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#ifndef _gpsd_h_
#define _gpsd_h_
/* gpsd.h -- fundamental types and structures for the GPS daemon */
#include <stdbool.h>
#include "config.h"
#include "gps.h"
#include "gpsutils.h"
/* Some internal capabilities depend on which drivers we're compiling. */
#ifdef EARTHMATE_ENABLE
#define ZODIAC_ENABLE
#endif
#if defined(ZODIAC_ENABLE) || defined(SIRFII_ENABLE) || defined(GARMIN_ENABLE)
#define BINARY_ENABLE
#endif
#if defined(TRIPMATE_ENABLE) || defined(BINARY_ENABLE)
#define NON_NMEA_ENABLE
#endif
#define NMEA_MAX 82 /* max length of NMEA sentence */
#define NMEA_BIG_BUF (2*NMEA_MAX+1) /* longer than longest NMEA sentence */
/* only used if the GPS doesn't report estimated position error itself */
#define UERE_NO_DGPS 8 /* meters */
#define UERE_WITH_DGPS 2 /* meters */
#define UERE(session) ((session->dsock==-1) ? UERE_NO_DGPS : UERE_WITH_DGPS)
#define NTPSHMSEGS 4 /* number of NTP SHM segments */
struct gps_context_t {
int valid;
#define LEAP_SECOND_VALID 0x01 /* we have or don't need correction */
int leap_seconds;
int century; /* for NMEA-only devices without ZDA */
#ifdef NTPSHM_ENABLE
/*@reldef@*/struct shmTime *shmTime[NTPSHMSEGS];
bool shmTimeInuse[NTPSHMSEGS];
# ifdef PPS_ENABLE
bool shmTimePPS;
# endif /* PPS_ENABLE */
#endif /* NTPSHM_ENABLE */
};
struct gps_device_t;
struct gps_type_t {
/* GPS method table, describes how to talk to a particular GPS type */
/*@observer@*/char *typename;
/*@observer@*//*@null@*/char *trigger;
/*@null@*/int (*probe)(struct gps_device_t *session);
/*@null@*/void (*initializer)(struct gps_device_t *session);
/*@null@*/int (*get_packet)(struct gps_device_t *session, unsigned int waiting);
/*@null@*/gps_mask_t (*parse_packet)(struct gps_device_t *session);
/*@null@*/size_t (*rtcm_writer)(struct gps_device_t *session, char *rtcmbuf, size_t rtcmbytes);
/*@null@*/bool (*speed_switcher)(struct gps_device_t *session, unsigned int speed);
/*@null@*/void (*mode_switcher)(struct gps_device_t *session, int mode);
/*@null@*/void (*wrapup)(struct gps_device_t *session);
int cycle;
};
#if defined (HAVE_SYS_TERMIOS_H)
#include <sys/termios.h>
#else
#if defined (HAVE_TERMIOS_H)
#include <termios.h>
#endif
#endif
/*
* The packet buffers need to be as long than the longest packet we
* expect to see in any protocol, because we have to be able to hold
* an entire packet for checksumming. Thus, in particular, they need
* to be as long as a SiRF MID 4 packet, 188 bytes payload plus eight bytes
* of header/length/checksum/trailer.
*/
#define MAX_PACKET_LENGTH 196 /* 188 + 8 */
struct gps_device_t {
/* session object, encapsulates all global state */
struct gps_data_t gpsdata;
/*@relnull@*/struct gps_type_t *device_type;
int dsock; /* socket to DGPS server */
int sentdgps; /* have we sent a DGPS correction? */
int fixcnt; /* count of good fixes seen */
struct termios ttyset, ttyset_old;
/* packet-getter internals */
int packet_full; /* do we presently see a full packet? */
int packet_type;
#define BAD_PACKET -1
#define NMEA_PACKET 0
#define SIRF_PACKET 1
#define ZODIAC_PACKET 2
#define TSIP_PACKET 3
unsigned int baudindex;
unsigned int packet_state;
unsigned int packet_length;
unsigned char inbuffer[MAX_PACKET_LENGTH*2+1];
unsigned short inbuflen;
unsigned /*@observer@*/char *inbufptr;
unsigned char outbuffer[MAX_PACKET_LENGTH+1];
unsigned short outbuflen;
unsigned long counter;
#ifdef BINARY_ENABLE
struct gps_fix_t lastfix; /* use to compute uncertainties */
unsigned int driverstate; /* for private use */
#define SIRF_LT_231 0x01 /* SiRF at firmware rev < 231 */
#define SIRF_EQ_231 0x02 /* SiRF at firmware rev == 231 */
#define SIRF_GE_232 0x04 /* SiRF at firmware rev >= 232 */
#define UBLOX 0x08 /* uBlox firmware with packet 0x62 */
double mag_var; /* Magnetic variation in degrees */
#ifdef SIRFII_ENABLE
unsigned long satcounter;
#endif /* SIRFII_ENABLE */
#ifdef TSIP_ENABLE
time_t last_request; /* Last time request packets were sent */
#endif /* TSIP_ENABLE */
#ifdef GARMIN_ENABLE /* private housekeeping stuff for the Garmin driver */
/*@relnull@*/void *GarminBuffer; /* Pointer Garmin packet buffer
void *, to keep the packet details out of the
global context and save spave */
long GarminBufferLen; /* current GarminBuffer Length */
#endif /* GARMIN_ENABLE */
#if defined(SIRFII_ENABLE) || defined(TSIP_ENABLE) || defined(GARMIN_ENABLE)
unsigned int gps_week; /* Current GPS week number */
#endif /*defined(SIRFII_ENABLE)||defined(TSIP_ENABLE)||defined(GARMIN_ENABLE)*/
#ifdef ZODIAC_ENABLE /* private housekeeping stuff for the Zodiac driver */
unsigned short sn; /* packet sequence number */
/*
* Zodiac chipset channel status from PRWIZCH. Keep it so raw-mode
* translation of Zodiac binary protocol can send it up to the client.
*/
unsigned int Zs[MAXCHANNELS]; /* satellite PRNs */
unsigned int Zv[MAXCHANNELS]; /* signal values (0-7) */
#endif /* ZODIAC_ENABLE */
#endif /* BINARY_ENABLE */
#ifdef NTPSHM_ENABLE
unsigned int time_seen;
#define TIME_SEEN_GPS_1 0x01 /* Seen GPS time variant 1? */
#define TIME_SEEN_GPS_2 0x02 /* Seen GPS time variant 2? */
#define TIME_SEEN_UTC_1 0x04 /* Seen UTC time variant 1? */
#define TIME_SEEN_UTC_2 0x08 /* Seen UTC time variant 2? */
#endif /* NTPSHM_ENABLE */
double poll_times[FD_SETSIZE]; /* last daemon poll time */
struct gps_context_t *context;
#ifdef NTPSHM_ENABLE
int shmTime;
# ifdef PPS_ENABLE
int shmTimeP;
# endif /* PPS_ENABLE */
#endif /* NTPSHM_ENABLE */
};
#define IS_HIGHEST_BIT(v,m) (v & ~((m<<1)-1))==0
/* here are the available GPS drivers */
extern struct gps_type_t **gpsd_drivers;
/* GPS library internal prototypes */
extern gps_mask_t nmea_parse(char *, struct gps_data_t *);
extern int nmea_send(int, const char *, ... );
extern void nmea_add_checksum(char *);
extern gps_mask_t sirf_parse(struct gps_device_t *, unsigned char *, int);
extern void packet_reset(struct gps_device_t *session);
extern void packet_pushback(struct gps_device_t *session);
extern int packet_get(struct gps_device_t *, unsigned int);
extern int packet_sniff(struct gps_device_t *);
extern int gpsd_open(struct gps_device_t *);
extern bool gpsd_next_hunt_setting(struct gps_device_t *);
extern int gpsd_switch_driver(struct gps_device_t *, char *);
extern void gpsd_set_speed(struct gps_device_t *, speed_t, unsigned char, unsigned int);
extern speed_t gpsd_get_speed(struct termios *);
extern void gpsd_close(struct gps_device_t *);
extern void gpsd_raw_hook(struct gps_device_t *, char *, size_t len, int level);
extern void gpsd_zero_satellites(/*@out@*/struct gps_data_t *sp)/*@modifies sp@*/;
extern void gpsd_binary_fix_dump(/*@in@*/struct gps_device_t *, char[], int);
extern void gpsd_binary_satellite_dump(/*@in@*/struct gps_device_t *, char[], int);
extern void gpsd_binary_quality_dump(/*@in@*/struct gps_device_t *, char[], int);
extern int netlib_connectsock(const char *, const char *, const char *);
extern int ntpshm_init(struct gps_context_t *, bool);
extern int ntpshm_alloc(struct gps_context_t *context);
extern bool ntpshm_free(struct gps_context_t *context, int segment);
extern int ntpshm_put(struct gps_device_t *, double);
extern int ntpshm_pps(struct gps_device_t *,struct timeval *);
extern void ecef_to_wgs84fix(struct gps_data_t *,
double, double, double,
double, double, double);
extern void dop(int, struct gps_data_t *);
/* External interface */
extern int gpsd_open_dgps(char *);
extern struct gps_device_t * gpsd_init(struct gps_context_t *, char *device);
extern int gpsd_activate(struct gps_device_t *);
extern void gpsd_deactivate(struct gps_device_t *);
extern gps_mask_t gpsd_poll(struct gps_device_t *);
extern void gpsd_wrap(struct gps_device_t *);
/* caller should supply this */
void gpsd_report(int, const char *, ...);
#ifdef S_SPLINT_S
extern bool finite(double);
extern int cfmakeraw(struct termios *);
extern struct protoent *getprotobyname(const char *);
extern /*@observer@*/char *strptime(const char *,const char *,/*@out@*/struct tm *tp)/*@modifies tp@*/;
extern struct tm *gmtime_r(const time_t *,/*@out@*/struct tm *tp)/*@modifies tp@*/;
extern struct tm *localtime_r(const time_t *,/*@out@*/struct tm *tp)/*@modifies tp@*/;
#endif /* S_SPLINT_S */
#endif /* _gpsd_h_ */
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