void setRegionWidth (int width) {
if (isFlipX()) {
setU(u2 + width / (float) texture.getWidth());
} else {
setU2(u + width / (float) texture.getWidth());
}
}
static __attribute__((constructor)) void myInit()
{
setU2();
//fprintf(stderr, "init u2\n");
}
/* generate ublox binary message -----------------------------------------------
* generate ublox binary message from message string
* args : char *msg IO message string
* "CFG-PRT portid res0 res1 mode baudrate inmask outmask flags"
* "CFG-USB vendid prodid res1 res2 power flags vstr pstr serino"
* "CFG-MSG msgid rate0 rate1 rate2 rate3"
* "CFG-NMEA filter version numsv flags"
* "CFG-RATE meas nav time"
* "CFG-CFG clear_mask save_mask load_mask"
* "CFG-TP interval length status time_ref res adelay rdelay udelay"
* "CFG-NAV2 ..."
* "CFG-DAT maja flat dx dy dz rotx roty rotz scale"
* "CFG-INF protocolid res0 res1 mask0 mask1 mask2 mask3"
* "CFG-RST navbbr reset res"
* "CFG-RXM gpsmode lpmode"
* "CFG-ANT flags pins"
* "CFG-FXN flags treacq tacq treacqoff tacqoff ton toff res basetow"
* "CFG-SBAS mode usage maxsbas res scanmode"
* "CFG-LIC key0 key1 key2 key3 key4 key5"
* "CFG-TM intid rate flags"
* "CFG-TM2 ch res0 res1 rate flags"
* "CFG-TMODE tmode posx posy posz posvar svinmindur svinvarlimit"
* "CFG-EKF ..."
* unsigned char *buff O binary message
* return : length of binary message (0: error)
* note : see reference [1] for details.
*-----------------------------------------------------------------------------*/
extern int gen_ubx(const char *msg, unsigned char *buff)
{
const char *cmd[]={
"PRT","USB","MSG","NMEA","RATE","CFG","TP","NAV2","DAT","INF",
"RST","RXM","ANT","FXN","SBAS","LIC","TM","TM2","TMODE","EKF",""
};
const unsigned char id[]={
0x00,0x1B,0x01,0x17,0x08,0x09,0x07,0x1A,0x06,0x02,
0x04,0x11,0x13,0x0E,0x16,0x80,0x10,0x19,0x1D,0x12
};
const int prm[][32]={
{FU1,FU1,FU2,FU4,FU4,FU2,FU2,FU2,FU2}, /* PRT */
{FU2,FU2,FU2,FU2,FU2,FU2,FS32,FS32,FS32}, /* USB */
{FU1,FU1,FU1,FU1,FU1,FU1}, /* MSG */
{FU1,FU1,FU1,FU1}, /* NMEA */
{FU2,FU2,FU2}, /* RATE */
{FU4,FU4,FU4}, /* CFG */
{FU4,FU4,FI1,FU1,FU2,FI2,FI2,FI4}, /* TP */
{FU1,FU1,FU2,FU1,FU1,FU1,FU1,FI4,FU1,FU1,FU1,FU1,FU1,FU1,FU2,FU2,FU2,FU2,
FU2,FU1,FU1,FU2,FU4,FU4}, /* NAV2 */
{FR8,FR8,FR4,FR4,FR4,FR4,FR4,FR4,FR4}, /* DAT */
{FU1,FU1,FU2,FU1,FU1,FU1,FU1}, /* INF */
{FU2,FU1,FU1}, /* RST */
{FU1,FU1}, /* RXM */
{FU2,FU2}, /* ANT */
{FU4,FU4,FU4,FU4,FU4,FU4,FU4,FU4}, /* FXN */
{FU1,FU1,FU1,FU1,FU4}, /* SBAS */
{FU2,FU2,FU2,FU2,FU2,FU2}, /* LIC */
{FU4,FU4,FU4}, /* TM */
{FU1,FU1,FU2,FU4,FU4}, /* TM2 */
{FU4,FI4,FI4,FI4,FU4,FU4,FU4}, /* TMODE */
{FU1,FU1,FU1,FU1,FU4,FU2,FU2,FU1,FU1,FU2} /* EKF */
};
unsigned char *q=buff;
char mbuff[1024],*args[32],*p;
int i,j,n,narg=0;
trace(4,"gen_ubxf: msg=%s\n",msg);
strcpy(mbuff,msg);
for (p=strtok(mbuff," ");p&&narg<32;p=strtok(NULL," ")) {
args[narg++]=p;
}
if (narg<1||strncmp(args[0],"CFG-",4)) return 0;
for (i=0;*cmd[i];i++) {
if (!strcmp(args[0]+4,cmd[i])) break;
}
if (!*cmd[i]) return 0;
*q++=UBXSYNC1;
*q++=UBXSYNC2;
*q++=UBXCFG;
*q++=id[i];
q+=2;
for (j=1;prm[i][j-1]>0;j++) {
switch (prm[i][j-1]) {
case FU1 : U1(q)=j<narg?(unsigned char )atoi(args[j]):0; q+=1; break;
case FU2 : setU2(q, j<narg?(unsigned short)atoi(args[j]):0); q+=2; break;
case FU4 : setU4(q, j<narg?(unsigned int )atoi(args[j]):0); q+=4; break;
case FI1 : I1(q)=j<narg?(char )atoi(args[j]):0; q+=1; break;
case FI2 : setI2(q, j<narg?(short )atoi(args[j]):0); q+=2; break;
case FI4 : setI4(q, j<narg?(int )atoi(args[j]):0); q+=4; break;
case FR4 : setR4(q, j<narg?(float )atof(args[j]):0); q+=4; break;
case FR8 : setR8(q,j<narg?(double )atof(args[j]):0); q+=8; break;
case FS32: sprintf((char *)q,"%-32.32s",j<narg?args[j]:""); q+=32; break;
}
}
n=(int)(q-buff)+2;
setU2(buff+4, (unsigned short)(n-8));
setcs(buff,n);
trace(5,"gen_ubxf: buff=\n"); traceb(5,buff,n);
return n;
}
