Index: configure.ac
===================================================================
--- configure.ac (revision 4804)
+++ configure.ac (working copy)
@@ -409,6 +409,21 @@
AC_MSG_RESULT([no])
fi
+dnl check for OceanServer support
+AC_ARG_ENABLE(oceanserver,
+ AC_HELP_STRING([--enable-oceanserver],
+ [enable OceanServer support]),
+ [ac_oceanserver=$enableval], [ac_oceanserver=no])
+AC_MSG_CHECKING([for OceanServer support])
+if test x"$ac_oceanserver" = "xyes"; then
+ ac_nmea=yes
+ AC_MSG_RESULT([yes])
+ AC_DEFINE([OCEANSERVER_ENABLE], 1, [OceanServer support])
+ AC_DEFINE([NMEA_ENABLE], 1, [OceanServer requires NMEA support])
+else
+ AC_MSG_RESULT([no])
+fi
+
dnl check for UBX support
AC_ARG_ENABLE(ubx,
AC_HELP_STRING([--disable-ubx],
@@ -759,6 +774,7 @@
echo "Trimble TSIP : $ac_tsip"
echo "Tripmate : $ac_tripmate"
echo "True North : $ac_tnt"
+echo "OceanServer : $ac_oceanserver"
echo "UBX : $ac_ubx"
echo "GPSclock : $ac_gpsclock"
dnl Below this line are non-protocol switches
@@ -793,6 +809,7 @@
x"$ac_rtcm104v2" = "xno" -a \
x"$ac_sirf" = "xno" -a \
x"$ac_tnt" = "xno" -a \
+ x"$ac_oceanserver" = "xno" -a \
x"$ac_tripmate" = "xno" -a \
x"$ac_tsip" = "xno" -a \
x"$ac_ubx" = "xno"; then
Index: drivers.c
===================================================================
--- drivers.c (revision 4804)
+++ drivers.c (working copy)
@@ -737,6 +737,153 @@
.cycle = 20, /* updates per second */
};
#endif
+#ifdef OCEANSERVER_ENABLE
+/**************************************************************************
+ * OceanServer - Digital Compass, OS5000 Series
+ *
+ * More info: http://www.ocean-server.com/download/OS5000_Compass_Manual.pdf
+ *
+ * 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.
+ * This is useful to supplement the heading provided by another GPS
+ * unit. A GPS heading is unreliable at slow speed or no speed.
+ *
+ **************************************************************************/
+
+enum {
+#include "packet_states.h"
+};
+
+static int oceanserver_send(int fd, const char *fmt, ... )
+{
+ int status;
+ char buf[BUFSIZ];
+ va_list ap;
+
+ va_start(ap, fmt) ;
+ (void)vsnprintf(buf, sizeof(buf)-5, fmt, ap);
+ va_end(ap);
+ strlcat(buf, "", BUFSIZ);
+ status = (int)write(fd, buf, strlen(buf));
+ tcdrain(fd);
+ if (status == (int)strlen(buf)) {
+ gpsd_report(LOG_IO, "=> GPS: %s\n", buf);
+ return status;
+ } else {
+ gpsd_report(LOG_WARN, "=> GPS: %s FAILED\n", buf);
+ return -1;
+ }
+}
+
+#ifdef ALLOW_RECONFIGURE
+static void oceanserver_configure(struct gps_device_t *session, unsigned int seq)
+{
+ if (seq == 0){
+ (void)oceanserver_send(session->gpsdata.gps_fd, "2\n");
+ (void)oceanserver_send(session->gpsdata.gps_fd, "X4096 ");
+ }
+}
+#endif /* ALLOW_RECONFIGURE */
+
+#define OCEANSERVER_SNIFF_RETRIES 100
+
+static int oceanserver_packet_sniff(struct gps_device_t *session)
+{
+ unsigned int n, count = 0;
+
+ gpsd_report(LOG_RAW, "oceanserver_packet_sniff begins\n");
+ for (n = 0; n < OCEANSERVER_SNIFF_RETRIES; n++)
+ {
+ count = 0;
+ (void)oceanserver_send(session->gpsdata.gps_fd, "V\n");
+ if (ioctl(session->gpsdata.gps_fd, FIONREAD, &count) < 0)
+ return BAD_PACKET;
+ if (count == 0) {
+ //int delay = 10000000000.0 / session->gpsdata.baudrate;
+ //gpsd_report(LOG_RAW, "usleep(%d)\n", delay);
+ //usleep(delay);
+ gpsd_report(LOG_RAW, "sleep(1)\n");
+ (void)sleep(1);
+ } else if (generic_get(session) >= 0) {
+ if((session->packet.type == NMEA_PACKET)&&(session->packet.state == NMEA_RECOGNIZED))
+ {
+ gpsd_report(LOG_RAW, "oceanserver_packet_sniff returns %d\n",session->packet.type);
+ return session->packet.type;
+ }
+ }
+ }
+
+ gpsd_report(LOG_RAW, "oceanserver_packet_sniff found no packet\n");
+ return BAD_PACKET;
+}
+
+/*
+ * The OceanServer compass has different output modes
+ * we would like to make it talk in a NMEA like protocol
+ */
+static bool oceanserver_probe(struct gps_device_t *session)
+{
+ unsigned int *ip;
+#ifdef FIXED_PORT_SPEED
+ /* just the one fixed port speed... */
+ static unsigned int rates[] = {FIXED_PORT_SPEED};
+#else /* FIXED_PORT_SPEED not defined */
+ /* The supported baud rates */
+ static unsigned int rates[] = {4800, 9600, 14400, 19200, 38400, 57600, 115200 };
+#endif /* FIXED_PORT_SPEED defined */
+
+ gpsd_report(LOG_PROG, "Probing OceanServer Compass\n");
+
+ /*
+ * Only block until we get at least one character, whatever the
+ * third arg of read(2) says.
+ */
+ /*@ ignore @*/
+ memset(session->ttyset.c_cc,0,sizeof(session->ttyset.c_cc));
+ session->ttyset.c_cc[VMIN] = 1;
+ /*@ end @*/
+
+ session->ttyset.c_cflag &= ~(PARENB | PARODD | CRTSCTS);
+ session->ttyset.c_cflag |= CREAD | CLOCAL;
+ session->ttyset.c_iflag = session->ttyset.c_oflag = session->ttyset.c_lflag = (tcflag_t) 0;
+
+ session->baudindex = 0;
+ for (ip = rates; ip < rates + sizeof(rates)/sizeof(rates[0]); ip++)
+ if (ip == rates || *ip != rates[0])
+ {
+ gpsd_report(LOG_PROG, "hunting at speed %d\n", *ip);
+ gpsd_set_speed(session, *ip, 'N',1);
+ if (oceanserver_packet_sniff(session) != BAD_PACKET)
+ return true;
+ }
+ return false;
+}
+
+struct gps_type_t oceanServer = {
+ .type_name = "OceanServer Digital Compas OS5000", /* full name of type */
+ .trigger = " OS5000",
+ .channels = 0, /* not an actual GPS at all */
+ .probe_wakeup = NULL, /* this will become a real method */
+ .probe_detect = oceanserver_probe,/* probe by sending ID query */
+ .probe_subtype = NULL, /* probe for True North Digital Compass */
+#ifdef ALLOW_RECONFIGURE
+ .configurator = oceanserver_configure, /* no setting changes */
+#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 */
+ .speed_switcher = NULL, /* no speed switcher */
+ .mode_switcher = NULL, /* no mode switcher */
+ .rate_switcher = NULL, /* no wrapup */
+ .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 = 20, /* updates per second */
+};
+#endif
#ifdef RTCM104V2_ENABLE
/**************************************************************************
*
@@ -912,6 +1059,9 @@
#ifdef TNT_ENABLE
&trueNorth,
#endif /* TSIP_ENABLE */
+#ifdef OCEANSERVER_ENABLE
+ &oceanServer,
+#endif /* OCEANSERVER_ENABLE */
#ifdef EVERMORE_ENABLE
&evermore_binary,
#endif /* EVERMORE_ENABLE */
Index: nmea_parse.c
===================================================================
--- nmea_parse.c (revision 4804)
+++ nmea_parse.c (working copy)
@@ -599,6 +599,65 @@
}
#endif /* TNT_ENABLE */
+#ifdef OCEANSERVER_ENABLE
+static gps_mask_t processOHPR(int c UNUSED, char *field[], struct gps_device_t *session)
+{
+ /*
+ * Proprietary sentence for OceanServer Magnetic Compass.
+
+ OHPR,x.x,x.x,x.x,x.x,x.x,x.x,x.x,x.x,x.x,x.x,x.x,x.x,x.x,x.x,x.x,x.x,x.x,x.x*hh<cr><lf>
+ Fields in order:
+ 1. Azimuth
+ 2. Pitch Angle
+ 3. Roll Angle
+ 4. Temperature
+ 5. Depth (feet)
+ 6. Magnetic Vector Length
+ 7-9. 3 axis Magnetic Field readings x,y,z
+ 10. Acceleration Vector Length
+ 11-13. 3 axis Acceleration Readings x,y,z
+ 14. Reserved
+ 15-16. 2 axis Gyro Output, X,y
+ 17. Reserved
+ 18. Reserved
+ *hh mandatory nmea_checksum
+ */
+ gps_mask_t mask;
+ mask = ONLINE_SET;
+
+ //gpsd_zero_satellites(&session->gpsdata);
+
+ /*
+ * Heading maps to track.
+ * Pitch maps to climb.
+ * Roll maps to speed.
+ * Depth maps to altitude.
+ */
+ session->gpsdata.fix.time = timestamp();
+ session->gpsdata.fix.track = atof(field[1]);
+ session->gpsdata.fix.climb = atof(field[2]);
+ session->gpsdata.fix.speed = atof(field[3]);
+ session->gpsdata.temperature = atof(field[4]);
+ session->gpsdata.fix.altitude = atof(field[5]);
+ session->gpsdata.magnetic_length = atof(field[6]);
+ session->gpsdata.magnetic_field_x = atof(field[7]);
+ session->gpsdata.magnetic_field_y = atof(field[8]);
+ session->gpsdata.magnetic_field_z = atof(field[9]);
+ session->gpsdata.acceleration_length = atof(field[10]);
+ session->gpsdata.acceleration_field_x = atof(field[11]);
+ session->gpsdata.acceleration_field_y = atof(field[12]);
+ session->gpsdata.acceleration_field_z = atof(field[13]);
+ session->gpsdata.gyro_output_x = atof(field[15]);
+ session->gpsdata.gyro_output_y = atof(field[16]);
+ session->gpsdata.fix.mode = MODE_3D;
+ mask |= (STATUS_SET | MODE_SET | TRACK_SET | SPEED_SET | CLIMB_SET | ALTITUDE_SET);
+ session->gpsdata.status = STATUS_FIX; /* could be DGPS_FIX */
+
+ gpsd_report(LOG_RAW, "Heading %lf.\n", session->gpsdata.fix.track);
+ return mask;
+}
+#endif /* OCEANSERVER_ENABLE */
+
#ifdef ASHTECH_ENABLE
static gps_mask_t processPASHR(int c UNUSED, char *field[], struct gps_device_t *session)
{
@@ -705,7 +764,10 @@
#endif /* TNT_ENABLE */
#ifdef ASHTECH_ENABLE
{"PASHR", 3, processPASHR}, /* general handler for Ashtech */
-#endif /* TNT_ENABLE */
+#endif /* ASHTECH_ENABLE */
+#ifdef OCEANSERVER_ENABLE
+ {"OHPR", 18, processOHPR},
+#endif /* OCEANSERVER_ENABLE */
};
volatile unsigned char buf[NMEA_MAX+1];
Index: gps.h
===================================================================
--- gps.h (revision 4804)
+++ gps.h (working copy)
@@ -531,12 +531,28 @@
#define SAT_FIX_USED 0x40 /* used for position fix */
#endif
+#ifdef TNT_ENABLE
/* compass status -- TrueNorth (and any similar) devices only */
char headingStatus;
char pitchStatus;
char rollStatus;
double horzField; /* Magnitude of horizontal magnetic field */
+#endif
+#ifdef OCEANSERVER_ENABLE
+ double magnetic_length; /* unitvector sqrt(x^2 + y^2 +z^2) */
+ double magnetic_field_x;
+ double magnetic_field_y;
+ double magnetic_field_z;
+ double acceleration_length; /* unitvector sqrt(x^2 + y^2 +z^2) */
+ double acceleration_field_x;
+ double acceleration_field_y;
+ double acceleration_field_z;
+ double gyro_output_x;
+ double gyro_output_y;
+ double temperature;
+#endif
+
/* where and what gpsd thinks the device is */
char gps_device[PATH_MAX]; /* only valid if non-null. */
char *gps_id; /* only valid if non-null. */