-
Notifications
You must be signed in to change notification settings - Fork 0
/
driver_tsip.c
1390 lines (1305 loc) · 47.4 KB
/
driver_tsip.c
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
93
94
95
96
97
98
99
100
101
102
103
104
105
106
107
108
109
110
111
112
113
114
115
116
117
118
119
120
121
122
123
124
125
126
127
128
129
130
131
132
133
134
135
136
137
138
139
140
141
142
143
144
145
146
147
148
149
150
151
152
153
154
155
156
157
158
159
160
161
162
163
164
165
166
167
168
169
170
171
172
173
174
175
176
177
178
179
180
181
182
183
184
185
186
187
188
189
190
191
192
193
194
195
196
197
198
199
200
201
202
203
204
205
206
207
208
209
210
211
212
213
214
215
216
217
218
219
220
221
222
223
224
225
226
227
228
229
230
231
232
233
234
235
236
237
238
239
240
241
242
243
244
245
246
247
248
249
250
251
252
253
254
255
256
257
258
259
260
261
262
263
264
265
266
267
268
269
270
271
272
273
274
275
276
277
278
279
280
281
282
283
284
285
286
287
288
289
290
291
292
293
294
295
296
297
298
299
300
301
302
303
304
305
306
307
308
309
310
311
312
313
314
315
316
317
318
319
320
321
322
323
324
325
326
327
328
329
330
331
332
333
334
335
336
337
338
339
340
341
342
343
344
345
346
347
348
349
350
351
352
353
354
355
356
357
358
359
360
361
362
363
364
365
366
367
368
369
370
371
372
373
374
375
376
377
378
379
380
381
382
383
384
385
386
387
388
389
390
391
392
393
394
395
396
397
398
399
400
401
402
403
404
405
406
407
408
409
410
411
412
413
414
415
416
417
418
419
420
421
422
423
424
425
426
427
428
429
430
431
432
433
434
435
436
437
438
439
440
441
442
443
444
445
446
447
448
449
450
451
452
453
454
455
456
457
458
459
460
461
462
463
464
465
466
467
468
469
470
471
472
473
474
475
476
477
478
479
480
481
482
483
484
485
486
487
488
489
490
491
492
493
494
495
496
497
498
499
500
501
502
503
504
505
506
507
508
509
510
511
512
513
514
515
516
517
518
519
520
521
522
523
524
525
526
527
528
529
530
531
532
533
534
535
536
537
538
539
540
541
542
543
544
545
546
547
548
549
550
551
552
553
554
555
556
557
558
559
560
561
562
563
564
565
566
567
568
569
570
571
572
573
574
575
576
577
578
579
580
581
582
583
584
585
586
587
588
589
590
591
592
593
594
595
596
597
598
599
600
601
602
603
604
605
606
607
608
609
610
611
612
613
614
615
616
617
618
619
620
621
622
623
624
625
626
627
628
629
630
631
632
633
634
635
636
637
638
639
640
641
642
643
644
645
646
647
648
649
650
651
652
653
654
655
656
657
658
659
660
661
662
663
664
665
666
667
668
669
670
671
672
673
674
675
676
677
678
679
680
681
682
683
684
685
686
687
688
689
690
691
692
693
694
695
696
697
698
699
700
701
702
703
704
705
706
707
708
709
710
711
712
713
714
715
716
717
718
719
720
721
722
723
724
725
726
727
728
729
730
731
732
733
734
735
736
737
738
739
740
741
742
743
744
745
746
747
748
749
750
751
752
753
754
755
756
757
758
759
760
761
762
763
764
765
766
767
768
769
770
771
772
773
774
775
776
777
778
779
780
781
782
783
784
785
786
787
788
789
790
791
792
793
794
795
796
797
798
799
800
801
802
803
804
805
806
807
808
809
810
811
812
813
814
815
816
817
818
819
820
821
822
823
824
825
826
827
828
829
830
831
832
833
834
835
836
837
838
839
840
841
842
843
844
845
846
847
848
849
850
851
852
853
854
855
856
857
858
859
860
861
862
863
864
865
866
867
868
869
870
871
872
873
874
875
876
877
878
879
880
881
882
883
884
885
886
887
888
889
890
891
892
893
894
895
896
897
898
899
900
901
902
903
904
905
906
907
908
909
910
911
912
913
914
915
916
917
918
919
920
921
922
923
924
925
926
927
928
929
930
931
932
933
934
935
936
937
938
939
940
941
942
943
944
945
946
947
948
949
950
951
952
953
954
955
956
957
958
959
960
961
962
963
964
965
966
967
968
969
970
971
972
973
974
975
976
977
978
979
980
981
982
983
984
985
986
987
988
989
990
991
992
993
994
995
996
997
998
999
1000
/*
* Handle the Trimble TSIP packet format
* by Rob Janssen, PE1CHL.
* Accutime Gold support by Igor Socec <[email protected]>
* Trimble RES multi-constelation support by Nuno Goncalves <[email protected]>
*
* Week counters are not limited to 10 bits. It's unknown what
* the firmware is doing to disambiguate them, if anything; it might just
* be adding a fixed offset based on a hidden epoch value, in which case
* unhappy things will occur on the next rollover.
*
* This file is Copyright (c) 2010 by the GPSD project
* SPDX-License-Identifier: BSD-2-clause
*/
#ifdef __linux__
/* FreeBSD chokes on this */
/* if we insist on C99, then we need this to get M_LN2 from math.h */
/* 500 mean X/Open 1995 */
#define _XOPEN_SOURCE 500
/* round() needs _POSIX_C_SOURCE >= 200112L */
#define _POSIX_C_SOURCE 200112L
#endif /* __linux__ */
#include <sys/time.h> /* for select() */
#include <string.h>
#include <stdio.h>
#include <stdbool.h>
#include <math.h>
#include <time.h>
#include <unistd.h>
#include "gpsd.h"
#include "bits.h"
#include "strfuncs.h"
#include <sys/select.h>
#define USE_SUPERPACKET 1 /* use Super Packet mode? */
#define SEMI_2_DEG (180.0 / 2147483647) /* 2^-31 semicircle to deg */
void configuration_packets_accutime_gold(struct gps_device_t *session);
void configuration_packets_generic(struct gps_device_t *session);
#ifdef TSIP_ENABLE
#define TSIP_CHANNELS 15
static int tsip_write(struct gps_device_t *session,
unsigned int id, unsigned char *buf, size_t len)
{
char *ep, *cp;
session->msgbuf[0] = '\x10';
session->msgbuf[1] = (char)id;
ep = session->msgbuf + 2;
for (cp = (char *)buf; len-- > 0; cp++) {
if (*cp == '\x10')
*ep++ = '\x10';
*ep++ = *cp;
}
*ep++ = '\x10';
*ep++ = '\x03';
session->msgbuflen = (size_t) (ep - session->msgbuf);
gpsd_log(&session->context->errout, LOG_PROG,
"Sent TSIP packet id 0x%02x\n", id);
if (gpsd_write(session, session->msgbuf, session->msgbuflen) !=
(ssize_t) session->msgbuflen)
return -1;
return 0;
}
/* tsip_detect()
*
* see if it looks like a TSIP device (speaking 9600O81) is listening and
* return 1 if found, 0 if not
*/
static bool tsip_detect(struct gps_device_t *session)
{
char buf[BUFSIZ];
bool ret = false;
int myfd;
fd_set fdset;
struct timeval to;
speed_t old_baudrate;
char old_parity;
unsigned int old_stopbits;
old_baudrate = session->gpsdata.dev.baudrate;
old_parity = session->gpsdata.dev.parity;
old_stopbits = session->gpsdata.dev.stopbits;
gpsd_set_speed(session, 9600, 'O', 1);
/* request firmware revision and look for a valid response */
putbyte(buf, 0, 0x10);
putbyte(buf, 1, 0x1f);
putbyte(buf, 2, 0x10);
putbyte(buf, 3, 0x03);
myfd = session->gpsdata.gps_fd;
if (write(myfd, buf, 4) == 4) {
unsigned int n;
for (n = 0; n < 3; n++) {
FD_ZERO(&fdset);
FD_SET(myfd, &fdset);
to.tv_sec = 1;
to.tv_usec = 0;
if (select(myfd + 1, &fdset, NULL, NULL, &to) != 1)
break;
if (generic_get(session) >= 0) {
if (session->lexer.type == TSIP_PACKET) {
gpsd_log(&session->context->errout, LOG_RAW,
"tsip_detect found\n");
ret = true;
break;
}
}
}
}
if (!ret)
/* return serial port to original settings */
gpsd_set_speed(session, old_baudrate, old_parity, old_stopbits);
return ret;
}
static gps_mask_t tsip_parse_input(struct gps_device_t *session)
{
int i, j, len, count;
gps_mask_t mask = 0;
unsigned int id;
uint8_t u1, u2, u3, u4, u5, u6, u7, u8, u9, u10;
int16_t s1, s2, s3, s4;
int32_t sl1, sl2, sl3;
uint32_t ul1, ul2;
float f1, f2, f3, f4, f5;
double d1, d2, d3, d4, d5;
time_t now;
unsigned char buf[BUFSIZ];
char buf2[BUFSIZ];
if (session->lexer.type != TSIP_PACKET) {
gpsd_log(&session->context->errout, LOG_INF,
"tsip_analyze packet type %d\n",
session->lexer.type);
return 0;
}
if (session->lexer.outbuflen < 4 || session->lexer.outbuffer[0] != 0x10)
return 0;
/* remove DLE stuffing and put data part of message in buf */
memset(buf, 0, sizeof(buf));
buf2[len = 0] = '\0';
for (i = 2; i < (int)session->lexer.outbuflen; i++) {
if (session->lexer.outbuffer[i] == 0x10)
if (session->lexer.outbuffer[++i] == 0x03)
break;
str_appendf(buf2, sizeof(buf2),
"%02x", buf[len++] = session->lexer.outbuffer[i]);
}
id = (unsigned)session->lexer.outbuffer[1];
gpsd_log(&session->context->errout, LOG_DATA,
"TSIP packet id 0x%02x length %d: %s\n",
id, len, buf2);
(void)time(&now);
session->cycle_end_reliable = true;
switch (id) {
case 0x13: /* Packet Received */
u1 = getub(buf, 0);
u2 = getub(buf, 1);
gpsd_log(&session->context->errout, LOG_WARN,
"Received packet of type %02x cannot be parsed\n", u1);
#if USE_SUPERPACKET
if ((int)u1 == 0x8e && (int)u2 == 0x23) { /* no Compact Super Packet */
gpsd_log(&session->context->errout, LOG_WARN,
"No Compact Super Packet, use LFwEI\n");
/* Request LFwEI Super Packet */
putbyte(buf, 0, 0x20);
putbyte(buf, 1, 0x01); /* enabled */
(void)tsip_write(session, 0x8e, buf, 2);
}
#endif /* USE_SUPERPACKET */
break;
case 0x1c: /* Hardware/Software Version Information (Accutime Gold) */
/*
* FIXME: We could get both kinds of version info.
*/
u1 = (uint8_t) getub(buf, 0);
if (u1 == 0x81) { /* Software Version Information */
uint8_t u6, u7;
u2 = getub(buf, 2); /* Major version */
u3 = getub(buf, 3); /* Minor version */
u4 = getub(buf, 4); /* Build number */
u5 = getub(buf, 5); /* Month */
u6 = getub(buf, 6); /* Day */
s1 = (int16_t)getbeu16(buf, 7); /* Year */
u7 = getub(buf, 9); /* Length of first module name */
for (i=0; i < (int)u7; i++) {
buf2[i] = (char)getub(buf, 10+i); /* Product name in ASCII */
}
buf2[i] = '\0';
(void)snprintf(session->subtype, sizeof(session->subtype),
"sw %u %u %u %02u.%02u.%04u %s",
u2, u3, u4, u6, u5, s1, buf2);
gpsd_log(&session->context->errout, LOG_INF,
"Software version: %s\n",
session->subtype);
mask |= DEVICEID_SET;
}
if (u1 == 0x83) { /* Hardware Version Information */
ul1 = getbeu32(buf, 1); /* Serial number */
u2 = getub(buf, 5); /* Build day */
u3 = getub(buf, 6); /* Build month */
s1 = (int16_t)getbeu16(buf, 7); /* Build year */
u4 = getub(buf, 6); /* Build hour */
s2 = (int16_t)getbeu16(buf, 10); /* Hardware Code */
u5 = getub(buf, 12); /* Length of Hardware ID */
/* coverity_submit[tainted_data] */
for (i=0; i < (int)u5; i++) {
buf2[i] = (char)getub(buf, 13+i); /* Hardware ID in ASCII */
}
buf2[i] = '\0';
(void)snprintf(session->subtype, sizeof(session->subtype),
"hw %u %02u.%02u.%04u %02u %u %s",
ul1, u2, u3, s1, u4, s2, buf2);
gpsd_log(&session->context->errout, LOG_INF,
"Hardware version: %s\n",
session->subtype);
mask |= DEVICEID_SET;
/* Detecting device by Hardware Code */
if (s2 == 3001) {
gpsd_log(&session->context->errout, LOG_INF,
"This device is Accutime Gold\n");
session->driver.tsip.subtype = TSIP_ACCUTIME_GOLD;
configuration_packets_accutime_gold(session);
}
else {
configuration_packets_generic(session);
}
break;
}
break;
case 0x41: /* GPS Time */
if (len != 10)
break;
session->driver.tsip.last_41 = now; /* keep timestamp for request */
f1 = getbef32((char *)buf, 0); /* gpstime */
s1 = getbes16(buf, 4); /* week */
f2 = getbef32((char *)buf, 6); /* leap seconds */
if (f1 >= 0.0 && f2 > 10.0) {
session->context->leap_seconds = (int)round(f2);
session->context->valid |= LEAP_SECOND_VALID;
session->newdata.time =
gpsd_gpstime_resolve(session, (unsigned short)s1, (double)f1);
mask |= TIME_SET | NTPTIME_IS;
}
gpsd_log(&session->context->errout, LOG_INF,
"GPS Time %f %d %f\n", f1, s1, f2);
break;
case 0x42: /* Single-Precision Position Fix, XYZ ECEF */
if (len != 16)
break;
f1 = getbef32((char *)buf, 0); /* X */
f2 = getbef32((char *)buf, 4); /* Y */
f3 = getbef32((char *)buf, 8); /* Z */
f4 = getbef32((char *)buf, 12); /* time-of-fix */
gpsd_log(&session->context->errout, LOG_INF,
"GPS Position XYZ %f %f %f %f\n", f1, f2, f3, f4);
break;
case 0x43: /* Velocity Fix, XYZ ECEF */
if (len != 20)
break;
f1 = getbef32((char *)buf, 0); /* X velocity */
f2 = getbef32((char *)buf, 4); /* Y velocity */
f3 = getbef32((char *)buf, 8); /* Z velocity */
f4 = getbef32((char *)buf, 12); /* bias rate */
f5 = getbef32((char *)buf, 16); /* time-of-fix */
gpsd_log(&session->context->errout, LOG_INF,
"GPS Velocity XYZ %f %f %f %f %f\n", f1, f2, f3,
f4, f5);
break;
case 0x45: /* Software Version Information */
if (len != 10)
break;
(void)snprintf(session->subtype, sizeof(session->subtype),
"%d.%d %02d%02d%02d %d.%d %02d%02d%02d",
getub(buf, 0),
getub(buf, 1),
getub(buf, 4),
getub(buf, 2),
getub(buf, 3),
getub(buf, 5),
getub(buf, 6),
getub(buf, 9),
getub(buf, 7),
getub(buf, 8));
gpsd_log(&session->context->errout, LOG_INF,
"Software version: %s\n", session->subtype);
mask |= DEVICEID_SET;
break;
case 0x46: /* Health of Receiver */
if (len != 2)
break;
session->driver.tsip.last_46 = now;
u1 = getub(buf, 0); /* Status code */
u2 = getub(buf, 1); /* Antenna/Battery */
if (u1 != (uint8_t) 0) {
session->gpsdata.status = STATUS_NO_FIX;
mask |= STATUS_SET;
} else {
if (session->gpsdata.status < STATUS_FIX) {
session->gpsdata.status = STATUS_FIX;
mask |= STATUS_SET;
}
}
gpsd_log(&session->context->errout, LOG_PROG,
"Receiver health %02x %02x\n", u1, u2);
break;
case 0x47: /* Signal Levels for all Satellites */
gpsd_zero_satellites(&session->gpsdata);
count = (int)getub(buf, 0); /* satellite count */
if (len != (5 * count + 1))
break;
buf2[0] = '\0';
for (i = 0; i < count; i++) {
u1 = getub(buf, 5 * i + 1);
if ((f1 = getbef32((char *)buf, 5 * i + 2)) < 0)
f1 = 0.0;
for (j = 0; j < TSIP_CHANNELS; j++)
if (session->gpsdata.skyview[j].PRN == (short)u1) {
session->gpsdata.skyview[j].ss = f1;
break;
}
str_appendf(buf2, sizeof(buf2), " %d=%.1f", (int)u1, f1);
}
gpsd_log(&session->context->errout, LOG_PROG,
"Signal Levels (%d):%s\n", count, buf2);
mask |= SATELLITE_SET;
break;
case 0x48: /* GPS System Message */
buf[len] = '\0';
gpsd_log(&session->context->errout, LOG_PROG,
"GPS System Message: %s\n", buf);
break;
case 0x49: /* Almanac Health Page */
break;
case 0x4a: /* Single-Precision Position LLA */
if (len != 20)
break;
session->newdata.latitude = getbef32((char *)buf, 0) * RAD_2_DEG;
session->newdata.longitude = getbef32((char *)buf, 4) * RAD_2_DEG;
session->newdata.altitude = getbef32((char *)buf, 8);
//f1 = getbef32((char *)buf, 12); clock bias */
f2 = getbef32((char *)buf, 16); /* time-of-fix */
if ((session->context->valid & GPS_TIME_VALID)!=0) {
session->newdata.time =
gpsd_gpstime_resolve(session,
(unsigned short)session->context->gps_week,
(double)f2);
mask |= TIME_SET | NTPTIME_IS;
}
mask |= LATLON_SET | ALTITUDE_SET | CLEAR_IS | REPORT_IS;
gpsd_log(&session->context->errout, LOG_DATA,
"SPPLLA 0x4a time=%.2f lat=%.2f lon=%.2f alt=%.2f\n",
session->newdata.time,
session->newdata.latitude,
session->newdata.longitude,
session->newdata.altitude);
break;
case 0x4b: /* Machine/Code ID and Additional Status */
if (len != 3)
break;
u1 = getub(buf, 0); /* Machine ID */
u2 = getub(buf, 1); /* Status 1 */
u3 = getub(buf, 2); /* Status 2 */
gpsd_log(&session->context->errout, LOG_INF,
"Machine ID %02x %02x %02x\n", u1, u2, u3);
#if USE_SUPERPACKET
if ((u3 & 0x01) != (uint8_t) 0 && !session->driver.tsip.superpkt) {
gpsd_log(&session->context->errout, LOG_PROG,
"Switching to Super Packet mode\n");
/* set new I/O Options for Super Packet output */
putbyte(buf, 0, 0x2c); /* Position: SP, MSL */
putbyte(buf, 1, 0x00); /* Velocity: none (via SP) */
putbyte(buf, 2, 0x00); /* Time: GPS */
putbyte(buf, 3, 0x08); /* Aux: dBHz */
(void)tsip_write(session, 0x35, buf, 4);
session->driver.tsip.superpkt = true;
}
#endif /* USE_SUPERPACKET */
break;
case 0x4c: /* Operating Parameters Report */
break;
case 0x54: /* One Satellite Bias */
break;
case 0x55: /* IO Options */
if (len != 4)
break;
u1 = getub(buf, 0); /* Position */
u2 = getub(buf, 1); /* Velocity */
u3 = getub(buf, 2); /* Timing */
u4 = getub(buf, 3); /* Aux */
gpsd_log(&session->context->errout, LOG_INF,
"IO Options %02x %02x %02x %02x\n", u1, u2, u3, u4);
#if USE_SUPERPACKET
if ((u1 & 0x20) != (uint8_t) 0) { /* Output Super Packets? */
/* No LFwEI Super Packet */
putbyte(buf, 0, 0x20);
putbyte(buf, 1, 0x00); /* disabled */
(void)tsip_write(session, 0x8e, buf, 2);
/* Request Compact Super Packet */
putbyte(buf, 0, 0x23);
putbyte(buf, 1, 0x01); /* enabled */
(void)tsip_write(session, 0x8e, buf, 2);
session->driver.tsip.req_compact = now;
}
#endif /* USE_SUPERPACKET */
break;
case 0x56: /* Velocity Fix, East-North-Up (ENU) */
if (len != 20)
break;
f1 = getbef32((char *)buf, 0); /* East velocity */
f2 = getbef32((char *)buf, 4); /* North velocity */
f3 = getbef32((char *)buf, 8); /* Up velocity */
f4 = getbef32((char *)buf, 12); /* clock bias rate */
f5 = getbef32((char *)buf, 16); /* time-of-fix */
session->newdata.climb = f3;
session->newdata.speed = sqrt(pow(f2, 2) + pow(f1, 2));
if ((session->newdata.track = atan2(f1, f2) * RAD_2_DEG) < 0)
session->newdata.track += 360.0;
gpsd_log(&session->context->errout, LOG_INF,
"GPS Velocity ENU %f %f %f %f %f\n", f1, f2, f3,
f4, f5);
mask |= SPEED_SET | TRACK_SET | CLIMB_SET;
gpsd_log(&session->context->errout, LOG_DATA,
"VFENU 0x56 time=%.2f speed=%.2f track=%.2f climb=%.2f\n",
session->newdata.time,
session->newdata.speed,
session->newdata.track,
session->newdata.climb);
break;
case 0x57: /* Information About Last Computed Fix */
if (len != 8)
break;
u1 = getub(buf, 0); /* Source of information */
u2 = getub(buf, 1); /* Mfg. diagnostic */
f1 = getbef32((char *)buf, 2); /* gps_time */
s1 = getbes16(buf, 6); /* tsip.gps_week */
if (getub(buf, 0) == 0x01) /* good current fix? */
(void)gpsd_gpstime_resolve(session, (unsigned short)s1, (double)f1);
gpsd_log(&session->context->errout, LOG_INF,
"Fix info %02x %02x %d %f\n", u1, u2, s1, f1);
break;
case 0x58: /* Satellite System Data/Acknowledge from Receiver */
break;
case 0x59: /* Status of Satellite Disable or Ignore Health */
break;
case 0x5a: /* Raw Measurement Data */
if (len != 29)
break;
f1 = getbef32((char *)buf, 5); /* Signal Level */
f2 = getbef32((char *)buf, 9); /* Code phase */
f3 = getbef32((char *)buf, 13); /* Doppler */
d1 = getbed64((char *)buf, 17); /* Time of Measurement */
gpsd_log(&session->context->errout, LOG_PROG,
"Raw Measurement Data %d %f %f %f %f\n",
getub(buf, 0), f1, f2, f3, d1);
break;
case 0x5b: /* Satellite Ephemeris Status */
break;
case 0x5c: /* Satellite Tracking Status */
if (len != 24)
break;
u1 = getub(buf, 0); /* PRN */
u2 = getub(buf, 1); /* chan */
u3 = getub(buf, 2); /* Acquisition flag */
u4 = getub(buf, 3); /* Ephemeris flag */
f1 = getbef32((char *)buf, 4); /* Signal level */
f2 = getbef32((char *)buf, 8); /* time of Last measurement */
d1 = getbef32((char *)buf, 12) * RAD_2_DEG; /* Elevation */
d2 = getbef32((char *)buf, 16) * RAD_2_DEG; /* Azimuth */
i = (int)(u2 >> 3); /* channel number */
gpsd_log(&session->context->errout, LOG_INF,
"Satellite Tracking Status: Ch %2d PRN %3d Res %d Acq %d Eph %2d SNR %4.1f LMT %.04f El %4.1f Az %5.1f\n",
i, u1, u2 & 7, u3, u4, f1, f2, d1, d2);
if (i < TSIP_CHANNELS) {
if (d1 >= 0.0) {
session->gpsdata.skyview[i].PRN = (short)u1;
session->gpsdata.skyview[i].ss = (double)f1;
session->gpsdata.skyview[i].elevation = (short)round(d1);
session->gpsdata.skyview[i].azimuth = (short)round(d2);
session->gpsdata.skyview[i].used = false;
for (j = 0; j < session->gpsdata.satellites_used; j++)
if (session->gpsdata.skyview[i].PRN != 0 && session->driver.tsip.sats_used[j] != 0)
session->gpsdata.skyview[i].used = true;
} else {
session->gpsdata.skyview[i].PRN =
session->gpsdata.skyview[i].elevation =
session->gpsdata.skyview[i].azimuth = 0;
session->gpsdata.skyview[i].ss = 0.0;
session->gpsdata.skyview[i].used = false;
}
if (++i == session->gpsdata.satellites_visible) {
session->gpsdata.skyview_time = NAN;
mask |= SATELLITE_SET; /* last of the series */
}
if (i > session->gpsdata.satellites_visible)
session->gpsdata.satellites_visible = i;
}
break;
case 0x5d:
/* GNSS Satellite Tracking Status (multi-GNSS operation) */
if (len != 26)
break;
u1 = getub(buf, 0); /* PRN */
u2 = getub(buf, 1); /* chan */
u3 = getub(buf, 2); /* Acquisition flag */
u4 = getub(buf, 3); /* SV used in Position or Time calculation*/
f1 = getbef32((char *)buf, 4); /* Signal level */
f2 = getbef32((char *)buf, 8); /* time of Last measurement */
d1 = getbef32((char *)buf, 12) * RAD_2_DEG; /* Elevation */
d2 = getbef32((char *)buf, 16) * RAD_2_DEG; /* Azimuth */
u5 = getub(buf, 20); /* old measurement flag */
u6 = getub(buf, 21); /* integer msec flag */
u7 = getub(buf, 22); /* bad data flag */
u8 = getub(buf, 23); /* data collection flag */
u9 = getub(buf, 24); /* Used flags */
u10 = getub(buf, 25); /* SV Type */
i = u2; /* channel number */
gpsd_log(&session->context->errout, LOG_INF,
"Satellite Tracking Status: Ch %2d Con %d PRN %3d Acq %d "
"Use %d SNR %4.1f LMT %.04f El %4.1f Az %5.1f Old %d Int %d "
"Bad %d Col %d TPF %d SVT %d\n",
i, u10, u1, u3, u4, f1, f2, d1, d2, u5, u6, u7, u8, u9, u10);
if (i < TSIP_CHANNELS) {
if (d1 >= 0.0) {
session->gpsdata.skyview[i].PRN = (short)u1;
session->gpsdata.skyview[i].ss = (double)f1;
session->gpsdata.skyview[i].elevation = (short)round(d1);
session->gpsdata.skyview[i].azimuth = (short)round(d2);
session->gpsdata.skyview[i].used = (bool)u4;
} else {
session->gpsdata.skyview[i].PRN = (short)u1;
session->gpsdata.skyview[i].elevation =
session->gpsdata.skyview[i].azimuth = 0;
session->gpsdata.skyview[i].ss = 0.0;
session->gpsdata.skyview[i].used = false;
}
if (++i == session->gpsdata.satellites_visible) {
session->gpsdata.skyview_time = NAN;
mask |= SATELLITE_SET; /* last of the series */
}
if (i > session->gpsdata.satellites_visible)
session->gpsdata.satellites_visible = i;
}
break;
case 0x5e: /* Additional Fix Status Report */
break;
case 0x6c: /* Satellite Selection List */
//u1 = getub(buf, 0); /* nsvs/dimension UNUSED */
count = (int)getub(buf, 17);
if (len != (18 + count))
break;
session->driver.tsip.last_6d = now; /* keep timestamp for request */
#ifdef __UNUSED__
/*
* This looks right, but it sets a spurious mode value when
* the satellite constellation looks good to the chip but no
* actual fix has yet been acquired. We should set the mode
* field (which controls gpsd's fix reporting) only from sentences
* that convey actual fix information, like 0x20, otherwise we
* get results like triggering their error modeler spuriously.
*/
switch (u1 & 7) { /* dimension */
case 3:
// session->gpsdata.status = STATUS_FIX;
session->newdata.mode = MODE_2D;
break;
case 4:
// session->gpsdata.status = STATUS_FIX;
session->newdata.mode = MODE_3D;
break;
default:
// session->gpsdata.status = STATUS_NO_FIX;
session->newdata.mode = MODE_NO_FIX;
break;
}
mask |= MODE_SET;
#endif /* __UNUSED__ */
session->gpsdata.satellites_used = count;
session->gpsdata.dop.pdop = getbef32((char *)buf, 1);
session->gpsdata.dop.hdop = getbef32((char *)buf, 5);
session->gpsdata.dop.vdop = getbef32((char *)buf, 9);
session->gpsdata.dop.tdop = getbef32((char *)buf, 13);
session->gpsdata.dop.gdop =
sqrt(pow(session->gpsdata.dop.pdop, 2) +
pow(session->gpsdata.dop.tdop, 2));
memset(session->driver.tsip.sats_used, 0,
sizeof(session->driver.tsip.sats_used));
buf2[0] = '\0';
for (i = 0; i < count; i++)
str_appendf(buf2, sizeof(buf2),
" %d", session->driver.tsip.sats_used[i] =
(short)getub(buf, 18 + i));
gpsd_log(&session->context->errout, LOG_DATA,
"AIVSS: 0x6d status=%d used=%d "
"pdop=%.1f hdop=%.1f vdop=%.1f tdop=%.1f gdup=%.1f\n",
session->gpsdata.status,
session->gpsdata.satellites_used,
session->gpsdata.dop.pdop,
session->gpsdata.dop.hdop,
session->gpsdata.dop.vdop,
session->gpsdata.dop.tdop,
session->gpsdata.dop.gdop);
mask |= DOP_SET | STATUS_SET | USED_IS;
break;
case 0x6d: /* All-In-View Satellite Selection */
u1 = getub(buf, 0); /* nsvs/dimension */
count = (int)((u1 >> 4) & 0x0f);
if (len != (17 + count))
break;
session->driver.tsip.last_6d = now; /* keep timestamp for request */
#ifdef __UNUSED__
/*
* This looks right, but it sets a spurious mode value when
* the satellite constellation looks good to the chip but no
* actual fix has yet been acquired. We should set the mode
* field (which controls gpsd's fix reporting) only from sentences
* that convey actual fix information, like 0x20, otherwise we
* get results like triggering their error modeler spuriously.
*/
switch (u1 & 7) { /* dimension */
case 3:
//session->gpsdata.status = STATUS_FIX;
session->newdata.mode = MODE_2D;
break;
case 4:
//session->gpsdata.status = STATUS_FIX;
session->newdata.mode = MODE_3D;
break;
default:
//session->gpsdata.status = STATUS_NO_FIX;
session->newdata.mode = MODE_NO_FIX;
break;
}
mask |= MODE_SET;
#endif /* __UNUSED__ */
session->gpsdata.satellites_used = count;
session->gpsdata.dop.pdop = getbef32((char *)buf, 1);
session->gpsdata.dop.hdop = getbef32((char *)buf, 5);
session->gpsdata.dop.vdop = getbef32((char *)buf, 9);
session->gpsdata.dop.tdop = getbef32((char *)buf, 13);
session->gpsdata.dop.gdop =
sqrt(pow(session->gpsdata.dop.pdop, 2) +
pow(session->gpsdata.dop.tdop, 2));
memset(session->driver.tsip.sats_used, 0, sizeof(session->driver.tsip.sats_used));
buf2[0] = '\0';
for (i = 0; i < count; i++)
str_appendf(buf2, sizeof(buf2),
" %d", session->driver.tsip.sats_used[i] =
(short)getub(buf, 17 + i));
gpsd_log(&session->context->errout, LOG_DATA,
"AIVSS: 0x6d status=%d used=%d "
"pdop=%.1f hdop=%.1f vdop=%.1f tdop=%.1f gdup=%.1f\n",
session->gpsdata.status,
session->gpsdata.satellites_used,
session->gpsdata.dop.pdop,
session->gpsdata.dop.hdop,
session->gpsdata.dop.vdop,
session->gpsdata.dop.tdop,
session->gpsdata.dop.gdop);
mask |= DOP_SET | STATUS_SET | USED_IS;
break;
case 0x6e: /* Synchronized Measurements */
break;
#ifdef __UNUSED__
case 0x6f: /* Synchronized Measurements Report */
if (len < 20 || getub(buf, 0) != 1 || getub(buf, 1) != 2)
break;
s1 = getbes16(buf, 2); /* number of bytes */
u1 = getub(buf, 20); /* number of SVs */
break;
#endif /* __UNUSED__ */
case 0x70: /* Filter Report */
break;
case 0x7a: /* NMEA settings */
break;
case 0x82: /* Differential Position Fix Mode */
if (len != 1)
break;
u1 = getub(buf, 0); /* fix mode */
if (session->gpsdata.status == STATUS_FIX && (u1 & 0x01) != 0) {
session->gpsdata.status = STATUS_DGPS_FIX;
mask |= STATUS_SET;
}
gpsd_log(&session->context->errout, LOG_DATA,
"DPFM 0x82 status=%d\n", session->gpsdata.status);
break;
case 0x83: /* Double-Precision XYZ Position Fix and Bias Information */
if (len != 36)
break;
d1 = getbed64((char *)buf, 0); /* X */
d2 = getbed64((char *)buf, 8); /* Y */
d3 = getbed64((char *)buf, 16); /* Z */
d4 = getbed64((char *)buf, 24); /* clock bias */
f1 = getbef32((char *)buf, 32); /* time-of-fix */
gpsd_log(&session->context->errout, LOG_INF,
"GPS Position XYZ %f %f %f %f %f\n", d1, d2, d3, d4, f1);
break;
case 0x84: /* Double-Precision LLA Position Fix and Bias Information */
if (len != 36)
break;
session->newdata.latitude = getbed64((char *)buf, 0) * RAD_2_DEG;
session->newdata.longitude = getbed64((char *)buf, 8) * RAD_2_DEG;
session->newdata.altitude = getbed64((char *)buf, 16);
//d1 = getbed64((char *)buf, 24); clock bias */
f1 = getbef32((char *)buf, 32); /* time-of-fix */
if ((session->context->valid & GPS_TIME_VALID)!=0) {
session->newdata.time =
gpsd_gpstime_resolve(session,
(unsigned short)session->context->gps_week,
(double)f1);
mask |= TIME_SET | NTPTIME_IS;
}
gpsd_log(&session->context->errout, LOG_INF,
"GPS DP LLA %f %f %f %f\n",
session->newdata.time,
session->newdata.latitude,
session->newdata.longitude, session->newdata.altitude);
mask |= LATLON_SET | ALTITUDE_SET | CLEAR_IS | REPORT_IS;
gpsd_log(&session->context->errout, LOG_DATA,
"DPPLLA 0x84 time=%.2f lat=%.2f lon=%.2f alt=%.2f\n",
session->newdata.time,
session->newdata.latitude,
session->newdata.longitude,
session->newdata.altitude);
break;
case 0x8f: /* Super Packet. Well... */
u1 = (uint8_t) getub(buf, 0);
switch (u1) { /* sub-packet ID */
case 0x15: /* Current Datum Values */
if (len != 43)
break;
s1 = getbes16(buf, 1); /* Datum Index */
d1 = getbed64((char *)buf, 3); /* DX */
d2 = getbed64((char *)buf, 11); /* DY */
d3 = getbed64((char *)buf, 19); /* DZ */
d4 = getbed64((char *)buf, 27); /* A-axis */
d5 = getbed64((char *)buf, 35); /* Eccentricity Squared */
gpsd_log(&session->context->errout, LOG_INF,
"Current Datum %d %f %f %f %f %f\n", s1, d1,
d2, d3, d4, d5);
break;
case 0x20: /* Last Fix with Extra Information (binary fixed point) */
/* CSK sez "why does my Lassen iQ output oversize packets?" */
if ((len != 56) && (len != 64))
break;
s1 = getbes16(buf, 2); /* east velocity */
s2 = getbes16(buf, 4); /* north velocity */
s3 = getbes16(buf, 6); /* up velocity */
ul1 = getbeu32(buf, 8); /* time */
sl1 = getbes32(buf, 12); /* latitude */
ul2 = getbeu32(buf, 16); /* longitude */
sl2 = getbes32(buf, 20); /* altitude */
u1 = getub(buf, 24); /* velocity scaling */
u2 = getub(buf, 27); /* fix flags */
u3 = getub(buf, 28); /* num svs */
u4 = getub(buf, 29); /* utc offset */
s4 = getbes16(buf, 30); /* tsip.gps_week */
/* PRN/IODE data follows */
gpsd_log(&session->context->errout, LOG_RAW,
"LFwEI %d %d %d %u %d %u %u %x %x %u %u %d\n", s1, s2,
s3, ul1, sl1, ul2, sl2, u1, u2, u3, u4, s4);
if ((u1 & 0x01) != (uint8_t) 0) /* check velocity scaling */
d5 = 0.02;
else
d5 = 0.005;
d1 = (double)s1 * d5; /* east velocity m/s */
d2 = (double)s2 * d5; /* north velocity m/s */
session->newdata.climb = (double)s3 * d5; /* up velocity m/s */
session->newdata.speed = sqrt(pow(d2, 2) + pow(d1, 2));
if ((session->newdata.track = atan2(d1, d2) * RAD_2_DEG) < 0)
session->newdata.track += 360.0;
session->newdata.latitude = (double)sl1 * SEMI_2_DEG;
session->newdata.longitude = (double)ul2 * SEMI_2_DEG;
if (session->newdata.longitude > 180.0)
session->newdata.longitude -= 360.0;
session->gpsdata.separation =
wgs84_separation(session->newdata.latitude,
session->newdata.longitude);
session->newdata.altitude =
(double)sl2 * 1e-3 - session->gpsdata.separation;;
session->gpsdata.status = STATUS_NO_FIX;
session->newdata.mode = MODE_NO_FIX;
if ((u2 & 0x01) == (uint8_t) 0) { /* Fix Available */
session->gpsdata.status = STATUS_FIX;
if ((u2 & 0x02) != (uint8_t) 0) /* DGPS Corrected */
session->gpsdata.status = STATUS_DGPS_FIX;
if ((u2 & 0x04) != (uint8_t) 0) /* Fix Dimension */
session->newdata.mode = MODE_2D;
else
session->newdata.mode = MODE_3D;
}
session->gpsdata.satellites_used = (int)u3;
if ((int)u4 > 10) {
session->context->leap_seconds = (int)u4;
session->context->valid |= LEAP_SECOND_VALID;
}
session->newdata.time = gpsd_gpstime_resolve(session,
(unsigned short)s4,
(double)ul1 *1e-3);
mask |=
TIME_SET | NTPTIME_IS | LATLON_SET | ALTITUDE_SET | SPEED_SET |
TRACK_SET | CLIMB_SET | STATUS_SET | MODE_SET | CLEAR_IS |
REPORT_IS;
gpsd_log(&session->context->errout, LOG_DATA,
"SP-LFEI 0x20: time=%.2f lat=%.2f lon=%.2f alt=%.2f "
"speed=%.2f track=%.2f climb=%.2f "
"mode=%d status=%d\n",
session->newdata.time,
session->newdata.latitude, session->newdata.longitude,
session->newdata.altitude, session->newdata.speed,
session->newdata.track, session->newdata.climb,
session->newdata.mode, session->gpsdata.status);
break;
case 0x23: /* Compact Super Packet */
session->driver.tsip.req_compact = 0;
/* CSK sez "i don't trust this to not be oversized either." */
if (len < 29)
break;
ul1 = getbeu32(buf, 1); /* time */
s1 = getbes16(buf, 5); /* tsip.gps_week */
u1 = getub(buf, 7); /* utc offset */
u2 = getub(buf, 8); /* fix flags */
sl1 = getbes32(buf, 9); /* latitude */
ul2 = getbeu32(buf, 13); /* longitude */
sl3 = getbes32(buf, 17); /* altitude */
s2 = getbes16(buf, 21); /* east velocity */
s3 = getbes16(buf, 23); /* north velocity */
s4 = getbes16(buf, 25); /* up velocity */
gpsd_log(&session->context->errout, LOG_INF,
"CSP %u %d %u %u %d %u %d %d %d %d\n", ul1,
s1, u1, u2, sl1, ul2, sl3, s2, s3, s4);
if ((int)u1 > 10) {
session->context->leap_seconds = (int)u1;
session->context->valid |= LEAP_SECOND_VALID;
}
session->newdata.time =
gpsd_gpstime_resolve(session,
(unsigned short)s1, (double)ul1 *1e-3);
session->gpsdata.status = STATUS_NO_FIX;
session->newdata.mode = MODE_NO_FIX;
if ((u2 & 0x01) == (uint8_t) 0) { /* Fix Available */
session->gpsdata.status = STATUS_FIX;
if ((u2 & 0x02) != (uint8_t) 0) /* DGPS Corrected */
session->gpsdata.status = STATUS_DGPS_FIX;
if ((u2 & 0x04) != (uint8_t) 0) /* Fix Dimension */
session->newdata.mode = MODE_2D;
else
session->newdata.mode = MODE_3D;
}
session->newdata.latitude = (double)sl1 * SEMI_2_DEG;
session->newdata.longitude = (double)ul2 * SEMI_2_DEG;
if (session->newdata.longitude > 180.0)
session->newdata.longitude -= 360.0;
session->gpsdata.separation =
wgs84_separation(session->newdata.latitude,
session->newdata.longitude);
session->newdata.altitude =
(double)sl3 * 1e-3 - session->gpsdata.separation;;
if ((u2 & 0x20) != (uint8_t) 0) /* check velocity scaling */
d5 = 0.02;
else
d5 = 0.005;
d1 = (double)s2 * d5; /* east velocity m/s */
d2 = (double)s3 * d5; /* north velocity m/s */
session->newdata.climb = (double)s4 * d5; /* up velocity m/s */
session->newdata.speed =
sqrt(pow(d2, 2) + pow(d1, 2)) * MPS_TO_KNOTS;
if ((session->newdata.track = atan2(d1, d2) * RAD_2_DEG) < 0)
session->newdata.track += 360.0;
mask |=
TIME_SET | NTPTIME_IS | LATLON_SET | ALTITUDE_SET | SPEED_SET |
TRACK_SET |CLIMB_SET | STATUS_SET | MODE_SET | CLEAR_IS |
REPORT_IS;
gpsd_log(&session->context->errout, LOG_DATA,
"SP-CSP 0x23: time=%.2f lat=%.2f lon=%.2f alt=%.2f "
"speed=%.2f track=%.2f climb=%.2f mode=%d status=%d\n",
session->newdata.time,
session->newdata.latitude, session->newdata.longitude,
session->newdata.altitude, session->newdata.speed,
session->newdata.track, session->newdata.climb,
session->newdata.mode, session->gpsdata.status);
break;
case 0x4a: /* Set PPS Characteristics */
break;
case 0x4e: /* PPS Output */
break;
case 0xa2: /* UTC/GPS Timing */
break;
case 0xab: /* Thunderbolt Timing Superpacket */
if (len != 17) {
gpsd_log(&session->context->errout, 4, "pkt 0xab len=%d\n", len);
break;
}
session->driver.tsip.last_41 = now; /* keep timestamp for request */
ul1 = getbeu32(buf, 1); /* gpstime */
s1 = (int16_t)getbeu16(buf, 5); /* week */
s2 = getbes16(buf, 7); /* leap seconds */
if ((int)ul1 > 10) {
session->context->leap_seconds = (int)s2;
session->context->valid |= LEAP_SECOND_VALID;
session->newdata.time =
gpsd_gpstime_resolve(session, (unsigned short)s1, (double)ul1);
mask |= TIME_SET | NTPTIME_IS | CLEAR_IS;
gpsd_log(&session->context->errout, LOG_DATA,
"SP-TTS 0xab time=%.2f mask={TIME}\n",
session->newdata.time);
}
gpsd_log(&session->context->errout, 4,
"GPS Time %u %d %d\n", ul1, s1, s2);
break;
case 0xac: /* Thunderbolt Position Superpacket */
if (len != 68) {
gpsd_log(&session->context->errout, 4, "pkt 0xac len=%d\n", len);
break;
}
session->newdata.latitude = getbed64((char *)buf, 36) * RAD_2_DEG;
session->newdata.longitude = getbed64((char *)buf, 44) * RAD_2_DEG;
session->newdata.altitude = getbed64((char *)buf, 52);
//f1 = getbef32((char *)buf, 16); clock bias */
u1 = getub(buf, 12); /* GPS Decoding Status */
u2 = getub(buf, 1); /* Receiver Mode */
if (u1 != (uint8_t) 0) {
session->gpsdata.status = STATUS_NO_FIX;
mask |= STATUS_SET;
} else {
if (session->gpsdata.status < STATUS_FIX) {
session->gpsdata.status = STATUS_FIX;
mask |= STATUS_SET;
}
}
/* Decode Fix modes */
switch (u2 & 7) {
case 0: /* Auto */
switch (u1) {
/*
* According to the Thunderbolt Manual, the
* first byte of the supplemental timing packet
* simply indicates the configuration of the
* device, not the actual lock, so we need to
* look at the decode status.
*/
case 0: /* "Doing Fixes" */
session->newdata.mode = MODE_3D;
break;
case 0x0B: /* "Only 3 usable sats" */
session->newdata.mode = MODE_2D;
break;
case 0x1: /* "Don't have GPS time" */
case 0x3: /* "PDOP is too high" */
case 0x8: /* "No usable sats" */
case 0x9: /* "Only 1 usable sat" */
case 0x0A: /* "Only 2 usable sats */
case 0x0C: /* "The chosen sat is unusable" */
case 0x10: /* TRAIM rejected the fix */
default:
session->newdata.mode = MODE_NO_FIX;