static gps_mask_t decode_itk_utcionomodel(struct gps_device_t *session,
unsigned char *buf, size_t len)
{
int leap;
unsigned short flags;
if (len != 64) {
gpsd_report(LOG_PROG,
"ITALK: bad UTC_IONO_MODEL (len %zu, should be 64)\n",
len);
return 0;
}
flags = (ushort) getleu16(buf, 7);
if (0 == (flags & UTC_IONO_MODEL_UTCVALID))
return 0;
leap = (int)getleu16(buf, 7 + 24);
if (session->context->leap_seconds < leap)
session->context->leap_seconds = leap;
session->newdata.time = gpsd_gpstime_resolve(session,
(unsigned short) getleu16(buf, 7 + 36),
(unsigned int)getleu32(buf, 7 + 38) / 1000.0);
gpsd_report(LOG_DATA,
"UTC_IONO_MODEL: time=%.2f mask={TIME}\n",
session->newdata.time);
return TIME_SET | PPSTIME_IS;
}
static gps_mask_t decode_itk_subframe(struct gps_device_t *session,
unsigned char *buf, size_t len)
{
unsigned short flags, prn, sf;
unsigned int i;
uint32_t words[10];
if (len != 64) {
gpsd_report(LOG_PROG,
"ITALK: bad SUBFRAME (len %zu, should be 64)\n", len);
return 0;
}
flags = (ushort) getleu16(buf, 7 + 4);
prn = (ushort) getleu16(buf, 7 + 6);
sf = (ushort) getleu16(buf, 7 + 8);
gpsd_report(LOG_PROG, "iTalk 50B SUBFRAME prn %u sf %u - decode %s %s\n",
prn, sf,
flags & SUBFRAME_WORD_FLAG_MASK ? "error" : "ok",
flags & SUBFRAME_GPS_PREAMBLE_INVERTED ? "(inverted)" : "");
if (flags & SUBFRAME_WORD_FLAG_MASK)
return 0; // don't try decode an erroneous packet
/*
* Timo says "SUBRAME message contains decoded navigation message subframe
* words with parity checking done but parity bits still present."
*/
for (i = 0; i < 10; i++)
words[i] = (uint32_t)(getleu32(buf, 7 + 14 + 4 * i) >> 6) & 0xffffff;
return gpsd_interpret_subframe(session, prn, words);
}
static void display_itk_prnstatus(unsigned char *buf, size_t len)
{
int i, nchan;
if (len < 62)
return;
nchan = (int)getleu16(buf, 7 + 50);
if (nchan > MAX_NR_VISIBLE_PRNS)
nchan = MAX_NR_VISIBLE_PRNS;
for (i = 0; i < nchan; i++) {
int off = 7 + 52 + 10 * i;
unsigned short fl;
unsigned char ss, prn, el, az;
fl = (unsigned short)getleu16(buf, off);
ss = (unsigned char)getleu16(buf, off + 2) & 0xff;
prn = (unsigned char)getleu16(buf, off + 4) & 0xff;
el = (unsigned char)getles16(buf, off + 6) & 0xff;
az = (unsigned char)getles16(buf, off + 8) & 0xff;
(void)wmove(satwin, i + 2, 4);
(void)wprintw(satwin, "%3d %3d %2d %02d %04x %c",
prn, az, el, ss, fl,
(fl & PRN_FLAG_USE_IN_NAV) ? 'Y' : ' ');
}
for (; i < MAX_NR_VISIBLE_PRNS; i++) {
(void)wmove(satwin, (int)i + 2, 4);
(void)wprintw(satwin, " ");
}
(void)wnoutrefresh(satwin);
return;
}
static void ledumpall(void)
{
(void)printf("getsb: %016" PRIx64 " %016" PRIx64 " %016" PRIx64 " %016" PRIx64 "\n",
(uint64_t) sb1, (uint64_t) sb2,
(uint64_t) getsb(buf, 0), (uint64_t) getsb(buf, 8));
(void)printf("getub: %016" PRIx64 " %016" PRIx64 " %016" PRIx64 " %016" PRIx64 "\n",
(uint64_t) ub1, (uint64_t) ub2,
(uint64_t) getub(buf, 0), (uint64_t) getub(buf, 8));
(void)printf("getles16: %016" PRIx64 " %016" PRIx64 " %016" PRIx64 " %016" PRIx64 "\n",
(uint64_t) sw1, (uint64_t) sw2,
(uint64_t) getles16(buf, 0), (uint64_t) getles16(buf, 8));
(void)printf("getleu16: %016" PRIx64 " %016" PRIx64 " %016" PRIx64 " %016" PRIx64 "\n",
(uint64_t) uw1, (uint64_t) uw2,
(uint64_t) getleu16(buf, 0), (uint64_t) getleu16(buf, 8));
(void)printf("getles32: %016" PRIx64 " %016" PRIx64 " %016" PRIx64 " %016" PRIx64 "\n",
(uint64_t) sl1, (uint64_t) sl2,
(uint64_t) getles32(buf, 0), (uint64_t) getles32(buf, 8));
(void)printf("getleu32: %016" PRIx64 " %016" PRIx64 " %016" PRIx64 " %016" PRIx64 "\n",
(uint64_t) ul1, (uint64_t) ul2,
(uint64_t) getleu32(buf, 0), (uint64_t) getleu32(buf, 8));
(void)printf("getles64: %016" PRIx64 " %016" PRIx64 " %016" PRIx64 " %016" PRIx64 "\n",
(uint64_t) sL1, (uint64_t) sL2,
(uint64_t) getles64(buf, 0), (uint64_t) getles64(buf, 8));
(void)printf("getleu64: %016" PRIx64 " %016" PRIx64 " %016" PRIx64 " %016" PRIx64 "\n",
(uint64_t) uL1, (uint64_t) uL2,
(uint64_t) getleu64(buf, 0), (uint64_t) getleu64(buf, 8));
(void)printf("getlef32: %f %f\n", f1, getlef32((const char *)buf, 24));
(void)printf("getled64: %.16f %.16f\n", d1, getled64((const char *)buf, 16));
}
static gps_mask_t decode_itk_prnstatus(struct gps_device_t *session,
unsigned char *buf, size_t len)
{
gps_mask_t mask;
if (len < 62) {
gpsd_log(&session->context->errout, LOG_PROG,
"ITALK: runt PRN_STATUS (len=%zu)\n", len);
mask = 0;
} else {
unsigned int i, nsv, nchan, st;
session->gpsdata.skyview_time = gpsd_gpstime_resolve(session,
(unsigned short)getleu16(buf, 7 + 4),
(unsigned int)getleu32(buf, 7 + 6) / 1000.0),
gpsd_zero_satellites(&session->gpsdata);
nchan = (unsigned int)getleu16(buf, 7 + 50);
if (nchan > MAX_NR_VISIBLE_PRNS)
nchan = MAX_NR_VISIBLE_PRNS;
for (i = st = nsv = 0; i < nchan; i++) {
unsigned int off = 7 + 52 + 10 * i;
unsigned short flags;
bool used;
flags = (unsigned short) getleu16(buf, off);
used = (bool)(flags & PRN_FLAG_USE_IN_NAV);
session->gpsdata.skyview[st].ss = (float)(getleu16(buf, off + 2) & 0xff);
session->gpsdata.skyview[st].PRN = (short)(getleu16(buf, off + 4) & 0xff);
session->gpsdata.skyview[st].elevation = (short)(getles16(buf, off + 6) & 0xff);
session->gpsdata.skyview[st].azimuth = (short)(getles16(buf, off + 8) & 0xff);
session->gpsdata.skyview[st].used = used;
if (session->gpsdata.skyview[st].PRN > 0) {
st++;
if (used)
nsv++;
}
}
session->gpsdata.satellites_visible = (int)st;
session->gpsdata.satellites_used = (int)nsv;
mask = USED_IS | SATELLITE_SET;;
gpsd_log(&session->context->errout, LOG_DATA,
"PRN_STATUS: time=%.2f visible=%d used=%d mask={USED|SATELLITE}\n",
session->newdata.time,
session->gpsdata.satellites_visible,
session->gpsdata.satellites_used);
}
return mask;
}
static void display_nav_svinfo(unsigned char *buf, size_t data_len)
{
int i, nchan;
if (data_len < 152)
return;
nchan = (int)getub(buf, 4);
if (nchan > 16)
nchan = 16;
for (i = 0; i < nchan; i++) {
int off = 8 + 12 * i;
unsigned char ss, prn;
char el;
short az;
unsigned short fl;
prn = (unsigned char)getub(buf, off + 1);
fl = (unsigned short)getleu16(buf, off + 2);
ss = (unsigned char)getub(buf, off + 4);
el = (char)getsb(buf, off + 5);
az = (short)getles16(buf, off + 6);
(void)wmove(satwin, (int)(i + 2), 4);
(void)wprintw(satwin, "%3d %3d %3d %2d %04x %c",
prn, az, el, ss, fl, (fl & UBX_SAT_USED) ? 'Y' : ' ');
}
(void)wnoutrefresh(satwin);
return;
}
static void display_nav_dop(unsigned char *buf, size_t data_len)
{
if (data_len != 18)
return;
(void)wmove(dopwin, 1, 9);
(void)wprintw(dopwin, "%4.1f", getleu16(buf, 12) / 100.0);
(void)wmove(dopwin, 1, 18);
(void)wprintw(dopwin, "%4.1f", getleu16(buf, 10) / 100.0);
(void)wmove(dopwin, 1, 27);
(void)wprintw(dopwin, "%4.1f", getleu16(buf, 6) / 100.0);
(void)wmove(dopwin, 1, 36);
(void)wprintw(dopwin, "%4.1f", getleu16(buf, 8) / 100.0);
(void)wmove(dopwin, 1, 45);
(void)wprintw(dopwin, "%4.1f", getleu16(buf, 4) / 100.0);
(void)wnoutrefresh(dopwin);
}
static gps_mask_t decode_itk_pseudo(struct gps_device_t *session,
unsigned char *buf, size_t len)
{
unsigned short flags, n, i;
union long_double l_d;
n = (ushort) getleu16(buf, 7 + 4);
if ((n < 1) || (n > MAXCHANNELS)){
gpsd_report(LOG_INF, "ITALK: bad PSEUDO channel count\n");
return 0;
}
if (len != (size_t)((n+1)*36)) {
gpsd_report(LOG_PROG,
"ITALK: bad PSEUDO len %zu\n", len);
}
gpsd_report(LOG_PROG, "iTalk PSEUDO [%u]\n", n);
flags = (unsigned short)getleu16(buf, 7 + 6);
if ((flags & 0x3) != 0x3)
return 0; // bail if measurement time not valid.
session->newdata.time = gpsd_gpstime_resolve(session,
(unsigned short int) getleu16(buf, 7 + 8),
(unsigned int)getleu32(buf, 7 + 38) / 1000.0);
/*@-type@*/
for (i = 0; i < n; i++){
session->gpsdata.PRN[i] = getleu16(buf, 7 + 26 + (i*36)) & 0xff;
session->gpsdata.ss[i] = getleu16(buf, 7 + 26 + (i*36 + 2)) & 0x3f;
session->gpsdata.raw.satstat[i] = getleu32(buf, 7 + 26 + (i*36 + 4));
session->gpsdata.raw.pseudorange[i] = getled(buf, 7 + 26 + (i*36 + 8));
session->gpsdata.raw.doppler[i] = getled(buf, 7 + 26 + (i*36 + 16));
session->gpsdata.raw.carrierphase[i] = getleu16(buf, 7 + 26 + (i*36 + 28));
session->gpsdata.raw.mtime[i] = session->newdata.time;
session->gpsdata.raw.codephase[i] = NAN;
session->gpsdata.raw.deltarange[i] = NAN;
}
/*@+type@*/
return RAW_IS;
}
static gps_mask_t decode_itk_navfix(struct gps_device_t *session,
unsigned char *buf, size_t len)
{
unsigned short flags, pflags;
gps_mask_t mask = 0;
double epx, epy, epz, evx, evy, evz, eph;
if (len != 296) {
gpsd_report(LOG_PROG, "ITALK: bad NAV_FIX (len %zu, should be 296)\n",
len);
return -1;
}
flags = (ushort) getleu16(buf, 7 + 4);
//cflags = (ushort) getleu16(buf, 7 + 6);
pflags = (ushort) getleu16(buf, 7 + 8);
session->gpsdata.status = STATUS_NO_FIX;
session->newdata.mode = MODE_NO_FIX;
mask = ONLINE_SET | MODE_SET | STATUS_SET | CLEAR_IS;
/* just bail out if this fix is not marked valid */
if (0 != (pflags & FIX_FLAG_MASK_INVALID)
|| 0 == (flags & FIXINFO_FLAG_VALID))
return mask;
session->newdata.time = gpsd_gpstime_resolve(session,
(unsigned short) getles16(buf, 7 + 82),
(unsigned int)getleu32(buf, 7 + 84) / 1000.0);
mask |= TIME_SET | PPSTIME_IS;
epx = (double)(getles32(buf, 7 + 96) / 100.0);
epy = (double)(getles32(buf, 7 + 100) / 100.0);
epz = (double)(getles32(buf, 7 + 104) / 100.0);
evx = (double)(getles32(buf, 7 + 186) / 1000.0);
evy = (double)(getles32(buf, 7 + 190) / 1000.0);
evz = (double)(getles32(buf, 7 + 194) / 1000.0);
ecef_to_wgs84fix(&session->newdata, &session->gpsdata.separation,
epx, epy, epz, evx, evy, evz);
mask |= LATLON_SET | ALTITUDE_SET | SPEED_SET | TRACK_SET | CLIMB_SET;
eph = (double)(getles32(buf, 7 + 252) / 100.0);
/* eph is a circular error, sqrt(epx**2 + epy**2) */
session->newdata.epx = session->newdata.epy = eph / sqrt(2);
session->newdata.eps = (double)(getles32(buf, 7 + 254) / 100.0);
#define MAX(a,b) (((a) > (b)) ? (a) : (b))
session->gpsdata.satellites_used =
(int)MAX(getleu16(buf, 7 + 12), getleu16(buf, 7 + 14));
mask |= USED_IS;
if (flags & FIX_CONV_DOP_VALID) {
session->gpsdata.dop.hdop = (double)(getleu16(buf, 7 + 56) / 100.0);
session->gpsdata.dop.gdop = (double)(getleu16(buf, 7 + 58) / 100.0);
session->gpsdata.dop.pdop = (double)(getleu16(buf, 7 + 60) / 100.0);
session->gpsdata.dop.vdop = (double)(getleu16(buf, 7 + 62) / 100.0);
session->gpsdata.dop.tdop = (double)(getleu16(buf, 7 + 64) / 100.0);
mask |= DOP_SET;
}
if ((pflags & FIX_FLAG_MASK_INVALID) == 0
&& (flags & FIXINFO_FLAG_VALID) != 0) {
if (pflags & FIX_FLAG_3DFIX)
session->newdata.mode = MODE_3D;
else
session->newdata.mode = MODE_2D;
if (pflags & FIX_FLAG_DGPS_CORRECTION)
session->gpsdata.status = STATUS_DGPS_FIX;
else
session->gpsdata.status = STATUS_FIX;
}
gpsd_report(LOG_DATA,
"NAV_FIX: time=%.2f, lat=%.2f lon=%.2f alt=%.f speed=%.2f track=%.2f climb=%.2f mode=%d status=%d gdop=%.2f pdop=%.2f hdop=%.2f vdop=%.2f tdop=%.2f\n",
session->newdata.time, session->newdata.latitude,
session->newdata.longitude, session->newdata.altitude,
session->newdata.speed, session->newdata.track,
session->newdata.climb, session->newdata.mode,
session->gpsdata.status, session->gpsdata.dop.gdop,
session->gpsdata.dop.pdop, session->gpsdata.dop.hdop,
session->gpsdata.dop.vdop, session->gpsdata.dop.tdop);
return mask;
}
/*@ -duplicatequals +ignorequals @*/
int main(int argc, char *argv[])
{
bool failures = false;
bool quiet = (argc > 1) && (strcmp(argv[1], "--quiet") == 0);
/*@ -observertrans -usereleased @*/
struct unsigned_test *up, unsigned_tests[] = {
/* tests using the big buffer */
{buf, 0, 1, 0, false, "first bit of first byte"},
{buf, 0, 8, 0x01, false, "first 8 bits"},
{buf, 32, 7, 0x02, false, "first seven bits of fifth byte (0x05)"},
{buf, 56, 12, 0x8f, false, "12 bits crossing 7th to 8th bytes (0x08ff)"},
{buf, 78, 4, 0xb, false, "4 bits crossing 8th to 9th byte (0xfefd)"},
{buf, 0, 1, 0, true, "first bit of first byte"},
{buf, 0, 8, 0x80, true, "first 8 bits"},
{buf, 32, 7, 0x20, true, "first seven bits of fifth byte (0x05)"},
{buf, 56, 12, 0xf10,true, "12 bits crossing 7th to 8th bytes (0x08ff)"},
{buf, 78, 4, 0xd, true, "4 bits crossing 8th to 9th byte (0xfefd)"},
/* sporadic tests based on found bugs */
{(unsigned char *)"\x19\x23\f6",
7, 2, 2, false, "2 bits crossing 1st to 2nd byte (0x1923)"},
};
unsigned char *sp;
memcpy(buf, "\x01\x02\x03\x04\x05\x06\x07\x08", 8);
memcpy(buf + 8, "\xff\xfe\xfd\xfc\xfb\xfa\xf9\xf8", 8);
memcpy(buf + 16, "\x40\x09\x21\xfb\x54\x44\x2d\x18", 8);
memcpy(buf + 24, "\x40\x49\x0f\xdb", 4);
/*@ +observertrans +usereleased @*/
/*@-type@*/
sb1 = getsb(buf, 0);
sb2 = getsb(buf, 8);
ub1 = getub(buf, 0);
ub2 = getub(buf, 8);
sw1 = getbes16(buf, 0);
sw2 = getbes16(buf, 8);
uw1 = getbeu16(buf, 0);
uw2 = getbeu16(buf, 8);
sl1 = getbes32(buf, 0);
sl2 = getbes32(buf, 8);
ul1 = getbeu32(buf, 0);
ul2 = getbeu32(buf, 8);
sL1 = getbes64(buf, 0);
sL2 = getbes64(buf, 8);
uL1 = getbeu64(buf, 0);
uL2 = getbeu64(buf, 8);
f1 = getbef32((const char *)buf, 24);
d1 = getbed64((const char *)buf, 16);
sb1 = getsb(buf, 0);
sb2 = getsb(buf, 8);
ub1 = getub(buf, 0);
ub2 = getub(buf, 8);
sw1 = getles16(buf, 0);
sw2 = getles16(buf, 8);
uw1 = getleu16(buf, 0);
uw2 = getleu16(buf, 8);
sl1 = getles32(buf, 0);
sl2 = getles32(buf, 8);
ul1 = getleu32(buf, 0);
ul2 = getleu32(buf, 8);
sL1 = getles64(buf, 0);
sL2 = getles64(buf, 8);
uL1 = getleu64(buf, 0);
uL2 = getleu64(buf, 8);
f1 = getlef32((const char *)buf, 24);
d1 = getled64((const char *)buf, 16);
/*@+type@*/
if (!quiet) {
(void)fputs("Test data:", stdout);
for (sp = buf; sp < buf + 28; sp++)
(void)printf(" %02x", *sp);
(void)putc('\n', stdout);
/* big-endian test */
printf("Big-endian:\n");
bedumpall();
/* little-endian test */
printf("Little-endian:\n");
ledumpall();
}
if (sb1 != 1) printf("getsb(buf, 0) FAILED\n");
if (sb2 != -1) printf("getsb(buf, 8) FAILED\n");
if (ub1 != 1) printf("getub(buf, 0) FAILED\n");
if (ub2 != 0xff) printf("getub(buf, 8) FAILED\n");
(void)printf("Testing bitfield extraction\n");
for (up = unsigned_tests;
up <
unsigned_tests + sizeof(unsigned_tests) / sizeof(unsigned_tests[0]);
up++) {
uint64_t res = ubits((unsigned char *)buf, up->start, up->width, up->le);
bool success = (res == up->expected);
if (!success)
failures = true;
if (!success || !quiet)
(void)printf("ubits(%s, %d, %d, %s) %s should be %" PRIx64 ", is %" PRIx64 ": %s\n",
hexdump(buf, strlen((char *)buf)),
up->start, up->width, up->le ? "true" : "false",
up->description, up->expected, res,
success ? "succeeded" : "FAILED");
}
exit(failures ? EXIT_FAILURE : EXIT_SUCCESS);
}
static void display_itk_navfix(unsigned char *buf, size_t len)
{
unsigned int tow, tod, d, svlist;
unsigned short gps_week, nsv;
unsigned short year, mon, day, hour, min, sec;
double epx, epy, epz, evx, evy, evz;
double latitude, longitude;
float altitude, speed, track, climb;
float hdop, gdop, pdop, vdop, tdop;
if (len != 296)
return;
#ifdef __UNUSED__
flags = (unsigned short) getleu16(buf, 7 + 4); */
cflags = (unsigned short) getleu16(buf, 7 + 6);
pflags = (unsigned short) getleu16(buf, 7 + 8);
#endif /* __UNUSED__ */
#define MAX(a,b) (((a) > (b)) ? (a) : (b))
nsv = (unsigned short) MAX(getleu16(buf, 7 + 12), getleu16(buf, 7 + 14));
svlist = (unsigned int) ((unsigned short) getleu32(buf, 7 + 16) | getleu32(buf, 7 + 24));
hour = (unsigned short) getleu16(buf, 7 + 66);
min = (unsigned short) getleu16(buf, 7 + 68);
sec = (unsigned short) getleu16(buf, 7 + 70);
//nsec = (unsigned short) getleu32(buf, 7 + 72);
year = (unsigned short) getleu16(buf, 7 + 76);
mon = (unsigned short) getleu16(buf, 7 + 78);
day = (unsigned short) getleu16(buf, 7 + 80);
gps_week = (unsigned short) getles16(buf, 7 + 82);
tow = (unsigned short) getleu32(buf, 7 + 84);
epx = (double)(getles32(buf, 7 + 96) / 100.0);
epy = (double)(getles32(buf, 7 + 100) / 100.0);
epz = (double)(getles32(buf, 7 + 104) / 100.0);
evx = (double)(getles32(buf, 7 + 186) / 1000.0);
evy = (double)(getles32(buf, 7 + 190) / 1000.0);
evz = (double)(getles32(buf, 7 + 194) / 1000.0);
latitude = (double)(getles32(buf, 7 + 144) / 1e7);
longitude = (double)(getles32(buf, 7 + 148) / 1e7);
altitude = (float)(getles32(buf, 7 + 152) / 1e3);
climb = (float)(getles32(buf, 7 + 206) / 1e3);
speed = (float)(getleu32(buf, 7 + 210) / 1e3);
track = (float)(getleu16(buf, 7 + 214) / 1e2);
hdop = (float)(getleu16(buf, 7 + 56) / 100.0);
gdop = (float)(getleu16(buf, 7 + 58) / 100.0);
pdop = (float)(getleu16(buf, 7 + 60) / 100.0);
vdop = (float)(getleu16(buf, 7 + 62) / 100.0);
tdop = (float)(getleu16(buf, 7 + 64) / 100.0);
(void)wmove(navfixwin, 1, 11);
(void)wprintw(navfixwin, "%12.2lf %12.2lf %12.2lfm", epx, epy, epz);
(void)wmove(navfixwin, 2, 11);
(void)wprintw(navfixwin, "%11.2lf %11.2lf %11.2lfm/s", evx, evy, evz);
(void)wmove(navfixwin, 4, 11);
(void)wprintw(navfixwin, "%11.8lf %13.8lf %8.1lfm",
latitude, longitude, altitude);
(void)mvwaddch(navfixwin, 4, 22, ACS_DEGREE);
(void)mvwaddch(navfixwin, 4, 38, ACS_DEGREE);
(void)wmove(navfixwin, 5, 11);
(void)wprintw(navfixwin, "%6.2lfm/s %5.1lf %6.2lfm/s climb",
speed, track, climb);
(void)mvwaddch(navfixwin, 5, 27, ACS_DEGREE);
(void)wmove(navfixwin, 7, 11);
(void)wprintw(navfixwin, "%04u-%02u-%02u %02u:%02u:%02u",
year, mon, day, hour, min, sec);
(void)wmove(navfixwin, 8, 11);
(void)wprintw(navfixwin, "%04u+%010.3lf", gps_week, tow / 1000.0);
(void)wmove(navfixwin, 8, 33);
d = (tow / 1000) / 86400;
tod = (tow / 1000) - (d * 86400);
sec = (unsigned short)tod % 60;
min = (unsigned short)(tod / 60) % 60;
hour = (unsigned short)tod / 3600;
(void)wprintw(navfixwin, "%1d %02d:%02d:%02d", d, hour, min, sec);
(void)wmove(navfixwin, 10, 9);
(void)wprintw(navfixwin, "%-5.1f", hdop);
(void)wmove(navfixwin, 10, 18);
(void)wprintw(navfixwin, "%-5.1f", vdop);
(void)wmove(navfixwin, 10, 27);
(void)wprintw(navfixwin, "%-5.1f", pdop);
(void)wmove(navfixwin, 10, 36);
(void)wprintw(navfixwin, "%-5.1f", tdop);
(void)wmove(navfixwin, 10, 45);
(void)wprintw(navfixwin, "%-5.1f", gdop);
(void)wmove(navfixwin, 11, 6);
{
char prn[4], satlist[38];
unsigned int i;
satlist[0] = '\0';
for (i = 0; i < 32; i++) {
if (svlist & (1 << i)) {
(void)snprintf(prn, 4, "%u ", i + 1);
(void)strlcat(satlist, prn, 38);
}
}
(void)wprintw(navfixwin, "%02d = %-38s", nsv, satlist);
}
(void)wnoutrefresh(navfixwin);
}
/*@ +charint @*/
gps_mask_t evermore_parse(struct gps_device_t * session, unsigned char *buf,
size_t len)
{
unsigned char buf2[MAX_PACKET_LENGTH], *cp, *tp;
size_t i, datalen;
unsigned int type, used, visible, satcnt, j, k;
double version;
gps_mask_t mask = 0;
/* must have two leader bytes, length, and two trailer bytes minimum */
if (len < 5)
return 0;
/* time to unstuff it and discard the header and footer */
cp = buf + 2;
if (*cp == 0x10)
cp++;
datalen = (size_t) * cp++;
datalen -= 2;
/*@ -usedef @*/
/* prevent 'Assigned value is garbage or undefined' from scan-build */
memset(buf2, '\0', sizeof(buf2));
tp = buf2;
for (i = 0; i < (size_t) datalen; i++) {
*tp = *cp++;
if (*tp == 0x10)
cp++;
tp++;
}
type = (unsigned char)getub(buf2, 0);
/*@ +usedef @*/
/*@ -usedef -compdef @*/
gpsd_log(&session->context->errout, LOG_RAW,
"EverMore packet type 0x%02x (%zd bytes)\n", type, tp-buf2);
/*@ +usedef +compdef @*/
session->cycle_end_reliable = true;
switch (type) {
case 0x02: /* Navigation Data Output */
session->newdata.time = gpsd_gpstime_resolve(session,
(unsigned short)getleu16(buf2, 3),
(double)getleu32(buf2, 5) * 0.01);
ecef_to_wgs84fix(&session->newdata, &session->gpsdata.separation,
(double)getles32(buf2, 9) * 1.0,
(double)getles32(buf2, 13) * 1.0,
(double)getles32(buf2, 17) * 1.0,
(double)getles16(buf2, 21) / 10.0,
(double)getles16(buf2, 23) / 10.0,
(double)getles16(buf2, 25) / 10.0);
used = (unsigned char)getub(buf2, 27) & 0x0f;
//visible = (getub(buf2, 27) & 0xf0) >> 4;
version = (uint) getleu16(buf2, 28) / 100.0;
/* that's all the information in this packet */
if (used < 3)
session->newdata.mode = MODE_NO_FIX;
else if (used == 3)
session->newdata.mode = MODE_2D;
else {
session->newdata.mode = MODE_3D;
mask |= ALTITUDE_SET | CLIMB_SET;
}
mask |= TIME_SET | PPSTIME_IS | LATLON_SET | TRACK_SET | SPEED_SET | MODE_SET;
if (session->subtype[0] == '\0') {
(void)snprintf(session->subtype, sizeof(session->subtype),
"%3.2f", version);
mask |= DEVICEID_SET;
}
gpsd_log(&session->context->errout, LOG_DATA,
"NDO 0x02: time=%.2f, lat=%.2f lon=%.2f alt=%.2f speed=%.2f track=%.2f climb=%.2f mode=%d subtype='%s\n",
session->newdata.time, session->newdata.latitude,
session->newdata.longitude, session->newdata.altitude,
session->newdata.speed, session->newdata.track,
session->newdata.climb, session->newdata.mode,
session->gpsdata.dev.subtype);
return mask | CLEAR_IS | REPORT_IS;
case 0x04: /* DOP Data Output */
session->newdata.time = gpsd_gpstime_resolve(session,
(unsigned short)getleu16(buf2, 3),
(double)getleu32(buf2, 5) * 0.01);
/*
* We make a deliberate choice not to clear DOPs from the
* last skyview here, but rather to treat this as a supplement
* to our calculations from the visibility matrix, trusting
* the firmware algorithms over ours.
*/
session->gpsdata.dop.gdop = (double)getub(buf2, 9) * 0.1;
session->gpsdata.dop.pdop = (double)getub(buf2, 10) * 0.1;
session->gpsdata.dop.hdop = (double)getub(buf2, 11) * 0.1;
session->gpsdata.dop.vdop = (double)getub(buf2, 12) * 0.1;
session->gpsdata.dop.tdop = (double)getub(buf2, 13) * 0.1;
switch (getub(buf2, 14)) {
case 0: /* no position fix */
case 1: /* manual calls this "1D navigation" */
session->gpsdata.status = STATUS_NO_FIX;
session->newdata.mode = MODE_NO_FIX;
break;
case 2: /* 2D navigation */
session->gpsdata.status = STATUS_FIX;
session->newdata.mode = MODE_2D;
break;
case 3: /* 3D navigation */
session->gpsdata.status = STATUS_FIX;
session->newdata.mode = MODE_3D;
break;
case 4: /* 3D navigation with DGPS */
session->gpsdata.status = STATUS_DGPS_FIX;
session->newdata.mode = MODE_3D;
break;
}
/* that's all the information in this packet */
mask = TIME_SET | PPSTIME_IS | DOP_SET | MODE_SET | STATUS_SET;
gpsd_log(&session->context->errout, LOG_DATA,
"DDO 0x04: gdop=%.2f pdop=%.2f hdop=%.2f vdop=%.2f tdop=%.2f mode=%d, status=%d mask={TIME| DOP|MODE|STATUS}\n",
session->gpsdata.dop.gdop, session->gpsdata.dop.pdop,
session->gpsdata.dop.hdop, session->gpsdata.dop.vdop,
session->gpsdata.dop.tdop, session->newdata.mode,
session->gpsdata.status);
return mask;
case 0x06: /* Channel Status Output */
session->gpsdata.skyview_time = gpsd_gpstime_resolve(session,
(unsigned short)getleu16(buf2, 3),
(double)getleu32(buf2, 5) * 0.01);
session->gpsdata.satellites_visible = (int)getub(buf2, 9);
gpsd_zero_satellites(&session->gpsdata);
memset(session->gpsdata.used, 0, sizeof(session->gpsdata.used));
if (session->gpsdata.satellites_visible > 12) {
gpsd_log(&session->context->errout, LOG_WARN,
"Warning: EverMore packet has information about %d satellites!\n",
session->gpsdata.satellites_visible);
}
if (session->gpsdata.satellites_visible > EVERMORE_CHANNELS)
session->gpsdata.satellites_visible = EVERMORE_CHANNELS;
satcnt = 0;
for (i = 0; i < (size_t) session->gpsdata.satellites_visible; i++) {
int prn;
// channel = getub(buf2, 7*i+7+3)
prn = (int)getub(buf2, 7 * i + 7 + 4);
if (prn == 0)
continue; /* satellite record is not valid */
session->gpsdata.PRN[satcnt] = prn;
session->gpsdata.azimuth[satcnt] =
(int)getleu16(buf2, 7 * i + 7 + 5);
session->gpsdata.elevation[satcnt] =
(int)getub(buf2, 7 * i + 7 + 7);
session->gpsdata.ss[satcnt] = (float)getub(buf2, 7 * i + 7 + 8);
/*
* Status bits at offset 8:
* bit0 = 1 satellite acquired
* bit1 = 1 code-tracking loop locked
* bit2 = 1 carrier-tracking loop locked
* bit3 = 1 data-bit synchronization done
* bit4 = 1 frame synchronization done
* bit5 = 1 ephemeris data collected
* bit6 = 1 used for position fix
*/
if (getub(buf2, 7 * i + 7 + 9) & 0x40) {
session->gpsdata.used[session->gpsdata.satellites_used++] =
prn;
}
satcnt++;
}
session->gpsdata.satellites_visible = (int)satcnt;
/* that's all the information in this packet */
mask = SATELLITE_SET | USED_IS;
gpsd_log(&session->context->errout, LOG_DATA,
"CSO 0x06: time=%.2f used=%d visible=%d mask={TIME|SATELLITE|USED}\n",
session->newdata.time, session->gpsdata.satellites_used,
session->gpsdata.satellites_visible);
return mask;
case 0x08: /* Measurement Data Output */
/* clock offset is a manufacturer diagnostic */
/* (int)getleu16(buf2, 9); clock offset, 29000..29850 ?? */
session->newdata.time = gpsd_gpstime_resolve(session,
(unsigned short)getleu16(buf2, 3),
(double)getleu32(buf2, 5) * 0.01);
visible = (unsigned char)getub(buf2, 11);
/*
* Note: This code is untested. It was written from the manual.
* The results need to be sanity-checked against a GPS with
* known-good raw decoding and the same skyview.
*
* We can get pseudo range (m), delta-range (m/s), doppler (Hz)
* and status for each channel from the chip. We cannot get
* codephase or carrierphase.
*/
#define SBITS(sat, s, l) sbits((signed char *)buf, 10 + (sat*14) + s, l, false)
#define UBITS(sat, s, l) ubits((unsigned char *)buf, 10 + (sat*14) + s, l, false)
for (k = 0; k < visible; k++) {
int prn = (int)UBITS(k, 4, 5);
/* this is so we can tell which never got set */
for (j = 0; j < MAXCHANNELS; j++)
session->gpsdata.raw.mtime[j] = 0;
for (j = 0; j < MAXCHANNELS; j++) {
if (session->gpsdata.PRN[j] == prn) {
session->gpsdata.raw.codephase[j] = NAN;
session->gpsdata.raw.carrierphase[j] = NAN;
session->gpsdata.raw.mtime[j] = session->newdata.time;
session->gpsdata.raw.satstat[j] = (unsigned)UBITS(k, 24, 8);
session->gpsdata.raw.pseudorange[j] = (double)SBITS(k,40,32);
session->gpsdata.raw.deltarange[j] = (double)SBITS(k,72,32);
session->gpsdata.raw.doppler[j] = (double)SBITS(k, 104, 16);
}
}
}
#undef SBITS
#undef UBITS
gpsd_log(&session->context->errout, LOG_DATA,
"MDO 0x04: time=%.2f mask={TIME|RAW}\n",
session->newdata.time);
return TIME_SET | PPSTIME_IS | RAW_IS;
case 0x20: /* LogConfig Info, could be used as a probe for EverMore GPS */
gpsd_log(&session->context->errout, LOG_DATA,
"LogConfig EverMore packet, length %zd\n", datalen);
return ONLINE_SET;
case 0x22: /* LogData */
gpsd_log(&session->context->errout, LOG_DATA,
"LogData EverMore packet, length %zd\n", datalen);
return ONLINE_SET;
case 0x38: /* ACK */
gpsd_log(&session->context->errout, LOG_PROG,
"EverMore command %02X ACK\n", getub(buf2, 3));
return ONLINE_SET;
default:
gpsd_log(&session->context->errout, LOG_WARN,
"unknown EverMore packet EID 0x%02x, length %zd\n",
buf2[0], datalen);
return 0;
}
}
static void display_nav_sol(unsigned char *buf, size_t data_len)
{
unsigned short gw = 0;
unsigned int tow = 0, flags;
double epx, epy, epz, evx, evy, evz;
unsigned char navmode;
struct gps_data_t g;
double separation;
if (data_len != 52)
return;
navmode = (unsigned char)getub(buf, 10);
flags = (unsigned int)getub(buf, 11);
if ((flags & (UBX_SOL_VALID_WEEK | UBX_SOL_VALID_TIME)) != 0) {
tow = (unsigned int)getleu32(buf, 0);
gw = (unsigned short)getles16(buf, 8);
}
epx = (double)(getles32(buf, 12) / 100.0);
epy = (double)(getles32(buf, 16) / 100.0);
epz = (double)(getles32(buf, 20) / 100.0);
evx = (double)(getles32(buf, 28) / 100.0);
evy = (double)(getles32(buf, 32) / 100.0);
evz = (double)(getles32(buf, 36) / 100.0);
ecef_to_wgs84fix(&g.fix, &separation, epx, epy, epz, evx, evy, evz);
g.fix.epx = g.fix.epy = (double)(getles32(buf, 24) / 100.0);
g.fix.eps = (double)(getles32(buf, 40) / 100.0);
g.dop.pdop = (double)(getleu16(buf, 44) / 100.0);
g.satellites_used = (int)getub(buf, 47);
(void)wmove(navsolwin, 1, 11);
(void)wprintw(navsolwin, "%+10.2fm %+10.2fm %+10.2fm", epx, epy, epz);
(void)wmove(navsolwin, 2, 11);
(void)wprintw(navsolwin, "%+9.2fm/s %+9.2fm/s %+9.2fm/s", evx, evy, evz);
(void)wmove(navsolwin, 4, 11);
(void)wattrset(navsolwin, A_UNDERLINE);
(void)wprintw(navsolwin, "%12.9f %13.9f %8.2fm",
g.fix.latitude, g.fix.longitude, g.fix.altitude);
(void)mvwaddch(navsolwin, 4, 23, ACS_DEGREE);
(void)mvwaddch(navsolwin, 4, 38, ACS_DEGREE);
(void)wmove(navsolwin, 5, 11);
(void)wprintw(navsolwin, "%6.2fm/s %5.1fo %6.2fm/s",
g.fix.speed, g.fix.track, g.fix.climb);
(void)mvwaddch(navsolwin, 5, 26, ACS_DEGREE);
(void)wattrset(navsolwin, A_NORMAL);
(void)wmove(navsolwin, 7, 7);
{
unsigned int day = tow / 8640000;
unsigned int tod = tow % 8640000;
unsigned int h = tod / 360000;
unsigned int m = tod % 360000;
unsigned int s = m % 6000;
m = (m - s) / 6000;
(void)wattrset(navsolwin, A_UNDERLINE);
(void)wprintw(navsolwin, "%u %02u:%02u:%05.2f", day, h, m, (double)s / 100);
(void)wattrset(navsolwin, A_NORMAL);
}
(void)wmove(navsolwin, 8, 11);
if ((flags & (UBX_SOL_VALID_WEEK | UBX_SOL_VALID_TIME)) != 0) {
(void)wprintw(navsolwin, "%d+%10.3lf", gw, (double)(tow / 1000.0));
(void)wmove(navsolwin, 8, 36);
(void)wprintw(navsolwin, "%d", (tow / 86400000));
}
/* relies on the fact that epx and epy are set to same value */
(void)wmove(navsolwin, 10, 12);
(void)wprintw(navsolwin, "%7.2f", g.fix.epx);
(void)wmove(navsolwin, 10, 33);
(void)wprintw(navsolwin, "%6.2f", g.fix.epv);
(void)wmove(navsolwin, 11, 7);
(void)wprintw(navsolwin, "%2d", g.satellites_used);
(void)wmove(navsolwin, 11, 15);
(void)wprintw(navsolwin, "%5.1f", g.dop.pdop);
(void)wmove(navsolwin, 11, 25);
(void)wprintw(navsolwin, "0x%02x", navmode);
(void)wmove(navsolwin, 11, 36);
(void)wprintw(navsolwin, "0x%02x", flags);
(void)wnoutrefresh(navsolwin);
}