Imported Upstream version 3.10+dev2~23b0752e

NEWS

@@ -4,6 +4,7 @@ Repository head:
   A bug that prevented track interpolation has been fixed. 
   We now get vertical error position and speed estimates from the 
   u-blox driver rather than having to interpolate them.
+  Some unusual AIS talker IDs (NMEA 4.0 station classes) are supported.
   chrpath is no longer a dependency for building and testing, and
   now defaults to 'no'.
 

SConstruct

@@ -1190,6 +1190,7 @@ def substituter(target, source, env):
         ('@VERSION@',    gpsd_version),
         ('@prefix@',     env['prefix']),
         ('@libdir@',     env['libdir']),
+        ('@udevdir@',    env['udevdir']),
         ('@PYTHON@',     sys.executable),
         ('@DATE@',       time.asctime()),
         ('@MASTER@',     'DO NOT HAND_HACK! THIS FILE IS GENERATED'),
@@ -1282,7 +1283,7 @@ if manbuilder:
 build = env.Alias('build',
                   [libraries, binaries, python_targets,
                    "gpsd.php", manpage_targets,
-                   "libgps.pc", "libgpsd.pc"])
+                   "libgps.pc", "libgpsd.pc", "gpsd.rules"])
 env.Default(*build)
 
 if qt_env:
@@ -1760,6 +1761,9 @@ if env['python']:
 # another window, then run 'scons udev-test', then plug and unplug the
 # GPS ad libitum.  All is well when you get fix reports each time a GPS
 # is plugged in.
+#
+# Note that a udev event can be triggered with an invocation like:
+# udevadm trigger --sysname-match=ttyUSB0 --action add
 
 Utility('udev-install', 'install', [
     'mkdir -p ' + DESTDIR + env['udevdir'] + '/rules.d',

TODO

@@ -73,6 +73,19 @@ The second 'n' is losing information that it shouldn't.
 
 Display update should not stop while this is going on.
 
+*** Time offset debugging in gpsmon ***
+
+Hall Murray:
+> The gpsmon logging stuff should include time stamps.
+>
+> There should be some way for gpsmon to display the time offset that it would
+> send to NTP via SHM.  I don't see any obvious empty space on the screen.  If
+> nothing else, it could use the PPS space or alternate with the PPS info,
+> perhaps via a keyboard command.
+>
+> Or perhaps a higher level keyboard command to switch into timekeeping
+> debugging mode rather than position debugging mode.
+
 **** Speed, mode and rate-changes in client-mode gpsmon.
 
 Are not implemented.  In theory they could be.
@@ -88,6 +101,28 @@ We caw now *really* measure latency from GPS top of second when it has
 1PPS.  Add this capability to gpsprof and revise the "Where's the
 Latency?" white paper.
 
+*** Low-pwer autoconfiguration in the uBlox driver ***
+
+Anthony Stirk <upuaut@gmail.com> writes on Wed May 21 06:09:00 2014:
+
+    The low power modes are really good on the ublox modules (especially the
+    MAX7's) however a word of warning.
+
+    We use the 1 sec cyclic mode on our balloon trackers but if the module
+    looses satellites or is jammed out (cheap Chinese cameras do it) the ublox
+    modules seem to hang and become unresponsive. To mitigate against this you
+    need to put the module back in max performance mode as soon as the
+    satellites drops below 4.
+
+    I'm not sure for most applications the low power mode needs to be used at
+    all on the newer ublox modules. The values for the MAX-7Q are 22mA (6Q
+    50mA) under acquire, tracking (i.e locked and in max performance) current
+    at is 17mA  (39mA 6Q) and power saving reduces this to 5mA or less (15mA on
+    the 6Q). We've observed the issue on the 6 and 7 series.
+
+A possibility: drop the chip to low-power mode when it can see > 4
+sats, revert to normal otherwise.
+
 *** Dispatcher/network issues
 
 **** Reading AISHub data via UDP confuses xgps with short writes

devtools/gpsd-debian-regressions.sh

@@ -20,8 +20,8 @@ OLDPWD=`pwd`
 
 cd ${TMPDIR}
 getbuildlog gpsd $logs || true
-grep -c -- '--- test' * | grep -E ':0$' | sed 's,^gpsd_[^_]*_\([^.]*\)\.log:0,\1: no regressions,'
-grep -- '--- test' * | sed 's,^gpsd_[^_]*_\([^.]*\).*\./test/\([^.]*\).*,\1 \2,' | sort -u
+grep -c -E -- '--- (./)?test' * | grep -E ':0$' | sed 's,^gpsd_[^_]*_\([^.]*\)\.log:0,\1: no regressions,'
+grep -E -- '--- (./)?test' * | sed 's,\s2013.*,,;s,^gpsd_[^_]*_\([^.]*\)\.log:--- ,\1 ,' | sort -u
 cd ${OLDPWD}
 rm -rf ${TMPDIR}
 

driver_ais.c

@@ -183,6 +183,8 @@ bool ais_binary_decode(const int debug,
 	ais->type6.dac            = UBITS(72, 10);
 	ais->type6.fid            = UBITS(82, 6);
 	ais->type6.bitcount       = bitlen - 88;
+	/* not strictly required - helps stability in testing */ 
+	(void)memset(ais->type6.bitdata, '\0', sizeof(ais->type6.bitdata));
 	structured = false;
 	/* Inland AIS */
 	if (ais->type6.dac == 200) {
@@ -454,6 +456,8 @@ bool ais_binary_decode(const int debug,
 	ais->type8.dac            = UBITS(40, 10);
 	ais->type8.fid            = UBITS(50, 6);
 	ais->type8.bitcount       = bitlen - 56;
+	/* not strictly required - helps stability in testing */ 
+	(void)memset(ais->type8.bitdata, '\0', sizeof(ais->type8.bitdata));
 	structured = false;
 	if (ais->type8.dac == 1)
 	    switch (ais->type8.fid) {

driver_sirf.c

@@ -236,21 +236,20 @@ static bool sirf_write(struct gps_device_t *session, unsigned char *msg)
     unsigned int crc;
     size_t i, len;
     bool ok;
+    unsigned int type = (unsigned int)msg[4];
 
     /*
      * Control strings spaced too closely together confuse the SiRF
      * IV.  This wasn't an issue on older SiRFs, but they've gone to a
      * lower-powered processor that apparently has trouble keeping up.  
      * Now you have to wait for the ACK, otherwise chaos ensues.
+     * Add instrumentation to reveal when this may happen.
      */
-    if (time(NULL) - session->driver.sirf.last_send > SIRF_RETRY_TIME)
-	session->driver.sirf.need_ack = false;
     /* can also be false because ACK was received after last send */
-    if (session->driver.sirf.need_ack) {
+    if (session->driver.sirf.need_ack > 0) {
 	gpsd_report(session->context->debug, LOG_WARN,
-		    "SiRF: write of control type %02x failed, awaiting ACK.\n",
-		    msg[4]);
-	return false;
+		    "SiRF: warning, write of control type %02x while awaiting ACK for %02x.\n",
+		    type, session->driver.sirf.need_ack);
     }
 
     len = (size_t) ((msg[2] << 8) | msg[3]);
@@ -266,11 +265,10 @@ static bool sirf_write(struct gps_device_t *session, unsigned char *msg)
     msg[len + 5] = (unsigned char)(crc & 0x00ff);
 
     gpsd_report(session->context->debug, LOG_PROG,
-		"SiRF: Writing control type %02x:\n", msg[4]);
+		"SiRF: Writing control type %02x:\n", type);
     ok = (gpsd_write(session, (const char *)msg, len+8) == (ssize_t) (len+8));
  
-    session->driver.sirf.need_ack = true;
-    session->driver.sirf.last_send = time(NULL);
+    session->driver.sirf.need_ack = type;
     return (ok);
 }
 
@@ -939,13 +937,6 @@ static gps_mask_t sirf_msg_sysparam(struct gps_device_t *session,
     session->driver.sirf.degraded_timeout = (unsigned char)getub(buf, 10);
     session->driver.sirf.dr_timeout = (unsigned char)getub(buf, 11);
     session->driver.sirf.track_smooth_mode = (unsigned char)getub(buf, 12);
-#ifdef RECONFIGURE_ENABLE
-    if (!session->context->readonly) {
-	gpsd_report(session->context->debug, LOG_PROG,
-		    "SiRF: Setting Navigation Parameters\n");
-	(void)sirf_write(session, modecontrol);
-    }
-#endif /* RECONFIGURE_ENABLE */
     return 0;
 }
 
@@ -1240,14 +1231,14 @@ gps_mask_t sirf_parse(struct gps_device_t * session, unsigned char *buf,
     case 0x0b:			/* Command Acknowledgement MID 11 */
 	gpsd_report(session->context->debug, LOG_PROG,
 		    "SiRF: ACK 0x0b: %02x\n", getub(buf, 1));
-	session->driver.sirf.need_ack = false;
+	session->driver.sirf.need_ack = 0;
 	return 0;
 
     case 0x0c:			/* Command NAcknowledgement MID 12 */
 	gpsd_report(session->context->debug, LOG_PROG,
 		    "SiRF: NAK 0x0c: %02x\n", getub(buf, 1));
 	/* ugh -- there's no alternative but silent failure here */
-	session->driver.sirf.need_ack = false;
+	session->driver.sirf.need_ack = 0;
 	return 0;
 
     case 0x0d:			/* Visible List MID 13 */
@@ -1400,12 +1391,11 @@ static void sirfbin_event_hook(struct gps_device_t *session, event_t event)
     }
 
     if (event == event_configure) {
+#ifdef __UNUSED__
 	/* might not be time for the next init string yet */ 
-	if (time(NULL) - session->driver.sirf.last_send > SIRF_RETRY_TIME)
-	    session->driver.sirf.need_ack = false;
-	/* can also be false because ACK was received after last send */
-	if (session->driver.sirf.need_ack)
+	if (session->driver.sirf.need_ack > 0)
 	    return;
+#endif /* UNUSED */
 
 	switch (session->driver.sirf.cfg_stage++) {
 	case 0:
@@ -1419,12 +1409,6 @@ static void sirfbin_event_hook(struct gps_device_t *session, event_t event)
 	    break;
 
 	case 2:
-		gpsd_report(session->context->debug, LOG_PROG,
-			    "SiRF: Requesting navigation parameters...\n");
-	    (void)sirf_write(session, navparams);
-	    break;
-
-	case 3:
 #ifdef RECONFIGURE_ENABLE
 	    /* unset MID 64 first since there is a flood of them */
 	    gpsd_report(session->context->debug, LOG_PROG, "SiRF: unset MID 64...\n");
@@ -1432,13 +1416,33 @@ static void sirfbin_event_hook(struct gps_device_t *session, event_t event)
 	    (void)sirf_write(session, unsetmidXX);
 	    break;
 
+	case 3:
+	    /*
+	     * The response to this request will save the navigation
+	     * parameters so they can be reverted before close.
+	     */
+	    gpsd_report(session->context->debug, LOG_PROG,
+			"SiRF: Requesting navigation parameters...\n");
+	    (void)sirf_write(session, navparams);
+	    break;
+
 	case 4:
+#ifdef RECONFIGURE_ENABLE
+	    if (!session->context->readonly) {
+		gpsd_report(session->context->debug, LOG_PROG,
+			    "SiRF: Setting Navigation Parameters\n");
+		(void)sirf_write(session, modecontrol);
+	    }
+#endif /* RECONFIGURE_ENABLE */
+	    break;
+
+	case 5:
 	    gpsd_report(session->context->debug, LOG_PROG,
 			"SiRF: Requesting periodic ecef reports...\n");
 	    (void)sirf_write(session, requestecef);
 	    break;
 
-	case 5:
+	case 6:
 	    gpsd_report(session->context->debug, LOG_PROG,
 			"SiRF: Requesting periodic tracker reports...\n");
 	    (void)sirf_write(session, requesttracker);
@@ -1460,7 +1464,9 @@ static void sirfbin_event_hook(struct gps_device_t *session, event_t event)
 	    gpsd_report(session->context->debug, LOG_PROG,
 			"SiRF: Enabling PPS message...\n");
 	    (void)sirf_write(session, enablemid52);
+	    break;
 
+	case 10:
 	    /* SiRF recommends at least 57600 for SiRF IV nav data */
 	    if (session->gpsdata.dev.baudrate >= 57600) {
 		/* fast enough, turn on nav data */
@@ -1474,6 +1480,13 @@ static void sirfbin_event_hook(struct gps_device_t *session, event_t event)
 		(void)sirf_write(session, disablesubframe);
 	    }
 	    break;
+
+	case 11:
+	    gpsd_report(session->context->debug, LOG_PROG, "SiRF: disable MID 7, 28, 29, 30, 31...\n");
+	    putbyte(unsetmidXX, 5, 0x05);
+	    (void)sirf_write(session, unsetmidXX);
+	    break;
+
 #endif /* RECONFIGURE_ENABLE */
 	default:
 	    /* initialization is done */

gpscap.ini

@@ -96,7 +96,7 @@ tested = 2.34
 rating = good
 logs = ublox-sirf1.log
 notes = ublox-sirf1.log was made from a device with ublox firmware and 
-      may not be typical of SirF-1 chips.
+      may not be typical of SiRF-1 chips.
 
 [SiRF-2]
 type = engine
@@ -135,6 +135,7 @@ nmea = 3.01
 uses = GenericSiRF
 rating = poor
 notes = Low power usage, but poor sensitivity and very long startup.
+      Resets to 4800N1 every time it is unplugged.
 
 [MSB2122]
 type = engine
@@ -783,7 +784,7 @@ logs = foretrex-201.log
 
 [Garmin GPS 10x]
 type = device
-chipset = SiRFstarIII
+uses = SiRF-3
 date = 2010-07-18
 model = GPS 10x
 nmea = 2.0 and 2.30
@@ -1034,7 +1035,7 @@ interfaces = USB
 submitter = Richard Allen <rsaxvc@gmail.com>
 vendor = Garmin
 techdoc = http://static.garmincdn.com/pumac/Montana_600_OM_EN.pdf
-chipset = STA2065
+engine = STA2065
 engine = unknown
 rating = good
 tested = 3.6
@@ -1129,6 +1130,20 @@ notes = This receiver does not support PPS timing output. Some versions of
       firmware do not support WAAS, though updates may be available for a
       fee from GlobalSat.
 
+[BU-355]
+type = device
+vendor = GlobalSat
+packaging = mouse
+uses = SiRF-3
+interfaces = USB
+usbchip = pl2303
+tested = 3.10
+rating = good
+eval_unit = esr
+nmea = 2.3
+notes = This receiver does not support PPS timing output.  Does support
+      WAAS/EGNOS, unlike some 353s.
+
 [BU-353-S4]
 type = device
 vendor = GlobalSat
@@ -1139,7 +1154,7 @@ interfaces = USB
 usbchip = pl2303
 tested = 3.7
 rating = poor
-eval-unit = gary
+eval-unit = esr,gary
 nmea = 3.0
 notes = This receiver does not support PPS timing output. Much like the
       BU-353 except for using a SiRFStar IV chip.  Has poor
@@ -1237,7 +1252,7 @@ tested = regression
 rating = excellent
 submitter = Pascal F. Martin <pascal.martin@cox.net>
 notes = Sometimes sold under the brand name "Rayming", but that vendor
-      seems to have disappeared.  Chipset said ton be SiRF 2 but the
+      seems to have disappeared.  Chipset said to be SiRF 2 but the
       output looks more like old Garmin GPSes.
 
 [ND100]
@@ -1761,7 +1776,6 @@ logs = nl551e.log
 
 [BT-451]
 type = device
-chipset = ANTARIS ATR062x
 engine= ANTARIS4
 date = 2009-12-09
 location = Lithuania, 55.8N 23.6E
@@ -1774,6 +1788,7 @@ techdoc = http://www.navilock.de/produkte/gruppen/28/Nicht_mehr_lieferbare_Artik
 tested = 2.39
 vendor = NaviLock
 logs = bt451.log
+notes = Uses the ANTARIS4 ATR062x variant.
 
 #% NavMan
 

gpsd.c

@@ -149,6 +149,14 @@ static struct gps_context_t context;
 static int sd_socket_count = 0;
 #endif
 
+/* work around the unfinished ipv6 implementation on hurd */
+#ifdef __GNU__
+#ifndef IPV6_TCLASS
+#define IPV6_TCLASS 67
+#endif
+#endif
+
+
 static volatile sig_atomic_t signalled;
 
 static void onsig(int sig)
@@ -528,6 +536,7 @@ struct subscriber_t
     int fd;			/* client file descriptor. -1 if unused */
     timestamp_t active;		/* when subscriber last polled for data */
     struct policy_t policy;	/* configurable bits */
+    pthread_mutex_t mutex;	/* serialize access to fd */
 };
 
 #ifdef LIMITED_MAX_CLIENTS
@@ -543,6 +552,16 @@ static struct subscriber_t subscribers[MAXSUBSCRIBERS];	/* indexed by client fil
 
 #define UNALLOCATED_FD	-1
 
+static void lock_subscriber(struct subscriber_t *sub)
+{
+    (void)pthread_mutex_lock(&sub->mutex);
+}
+
+static void unlock_subscriber(struct subscriber_t *sub)
+{
+    (void)pthread_mutex_unlock(&sub->mutex);
+}
+
 static /*@null@*//*@observer@ */ struct subscriber_t *allocate_client(void)
 /* return the address of a subscriber structure allocated for a new session */
 {
@@ -564,8 +583,11 @@ static void detach_client(struct subscriber_t *sub)
 /* detach a client and terminate the session */
 {
     char *c_ip;
-    if (sub->fd == UNALLOCATED_FD)
+    lock_subscriber(sub);
+    if (sub->fd == UNALLOCATED_FD) {
+	unlock_subscriber(sub);
 	return;
+    }
     c_ip = netlib_sock2ip(sub->fd);
     (void)shutdown(sub->fd, SHUT_RDWR);
     gpsd_report(context.debug, LOG_SPIN,
@@ -587,6 +609,7 @@ static void detach_client(struct subscriber_t *sub)
     sub->policy.split24 = false;
     sub->policy.devpath[0] = '\0';
     sub->fd = UNALLOCATED_FD;
+    unlock_subscriber(sub);
     /*@+mustfreeonly@*/
 }
 
@@ -2103,8 +2126,10 @@ int main(int argc, char *argv[])
 		"running with effective user ID %d\n", geteuid());
 
 #ifdef SOCKET_EXPORT_ENABLE
-    for (i = 0; i < NITEMS(subscribers); i++)
+    for (i = 0; i < NITEMS(subscribers); i++) {
 	subscribers[i].fd = UNALLOCATED_FD;
+	(void)pthread_mutex_init(&subscribers[i].mutex, NULL);
+    }
 #endif /* SOCKET_EXPORT_ENABLE*/
 
     /*@-compdef -compdestroy@*/
@@ -2318,10 +2343,13 @@ int main(int argc, char *argv[])
 	    if (sub->active == 0)
 		continue;
 
+	    lock_subscriber(sub);
 	    if (FD_ISSET(sub->fd, &rfds)) {
 		char buf[BUFSIZ];
 		int buflen;
 
+		unlock_subscriber(sub);
+
 		gpsd_report(context.debug, LOG_PROG,
 			    "checking client(%d)\n",
 			    sub_index(sub));
@@ -2346,6 +2374,8 @@ int main(int argc, char *argv[])
 			detach_client(sub);
 		}
 	    } else {
+		unlock_subscriber(sub);
+
 		if (!sub->policy.watcher
 		    && timestamp() - sub->active > COMMAND_TIMEOUT) {
 		    gpsd_report(context.debug, LOG_WARN,

gpsd.h-tail

@@ -546,8 +546,7 @@ struct gps_device_t {
 #endif /* GEOSTAR_ENABLE */
 #ifdef SIRF_ENABLE
 	struct {
-	    bool need_ack;		/* if NZ we're awaiting ACK */
-	    time_t last_send;		/* for tracking send timeouts */
+	    unsigned int need_ack;	/* if NZ we're awaiting ACK */
 	    unsigned int cfg_stage;	/* configuration stage counter */
 	    unsigned int driverstate;	/* for private use */
 #define SIRF_LT_231	0x01		/* SiRF at firmware rev < 231 */

gpsd.rules → gpsd.rules.in

@@ -12,42 +12,42 @@
 #
 # The following setup works on Debian and Ubuntu - something similar
 # will apply on other distributions:
-# 
+#
 #   /lib/udev/rules.d/25-gpsd.rules
 #   /lib/udev/gpsd.hotplug
-# 
+#
 # Setting the link in /lib/udev/rules.d activates the rule and determines
 # when to run it on boot (similar to init.d processing).
 
 SUBSYSTEM!="tty", GOTO="gpsd_rules_end"
 
 # Prolific Technology, Inc. PL2303 Serial Port [linux module: pl2303]
-ATTRS{idVendor}=="067b", ATTRS{idProduct}=="2303", SYMLINK+="gps%n", RUN+="/lib/udev/gpsd.hotplug"
+ATTRS{idVendor}=="067b", ATTRS{idProduct}=="2303", SYMLINK+="gps%n", RUN+="@udevdir@/gpsd.hotplug"
 # ATEN International Co., Ltd UC-232A Serial Port [linux module: pl2303]
-ATTRS{idVendor}=="0557", ATTRS{idProduct}=="2008", SYMLINK+="gps%n", RUN+="/lib/udev/gpsd.hotplug"
+ATTRS{idVendor}=="0557", ATTRS{idProduct}=="2008", SYMLINK+="gps%n", RUN+="@udevdir@/gpsd.hotplug"
 # PS-360 OEM (GPS sold with MS Street and Trips 2005) [linux module: pl2303]
-ATTRS{idVendor}=="067b", ATTRS{idProduct}=="aaa0", SYMLINK+="gps%n", RUN+="/lib/udev/gpsd.hotplug"
+ATTRS{idVendor}=="067b", ATTRS{idProduct}=="aaa0", SYMLINK+="gps%n", RUN+="@udevdir@/gpsd.hotplug"
 # FTDI 8U232AM / FT232 [linux module: ftdi_sio]
-ATTRS{idVendor}=="0403", ATTRS{idProduct}=="6001", SYMLINK+="gps%n", RUN+="/lib/udev/gpsd.hotplug"
+ATTRS{idVendor}=="0403", ATTRS{idProduct}=="6001", SYMLINK+="gps%n", RUN+="@udevdir@/gpsd.hotplug"
 # Cypress M8/CY7C64013 (Delorme uses these) [linux module: cypress_m8]
-ATTRS{idVendor}=="1163", ATTRS{idProduct}=="0100", SYMLINK+="gps%n", RUN+="/lib/udev/gpsd.hotplug"
+ATTRS{idVendor}=="1163", ATTRS{idProduct}=="0100", SYMLINK+="gps%n", RUN+="@udevdir@/gpsd.hotplug"
 # Cypress M8/CY7C64013 (DeLorme LT-40)
-ATTRS{idVendor}=="1163", ATTRS{idProduct}=="0200", SYMLINK+="gps%n", RUN+="/lib/udev/gpsd.hotplug" 
+ATTRS{idVendor}=="1163", ATTRS{idProduct}=="0200", SYMLINK+="gps%n", RUN+="@udevdir@/gpsd.hotplug"
 # Garmin International GPSmap, various models (tested with Garmin GPS 18 USB)  [linux module: garmin_gps]
-ATTRS{idVendor}=="091e", ATTRS{idProduct}=="0003", SYMLINK+="gps%n", RUN+="/lib/udev/gpsd.hotplug"
+ATTRS{idVendor}=="091e", ATTRS{idProduct}=="0003", SYMLINK+="gps%n", RUN+="@udevdir@/gpsd.hotplug"
 # Cygnal Integrated Products, Inc. CP210x Composite Device (Used by Holux m241 and Wintec grays2 wbt-201) [linux module: cp210x]
-ATTRS{idVendor}=="10c4", ATTRS{idProduct}=="ea60", SYMLINK+="gps%n", RUN+="/lib/udev/gpsd.hotplug"
+ATTRS{idVendor}=="10c4", ATTRS{idProduct}=="ea60", SYMLINK+="gps%n", RUN+="@udevdir@/gpsd.hotplug"
 # Cygnal Integrated Products, Inc. [linux module: cp210x]
-ATTRS{idVendor}=="10c4", ATTRS{idProduct}=="ea71", SYMLINK="gps%n", RUN+="/lib/udev/gpsd.hotplug"
+ATTRS{idVendor}=="10c4", ATTRS{idProduct}=="ea71", SYMLINK="gps%n", RUN+="@udevdir@/gpsd.hotplug"
 # u-blox AG, u-blox 5 (tested with Navilock NL-402U) [linux module: cdc_acm]
-ATTRS{idVendor}=="1546", ATTRS{idProduct}=="01a5", SYMLINK="gps%n", RUN+="/lib/udev/gpsd.hotplug"
+ATTRS{idVendor}=="1546", ATTRS{idProduct}=="01a5", SYMLINK="gps%n", RUN+="@udevdir@/gpsd.hotplug"
 # u-blox AG, u-blox 6 (tested with GNSS Evaluation Kit TCXO) [linux module: cdc_acm]
-ATTRS{idVendor}=="1546", ATTRS{idProduct}=="01a6", SYMLINK="gps%n", RUN+="/lib/udev/gpsd.hotplug"
+ATTRS{idVendor}=="1546", ATTRS{idProduct}=="01a6", SYMLINK="gps%n", RUN+="@udevdir@/gpsd.hotplug"
 # MediaTek (tested with HOLUX M-1200E) [linux module: cdc_acm]
-ATTRS{idVendor}=="0e8d", ATTRS{idProduct}=="3329", SYMLINK="gps%n", RUN+="/lib/udev/gpsd.hotplug"
+ATTRS{idVendor}=="0e8d", ATTRS{idProduct}=="3329", SYMLINK="gps%n", RUN+="@udevdir@/gpsd.hotplug"
 # Telit wireless solutions (tested with HE910G) [linux module: cdc_acm]
-ATTRS{interface}=="Telit Wireless Module Port", ATTRS{bInterfaceNumber}=="06", SYMLINK="gps%n", RUN+="/lib/udev/gpsd.hotplug"
+ATTRS{interface}=="Telit Wireless Module Port", ATTRS{bInterfaceNumber}=="06", SYMLINK="gps%n", RUN+="@udevdir@/gpsd.hotplug"
 
-ACTION=="remove", RUN+="/lib/udev/gpsd.hotplug"
+ACTION=="remove", RUN+="@udevdir@/gpsd.hotplug"
 
 LABEL="gpsd_rules_end"

gpsd_json.5

@@ -164,7 +164,7 @@ No
 T}:T{
 numeric
 T}:T{
-Latitude in degrees: +/\- signifies West/East\&.  Present
+Latitude in degrees: +/\- signifies North/South\&.  Present
         when mode is 2 or 3\&.
 T}
 T{
@@ -174,7 +174,7 @@ No
 T}:T{
 numeric
 T}:T{
-Longitude in degrees: +/\- signifies North/South\&. Present
+Longitude in degrees: +/\- signifies East/West\&. Present
         when mode is 2 or 3\&.
 T}
 T{
@@ -3019,11 +3019,11 @@ By default, certain scaling and conversion operations are performed for JSON out
 .PP
 Subframe support is always compiled into
 gpsd
-but many GPS do not output Subframe data or the
+but many GPSes do not output subframe data or the
 gpsd
-driver may not support Subframes\&.
+driver may not support subframes\&.
 .PP
-Subframe packets are dumped as JSON objects with class "SUBFRAME"\&. Each Subframe report object contains a "frame" field giving the subframe number, a "tSV" field for the transmitting satellite number, a "TOW17" field containing the 17 MSBs of the start of the next 12\-second message and a "scaled" field telling whether the remainder of the fields are dumped in scaled or unscaled form\&. It will also contain a "device" field naming the data source\&. Each SUBFRAME object will have a sub\-object specific to that subframe page type\&. Those sub\-object fields have names and types similar to those specified in the IS\-GPS\-200E document; each message field table may be directly interpreted as a specification for the members of the corresponding JSON object type\&.
+Subframe packets are dumped as JSON objects with class "SUBFRAME"\&. Each subframe report object contains a "frame" field giving the subframe number, a "tSV" field for the transmitting satellite number, a "TOW17" field containing the 17 MSBs of the start of the next 12\-second message and a "scaled" field telling whether the remainder of the fields are dumped in scaled or unscaled form\&. It will also contain a "device" field naming the data source\&. Each SUBFRAME object will have a sub\-object specific to that subframe page type\&. Those sub\-object fields have names and types similar to those specified in the IS\-GPS\-200E document; each message field table may be directly interpreted as a specification for the members of the corresponding JSON object type\&.
 .SH "SEE ALSO"
 .PP
 \fBgpsd\fR(8),

gpsd_json.c

@@ -3200,7 +3200,7 @@ void json_aivdm_dump(const struct ais_t *ais,
 			   "\"name\":\"%s\",\"lon\":%.4f,"
 			   "\"lat\":%.4f,\"accuracy\":%s,\"to_bow\":%u,"
 			   "\"to_stern\":%u,\"to_port\":%u,\"to_starboard\":%u,"
-			   "\"epfd\"%u,\"epfd_text\":\"%s\","
+			   "\"epfd\":%u,\"epfd_text\":\"%s\","
 			   "\"second\":%u,\"regional\":%u,"
 			   "\"off_position\":%s,\"raim\":%s,"
 			   "\"virtual_aid\":%s}\r\n",

gpsd_json.xml

@@ -144,14 +144,14 @@ Others may be reported or not depending on the fix quality.</para>
 	<entry>lat</entry>
 	<entry>No</entry>
 	<entry>numeric</entry>
-        <entry>Latitude in degrees: +/- signifies West/East.  Present
+        <entry>Latitude in degrees: +/- signifies North/South.  Present
         when mode is 2 or 3.</entry>
 </row>
 <row>
 	<entry>lon</entry>
 	<entry>No</entry>
 	<entry>numeric</entry>
-        <entry>Longitude in degrees: +/- signifies North/South. Present
+        <entry>Longitude in degrees: +/- signifies East/West. Present
         when mode is 2 or 3.</entry>
 </row>
 <row>
@@ -2352,12 +2352,12 @@ decimeters. Various other scaling conversions are described in
 <refsect1 id='subframe'><title>SUBFRAME DUMP FORMATS</title>
 
 <para>Subframe support is always compiled into
-<application>gpsd</application> but many GPS do not output Subframe data
-or the <application>gpsd</application> driver may not support Subframes.
+<application>gpsd</application> but many GPSes do not output subframe data
+or the <application>gpsd</application> driver may not support subframes.
 </para>
 
 <para>Subframe packets are dumped as JSON objects with class "SUBFRAME".
-Each Subframe report object contains a "frame" field giving the subframe
+Each subframe report object contains a "frame" field giving the subframe
 number, a "tSV" field for the transmitting satellite number, a "TOW17"
 field containing the 17 MSBs of the start of the next 12-second message
 and a "scaled" field telling whether the remainder of the fields are

monitor_nmea.c

@@ -94,7 +94,7 @@ static bool nmea_initialize(void)
     (void)mvwprintw(gpgsawin, 3, 1, "DOP: H=      V=      P=");
     (void)mvwprintw(gpgsawin, 4, 1, "PPS offset: ");
 #ifndef PPS_ENABLE
-    (void)mvwaddstr(gpgsawin, 4, 13, "Not available");
+    (void)mvwaddstr(gpgsawin, 4, 13, "N/A");
 #endif /* PPS_ENABLE */
     (void)mvwprintw(gpgsawin, 5, 9, " GSA + PPS ");
     (void)wattrset(gpgsawin, A_NORMAL);

monitor_oncore.c

@@ -151,7 +151,7 @@ static bool oncore_initialize(void)
 	(void)wattrset(Aywin, A_BOLD);
     (void)mvwprintw(Aywin, 1, 1, "PPS offset:");
 #ifndef PPS_ENABLE
-    (void)mvwaddstr(Aywin, 1, 13, "Not available");
+    (void)mvwaddstr(Aywin, 1, 13, "N/A");
 #endif /* PPS_ENABLE */
     (void)mvwprintw(Aywin, 3, 4, " @@Ay ");
     (void)wattrset(Aywin, A_NORMAL);

monitor_sirf.c

@@ -172,7 +172,7 @@ static bool sirf_initialize(void)
     display(mid7win, 2, 1, "Est. GPS Time: ");
     display(mid7win, 2, 27, "PPS offset: ");
 #ifndef PPS_ENABLE
-    (void)mvwaddstr(mid7win, 2, 40, "Not available");
+    (void)mvwaddstr(mid7win, 2, 40, "N/A");
 #endif /* PPS_ENABLE */
     display(mid7win, 3, 8, " Packet type 7 (0x07) ");
     (void)wattrset(mid7win, A_NORMAL);

monitor_ubx.c

@@ -76,7 +76,7 @@ static bool ubx_initialize(void)
     (void)wattrset(ppswin, A_BOLD);
     (void)mvwaddstr(ppswin, 1, 1, "PPS offset: ");
 #ifndef PPS_ENABLE
-    (void)mvwaddstr(ppswin, 1, 13, "Not available");
+    (void)mvwaddstr(ppswin, 1, 13, "N/A");
 #endif /* PPS_ENABLE */
     display(ppswin, 2, 22, " PPS ");
     (void)wattrset(ppswin, A_NORMAL);

packet.c

@@ -90,18 +90,28 @@ PERMISSIONS
  * application, they'd just add complexity.
  *
  * The NMEA portion of the state machine allows the following talker IDs:
- *      GP -- Global Positioning System.
- *      GL -- GLONASS, according to IEIC 61162-1
- *      GN -- Mixed GPS and GLONASS data, according to IEIC 61162-1
- *      II -- Integrated Instrumentation (Raytheon's SeaTalk system).
- *      IN -- Integrated Navigation (Garmin uses this).
- *      WI -- Weather instrument (Airmar PB200, Radio Ocean ROWIND, Vaisala WXT520).
- *      HC -- Heading/compass (Airmar PB200).
- *      TI -- Turn indicator (Airmar PB200).
- *      EC -- Electronic Chart Display & Information System (ECDIS)
- *      SD -- Depth Sounder
- *      P  -- Vendor-specific sentence
+ *      $GP -- Global Positioning System.
+ *      $GL -- GLONASS, according to IEIC 61162-1
+ *      $GN -- Mixed GPS and GLONASS data, according to IEIC 61162-1
+ *      $II -- Integrated Instrumentation (Raytheon's SeaTalk system).
+ *      $IN -- Integrated Navigation (Garmin uses this).
+ *      $WI -- Weather instrument (Airmar PB200, Radio Ocean ROWIND, Vaisala WXT520).
+ *      $HC -- Heading/compass (Airmar PB200).
+ *      $TI -- Turn indicator (Airmar PB200).
+ *      $EC -- Electronic Chart Display & Information System (ECDIS)
+ *      $SD -- Depth Sounder
+ *      $P  -- Vendor-specific sentence
  *
+ *      !AB -- NMEA 4.0 Base AIS station
+ *      !AD -- MMEA 4.0 Dependent AIS Base Station 
+ *      !AI -- Mobile AIS station
+ *      !AN -- NMEA 4.0 Aid to Navigation AIS station
+ *      !AR -- NMEA 4.0 AIS Receiving Station
+ *      !AX -- NMEA 4.0 Repeater AIS station
+ *      !AS -- NMEA 4.0 Limited Base Station
+ *      !AT -- NMEA 4.0 AIS Transmitting Station
+ *      !BS -- Base AIS station (deprecated in NMEA 4.0)
+ *      !SA -- NMEA 4.0 Physical Shore AIS Station
  */
 
 enum
@@ -415,11 +425,13 @@ static void nextstate(struct gps_packet_t *lexer, unsigned char c)
 	    lexer->state = AIS_LEAD_1;
 	else if (c == 'B')
 	    lexer->state = AIS_LEAD_ALT1;
+	else if (c == 'S')
+	    lexer->state = AIS_LEAD_ALT3;
 	else
 	    lexer->state = GROUND_STATE;
 	break;
     case AIS_LEAD_1:
-	if (c == 'I')
+	if (strchr("BDINRSTX", c) != NULL)
 	    lexer->state = AIS_LEAD_2;
 	else
 	    lexer->state = GROUND_STATE;
@@ -442,6 +454,18 @@ static void nextstate(struct gps_packet_t *lexer, unsigned char c)
 	else
 	    lexer->state = GROUND_STATE;
 	break;
+    case AIS_LEAD_ALT3:
+	if (c == 'A')
+	    lexer->state = AIS_LEAD_ALT4;
+	else
+	    lexer->state = GROUND_STATE;
+	break;
+    case AIS_LEAD_ALT4:
+	if (isalpha(c))
+	    lexer->state = NMEA_LEADER_END;
+	else
+	    lexer->state = GROUND_STATE;
+	break;
 #if defined(TNT_ENABLE) || defined(GARMINTXT_ENABLE) || defined(ONCORE_ENABLE)
     case AT1_LEADER:
 	switch (c) {

packet_names.h

@@ -21,10 +21,12 @@
 
  "SIRF_ACK_LEAD_1",	/* seen A of possible SiRF Ack */
  "SIRF_ACK_LEAD_2",	/* seen c of possible SiRF Ack */
- "AIS_LEAD_1",		/* seen A of possible marine AIS message */
- "AIS_LEAD_2",		/* seen I of possible marine AIS message */
- "AIS_LEAD_ALT1",	/* seen B of possible marine AIS message */
- "AIS_LEAD_ALT2",	/* seen S of possible marine AIS message */
+ "AIS_LEAD_1",		/* seen initial A of possible AIS message */
+ "AIS_LEAD_2",		/* seen second I/B/N/X of possible AIS message */
+ "AIS_LEAD_ALT1",	/* seen initial B of possible AIS message */
+ "AIS_LEAD_ALT2",	/* seen second S of possible AIS message */
+ "AIS_LEAD_ALT3",	/* seen initial S of possible AIS message */
+ "AIS_LEAD_ALT4",	/* seen second A of possible AIS message */
 
  "SEATALK_LEAD_1",	/* SeaTalk/Garmin packet leader 'I' */
  "WEATHER_LEAD_1",	/* Weather instrument packet leader 'W' */

packet_states.h

@@ -21,10 +21,12 @@
 
    SIRF_ACK_LEAD_1,	/* seen A of possible SiRF Ack */
    SIRF_ACK_LEAD_2,	/* seen c of possible SiRF Ack */
-   AIS_LEAD_1,		/* seen A of possible marine AIS message */
-   AIS_LEAD_2,		/* seen I of possible marine AIS message */
-   AIS_LEAD_ALT1,	/* seen B of possible marine AIS message */
-   AIS_LEAD_ALT2,	/* seen S of possible marine AIS message */
+   AIS_LEAD_1,		/* seen initial A of possible AIS message */
+   AIS_LEAD_2,		/* seen second I/B/N/X of possible AIS message */
+   AIS_LEAD_ALT1,	/* seen initial B of possible AIS message */
+   AIS_LEAD_ALT2,	/* seen second S of possible AIS message */
+   AIS_LEAD_ALT3,	/* seen initial S of possible AIS message */
+   AIS_LEAD_ALT4,	/* seen second A of possible AIS message */
 
    SEATALK_LEAD_1,	/* SeaTalk/Garmin packet leader 'I' */
    WEATHER_LEAD_1,	/* Weather instrument packet leader 'W' */

revision.h

@@ -1 +1 @@
-#define REVISION "release-3.10-148-ga33bfd4"
+#define REVISION "release-3.10-180-g23b0752"

test/sample.aivdm.js.chk

@@ -44,7 +44,7 @@
 {"class":"AIS","device":"stdin","type":19,"repeat":0,"mmsi":367059850,"scaled":true,"reserved":248,"speed":8.7,"accuracy":false,"lon":-88.8104,"lat":29.5437,"course":335.9,"heading":511,"second":46,"regional":4,"shipname":"CAPT.J.RIMES","shiptype":70,"shiptype_text":"Cargo - all ships of this type","to_bow":5,"to_stern":21,"to_port":4,"to_starboard":4,"epfd":1,"epfd_text":"GPS","raim":false,"dte":0,"assigned":false}
 {"class":"AIS","device":"stdin","type":20,"repeat":3,"mmsi":3669705,"scaled":true,"offset1":2182,"number1":5,"timeout1":7,"increment1":225,"offset2":0,"number2":0,"timeout2":0,"increment2":0,"offset3":0,"number3":0,"timeout3":0,"increment3":0,"offset4":0,"number4":0,"timeout4":0,"increment4":0}
 {"class":"AIS","device":"stdin","type":20,"repeat":0,"mmsi":3160097,"scaled":true,"offset1":47,"number1":1,"timeout1":7,"increment1":250,"offset2":2250,"number2":1,"timeout2":7,"increment2":1125,"offset3":856,"number3":5,"timeout3":7,"increment3":1125,"offset4":0,"number4":0,"timeout4":0,"increment4":0}
-{"class":"AIS","device":"stdin","type":21,"repeat":0,"mmsi":123456789,"scaled":true,"aid_type":20,"aid_type_text":"INVALID NAVAID TYPE","name":"CHINA ROSE MURPHY EXPRESS ALERT","lon":-122.6986,"lat":47.9206,"accuracy":false,"to_bow":5,"to_stern":5,"to_port":5,"to_starboard":5,"epfd"1,"epfd_text":"GPS","second":50,"regional":165,"off_position":false,"raim":false,"virtual_aid":false}
+{"class":"AIS","device":"stdin","type":21,"repeat":0,"mmsi":123456789,"scaled":true,"aid_type":20,"aid_type_text":"INVALID NAVAID TYPE","name":"CHINA ROSE MURPHY EXPRESS ALERT","lon":-122.6986,"lat":47.9206,"accuracy":false,"to_bow":5,"to_stern":5,"to_port":5,"to_starboard":5,"epfd":1,"epfd_text":"GPS","second":50,"regional":165,"off_position":false,"raim":false,"virtual_aid":false}
 {"class":"AIS","device":"stdin","type":22,"repeat":0,"mmsi":3160048,"scaled":true,"channel_a":2087,"channel_b":2088,"txrx":0,"power":false,"ne_lon":"-73.500000","ne_lat":"45.550000","sw_lon":"-80.166667","sw_lat":"42.333333","addressed":false,"band_a":false,"band_b":false,"zonesize":4}
 {"class":"AIS","device":"stdin","type":22,"repeat":1,"mmsi":17419965,"scaled":true,"channel_a":3584,"channel_b":8,"txrx":1,"power":true,"dest1":28144881,"dest2":268435519,"addressed":true,"band_a":false,"band_b":false,"zonesize":4}
 {"class":"AIS","device":"stdin","type":23,"repeat":0,"mmsi":2268120,"scaled":true,"ne_lon":"2.630000","ne_lat":"51.070000","sw_lon":"1.826667","sw_lat":"50.680000","stationtype":6,"stationtype_text":"Regional use and inland waterways","shiptype":0,"shiptype_text":"Not available","interval":9,"quiet":0}

timebase.h

@@ -1,8 +1,8 @@
 /*
  * Constants used for GPS time detection and rollover correction.
  *
- * Correct for week beginning 2014-01-16T00:00:00
+ * Correct for week beginning 2014-05-22T00:00:00
  */
 #define CENTURY_BASE	201400
 #define LEAPSECOND_NOW	16
-#define GPS_WEEK_NOW	1776
+#define GPS_WEEK_NOW	1793