drivers.c

来自「gpsd, a popular GPS daemon.」· C语言 代码 · 共 927 行 · 第 1/3 页

    }
}
#endif /* ALLOW_RECONFIGURE */

static struct gps_type_t garmin = {
    .type_name      = "Garmin Serial",	/* full name of type */
    .trigger	    = "$PGRMC,",	/* Garmin private */
    .channels       = 12,		/* not used by this driver */
    .probe_wakeup   = NULL,		/* no wakeup to be done before hunt */
    .probe_detect   = NULL,		/* no probe */
    .probe_subtype  = NULL,		/* no further querying */
#ifdef ALLOW_RECONFIGURE
    .configurator   = garmin_nmea_configurator,/* enable what we need */
#endif /*ALLOW_RECONFIGURE */
    .get_packet     = generic_get,	/* use generic packet getter */
    .parse_packet   = nmea_parse_input,	/* how to interpret a packet */
    .rtcm_writer    = NULL,		/* some do, some don't, skip for now */
    .speed_switcher = NULL,		/* no speed switcher */
    .mode_switcher  = NULL,		/* no mode switcher */
    .rate_switcher  = NULL,		/* no sample-rate switcher */
    .cycle_chars    = -1,		/* not relevant, no rate switch */
#ifdef ALLOW_RECONFIGURE
    .revert	    = NULL,		/* no setting-reversion method */
#endif /*ALLOW_RECONFIGURE */
    .wrapup	    = NULL,		/* no wrapup */
    .cycle	    = 1,		/* updates every second */
};
#endif /* GARMIN_ENABLE && NMEA_ENABLE */

#ifdef ASHTECH_ENABLE
/**************************************************************************
 *
 * Ashtech (then Thales, now Magellan Professional) Receivers
 *
 **************************************************************************/

#ifdef ALLOW_RECONFIGURE
static void ashtech_configure(struct gps_device_t *session, unsigned int seq)
{
    if (seq == 0){
	/* turn WAAS on. can't hurt... */
	(void)nmea_send(session->gpsdata.gps_fd, "$PASHS,WAS,ON");
	/* reset to known output state */
	(void)nmea_send(session->gpsdata.gps_fd, "$PASHS,NME,ALL,A,OFF");
	/* then turn on some useful sentences */
#ifdef ASHTECH_NOTYET
	/* we could parse these, but they're oversize so they get dropped */
	(void)nmea_send(session->gpsdata.gps_fd, "$PASHS,NME,POS,A,ON");
	(void)nmea_send(session->gpsdata.gps_fd, "$PASHS,NME,SAT,A,ON");
#else
	(void)nmea_send(session->gpsdata.gps_fd, "$PASHS,NME,GGA,A,ON");
	(void)nmea_send(session->gpsdata.gps_fd, "$PASHS,NME,GSA,A,ON");
	(void)nmea_send(session->gpsdata.gps_fd, "$PASHS,NME,GSV,A,ON");
	(void)nmea_send(session->gpsdata.gps_fd, "$PASHS,NME,RMC,A,ON");
#endif
	(void)nmea_send(session->gpsdata.gps_fd, "$PASHS,NME,ZDA,A,ON");
    }
}
#endif /* ALLOW_RECONFIGURE */

static void ashtech_ping(struct gps_device_t *session)
{
	(void)nmea_send(session->gpsdata.gps_fd, "$PASHQ,RID");
}

static struct gps_type_t ashtech = {
    .type_name      = "Ashtech",	/* full name of type */
    .trigger	    = "$PASHR,RID,",	/* Ashtech receivers respond thus */
    .channels       = 24,		/* not used, GG24 has 24 channels */
    .probe_wakeup   = ashtech_ping,	/* no wakeup to be done before hunt */
    .probe_detect   = NULL,		/* no probe */
    .probe_subtype  = NULL,		/* to be sent unconditionally */
#ifdef ALLOW_RECONFIGURE
    .configurator   = ashtech_configure, /* change its sentence set */
#endif /* ALLOW_RECONFIGURE */
    .get_packet     = generic_get,	/* how to get a packet */
    .parse_packet   = nmea_parse_input,	/* how to interpret a packet */
    .rtcm_writer    = pass_rtcm,	/* write RTCM data straight */
    .speed_switcher = NULL,		/* no speed switcher */
    .mode_switcher  = NULL,		/* no mode switcher */
    .rate_switcher  = NULL,		/* no sample-rate switcher */
    .cycle_chars    = -1,		/* not relevant, no rate switch */
#ifdef ALLOW_RECONFIGURE
    .revert	    = NULL,		/* no setting-reversion method */
#endif /* ALLOW_RECONFIGURE */
    .wrapup	    = NULL,		/* no wrapup */
    .cycle	    = 1,		/* updates every second */
};
#endif /* ASHTECH_ENABLE */

#ifdef FV18_ENABLE
/**************************************************************************
 *
 * FV18 -- uses 2 stop bits, needs to be told to send GSAs
 *
 **************************************************************************/

#ifdef ALLOW_RECONFIGURE
static void fv18_configure(struct gps_device_t *session, unsigned int seq)
{
    /*
     * Tell an FV18 to send GSAs so we'll know if 3D is accurate.
     * Suppress GLL and VTG.  Enable ZDA so dates will be accurate for replay.
     */
    if (seq == 0)
	(void)nmea_send(session->gpsdata.gps_fd,
		    "$PFEC,GPint,GSA01,DTM00,ZDA01,RMC01,GLL00,VTG00,GSV05");
}
#endif /* ALLOW_RECONFIGURE */

static struct gps_type_t fv18 = {
    .type_name      = "San Jose Navigation FV18",	/* full name of type */
    .trigger	    = "$PFEC,GPint,",	/* FV18s should echo the probe */
    .channels       = 12,		/* not used by this driver */
    .probe_wakeup   = NULL,		/* no wakeup to be done before hunt */
    .probe_detect   = NULL,		/* no probe */
    .probe_subtype  = NULL,		/* to be sent unconditionally */
#ifdef ALLOW_RECONFIGURE
    .configurator   = fv18_configure,	/* change its sentence set */
#endif /* ALLOW_RECONFIGURE */
    .get_packet     = generic_get,	/* how to get a packet */
    .parse_packet   = nmea_parse_input,	/* how to interpret a packet */
    .rtcm_writer    = pass_rtcm,	/* write RTCM data straight */
    .speed_switcher = NULL,		/* no speed switcher */
    .mode_switcher  = NULL,		/* no mode switcher */
    .rate_switcher  = NULL,		/* no sample-rate switcher */
    .cycle_chars    = -1,		/* not relevant, no rate switch */
#ifdef ALLOW_RECONFIGURE
    .revert	    = NULL,		/* no setting-reversion method */
#endif /* ALLOW_RECONFIGURE */
    .wrapup	    = NULL,		/* no wrapup */
    .cycle	    = 1,		/* updates every second */
};
#endif /* FV18_ENABLE */

#ifdef GPSCLOCK_ENABLE
/**************************************************************************
 *
 * Furuno Electric GPSClock (GH-79L4)
 *
 **************************************************************************/

/*
 * Based on http://www.tecsys.de/fileadmin/user_upload/pdf/gh79_1an_intant.pdf
 */

static void gpsclock_probe_subtype(struct gps_device_t *session, unsigned int seq)
{
    /*
     * Michael St. Laurent <[e-mail]> reports that you have to
     * ignore the trailing PPS edge when extracting time from this chip.
     */
    if (seq == 0) {
	gpsd_report(LOG_INF, "PPS trailing edge will be ignored");
	session->driver.nmea.ignore_trailing_edge = true;
    }
}

static struct gps_type_t gpsclock = {
    .type_name      = "Furuno Electric GH-79L4",	/* full name of type */
    .trigger	    = "$PFEC,GPssd",	/* GPSclock should echo the probe */
    .channels       = 12,		/* not used by this driver */
    .probe_wakeup   = NULL,		/* no wakeup to be done before hunt */
    .probe_detect   = NULL,		/* no probe */
    .probe_subtype  = gpsclock_probe_subtype, /* to be sent unconditionally */
#ifdef ALLOW_RECONFIGURE
    .configurator   = NULL,		/* change its sentence set */
#endif /* ALLOW_RECONFIGURE */
    .get_packet     = generic_get,	/* how to get a packet */
    .parse_packet   = nmea_parse_input,	/* how to interpret a packet */
    .rtcm_writer    = pass_rtcm,	/* write RTCM data straight */
    .speed_switcher = NULL,		/* no speed switcher */
    .mode_switcher  = NULL,		/* no mode switcher */
    .rate_switcher  = NULL,		/* sample rate is fixed */
    .cycle_chars    = -1,		/* sample rate is fixed */
#ifdef ALLOW_RECONFIGURE
    .revert	    = NULL,		/* no setting-reversion method */
#endif /* ALLOW_RECONFIGURE */
    .wrapup	    = NULL,		/* no wrapup */
    .cycle	    = 1,		/* updates every second */
};
#endif /* GPSCLOCK_ENABLE */

#ifdef TRIPMATE_ENABLE
/**************************************************************************
 *
 * TripMate -- extended NMEA, gets faster fix when primed with lat/long/time
 *
 **************************************************************************/

/*
 * Some technical FAQs on the TripMate:
 * http://vancouver-webpages.com/pub/peter/tripmate.faq
 * http://www.asahi-net.or.jp/~KN6Y-GTU/tripmate/trmfaqe.html
 * The TripMate was discontinued sometime before November 1998
 * and was replaced by the Zodiac EarthMate.
 */

static void tripmate_probe_subtype(struct gps_device_t *session, unsigned int seq)
{
    /* TripMate requires this response to the ASTRAL it sends at boot time */
    if (seq == 0)
	(void)nmea_send(session->gpsdata.gps_fd, "$IIGPQ,ASTRAL");
}

#ifdef ALLOW_RECONFIGURE
static void tripmate_configurator(struct gps_device_t *session, unsigned int seq)
{
    /* stop it sending PRWIZCH */
    if (seq == 0)
	(void)nmea_send(session->gpsdata.gps_fd, "$PRWIILOG,ZCH,V,,");
}
#endif /* ALLOW_RECONFIGURE */

static struct gps_type_t tripmate = {
    .type_name     = "Delorme TripMate",	/* full name of type */
    .trigger       ="ASTRAL",			/* tells us to switch */
    .channels      = 12,			/* consumer-grade GPS */
    .probe_wakeup  = NULL,			/* no wakeup before hunt */
    .probe_detect  = NULL,			/* no probe */
    .probe_subtype = tripmate_probe_subtype,	/* send unconditionally */
#ifdef ALLOW_RECONFIGURE
    .configurator  = tripmate_configurator,	/* send unconditionally */
#endif /* ALLOW_RECONFIGURE */
    .get_packet    = generic_get,		/* how to get a packet */
    .parse_packet  = nmea_parse_input,		/* how to interpret a packet */
    .rtcm_writer   = pass_rtcm,			/* send RTCM data straight */
    .speed_switcher= NULL,			/* no speed switcher */
    .mode_switcher = NULL,			/* no mode switcher */
    .rate_switcher = NULL,			/* no sample-rate switcher */
    .cycle_chars   = -1,			/* no rate switch */
#ifdef ALLOW_RECONFIGURE
    .revert	   = NULL,			/* no setting-reversion method */
#endif /* ALLOW_RECONFIGURE */
    .wrapup	   = NULL,			/* no wrapup */
    .cycle	   = 1,				/* updates every second */
};
#endif /* TRIPMATE_ENABLE */

#ifdef EARTHMATE_ENABLE
/**************************************************************************
 *
 * Zodiac EarthMate textual mode
 *
 * Note: This is the pre-2003 version using Zodiac binary protocol.
 * It has been replaced with a design that uses a SiRF chipset.
 *
 **************************************************************************/

static struct gps_type_t earthmate;

/*
 * There is a good HOWTO at <http://www.hamhud.net/ka9mva/earthmate.htm>.
 */

static void earthmate_close(struct gps_device_t *session)
{
    /*@i@*/session->device_type = &earthmate;
}

static void earthmate_probe_subtype(struct gps_device_t *session, unsigned int seq)
{
    if (seq == 0) {
	(void)gpsd_write(session, "EARTHA\r\n", 8);
	(void)usleep(10000);
	/*@i@*/session->device_type = &zodiac_binary;
	zodiac_binary.wrapup = earthmate_close;
	if (zodiac_binary.probe_subtype) zodiac_binary.probe_subtype(session, seq);
    }
}

/*@ -redef @*/
static struct gps_type_t earthmate = {
    .type_name     = "Delorme EarthMate (pre-2003, Zodiac chipset)",
    .trigger       = "EARTHA",			/* Earthmate trigger string */
    .channels      = 12,			/* not used by NMEA parser */
    .probe_wakeup  = NULL,			/* no wakeup to be done before hunt */
    .probe_detect  = NULL,			/* no probe */
    .probe_subtype = earthmate_probe_subtype,	/* switch us to Zodiac mode */
#ifdef ALLOW_RECONFIGURE
    .configurator  = NULL,			/* no configuration here */
#endif /* ALLOW_RECONFIGURE */
    .get_packet    = generic_get,		/* how to get a packet */
    .parse_packet  = nmea_parse_input,		/* how to interpret a packet */
    .rtcm_writer   = NULL,			/* don't send RTCM data */
    .speed_switcher= NULL,			/* no speed switcher */
    .mode_switcher = NULL,			/* no mode switcher */
    .rate_switcher = NULL,			/* no sample-rate switcher */
    .cycle_chars   = -1,			/* no rate switch */
#ifdef ALLOW_RECONFIGURE
    .revert	   = NULL,			/* no setting-reversion method */
#endif /* ALLOW_RECONFIGURE */
    .wrapup	   = NULL,			/* no wrapup code */
    .cycle	   = 1,				/* updates every second */
};
/*@ -redef @*/
#endif /* EARTHMATE_ENABLE */

#endif /* NMEA_ENABLE */

#ifdef TNT_ENABLE
/**************************************************************************
 * True North Technologies - Revolution 2X Digital compass
 *
 * More info: http://www.tntc.com/
 *
 * This is a digital compass which uses magnetometers to measure the
 * strength of the earth's magnetic field. Based on these measurements
 * it provides a compass heading using NMEA formatted output strings.