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/*
Garmin protocol to NMEA 0183 converter
Copyright (C) 2004 Manuel Kasper <mk@neon1.net>.
All rights reserved.
Input:
- D800_Pvt_Data_Type (PID 51)
- satellite data record (PID 114)
Available output sentences:
GPGGA, GPRMC, GPGLL, GPGSA, GPGSV
Known caveats:
- DOP (Dilution of Precision) information not available
(Garmin protocol includes EPE only)
- DGPS information in GPGGA sentence not returned
- speed and course over ground are calculated from the
north/east velocity and may not be accurate
- magnetic variation information not available
- Garmin 16-bit SNR scale unknown
---------------------------------------------------------------------------
Redistribution and use in source and binary forms, with or without
modification, are permitted provided that the following conditions are met:
1. Redistributions of source code must retain the above copyright notice,
this list of conditions and the following disclaimer.
2. Redistributions in binary form must reproduce the above copyright
notice, this list of conditions and the following disclaimer in the
documentation and/or other materials provided with the distribution.
THIS SOFTWARE IS PROVIDED ``AS IS'' AND ANY EXPRESS OR IMPLIED WARRANTIES,
INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY
AND FITNESS FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
AUTHOR BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY,
OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
POSSIBILITY OF SUCH DAMAGE.
*/
#ifndef GARMIN_H
#define GARMIN_H
#include <sys/types.h>
#include "nmea.h"
/*
* Garmin device driver defines
*/
/* private layer-id to use for some ioctl-like control mechanisms */
#define GARMIN_LAYERID_PRIVATE 0x01106E4B
// packet ids used in the private layer
#define GARMIN_PRIV_PKTID_SET_DEBUG 1
#define GARMIN_PRIV_PKTID_SET_MODE 2
#define GARMIN_PRIV_PKTID_INFO_REQ 3
#define GARMIN_PRIV_PKTID_INFO_RESP 4
#define GARMIN_PRIV_PKTID_RESET_REQ 5
#define GARMIN_PRIV_PKTID_SET_DEF_MODE 6
#define GARMIN_MODE_NATIVE 0
#define GARMIN_MODE_SERIAL 1
#define GARMIN_PRIV_PKT_MAX_SIZE 32
/*
PRIV_PKTID_INFO_RESP packet:
pkt[0] = __cpu_to_le32(GARMIN_LAYERID_PRIVATE);
pkt[1] = __cpu_to_le32(PRIV_PKTID_INFO_RESP);
pkt[2] = __cpu_to_le32(12);
pkt[3] = __cpu_to_le32(VERSION_MAJOR << 16 | VERSION_MINOR);
pkt[4] = __cpu_to_le32(garmin_data_p->mode);
pkt[5] = __cpu_to_le32(garmin_data_p->serial_num);
*/
#define GARMIN_PRIV_PKT_INFO_RESP_SIZE 24
/*
* Garmin device definitions
*/
#pragma pack(push, 1)
typedef struct {
u_int8_t tag;
u_int16_t data;
} Protocol_Data_Type;
typedef struct
{
float alt;
float epe;
float eph;
float epv;
int16_t fix;
double tow;
double lat;
double lon;
float east;
float north;
float up;
float msl_hght;
int16_t leap_scnds;
int32_t wn_days;
}
D800_Pvt_Data_Type;
typedef struct
{
u_int8_t svid;
u_int16_t snr;
u_int8_t elev;
u_int16_t azmth;
u_int8_t status;
}
cpo_sat_data;
/*
The following defines have been determined empirically. I could not find
any definitive info on the sat data record, even in the Garmin spec. What
I see is a status of 0x04 when a sat is being tracked but not used for locating,
and a status of 0x05 when the sat is good. I have not seen any other values.
The mask is needed to filter out extraneous bits that are unknown.
Here is a snapshot of what is seen in nmea_gpgsv():
sat 11: status = 05 SNR = 1800
sat 13: status = 04 SNR = 2200
sat 16: status = 05 SNR = 3200
sat 20: status = 05 SNR = 3600
sat 23: status = 05 SNR = 3500
sat 25: status = 04 SNR = 1900
sat 31: status = 05 SNR = 3000
sat 32: status = 05 SNR = 3700
sat 04: status = 04 SNR = 65436
sat 30: status = 04 SNR = 65436
The SNR value of 65436 is the 16-bit 2's complement value of -100.
*/
#define SAT_STATUS_MASK 0x07
#define SAT_STATUS_GOOD 0x05
#define SAT_SNR_BAD 65436
typedef struct
{
u_int32_t cycles;
double pr;
u_int16_t phase;
u_int8_t slp_dtct;
u_int8_t snr_dbhz;
u_int8_t svid;
u_int8_t valid;
}
cpo_rcv_sv_data;
typedef struct
{
double rcvr_tow;
u_int16_t rcvr_wn;
cpo_rcv_sv_data sv[SAT_MAX_COUNT];
}
cpo_rcv_data;
/* This is the packet definition for Garmin */
#define GARMIN_HEADER_SIZE 12
typedef struct
{
u_int8_t mPacketType; // byte 0
u_int8_t mReserved1; // bytes 1-3
u_int16_t mReserved2;
u_int16_t mPacketId; // bytes 4-5
u_int16_t mReserved3; // bytes 6-7
u_int32_t mDataSize; // bytes 8-11
u_int8_t mData[1]; // bytes 12..N
}
G_Packet_t;
#pragma pack(pop)
enum {
Pid_Command_Data = 10,
Pid_Xfer_Cmplt = 12,
Pid_Date_Time_Data = 14,
Pid_Position_Data = 17,
Pid_Prx_Wpt_Data = 19,
Pid_Records = 27,
Pid_Rte_Hdr = 29,
Pid_Rte_Wpt_Data = 30,
Pid_Almanac_Data = 31,
Pid_Trk_Data = 34,
Pid_Wpt_Data = 35,
Pid_Pvt_Data = 51,
Pid_RMR_Data = 52,
Pid_Rte_Link_Data = 98,
Pid_Trk_Hdr = 99,
Pid_SatData_Record = 114,
Pid_FlightBook_Record = 134,
Pid_Lap = 149
};
enum {
Cmnd_Abort_Transfer = 0, /* abort current transfer */
Cmnd_Transfer_Alm = 1, /* transfer almanac */
Cmnd_Transfer_Posn = 2, /* transfer position */
Cmnd_Transfer_Prx = 3, /* transfer proximity waypoints */
Cmnd_Transfer_Rte = 4, /* transfer routes */
Cmnd_Transfer_Time = 5, /* transfer time */
Cmnd_Transfer_Trk = 6, /* transfer track log */
Cmnd_Transfer_Wpt = 7, /* transfer waypoints */
Cmnd_Turn_Off_Pwr = 8, /* turn off power */
Cmnd_Start_Pvt_Data = 49, /* start transmitting PVT data */
Cmnd_Stop_Pvt_Data = 50, /* stop transmitting PVT data */
Cmnd_FlightBook_Transfer = 92, /* start transferring flight records */
Cmnd_Start_RMR = 110, /* start transmitting Receiver Measurement Records */
Cmnd_Stop_RMR = 111, /* start transmitting Receiver Measurement Records */
Cmnd_Transfer_Laps = 117 /* transfer laps */
};
#endif
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