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driver_tsip.c
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driver_tsip.c
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/*
* Handle the Trimble TSIP packet format
* by Rob Janssen, PE1CHL.
* Accutime Gold support by Igor Socec <[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
* BSD terms apply: see the file COPYING in the distribution root for details.
*/
#include <sys/time.h> /* for select() */
#include <string.h>
#include <stdio.h>
#include <stdbool.h>
#include <math.h>
#include <time.h>
#ifndef S_SPLINT_S
#include <unistd.h>
#endif /* S_SPLINT_S */
#include "gpsd.h"
#include "bits.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 12
static int tsip_write(struct gps_device_t *session,
unsigned int id, /*@null@*/ unsigned char *buf,
size_t len)
{
char *ep, *cp;
/*@ +charint @*/
session->msgbuf[0] = '\x10';
session->msgbuf[1] = (char)id;
ep = session->msgbuf + 2;
/*@ -nullderef @*/
for (cp = (char *)buf; len-- > 0; cp++) {
if (*cp == '\x10')
*ep++ = '\x10';
*ep++ = *cp;
}
/*@ +nullderef @*/
*ep++ = '\x10';
*ep++ = '\x03';
session->msgbuflen = (size_t) (ep - session->msgbuf);
/*@ -charint @*/
gpsd_report(&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 */
/*@+ignoresigns@*/
putbyte(buf, 0, 0x10);
putbyte(buf, 1, 0x1f);
putbyte(buf, 2, 0x10);
putbyte(buf, 3, 0x03);
/*@+ignoresigns@*/
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_report(&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;
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_report(&session->context->errout, LOG_INF, "tsip_analyze packet type %d\n",
session->lexer.type);
return 0;
}
/*@ +charint @*/
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;
(void)snprintf(buf2 + strlen(buf2),
sizeof(buf2) - strlen(buf2),
"%02x", buf[len++] = session->lexer.outbuffer[i]);
}
/*@ -charint @*/
id = (unsigned)session->lexer.outbuffer[1];
gpsd_report(&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_report(&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_report(&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 */
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';
/*@ -formattype @*/
(void)snprintf(session->subtype, sizeof(session->subtype),
"sw %u %u %u %02u.%02u.%04u %s",
u2, u3, u4, u6, u5, s1, buf2);
/*@ +formattype @*/
gpsd_report(&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 */
for (i=0; i < (int)u5; i++) {
buf2[i] = (char)getub(buf, 13+i); /* Hardware ID in ASCII */
}
buf2[i] = '\0';
/*@ -formattype @*/
(void)snprintf(session->subtype, sizeof(session->subtype),
"hw %u %02u.%02u.%04u %02u %u %s",
ul1, u2, u3, s1, u4, s2, buf2);
gpsd_report(&session->context->errout, LOG_INF,
"Hardware version: %s\n",
session->subtype);
mask |= DEVICEID_SET;
/* Detecting device by Hardware Code */
if (s2 == 3001) {
gpsd_report(&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 | PPSTIME_IS;
}
gpsd_report(&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_report(&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_report(&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;
/*@ -formattype @*/
(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));
/*@ +formattype @*/
gpsd_report(&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_report(&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 == (int)u1) {
session->gpsdata.skyview[j].ss = f1;
break;
}
(void)snprintf(buf2 + strlen(buf2), sizeof(buf2) - strlen(buf2),
" %d=%.1f", (int)u1, f1);
}
gpsd_report(&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_report(&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 | PPSTIME_IS;
}
mask |= LATLON_SET | ALTITUDE_SET | CLEAR_IS | REPORT_IS;
gpsd_report(&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_report(&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_report(&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_report(&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;
/*@ -evalorder @*/
session->newdata.speed = sqrt(pow(f2, 2) + pow(f1, 2));
/*@ +evalorder @*/
if ((session->newdata.track = atan2(f1, f2) * RAD_2_DEG) < 0)
session->newdata.track += 360.0;
gpsd_report(&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_report(&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 */
/*@ +charint @*/
if (getub(buf, 0) == 0x01) /* good current fix? */
(void)gpsd_gpstime_resolve(session, (unsigned short)s1, (double)f1);
/*@ -charint @*/
gpsd_report(&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_report(&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_report(&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 = (int)u1;
session->gpsdata.skyview[i].ss = f1;
session->gpsdata.skyview[i].elevation = (int)round(d1);
session->gpsdata.skyview[i].azimuth = (int)round(d2);
session->gpsdata.skyview[i].used = false;
for (j = 0; j < session->gpsdata.satellites_used; j++)
if (session->gpsdata.skyview[i].PRN && session->sats_used[j])
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 0x5e: /* Additional Fix Status Report */
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);
/*@ -evalorder @*/
session->gpsdata.dop.gdop =
sqrt(pow(session->gpsdata.dop.pdop, 2) +
pow(session->gpsdata.dop.tdop, 2));
/*@ +evalorder @*/
memset(session->sats_used, 0, sizeof(session->sats_used));
buf2[0] = '\0';
/*@ +charint @*/
for (i = 0; i < count; i++)
(void)snprintf(buf2 + strlen(buf2), sizeof(buf2) - strlen(buf2),
" %d", session->sats_used[i] =
(int)getub(buf, 17 + i));
/*@ -charint @*/
gpsd_report(&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 */
/*@ +charint @*/
if (len < 20 || getub(buf, 0) != 1 || getub(buf, 1) != 2)
break;
/*@ -charint @*/
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 */
/*@ +charint @*/
if (session->gpsdata.status == STATUS_FIX && (u1 & 0x01) != 0) {
session->gpsdata.status = STATUS_DGPS_FIX;
mask |= STATUS_SET;
}
/*@ -charint @*/
gpsd_report(&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_report(&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 | PPSTIME_IS;
}
gpsd_report(&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_report(&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... */
/*@ +charint @*/
u1 = (uint8_t) getub(buf, 0);
/*@ -charint @*/
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_report(&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_report(&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 */
/*@ -evalorder @*/
session->newdata.speed = sqrt(pow(d2, 2) + pow(d1, 2));
/*@ +evalorder @*/
if ((session->newdata.track = atan2(d1, d2) * RAD_2_DEG) < 0)
session->newdata.track += 360.0;
session->newdata.latitude = (double)sl1 * SEMI_2_DEG;
/*@i1@*/session->newdata.longitude = 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 | PPSTIME_IS | LATLON_SET | ALTITUDE_SET | SPEED_SET |
TRACK_SET | CLIMB_SET | STATUS_SET | MODE_SET | CLEAR_IS |
REPORT_IS;
gpsd_report(&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_report(&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 *1e3);
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 */
/*@ -evalorder @*/
session->newdata.speed =
sqrt(pow(d2, 2) + pow(d1, 2)) * MPS_TO_KNOTS;
/*@ +evalorder @*/
if ((session->newdata.track = atan2(d1, d2) * RAD_2_DEG) < 0)
session->newdata.track += 360.0;
mask |=
TIME_SET | PPSTIME_IS | LATLON_SET | ALTITUDE_SET | SPEED_SET |
TRACK_SET |CLIMB_SET | STATUS_SET | MODE_SET | CLEAR_IS |
REPORT_IS;
gpsd_report(&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 0xab: /* Thunderbolt Timing Superpacket */
if (len != 17) {
gpsd_report(&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 | PPSTIME_IS | CLEAR_IS;
gpsd_report(&session->context->errout, LOG_DATA,
"SP-TTS 0xab time=%.2f mask={TIME}\n",
session->newdata.time);
}
gpsd_report(&session->context->errout, 4,
"GPS Time %u %d %d\n", ul1, s1, s2);
break;
case 0xac: /* Thunderbolt Position Superpacket */
if (len != 68) {
gpsd_report(&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;
}
break;
case 6: /* Clock Hold 2D */
case 3: /* 2D Position Fix */
//session->gpsdata.status = STATUS_FIX;
session->newdata.mode = MODE_2D;
break;
case 7: /* Thunderbolt overdetermined clock */
case 4: /* 3D position Fix */
//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 |= LATLON_SET | ALTITUDE_SET | MODE_SET | REPORT_IS;
gpsd_report(&session->context->errout, LOG_DATA,
"SP-TPS 0xac time=%.2f lat=%.2f lon=%.2f alt=%.2f\n",
session->newdata.time,
session->newdata.latitude,
session->newdata.longitude,
session->newdata.altitude);
break;
default:
gpsd_report(&session->context->errout, LOG_WARN,
"Unhandled TSIP superpacket type 0x%02x\n",
u1);
}
break;
case 0xbb: /* Navigation Configuration */
if (len != 40 && len != 43) /* see packet.c for explamation */
break;
u1 = getub(buf, 0); /* Subcode */
u2 = getub(buf, 1); /* Operating Dimension */
u3 = getub(buf, 2); /* DGPS Mode (not enabled in Accutime Gold) */
u4 = getub(buf, 3); /* Dynamics Code */
f1 = getbef32((char *)buf, 5); /* Elevation Mask */
f2 = getbef32((char *)buf, 9); /* AMU Mask */
f3 = getbef32((char *)buf, 13); /* DOP Mask */
f4 = getbef32((char *)buf, 17); /* DOP Switch */
u5 = getub(buf, 21); /* DGPS Age Limit (not in Accutime Gold) */
gpsd_report(&session->context->errout, LOG_INF,
"Navigation Configuration %u %u %u %u %f %f %f %f %u\n",
u1, u2, u3, u4, f1, f2, f3, f4, u5);
break;
default:
gpsd_report(&session->context->errout, LOG_WARN, "Unhandled TSIP packet type 0x%02x\n", id);
break;
}
/* see if it is time to send some request packets for reports that */
/* the receiver won't send at fixed intervals */
if ((now - session->driver.tsip.last_41) > 5) {
/* Request Current Time */
(void)tsip_write(session, 0x21, buf, 0);
session->driver.tsip.last_41 = now;
}
if ((now - session->driver.tsip.last_6d) > 5) {
/* Request GPS Receiver Position Fix Mode */
(void)tsip_write(session, 0x24, buf, 0);
session->driver.tsip.last_6d = now;
}
if ((now - session->driver.tsip.last_48) > 60) {
/* Request GPS System Message */
(void)tsip_write(session, 0x28, buf, 0);
session->driver.tsip.last_48 = now;
}
if ((now - session->driver.tsip.last_5c) >= 5) {
/* Request Current Satellite Tracking Status */
putbyte(buf, 0, 0x00); /* All satellites */
(void)tsip_write(session, 0x3c, buf, 1);
session->driver.tsip.last_5c = now;
}
if ((now - session->driver.tsip.last_46) > 5) {
/* Request Health of Receiver */
(void)tsip_write(session, 0x26, buf, 0);
session->driver.tsip.last_46 = now;
}
#if USE_SUPERPACKET
if ((session->driver.tsip.req_compact > 0) &&
((now - session->driver.tsip.req_compact) > 5)) {
/* Compact Superpacket requested but no response */
session->driver.tsip.req_compact = 0;
gpsd_report(&session->context->errout, LOG_WARN,
"No Compact Super Packet, use LFwEI\n");
/* Request LFwEI Super Packet */