100000", "100001", "100010",
"100011", "100100", "100101", "100110", "100111",
"101000", "101001", "101010", "101011", "101100",
"101101", "101110", "101111", "110000", "110001",
"110010", "110011", "110100", "110101", "110110",
"110111", "111000", "111001", "111010", "111011",
"111100", "111101", "111110", "111111",
};
#endif /* __UNUSED_DEBUG__ */
int nfrags, ifrag, nfields = 0;
unsigned char *field[NMEA_MAX*2];
unsigned char fieldcopy[NMEA_MAX*2+1];
unsigned char *data, *cp;
char const *cp1;
int pad;
struct aivdm_context_t *ais_context;
int i;
if (buflen == 0)
return false;
/* we may need to dump the raw packet */
gpsd_log(&session->context->errout, LOG_PROG,
"AIVDM packet length %zd: %s\n", buflen, buf);
/* first clear the result, making sure we don't return garbage */
memset(ais, 0, sizeof(*ais));
/* discard overlong sentences */
if (strlen(buf) > sizeof(fieldcopy)-1) {
gpsd_log(&session->context->errout, LOG_ERROR,
"overlong AIVDM packet.\n");
return false;
}
/* discard sentences with high-half characters in them, they're corrupted */
for (cp1 = buf; *cp1; cp1++) {
if (!isascii(*cp1)) {
gpsd_log(&session->context->errout, LOG_ERROR,
"corrupted AIVDM packet.\n");
return false;
}
}
/* extract packet fields */
(void)strlcpy((char *)fieldcopy, buf, sizeof(fieldcopy));
field[nfields++] = (unsigned char *)buf;
for (cp = fieldcopy;
cp < fieldcopy + buflen; cp++)
{
if (
(*cp == (unsigned char)',') ||
(*cp == (unsigned char)'*')
) {
*cp = '\0';
field[nfields++] = cp + 1;
}
}
#ifdef __UNDEF_DEBUG_
for(int i=0;i<nfields;i++)
gpsd_log(&session->context->errout, LOG_DATA, "field [%d] [%s]\n",i,field[i]);
#endif
/* discard sentences with exiguous commas; catches run-ons */
if (nfields < 7) {
gpsd_log(&session->context->errout, LOG_ERROR,
"malformed AIVDM packet.\n");
return false;
}
switch (field[4][0]) {
case '\0':
/*
* Apparently an empty channel is normal for AIVDO sentences,
* which makes sense as they don't come in over radio. This
* is going to break if there's ever an AIVDO type 24, though.
*/
if (!str_starts_with((const char *)field[0], "!AIVDO"))
gpsd_log(&session->context->errout, LOG_INF,
"invalid empty AIS channel. Assuming 'A'\n");
ais_context = &session->driver.aivdm.context[0];
session->driver.aivdm.ais_channel ='A';
break;
case '1':
if (strcmp((char *)field[4], (char *)"12") == 0) {
gpsd_log(&session->context->errout, LOG_INF,
"ignoring bogus AIS channel '12'.\n");
return false;
}
/* fall through */
case 'A':
ais_context = &session->driver.aivdm.context[0];
session->driver.aivdm.ais_channel ='A';
break;
case '2':
case 'B':
ais_context = &session->driver.aivdm.context[1];
session->driver.aivdm.ais_channel ='B';
break;
case 'C':
gpsd_log(&session->context->errout, LOG_INF,
"ignoring AIS channel C (secure AIS).\n");
return false;
default:
gpsd_log(&session->context->errout, LOG_ERROR,
"invalid AIS channel 0x%0X .\n", field[4][0]);
return false;
}
nfrags = atoi((char *)field[1]); /* number of fragments to expect */
ifrag = atoi((char *)field[2]); /* fragment id */
data = field[5];
pad = 0;
if(isdigit(field[6][0]))
pad = field[6][0] - '0'; /* number of padding bits ASCII encoded*/
gpsd_log(&session->context->errout, LOG_PROG,
"nfrags=%d, ifrag=%d, decoded_frags=%d, data=%s, pad=%d\n",
nfrags, ifrag, ais_context->decoded_frags, data, pad);
/* assemble the binary data */
/* check fragment ordering */
if (ifrag != ais_context->decoded_frags + 1) {
gpsd_log(&session->context->errout, LOG_ERROR,
"invalid fragment #%d received, expected #%d.\n",
ifrag, ais_context->decoded_frags + 1);
if (ifrag != 1)
return false;
/* else, ifrag==1: Just discard all that was previously decoded and
* simply handle that packet */
ais_context->decoded_frags = 0;
}
if (ifrag == 1) {
(void)memset(ais_context->bits, '\0', sizeof(ais_context->bits));
ais_context->bitlen = 0;
}
/* wacky 6-bit encoding, shades of FIELDATA */
for (cp = data; cp < data + strlen((char *)data); cp++) {
unsigned char ch;
ch = *cp;
ch -= 48;
if (ch >= 40)
ch -= 8;
#ifdef __UNUSED_DEBUG__
gpsd_log(&session->context->errout, LOG_RAW,
"%c: %s\n", *cp, sixbits[ch]);
#endif /* __UNUSED_DEBUG__ */
for (i = 5; i >= 0; i--) {
if ((ch >> i) & 0x01) {
ais_context->bits[ais_context->bitlen / 8] |=
(1 << (7 - ais_context->bitlen % 8));
}
ais_context->bitlen++;
if (ais_context->bitlen > sizeof(ais_context->bits)) {
gpsd_log(&session->context->errout, LOG_INF,
"overlong AIVDM payload truncated.\n");
return false;
}
}
}
ais_context->bitlen -= pad;
/* time to pass buffered-up data to where it's actually processed? */
if (ifrag == nfrags) {
if (debug >= LOG_INF) {
size_t clen = BITS_TO_BYTES(ais_context->bitlen);
gpsd_log(&session->context->errout, LOG_INF,
"AIVDM payload is %zd bits, %zd chars: %s\n",
ais_context->bitlen, clen,
gpsd_hexdump(session->msgbuf, sizeof(session->msgbuf),
(char *)ais_context->bits, clen));
}
/* clear waiting fragments count */
ais_context->decoded_frags = 0;
/* decode the assembled binary packet */
return ais_binary_decode(&session->context->errout,
ais,
ais_context->bits,
ais_context->bitlen,
&ais_context->type24_queue);
}
/* we're still waiting on another sentence */
ais_context->decoded_frags++;
return false;
}
static gps_mask_t aivdm_analyze(struct gps_device_t *session)
{
if (session->lexer.type == AIVDM_PACKET) {
if (aivdm_decode
((char *)session->lexer.outbuffer, session->lexer.outbuflen,
session, &session->gpsdata.ais,
session->context->errout.debug)) {
return ONLINE_SET | AIS_SET;
} else
return ONLINE_SET;
#ifdef NMEA0183_ENABLE
} else if (session->lexer.type == NMEA_PACKET) {
return nmea_parse((char *)session->lexer.outbuffer, session);
#endif /* NMEA0183_ENABLE */
} else
return 0;
}
/* *INDENT-OFF* */
const struct gps_type_t driver_aivdm = {
/* Full name of type */
.type_name = "AIVDM", /* associated lexer packet type */
.packet_type = AIVDM_PACKET, /* numeric packet type */
.flags = DRIVER_NOFLAGS, /* no rollover or other flags */
.trigger = NULL, /* identifying response */
.channels = 0, /* not used by this driver */
.probe_detect = NULL, /* no probe */
.get_packet = generic_get, /* how to get a packet */
.parse_packet = aivdm_analyze, /* how to analyze a packet */
.rtcm_writer = NULL, /* don't send RTCM data, */
.init_query = NULL, /* non-perturbing initial query */
.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 rate switcher */
.min_cycle = 1, /* max 1Hz */
#endif /* RECONFIGURE_ENABLE */
#ifdef CONTROLSEND_ENABLE
.control_send = NULL, /* no control sender */
#endif /* CONTROLSEND_ENABLE */
#ifdef TIMEHINT_ENABLE
.time_offset = NULL, /* no NTP communication */
#endif /* TIMEHINT_ENABLE */
};
/* *INDENT-ON* */
#endif /* AIVDM_ENABLE */
#ifdef PASSTHROUGH_ENABLE
/**************************************************************************
*
* JSON passthrough driver
*
**************************************************************************/
static void path_rewrite(struct gps_device_t *session, char *prefix)
/* prepend the session path to the value of a specified attribute */
{
/*
* Hack the packet to reflect its origin. This code is supposed
* to insert the path naming the remote gpsd instance into the
* beginning of the path attribute, followed by a # to separate it
* from the device.
*/
char *prefloc;
assert(prefix != NULL && session->lexer.outbuffer != NULL);
/* possibly the rewrite has been done already, this comw up in gpsmon */
if (strstr((char *)session->lexer.outbuffer, session->gpsdata.dev.path) != NULL)
return;
for (prefloc = (char *)session->lexer.outbuffer;
prefloc < (char *)session->lexer.outbuffer+session->lexer.outbuflen;
prefloc++)
if (str_starts_with(prefloc, prefix)) {
char *sfxloc;
char copy[sizeof(session->lexer.outbuffer)+1];
(void)strlcpy(copy,
(char *)session->lexer.outbuffer,
sizeof(copy));
prefloc += strlen(prefix);
(void)strlcpy(prefloc,
session->gpsdata.dev.path,
sizeof(session->gpsdata.dev.path));
if ((sfxloc = strchr(prefloc, '#')))
*sfxloc = '\0'; /* Avoid accumulating multiple device names */
(void)strlcat((char *)session->lexer.outbuffer, "#",
sizeof(session->lexer.outbuffer));
(void)strlcat((char *)session->lexer.outbuffer,
copy + (prefloc-(char *)session->lexer.outbuffer),
sizeof(session->lexer.outbuffer));
}
session->lexer.outbuflen = strlen((char *)session->lexer.outbuffer);
}
static gps_mask_t json_pass_packet(struct gps_device_t *session)
{
gpsd_log(&session->context->errout, LOG_IO,
"<= GPS: %s\n", (char *)session->lexer.outbuffer);
if (strstr(session->gpsdata.dev.path, ":/") != NULL && strstr(session->gpsdata.dev.path, "localhost") == NULL)
{
/* devices and paths need to be edited */
if (strstr((char *)session->lexer.outbuffer, "DEVICE") != NULL)
path_rewrite(session, "\"path\":\"");
path_rewrite(session, "\"device\":\"");
/* mark certain responses without a path or device attribute */
if (session->gpsdata.dev.path[0] != '\0') {
if (strstr((char *)session->lexer.outbuffer, "VERSION") != NULL
|| strstr((char *)session->lexer.outbuffer, "WATCH") != NULL
|| strstr((char *)session->lexer.outbuffer, "DEVICES") != NULL) {
session->lexer.outbuffer[session->lexer.outbuflen-1] = '\0';
(void)strlcat((char *)session->lexer.outbuffer, ",\"remote\":\"",
sizeof(session->lexer.outbuffer));
(void)strlcat((char *)session->lexer.outbuffer,
session->gpsdata.dev.path,
sizeof(session->lexer.outbuffer));
(void)strlcat((char *)session->lexer.outbuffer, "\"}",
sizeof(session->lexer.outbuffer));
}
session->lexer.outbuflen = strlen((char *)session->lexer.outbuffer);
}
}
gpsd_log(&session->context->errout, LOG_PROG,
"JSON, passing through %s\n",
(char *)session->lexer.outbuffer);
return PASSTHROUGH_IS;
}
/* *INDENT-OFF* */
const struct gps_type_t driver_json_passthrough = {
.type_name = "JSON slave driver", /* full name of type */
.packet_type = JSON_PACKET, /* associated lexer packet type */
.flags = DRIVER_NOFLAGS, /* don't remember this */
.trigger = NULL, /* it's the default */
.channels = 0, /* not used */
.probe_detect = NULL, /* no probe */
.get_packet = generic_get, /* use generic packet getter */
.parse_packet = json_pass_packet, /* how to interpret a packet */
.rtcm_writer = NULL, /* write RTCM data straight */
.init_query = NULL, /* non-perturbing initial query */
.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, /* how to send control strings */
#endif /* CONTROLSEND_ENABLE */
#ifdef TIMEHINT_ENABLE
.time_offset = NULL, /* no method for NTP fudge factor */
#endif /* TIMEHINT_ENABLE */
};
/* *INDENT-ON* */
#endif /* PASSTHROUGH_ENABLE */
#if defined(PPS_ENABLE)
/* *INDENT-OFF* */
const struct gps_type_t driver_pps = {
.type_name = "PPS", /* full name of type */
.packet_type = BAD_PACKET, /* associated lexer packet type */
.flags = DRIVER_NOFLAGS, /* don't remember this */
.trigger = NULL, /* it's the default */
.channels = 0, /* not used */
.probe_detect = NULL, /* no probe */
.get_packet = NULL, /* use generic packet getter */
.parse_packet = NULL, /* how to interpret a packet */
.rtcm_writer = NULL, /* write RTCM data straight */
.init_query = NULL, /* non-perturbing initial query */
.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, /* how to send control strings */
#endif /* CONTROLSEND_ENABLE */
#ifdef TIMEHINT_ENABLE
.time_offset = NULL, /* no method for NTP fudge factor */
#endif /* TIMEHINT_ENABLE */
};
/* *INDENT-ON* */
#endif /* PPS_ENABLE */
extern const struct gps_type_t driver_evermore;
extern const struct gps_type_t driver_garmin_ser_binary;
extern const struct gps_type_t driver_garmin_usb_binary;
extern const struct gps_type_t driver_geostar;
extern const struct gps_type_t driver_greis;
extern const struct gps_type_t driver_italk;
extern const struct gps_type_t driver_navcom;
extern const struct gps_type_t driver_nmea2000;
extern const struct gps_type_t driver_oncore;
extern const struct gps_type_t driver_sirf;
extern const struct gps_type_t driver_skytraq;
extern const struct gps_type_t driver_superstar2;
extern const struct gps_type_t driver_tsip;
extern const struct gps_type_t driver_ubx;
extern const struct gps_type_t driver_zodiac;
/* the point of this rigamarole is to not have to export a table size */
static const struct gps_type_t *gpsd_driver_array[] = {
&driver_unknown,
#ifdef NMEA0183_ENABLE
&driver_nmea0183,
#ifdef ASHTECH_ENABLE
&driver_ashtech,
#endif /* ASHTECH_ENABLE */
#ifdef TRIPMATE_ENABLE
&driver_tripmate,
#endif /* TRIPMATE_ENABLE */
#ifdef EARTHMATE_ENABLE
&driver_earthmate,
#endif /* EARTHMATE_ENABLE */
#ifdef GPSCLOCK_ENABLE
&driver_gpsclock,
#endif /* GPSCLOCK_ENABLE */
#ifdef GARMIN_ENABLE
&driver_garmin,
#endif /* GARMIN_ENABLE */
#ifdef MTK3301_ENABLE
&driver_mtk3301,
#endif /* MTK3301_ENABLE */
#ifdef OCEANSERVER_ENABLE
&driver_oceanServer,
#endif /* OCEANSERVER_ENABLE */
#ifdef FV18_ENABLE
&driver_fv18,
#endif /* FV18_ENABLE */
#ifdef TNT_ENABLE
&driver_trueNorth,
#endif /* TNT_ENABLE */
#ifdef FURY_ENABLE
&driver_fury,
#endif /* FURY_ENABLE */
#ifdef AIVDM_ENABLE
&driver_aivdm,
#endif /* AIVDM_ENABLE */
#endif /* NMEA0183_ENABLE */
#ifdef EVERMORE_ENABLE
&driver_evermore,
#endif /* EVERMORE_ENABLE */
#ifdef GARMIN_ENABLE
/* be sure to try Garmin Serial Binary before Garmin USB Binary */
&driver_garmin_ser_binary,
&driver_garmin_usb_binary,
#endif /* GARMIN_ENABLE */
#ifdef GEOSTAR_ENABLE
&driver_geostar,
#endif /* GEOSTAR_ENABLE */
#ifdef GREIS_ENABLE
&driver_greis,
#endif /* GREIS_ENABLE */
#ifdef ITRAX_ENABLE
&driver_italk,
#endif /* ITRAX_ENABLE */
#ifdef ONCORE_ENABLE
&driver_oncore,
#endif /* ONCORE_ENABLE */
#ifdef NAVCOM_ENABLE
&driver_navcom,
#endif /* NAVCOM_ENABLE */
#ifdef SIRF_ENABLE
&driver_sirf,
#endif /* SIRF_ENABLE */
#ifdef SKYTRAQ_ENABLE
&driver_skytraq,
#endif /* SKYTRAQ_ENABLE */
#ifdef SUPERSTAR2_ENABLE
&driver_superstar2,
#endif /* SUPERSTAR2_ENABLE */
#ifdef TSIP_ENABLE
&driver_tsip,
#endif /* TSIP_ENABLE */
#ifdef ISYNC_ENABLE
&driver_isync,
#endif /* ISYNC_ENABLE */
#ifdef UBLOX_ENABLE
&driver_ubx,
#endif /* UBLOX_ENABLE */
#ifdef ZODIAC_ENABLE
&driver_zodiac,
#endif /* ZODIAC_ENABLE */
#ifdef NMEA2000_ENABLE
&driver_nmea2000,
#endif /* NMEA2000_ENABLE */
#ifdef RTCM104V2_ENABLE
&driver_rtcm104v2,
#endif /* RTCM104V2_ENABLE */
#ifdef RTCM104V3_ENABLE
&driver_rtcm104v3,
#endif /* RTCM104V3_ENABLE */
#ifdef GARMINTXT_ENABLE
&driver_garmintxt,
#endif /* GARMINTXT_ENABLE */
#ifdef PASSTHROUGH_ENABLE
&driver_json_passthrough,
#endif /* PASSTHROUGH_ENABLE */
#if defined(PPS_ENABLE)
&driver_pps,
#endif /* PPS_ENABLE */
NULL,
};
const struct gps_type_t **gpsd_drivers = &gpsd_driver_array[0];
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