GPS sometimes does not detected on device start

4 files changed, 196 insertions, 3 deletions

diff --git a/recipes-navigation/gpsd/gpsd-3.23/0006-itu_r_tf_460_6.patch b/recipes-navigation/gpsd/gpsd-3.23/0006-itu_r_tf_460_6.patch
new file mode 100644
index 0000000..e17cfad
--- /dev/null
+++ b/recipes-navigation/gpsd/gpsd-3.23/0006-itu_r_tf_460_6.patch
@@ -0,0 +1,37 @@
+From 799f41e6bf0955d04510f16b33cdf731d27a597a Mon Sep 17 00:00:00 2001
+From: Mykyta Dorokhin <mykyta.dorokhin@globallogic.com>
+Date: Tue, 28 Dec 2021 15:46:42 +0200
+Subject: [PATCH] Reintegrate 0006-itu_r_tf_460_6.patch
+
+---
+ gpsd/ntpshmwrite.c | 9 +++++++++
+ 1 file changed, 9 insertions(+)
+
+diff --git a/gpsd/ntpshmwrite.c b/gpsd/ntpshmwrite.c
+index 3f2ded3..5f0524b 100644
+--- a/gpsd/ntpshmwrite.c
++++ b/gpsd/ntpshmwrite.c
+@@ -39,11 +39,20 @@ void ntp_write(volatile struct shmTime *shmseg,
+      * ITU-R TF.460-6, Section 2.1, says laep seconds can be primarily
+      * in Jun/Dec but may be in March or September
+      */
++
++/* This code contradicts page 3 section 2.1 of ITU-R RV.460-6 that
++ * leap second may occur at the last second of a month, with
++ * preference for December and June, 2nd preference to March and
++ * September.
++ *  https://www.itu.int/dms_pubrec/itu-r/rec/tf/R-REC-TF.460-6-200202-I!!PDF-E.pdf
++ */
++#ifdef NOTITU_R_TF_460_6
+     (void)gmtime_r( &(td->real.tv_sec), &tm);
+     if ( 5 != tm.tm_mon && 11 != tm.tm_mon ) {
+         /* Not june, not December, no way */
+         leap_notify = LEAP_NOWARNING;
+     }
++#endif /* NOTITU_R_TF_460_6 */
+ 
+     /* we use the shmTime mode 1 protocol
+      *
+-- 
+2.25.1
+
diff --git a/recipes-navigation/gpsd/gpsd-3.23/0006-ubxtimelps.patch b/recipes-navigation/gpsd/gpsd-3.23/0006-ubxtimelps.patch
new file mode 100644
index 0000000..6f92aea
--- /dev/null
+++ b/recipes-navigation/gpsd/gpsd-3.23/0006-ubxtimelps.patch
@@ -0,0 +1,77 @@
+From 830a414311ee287340b11b60f5c6bb58aad7074f Mon Sep 17 00:00:00 2001
+From: Mykyta Dorokhin <mykyta.dorokhin@globallogic.com>
+Date: Tue, 28 Dec 2021 15:35:38 +0200
+Subject: [PATCH] Add missing leap seconds parts
+
+---
+ SConscript           |  1 +
+ drivers/driver_ubx.c | 19 +++++++++++++++++++
+ 2 files changed, 20 insertions(+)
+
+diff --git a/SConscript b/SConscript
+index 8c6136d..3ae2a7b 100644
+--- a/SConscript
++++ b/SConscript
+@@ -315,6 +315,7 @@ boolopts = (
+     ("tripmate",      True,  "DeLorme TripMate support"),
+     ("tsip",          True,  "Trimble TSIP support"),
+     ("ublox",         True,  "u-blox Protocol support"),
++    ("ubloxtimels",   False, "u-blox UBX-NAV-TIMELS support (leap second)"),
+     # Non-GPS protocols
+     ("aivdm",         True,  "AIVDM support"),
+     ("gpsclock",      True,  "GPSClock support"),
+diff --git a/drivers/driver_ubx.c b/drivers/driver_ubx.c
+index bea2de0..e9f8a1c 100644
+--- a/drivers/driver_ubx.c
++++ b/drivers/driver_ubx.c
+@@ -3798,7 +3798,10 @@ gps_mask_t ubx_parse(struct gps_device_t * session, unsigned char *buf,
+         mask = ubx_msg_nav_timegps(session, &buf[UBX_PREFIX_LEN], data_len);
+         break;
+     case UBX_NAV_TIMELS:
++        GPSD_LOG(LOG_PROG, &session->context->errout, "UBX_NAV_TIMELS\n");
++#ifdef UBLOXTIMELS_ENABLE
+         mask = ubx_msg_nav_timels(session, &buf[UBX_PREFIX_LEN], data_len);
++#endif // UBLOXTIMELS_ENABLE
+         break;
+     case UBX_NAV_TIMEQZSS:
+         GPSD_LOG(LOG_PROG, &session->context->errout, "UBX-NAV-TIMEQZSS\n");
+@@ -3853,6 +3856,7 @@ gps_mask_t ubx_parse(struct gps_device_t * session, unsigned char *buf,
+         GPSD_LOG(LOG_PROG, &session->context->errout, "UBX-RXM-RTCM\n");
+         break;
+     case UBX_RXM_SFRB:
++        GPSD_LOG(LOG_DATA, &session->context->errout, "UBX_RXM_SFRB\n");
+         mask = ubx_msg_rxm_sfrb(session, &buf[UBX_PREFIX_LEN], data_len);
+         break;
+     case UBX_RXM_SFRBX:
+@@ -4267,6 +4271,14 @@ ubx_cfg_prt(struct gps_device_t *session, speed_t speed, const char parity,
+             (void)ubx_write(session, UBX_CLASS_CFG, 0x01, msg, 3);
+         }
+ 
++#ifdef UBLOXTIMELS_ENABLE
++        msg[0] = 0x01;		/* class */
++        msg[1] = 0x26;		/* msg id  = UBX_NAV_TIMELS */
++        msg[2] = 0xff;		/* rate */
++        (void)ubx_write(session, 0x06u, 0x01, msg, 3);
++#endif /* UBLOXTIMELS_ENABLE */
++
++
+     } else { /* MODE_BINARY */
+         // nmea to turn off
+         const unsigned char nmea_off[] = {
+@@ -4349,6 +4361,13 @@ ubx_cfg_prt(struct gps_device_t *session, speed_t speed, const char parity,
+             (void)ubx_write(session, UBX_CLASS_CFG, 0x01, msg, 3);
+         }
+ 
++#ifdef UBLOXTIMELS_ENABLE
++        msg[0] = 0x01;		/* class */
++        msg[1] = 0x26;		/* msg id  = UBX_NAV_TIMELS */
++        msg[2] = 0xff;		/* rate */
++        (void)ubx_write(session, 0x06u, 0x01, msg, 3);
++#endif /* UBLOXTIMELS_ENABLE */
++
+         /* if protver unknown, turn on everything.  Which may be too
+          * much for slower serial port speeds.  Hope that we know protver
+          * later and can fix things then. */
+-- 
+2.25.1
+
diff --git a/recipes-navigation/gpsd/gpsd-3.23/0007-add-gll-vtg.patch b/recipes-navigation/gpsd/gpsd-3.23/0007-add-gll-vtg.patch
new file mode 100644
index 0000000..777c0ca
--- /dev/null
+++ b/recipes-navigation/gpsd/gpsd-3.23/0007-add-gll-vtg.patch
@@ -0,0 +1,74 @@
+From 596089b8582097c1f934a5d25035353f00118965 Mon Sep 17 00:00:00 2001
+From: Mykyta Dorokhin <mykyta.dorokhin@globallogic.com>
+Date: Tue, 28 Dec 2021 15:56:07 +0200
+Subject: [PATCH] add GLL and VTG to 'gpspipe -r' output in binary mode
+
+---
+ gpsd/pseudonmea.c | 37 +++++++++++++++++++++++++++++++++++++
+ 1 file changed, 37 insertions(+)
+
+diff --git a/gpsd/pseudonmea.c b/gpsd/pseudonmea.c
+index 2d63d0f..feb9867 100644
+--- a/gpsd/pseudonmea.c
++++ b/gpsd/pseudonmea.c
+@@ -171,6 +171,21 @@ void gpsd_position_fix_dump(struct gps_device_t *session,
+          * Differential base station ID */
+         (void)strlcat(bufp, ",", len);
+         nmea_add_checksum(bufp);
++
++        //$GNGGA,103527.00,4957.22994,N,03618.97862,E,1,12,0.89,180.3,M,17.0,M,,*4B
++        //$GNGLL,4957.22997,N,03618.97858,E,103526.00,A,A*7B
++        //we use the same values as in GGA sentence
++        char *bufgll = &bufp[strlen(bufp)];
++        (void)snprintf(bufgll, len,
++                       "$GPGLL,%s,%c,%s,%c,%s,%c,A,",
++                       lat_str,
++                       ((session->gpsdata.fix.latitude > 0) ? 'N' : 'S'),
++                       lon_str,
++                       ((session->gpsdata.fix.longitude > 0) ? 'E' : 'W'),
++                       time_str,
++                       ((fixquality != FIX_QUALITY_INVALID) ? 'A' : 'V')
++                       );
++        nmea_add_checksum(bufgll);
+     }
+ }
+ 
+@@ -183,6 +198,7 @@ static void gpsd_transit_fix_dump(struct gps_device_t *session,
+     char lat_str[BUF_SZ];
+     char lon_str[BUF_SZ];
+     char speed_str[BUF_SZ];
++    char kspeed_str[BUF_SZ];
+     char track_str[BUF_SZ];
+     char var_str[BUF_SZ];
+     char *var_dir = "";
+@@ -231,6 +247,27 @@ static void gpsd_transit_fix_dump(struct gps_device_t *session,
+                    time2_str,
+                    var_str, var_dir);
+     nmea_add_checksum(bufp);
++
++    //$GNRMC,114740.00,A,4957.22826,N,03618.97015,E,0.054,,091220,,,A*65
++    //$GNVTG,,T,,M,0.054,N,0.100,K,A*3D
++    //1    = Track made good
++    //2    = Fixed text 'T' indicates that track made good is relative to true north
++    //3    = Track made good, degrees Magnetic
++    //4    = Magnetic track indicator - 'M'
++    //5    = Speed over ground in knots
++    //6    = Fixed text 'N' indicates that speed over ground in in knots
++    //7    = Speed over ground in kilometers/hour
++    //8    = Fixed text 'K' indicates that speed over ground is in kilometers/hour
++    //we use the same values as in RMC sentence
++    char *bufvtg = &bufp[strlen(bufp)];
++    (void)snprintf(bufvtg, len,
++                   "$GPVTG,%s,T,%s,M,%s,N,%s,K,A,",
++                   track_str,
++                   track_str,//it is not Magnetic track, but may be it is enough
++                   speed_str,
++                   f_str(session->gpsdata.fix.speed, "%.4f", kspeed_str)
++                   );
++    nmea_add_checksum(bufvtg);
+ }
+ 
+ static void gpsd_binary_satellite_dump(struct gps_device_t *session,
+-- 
+2.25.1
+
diff --git a/recipes-navigation/gpsd/gpsd_3.23.1.bb b/recipes-navigation/gpsd/gpsd_3.23.bb
index 4663856..166ce0a 100644
--- a/recipes-navigation/gpsd/gpsd_3.23.1.bb
+++ b/recipes-navigation/gpsd/gpsd_3.23.bb
@@ -18,7 +18,7 @@ SRC_URI = "${SAVANNAH_GNU_MIRROR}/${BPN}/${BP}.tar.gz \
     file://gpsd.service \
 "
 
-SRC_URI[sha256sum] = "0b991ce9a46538c4ea450f7a8ee428ff44fb4f8d665fddf2ffe40fe0ae9a6c09"
+SRC_URI[sha256sum] = "522c2362a7eb2d7ac37eaa1504f12aded1c373479a87ba06cc6795974b567bbc"
 
 inherit scons update-rc.d python3-dir python3native systemd update-alternatives pkgconfig
 
@@ -119,7 +119,7 @@ do_install() {
 
     export DESTDIR="${D}"
     # prefix is used for RPATH and DESTDIR/prefix for installation
-    ${STAGING_BINDIR_NATIVE}/scons prefix=${prefix} python_libdir=${libdir} udev-install ${EXTRA_OESCONS} || \
+    ${STAGING_BINDIR_NATIVE}/scons prefix=${prefix} python_libdir=${libdir} install ${EXTRA_OESCONS} || \
       bbfatal "scons install execution failed."
 }
 
@@ -134,10 +134,15 @@ do_install_append() {
     install -m 0755 ${WORKDIR}/gpsd_fixed.sh ${D}${sbindir}/gpsd_fixed
     install -m 0755 ${WORKDIR}/gpsd_settime.sh ${D}${sbindir}/gpsd_settime
 
+    #support for udev
+    install -d ${D}/${sysconfdir}/udev/rules.d
+    install -m 0644 ${S}/gpsd.rules.in ${D}/${sysconfdir}/udev/rules.d/
+    install -d ${D}${base_libdir}/udev/
+    install -m 0755 ${S}/gpsd.hotplug ${D}${base_libdir}/udev/
 
     # Support for python
     install -d ${D}${PYTHON_SITEPACKAGES_DIR}/gps
-    install -m 755 ${D}${libdir}/gps/*.py ${D}${PYTHON_SITEPACKAGES_DIR}/gps
+    install -m 755 ${S}/gps/*.py ${D}${PYTHON_SITEPACKAGES_DIR}/gps
 
     # support for dev (development)
     mkdir -p -m 0644 ${D}/${includedir}/gps