static void bedumpall(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("getbes16: %016" PRIx64 " %016" PRIx64 " %016" PRIx64 " %016" PRIx64 "\n",
(uint64_t) sw1, (uint64_t) sw2,
(uint64_t) getbes16(buf, 0), (uint64_t) getbes16(buf, 8));
(void)printf("getbeu16: %016" PRIx64 " %016" PRIx64 " %016" PRIx64 " %016" PRIx64 "\n",
(uint64_t) uw1, (uint64_t) uw2,
(uint64_t) getbeu16(buf, 0), (uint64_t) getbeu16(buf, 8));
(void)printf("getbes32: %016" PRIx64 " %016" PRIx64 " %016" PRIx64 " %016" PRIx64 "\n",
(uint64_t) sl1, (uint64_t) sl2,
(uint64_t) getbes32(buf, 0), (uint64_t) getbes32(buf, 8));
(void)printf("getbeu32: %016" PRIx64 " %016" PRIx64 " %016" PRIx64 " %016" PRIx64 "\n",
(uint64_t) ul1, (uint64_t) ul2,
(uint64_t) getbeu32(buf, 0), (uint64_t) getbeu32(buf, 8));
(void)printf("getbes64: %016" PRIx64 " %016" PRIx64 " %016" PRIx64 " %016" PRIx64 "\n",
(uint64_t) sL1, (uint64_t) sL2,
(uint64_t) getbes64(buf, 0), (uint64_t) getbes64(buf, 8));
(void)printf("getbeu64: %016" PRIx64 " %016" PRIx64 " %016" PRIx64 " %016" PRIx64 "\n",
(uint64_t) uL1, (uint64_t) uL2,
(uint64_t) getbeu64(buf, 0), (uint64_t) getbeu64(buf, 8));
(void)printf("getbef32: %f %f\n", f1, getbef32((const char *)buf, 24));
(void)printf("getbed64: %.16f %.16f\n", d1, getbed64((const char *)buf, 16));
}
static void sirf_update(void)
{
int i, j, ch, sv;
unsigned char *buf;
size_t len;
uint8_t dgps;
char tbuf[JSON_DATE_MAX+1];
buf = session.lexer.outbuffer + 4;
len = session.lexer.outbuflen - 8;
switch (buf[0]) {
case 0x02: /* Measured Navigation Data */
(void)wmove(mid2win, 1, 6); /* ECEF position */
(void)wprintw(mid2win, "%8d %8d %8d", getbes32(buf, 1),
getbes32(buf, 5), getbes32(buf, 9));
(void)wmove(mid2win, 2, 6); /* ECEF velocity */
(void)wprintw(mid2win, "%8.1f %8.1f %8.1f",
(double)getbes16(buf, 13) / 8, (double)getbes16(buf,
15) / 8,
(double)getbes16(buf, 17) / 8);
decode_ecef((double)getbes32(buf, 1), (double)getbes32(buf, 5),
(double)getbes32(buf, 9), (double)getbes16(buf, 13) / 8,
(double)getbes16(buf, 15) / 8, (double)getbes16(buf,
17) / 8);
/* line 3 */
(void)wmove(mid2win, 3, 7);
(void)wprintw(mid2win, "%-24s",
unix_to_iso8601(session.gpsdata.fix.time, tbuf, sizeof(tbuf))
);
(void)wmove(mid2win, 3, 38);
(void)wattrset(mid2win, A_UNDERLINE);
if (ppstime_enabled)
(void)wprintw(mid2win, "%02d", leapseconds);
else
(void)wprintw(mid2win, "??");
(void)wattrset(mid2win, A_NORMAL);
/* line 4 */
/* HDOP */
(void)wmove(mid2win, 4, 59);
(void)wprintw(mid2win, "%4.1f", (double)getub(buf, 20) / 5);
/* Mode 1 */
(void)wmove(mid2win, 4, 69);
(void)wprintw(mid2win, "%02x", getub(buf, 19));
/* Mode 2 */
(void)wmove(mid2win, 4, 77);
(void)wprintw(mid2win, "%02x", getub(buf, 21));
/* SVs in fix */
(void)wmove(mid2win, 4, 6);
(void)wprintw(mid2win, "%2d = ",
(int)getub(buf, 28));
/* SV list */
(void)wmove(mid2win, 4, 10);
/* coverity_submit[tainted_data] */
for (i = 0; i < (int)getub(buf, 28); i++)
(void)wprintw(mid2win, " %2d", (int)getub(buf, 29 + i));
monitor_log("MND 0x02=");
break;
case 0x04: /* Measured Tracking Data */
ch = (int)getub(buf, 7);
for (i = 0; i < ch; i++) {
int az, el, state, off;
double cn;
off = 8 + 15 * i;
(void)wmove(mid4win, i + 2, 3);
sv = (int)getub(buf, off);
az = (int)getub(buf, off + 1) * 3 / 2;
el = (int)getub(buf, off + 2) / 2;
state = (int)getbeu16(buf, off + 3);
cn = 0;
for (j = 0; j < 10; j++)
cn += (int)getub(buf, off + 5 + j);
cn /= 10;
(void)wprintw(mid4win, " %3d %3d %2d %04x %4.1f %c",
sv, az, el, state, cn, state == 0xbf ? 'T' : ' ');
}
monitor_log("MTD 0x04=");
break;
#ifdef __UNUSED__
case 0x05: /* raw track data */
for (off = 1; off < len; off += 51) {
ch = getbeu32(buf, off);
(void)wmove(mid4win, ch + 2, 19);
cn = 0;
for (j = 0; j < 10; j++)
cn += getub(buf, off + 34 + j);
printw("%5.1f", (double)cn / 10);
printw("%9d%3d%5d", getbeu32(buf, off + 8),
(int)getbeu16(buf, off + 12), (int)getbeu16(buf, off + 14));
printw("%8.5f %10.5f", (double)getbeu32(buf, off + 16) / 65536,
(double)getbeu32(buf, off + 20) / 1024);
}
monitor_log("RTD 0x05=");
break;
#endif /* __UNUSED */
case 0x06: /* firmware version */
display(mid6win, 1, 1, "%s", buf + 1);
monitor_log("FV 0x06=");
break;
case 0x07: /* Response - Clock Status Data */
display(mid7win, 1, 5, "%2d", getub(buf, 7)); /* SVs */
display(mid7win, 1, 16, "%lu", getbeu32(buf, 8)); /* Clock ppstimes */
display(mid7win, 1, 29, "%lu", getbeu32(buf, 12)); /* Clock Bias */
display(mid7win, 2, 11, "%lu", getbeu32(buf, 16)); /* Estimated Time */
monitor_log("CSD 0x07=");
break;
case 0x08: /* 50 BPS data */
ch = (int)getub(buf, 1);
sv = (int)getub(buf, 2);
display(mid4win, ch + 2, 27, "%2d", sv);
subframe_enabled = true;
monitor_log("50B 0x08=");
break;
case 0x09: /* Throughput */
display(mid9win, 1, 6, "%.3f", (double)getbeu16(buf, 1) / 186); /*SegStatMax */
display(mid9win, 1, 18, "%.3f", (double)getbeu16(buf, 3) / 186); /*SegStatLat */
display(mid9win, 1, 31, "%.3f", (double)getbeu16(buf, 5) / 186); /*SegStatTime */
display(mid9win, 1, 42, "%3d", (int)getbeu16(buf, 7)); /* Last Millisecond */
monitor_log("THR 0x09=");
break;
case 0x0b: /* Command Acknowledgement */
monitor_log("ACK 0x0b=");
break;
case 0x0c: /* Command NAcknowledgement */
monitor_log("NAK 0x0c=");
break;
case 0x0d: /* Visible List */
display(mid13win, 1, 1, "%02d = ",
getub(buf, 1));
(void)wmove(mid13win, 1, 5);
for (i = 0; i < (int)getub(buf, 1); i++)
(void)wprintw(mid13win, " %d", getub(buf, 2 + 5 * i));
monitor_log("VL 0x0d=");
break;
case 0x13:
#define YESNO(n) (((int)getub(buf, n) != 0)?'Y':'N')
display(mid19win, 1, 20, "%d", getub(buf, 5)); /* Alt. hold mode */
display(mid19win, 2, 20, "%d", getub(buf, 6)); /* Alt. hold source */
display(mid19win, 3, 20, "%dm", (int)getbeu16(buf, 7)); /* Alt. source input */
if (getub(buf, 9) != (uint8_t) '\0')
display(mid19win, 4, 20, "%dsec", getub(buf, 10)); /* Degraded timeout */
else
display(mid19win, 4, 20, "N/A ");
display(mid19win, 5, 20, "%dsec", getub(buf, 11)); /* DR timeout */
display(mid19win, 6, 20, "%c", YESNO(12)); /* Track smooth mode */
display(mid19win, 7, 20, "%c", YESNO(13)); /* Static Nav. */
display(mid19win, 8, 20, "0x%x", getub(buf, 14)); /* 3SV Least Squares */
display(mid19win, 9, 20, "0x%x", getub(buf, 19)); /* DOP Mask mode */
display(mid19win, 10, 20, "0x%x", (int)getbeu16(buf, 20)); /* Nav. Elev. mask */
display(mid19win, 11, 20, "0x%x", getub(buf, 22)); /* Nav. Power mask */
display(mid19win, 12, 20, "0x%x", getub(buf, 27)); /* DGPS Source */
display(mid19win, 13, 20, "0x%x", getub(buf, 28)); /* DGPS Mode */
display(mid19win, 14, 20, "%dsec", getub(buf, 29)); /* DGPS Timeout */
display(mid19win, 1, 42, "%c", YESNO(34)); /* LP Push-to-Fix */
display(mid19win, 2, 42, "%dms", getbeu32(buf, 35)); /* LP On Time */
display(mid19win, 3, 42, "%d", getbeu32(buf, 39)); /* LP Interval */
display(mid19win, 4, 42, "%c", YESNO(43)); /* User Tasks enabled */
display(mid19win, 5, 42, "%d", getbeu32(buf, 44)); /* User Task Interval */
display(mid19win, 6, 42, "%c", YESNO(48)); /* LP Power Cycling Enabled */
display(mid19win, 7, 42, "%d", getbeu32(buf, 49)); /* LP Max Acq Search Time */
display(mid19win, 8, 42, "%d", getbeu32(buf, 53)); /* LP Max Off Time */
display(mid19win, 9, 42, "%c", YESNO(57)); /* APM Enabled */
display(mid19win, 10, 42, "%d", (int)getbeu16(buf, 58)); /* # of fixes */
display(mid19win, 11, 42, "%d", (int)getbeu16(buf, 60)); /* Time Between fixes */
display(mid19win, 12, 42, "%d", getub(buf, 62)); /* H/V Error Max */
display(mid19win, 13, 42, "%d", getub(buf, 63)); /* Response Time Max */
display(mid19win, 14, 42, "%d", getub(buf, 64)); /* Time/Accu & Duty Cycle Priority */
#undef YESNO
monitor_log("NP 0x13=");
break;
case 0x1b:
/******************************************************************
Not actually documented in any published materials before the
1.6 version of the SiRF binary protocol manual.
Here is what Chris Kuethe got from the SiRF folks,
(plus some corrections from the GpsPaSsion forums):
Start of message
----------------
Message ID 1 byte 27
Correction Source 1 byte 0=None, 1=SBAS, 2=Serial, 3=Beacon,
4=Software
total: 2 bytes
Middle part of message varies if using beacon or other:
-------------------------------------------------------
If Beacon:
Receiver Freq Hz 4 bytes
Bit rate BPS 1 byte
Status bit map 1 byte 01=Signal Valid,
02=Auto frequency detect
04=Auto bit rate detect
Signal Magnitude 4 bytes Note: in internal units
Signal Strength dB 2 bytes derived from Signal Magnitude
SNR dB 2 bytes
total: 14 bytes
If Not Beacon:
Correction Age[12] 1 byte x 12 Age in seconds in same order as follows
Reserved 2 bytes
total: 14 bytes
End of Message
--------------
Repeated 12 times (pad with 0 if less than 12 SV corrections):
SVID 1 byte
Correction (cm) 2 bytes (signed short)
total 3 x 12 = 36 bytes
******************************************************************/
dgps = getub(buf, 1);
display(mid27win, 1, 1, "%8s = ",
(CHECK_RANGE(dgpsvec, dgps) ? dgpsvec[dgps] : "???"));
(void)wmove(mid27win, 1, 11);
for (ch = 0; ch < SIRF_CHANNELS; ch++)
if (getub(buf, 16 + 3 * ch) != '\0')
(void)wprintw(mid27win, " %d", getub(buf, 16 + 3 * ch));
monitor_log("DST 0x1b=");
break;
case 0x1c: /* NL Measurement Data */
case 0x1d: /* NL DGPS Data */
case 0x1e: /* NL SV State Data */
case 0x1f: /* NL Initialized Data */
subframe_enabled = true;
monitor_log("NL 0x%02x=", buf[0]);
break;
case 0x29: /* Geodetic Navigation Data */
monitor_log("GND 0x29=");
break;
case 0x32: /* SBAS Parameters */
monitor_log("SBP 0x32=");
break;
case 0x34: /* PPS Time */
ppstime_enabled = true;
leapseconds = (int)getbeu16(buf, 8);
monitor_log("PPS 0x34=");
break;
case 0xff: /* Development Data */
while (len > 0 && buf[len - 1] == '\n')
len--;
while (len > 0 && buf[len - 1] == ' ')
len--;
buf[len] = '\0';
j = 1;
for (i = 0; verbpat[i] != NULL; i++)
if (str_starts_with((char *)(buf + 1), verbpat[i])) {
j = 0;
break;
}
if (j != 0)
monitor_log("%s\n", buf + 1);
monitor_log("DD 0xff=");
break;
default:
monitor_log("UNK 0x%02x=", buf[0]);
break;
}
#ifdef CONTROLSEND_ENABLE
/* elicit navigation parameters */
if (dispmode && (time(NULL) % 10 == 0)) {
(void)monitor_control_send((unsigned char *)"\x98\x00", 2);
}
#endif /* CONTROLSEND_ENABLE */
/* clear the 50bps data field every 6 seconds */
if (subframe_enabled && (time(NULL) % 6 == 0)) {
for (ch = 0; ch < SIRF_CHANNELS; ch++)
display(mid4win, ch + 2, 27, " ");
}
if (dispmode) {
(void)touchwin(mid19win);
(void)wnoutrefresh(mid19win);
}
#ifdef PPS_ENABLE
pps_update(mid7win, 2, 32);
#endif /* PPS_ENABLE */
}
/*@ -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);
}
/*
* decode MID 0xDE, SV and channel status
*
* max payload: 3 + (Num_sats * 10) = 483 bytes
*/
static gps_mask_t sky_msg_DE(struct gps_device_t *session,
unsigned char *buf, size_t len UNUSED)
{
int st, nsv;
unsigned int i;
unsigned int iod; /* Issue of data 0 - 255 */
unsigned int nsvs; /* number of SVs in this packet */
iod = (unsigned int)getub(buf, 1);
nsvs = (unsigned int)getub(buf, 2);
/* too many sats? */
if ( SKY_CHANNELS < nsvs )
return 0;
gpsd_zero_satellites(&session->gpsdata);
for (i = st = nsv = 0; i < nsvs; i++) {
int off = 3 + (10 * i); /* offset into buffer of start of this sat */
bool good; /* do we have a good record ? */
unsigned short sv_stat;
unsigned short chan_stat;
unsigned short ura;
session->gpsdata.skyview[st].PRN = (short)getub(buf, off + 1);
sv_stat = (unsigned short)getub(buf, off + 2);
ura = (unsigned short)getub(buf, off + 3);
session->gpsdata.skyview[st].ss = (float)getub(buf, off + 4);
session->gpsdata.skyview[st].elevation =
(short)getbes16(buf, off + 5);
session->gpsdata.skyview[st].azimuth =
(short)getbes16(buf, off + 7);
chan_stat = (unsigned short)getub(buf, off + 9);
session->gpsdata.skyview[st].used = (bool)(chan_stat & 0x30);
good = session->gpsdata.skyview[st].PRN != 0 &&
session->gpsdata.skyview[st].azimuth != 0 &&
session->gpsdata.skyview[st].elevation != 0;
gpsd_log(&session->context->errout, LOG_DATA,
"Skytraq: PRN=%2d El=%d Az=%d ss=%3.2f stat=%02x,%02x ura=%d %c\n",
session->gpsdata.skyview[st].PRN,
session->gpsdata.skyview[st].elevation,
session->gpsdata.skyview[st].azimuth,
session->gpsdata.skyview[st].ss,
chan_stat, sv_stat, ura,
good ? '*' : ' ');
if ( good ) {
st += 1;
if (session->gpsdata.skyview[st].used)
nsv++;
}
}
session->gpsdata.satellites_visible = st;
session->gpsdata.satellites_used = nsv;
gpsd_log(&session->context->errout, LOG_DATA,
"Skytraq: MID 0xDE: nsvs=%u visible=%u iod=%u\n", nsvs,
session->gpsdata.satellites_visible, iod);
return SATELLITE_SET | USED_IS;
}
