path: root/sirf.c

/* $Id$ */
/*
 * This is the gpsd driver for SiRF GPSes operating in binary mode.
 * It also handles uBlox, a SiRF derivative.
 *
 * The advantage: Reports climb/sink rate (raw-mode clients won't see this).
 * The disadvantages: Doesn't return PDOP or VDOP, just HDOP.
 *
 * Chris Kuethe, our SiRF expert, tells us:
 * 
 * "I don't see any indication in any of my material that PDOP, GDOP
 * or VDOP are output. There are quantities called Estimated
 * {Horizontal Position, Vertical Position, Time, Horizonal Velocity}
 * Error, but those are apparently only valid when SiRFDRive is
 * active."
 *
 * "(SiRFdrive is their Dead Reckoning augmented firmware. It
 * allows you to feed odometer ticks, gyro and possibly 
 * accelerometer inputs to the chip to allow it to continue 
 * to navigate in the absence of satellite information, and 
 * to improve fixes when you do have satellites.)"
 *
 * "[When we need RINEX data, we can get it from] SiRF Message #5.
 *  If it's no longer implemented on your receiver, messages
 * 7, 28, 29 and 30 will give you the same information."
 */

#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"
#include "bits.h"
#if defined(SIRF_ENABLE) && defined(BINARY_ENABLE)

#define HI(n)		((n) >> 8)
#define LO(n)		((n) & 0xff)

bool sirf_write(int fd, unsigned char *msg) {
   unsigned int       crc;
   size_t    i, len;
   bool      ok;

   len = (size_t)((msg[2] << 8) | msg[3]);

   /* calculate CRC */
   crc = 0;
   for (i = 0; i < len; i++)
	crc += (int)msg[4 + i];
   crc &= 0x7fff;

   /* enter CRC after payload */
   msg[len + 4] = (unsigned char)((crc & 0xff00) >> 8);
   msg[len + 5] = (unsigned char)( crc & 0x00ff);

   gpsd_report(LOG_IO, "Writing SiRF control type %02x:%s\n", msg[4], gpsd_hexdump(msg, len+8));
   ok = (write(fd, msg, len+8) == (ssize_t)(len+8));
   (void)tcdrain(fd);
   return(ok);
}

static bool sirf_speed(int ttyfd, speed_t speed) 
/* change speed in binary mode */
{
    /*@ +charint @*/
   static unsigned char msg[] = {0xa0, 0xa2, 0x00, 0x09,
                     0x86, 
                     0x0, 0x0, 0x12, 0xc0,	/* 4800 bps */
		     0x08,			/* 8 data bits */
		     0x01,			/* 1 stop bit */
		     0x00,			/* no parity */
		     0x00,			/* reserved */
                     0x00, 0x00, 0xb0, 0xb3};
   /*@ -charint @*/

   msg[7] = (unsigned char)HI(speed);
   msg[8] = (unsigned char)LO(speed);
   return (sirf_write(ttyfd, msg));
}

static bool sirf_to_nmea(int ttyfd, speed_t speed) 
/* switch from binary to NMEA at specified baud */
{
    /*@ +charint @*/
   static unsigned char msg[] = {0xa0, 0xa2, 0x00, 0x18,
                     0x81, 0x02,
                     0x01, 0x01, /* GGA */
                     0x00, 0x00, /* suppress GLL */
                     0x01, 0x01, /* GSA */
                     0x05, 0x01, /* GSV */
                     0x01, 0x01, /* RMC */
                     0x00, 0x00, /* suppress VTG */
                     0x00, 0x01, 0x00, 0x01,
                     0x00, 0x01, 0x00, 0x01,
                     0x12, 0xc0, /* 4800 bps */
                     0x00, 0x00, 0xb0, 0xb3};
   /*@ -charint @*/

   msg[26] = (unsigned char)HI(speed);
   msg[27] = (unsigned char)LO(speed);
   return (sirf_write(ttyfd, msg));
}

static void sirfbin_mode(struct gps_device_t *session, int mode)
{
    if (mode == 0) {
	(void)sirf_to_nmea(session->gpsdata.gps_fd,session->gpsdata.baudrate);
	session->gpsdata.driver_mode = 0;	/* NMEA */
	(void)gpsd_switch_driver(session, "Generic NMEA");
    } else {
	session->back_to_nmea = false;
	session->gpsdata.driver_mode = 1;	/* binary */
    }
}

gps_mask_t sirf_parse(struct gps_device_t *session, unsigned char *buf, size_t len)
{
    int	st, i, j, cn;
    unsigned short navtype;
    gps_mask_t mask;
    char buf2[MAX_PACKET_LENGTH*3+2];
    double fv;
    /*@ +charint @*/
#ifdef ALLOW_RECONFIGURE
    static unsigned char enablesubframe[] = {0xa0, 0xa2, 0x00, 0x19,
				 0x80, 0x00, 0x00, 0x00,
				 0x00, 0x00, 0x00, 0x00,
				 0x00, 0x00, 0x00, 0x00,
				 0x00, 0x00, 0x00, 0x00,
				 0x00, 0x00, 0x00, 0x00,
				 0x00, 0x00, 0x00, 0x0C,
				 0x10,
				 0x00, 0x00, 0xb0, 0xb3};
    static unsigned char disablesubframe[] = {0xa0, 0xa2, 0x00, 0x19,
				  0x80, 0x00, 0x00, 0x00,
				  0x00, 0x00, 0x00, 0x00,
				  0x00, 0x00, 0x00, 0x00,
				  0x00, 0x00, 0x00, 0x00,
				  0x00, 0x00, 0x00, 0x00,
				  0x00, 0x00, 0x00, 0x0C,
				  0x00,
				  0x00, 0x00, 0xb0, 0xb3};
    static unsigned char modecontrol[] = {0xa0, 0xa2, 0x00, 0x0e,
			      0x88, 
			      0x00, 0x00,	/* pad bytes */
			      0x00,		/* degraded mode off */
			      0x00, 0x00,	/* pad bytes */
			      0x00, 0x00,	/* altitude */
			      0x00,		/* altitude hold auto */
			      0x00,		/* use last computed alt */
			      0x00,		/* reserved */
			      0x00,		/* disable degraded mode */
			      0x00,		/* disable dead reckoning */
			      0x01,		/* enable track smoothing */
			      0x00, 0x00, 0xb0, 0xb3};
#endif /* ALLOW_RECONFIGURE */

    /*@ -charint @*/
    if (len == 0)
	return 0;

    buf += 4;
    len -= 8;
    gpsd_report(LOG_RAW, "Raw SiRF packet type 0x%02x length %d: %s\n", buf[0],len,
		gpsd_hexdump(buf, len));
    (void)snprintf(session->gpsdata.tag, sizeof(session->gpsdata.tag),
		   "MID%d",(int)buf[0]);

    mask = 0;
    switch (buf[0])
    {
    case 0x02:		/* Measure Navigation Data Out */
	session->gpsdata.satellites_used = (int)getub(buf, 28);
	memset(session->gpsdata.used,0,sizeof(session->gpsdata.used));
	for (i = 0; i < SIRF_CHANNELS; i++)
	    session->gpsdata.used[i] = (int)getub(buf, 29+i);
	if ((session->driver.sirf.driverstate & (SIRF_GE_232 | UBLOX))==0) {
	    /* position/velocity is bytes 1-18 */
	    ecef_to_wgs84fix(&session->gpsdata, 
			     getsl(buf, 1)*1.0, getsl(buf, 5)*1.0, getsl(buf, 9)*1.0,
			     getsw(buf, 13)/8.0, getsw(buf, 15)/8.0, getsw(buf, 17)/8.0);
	    /* fix status is byte 19 */
	    navtype = (unsigned short)getub(buf, 19);
	    session->gpsdata.status = STATUS_NO_FIX;
	    session->gpsdata.fix.mode = MODE_NO_FIX;
	    if ((navtype & 0x80) != 0)
		session->gpsdata.status = STATUS_DGPS_FIX;
	    else if ((navtype & 0x07) > 0 && (navtype & 0x07) < 7)
		session->gpsdata.status = STATUS_FIX;
	    if ((navtype & 0x07) == 4 || (navtype & 0x07) == 6)
		session->gpsdata.fix.mode = MODE_3D;
	    else if (session->gpsdata.status != 0)
		session->gpsdata.fix.mode = MODE_2D;
	    if (session->gpsdata.fix.mode == MODE_3D)
		mask |= ALTITUDE_SET | CLIMB_SET;
	    gpsd_report(LOG_PROG, "MND 0x02: Navtype = 0x%0x, Status = %d, mode = %d\n", 
			navtype,session->gpsdata.status,session->gpsdata.fix.mode);
	    /* byte 20 is HDOP, see below */
	    /* byte 21 is "mode 2", not clear how to interpret that */ 
	    session->gpsdata.fix.time = session->gpsdata.sentence_time
		= gpstime_to_unix(getsw(buf, 22), getul(buf, 24)*1e-2) - session->context->leap_seconds;
#ifdef NTPSHM_ENABLE
	    if (session->gpsdata.fix.mode > MODE_NO_FIX) {
		if ((session->driver.sirf.time_seen & TIME_SEEN_GPS_2) == 0)
		    gpsd_report(LOG_PROG, "valid time in message 0x02, seen=0x%02x\n",
				session->driver.sirf.time_seen);
		session->driver.sirf.time_seen |= TIME_SEEN_GPS_2;
		if (session->context->enable_ntpshm && IS_HIGHEST_BIT(session->driver.sirf.time_seen,TIME_SEEN_GPS_2))
		    (void)ntpshm_put(session, session->gpsdata.fix.time + 0.8);
	    }
#endif /* NTPSHM_ENABLE */
	    /* fix quality data */
	    session->gpsdata.hdop = (double)getub(buf, 20)/5.0;
	    mask |= TIME_SET | LATLON_SET | TRACK_SET | SPEED_SET | STATUS_SET | MODE_SET | HDOP_SET | USED_SET | CYCLE_START_SET;
	}
	return mask;

    case 0x04:		/* Measured tracker data out */
	gpsd_zero_satellites(&session->gpsdata);
	session->gpsdata.sentence_time
	    = gpstime_to_unix(getsw(buf, 1), getul(buf, 3)*1e-2) - session->context->leap_seconds;
	for (i = st = 0; i < SIRF_CHANNELS; i++) {
	    int off = 8 + 15 * i;
	    bool good;
	    session->gpsdata.PRN[st]       = (int)getub(buf, off);
	    session->gpsdata.azimuth[st]   = (int)(((unsigned)getub(buf, off+1)*3)/2.0);
	    session->gpsdata.elevation[st] = (int)((unsigned)getub(buf, off+2)/2.0);
	    cn = 0;
	    for (j = 0; j < 10; j++)
		cn += (int)getub(buf, off+5+j);
	    session->gpsdata.ss[st] = cn/10;
	    good = session->gpsdata.PRN[st]!=0 && 
		session->gpsdata.azimuth[st]!=0 && 
		session->gpsdata.elevation[st]!=0;
#ifdef __UNUSED__
	    gpsd_report(LOG_PROG, "PRN=%2d El=%3.2f Az=%3.2f ss=%3d stat=%04x %c\n",
			getub(buf, off), 
			getub(buf, off+2)/2.0, 
			(getub(buf, off+1)*3)/2.0,
			cn/10, 
			getuw(buf, off+3),
			good ? '*' : ' ');
#endif /* UNUSED */
	    if (good!=0)
		st += 1;
	}
	session->gpsdata.satellites = st;
#ifdef NTPSHM_ENABLE
	if (st > 3) {
	    if ((session->driver.sirf.time_seen & TIME_SEEN_GPS_1)==0)
		gpsd_report(LOG_PROG, "valid time in message 0x04, seen=0x%02x\n",
			    session->driver.sirf.time_seen);
	    session->driver.sirf.time_seen |= TIME_SEEN_GPS_1;
	    if (session->context->enable_ntpshm && IS_HIGHEST_BIT(session->driver.sirf.time_seen,TIME_SEEN_GPS_1))
		(void)ntpshm_put(session,session->gpsdata.sentence_time+0.8);
	}
#endif /* NTPSHM_ENABLE */
	/*
	 * The freaking brain-dead SiRF chip doesn't obey its own
	 * rate-control command for 04, at least at firmware rev. 231, 
	 * so we have to do our own rate-limiting here...
	 */
	if ((session->driver.sirf.satcounter++ % 5) != 0)
	    break;
	gpsd_report(LOG_PROG, "MTD 0x04: %d satellites\n", st);
	return TIME_SET | SATELLITE_SET;

    case 0x05:		/* Raw Tracker Data Out */
	return 0;

    case 0x06:		/* Software Version String */
	gpsd_report(LOG_INF, "FV  0x06: Firmware version: %s\n", buf+1);
	(void)strlcpy(session->subtype, (char *)buf+1, sizeof(session->subtype));
	fv = atof((char *)(buf+1));
	if (fv < 231) {
	    session->driver.sirf.driverstate |= SIRF_LT_231;
	    if (fv > 200)
		sirfbin_mode(session, 0);
	} else if (fv < 232) 
	    session->driver.sirf.driverstate |= SIRF_EQ_231;
	else {
	    /*@ +charint @*/
	    unsigned char enablemid52[] = {
		0xa0, 0xa2, 0x00, 0x08, 
		0xa6, 0x00, 0x34, 0x01, 0x00, 0x00, 0x00, 0x00,
		0x00, 0xdb, 0xb0, 0xb3};
	    /*@ -charint @*/
	    gpsd_report(LOG_PROG, "Enabling PPS message...\n");
	    (void)sirf_write(session->gpsdata.gps_fd, enablemid52);
	    session->driver.sirf.driverstate |= SIRF_GE_232;
	    session->context->valid |= LEAP_SECOND_VALID;
	}
	if (strstr((char *)(buf+1), "ES"))
	    gpsd_report(LOG_INF, "Firmware has XTrac capability\n");
	gpsd_report(LOG_PROG, "Driver state flags are: %0x\n", session->driver.sirf.driverstate);
	session->driver.sirf.time_seen = 0;
#ifdef ALLOW_RECONFIGURE
	if (session->gpsdata.baudrate >= 38400){
	    gpsd_report(LOG_PROG, "Enabling subframe transmission...\n");
	    (void)sirf_write(session->gpsdata.gps_fd, enablesubframe);
	}
#endif /* ALLOW_RECONFIGURE */
	return DEVICEID_SET;

    case 0x07:		/* Clock Status Data */
	gpsd_report(LOG_PROG, "CLK 0x07\n");
	return 0;

    case 0x08:		/* subframe data -- extract leap-second from this */
	/*
	 * Chris Kuethe says:
	 * "Message 8 is generated as the data is received. It is not
	 * buffered on the chip. So when you enable message 8, you'll
	 * get one subframe every 6 seconds.  Of the data received, the
	 * almanac and ephemeris are buffered and stored, so you can
	 * query them at will. Alas, the time parameters are not
	 * stored, which is really lame, as the UTC-GPS correction
	 * changes 1 second every few years. Maybe."
	 */
       {
	    unsigned int words[10];
	    //unsigned int chan = (unsigned int)getub(buf, 1);
	    //unsigned int svid = (unsigned int)getub(buf, 2);
	    words[0] = (unsigned int)getul(buf, 3);
	    words[1] = (unsigned int)getul(buf, 7);
	    words[2] = (unsigned int)getul(buf, 11);
	    words[3] = (unsigned int)getul(buf, 15);
	    words[4] = (unsigned int)getul(buf, 19);
	    words[5] = (unsigned int)getul(buf, 23);
	    words[6] = (unsigned int)getul(buf, 27);
	    words[7] = (unsigned int)getul(buf, 31);
	    words[8] = (unsigned int)getul(buf, 35);
	    words[9] = (unsigned int)getul(buf, 39);
	    gpsd_interpret_subframe(session, words);

#ifdef ALLOW_RECONFIGURE
	    if (session->gpsdata.baudrate < 38400){
		gpsd_report(LOG_PROG, "Disabling subframe transmission...\n");
		(void)sirf_write(session->gpsdata.gps_fd, disablesubframe);
	    }
#endif /* ALLOW_RECONFIGURE */
	}
	break;
    case 0x09:		/* CPU Throughput */
	gpsd_report(LOG_PROG, 
		    "THR 0x09: SegStatMax=%.3f, SegStatLat=%3.f, AveTrkTime=%.3f, Last MS=%3.f\n", 
		    (float)getuw(buf, 1)/186, (float)getuw(buf, 3)/186, 
		    (float)getuw(buf, 5)/186, getuw(buf, 7));
    	return 0;

    case 0x0a:		/* Error ID Data */
	switch (getuw(buf, 1))
	{
	case 2:
	    gpsd_report(LOG_PROG, "EID 0x0a type 2: Subframe %d error on PRN %ld\n", getul(buf, 9), getul(buf, 5));
	    break;

	case 4107:
	    gpsd_report(LOG_PROG, "EID 0x0a type 4107: neither KF nor LSQ fix.\n", getul(buf, 5));
	    break;

	default:
	    gpsd_report(LOG_PROG, "EID 0x0a: Error ID type %d\n", getuw(buf, 1));
	    break;
	}
	return 0;

    case 0x0b:		/* Command Acknowledgement */
	gpsd_report(LOG_PROG, "ACK 0x0b: %02x\n",getub(buf, 1));
    	return 0;

    case 0x0c:		/* Command NAcknowledgement */
	gpsd_report(LOG_PROG, "NAK 0x0c: %02x\n",getub(buf, 1));
    	return 0;

    case 0x0d:		/* Visible List */
	gpsd_report(LOG_PROG, "VIS 0x0d\n");
	return 0;

    case 0x0e:		/* Almanac Data */
	gpsd_report(LOG_PROG, "ALM  0x0e: %s\n", gpsd_hexdump(buf, len));
	return 0;

    case 0x0f:		/* Ephemeris Data */
	gpsd_report(LOG_PROG, "EPH  0x0f: %s\n", gpsd_hexdump(buf, len));
	return 0;

    case 0x11:		/* Differential Corrections */
	gpsd_report(LOG_PROG, "DIFF 0x11: %s\n", gpsd_hexdump(buf, len));
	return 0;

    case 0x12:		/* OK To Send */
	gpsd_report(LOG_PROG, "OTS 0x12: send indicator = %d\n",getub(buf, 1));
	return 0;

#ifdef ALLOW_RECONFIGURE
    case 0x13:	/* Navigation Parameters */
	/* save these to restore them in the revert method */
	session->driver.sirf.nav_parameters_seen = true;
	session->driver.sirf.altitude_hold_mode = getub(buf, 5);
	session->driver.sirf.altitude_hold_source = getub(buf, 6);
	session->driver.sirf.altitude_source_input = getsw(buf, 7);
	session->driver.sirf.degraded_mode = getub(buf, 9);
	session->driver.sirf.degraded_timeout = getub(buf, 10);
	session->driver.sirf.dr_timeout = getub(buf, 11);
	session->driver.sirf.track_smooth_mode = getub(buf, 12);
	gpsd_report(LOG_PROG, "Setting Navigation Parameters\n");
	(void)sirf_write(session->gpsdata.gps_fd, modecontrol);
	break;
#endif /* ALLOW_RECONFIGURE */

    case 0x1b:		/* DGPS status (undocumented) */
	/******************************************************************
	 Not actually documented in any published materials.
	 Here is what Chris Kuethe got from the SiRF folks,
	 (plus some corrections from the GpsPaSsion forums):

	Start of message
	----------------
	Message ID          1 byte    27
	Correction Source   1 byte    0=None, 1=SBAS, 2=Serial, 3=Beacon,
	4=Software

	total:              2 bytes

	Middle part of message varies if using beacon or other:
	-------------------------------------------------------
	If Beacon:
	Receiver Freq Hz    4 bytes
	Bit rate BPS        1 byte
	Status bit map      1 byte    01=Signal Valid,
				      02=Auto frequency detect
				      04=Auto bit rate detect
	Signal Magnitude    4 bytes   Note: in internal units
	Signal Strength dB  2 bytes   derived from Signal Magnitude
	SNR  dB             2 bytes

	total:             14 bytes

	If Not Beacon:
	Correction Age[12]  1 byte x 12  Age in seconds in same order as follows
	Reserved            2 bytes

	total:             14 bytes

	End of Message
	--------------
	Repeated 12 times (pad with 0 if less than 12 SV corrections):
	SVID                1 byte
	Correction (cm)     2 bytes (signed short)

	total               3 x 12 = 36 bytes
	******************************************************************/
	return 0;

    case 0x1c:		/* Navigation Library Measurement Data */
	gpsd_report(LOG_PROG, "NLMD 0x1c: %s\n", gpsd_hexdump(buf, len));
	return 0;

    case 0x1d:		/* Navigation Library DGPS Data */
	gpsd_report(LOG_PROG, "NLDG 0x1d: %s\n", gpsd_hexdump(buf, len));
	return 0;

    case 0x1e:		/* Navigation Library SV State Data */
	gpsd_report(LOG_PROG, "NLSV 0x1e: %s\n", gpsd_hexdump(buf, len));
	return 0;

    case 0x1f:		/* Navigation Library Initialization Data */
	gpsd_report(LOG_PROG, "NLID 0x1f: %s\n", gpsd_hexdump(buf, len));
	return 0;

    case 0x29:		/* Geodetic Navigation Information */
	if (session->driver.sirf.driverstate & SIRF_GE_232) {
	    struct tm unpacked_date;
	    double subseconds;
	    /*
	     * Many versions of the SiRF protocol manual don't document 
	     * this sentence at all.  Those that do may incorrectly
	     * describe UTC Day, Hour, and Minute as 2-byte quantities,
	     * not 1-byte. Chris Kuethe, our SiRF expert, tells us:
	     *
	     * "The Geodetic Navigation packet (0x29) was not fully
	     * implemented in firmware prior to version 2.3.2. So for
	     * anyone running 231.000.000 or earlier (including ES,
	     * SiRFDRive, XTrac trains) you won't get UTC time. I don't
	     * know what's broken in firmwares before 2.3.1..."
	     *
	     * To work around the incomplete implementation of this
	     * packet in 231, we used to assume that only the altitude field
	     * from this packet is valid.  But even this doesn't necessarily
	     * seem to be the case.  Instead, we do our own computation 
	     * of geoid separation now.
	     */
	    navtype = (unsigned short)getuw(buf, 3);
	    session->gpsdata.status = STATUS_NO_FIX;
	    session->gpsdata.fix.mode = MODE_NO_FIX;
	    if (navtype & 0x80)
		session->gpsdata.status = STATUS_DGPS_FIX;
	    else if ((navtype & 0x07) > 0 && (navtype & 0x07) < 7)
		session->gpsdata.status = STATUS_FIX;
	    session->gpsdata.fix.mode = MODE_NO_FIX;
	    if ((navtype & 0x07) == 4 || (navtype & 0x07) == 6)
		session->gpsdata.fix.mode = MODE_3D;
	    else if (session->gpsdata.status)
		session->gpsdata.fix.mode = MODE_2D;
	    gpsd_report(LOG_PROG, "GNI 0x29: Navtype = 0x%0x, Status = %d, mode = %d\n", 
			navtype, session->gpsdata.status, session->gpsdata.fix.mode);
	    /*
	     * UTC is left all zeros in 231 and older firmware versions, 
	     * and misdocumented in the Protocol Reference (version 1.4).
	     *            Documented:        Real:
	     * UTC year       2               2
	     * UTC month      1               1
	     * UTC day        2               1
	     * UTC hour       2               1
	     * UTC minute     2               1
	     * UTC second     2               2
	     *                11              8
	     */
	    unpacked_date.tm_year = (int)getuw(buf, 11);
	    unpacked_date.tm_mon = (int)getub(buf, 13)-1;
	    unpacked_date.tm_mday = (int)getub(buf, 14);
	    unpacked_date.tm_hour = (int)getub(buf, 15);
	    unpacked_date.tm_min = (int)getub(buf, 16);
	    unpacked_date.tm_sec = 0;
	    subseconds = getuw(buf, 17)*1e-3;
	    /*@ -compdef */
	    session->gpsdata.fix.time = session->gpsdata.sentence_time
		= (double)mktime(&unpacked_date)+subseconds;
	    /*@ +compdef */
	    gpsd_report(LOG_PROG, "MID 41 UTC: %lf\n", session->gpsdata.fix.time);
#ifdef NTPSHM_ENABLE
	    if (session->gpsdata.fix.mode > MODE_NO_FIX && unpacked_date.tm_year != 0) {
		if ((session->driver.sirf.time_seen & TIME_SEEN_UTC_1) == 0)
		    gpsd_report(LOG_PROG, "valid time in message 0x29, seen=0x%02x\n",
				session->driver.sirf.time_seen);
		session->driver.sirf.time_seen |= TIME_SEEN_UTC_1;
		if (session->context->enable_ntpshm && IS_HIGHEST_BIT(session->driver.sirf.time_seen,TIME_SEEN_UTC_1))
		    (void)ntpshm_put(session, session->gpsdata.fix.time + 0.8);
	    }
#endif /* NTPSHM_ENABLE */
	    /* skip 4 bytes of satellite map */
	    session->gpsdata.fix.latitude = getsl(buf, 23)*1e-7;
	    session->gpsdata.fix.longitude = getsl(buf, 27)*1e-7;
	    /* skip 4 bytes of altitude from ellipsoid */
	    mask = TIME_SET | LATLON_SET | STATUS_SET | MODE_SET;
	    session->gpsdata.fix.altitude = getsl(buf, 31)*1e-2;
	    /* skip 1 byte of map datum */
	    session->gpsdata.fix.speed = getsw(buf, 36)*1e-2;
	    session->gpsdata.fix.track = getsw(buf, 38)*1e-2;
	    /* skip 2 bytes of magnetic variation */
	    session->gpsdata.fix.climb = getsw(buf, 42)*1e-2;
	    /* HDOP should be available at byte 89, but in 231 it's zero. */
	    mask |= SPEED_SET | TRACK_SET | CLIMB_SET | CYCLE_START_SET; 
	    session->gpsdata.sentence_length = 91;
	    (void)strlcpy(session->gpsdata.tag, "GND",MAXTAGLEN+1);
	}
	return mask;

    case 0x32:		/* SBAS corrections */
	return 0;

    case 0x34:		/* PPS Time */
	/*
	 * Carl Carter from SiRF writes: "We do not output on the
	 * second (unless you are using message ID 52).  We make
	 * measurements in the receiver in time with an internal
	 * counter that is not slaved to GPS time, so the measurements
	 * are made at a time that wanders around the second.  Then,
	 * after the measurements are made (all normalized to the same
	 * point in time) we dispatch the navigation software to make
	 * a solution, and that solution comes out some 200 to 300 ms
	 * after the measurement time.  So you may get a message at
	 * 700 ms after the second that uses measurements time tagged
	 * 450 ms after the second.  And if some other task jumps up
	 * and delays things, that message may not come out until 900
	 * ms after the second.  Things can get out of sync to the
	 * point that if you try to resolve the GPS time of our 1 PPS
	 * pulses using the navigation messages, you will find it
	 * impossible to be consistent.  That is why I added message
	 * ID 52 to our system -- it is tied to the creation of the 1
	 * PPS and always comes out right around the top of the
	 * second."
	 */
	gpsd_report(LOG_PROG, "PPS 0x34: Status = 0x%02x\n", getub(buf, 14));
	if (((int)getub(buf, 14) & 0x07) == 0x07) {	/* valid UTC time? */
	    struct tm unpacked_date;
	    unpacked_date.tm_hour = (int)getub(buf, 1);
	    unpacked_date.tm_min = (int)getub(buf, 2);
	    unpacked_date.tm_sec = (int)getub(buf, 3);
	    unpacked_date.tm_mday = (int)getub(buf, 4);
	    unpacked_date.tm_mon = (int)getub(buf, 5) - 1;
	    unpacked_date.tm_year = (int)getuw(buf, 6) - 1900;
	    /*@ -compdef */
	    session->gpsdata.fix.time = session->gpsdata.sentence_time
		= (double)mktime(&unpacked_date);
	    /*@ +compdef */
	    session->context->leap_seconds = (int)getuw(buf, 8);
	    session->context->valid |= LEAP_SECOND_VALID;
#ifdef NTPSHM_ENABLE
	    if ((session->driver.sirf.time_seen & TIME_SEEN_UTC_2) == 0)
		gpsd_report(LOG_PROG, "valid time in message 0x34, seen=0x%02x\n",
				session->driver.sirf.time_seen);
	    session->driver.sirf.time_seen |= TIME_SEEN_UTC_2;
	    if (session->context->enable_ntpshm && IS_HIGHEST_BIT(session->driver.sirf.time_seen,TIME_SEEN_UTC_2))
		(void)ntpshm_put(session, session->gpsdata.fix.time + 0.3);
#endif /* NTPSHM_ENABLE */
	    mask |= TIME_SET;
	}
	return mask;

    case 0x62:		/* uBlox Extended Measured Navigation Data */
	/* this packet is only sent by uBlox firmware from version 1.32 */
	mask =	LATLON_SET | ALTITUDE_SET | SPEED_SET | TRACK_SET | CLIMB_SET |
		STATUS_SET | MODE_SET | HDOP_SET | VDOP_SET | PDOP_SET;
	session->gpsdata.fix.latitude = getsl(buf, 1) * RAD_2_DEG * 1e-8; 
	session->gpsdata.fix.longitude = getsl(buf, 5) * RAD_2_DEG * 1e-8;
	session->gpsdata.separation = wgs84_separation(session->gpsdata.fix.latitude, session->gpsdata.fix.longitude);
	session->gpsdata.fix.altitude = getsl(buf, 9) * 1e-3 - session->gpsdata.separation;
	session->gpsdata.fix.speed = getsl(buf, 13) * 1e-3;
	session->gpsdata.fix.climb = getsl(buf, 17) * 1e-3;
	session->gpsdata.fix.track = getsl(buf, 21) * RAD_2_DEG * 1e-8;

	navtype = (unsigned short)getub(buf, 25);
	session->gpsdata.status = STATUS_NO_FIX;
	session->gpsdata.fix.mode = MODE_NO_FIX;
	if (navtype & 0x80)
	    session->gpsdata.status = STATUS_DGPS_FIX;
	else if ((navtype & 0x07) > 0 && (navtype & 0x07) < 7)
	    session->gpsdata.status = STATUS_FIX;
	if ((navtype & 0x07) == 4 || (navtype & 0x07) == 6)
	    session->gpsdata.fix.mode = MODE_3D;
	else if (session->gpsdata.status)
	    session->gpsdata.fix.mode = MODE_2D;
	gpsd_report(LOG_PROG, "EMND 0x62: Navtype = 0x%0x, Status = %d, mode = %d\n", 
		    navtype, session->gpsdata.status, session->gpsdata.fix.mode);

	if (navtype & 0x40) {		/* UTC corrected timestamp? */
	    struct tm unpacked_date;
	    double subseconds;
	    mask |= TIME_SET;
	    unpacked_date.tm_year = (int)getuw(buf, 26) - 1900;
	    unpacked_date.tm_mon = (int)getub(buf, 28) - 1;
	    unpacked_date.tm_mday = (int)getub(buf, 29);
	    unpacked_date.tm_hour = (int)getub(buf, 30);
	    unpacked_date.tm_min = (int)getub(buf, 31);
	    unpacked_date.tm_sec = 0;
	    subseconds = ((unsigned short)getuw(buf, 32))*1e-3;
	    /*@ -compdef */
	    session->gpsdata.fix.time = session->gpsdata.sentence_time
		= (double)mkgmtime(&unpacked_date)+subseconds;
	    /*@ +compdef */
#ifdef NTPSHM_ENABLE
	    if ((session->driver.sirf.time_seen & TIME_SEEN_UTC_2) == 0)
		gpsd_report(LOG_PROG, "valid time in message 0x62, seen=0x%02x\n",
				session->driver.sirf.time_seen);
	    session->driver.sirf.time_seen |= TIME_SEEN_UTC_2;
	    if (session->context->enable_ntpshm && IS_HIGHEST_BIT(session->driver.sirf.time_seen,TIME_SEEN_UTC_2))
		(void)ntpshm_put(session, session->gpsdata.fix.time + 0.8);
#endif /* NTPSHM_ENABLE */
	    session->context->valid |= LEAP_SECOND_VALID;
	}

	session->gpsdata.gdop = (int)getub(buf, 34) / 5.0;
	session->gpsdata.pdop = (int)getub(buf, 35) / 5.0;
	session->gpsdata.hdop = (int)getub(buf, 36) / 5.0;
	session->gpsdata.vdop = (int)getub(buf, 37) / 5.0;
	session->gpsdata.tdop = (int)getub(buf, 38) / 5.0;
	session->driver.sirf.driverstate |= UBLOX;
	return mask;

    case 0x80:		/* Initialize Data Source */
	gpsd_report(LOG_PROG, "INIT 0x80: %s\n", gpsd_hexdump(buf, len));
	return 0;

    case 0xe1:		/* Development statistics messages */
	buf2[0] = '\0';
	for (i = 2; i < (int)len; i++)
		(void)snprintf(buf2+strlen(buf2), 
			       sizeof(buf2)-strlen(buf2),
			       "%c", buf[i]^0xff);
	gpsd_report(LOG_PROG, "DEV 0xe1: %s\n", buf2);
	return 0;

    case 0xff:		/* Debug messages */
	buf2[0] = '\0';
	for (i = 1; i < (int)len; i++)
	    if (isprint(buf[i]))
		(void)snprintf(buf2+strlen(buf2), 
			       sizeof(buf2)-strlen(buf2),
			       "%c", buf[i]);
	    else
		(void)snprintf(buf2+strlen(buf2), 
			       sizeof(buf2)-strlen(buf2),
			       "\\x%02x", (unsigned int)buf[i]);
	gpsd_report(LOG_PROG, "DBG 0xff: %s\n", buf2);
	return 0;

    default:
	gpsd_report(LOG_WARN, "Unknown SiRF packet id %d length %d: %s\n", 
		    buf[0], len, gpsd_hexdump(buf, len));
	return 0;
    }

    return 0;
}

static gps_mask_t sirfbin_parse_input(struct gps_device_t *session)
{
    gps_mask_t st;

    if (session->packet.type == SIRF_PACKET){
	st = sirf_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;
}

#ifdef ALLOW_RECONFIGURE
static void sirfbin_configure(struct gps_device_t *session, unsigned int seq)
{
    if (seq != 0)
	return;
    if (session->packet.type == NMEA_PACKET) {
	gpsd_report(LOG_PROG, "Switching chip mode to SiRF binary.\n");
	(void)nmea_send(session->gpsdata.gps_fd, 
		  "$PSRF100,0,%d,8,1,0", session->gpsdata.baudrate);
    }
    /* do this every time*/
    {
	/*@ +charint @*/
	static unsigned char navparams[] = {0xa0, 0xa2, 0x00, 0x02,
					    0x98, 0x00,
					    0x00, 0x00, 0xb0, 0xb3};
	static unsigned char dgpscontrol[] = {0xa0, 0xa2, 0x00, 0x07,
				 0x85, 0x01, 0x00, 0x00,
				 0x00, 0x00, 0x00,
				 0x00, 0x00, 0xb0, 0xb3};
	static unsigned char sbasparams[] = {0xa0, 0xa2, 0x00, 0x06,
				 0xaa, 0x00, 0x01, 0x00,
				 0x00, 0x00,
				 0x00, 0x00, 0xb0, 0xb3};
	static unsigned char versionprobe[] = {0xa0, 0xa2, 0x00, 0x02,
				 0x84, 0x00,
				 0x00, 0x00, 0xb0, 0xb3};
	static unsigned char requestecef[] = {0xa0, 0xa2, 0x00, 0x08,
				       0xa6, 0x00, 0x02, 0x01,
				       0x00, 0x00, 0x00, 0x00,
				       0x00, 0x00, 0xb0, 0xb3};
	static unsigned char requesttracker[] = {0xa0, 0xa2, 0x00, 0x08, 
					  0xa6, 0x00, 0x04, 0x03,
					  0x00, 0x00, 0x00, 0x00,
					  0x00, 0x00, 0xb0, 0xb3};
	/*@ -charint @*/
	gpsd_report(LOG_PROG, "Requesting periodic ecef reports...\n");
	(void)sirf_write(session->gpsdata.gps_fd, requestecef);
	gpsd_report(LOG_PROG, "Requesting periodic tracker reports...\n");
	(void)sirf_write(session->gpsdata.gps_fd, requesttracker);
	gpsd_report(LOG_PROG, "Setting DGPS control to use SBAS...\n");
	(void)sirf_write(session->gpsdata.gps_fd, dgpscontrol);
	gpsd_report(LOG_PROG, "Setting SBAS to auto/integrity mode...\n");
	(void)sirf_write(session->gpsdata.gps_fd, sbasparams);
	gpsd_report(LOG_PROG, "Probing for firmware version...\n");
	(void)sirf_write(session->gpsdata.gps_fd, versionprobe);
	gpsd_report(LOG_PROG, "Requesting navigation parameters...\n");
	(void)sirf_write(session->gpsdata.gps_fd, navparams);
    }
}

static void sirfbin_revert(struct gps_device_t *session)
{
    /*@ +charint @*/
    static unsigned char moderevert[] = {0xa0, 0xa2, 0x00, 0x0e,
			      0x88, 
			      0x00, 0x00,	/* pad bytes */
			      0x00,		/* degraded mode */
			      0x00, 0x00,	/* pad bytes */
			      0x00, 0x00,	/* altitude source */
			      0x00,		/* altitude hold mode */
			      0x00,		/* use last computed alt */
			      0x00,		/* reserved */
			      0x00,		/* degraded mode timeout */
			      0x00,		/* dead reckoning timeout */
			      0x00,		/* track smoothing */
			      0x00, 0x00, 0xb0, 0xb3};
    /*@ -charint -shiftimplementation @*/
    putbyte(moderevert, 7, session->driver.sirf.degraded_mode);
    putword(moderevert, 10, session->driver.sirf.altitude_source_input);
    putbyte(moderevert, 12, session->driver.sirf.altitude_hold_mode);
    putbyte(moderevert, 13, session->driver.sirf.altitude_hold_source);
    putbyte(moderevert, 15, session->driver.sirf.degraded_timeout);
    putbyte(moderevert, 16, session->driver.sirf.dr_timeout);
    putbyte(moderevert, 17, session->driver.sirf.track_smooth_mode);
    /*@ +shiftimplementation @*/
    gpsd_report(LOG_PROG, "Reverting navigation parameters...\n");
    (void)sirf_write(session->gpsdata.gps_fd, moderevert);
}
#endif /* ALLOW_RECONFIGURE */

static bool sirfbin_speed(struct gps_device_t *session, speed_t speed)
{
    return sirf_speed(session->gpsdata.gps_fd, speed);
}

/* this is everything we export */
struct gps_type_t sirf_binary =
{
    .typename       = "SiRF binary",	/* full name of type */
    .trigger        = NULL,		/* no trigger */
    .channels       = SIRF_CHANNELS,	/* consumer-grade GPS */
    .probe_wakeup   = NULL,		/* no wakeup to be done before hunt */
    .probe_detect   = NULL,		/* no probe */
    .probe_subtype  = NULL,		/* can't probe more in NMEA mode */
#ifdef ALLOW_RECONFIGURE
    .configurator   = sirfbin_configure,/* initialize the device */
#endif /* ALLOW_RECONFIGURE */
    .get_packet     = generic_get,	/* use the generic packet getter */
    .parse_packet   = sirfbin_parse_input,/* parse message packets */
    .rtcm_writer    = pass_rtcm,	/* send RTCM data straight */
    .speed_switcher = sirfbin_speed,	/* we can change baud rate */
    .mode_switcher  = sirfbin_mode,	/* there's a mode switcher */
    .rate_switcher  = NULL,		/* no sample-rate switcher */
    .cycle_chars    = -1,		/* not relevant, no rate switch */
#ifdef ALLOW_RECONFIGURE
    .revert         = sirfbin_revert,	/* no reversion code */
#endif /* ALLOW_RECONFIGURE */
    .wrapup         = NULL,		/* no close hook */
    .cycle          = 1,		/* updates every second */
};
#endif /* defined(SIRF_ENABLE) && defined(BINARY_ENABLE) */