path: root/garminctl.c

/* $Id$ */
/* 
 * program to configure Garmin Serial GPS, not for use with Garmin USB.
 *
 */

#define __USE_POSIX199309 1
#include <sys/types.h>
#include <time.h> // for nanosleep()

#include <sys/stat.h>
#include <ctype.h>
#include <fcntl.h>
#include <getopt.h>
#include <limits.h>
#include <stdarg.h>
#include <stdio.h>
#include <stdlib.h>
#include <string.h>
#include <termios.h>
#include <unistd.h>
#include <stdbool.h>
#include "gpsd_config.h"

/* gross - globals */
static struct termios ttyset;
static unsigned int bps;
static int debug_level = 0;

#define NO_PACKET	0
#define GARMIN_PACKET	1
#define NMEA_PACKET	2

static void logit(int , char *, ...);
static void nmea_add_checksum(char *);
static int nmea_send(int , const char *, ... );

/* how many characters to look at when trying to find baud rate lock */
#define SNIFF_RETRIES	1200

void logit( int level, char *fmt, ...)  {
    va_list ap;

    if ( level > debug_level ) {
	return;
    }
    va_start(ap, fmt) ;
    (void)vprintf(fmt, ap);
    va_end(ap);
}

/*****************************************************************************
 *
 * Serial-line handling
 * stolen shamelessly from sirfmon.c
 *
 *****************************************************************************/

static unsigned int get_speed(struct termios* ttyctl)
{
    speed_t code = cfgetospeed(ttyctl);
    switch (code) {
    case B0:     return(0);
    case B300:   return(300);
    case B600:   return(300);
    case B1200:  return(1200);
    case B2400:  return(2400);
    case B4800:  return(4800);
    case B9600:  return(9600);
    case B19200: return(19200);
    case B38400: return(38400);
    case B57600: return(57600);
    default: return(115200);
    }
}

static int set_speed( int fd,unsigned int speed)
{
    unsigned int	rate, count, state;
    int st;
    char	c;

    (void)tcflush(fd, TCIOFLUSH);	/* toss stale data */

    if (speed != 0) {
	/*@ +ignoresigns @*/
	if (speed < 300)
	    rate = 0;
	else if (speed < 600)
	    rate =  B300;
	else if (speed < 1200)
	    rate =  B600;
	else if (speed < 2400)
	    rate =  B1200;
	else if (speed < 4800)
	    rate =  B2400;
	else if (speed < 9600)
	    rate =  B4800;
	else if (speed < 19200)
	    rate =  B9600;
	else if (speed < 38400)
	    rate =  B19200;
	else if (speed < 57600)
	    rate =  B38400;
	else
	    rate =  B57600;
	/*@ -ignoresigns @*/

	/*@ ignore @*/
	(void)cfsetispeed(&ttyset, (speed_t)rate);
	(void)cfsetospeed(&ttyset, (speed_t)rate);
	/*@ end @*/
    }
    ttyset.c_cflag &=~ CSIZE;
    /* Garmin always 8N1 */
    ttyset.c_cflag |= (CSIZE & CS8);
    if (tcsetattr(fd, TCSANOW, &ttyset) != 0) {
        (void)logit(0, "ERROR: can not set port speed\n");
	return NO_PACKET;
    }
    (void)tcflush(fd, TCIOFLUSH);

    (void)logit(1, "Hunting at speed %u, 8N1\n", get_speed(&ttyset));

    /* sniff for NMEA or GARMIN packet */
    /* GARMIN_BINARY: 0x10, 0x03, 0x10 */
    /* NMEA: \0d\0a$GP */
    /*   or: \0d\0a$PG */
    state = 0;
    for (count = 0; count < SNIFF_RETRIES; count++) {
	if ((st = (int)read(fd, &c, 1)) < 0)
	    return 0;
	else
	    count += st;

        if ( isprint( c ) ) {
		(void)logit(8, "State: %d, Got: %#02x/%c\n", state, c, c);
	} else {
		(void)logit(8, "State: %d, Got: %#02x\n", state, c);
	}
	switch ( state ) {
	case 0:
	    if (c == '\x10')
		state = 101;
	    else if (c == '\x0d')
		state = 201;
	    break;
	case 101:
	    if (c == '\x03')
		state = 102;
	    else if (c == '\x0d')
		state = 201;
	    else
		state = 0;
	    break;
	case 102:
	    if (c == '\x10')
		return GARMIN_PACKET;
	    else if (c == '\x0d')
		state = 201;
	    else
		state = 0;
	    break;
	case 201:
	    if (c == '\x10')
		state = 101;
	    else if (c == '\x0a')
		state = 202;
	    else
		state = 0;
	    break;
	case 202:
	    if (c == '\x10')
		state = 101;
	    else if (c == '$')
		state = 203;
	    else
		state = 0;
	    break;
	case 203:
	    if (c == '\x10')
		state = 101;
	    else if (c == 'G')
		state = 204;
	    else if (c == 'P')
		state = 204;
	    else
		state = 0;
	    break;
	case 204:
	    if (c == '\x10')
		state = 101;
	    else if (c == 'G')
		return NMEA_PACKET;
	    else if (c == 'P')
		return NMEA_PACKET;
	    else
		state = 0;
	    break;
        default:
	    /* huh? */
		state = 0;
	    break;
	}
    }
    
    return NO_PACKET;
}

static unsigned int *ip, rates[] = {0, 4800, 9600, 19200, 38400, 57600};

/* return speed found */
/*@ -mustdefine @*/
static unsigned int hunt_open(int fd, /*@out@*/int *st)
{
    unsigned int speed;
    /*
     * Tip from Chris Kuethe: the FTDI chip used in the Trip-Nav
     * 200 (and possibly other USB GPSes) gets completely hosed
     * in the presence of flow control.  Thus, turn off CRTSCTS.
     */
    ttyset.c_cflag &= ~(PARENB | CRTSCTS);
    ttyset.c_cflag |= CREAD | CLOCAL;
    ttyset.c_iflag = ttyset.c_oflag = ttyset.c_lflag = (tcflag_t) 0;
    ttyset.c_oflag = (ONLCR);

    for (ip = rates; ip < rates + sizeof(rates)/sizeof(rates[0]); ip++) {
	    *st = set_speed(fd, *ip);
	    speed = get_speed(&ttyset);
	    if (*st  == GARMIN_PACKET) {
		logit( 0, "Got GARMIN Packet, 8N1 @ %d\n", speed);
	        return speed;
	    } else if (*st == NMEA_PACKET) {
		logit( 0, "Got NMEA Packet, 8N1 @ %d\n", speed);
	        return speed;
	    }
    }
    return 0;
}
/*@ +mustdefine @*/

static void serial_initialize(const char *device, /*@out@*/int *fd, /*@out@*/int *st)
{
    if ( (*fd = open(device,O_RDWR)) < 0) {
	perror(device);
	exit(1);
    }

    /* Save original terminal parameters */
    if (tcgetattr(*fd, &ttyset) ) {
	logit(0, "ERROR: Can't get terminal params!\n");
	exit(1);
    }
    if ( (bps = hunt_open(*fd, st))==0) {
	logit(0, "Can't sync up with device!\n");
	exit(1);
    }
}

void nmea_add_checksum(char *sentence)
/* add NMEA checksum to a possibly  *-terminated sentence */
{
    unsigned char sum = '\0';
    char c, *p = sentence;

    if (*p == '$') {
	p++;
    } else {
        logit(0, "ERROR: Bad NMEA sentence: '%s'\n", sentence);
    }
    while ( ((c = *p) != '*') && (c != '\0')) {
	sum ^= c;
	p++;
    }
    *p++ = '*';
    (void)snprintf(p, 5, "%02X\r\n", (unsigned)sum);
}

int nmea_send(int fd, const char *fmt, ... )
/* ship a command to the GPS, adding * and correct checksum */
{
    int status;
    char buf[BUFSIZ];
    va_list ap;

    va_start(ap, fmt) ;
    (void)vsnprintf(buf, sizeof(buf)-5, fmt, ap);
    va_end(ap);
    if (fmt[0] == '$') {
	(void)strlcat(buf, "*", BUFSIZ);
	nmea_add_checksum(buf);
    } else
	(void)strlcat(buf, "\r\n", BUFSIZ);
    status = (int)write(fd, buf, strlen(buf));
    if (status == (int)strlen(buf)) {
	logit(2, "=> GPS: %s\n", buf);
	return status;
    } else {
	logit(2, "=> GPS: %s FAILED\n", buf);
	return -1;
    }
}

static void settle(void)
{
    struct timespec delay, rem;
    /*@ -type -unrecog @*/
    memset( &delay, 0, sizeof(delay));
    delay.tv_sec = 0;
    delay.tv_nsec = 333000000L;
    nanosleep(&delay, &rem);
    /*@ +type +unrecog @*/
}

static void usage(void) {
	fprintf(stderr, "Usage: garminctl [OPTIONS] {serial-port}\n\n"
	        "SVN ID: $Id$ \n"
		"-?   show this help\n"
		"-h   show this help\n"
		"-n   Change to NMEA mode\n"
		"-b   Change to binary mode\n"
		"-D n Set debug level to n (9 max)\n"
	        "-V   print version and exit\n\n"
		);
}

int main( int argc, char **argv)
{
	int fd = 0;
	int st;    /* packet type detected */
	int status;
	char *buf;
	int option;
	bool to_nmea = false;
	bool to_binary = false;
	char *device = "";

	/*@ -branchstate @*/
	while ((option = getopt(argc, argv, "?hbnVD:")) != -1) {
		switch (option) {
		case 'D':
			debug_level = (int)strtol(optarg, 0, 0);
			break;
		case 'n':
			// go to NMEA mode
			to_nmea = true;
			break;
		case 'b':
			// go to Binary mode
			to_binary = true;
			break;
		case 'V':
	                (void)fprintf(stderr, "%s: SVN ID: $Id$ \n", argv[0]);
			exit(0);
		case '?':
		case 'h':
		default:
			usage( );
			exit(1);
		}
	}
	/* get the device to open */
	if (optind < argc) {
		device = argv[optind];
	}
	if ( !device || strlen(device)==0 ) {
		logit(0, "ERROR: missing device name\n");
		usage();
		exit(1);
	}

	if ( to_nmea && to_binary ) {
		logit(0, "ERROR: you can not specify -n and -b!\n");
		usage();
		exit(1);
	}
	/*@ +branchstate @*/

	serial_initialize(device, &fd, &st);

	if ( st == NO_PACKET ) {
		logit(0, "ERROR: could not detect valid packets\n");
		exit(1);
	} else if ( to_nmea && st == NMEA_PACKET ) {
		logit(0, "GPS already in NMEA mode\n");
	} else if ( to_nmea ) {
		buf = "\x10\x0A\x02\x26\x00\xCE\x10\x03";
		status = (int)write(fd, buf, 8);
		if (status == 8 ) {
			logit(2, "=> GPS: turn off binary %02x %02x %02x... \n"
				, buf[0], buf[1], buf[2]);
		} else {
			logit(0, "=> GPS: FAILED\n");
			return 1;
		}
		settle(); // wait 33mS, essential!

		/* once a sec, no binary, no averaging, NMEA 2.3, WAAS */
		
		(void)nmea_send(fd, "$PGRMC1,1,1");
		//(void)nmea_send(fd, "$PGRMC1,1,1,1,,,,2,W,N");
		(void)nmea_send(fd, "$PGRMI,,,,,,,R");
		settle();    // wait 333mS, essential!

		if ( (bps = hunt_open(fd, &st))==0) {
			logit(0, "Can't sync up with device!\n");
			exit(1);
		}
	} else if ( to_binary && st == GARMIN_PACKET ) {
		logit(0, "GPS already in GARMIN mode\n");
	} else if ( to_binary ) {
		(void)nmea_send(fd, "$PGRMC1,1,2,1,,,,2,W,N");
		(void)nmea_send(fd, "$PGRMI,,,,,,,R");
		// garmin serial binary is 9600 only!
		logit(0, "NOTE: Garmin binary is 9600 baud only!\n");
		settle();	// wait 333mS, essential!
		if ( (bps = hunt_open(fd, &st))==0) {
			logit(0, "Can't sync up with device!\n");
			exit(1);
		}
	} else {
		logit(0, "ERROR: Nothing to do!\n");
		usage();
		exit(1);
	}
	
#if 0
    /* once a sec, binary, no averaging, NMEA 2.3, WAAS */
    (void)nmea_send(session->gpsdata.gps_fd, "$PGRMC1,1,2,1,,,,2,W,N");
    /* reset to get into binary */
    (void)nmea_send(session->gpsdata.gps_fd, "$PGRMI,,,,,,,R");
#endif
#if 0
    /* first turn off garmin binary 
    (void)gpsd_write(session, "\x10\x0A\x02\x26\x00\xCE\x10\x03", 8); */
    /* once a sec, binary, no averaging, NMEA 2.3, WAAS */
    (void)nmea_send(session->gpsdata.gps_fd, "$PGRMC1,1,2,1,,,,2,W,N");
    (void)nmea_send(session->gpsdata.gps_fd, "$PGRMCE");
#endif
	return 0;
}