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/* $Id$ */
/*
* Driver for the iTalk binary protocol used by FasTrax
*/
#include <sys/types.h>
#include <stdio.h>
#include <stdlib.h>
#include <string.h>
#include <math.h>
#include <ctype.h>
#include <unistd.h>
#include <time.h>
#include <stdio.h>
#include "gpsd_config.h"
#include "gpsd.h"
#if defined(ITRAX_ENABLE) && defined(BINARY_ENABLE)
#define LITTLE_ENDIAN_PROTOCOL
#include "bits.h"
/*@ +charint -usedef -compdef @*/
static bool italk_write(int fd, unsigned char *msg, size_t msglen) {
bool ok;
/* CONSTRUCT THE MESSAGE */
/* we may need to dump the message */
gpsd_report(LOG_IO, "writing italk control type %02x:%s\n",
msg[0], gpsd_hexdump(msg, msglen));
#ifdef ALLOW_RECONFIGURE
ok = (write(fd, msg, msglen) == (ssize_t)msglen);
(void)tcdrain(fd);
#else
ok = 0;
#endif /* ALLOW_RECONFIGURE */
return(ok);
}
/*@ -charint +usedef +compdef @*/
/*@ +charint @*/
static gps_mask_t italk_parse(struct gps_device_t *session, unsigned char *buf, size_t len)
{
if (len == 0)
return 0;
/* we may need to dump the raw packet */
gpsd_report(LOG_RAW, "raw italk packet type 0x%02x length %d: %s\n", buf[0], len, gpsd_hexdump(buf, len));
(void)snprintf(session->gpsdata.tag, sizeof(session->gpsdata.tag),
"ITALK%d",(int)buf[0]);
switch (getub(buf, 0))
{
/* DISPATCH ON FIRST BYTE OF PAYLOAD */
default:
gpsd_report(LOG_WARN, "unknown iTalk packet id %d length %d: %s\n", buf[0], len, gpsd_hexdump(buf, len));
return 0;
}
}
/*@ -charint @*/
static gps_mask_t italk_parse_input(struct gps_device_t *session)
{
gps_mask_t st;
if (session->packet.type == ITALK_PACKET){
st = italk_parse(session, session->packet.outbuffer, session->packet.outbuflen);
session->gpsdata.driver_mode = 1; /* binary */
return st;
#ifdef NMEA_ENABLE
} else if (session->packet.type == NMEA_PACKET) {
st = nmea_parse((char *)session->packet.outbuffer, session);
session->gpsdata.driver_mode = 0; /* NMEA */
return st;
#endif /* NMEA_ENABLE */
} else
return 0;
}
static bool italk_set_mode(struct gps_device_t *session UNUSED,
speed_t speed UNUSED, bool mode UNUSED)
{
/*@ +charint @*/
unsigned char msg[] = {0,};
/* HACK THE MESSAGE */
return italk_write(session->gpsdata.gps_fd, msg, sizeof(msg));
/*@ +charint @*/
}
static bool italk_speed(struct gps_device_t *session, speed_t speed)
{
return italk_set_mode(session, speed, true);
}
static void italk_mode(struct gps_device_t *session, int mode)
{
if (mode == 0) {
(void)gpsd_switch_driver(session, "Generic NMEA");
(void)italk_set_mode(session, session->gpsdata.baudrate, false);
session->gpsdata.driver_mode = 0; /* NMEA */
} else
session->gpsdata.driver_mode = 1; /* binary */
}
#ifdef ALLOW_RECONFIGURE
static void italk_configurator(struct gps_device_t *session, int seq)
{
if (seq == 0 && session->packet.type == NMEA_PACKET)
(void)italk_set_mode(session, session->gpsdata.baudrate, true);
}
#endif /* ALLOW_RECONFIGURE */
static void italk_ping(struct gps_device_t *session)
/* send a "ping". it may help us detect an itrax more quickly */
{
char *ping = "<?>";
(void)italk_write(session->gpsdata.gps_fd, ping, 3);
}
/* this is everything we export */
struct gps_type_t italk_binary =
{
.typename = "iTalk binary", /* full name of type */
.trigger = NULL, /* recognize the type */
.channels = 12, /* consumer-grade GPS */
.probe_wakeup = italk_ping, /* no wakeup to be done before hunt */
.probe_detect = NULL, /* how to detect at startup time */
.probe_subtype = NULL, /* initialize the device */
#ifdef ALLOW_RECONFIGURE
.configurator = italk_configurator,/* configure the device */
#endif /* ALLOW_RECONFIGURE */
.get_packet = generic_get, /* use generic packet grabber */
.parse_packet = italk_parse_input,/* parse message packets */
.rtcm_writer = pass_rtcm, /* send RTCM data straight */
.speed_switcher = italk_speed, /* we can change baud rates */
.mode_switcher = italk_mode, /* there is a mode switcher */
.rate_switcher = NULL, /* no sample-rate switcher */
.cycle_chars = -1, /* not relevant, no rate switch */
#ifdef ALLOW_RECONFIGURE
.revert = NULL, /* no setting-reversion method */
#endif /* ALLOW_RECONFIGURE */
.wrapup = NULL, /* no close hook */
.cycle = 1, /* updates every second */
};
#endif /* defined(ITRAX_ENABLE) && defined(BINARY_ENABLE) */
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