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driver_garmin.c
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/*
* This file contains two drivers for Garmin receivers and some code
* shared by both drivers.
*
* One driver "garmin_usb_binary" handles the Garmin binary packet
* format supported by the USB Garmins tested with the Garmin 18 and
* other models. (There is also "garmin_usb_binary_old".) These are ONLY
* for USB devices reporting as: 091e:0003.
*
* The other driver "garmin_ser_binary" is for Garmin receivers via a
* serial port, whether or not one uses a USB/serial adaptor or a real
* serial port. These receivers provide adequate NMEA support, so it
* often makes sense to just put them into NMEA mode.
*
* On Linux, USB Garmins (091e:0003) need the Linux garmin_gps driver and
* will not function without it. On other operating systems, it is clear
* garmin_usb_binary_old does not work since it requires the Linux
* garmin_gps module.
*
* This code has been tested and at least at one time is known to work on
* big- and little-endian CPUs and 32 and 64 bit cpu modes.
*
*
* Documentation for the Garmin protocols can be found via
* http://www.garmin.com/support/commProtocol.html
* The file IOSDK.zip contains IntfSpec.pdf, which describes the
* protocol in terms of Application, Link, and Physical. This
* identical file is also available at:
* http://www.garmin.com/support/pdf/iop_spec.pdf
* An older version of iop_spec.pdf that describes only Serial Binary
* is available at:
* http://vancouver-webpages.com/pub/peter/iop_spec.pdf
* Information about the GPS 18
* http://www.garmin.com/manuals/425_TechnicalSpecification.pdf
*
* There is one physical link protocol for serial which uses DLE/ETX
* framing. There is another physical protocol for USB which relies
* on the packetization intrinstic to USB bulk pipes.
*
* There are several link protocols; all devices implement L000.
* There are then product-specific protocols; most devices implement
* L001. Link protocols are the same and carried over either Physical
* protocol.
*
* Application protocols are named A000 and then with different
* 3-digit numbres. They are carried over Link protocols.
*
* Thus, much of the higher-level code dealing the data formats is
* shared between USB Binary and Serial Binary.
*
* This code is partly from the Garmin IOSDK and partly from the
* sample code in the Linux garmin_gps driver.
*
* bad code by: Gary E. Miller <[email protected]>
*
* -D 3 = packet trace
* -D 4 = packet details
* -D 5 = more packet details
* -D 6 = very excessive details
*
* limitations:
*
* do not have from garmin:
* pdop
* hdop
* vdop
* magnetic variation
*
* known bugs:
* hangs in the fread loop instead of keeping state and returning.
*
* TODO:
*
* ?? Add probe function for Serial Binary to start PVT output.
*
* This file is Copyright (c) 2010 by the GPSD project
* BSD terms apply: see the file COPYING in the distribution root for details.
*/
#define __USE_POSIX199309 1
#include <stdio.h>
#include <stdbool.h>
#include <math.h>
#include <string.h>
#include <errno.h>
#include <time.h>
#ifndef S_SPLINT_S
#include <unistd.h>
#endif /* S_SPLINT_S */
#include "gpsd_config.h"
#if defined(HAVE_LIBUSB)
#include <libusb.h>
#endif
#include "gpsd.h"
#include "bits.h"
#define GPSD_LE16TOH(x) getles16((char *)(&(x)), 0)
#define GPSD_LE32TOH(x) getles32((char *)(&(x)), 0)
#ifdef GARMIN_ENABLE
#define USE_RMD 0
/* Used in Serial Physical Layer */
#define ETX 0x03
#define ACK 0x06
#define DLE 0x10
#define NAK 0x15
#define GARMIN_LAYERID_TRANSPORT (uint8_t) 0
#define GARMIN_LAYERID_APPL (uint32_t) 20
// Linux Garmin USB driver layer-id to use for some control mechanisms
#define GARMIN_LAYERID_PRIVATE 0x01106E4B
// packet ids used in private layer
#define PRIV_PKTID_SET_DEBUG 1
#define PRIV_PKTID_SET_MODE 2
#define PRIV_PKTID_INFO_REQ 3
#define PRIV_PKTID_INFO_RESP 4
#define PRIV_PKTID_RESET_REQ 5
#define PRIV_PKTID_SET_DEF_MODE 6
#define MODE_NATIVE 0
#define MODE_GARMIN_SERIAL 1
#define GARMIN_PKTID_TRANSPORT_START_SESSION_REQ 5
#define GARMIN_PKTID_TRANSPORT_START_SESSION_RESP 6
#define GARMIN_PKTID_PROTOCOL_ARRAY 253
#define GARMIN_PKTID_PRODUCT_RQST 254
#define GARMIN_PKTID_PRODUCT_DATA 255
/* 0x29 ')' */
#define GARMIN_PKTID_RMD41_DATA 41
/* 0x33 '3' */
#define GARMIN_PKTID_PVT_DATA 51
/* 0x33 '4' */
#define GARMIN_PKTID_RMD_DATA 52
/* 0x72 'r' */
#define GARMIN_PKTID_SAT_DATA 114
#define GARMIN_PKTID_L001_XFER_CMPLT 12
#define GARMIN_PKTID_L001_COMMAND_DATA 10
#define GARMIN_PKTID_L001_DATE_TIME_DATA 14
#define GARMIN_PKTID_L001_RECORDS 27
#define GARMIN_PKTID_L001_WPT_DATA 35
#define CMND_ABORT 0
#define CMND_START_PVT_DATA 49
#define CMND_STOP_PVT_DATA 50
#define CMND_START_RM_DATA 110
#define MAX_BUFFER_SIZE 4096
#define GARMIN_CHANNELS 12
// something magic about 64, garmin driver will not return more than
// 64 at a time. If you read less than 64 bytes the next read will
// just get the last of the 64 byte buffer.
#define ASYNC_DATA_SIZE 64
#pragma pack(1)
// This is the data format of the satellite data from the garmin USB
typedef struct
{
uint8_t svid;
uint16_t snr; // 0 - 0xffff
uint8_t elev;
uint16_t azmth;
uint8_t status; // bit 0, has ephemeris, 1, has diff correction
// bit 2 used in solution
// bit 3??
} cpo_sat_data;
/* Garmin D800_Pvt_Datetype_Type */
/* packet type: GARMIN_PKTID_PVT_DATA 52 */
/* This is the data format of the position data from the garmin USB */
typedef struct
{
float alt; /* altitude above WGS 84 (meters) */
float epe; /* estimated position error, 2 sigma (meters) */
float eph; /* epe, but horizontal only (meters) */
float epv; /* epe but vertical only (meters ) */
int16_t fix; /* 0 - failed integrity check
* 1 - invalid or unavailable fix
* 2 - 2D
* 3 - 3D
* 4 - 2D Diff
* 5 - 3D Diff
*/
double gps_tow; /* gps time of week (seconds) */
double lat; /* ->latitude (radians) */
double lon; /* ->longitude (radians) */
float lon_vel; /* velocity east (meters/second) */
float lat_vel; /* velocity north (meters/second) */
float alt_vel; /* velocity up (meters/sec) */
// Garmin GPS25 uses pkt_id 0x28 and does not output the
// next 3 items
float msl_hght; /* height of WGS 84 above MSL (meters) */
int16_t leap_sec; /* diff between GPS and UTC (seconds) */
int32_t grmn_days; /* days from UTC December 31st, 1989 to the
* beginning of the current week */
} cpo_pvt_data;
typedef struct
{
uint32_t cycles;
double pr;
uint16_t phase;
int8_t slp_dtct;
uint8_t snr_dbhz;
uint8_t svid;
int8_t valid;
} cpo_rcv_sv_data;
/* packet type: GARMIN_PKTID_RMD_DATA 53 */
/* seems identical to the packet id 0x29 from the Garmin GPS 25 */
typedef struct
{
double rcvr_tow;
int16_t rcvr_wn;
cpo_rcv_sv_data sv[GARMIN_CHANNELS];
} cpo_rcv_data;
// This is the packet format to/from the Garmin USB
typedef struct
{
uint8_t mPacketType;
uint8_t mReserved1;
uint16_t mReserved2;
uint16_t mPacketId;
uint16_t mReserved3;
uint32_t mDataSize;
union
{
int8_t chars[MAX_BUFFER_SIZE];
uint8_t uchars[MAX_BUFFER_SIZE];
cpo_pvt_data pvt;
cpo_sat_data sats;
} mData;
} Packet_t;
// useful funcs to read/write ints
// floats and doubles are Intel (little-endian) order only...
static inline void set_int16(uint8_t * buf, uint32_t value)
{
buf[0] = (uint8_t) (0x0FF & value);
buf[1] = (uint8_t) (0x0FF & (value >> 8));
}
static inline void set_int32(uint8_t * buf, uint32_t value)
{
buf[0] = (uint8_t) (0x0FF & value);
buf[1] = (uint8_t) (0x0FF & (value >> 8));
buf[2] = (uint8_t) (0x0FF & (value >> 16));
buf[3] = (uint8_t) (0x0FF & (value >> 24));
}
static inline uint16_t get_uint16(const uint8_t * buf)
{
return (uint16_t) (0xFF & buf[0])
| ((uint16_t) (0xFF & buf[1]) << 8);
}
static inline uint32_t get_int32(const uint8_t * buf)
{
return (uint32_t) (0xFF & buf[0])
| ((uint32_t) (0xFF & buf[1]) << 8)
| ((uint32_t) (0xFF & buf[2]) << 16)
| ((uint32_t) (0xFF & buf[3]) << 24);
}
// convert radians to degrees
static inline double radtodeg(double rad)
{
return (double)(rad * RAD_2_DEG);
}
static gps_mask_t PrintSERPacket(struct gps_device_t *session,
unsigned char pkt_id, int pkt_len,
unsigned char *buf);
static gps_mask_t PrintUSBPacket(struct gps_device_t *session,
Packet_t * pkt);
gps_mask_t PrintSERPacket(struct gps_device_t *session, unsigned char pkt_id,
int pkt_len, unsigned char *buf)
{
gps_mask_t mask = 0;
int i = 0, j = 0;
uint16_t prod_id = 0;
uint16_t ver = 0;
int maj_ver;
int min_ver;
time_t time_l = 0;
double track;
char msg_buf[512] = "";
char *msg = NULL;
cpo_sat_data *sats = NULL;
cpo_pvt_data *pvt = NULL;
cpo_rcv_data *rmd = NULL;
gpsd_report(LOG_IO, "Garmin: PrintSERPacket(, %#02x, %#02x, )\n", pkt_id,
pkt_len);
session->cycle_end_reliable = true;
switch (pkt_id) {
case ACK:
gpsd_report(LOG_PROG, "Garmin: ACK\n");
break;
case NAK:
gpsd_report(LOG_PROG, "Garmin: NAK\n");
break;
case GARMIN_PKTID_L001_COMMAND_DATA:
prod_id = get_uint16((uint8_t *) buf);
/*@ -branchstate @*/
switch (prod_id) {
case CMND_ABORT:
msg = "Abort current xfer";
break;
case CMND_START_PVT_DATA:
msg = "Start Xmit PVT data";
break;
case CMND_STOP_PVT_DATA:
msg = "Stop Xmit PVT data";
break;
case CMND_START_RM_DATA:
msg = "Start RMD data";
break;
default:
(void)snprintf(msg_buf, sizeof(msg_buf), "Unknown: %u",
(unsigned int)prod_id);
msg = msg_buf;
break;
}
/*@ +branchstate @*/
gpsd_report(LOG_PROG, "Garmin: Appl, Command Data: %s\n", msg);
break;
case GARMIN_PKTID_PRODUCT_RQST:
gpsd_report(LOG_PROG, "Garmin: Appl, Product Data req\n");
break;
case GARMIN_PKTID_PRODUCT_DATA:
prod_id = get_uint16((uint8_t *) buf);
ver = get_uint16((uint8_t *) & buf[2]);
maj_ver = (int)(ver / 100);
min_ver = (int)(ver - (maj_ver * 100));
gpsd_report(LOG_PROG, "Garmin: Appl, Product Data, sz: %d\n",
pkt_len);
(void)snprintf(session->subtype, sizeof(session->subtype),
"%d: %d.%02d", (int)prod_id, maj_ver, min_ver);
gpsd_report(LOG_INF, "Garmin: Product ID: %d, SoftVer: %d.%02d\n",
prod_id, maj_ver, min_ver);
gpsd_report(LOG_INF, "Garmin: Product Desc: %s\n", &buf[4]);
mask |= DEVICEID_SET;
gpsd_report(LOG_DATA, "Garmin: PRODUCT_DATA: subtype=%s\n",
session->subtype);
break;
case GARMIN_PKTID_PVT_DATA:
gpsd_report(LOG_PROG, "Garmin: Appl, PVT Data Sz: %d\n", pkt_len);
pvt = (cpo_pvt_data *) buf;
// 631065600, unix seconds for 31 Dec 1989 Zulu
time_l = (time_t) (631065600 + (GPSD_LE32TOH(pvt->grmn_days) * 86400));
// TODO, convert grmn_days to context->gps_week
time_l -= GPSD_LE16TOH(pvt->leap_sec);
session->context->leap_seconds = (int)GPSD_LE16TOH(pvt->leap_sec);
session->context->valid = LEAP_SECOND_VALID;
// gps_tow is always like x.999 or x.998 so just round it
time_l += (time_t) round(pvt->gps_tow);
session->context->gps_tow = pvt->gps_tow;
session->newdata.time = (timestamp_t)time_l;
gpsd_report(LOG_PROG, "Garmin: time_l: %ld\n", (long int)time_l);
session->newdata.latitude = radtodeg(pvt->lat);
/* sanity check the lat */
if (90.0 < session->newdata.latitude) {
session->newdata.latitude = 90.0;
gpsd_report(LOG_INF, "Garmin: ERROR: Latitude overrange\n");
} else if (-90.0 > session->newdata.latitude) {
session->newdata.latitude = -90.0;
gpsd_report(LOG_INF,
"Garmin: ERROR: Latitude negative overrange\n");
}
session->newdata.longitude = radtodeg(pvt->lon);
/* sanity check the lon */
if (180.0 < session->newdata.longitude) {
session->newdata.longitude = 180.0;
gpsd_report(LOG_INF, "Garmin: ERROR: Longitude overrange\n");
} else if (-180.0 > session->newdata.longitude) {
session->newdata.longitude = -180.0;
gpsd_report(LOG_INF,
"Garmin: ERROR: Longitude negative overrange\n");
}
// altitude over WGS84 converted to MSL
session->newdata.altitude = pvt->alt + pvt->msl_hght;
// geoid separation from WGS 84
// gpsd sign is opposite of garmin sign
session->gpsdata.separation = -pvt->msl_hght;
// Estimated position error in meters.
// We follow the advice at <http://gpsinformation.net/main/errors.htm>.
// If this assumption changes here, it should also change in
// nmea_parse.c where we analyze PGRME.
session->gpsdata.epe = pvt->epe * (GPSD_CONFIDENCE / CEP50_SIGMA);
/* eph is a circular error, sqrt(epx**2 + epy**2) */
session->newdata.epx = session->newdata.epy =
pvt->eph * (1 / sqrt(2)) * (GPSD_CONFIDENCE / CEP50_SIGMA);
session->newdata.epv = pvt->epv * (GPSD_CONFIDENCE / CEP50_SIGMA);
// convert lat/lon to directionless speed
session->newdata.speed = hypot(pvt->lon_vel, pvt->lat_vel);
// keep climb in meters/sec
session->newdata.climb = pvt->alt_vel;
track = atan2(pvt->lon_vel, pvt->lat_vel);
if (track < 0) {
track += 2 * GPS_PI;
}
session->newdata.track = radtodeg(track);
switch (GPSD_LE16TOH(pvt->fix)) {
case 0:
case 1:
default:
// no fix
session->gpsdata.status = STATUS_NO_FIX;
session->newdata.mode = MODE_NO_FIX;
break;
case 2:
// 2D fix
session->gpsdata.status = STATUS_FIX;
session->newdata.mode = MODE_2D;
break;
case 3:
// 3D fix
session->gpsdata.status = STATUS_FIX;
session->newdata.mode = MODE_3D;
break;
case 4:
// 2D Differential fix
session->gpsdata.status = STATUS_DGPS_FIX;
session->newdata.mode = MODE_2D;
break;
case 5:
// 3D differential fix
session->gpsdata.status = STATUS_DGPS_FIX;
session->newdata.mode = MODE_3D;
break;
}
gpsd_report(LOG_PROG, "Garmin: Appl, mode %d, status %d\n",
session->newdata.mode, session->gpsdata.status);
gpsd_report(LOG_INF, "Garmin: UTC Time: %lf\n",
session->newdata.time);
gpsd_report(LOG_INF,
"Garmin: Geoid Separation (MSL-WGS84): from garmin %lf, calculated %lf\n",
-pvt->msl_hght,
wgs84_separation(session->newdata.latitude,
session->newdata.longitude));
gpsd_report(LOG_INF,
"Garmin: Alt: %.3f, Epe: %.3f, Eph: %.3f, Epv: %.3f, Fix: %d, Gps_tow: %f, Lat: %.3f, Lon: %.3f, LonVel: %.3f, LatVel: %.3f, AltVel: %.3f, MslHgt: %.3f, Leap: %d, GarminDays: %d\n",
pvt->alt, pvt->epe, pvt->eph, pvt->epv, GPSD_LE16TOH(pvt->fix),
pvt->gps_tow, session->newdata.latitude,
session->newdata.longitude, pvt->lon_vel, pvt->lat_vel,
pvt->alt_vel, pvt->msl_hght, GPSD_LE16TOH(pvt->leap_sec),
GPSD_LE32TOH(pvt->grmn_days));
if (session->newdata.mode > MODE_NO_FIX) {
/* data only valid with a fix */
mask |=
TIME_SET | LATLON_SET | ALTITUDE_SET | STATUS_SET | MODE_SET |
SPEED_SET | TRACK_SET | CLIMB_SET | HERR_SET | VERR_SET | PERR_IS |
CLEAR_IS | REPORT_IS;
/*
* Garmin documentation says we should wait until four good fixes
* have been seen before trying to use the device for precision
* time service.
*/
if (session->fixcnt > 3)
mask |= PPSTIME_IS;
}
gpsd_report(LOG_DATA,
"Garmin: PVT_DATA: time=%.2f, lat=%.2f lon=%.2f "
"speed=%.2f track=%.2f climb=%.2f "
"epx=%.2f epy=%.2f epv=%.2f "
"mode=%d status=%d\n",
session->newdata.time,
session->newdata.latitude,
session->newdata.longitude,
session->newdata.speed,
session->newdata.track,
session->newdata.climb,
session->newdata.epx,
session->newdata.epy,
session->newdata.epv,
session->newdata.mode,
session->gpsdata.status);
break;
case GARMIN_PKTID_RMD_DATA:
case GARMIN_PKTID_RMD41_DATA:
rmd = (cpo_rcv_data *) buf;
gpsd_report(LOG_IO, "Garmin: PVT RMD Data Sz: %d\n", pkt_len);
gpsd_report(LOG_PROG, "Garmin: PVT RMD rcvr_tow: %f, rcvr_wn: %d\n",
rmd->rcvr_tow, rmd->rcvr_wn);
for (i = 0; i < GARMIN_CHANNELS; i++) {
gpsd_report(LOG_INF,
"Garmin: PVT RMD Sat: %3u, cycles: %9u, pr: %16.6f, "
"phase: %7.3f, slp_dtct: %3s, snr: %3u, Valid: %3s\n",
(int)rmd->sv[i].svid + 1,
GPSD_LE32TOH(rmd->sv[i].cycles),
rmd->sv[i].pr,
(GPSD_LE16TOH(rmd->sv[i].phase) * 360.0) / 2048.0,
rmd->sv[i].slp_dtct != 0 ? "Yes" : "No",
rmd->sv[i].snr_dbhz,
rmd->sv[i].valid != 0 ? "Yes" : "No");
}
break;
case GARMIN_PKTID_SAT_DATA:
gpsd_report(LOG_PROG, "Garmin: SAT Data Sz: %d\n", pkt_len);
sats = (cpo_sat_data *) buf;
session->gpsdata.satellites_visible = 0;
session->gpsdata.satellites_used = 0;
memset(session->gpsdata.used, 0, sizeof(session->gpsdata.used));
gpsd_zero_satellites(&session->gpsdata);
for (i = 0, j = 0; i < GARMIN_CHANNELS; i++, sats++) {
gpsd_report(LOG_INF,
"Garmin: Sat %3d, snr: %5u, elev: %2d, Azmth: %3d, Stat: %x\n",
sats->svid, GPSD_LE16TOH(sats->snr), sats->elev,
GPSD_LE16TOH(sats->azmth),
sats->status);
if (255 == (int)sats->svid) {
// Garmin uses 255 for empty
// gpsd uses 0 for empty
continue;
}
if ((int)sats->svid <= 32)
session->gpsdata.PRN[j] = (int)sats->svid; /* GPS */
else
session->gpsdata.PRN[j] = (int)sats->svid + 87; /* SBAS */
session->gpsdata.azimuth[j] = (int)GPSD_LE16TOH(sats->azmth);
session->gpsdata.elevation[j] = (int)sats->elev;
// Garmin does not document this. snr is in dB*100
// Known, but not seen satellites have a dB value of -1*100
session->gpsdata.ss[j] = (float)(GPSD_LE16TOH(sats->snr) / 100.0);
if (session->gpsdata.ss[j] == -1) {
continue;
}
// FIX-ME: Garmin documents this, but Daniel Dorau
// <[email protected]> says the behavior on his GPSMap60CSX
// doesn't match it.
if ((uint8_t) 0 != (sats->status & 4)) {
// used in solution?
session->gpsdata.used[session->gpsdata.satellites_used++]
= session->gpsdata.PRN[j];
}
session->gpsdata.satellites_visible++;
j++;
}
session->gpsdata.skyview_time = NAN;
if (session->gpsdata.satellites_visible > 0)
mask |= SATELLITE_SET;
if (session->gpsdata.satellites_used > 0)
mask |= USED_IS;
gpsd_report(LOG_DATA,
"Garmin: SAT_DATA: visible=%d used=%d\n",
session->gpsdata.satellites_visible,
session->gpsdata.satellites_used);
break;
case GARMIN_PKTID_PROTOCOL_ARRAY:
// this packet is never requested, it just comes, in some case
// after a GARMIN_PKTID_PRODUCT_RQST
gpsd_report(LOG_INF, "Garmin: Appl, Product Capability, sz: %d\n",
pkt_len);
for (i = 0; i < pkt_len; i += 3) {
gpsd_report(LOG_INF, "Garmin: %c%03d\n", buf[i],
get_uint16((uint8_t *) & buf[i + 1]));
}
break;
default:
gpsd_report(LOG_WARN,
"Garmin: Unknown packet id: %#02x, Sz: %#02x\n",
pkt_id, pkt_len);
break;
}
gpsd_report(LOG_IO, "Garmin: PrintSERPacket(, %#02x, %#02x, )\n",
pkt_id, pkt_len);
return mask;
}
/*@ -branchstate @*/
// For debugging, decodes and prints some known packets.
static gps_mask_t PrintUSBPacket(struct gps_device_t *session, Packet_t * pkt)
{
gps_mask_t mask = 0;
int maj_ver;
int min_ver;
uint32_t mode = 0;
uint16_t prod_id = 0;
uint32_t veri = 0;
uint32_t serial;
uint32_t mDataSize = get_int32((uint8_t *) & pkt->mDataSize);
//
uint8_t *buffer = (uint8_t *) pkt;
gpsd_report(LOG_PROG, "Garmin: PrintUSBPacket()\n");
// gem
if (DLE == pkt->mPacketType) {
gpsd_report(LOG_PROG, "Garmin: really a SER packet!\n");
return PrintSERPacket(session,
(unsigned char)buffer[1],
(int)buffer[2], (unsigned char *)(buffer + 3));
}
// gem
if (4096 < mDataSize) {
gpsd_report(LOG_WARN, "Garmin: bogus packet, size too large=%d\n",
mDataSize);
return 0;
}
(void)snprintf(session->gpsdata.tag, sizeof(session->gpsdata.tag), "%u",
(unsigned int)pkt->mPacketType);
switch (pkt->mPacketType) {
case GARMIN_LAYERID_TRANSPORT:
/* Garmin USB layer specific */
switch (pkt->mPacketId) {
case GARMIN_PKTID_TRANSPORT_START_SESSION_REQ:
gpsd_report(LOG_PROG, "Garmin: Transport, Start Session req\n");
break;
case GARMIN_PKTID_TRANSPORT_START_SESSION_RESP:
mode = get_int32(&pkt->mData.uchars[0]);
gpsd_report(LOG_PROG,
"Garmin: Transport, Start Session resp, unit: 0x%x\n",
mode);
break;
default:
gpsd_report(LOG_PROG,
"Garmin: Transport, Packet: Type %d %d %d, ID: %d, Sz: %d\n",
pkt->mPacketType, pkt->mReserved1, pkt->mReserved2,
pkt->mPacketId, mDataSize);
break;
}
break;
case GARMIN_LAYERID_APPL:
/* raw data transport, shared with Garmin Serial Driver */
mask = PrintSERPacket(session,
(unsigned char)pkt->mPacketId,
(int)mDataSize,
(unsigned char *)pkt->mData.uchars);
break;
case 75:
// private, garmin USB kernel driver specific
switch (pkt->mPacketId) {
case PRIV_PKTID_SET_MODE:
prod_id = get_uint16(&pkt->mData.uchars[0]);
gpsd_report(LOG_PROG, "Garmin: Private, Set Mode: %d\n", prod_id);
break;
case PRIV_PKTID_INFO_REQ:
gpsd_report(LOG_PROG, "Garmin: Private, ID: Info Req\n");
break;
case PRIV_PKTID_INFO_RESP:
veri = get_int32(pkt->mData.uchars);
maj_ver = (int)(veri >> 16);
min_ver = (int)(veri & 0xffff);
mode = get_int32(&pkt->mData.uchars[4]);
serial = get_int32(&pkt->mData.uchars[8]);
gpsd_report(LOG_PROG, "Garmin: Private, ID: Info Resp\n");
gpsd_report(LOG_INF,
"Garmin: USB Driver found, Version %d.%d, Mode: %d, GPS Serial# %u\n",
maj_ver, min_ver, mode, serial);
break;
default:
gpsd_report(LOG_PROG, "Garmin: Private, Packet: ID: %d, Sz: %d\n",
pkt->mPacketId, mDataSize);
break;
}
break;
default:
gpsd_report(LOG_PROG,
"Garmin: Packet: Type %d %d %d, ID: %d, Sz: %d\n",
pkt->mPacketType, pkt->mReserved1, pkt->mReserved2,
pkt->mPacketId, mDataSize);
break;
}
return mask;
}
/*@ +branchstate @*/
#if defined(__linux__) || defined(S_SPLINT_S)
/* build and send a packet w/ USB protocol */
static void Build_Send_USB_Packet(struct gps_device_t *session,
uint32_t layer_id, uint32_t pkt_id,
uint32_t length, uint32_t data)
{
uint8_t *buffer = (uint8_t *) session->driver.garmin.Buffer;
Packet_t *thePacket = (Packet_t *) buffer;
ssize_t theBytesReturned = 0;
ssize_t theBytesToWrite = 12 + (ssize_t) length;
set_int32(buffer, layer_id);
set_int32(buffer + 4, pkt_id);
set_int32(buffer + 8, length);
if (2 == length) {
set_int16(buffer + 12, data);
} else if (4 == length) {
set_int32(buffer + 12, data);
}
(void)PrintUSBPacket(session, thePacket);
theBytesReturned = gpsd_write(session, (const char *)thePacket,
(size_t) theBytesToWrite);
gpsd_report(LOG_IO, "Garmin: SendPacket(), wrote %zd bytes\n",
theBytesReturned);
// Garmin says:
// If the packet size was an exact multiple of the USB packet
// size, we must make a final write call with no data
// as a practical matter no known packets are 64 bytes long so
// this is untested
// So here goes just in case
if (0 == (theBytesToWrite % ASYNC_DATA_SIZE)) {
char *n = "";
(void)gpsd_write(session, n, 0);
}
}
#endif /* __linux__ || S_SPLINT_S */
/* build and send a packet in serial protocol */
/* layer_id unused */
// FIX-ME: This should go through the common message buffer someday
static void Build_Send_SER_Packet(struct gps_device_t *session,
uint32_t layer_id UNUSED, uint32_t pkt_id,
uint32_t length, uint32_t data)
{
uint8_t *buffer = (uint8_t *) session->driver.garmin.Buffer;
uint8_t *buffer0 = buffer;
Packet_t *thePacket = (Packet_t *) buffer;
ssize_t theBytesReturned = 0;
ssize_t theBytesToWrite = 6 + (ssize_t) length;
uint8_t chksum = 0;
*buffer++ = (uint8_t) DLE;
*buffer++ = (uint8_t) pkt_id;
chksum = pkt_id;
*buffer++ = (uint8_t) length;
chksum += length;
/* ??? What is this doing? */
if (2 == length) {
/* carefull! no DLE stuffing here! */
set_int16(buffer, data);
chksum += buffer[0];
chksum += buffer[1];
} else if (4 == length) {
/* carefull! no DLE stuffing here! */
set_int32(buffer, data);
chksum += buffer[0];
chksum += buffer[1];
chksum += buffer[2];
chksum += buffer[3];
}
/* ??? How is data copied to the buffer? */
buffer += length;
// Add checksum
*buffer++ = -chksum;
if (DLE == -chksum) {
/* stuff another DLE */
*buffer++ = (uint8_t) DLE;
theBytesToWrite++;
}
// Add DLE, ETX
*buffer++ = (uint8_t) DLE;
/* we used to say n++ here, but scan-build complains */
*buffer = (uint8_t) ETX;
(void)PrintSERPacket(session,
(unsigned char)buffer0[1],
(int)buffer0[2], (unsigned char *)(buffer0 + 3));
theBytesReturned = gpsd_write(session, (const char *)thePacket,
(size_t) theBytesToWrite);
gpsd_report(LOG_IO, "Garmin: SendPacket(), wrote %zd bytes\n",
theBytesReturned);
}
#if defined(HAVE_LIBUSB)
/*
* is_usb_device() - is a specified device USB matching given vendor/product?
*
* BUG: Doesn't actually match against path yet. Must finish this function
* by querying /sys/dev/char, either directly or using libudev. Greg KH
* assures this is possible, though he is vague about how.
*
* libudev: http://www.kernel.org/pub/linux/utils/kernel/hotplug/libudev/
*/
/*@-compdef -usedef -nullpass@*/
static bool is_usb_device(const char *path UNUSED, int vendor, int product)
{
// discover devices
libusb_device **list;
ssize_t cnt;
ssize_t i = 0;
bool found = false;
gpsd_report(LOG_INF, "attempting USB device enumeration.\n");
(void)libusb_init(NULL);
if ((cnt = libusb_get_device_list(NULL, &list)) < 0) {
gpsd_report(LOG_ERROR, "USB device list call failed.\n");
libusb_exit(NULL);
return false;
}
for (i = 0; i < cnt; i++) {
struct libusb_device_descriptor desc;
libusb_device *dev = list[i];
int r = libusb_get_device_descriptor(dev, &desc);
if (r < 0) {
gpsd_report(LOG_ERROR,
"USB descriptor fetch failed on device %zd.\n", i);
continue;
}
/* we can extract device descriptor data */
gpsd_report(LOG_INF, "%04x:%04x (bus %d, device %d)\n",
desc.idVendor, desc.idProduct,
libusb_get_bus_number(dev),
libusb_get_device_address(dev));
/* we match if vendor and product ID are right */
if (desc.idVendor == (uint16_t)vendor && desc.idProduct == (uint16_t)product) {
found = true;
break;
}
}
gpsd_report(LOG_SHOUT, "vendor/product match with %04x:%04x %sfound\n",
vendor, product, found ? "" : "not ");
libusb_free_device_list(list, 1);
libusb_exit(NULL);
return found;
}
/*@-compdef -usedef -nullpass@*/
#endif /* HAVE_LIBUSB */
/*
* garmin_usb_detect() - detect a Garmin USB device connected to session fd.
*
* This is ONLY for USB devices reporting as: 091e:0003.
*
* This driver ONLY works in Linux and ONLY when the garmin_gps kernel
* module is installed.
*
* This is only necessary because under Linux Garmin USB devices need a
* kernel module rather than being normal USB-serial devices.
*
* The actual wire protocol from the Garmin device is very strange. There
* are no delimiters. End of packet is signaled by a zero-length read
* on the USB device, and start of packet is the next read. You can't just
* ignore the zero reads and pass the data through - you'd never be able
* to tell where the packet boundaries are.
*
* The garmin_usb module's job is to grab the packet and frame it in
* DLEs (with DLE stuffing). This makes the USB packets look as
* though they came from a regular Garmin *serial* device, which is how
* most of the processing for both types can be unified here.
*
* return 1 is device found
* return 0 if not
*/
static bool garmin_usb_detect(struct gps_device_t *session UNUSED)
{
#if defined(__linux__) || defined(S_SPLINT_S)
/*
* Only perform this check if we're looking at a USB-serial
* device. This prevents drivers for attached serial GPSes
* fronm being rudely elbowed aside by this one if they happen
* to be trying to coexist with the Garmin.
*/
if (session->sourcetype != source_usb)
return false;
else {
#ifdef HAVE_LIBUSB
if (!is_usb_device(session->gpsdata.dev.path, 0x091e, 0x0003))
return false;
#else
return false;
#endif /* HAVE_LIBUSB */
/*@-unreachable@*/
if (!gpsd_set_raw(session)) {
gpsd_report(LOG_ERROR,
"Garmin: garmin_usb_detect: error changing port attributes: %s\n",
strerror(errno));
return false;
}
if (sizeof(session->driver.garmin.Buffer) < sizeof(Packet_t)) {
/* dunno how this happens, but it does on some compilers */
gpsd_report(LOG_ERROR,
"Garmin: garmin_usb_detect: Compile error, garmin.Buffer too small.\n");
return false;
}
// FIXME!!! needs to use libusb totally and move garmin_gps aside */
// set Mode 1, mode 0 is broken somewhere past 2.6.14
// but how?
gpsd_report(LOG_PROG, "Garmin: Set garmin_gps driver mode = 0\n");
Build_Send_USB_Packet(session, GARMIN_LAYERID_PRIVATE,
PRIV_PKTID_SET_MODE, 4, MODE_GARMIN_SERIAL);
// expect no return packet !?
return true;
}
#else
return false;
#endif /* __linux__ || S_SPLINT_S */
}
static void garmin_event_hook(struct gps_device_t *session, event_t event)
{
if (session->context->readonly)
return;
/*
* FIX-ME: It might not be necessary to call this on reactivate.
* Experiment to see if the holds its settings through a close.
*/
if (event == event_identified || event == event_reactivate) {
// Tell the device to send product data
gpsd_report(LOG_PROG, "Garmin: Get Product Data\n");
Build_Send_SER_Packet(session, GARMIN_LAYERID_APPL,
GARMIN_PKTID_PRODUCT_RQST, 0, 0);
// turn on PVT data 49
gpsd_report(LOG_PROG, "Garmin: Set to send reports every 1 second\n");
Build_Send_SER_Packet(session, GARMIN_LAYERID_APPL,
GARMIN_PKTID_L001_COMMAND_DATA, 2,
CMND_START_PVT_DATA);
#if USE_RMD
// turn on RMD data 110
gpsd_report(LOG_PROG, "Garmin: Set to send Raw sat data\n");
Build_Send_SER_Packet(session, GARMIN_LAYERID_APPL,
GARMIN_PKTID_L001_COMMAND_DATA, 2,
CMND_START_RM_DATA);
#endif
}
if (event == event_deactivate)
/* FIX-ME: is any action needed, or is closing the port sufficient? */
gpsd_report(LOG_PROG, "Garmin: garmin_close()\n");
}
#define Send_ACK() Build_Send_SER_Packet(session, 0, ACK, 0, 0)
#define Send_NAK() Build_Send_SER_Packet(session, 0, NAK, 0, 0)
/*@ +charint @*/
gps_mask_t garmin_ser_parse(struct gps_device_t *session)
{
unsigned char *buf = session->packet.outbuffer;
size_t len = session->packet.outbuflen;
unsigned char data_buf[MAX_BUFFER_SIZE];
unsigned char c;
int i = 0;
size_t n = 0;
int data_index = 0;
int got_dle = 0;
unsigned char pkt_id = 0;
unsigned char pkt_len = 0;
unsigned char chksum = 0;
gps_mask_t mask = 0;
if (session->packet.type == GARMIN_PACKET)
session->gpsdata.dev.driver_mode = MODE_BINARY;
gpsd_report(LOG_RAW, "Garmin: garmin_ser_parse()\n");