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#include <stdlib.h>
#include <unistd.h>
#include <string.h>
#include <errno.h>
#include <sys/time.h>
#include "gpsd.h"
/**************************************************************************
*
* Generic driver -- straight NMEA 0183
*
**************************************************************************/
static void nmea_handle_input(struct gps_session_t *session)
{
if (!session->outbuflen)
packet_get_nmea(session);
gpsd_report(2, "<= GPS: %s", session->outbuffer);
if (session->outbuffer[0] == '$' && session->outbuffer[1] == 'G') {
if (nmea_parse(session->outbuffer, &session->gNMEAdata) < 0)
gpsd_report(2, "unknown sentence: \"%s\"\n", session->outbuffer);
} else {
#ifdef NON_NMEA_ENABLE
struct gps_type_t **dp;
/* maybe this is a trigger string for a driver we know about? */
for (dp = gpsd_drivers; *dp; dp++) {
char *trigger = (*dp)->trigger;
if (trigger && !strncmp(session->outbuffer, trigger, strlen(trigger)) && isatty(session->gNMEAdata.gps_fd)) {
gpsd_report(1, "found %s.\n", (*dp)->typename);
session->device_type = *dp;
if (session->device_type->initializer)
session->device_type->initializer(session);
packet_accept(session);
return;
}
}
#endif /* NON_NMEA_ENABLE */
gpsd_report(1, "unknown exception: \"%s\"\n", session->outbuffer);
}
/* also copy the sentence up to clients in raw mode */
if (session->gNMEAdata.raw_hook)
session->gNMEAdata.raw_hook(session->outbuffer);
packet_accept(session);
}
static int nmea_write_rtcm(struct gps_session_t *session, char *buf, int rtcmbytes)
{
return write(session->gNMEAdata.gps_fd, buf, rtcmbytes);
}
static void nmea_initializer(struct gps_session_t *session)
{
/* tell an FV18 to send GSAs so we'll know if 3D is accurate */
nmea_send(session->gNMEAdata.gps_fd, "$PFEC,GPint,GSA01,DTM00,ZDA00,RMC01,GLL01,GSV05");
/* probe for SiRF-II */
nmea_send(session->gNMEAdata.gps_fd, "$PSRF105,1");
}
struct gps_type_t nmea = {
'n', /* select explicitly with -T n */
"Generic NMEA", /* full name of type */
NULL, /* no recognition string, it's the default */
nmea_initializer, /* probe for SiRF II */
nmea_handle_input, /* read text sentence */
nmea_write_rtcm, /* write RTCM data straight */
NULL, /* no speed switcher */
NULL, /* no wrapup */
1, /* updates every second */
};
#ifdef SIRFII_ENABLE
/**************************************************************************
*
* SiRF-II NMEA
*
* This NMEA -mode driver is a fallback in case the SiRF chipset has
* firmware too old for binary to be useful.
*
**************************************************************************/
#ifndef BINARY_ENABLE
static void sirf_initializer(struct gps_session_t *session)
{
if (!strcmp(session->device_type->typename, "SiRF-II"))
nmea_send(session->gNMEAdata.gps_fd, "$PSRF105,0");
}
#endif /* BINARY_ENABLE */
static int sirf_switcher(struct gps_session_t *session, int speed)
/* switch GPS to specified mode at 8N1, optionally to binary */
{
if (nmea_send(session->gNMEAdata.gps_fd, "$PSRF100,1,%d,8,1,0", speed) < 0)
return 0;
tcdrain(session->gNMEAdata.gps_fd);
/*
* This definitely fails below 40 milliseconds on a BU-303b.
* 50ms is also verified by Chris Kuethe on
* Pharos iGPS360 + GSW 2.3.1ES + prolific
* Rayming TN-200 + GSW 2.3.1 + ftdi
* Rayming TN-200 + GSW 2.3.2 + ftdi
* so it looks pretty solid.
*/
usleep(50000);
return 1;
}
struct gps_type_t sirfII = {
'\0', /* selected implicitly */
"SiRF-II NMEA", /* full name of type */
#ifdef BINARY_ENABLE
NULL, /* recognizing SiRF flips us to binary */
NULL, /* no initialization */
#else
"$Ack Input105.", /* expected response to SiRF PSRF105 */
sirf_initializer, /* turn off debugging messages */
#endif /* BINARY_ENABLE */
nmea_handle_input, /* read text sentence */
nmea_write_rtcm, /* write RTCM data straight */
sirf_switcher, /* we can change speeds */
NULL, /* no wrapup */
1, /* updates every second */
};
#endif /* SIRFII_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);
gmtime_r(&t, &tm);
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 speed switcher */
NULL, /* no wrapup */
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 speed switcher */
NULL, /* no wrapup code */
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 speed switcher */
NULL, /* no wrapup code */
-1, /* should never time out */
};
#endif /* LOGFILE_ENABLE */
extern struct gps_type_t garmin_binary, sirf_binary;
/* the point of this rigamarole is to not have to export a table size */
static struct gps_type_t *gpsd_driver_array[] = {
&nmea,
#ifdef SIRFII_ENABLE
&sirfII,
#endif /* SIRFII_ENABLE */
#if TRIPMATE_ENABLE
&tripmate,
#endif /* TRIPMATE_ENABLE */
#if EARTHMATE_ENABLE
&earthmate,
#endif /* EARTHMATE_ENABLE */
#ifdef ZODIAC_ENABLE
&zodiac_binary,
#endif /* ZODIAC_ENABLE */
#ifdef ZODIAC_ENABLE
&garmin_binary,
#endif /* ZODIAC_ENABLE */
&sirf_binary,
#ifdef LOGFILE_ENABLE
&logfile,
#endif /* LOGFILE_ENABLE */
NULL,
};
struct gps_type_t **gpsd_drivers = &gpsd_driver_array[0];
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