gpsd/drivers.c

/*
 * This file is Copyright 2010 by the GPSD project
 * SPDX-License-Identifier: BSD-2-clause
 */

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

#include <assert.h>
#include <ctype.h>
#include <stdarg.h>
#include <stdbool.h>
#include <stdio.h>
#include <stdlib.h>
#include <string.h>
#include <unistd.h>

#include "bits.h"       /* for getbeu16(), to extract big-endian words */
#include "compiler.h"   // for FALLTHROUGH
#include "gpsd.h"
#include "strfuncs.h"

ssize_t generic_get(struct gps_device_t *session)
{
    return packet_get(session->gpsdata.gps_fd, &session->lexer);
}

gps_mask_t generic_parse_input(struct gps_device_t *session)
{
    if (session->lexer.type == BAD_PACKET)
        return 0;
    else if (session->lexer.type == COMMENT_PACKET) {
        gpsd_set_century(session);
        return 0;
#ifdef NMEA0183_ENABLE
    } else if (session->lexer.type == NMEA_PACKET) {
        const struct gps_type_t **dp;
        gps_mask_t st = 0;
        char *sentence = (char *)session->lexer.outbuffer;

        if (sentence[strlen(sentence)-1] != '\n')
            GPSD_LOG(LOG_IO, &session->context->errout,
                     "<= GPS: %s\n", sentence);
        else
            GPSD_LOG(LOG_IO, &session->context->errout,
                     "<= GPS: %s", sentence);

        if ((st=nmea_parse(sentence, session)) == 0) {
            GPSD_LOG(LOG_WARN, &session->context->errout,
                     "unknown sentence: \"%s\"\n", sentence);
        }
        for (dp = gpsd_drivers; *dp; dp++) {
            char *trigger = (*dp)->trigger;

            if (trigger!=NULL && str_starts_with(sentence, trigger)) {
                GPSD_LOG(LOG_PROG, &session->context->errout,
                         "found trigger string %s.\n", trigger);
                if (*dp != session->device_type) {
                    (void)gpsd_switch_driver(session, (*dp)->type_name);
                    if (session->device_type != NULL
                        && session->device_type->event_hook != NULL)
                        session->device_type->event_hook(session,
                                                         event_triggermatch);
                    st |= DEVICEID_SET;
                }
            }
        }
        return st;
#endif /* NMEA0183_ENABLE */
    } else {
        GPSD_LOG(LOG_SHOUT, &session->context->errout,
                 "packet type %d fell through (should never happen): %s.\n",
                 session->lexer.type, gpsd_prettydump(session));
        return 0;
    }
}

/**************************************************************************
 *
 * Generic driver -- make no assumptions about the device type
 *
 **************************************************************************/

/* *INDENT-OFF* */
const struct gps_type_t driver_unknown = {
    .type_name      = "Unknown",        /* full name of type */
    .packet_type    = COMMENT_PACKET,   /* associated lexer packet type */
    .flags          = DRIVER_NOFLAGS,   /* no flags set */
    .trigger        = NULL,             /* it's the default */
    .channels       = 12,               /* consumer-grade GPS */
    .probe_detect   = NULL,             /* no probe */
    .get_packet     = generic_get,      /* use generic packet getter */
    .parse_packet   = generic_parse_input,      /* how to interpret a packet */
    .rtcm_writer    = NULL,             /* write RTCM data straight */
    .init_query     = NULL,             /* non-perturbing initial query */
    .event_hook     = NULL,             /* lifetime event handler */
    .speed_switcher = NULL,             /* no speed switcher */
    .mode_switcher  = NULL,             /* no mode switcher */
    .rate_switcher  = NULL,             /* no sample-rate switcher */
    .min_cycle.tv_sec  = 1,             /* not relevant, no rate switch */
    .min_cycle.tv_nsec = 0,             /* not relevant, no rate switch */
    .control_send   = NULL,             /* how to send control strings */
    .time_offset     = NULL,            /* no method for NTP fudge factor */
};
/* *INDENT-ON* */

#ifdef NMEA0183_ENABLE
/**************************************************************************
 *
 * NMEA 0183
 *
 * This is separate from the 'unknown' driver because we don't want to
 * ship NMEA subtype probe strings to a device until we've seen at
 * least one NMEA packet.  This avoids spamming devices that might
 * actually be USB modems or other things in USB device class FF that
 * just happen to have one of 'our' adaptor chips in front of them.
 *
 **************************************************************************/

static void nmea_event_hook(struct gps_device_t *session, event_t event)
{
    if (session->context->readonly)
        return;
    /*
     * This is where we try to tickle NMEA devices into revealing their
     * inner natures.
     */
    if (event == event_configure) {
        /*
         * The reason for splitting these probes up by packet sequence
         * number, interleaving them with the first few packet receives,
         * is because many generic-NMEA devices get confused if you send
         * too much at them in one go.
         *
         * A fast response to an early probe will change drivers so the
         * later ones won't be sent at all.  Thus, for best overall
         * performance, order these to probe for the most popular types
         * soonest.
         *
         * Note: don't make the trigger strings identical to the probe,
         * because some NMEA devices (notably SiRFs) will just echo
         * unknown strings right back at you. A useful dodge is to append
         * a comma to the trigger, because that won't be in the response
         * unless there is actual following data.
         */
        switch (session->lexer.counter) {
#ifdef NMEA0183_ENABLE
        case 0:
            /* probe for Garmin serial GPS -- expect $PGRMC followed by data */
            GPSD_LOG(LOG_PROG, &session->context->errout,
                     "=> Probing for Garmin NMEA\n");
            (void)nmea_send(session, "$PGRMCE");
            break;
#endif /* NMEA0183_ENABLE */
#ifdef SIRF_ENABLE
        case 1:
            /*
             * We used to try to probe for SiRF by issuing
             * "$PSRF105,1" and expecting "$Ack Input105.".  But it
             * turns out this only works for SiRF-IIs; SiRF-I and
             * SiRF-III don't respond.  Sadly, the MID132 binary
             * request for firmware version is ignored in NMEA mode.
             * Thus the only reliable probe is to try to flip the SiRF
             * into binary mode, cluing in the library to revert it on
             * close.
             *
             * SiRFs dominate the consumer-grade GPS-mouse market, so
             * we used to put this test first. Unfortunately this
             * causes problems for gpsctl, as it cannot select the
             * NMEA driver without switching the device back to binary
             * mode!  Fix this if we ever find a nondisruptive probe
             * string.
             */
            GPSD_LOG(LOG_PROG, &session->context->errout,
                     "=> Probing for SiRF\n");
            (void)nmea_send(session,
                            "$PSRF100,0,%d,%d,%d,0",
                            session->gpsdata.dev.baudrate,
                            9 - session->gpsdata.dev.stopbits,
                            session->gpsdata.dev.stopbits);
            break;
#endif /* SIRF_ENABLE */
#ifdef NMEA0183_ENABLE
        case 2:
            /* probe for the FV-18 -- expect $PFEC,GPint followed by data */
            GPSD_LOG(LOG_PROG, &session->context->errout,
                     "=> Probing for FV-18\n");
            (void)nmea_send(session, "$PFEC,GPint");
            break;
        case 3:
            /* probe for the Trimble Copernicus */
            GPSD_LOG(LOG_PROG, &session->context->errout,
                     "=> Probing for Trimble Copernicus\n");
            (void)nmea_send(session, "$PTNLSNM,0139,01");
            break;
#endif /* NMEA0183_ENABLE */
#ifdef EVERMORE_ENABLE
        case 4:
            GPSD_LOG(LOG_PROG, &session->context->errout,
                     "=> Probing for Evermore\n");
            // FIXME: not passive compatible
            /* Enable checksum and GGA(1s), GLL(0s), GSA(1s), GSV(1s),
             * RMC(1s), VTG(0s), PEMT101(0s)
             * EverMore will reply with: \x10\x02\x04\x38\x8E\xC6\x10\x03 */
            (void)gpsd_write(session,
                             "\x10\x02\x12\x8E\x7F\x01\x01\x00\x01\x01\x01"
                             "\x00\x00\x00\x00\x00\x00\x00\x00\x13\x10\x03",
                             22);
            break;
#endif /* EVERMORE_ENABLE */
#ifdef GPSCLOCK_ENABLE
        case 5:
            /* probe for Furuno Electric GH-79L4-N (GPSClock);
             * expect $PFEC,GPssd */
            GPSD_LOG(LOG_PROG, &session->context->errout,
                     "=> Probing for GPSClock\n");
            (void)nmea_send(session, "$PFEC,GPsrq");
            break;
#endif /* GPSCLOCK_ENABLE */
#ifdef ASHTECH_ENABLE
        case 6:
            /* probe for Ashtech -- expect $PASHR,RID */
            GPSD_LOG(LOG_PROG, &session->context->errout,
                     "=> Probing for Ashtech\n");
            (void)nmea_send(session, "$PASHQ,RID");
            break;
#endif /* ASHTECH_ENABLE */
#ifdef UBLOX_ENABLE
        case 7:
            // probe for UBX
            GPSD_LOG(LOG_PROG, &session->context->errout,
                     "=> Probing for UBX\n");
            // query port configuration UBX-MON-VER
            (void)ubx_write(session, 0x0a, 0x04, NULL, 0);
            // query port configuration UBX-CFG-PRT
            (void)ubx_write(session, 0x06, 0x00, NULL, 0);
            break;
#endif /* UBLOX_ENABLE */
#ifdef MTK3301_ENABLE
        case 8:
            /* probe for MTK-3301 -- expect $PMTK705 */
            GPSD_LOG(LOG_PROG, &session->context->errout,
                     "=> Probing for MediaTek\n");
            (void)nmea_send(session, "$PMTK605");
            break;
#endif /* MTK3301_ENABLE */
#ifdef GREIS_ENABLE
        case 9:
            /* probe for Javad GREIS -- expect reply with JAVAD */
            GPSD_LOG(LOG_PROG, &session->context->errout,
                     "=> Probing for Javad GREIS\n");
            /* TODO: confirm this actually gets JAVAD response */
            (void)nmea_send(session, "print,/par/rcv/vendor");
            break;
#endif /* GREIS_ENABLE */
        default:
            break;
        }
    }
}

/* *INDENT-OFF* */
const struct gps_type_t driver_nmea0183 = {
    .type_name      = "NMEA0183",       /* full name of type */
    .packet_type    = NMEA_PACKET,      /* associated lexer packet type */
    .flags          = DRIVER_NOFLAGS,   /* remember this */
    .trigger        = NULL,             /* it's the default */
    .channels       = 12,               /* consumer-grade GPS */
    .probe_detect   = NULL,             /* no probe */
    .get_packet     = generic_get,      /* use generic packet getter */
    .parse_packet   = generic_parse_input,      /* how to interpret a packet */
    .rtcm_writer    = gpsd_write,       /* write RTCM data straight */
    .init_query     = NULL,             /* non-perturbing initial query */
    .event_hook     = nmea_event_hook,  /* lifetime event handler */
    .speed_switcher = NULL,             /* no speed switcher */
#ifdef BINARY_ENABLE
    .mode_switcher  = NULL,             /* maybe switchable if it was a SiRF */
#else
    .mode_switcher  = NULL,             /* no binary mode to revert to */
#endif /* BINARY_ENABLE */
    .rate_switcher  = NULL,             /* no sample-rate switcher */
    .min_cycle.tv_sec  = 1,             /* not relevant, no rate switch */
    .min_cycle.tv_nsec = 0,             /* not relevant, no rate switch */
    .control_send   = nmea_write,       /* how to send control strings */
    .time_offset     = NULL,            /* no method for NTP fudge factor */
};
/* *INDENT-ON* */

#if defined(GARMIN_ENABLE) && defined(NMEA0183_ENABLE)
/**************************************************************************
 *
 * Garmin NMEA
 *
 **************************************************************************/

static void garmin_mode_switch(struct gps_device_t *session, int mode)
/* only does anything in one direction, going to Garmin binary driver */
{
    struct timespec delay;

    if (mode == MODE_BINARY) {
        (void)nmea_send(session, "$PGRMC1,1,2,1,,,,2,W,N");
        (void)nmea_send(session, "$PGRMI,,,,,,,R");
        /* wait 333 uSec, standard Garmin settling time */
        delay.tv_sec = 0;
        delay.tv_nsec = 333000L;
        nanosleep(&delay, NULL);
    }
}

static void garmin_nmea_event_hook(struct gps_device_t *session,
                                   event_t event)
{
    if (session->context->readonly)
        return;

    if (event == event_driver_switch) {
        /* forces a reconfigure as the following packets come in */
        session->lexer.counter = 0;
    }
    if (session->context->passive) {
        return;
    }
    if (event == event_configure) {
        /*
         * And here's that reconfigure.  It's split up like this because
         * receivers like the Garmin GPS-10 don't handle having having a lot of
         * probes shoved at them very well.
         */
        switch (session->lexer.counter) {
        case 0:
            /* reset some config, AutoFix, WGS84, PPS
             * Set the PPS pulse length to 40ms which leaves the Garmin 18-5hz
             * with a 160ms low state.
             * NOTE: new PPS only takes effect after next power cycle
             */
            (void)nmea_send(session, "$PGRMC,A,,100,,,,,,A,,1,2,1,30");
            break;
        case 1:
            /* once a sec, no averaging, NMEA 2.3, WAAS */
            (void)nmea_send(session, "$PGRMC1,1,1,1,,,,2,W,N");
            break;
        case 2:
            /* get some more config info */
            (void)nmea_send(session, "$PGRMC1E");
            break;
        case 3:
            /* turn off all output except GGA */
            (void)nmea_send(session, "$PGRMO,,2");
            (void)nmea_send(session, "$PGRMO,GPGGA,1");
            break;
        case 4:
            /* enable GPGGA, GPGSA, GPGSV, GPRMC on Garmin serial GPS */
            (void)nmea_send(session, "$PGRMO,GPGSA,1");
            break;
        case 5:
            (void)nmea_send(session, "$PGRMO,GPGSV,1");
            break;
        case 6:
            (void)nmea_send(session, "$PGRMO,GPRMC,1");
            break;
        case 7:
            (void)nmea_send(session, "$PGRMO,PGRME,1");
            break;
        }
    }
}

/* *INDENT-OFF* */
const struct gps_type_t driver_garmin = {
    .type_name      = "Garmin NMEA",    /* full name of type */
    .packet_type    = NMEA_PACKET,      /* associated lexer packet type */
    .flags          = DRIVER_STICKY,    /* remember this */
    .trigger        = "$PGRMC,",        /* Garmin private */
    .channels       = 12,               /* not used by this driver */
    .probe_detect   = NULL,             /* no probe */
    .get_packet     = generic_get,      /* use generic packet getter */
    .parse_packet   = generic_parse_input,      /* how to interpret a packet */
    .rtcm_writer    = NULL,             /* some do, some don't, skip for now */
    .init_query     = NULL,             /* non-perturbing initial query */
    .event_hook     = garmin_nmea_event_hook,   /* lifetime event handler */
    .speed_switcher = NULL,                     /* no speed switcher */
    .mode_switcher  = garmin_mode_switch,       /* mode switcher */
    .rate_switcher  = NULL,             /* no sample-rate switcher */
    .min_cycle.tv_sec  = 1,             /* not relevant, no rate switch */
    .min_cycle.tv_nsec = 0,             /* not relevant, no rate switch */
    .control_send   = nmea_write,       /* how to send control strings */
    .time_offset     = NULL,            /* no method for NTP fudge factor */
};
/* *INDENT-ON* */
#endif /* GARMIN_ENABLE && NMEA0183_ENABLE */

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

static void ashtech_event_hook(struct gps_device_t *session, event_t event)
{
    if (session->context->readonly)
        return;

    if (event == event_wakeup)
        (void)nmea_send(session, "$PASHQ,RID");

    if ( session->context->passive) {
        return;
    }
    if (event == event_identified) {
        /* turn WAAS on. can't hurt... */
        (void)nmea_send(session, "$PASHS,WAS,ON");
        /* reset to known output state */
        (void)nmea_send(session, "$PASHS,NME,ALL,A,OFF");
        /* then turn on some useful sentences */
#ifdef __future__
        /* we could parse these, but they're oversize so they get dropped */
        (void)nmea_send(session, "$PASHS,NME,POS,A,ON");
        (void)nmea_send(session, "$PASHS,NME,SAT,A,ON");
#else
        (void)nmea_send(session, "$PASHS,NME,GGA,A,ON");
        (void)nmea_send(session, "$PASHS,NME,GSA,A,ON");
        (void)nmea_send(session, "$PASHS,NME,GSV,A,ON");
        (void)nmea_send(session, "$PASHS,NME,RMC,A,ON");
#endif
        (void)nmea_send(session, "$PASHS,NME,ZDA,A,ON");
    }
}

/* *INDENT-OFF* */
const struct gps_type_t driver_ashtech = {
    .type_name      = "Ashtech",        /* full name of type */
    .packet_type    = NMEA_PACKET,      /* associated lexer packet type */
    .flags          = DRIVER_STICKY,    /* remember this */
    .trigger        = "$PASHR,RID,",    /* Ashtech receivers respond thus */
    .channels       = 24,               /* not used, GG24 has 24 channels */
    .probe_detect   = NULL,             /* no probe */
    .get_packet     = generic_get,      /* how to get a packet */
    .parse_packet   = generic_parse_input,      /* how to interpret a packet */
    .rtcm_writer    = gpsd_write,       /* write RTCM data straight */
    .init_query     = NULL,             /* non-perturbing initial query */
    .event_hook     = ashtech_event_hook, /* lifetime event handler */
    .speed_switcher = NULL,             /* no speed switcher */
    .mode_switcher  = NULL,             /* no mode switcher */
    .rate_switcher  = NULL,             /* no sample-rate switcher */
    .min_cycle.tv_sec  = 1,             /* not relevant, no rate switch */
    .min_cycle.tv_nsec = 0,             /* not relevant, no rate switch */
    .control_send   = nmea_write,       /* how to send control strings */
    .time_offset     = NULL,            /* no method for NTP fudge factor */
};
/* *INDENT-ON* */
#endif /* ASHTECH_ENABLE */

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

static void fv18_event_hook(struct gps_device_t *session, event_t event)
{
    if (session->context->readonly)
        return;

    /*
     * Tell an FV18 to send GSAs so we'll know if 3D is accurate.
     * Suppress GLL and VTG.  Enable ZDA so dates will be accurate for replay.
     * It's possible we might not need to redo this on event_reactivate,
     * but doing so is safe and cheap.
     */
    if (event == event_identified || event == event_reactivate)
        (void)nmea_send(session,
                        "$PFEC,GPint,GSA01,DTM00,ZDA01,RMC01,GLL00,VTG00,GSV05");
}

/* *INDENT-OFF* */
const struct gps_type_t driver_fv18 = {
    .type_name      = "San Jose Navigation FV18",       /* full name of type */
    .packet_type    = NMEA_PACKET,      /* associated lexer packet type */
    .flags          = DRIVER_STICKY,    /* remember this */
    .trigger        = "$PFEC,GPint,",   /* FV18s should echo the probe */
    .channels       = 12,               /* not used by this driver */
    .probe_detect   = NULL,             /* no probe */
    .get_packet     = generic_get,      /* how to get a packet */
    .parse_packet   = generic_parse_input,      /* how to interpret a packet */
    .rtcm_writer    = gpsd_write,       /* write RTCM data straight */
    .init_query     = NULL,             /* non-perturbing initial query */
    .event_hook     = fv18_event_hook,  /* lifetime event handler */
    .speed_switcher = NULL,             /* no speed switcher */
    .mode_switcher  = NULL,             /* no mode switcher */
    .rate_switcher  = NULL,             /* no sample-rate switcher */
    .min_cycle.tv_sec  = 1,             /* not relevant, no rate switch */
    .min_cycle.tv_nsec = 0,             /* not relevant, no rate switch */
    .control_send   = nmea_write,       /* how to send control strings */
    .time_offset     = NULL,            /* no method for NTP fudge factor */
};
/* *INDENT-ON* */
#endif /* FV18_ENABLE */

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

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

/* *INDENT-OFF* */
const struct gps_type_t driver_gpsclock = {
    .type_name      = "Furuno Electric GH-79L4",        /* full name of type */
    .packet_type    = NMEA_PACKET,      /* associated lexer packet type */
    .flags          = DRIVER_STICKY,    /* remember this */
    .trigger        = "$PFEC,GPssd",    /* GPSClock should return this */
    .channels       = 12,               /* not used by this driver */
    .probe_detect   = NULL,             /* no probe */
    .get_packet     = generic_get,      /* how to get a packet */
    .parse_packet   = generic_parse_input,      /* how to interpret a packet */
    .rtcm_writer    = gpsd_write,       /* write RTCM data straight */
    .init_query     = NULL,             /* non-perturbing initial query */
    .event_hook     = NULL,             /* no lifetime event handler */
    .speed_switcher = NULL,             /* no speed switcher */
    .mode_switcher  = NULL,             /* no mode switcher */
    .rate_switcher  = NULL,             /* sample rate is fixed */
    .min_cycle.tv_sec  = 1,             /* not relevant, no rate switch */
    .min_cycle.tv_nsec = 0,             /* not relevant, no rate switch */
    .control_send   = nmea_write,       /* how to send control strings */
    .time_offset     = NULL,            /* no method for NTP fudge factor */
};
/* *INDENT-ON* */
#endif /* GPSCLOCK_ENABLE */

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

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

static void tripmate_event_hook(struct gps_device_t *session, event_t event)
{
    if (session->context->readonly)
        return;
    /* TripMate requires this response to the ASTRAL it sends at boot time */
    if (event == event_identified)
        (void)nmea_send(session, "$IIGPQ,ASTRAL");
    /* stop it sending PRWIZCH */
    if (event == event_identified || event == event_reactivate)
        (void)nmea_send(session, "$PRWIILOG,ZCH,V,,");
}

/* *INDENT-OFF* */
static const struct gps_type_t driver_tripmate = {
    .type_name     = "Delorme TripMate",        /* full name of type */
    .packet_type   = NMEA_PACKET,               /* lexer packet type */
    .flags         = DRIVER_STICKY,             /* no rollover or other flags */
    .trigger       ="ASTRAL",                   /* tells us to switch */
    .channels      = 12,                        /* consumer-grade GPS */
    .probe_detect  = NULL,                      /* no probe */
    .get_packet    = generic_get,               /* how to get a packet */
    .parse_packet  = generic_parse_input,       /* how to interpret a packet */
    .rtcm_writer   = gpsd_write,                /* send RTCM data straight */
    .init_query    = NULL,                      /* non-perturbing query */
    .event_hook    = tripmate_event_hook,       /* lifetime event handler */
    .speed_switcher= NULL,                      /* no speed switcher */
    .mode_switcher = NULL,                      /* no mode switcher */
    .rate_switcher = NULL,                      /* no sample-rate switcher */
    .min_cycle.tv_sec  = 1,             /* not relevant, no rate switch */
    .min_cycle.tv_nsec = 0,             /* not relevant, no rate switch */
    .control_send  = nmea_write,        /* how to send control strings */
    .time_offset     = NULL,            /* no method for NTP fudge factor */
};
/* *INDENT-ON* */
#endif /* TRIPMATE_ENABLE */

#ifdef EARTHMATE_ENABLE
/**************************************************************************
 *
 * Zodiac EarthMate textual mode
 *
 * Note: This is the pre-2003 version using Zodiac binary protocol.
 * There is a good HOWTO at <http://www.hamhud.net/ka9mva/earthmate.htm>.
 * It has been replaced with a design that uses a SiRF chipset.
 *
 **************************************************************************/

static void earthmate_event_hook(struct gps_device_t *session, event_t event)
{
    struct timespec delay;

    if (session->context->readonly)
        return;
    if (event == event_triggermatch) {
        (void)gpsd_write(session, "EARTHA\r\n", 8);
        /* wait 10,000 uSec */
        delay.tv_sec = 0;
        delay.tv_nsec = 10000000L;
        nanosleep(&delay, NULL);

        (void)gpsd_switch_driver(session, "Zodiac");
    }
}

/* *INDENT-OFF* */
static const struct gps_type_t driver_earthmate = {
    .type_name     = "Pre-2003 Delorme EarthMate",
    .packet_type   = NMEA_PACKET,       /* associated lexer packet type */
    .flags         = DRIVER_STICKY,             /* no rollover or other flags */
    .trigger       = "EARTHA",                  /* Earthmate trigger string */
    .channels      = 12,                        /* not used by NMEA parser */
    .probe_detect  = NULL,                      /* no probe */
    .get_packet    = generic_get,               /* how to get a packet */
    .parse_packet  = generic_parse_input,       /* how to interpret a packet */
    .rtcm_writer   = NULL,                      /* don't send RTCM data */
    .init_query     = NULL,                     /* non-perturbing query */
    .event_hook    = earthmate_event_hook,      /* lifetime event handler */
    .speed_switcher= NULL,                      /* no speed switcher */
    .mode_switcher = NULL,                      /* no mode switcher */
    .rate_switcher = NULL,                      /* no sample-rate switcher */
    .min_cycle.tv_sec  = 1,             /* not relevant, no rate switch */
    .min_cycle.tv_nsec = 0,             /* not relevant, no rate switch */
    .control_send  = nmea_write,        /* never actually used. */
    .time_offset     = NULL,            /* no method for NTP fudge factor */
};
/* *INDENT-ON* */
#endif /* EARTHMATE_ENABLE */

#endif /* NMEA0183_ENABLE */

#ifdef TNT_ENABLE
/**************************************************************************
 * True North Technologies - Revolution 2X Digital compass
 *
 * More info: http://www.tntc.com/
 *
 * This is a digital compass which uses magnetometers to measure the
 * strength of the earth's magnetic field. Based on these measurements
 * it provides a compass heading using NMEA formatted output strings.
 * This is useful to supplement the heading provided by another GPS
 * unit. A GPS heading is unreliable at slow speed or no speed.
 *
 **************************************************************************/

static ssize_t tnt_control_send(struct gps_device_t *session,
                                char *msg, size_t len UNUSED)
/* send a control string in TNT native formal */
{
    ssize_t status;
    unsigned char sum = '\0';
    char c, *p = msg;

    if (*p == '@') {
        p++;
    }
#ifdef __UNUSED__
    else {
        GPSD_LOG(LOG_ERROR, &session->context->errout,
                 "Bad TNT sentence: '%s'\n", msg);
    }
#endif /* __UNUSED__ */
    while (((c = *p) != '\0')) {
        sum ^= c;
        p++;
    }
    (void)snprintf(p, 6, "*%02X\r\n", (unsigned int)sum);

    status = gpsd_write(session, msg, strlen(msg));
    return status;
}

static bool tnt_send(struct gps_device_t *session, const char *fmt, ...)
/* printf(3)-like TNT command generator */
{
    char buf[BUFSIZ];
    va_list ap;
    ssize_t sent;

    va_start(ap, fmt);
    (void)vsnprintf(buf, sizeof(buf) - 5, fmt, ap);
    va_end(ap);
    sent = tnt_control_send(session, buf, strlen(buf));
    if (sent == (ssize_t) strlen(buf)) {
        GPSD_LOG(LOG_IO, &session->context->errout,
                 "=> GPS: %s\n", buf);
        return true;
    } else {
        GPSD_LOG(LOG_WARN, &session->context->errout,
                 "=> GPS: %s FAILED\n", buf);
        return false;
    }
}

static bool tnt_speed(struct gps_device_t *session,
                      speed_t speed, char parity UNUSED, int stopbits UNUSED)
{
    /*
     * Baud rate change followed by device reset.
     * See page 40 of Technical Guide 1555-B.  We need:
     * 2400 -> 1, 4800 -> 2, 9600 -> 3, 19200 -> 4, 38400 -> 5
     */
    unsigned int val = speed / 2400u;  // 2400->1, 4800->2, 9600->4, 19200->8...
    unsigned int i = 0;

    /* fast way to compute log2(val) */
    while ((val >> i) > 1)
        ++i;
    return tnt_send(session, "@B6=%d", i + 1)
        && tnt_send(session, "@F28.6=1");
}

/* TNT lifetime event hook */
static void tnt_event_hook(struct gps_device_t *session, event_t event)
{
    if (session->context->readonly)
        return;
    if (event == event_wakeup) {
        (void)tnt_send(session, "@F0.3=1");     /* set run mode */
        (void)tnt_send(session, "@F2.2=1");     /* report in degrees */
    }
}

/* *INDENT-OFF* */
const struct gps_type_t driver_trueNorth = {
    .type_name      = "True North",     /* full name of type */
    .packet_type    = NMEA_PACKET,      /* associated lexer packet type */
    .flags          = DRIVER_STICKY,    /* remember this */
    .trigger        = "$PTNTHTM",       /* their proprietary sentence */
    .channels       = 0,                /* not an actual GPS at all */
    .probe_detect   = NULL,             /* no probe in run mode */
    .get_packet     = generic_get,      /* how to get a packet */
    .parse_packet   = generic_parse_input,      /* how to interpret a packet */
    .rtcm_writer    = NULL,             /* Don't send */
    .init_query     = NULL,             /* non-perturbing initial query */
    .event_hook     = tnt_event_hook,   /* lifetime event handler */
    .speed_switcher = tnt_speed,        /* no speed switcher */
    .mode_switcher  = NULL,             /* no mode switcher */
    .rate_switcher  = NULL,             /* no wrapup */
    .min_cycle.tv_sec  = 0,             /* not relevant, no rate switch */
    .min_cycle.tv_nsec = 500000000,     /* not relevant, no rate switch */
    .control_send   = tnt_control_send, /* how to send control strings */
    .time_offset     = NULL,
};
/* *INDENT-ON* */
#endif

#ifdef OCEANSERVER_ENABLE
/**************************************************************************
 * OceanServer - Digital Compass, OS5000 Series
 *
 * More info: http://www.ocean-server.com/download/OS5000_Compass_Manual.pdf
 *
 * This is a digital compass which uses magnetometers to measure the
 * strength of the earth's magnetic field. Based on these measurements
 * it provides a compass heading using NMEA formatted output strings.
 * This is useful to supplement the heading provided by another GPS
 * unit. A GPS heading is unreliable at slow speed or no speed.
 *
 **************************************************************************/

static int oceanserver_send(struct gpsd_errout_t *errout,
                            const int fd, const char *fmt, ...)
{
    int status;
    char buf[BUFSIZ];
    va_list ap;

    va_start(ap, fmt);
    (void)vsnprintf(buf, sizeof(buf) - 5, fmt, ap);
    va_end(ap);
    (void)strlcat(buf, "", sizeof(buf));
    status = (int)write(fd, buf, strlen(buf));
    (void)tcdrain(fd);
    if (status == (int)strlen(buf)) {
        GPSD_LOG(LOG_IO, errout, "=> GPS: %s\n", buf);
        return status;
    } else {
        GPSD_LOG(LOG_WARN, errout, "=> GPS: %s FAILED\n", buf);
        return -1;
    }
}

static void oceanserver_event_hook(struct gps_device_t *session,
                                   event_t event)
{
    if (session->context->readonly)
        return;
    if (event == event_configure && session->lexer.counter == 0) {
        /* report in NMEA format */
        (void)oceanserver_send(&session->context->errout,
                               session->gpsdata.gps_fd, "2\n");
        /* ship all fields */
        (void)oceanserver_send(&session->context->errout,
                               session->gpsdata.gps_fd, "X2047");
    }
}

/* *INDENT-OFF* */
static const struct gps_type_t driver_oceanServer = {
    .type_name      = "OceanServer OS5000", /* full name of type */
    .packet_type    = NMEA_PACKET,      /* associated lexer packet type */
    .flags          = DRIVER_STICKY,    /* no rollover or other flags */
    .trigger        = "$OHPR,",         /* detect their main sentence */
    .channels       = 0,                /* not an actual GPS at all */
    .probe_detect   = NULL,
    .get_packet     = generic_get,      /* how to get a packet */
    .parse_packet   = generic_parse_input,      /* how to interpret a packet */
    .rtcm_writer    = NULL,             /* Don't send */
    .init_query     = NULL,             /* non-perturbing initial query */
    .event_hook     = oceanserver_event_hook,
    .speed_switcher = NULL,             /* no speed switcher */
    .mode_switcher  = NULL,             /* no mode switcher */
    .rate_switcher  = NULL,             /* no wrapup */
    .min_cycle.tv_sec  = 1,             /* not relevant, no rate switch */
    .min_cycle.tv_nsec = 0,             /* not relevant, no rate switch */
    .control_send   = nmea_write,       /* how to send control strings */
    .time_offset     = NULL,
};
/* *INDENT-ON* */
#endif

#ifdef FURY_ENABLE
/**************************************************************************
 *
 * Jackson Labs Fury, a high-precision laboratory clock
 *
 * Will also support other Jackon Labs boards, including the Firefly.
 *
 * Note: you must either build with fixed_port_speed=115200 or tweak the
 * speed on the port to 115200 before running.  The device's default mode
 * does not stream output, so our hunt loop will simply time out otherwise.
 *
 **************************************************************************/

static bool fury_rate_switcher(struct gps_device_t *session, double rate)
{
    char buf[78];
    double inverted;

    /* rate is a frequency, but the command takes interval in # of seconds */
    if (rate == 0.0)
        inverted = 0.0;
    else
        inverted = 1.0/rate;
    if (inverted > 256)
        return false;
    (void)snprintf(buf, sizeof(buf), "GPS:GPGGA %d\r\n", (int)inverted);
    (void)gpsd_write(session, buf, strlen(buf));
    return true;
}

static void fury_event_hook(struct gps_device_t *session, event_t event)
{
    if (event == event_wakeup && gpsd_get_speed(session) == 115200)
        (void)fury_rate_switcher(session, 1.0);
    else if (event == event_deactivate)
        (void)fury_rate_switcher(session, 0.0);
}


/* *INDENT-OFF* */
static const struct gps_type_t driver_fury = {
    .type_name      = "Jackson Labs Fury", /* full name of type */
    .packet_type    = NMEA_PACKET,      /* associated lexer packet type */
    .flags          = DRIVER_STICKY,    /* no rollover or other flags */
    .trigger        = NULL,             /* detect their main sentence */
    .channels       = 0,                /* not an actual GPS at all */
    .probe_detect   = NULL,
    .get_packet     = generic_get,      /* how to get a packet */
    .parse_packet   = generic_parse_input,      /* how to interpret a packet */
    .rtcm_writer    = NULL,             /* Don't send */
    .init_query     = NULL,             /* non-perturbing initial query */
    .event_hook     = fury_event_hook,
    .speed_switcher = NULL,             /* no speed switcher */
    .mode_switcher  = NULL,             /* no mode switcher */
    .rate_switcher  = fury_rate_switcher,
    .min_cycle.tv_sec  = 1,             /* not relevant, no rate switch */
    .min_cycle.tv_nsec = 0,             /* not relevant, no rate switch */
    .control_send   = nmea_write,       /* how to send control strings */
    .time_offset     = NULL,
};
/* *INDENT-ON* */

#endif /* FURY_ENABLE */

#ifdef RTCM104V2_ENABLE
/**************************************************************************
 *
 * RTCM-104 (v2), used for broadcasting DGPS corrections and by DGPS radios
 *
 **************************************************************************/

static gps_mask_t rtcm104v2_analyze(struct gps_device_t *session)
{
    rtcm2_unpack(session, &session->gpsdata.rtcm2,
                 (char *)session->lexer.isgps.buf);
    session->cycle_end_reliable = true;
    return RTCM2_SET;
}

/* *INDENT-OFF* */
static const struct gps_type_t driver_rtcm104v2 = {
    .type_name     = "RTCM104V2",       /* full name of type */
    .packet_type   = RTCM2_PACKET,      /* associated lexer packet type */
    .flags         = DRIVER_NOFLAGS,    /* no rollover or other flags */
    .trigger       = NULL,              /* no recognition string */
    .channels      = 0,                 /* not used */
    .probe_detect  = NULL,              /* no probe */
    .get_packet    = generic_get,       /* how to get a packet */
    .parse_packet  = rtcm104v2_analyze, /*  */
    .rtcm_writer   = NULL,              /* don't send RTCM data,  */
    .init_query     = NULL,             /* non-perturbing initial query */
    .event_hook    = NULL,              /* no event_hook */
    .speed_switcher= NULL,              /* no speed switcher */
    .mode_switcher = NULL,              /* no mode switcher */
    .rate_switcher = NULL,              /* no sample-rate switcher */
    .min_cycle.tv_sec  = 1,             /* not relevant, no rate switch */
    .min_cycle.tv_nsec = 0,             /* not relevant, no rate switch */
    .control_send   = NULL,             /* how to send control strings */
    .time_offset     = NULL,
};
/* *INDENT-ON* */
#endif /* RTCM104V2_ENABLE */
#ifdef RTCM104V3_ENABLE
/**************************************************************************
 *
 * RTCM-104 (v3), used for broadcasting DGPS corrections and by DGPS radios
 *
 **************************************************************************/

static gps_mask_t rtcm104v3_analyze(struct gps_device_t *session)
{
    uint16_t type = getbeu16(session->lexer.outbuffer, 3) >> 4;

    GPSD_LOG(LOG_RAW, &session->context->errout, "RTCM 3.x packet %d\n", type);
    rtcm3_unpack(session->context,
                 &session->gpsdata.rtcm3,
                 (char *)session->lexer.outbuffer);
    session->cycle_end_reliable = true;
    return RTCM3_SET;
}

/* *INDENT-OFF* */
static const struct gps_type_t driver_rtcm104v3 = {
    .type_name     = "RTCM104V3",       /* full name of type */
    .packet_type   = RTCM3_PACKET,      /* associated lexer packet type */
    .flags         = DRIVER_NOFLAGS,    /* no rollover or other flags */
    .trigger       = NULL,              /* no recognition string */
    .channels      = 0,                 /* not used */
    .probe_detect  = NULL,              /* no probe */
    .get_packet    = generic_get,       /* how to get a packet */
    .parse_packet  = rtcm104v3_analyze, /*  */
    .rtcm_writer   = NULL,              /* don't send RTCM data,  */
    .init_query    = NULL,              /* non-perturbing initial query */
    .event_hook    = NULL,              /* no event hook */
    .speed_switcher= NULL,              /* no speed switcher */
    .mode_switcher = NULL,              /* no mode switcher */
    .rate_switcher = NULL,              /* no sample-rate switcher */
    .min_cycle.tv_sec  = 1,             /* not relevant, no rate switch */
    .min_cycle.tv_nsec = 0,             /* not relevant, no rate switch */
    .control_send   = NULL,             /* how to send control strings */
    .time_offset     = NULL,
};
/* *INDENT-ON* */
#endif /* RTCM104V3_ENABLE */

#ifdef GARMINTXT_ENABLE
/**************************************************************************
 *
 * Garmin Simple Text protocol
 *
 **************************************************************************/

/* *INDENT-OFF* */
static const struct gps_type_t driver_garmintxt = {
    .type_name     = "Garmin Simple Text",              /* full name of type */
    .packet_type   = GARMINTXT_PACKET,  /* associated lexer packet type */
    .flags         = DRIVER_NOFLAGS,    /* no rollover or other flags */
    .trigger       = NULL,              /* no recognition string */
    .channels      = 0,                 /* not used */
    .probe_detect  = NULL,              /* no probe */
    .get_packet    = generic_get,       /* how to get a packet */
    .parse_packet  = garmintxt_parse,   /* how to parse one */
    .rtcm_writer   = NULL,              /* don't send RTCM data,  */
    .init_query     = NULL,             /* non-perturbing initial query */
    .event_hook    = NULL,              /* no event hook */
    .speed_switcher= NULL,              /* no speed switcher */
    .mode_switcher = NULL,              /* no mode switcher */
    .rate_switcher = NULL,              /* no sample-rate switcher */
    .min_cycle.tv_sec  = 1,             /* not relevant, no rate switch */
    .min_cycle.tv_nsec = 0,             /* not relevant, no rate switch */
    .control_send   = NULL,             /* how to send control strings */
    .time_offset     = NULL,
};
/* *INDENT-ON* */
#endif /* GARMINTXT_ENABLE */

#ifdef MTK3301_ENABLE
/**************************************************************************
 *
 * MediaTek MTK-3301, 3329, 3333, 3339
 *
 * OEMs for several GPS vendors, notably including Garmin, FasTrax, Trimble,
 * and AdaFruit. Website at <http://www.mediatek.com/>.
 *
 * The Trimble Condor appears to be an MTK3329.  It behaves as an MTK3301
 * and positively acknowledges all 3301 sentences as valid. It ignores $PMTK
 * sentence fields that are not implemented in the Trimble Condor. It does
 * not have power-save mode and ignores $PMTK320.  For $PMTK314 it silently
 * ignores periodic enabling of messages that aren't supported.
 *
 * From its datasheet the MTK3339 seems to add QZSS support not present in
 * earlier versions. The data sheet says it has 66 channels, which mkes
 * sense given the multi-constellation capability. The channel count
 * in the driver is never used by the NMEA driver so leaving the lower MTK3301
 * value in there is OK.
 *
 * MTK3333 support 10Hz.
 *
 * The Adafruit GPS HAT for the Raspberry Pi is an MTK3339. It works with this
 * driver; in fact AdaFruit's overview page for the product features GPSD.
 *
 **************************************************************************/

static void mtk3301_event_hook(struct gps_device_t *session, event_t event)
{
/*
0  NMEA_SEN_GLL,  GPGLL   interval - Geographic Position - Latitude longitude
1  NMEA_SEN_RMC,  GPRMC   interval - Recommended Minimum Specific GNSS Sentence
2  NMEA_SEN_VTG,  GPVTG   interval - Course Over Ground and Ground Speed
3  NMEA_SEN_GGA,  GPGGA   interval - GPS Fix Data
4  NMEA_SEN_GSA,  GPGSA   interval - GNSS DOPS and Active Satellites
5  NMEA_SEN_GSV,  GPGSV   interval - GNSS Satellites in View
6  NMEA_SEN_GRS,  GPGRS   interval - GNSS Range Residuals
7  NMEA_SEN_GST,  GPGST   interval - GNSS Pseudorange Errors Statistics
13 NMEA_SEN_MALM, PMTKALM interval - GPS almanac information
14 NMEA_SEN_MEPH, PMTKEPH interval - GPS ephemeris information
15 NMEA_SEN_MDGP, PMTKDGP interval - GPS differential correction information
16 NMEA_SEN_MDBG, PMTKDBG interval – MTK debug information
17 NMEA_SEN_ZDA,  GPZDA   interval - Time & Date
18 NMEA_SEN_MCHN, PMTKCHN interval – GPS channel status

"$PMTK314,1,1,1,1,1,5,1,1,0,0,0,0,0,0,0,0,0,1,0"

*/
    if (session->context->readonly)
        return;
    if (event == event_triggermatch) {
        (void)nmea_send(session, "$PMTK320,0"); /* power save off */
        (void)nmea_send(session, "$PMTK300,1000,0,0,0.0,0.0");/* Fix interval */
        (void)nmea_send(session,
                        "$PMTK314,0,1,0,1,1,5,1,1,0,0,0,0,0,0,0,0,0,1,0");
        (void)nmea_send(session, "$PMTK301,2"); /* DGPS is WAAS */
        (void)nmea_send(session, "$PMTK313,1"); /* SBAS enable */

        /* PMTK_API_Q_OUTPUT_CTL - Query PPS pulse width - Trimble only?
         * http://trl.trimble.com/docushare/dsweb/Get/Document-482603/CONDOR_UG_2C_75263-00.pdf *
         * badly documented */
         (void)nmea_send(session, "$PMTK424");
    }
}

static bool mtk3301_rate_switcher(struct gps_device_t *session, double rate)
{
    char buf[78];

    unsigned int milliseconds = (unsigned int)(1000 * rate);
    if (rate > 1) {
        // force no slower than 1Hz
        milliseconds = 1000;
    } else if (rate < 0.1) {
        // force no faster than 10Hz, MTK3333 can do 10Hz
        milliseconds = 100;
    }

    (void)snprintf(buf, sizeof(buf), "$PMTK300,%u,0,0,0,0", milliseconds);
    (void)nmea_send(session, buf);      /* Fix interval */
    return true;
}

/* *INDENT-OFF* */
const struct gps_type_t driver_mtk3301 = {
    .type_name      = "MTK-3301",       /* full name of type */
    .packet_type    = NMEA_PACKET,      /* associated lexer packet type */
    .flags          = DRIVER_STICKY,    /* remember this */
    .trigger        = "$PMTK705,",      /* firmware release name and version */
    .channels       = 12,               /* not used by this driver */
    .probe_detect   = NULL,             /* no probe */
    .get_packet     = generic_get,      /* how to get a packet */
    .parse_packet   = generic_parse_input,      /* how to interpret a packet */
    .rtcm_writer    = gpsd_write,       /* write RTCM data straight */
    .init_query     = NULL,             /* non-perturbing initial query */
    .event_hook     = mtk3301_event_hook,       /* lifetime event handler */
    .speed_switcher = NULL,             /* no speed switcher */
    .mode_switcher  = NULL,             /* no mode switcher */
    .rate_switcher  = mtk3301_rate_switcher,    /* sample rate switcher */
    .min_cycle.tv_sec  = 0,
    .min_cycle.tv_nsec = 100000000,     /* max 10Hz */
    .control_send   = nmea_write,       /* how to send control strings */
    .time_offset     = NULL,
};
/* *INDENT-ON* */
#endif /* MTK3301_ENABLE */

#ifdef ISYNC_ENABLE
/**************************************************************************
 *
 * Spectratime LNRCLOK / GRCLOK iSync GPS-disciplined rubidium oscillators
 *
 * These devices comprise a u-blox 6 attached to a separate iSync
 * microcontroller which drives the rubidium oscillator.  The iSync
 * microcontroller can be configured to pass through the underlying
 * GPS communication channel, while still using the GPS PPSREF signal
 * to discipline the rubidium oscillator.
 *
 * The iSync can also generate its own periodic status packets in NMEA
 * format.  These describe the state of the oscillator (including
 * whether or not the oscillator PPSOUT is synced to the GPS PPSREF).
 * These packets are transmitted in the middle of the underlying GPS
 * packets, forcing us to handle interrupted NMEA packets.
 *
 * The default state of the device is to generate no periodic output.
 * We send a probe string to initiate beating of the iSync-proprietary
 * $PTNTS,B message, which is then detected as a NMEA trigger.
 *
 **************************************************************************/

static ssize_t isync_write(struct gps_device_t *session, const char *data)

{
    return gpsd_write(session, data, strlen(data));
}

static bool isync_detect(struct gps_device_t *session)
{
    speed_t old_baudrate;
    char old_parity;
    unsigned int old_stopbits;

    /* Set 9600 8N1 */
    old_baudrate = session->gpsdata.dev.baudrate;
    old_parity = session->gpsdata.dev.parity;
    old_stopbits = session->gpsdata.dev.stopbits;
    gpsd_set_speed(session, 9600, 'N', 1);

    /* Cancel pass-through mode and initiate beating of $PTNTS,B
     * message, which can subsequently be detected as a trigger.
     */
    (void)isync_write(session, "@@@@\r\nMAW0C0B\r\n");

    /* return serial port to original settings */
    gpsd_set_speed(session, old_baudrate, old_parity, old_stopbits);

    return false;
}

static void isync_event_hook(struct gps_device_t *session, event_t event)
{
    if (session->context->readonly)
        return;

    if (event == event_driver_switch) {
        session->lexer.counter = 0;
    }

    if (event == event_configure) {
        switch (session->lexer.counter) {
        case 1:
            /* Configure timing and frequency flags:
             *  - Thermal compensation active
             *  - PPSREF active
             *  - PPSOUT active
             */
            (void)isync_write(session, "MAW040B\r\n");
            /* Configure tracking flags:
             *  - Save frequency every 24 hours
             *  - Align PPSOUT to PPSINT
             *  - Track PPSREF
             */
            (void)isync_write(session, "MAW0513\r\n");
            /* Configure tracking start flags:
             *  - Tracking restart allowed
             *  - Align to PPSREF
             */
            (void)isync_write(session, "MAW0606\r\n");
            /* Configure tracking window:
             *  - 4us
             */
            (void)isync_write(session, "MAW1304\r\n");
            /* Configure alarm window:
             *  - 4us
             */
            (void)isync_write(session, "MAW1404\r\n");
            break;
        case 2:
            /* Configure pulse every d second:
             *  - pulse every second
             */
            (void)isync_write(session, "MAW1701\r\n");
            /* Configure pulse origin:
             *  - zero offset
             */
            (void)isync_write(session, "MAW1800\r\n");
            /* Configure pulse width:
             *  - 600ms
             */
            (void)isync_write(session, "MAW1223C34600\r\n");
            break;
        case 3:
            /* Configure GPS resource utilization:
             *  - do not consider GPS messages
             */
            (void)isync_write(session, "MAW2200\r\n");
            /* Restart sync */
            (void)isync_write(session, "SY1\r\n");
            /* Restart tracking */
            (void)isync_write(session, "TR1\r\n");
            break;
        case 4:
            /* Cancel BTx messages (if any) */
            (void)isync_write(session, "BT0\r\n");
            /* Configure messages coming out every second:
             *  - Oscillator status ($PTNTA) at 750ms
             */
            (void)isync_write(session, "MAW0B00\r\n");
            (void)isync_write(session, "MAW0C0A\r\n");
            break;
        case 5:
            /* Enable GPS passthrough and force u-blox driver to
             * select NMEA mode.
             */
            session->mode = 0;
            session->drivers_identified = 0;
            (void)isync_write(session, "@@@@GPS\r\n");
            break;
        case 6:
            /* Trigger detection of underlying u-blox (if necessary) */
            (void)ubx_write(session, 0x06, 0x00, NULL, 0);
            break;
        }
    }
}

/* *INDENT-OFF* */
const struct gps_type_t driver_isync = {
    .type_name      = "iSync",          /* full name of type */
    .packet_type    = NMEA_PACKET,      /* associated lexer packet type */
    .flags          = DRIVER_STICKY,    /* remember this */
    .trigger        = "$PTNTS,B,",      /* iSync status message */
    .channels       = 50,               /* copied from driver_ubx */
    .probe_detect   = isync_detect,     /* how to detect at startup time */
    .get_packet     = generic_get,      /* how to get a packet */
    .parse_packet   = generic_parse_input,      /* how to interpret a packet */
    .init_query     = NULL,             /* non-perturbing initial query */
    .event_hook     = isync_event_hook, /* lifetime event handler */
    .speed_switcher = NULL,             /* no speed switcher */
    .mode_switcher  = NULL,             /* no mode switcher */
    .rate_switcher  = NULL,             /* no sample-rate switcher */
    .min_cycle.tv_sec  = 1,             /* not relevant, no rate switch */
    .min_cycle.tv_nsec = 0,             /* not relevant, no rate switch */
    .control_send   = nmea_write,       /* how to send control strings */
    .time_offset     = NULL,            /* no method for NTP fudge factor */
};
/* *INDENT-ON* */
#endif /* ISYNC_ENABLE */

#ifdef AIVDM_ENABLE
/**************************************************************************
 *
 * AIVDM - ASCII armoring of binary AIS packets
 *
 **************************************************************************/

static bool aivdm_decode(const char *buf, size_t buflen,
                  struct gps_device_t *session,
                  struct ais_t *ais,
                  int debug)
{
#ifdef __UNUSED_DEBUG__
    char *sixbits[64] = {
        "000000", "000001", "000010", "000011", "000100",
        "000101", "000110", "000111", "001000", "001001",
        "001010", "001011", "001100", "001101", "001110",
        "001111", "010000", "010001", "010010", "010011",
        "010100", "010101", "010110", "010111", "011000",
        "011001", "011010", "011011", "011100", "011101",
        "011110", "011111", "100000", "100001", "100010",
        "100011", "100100", "100101", "100110", "100111",
        "101000", "101001", "101010", "101011", "101100",
        "101101", "101110", "101111", "110000", "110001",
        "110010", "110011", "110100", "110101", "110110",
        "110111", "111000", "111001", "111010", "111011",
        "111100", "111101", "111110", "111111",
    };
#endif /* __UNUSED_DEBUG__ */
    int nfrags, ifrag, nfields = 0;
    unsigned char *field[NMEA_MAX*2];
    unsigned char fieldcopy[NMEA_MAX*2+1];
    unsigned char *data, *cp;
    char const *cp1;
    int pad;
    struct aivdm_context_t *ais_context;
    int i;

    if (buflen == 0)
        return false;

    /* we may need to dump the raw packet */
    GPSD_LOG(LOG_PROG, &session->context->errout,
             "AIVDM packet length %zd: %s\n", buflen, buf);

    /* first clear the result, making sure we don't return garbage */
    memset(ais, 0, sizeof(*ais));

    /* discard overlong sentences */
    if (strlen(buf) > sizeof(fieldcopy)-1) {
        GPSD_LOG(LOG_ERROR, &session->context->errout,
                 "overlong AIVDM packet.\n");
        return false;
    }

    /* discard sentences with high-half characters in them, they're corrupted */
    for (cp1 = buf; *cp1; cp1++) {
        if (!isascii(*cp1)) {
            GPSD_LOG(LOG_ERROR, &session->context->errout,
                     "corrupted AIVDM packet.\n");
            return false;
        }
    }

    /* extract packet fields */
    (void)strlcpy((char *)fieldcopy, buf, sizeof(fieldcopy));
    field[nfields++] = (unsigned char *)buf;
    for (cp = fieldcopy;
         cp < fieldcopy + buflen; cp++)
    {
        if (
             (*cp == (unsigned char)',') ||
             (*cp == (unsigned char)'*')
           ) {
            *cp = '\0';
            field[nfields++] = cp + 1;
        }
    }
#ifdef __UNDEF_DEBUG_
    for(int i=0;i<nfields;i++)
        GPSD_LOG(LOG_DATA, &session->context->errout,
                 "field [%d] [%s]\n", i, field[i]);
#endif

    /* discard sentences with exiguous commas; catches run-ons */
    if (nfields < 7) {
        GPSD_LOG(LOG_ERROR, &session->context->errout,
                 "malformed AIVDM packet.\n");
        return false;
    }

    switch (field[4][0]) {
    case '\0':
        /*
         * Apparently an empty channel is normal for AIVDO sentences,
         * which makes sense as they don't come in over radio.  This
         * is going to break if there's ever an AIVDO type 24, though.
         */
        if (!str_starts_with((const char *)field[0], "!AIVDO"))
            GPSD_LOG(LOG_INF, &session->context->errout,
                     "invalid empty AIS channel. Assuming 'A'\n");
        ais_context = &session->driver.aivdm.context[0];
        session->driver.aivdm.ais_channel ='A';
        break;
    case '1':
        if (strcmp((char *)field[4], (char *)"12") == 0) {
            GPSD_LOG(LOG_INF, &session->context->errout,
                     "ignoring bogus AIS channel '12'.\n");
            return false;
        }
        FALLTHROUGH
    case 'A':
        ais_context = &session->driver.aivdm.context[0];
        session->driver.aivdm.ais_channel ='A';
        break;
    case '2':
    case 'B':
        ais_context = &session->driver.aivdm.context[1];
        session->driver.aivdm.ais_channel ='B';
        break;
    case 'C':
        GPSD_LOG(LOG_INF, &session->context->errout,
                 "ignoring AIS channel C (secure AIS).\n");
        return false;
    default:
        GPSD_LOG(LOG_ERROR, &session->context->errout,
                 "invalid AIS channel 0x%0X .\n", field[4][0]);
        return false;
    }

    nfrags = atoi((char *)field[1]); /* number of fragments to expect */
    ifrag = atoi((char *)field[2]); /* fragment id */
    data = field[5];

    pad = 0;
    if(isdigit(field[6][0]))
        pad = field[6][0] - '0'; /* number of padding bits ASCII encoded*/
    GPSD_LOG(LOG_PROG, &session->context->errout,
             "nfrags=%d, ifrag=%d, decoded_frags=%d, data=%s, pad=%d\n",
             nfrags, ifrag, ais_context->decoded_frags, data, pad);

    /* assemble the binary data */

    /* check fragment ordering */
    if (ifrag != ais_context->decoded_frags + 1) {
        GPSD_LOG(LOG_ERROR, &session->context->errout,
                 "invalid fragment #%d received, expected #%d.\n",
                 ifrag, ais_context->decoded_frags + 1);
        if (ifrag != 1)
            return false;
        /* else, ifrag==1: Just discard all that was previously decoded and
         * simply handle that packet */
        ais_context->decoded_frags = 0;
    }
    if (ifrag == 1) {
        (void)memset(ais_context->bits, '\0', sizeof(ais_context->bits));
        ais_context->bitlen = 0;
    }

    /* wacky 6-bit encoding, shades of FIELDATA */
    for (cp = data; cp < data + strlen((char *)data); cp++) {
        unsigned char ch;
        ch = *cp;
        ch -= 48;
        if (ch >= 40)
            ch -= 8;
#ifdef __UNUSED_DEBUG__
        GPSD_LOG(LOG_RAW, &session->context->errout,
                 "%c: %s\n", *cp, sixbits[ch]);
#endif /* __UNUSED_DEBUG__ */
        for (i = 5; i >= 0; i--) {
            if ((ch >> i) & 0x01) {
                ais_context->bits[ais_context->bitlen / 8] |=
                    (1 << (7 - ais_context->bitlen % 8));
            }
            ais_context->bitlen++;
            if (ais_context->bitlen > sizeof(ais_context->bits)) {
                GPSD_LOG(LOG_INF, &session->context->errout,
                         "overlong AIVDM payload truncated.\n");
                return false;
            }
        }
    }
    ais_context->bitlen -= pad;

    /* time to pass buffered-up data to where it's actually processed? */
    if (ifrag == nfrags) {
        if (debug >= LOG_INF) {
            size_t clen = BITS_TO_BYTES(ais_context->bitlen);
            GPSD_LOG(LOG_INF, &session->context->errout,
                     "AIVDM payload is %zd bits, %zd chars: %s\n",
                     ais_context->bitlen, clen,
                     gpsd_hexdump(session->msgbuf, sizeof(session->msgbuf),
                                     (char *)ais_context->bits, clen));
        }

        /* clear waiting fragments count */
        ais_context->decoded_frags = 0;

        /* decode the assembled binary packet */
        return ais_binary_decode(&session->context->errout,
                                 ais,
                                 ais_context->bits,
                                 ais_context->bitlen,
                                 &ais_context->type24_queue);
    }

    /* we're still waiting on another sentence */
    ais_context->decoded_frags++;
    return false;
}

static gps_mask_t aivdm_analyze(struct gps_device_t *session)
{
    if (session->lexer.type == AIVDM_PACKET) {
        if (aivdm_decode
            ((char *)session->lexer.outbuffer, session->lexer.outbuflen,
             session, &session->gpsdata.ais,
             session->context->errout.debug)) {
            return ONLINE_SET | AIS_SET;
        } else
            return ONLINE_SET;
#ifdef NMEA0183_ENABLE
    } else if (session->lexer.type == NMEA_PACKET) {
        return nmea_parse((char *)session->lexer.outbuffer, session);
#endif /* NMEA0183_ENABLE */
    } else
        return 0;
}

/* *INDENT-OFF* */
const struct gps_type_t driver_aivdm = {
    /* Full name of type */
    .type_name        = "AIVDM",        /* associated lexer packet type */
    .packet_type      = AIVDM_PACKET,   /* numeric packet type */
    .flags            = DRIVER_NOFLAGS, /* no rollover or other flags */
    .trigger          = NULL,           /* identifying response */
    .channels         = 0,              /* not used by this driver */
    .probe_detect     = NULL,           /* no probe */
    .get_packet       = generic_get,    /* how to get a packet */
    .parse_packet     = aivdm_analyze,  /* how to analyze a packet */
    .rtcm_writer      = NULL,           /* don't send RTCM data,  */
    .init_query       = NULL,           /* non-perturbing initial query */
    .event_hook       = NULL,           /* lifetime event handler */
    .speed_switcher   = NULL,           /* no speed switcher */
    .mode_switcher    = NULL,           /* no mode switcher */
    .rate_switcher    = NULL,           /* no rate switcher */
    .min_cycle.tv_sec  = 1,             /* max 1Hz */
    .min_cycle.tv_nsec = 0,
    .control_send     = NULL,           /* no control sender */
    .time_offset     = NULL,            /* no NTP communication */
};
/* *INDENT-ON* */
#endif /* AIVDM_ENABLE */

#ifdef PASSTHROUGH_ENABLE
/**************************************************************************
 *
 * JSON passthrough driver
 *
 **************************************************************************/

/* prepend the session path to the value of a specified attribute */
static void path_rewrite(struct gps_device_t *session, char *prefix)
{
    /*
     * Hack the packet to reflect its origin.  This code is supposed
     * to insert the path naming the remote gpsd instance into the
     * beginning of the path attribute, followed by a # to separate it
     * from the device.
     */
    char *prefloc;

    assert(prefix != NULL && session->lexer.outbuffer != NULL);

    /* possibly the rewrite has been done already, this comw up in gpsmon */
    if (strstr((char *)session->lexer.outbuffer,
               session->gpsdata.dev.path) != NULL)
        return;

    for (prefloc = (char *)session->lexer.outbuffer;
         prefloc < (char *)session->lexer.outbuffer+session->lexer.outbuflen;
         prefloc++)
        if (str_starts_with(prefloc, prefix)) {
            char *sfxloc;
            char copy[sizeof(session->lexer.outbuffer)+1];
            (void)strlcpy(copy,
                          (char *)session->lexer.outbuffer,
                          sizeof(copy));
            prefloc += strlen(prefix);
            (void)strlcpy(prefloc,
                          session->gpsdata.dev.path,
                          sizeof(session->gpsdata.dev.path));
            if ((sfxloc = strchr(prefloc, '#')))
                *sfxloc = '\0';  /* Avoid accumulating multiple device names */
            (void)strlcat((char *)session->lexer.outbuffer, "#",
                          sizeof(session->lexer.outbuffer));
            (void)strlcat((char *)session->lexer.outbuffer,
                          copy + (prefloc-(char *)session->lexer.outbuffer),
                          sizeof(session->lexer.outbuffer));
        }
    session->lexer.outbuflen = strlen((char *)session->lexer.outbuffer);
}

static gps_mask_t json_pass_packet(struct gps_device_t *session)
{
    GPSD_LOG(LOG_IO, &session->context->errout,
             "<= GPS: %s\n", (char *)session->lexer.outbuffer);

    if (strstr(session->gpsdata.dev.path, ":/") != NULL &&
        strstr(session->gpsdata.dev.path, "localhost") == NULL)
    {
        /* devices and paths need to be edited */
        if (strstr((char *)session->lexer.outbuffer, "DEVICE") != NULL)
            path_rewrite(session, "\"path\":\"");
        path_rewrite(session, "\"device\":\"");

        /* mark certain responses without a path or device attribute */
        if (session->gpsdata.dev.path[0] != '\0') {
            if (strstr((char *)session->lexer.outbuffer, "VERSION") != NULL
                || strstr((char *)session->lexer.outbuffer, "WATCH") != NULL
                || strstr((char *)session->lexer.outbuffer, "DEVICES") != NULL) {
                session->lexer.outbuffer[session->lexer.outbuflen-1] = '\0';
                (void)strlcat((char *)session->lexer.outbuffer, ",\"remote\":\"",
                              sizeof(session->lexer.outbuffer));
                (void)strlcat((char *)session->lexer.outbuffer,
                              session->gpsdata.dev.path,
                              sizeof(session->lexer.outbuffer));
                (void)strlcat((char *)session->lexer.outbuffer, "\"}",
                              sizeof(session->lexer.outbuffer));
            }
            session->lexer.outbuflen = strlen((char *)session->lexer.outbuffer);
        }
    }
    GPSD_LOG(LOG_PROG, &session->context->errout,
             "JSON, passing through %s\n",
             (char *)session->lexer.outbuffer);
    return PASSTHROUGH_IS;
}

/* *INDENT-OFF* */
const struct gps_type_t driver_json_passthrough = {
    .type_name      = "JSON slave driver",      /* full name of type */
    .packet_type    = JSON_PACKET,      /* associated lexer packet type */
    .flags          = DRIVER_NOFLAGS,   /* don't remember this */
    .trigger        = NULL,             /* it's the default */
    .channels       = 0,                /* not used */
    .probe_detect   = NULL,             /* no probe */
    .get_packet     = generic_get,      /* use generic packet getter */
    .parse_packet   = json_pass_packet, /* how to interpret a packet */
    .rtcm_writer    = NULL,             /* write RTCM data straight */
    .init_query     = NULL,             /* non-perturbing initial query */
    .event_hook     = NULL,             /* lifetime event handler */
    .speed_switcher = NULL,             /* no speed switcher */
    .mode_switcher  = NULL,             /* no mode switcher */
    .rate_switcher  = NULL,             /* no sample-rate switcher */
    .min_cycle.tv_sec  = 1,             /* not relevant, no rate switch */
    .min_cycle.tv_nsec = 0,             /* not relevant, no rate switch */
    .control_send   = NULL,             /* how to send control strings */
    .time_offset     = NULL,            /* no method for NTP fudge factor */
};
/* *INDENT-ON* */

#endif /* PASSTHROUGH_ENABLE */

/* *INDENT-OFF* */
const struct gps_type_t driver_pps = {
    .type_name      = "PPS",            /* full name of type */
    .packet_type    = BAD_PACKET,       /* associated lexer packet type */
    .flags          = DRIVER_NOFLAGS,   /* don't remember this */
    .trigger        = NULL,             /* it's the default */
    .channels       = 0,                /* not used */
    .probe_detect   = NULL,             /* no probe */
    .get_packet     = NULL,             /* use generic packet getter */
    .parse_packet   = NULL,             /* how to interpret a packet */
    .rtcm_writer    = NULL,             /* write RTCM data straight */
    .init_query     = NULL,             /* non-perturbing initial query */
    .event_hook     = NULL,             /* lifetime event handler */
    .speed_switcher = NULL,             /* no speed switcher */
    .mode_switcher  = NULL,             /* no mode switcher */
    .rate_switcher  = NULL,             /* no sample-rate switcher */
    .min_cycle.tv_sec  = 1,             /* not relevant, no rate switch */
    .min_cycle.tv_nsec = 0,             /* not relevant, no rate switch */
    .control_send   = NULL,             /* how to send control strings */
    .time_offset     = NULL,            /* no method for NTP fudge factor */
};
/* *INDENT-ON* */


extern const struct gps_type_t driver_evermore;
extern const struct gps_type_t driver_garmin_ser_binary;
extern const struct gps_type_t driver_garmin_usb_binary;
extern const struct gps_type_t driver_geostar;
extern const struct gps_type_t driver_greis;
extern const struct gps_type_t driver_italk;
extern const struct gps_type_t driver_navcom;
extern const struct gps_type_t driver_nmea2000;
extern const struct gps_type_t driver_oncore;
extern const struct gps_type_t driver_sirf;
extern const struct gps_type_t driver_skytraq;
extern const struct gps_type_t driver_superstar2;
extern const struct gps_type_t driver_tsip;
extern const struct gps_type_t driver_ubx;
extern const struct gps_type_t driver_zodiac;

/* the point of this rigamarole is to not have to export a table size */
static const struct gps_type_t *gpsd_driver_array[] = {
    &driver_unknown,
#ifdef NMEA0183_ENABLE
    &driver_nmea0183,
#ifdef ASHTECH_ENABLE
    &driver_ashtech,
#endif /* ASHTECH_ENABLE */
#ifdef TRIPMATE_ENABLE
    &driver_tripmate,
#endif /* TRIPMATE_ENABLE */
#ifdef EARTHMATE_ENABLE
    &driver_earthmate,
#endif /* EARTHMATE_ENABLE */
#ifdef GPSCLOCK_ENABLE
    &driver_gpsclock,
#endif /* GPSCLOCK_ENABLE */
#ifdef GARMIN_ENABLE
    &driver_garmin,
#endif /* GARMIN_ENABLE */
#ifdef MTK3301_ENABLE
    &driver_mtk3301,
#endif /*  MTK3301_ENABLE */
#ifdef OCEANSERVER_ENABLE
    &driver_oceanServer,
#endif /* OCEANSERVER_ENABLE */
#ifdef FV18_ENABLE
    &driver_fv18,
#endif /* FV18_ENABLE */
#ifdef TNT_ENABLE
    &driver_trueNorth,
#endif /* TNT_ENABLE */
#ifdef FURY_ENABLE
    &driver_fury,
#endif /* FURY_ENABLE */
#ifdef AIVDM_ENABLE
    &driver_aivdm,
#endif /* AIVDM_ENABLE */
#endif /* NMEA0183_ENABLE */

#ifdef EVERMORE_ENABLE
    &driver_evermore,
#endif /* EVERMORE_ENABLE */
#ifdef GARMIN_ENABLE
    /* be sure to try Garmin Serial Binary before Garmin USB Binary */
    &driver_garmin_ser_binary,
    &driver_garmin_usb_binary,
#endif /* GARMIN_ENABLE */
#ifdef GEOSTAR_ENABLE
    &driver_geostar,
#endif /* GEOSTAR_ENABLE */
#ifdef GREIS_ENABLE
    &driver_greis,
#endif /* GREIS_ENABLE */
#ifdef ITRAX_ENABLE
    &driver_italk,
#endif /* ITRAX_ENABLE */
#ifdef ONCORE_ENABLE
    &driver_oncore,
#endif /* ONCORE_ENABLE */
#ifdef NAVCOM_ENABLE
    &driver_navcom,
#endif /* NAVCOM_ENABLE */
#ifdef SIRF_ENABLE
    &driver_sirf,
#endif /* SIRF_ENABLE */
#ifdef SKYTRAQ_ENABLE
    &driver_skytraq,
#endif /* SKYTRAQ_ENABLE */
#ifdef SUPERSTAR2_ENABLE
    &driver_superstar2,
#endif /* SUPERSTAR2_ENABLE */
#ifdef TSIP_ENABLE
    &driver_tsip,
#endif /* TSIP_ENABLE */
#ifdef ISYNC_ENABLE
    &driver_isync,
#endif /* ISYNC_ENABLE */
#ifdef UBLOX_ENABLE
    &driver_ubx,
#endif /* UBLOX_ENABLE */
#ifdef ZODIAC_ENABLE
    &driver_zodiac,
#endif /* ZODIAC_ENABLE */

#ifdef NMEA2000_ENABLE
    &driver_nmea2000,
#endif /* NMEA2000_ENABLE */

#ifdef RTCM104V2_ENABLE
    &driver_rtcm104v2,
#endif /* RTCM104V2_ENABLE */
#ifdef RTCM104V3_ENABLE
    &driver_rtcm104v3,
#endif /* RTCM104V3_ENABLE */
#ifdef GARMINTXT_ENABLE
    &driver_garmintxt,
#endif /* GARMINTXT_ENABLE */

#ifdef PASSTHROUGH_ENABLE
    &driver_json_passthrough,
#endif /* PASSTHROUGH_ENABLE */
    &driver_pps,
    NULL,
};

const struct gps_type_t **gpsd_drivers = &gpsd_driver_array[0];
// vim: set expandtab shiftwidth=4