Re: [gpsd-users] Earthmate and the Zodiac Driver

[Derrick Brashear]

On Mon, Jan 9, 2012 at 10:19 PM, Scott Nolde <address@hidden> wrote:
> Did the Earthmates require you send back EARTHA prior to getting the binary
> data?  If so I'm not seeing it sent back.

Yes. Until you echo "EARTHA" back to them, they don't switch to Zodiac, unless
1) you have a modded unit. there was a hack going around to solder the
unit's TX to its RX so it would tell itself "EARTHA" and just activate
or
2) a late rev of the hardware changed it. I never found one if so.

Here's the thing: the IO: logs are on gpsd_write. If there is a direct
call to write() to the fd that bypasses that, gpsd's logging won't log
it.
strace would be the only sure way of seeing if it's written back. (
sudo strace -o /tmp/out /path/to/gpsd -Nn -D6 -F /var/run/gpsd.pid
/dev/cuau0; grep EARTHA /tmp/out|grep write\( )
You should see it exactly as many times as you get a selecting Zodiac
*after* a selecting Earthmate (which here is none).

None of the things I see should be direct write() calls that matter.

> Here's some -D6 output since I've not yet finished the new world stuff:
> -bash-2.05b$ sudo gpsd -Nn -D6 -F /var/run/gpsd.pid /dev/cuau0
> gpsd:SPIN: control socket /var/run/gpsd.pid is fd 3
>
> gpsd:PROG: control socket opened at /var/run/gpsd.pid
> gpsd:INFO: launching (Version 3.3)
> gpsd:IO: opening IPv4 socket
> gpsd:SPIN: passivesock_af() -> 4
> gpsd:IO: opening IPv6 socket
> gpsd:SPIN: passivesock_af() -> 5
>
> gpsd:INFO: listening on port 2947
> gpsd:PROG: NTPD shmat(65536,0,0) succeeded, segment 0
> gpsd:PROG: NTPD shmat(65537,0,0) succeeded, segment 1
> gpsd:PROG: NTPD shmat(65538,0,0) succeeded, segment 2
> gpsd:PROG: NTPD shmat(65539,0,0) succeeded, segment 3
> gpsd:PROG: shmat() succeeded, segment 65540
> gpsd:PROG: shared-segment creation succeeded,
> gpsd:INFO: NTPD ntpd_link_activate: 1
> gpsd:INFO: stashing device /dev/cuau0 at slot 0
>
> gpsd:PROG: no /etc/gpsd/device-hook present, skipped running ACTIVATE hook
> gpsd:INFO: opening GPS data source type 2 at '/dev/cuau0'
>
> gpsd:INFO: speed 9600, 8N1
> gpsd:IO: => GPS: $PASHQ,RID*28\x0d\x0a
> gpsd:IO: => GPS: @F0.3=1*67\x0d\x0a
> gpsd:IO: => GPS: @F2.2=1*64\x0d\x0a
> gpsd:IO: writing oncore control type Cj
> gpsd:IO: => GPS: @@Cj)\x0d\x0aRID*28\x0d\x0a
> gpsd:SPIN: open(/dev/cuau0) -> 6 in gpsd_serial_open()
>
> gpsd:PROG: Probing "Garmin USB binary" driver...
> gpsd:PROG: Probe not found "Garmin USB binary" driver...
> gpsd:PROG: Probing "GeoStar binary" driver...
> gpsd:IO: Sent GeoStar packet id 0xc1
> gpsd:IO: => GPS: 5053474700c100010000000050924746
>
> gpsd:PROG: Probe not found "GeoStar binary" driver...
> gpsd:PROG: Probing "Trimble TSIP" driver...
> gpsd:INFO: speed 9600, 8O1
> gpsd:IO: => GPS: $PASHQ,RID*28\x0d\x0a
> gpsd:IO: => GPS: @F0.3=1*67\x0d\x0a
> gpsd:IO: => GPS: @F2.2=1*64\x0d\x0a
> gpsd:IO: writing oncore control type Cj
> gpsd:IO: => GPS: @@Cj)\x0d\x0aRID*28\x0d\x0a
>
> gpsd:INFO: speed 9600, 8N1
> gpsd:IO: => GPS: $PASHQ,RID*28\x0d\x0a
> gpsd:IO: => GPS: @F0.3=1*67\x0d\x0a
> gpsd:IO: => GPS: @F2.2=1*64\x0d\x0a
> gpsd:IO: writing oncore control type Cj
> gpsd:IO: => GPS: @@Cj)\x0d\x0aRID*28\x0d\x0a
> gpsd:PROG: Probe not found "Trimble TSIP" driver...
>
> gpsd:PROG: no probe matched...
> gpsd:INFO: gpsd_activate(): activated GPS (fd 6)
> gpsd:INFO: device /dev/cuau0 activated
>
> gpsd:PROG: changing to group 68
> gpsd:INFO: running with effective group ID 68
> gpsd:INFO: running with effective user ID 65534
> gpsd:INFO: startup at 2012-01-10T03:14:26.000Z (1326165266)
> gpsd:SPIN: select() {3 4 5 6} -> { 6 } at 1326165267.284671 (errno 0)
> gpsd:SPIN: packet_get() fd 6 -> 8 (0)
> gpsd:SPIN: select() {3 4 5 6} -> { 6 } at 1326165267.293019 (errno 0)
> gpsd:SPIN: packet_get() fd 6 -> 8 (0)
> gpsd:SPIN: select() {3 4 5 6} -> { 6 } at 1326165267.301378 (errno 0)
> gpsd:SPIN: packet_get() fd 6 -> 8 (0)
> gpsd:SPIN: select() {3 4 5 6} -> { 6 } at 1326165267.309732 (errno 0)
> gpsd:SPIN: packet_get() fd 6 -> 8 (0)
> gpsd:SPIN: select() {3 4 5 6} -> { 6 } at 1326165267.318090 (errno 0)
> gpsd:SPIN: packet_get() fd 6 -> 8 (0)
> gpsd:SPIN: select() {3 4 5 6} -> { 6 } at 1326165267.326452 (errno 0)
> gpsd:SPIN: packet_get() fd 6 -> 8 (0)
> gpsd:SPIN: select() {3 4 5 6} -> { 6 } at 1326165267.334811 (errno 0)
> gpsd:SPIN: packet_get() fd 6 -> 8 (0)
> gpsd:SPIN: select() {3 4 5 6} -> { 6 } at 1326165267.343166 (errno 0)
> gpsd:SPIN: packet_get() fd 6 -> 8 (0)
> gpsd:SPIN: select() {3 4 5 6} -> { 6 } at 1326165267.351524 (errno 0)
> gpsd:SPIN: packet_get() fd 6 -> 8 (0)
> gpsd:SPIN: select() {3 4 5 6} -> { 6 } at 1326165267.359886 (errno 0)
> gpsd:SPIN: packet_get() fd 6 -> 8 (0)
> gpsd:SPIN: select() {3 4 5 6} -> { 6 } at 1326165267.368244 (errno 0)
> gpsd:SPIN: packet_get() fd 6 -> 8 (0)
> gpsd:SPIN: select() {3 4 5 6} -> { 6 } at 1326165267.376600 (errno 0)
> gpsd:SPIN: packet_get() fd 6 -> 8 (0)
> gpsd:SPIN: select() {3 4 5 6} -> { 6 } at 1326165267.384957 (errno 0)
> gpsd:SPIN: packet_get() fd 6 -> 8 (0)
> gpsd:SPIN: select() {3 4 5 6} -> { 6 } at 1326165267.393321 (errno 0)
> gpsd:SPIN: packet_get() fd 6 -> 8 (0)
> gpsd:SPIN: select() {3 4 5 6} -> { 6 } at 1326165267.402094 (errno 0)
> gpsd:SPIN: packet_get() fd 6 -> 8 (0)
>
> gpsd:PROG: switch_driver(Zodiac binary) called...
> gpsd:PROG: selecting Zodiac binary driver...
> gpsd:INFO: /dev/cuau0 identified as type Zodiac binary (0.744743 sec @
> 9600bps)
>
> gpsd:DATA: 1011: subtype=01.98 mask={DEVICEID}
> gpsd:DATA: packet from /dev/cuau0 with {ONLINE|DEVICEID|PACKET|DRIVER}
> gpsd:SPIN: packet_get() fd 6 -> 0 (35)
> gpsd:SPIN: select() {3 4 5 6} -> { 6 } at 1326165267.410458 (errno 0)
> gpsd:SPIN: packet_get() fd 6 -> 8 (0)
> gpsd:SPIN: select() {3 4 5 6} -> { 6 } at 1326165267.418817 (errno 0)
> gpsd:SPIN: packet_get() fd 6 -> 8 (0)
> gpsd:SPIN: select() {3 4 5 6} -> { 6 } at 1326165267.427171 (errno 0)
> gpsd:SPIN: packet_get() fd 6 -> 8 (0)
> gpsd:SPIN: select() {3 4 5 6} -> { 6 } at 1326165267.435528 (errno 0)
> gpsd:SPIN: packet_get() fd 6 -> 8 (0)
> gpsd:SPIN: select() {3 4 5 6} -> { 6 } at 1326165267.443891 (errno 0)
> gpsd:SPIN: packet_get() fd 6 -> 8 (0)
> gpsd:SPIN: select() {3 4 5 6} -> { 6 } at 1326165267.452248 (errno 0)
> gpsd:SPIN: packet_get() fd 6 -> 8 (0)
> gpsd:SPIN: select() {3 4 5 6} -> { 6 } at 1326165267.460609 (errno 0)
> gpsd:SPIN: packet_get() fd 6 -> 8 (0)
> gpsd:SPIN: select() {3 4 5 6} -> { 6 } at 1326165267.468964 (errno 0)
> gpsd:SPIN: packet_get() fd 6 -> 8 (0)
> gpsd:SPIN: select() {3 4 5 6} -> { 6 } at 1326165267.477323 (errno 0)
> gpsd:SPIN: packet_get() fd 6 -> 8 (0)
> gpsd:SPIN: select() {3 4 5 6} -> { 6 } at 1326165267.485684 (errno 0)
> gpsd:SPIN: packet_get() fd 6 -> 8 (0)
> gpsd:SPIN: select() {3 4 5 6} -> { 6 } at 1326165267.494045 (errno 0)
> gpsd:SPIN: packet_get() fd 6 -> 8 (0)
> gpsd:SPIN: select() {3 4 5 6} -> { 6 } at 1326165267.502396 (errno 0)
> gpsd:SPIN: packet_get() fd 6 -> 8 (0)
> gpsd:SPIN: select() {3 4 5 6} -> { 6 } at 1326165267.510761 (errno 0)
> gpsd:SPIN: packet_get() fd 6 -> 8 (0)
> gpsd:SPIN: select() {3 4 5 6} -> { 6 } at 1326165267.519117 (errno 0)
> gpsd:SPIN: packet_get() fd 6 -> 8 (0)
>
> gpsd:DATA: 1000: time=867542386.00 lat=32.67 lon=-83.70 alt=136.46
> track=0.00 speed=0.00 climb=0.00 mode=1 status=0
> gpsd:DATA: packet from /dev/cuau0 with
> {ONLINE|TIME|LATLON|ALTITUDE|SPEED|TRACK|CLIMB|STATUS|MODE|PACKET|CLEAR|REPORT|PPSTIME}
> gpsd:SPIN: packet_get() fd 6 -> 0 (35)
> gpsd:SPIN: select() {3 4 5 6} -> { 6 } at 1326165267.527447 (errno 0)
> gpsd:SPIN: packet_get() fd 6 -> 4 (0)
> gpsd:SPIN: select() {3 4 5 6} -> { 6 } at 1326165268.288004 (errno 0)
> gpsd:SPIN: packet_get() fd 6 -> 8 (0)
>
> gpsd:PROG: switch_driver(Generic NMEA) called...
> gpsd:PROG: selecting Generic NMEA driver...
> gpsd:PROG: => Probing for FV-18
> gpsd:IO: => GPS: $PFEC,GPint*58\x0d\x0a
> gpsd:IO: <= GPS: EARTHA
>
> gpsd:WARN: unknown sentence: "EARTHA"
> gpsd:PROG: found trigger string EARTHA.
> gpsd:PROG: switch_driver(Delorme EarthMate (pre-2003, Zodiac chipset))
> called...
> gpsd:PROG: selecting Delorme EarthMate (pre-2003, Zodiac chipset) driver...
> gpsd:DATA: packet from /dev/cuau0 with {ONLINE|DEVICEID|PACKET|DRIVER}
> gpsd:SPIN: packet_get() fd 6 -> 0 (35)
> gpsd:SPIN: select() {3 4 5 6} -> { 6 } at 1326165269.288005 (errno 0)
> gpsd:SPIN: packet_get() fd 6 -> 8 (0)
>
> gpsd:PROG: switch_driver(Generic NMEA) called...
> gpsd:PROG: selecting Generic NMEA driver...
> gpsd:PROG: => Probing for Trimble Copernicus
> gpsd:IO: => GPS: $PTNLSNM,0139,01*5C\x0d\x0a
> gpsd:IO: <= GPS: EARTHA
>
> gpsd:WARN: unknown sentence: "EARTHA"
> gpsd:PROG: found trigger string EARTHA.
> gpsd:PROG: switch_driver(Delorme EarthMate (pre-2003, Zodiac chipset))
> called...
> gpsd:PROG: selecting Delorme EarthMate (pre-2003, Zodiac chipset) driver...
> gpsd:DATA: packet from /dev/cuau0 with {ONLINE|DEVICEID|PACKET|DRIVER}
> gpsd:SPIN: packet_get() fd 6 -> 0 (35)
> gpsd:SPIN: select() {3 4 5 6} -> { 6 } at 1326165270.282566 (errno 0)
> gpsd:SPIN: packet_get() fd 6 -> 8 (0)
>
> gpsd:PROG: switch_driver(Generic NMEA) called...
> gpsd:PROG: selecting Generic NMEA driver...
> gpsd:PROG: => Probing for Evermore
> gpsd:IO: => GPS: 1002128e7f0101000101010001000000000000131003
> gpsd:IO: <= GPS: EARTHA
>
> gpsd:WARN: unknown sentence: "EARTHA"
> gpsd:PROG: found trigger string EARTHA.
> gpsd:PROG: selecting Delorme EarthMate (pre-2003, Zodiac chipset) driver...
> gpsd:DATA: packet from /dev/cuau0 with {ONLINE|DEVICEID|PACKET|DRIVER}
> gpsd:SPIN: packet_get() fd 6 -> 0 (35)
> ^Cgpsd:WARN: received terminating signal 2.
> gpsd:INFO: closing GPS=/dev/cuau0 (6)
> gpsd:SPIN: close(6) in gpsd_close(/dev/cuau0)
> gpsd:PROG: no /etc/gpsd/device-hook present, skipped running DEACTIVATE hook
> gpsd:WARN: exiting.
>
> -Scott
>
>
> On Mon, Jan 9, 2012 at 8:43 PM, Derrick Brashear <address@hidden>
> wrote:
>>
>> On Mon, Jan 9, 2012 at 7:25 PM, Eric S. Raymond <address@hidden> wrote:
>> > Scott Nolde <address@hidden>:
>> >> gpsd:PROG: selecting Generic NMEA driver...
>> >> gpsd:PROG: => Probing for FV-18
>> >> gpsd:WARN: unknown sentence: "EARTHA"
>> >> gpsd:PROG: found trigger string EARTHA.
>> >> gpsd:PROG: switch_driver(Delorme EarthMate (pre-2003, Zodiac chipset))
>> >> called...
>> >> The Earthmate reliably worked before the 3.x change.
>> >
>> > Yeah.  It's switching drivers all right, so the recognizer is working...
>> > but it's not staying locked on. I can't tell why from the output.
>> >
>> > Unfortunately, the old Earthmate is one of a handful of devices we
>> > support that cannot be simulated with a canned test load (that's due
>> > to the EARTHA handshake).
>>
>> so your "test load" file is a pipe which has at the other end a perl
>> script. But I'm getting ahead of myself.
>>
>> > If it were simulable, the change that broke it would not have gotten
>> > past our regression tests.  As it is, the only way to isolate the
>> > fault is to test with live hardware.
>>
>> I doubt it. Sadly my Earthmate is dead. It could probably be
>> recovered, but again, I'm ahead of myself.
>>
>>
>> gpsd:PROG: found trigger string EARTHA.
>> gpsd:PROG: switch_driver(Delorme EarthMate (pre-2003, Zodiac chipset))
>> called...
>>
>> gpsd:PROG: selecting Delorme EarthMate (pre-2003, Zodiac chipset)
>> driver...
>>
>> gpsd:DATA: packet from /dev/cuad0 with {ONLINE|DEVICEID|PACKET|DRIVER}
>> gpsd:PROG: device 0 (fd=7, path /dev/cuad0) already active.
>> gpsd:PROG: Changed mask: {ONLINE|DEVICEID|PACKET|DRIVER} with reliable
>> cycle detection
>>
>>
>> gpsd:PROG: switch_driver(Generic NMEA) called..
>>
>> so when you get "selecting Delorme EarthMate", the loss would seem to
>> be immediate.
>>
>> static void earthmate_event_hook(struct gps_device_t *session, event_t
>> event)
>> contains:
>>    if (event == event_identified) {
>>        (void)gpsd_write(session, "EARTHA\r\n", 8);
>>        (void)usleep(10000);
>>        (void)gpsd_switch_driver(session, "Zodiac Binary");
>>    }
>>
>> which would tell you something interesting:
>>    gpsd_report(LOG_PROG, "switch_driver(%s) called...\n", type_name);
>>
>> But we never see a switch to Zodiac.
>>
>> So you don't need him. You don't even need a perl script. Your test
>> input is a file containing a bunch of
>> EARTHA
>> strings. Until you see "selecting Zodiac Binary", he's not going to be
>> happy regardless.
>>
>>
>> Given in order to get there you would have had to have seen an
>> accepted packet first:
>>        gpsd_report(LOG_RAW + 3, "Accepted packet on %s.\n",
>>                    session->gpsdata.dev.path);
>> which is gpsd_poll which is at the start of gpsd's event loop, but the
>> gpsd:DATA: packet from /dev/cuad0 with {ONLINE|DEVICEID|PACKET|DRIVER}
>> call is further down in that loop, something between that and the
>> completion of that loop is the presumably the problem.
>>
>>
>> --
>> Derrick
>> the guy that wrote the Zodiac support
>
>



-- 
Derrick