gpsd/drivers/driver_tsip.c

/*
 * Handle the Trimble TSIP packet format
 * by Rob Janssen, PE1CHL.
 * Acutime Gold support by Igor Socec <igorsocec@gmail.com>
 * Trimble RES multi-constellation support by Nuno Goncalves <nunojpg@gmail.com>
 *
 * 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.
 *
 * TSIPv1 and RES270 support added by Gary E. Miller <gem@rellim.com>
 *
 * This file is Copyright 2010 by the GPSD project
 * SPDX-License-Identifier: BSD-2-clause
 */

#include "../include/gpsd_config.h"  /* must be before all includes */

#include <math.h>
#include <stdbool.h>
#include <stdio.h>
#include <stdlib.h>           // For llabs()
#include <string.h>
#include <time.h>
#include <unistd.h>

#include "../include/compiler.h"   // for FALLTHROUGH
#include "../include/gpsd.h"
#include "../include/bits.h"
#include "../include/strfuncs.h"
#include "../include/timespec.h"

#ifdef TSIP_ENABLE
// RES SMT 360 has 32 max channels, use 64 for next gen
#define TSIP_CHANNELS  64

/* defines for Set or Request I/O Options (0x35)
 * SMT 360 default: IO1_DP|IO1_LLA, IO2_ENU, 0, IO4_DBHZ */
// byte 1 Position
#define IO1_ECEF 1
#define IO1_LLA 2
#define IO1_MSL 4
#define IO1_DP 0x10
// IO1_8F20 not in SMT 360
#define IO1_8F20 0x20
// byte 2 Velocity
#define IO2_VECEF 1
#define IO2_ENU 2
// byte 3 Timing
#define IO3_UTC 1
// byte 4 Aux/Reserved
#define IO4_RAW 1
#define IO4_DBHZ 8

#define SEMI_2_DEG      (180.0 / 2147483647)    /* 2^-31 semicircle to deg */

void configuration_packets_acutime_gold(struct gps_device_t *session);
void configuration_packets_res360(struct gps_device_t *session);
void configuration_packets_generic(struct gps_device_t *session);

/* convert TSIP SV Type to satellite_t.gnssid and satellite_t.svid
 * return gnssid directly, svid indirectly through pointer */
static unsigned char tsip_gnssid(unsigned svtype, short prn,
                                 unsigned char *svid)
{
    // initialized to shut up clang
    unsigned char gnssid = 0;

    *svid = 0;

    switch (svtype) {
    case 0:
        if (0 < prn && 33 > prn) {
            gnssid = GNSSID_GPS;
            *svid = prn;
        } else if (32 < prn && 55 > prn) {
            // RES SMT 360 and ICM SMT 360 put SBAS in 33-54
            gnssid = GNSSID_SBAS;
            *svid = prn + 87;
        } else if (64 < prn && 97 > prn) {
            // RES SMT 360 and ICM SMT 360 put GLONASS in 65-96
            gnssid = GNSSID_GLO;
            *svid = prn - 64;
        } else if (96 < prn && 134 > prn) {
            // RES SMT 360 and ICM SMT 360 put Galileo in 97-133
            gnssid = GNSSID_GAL;
            *svid = prn - 96;
        } else if (119 < prn && 139 > prn) {
            // Copernicus (II) put SBAS in 120-138
            gnssid = GNSSID_SBAS;
            *svid = prn + 87;
        } else if (183 == prn) {
            gnssid = GNSSID_QZSS;
            *svid = 1;
        } else if (192 <= prn && 193 >= prn) {
            gnssid = GNSSID_QZSS;
            *svid = prn - 190;
        } else if (200 == prn) {
            gnssid = GNSSID_QZSS;
            *svid = 4;
        } else if (200 < prn && 238 > prn) {
            // BeidDou in 201-237
            gnssid = GNSSID_BD;
            *svid = prn - 200;
        }
        // else: huh?
        break;
    case 1:
        gnssid = GNSSID_GLO;  // GLONASS
        *svid = prn - 64;
        break;
    case 2:
        gnssid = GNSSID_BD;  // BeiDou
        *svid = prn - 200;
        break;
    case 3:
        gnssid = GNSSID_GAL;  // Galileo
        *svid = prn - 96;
        break;
    case 5:
        gnssid = GNSSID_QZSS;  // QZSS
        switch (prn) {
        case 183:
            *svid = 1;
            break;
        case 192:
            *svid = 2;
            break;
        case 193:
            *svid = 3;
            break;
        case 200:
            *svid = 4;
            break;
        default:
            *svid = prn;
            break;
        }
        break;
    case 4:
        FALLTHROUGH
    case 6:
        FALLTHROUGH
    case 7:
        FALLTHROUGH
    default:
        *svid = 0;
        gnssid = 0;
        break;
    }
    return gnssid;
}

/* tsip1_checksum()
 * compute TSIP version 1 checksum
 *
 * Return: checksum
 */
static char tsip1_checksum(const char *buf, size_t len)
{
    char checksum = 0;
    size_t index;

    for(index = 0; index < len; index++) {
        checksum ^= buf[index];
    }
    return checksum;
}

/* tsip_write1() - send old style TSIP message, improved tsip_write()
 * buf - the packet
 * len - length of buf
 *
 * Adds leading DLE, and the trailing DLE, ETX
 *
 * Return: 0 == OK
 *         -1 == write fail
 */
static ssize_t tsip_write1(struct gps_device_t *session,
                           char *buf, size_t len)
{
    char *ep, *cp;
    char obuf[100];
    size_t olen = len;

    if (session->context->readonly) {
        return 0;
    }
    if ((NULL == buf) ||
        0 == len ||
        (sizeof(session->msgbuf) / 2) < len) {
        // could over run, do not chance it
        return -1;
    }
    session->msgbuf[0] = '\x10';
    ep = session->msgbuf + 1;
    for (cp = buf; olen-- > 0; cp++) {
        if ('\x10' == *cp) {
            *ep++ = '\x10';
        }
        *ep++ = *cp;
    }
    *ep++ = '\x10';
    *ep++ = '\x03';
    session->msgbuflen = (size_t)(ep - session->msgbuf);
    GPSD_LOG(LOG_PROG, &session->context->errout,
             "TSIP: tsip_write1(0x%s)\n",
             gpsd_hexdump(obuf, sizeof(obuf), &session->msgbuf[1], len + 1));
    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;
    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;
    // FIXME.  Should respect fixed speed/framing
    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;
        struct timespec to;
        // FIXME: this holds the main loop from running...
        for (n = 0; n < 3; n++) {
            // wait one second
            to.tv_sec = 1;
            to.tv_nsec = 0;
            if (!nanowait(myfd, &to))
                break;
            if (generic_get(session) >= 0) {
                if (session->lexer.type == TSIP_PACKET) {
                    GPSD_LOG(LOG_RAW, &session->context->errout,
                             "TSIP: 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;
}

/* send the next TSIPv1 query
 * Return: void
 */
static void tsipv1_query(struct gps_device_t *session, int index)
{
    char snd_buf[24];         // send buffer

    switch (index) {
    case 0:
        // x90-01, GNSS config
        snd_buf[0] = 0x91;             // id
        snd_buf[1] = 0x01;             // sub id
        putbe16(snd_buf, 2, 2);        // length
        snd_buf[4] = 0;                // mode: query
        snd_buf[5] = tsip1_checksum(snd_buf, 5);   // checksum
        (void)tsip_write1(session, snd_buf, 6);
        break;
    case 1:
        // x90-00, query protocol version
        snd_buf[0] = 0x90;             // id
        snd_buf[1] = 0x00;             // sub id
        putbe16(snd_buf, 2, 2);        // length
        snd_buf[4] = 0;                // mode: query
        snd_buf[5] = tsip1_checksum(snd_buf, 5);   // checksum
        (void)tsip_write1(session, snd_buf, 6);
        break;
    case 2:
        // x90-01, query GNSS config version
        snd_buf[0] = 0x90;             // id
        snd_buf[1] = 0x01;             // sub id
        putbe16(snd_buf, 2, 2);        // length
        snd_buf[4] = 0;                // mode: query
        snd_buf[5] = tsip1_checksum(snd_buf, 5);   // checksum
        (void)tsip_write1(session, snd_buf, 6);
        break;
    case 3:
        // x91-03, query timing config
        snd_buf[0] = 0x91;             // id
        snd_buf[1] = 0x03;             // sub id
        putbe16(snd_buf, 2, 2);        // length
        snd_buf[4] = 0;                // mode: query
        snd_buf[5] = tsip1_checksum(snd_buf, 5);   // checksum
        (void)tsip_write1(session, snd_buf, 6);
        break;
    case 4:
        // x91-04, self survey config
        snd_buf[0] = 0x91;             // id
        snd_buf[1] = 0x04;             // sub id
        putbe16(snd_buf, 2, 2);        // length
        snd_buf[4] = 0;                // mode: query
        snd_buf[5] = tsip1_checksum(snd_buf, 5);   // checksum
        (void)tsip_write1(session, snd_buf, 6);
        break;
    case 5:
        // x93-00, production info
        snd_buf[0] = 0x93;             // id
        snd_buf[1] = 0x00;             // sub id
        putbe16(snd_buf, 2, 2);        // length
        snd_buf[4] = 0;                // mode: query
        snd_buf[5] = tsip1_checksum(snd_buf, 5);   // checksum
        (void)tsip_write1(session, snd_buf, 6);
        break;
    case 6:
        if (session->context->passive) {
            // x91-05, query current periodic messages
            snd_buf[0] = 0x91;             // id
            snd_buf[1] = 0x05;             // sub id
            putbe16(snd_buf, 2, 3);        // length
            snd_buf[4] = 0;                // mode: query
            snd_buf[5] = 0xff;             // port: current port
            snd_buf[6] = tsip1_checksum(snd_buf, 6);   // checksum
            (void)tsip_write1(session, snd_buf, 7);
        } else {
            /* request everything periodically, x91-05
             * little harm at 115.2 kbps, this also responses as a query */
            snd_buf[0] = 0x91;             // id
            snd_buf[1] = 0x05;             // sub id
            putbe16(snd_buf, 2, 19);       // length
            snd_buf[4] = 0x01;             // mode: set
            snd_buf[5] = 0xff;             // port: current port
            putbe32(snd_buf, 6, 0x02aaa);
            putbe32(snd_buf, 10, 0);       // reserved
            putbe32(snd_buf, 14, 0);       // reserved
            putbe32(snd_buf, 18, 0);       // reserved
            snd_buf[22] = tsip1_checksum(snd_buf, 22);   // checksum
            (void)tsip_write1(session, snd_buf, 23);
        }
        break;
    default:
        // nothing to do
        break;
    }
}

/* tsipv1_svtype()
 * convert TSIPv1 SV Type to satellite_t.gnssid and satellite_t.sigid
 * PRN is already GNSS specific (1-99)
 * return gnssid directly, sigid indirectly through pointer
 *
 * Return: gnssid
 *         0xff on error
 */
static unsigned char tsipv1_svtype(unsigned svtype, unsigned char *sigid)
{

    unsigned char gnssid;

    switch (svtype) {
    case 1:  // GPS L1C
       gnssid =  GNSSID_GPS;
       *sigid = 0;
       break;
    case 2:  // GPS L2.  CL or CM?
       gnssid =  GNSSID_GPS;
       *sigid = 3;         // or, maybe 4
       break;
    case 3:  // GPS L5.  I or Q?
       gnssid =  GNSSID_GPS;
       *sigid = 6;         // or maybe 7
       break;
    case 5:  // GLONASS G1
       gnssid =  GNSSID_GLO;
       *sigid = 0;
       break;
    case 6:  // GLONASS G2
       gnssid =  GNSSID_GLO;
       *sigid = 2;
       break;
    case 9:  // SBAS, assume L1
       gnssid =  GNSSID_SBAS;
       *sigid = 0;
       break;
    case 13:  // Beidou B1, D1 or D2?
       gnssid =  GNSSID_BD;
       *sigid = 0;   // or maybe 1
       break;
    case 14:  // Beidou B2i
       gnssid =  GNSSID_BD;
       *sigid = 2;
       break;
    case 15:  // Beidou B2a
       gnssid =  GNSSID_BD;
       *sigid = 3;
       break;
    case 17:  // Galileo E1, C or B?
       gnssid =  GNSSID_GAL;
       *sigid = 0;    // or maybe 1
       break;
    case 18:  // Galileo E5a, aI or aQ?
       gnssid =  GNSSID_GAL;
       *sigid = 3;    // or maybe 4?
       break;
    case 19:  // Galileo E5b, bI or bQ?
       gnssid =  GNSSID_GAL;
       *sigid = 5;    // or maybe 6
       break;
    case 20:  // Galileo E6
       gnssid =  GNSSID_GAL;
       *sigid = 8;     // no idea
       break;
    case 22:  // QZSS L1
       gnssid =  GNSSID_QZSS;
       *sigid = 0;
       break;
    case 23:  // QZSS L2C
       gnssid =  GNSSID_QZSS;
       *sigid = 4;    // or maybe 5
       break;
    case 24:  // QZSS L5
       gnssid =  GNSSID_QZSS;
       *sigid = 8;     // no idea
       break;
    case 26:  // IRNSS L5
       gnssid =  GNSSID_IRNSS;
       *sigid = 8;     // no idea
       break;
    case 4:  // Reserved
        FALLTHROUGH
    case 7:  // Reserved
        FALLTHROUGH
    case 8:  // Reserved
        FALLTHROUGH
    case 10:  // Reservced
        FALLTHROUGH
    case 11:  // Reservced
        FALLTHROUGH
    case 12:  // Reservced
        FALLTHROUGH
    case 16:  // Reserved
        FALLTHROUGH
    case 21:  // Reserved
        FALLTHROUGH
    case 25:  // Reserved
        FALLTHROUGH
    default:
        *sigid = 0xff;
        return 0xff;
    }
    return gnssid;
}

/* parse TSIP v1 packages.
 * Currently only in RES720 devices, from 2020 onward.
 * buf: raw data, with DLE stuffing removed
 * len:  length of data in buf
 *
 * return: mask
 */
static gps_mask_t tsipv1_parse(struct gps_device_t *session, unsigned id,
                                const char *buf, int len)
{
    gps_mask_t mask = 0;
    unsigned sub_id, length, mode;
    unsigned short week;
    uint32_t tow;             // time of week in milli seconds
    timespec_t ts_tow;
    unsigned u1, u2, u3, u4, u5, u6, u7, u8, u9;
    unsigned u10, u11, u12, u13, u14, u15;    // , u16, u17, u18, u19;
    int s1;
    double d1, d2, d3, d4, d5, d6, d7, d8, d9;
    struct tm date = {0};
    bool bad_len = false;
    unsigned char chksum;
    char buf2[BUFSIZ];
    unsigned char gnssid, sigid;

    if (4 > len) {
        // should never happen
        GPSD_LOG(LOG_WARN, &session->context->errout,
                 "TSIPv1 0x%02x: runt, got len %u\n",
                 id, len);
        return mask;
    }
    sub_id = (unsigned)buf[0];
    length = getbeu16(buf, 1);  // expected length
    mode = (unsigned)buf[3];

    if ((length + 3) != (unsigned)len) {
        GPSD_LOG(LOG_WARN, &session->context->errout,
                 "TSIPv1 x%02x-%02x: Bad Length, "
                 "length got %d expected %u mode %u\n",
                 id, sub_id, len, length + 3, mode);
        return mask;
    }

    // checksum is id, sub id, length, mode, data, not including trailer
    // length is mode + data + checksum
    chksum = id;
    for (u1 = 0; u1 < (length + 3); u1++ ) {
        chksum ^= buf[u1];
    }
    if (0 != chksum) {
        GPSD_LOG(LOG_WARN, &session->context->errout,
                 "TSIPv1 x%02x-%02x: Bad Checksum "
                 "length %d/%u mode %u\n",
                 id, sub_id, len, length + 3, mode);
        return mask;
    }

    GPSD_LOG(LOG_DATA, &session->context->errout,
             "TSIPv1 x%02x-%02x: length %d/%u mode %u\n",
             id, sub_id, len, length + 3, mode);

    if (2 != mode) {
        /* Don't decode queries (mode 0) or set (mode 1).
         * Why would we even see one? */
        return mask;
    }
    // FIXME: check len/length and checksum
    switch ((id << 8) | sub_id) {
    case 0x9000:
        // Protocol Version
        if (11 > length) {
            bad_len = true;
            break;
        }
        u1 = (unsigned)buf[4];            // NMEA Major version
        u2 = (unsigned)buf[5];            // NMEA Minor version
        u3 = (unsigned)buf[6];            // TSIP version
        u4 = (unsigned)buf[7];            // Trimble NMEA version
        u6 = getbeu32(buf, 8);            // reserved
        u7 = (unsigned)buf[12];           // reserved
        GPSD_LOG(LOG_PROG, &session->context->errout,
                 "TSIPv1 x90-00: NMEA %u.%u TSIP %u TNMEA %u "
                 "res x%04x x%02x \n",
                 u1, u2, u3, u4, u6, u7);
        tsipv1_query(session, 0);

        break;
    case 0x9001:
        /* Receiver Version Information
         * Received in response to the TSIPv1 probe */
        if (11 > length) {
            bad_len = true;
            break;
        }
        u1 = (unsigned)buf[4];            // Major version
        u2 = (unsigned)buf[5];            // Minor version
        u3 = (unsigned)buf[6];            // Build number
        u4 = (unsigned)buf[7];            // Build month
        u5 = (unsigned)buf[8];            // Build day
        u6 = getbeu16(buf, 9);            // Build year
        u7 = getbeu16(buf, 11);           // Hardware ID
        u8 = (unsigned)buf[13];           // Product Name length
        session->driver.tsip.hardware_code = u7;
        // check for valid module name length
        // RES720 is 27 long
        // check for valid module name length, again
        if (40 < u8) {
            u8 = 40;
        }
        if ((int)u8 > (len - 13)) {
            u8 = (unsigned)len - 13;
        }
        memcpy(buf2, &buf[14], u8);
        buf2[u8] = '\0';
        (void)snprintf(session->subtype, sizeof(session->subtype),
                       "fw %u.%u %u %02u/%02u/%04u %.40s",
                       u1, u2, u3, u6, u5, u4, buf2);
        GPSD_LOG(LOG_PROG, &session->context->errout,
                 "TSIPv1 x90-01: Version %u.%u Build %u %u/%u/%u hwid %u, "
                 "%.*s[%u]\n",
                 u1, u2, u3, u6, u5, u4, u7, u8, buf2, u8);
        mask |= DEVICEID_SET;

        tsipv1_query(session, 1);

        break;
    case 0x9100:
        // Port Configuration
        if (18 > length) {
            bad_len = true;
            break;
        }
        u1 = (unsigned)buf[4];            // port
        u2 = (unsigned)buf[5];            // port type
        u3 = (unsigned)buf[6];            // protocol
        u4 = (unsigned)buf[7];            // baud rate
        u5 = (unsigned)buf[8];            // data bits
        u6 = (unsigned)buf[9];            // parity
        u7 = (unsigned)buf[10];           // stop bits
        u8 = getbeu32(buf, 11);           // reserved
        u9 = getbeu32(buf, 12);           // reserved
        GPSD_LOG(LOG_PROG, &session->context->errout,
                 "TSIPv1 x91-00: port %u type %u proto %u baud %u bits %u "
                 "parity %u stop %u res x%04x %04x\n",
                 u1, u2, u3, u4, u5, u6, u7, u8, u9);

        tsipv1_query(session, 2);
        break;
    case 0x9101:
        // GNSS Configuration
        if (28 > length) {
            bad_len = true;
            break;
        }
        // constellation, 0 to 26, mashup of constellation and signal
        u1 = getbeu32(buf, 4);            // constellation
        d1 = getbef32((char *)buf, 8);    // elevation mask
        d2 = getbef32((char *)buf, 12);   // signal mask
        d3 = getbef32((char *)buf, 16);   // PDOP mask
        u2 = (unsigned)buf[20];           // anti-jamming
        u3 = (unsigned)buf[21];           // fix rate
        d4 = getbef32((char *)buf, 22);   // Antenna CAble delay, seconds
        u4 = getbeu32(buf, 26);           // reserved
        GPSD_LOG(LOG_PROG, &session->context->errout,
                 "TSIPv1 x91-01: cons %u el %f signal %f PDOP %f jam %u "
                 "rate %u delay %f res x%04x\n",
                 u1, d1, d2, d3, u2, u3, d4, u4);
        tsipv1_query(session, 3);

        break;
    case 0x9102:
        // NVS Configuration
        if (8 > length) {
            bad_len = true;
            break;
        }
        u1 = (unsigned)buf[6];            // status
        u2 = getbeu32(buf, 7);            // reserved
        GPSD_LOG(LOG_PROG, &session->context->errout,
                 "TSIPv1 x91-02: status %u res x%04x\n",
                 u1, u2);
        break;
    case 0x9103:
        // Timing Configuration
        if (19 > length) {
            bad_len = true;
            break;
        }
        u1 = (unsigned)buf[4];            // time basee
        u2 = (unsigned)buf[5];            // PPS base
        u3 = (unsigned)buf[6];            // PPS mask
        u4 = getbeu16(buf, 7);            // reserved
        u5 = getbeu16(buf, 9);            // PPS width
        d1 = getbed64((char *)buf, 11);   // PPS offset, in seconds
        GPSD_LOG(LOG_PROG, &session->context->errout,
                 "TSIPv1 x91-03: time base %u PPS base %u mask %u res x%04x "
                 "width %u offset %f\n",
                 u1, u2, u3, u4, u5, d1);
        tsipv1_query(session, 4);
        break;
    case 0x9104:
        // Self-Survey Configuration
        if (11 > length) {
            bad_len = true;
            break;
        }
        u1 = (unsigned)buf[4];            // self-survey mask
        u2 = getbeu32(buf, 5);            // self-survey length, # fixes
        u3 = getbeu16(buf, 9);            // horz uncertainty, meters
        u4 = getbeu16(buf, 11);           // vert uncertainty, meters
        GPSD_LOG(LOG_PROG, &session->context->errout,
                 "TSIPv1 x91-04: mask %u length %u eph %u epv %u\n",
                 u1, u2, u3, u4);
        tsipv1_query(session, 5);
        break;
    case 0x9105:
        // x91-05 Receiver Configuration
        if (19 > length) {
            bad_len = true;
            break;
        }
        u1 = (unsigned)buf[4];           // port
        u2 = getbeu32(buf, 5);           // type of output
        u3 = getbeu32(buf, 9);           // reserved
        u4 = getbeu32(buf, 13);          // reserved
        u5 = getbeu32(buf, 17);          // reserved
        GPSD_LOG(LOG_PROG, &session->context->errout,
                 "TSIPv1 x91-05: port %u type x%04x res x%04x x%04x x%04x\n",
                 u1, u2, u3, u4, u5);
        tsipv1_query(session, 7);
        break;
    case 0x9201:
        // Reset Cause
        if (3 > length) {
            bad_len = true;
            break;
        }
        u1 = (unsigned)buf[6];            // reset cause
        GPSD_LOG(LOG_WARN, &session->context->errout,
                 "TSIPv1 x92-01: cause %u\n", u1);
        break;
    case 0x9300:
        // Production Information
        if (78 > length) {
            bad_len = true;
            break;
        }
        u1 = (unsigned)buf[4];            // reserved
        u2 = getbeu32(buf, 5);            // serial number
        u3 = getbeu64(buf, 9);            // extended serial number
        u4 = getbeu64(buf, 17);           // extended serial number
        u5 = (unsigned)buf[25];           // build day
        u6 = (unsigned)buf[26];           // build month
        u7 = getbeu16(buf, 27);           // build year
        u8 = (unsigned)buf[29];           // build hour
        u9 = getbeu16(buf, 30);           // machine id
        u10 = getbeu64(buf, 32);          // hardware ID string
        u11 = getbeu64(buf, 40);          // hardware ID string
        u12 = getbeu64(buf, 48);          // product ID string
        u13 = getbeu64(buf, 56);          // product ID string
        u14 = getbeu32(buf, 64);          // premium options
        u15 = getbeu32(buf, 78);          // reserved
        // ignore 77 Osc search range, and 78–81 Osc offset, always 0xff
        (void)snprintf(session->subtype1, sizeof(session->subtype1),
                       "hw %u %02u/%02u/%04u",
                       u9, u5, u6, u7);
        GPSD_LOG(LOG_WARN, &session->context->errout,
                 "TSIPv1 x93-00: res %u ser %u x%04x %04x Build %u/%u/%u %u "
                 "machine %u hardware x%04x %04x product x%04x %04x "
                 "options x%04x res x%04x\n",
                 u1, u2, u3, u4, u7, u6, u5, u8, u9, u10,
                 u11, u12, u13, u14, u15);
        tsipv1_query(session, 6);
        mask |= DEVICEID_SET;
        break;
    case 0xa000:
        // Firmware Upload
        // could be length 3, or 8, different data...
        switch (length) {
        case 3:
            u1 = (unsigned)buf[6];            // command
            GPSD_LOG(LOG_PROG, &session->context->errout,
                     "TSIPv1 xa0-00: command %u\n", u1);
            break;
        case 8:
            // ACK/NAK
            u1 = (unsigned)buf[6];            // command
            u2 = (unsigned)buf[7];            // status
            u3 = getbeu16(buf, 8);            // frame
            GPSD_LOG(LOG_PROG, &session->context->errout,
                     "TSIPv1 xa0-00: command %u status %u frame %u\n",
                     u1, u2, u3);
            break;
        default:
            bad_len = true;
            break;
        }
        break;
    case 0xa100:
        // Timing Information
        // the only message on by default
        if (32 > length) {
            bad_len = true;
            break;
        }

        tow = getbeu32(buf, 4);
        week = getbeu16(buf, 8);
        session->context->gps_week = week;

        date.tm_hour = (unsigned)buf[10];            // hours 0 - 23
        date.tm_min = (unsigned)buf[11];             // minutes 0 -59
        date.tm_sec = (unsigned)buf[12];             // seconds 0 - 60
        date.tm_mon = (unsigned)buf[13] - 1;         // month 1 - 12
        date.tm_mday = (unsigned)buf[14];            // day of month 1 - 31
        date.tm_year = getbeu16(buf, 15) - 1900;     // year

        u1 = (unsigned)buf[17];             // time base
        u2 = (unsigned)buf[18];             // PPS base
        u3 = (unsigned)buf[19];             // flags
        s1 = getbes16(buf, 20);             // UTC Offset
        d1 = getbef32((char *)buf, 22);     // PPS Quantization Error
        d2 = getbef32((char *)buf, 26);     // Bias
        d3 = getbef32((char *)buf, 30);     // Bias Rate

        // convert seconds to pico seconds
        session->gpsdata.qErr = (long)(d1 * 10e12);
        // fix.time is w/o leap seconds...
        session->newdata.time.tv_sec = mkgmtime(&date) - s1;
        session->newdata.time.tv_nsec = 0;

        session->context->leap_seconds = s1;
        session->context->valid |= LEAP_SECOND_VALID;
        GPSD_LOG(LOG_PROG, &session->context->errout,
                 "TSIPv1 xa1-00: tow %u week %u %02u:%02u:%02u %4u/%02u/%02u "
                 "base %u/%u flagsx%x UTC offset %d qErr %f Bias %f/%f\n",
                 tow, week, date.tm_hour, date.tm_min, date.tm_sec,
                 date.tm_year + 1900, date.tm_mon, date.tm_mday,
                 u1, u2, u3, s1, d1, d2, d3);
        if (2 == (u3 & 2)) {
            // flags say we have good time
            // if we have good time, can we guess at fix mode?
            mask |= TIME_SET;
            if (1 == (u3 & 1)) {
                // good UTC
                mask |= NTPTIME_IS;
            }
        }
        if (0 == session->driver.tsip.hardware_code) {
            // Query Receiver Version Information
            (void)tsip_write1(session, "\x90\x01\x00\x02\x00\x93", 6);
        }
        mask |= CLEAR_IS;  // ssems to always be first. Time to clear.
        break;
    case 0xa102:
        // Frequency Information
        if (17 > length) {
            bad_len = true;
            break;
        }
        d1 = getbef32((char *)buf, 6);    // DAC voltage
        u1 = getbeu16(buf, 10);           // DAC value
        u2 = (unsigned)buf[12];           // holdover status
        u3 = getbeu32(buf, 13);           // holdover time
        d2 = getbef32((char *)buf, 17);   // temperature, degrees C
        GPSD_LOG(LOG_PROG, &session->context->errout,
                 "TSIPv1 xa1-02: DAC voltage %f value %u Holdover status %u "
                 "time %u temp %f\n",
                 d1, u1, u2, u3, d2);
        break;

    case 0xa111:
        // Position Information
        if (52 > length) {
            bad_len = true;
            break;
        }
        u1 = (unsigned)buf[4];            // position mask
        u2 = (unsigned)buf[5];            // fix type
        d1 = getbed64((char *)buf, 6);    // latitude or X
        d2 = getbed64((char *)buf, 14);   // longitude or Y
        d3 = getbed64((char *)buf, 22);   // altitude or Z
        d4 = getbef32((char *)buf, 30);   // velocity X or E
        d5 = getbef32((char *)buf, 34);   // velocity Y or N
        d6 = getbef32((char *)buf, 38);   // velocity Z or U
        d7 = getbef32((char *)buf, 42);   // PDOP, surveyed or current
        d8 = getbef32((char *)buf, 46);   // horz uncertainty
        d9 = getbef32((char *)buf, 50);   // vert uncertainty
        session->gpsdata.dop.pdop = d7;
        mask |= DOP_SET;
        if (0 == (u1 & 1)) {
            session->newdata.status = STATUS_GPS;
        } else {
            session->newdata.status = STATUS_TIME;
        }
        if (0 == (u1 & 2)) {
            // LLA
            session->newdata.latitude = d1;
            session->newdata.longitude = d2;
            if (0 == (u1 & 4)) {
                // HAE
                session->newdata.altHAE = d3;
            } else {
                // MSL
                session->newdata.altMSL = d3;
            }
            mask |= LATLON_SET | ALTITUDE_SET;
        } else {
            // XYZ ECEF
            session->newdata.ecef.x = d1;
            session->newdata.ecef.y = d2;
            session->newdata.ecef.z = d3;
            mask |= ECEF_SET;
        }
        if (0 == (u1 & 1)) {
            // valid velocity
            if (0 == (u1 & 8)) {
                // Velocity ENU
                session->newdata.NED.velN = d5;
                session->newdata.NED.velE = d4;
                session->newdata.NED.velD = -d6;
                mask |= VNED_SET;
            } else {
                // Velocity ECEF
                session->newdata.ecef.vx = d4;
                session->newdata.ecef.vy = d5;
                session->newdata.ecef.vz = d6;
                mask |= VECEF_SET;
            }
        }
        switch (u2) {
        default:
            FALLTHROUGH
        case 0:
            session->newdata.mode = MODE_NO_FIX;
            break;
        case 1:
            session->newdata.mode = MODE_2D;
            break;
        case 2:
            session->newdata.mode = MODE_3D;
        }
        session->gpsdata.dop.pdop = d7;
        session->newdata.eph = d8;       // 0 - 100, unknown units
        session->newdata.epv = d9;       // 0 - 100, unknown units
        mask |= MODE_SET | STATUS_SET | DOP_SET | HERR_SET | VERR_SET;
        GPSD_LOG(LOG_PROG, &session->context->errout,
                 "TSIPv1 xa1-11: mask %u fix %u Pos %f %f %f Vel %f %f %f "
                 "PDOP %f eph %f epv %f\n",
                 u1, u2, d1, d2, d3, d4, d5, d6, d7, d8, d9);
        break;
    case 0xa200:
        // Satellite Information
        if (25 > length) {
            bad_len = true;
            break;
        }
        u1 = (unsigned)buf[4];            // message number, 1 to X
        if (1 == u1) {
            // message number starts at 1, no way to know last number
            gpsd_zero_satellites(&session->gpsdata);
            // start of new cycle, save last count
            session->gpsdata.satellites_visible =
                session->driver.tsip.last_chan_seen;
        }
        session->driver.tsip.last_chan_seen = u1;

        // SV type, 0 to 26, mashup of constellation and signal
        u2 = (unsigned)buf[5];
        u3 = (unsigned)buf[6];            // PRN (svid) 1 to 32 (99)
        d1 = getbef32((char *)buf, 7);    // azimuth, degrees
        d2 = getbef32((char *)buf, 11);   // elevation, degrees
        d3 = getbef32((char *)buf, 15);   // signal level, db-Hz
        u4 = getbeu32(buf, 19);           // Flags
        // TOW of measurement, not current TOW!
        tow = getbeu32(buf, 23);          // TOW, seconds
        session->driver.tsip.last_a200 = tow;
        ts_tow.tv_sec = tow;
        ts_tow.tv_nsec = 0;
        session->gpsdata.skyview_time =
                gpsd_gpstime_resolv(session, session->context->gps_week,
                                    ts_tow);

        // convert svtype to gnssid and svid
        gnssid = tsipv1_svtype(u2, &sigid);
        session->gpsdata.skyview[u1 - 1].gnssid = gnssid;
        session->gpsdata.skyview[u1 - 1].svid = u3;
        session->gpsdata.skyview[u1 - 1].sigid = sigid;
        // "real" NMEA 4.0 (not 4.10 ir 4.11) PRN
        session->gpsdata.skyview[u1 - 1].PRN = ubx2_to_prn(gnssid, u3);
        if (0 != (1 & u4)) {
            if (90.0 >= fabs(d2)) {
                session->gpsdata.skyview[u1 - 1].elevation = d2;
            }
            if (360.0 >= d1 &&
                0.0 <= d1) {
                session->gpsdata.skyview[u1 - 1].azimuth = d1;
            }
        }
        session->gpsdata.skyview[u1 - 1].ss = d3;
        if (0 != (6 & u4)) {
            session->gpsdata.skyview[u1 - 1].used = true;
        }

        if ((int)u1 >= session->gpsdata.satellites_visible) {
            /* Last of the series? Assume same number of sats as
             * last cycle.
             * This will cause extra SKY if this set has more
             * sats than the last set.  Will cause drop outs when
             * number of sats decreases. */
            if (10 < llabs(session->driver.tsip.last_a311 -
                           session->driver.tsip.last_a200)) {
                // no xa3-11 in 10 seconds, so push out now
                mask |= SATELLITE_SET;
                session->driver.tsip.last_a200 = 0;
            }
        }
        /* If this series has fewer than last series there will
         * be no SKY, unless the cycle ender pushes the SKY */
        GPSD_LOG(LOG_PROG, &session->context->errout,
                 "TSIPv1 xa2-00: num %u type %u (gnss %u sigid %u) PRN %u "
                 "az %f el %f snr %f flags x%0x4 tow %u\n",
                 u1, u2, gnssid, sigid, u3, d1, d2, d3, u4, tow);
        break;

    case 0xa300:
        // System Alarms
        if (18 > length) {
            bad_len = true;
            break;
        }
        u1 = getbeu32(buf, 4);            // Minor Alarms
        u2 = getbeu32(buf, 8);            // reserved
        u3 = getbeu32(buf, 12);           // Major Alarms
        u4 = getbeu32(buf, 16);           // reserved
        GPSD_LOG(LOG_PROG, &session->context->errout,
                 "TSIPv1 xa3-00: Minor x%04x res x%04x Major x%04x "
                 "res x%04u\n",
                 u1, u2, u3, u4);
        break;
    case 0xa311:
        // Receiver Status
        if (29 > length) {
            bad_len = true;
            break;
        }
        u1 = (unsigned)buf[4];            // receiver mode
        u2 = (unsigned)buf[5];            // status
        u3 = (unsigned)buf[6];            // self survey progress 0 - 100
        d1 = getbef32((char *)buf, 7);    // PDOP
        d2 = getbef32((char *)buf, 11);   // HDOP
        d3 = getbef32((char *)buf, 15);   // VDOP
        d4 = getbef32((char *)buf, 19);   // TDOP
        d5 = getbef32((char *)buf, 23);   // Temperature, degrees C
        session->gpsdata.dop.pdop = d1;
        session->gpsdata.dop.hdop = d2;
        session->gpsdata.dop.vdop = d3;
        session->gpsdata.dop.tdop = d4;
        // don't have tow, so use the one from xa2-00, if any
        session->driver.tsip.last_a311 = session->driver.tsip.last_a200;

        if (0 < session->driver.tsip.last_a200) {
            session->driver.tsip.last_a200 = 0;
            // TSIPv1 seem to be sent in numerical order, so this
            // is after xa2-00 and the sats.  Push out any lingering sats.
            mask |= SATELLITE_SET;
        }
        mask |= REPORT_IS | DOP_SET;
        switch (u2) {
        case 0:         // doing position fixes
            FALLTHROUGH
        case 4:         // using 1 sat
            FALLTHROUGH
        case 5:         // using 2 sat
            FALLTHROUGH
        case 6:         // using 3 sat
            session->newdata.status = STATUS_GPS;
            mask |= STATUS_SET;
            break;
        case 1:         // no GPS time
            FALLTHROUGH
        case 2:         // PDOP too high
            FALLTHROUGH
        case 3:         // no sats
            session->newdata.status = STATUS_UNK;
            mask |= STATUS_SET;
            break;
        case 255:
            session->newdata.status = STATUS_TIME;
            mask |= STATUS_SET;
            break;
        default:
            // huh?
            break;
        }
        GPSD_LOG(LOG_PROG, &session->context->errout,
                 "TSIPv1 xa3-11: mode %u status %u survey %u PDOP %f HDOP %f "
                 "VDOP %f TDOP %f temp %f\n",
                 u1, u2, u3, d1, d2, d3, d4, d5);
        // usually the last message, except for A2-00
        break;
    case 0xa321:
        /* Error Report
         * expect errors for x1c-03 and x35-32 from TSIP probes
         * 1 - Parameter error
         * 2 - Length error
         * 3 - Invalid packet format
         * 4 - Invalid checksum
         * 5 - Incorrect TNL/User mode
         * 6 - Invalid Packet ID
         * 7 - Invalid subpacket ID
         * 8 - Update in progress
         * 9 - Internal error caused div by 0
         * 10 - Internal error (failed queuing)
         */
        if (5 > length) {
            bad_len = true;
            break;
        }
        u1 = (unsigned)buf[4];            // reference packet id
        u2 = (unsigned)buf[5];            // reference sub packet id
        u3 = (unsigned)buf[6];            // error code
        GPSD_LOG(LOG_WARN, &session->context->errout,
                 "TSIPv1 xa3-21: id x%02x-%02x error: %u\n",
                 u1, u2, u3);
        break;
    case 0xd000:
        // Debug Output type packet
        if (3 > length) {
            bad_len = true;
            break;
        }
        u1 = (unsigned)buf[6];            // debug output type
        GPSD_LOG(LOG_WARN, &session->context->errout,
                 "TSIPv1 xd0-00: debug %u\n", u1);
        break;
    case 0xd001:
        // Trimble Debug config packet
        if (4 > length) {
            bad_len = true;
            break;
        }
        u1 = (unsigned)buf[6];            // debug type
        u2 = (unsigned)buf[7];            // debug level
        GPSD_LOG(LOG_WARN, &session->context->errout,
                 "TSIPv1 xd0-01: debug type %u level %u\n", u1, u2);
        break;
    case 0xd040:
        // Trimble Raw GNSS Debug Output packet
        // length can be zero, contents undefined
        GPSD_LOG(LOG_WARN, &session->context->errout,
                 "TSIPv1 xd0-40: raw GNSS data\n");
        break;
    case 0xd041:
        // Trimble Raw GNSS Debug Output packet
        // length can be zero, contents undefined
        GPSD_LOG(LOG_WARN, &session->context->errout,
                 "TSIPv1 xd0-41: raw GNSS data\n");
        break;

    // undecoded:
    case 0x9200:
        // Receiver Reset, send only
        FALLTHROUGH
    case 0xa400:
        // AGNSS, send only
        FALLTHROUGH
    default:
        // Huh?
        GPSD_LOG(LOG_WARN, &session->context->errout,
                 "TSIPv1 x%02x-%02x: unknown packet id/su-id\n",
                 id, sub_id);
        break;
    }
    if (bad_len) {
        GPSD_LOG(LOG_WARN, &session->context->errout,
                 "TSIPv1 0x%02x-%02x: runt, got length %u\n",
                 id, sub_id, length);
        mask = 0;
    }

    return mask;
}


/* This is the meat of parsing all the TSIP packets, except v1
 *
 * Return: mask
 */
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;
    unsigned short week;
    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;
    double d1, d2, d3, d4, d5;
    time_t now;
    char buf[BUFSIZ];
    char buf2[BUFSIZ];
    uint32_t tow;             // time of week in milli seconds
    double ftow;              // time of week in seconds
    double temp;              // temperature in degrees C
    double fqErr;             // PPS Offset. positive is slow.
    timespec_t ts_tow;
    char ts_buf[TIMESPEC_LEN];
    int bad_len = 0;

    if (TSIP_PACKET != session->lexer.type) {
        // this should not happen
        GPSD_LOG(LOG_INF, &session->context->errout,
                 "TSIP: tsip_analyze packet type %d\n",
                 session->lexer.type);
        return 0;
    }

    if (4 > session->lexer.outbuflen ||
        0x10 != session->lexer.outbuffer[0]) {
        // packet too short, or does not start with DLE
        GPSD_LOG(LOG_INF, &session->context->errout,
                 "TSIP: tsip_analyze packet bad packet\n");
        return 0;
    }

    // get receive time, first
    (void)time(&now);

    // put data part of message in buf

    memset(buf, 0, sizeof(buf));
    len = 0;
    for (i = 2; i < (int)session->lexer.outbuflen; i++) {
        if (0x10 == session->lexer.outbuffer[i] &&
            0x03 == session->lexer.outbuffer[++i]) {
                // DLE, STX.  end of packet, we know the length
                break;
        }
        buf[len++] = session->lexer.outbuffer[i];
    }

    id = (unsigned)session->lexer.outbuffer[1];
#ifdef __UNUSED__      // debug code
    GPSD_LOG(LOG_SHOUT, &session->context->errout,
             "TSIP x%02x: length %d: %s\n",
             id, len, gpsd_hexdump(buf2, sizeof(buf2),
             (char *)session->lexer.outbuffer, session->lexer.outbuflen));
#endif  // __UNUSED__
    GPSD_LOG(LOG_DATA, &session->context->errout,
             "TSIP x%02x: length %d: %s\n",
             id, len, gpsd_hexdump(buf2, sizeof(buf2), buf, len));

    // session->cycle_end_reliable = true;
    switch (id) {
    case 0x13:
        /* Packet Received
         * Present in:
         *   pre-2000 models
         *   ICM SMT 360 (2018)
         *   RES SMT 360 (2018)
         * Not present in:
         *   Copernicus II
         */
        if (1 > len) {
            bad_len = 1;
            break;
        }
        u1 = getub(buf, 0);     // Packet ID of non-parsable packet
        if (2 <= len) {
            u2 = getub(buf, 1);     // Data byte 0 of non-parsable packet
        } else {
            u2 = 0;
        }
        GPSD_LOG(LOG_WARN, &session->context->errout,
                 "TSIP x13: Report Packet type x%02x %02x "
                 "cannot be parsed\n",
                 u1, u2);
        // ignore the rest of the bad data
        if ((int)u1 == 0x8e && (int)u2 == 0x23) {
            /* no Compact Super Packet 0x8e-23 */
            GPSD_LOG(LOG_WARN, &session->context->errout,
                     "TSIP x8e-23: no available, use LFwEI (0x8f-20)\n");

            /* Request LFwEI Super Packet instead
             * SMT 360 does not support 0x8e-20 either */
            (void)tsip_write1(session, "\x8e\x20\x01", 3);
        }
        break;

    case 0x1c:        // Hardware/Software Version Information
        /* Present in:
         *   Acutime Gold
         *   Lassen iQ (2005) fw 1.16+
         *   Copernicus (2006)
         *   Copernicus II (2009)
         *   Thunderbolt E (2012)
         *   RES SMT 360 (2018)
         *   ICM SMT 360 (2018)
         *   RES360 17x22 (2018)
         *   Acutime 360
         * Not Present in:
         *   pre-2000 models
         *   ACE II (1999)
         *   ACE III (2000)
         *   Lassen SQ (2002)
         *   Lassen iQ (2005) pre fw 1.16
         */
        u1 = (uint8_t)getub(buf, 0);
        // decode by sub-code
        switch (u1) {
        case 0x81:
                /* Firmware component version information (0x1c-81)
                 * polled by 0x1c-01
                 * Present in:
                 *   Copernicus II (2009)
                 */
                // byte 1, reserved
                u2 = getub(buf, 2);       // Major version
                u3 = getub(buf, 3);       // Minor version
                u4 = getub(buf, 4);       // Build number
                u5 = getub(buf, 5);       // Build Month
                u6 = getub(buf, 6);       // Build Day
                ul1 = getbeu16(buf, 7);   // Build Year
                u7 = getub(buf, 9);       // Length of product name
                // check for valid module name length
                if (40 < u7) {
                    u7 = 40;
                }
                // check for valid module name length, again
                if (u7 > (len - 10)) {
                    u7 = len - 10;
                }
                // Product name in ASCII
                memcpy(buf2, &buf[10], u7);
                buf2[u7] = '\0';

                (void)snprintf(session->subtype, sizeof(session->subtype),
                               "fw %u.%u %u %02u/%02u/%04u %.40s",
                               u2, u3, u4, u6, u5, ul1, buf2);
                GPSD_LOG(LOG_PROG, &session->context->errout,
                         "TSIP x1c-81: Firmware version: %s\n",
                         session->subtype);

                mask |= DEVICEID_SET;
                if ('\0' == session->subtype1[0]) {
                    // request actual subtype1 from 0x1c-83
                    (void)tsip_write1(session, "\x1c\x03", 2);
                }
                break;

        case 0x83:
                /* Hardware component version information (0x1c-83)
                 * polled by 0x1c-03
                 * Not Present in:
                 *   LassenSQ (2002)
                 *   Copernicus II (2009)
                 */
                ul1 = getbeu32(buf, 1);  // Serial number
                u2 = getub(buf, 5);      // Build day
                u3 = getub(buf, 6);      // Build month
                ul2 = getbeu16(buf, 7);  // Build year
                u4 = getub(buf, 9);      // Build hour
                /* Hardware Code */
                session->driver.tsip.hardware_code = getbeu16(buf, 10);
                u5 = getub(buf, 12);     /* Length of Hardware ID */
                // check for valid module name length
                // copernicus ii is 27 long
                if (40 < u5) {
                    u5 = 40;
                }
                // check for valid module name length, again
                if (u5 > (len - 13)) {
                    u5 = len - 13;
                }
                memcpy(buf2, &buf[13], u5);
                buf2[u5] = '\0';

                (void)snprintf(session->subtype1, sizeof(session->subtype1),
                               "hw %u %02u/%02u/%04u %02u %04u %.40s",
                               ul1, u2, u3, ul2, u4,
                               session->driver.tsip.hardware_code,
                               buf2);
                GPSD_LOG(LOG_PROG, &session->context->errout,
                         "TSIP x1c-83: Hardware version: %s\n",
                         session->subtype1);

                mask |= DEVICEID_SET;

                /* Detecting device by Hardware Code */
                switch (session->driver.tsip.hardware_code) {
                case 3001:            // Acutime Gold
                    session->driver.tsip.subtype = TSIP_ACUTIME_GOLD;
                    configuration_packets_acutime_gold(session);
                    break;
                case 3023:            // RES SMT 360
                    session->driver.tsip.subtype = TSIP_RESSMT360;
                    configuration_packets_res360(session);
                    break;
                case 3026:            // ICM SMT 360
                    session->driver.tsip.subtype = TSIP_ICMSMT360;
                    configuration_packets_res360(session);
                    break;
                case 3031:            // RES360 17x22
                    session->driver.tsip.subtype = TSIP_RES36017x22;
                    configuration_packets_res360(session);
                    break;
                case 1001:            // Lassen iQ
                    FALLTHROUGH
                case 1002:            // Copernicus, Copernicus II
                    FALLTHROUGH
                case 3007:            // Thunderbolt E
                    FALLTHROUGH
                case 3032:            // Acutime 360
                    FALLTHROUGH
                default:
                    configuration_packets_generic(session);
                    break;
                }
                break;
        default:
                GPSD_LOG(LOG_ERROR, &session->context->errout,
                         "TSIP x1c-%02x: Unhandled subpacket\n", u1);
                break;
        }
        break;
    case 0x41:
        /* GPS Time (0x41).  polled by 0x21
         * Note: this is not the time of current fix
         * Present in:
         *   pre-2000 models
         *   Copernicus II (2009)
         *   ICM SMT 360 (2018)
         *   RES SMT 360 (2018)
         */
        if (len != 10) {
            bad_len = 10;
            break;
        }
        session->driver.tsip.last_41 = now;     // keep timestamp for request
        ftow = getbef32(buf, 0);                // gpstime
        week = getbeu16(buf, 4);                // week
        f2 = getbef32(buf, 6);                  // leap seconds
        if (0.0 <= ftow &&
            10.0 < f2) {
            session->context->leap_seconds = (int)round(f2);
            session->context->valid |= LEAP_SECOND_VALID;
            DTOTS(&ts_tow, ftow);
            session->newdata.time =
                gpsd_gpstime_resolv(session, week, ts_tow);
            mask |= TIME_SET | NTPTIME_IS;
            /* Note: this is not the time of current fix
             * Do not use in tsip.last_tow */
        }
        GPSD_LOG(LOG_PROG, &session->context->errout,
                 "TSIP x41: GPS Time: tow %.2f week %u ls %.1f %s\n",
                 ftow, week, f2,
                 timespec_str(&session->newdata.time, ts_buf, sizeof(ts_buf)));
        break;
    case 0x42:
        /* Single-Precision Position Fix, XYZ ECEF
         * Present in:
         *   pre-2000 models
         *   Copernicus II (2009)
         *   ICM SMT 360 (2018)
         *   RES SMT 360 (2018)
         */
        if (16 > len) {
            bad_len = 16;
            break;
        }
        session->newdata.ecef.x = getbef32(buf, 0);  // X
        session->newdata.ecef.y = getbef32(buf, 4);  // Y
        session->newdata.ecef.z = getbef32(buf, 8);  // Z
        ftow = getbef32(buf, 12);                    // time-of-fix
        DTOTS(&ts_tow, ftow);
        session->newdata.time = gpsd_gpstime_resolv(session,
                                                    session->context->gps_week,
                                                    ts_tow);
        GPSD_LOG(LOG_PROG, &session->context->errout,
                 "TSIP x42: SP-XYZ: %f %f %f ftow %f\n",
                 session->newdata.ecef.x,
                 session->newdata.ecef.y,
                 session->newdata.ecef.z,
                 ftow);
        mask = ECEF_SET | TIME_SET | NTPTIME_IS;
        if (!TS_EQ(&ts_tow, &session->driver.tsip.last_tow)) {
            mask |= CLEAR_IS;
            session->driver.tsip.last_tow = ts_tow;
        }
        break;
    case 0x43:
        /* Velocity Fix, XYZ ECEF
         * Present in:
         *   pre-2000 models
         *   ICM SMT 360 (2018)
         *   RES SMT 360 (2018)
         * Not Present in:
         *   Copernicus II (2009)
         */
        if (len != 20) {
            bad_len = 20;
            break;
        }
        session->newdata.ecef.vx = getbef32(buf, 0);  // X velocity
        session->newdata.ecef.vy = getbef32(buf, 4);  // Y velocity
        session->newdata.ecef.vz = getbef32(buf, 8);  // Z velocity
        f4 = getbef32(buf, 12);                       // bias rate
        ftow = getbef32(buf, 16);                     // time-of-fix
        DTOTS(&ts_tow, ftow);
        session->newdata.time = gpsd_gpstime_resolv(session,
                                                    session->context->gps_week,
                                                    ts_tow);
        GPSD_LOG(LOG_PROG, &session->context->errout,
                 "TSIP x43: Vel XYZ: %f %f %f %f ftow %f\n",
                 session->newdata.ecef.vx,
                 session->newdata.ecef.vy,
                 session->newdata.ecef.vz,
                 f4, ftow);
        mask = VECEF_SET | TIME_SET | NTPTIME_IS;
        if (!TS_EQ(&ts_tow, &session->driver.tsip.last_tow)) {
            mask |= CLEAR_IS;
            session->driver.tsip.last_tow = ts_tow;
        }
        break;
    case 0x45:
        /* Software Version Information (0x45)
         * Present in:
         *   pre-2000 models
         *   ACE II (1999)
         *   ACE III (2000)
         *   Lassen SQ (2002)
         *   Lassen iQ (2005)
         *   Copernicus II (2009)
         *   ICM SMT 360
         *   RES SMT 360
         *   Probably all TSIP
         */
        if (10 > len) {
            bad_len = 10;
            break;
        }
        // convert 2 digit years to 4 digit years
        ul1 = getub(buf, 3);
        if (80 > ul1) {
            ul1 += 2000;
        } else {
            ul1 += 1900;
        }
        ul2 = getub(buf, 8);
        if (80 > ul2) {
            ul2 += 2000;
        } else {
            ul2 += 1900;
        }
        /* ACE calls these "NAV processor firmware" and
         * "SIG processor firmware".
         * RES SMT 360 calls these "application" and "GPS core".
         */
        (void)snprintf(session->subtype, sizeof(session->subtype),
                       "sw %u.%u %02u/%02u/%04u hw %u.%u %02u/%02u/%04u",
                       getub(buf, 0),
                       getub(buf, 1),
                       getub(buf, 4),
                       getub(buf, 2),
                       ul1,
                       getub(buf, 5),
                       getub(buf, 6),
                       getub(buf, 9),
                       getub(buf, 7),
                       ul2);
        GPSD_LOG(LOG_PROG, &session->context->errout,
                 "TSIP x45: Software version: %s\n", session->subtype);
        mask |= DEVICEID_SET;
        break;
    case 0x46:
        /* Health of Receiver (0x46).  Poll with 0x26
         * Present in:
         *   pre-2000 models
         *   Copernicus II (2009)
         *   ICM SMT 360 (2018)
         *   RES SMT 360 (2018)
         *   all models?
         * RES SMT 360 says use 0x8f-ab or 0x8f-ac instead
         */
        if ( 2 > len) {
            bad_len = 2;
            break;
        }
        session->driver.tsip.last_46 = now;
        u1 = getub(buf, 0);     /* Status code */
        /* Error codes, model dependent
         * 0x01 -- no battery, always set on RES SMT 360
         * 0x10 -- antenna fault
         * 0x20 -- antenna is shorted
         */
        u2 = getub(buf, 1);
        if ((uint8_t)0 != u1) {
            session->newdata.status = STATUS_UNK;
            mask |= STATUS_SET;
        } else if (STATUS_GPS > session->newdata.status) {
            session->newdata.status = STATUS_GPS;
            mask |= STATUS_SET;
        }
        GPSD_LOG(LOG_PROG, &session->context->errout,
                 "TSIP x46: Receiver Health: %x %x\n", u1, u2);
        break;
    case 0x47:
        /* Signal Levels for all Satellites
         * Present in:
         *   pre-2000 models
         *   Copernicus II (2009)
         *   ICM SMT 360 (2018)
         *   RES SMT 360 (2018)
         */
        if (1 > len) {
            bad_len = 1;
            break;
        }
        gpsd_zero_satellites(&session->gpsdata);
        /* satellite count, RES SMT 360 doc says 12 max */
        count = (int)getub(buf, 0);
        if (len != (5 * count + 1)) {
            bad_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(LOG_PROG, &session->context->errout,
                 "TSIP x47: Signal Levels: (%d):%s\n", count, buf2);
        mask |= SATELLITE_SET;
        break;
    case 0x48:
        /* GPS System Message
         * Present in:
         *   pre-2000 models
         * Not Present in:
         *   Copernicus II (2009)
         *   ICM SMT 360 (2018)
         *   RES SMT 360 (2018)
         */
        buf[len] = '\0';
        GPSD_LOG(LOG_PROG, &session->context->errout,
                 "TSIP x48: GPS System Message: %s\n", buf);
        break;
    case 0x4a:
        /* Single-Precision Position LLA
         * Only sent when valid
         * Present in:
         *   pre-2000 models
         *   Copernicus II (2009)
         *   ICM SMT 360 (2018)
         *   RES SMT 360 (2018)
         */
        if (len != 20) {
            bad_len = 20;
            break;
        }
        session->newdata.latitude = getbef32((char *)buf, 0) * RAD_2_DEG;
        session->newdata.longitude = getbef32((char *)buf, 4) * RAD_2_DEG;
        /* depending on GPS config, could be either WGS84 or MSL */
        d1 = getbef32((char *)buf, 8);
        if (0 == session->driver.tsip.alt_is_msl) {
            session->newdata.altHAE = d1;
        } else {
            session->newdata.altMSL = d1;
        }

        //f1 = getbef32((char *)buf, 12);       // clock bias
        ftow = getbef32((char *)buf, 16);       // time-of-fix
        if (0 != (session->context->valid & GPS_TIME_VALID)) {
            DTOTS(&ts_tow, ftow);
            session->newdata.time =
                gpsd_gpstime_resolv(session, session->context->gps_week,
                                    ts_tow);
            mask |= TIME_SET | NTPTIME_IS;
            if (!TS_EQ(&ts_tow, &session->driver.tsip.last_tow)) {
                mask |= CLEAR_IS;
                session->driver.tsip.last_tow = ts_tow;
            }
        }
        // this seems to be often first in cycle
        // REPORT_IS here breaks reports in read-only mode
        mask |= LATLON_SET | ALTITUDE_SET;
        GPSD_LOG(LOG_PROG, &session->context->errout,
                 "TSIP x4a: SP-LLA: time=%s lat=%.2f lon=%.2f "
                 "alt=%.2f\n",
                 timespec_str(&session->newdata.time, ts_buf, sizeof(ts_buf)),
                 session->newdata.latitude,
                 session->newdata.longitude, d1);
        break;
    case 0x4b:
        /* Machine/Code ID and Additional Status (0x4b)
         * polled by i0x25 or 0x26.  Sent with 0x46.
         * Present in:
         *   pre-2000 models
         *   Copernicus II (2009)
         *   ICM SMT 360 (2018)
         *   RES SMT 360 (2018)
         *   all receivers?
         */
        if (len != 3) {
            bad_len = 3;
            break;
        }
        session->driver.tsip.machine_id = getub(buf, 0);  /* Machine ID */
        /* Status 1
         * bit 1 -- No RTC at power up
         * bit 3 -- almanac not complete and current */
        u2 = getub(buf, 1);
        u3 = getub(buf, 2);     /* Status 2/Superpacket Support */
        GPSD_LOG(LOG_PROG, &session->context->errout,
                 "TSIP x4b: Machine ID: %02x %02x %02x\n",
                 session->driver.tsip.machine_id,
                 u2, u3);

        if ('\0' == session->subtype[0]) {
            const char *name;
            // better than nothing
            switch (session->driver.tsip.machine_id) {
            case 1:
                // should use better name from superpacket
                name = " SMT 360";
                /* request actual subtype from 0x1c-81
                 * which in turn requests 0x1c-83 */
                (void)tsip_write1(session, "\x1c\x01", 2);
                break;
            case 0x32:
                name = " Acutime 360";
                break;
            case 0x5a:
                name = " Lassen iQ";
                /* request actual subtype from 0x1c-81
                 * which in turn requests 0x1c-83.
                 * Only later firmware Lassen iQ supports this */
                (void)tsip_write1(session, "\x1c\x01", 2);
                break;
            case 0x61:
                name = " Acutime 2000";
                break;
            case 0x62:
                name = " ACE UTC";
                break;
            case 0x96:
                // Also Copernicus II
                name = " Copernicus, Thunderbolt E";
                /* so request actual subtype from 0x1c-81
                 * which in turn requests 0x1c-83 */
                (void)tsip_write1(session, "\x1c\x01", 2);
                break;
            default:
                 name = "";
            }
            (void)snprintf(session->subtype, sizeof(session->subtype),
                           "Machine ID x%x%s",
                           session->driver.tsip.machine_id, name);
        }
        if (u3 != session->driver.tsip.superpkt) {
            session->driver.tsip.superpkt = u3;
            GPSD_LOG(LOG_PROG, &session->context->errout,
                     "TSIP: Switching to Super Packet mode %d\n", u3);
            switch (u3){
            default:
                FALLTHROUGH
            case 0:
                // old Trimble, no superpackets
                break;
            case 1:
                // 1 == superpacket is acutime 360, support 0x8f-20

                /* set I/O Options for Super Packet output */
                /* Position: 8F20, ECEF, DP */
                buf[0] = 0x35;
                buf[1] = IO1_8F20|IO1_DP|IO1_ECEF;
                buf[2] = 0x00;          // Velocity: none (via SP)
                buf[3] = 0x00;          // Time: GPS
                buf[4] = IO4_DBHZ;      // Aux: dBHz
                (void)tsip_write1(session, buf, 5);
                break;
            case 2:
                // 2 == SMT 360, no 0x8f-20
                break;
            }
        }
        break;
    case 0x4c:
        /* Operating Parameters Report (0x4c).  Polled by 0x2c
         * Present in:
         *   pre-2000 models
         *   Lassen iQ, but not documented
         * Not Present in:
         *   Copernicus II (2009)
         *   ICM SMT 360 (2018)
         *   RES SMT 360 (2018)
         */
        if (len != 17) {
            bad_len = 17;
            break;
        }
        u1 = getub(buf, 0);               // Dynamics Code
        f1 = getbef32((char *)buf, 1);    // Elevation Mask
        f2 = getbef32((char *)buf, 5);    // Signal Level Mask
        f3 = getbef32((char *)buf, 9);    // PDOP Mask
        f4 = getbef32((char *)buf, 13);   // PDOP Switch
        GPSD_LOG(LOG_PROG, &session->context->errout,
                 "TSIP x4c: Operating Params: x%02x %f %f %f %f\n",
                 u1, f1, f2, f3, f4);
        break;
    case 0x54:
        /* Bias and Bias Rate Report (0x54)
         * Present in:
         *   pre-2000 models
         *   Acutime 360
         *   ICM SMT 360  (undocumented)
         *   RES SMT 360  (undocumented)
         * Not Present in:
         *   Copernicus II (2009)
         */
         {
            float  bias, bias_rate;
            bias = getbef32((char *)buf, 0);         // Bias
            bias_rate = getbef32((char *)buf, 4);    // Bias rate
            ftow = getbef32((char *)buf, 8);         // tow
            DTOTS(&ts_tow, ftow);
            session->newdata.time =
                gpsd_gpstime_resolv(session, session->context->gps_week,
                                    ts_tow);
            GPSD_LOG(LOG_PROG, &session->context->errout,
                     "TSIP x54: Bias and Bias Rate Report: %f %f %f\n",
                     bias, bias_rate, ftow);
            mask |= TIME_SET | NTPTIME_IS;
            if (!TS_EQ(&ts_tow, &session->driver.tsip.last_tow)) {
                mask |= CLEAR_IS;
                session->driver.tsip.last_tow = ts_tow;
            }
         }
         break;
    case 0x55:
        /* IO Options (0x55), polled by 0x35
         * Present in:
         *   pre-2000 models
         *   ICM SMT 360 (2018)
         *   RES SMT 360 (2018)
         *   all TSIP?
         *
         * Lassen iQ defaults: 02 02 00 00
         * RES SMT 360 defaults:  12 02 00 08
         */
        if (len != 4) {
            bad_len = 4;
            break;
        }
        u1 = getub(buf, 0);     /* Position */
        // decode HAE/MSL from Position byte
        if (IO1_MSL == (IO1_MSL & u1)) {
            session->driver.tsip.alt_is_msl = 1;
        } else {
            session->driver.tsip.alt_is_msl = 0;
        }
        u2 = getub(buf, 1);     /* Velocity */
        /* Timing
         * bit 0 - reserved use 0x8e-a2 ?
         */
        u3 = getub(buf, 2);
        /* Aux
         * bit 0 - packet 0x5a (raw data)
         * bit 3 -- Output dbHz
         */
        u4 = getub(buf, 3);
        GPSD_LOG(LOG_PROG, &session->context->errout,
                 "TSIP x55: IO Options: %02x %02x %02x %02x\n",
                 u1, u2, u3, u4);
        if ((u1 & 0x20) != (uint8_t) 0) {
            /* Try to get Super Packets
             * Turn off 0x8f-20 LFwEI Super Packet */
            (void)tsip_write1(session, "\x8e\x20\x00", 3);

            // Turn on Compact Super Packet 0x8f-23
            (void)tsip_write1(session, "\x8e\x23\x01", 3);
            session->driver.tsip.req_compact = now;
        }
        break;
    case 0x56:
        /* Velocity Fix, East-North-Up (ENU)
         * Present in:
         *   pre-2000 models
         *   Copernicus II (2009)
         *   ICM SMT 360 (2018)
         *   RES SMT 360 (2018)
         */
        if (len != 20) {
            bad_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
        ftow = getbef32((char *)buf, 16);  // time-of-fix
        DTOTS(&ts_tow, ftow);
        session->newdata.time = gpsd_gpstime_resolv(session,
                                                    session->context->gps_week,
                                                    ts_tow);
        session->newdata.NED.velN = f2;
        session->newdata.NED.velE = f1;
        session->newdata.NED.velD = -f3;
        mask |= VNED_SET | TIME_SET | NTPTIME_IS;
        if (!TS_EQ(&ts_tow, &session->driver.tsip.last_tow)) {
            mask |= CLEAR_IS;
            session->driver.tsip.last_tow = ts_tow;
        }
        GPSD_LOG(LOG_PROG, &session->context->errout,
                 "TSIP x56: Vel ENU: %f %f %f %f ftow %f\n",
                 f1, f2, f3, f4, ftow);
        break;
    case 0x57:
        /* Information About Last Computed Fix
         * Present in:
         *   pre-2000 models
         *   Copernicus II (2009)
         *   ICM SMT 360 (2018)
         *   RES SMT 360 (2018)
         */
        if (8 != len) {
            bad_len = 8;
            break;
        }
        u1 = getub(buf, 0);                     // Source of information
        u2 = getub(buf, 1);                     // Mfg. diagnostic
        ftow = getbef32((char *)buf, 2);        // gps_time
        week = getbeu16(buf, 6);                // tsip.gps_week
        if (0x01 == getub(buf, 0)) {
            // good current fix
            DTOTS(&ts_tow, ftow);
            (void)gpsd_gpstime_resolv(session, week, ts_tow);
            mask |= TIME_SET | NTPTIME_IS;
            if (!TS_EQ(&ts_tow, &session->driver.tsip.last_tow)) {
                mask |= CLEAR_IS;
                session->driver.tsip.last_tow = ts_tow;
            }
        }
        GPSD_LOG(LOG_PROG, &session->context->errout,
                 "TSIP x57: Fix info: %02x %02x %u %f\n",
                 u1, u2, week, ftow);
        break;
    case 0x5a:
        /* Raw Measurement Data
         * Present in:
         *   pre-2000 models
         *   Copernicus II (2009)
         *   ICM SMT 360 (2018)
         *   RES SMT 360 (2018)
         */
        if (25 > len) {
            bad_len = 25;
            break;
        }
        // Useless without the pseudorange...
        u1 = getub(buf, 0);             // PRN 1-237
        f1 = getbef32((char *)buf, 1);  // sample length
        f2 = getbef32((char *)buf, 5);  // Signal Level, dbHz
        f3 = getbef32((char *)buf, 9);  // Code phase, 1/16th chip
        f4 = getbef32((char *)buf, 13); // Doppler, Hz @ L1
        d1 = getbed64((char *)buf, 17); // Time of Measurement
        GPSD_LOG(LOG_PROG, &session->context->errout,
                 "TSIP x5a: Raw Measurement Data: %d %f %f %f %f %f\n",
                 u1, f1, f2, f3, f4, d1);
        break;
    case 0x5c:
        /* Satellite Tracking Status (0x5c) polled by 0x3c
         *
         * GPS only, no WAAS reported here or used in fix
         * Present in:
         *   pre-2000 models
         *   Copernicus, Copernicus II
         *   Thunderbold E
         * Not Present in:
         *   ICM SMT 360 (2018)
         *   RES SMT 360 (2018)
         */
        if (24 != len) {
            bad_len = 24;
            break;
        }
        u1 = getub(buf, 0);                 // PRN 1-32
        u2 = getub(buf, 1);                 // slot:chan
        u3 = getub(buf, 2);                 // Acquisition flag
        u4 = getub(buf, 3);                 // Ephemeris flag
        f1 = getbef32((char *)buf, 4);      // Signal level
        // time of skyview, not current time, or time of fix
        ftow = getbef32((char *)buf, 8);
        DTOTS(&session->gpsdata.skyview_time, ftow);

        d1 = getbef32((char *)buf, 12) * RAD_2_DEG;     // Elevation
        d2 = getbef32((char *)buf, 16) * RAD_2_DEG;     // Azimuth

        /* Channel number, bits 0-2 reserved/unused as of 1999.
         * Seems to always start series at zero and increment to last one.
         * No way to know how many there will be.
         * Save current channel to check for last 0x5c message
         */
        i = (int)(u2 >> 3);     // channel number, starting at 0
        if (0 == i) {
            // start of new cycle, save last count
            session->gpsdata.satellites_visible =
                session->driver.tsip.last_chan_seen;
        }
        session->driver.tsip.last_chan_seen = i;

        GPSD_LOG(LOG_PROG, &session->context->errout,
                 "TSIP x5c: Satellite Tracking Status: Ch %2d PRN %3d "
                 "es %d Acq %d Eph %2d SNR %4.1f LMT %.04f El %4.1f Az %5.1f\n",
                 i, u1, u2 & 7, u3, u4, f1, ftow, d1, d2);
        if (i < TSIP_CHANNELS) {
            session->gpsdata.skyview[i].PRN = (short)u1;
            session->gpsdata.skyview[i].svid = (unsigned char)u1;
            session->gpsdata.skyview[i].gnssid = GNSSID_GPS;
            session->gpsdata.skyview[i].ss = (double)f1;
            session->gpsdata.skyview[i].elevation = (double)d1;
            session->gpsdata.skyview[i].azimuth = (double)d2;
            session->gpsdata.skyview[i].used = false;
            session->gpsdata.skyview[i].gnssid = tsip_gnssid(0, u1,
                &session->gpsdata.skyview[i].svid);
            if (0.1 < f1) {
                // check used list, if ss is non-zero
                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;
                    }
                }
            }
            /* when polled by 0x3c, all the skyview times will be the same
             * in one cluster */
            if (0.0 < ftow) {
                DTOTS(&ts_tow, ftow);
                session->gpsdata.skyview_time =
                    gpsd_gpstime_resolv(session, session->context->gps_week,
                                        ts_tow);
                /* do not save in session->driver.tsip.last_tow
                 * as this is skyview time, not fix time */
            }
            if (++i >= session->gpsdata.satellites_visible) {
                /* Last of the series?
                 * This will cause extra SKY if this set has more
                 * sats than the last set */
                mask |= SATELLITE_SET;
                session->gpsdata.satellites_visible = i;
            }
            /* If this series has fewer than last series there will
             * be no SKY, unless the cycle ender pushes the SKY */
        }
        break;

     case 0x5d:
        /* GNSS Satellite Tracking Status (multi-GNSS operation) (0x5d)
         * polled by 0x3c
         *
         * GNSS only, no WAAS reported here or used in fix
         * Present in:
         *   ICM SMT 360 (2018)
         *   RES SMT 360 (2018)
         * Not Present in:
         *   pre-2000 models
         *   Copernicus, Copernicus II
         *   Thunderbold E
         */
        if (len != 26) {
            bad_len = 26;
            break;
        }
        u1 = getub(buf, 0);     /* PRN */

        /* Channel number, bits 0-2 reserved/unused as of 1999.
         * Seems to always start series at zero and increment to last one.
         * No way to know how many there will be.
         * Save current channel to check for last 0x5d message
         */
        i = getub(buf, 1);     /* chan */
        if (0 == i) {
            // start of new cycle, save last count
            session->gpsdata.satellites_visible =
                session->driver.tsip.last_chan_seen;
        }
        session->driver.tsip.last_chan_seen = i;

        u3 = getub(buf, 2);     /* Acquisition flag */
        u4 = getub(buf, 3);     /* SV used in Position or Time calculation*/
        f1 = getbef32((char *)buf, 4);  /* Signal level */
        // This can be one second behind the TPV on RES SMT 360
        ftow = 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 */


        GPSD_LOG(LOG_PROG, &session->context->errout,
                "TSIP x5d: 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, ftow, d1, d2, u5, u6, u7, u8, u9, u10);
        if (i < TSIP_CHANNELS) {
            session->gpsdata.skyview[i].PRN = (short)u1;
            session->gpsdata.skyview[i].ss = (double)f1;
            session->gpsdata.skyview[i].elevation = (double)d1;
            session->gpsdata.skyview[i].azimuth = (double)d2;
            session->gpsdata.skyview[i].used = (bool)u4;
            session->gpsdata.skyview[i].gnssid = tsip_gnssid(u10, u1,
                &session->gpsdata.skyview[i].svid);
            if (0 == u7) {
                session->gpsdata.skyview[i].health = SAT_HEALTH_OK;
            } else {
                session->gpsdata.skyview[i].health = SAT_HEALTH_BAD;
            }

            /* when polled by 0x3c, all the skyview times will be the same
             * in one cluster */
            if (0.0 < ftow) {
                DTOTS(&ts_tow, ftow);
                session->gpsdata.skyview_time =
                    gpsd_gpstime_resolv(session, session->context->gps_week,
                                        ts_tow);
                /* do not save in session->driver.tsip.last_tow
                 * as this is skyview time, not fix time */
            }
            if (++i >= session->gpsdata.satellites_visible) {
                /* Last of the series?
                 * This will cause extra SKY if this set has more
                 * sats than the last set */
                mask |= SATELLITE_SET;
                session->gpsdata.satellites_visible = i;
            }
            /* If this series has fewer than last series there will
             * be no SKY, unless the cycle ender pushes the SKY */
        }
        break;
    case 0x6c:
        /* Satellite Selection List (0x6c) polled by 0x24
         *
         * Present in:
         *   ICM SMT 360 (2018)
         *   RES SMT 360 (2018)
         * Not present in:
         *   pre-2000 models
         *   Copernicus II (2009)
         *   Lassen SQ (2002)
         *   Lassen iQ (2005) */
        if (18 > len) {
            bad_len = 18;
            break;
        }
        u1 = getub(buf, 0);          // fix dimension, mode
        count = (int)getub(buf, 17);
        if (len != (18 + count)) {
            bad_len = 18 + count;
            break;
        }

        // why same as 6d?
        session->driver.tsip.last_6d = now;     /* keep timestamp for request */
        /*
         * 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 0x8f-20, but some
         * TSIP do not support 0x8f-20, and 0x6c may be all we got.
         */
        switch (u1 & 7) {       /* dimension */
        case 1:       // clock fix (surveyed in)
            FALLTHROUGH
        case 5:       // Overdetermined clock fix
            session->newdata.status = STATUS_TIME;
            session->newdata.mode = MODE_3D;
            break;
        case 3:
            session->newdata.status = STATUS_GPS;
            session->newdata.mode = MODE_2D;
            break;
        case 4:
            session->newdata.status = STATUS_GPS;
            session->newdata.mode = MODE_3D;
            break;
        case 2:
            FALLTHROUGH
        case 6:
            FALLTHROUGH
        case 7:
            FALLTHROUGH
        default:
            session->newdata.status = STATUS_UNK;
            session->newdata.mode = MODE_NO_FIX;
            break;
        }
        if (8 == (u1 & 8)) {
            // Surveyed in
            session->newdata.status = STATUS_TIME;
        }
        mask |= MODE_SET | STATUS_SET;

        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);
        // RES SMT 360 and ICM SMT 360 always report tdop == 1
        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));
        mask |= DOP_SET;

        memset(session->driver.tsip.sats_used, 0,
                sizeof(session->driver.tsip.sats_used));
        buf2[0] = '\0';
        for (i = 0; i < count; i++) {
            session->driver.tsip.sats_used[i] = (short)getub(buf, 18 + i);
            if (session->context->errout.debug >= LOG_PROG) {
                str_appendf(buf2, sizeof(buf2),
                               " %d", session->driver.tsip.sats_used[i]);
            }
        }
        GPSD_LOG(LOG_PROG, &session->context->errout,
                 "TSIP x5c: AIVSS: mode %d status %d used %d "
                 "pdop %.1f hdop %.1f vdop %.1f tdop %.1f gdop %.1f Used %s\n",
                 session->newdata.mode,
                 session->newdata.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,
                 buf2);
        mask |= USED_IS;
        break;
    case 0x6d:
        /* All-In-View Satellite Selection (0x6d) polled by 0x24
         * Sent after every fix
         *
         * Present in:
         *   pre-2000 models
         *   Copernicus II (2009)
         *   Lassen SQ
         *   Lassen iQ
         * Not present in:
         *   ICM SMT 360 (2018)
         *   RES SMT 360 (2018)
         */
        if (1 > len) {
            bad_len = 1;
            break;
        }
        u1 = getub(buf, 0);     /* nsvs/dimension */
        count = (int)((u1 >> 4) & 0x0f);
        if (len != (17 + count)) {
            bad_len = 17 + count;
            break;
        }
        session->driver.tsip.last_6d = now;     /* keep timestamp for request */
        /*
         * 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 0x8f-20, but some
         * TSIP do not support 0x8f-20, and 0x6c may be all we got.
         */
        if (0 != isfinite(session->gpsdata.fix.longitude)) {
            // have a fix
            switch (u1 & 7) {   /* dimension */
            case 1:       // clock fix (surveyed in)
                FALLTHROUGH
            case 5:       // Overdetermined clock fix
                session->newdata.status = STATUS_TIME;
                session->newdata.mode = MODE_3D;
                break;
            case 3:
                session->newdata.status = STATUS_GPS;
                session->newdata.mode = MODE_2D;
                break;
            case 4:
                session->newdata.status = STATUS_GPS;
                session->newdata.mode = MODE_3D;
                break;
            case 2:
                FALLTHROUGH
            case 6:
                FALLTHROUGH
            case 7:
                FALLTHROUGH
            default:
                session->newdata.status = STATUS_UNK;
                session->newdata.mode = MODE_NO_FIX;
                break;
            }
        } else {
            session->newdata.status = STATUS_UNK;
            session->newdata.mode = MODE_NO_FIX;
        }
        mask |= MODE_SET | STATUS_SET;

        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));
        mask |= DOP_SET;

        memset(session->driver.tsip.sats_used, 0,
               sizeof(session->driver.tsip.sats_used));
        buf2[0] = '\0';
        for (i = 0; i < count; i++) {
            // negative PRN means sat unhealthy
            session->driver.tsip.sats_used[i] = (short)getub(buf, 17 + i);
            if (session->context->errout.debug >= LOG_PROG) {
                str_appendf(buf2, sizeof(buf2),
                               " %d", session->driver.tsip.sats_used[i]);
            }
        }
        GPSD_LOG(LOG_PROG, &session->context->errout,
                 "TSIP x6d: AIVSS: u1=x%x status=%d mode=%d used=%d "
                 "pdop=%.1f hdop=%.1f vdop=%.1f tdop=%.1f gdop=%.1f used:%s\n",
                 u1,
                 session->newdata.status,
                 session->newdata.mode,
                 session->gpsdata.satellites_used,
                 session->gpsdata.dop.pdop,
                 session->gpsdata.dop.hdop,
                 session->gpsdata.dop.vdop,
                 session->gpsdata.dop.tdop,
                 session->gpsdata.dop.gdop, buf2);
        mask |= USED_IS;
        break;
    case 0x82:
        /* Differential Position Fix Mode (0x82) poll with 0x62-ff
         * Sent after every position fix in Auto GPS/DGPS,
         * so potential cycle ender
         *
         * Present in:
         *   pre-2000 models
         *   Copernicus II (2009)
         *   Lassen SQ
         *   Lassen iQ, deprecated use 0xbb instead
         * Not Present in:
         *   ICM SMT 360 (2018)
         *   RES SMT 360 (2018)
         */
        if (len != 1) {
            bad_len = 1;
            break;
        }
        /* differential position fix mode */
        u1 = getub(buf, 0);
        if (3 == (u1 & 3)) {
            /* currently mode 3 (auto DGPS) and so have DGPS */
            session->newdata.status = STATUS_DGPS;
            mask |= STATUS_SET;
        }
        GPSD_LOG(LOG_PROG, &session->context->errout,
                 "TSIP x82: DPFM: mode %d status=%d\n",
                 u1, session->newdata.status);
        break;
    case 0x83:
        /* Double-Precision XYZ Position Fix and Bias Information
         * Only sent when valid
         * Present in:
         *   pre-2000 models
         *   LasenSQ (2002)
         *   Copernicus II (2009)
         *   ICM SMT 360 (2018)
         *   RES SMT 360 (2018)
         */
        if (36 > len) {
            bad_len = 36;
            break;
        }
        session->newdata.ecef.x = getbed64((char *)buf, 0);  /* X */
        session->newdata.ecef.y = getbed64((char *)buf, 8);  /* Y */
        session->newdata.ecef.z = getbed64((char *)buf, 16); /* Z */
        d4 = getbed64((char *)buf, 24); /* clock bias */
        ftow = getbef32((char *)buf, 32); /* time-of-fix */
        DTOTS(&ts_tow, ftow);
        session->newdata.time = gpsd_gpstime_resolv(session,
                                                    session->context->gps_week,
                                                    ts_tow);
        /* No fix mode info!! That comes later in 0x6d.
         * This message only sent when there is 2D or 3D fix.
         * This is a problem as gpsd will send a report with no mode.
         * Steal mode from last fix.
         * The last fix is likely lastfix, not oldfix, as this is likely
         * a new time and starts a new cycle! */
        session->newdata.status = session->lastfix.status;
        if (MODE_2D > session->oldfix.mode) {
            session->newdata.mode = MODE_2D;  // At least 2D
        } else {
            session->newdata.mode = session->lastfix.mode;
        }
        mask |= STATUS_SET | MODE_SET;

        GPSD_LOG(LOG_PROG, &session->context->errout,
                 "TSIP x83: DP-XYZ: %f %f %f %f tow %f mode %u\n",
                 session->newdata.ecef.x,
                 session->newdata.ecef.y,
                 session->newdata.ecef.z,
                 d4, ftow,
                 session->newdata.mode);
        mask |= ECEF_SET | TIME_SET | NTPTIME_IS;
        if (!TS_EQ(&ts_tow, &session->driver.tsip.last_tow)) {
            // New time, so new fix.
            mask |= CLEAR_IS;
            session->driver.tsip.last_tow = ts_tow;
        }
        break;
    case 0x84:
        /* Double-Precision LLA Position Fix and Bias Information
         * Present in:
         *   pre-2000 models
         *   Copernicus II (2009)
         *   LassenSQ  (2002)
         *   ICM SMT 360 (2018)
         *   RES SMT 360 (2018)
         */
        if (len != 36) {
            bad_len = 36;
            break;
        }
        session->newdata.latitude = getbed64((char *)buf, 0) * RAD_2_DEG;
        session->newdata.longitude = getbed64((char *)buf, 8) * RAD_2_DEG;
        /* depending on GPS config, could be either WGS84 or MSL */
        d1 = getbed64((char *)buf, 16);
        if (0 == session->driver.tsip.alt_is_msl) {
            session->newdata.altHAE = d1;
        } else {
            session->newdata.altMSL = d1;
        }
        mask |= ALTITUDE_SET;
        //d1 = getbed64((char *)buf, 24);       clock bias */
        ftow = getbef32((char *)buf, 32);       /* time-of-fix */
        if ((session->context->valid & GPS_TIME_VALID)!=0) {
            // fingers crossed receiver set to UTC, not GPS.
            DTOTS(&ts_tow, ftow);
            session->newdata.time =
                gpsd_gpstime_resolv(session, session->context->gps_week,
                                    ts_tow);
            mask |= TIME_SET | NTPTIME_IS;
            if (!TS_EQ(&ts_tow, &session->driver.tsip.last_tow)) {
                mask |= CLEAR_IS;
                session->driver.tsip.last_tow = ts_tow;
            }
        }
        mask |= LATLON_SET;
        /* No fix mode info!! That comes later in 0x6d.
         * Message sent when there is 2D or 3D fix.
         * This is a problem as gpsd will send a report with no mode.
         * This message only sent on 2D or 3D fix.
         * Steal mode from last fix. */
        session->newdata.status = session->oldfix.status;
        session->newdata.mode = session->oldfix.mode;
        mask |= STATUS_SET | MODE_SET;

        GPSD_LOG(LOG_PROG, &session->context->errout,
                 "TSIP x84: DP-LLA: time=%s lat=%.2f lon=%.2f alt=%.2f\n",
                 timespec_str(&session->newdata.time, ts_buf, sizeof(ts_buf)),
                 session->newdata.latitude,
                 session->newdata.longitude, d1);
        break;
    case 0x8f:
        /* Super Packet.
         * Present in:
         *   pre-2000 models
         *   ACE II
         *   ACE III
         *   Copernicus II (2009)
         *   ICM SMT 360
         *   RES SMT 360
         */
        u1 = (uint8_t) getub(buf, 0);
        switch (u1) {           // sub-code ID
        case 0x15:
            /* Current Datum Values
             * Not Present in:
             *   pre-2000 models
             *   Copernicus II (2009)
             *   ICM SMT 360 (2018)
             *   RES SMT 360 (2018)
             */
            if (len != 43) {
                bad_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(LOG_PROG, &session->context->errout,
                     "TSIP x8f-15: 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) 0x8f-20
             * Only output when fix is available.
             * CSK sez "why does my Lassen SQ output oversize packets?"
             * Present in:
             *   pre-2000 models
             *   ACE II
             *   Copernicus, Copernicus II (64-bytes)
             * Not present in:
             *   ICM SMT 360
             *   RES SMT 360
             */
            if ((len != 56) &&
                (len != 64)) {
                bad_len = 56;
                break;
            }
            s1 = getbes16(buf, 2);      // east velocity
            s2 = getbes16(buf, 4);      // north velocity
            s3 = getbes16(buf, 6);      // up velocity
            tow = getbeu32(buf, 8);     // time in ms
            sl1 = getbes32(buf, 12);    // latitude
            ul2 = getbeu32(buf, 16);    // longitude
            // Lassen iQ, and copernicus (ii) doc says this is always altHAE
            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
            week = getbeu16(buf, 30);   // tsip.gps_week
            // PRN/IODE data follows
            GPSD_LOG(LOG_PROG, &session->context->errout,
                     "TSIP x8f-20: LFwEI: %d %d %d tow %u %d "
                     " %u %u %x %x %u leap %u week %d\n",
                     s1, s2, s3, tow, sl1, ul2, sl2, u1, u2, u3, u4, week);

            if ((u1 & 0x01) != (uint8_t) 0) {     // check velocity scaling
                d5 = 0.02;
            } else {
                d5 = 0.005;
            }

            // 0x8000 is over-range
            if ((int16_t)0x8000 != s2) {
                d2 = (double)s2 * d5;   // north velocity m/s
                session->newdata.NED.velN = d2;
            }
            if ((int16_t)0x8000 != s1) {
                d1 = (double)s1 * d5;   // east velocity m/s
                session->newdata.NED.velE = d1;
            }
            if ((int16_t)0x8000 != s3) {
                d3 = (double)s3 * d5;       // up velocity m/s
                session->newdata.NED.velD = -d3;
            }

            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;
            // Lassen iQ doc says this is always altHAE in mm
            session->newdata.altHAE = (double)sl2 * 1e-3;
            mask |= ALTITUDE_SET;

            session->newdata.status = STATUS_UNK;
            session->newdata.mode = MODE_NO_FIX;
            if ((u2 & 0x01) == (uint8_t)0) {          // Fix Available
                session->newdata.status = STATUS_GPS;
                if ((u2 & 0x02) != (uint8_t)0) {      // DGPS Corrected
                    session->newdata.status = STATUS_DGPS;
                }
                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;
                /* check for week rollover
                 * Trimble uses 15 bit weeks, but can guess the epoch wrong
                 * Can not be in gpsd_gpstime_resolv() because that
                 * may see BUILD_LEAPSECONDS instead of leap_seconds
                 * from receiver.
                 */
                if (17 < u4 &&
                    1930 > week) {
                    // leap second 18 added in gps week 1930
                    week += 1024;
                    if (1930 > week) {
                        // and again?
                        week += 1024;
                    }
                }
            }
            MSTOTS(&ts_tow, tow);
            session->newdata.time = gpsd_gpstime_resolv(session, week,
                                                        ts_tow);
            mask |= TIME_SET | NTPTIME_IS | LATLON_SET |
                    STATUS_SET | MODE_SET | VNED_SET;
            if (!TS_EQ(&ts_tow, &session->driver.tsip.last_tow)) {
                mask |= CLEAR_IS;
                session->driver.tsip.last_tow = ts_tow;
            }
            GPSD_LOG(LOG_PROG, &session->context->errout,
                     "TSIP x8f-20: LFwEI: time=%s lat=%.2f lon=%.2f "
                     "altHAE=%.2f mode=%d status=%d\n",
                     timespec_str(&session->newdata.time, ts_buf,
                                  sizeof(ts_buf)),
                     session->newdata.latitude, session->newdata.longitude,
                     session->newdata.altHAE,
                     session->newdata.mode, session->newdata.status);
            break;
        case 0x23:
            /* Compact Super Packet (0x8f-23)
             * Present in:
             *   Copernicus, Copernicus II
             * Not present in:
             *   pre-2000 models
             *   Lassen iQ
             *   ICM SMT 360
             *   RES SMT 360
             */
            session->driver.tsip.req_compact = 0;
            // CSK sez "i don't trust this to not be oversized either."
            if (29 > len) {
                bad_len = 29;
                break;
            }
            tow = getbeu32(buf, 1);             // time in ms
            week = getbeu16(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
            // Copernicus (ii) doc says this is always altHAE in mm
            sl3 = getbes32(buf, 17);    // altitude
            // set xNED here
            s2 = getbes16(buf, 21);     // east velocity
            s3 = getbes16(buf, 23);     // north velocity
            s4 = getbes16(buf, 25);     // up velocity
            GPSD_LOG(LOG_PROG, &session->context->errout,
                     "TSIP x8f-23: CSP: %u %d %u %u %d %u %d %d %d %d\n",
                     tow, week, u1, u2, sl1, ul2, sl3, s2, s3, s4);
            if ((int)u1 > 10) {
                session->context->leap_seconds = (int)u1;
                session->context->valid |= LEAP_SECOND_VALID;
            }
            MSTOTS(&ts_tow, tow);
            session->newdata.time =
                gpsd_gpstime_resolv(session, week, ts_tow);
            session->newdata.status = STATUS_UNK;
            session->newdata.mode = MODE_NO_FIX;
            if ((u2 & 0x01) == (uint8_t)0) {          // Fix Available
                session->newdata.status = STATUS_GPS;
                if ((u2 & 0x02) != (uint8_t)0) {      // DGPS Corrected
                    session->newdata.status = STATUS_DGPS;
                }
                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;
            // Copernicus (ii) doc says this is always altHAE in mm
            session->newdata.altHAE = (double)sl3 * 1e-3;
            mask |= ALTITUDE_SET;
            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
            d3 = (double)s4 * d5;       // up velocity m/s
            session->newdata.NED.velN = d2;
            session->newdata.NED.velE = d1;
            session->newdata.NED.velD = -d3;

            mask |= TIME_SET | NTPTIME_IS | LATLON_SET |
                    STATUS_SET | MODE_SET | VNED_SET;
            if (!TS_EQ(&ts_tow, &session->driver.tsip.last_tow)) {
                mask |= CLEAR_IS;
                session->driver.tsip.last_tow = ts_tow;
            }
            GPSD_LOG(LOG_PROG, &session->context->errout,
                     "TSIP x8f-23: SP-CSP: time %s lat %.2f lon %.2f "
                     "altHAE %.2f mode %d status %d\n",
                     timespec_str(&session->newdata.time, ts_buf,
                                  sizeof(ts_buf)),
                     session->newdata.latitude, session->newdata.longitude,
                     session->newdata.altHAE,
                     session->newdata.mode, session->newdata.status);
            break;

        case 0xa5:
            /* Packet Broadcast Mask (0x8f-a5) polled by 0x8e-a5
             *
             * Present in:
             *   ICM SMT 360
             *   RES SMT 360
             * Not Present in:
             *   pre-2000 models
             *   Copernicus II (2009)
             */
            {
                uint16_t mask0, mask1;
                if (5 > len) {
                    bad_len = 5;
                    break;
                }
                mask0 = getbeu16(buf, 1);    // Mask 0
                mask1 = getbeu16(buf, 3);    // Mask 1
                GPSD_LOG(LOG_PROG, &session->context->errout,
                         "TSIP x8f-a5: PBM: mask0 x%04x mask1 x%04x\n",
                         mask0, mask1);
            }
            // RES SMT 360 default 5, 0
            break;

        case 0xa6:
            /* Self-Survey Command (0x8f-a6) polled by 0x8e-a6
             *
             * Present in:
             *   ICM SMT 360
             *   RES SMT 360
             * Not Present in:
             *   pre-2000 models
             *   Copernicus II (2009)
             */
            if (3 > len) {
                bad_len = 3;
                break;
            }
            u2 = getub(buf, 1);          // Command
            u3 = getub(buf, 2);          // Status
            GPSD_LOG(LOG_PROG, &session->context->errout,
                     "TSIP x8f-a6: SSC: command x%x status x%x\n",
                     u2, u3);
            break;

        case 0xab:
            /* Thunderbolt Timing Superpacket
             * Not Present in:
             *   pre-2000 models
             *   Copernicus II (2009)
             */
            if (17 > len) {
                bad_len = 17;
                break;
            }
            session->driver.tsip.last_41 = now; // keep timestamp for request
            // we assume the receiver not in some crazy mode, and is GPS time
            tow = getbeu32(buf, 1);             // gpstime in seconds
            ts_tow.tv_sec = tow;
            ts_tow.tv_nsec = 0;
            week = getbeu16(buf, 5);            // week
            /* leap seconds */
            session->context->leap_seconds = (int)getbes16(buf, 7);
            u2 = buf[9];                // Time Flag
            // should check time valid?
            /* ignore the broken down time, use the GNSS time.
             * Hope it is not BeiDou time */

            // how do we know leap valid?
            session->context->valid |= LEAP_SECOND_VALID;
            session->newdata.time = gpsd_gpstime_resolv(session, week, ts_tow);
            mask |= TIME_SET | NTPTIME_IS;
            if (!TS_EQ(&ts_tow, &session->driver.tsip.last_tow)) {
                mask |= CLEAR_IS;
                session->driver.tsip.last_tow = ts_tow;
            }

            GPSD_LOG(LOG_PROG, &session->context->errout,
                     "TSIP x8f-ab: SP-TTS: tow %u wk %u ls %d flag x%x "
                     "time %s mask %s\n",
                     tow, week, session->context->leap_seconds, u2,
                     timespec_str(&session->newdata.time, ts_buf,
                                  sizeof(ts_buf)),
                     gps_maskdump(mask));
            break;


        case 0xac:
            /* Supplemental Timing Packet (0x8f-ac)
             * present in:
             *   ThunderboltE
             *   ICM SMT 360
             *   RES SMT 360
             * Not Present in:
             *   pre-2000 models
             *   Lassen iQ
             *   Copernicus II (2009)
             */
            if (len != 68) {
                bad_len = 68;
                break;
            }

            // byte 0 is Subpacket ID
            u2 = getub(buf, 1);         /* Receiver Mode */
            u3 = getub(buf, 12);        /* GNSS Decoding Status */
            // ignore 2, Disciplining Mode
            // ignore 3, Self-Survey Progress
            // ignore 4-7, Holdover Duration
            // ignore 8-9, Critical Alarms
            // ignore 10-11, Minor Alarms
            // ignore 12, GNSS Decoding Status
            // ignore 13, Disciplining Activity
            // ignore 14, PPS indication
            // ignore 15, PPS reference
            /* PPS Offset in ns
             * save as (long)pico seconds
             * can't really use it as it is not referenced to any PPS */
            fqErr = getbef32((char *)buf, 16);
            session->gpsdata.qErr = (long)(fqErr * 1000);
            // ignore 20-23, Clock Offset
            // ignore 24-27, DAC Value
            // ignore 28-31, DAC Voltage
            // 32-35, Temperature degrees C
            temp = getbef32((char *)buf, 32);
            session->newdata.latitude = getbed64((char *)buf, 36) * RAD_2_DEG;
            session->newdata.longitude = getbed64((char *)buf, 44) * RAD_2_DEG;
            // SMT 360 doc says this is always altHAE in meters
            session->newdata.altHAE = getbed64((char *)buf, 52);
            // ignore 60-63, always zero
            // ignore 64-67, reserved

            if (u3 != (uint8_t)0) {
                // not exactly true, could be sort of Dead Reckoning
                session->newdata.status = STATUS_UNK;
                mask |= STATUS_SET;
            } else {
                if (session->newdata.status < STATUS_GPS) {
                    session->newdata.status = STATUS_GPS;
                    mask |= STATUS_SET;
                }
            }

            /* Decode Fix modes */
            switch (u2 & 7) {
            case 0:     /* Auto */
                /*
                * 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.
                */
                switch (u3) {
                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" */
                    FALLTHROUGH
                case 0x3:   /* "PDOP is too high" */
                    FALLTHROUGH
                case 0x8:   /* "No usable sats" */
                    FALLTHROUGH
                case 0x9:   /* "Only 1 usable sat" */
                    FALLTHROUGH
                case 0x0A:  /* "Only 2 usable sats */
                    FALLTHROUGH
                case 0x0C:  /* "The chosen sat is unusable" */
                    FALLTHROUGH
                case 0x10:  /* TRAIM rejected the fix */
                    FALLTHROUGH
                default:
                    session->newdata.mode = MODE_NO_FIX;
                    break;
                }
                break;
            case 6:             /* Clock Hold 2D */
                /* Not present:
                 *   SMT 360
                 *   Acutime 360
                 */
                FALLTHROUGH
            case 3:             // forced 2D Position Fix
                //session->newdata.status = STATUS_GPS;
                session->newdata.mode = MODE_2D;
                break;
            case 1:             // Single Satellite Time
                /* Present in:
                 *   Acutime 360
                 */
                FALLTHROUGH
            case 7:             // overdetermined clock
                /* Present in:
                 *   Acutiome 360
                 */
                FALLTHROUGH
            case 4:             // forced 3D position Fix
                //session->newdata.status = STATUS_GPS;
                session->newdata.mode = MODE_3D;
                break;
            default:
                //session->newdata.status = STATUS_UNK;
                session->newdata.mode = MODE_NO_FIX;
                break;
            }

            mask |= LATLON_SET | ALTITUDE_SET | MODE_SET;
            GPSD_LOG(LOG_PROG, &session->context->errout,
                     "TSIP x8f-ac: SP-TPS: lat=%.2f lon=%.2f altHAE=%.2f "
                     "mode %d temp %.1f fqErr %.4f\n",
                     session->newdata.latitude,
                     session->newdata.longitude,
                     session->newdata.altHAE,
                     session->newdata.mode,
                     temp, fqErr);
            break;

        case 0x02:
            /* UTC Information
             * Present in:
             *   ICM SMT 360 (2018)
             *   RES SMT 360 (2018)
             * Not Present in:
             *   pre-2000 models
             *   Copernicus II (2009)
             */
            FALLTHROUGH
        case 0x21:
            /* Request accuracy information
             * Present in:
             *   Copernicus II (2009)
             * Not Present in:
             *   pre-2000 models
             */
            FALLTHROUGH
        case 0x2a:
            /* Request Fix and Channel Tracking info, Type 1
             * Present in:
             *   Copernicus II (2009)
             * Not Present in:
             *   pre-2000 models
             */
            FALLTHROUGH
        case 0x2b:
            /* Request Fix and Channel Tracking info, Type 2
             * Present in:
             *   Copernicus II (2009)
             * Not Present in:
             *   pre-2000 models
             */
            FALLTHROUGH
        case 0x41:
            /* Stored manufacturing operating parameters
             * Present in:
             *   ICM SMT 360 (2018)
             *   RES SMT 360 (2018)
             * Not Present in:
             *   pre-2000 models
             *   Copernicus II (2009)
             */
            FALLTHROUGH
        case 0x42:
            /* Stored production parameters
             * Present in:
             *   ICM SMT 360 (2018)
             *   RES SMT 360 (2018)
             * Not Present in:
             *   pre-2000 models
             *   Copernicus II (2009)
             */
            FALLTHROUGH
        case 0x4a:
            /* PPS characteristics
             * Present in:
             *   ICM SMT 360 (2018)
             *   RES SMT 360 (2018)
             *   Copernicus II (2009)
             * Not Present in:
             *   pre-2000 models
             */
            FALLTHROUGH
        case 0x4e:
            /* PPS Output options
             * Present in:
             *   ICM SMT 360 (2018)
             *   RES SMT 360 (2018)
             * Not Present in:
             *   pre-2000 models
             *   Copernicus II (2009)
             */
            FALLTHROUGH
        case 0x4f:
            /* Set PPS Width
             * Present in:
             *   Copernicus II (2009)
             * Not Present in:
             *   pre-2000 models
             *   ICM SMT 360 (2018)
             *   RES SMT 360 (2018)
             */
            FALLTHROUGH
        case 0x60:
            /* DR Calibration and Status Report
             * Present in:
             *   pre-2000 models
             * Not Present in:
             *   Copernicus II (2009)
             *   ICM SMT 360 (2018)
             *   RES SMT 360 (2018)
             */
            FALLTHROUGH
        case 0x62:
            /* GPS/DR Position/Velocity Report
             * Present in:
             *   pre-2000 models
             * Not Present in:
             *   Copernicus II (2009)
             *   ICM SMT 360 (2018)
             *   RES SMT 360 (2018)
             */
            FALLTHROUGH
        case 0x64:
            /* Firmware Version and Configuration Report
             * Present in:
             *   pre-2000 models
             * Not Present in:
             *   Copernicus II (2009)
             *   ICM SMT 360 (2018)
             *   RES SMT 360 (2018)
             */
            FALLTHROUGH
        case 0x6b:
            /* Last Gyroscope Readings Report
             * Present in:
             *   pre-2000 models
             * Not Present in:
             *   Copernicus II (2009)
             *   ICM SMT 360 (2018)
             *   RES SMT 360 (2018)
             */
            FALLTHROUGH
        case 0x6d:
            /* Last Odometer Readings Report
             * Present in:
             *   pre-2000 models
             * Not Present in:
             *   Copernicus II (2009)
             *   ICM SMT 360 (2018)
             *   RES SMT 360 (2018)
             */
            FALLTHROUGH
        case 0x6f:
            /* Firmware Version Name Report
             * Present in:
             *   pre-2000 models
             * Not Present in:
             *   Copernicus II (2009)
             *   ICM SMT 360 (2018)
             *   RES SMT 360 (2018)
             */
            FALLTHROUGH
        case 0x70:
            /* Beacon Channel Status Report
             * Present in:
             *   pre-2000 models
             * Not Present in:
             *   Copernicus II (2009)
             *   ICM SMT 360 (2018)
             *   RES SMT 360 (2018)
             */
            FALLTHROUGH
        case 0x71:
            /* DGPS Station Database Reports
             * Present in:
             *   pre-2000 models
             * Not Present in:
             *   Copernicus II (2009)
             *   ICM SMT 360 (2018)
             *   RES SMT 360 (2018)
             */
            FALLTHROUGH
        case 0x73:
            /* Beacon Channel Control Acknowledgment
             * Present in:
             *   pre-2000 models
             * Not Present in:
             *   Copernicus II (2009)
             *   ICM SMT 360 (2018)
             *   RES SMT 360 (2018)
             */
            FALLTHROUGH
        case 0x74:
            /* Clear Beacon Database Acknowledgment
             * Present in:
             *   pre-2000 models
             * Not Present in:
             *   Copernicus II (2009)
             *   ICM SMT 360 (2018)
             *   RES SMT 360 (2018)
             */
            FALLTHROUGH
        case 0x75:
            /* FFT Start Acknowledgment
             * Present in:
             *   pre-2000 models
             * Not Present in:
             *   Copernicus II (2009)
             *   ICM SMT 360 (2018)
             *   RES SMT 360 (2018)
             */
            FALLTHROUGH
        case 0x76:
            /* FFT Stop Acknowledgment
             * Present in:
             *   pre-2000 models
             * Not Present in:
             *   Copernicus II (2009)
             *   ICM SMT 360 (2018)
             *   RES SMT 360 (2018)
             */
            FALLTHROUGH
        case 0x77:
            /* FFT Reports
             * Present in:
             *   pre-2000 models
             * Not Present in:
             *   Copernicus II (2009)
             *   ICM SMT 360 (2018)
             *   RES SMT 360 (2018)
             */
            FALLTHROUGH
        case 0x78:
            /* RTCM Reports
             * Present in:
             *   pre-2000 models
             * Not Present in:
             *   Copernicus II (2009)
             *   ICM SMT 360 (2018)
             *   RES SMT 360 (2018)
             */
            FALLTHROUGH
        case 0x79:
            /* Beacon Station Attributes Acknowledgment
             * Present in:
             *   pre-2000 models
             * Not Present in:
             *   Copernicus II (2009)
             *   ICM SMT 360 (2018)
             *   RES SMT 360 (2018)
             */
            FALLTHROUGH
        case 0x7a:
            /* Beacon Station Attributes Report
             * Present in:
             *   pre-2000 models
             * Not Present in:
             *   Copernicus II (2009)
             *   ICM SMT 360 (2018)
             *   RES SMT 360 (2018)
             */
            FALLTHROUGH
        case 0x7b:
            /* DGPS Receiver RAM Configuration Block Report
             * Present in:
             *   pre-2000 models
             * Not Present in:
             *   Copernicus II (2009)
             *   ICM SMT 360 (2018)
             *   RES SMT 360 (2018)
             */
            FALLTHROUGH
        case 0x7c:
            /* DGPS Receiver Configuration Block Acknowledgment
             * Present in:
             *   pre-2000 models
             * Not Present in:
             *   Copernicus II (2009)
             *   ICM SMT 360 (2018)
             *   RES SMT 360 (2018)
             */
            FALLTHROUGH
        case 0x7e:
            /* Satellite Line-of-Sight (LOS) Message
             * Present in:
             *   pre-2000 models
             * Not Present in:
             *   Copernicus II (2009)
             *   ICM SMT 360 (2018)
             *   RES SMT 360 (2018)
             */
            FALLTHROUGH
        case 0x7f:
            /* DGPS Receiver ROM Configuration Block Report
             * Present in:
             *   pre-2000 models
             * Not Present in:
             *   Copernicus II (2009)
             *   ICM SMT 360 (2018)
             *   RES SMT 360 (2018)
             */
            FALLTHROUGH
        case 0x80:
            /* DGPS Service Provider System Information Report
             * Present in:
             *   pre-2000 models
             * Not Present in:
             *   Copernicus II (2009)
             *   ICM SMT 360 (2018)
             *   RES SMT 360 (2018)
             */
            FALLTHROUGH
        case 0x81:
            /* Decoder Station Information Report and Selection Acknowledgment
             * Present in:
             *   pre-2000 models
             * Not Present in:
             *   Copernicus II (2009)
             *   ICM SMT 360 (2018)
             *   RES SMT 360 (2018)
             */
            FALLTHROUGH
        case 0x82:
            /* Decoder Diagnostic Information Report
             * Present in:
             *   pre-2000 models
             * Not Present in:
             *   Copernicus II (2009)
             *   ICM SMT 360 (2018)
             *   RES SMT 360 (2018)
             */
            FALLTHROUGH
        case 0x84:
            /* Satellite FFT Control Acknowledgment
             * Present in:
             *   pre-2000 models
             * Not Present in:
             *   Copernicus II (2009)
             *   ICM SMT 360 (2018)
             *   RES SMT 360 (2018)
             */
            FALLTHROUGH
        case 0x85:
            /* DGPS Source Tracking Status Report
             * Present in:
             *   pre-2000 models
             * Not Present in:
             *   Copernicus II (2009)
             *   ICM SMT 360 (2018)
             *   RES SMT 360 (2018)
             */
            FALLTHROUGH
        case 0x86:
            /* Clear Satellite Database Acknowledgment
             * Present in:
             *   pre-2000 models
             * Not Present in:
             *   Copernicus II (2009)
             *   ICM SMT 360 (2018)
             *   RES SMT 360 (2018)
             */
            FALLTHROUGH
        case 0x87:
            /* Network Statistics Report
             * Present in:
             *   pre-2000 models
             * Not Present in:
             *   Copernicus II (2009)
             *   ICM SMT 360 (2018)
             *   RES SMT 360 (2018)
             */
            FALLTHROUGH
        case 0x88:
            /* Diagnostic Output Options Report
             * Present in:
             *   pre-2000 models
             * Not Present in:
             *   Copernicus II (2009)
             *   ICM SMT 360 (2018)
             *   RES SMT 360 (2018)
             */
            FALLTHROUGH
        case 0x89:
            /* DGPS Source Control Report /Acknowledgment
             * Present in:
             *   pre-2000 models
             * Not Present in:
             *   Copernicus II (2009)
             *   ICM SMT 360 (2018)
             *   RES SMT 360 (2018)
             */
            FALLTHROUGH
        case 0x8a:
            /* Service Provider Information Report and Acknowledgment
             * Present in:
             *   pre-2000 models
             * Not Present in:
             *   Copernicus II (2009)
             *   ICM SMT 360 (2018)
             *   RES SMT 360 (2018)
             */
            FALLTHROUGH
        case 0x8b:
            /* Service Provider Activation Information Report & Acknowledgment
             * Present in:
             *   pre-2000 models
             * Not Present in:
             *   Copernicus II (2009)
             *   ICM SMT 360 (2018)
             *   RES SMT 360 (2018)
             */
            FALLTHROUGH
        case 0x8e:
            /* Service Provider Data Load Report
             * Present in:
             *   pre-2000 models
             * Not Present in:
             *   Copernicus II (2009)
             *   ICM SMT 360 (2018)
             *   RES SMT 360 (2018)
             */
            FALLTHROUGH
        case 0x8f:
            /* Receiver Identity Report
             * Present in:
             *   pre-2000 models
             * Not Present in:
             *   Copernicus II (2009)
             *   ICM SMT 360 (2018)
             *   RES SMT 360 (2018)
             */
            FALLTHROUGH
        case 0x90:
            /* Guidance Status Report
             * Present in:
             *   pre-2000 models
             * Not Present in:
             *   Copernicus II (2009)
             *   ICM SMT 360 (2018)
             *   RES SMT 360 (2018)
             */
            FALLTHROUGH
        case 0x91:
            /* Guidance Configuration Report
             * Present in:
             *   pre-2000 models
             * Not Present in:
             *   Copernicus II (2009)
             *   ICM SMT 360 (2018)
             *   RES SMT 360 (2018)
             */
            FALLTHROUGH
        case 0x92:
            /* Lightbar Configuration Report
             * Present in:
             *   pre-2000 models
             * Not Present in:
             *   Copernicus II (2009)
             *   ICM SMT 360 (2018)
             *   RES SMT 360 (2018)
             */
            FALLTHROUGH
        case 0x94:
            /* Guidance Operation Acknowledgment
             * Present in:
             *   pre-2000 models
             * Not Present in:
             *   Copernicus II (2009)
             *   ICM SMT 360 (2018)
             *   RES SMT 360 (2018)
             */
            FALLTHROUGH
        case 0x95:
            /* Button Box Configuration Type Report
             * Present in:
             *   pre-2000 models
             * Not Present in:
             *   Copernicus II (2009)
             *   ICM SMT 360 (2018)
             *   RES SMT 360 (2018)
             */
            FALLTHROUGH
        case 0x96:
            /* Point Manipulation Report
             * Present in:
             *   pre-2000 models
             * Not Present in:
             *   Copernicus II (2009)
             *   ICM SMT 360 (2018)
             *   RES SMT 360 (2018)
             */
            FALLTHROUGH
        case 0x97:
            /* Utility Information Report
             * Present in:
             *   pre-2000 models
             * Not Present in:
             *   Copernicus II (2009)
             *   ICM SMT 360 (2018)
             *   RES SMT 360 (2018)
             */
            FALLTHROUGH
        case 0x98:
            /* Individual Button Configuration Report
             * Present in:
             *   pre-2000 models
             * Not Present in:
             *   Copernicus II (2009)
             *   ICM SMT 360 (2018)
             *   RES SMT 360 (2018)
             */
            FALLTHROUGH
        case 0x9a:
            /* Differential Correction Information Report
             * Present in:
             *   pre-2000 models
             * Not Present in:
             *   Copernicus II (2009)
             *   ICM SMT 360 (2018)
             *   RES SMT 360 (2018)
             */
            FALLTHROUGH
        case 0xa0:
            /* DAC value
             * Present in:
             *   ICM SMT 360 (2018)
             *   RES SMT 360 (2018)
             * Not Present in:
             *   pre-2000 models
             *   Copernicus II (2009)
             */
            FALLTHROUGH
        case 0xa2:
            /* UTC/GPS timing
             * Present in:
             *   ICM SMT 360 (2018)
             *   RES SMT 360 (2018)
             * Not Present in:
             *   pre-2000 models
             *   Copernicus II (2009)
             */
            FALLTHROUGH
        case 0xa3:
            /* Oscillator disciplining command
             * Present in:
             *   ICM SMT 360 (2018)
             *   RES SMT 360 (2018)
             * Not Present in:
             *   pre-2000 models
             *   Copernicus II (2009)
             */
            FALLTHROUGH
        case 0xa8:
            /* Oscillator disciplining parameters
             * Present in:
             *   ICM SMT 360 (2018)
             *   RES SMT 360 (2018)
             * Not Present in:
             *   pre-2000 models
             *   Copernicus II (2009)
             */
            FALLTHROUGH
        case 0xa9:
            /* self-survey parameters
             * Present in:
             *   ICM SMT 360 (2018)
             *   RES SMT 360 (2018)
             * Not Present in:
             *   pre-2000 models
             *   Copernicus II (2009)
             */
            FALLTHROUGH
        default:
            GPSD_LOG(LOG_WARN, &session->context->errout,
                     "TSIP x8f-%02x: Unhandled TSIP superpacket\n", u1);
        }
        break;
// Start of TSIP V1
    case 0x90:
        /* Version Information, TSIP v1
         * Present in:
         *   RES720
         */
        FALLTHROUGH
    case 0x91:
        /* Receiver Configuration, TSIP v1
         * Present in:
         *   RES720
         */
        FALLTHROUGH
    case 0x92:
        /* Resets, TSIP v1
         * Present in:
         *   RES720
         */
        FALLTHROUGH
    case 0x93:
        /* Production & Manufacturing, TSIP v1
         * Present in:
         *   RES720
         */
        FALLTHROUGH
    case 0xa0:
        /* Firmware Upload, TSIP v1
         * Present in:
         *   RES720
         */
        FALLTHROUGH
    case 0xa1:
        /* PVT, TSIP v1
         * Present in:
         *   RES720
         */
        FALLTHROUGH
    case 0xa2:
        /* GNSS Information, TSIP v1
         * Present in:
         *   RES720
         */
        FALLTHROUGH
    case 0xa3:
        /* Alarms % Status, TSIP v1
         * Present in:
         *   RES720
         */
        FALLTHROUGH
    case 0xa4:
        /* AGNSS, TSIP v1
         * Present in:
         *   RES720
         */
        FALLTHROUGH
    case 0xa5:
        /* Miscellaneous, TSIP v1
         * Present in:
         *   RES720
         */
        FALLTHROUGH
    case 0xd0:
        /* Debug & Logging, TSIP v1
         * Present in:
         *   RES720
         */
        return tsipv1_parse(session, id, buf, len);
// end of TSIP V1
    case 0xbb:
        /* Navigation Configuration
         * Present in:
         *   pre-2000 models
         *   Copernicus II (2009)
         *   ICM SMT 360 (2018)
         *   RES SMT 360 (2018)
         */
        if (len != 40 && len != 43) {
            /* see packet.c for explamation */
            bad_len = 40;
            break;
        }
        u1 = getub(buf, 0);             // Subcode, always zero?
        u2 = getub(buf, 1);             // Operating Dimension
        u3 = getub(buf, 2);             // DGPS Mode (not in Acutime 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 Acutime Gold)
        /* Constellation
         * bit 0 - GPS
         * bit 1 - GLONASS
         * bit 2 - reserved
         * bit 3 - BeiDou
         * bit 4 - Galileo
         * bit 5 - QZSS
         * bit 6 - reserved
         * bit 7 - reserved
         */
        u6 = getub(buf, 27);
        GPSD_LOG(LOG_PROG, &session->context->errout,
                 "TSIP xbb: Navigation Configuration: %u %u %u %u %f %f %f "
                 "%f %u x%x\n",
                 u1, u2, u3, u4, f1, f2, f3, f4, u5, u6);
        // RES SMT 360 defaults to Mode 7, Constellation 3
        break;

    case 0x1a:
        /* TSIP RTCM Wrapper Command
         * Present in:
         *   pre-2000 models
         * Not Present in:
         *   ICM SMT 360 (2018)
         *   RES SMT 360 (2018)
         *   Copernicus II (2009)
         */
        FALLTHROUGH
    case 0x2e:
        /* Request GPS Time
         * Present in:
         *   ICM SMT 360 (2018)
         *   RES SMT 360 (2018)
         * Not Present in:
         *   pre-2000 models
         *   Copernicus II (2009)
         */
        FALLTHROUGH
    case 0x32:
        /* Request Unit Position
         * Present in:
         *   ICM SMT 360 (2018)
         *   RES SMT 360 (2018)
         * Not Present in:
         *   pre-2000 models
         *   Copernicus II (2009)
         */
        FALLTHROUGH
    case 0x38:
        /* Request SV System data
         * Present in:
         *   ICM SMT 360 (2018)
         *   RES SMT 360 (2018)
         * Not Present in:
         *   pre-2000 models
         *   Copernicus II (2009)
         */
        FALLTHROUGH
    case 0x40:
        /* Almanac Data for Single Satellite Report
         * Present in:
         *   pre-2000 models
         * Not Present in:
         *   ICM SMT 360 (2018)
         *   RES SMT 360 (2018)
         *   Copernicus II (2009)
         */
        FALLTHROUGH
    case 0x44:
        /* Non-Overdetermined Satellite Selection Report
         * Present in:
         *   pre-2000 models
         * Not Present in:
         *   ICM SMT 360 (2018)
         *   RES SMT 360 (2018)
         *   Copernicus II (2009)
         */
        FALLTHROUGH
    case 0x49:
        /* Almanac Health Page
         * Present in:
         *   pre-2000 models
         * Not Present in:
         *   Copernicus II (2009)
         */
        FALLTHROUGH
    case 0x4d:
        /* Oscillator Offset
         * Present in:
         *   pre-2000 models
         *   Copernicus II (2009)
         */
        FALLTHROUGH
    case 0x4e:
        /* Response to set GPS time
         * Present in:
         *   pre-2000 models
         *   Copernicus II (2009)
         *   ICM SMT 360 (2018)
         *   RES SMT 360 (2018)
         */
        FALLTHROUGH
    case 0x4f:
        /* UTC Parameters Report
         * Present in:
         *   pre-2000 models
         * Not Present in:
         *   ICM SMT 360 (2018)
         *   RES SMT 360 (2018)
         *   Copernicus II (2009)
         */
        FALLTHROUGH
    case 0x53:
        /* Analog-to-Digital Readings Report
         * Present in:
         *   pre-2000 models
         * Not Present in:
         *   ICM SMT 360 (2018)
         *   RES SMT 360 (2018)
         *   Copernicus II (2009)
         */
        FALLTHROUGH
    case 0x58:
        /* Satellite System Data/Acknowledge from Receiver
         * Present in:
         *   pre-2000 models
         *   Copernicus II (2009)
         *   ICM SMT 360 (2018)
         *   RES SMT 360 (2018)
         */
        FALLTHROUGH
    case 0x59:
        /* Status of Satellite Disable or Ignore Health
         * aka Satellite Attribute Database Status Report
         * Present in:
         *   pre-2000 models
         *   ICM SMT 360 (2018)
         *   RES SMT 360 (2018)
         * Not Present in:
         *   Copernicus II (2009)
         */
        FALLTHROUGH
    case 0x5b:
        /* Satellite Ephemeris Status
         * Present in:
         *   pre-2000 models
         * Not Present in:
         *   Copernicus II (2009)
         *   ICM SMT 360 (2018)
         *   RES SMT 360 (2018)
         */
        FALLTHROUGH
    case 0x5e:
        /* Additional Fix Status Report
         * Present in:
         *   pre-2000 models
         * Not Present in:
         *   Copernicus II (2009)
         *   ICM SMT 360 (2018)
         *   RES SMT 360 (2018)
         */
        FALLTHROUGH
    case 0x5f:
        /* Severe Failure Notification
         * Present in:
         *   pre-2000 models
         * Not Present in:
         *   ICM SMT 360 (2018)
         *   RES SMT 360 (2018)
         *   Copernicus II (2009)
         */
        FALLTHROUGH
    case 0x60:
        /* Differential GPS Pseudorange Corrections Report
         * Present in:
         *   pre-2000 models
         * Not Present in:
         *   ICM SMT 360 (2018)
         *   RES SMT 360 (2018)
         *   Copernicus II (2009)
         */
        FALLTHROUGH
    case 0x61:
        /* Differential GPS Delta Pseudorange Corrections Report
         * Present in:
         *   pre-2000 models
         * Not Present in:
         *   ICM SMT 360 (2018)
         *   RES SMT 360 (2018)
         *   Copernicus II (2009)
         */
        FALLTHROUGH
    case 0x6a:
        /* Differential Corrections Used in the Fix Repor
         * Present in:
         *   pre-2000 models
         * Not Present in:
         *   ICM SMT 360 (2018)
         *   RES SMT 360 (2018)
         *   Copernicus II (2009)
         */
        FALLTHROUGH
    case 0x6e:
        /* Synchronized Measurements
         * Present in:
         *   pre-2000 models
         * Not Present in:
         *   Copernicus II (2009)
         *   ICM SMT 360 (2018)
         *   RES SMT 360 (2018)
         */
        FALLTHROUGH
    case 0x6f:
        /* Synchronized Measurements Report
         * Present in:
         *   pre-2000 models
         * Not Present in:
         *   Copernicus II (2009)
         *   ICM SMT 360 (2018)
         *   RES SMT 360 (2018)
         */
        FALLTHROUGH
    case 0x70:
        /* Filter Report
         * Present in:
         *   pre-2000 models
         * Not Present in:
         *   Copernicus II (2009)
         *   ICM SMT 360 (2018)
         *   RES SMT 360 (2018)
         */
        FALLTHROUGH
    case 0x76:
        /* Overdetermined Mode Report
         * Present in:
         *   pre-2000 models
         * Not Present in:
         *   ICM SMT 360 (2018)
         *   RES SMT 360 (2018)
         *   Copernicus II (2009)
         */
        FALLTHROUGH
    case 0x78:
        /* Maximum PRC Age Report
         * Present in:
         *   pre-2000 models
         * Not Present in:
         *   ICM SMT 360 (2018)
         *   RES SMT 360 (2018)
         *   Copernicus II (2009)
         */
        FALLTHROUGH
    case 0x7a:
        /* NMEA settings
         * Not Present in:
         *   pre-2000 models
         *   Copernicus II (2009)
         *   ICM SMT 360 (2018)
         *   RES SMT 360 (2018)
         */
        FALLTHROUGH
    case 0x7b:
        /* NMEA interval and message mask response
         * Present in:
         *   pre-2000 models
         *   ICM SMT 360 (2018)
         *   RES SMT 360 (2018)
         * Not Present in:
         *   Copernicus II (2009)
         */
        FALLTHROUGH
    case 0x7d:
        /* Position Fix Rate Configuration Reports
         * Present in:
         *   pre-2000 models
         * Not Present in:
         *   ICM SMT 360 (2018)
         *   RES SMT 360 (2018)
         *   Copernicus II (2009)
         */
        FALLTHROUGH
    case 0x85:
        /* Differential Correction Status Report
         * Present in:
         *   pre-2000 models
         * Not Present in:
         *   ICM SMT 360 (2018)
         *   RES SMT 360 (2018)
         *   Copernicus II (2009)
         */
        FALLTHROUGH
    case 0x87:
        /* Reference Station Parameters Report
         * Present in:
         *   pre-2000 models
         * Not Present in:
         *   ICM SMT 360 (2018)
         *   RES SMT 360 (2018)
         *   Copernicus II (2009)
         */
        FALLTHROUGH
    case 0x89:
        /* Receiver acquisition sensitivity mode
         * Present in:
         *   Copernicus II (2009)
         * Not Present in:
         *   pre-2000 models
         *   ICM SMT 360 (2018)
         *   RES SMT 360 (2018)
         */
        FALLTHROUGH
    case 0x88:
        /* Mobile Differential Parameters Report
         * Present in:
         *   pre-2000 models
         * Not Present in:
         *   ICM SMT 360 (2018)
         *   RES SMT 360 (2018)
         *   Copernicus II (2009)
         */
        FALLTHROUGH
    case 0x8b:
        /* QA/QC Reports
         * Present in:
         *   pre-2000 models
         * Not Present in:
         *   ICM SMT 360 (2018)
         *   RES SMT 360 (2018)
         *   Copernicus II (2009)
         */
        FALLTHROUGH
    case 0x8d:
        /* Average Position Reports
         * Present in:
         *   pre-2000 models
         * Not Present in:
         *   ICM SMT 360 (2018)
         *   RES SMT 360 (2018)
         *   Copernicus II (2009)
         */
        FALLTHROUGH
    case 0xb0:
        /* PPS and Event Report Packets
         * Present in:
         *   pre-2000 models
         * Not Present in:
         *   ICM SMT 360 (2018)
         *   RES SMT 360 (2018)
         *   Copernicus II (2009)
         */
        FALLTHROUGH
    case 0xbc:
        /* Receiver port configuration
         * Present in:
         *   pre-2000 models
         *   Copernicus II (2009)
         * Not Present in:
         *   ICM SMT 360 (2018)
         *   RES SMT 360 (2018)
         */
        FALLTHROUGH
    case 0xc1:
        /* Bit Mask for GPIOs in Standby Mode
         * Present in:
         *   Copernicus II (2009)
         *   ICM SMT 360 (2018)
         *   RES SMT 360 (2018)
         * Not Present in:
         *   pre-2000 models
         */
        FALLTHROUGH
    case 0xc2:
        /* SBAS SV Mask
         * Present in:
         *   Copernicus II (2009)
         *   ICM SMT 360 (2018)
         *   RES SMT 360 (2018)
         * Not Present in:
         *   pre-2000 models
         */
        FALLTHROUGH
    default:
        GPSD_LOG(LOG_WARN, &session->context->errout,
                 "TSIP x%02x: Unhandled packet type\n", id);
        break;
    }

#ifdef __UNUSED__
// #if 1
    // full reset
    (void)tsip_write1(session, "\x1e\x46", 2);
#endif

    if (bad_len) {
        GPSD_LOG(LOG_WARNING, &session->context->errout,
                 "TSIP x%02x: wrong len %d s/b >= %d \n", id, len, bad_len);
    } else {
        GPSD_LOG(LOG_PROG, &session->context->errout,
                 "TSIP x%02x: mask %s\n", id, gps_maskdump(mask));
    }
    /* See if it is time to send some request packets for reports that.
     * The receiver won't send at fixed intervals.
     * Use llabs() as time sometimes goes backwards. */

    if (5 < llabs(now - session->driver.tsip.last_41)) {
        /* Request Current Time returns 0x41.
         * Easiest way to get GPS weeks and current leap seconds */
        (void)tsip_write1(session, "\x21", 1);
        session->driver.tsip.last_41 = now;
    }

    if (5 < llabs(now - session->driver.tsip.last_6d)) {
        /* Request GPS Receiver Position Fix Mode
         * Returns 0x44, 0x6c, or 0x6d. */
        (void)tsip_write1(session, "\x24", 1);
        session->driver.tsip.last_6d = now;
#ifdef __UNUSED__
// #if 1
        // request Receiver Configuration (0xbb)
        (void)tsip_write1(session, "\xbb\x00", 2);

        // request Packet Broadcast Mask
        (void)tsip_write1(session, "\x8e\xa5", 2);
#endif // UNUSED
    }

    if (1 > session->driver.tsip.superpkt &&
        60 < llabs(now - session->driver.tsip.last_48)) {
        /* Request GPS System Message
         * Returns 0x48.
         * not supported on:
         *  Lassen SQ (2002)
         *  Lassen iQ (2005)
         *  ICM SMT 360
         *  RES SMT 360
         *  and post 2005
         * SuperPackets replaced 0x28 */
        (void)tsip_write1(session, "\x28", 1);
        session->driver.tsip.last_48 = now;
    }

    if (5 < llabs(now - session->driver.tsip.last_5c)) {
        /* Request Current Satellite Tracking Status
         * Returns: 0x5c or 0x5d
         *  5c from GPS only devices
         *  5d from multi-gnss devices */
        // 00 == All satellites
        (void)tsip_write1(session, "\x3c\x00", 2);
        session->driver.tsip.last_5c = now;
    }

    if (5 < llabs(now - session->driver.tsip.last_46)) {
        /* Request Health of Receiver
         * Returns 0x46 and 0x4b. */
        (void)tsip_write1(session, "\x26", 1);
        session->driver.tsip.last_46 = now;
    }
    if ((session->driver.tsip.req_compact > 0) &&
        (5 < llabs(now - session->driver.tsip.req_compact))) {
        /* Compact Superpacket requested but no response
         * Not in:
         * ICM SMT 360
         * RES SMT 360
          */
        session->driver.tsip.req_compact = 0;
        GPSD_LOG(LOG_WARN, &session->context->errout,
                 "TSIP x8f-23: No Compact Super Packet, "
                 "try LFwEI (0x8f-20)\n");

        // Request LFwEI Super Packet 0x8f-20, enabled
        (void)tsip_write1(session, "\x8e\x20\x01", 3);
    }

    return mask;
}

static void tsip_init_query(struct gps_device_t *session)
{
    // Use 0x1C-03 to Request Hardware Version Information (0x1C-83)
    (void)tsip_write1(session, "\x1c\x03", 2);
    /*
     * After HW information packet is received, a
     * decision is made how to configure the device.
     */
}

static void tsip_event_hook(struct gps_device_t *session, event_t event)
{
    char buf[100];

    GPSD_LOG(LOG_SPIN, &session->context->errout,
             "TSIP: event_hook event %d ro %d\n",
             event, session->context->readonly);

    if (session->context->readonly ||
        session->context->passive) {
        return;
    }
    switch (event) {
    case event_identified:
        FALLTHROUGH
    case event_reactivate:
        // FIXME: reactivate style should depend on model
        /*
         * Set basic configuration, using Set or Request I/O Options (0x35).
         * in case no hardware config response comes back.
         */
        // Position: enable: Double Precision, LLA, disable: ECEF
        buf[0] = 0x35;
        // Velocity: enable: ENU, disable vECEF */
        buf[1] = IO1_8F20|IO1_DP|IO1_LLA;
        // Time: enable: 0x42, 0x43, 0x4a, disable: 0x83, 0x84, 0x56
        buf[2] = IO2_ENU;
        buf[3] = 0x00;    // Aux: enable: 0x5A, dBHz
        buf[4] = IO4_DBHZ;
        (void)tsip_write1(session, buf, 5);
        break;
    case event_configure:
        // this seems to get called on every packet...
        if (session->lexer.counter == 0) {
            /* but the above if() makes it never execute
             * formerely tried to force 801 here, but luckily it
             * never fired as some Trimble are 8N1 */
        }
        break;
    case event_deactivate:
        // used to revert serial port parms here.  No need for that.
        FALLTHROUGH
    default:
        break;
    }
}

static bool tsip_speed_switch(struct gps_device_t *session,
                              speed_t speed, char parity, int stopbits)
{
    char buf[100];

    switch (parity) {
    case 'E':
    case 2:
        parity = (char)2;
        break;
    case 'O':
    case 1:
        parity = (char)1;
        break;
    case 'N':
    case 0:
    default:
        parity = (char)0;
        break;
    }

    buf[0] = 0xbc;          // Set Port Configuration (0xbc)
    buf[1] = 0xff;          // current port
    // input dev.baudrate
    buf[2] = (round(log((double)speed / 300) / GPS_LN2)) + 2;
    buf[3] = buf[2];        // output baudrate
    buf[4] = 3;             // character width (8 bits)
    buf[5] = parity;        // parity (normally odd)
    buf[6] = stopbits - 1;  // stop bits (normally 1 stopbit)
    buf[7] = 0;             // flow control (none)
    buf[8] = 0x02;          // input protocol (TSIP)
    buf[9] = 0x02;          // output protocol (TSIP)
    buf[10] = 0;            // reserved
    (void)tsip_write1(session, buf, 11);

    return true;            // it would be nice to error-check this
}

static void tsip_mode(struct gps_device_t *session, int mode)
{
    if (MODE_NMEA == mode) {
        char buf[16];

        /* send NMEA Interval and Message Mask Command (0x7a)
         * First turn on the NMEA messages we want */
        buf[0] = 0x7a;
        buf[1] = 0x00;  //  subcode 0
        buf[2] = 0x01;  //  1-second fix interval
        buf[3] = 0x00;  //  Reserved
        buf[4] = 0x00;  //  Reserved
        buf[5] = 0x01;  //  1=GST, Reserved
        /* 1=GGA, 2=GGL, 4=VTG, 8=GSV, */
        /* 0x10=GSA, 0x20=ZDA, 0x40=Reserved, 0x80=RMC  */
        buf[6] = 0x19;

        (void)tsip_write1(session, buf, 7);

        // Now switch to NMEA mode
        memset(buf, 0, sizeof(buf));

        buf[0] = 0x8c;     // Set Port Configuration (0xbc)
        buf[1] = 0xff;     // current port
        buf[2] = 0x06;     // 4800 bps input.  4800, really?
        buf[3] = buf[2];   // output SAME AS INPUT
        buf[4] = 0x03;     // 8 data bits
        buf[5] = 0x00;     // No parity
        buf[6] = 0x00;     // 1 stop bit
        buf[7] = 0x00;     // No flow control
        buf[8] = 0x02;     // Input protocol TSIP
        buf[9] = 0x04;     // Output protocol NMEA
        buf[10] = 0x00;    // Reserved

        (void)tsip_write1(session, buf, 11);

    } else if (MODE_BINARY == mode) {
        /* The speed switcher also puts us back in TSIP, so call it
         * with the default 9600 8O1. */
        // FIXME: Should preserve the current speed.
        // (void)tsip_speed_switch(session, 9600, 'O', 1);
        // FIXME: should config TSIP binary!
        ;

    } else {
        GPSD_LOG(LOG_ERROR, &session->context->errout,
                 "TSIP: unknown mode %i requested\n", mode);
    }
}

// configure generic Trimble TSIP device to a known state
void configuration_packets_generic(struct gps_device_t *session)
{
        char buf[100];

        GPSD_LOG(LOG_PROG, &session->context->errout,
                 "TSIP: configuration_packets_generic()\n");

        // Set basic configuration, using Set or Request I/O Options (0x35).
        // Position: enable: Double Precision, LLA, disable: ECEF
        buf[0] = 0x35;
        // Time: enable: 0x42, 0x43, 0x4a, disable: 0x83, 0x84, 0x56 */
        buf[1] = IO1_8F20|IO1_DP|IO1_LLA;
        // Velocity: enable: ENU, disable ECEF
        buf[2] = IO2_ENU;
        buf[3] = 0x00;
        buf[4] = IO4_DBHZ;    // Aux: enable: 0x5A, dBHz
        (void)tsip_write1(session, buf, 5);

        // Request Software Version (0x1f), returns 0x45
        (void)tsip_write1(session, "\x1f", 1);

        // Current Time Request (0x21), returns 0x41
        (void)tsip_write1(session, "\x21", 1);

        /* Set Operating Parameters (0x2c)
         * not present in:
         *   Lassen SQ (2002)
         *   Lassen iQ (2005)
         *   RES SMT 360 */
        /* dynamics code: enabled: 1=land
         *   disabled: 2=sea, 3=air, 4=static
         *   default is land */
        buf[0] = 0x2c;
        buf[1] = 0x01;
        // elevation mask, 10 degrees is a common default, TSIP default is 15
        putbef32(buf, 2, (float)10.0 * DEG_2_RAD);
        // signal level mask, default is 2.0 AMU. 5.0 to 6.0 for high accuracy
        putbef32(buf, 6, (float)06.0);
        // PDOP mask default is 12. 5.0 to 6.0 for high accuracy
        putbef32(buf, 10, (float)8.0);
        // PDOP switch, default is 8.0
        putbef32(buf, 14, (float)6.0);
        (void)tsip_write1(session, buf, 18);

        /* Set Position Fix Mode (0x22)
         * 0=auto 2D/3D, 1=time only, 3=2D, 4=3D, 10=Overdetermined clock */
        (void)tsip_write1(session, "\x22\x00", 2);

        /* Request GPS System Message (0x48)
         * not supported on model RES SMT 360 */
        (void)tsip_write1(session, "\x28", 1);

        /* Last Position and Velocity Request (0x37)
         * returns 0x57 and (0x42, 0x4a, 0x83, or 0x84) and (0x43 or 0x56)  */
        (void)tsip_write1(session, "\x37", 1);

        // 0x8e-15 request output datum
        (void)tsip_write1(session, "\x8e\x15", 2);

        /* Primary Receiver Configuration Parameters Request (0xbb-00)
         * returns  Primary Receiver Configuration Block (0xbb-00) */
        (void)tsip_write1(session, "\xbb\x00", 2);
}

/* configure Acutime Gold to a known state */
void configuration_packets_acutime_gold(struct gps_device_t *session)
{
        char buf[100];

        GPSD_LOG(LOG_PROG, &session->context->errout,
                 "TSIP: configuration_packets_acutime_gold()\n");

        /* Request Firmware Version (0x1c-01)
         * returns Firmware component version information (0x1x-81) */
        (void)tsip_write1(session, "\x1c\x01", 2);

        buf[0] = 0x8e;          // Set Self-Survey Parameters (0x8e-a9)
        buf[1] = 0xa9;          // Subcode
        buf[2] = 0x01;          // Self-Survey Enable = enable
        buf[3] = 0x01;          // Position Save Flag = save position
        putbe32(buf, 4, 2000);  // Self-Survey Length = 2000 fixes, default 2000
        // Horizontal Uncertainty, 1-100, 1=best, 100=worst, default 100
        putbef32(buf, 8, 100);
        // Verical Uncertainty, 1-100, 1=best, 100=worst, default 100
        putbef32(buf, 12, 100);
        (void)tsip_write1(session, buf, 16);

        /* Set PPS Output Option (0x8e-4e)
         * 0x4e Subcode
         * 2 == PPS driver switch (PPS is always output) */
        (void)tsip_write1(session, "\x8e\x4e\x02", 3);

        buf[0] = 0xbb;  // Set Primary Receiver Configuration (0xbb-00)
        buf[1] = 0x00;  // 00 =  Subcode
        buf[2] = 0x07;  // Receiver mode, 7 = Force Overdetermined clock
        buf[3] = 0xff;  // Not enabled = unchanged, must be 0xff on RES SMT 360
        buf[4] = 0x01;  // Dynamics code = default must be 0xff on RES SMT 360
        buf[5] = 0x01;  // Solution Mode = default must be 0xff on RES SMT 360
        // Elevation Mask = 10 deg
        putbef32((char *)buf, 6, (float)10.0 * DEG_2_RAD);
        // AMU Mask. 0 to 55. default is 4.0
        putbef32((char *)buf, 10, (float)4.0);
        // PDOP Mask = 8.0, default = 6
        putbef32((char *)buf, 14, (float)8.0);
        // PDOP Switch = 6.0, ignored in RES SMT 360
        putbef32((char *)buf, 18, (float)6.0);
        buf[22] = 0xff;  // must be 0xff
        buf[23] = 0x0;   // Anti-Jam Mode, 0=Off, 1=On
        putbe16(buf, 24, 0xffff);  // Reserved.  Must be 0xffff
        /* Measurement Rate and Position Fix Rate = default
         * must be 0xffff on res smt 360 */
        putbe16(buf, 26, 0x0000);
        /* 27 is Constellation on RES SMT 360.
         * 1 = GPS, 2=GLONASS, 8=BeiDou, 0x10=Galileo, 5=QZSS */
        putbe32(buf, 28, 0xffffffff);   // Reserved
        putbe32(buf, 32, 0xffffffff);   // Reserved
        putbe32(buf, 36, 0xffffffff);   // Reserved
        putbe32(buf, 40, 0xffffffff);   // Reserved
        (void)tsip_write1(session, buf, 44);

        buf[0] = 0x8e;   // Set Packet Broadcast Mask (0x8e-a5)
        buf[1] = 0xa5;   // Subcode a5
        /* Packets bit field = default + Primary timing,
         *  Supplemental timing 32e1
         *  1=0x8f-ab, 4=0x8f-ac, 0x40=Automatic Output Packets */
        putbe16(buf, 2, 0x32e1);
        buf[4] = 0x00;   // not used
        buf[5] = 0x00;   // not used
        (void)tsip_write1(session, buf, 6);
}

// configure RES 360 to a known state
void configuration_packets_res360(struct gps_device_t *session)
{
    char buf[100];

    GPSD_LOG(LOG_PROG, &session->context->errout,
             "TSIP: configuration_packets_res360()\n");

    // should already have versions 0x8f-81 and 0x8f-83.
    /* Self-Survey Parameters (0x8e-a9) is default on
     * query them? */

    // PPS Output Option (0x8e-4e) is default on

    buf[0] = 0x8e;  // Set Packet Broadcast Mask (0x8e-a5)
    buf[1] = 0xa5;  // a5 = Subcode
    /* Packets bit field = default + Auto output packets
     *  1=0x8f-ab, 4=0x8f-ac, 0x40=Automatic Output Packets */
    putbe16(buf, 2, 0x0045);
    putbe16(buf, 4, 0x0000);
    (void)tsip_write1(session, buf, 6);

    buf[0] = 0x35;  // set I/O Options
    // RES SMT 360 defaults:  12 02 00 08
    // position and velocity only sent during self-survey.
    // Position
    buf[1] =  IO1_DP|IO1_LLA|IO1_ECEF;
    // Velocity
    buf[2] =IO2_VECEF|IO2_ENU;
    // Timing
    buf[3] = 0x01;          // Use 0x8e-a2
    // Auxiliary
    buf[4] = 0x08;         // Packet 0x5a off, dBHz
    (void)tsip_write1(session, buf, 5);

#ifdef __UNUSED__
    // request I/O Options (0x55)
    (void)tsip_write1(session, "\x35", 1);

    // request Receiver Configuration (0xbb)
    (void)tsip_write1(session, "\xbb\x00", 2);

    // Restart Self-Survey (0x8e-a6)
    // which gives us 2,000 normal fixes, before going quiet again.
    (void)tsip_write1(session, "\x8e\xa6\x00", 3);
#endif // __UNUSED__
}

/* this is everything we export */
/* *INDENT-OFF* */
const struct gps_type_t driver_tsip =
{
    .type_name      = "Trimble TSIP",     // full name of type
    .packet_type    = TSIP_PACKET,        // associated lexer packet type
    .flags          = DRIVER_STICKY,      // remember this
    .trigger        = NULL,               // no trigger
    .channels       = TSIP_CHANNELS,      // consumer-grade GPS
    .probe_detect   = tsip_detect,        // probe for 9600O81 device
    .get_packet     = generic_get,        // use the generic packet getter
    .parse_packet   = tsip_parse_input,   // parse message packets
    .rtcm_writer    = NULL,               // doesn't accept DGPS corrections
    .init_query     = tsip_init_query,    // non-perturbing initial query
    .event_hook     = tsip_event_hook,    // fire on various lifetime events
    .speed_switcher = tsip_speed_switch,  // change baud rate
    .mode_switcher  = tsip_mode,          // there is a mode switcher
    .rate_switcher  = NULL,               // no rate switcher
    .min_cycle.tv_sec  = 1,               // not relevant, no rate switch
    .min_cycle.tv_nsec = 0,               // not relevant, no rate switch
    .control_send   = tsip_write1,        // how to send commands
    .time_offset     = NULL,
};
/* *INDENT-ON* */

#endif /* TSIP_ENABLE */

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