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;
}
/*@ +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 used, visible, satcnt;
double version;
gps_mask_t mask = 0;
if (len == 0)
return 0;
/* time to unstuff it and discard the header and footer */
cp = buf + 2;
tp = buf2;
if (*cp == 0x10) cp++;
datalen = (size_t)*cp++;
gpsd_report(LOG_RAW, "raw EverMore packet type 0x%02x, length %d: %s\n", *cp, len, gpsd_hexdump(buf, len));
datalen -= 2;
for (i = 0; i < (size_t)datalen; i++) {
*tp = *cp++;
if (*tp == 0x10) cp++;
tp++;
}
/*@ -usedef -compdef @*/
gpsd_report(LOG_RAW, "EverMore packet type 0x%02x, length %d: %s\n", buf2[0], datalen, gpsd_hexdump(buf2, datalen));
/*@ +usedef +compdef @*/
(void)snprintf(session->gpsdata.tag, sizeof(session->gpsdata.tag),
"EID%d",(int)buf2[0]);
switch (getub(buf2, 1))
{
case 0x02: /* Navigation Data Output */
session->gpsdata.fix.time = session->gpsdata.sentence_time
= gpstime_to_unix((int)getuw(buf2, 2), getul(buf2, 4)*0.01) - session->context->leap_seconds;
ecef_to_wgs84fix(&session->gpsdata,
getsl(buf2, 8)*1.0, getsl(buf2, 12)*1.0, getsl(buf2, 16)*1.0,
getsw(buf2, 20)/10.0, getsw(buf2, 22)/10.0, getsw(buf2, 24)/10.0);
used = getub(buf2, 26) & 0x0f;
visible = (getub(buf2, 26) & 0xf0) >> 4;
version = getuw(buf2, 27)/100.0;
/* that's all the information in this packet */
if (used < 3)
session->gpsdata.fix.mode = MODE_NO_FIX;
else if (used == 3)
session->gpsdata.fix.mode = MODE_2D;
else {
session->gpsdata.fix.mode = MODE_3D;
mask |= ALTITUDE_SET | CLIMB_SET;
}
gpsd_report(LOG_PROG, "NDO 0x02: version %3.2f, mode=%d, status=%d, visible=%d, used=%d\n",
version,
session->gpsdata.fix.mode,
session->gpsdata.status,
visible,
used);
mask |= TIME_SET | LATLON_SET | TRACK_SET | SPEED_SET | MODE_SET | CYCLE_START_SET;
if (session->subtype[0] == '\0') {
(void)snprintf(session->subtype, sizeof(session->subtype),
"%3.2f", version);
mask |= DEVICEID_SET;
}
return mask;
case 0x04: /* DOP Data Output */
session->gpsdata.fix.time = session->gpsdata.sentence_time
= gpstime_to_unix((int)getuw(buf2, 2), getul(buf2, 4)*0.01) - session->context->leap_seconds;
session->gpsdata.gdop = (double)getub(buf2, 8)*0.1;
session->gpsdata.pdop = (double)getub(buf2, 9)*0.1;
session->gpsdata.hdop = (double)getub(buf2, 10)*0.1;
session->gpsdata.vdop = (double)getub(buf2, 11)*0.1;
session->gpsdata.tdop = (double)getub(buf2, 12)*0.1;
switch (getub(buf2, 13)) {
case 0: /* no position fix */
case 1: /* manual calls this "1D navigation" */
session->gpsdata.status = STATUS_NO_FIX;
session->gpsdata.fix.mode = MODE_NO_FIX;
break;
case 2: /* 2D navigation */
session->gpsdata.status = STATUS_FIX;
session->gpsdata.fix.mode = MODE_2D;
break;
case 3: /* 3D navigation */
session->gpsdata.status = STATUS_FIX;
session->gpsdata.fix.mode = MODE_3D;
break;
case 4: /* 3D navigation with DGPS */
session->gpsdata.status = STATUS_DGPS_FIX;
session->gpsdata.fix.mode = MODE_3D;
break;
}
/* that's all the information in this packet */
gpsd_report(LOG_PROG, "DDO 0x04: mode=%d, status=%d\n",
session->gpsdata.fix.mode,
session->gpsdata.status);
return TIME_SET | DOP_SET | MODE_SET | STATUS_SET;
case 0x06: /* Channel Status Output */
session->gpsdata.fix.time = session->gpsdata.sentence_time
= gpstime_to_unix((int)getuw(buf2, 2), getul(buf2, 4)*0.01) - session->context->leap_seconds;
session->gpsdata.satellites = (int)getub(buf2, 8);
session->gpsdata.satellites_used = 0;
memset(session->gpsdata.used, 0, sizeof(session->gpsdata.used));
if (session->gpsdata.satellites > 12) {
gpsd_report(LOG_WARN, "Warning: EverMore packet has information about %d satellites!\n",
session->gpsdata.satellites);
}
if (session->gpsdata.satellites > EVERMORE_CHANNELS) session->gpsdata.satellites = EVERMORE_CHANNELS;
satcnt = 0;
for (i = 0; i < (size_t)session->gpsdata.satellites; i++) {
int prn;
// channel = getub(buf2, 7*i+7+2)
prn = (int)getub(buf2, 7*i+7+3);
if (prn == 0) continue; /* satellite record is not valid */
session->gpsdata.PRN[satcnt] = prn;
session->gpsdata.azimuth[satcnt] = (int)getuw(buf2, 7*i+7+4);
session->gpsdata.elevation[satcnt] = (int)getub(buf2, 7*i+7+6);
session->gpsdata.ss[satcnt] = (int)getub(buf2, 7*i+7+7);
/*
* 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+8) & 0x40) {
session->gpsdata.used[session->gpsdata.satellites_used++]=prn;
}
satcnt++;
}
session->gpsdata.satellites = (int)satcnt;
/* that's all the information in this packet */
gpsd_report(LOG_PROG, "CSO 0x04: %d satellites used\n",
session->gpsdata.satellites_used);
return TIME_SET | SATELLITE_SET | USED_SET;
case 0x08: /* Measurement Data Output */
/* clock offset is a manufacturer diagnostic */
/* (int)getuw(buf2, 8); clock offset, 29000..29850 ?? */
session->gpsdata.fix.time = session->gpsdata.sentence_time
= gpstime_to_unix((int)getuw(buf2, 2), getul(buf2, 4)*0.01) - session->context->leap_seconds;
visible = getub(buf2, 10);
/* FIXME: read full statellite status for each channel */
/* we can get pseudo range (m), delta-range (m/s), doppler (Hz) and status for each channel */
/* gpsd_report(LOG_PROG, "MDO 0x04: visible=%d\n", visible); */
gpsd_report(LOG_PROG, "MDO 0x04:\n");
return TIME_SET;
case 0x20: /* LogConfig Info, could be used as a probe for EverMore GPS */
gpsd_report(LOG_IO, "LogConfig EverMore packet, length %d: %s\n", datalen, gpsd_hexdump(buf2, datalen));
return ONLINE_SET;
case 0x22: /* LogData */
gpsd_report(LOG_IO, "LogData EverMore packet, length %d: %s\n", datalen, gpsd_hexdump(buf2, datalen));
return ONLINE_SET;
case 0x38: /* ACK */
gpsd_report(LOG_PROG, "EverMore command %02X ACK\n", getub(buf2, 2));
return ONLINE_SET;
default:
gpsd_report(LOG_WARN, "unknown EverMore packet id 0x%02x, length %d: %s\n", buf2[0], datalen, gpsd_hexdump(buf2, datalen));
return 0;
}
}
/*
* decode MID 0xDF, Nav status (PVT)
*
* 81 bytes
*/
static gps_mask_t sky_msg_DF(struct gps_device_t *session,
unsigned char *buf, size_t len)
{
unsigned int iod; /* Issue of data 0 - 255 */
unsigned short navstat;
unsigned int wn; /* week number 0 - 65535 */
double f_tow; /* receiver tow Sec */
double clock_bias;
double clock_drift;
gps_mask_t mask = 0;
if ( 81 != len)
return 0;
iod = (unsigned int)getub(buf, 1);
/* fix status is byte 2 */
navstat = (unsigned short)getub(buf, 2);
session->gpsdata.status = STATUS_NO_FIX;
session->newdata.mode = MODE_NO_FIX;
switch ( navstat ) {
case 1:
/* fix prediction, ignore */
break;
case 2:
session->gpsdata.status = STATUS_FIX;
session->newdata.mode = MODE_2D;
break;
case 3:
session->gpsdata.status = STATUS_FIX;
session->newdata.mode = MODE_3D;
mask |= ALTITUDE_SET | CLIMB_SET;
break;
case 4:
session->gpsdata.status = STATUS_DGPS_FIX;
session->newdata.mode = MODE_3D;
mask |= ALTITUDE_SET | CLIMB_SET;
break;
default:
break;
}
wn = getbeu16(buf, 3);
f_tow = getbed64((const char *)buf, 5);
/* position/velocity is bytes 13-48, meters and m/s */
ecef_to_wgs84fix(&session->newdata, &session->gpsdata.separation,
(double)getbed64((const char *)buf, 13),
(double)getbed64((const char *)buf, 21),
(double)getbed64((const char *)buf, 29),
(double)getbef32((const char *)buf, 37),
(double)getbef32((const char *)buf, 41),
(double)getbef32((const char *)buf, 46));
clock_bias = getbed64((const char *)buf, 49);
clock_drift = getbes32(buf, 57);
session->gpsdata.dop.gdop = getbef32((const char *)buf, 61);
session->gpsdata.dop.pdop = getbef32((const char *)buf, 65);
session->gpsdata.dop.hdop = getbef32((const char *)buf, 69);
session->gpsdata.dop.vdop = getbef32((const char *)buf, 73);
session->gpsdata.dop.tdop = getbef32((const char *)buf, 77);
session->newdata.time = gpsd_gpstime_resolve(session, wn, f_tow );
gpsd_log(&session->context->errout, LOG_DATA,
"Skytraq: MID 0xDF: iod=%u, stat=%u, wn=%u, tow=%f, t=%.6f "
"cb: %f, cd: %f "
"gdop: %.2f, pdop: %.2f, hdop: %.2f, vdop: %.2f, tdop: %.2f\n",
iod, navstat, wn, f_tow,
session->newdata.time,
clock_bias, clock_drift,
session->gpsdata.dop.gdop,
session->gpsdata.dop.pdop,
session->gpsdata.dop.hdop,
session->gpsdata.dop.vdop,
session->gpsdata.dop.tdop);
mask |= TIME_SET | LATLON_SET | TRACK_SET |
SPEED_SET | STATUS_SET | MODE_SET | DOP_SET | CLEAR_IS | REPORT_IS;
return mask;
}
/*@ +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;
if (len == 0)
return 0;
/* time to unstuff it and discard the header and footer */
cp = buf + 2;
tp = buf2;
if (*cp == 0x10)
cp++;
datalen = (size_t) * cp++;
gpsd_report(LOG_RAW, "raw EverMore packet type 0x%02x, length %zd: %s\n",
*cp, len, gpsd_hexdump_wrapper(buf, len, LOG_RAW));
datalen -= 2;
/*@ -usedef @*/
for (i = 0; i < (size_t) datalen; i++) {
*tp = *cp++;
if (*tp == 0x10)
cp++;
tp++;
}
type = (unsigned char)getub(buf2, 1);
/*@ +usedef @*/
/*@ -usedef -compdef @*/
gpsd_report(LOG_RAW, "EverMore packet type 0x%02x, length %zd: %s\n",
type, datalen, gpsd_hexdump_wrapper(buf2, datalen, LOG_RAW));
/*@ +usedef +compdef @*/
(void)snprintf(session->gpsdata.tag, sizeof(session->gpsdata.tag),
"EID%u", type);
session->cycle_end_reliable = true;
switch (type) {
case 0x02: /* Navigation Data Output */
session->context->gps_week = (unsigned short)getleuw(buf2, 2);
session->context->gps_tow = (double)getleul(buf2, 4) * 0.01;
/*@ ignore @*//*@ splint is confused @ */
session->newdata.time =
gpstime_to_unix(session->context->gps_week,
session->context->gps_tow) -
session->context->leap_seconds;
/*@ end @*/
ecef_to_wgs84fix(&session->newdata, &session->gpsdata.separation,
getlesl(buf2, 8) * 1.0, getlesl(buf2, 12) * 1.0,
getlesl(buf2, 16) * 1.0, getlesw(buf2, 20) / 10.0,
getlesw(buf2, 22) / 10.0, getlesw(buf2, 24) / 10.0);
used = (unsigned char)getub(buf2, 26) & 0x0f;
//visible = (getub(buf2, 26) & 0xf0) >> 4;
version = (uint) getleuw(buf2, 27) / 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_IS | CLIMB_IS;
}
mask |= TIME_IS | LATLON_IS | TRACK_IS | SPEED_IS | MODE_IS;
if (session->subtype[0] == '\0') {
(void)snprintf(session->subtype, sizeof(session->subtype),
"%3.2f", version);
mask |= DEVICEID_IS;
}
gpsd_report(LOG_DATA,
"NDO 0x02: time=%.2f, lat=%.2f lon=%.2f alt=%.2f speed=%.2f track=%.2f climb=%.2f mode=%d subtype='%s' mask=%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, gpsd_maskdump(mask));
return mask | CLEAR_IS | REPORT_IS;
case 0x04: /* DOP Data Output */
session->context->gps_week = (unsigned short)getleuw(buf2, 2);
session->context->gps_tow = (double)getleul(buf2, 4) * 0.01;
/*@ ignore @*//*@ splint is confused @ */
session->newdata.time =
gpstime_to_unix(session->context->gps_week,
session->context->gps_tow) -
session->context->leap_seconds;
/*@ end @*/
/*
* 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 visiniolity matrix, trusting
* the firmware algorithms over ours.
*/
session->gpsdata.dop.gdop = (double)getub(buf2, 8) * 0.1;
session->gpsdata.dop.pdop = (double)getub(buf2, 9) * 0.1;
session->gpsdata.dop.hdop = (double)getub(buf2, 10) * 0.1;
session->gpsdata.dop.vdop = (double)getub(buf2, 11) * 0.1;
session->gpsdata.dop.tdop = (double)getub(buf2, 12) * 0.1;
switch (getub(buf2, 13)) {
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_IS | DOP_IS | MODE_IS | STATUS_IS;
gpsd_report(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->context->gps_week = (unsigned short)getleuw(buf2, 2);
session->context->gps_tow = (double)getleul(buf2, 4) * 0.01;
/*@ ignore @*//*@ splint is confused @ */
session->gpsdata.skyview_time =
gpstime_to_unix(session->context->gps_week,
session->context->gps_tow) -
session->context->leap_seconds;
/*@ end @*/
session->gpsdata.satellites_visible = (int)getub(buf2, 8);
gpsd_zero_satellites(&session->gpsdata);
memset(session->gpsdata.used, 0, sizeof(session->gpsdata.used));
if (session->gpsdata.satellites_visible > 12) {
gpsd_report(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+2)
prn = (int)getub(buf2, 7 * i + 7 + 3);
if (prn == 0)
continue; /* satellite record is not valid */
session->gpsdata.PRN[satcnt] = prn;
session->gpsdata.azimuth[satcnt] =
(int)getleuw(buf2, 7 * i + 7 + 4);
session->gpsdata.elevation[satcnt] =
(int)getub(buf2, 7 * i + 7 + 6);
session->gpsdata.ss[satcnt] = (float)getub(buf2, 7 * i + 7 + 7);
/*
* 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 + 8) & 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_IS | USED_IS;
gpsd_report(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)getleuw(buf2, 8); clock offset, 29000..29850 ?? */
session->context->gps_week = (unsigned short)getleuw(buf2, 2);
session->context->gps_tow = (double)getleul(buf2, 4) * 0.01;
/*@ ignore @*//*@ splint is confused @ */
session->newdata.time =
gpstime_to_unix(session->context->gps_week,
session->context->gps_tow) -
session->context->leap_seconds;
/*@ end @*/
visible = (unsigned char)getub(buf2, 10);
/*
* 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((char *)buf, 10 + (sat*14) + s, l)
#define UBITS(sat, s, l) ubits((char *)buf, 10 + (sat*14) + s, l)
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_report(LOG_DATA, "MDO 0x04: time=%.2f mask={TIME|RAW}\n",
session->newdata.time);
return TIME_IS | RAW_IS;
case 0x20: /* LogConfig Info, could be used as a probe for EverMore GPS */
gpsd_report(LOG_IO, "LogConfig EverMore packet, length %zd: %s\n",
datalen, gpsd_hexdump_wrapper(buf2, datalen, LOG_IO));
return ONLINE_IS;
case 0x22: /* LogData */
gpsd_report(LOG_IO, "LogData EverMore packet, length %zd: %s\n",
datalen, gpsd_hexdump_wrapper(buf2, datalen, LOG_IO));
return ONLINE_IS;
case 0x38: /* ACK */
gpsd_report(LOG_PROG, "EverMore command %02X ACK\n", getub(buf2, 2));
return ONLINE_IS;
default:
gpsd_report(LOG_WARN,
"unknown EverMore packet EID 0x%02x, length %zd: %s\n",
buf2[0], datalen, gpsd_hexdump_wrapper(buf2, datalen,
LOG_IO));
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);
}
