/******************************************************************************
FUNCTION display()
RETURNS None.
PARAMETERS None.
PURPOSE
This function displays the current status of the receiver on the
computer screen. It is called when there is nothing else to do
WRITTEN BY
Clifford Kelley
******************************************************************************/
int
display (void)
{
int ch;
/* utctime -= dtls; */
#ifdef INTERACTIVE
goto_screen_location(1, 1);
printf (" OpenSource GPS Software Version 2.30\n");
printf ("%s", ctime (&utctime));
printf ("TOW %6ld\n", clock_tow);
printf ("meas time %f error %f delta %f\n", m_time[1], m_error,
delta_m_time);
cur_lat.deg = rec_pos_llh.lat * r_to_d;
cur_lat.min = (rec_pos_llh.lat * r_to_d - cur_lat.deg) * 60;
cur_lat.sec =
(rec_pos_llh.lat * r_to_d - cur_lat.deg - cur_lat.min / 60.) * 3600.;
cur_long.deg = rec_pos_llh.lon * r_to_d;
cur_long.min = (rec_pos_llh.lon * r_to_d - cur_long.deg) * 60;
cur_long.sec =
(rec_pos_llh.lon * r_to_d - cur_long.deg - cur_long.min / 60.) * 3600.;
printf (" latitude longitude HAE clock error (ppm)\n");
printf (" %4d:%2d:%5.2f %4d:%2d:%5.2f %10.2f %f\n",
cur_lat.deg, abs (cur_lat.min), fabs (cur_lat.sec), cur_long.deg,
abs (cur_long.min), fabs (cur_long.sec), rec_pos_llh.hae,
clock_offset);
printf (" Speed Heading TIC_dt\n");
printf (" %f %f %f\n", speed, heading * r_to_d, TIC_dt);
printf (" \n");
printf
("tracking %2d status %1d almanac valid %1d gps week %4d alm_page %2d\n",
n_track, status, almanac_valid, gps_week % 1024, alm_page);
if (display_page == 0)
{
printf
(" ch prn state n_freq az el doppler t_count n_frame sfid ura page missed CNo\n");
for (ch = 0; ch < N_channels; ch++)
{
printf
(" %2d %2d %2d %3d %4.0f %3.0f %6.0f %4d %4d %2d %3d %3d%5d %2d\n",
ch, ichan[ch].prn, ichan[ch].state, ichan[ch].n_freq,
xyz[ichan[ch].prn].azimuth * 57.3,
xyz[ichan[ch].prn].elevation * 57.3, xyz[ichan[ch].prn].doppler,
ichan[ch].frame_bit % 1500, ichan[ch].n_frame, ichan[ch].sfid,
gps_eph[ichan[ch].prn].ura, schan[ch].page5, ichan[ch].missed,
ichan[ch].CNo);
}
printf (" GDOP=%6.3f HDOP=%6.3f VDOP=%6.3f TDOP=%6.3f\n", gdop, hdop,
vdop, tdop);
}
else if (display_page == 1)
{
printf (" ch prn state TLM TOW Health Valid TOW_sync offset\n");
for (ch = 0; ch < N_channels; ch++)
{
printf (" %2d %2d %2d %6ld %6ld %2d %2d %2d %4d\n",
ch, ichan[ch].prn, ichan[ch].state, ichan[ch].TLM,
ichan[ch].TOW, gps_eph[ichan[ch].prn].health,
gps_eph[ichan[ch].prn].valid, ichan[ch].tow_sync, 0);
}
}
else if (display_page == 2)
{
printf (" ch prn state n_freq az el tropo iono\n");
for (ch = 0; ch < N_channels; ch++)
{
printf (" %2d %2d %2d %3d %4.0f %3.0f %10.4f %10.4f\n",
ch, ichan[ch].prn, ichan[ch].state, ichan[ch].n_freq,
xyz[ichan[ch].prn].azimuth * 57.3,
xyz[ichan[ch].prn].elevation * 57.3,
satellite[ichan[ch].prn].Tropo * c,
satellite[ichan[ch].prn].Iono * c);
}
}
else if (display_page == 3)
{
printf (" ch prn state Pseudorange delta Pseudorange\n");
for (ch = 0; ch < N_channels; ch++)
{
printf (" %2d %2d %2d %20.10f %15.10f\n",
ch, ichan[ch].prn, ichan[ch].state,
satellite[ichan[ch].prn].Pr,
satellite[ichan[ch].prn].dPr);
}
}
else if (display_page == 4) /* can be used for debugging purposes */
{
printf (" ch prn state sfid page SF1 SF2 SF3 SF4 SF5\n");
for (ch = 0; ch < N_channels; ch++)
{
printf (" %2d %2d %2d %2d %2d %3x %3x %3x %3x %3x\n",
ch, ichan[ch].prn, ichan[ch].state, ichan[ch].sfid,
schan[ch].page5, schan[ch].word_error[0],
schan[ch].word_error[1], schan[ch].word_error[2],
schan[ch].word_error[3], schan[ch].word_error[4]);
}
}
key = check_for_keyboard_press ();
if (key == 'p' || key == 'P')
{
display_page++;
display_page = display_page % 5;
clear_screen ();
}
/* Allow the user to cycle backwards through the display pages */
if (key == 'b' || key == 'B')
{
display_page--;
display_page = (display_page + 5) % 5;
clear_screen();
}
if (key == 0x1b) { /* ESC */
if (check_for_keyboard_press () == '[') {
key = check_for_keyboard_press ();
if (key == '5') {
display_page--;
display_page = (display_page + 5) % 5;
clear_screen ();
}
else {
display_page++;
display_page = display_page % 5;
clear_screen ();
}
}
}
#else
for (ch = 0; ch < N_channels; ch++)
{
if(ichan[ch].state==4 && first_track==0)
{
//printf("=====> start tracking, channel %i at time %f\n",ch,simtime);
//printf("%3.1f,",simtime);
auxx=(char)((int)(simtime));
write(1,&auxx,1);
auxx=(char)(ichan[ch].prn);
write(1,&auxx,1);
auxx=ichan[ch].CNo;
write(1,&auxx,1);
//printf("%x\n",(char)((int)(simtime)));//,ichan[ch].prn,ichan[ch].CNo);
//printf(" ch prn state n_freq az el doppler t_count n_frame sfid ura page missed CNo\n");
// printf
// ("%2d,%2d\n",
// ichan[ch].prn,
// ichan[ch].CNo);
//printf("time = %f\n",simtime);
first_track=1;
}
/*if(ichan[ch].state!=4 && first_track==1)
{
printf("=====> tracking lost, channel %i at time %f\n",ch,simtime);
first_track=0;
}*/
}
//
#endif
if (key == 'x' || key == 'X' || key == 'q' || key == 'Q')
return -1;
return 0;
}
/******************************************************************************
FUNCTION display()
RETURNS None.
PARAMETERS None.
PURPOSE
This function displays the current status of the receiver on the
computer screen. It is called when there is nothing else to do
WRITTEN BY
Clifford Kelley
******************************************************************************/
int
display (void)
{
int ch;
/* utctime -= dtls; */
goto_screen_location(1, 1);
printf (" OpenSource GPS Software Version 2.30\n");
//printf ("%s", ctime (&utctime));
printf ("%d", 0);
//printf ("TOW %6ld\n", clock_tow);
printf ("TOW %6ld\n", (long)0);
//printf ("meas time %f error %f delta %f\n", m_time[1], m_error, delta_m_time);
printf ("meas time %f error %f delta %f\n", 0.0, 0.0, 0.0);
//cur_lat.deg = rec_pos_llh.lat * r_to_d;
//cur_lat.min = (rec_pos_llh.lat * r_to_d - cur_lat.deg) * 60;
//cur_lat.sec = (rec_pos_llh.lat * r_to_d - cur_lat.deg - cur_lat.min / 60.) * 3600.;
//cur_long.deg = rec_pos_llh.lon * r_to_d;
//cur_long.min = (rec_pos_llh.lon * r_to_d - cur_long.deg) * 60;
//cur_long.sec = (rec_pos_llh.lon * r_to_d - cur_long.deg - cur_long.min / 60.) * 3600.;
printf (" latitude longitude HAE clock error (ppm)\n");
//printf (" %4d:%2d:%5.2f %4d:%2d:%5.2f %10.2f %f\n",
// cur_lat.deg, abs (cur_lat.min), fabs (cur_lat.sec), cur_long.deg,
// abs (cur_long.min), fabs (cur_long.sec), rec_pos_llh.hae,
// clock_offset);
printf (" %4d:%2d:%5.2f %4d:%2d:%5.2f %10.2f %f\n",
0, 0, 0.0, 0,
0, 0.0, 0.0,
0.0);
printf (" Speed Heading TIC_dt\n");
//printf (" %f %f %f\n", speed, heading * r_to_d, TIC_dt);
printf (" %f %f %f\n", 0.0, 0.0, 0.0);
printf (" \n");
//printf
// ("tracking %2d status %1d almanac valid %1d gps week %4d alm_page %2d\n",
// n_track, status, almanac_valid, gps_week % 1024, alm_page);
printf
("tracking %2d status %1d almanac valid %1d gps week %4d alm_page %2d\n",
0, 0, 0, 0, 0);
if (display_page == 0)
{
//printf
//(" ch prn state n_freq az el doppler t_count n_frame sfid ura page missed CNo\n");
printf
(" ch prn state n_freq codes ch_time sign_count ms_cnt_corr ms_cnt sfid ura page missed CNo\n");
for (ch = 0; ch < N_CHANNELS; ch++)
{
//printf
// (" %2d %2d %2d %3d %4.0f %3.0f %6.0f %4d %4d %2d %3d %3d%5d %2d\n",
// ch, ichan[ch].prn, ichan[ch].state, ichan[ch].n_freq,
// xyz[ichan[ch].prn].azimuth * 57.3,
// xyz[ichan[ch].prn].elevation * 57.3, xyz[ichan[ch].prn].doppler,
// ichan[ch].frame_bit % 1500, ichan[ch].n_frame, ichan[ch].sfid,
// gps_eph[ichan[ch].prn].ura, schan[ch].page5, ichan[ch].missed,
// ichan[ch].CNo);
printf
(" %2d %2d %2d %3d %4.0f %4.0f %6.0f %4d %4d %2d %3d %3d%5d %2d\n",
ch, REG_write[ch<<3], chan[ch].state, chan[ch].n_freq,
(double)chan[ch].codes,
(double)chan[ch].ch_time, (double)chan[ch].sign_count,
(REG_read[ch*8+7] & 255 ), chan[ch].ms_count, 0,
0, 0, 0,
0);
}
//printf (" GDOP=%6.3f HDOP=%6.3f VDOP=%6.3f TDOP=%6.3f\n", gdop, hdop,
// vdop, tdop);
printf (" GDOP=%6.3f HDOP=%6.3f VDOP=%6.3f TDOP=%6.3f\n", 0.0, 0.0,
0.0, 0.0);
}
else if (display_page == 1)
{
printf (" ch prn state TLM TOW Health Valid TOW_sync offset\n");
for (ch = 0; ch < N_CHANNELS; ch++)
{
//printf (" %2d %2d %2d %6ld %6ld %2d %2d %2d %4d\n",
// ch, ichan[ch].prn, ichan[ch].state, ichan[ch].TLM,
// ichan[ch].TOW, gps_eph[ichan[ch].prn].health,
// gps_eph[ichan[ch].prn].valid, ichan[ch].tow_sync, 0);
printf (" %2d %2d %2d %6ld %6ld %2d %2d %2d %4d\n",
ch, 0, 0, (long)0,
(long)0, 0,
0, 0, 0);
}
}
else if (display_page == 2)
{
printf (" ch prn state n_freq az el tropo iono\n");
for (ch = 0; ch < N_CHANNELS; ch++)
{
//printf (" %2d %2d %2d %3d %4.0f %3.0f %10.4f %10.4f\n",
// ch, ichan[ch].prn, ichan[ch].state, ichan[ch].n_freq,
// xyz[ichan[ch].prn].azimuth * 57.3,
// xyz[ichan[ch].prn].elevation * 57.3,
// satellite[ichan[ch].prn].Tropo * c,
// satellite[ichan[ch].prn].Iono * c);
printf (" %2d %2d %2d %3d %4.0f %3.0f %10.4f %10.4f\n",
ch, 0, 0, 0,
0.0,
0.0,
0.0,
0.0);
}
}
else if (display_page == 3)
{
printf (" ch prn state Pseudorange delta Pseudorange\n");
for (ch = 0; ch < N_CHANNELS; ch++)
{
//printf (" %2d %2d %2d %20.10f %15.10f\n",
// ch, ichan[ch].prn, ichan[ch].state,
// satellite[ichan[ch].prn].Pr,
// satellite[ichan[ch].prn].dPr);
printf (" %2d %2d %2d %20.10f %15.10f\n",
ch, 0, 0,
0.0,
0.0);
}
}
else if (display_page == 4) /* can be used for debugging purposes */
{
printf (" ch prn state sfid page SF1 SF2 SF3 SF4 SF5\n");
for (ch = 0; ch < N_CHANNELS; ch++)
{
//printf (" %2d %2d %2d %2d %2d %3x %3x %3x %3x %3x\n",
// ch, ichan[ch].prn, ichan[ch].state, ichan[ch].sfid,
// schan[ch].page5, schan[ch].word_error[0],
// schan[ch].word_error[1], schan[ch].word_error[2],
// schan[ch].word_error[3], schan[ch].word_error[4]);
printf (" %2d %2d %2d %2d %2d %3x %3x %3x %3x %3x\n",
ch, 0, 0, 0,
0, 0,
0, 0,
0, 0);
}
}
key = check_for_keyboard_press ();
if (key == 'p' || key == 'P')
{
display_page++;
display_page = display_page % 5;
clear_screen ();
}
/* Allow the user to cycle backwards through the display pages */
if (key == 'b' || key == 'B')
{
display_page--;
display_page = (display_page + 5) % 5;
clear_screen();
}
if (key == 0x1b) { /* ESC */
if (check_for_keyboard_press () == '[') {
key = check_for_keyboard_press ();
if (key == '5') {
display_page--;
display_page = (display_page + 5) % 5;
clear_screen ();
}
else {
display_page++;
display_page = display_page % 5;
clear_screen ();
}
}
}
if (key == 'x' || key == 'X' || key == 'q' || key == 'Q')
return -1;
return 0;
}
