/contrib/ntp/ntpd/refclock_ripencc.c
C | 4866 lines | 3751 code | 591 blank | 524 comment | 411 complexity | 262eb696cb696d14c100f9b876355fbe MD5 | raw file
Possible License(s): MPL-2.0-no-copyleft-exception, BSD-3-Clause, LGPL-2.0, LGPL-2.1, BSD-2-Clause, 0BSD, JSON, AGPL-1.0, GPL-2.0
- /*
- * $Id: refclock_ripencc.c,v 1.13 2002/06/18 14:20:55 marks Exp marks $
- *
- * Copyright (c) 2002 RIPE NCC
- *
- * All Rights Reserved
- *
- * Permission to use, copy, modify, and distribute this software and its
- * documentation for any purpose and without fee is hereby granted,
- * provided that the above copyright notice appear in all copies and that
- * both that copyright notice and this permission notice appear in
- * supporting documentation, and that the name of the author not be
- * used in advertising or publicity pertaining to distribution of the
- * software without specific, written prior permission.
- *
- * THE AUTHOR DISCLAIMS ALL WARRANTIES WITH REGARD TO THIS SOFTWARE, INCLUDING
- * ALL IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS; IN NO EVENT SHALL
- * AUTHOR BE LIABLE FOR ANY SPECIAL, INDIRECT OR CONSEQUENTIAL DAMAGES OR ANY
- * DAMAGES WHATSOEVER RESULTING FROM LOSS OF USE, DATA OR PROFITS, WHETHER IN
- * AN ACTION OF CONTRACT, NEGLIGENCE OR OTHER TORTIOUS ACTION, ARISING OUT OF
- * OR IN CONNECTION WITH THE USE OR PERFORMANCE OF THIS SOFTWARE.
- *
- *
- *
- * This driver was developed for use with the RIPE NCC TTM project.
- *
- *
- * The initial driver was developed by Daniel Karrenberg <dfk@ripe.net>
- * using the code made available by Trimble. This was for xntpd-3.x.x
- *
- * Rewrite of the driver for ntpd-4.x.x by Mark Santcroos <marks@ripe.net>
- *
- */
- #ifdef HAVE_CONFIG_H
- #include <config.h>
- #endif /* HAVE_CONFIG_H */
- #if defined(REFCLOCK) && defined(CLOCK_RIPENCC)
- #include "ntp_stdlib.h"
- #include "ntpd.h"
- #include "ntp_refclock.h"
- #include "ntp_unixtime.h"
- #include "ntp_io.h"
- #ifdef HAVE_PPSAPI
- # include "ppsapi_timepps.h"
- #endif
- /*
- * Definitions
- */
- /* we are on little endian */
- #define BYTESWAP
- /*
- * DEBUG statements: uncomment if necessary
- */
- /* #define DEBUG_NCC */ /* general debug statements */
- /* #define DEBUG_PPS */ /* debug pps */
- /* #define DEBUG_RAW */ /* print raw packets */
- #define TRIMBLE_OUTPUT_FUNC
- #define TSIP_VERNUM "7.12a"
- #ifndef FALSE
- #define FALSE (0)
- #define TRUE (!FALSE)
- #endif /* FALSE */
- #define GPS_PI (3.1415926535898)
- #define GPS_C (299792458.)
- #define D2R (GPS_PI/180.0)
- #define R2D (180.0/GPS_PI)
- #define WEEK (604800.)
- #define MAXCHAN (8)
- /* control characters for TSIP packets */
- #define DLE (0x10)
- #define ETX (0x03)
- #define MAX_RPTBUF (256)
- /* values of TSIPPKT.status */
- #define TSIP_PARSED_EMPTY 0
- #define TSIP_PARSED_FULL 1
- #define TSIP_PARSED_DLE_1 2
- #define TSIP_PARSED_DATA 3
- #define TSIP_PARSED_DLE_2 4
- #define UTCF_UTC_AVAIL (unsigned char) (1) /* UTC available */
- #define UTCF_LEAP_SCHD (unsigned char) (1<<4) /* Leap scheduled */
- #define UTCF_LEAP_PNDG (unsigned char) (1<<5) /* Leap pending, will occur at end of day */
- #define DEVICE "/dev/gps%d" /* name of radio device */
- #define PRECISION (-9) /* precision assumed (about 2 ms) */
- #define PPS_PRECISION (-20) /* precision assumed (about 1 us) */
- #define REFID "GPS\0" /* reference id */
- #define REFID_LEN 4
- #define DESCRIPTION "RIPE NCC GPS (Palisade)" /* Description */
- #define SPEED232 B9600 /* 9600 baud */
- #define NSAMPLES 3 /* stages of median filter */
- /* Structures */
- /* TSIP packets have the following structure, whether report or command. */
- typedef struct {
- short
- counter, /* counter */
- len; /* size of buf; < MAX_RPTBUF unsigned chars */
- unsigned char
- status, /* TSIP packet format/parse status */
- code, /* TSIP code */
- buf[MAX_RPTBUF];/* report or command string */
- } TSIPPKT;
- /* TSIP binary data structures */
- typedef struct {
- unsigned char
- t_oa_raw, SV_health;
- float
- e, t_oa, i_0, OMEGADOT, sqrt_A,
- OMEGA_0, omega, M_0, a_f0, a_f1,
- Axis, n, OMEGA_n, ODOT_n, t_zc;
- short
- weeknum, wn_oa;
- } ALM_INFO;
- typedef struct { /* Almanac health page (25) parameters */
- unsigned char
- WN_a, SV_health[32], t_oa;
- } ALH_PARMS;
- typedef struct { /* Universal Coordinated Time (UTC) parms */
- double
- A_0;
- float
- A_1;
- short
- delta_t_LS;
- float
- t_ot;
- short
- WN_t, WN_LSF, DN, delta_t_LSF;
- } UTC_INFO;
- typedef struct { /* Ionospheric info (float) */
- float
- alpha_0, alpha_1, alpha_2, alpha_3,
- beta_0, beta_1, beta_2, beta_3;
- } ION_INFO;
- typedef struct { /* Subframe 1 info (float) */
- short
- weeknum;
- unsigned char
- codeL2, L2Pdata, SVacc_raw, SV_health;
- short
- IODC;
- float
- T_GD, t_oc, a_f2, a_f1, a_f0, SVacc;
- } EPHEM_CLOCK;
- typedef struct { /* Ephemeris info (float) */
- unsigned char
- IODE, fit_interval;
- float
- C_rs, delta_n;
- double
- M_0;
- float
- C_uc;
- double
- e;
- float
- C_us;
- double
- sqrt_A;
- float
- t_oe, C_ic;
- double
- OMEGA_0;
- float
- C_is;
- double
- i_0;
- float
- C_rc;
- double
- omega;
- float
- OMEGADOT, IDOT;
- double
- Axis, n, r1me2, OMEGA_n, ODOT_n;
- } EPHEM_ORBIT;
- typedef struct { /* Navigation data structure */
- short
- sv_number; /* SV number (0 = no entry) */
- float
- t_ephem; /* time of ephemeris collection */
- EPHEM_CLOCK
- ephclk; /* subframe 1 data */
- EPHEM_ORBIT
- ephorb; /* ephemeris data */
- } NAV_INFO;
- typedef struct {
- unsigned char
- bSubcode,
- operating_mode,
- dgps_mode,
- dyn_code,
- trackmode;
- float
- elev_mask,
- cno_mask,
- dop_mask,
- dop_switch;
- unsigned char
- dgps_age_limit;
- } TSIP_RCVR_CFG;
- #ifdef TRIMBLE_OUTPUT_FUNC
- static char
- *dayname[7] = { "Sun", "Mon", "Tue", "Wed", "Thu", "Fri", "Sat"},
- old_baudnum[] = {0, 1, 4, 5, 6, 8, 9, 11, 28, 12},
- *st_baud_text_app [] = {"", "", " 300", " 600", " 1200", " 2400",
- " 4800", " 9600", "19200", "38400"},
- *old_parity_text[] = {"EVEN", "ODD", "", "", "NONE"},
- *parity_text [] = {"NONE", "ODD", "EVEN"},
- *old_input_ch[] = { "TSIP", "RTCM (6 of 8 bits)"},
- *old_output_ch[] = { "TSIP", "No output", "", "", "", "NMEA 0183"},
- *protocols_in_text[] = { "", "TSIP", "", ""},
- *protocols_out_text[] = { "", "TSIP", "NMEA"},
- *rcvr_port_text [] = { "Port A ", "Port B ", "Current Port"},
- *dyn_text [] = {"Unchanged", "Land", "Sea", "Air", "Static"},
- *NavModeText0xBB[] = {"automatic", "time only (0-D)", "", "2-D",
- "3-D", "", "", "OverDetermined Time"},
- *PPSTimeBaseText[] = {"GPS", "UTC", "USER"},
- *PPSPolarityText[] = {"Positive", "Negative"},
- *MaskText[] = { "Almanac ", "Ephemeris", "UTC ", "Iono ",
- "GPS Msg ", "Alm Hlth ", "Time Fix ", "SV Select",
- "Ext Event", "Pos Fix ", "Raw Meas "};
- #endif /* TRIMBLE_OUTPUT_FUNC */
- /*
- * Unit control structure
- */
- struct ripencc_unit {
- int unit; /* unit number */
- int pollcnt; /* poll message counter */
- int polled; /* Hand in a sample? */
- char leapdelta; /* delta of next leap event */
- unsigned char utcflags; /* delta of next leap event */
- l_fp tstamp; /* timestamp of last poll */
-
- struct timespec ts; /* last timestamp */
- pps_params_t pps_params; /* pps parameters */
- pps_info_t pps_info; /* last pps data */
- pps_handle_t handle; /* pps handlebars */
- };
- /******************* PROTOYPES *****************/
- /* prototypes for report parsing primitives */
- short rpt_0x3D (TSIPPKT *rpt, unsigned char *tx_baud_index,
- unsigned char *rx_baud_index, unsigned char *char_format_index,
- unsigned char *stop_bits, unsigned char *tx_mode_index,
- unsigned char *rx_mode_index);
- short rpt_0x40 (TSIPPKT *rpt, unsigned char *sv_prn, short *week_num,
- float *t_zc, float *eccentricity, float *t_oa, float *i_0,
- float *OMEGA_dot, float *sqrt_A, float *OMEGA_0, float *omega,
- float *M_0);
- short rpt_0x41 (TSIPPKT *rpt, float *time_of_week, float *UTC_offset,
- short *week_num);
- short rpt_0x42 (TSIPPKT *rpt, float ECEF_pos[3], float *time_of_fix);
- short rpt_0x43 (TSIPPKT *rpt, float ECEF_vel[3], float *freq_offset,
- float *time_of_fix);
- short rpt_0x45 (TSIPPKT *rpt, unsigned char *major_nav_version,
- unsigned char *minor_nav_version, unsigned char *nav_day,
- unsigned char *nav_month, unsigned char *nav_year,
- unsigned char *major_dsp_version, unsigned char *minor_dsp_version,
- unsigned char *dsp_day, unsigned char *dsp_month,
- unsigned char *dsp_year);
- short rpt_0x46 (TSIPPKT *rpt, unsigned char *status1, unsigned char *status2);
- short rpt_0x47 (TSIPPKT *rpt, unsigned char *nsvs, unsigned char *sv_prn,
- float *snr);
- short rpt_0x48 (TSIPPKT *rpt, unsigned char *message);
- short rpt_0x49 (TSIPPKT *rpt, unsigned char *sv_health);
- short rpt_0x4A (TSIPPKT *rpt, float *lat, float *lon, float *alt,
- float *clock_bias, float *time_of_fix);
- short rpt_0x4A_2 (TSIPPKT *rpt, float *alt, float *dummy,
- unsigned char *alt_flag);
- short rpt_0x4B (TSIPPKT *rpt, unsigned char *machine_id,
- unsigned char *status3, unsigned char *status4);
- short rpt_0x4C (TSIPPKT *rpt, unsigned char *dyn_code, float *el_mask,
- float *snr_mask, float *dop_mask, float *dop_switch);
- short rpt_0x4D (TSIPPKT *rpt, float *osc_offset);
- short rpt_0x4E (TSIPPKT *rpt, unsigned char *response);
- short rpt_0x4F (TSIPPKT *rpt, double *a0, float *a1, float *time_of_data,
- short *dt_ls, short *wn_t, short *wn_lsf, short *dn, short *dt_lsf);
- short rpt_0x54 (TSIPPKT *rpt, float *clock_bias, float *freq_offset,
- float *time_of_fix);
- short rpt_0x55 (TSIPPKT *rpt, unsigned char *pos_code, unsigned char *vel_code,
- unsigned char *time_code, unsigned char *aux_code);
- short rpt_0x56 (TSIPPKT *rpt, float vel_ENU[3], float *freq_offset,
- float *time_of_fix);
- short rpt_0x57 (TSIPPKT *rpt, unsigned char *source_code,
- unsigned char *diag_code, short *week_num, float *time_of_fix);
- short rpt_0x58 (TSIPPKT *rpt, unsigned char *op_code, unsigned char *data_type,
- unsigned char *sv_prn, unsigned char *data_length,
- unsigned char *data_packet);
- short rpt_0x59 (TSIPPKT *rpt, unsigned char *code_type,
- unsigned char status_code[32]);
- short rpt_0x5A (TSIPPKT *rpt, unsigned char *sv_prn, float *sample_length,
- float *signal_level, float *code_phase, float *Doppler,
- double *time_of_fix);
- short rpt_0x5B (TSIPPKT *rpt, unsigned char *sv_prn, unsigned char *sv_health,
- unsigned char *sv_iode, unsigned char *fit_interval_flag,
- float *time_of_collection, float *time_of_eph, float *sv_accy);
- short rpt_0x5C (TSIPPKT *rpt, unsigned char *sv_prn, unsigned char *slot,
- unsigned char *chan, unsigned char *acq_flag, unsigned char *eph_flag,
- float *signal_level, float *time_of_last_msmt, float *elev,
- float *azim, unsigned char *old_msmt_flag,
- unsigned char *integer_msec_flag, unsigned char *bad_data_flag,
- unsigned char *data_collect_flag);
- short rpt_0x6D (TSIPPKT *rpt, unsigned char *manual_mode, unsigned char *nsvs,
- unsigned char *ndim, unsigned char sv_prn[], float *pdop,
- float *hdop, float *vdop, float *tdop);
- short rpt_0x82 (TSIPPKT *rpt, unsigned char *diff_mode);
- short rpt_0x83 (TSIPPKT *rpt, double ECEF_pos[3], double *clock_bias,
- float *time_of_fix);
- short rpt_0x84 (TSIPPKT *rpt, double *lat, double *lon, double *alt,
- double *clock_bias, float *time_of_fix);
- short rpt_Paly0xBB(TSIPPKT *rpt, TSIP_RCVR_CFG *TsipxBB);
- short rpt_0xBC (TSIPPKT *rpt, unsigned char *port_num,
- unsigned char *in_baud, unsigned char *out_baud,
- unsigned char *data_bits, unsigned char *parity,
- unsigned char *stop_bits, unsigned char *flow_control,
- unsigned char *protocols_in, unsigned char *protocols_out,
- unsigned char *reserved);
- /* prototypes for superpacket parsers */
- short rpt_0x8F0B (TSIPPKT *rpt, unsigned short *event, double *tow,
- unsigned char *date, unsigned char *month, short *year,
- unsigned char *dim_mode, short *utc_offset, double *bias, double *drift,
- float *bias_unc, float *dr_unc, double *lat, double *lon, double *alt,
- char sv_id[8]);
- short rpt_0x8F14 (TSIPPKT *rpt, short *datum_idx, double datum_coeffs[5]);
- short rpt_0x8F15 (TSIPPKT *rpt, short *datum_idx, double datum_coeffs[5]);
- short rpt_0x8F20 (TSIPPKT *rpt, unsigned char *info, double *lat,
- double *lon, double *alt, double vel_enu[], double *time_of_fix,
- short *week_num, unsigned char *nsvs, unsigned char sv_prn[],
- short sv_IODC[], short *datum_index);
- short rpt_0x8F41 (TSIPPKT *rpt, unsigned char *bSearchRange,
- unsigned char *bBoardOptions, unsigned long *iiSerialNumber,
- unsigned char *bBuildYear, unsigned char *bBuildMonth,
- unsigned char *bBuildDay, unsigned char *bBuildHour,
- float *fOscOffset, unsigned short *iTestCodeId);
- short rpt_0x8F42 (TSIPPKT *rpt, unsigned char *bProdOptionsPre,
- unsigned char *bProdNumberExt, unsigned short *iCaseSerialNumberPre,
- unsigned long *iiCaseSerialNumber, unsigned long *iiProdNumber,
- unsigned short *iPremiumOptions, unsigned short *iMachineID,
- unsigned short *iKey);
- short rpt_0x8F45 (TSIPPKT *rpt, unsigned char *bSegMask);
- short rpt_0x8F4A_16 (TSIPPKT *rpt, unsigned char *pps_enabled,
- unsigned char *pps_timebase, unsigned char *pos_polarity,
- double *pps_offset, float *bias_unc_threshold);
- short rpt_0x8F4B (TSIPPKT *rpt, unsigned long *decorr_max);
- short rpt_0x8F4D (TSIPPKT *rpt, unsigned long *event_mask);
- short rpt_0x8FA5 (TSIPPKT *rpt, unsigned char *spktmask);
- short rpt_0x8FAD (TSIPPKT *rpt, unsigned short *COUNT, double *FracSec,
- unsigned char *Hour, unsigned char *Minute, unsigned char *Second,
- unsigned char *Day, unsigned char *Month, unsigned short *Year,
- unsigned char *Status, unsigned char *Flags);
- /**/
- /* prototypes for command-encode primitives with suffix convention: */
- /* c = clear, s = set, q = query, e = enable, d = disable */
- void cmd_0x1F (TSIPPKT *cmd);
- void cmd_0x26 (TSIPPKT *cmd);
- void cmd_0x2F (TSIPPKT *cmd);
- void cmd_0x35s (TSIPPKT *cmd, unsigned char pos_code, unsigned char vel_code,
- unsigned char time_code, unsigned char opts_code);
- void cmd_0x3C (TSIPPKT *cmd, unsigned char sv_prn);
- void cmd_0x3Ds (TSIPPKT *cmd, unsigned char baud_out, unsigned char baud_inp,
- unsigned char char_code, unsigned char stopbitcode,
- unsigned char output_mode, unsigned char input_mode);
- void cmd_0xBBq (TSIPPKT *cmd, unsigned char subcode) ;
- /* prototypes 8E commands */
- void cmd_0x8E0Bq (TSIPPKT *cmd);
- void cmd_0x8E41q (TSIPPKT *cmd);
- void cmd_0x8E42q (TSIPPKT *cmd);
- void cmd_0x8E4Aq (TSIPPKT *cmd);
- void cmd_0x8E4As (TSIPPKT *cmd, unsigned char PPSOnOff, unsigned char TimeBase,
- unsigned char Polarity, double PPSOffset, float Uncertainty);
- void cmd_0x8E4Bq (TSIPPKT *cmd);
- void cmd_0x8E4Ds (TSIPPKT *cmd, unsigned long AutoOutputMask);
- void cmd_0x8EADq (TSIPPKT *cmd);
- /* header/source border XXXXXXXXXXXXXXXXXXXXXXXXXX */
- /* Trimble parse functions */
- static int parse0x8FAD P((TSIPPKT *, struct peer *));
- static int parse0x8F0B P((TSIPPKT *, struct peer *));
- #ifdef TRIMBLE_OUTPUT_FUNC
- static int parseany P((TSIPPKT *, struct peer *));
- static void TranslateTSIPReportToText P((TSIPPKT *, char *));
- #endif /* TRIMBLE_OUTPUT_FUNC */
- static int parse0x5C P((TSIPPKT *, struct peer *));
- static int parse0x4F P((TSIPPKT *, struct peer *));
- static void tsip_input_proc P((TSIPPKT *, int));
- /* Trimble helper functions */
- static void bPutFloat P((float *, unsigned char *));
- static void bPutDouble P((double *, unsigned char *));
- static void bPutULong P((unsigned long *, unsigned char *));
- static int print_msg_table_header P((int rptcode, char *HdrStr, int force));
- static char * show_time P((float time_of_week));
- /* RIPE NCC functions */
- static void ripencc_control P((int, struct refclockstat *, struct
- refclockstat *, struct peer *));
- static int ripencc_ppsapi P((struct peer *, int, int));
- static int ripencc_get_pps_ts P((struct ripencc_unit *, l_fp *));
- static int ripencc_start P((int, struct peer *));
- static void ripencc_shutdown P((int, struct peer *));
- static void ripencc_poll P((int, struct peer *));
- static void ripencc_send P((struct peer *, TSIPPKT spt));
- static void ripencc_receive P((struct recvbuf *));
- /* fill in reflock structure for our clock */
- struct refclock refclock_ripencc = {
- ripencc_start, /* start up driver */
- ripencc_shutdown, /* shut down driver */
- ripencc_poll, /* transmit poll message */
- ripencc_control, /* control function */
- noentry, /* initialize driver */
- noentry, /* debug info */
- NOFLAGS /* clock flags */
- };
- /*
- * Tables to compute the ddd of year form icky dd/mm timecode. Viva la
- * leap.
- */
- static int day1tab[] = {31, 28, 31, 30, 31, 30, 31, 31, 30, 31, 30, 31};
- static int day2tab[] = {31, 29, 31, 30, 31, 30, 31, 31, 30, 31, 30, 31};
- /*
- * ripencc_start - open the GPS devices and initialize data for processing
- */
- static int
- ripencc_start(int unit, struct peer *peer)
- {
- register struct ripencc_unit *up;
- struct refclockproc *pp;
- char device[40];
- int fd;
- struct termios tio;
- TSIPPKT spt;
- /*
- * Open serial port
- */
- (void)snprintf(device, sizeof(device), DEVICE, unit);
- if (!(fd = refclock_open(device, SPEED232, LDISC_RAW)))
- return (0);
- /* from refclock_palisade.c */
- if (tcgetattr(fd, &tio) < 0) {
- msyslog(LOG_ERR, "Palisade(%d) tcgetattr(fd, &tio): %m",unit);
- return (0);
- }
- /*
- * set flags
- */
- tio.c_cflag |= (PARENB|PARODD);
- tio.c_iflag &= ~ICRNL;
- if (tcsetattr(fd, TCSANOW, &tio) == -1) {
- msyslog(LOG_ERR, "Palisade(%d) tcsetattr(fd, &tio): %m",unit);
- return (0);
- }
- /*
- * Allocate and initialize unit structure
- */
- if (!(up = (struct ripencc_unit *)
- emalloc(sizeof(struct ripencc_unit)))) {
- (void) close(fd);
- return (0);
- }
- memset((char *)up, 0, sizeof(struct ripencc_unit));
- pp = peer->procptr;
- pp->io.clock_recv = ripencc_receive;
- pp->io.srcclock = (caddr_t)peer;
- pp->io.datalen = 0;
- pp->io.fd = fd;
- if (!io_addclock(&pp->io)) {
- (void) close(fd);
- free(up);
- return (0);
- }
- pp->unitptr = (caddr_t)up;
- /*
- * Initialize miscellaneous variables
- */
- peer->precision = PRECISION;
- pp->clockdesc = DESCRIPTION;
- memcpy((char *)&pp->refid, REFID, REFID_LEN);
- up->pollcnt = 2;
- up->unit = unit;
- up->leapdelta = 0;
- up->utcflags = 0;
- /*
- * Initialize the Clock
- */
- /* query software versions */
- cmd_0x1F(&spt);
- ripencc_send(peer, spt);
- /* query receiver health */
- cmd_0x26(&spt);
- ripencc_send(peer, spt);
- /* query serial numbers */
- cmd_0x8E42q(&spt);
- ripencc_send(peer, spt);
-
- /* query manuf params */
- cmd_0x8E41q(&spt);
- ripencc_send(peer, spt);
- /* i/o opts */ /* trimble manual page A30 */
- cmd_0x35s(&spt,
- 0x1C, /* position */
- 0x00, /* velocity */
- 0x05, /* timing */
- 0x0a); /* auxilary */
- ripencc_send(peer, spt);
-
- /* turn off port A */
- cmd_0x3Ds (&spt,
- 0x0B, /* baud_out */
- 0x0B, /* baud_inp */
- 0x07, /* char_code */
- 0x07, /* stopbitcode */
- 0x01, /* output_mode */
- 0x00); /* input_mode */
- ripencc_send(peer, spt);
- /* set i/o options */
- cmd_0x8E4As (&spt,
- 0x01, /* PPS on */
- 0x01, /* Timebase UTC */
- 0x00, /* polarity positive */
- 0., /* 100 ft. cable XXX make flag */
- 1e-6 * GPS_C); /* turn of biasuncert. > (1us) */
- ripencc_send(peer,spt);
- /* all outomatic packet output off */
- cmd_0x8E4Ds(&spt,
- 0x00000000); /* AutoOutputMask */
- ripencc_send(peer, spt);
- cmd_0xBBq (&spt,
- 0x00); /* query primary configuration */
- ripencc_send(peer,spt);
- /* query PPS parameters */
- cmd_0x8E4Aq (&spt); /* query PPS params */
- ripencc_send(peer,spt);
- /* query survey limit */
- cmd_0x8E4Bq (&spt); /* query survey limit */
- ripencc_send(peer,spt);
- #ifdef DEBUG_NCC
- if (debug)
- printf("ripencc_start: success\n");
- #endif /* DEBUG_NCC */
- /*
- * Start the PPSAPI interface if it is there. Default to use
- * the assert edge and do not enable the kernel hardpps.
- */
- if (time_pps_create(fd, &up->handle) < 0) {
- up->handle = 0;
- msyslog(LOG_ERR, "refclock_ripencc: time_pps_create failed: %m");
- return (1);
- }
- return(ripencc_ppsapi(peer, 0, 0));
- }
- /*
- * ripencc_control - fudge control
- */
- static void
- ripencc_control(
- int unit, /* unit (not used) */
- struct refclockstat *in, /* input parameters (not used) */
- struct refclockstat *out, /* output parameters (not used) */
- struct peer *peer /* peer structure pointer */
- )
- {
- struct refclockproc *pp;
- #ifdef DEBUG_NCC
- msyslog(LOG_INFO,"%s()",__FUNCTION__);
- #endif /* DEBUG_NCC */
- pp = peer->procptr;
- ripencc_ppsapi(peer, pp->sloppyclockflag & CLK_FLAG2,
- pp->sloppyclockflag & CLK_FLAG3);
- }
- /*
- * Initialize PPSAPI
- */
- int
- ripencc_ppsapi(
- struct peer *peer, /* peer structure pointer */
- int enb_clear, /* clear enable */
- int enb_hardpps /* hardpps enable */
- )
- {
- struct refclockproc *pp;
- struct ripencc_unit *up;
- int capability;
- pp = peer->procptr;
- up = (struct ripencc_unit *)pp->unitptr;
- if (time_pps_getcap(up->handle, &capability) < 0) {
- msyslog(LOG_ERR,
- "refclock_ripencc: time_pps_getcap failed: %m");
- return (0);
- }
- memset(&up->pps_params, 0, sizeof(pps_params_t));
- if (enb_clear)
- up->pps_params.mode = capability & PPS_CAPTURECLEAR;
- else
- up->pps_params.mode = capability & PPS_CAPTUREASSERT;
- if (!up->pps_params.mode) {
- msyslog(LOG_ERR,
- "refclock_ripencc: invalid capture edge %d",
- !enb_clear);
- return (0);
- }
- up->pps_params.mode |= PPS_TSFMT_TSPEC;
- if (time_pps_setparams(up->handle, &up->pps_params) < 0) {
- msyslog(LOG_ERR,
- "refclock_ripencc: time_pps_setparams failed: %m");
- return (0);
- }
- if (enb_hardpps) {
- if (time_pps_kcbind(up->handle, PPS_KC_HARDPPS,
- up->pps_params.mode & ~PPS_TSFMT_TSPEC,
- PPS_TSFMT_TSPEC) < 0) {
- msyslog(LOG_ERR,
- "refclock_ripencc: time_pps_kcbind failed: %m");
- return (0);
- }
- pps_enable = 1;
- }
- peer->precision = PPS_PRECISION;
- #if DEBUG_NCC
- if (debug) {
- time_pps_getparams(up->handle, &up->pps_params);
- printf(
- "refclock_ripencc: capability 0x%x version %d mode 0x%x kern %d\n",
- capability, up->pps_params.api_version,
- up->pps_params.mode, enb_hardpps);
- }
- #endif /* DEBUG_NCC */
- return (1);
- }
- /*
- * This function is called every 64 seconds from ripencc_receive
- * It will fetch the pps time
- *
- * Return 0 on failure and 1 on success.
- */
- static int
- ripencc_get_pps_ts(
- struct ripencc_unit *up,
- l_fp *tsptr
- )
- {
- pps_info_t pps_info;
- struct timespec timeout, ts;
- double dtemp;
- l_fp tstmp;
- #ifdef DEBUG_PPS
- msyslog(LOG_INFO,"ripencc_get_pps_ts\n");
- #endif /* DEBUG_PPS */
- /*
- * Convert the timespec nanoseconds field to ntp l_fp units.
- */
- if (up->handle == 0)
- return (0);
- timeout.tv_sec = 0;
- timeout.tv_nsec = 0;
- memcpy(&pps_info, &up->pps_info, sizeof(pps_info_t));
- if (time_pps_fetch(up->handle, PPS_TSFMT_TSPEC, &up->pps_info,
- &timeout) < 0)
- return (0);
- if (up->pps_params.mode & PPS_CAPTUREASSERT) {
- if (pps_info.assert_sequence ==
- up->pps_info.assert_sequence)
- return (0);
- ts = up->pps_info.assert_timestamp;
- } else if (up->pps_params.mode & PPS_CAPTURECLEAR) {
- if (pps_info.clear_sequence ==
- up->pps_info.clear_sequence)
- return (0);
- ts = up->pps_info.clear_timestamp;
- } else {
- return (0);
- }
- if ((up->ts.tv_sec == ts.tv_sec) && (up->ts.tv_nsec == ts.tv_nsec))
- return (0);
- up->ts = ts;
- tstmp.l_ui = ts.tv_sec + JAN_1970;
- dtemp = ts.tv_nsec * FRAC / 1e9;
- tstmp.l_uf = (u_int32)dtemp;
- #ifdef DEBUG_PPS
- msyslog(LOG_INFO,"ts.tv_sec: %d\n",(int)ts.tv_sec);
- msyslog(LOG_INFO,"ts.tv_nsec: %ld\n",ts.tv_nsec);
- #endif /* DEBUG_PPS */
- *tsptr = tstmp;
- return (1);
- }
- /*
- * ripencc_shutdown - shut down a GPS clock
- */
- static void
- ripencc_shutdown(int unit, struct peer *peer)
- {
- register struct ripencc_unit *up;
- struct refclockproc *pp;
- pp = peer->procptr;
- up = (struct ripencc_unit *)pp->unitptr;
- if (up->handle != 0)
- time_pps_destroy(up->handle);
- io_closeclock(&pp->io);
- free(up);
- }
- /*
- * ripencc_poll - called by the transmit procedure
- */
- static void
- ripencc_poll(int unit, struct peer *peer)
- {
- register struct ripencc_unit *up;
- struct refclockproc *pp;
- TSIPPKT spt;
- #ifdef DEBUG_NCC
- if (debug)
- fprintf(stderr, "ripencc_poll(%d)\n", unit);
- #endif /* DEBUG_NCC */
- pp = peer->procptr;
- up = (struct ripencc_unit *)pp->unitptr;
- if (up->pollcnt == 0)
- refclock_report(peer, CEVNT_TIMEOUT);
- else
- up->pollcnt--;
- pp->polls++;
- up->polled = 1;
- /* poll for UTC superpacket */
- cmd_0x8EADq (&spt);
- ripencc_send(peer,spt);
- }
- /*
- * ripencc_send - send message to clock
- * use the structures being created by the trimble functions!
- * makes the code more readable/clean
- */
- static void
- ripencc_send(struct peer *peer, TSIPPKT spt)
- {
- unsigned char *ip, *op;
- unsigned char obuf[512];
- #ifdef DEBUG_RAW
- {
- register struct ripencc_unit *up;
- register struct refclockproc *pp;
- pp = peer->procptr;
- up = (struct ripencc_unit *)pp->unitptr;
- if (debug)
- printf("ripencc_send(%d, %02X)\n", up->unit, cmd);
- }
- #endif /* DEBUG_RAW */
- ip = spt.buf;
- op = obuf;
- *op++ = 0x10;
- *op++ = spt.code;
- while (spt.len--) {
- if (op-obuf > sizeof(obuf)-5) {
- msyslog(LOG_ERR, "ripencc_send obuf overflow!");
- refclock_report(peer, CEVNT_FAULT);
- return;
- }
-
- if (*ip == 0x10) /* byte stuffing */
- *op++ = 0x10;
- *op++ = *ip++;
- }
-
- *op++ = 0x10;
- *op++ = 0x03;
- #ifdef DEBUG_RAW
- if (debug) { /* print raw packet */
- unsigned char *cp;
- int i;
- printf("ripencc_send: len %d\n", op-obuf);
- for (i=1, cp=obuf; cp<op; i++, cp++) {
- printf(" %02X", *cp);
- if (i%10 == 0)
- printf("\n");
- }
- printf("\n");
- }
- #endif /* DEBUG_RAW */
- if (write(peer->procptr->io.fd, obuf, op-obuf) == -1) {
- refclock_report(peer, CEVNT_FAULT);
- }
- }
- /*
- * ripencc_receive()
- *
- * called when a packet is received on the serial port
- * takes care of further processing
- *
- */
- static void
- ripencc_receive(struct recvbuf *rbufp)
- {
- register struct ripencc_unit *up;
- register struct refclockproc *pp;
- struct peer *peer;
- static TSIPPKT rpt; /* structure for current incoming TSIP report */
- TSIPPKT spt; /* send packet */
- int ns_since_pps;
- int i;
- char *cp;
- /* Use these variables to hold data until we decide its worth keeping */
- char rd_lastcode[BMAX];
- l_fp rd_tmp;
- u_short rd_lencode;
- /* msyslog(LOG_INFO, "%s",__FUNCTION__); */
- /*
- * Initialize pointers and read the timecode and timestamp
- */
- peer = (struct peer *)rbufp->recv_srcclock;
- pp = peer->procptr;
- up = (struct ripencc_unit *)pp->unitptr;
- rd_lencode = refclock_gtlin(rbufp, rd_lastcode, BMAX, &rd_tmp);
- #ifdef DEBUG_RAW
- if (debug)
- fprintf(stderr, "ripencc_receive(%d)\n", up->unit);
- #endif /* DEBUG_RAW */
- #ifdef DEBUG_RAW
- if (debug) { /* print raw packet */
- int i;
- unsigned char *cp;
- printf("ripencc_receive: len %d\n", rbufp->recv_length);
- for (i=1, cp=(char*)&rbufp->recv_space; i <= rbufp->recv_length; i++, cp++) {
- printf(" %02X", *cp);
- if (i%10 == 0)
- printf("\n");
- }
- printf("\n");
- }
- #endif /* DEBUG_RAW */
- cp = (char*) &rbufp->recv_space;
- i=rbufp->recv_length;
- while (i--) { /* loop over received chars */
- tsip_input_proc(&rpt, (unsigned char) *cp++);
- if (rpt.status != TSIP_PARSED_FULL)
- continue;
- switch (rpt.code) {
- case 0x8F: /* superpacket */
- switch (rpt.buf[0]) {
- case 0xAD: /* UTC Time */
- /*
- * When polling on port B the timecode
- * is the time of the previous PPS.
- * If we completed receiving the packet
- * less than 150ms after the turn of the second,
- * it may have the code of the previous second.
- * We do not trust that and simply poll again
- * without even parsing it.
- *
- * More elegant would be to re-schedule the poll,
- * but I do not know (yet) how to do that cleanly.
- *
- */
- /* BLA ns_since_pps = ncc_tstmp(rbufp, &trtmp); */
- /* if (up->polled && ns_since_pps > -1 && ns_since_pps < 150) { */
- ns_since_pps=200;
- if (up->polled && ns_since_pps < 150) {
- msyslog(LOG_INFO, "%s(): up->polled",__FUNCTION__);
- ripencc_poll(up->unit, peer);
- break;
- }
- /*
- * Parse primary utc time packet
- * and fill refclock structure
- * from results.
- */
- if (parse0x8FAD(&rpt, peer) < 0) {
- msyslog(LOG_INFO, "%s(): parse0x8FAD < 0",__FUNCTION__);
- refclock_report(peer, CEVNT_BADREPLY);
- break;
- }
- /*
- * If the PPSAPI is working, rather use its
- * timestamps.
- * assume that the PPS occurs on the second
- * so blow any msec
- */
- if (ripencc_get_pps_ts(up, &rd_tmp) == 1) {
- pp->lastrec = up->tstamp = rd_tmp;
- pp->nsec = 0;
- }
- else
- msyslog(LOG_INFO, "%s(): ripencc_get_pps_ts returns failure\n",__FUNCTION__);
- if (!up->polled) {
- msyslog(LOG_INFO, "%s(): unrequested packet\n",__FUNCTION__);
- /* unrequested packet */
- break;
- }
- /* we have been polled ! */
- up->polled = 0;
- up->pollcnt = 2;
- /* poll for next packet */
- cmd_0x8E0Bq(&spt);
- ripencc_send(peer,spt);
-
- if (ns_since_pps < 0) { /* no PPS */
- msyslog(LOG_INFO, "%s(): ns_since_pps < 0",__FUNCTION__);
- refclock_report(peer, CEVNT_BADTIME);
- break;
- }
- /*
- * Process the new sample in the median filter and determine the
- * reference clock offset and dispersion.
- */
- if (!refclock_process(pp)) {
- msyslog(LOG_INFO, "%s(): !refclock_process",__FUNCTION__);
- refclock_report(peer, CEVNT_BADTIME);
- break;
- }
- refclock_receive(peer);
- break;
-
- case 0x0B: /* comprehensive time packet */
- parse0x8F0B(&rpt, peer);
- break;
- default: /* other superpackets */
- #ifdef DEBUG_NCC
- msyslog(LOG_INFO, "%s(): calling parseany",__FUNCTION__);
- #endif /* DEBUG_NCC */
- #ifdef TRIMBLE_OUTPUT_FUNC
- parseany(&rpt, peer);
- #endif /* TRIMBLE_OUTPUT_FUNC */
- break;
- }
- break;
- case 0x4F: /* UTC parameters, for leap info */
- parse0x4F(&rpt, peer);
- break;
- case 0x5C: /* sat tracking data */
- parse0x5C(&rpt, peer);
- break;
- default: /* other packets */
- #ifdef TRIMBLE_OUTPUT_FUNC
- parseany(&rpt, peer);
- #endif /* TRIMBLE_OUTPUT_FUNC */
- break;
- }
- rpt.status = TSIP_PARSED_EMPTY;
- }
- }
- /*
- * All trimble functions that are directly referenced from driver code
- * (so not from parseany)
- */
- void cmd_0x1F (TSIPPKT *cmd)
- /* request software versions */
- {
- cmd->len = 0;
- cmd->code = 0x1F;
- }
- void cmd_0x26 (TSIPPKT *cmd)
- /* request receiver health */
- {
- cmd->len = 0;
- cmd->code = 0x26;
- }
- void cmd_0x2F (TSIPPKT *cmd)
- /* request UTC params */
- {
- cmd->len = 0;
- cmd->code = 0x2F;
- }
- void cmd_0x35s (TSIPPKT *cmd, unsigned char pos_code, unsigned char vel_code,
- unsigned char time_code, unsigned char opts_code)
- /* set serial I/O options */
- {
- cmd->buf[0] = pos_code;
- cmd->buf[1] = vel_code;
- cmd->buf[2] = time_code;
- cmd->buf[3] = opts_code;
- cmd->len = 4;
- cmd->code = 0x35;
- }
- void cmd_0x3C (TSIPPKT *cmd, unsigned char sv_prn)
- /* request tracking status */
- {
- cmd->buf[0] = sv_prn;
- cmd->len = 1;
- cmd->code = 0x3C;
- }
- void cmd_0x3Ds (TSIPPKT *cmd,
- unsigned char baud_out, unsigned char baud_inp,
- unsigned char char_code, unsigned char stopbitcode,
- unsigned char output_mode, unsigned char input_mode)
- /* set Channel A configuration for dual-port operation */
- {
- cmd->buf[0] = baud_out; /* XMT baud rate */
- cmd->buf[1] = baud_inp; /* RCV baud rate */
- cmd->buf[2] = char_code; /* parity and #bits per byte */
- cmd->buf[3] = stopbitcode; /* number of stop bits code */
- cmd->buf[4] = output_mode; /* Ch. A transmission mode */
- cmd->buf[5] = input_mode; /* Ch. A reception mode */
- cmd->len = 6;
- cmd->code = 0x3D;
- }
- /* query primary configuration */
- void cmd_0xBBq (TSIPPKT *cmd,
- unsigned char subcode)
- {
- cmd->len = 1;
- cmd->code = 0xBB;
- cmd->buf[0] = subcode;
- }
- /**** Superpackets ****/
- void cmd_0x8E0Bq (TSIPPKT *cmd)
- /* 8E-0B to query 8F-0B controls */
- {
- cmd->len = 1;
- cmd->code = 0x8E;
- cmd->buf[0] = 0x0B;
- }
- void cmd_0x8E41q (TSIPPKT *cmd)
- /* 8F-41 to query board serial number */
- {
- cmd->len = 1;
- cmd->code = 0x8E;
- cmd->buf[0] = 0x41;
- }
- void cmd_0x8E42q (TSIPPKT *cmd)
- /* 8F-42 to query product serial number */
- {
- cmd->len = 1;
- cmd->code = 0x8E;
- cmd->buf[0] = 0x42;
- }
- void cmd_0x8E4Aq (TSIPPKT *cmd)
- /* 8F-4A to query PPS parameters */
- {
- cmd->len = 1;
- cmd->code = 0x8E;
- cmd->buf[0] = 0x4A;
- }
- /* set i/o options */
- void cmd_0x8E4As (TSIPPKT *cmd,
- unsigned char PPSOnOff,
- unsigned char TimeBase,
- unsigned char Polarity,
- double PPSOffset,
- float Uncertainty)
- {
- cmd->len = 16;
- cmd->code = 0x8E;
- cmd->buf[0] = 0x4A;
- cmd->buf[1] = PPSOnOff;
- cmd->buf[2] = TimeBase;
- cmd->buf[3] = Polarity;
- bPutDouble (&PPSOffset, &cmd->buf[4]);
- bPutFloat (&Uncertainty, &cmd->buf[12]);
- }
- void cmd_0x8E4Bq (TSIPPKT *cmd)
- /* 8F-4B query survey limit */
- {
- cmd->len = 1;
- cmd->code = 0x8E;
- cmd->buf[0] = 0x4B;
- }
- /* poll for UTC superpacket */
- void cmd_0x8EADq (TSIPPKT *cmd)
- /* 8E-AD to query 8F-AD controls */
- {
- cmd->len = 1;
- cmd->code = 0x8E;
- cmd->buf[0] = 0xAD;
- }
- /* all outomatic packet output off */
- void cmd_0x8E4Ds (TSIPPKT *cmd,
- unsigned long AutoOutputMask)
- {
- cmd->len = 5;
- cmd->code = 0x8E;
- cmd->buf[0] = 0x4D;
- bPutULong (&AutoOutputMask, &cmd->buf[1]);
- }
- /* for DOS machines, reverse order of bytes as they come through the
- * serial port. */
- #ifdef BYTESWAP
- static short bGetShort (unsigned char *bp)
- {
- short outval;
- unsigned char *optr;
- optr = (unsigned char*)&outval + 1;
- *optr-- = *bp++;
- *optr = *bp;
- return outval;
- }
- #ifdef TRIMBLE_OUTPUT_FUNC
- static unsigned short bGetUShort (unsigned char *bp)
- {
- unsigned short outval;
- unsigned char *optr;
- optr = (unsigned char*)&outval + 1;
- *optr-- = *bp++;
- *optr = *bp;
- return outval;
- }
- static long bGetLong (unsigned char *bp)
- {
- long outval;
- unsigned char *optr;
- optr = (unsigned char*)&outval + 3;
- *optr-- = *bp++;
- *optr-- = *bp++;
- *optr-- = *bp++;
- *optr = *bp;
- return outval;
- }
- static unsigned long bGetULong (unsigned char *bp)
- {
- unsigned long outval;
- unsigned char *optr;
- optr = (unsigned char*)&outval + 3;
- *optr-- = *bp++;
- *optr-- = *bp++;
- *optr-- = *bp++;
- *optr = *bp;
- return outval;
- }
- #endif /* TRIMBLE_OUTPUT_FUNC */
- static float bGetSingle (unsigned char *bp)
- {
- float outval;
- unsigned char *optr;
- optr = (unsigned char*)&outval + 3;
- *optr-- = *bp++;
- *optr-- = *bp++;
- *optr-- = *bp++;
- *optr = *bp;
- return outval;
- }
- static double bGetDouble (unsigned char *bp)
- {
- double outval;
- unsigned char *optr;
- optr = (unsigned char*)&outval + 7;
- *optr-- = *bp++;
- *optr-- = *bp++;
- *optr-- = *bp++;
- *optr-- = *bp++;
- *optr-- = *bp++;
- *optr-- = *bp++;
- *optr-- = *bp++;
- *optr = *bp;
- return outval;
- }
- #else /* not BYTESWAP */
- #define bGetShort(bp) (*(short*)(bp))
- #define bGetLong(bp) (*(long*)(bp))
- #define bGetULong(bp) (*(unsigned long*)(bp))
- #define bGetSingle(bp) (*(float*)(bp))
- #define bGetDouble(bp) (*(double*)(bp))
- #endif /* BYTESWAP */
- /*
- * Byte-reversal is necessary for little-endian (Intel-based) machines.
- * TSIP streams are Big-endian (Motorola-based).
- */
- #ifdef BYTESWAP
- void
- bPutFloat (float *in, unsigned char *out)
- {
- unsigned char *inptr;
- inptr = (unsigned char*)in + 3;
- *out++ = *inptr--;
- *out++ = *inptr--;
- *out++ = *inptr--;
- *out = *inptr;
- }
- static void
- bPutULong (unsigned long *in, unsigned char *out)
- {
- unsigned char *inptr;
- inptr = (unsigned char*)in + 3;
- *out++ = *inptr--;
- *out++ = *inptr--;
- *out++ = *inptr--;
- *out = *inptr;
- }
- static void
- bPutDouble (double *in, unsigned char *out)
- {
- unsigned char *inptr;
- inptr = (unsigned char*)in + 7;
- *out++ = *inptr--;
- *out++ = *inptr--;
- *out++ = *inptr--;
- *out++ = *inptr--;
- *out++ = *inptr--;
- *out++ = *inptr--;
- *out++ = *inptr--;
- *out = *inptr;
- }
- #else /* not BYTESWAP */
- void bPutShort (short a, unsigned char *cmdbuf) {*(short*) cmdbuf = a;}
- void bPutULong (long a, unsigned char *cmdbuf) {*(long*) cmdbuf = a;}
- void bPutFloat (float a, unsigned char *cmdbuf) {*(float*) cmdbuf = a;}
- void bPutDouble (double a, unsigned char *cmdbuf){*(double*) cmdbuf = a;}
- #endif /* BYTESWAP */
- /*
- * Parse primary utc time packet
- * and fill refclock structure
- * from results.
- *
- * 0 = success
- * -1 = errors
- */
- static int
- parse0x8FAD(rpt, peer)
- TSIPPKT *rpt;
- struct peer *peer;
- {
- register struct refclockproc *pp;
- register struct ripencc_unit *up;
- unsigned day, month, year; /* data derived from received timecode */
- unsigned hour, minute, second;
- unsigned char trackstat, utcflags;
- static char logbuf[1024]; /* logging string buffer */
- int i;
- unsigned char *buf;
-
- buf = rpt->buf;
- pp = peer->procptr;
- if (rpt->len != 22)
- return (-1);
-
- if (bGetShort(&buf[1]) != 0) {
- #ifdef DEBUG_NCC
- if (debug)
- printf("parse0x8FAD: event count != 0\n");
- #endif /* DEBUG_NCC */
- return(-1);
- }
- if (bGetDouble(&buf[3]) != 0.0) {
- #ifdef DEBUG_NCC
- if (debug)
- printf("parse0x8FAD: fracsecs != 0\n");
- #endif /* DEBUG_NCC */
- return(-1);
- }
- hour = (unsigned int) buf[11];
- minute = (unsigned int) buf[12];
- second = (unsigned int) buf[13];
- day = (unsigned int) buf[14];
- month = (unsigned int) buf[15];
- year = bGetShort(&buf[16]);
- trackstat = buf[18];
- utcflags = buf[19];
- sprintf(logbuf, "U1 %d.%d.%d %02d:%02d:%02d %d %02x",
- day, month, year, hour, minute, second, trackstat, utcflags);
- #ifdef DEBUG_NCC
- if (debug)
- puts(logbuf);
- #endif /* DEBUG_NCC */
- record_clock_stats(&peer->srcadr, logbuf);
- if (!utcflags & UTCF_UTC_AVAIL)
- return(-1);
- /* poll for UTC parameters once and then if UTC flag changed */
- up = (struct ripencc_unit *) pp->unitptr;
- if (utcflags != up->utcflags) {
- TSIPPKT spt; /* local structure for send packet */
- cmd_0x2F (&spt); /* request UTC params */
- ripencc_send(peer,spt);
- up->utcflags = utcflags;
- }
-
- /*
- * If we hit the leap second, we choose to skip this sample
- * rather than rely on other code to be perfectly correct.
- * No offense, just defense ;-).
- */
- if (second == 60)
- return(-1);
- /* now check and convert the time we received */
- pp->year = year;
- if (month < 1 || month > 12 || day < 1 || day > 31)
- return(-1);
- if (pp->year % 4) {
- if (day > day1tab[month - 1])
- return(-1);
- for (i = 0; i < month - 1; i++)
- day += day1tab[i];
- } else {
- if (day > day2tab[month - 1])
- return(-1);
- for (i = 0; i < month - 1; i++)
- day += day2tab[i];
- }
- pp->day = day;
- pp->hour = hour;
- pp->minute = minute;
- pp-> second = second;
- pp->nsec = 0;
- if ((utcflags&UTCF_LEAP_PNDG) && up->leapdelta != 0)
- pp-> leap = (up->leapdelta > 0 ? LEAP_ADDSECOND : LEAP_DELSECOND);
- else
- pp-> leap = LEAP_NOWARNING;
- return (0);
- }
- /*
- * Parse comprehensive time packet
- *
- * 0 = success
- * -1 = errors
- */
- int parse0x8F0B(rpt, peer)
- TSIPPKT *rpt;
- struct peer *peer;
- {
- register struct refclockproc *pp;
- unsigned day, month, year; /* data derived from received timecode */
- unsigned hour, minute, second;
- unsigned utcoff;
- unsigned char mode;
- double bias, rate;
- float biasunc, rateunc;
- double lat, lon, alt;
- short lat_deg, lon_deg;
- float lat_min, lon_min;
- unsigned char north_south, east_west;
- char sv[9];
- static char logbuf[1024]; /* logging string buffer */
- unsigned char b;
- int i;
- unsigned char *buf;
- double tow;
-
- buf = rpt->buf;
- pp = peer->procptr;
- if (rpt->len != 74)
- return (-1);
-
- if (bGetShort(&buf[1]) != 0)
- return(-1);;
- tow = bGetDouble(&buf[3]);
- if (tow == -1.0) {
- return(-1);
- }
- else if ((tow >= 604800.0) || (tow < 0.0)) {
- return(-1);
- }
- else
- {
- if (tow < 604799.9) tow = tow + .00000001;
- second = (unsigned int) fmod(tow, 60.);
- minute = (unsigned int) fmod(tow/60., 60.);
- hour = (unsigned int )fmod(tow / 3600., 24.);
- }
- day = (unsigned int) buf[11];
- month = (unsigned int) buf[12];
- year = bGetShort(&buf[13]);
- mode = buf[15];
- utcoff = bGetShort(&buf[16]);
- bias = bGetDouble(&buf[18]) / GPS_C * 1e9; /* ns */
- rate = bGetDouble(&buf[26]) / GPS_C * 1e9; /* ppb */
- biasunc = bGetSingle(&buf[34]) / GPS_C * 1e9; /* ns */
- rateunc = bGetSingle(&buf[38]) / GPS_C * 1e9; /* ppb */
- lat = bGetDouble(&buf[42]) * R2D;
- lon = bGetDouble(&buf[50]) * R2D;
- alt = bGetDouble(&buf[58]);
- if (lat < 0.0) {
- north_south = 'S';
- lat = -lat;
- }
- else {
- north_south = 'N';
- }
- lat_deg = (short)lat;
- lat_min = (lat - lat_deg) * 60.0;
- if (lon < 0.0) {
- east_west = 'W';
- lon = -lon;
- }
- else {
- east_west = 'E';
- }
- lon_deg = (short)lon;
- lon_min = (lon - lon_deg) * 60.0;
- for (i=0; i<8; i++) {
- sv[i] = buf[i + 66];
- if (sv[i]) {
- TSIPPKT spt; /* local structure for sendpacket */
- b = (unsigned char) (sv[i]<0 ? -sv[i] : sv[i]);
- /* request tracking status */
- cmd_0x3C (&spt, b);
- ripencc_send(peer,spt);
- }
- }
- sprintf(logbuf, "C1 %02d%02d%04d %02d%02d%02d %d %7.0f %.1f %.0f %.1f %d %02d%09.6f %c %02d%09.6f %c %.0f %d %d %d %d %d %d %d %d",
- day, month, year, hour, minute, second, mode, bias, biasunc, rate, rateunc, utcoff,
- lat_deg, lat_min, north_south, lon_deg, lon_min, east_west, alt,
- sv[0], sv[1], sv[2], sv[3], sv[4], sv[5], sv[6], sv[7]);
- #ifdef DEBUG_NCC
- if (debug)
- puts(logbuf);
- #endif /* DEBUG_NCC */
- record_clock_stats(&peer->srcadr, logbuf);
- return (0);
- }
- #ifdef TRIMBLE_OUTPUT_FUNC
- /*
- * Parse any packet using Trimble machinery
- */
- int parseany(rpt, peer)
- TSIPPKT *rpt;
- struct peer *peer;
- {
- static char logbuf[1024]; /* logging string buffer */
- TranslateTSIPReportToText (rpt, logbuf); /* anything else */
- #ifdef DEBUG_NCC
- if (debug)
- puts(&logbuf[1]);
- #endif /* DEBUG_NCC */
- record_clock_stats(&peer->srcadr, &logbuf[1]);
- return(0);
- }
- #endif /* TRIMBLE_OUTPUT_FUNC */
- /*
- * Parse UTC Parameter Packet
- *
- * See the IDE for documentation!
- *
- * 0 = success
- * -1 = errors
- */
- int parse0x4F(rpt, peer)
- TSIPPKT *rpt;
- struct peer *peer;
- {
- register struct ripencc_unit *up;
- double a0;
- float a1, tot;
- int dt_ls, wn_t, wn_lsf, dn, dt_lsf;
- static char logbuf[1024]; /* logging string buffer */
- unsigned char *buf;
-
- buf = rpt->buf;
-
- if (rpt->len != 26)
- return (-1);
- a0 = bGetDouble (buf);
- a1 = bGetSingle (&buf[8]);
- dt_ls = bGetShort (&buf[12]);
- tot = bGetSingle (&buf[14]);
- wn_t = bGetShort (&buf[18]);
- wn_lsf = bGetShort (&buf[20]);
- dn = bGetShort (&buf[22]);
- dt_lsf = bGetShort (&buf[24]);
- sprintf(logbuf, "L1 %d %d %d %g %g %g %d %d %d",
- dt_lsf - dt_ls, dt_ls, dt_lsf, a0, a1, tot, wn_t, wn_lsf, dn);
- #ifdef DEBUG_NCC
- if (debug)
- puts(logbuf);
- #endif /* DEBUG_NCC */
- record_clock_stats(&peer->srcadr, logbuf);
- up = (struct ripencc_unit *) peer->procptr->unitptr;
- up->leapdelta = dt_lsf - dt_ls;
- return (0);
- }
- /*
- * Parse Tracking Status packet
- *
- * 0 = success
- * -1 = errors
- */
- int parse0x5C(rpt, peer)
- TSIPPKT *rpt;
- struct peer *peer;
- {
- unsigned char prn, channel, aqflag, ephstat;
- float snr, azinuth, elevation;
- static char logbuf[1024]; /* logging string buffer */
- unsigned char *buf;
-
- buf = rpt->buf;
-
- if (rpt->len != 24)
- return(-1);
- prn = buf[0];
- channel = (unsigned char)(buf[1] >> 3);
- if (channel == 0x10)
- channel = 2;
- else
- channel++;
- aqflag = buf[2];
- ephstat = buf[3];
- snr = bGetSingle(&buf[4]);
- elevation = bGetSingle(&buf[12]) * R2D;
- azinuth = bGetSingle(&buf[16]) * R2D;
- sprintf(logbuf, "S1 %02d %d %d %02x %4.1f %5.1f %4.1f",
- prn, channel, aqflag, ephstat, snr, azinuth, elevation);
- #ifdef DEBUG_NCC
- if (debug)
- puts(logbuf);
- #endif /* DEBUG_NCC */
- record_clock_stats(&peer->srcadr, logbuf);
- return (0);
- }
- /******* Code below is from Trimble Tsipchat *************/
- /*
- * *************************************************************************
- *
- * Trimble Navigation, Ltd.
- * OEM Products Development Group
- * P.O. Box 3642
- * 645 North Mary Avenue
- * Sunnyvale, California 94088-3642
- *
- * Corporate Headquarter:
- * Telephone: (408) 481-8000
- * Fax: (408) 481-6005
- *
- * Technical Support Center:
- * Telephone: (800) 767-4822 (U.S. and Canada)
- * (408) 481-6940 (outside U.S. and Canada)
- * Fax: (408) 481-6020
- * BBS: (408) 481-7800
- * e-mail: trimble_support@trimble.com
- * ftp://ftp.trimble.com/pub/sct/embedded/bin
- *
- * *************************************************************************
- *
- * ------- BYTE-SWAPPING -------
- * TSIP is big-endian (Motorola) protocol. To use on little-endian (Intel)
- * systems, the bytes of all multi-byte types (shorts, floats, doubles, etc.)
- * must be reversed. This is controlled by the MACRO BYTESWAP; if defined, it
- * assumes little-endian protocol.
- * --------------------------------
- *
- * T_PARSER.C and T_PARSER.H contains primitive functions that interpret
- * reports received from the receiver. A second source file pair,
- * T_FORMAT.C and T_FORMAT.H, contin the matching TSIP command formatters.
- *
- * The module is in very portable, basic C language. It can be used as is, or
- * with minimal changes if a TSIP communications application is needed separate
- * from TSIPCHAT. The construction of most argument lists avoid the use of
- * structures, but the developer is encouraged to reconstruct them using such
- * definitions to meet project requirements. Declarations of T_PARSER.C
- * functions are included in T_PARSER.H to provide prototyping definitions.
- *
- * There are two types of functions: a serial input processing routine,
- * tsip_input_proc()
- * which assembles incoming bytes into a TSIPPKT structure, and the
- * report parsers, rpt_0x??().
- *
- * 1) The function tsip_input_proc() accumulates bytes from the receiver,
- * strips control bytes (DLE), and checks if the report end sequence (DLE ETX)
- * has been received. rpt.status is defined as TSIP_PARSED_FULL (== 1)
- * if a complete packet is available.
- *
- * 2) The functions rpt_0x??() are report string interpreters patterned after
- * the document called "Trimble Standard Interface Protocol". It should be
- * noted that if the report buffer is sent into the receiver with the wrong
- * length (byte count), the rpt_0x??() returns the Boolean equivalence for
- * TRUE.
- *
- * *************************************************************************
- *
- */
- /**/
- static void tsip_input_proc (
- TSIPPKT *rpt,
- int inbyte)
- /* reads bytes until serial buffer is empty or a complete report
- * has been received; end of report is signified by DLE ETX.
- */
- {
- unsigned char newbyte;
- if (inbyte < 0 || inbyte > 0xFF) return;
- newbyte = (unsigned char)(inbyte);
- switch (rpt->status)
- {
- case TSIP_PARSED_DLE_1:
- switch (newbyte)
- {
- case 0:
- case ETX:
- /* illegal TSIP IDs */
- rpt->len = 0;
- rpt->status = TSIP_PARSED_EMPTY;
- break;
- case DLE:
- /* try normal message start again */
- rpt->len = 0;
- rpt->status = TSIP_PARSED_DLE_1;
- break;
- default:
- /* legal TSIP ID; start message */
- rpt->code = newbyte;
- rpt->len = 0;
- rpt->status = TSIP_PARSED_DATA;
- break;
- }
- break;
- case TSIP_PARSED_DATA:
- switch (newbyte) {
- case DLE:
- /* expect DLE or ETX next */
- rpt->status = TSIP_PARSED_DLE_2;
- break;
- default:
- /* normal data byte */
- rpt->buf[rpt->len] = newbyte;
- rpt->len++;
- /* no change in rpt->status */
- break;
- }
- break;
- case TSIP_PARSED_DLE_2:
- switch (newbyte) {
- case DLE:
- /* normal data byte */
- rpt->buf[rpt->len] = newbyte;
- rpt->len++;
- rpt->status = TSIP_PARSED_DATA;
- break;
- case ETX:
- /* end of message; return TRUE here. */
- rpt->status = TSIP_PARSED_FULL;
- break;
- default:
- /* error: treat as TSIP_PARSED_DLE_1; start new report packet */
- rpt->code = newbyte;
- rpt->len = 0;
- rpt->status = TSIP_PARSED_DATA;
- }
- break;
- case TSIP_PARSED_FULL:
- case TSIP_PARSED_EMPTY:
- default:
- switch (newbyte) {
- case DLE:
- /* normal message start */
- rpt->len = 0;
- rpt->status = TSIP_PARSED_DLE_1;
- break;
- default:
- /* error: ignore newbyte */
- rpt->len = 0;
- rpt->status = TSIP_PARSED_EMPTY;
- }
- break;
- }
- if (rpt->len > MAX_RPTBUF) {
- /* error: start new report packet */
- rpt->status = TSIP_PARSED_EMPTY;
- rpt->len = 0;
- }
- }
- #ifdef TRIMBLE_OUTPUT_FUNC
- /**/
- short rpt_0x3D (TSIPPKT *rpt,
- unsigned char *tx_baud_index,
- unsigned char *rx_baud_index,
- unsigned char *char_format_index,
- unsigned char *stop_bits,
- unsigned char *tx_mode_index,
- unsigned char *rx_mode_index)
- /* Channel A configuration for dual port operation */
- {
- unsigned char *buf;
- buf = rpt->buf;
- if (rpt->len != 6) return TRUE;
- *tx_baud_index = buf[0];
- *rx_baud_index = buf[1];
- *char_format_index = buf[2];
- *stop_bits = (unsigned char)((buf[3] == 0x07) ? 1 : 2);
- *tx_mode_index = buf[4];
- *rx_mode_index = buf[5];
- return FALSE;
- }
- /**/
- short rpt_0x40 (TSIPPKT *rpt,
- unsigned char *sv_prn,
- short *week_num,
- float *t_zc,
- float *eccentricity,
- float *t_oa,
- float *i_0,
- float *OMEGA_dot,
- float *sqrt_A,
- float *OMEGA_0,
- float *omega,
- float *M_0)
- /* almanac data for specified satellite */
- {
- unsigned char *buf;
- buf = rpt->buf;
- if (rpt->len != 39) return TRUE;
- *sv_prn = buf[0];
- *t_zc = bGetSingle (&buf[1]);
- *week_num = bGetShort (&buf[5]);
- *eccentricity = bGetSingle (&buf[7]);
- *t_oa = bGetSingle (&buf[11]);
- *i_0 = bGetSingle (&buf[15]);
- *OMEGA_dot = bGetSingle (&buf[19]);
- *sqrt_A = bGetSingle (&buf[23]);
- *OMEGA_0 = bGetSingle (&buf[27]);
- *omega = bGetSingle (&buf[31]);
- *M_0 = bGetSingle (&buf[35]);
- return FALSE;
- }
- short rpt_0x41 (TSIPPKT *rpt,
- float *time_of_week,
- float *UTC_offset,
- short *week_num)
- /* GPS time */
- {
- unsigned char *buf;
- buf = rpt->buf;
-
- if (rpt->len != 10) return TRUE;
- *time_of_week = bGetSingle (buf);
- *week_num = bGetShort (&buf[4]);
- *UTC_offset = bGetSingle (&buf[6]);
- return FALSE;
- }
- short rpt_0x42 (TSIPPKT *rpt,
- float pos_ECEF[3],
- float *time_of_fix)
- /* position in ECEF, single precision */
- {
- unsigned char *buf;
- buf = rpt->buf;
-
- if (rpt->len != 16) return TRUE;
- pos_ECEF[0] = bGetSingle (buf);
- pos_ECEF[1]= bGetSingle (&buf[4]);
- pos_ECEF[2]= bGetSingle (&buf[8]);
- *time_of_fix = bGetSingle (&buf[12]);
- return FALSE;
- }
- short rpt_0x43 (TSIPPKT *rpt,
- float ECEF_vel[3],
- float *freq_offset,
- float *time_of_fix)
- /* velocity in ECEF, single precision */
- {
- unsigned char *buf;
- buf = rpt->buf;
- if (rpt->len != 20) return TRUE;
- ECEF_vel[0] = bGetSingle (buf);
- ECEF_vel[1] = bGetSingle (&buf[4]);
- ECEF_vel[2] = bGetSingle (&buf[8]);
- *freq_offset = bGetSingle (&buf[12]);
- *time_of_fix = bGetSingle (&buf[16]);
- return FALSE;
- }
- short rpt_0x45 (TSIPPKT *rpt,
- unsigned char *major_nav_version,
- unsigned char *minor_nav_version,
- unsigned char *nav_day,
- unsigned char *nav_month,
- unsigned char *nav_year,
- unsigned char *major_dsp_version,
- unsigned char *minor_dsp_version,
- unsigned char *dsp_day,
- unsigned char *dsp_month,
- unsigned char *dsp_year)
- /* software versions */
- {
- unsigned char *buf;
- buf = rpt->buf;
- if (rpt->len != 10) return TRUE;
- *major_nav_version = buf[0];
- *minor_nav_version = buf[1];
- *nav_day = buf[2];
- *nav_month = buf[3];
- *nav_year = buf[4];
- *major_dsp_version = buf[5];
- *minor_dsp_version = buf[6];
- *dsp_day = buf[7];
- *dsp_month = buf[8];
- *dsp_year = buf[9];
- return FALSE;
- }
- short rpt_0x46 (TSIPPKT *rpt,
- unsigned char *status1,
- unsigned char *status2)
- /* receiver health and status */
- {
- unsigned char *buf;
- buf = rpt->buf;
- if (rpt->len != 2) return TRUE;
- *status1 = buf[0];
- *status2 = buf[1];
- return FALSE;
- }
- short rpt_0x47 (TSIPPKT *rpt,
- unsigned char *nsvs, unsigned char *sv_prn,
- float *snr)
- /* signal levels for all satellites tracked */
- {
- short isv;
- unsigned char *buf;
- buf = rpt->buf;
- if (rpt->len != 1 + 5*buf[0]) return TRUE;
- *nsvs = buf[0];
- for (isv = 0; isv < (*nsvs); isv++) {
- sv_prn[isv] = buf[5*isv + 1];
- snr[isv] = bGetSingle (&buf[5*isv + 2]);
- }
- return FALSE;
- }
- short rpt_0x48 (TSIPPKT *rpt,
- unsigned char *message)
- /* GPS system message */
- {
- unsigned char *buf;
- buf = rpt->buf;
- if (rpt->len != 22) return TRUE;
- memcpy (message, buf, 22);
- message[22] = 0;
- return FALSE;
- }
- short rpt_0x49 (TSIPPKT *rpt,
- unsigned char *sv_health)
- /* health for all satellites from almanac health page */
- {
- short i;
- unsigned char *buf;
- buf = rpt->buf;
- if (rpt->len != 32) return TRUE;
- for (i = 0; i < 32; i++) sv_health [i]= buf[i];
- return FALSE;
- }
- short rpt_0x4A (TSIPPKT *rpt,
- float *lat,
- float *lon,
- float *alt,
- float *clock_bias,
- float *time_of_fix)
- /* position in lat-lon-alt, single precision */
- {
- unsigned char *buf;
- buf = rpt->buf;
- if (rpt->len != 20) return TRUE;
- *lat = bGetSingle (buf);
- *lon = bGetSingle (&buf[4]);
- *alt = bGetSingle (&buf[8]);
- *clock_bias = bGetSingle (&buf[12]);
- *time_of_fix = bGetSingle (&buf[16]);
- return FALSE;
- }
- short rpt_0x4A_2 (TSIPPKT *rpt,
- float *alt, float *dummy , unsigned char *alt_flag)
- /* reference altitude parameters */
- {
- unsigned char *buf;
- buf = rpt->buf;
- if (rpt->len != 9) return TRUE;
- *alt = bGetSingle (buf);
- *dummy = bGetSingle (&buf[4]);
- *alt_flag = buf[8];
- return FALSE;
- }
- short rpt_0x4B (TSIPPKT *rpt,
- unsigned char *machine_id,
- unsigned char *status3,
- unsigned char *status4)
- /* machine ID code, status */
- {
- unsigned char *buf;
- buf = rpt->buf;
- if (rpt->len != 3) return TRUE;
- *machine_id = buf[0];
- *status3 = buf[1];
- *status4 = buf[2];
- return FALSE;
- }
- short rpt_0x4C (TSIPPKT *rpt,
- unsigned char *dyn_code,
- float *el_mask,
- float *snr_mask,
- float *dop_mask,
- float *dop_switch)
- /* operating parameters and masks */
- {
- unsigned char *buf;
- buf = rpt->buf;
- if (rpt->len != 17) return TRUE;
- *dyn_code = buf[0];
- *el_mask = bGetSingle (&buf[1]);
- *snr_mask = bGetSingle (&buf[5]);
- *dop_mask = bGetSingle (&buf[9]);
- *dop_switch = bGetSingle (&buf[13]);
- return FALSE;
- }
- short rpt_0x4D (TSIPPKT *rpt,
- float *osc_offset)
- /* oscillator offset */
- {
- unsigned char *buf;
- buf = rpt->buf;
- if (rpt->len != 4) return TRUE;
- *osc_offset = bGetSingle (buf);
- return FALSE;
- }
- short rpt_0x4E (TSIPPKT *rpt,
- unsigned char *response)
- /* yes/no response to command to set GPS time */
- {
- unsigned char *buf;
- buf = rpt->buf;
- if (rpt->len != 1) return TRUE;
- *response = buf[0];
- return FALSE;
- }
- short rpt_0x4F (TSIPPKT *rpt,
- double *a0,
- float *a1,
- float *time_of_data,
- short *dt_ls,
- short *wn_t,
- short *wn_lsf,
- short *dn,
- short *dt_lsf)
- /* UTC data */
- {
- unsigned char *buf;
- buf = rpt->buf;
- if (rpt->len != 26) return TRUE;
- *a0 = bGetDouble (buf);
- *a1 = bGetSingle (&buf[8]);
- *dt_ls = bGetShort (&buf[12]);
- *time_of_data = bGetSingle (&buf[14]);
- *wn_t = bGetShort (&buf[18]);
- *wn_lsf = bGetShort (&buf[20]);
- *dn = bGetShort (&buf[22]);
- *dt_lsf = bGetShort (&buf[24]);
- return FALSE;
- }
- /**/
- short rpt_0x54 (TSIPPKT *rpt,
- float *clock_bias,
- float *freq_offset,
- float *time_of_fix)
- /* clock offset and frequency offset in 1-SV (0-D) mode */
- {
- unsigned char *buf;
- buf = rpt->buf;
- if (rpt->len != 12) return TRUE;
- *clock_bias = bGetSingle (buf);
- *freq_offset = bGetSingle (&buf[4]);
- *time_of_fix = bGetSingle (&buf[8]);
- return FALSE;
- }
- short rpt_0x55 (TSIPPKT *rpt,
- unsigned char *pos_code,
- unsigned char *vel_code,
- unsigned char *time_code,
- unsigned char *aux_code)
- /* I/O serial options */
- {
- unsigned char *buf;
- buf = rpt->buf;
-
- if (rpt->len != 4) return TRUE;
- *pos_code = buf[0];
- *vel_code = buf[1];
- *time_code = buf[2];
- *aux_code = buf[3];
- return FALSE;
- }
- short rpt_0x56 (TSIPPKT *rpt,
- float vel_ENU[3], float *freq_offset, float *time_of_fix)
- /* velocity in east-north-up coordinates */
- {
- unsigned char *buf;
- buf = rpt->buf;
-
- if (rpt->len != 20) return TRUE;
- /* east */
- vel_ENU[0] = bGetSingle (buf);
- /* north */
- vel_ENU[1] = bGetSingle (&buf[4]);
- /* up */
- vel_ENU[2] = bGetSingle (&buf[8]);
- *freq_offset = bGetSingle (&buf[12]);
- *time_of_fix = bGetSingle (&buf[16]);
- return FALSE;
- }
- short rpt_0x57 (TSIPPKT *rpt,
- unsigned char *source_code, unsigned char *diag_code,
- short *week_num,
- float *time_of_fix)
- /* info about last computed fix */
- {
- unsigned char *buf;
- buf = rpt->buf;
-
- if (rpt->len != 8) return TRUE;
- *source_code = buf[0];
- *diag_code = buf[1];
- *time_of_fix = bGetSingle (&buf[2]);
- *week_num = bGetShort (&buf[6]);
- return FALSE;
- }
- short rpt_0x58 (TSIPPKT *rpt,
- unsigned char *op_code, unsigned char *data_type, unsigned char *sv_prn,
- unsigned char *data_length, unsigned char *data_packet)
- /* GPS system data or acknowledgment of GPS system data load */
- {
- unsigned char *buf, *buf4;
- short dl;
- ALM_INFO* alminfo;
- ION_INFO* ioninfo;
- UTC_INFO* utcinfo;
- NAV_INFO* navinfo;
- buf = rpt->buf;
- if (buf[0] == 2) {
- if (rpt->len < 4) return TRUE;
- if (rpt->len != 4+buf[3]) return TRUE;
- }
- else if (rpt->len != 3) {
- return TRUE;
- }
- *op_code = buf[0];
- *data_type = buf[1];
- *sv_prn = buf[2];
- if (*op_code == 2) {
- dl = buf[3];
- *data_length = (unsigned char)dl;
- buf4 = &buf[4];
- switch (*data_type) {
- case 2:
- /* Almanac */
- if (*data_length != sizeof (ALM_INFO)) return TRUE;
- alminfo = (ALM_INFO*)data_packet;
- alminfo->t_oa_raw = buf4[0];
- alminfo->SV_health = buf4[1];
- alminfo->e = bGetSingle(&buf4[2]);
- alminfo->t_oa = bGetSingle(&buf4[6]);
- alminfo->i_0 = bGetSingle(&buf4[10]);
- alminfo->OMEGADOT = bGetSingle(&buf4[14]);
- alminfo->sqrt_A = bGetSingle(&buf4[18]);
- alminfo->OMEGA_0 = bGetSingle(&buf4[22]);
- alminfo->omega = bGetSingle(&buf4[26]);
- alminfo->M_0 = bGetSingle(&buf4[30]);
- alminfo->a_f0 = bGetSingle(&buf4[34]);
- alminfo->a_f1 = bGetSingle(&buf4[38]);
- alminfo->Axis = bGetSingle(&buf4[42]);
- alminfo->n = bGetSingle(&buf4[46]);
- alminfo->OMEGA_n = bGetSingle(&buf4[50]);
- alminfo->ODOT_n = bGetSingle(&buf4[54]);
- alminfo->t_zc = bGetSingle(&buf4[58]);
- alminfo->weeknum = bGetShort(&buf4[62]);
- alminfo->wn_oa = bGetShort(&buf4[64]);
- break;
- case 3:
- /* Almanac health page */
- if (*data_length != sizeof (ALH_PARMS) + 3) return TRUE;
- /* this record is returned raw */
- memcpy (data_packet, buf4, dl);
- break;
- case 4:
- /* Ionosphere */
- if (*data_length != sizeof (ION_INFO) + 8) return TRUE;
- ioninfo = (ION_INFO*)data_packet;
- ioninfo->alpha_0 = bGetSingle (&buf4[8]);
- ioninfo->alpha_1 = bGetSingle (&buf4[12]);
- ioninfo->alpha_2 = bGetSingle (&buf4[16]);
- ioninfo->alpha_3 = bGetSingle (&buf4[20]);
- ioninfo->beta_0 = bGetSingle (&buf4[24]);
- ioninfo->beta_1 = bGetSingle (&buf4[28]);
- ioninfo->beta_2 = bGetSingle (&buf4[32]);
- ioninfo->beta_3 = bGetSingle (&buf4[36]);
- break;
- case 5:
- /* UTC */
- if (*data_length != sizeof (UTC_INFO) + 13) return TRUE;
- utcinfo = (UTC_INFO*)data_packet;
- utcinfo->A_0 = bGetDouble (&buf4[13]);
- utcinfo->A_1 = bGetSingle (&buf4[21]);
- utcinfo->delta_t_LS = bGetShort (&buf4[25]);
- utcinfo->t_ot = bGetSingle(&buf4[27]);
- utcinfo->WN_t = bGetShort (&buf4[31]);
- utcinfo->WN_LSF = bGetShort (&buf4[33]);
- utcinfo->DN = bGetShort (&buf4[35]);
- utcinfo->delta_t_LSF = bGetShort (&buf4[37]);
- break;
- case 6:
- /* Ephemeris */
- if (*data_length != sizeof (NAV_INFO) - 1) return TRUE;
- navinfo = (NAV_INFO*)data_packet;
- navinfo->sv_number = buf4[0];
- navinfo->t_ephem = bGetSingle (&buf4[1]);
- navinfo->ephclk.weeknum = bGetShort (&buf4[5]);
- navinfo->ephclk.codeL2 = buf4[7];
- navinfo->ephclk.L2Pdata = buf4[8];
- navinfo->ephclk.SVacc_raw = buf4[9];
- navinfo->ephclk.SV_health = buf4[10];
- navinfo->ephclk.IODC = bGetShort (&buf4[11]);
- navinfo->ephclk.T_GD = bGetSingle (&buf4[13]);
- navinfo->ephclk.t_oc = bGetSingle (&buf4[17]);
- navinfo->ephclk.a_f2 = bGetSingle (&buf4[21]);
- navinfo->ephclk.a_f1 = bGetSingle (&buf4[25]);
- navinfo->ephclk.a_f0 = bGetSingle (&buf4[29]);
- navinfo->ephclk.SVacc = bGetSingle (&buf4[33]);
- navinfo->ephorb.IODE = buf4[37];
- navinfo->ephorb.fit_interval = buf4[38];
- navinfo->ephorb.C_rs = bGetSingle (&buf4[39]);
- navinfo->ephorb.delta_n = bGetSingle (&buf4[43]);
- navinfo->ephorb.M_0 = bGetDouble (&buf4[47]);
- navinfo->ephorb.C_uc = bGetSingle (&buf4[55]);
- navinfo->ephorb.e = bGetDouble (&buf4[59]);
- navinfo->ephorb.C_us = bGetSingle (&buf4[67]);
- navinfo->ephorb.sqrt_A = bGetDouble (&buf4[71]);
- navinfo->ephorb.t_oe = bGetSingle (&buf4[79]);
- navinfo->ephorb.C_ic = bGetSingle (&buf4[83]);
- navinfo->ephorb.OMEGA_0 = bGetDouble (&buf4[87]);
- navinfo->ephorb.C_is = bGetSingle (&buf4[95]);
- navinfo->ephorb.i_0 = bGetDouble (&buf4[99]);
- navinfo->ephorb.C_rc = bGetSingle (&buf4[107]);
- navinfo->ephorb.omega = bGetDouble (&buf4[111]);
- navinfo->ephorb.OMEGADOT=bGetSingle (&buf4[119]);
- navinfo->ephorb.IDOT = bGetSingle (&buf4[123]);
- navinfo->ephorb.Axis = bGetDouble (&buf4[127]);
- navinfo->ephorb.n = bGetDouble (&buf4[135]);
- navinfo->ephorb.r1me2 = bGetDouble (&buf4[143]);
- navinfo->ephorb.OMEGA_n=bGetDouble (&buf4[151]);
- navinfo->ephorb.ODOT_n = bGetDouble (&buf4[159]);
- break;
- }
- }
- return FALSE;
- }
- short rpt_0x59 (TSIPPKT *rpt,
- unsigned char *code_type,
- unsigned char status_code[32])
- /* satellite enable/disable or health heed/ignore list */
- {
- short iprn;
- unsigned char *buf;
- buf = rpt->buf;
-
- if (rpt->len != 33) return TRUE;
- *code_type = buf[0];
- for (iprn = 0; iprn < 32; iprn++)
- status_code[iprn] = buf[iprn + 1];
- return FALSE;
- }
- short rpt_0x5A (TSIPPKT *rpt,
- unsigned char *sv_prn,
- float *sample_length,
- float *signal_level,
- float *code_phase,
- float *Doppler,
- double *time_of_fix)
- /* raw measurement data - code phase/Doppler */
- {
- unsigned char *buf;
- buf = rpt->buf;
- if (rpt->len != 25) return TRUE;
- *sv_prn = buf[0];
- *sample_length = bGetSingle (&buf[1]);
- *signal_level = bGetSingle (&buf[5]);
- *code_phase = bGetSingle (&buf[9]);
- *Doppler = bGetSingle (&buf[13]);
- *time_of_fix = bGetDouble (&buf[17]);
- return FALSE;
- }
- short rpt_0x5B (TSIPPKT *rpt,
- unsigned char *sv_prn,
- unsigned char *sv_health,
- unsigned char *sv_iode,
- unsigned char *fit_interval_flag,
- float *time_of_collection,
- float *time_of_eph,
- float *sv_accy)
- /* satellite ephorb status */
- {
- unsigned char *buf;
- buf = rpt->buf;
-
- if (rpt->len != 16) return TRUE;
- *sv_prn = buf[0];
- *time_of_collection = bGetSingle (&buf[1]);
- *sv_health = buf[5];
- *sv_iode = buf[6];
- *time_of_eph = bGetSingle (&buf[7]);
- *fit_interval_flag = buf[11];
- *sv_accy = bGetSingle (&buf[12]);
- return FALSE;
- }
- short rpt_0x5C (TSIPPKT *rpt,
- unsigned char *sv_prn,
- unsigned char *slot,
- unsigned char *chan,
- unsigned char *acq_flag,
- unsigned char *eph_flag,
- float *signal_level,
- float *time_of_last_msmt,
- float *elev,
- float *azim,
- unsigned char *old_msmt_flag,
- unsigned char *integer_msec_flag,
- unsigned char *bad_data_flag,
- unsigned char *data_collect_flag)
- /* satellite tracking status */
- {
- unsigned char *buf;
- buf = rpt->buf;
-
- if (rpt->len != 24) return TRUE;
- *sv_prn = buf[0];
- *slot = (unsigned char)((buf[1] & 0x07) + 1);
- *chan = (unsigned char)(buf[1] >> 3);
- if (*chan == 0x10) *chan = 2;
- else (*chan)++;
- *acq_flag = buf[2];
- *eph_flag = buf[3];
- *signal_level = bGetSingle (&buf[4]);
- *time_of_last_msmt = bGetSingle (&buf[8]);
- *elev = bGetSingle (&buf[12]);
- *azim = bGetSingle (&buf[16]);
- *old_msmt_flag = buf[20];
- *integer_msec_flag = buf[21];
- *bad_data_flag = buf[22];
- *data_collect_flag = buf[23];
- return FALSE;
- }
- /**/
- short rpt_0x6D (TSIPPKT *rpt,
- unsigned char *manual_mode,
- unsigned char *nsvs,
- unsigned char *ndim,
- unsigned char sv_prn[],
- float *pdop,
- float *hdop,
- float *vdop,
- float *tdop)
- /* over-determined satellite selection for position fixes, PDOP, fix mode */
- {
- short islot;
- unsigned char *buf;
- buf = rpt->buf;
- *nsvs = (unsigned char)((buf[0] & 0xF0) >> 4);
- if ((*nsvs)>8) return TRUE;
- if (rpt->len != 17 + (*nsvs) ) return TRUE;
- *manual_mode = (unsigned char)(buf[0] & 0x08);
- *ndim = (unsigned char)((buf[0] & 0x07));
- *pdop = bGetSingle (&buf[1]);
- *hdop = bGetSingle (&buf[5]);
- *vdop = bGetSingle (&buf[9]);
- *tdop = bGetSingle (&buf[13]);
- for (islot = 0; islot < (*nsvs); islot++)
- sv_prn[islot] = buf[islot + 17];
- return FALSE;
- }
- /**/
- short rpt_0x82 (TSIPPKT *rpt,
- unsigned char *diff_mode)
- /* differential fix mode */
- {
- unsigned char *buf;
- buf = rpt->buf;
- if (rpt->len != 1) return TRUE;
- *diff_mode = buf[0];
- return FALSE;
- }
- short rpt_0x83 (TSIPPKT *rpt,
- double ECEF_pos[3],
- double *clock_bias,
- float *time_of_fix)
- /* position, ECEF double precision */
- {
- unsigned char *buf;
- buf = rpt->buf;
- if (rpt->len != 36) return TRUE;
- ECEF_pos[0] = bGetDouble (buf);
- ECEF_pos[1] = bGetDouble (&buf[8]);
- ECEF_pos[2] = bGetDouble (&buf[16]);
- *clock_bias = bGetDouble (&buf[24]);
- *time_of_fix = bGetSingle (&buf[32]);
- return FALSE;
- }
- short rpt_0x84 (TSIPPKT *rpt,
- double *lat,
- double *lon,
- double *alt,
- double *clock_bias,
- float *time_of_fix)
- /* position, lat-lon-alt double precision */
- {
- unsigned char *buf;
- buf = rpt->buf;
- if (rpt->len != 36) return TRUE;
- *lat = bGetDouble (buf);
- *lon = bGetDouble (&buf[8]);
- *alt = bGetDouble (&buf[16]);
- *clock_bias = bGetDouble (&buf[24]);
- *time_of_fix = bGetSingle (&buf[32]);
- return FALSE;
- }
- short rpt_Paly0xBB(TSIPPKT *rpt,
- TSIP_RCVR_CFG *TsipxBB)
- {
- unsigned char *buf;
- buf = rpt->buf;
- /* Palisade is inconsistent with other TSIP, which has a kength of 40 */
- /* if (rpt->len != 40) return TRUE; */
- if (rpt->len != 43) return TRUE;
- TsipxBB->bSubcode = buf[0];
- TsipxBB->operating_mode = buf[1] ;
- TsipxBB->dyn_code = buf[3] ;
- TsipxBB->elev_mask = bGetSingle (&buf[5]);
- TsipxBB->cno_mask = bGetSingle (&buf[9]);
- TsipxBB->dop_mask = bGetSingle (&buf[13]);
- TsipxBB->dop_switch = bGetSingle (&buf[17]);
- return FALSE;
- }
- short rpt_0xBC (TSIPPKT *rpt,
- unsigned char *port_num,
- unsigned char *in_baud,
- unsigned char *out_baud,
- unsigned char *data_bits,
- unsigned char *parity,
- unsigned char *stop_bits,
- unsigned char *flow_control,
- unsigned char *protocols_in,
- unsigned char *protocols_out,
- unsigned char *reserved)
- /* Receiver serial port configuration */
- {
- unsigned char *buf;
- buf = rpt->buf;
- if (rpt->len != 10) return TRUE;
- *port_num = buf[0];
- *in_baud = buf[1];
- *out_baud = buf[2];
- *data_bits = buf[3];
- *parity = buf[4];
- *stop_bits = buf[5];
- *flow_control = buf[6];
- *protocols_in = buf[7];
- *protocols_out = buf[8];
- *reserved = buf[9];
- return FALSE;
- }
- /**** Superpackets ****/
- short rpt_0x8F0B(TSIPPKT *rpt,
- unsigned short *event,
- double *tow,
- unsigned char *date,
- unsigned char *month,
- short *year,
- unsigned char *dim_mode,
- short *utc_offset,
- double *bias,
- double *drift,
- float *bias_unc,
- float *dr_unc,
- double *lat,
- double *lon,
- double *alt,
- char sv_id[8])
- {
- short local_index;
- unsigned char *buf;
- buf = rpt->buf;
- if (rpt->len != 74) return TRUE;
- *event = bGetShort(&buf[1]);
- *tow = bGetDouble(&buf[3]);
- *date = buf[11];
- *month = buf[12];
- *year = bGetShort(&buf[13]);
- *dim_mode = buf[15];
- *utc_offset = bGetShort(&buf[16]);
- *bias = bGetDouble(&buf[18]);
- *drift = bGetDouble(&buf[26]);
- *bias_unc = bGetSingle(&buf[34]);
- *dr_unc = bGetSingle(&buf[38]);
- *lat = bGetDouble(&buf[42]);
- *lon = bGetDouble(&buf[50]);
- *alt = bGetDouble(&buf[58]);
- for (local_index=0; local_index<8; local_index++) sv_id[local_index] = buf[local_index + 66];
- return FALSE;
- }
- short rpt_0x8F14 (TSIPPKT *rpt,
- short *datum_idx,
- double datum_coeffs[5])
- /* datum index and coefficients */
- {
- unsigned char *buf;
- buf = rpt->buf;
- if (rpt->len != 43) return TRUE;
- *datum_idx = bGetShort(&buf[1]);
- datum_coeffs[0] = bGetDouble (&buf[3]);
- datum_coeffs[1] = bGetDouble (&buf[11]);
- datum_coeffs[2] = bGetDouble (&buf[19]);
- datum_coeffs[3] = bGetDouble (&buf[27]);
- datum_coeffs[4] = bGetDouble (&buf[35]);
- return FALSE;
- }
- short rpt_0x8F15 (TSIPPKT *rpt,
- short *datum_idx,
- double datum_coeffs[5])
- /* datum index and coefficients */
- {
- unsigned char *buf;
- buf = rpt->buf;
- if (rpt->len != 43) return TRUE;
- *datum_idx = bGetShort(&buf[1]);
- datum_coeffs[0] = bGetDouble (&buf[3]);
- datum_coeffs[1] = bGetDouble (&buf[11]);
- datum_coeffs[2] = bGetDouble (&buf[19]);
- datum_coeffs[3] = bGetDouble (&buf[27]);
- datum_coeffs[4] = bGetDouble (&buf[35]);
- return FALSE;
- }
- #define MAX_LONG (2147483648.) /* 2**31 */
- short rpt_0x8F20 (TSIPPKT *rpt,
- unsigned char *info,
- double *lat,
- double *lon,
- double *alt,
- double vel_enu[],
- double *time_of_fix,
- short *week_num,
- unsigned char *nsvs,
- unsigned char sv_prn[],
- short sv_IODC[],
- short *datum_index)
- {
- short
- isv;
- unsigned char
- *buf, prnx, iode;
- unsigned long
- ulongtemp;
- long
- longtemp;
- double
- vel_scale;
- buf = rpt->buf;
- if (rpt->len != 56) return TRUE;
- vel_scale = (buf[24]&1)? 0.020 : 0.005;
- vel_enu[0] = bGetShort (buf+2)*vel_scale;
- vel_enu[1] = bGetShort (buf+4)*vel_scale;
- vel_enu[2] = bGetShort (buf+6)*vel_scale;
- *time_of_fix = bGetULong (buf+8)*.001;
- longtemp = bGetLong (buf+12);
- *lat = longtemp*(GPS_PI/MAX_LONG);
- ulongtemp = bGetULong (buf+16);
- *lon = ulongtemp*(GPS_PI/MAX_LONG);
- if (*lon > GPS_PI) *lon -= 2.0*GPS_PI;
- *alt = bGetLong (buf+20)*.001;
- /* 25 blank; 29 = UTC */
- (*datum_index) = (short)((short)buf[26]-1);
- *info = buf[27];
- *nsvs = buf[28];
- *week_num = bGetShort (&buf[30]);
- for (isv = 0; isv < 8; isv++) {
- prnx = buf[32+2*isv];
- sv_prn[isv] = (unsigned char)(prnx&0x3F);
- iode = buf[33+2*isv];
- sv_IODC[isv] = (short)(iode | ((prnx>>6)<<8));
- }
- return FALSE;
- }
- short rpt_0x8F41 (TSIPPKT *rpt,
- unsigned char *bSearchRange,
- unsigned char *bBoardOptions,
- unsigned long *iiSerialNumber,
- unsigned char *bBuildYear,
- unsigned char *bBuildMonth,
- unsigned char *bBuildDay,
- unsigned char *bBuildHour,
- float *fOscOffset,
- unsigned short *iTestCodeId)
- {
- if(rpt->len != 17) return FALSE;
- *bSearchRange = rpt->buf[1];
- *bBoardOptions = rpt->buf[2];
- *iiSerialNumber = bGetLong(&rpt->buf[3]);
- *bBuildYear = rpt->buf[7];
- *bBuildMonth = rpt->buf[8];
- *bBuildDay = rpt->buf[9];
- *bBuildHour = rpt->buf[10];
- *fOscOffset = bGetSingle(&rpt->buf[11]);
- *iTestCodeId = bGetShort(&rpt->buf[15]);
- /* Tsipx8E41Data = *Tsipx8E41; */
- return TRUE;
- }
- short rpt_0x8F42 (TSIPPKT *rpt,
- unsigned char *bProdOptionsPre,
- unsigned char *bProdNumberExt,
- unsigned short *iCaseSerialNumberPre,
- unsigned long *iiCaseSerialNumber,
- unsigned long *iiProdNumber,
- unsigned short *iPremiumOptions,
- unsigned short *iMachineID,
- unsigned short *iKey)
- {
- if(rpt->len != 19) return FALSE;
- *bProdOptionsPre = rpt->buf[1];
- *bProdNumberExt = rpt->buf[2];
- *iCaseSerialNumberPre = bGetShort(&rpt->buf[3]);
- *iiCaseSerialNumber = bGetLong(&rpt->buf[5]);
- *iiProdNumber = bGetLong(&rpt->buf[9]);
- *iPremiumOptions = bGetShort(&rpt->buf[13]);
- *iMachineID = bGetShort(&rpt->buf[15]);
- *iKey = bGetShort(&rpt->buf[17]);
- return TRUE;
- }
- short rpt_0x8F45(TSIPPKT *rpt,
- unsigned char *bSegMask)
- {
- if(rpt->len != 2) return FALSE;
- *bSegMask = rpt->buf[1];
- return TRUE;
- }
- short rpt_0x8F4A_16(TSIPPKT *rpt,
- unsigned char *pps_enabled,
- unsigned char *pps_timebase,
- unsigned char *pos_polarity,
- double *pps_offset,
- float *bias_unc_threshold)
- /* Stinger PPS definition */
- {
- unsigned char
- *buf;
- buf = rpt->buf;
- if (rpt->len != 16) return TRUE;
- *pps_enabled = buf[1];
- *pps_timebase = buf[2];
- *pos_polarity = buf[3];
- *pps_offset = bGetDouble(&buf[4]);
- *bias_unc_threshold = bGetSingle(&buf[12]);
- return FALSE;
- }
- short rpt_0x8F4B(TSIPPKT *rpt,
- unsigned long *decorr_max)
- {
- unsigned char
- *buf;
- buf = rpt->buf;
- if (rpt->len != 5) return TRUE;
- *decorr_max = bGetLong(&buf[1]);
- return FALSE;
- }
- short rpt_0x8F4D(TSIPPKT *rpt,
- unsigned long *event_mask)
- {
- unsigned char
- *buf;
- buf = rpt->buf;
- if (rpt->len != 5) return TRUE;
- *event_mask = bGetULong (&buf[1]);
- return FALSE;
- }
- short rpt_0x8FA5(TSIPPKT *rpt,
- unsigned char *spktmask)
- {
- unsigned char
- *buf;
- buf = rpt->buf;
- if (rpt->len != 5) return TRUE;
- spktmask[0] = buf[1];
- spktmask[1] = buf[2];
- spktmask[2] = buf[3];
- spktmask[3] = buf[4];
- return FALSE;
- }
- short rpt_0x8FAD (TSIPPKT *rpt,
- unsigned short *COUNT,
- double *FracSec,
- unsigned char *Hour,
- unsigned char *Minute,
- unsigned char *Second,
- unsigned char *Day,
- unsigned char *Month,
- unsigned short *Year,
- unsigned char *Status,
- unsigned char *Flags)
- {
- if (rpt->len != 22) return TRUE;
- *COUNT = bGetUShort(&rpt->buf[1]);
- *FracSec = bGetDouble(&rpt->buf[3]);
- *Hour = rpt->buf[11];
- *Minute = rpt->buf[12];
- *Second = rpt->buf[13];
- *Day = rpt->buf[14];
- *Month = rpt->buf[15];
- *Year = bGetUShort(&rpt->buf[16]);
- *Status = rpt->buf[18];
- *Flags = rpt->buf[19];
- return FALSE;
- }
- /*
- * *************************************************************************
- *
- * Trimble Navigation, Ltd.
- * OEM Products Development Group
- * P.O. Box 3642
- * 645 North Mary Avenue
- * Sunnyvale, California 94088-3642
- *
- * Corporate Headquarter:
- * Telephone: (408) 481-8000
- * Fax: (408) 481-6005
- *
- * Technical Support Center:
- * Telephone: (800) 767-4822 (U.S. and Canada)
- * (408) 481-6940 (outside U.S. and Canada)
- * Fax: (408) 481-6020
- * BBS: (408) 481-7800
- * e-mail: trimble_support@trimble.com
- * ftp://ftp.trimble.com/pub/sct/embedded/bin
- *
- * *************************************************************************
- *
- * T_REPORT.C consists of a primary function TranslateTSIPReportToText()
- * called by main().
- *
- * This function takes a character buffer that has been received as a report
- * from a TSIP device and interprets it. The character buffer has been
- * assembled using tsip_input_proc() in T_PARSER.C.
- *
- * A large case statement directs processing to one of many mid-level
- * functions. The mid-level functions specific to the current report
- * code passes the report buffer to the appropriate report decoder
- * rpt_0x?? () in T_PARSER.C, which converts the byte stream in rpt.buf
- * to data values approporaite for use.
- *
- * *************************************************************************
- *
- */
- #define GOOD_PARSE 0
- #define BADID_PARSE 1
- #define BADLEN_PARSE 2
- #define BADDATA_PARSE 3
- #define B_TSIP 0x02
- #define B_NMEA 0x04
- /* pbuf is the pointer to the current location of the text output */
- static char
- *pbuf;
- /* keep track of whether the message has been successfully parsed */
- static short
- parsed;
- /* convert time of week into day-hour-minute-second and print */
- char* show_time (float time_of_week)
- {
- short days, hours, minutes;
- float seconds;
- double tow = 0;
- static char timestring [80];
- if (time_of_week == -1.0)
- {
- sprintf(timestring, " <No time yet> ");
- }
- else if ((time_of_week >= 604800.0) || (time_of_week < 0.0))
- {
- sprintf(timestring, " <Bad time> ");
- }
- else
- {
- if (time_of_week < 604799.9)
- tow = time_of_week + .00000001;
- seconds = (float)fmod(tow, 60.);
- minutes = (short) fmod(tow/60., 60.);
- hours = (short)fmod(tow / 3600., 24.);
- days = (short)(tow / 86400.0);
- sprintf(timestring, " %s %02d:%02d:%05.2f ",
- dayname[days], hours, minutes, seconds);
- }
- return timestring;
- }
- /**/
- /* 0x3D */
- static void rpt_chan_A_config (TSIPPKT *rpt)
- {
- unsigned char
- tx_baud_index, rx_baud_index,
- char_format_index, stop_bits,
- tx_mode_index, rx_mode_index,
- databits, parity;
- int
- i, nbaud;
- /* unload rptbuf */
- if (rpt_0x3D (rpt,
- &tx_baud_index, &rx_baud_index, &char_format_index,
- &stop_bits, &tx_mode_index, &rx_mode_index)) {
- parsed = BADLEN_PARSE;
- return;
- }
- pbuf += sprintf(pbuf, "\nChannel A Configuration");
- nbaud = sizeof(old_baudnum);
- for (i = 0; i < nbaud; ++i) if (tx_baud_index == old_baudnum[i]) break;
- pbuf += sprintf(pbuf, "\n Transmit speed: %s at %s",
- old_output_ch[tx_mode_index], st_baud_text_app[i]);
- for (i = 0; i < nbaud; ++i) if (rx_baud_index == old_baudnum[i]) break;
- pbuf += sprintf(pbuf, "\n Receive speed: %s at %s",
- old_input_ch[rx_mode_index], st_baud_text_app[i]);
- databits = (unsigned char)((char_format_index & 0x03) + 5);
- parity = (unsigned char)(char_format_index >> 2);
- if (parity > 4) parity = 2;
- pbuf += sprintf(pbuf, "\n Character format (bits/char, parity, stop bits): %d-%s-%d",
- databits, old_parity_text[parity], stop_bits);
- }
- /**/
- /* 0x40 */
- static void rpt_almanac_data_page (TSIPPKT *rpt)
- {
- unsigned char
- sv_prn;
- short
- week_num;
- float
- t_zc,
- eccentricity,
- t_oa,
- i_0,
- OMEGA_dot,
- sqrt_A,
- OMEGA_0,
- omega,
- M_0;
- /* unload rptbuf */
- if (rpt_0x40 (rpt,
- &sv_prn, &week_num, &t_zc, &eccentricity, &t_oa,
- &i_0, &OMEGA_dot, &sqrt_A, &OMEGA_0, &omega, &M_0)) {
- parsed = BADLEN_PARSE;
- return;
- }
- pbuf += sprintf(pbuf, "\nAlmanac for SV %02d", sv_prn);
- pbuf += sprintf(pbuf, "\n Captured:%15.0f %s",
- t_zc, show_time (t_zc));
- pbuf += sprintf(pbuf, "\n week:%15d", week_num);
- pbuf += sprintf(pbuf, "\n Eccentricity:%15g", eccentricity);
- pbuf += sprintf(pbuf, "\n T_oa:%15.0f %s",
- t_oa, show_time (t_oa));
- pbuf += sprintf(pbuf, "\n i 0:%15g", i_0);
- pbuf += sprintf(pbuf, "\n OMEGA dot:%15g", OMEGA_dot);
- pbuf += sprintf(pbuf, "\n sqrt A:%15g", sqrt_A);
- pbuf += sprintf(pbuf, "\n OMEGA 0:%15g", OMEGA_0);
- pbuf += sprintf(pbuf, "\n omega:%15g", omega);
- pbuf += sprintf(pbuf, "\n M 0:%15g", M_0);
- }
- /* 0x41 */
- static void rpt_GPS_time (TSIPPKT *rpt)
- {
- float
- time_of_week, UTC_offset;
- short
- week_num;
- /* unload rptbuf */
- if (rpt_0x41 (rpt, &time_of_week, &UTC_offset, &week_num)) {
- parsed = BADLEN_PARSE;
- return;
- }
- pbuf += sprintf(pbuf, "\nGPS time:%s GPS week: %d UTC offset %.1f",
- show_time(time_of_week), week_num, UTC_offset);
- }
- /* 0x42 */
- static void rpt_single_ECEF_position (TSIPPKT *rpt)
- {
- float
- ECEF_pos[3], time_of_fix;
- /* unload rptbuf */
- if (rpt_0x42 (rpt, ECEF_pos, &time_of_fix)) {
- parsed = BADLEN_PARSE;
- return;
- }
- pbuf += sprintf(pbuf, "\nSXYZ: %15.0f %15.0f %15.0f %s",
- ECEF_pos[0], ECEF_pos[1], ECEF_pos[2],
- show_time(time_of_fix));
- }
- /* 0x43 */
- static void rpt_single_ECEF_velocity (TSIPPKT *rpt)
- {
- float
- ECEF_vel[3], freq_offset, time_of_fix;
- /* unload rptbuf */
- if (rpt_0x43 (rpt, ECEF_vel, &freq_offset, &time_of_fix)) {
- parsed = BADLEN_PARSE;
- return;
- }
- pbuf += sprintf(pbuf, "\nVelECEF: %11.3f %11.3f %11.3f %12.3f%s",
- ECEF_vel[0], ECEF_vel[1], ECEF_vel[2], freq_offset,
- show_time(time_of_fix));
- }
- /* 0x45 */
- static void rpt_SW_version (TSIPPKT *rpt) {
- unsigned char
- major_nav_version, minor_nav_version,
- nav_day, nav_month, nav_year,
- major_dsp_version, minor_dsp_version,
- dsp_day, dsp_month, dsp_year;
- /* unload rptbuf */
- if (rpt_0x45 (rpt,
- &major_nav_version, &minor_nav_version,
- &nav_day, &nav_month, &nav_year,
- &major_dsp_version, &minor_dsp_version,
- &dsp_day, &dsp_month, &dsp_year)) {
- parsed = BADLEN_PARSE;
- return;
- }
- pbuf += sprintf(pbuf,
- "\nFW Versions: Nav Proc %2d.%02d %2d/%2d/%2d Sig Proc %2d.%02d %2d/%2d/%2d",
- major_nav_version, minor_nav_version, nav_day, nav_month, nav_year,
- major_dsp_version, minor_dsp_version, dsp_day, dsp_month, dsp_year);
- }
- /* 0x46 */
- static void rpt_rcvr_health (TSIPPKT *rpt)
- {
- unsigned char
- status1, status2;
- static char
- *sc_text[] = {
- "Doing position fixes",
- "Don't have GPS time yet",
- "Waiting for almanac collection",
- "DOP too high ",
- "No satellites available",
- "Only 1 satellite available",
- "Only 2 satellites available",
- "Only 3 satellites available",
- "No satellites usable ",
- "Only 1 satellite usable",
- "Only 2 satellites usable",
- "Only 3 satellites usable",
- "Chosen satellite unusable"};
- /* unload rptbuf */
- if (rpt_0x46 (rpt, &status1, &status2))
- {
- parsed = BADLEN_PARSE;
- return;
- }
- pbuf += sprintf(pbuf, "\nRcvr status1: %s (%02Xh); ",
- sc_text[rpt->buf[0]], status1);
- pbuf += sprintf(pbuf, "status2: %s, %s (%02Xh)",
- (status2 & 0x01)?"No BBRAM":"BBRAM OK",
- (status2 & 0x10)?"No Ant":"Ant OK",
- status2);
- }
- /* 0x47 */
- static void rpt_SNR_all_SVs (TSIPPKT *rpt)
- {
- unsigned char
- nsvs, sv_prn[12];
- short
- isv;
- float
- snr[12];
- /* unload rptbuf */
- if (rpt_0x47 (rpt, &nsvs, sv_prn, snr))
- {
- parsed = BADLEN_PARSE;
- return;
- }
- pbuf += sprintf(pbuf, "\nSNR for satellites: %d", nsvs);
- for (isv = 0; isv < nsvs; isv++)
- {
- pbuf += sprintf(pbuf, "\n SV %02d %6.2f",
- sv_prn[isv], snr[isv]);
- }
- }
- /* 0x48 */
- static void rpt_GPS_system_message (TSIPPKT *rpt)
- {
- unsigned char
- message[23];
- /* unload rptbuf */
- if (rpt_0x48 (rpt, message))
- {
- parsed = BADLEN_PARSE;
- return;
- }
- pbuf += sprintf(pbuf, "\nGPS message: %s", message);
- }
- /* 0x49 */
- static void rpt_almanac_health_page (TSIPPKT *rpt)
- {
- short
- iprn;
- unsigned char
- sv_health [32];
- /* unload rptbuf */
- if (rpt_0x49 (rpt, sv_health))
- {
- parsed = BADLEN_PARSE;
- return;
- }
- pbuf += sprintf(pbuf, "\nAlmanac health page:");
- for (iprn = 0; iprn < 32; iprn++)
- {
- if (!(iprn%5)) *pbuf++ = '\n';
- pbuf += sprintf(pbuf, " SV%02d %2X",
- (iprn+1) , sv_health[iprn]);
- }
- }
- /* 0x4A */
- static void rpt_single_lla_position (TSIPPKT *rpt) {
- short
- lat_deg, lon_deg;
- float
- lat, lon,
- alt, clock_bias, time_of_fix;
- double lat_min, lon_min;
- unsigned char
- north_south, east_west;
- if (rpt_0x4A (rpt,
- &lat, &lon, &alt, &clock_bias, &time_of_fix))
- {
- parsed = BADLEN_PARSE;
- return;
- }
- /* convert from radians to degrees */
- lat *= (float)R2D;
- north_south = 'N';
- if (lat < 0.0)
- {
- north_south = 'S';
- lat = -lat;
- }
- lat_deg = (short)lat;
- lat_min = (lat - lat_deg) * 60.0;
- lon *= (float)R2D;
- east_west = 'E';
- if (lon < 0.0)
- {
- east_west = 'W';
- lon = -lon;
- }
- lon_deg = (short)lon;
- lon_min = (lon - lon_deg) * 60.0;
- pbuf += sprintf(pbuf, "\nSLLA: %4d: %06.3f %c%5d:%06.3f %c%10.2f %12.2f%s",
- lat_deg, lat_min, north_south,
- lon_deg, lon_min, east_west,
- alt, clock_bias,
- show_time(time_of_fix));
- }
- /* 0x4A */
- static void rpt_ref_alt (TSIPPKT *rpt) {
- float
- alt, dummy;
- unsigned char
- alt_flag;
- if (rpt_0x4A_2 (rpt,
- &alt, &dummy, &alt_flag))
- {
- parsed = BADLEN_PARSE;
- return;
- }
- pbuf += sprintf(pbuf, "\nReference Alt: %.1f m; %s",
- alt, alt_flag?"ON":"OFF");
- }
- /* 0x4B */
- static void rpt_rcvr_id_and_status (TSIPPKT *rpt)
- {
- unsigned char
- machine_id, status3, status4;
- /* unload rptbuf */
- if (rpt_0x4B (rpt, &machine_id, &status3, &status4))
- {
- parsed = BADLEN_PARSE;
- return;
- }
- pbuf += sprintf(pbuf, "\nRcvr Machine ID: %d; Status3 = %s, %s (%02Xh)",
- machine_id,
- (status3 & 0x02)?"No RTC":"RTC OK",
- (status3 & 0x08)?"No Alm":"Alm OK",
- status3);
- }
- /* 0x4C */
- static void rpt_operating_parameters (TSIPPKT *rpt)
- {
- unsigned char
- dyn_code;
- float
- el_mask, snr_mask, dop_mask, dop_switch;
- /* unload rptbuf */
- if (rpt_0x4C (rpt, &dyn_code, &el_mask,
- &snr_mask, &dop_mask, &dop_switch))
- {
- parsed = BADLEN_PARSE;
- return;
- }
- pbuf += sprintf(pbuf, "\nOperating Parameters:");
- pbuf += sprintf(pbuf, "\n Dynamics code = %d %s",
- dyn_code, dyn_text[dyn_code]);
- pbuf += sprintf(pbuf, "\n Elevation mask = %.2fø", el_mask * R2D);
- pbuf += sprintf(pbuf, "\n SNR mask = %.2f", snr_mask);
- pbuf += sprintf(pbuf, "\n DOP mask = %.2f", dop_mask);
- pbuf += sprintf(pbuf, "\n DOP switch = %.2f", dop_switch);
- }
- /* 0x4D */
- static void rpt_oscillator_offset (TSIPPKT *rpt)
- {
- float
- osc_offset;
- /* unload rptbuf */
- if (rpt_0x4D (rpt, &osc_offset))
- {
- parsed = BADLEN_PARSE;
- return;
- }
- pbuf += sprintf(pbuf, "\nOscillator offset: %.2f Hz = %.3f PPM",
- osc_offset, osc_offset/1575.42);
- }
- /* 0x4E */
- static void rpt_GPS_time_set_response (TSIPPKT *rpt)
- {
- unsigned char
- response;
- /* unload rptbuf */
- if (rpt_0x4E (rpt, &response))
- {
- parsed = BADLEN_PARSE;
- return;
- }
- switch (response)
- {
- case 'Y':
- pbuf += sprintf(pbuf, "\nTime set accepted");
- break;
- case 'N':
- pbuf += sprintf(pbuf, "\nTime set rejected or not required");
- break;
- default:
- parsed = BADDATA_PARSE;
- }
- }
- /* 0x4F */
- static void rpt_UTC_offset (TSIPPKT *rpt)
- {
- double
- a0;
- float
- a1, time_of_data;
- short
- dt_ls, wn_t, wn_lsf, dn, dt_lsf;
- /* unload rptbuf */
- if (rpt_0x4F (rpt, &a0, &a1, &time_of_data,
- &dt_ls, &wn_t, &wn_lsf, &dn, &dt_lsf)) {
- parsed = BADLEN_PARSE;
- return;
- }
- pbuf += sprintf(pbuf, "\nUTC Correction Data");
- pbuf += sprintf(pbuf, "\n A_0 = %g ", a0);
- pbuf += sprintf(pbuf, "\n A_1 = %g ", a1);
- pbuf += sprintf(pbuf, "\n delta_t_LS = %d ", dt_ls);
- pbuf += sprintf(pbuf, "\n t_ot = %.0f ", time_of_data);
- pbuf += sprintf(pbuf, "\n WN_t = %d ", wn_t );
- pbuf += sprintf(pbuf, "\n WN_LSF = %d ", wn_lsf );
- pbuf += sprintf(pbuf, "\n DN = %d ", dn );
- pbuf += sprintf(pbuf, "\n delta_t_LSF = %d ", dt_lsf );
- }
- /**/
- /* 0x54 */
- static void rpt_1SV_bias (TSIPPKT *rpt)
- {
- float
- clock_bias, freq_offset, time_of_fix;
- /* unload rptbuf */
- if (rpt_0x54 (rpt, &clock_bias, &freq_offset, &time_of_fix)) {
- parsed = BADLEN_PARSE;
- return;
- }
- pbuf += sprintf (pbuf, "\nTime Fix Clock Bias: %6.2f m Freq Bias: %6.2f m/s%s",
- clock_bias, freq_offset, show_time (time_of_fix));
- }
- /* 0x55 */
- static void rpt_io_opt (TSIPPKT *rpt)
- {
- unsigned char
- pos_code, vel_code, time_code, aux_code;
- /* unload rptbuf */
- if (rpt_0x55 (rpt,
- &pos_code, &vel_code, &time_code, &aux_code)) {
- parsed = BADLEN_PARSE;
- return;
- }
- /* rptbuf unloaded */
- pbuf += sprintf(pbuf, "\nI/O Options: %2X %2X %2X %2X",
- pos_code, vel_code, time_code, aux_code);
- if (pos_code & 0x01) {
- pbuf += sprintf(pbuf, "\n ECEF XYZ position output");
- }
- if (pos_code & 0x02) {
- pbuf += sprintf(pbuf, "\n LLA position output");
- }
- pbuf += sprintf(pbuf, (pos_code & 0x04)?
- "\n MSL altitude output (Geoid height) ":
- "\n WGS-84 altitude output");
- pbuf += sprintf(pbuf, (pos_code & 0x08)?
- "\n MSL altitude input":
- "\n WGS-84 altitude input");
- pbuf += sprintf(pbuf, (pos_code & 0x10)?
- "\n Double precision":
- "\n Single precision");
- if (pos_code & 0x20) {
- pbuf += sprintf(pbuf, "\n All Enabled Superpackets");
- }
- if (vel_code & 0x01) {
- pbuf += sprintf(pbuf, "\n ECEF XYZ velocity output");
- }
- if (vel_code & 0x02) {
- pbuf += sprintf(pbuf, "\n ENU velocity output");
- }
- pbuf += sprintf(pbuf, (time_code & 0x01)?
- "\n Time tags in UTC":
- "\n Time tags in GPS time");
- if (time_code & 0x02) {
- pbuf += sprintf(pbuf, "\n Fixes delayed to integer seconds");
- }
- if (time_code & 0x04) {
- pbuf += sprintf(pbuf, "\n Fixes sent only on request");
- }
- if (time_code & 0x08) {
- pbuf += sprintf(pbuf, "\n Synchronized measurements");
- }
- if (time_code & 0x10) {
- pbuf += sprintf(pbuf, "\n Minimize measurement propagation");
- }
- pbuf += sprintf(pbuf, (time_code & 0x20) ?
- "\n PPS output at all times" :
- "\n PPS output during fixes");
- if (aux_code & 0x01) {
- pbuf += sprintf(pbuf, "\n Raw measurement output");
- }
- if (aux_code & 0x02) {
- pbuf += sprintf(pbuf, "\n Code-phase smoothed before output");
- }
- if (aux_code & 0x04) {
- pbuf += sprintf(pbuf, "\n Additional fix status");
- }
- pbuf += sprintf(pbuf, (aux_code & 0x08)?
- "\n Signal Strength Output as dBHz" :
- "\n Signal Strength Output as AMU");
- }
- /* 0x56 */
- static void rpt_ENU_velocity (TSIPPKT *rpt)
- {
- float
- vel_ENU[3], freq_offset, time_of_fix;
- /* unload rptbuf */
- if (rpt_0x56 (rpt, vel_ENU, &freq_offset, &time_of_fix)) {
- parsed = BADLEN_PARSE;
- return;
- }
- pbuf += sprintf(pbuf, "\nVel ENU: %11.3f %11.3f %11.3f %12.3f%s",
- vel_ENU[0], vel_ENU[1], vel_ENU[2], freq_offset,
- show_time (time_of_fix));
- }
- /* 0x57 */
- static void rpt_last_fix_info (TSIPPKT *rpt)
- {
- unsigned char
- source_code, diag_code;
- short
- week_num;
- float
- time_of_fix;
- /* unload rptbuf */
- if (rpt_0x57 (rpt, &source_code, &diag_code, &week_num, &time_of_fix)) {
- parsed = BADLEN_PARSE;
- return;
- }
- pbuf += sprintf(pbuf, "\n source code %d; diag code: %2Xh",
- source_code, diag_code);
- pbuf += sprintf(pbuf, "\n Time of last fix:%s", show_time(time_of_fix));
- pbuf += sprintf(pbuf, "\n Week of last fix: %d", week_num);
- }
- /* 0x58 */
- static void rpt_GPS_system_data (TSIPPKT *rpt)
- {
- unsigned char
- iprn,
- op_code, data_type, sv_prn,
- data_length, data_packet[250];
- ALM_INFO
- *almanac;
- ALH_PARMS
- *almh;
- UTC_INFO
- *utc;
- ION_INFO
- *ionosphere;
- EPHEM_CLOCK
- *cdata;
- EPHEM_ORBIT
- *edata;
- NAV_INFO
- *nav_data;
- unsigned char
- curr_t_oa;
- unsigned short
- curr_wn_oa;
- static char
- *datname[] =
- {"", "", "Almanac Orbit",
- "Health Page & Ref Time", "Ionosphere", "UTC ",
- "Ephemeris"};
- /* unload rptbuf */
- if (rpt_0x58 (rpt, &op_code, &data_type, &sv_prn,
- &data_length, data_packet))
- {
- parsed = BADLEN_PARSE;
- return;
- }
- pbuf += sprintf(pbuf, "\nSystem data [%d]: %s SV%02d",
- data_type, datname[data_type], sv_prn);
- switch (op_code)
- {
- case 1:
- pbuf += sprintf(pbuf, " Acknowledgment");
- break;
- case 2:
- pbuf += sprintf(pbuf, " length = %d bytes", data_length);
- switch (data_type) {
- case 2:
- /* Almanac */
- if (sv_prn == 0 || sv_prn > 32) {
- pbuf += sprintf(pbuf, " Binary PRN invalid");
- return;
- }
- almanac = (ALM_INFO*)data_packet;
- pbuf += sprintf(pbuf, "\n t_oa_raw = % -12d SV_hlth = % -12d ",
- almanac->t_oa_raw , almanac->SV_health );
- pbuf += sprintf(pbuf, "\n e = % -12g t_oa = % -12g ",
- almanac->e , almanac->t_oa );
- pbuf += sprintf(pbuf, "\n i_0 = % -12g OMEGADOT = % -12g ",
- almanac->i_0 , almanac->OMEGADOT );
- pbuf += sprintf(pbuf, "\n sqrt_A = % -12g OMEGA_0 = % -12g ",
- almanac->sqrt_A , almanac->OMEGA_0 );
- pbuf += sprintf(pbuf, "\n omega = % -12g M_0 = % -12g ",
- almanac->omega , almanac->M_0 );
- pbuf += sprintf(pbuf, "\n a_f0 = % -12g a_f1 = % -12g ",
- almanac->a_f0 , almanac->a_f1 );
- pbuf += sprintf(pbuf, "\n Axis = % -12g n = % -12g ",
- almanac->Axis , almanac->n );
- pbuf += sprintf(pbuf, "\n OMEGA_n = % -12g ODOT_n = % -12g ",
- almanac->OMEGA_n , almanac->ODOT_n );
- pbuf += sprintf(pbuf, "\n t_zc = % -12g weeknum = % -12d ",
- almanac->t_zc , almanac->weeknum );
- pbuf += sprintf(pbuf, "\n wn_oa = % -12d", almanac->wn_oa );
- break;
- case 3:
- /* Almanac health page */
- almh = (ALH_PARMS*)data_packet;
- pbuf += sprintf(pbuf, "\n t_oa = %d, wn_oa&0xFF = %d ",
- almh->t_oa, almh->WN_a);
- pbuf += sprintf(pbuf, "\nAlmanac health page:");
- for (iprn = 0; iprn < 32; iprn++) {
- if (!(iprn%5)) *pbuf++ = '\n';
- pbuf += sprintf(pbuf, " SV%02d %2X",
- (iprn+1) , almh->SV_health[iprn]);
- }
- curr_t_oa = data_packet[34];
- curr_wn_oa = (unsigned short)((data_packet[35]<<8) + data_packet[36]);
- pbuf += sprintf(pbuf, "\n current t_oa = %d, wn_oa = %d ",
- curr_t_oa, curr_wn_oa);
- break;
- case 4:
- /* Ionosphere */
- ionosphere = (ION_INFO*)data_packet;
- pbuf += sprintf(pbuf, "\n alpha_0 = % -12g alpha_1 = % -12g ",
- ionosphere->alpha_0, ionosphere->alpha_1);
- pbuf += sprintf(pbuf, "\n alpha_2 = % -12g alpha_3 = % -12g ",
- ionosphere->alpha_2, ionosphere->alpha_3);
- pbuf += sprintf(pbuf, "\n beta_0 = % -12g beta_1 = % -12g ",
- ionosphere->beta_0, ionosphere->beta_1);
- pbuf += sprintf(pbuf, "\n beta_2 = % -12g beta_3 = % -12g ",
- ionosphere->beta_2, ionosphere->beta_3);
- break;
- case 5:
- /* UTC */
- utc = (UTC_INFO*)data_packet;
- pbuf += sprintf(pbuf, "\n A_0 = %g ", utc->A_0);
- pbuf += sprintf(pbuf, "\n A_1 = %g ", utc->A_1);
- pbuf += sprintf(pbuf, "\n delta_t_LS = %d ", utc->delta_t_LS);
- pbuf += sprintf(pbuf, "\n t_ot = %.0f ", utc->t_ot );
- pbuf += sprintf(pbuf, "\n WN_t = %d ", utc->WN_t );
- pbuf += sprintf(pbuf, "\n WN_LSF = %d ", utc->WN_LSF );
- pbuf += sprintf(pbuf, "\n DN = %d ", utc->DN );
- pbuf += sprintf(pbuf, "\n delta_t_LSF = %d ", utc->delta_t_LSF );
- break;
- case 6: /* Ephemeris */
- if (sv_prn == 0 || sv_prn > 32) {
- pbuf += sprintf(pbuf, " Binary PRN invalid");
- return;
- }
- nav_data = (NAV_INFO*)data_packet;
- pbuf += sprintf(pbuf, "\n SV_PRN = % -12d . t_ephem = % -12g . ",
- nav_data->sv_number , nav_data->t_ephem );
- cdata = &(nav_data->ephclk);
- pbuf += sprintf(pbuf,
- "\n weeknum = % -12d . codeL2 = % -12d . L2Pdata = % -12d",
- cdata->weeknum , cdata->codeL2 , cdata->L2Pdata );
- pbuf += sprintf(pbuf,
- "\n SVacc_raw = % -12d .SV_health = % -12d . IODC = % -12d",
- cdata->SVacc_raw, cdata->SV_health, cdata->IODC );
- pbuf += sprintf(pbuf,
- "\n T_GD = % -12g . t_oc = % -12g . a_f2 = % -12g",
- cdata->T_GD, cdata->t_oc, cdata->a_f2 );
- pbuf += sprintf(pbuf,
- "\n a_f1 = % -12g . a_f0 = % -12g . SVacc = % -12g",
- cdata->a_f1, cdata->a_f0, cdata->SVacc );
- edata = &(nav_data->ephorb);
- pbuf += sprintf(pbuf,
- "\n IODE = % -12d .fit_intvl = % -12d . C_rs = % -12g",
- edata->IODE, edata->fit_interval, edata->C_rs );
- pbuf += sprintf(pbuf,
- "\n delta_n = % -12g . M_0 = % -12g . C_uc = % -12g",
- edata->delta_n, edata->M_0, edata->C_uc );
- pbuf += sprintf(pbuf,
- "\n ecc = % -12g . C_us = % -12g . sqrt_A = % -12g",
- edata->e, edata->C_us, edata->sqrt_A );
- pbuf += sprintf(pbuf,
- "\n t_oe = % -12g . C_ic = % -12g . OMEGA_0 = % -12g",
- edata->t_oe, edata->C_ic, edata->OMEGA_0 );
- pbuf += sprintf(pbuf,
- "\n C_is = % -12g . i_0 = % -12g . C_rc = % -12g",
- edata->C_is, edata->i_0, edata->C_rc );
- pbuf += sprintf(pbuf,
- "\n omega = % -12g . OMEGADOT = % -12g . IDOT = % -12g",
- edata->omega, edata->OMEGADOT, edata->IDOT );
- pbuf += sprintf(pbuf,
- "\n Axis = % -12g . n = % -12g . r1me2 = % -12g",
- edata->Axis, edata->n, edata->r1me2 );
- pbuf += sprintf(pbuf,
- "\n OMEGA_n = % -12g . ODOT_n = % -12g",
- edata->OMEGA_n, edata->ODOT_n );
- break;
- }
- }
- }
- /* 0x59: */
- static void rpt_SVs_enabled (TSIPPKT *rpt)
- {
- unsigned char
- numsvs,
- code_type,
- status_code[32];
- short
- iprn;
- /* unload rptbuf */
- if (rpt_0x59 (rpt, &code_type, status_code))
- {
- parsed = BADLEN_PARSE;
- return;
- }
- switch (code_type)
- {
- case 3: pbuf += sprintf(pbuf, "\nSVs Disabled:\n"); break;
- case 6: pbuf += sprintf(pbuf, "\nSVs with Health Ignored:\n"); break;
- default: return;
- }
- numsvs = 0;
- for (iprn=0; iprn<32; iprn++)
- {
- if (status_code[iprn])
- {
- pbuf += sprintf(pbuf, " %02d", iprn+1);
- numsvs++;
- }
- }
- if (numsvs == 0) pbuf += sprintf(pbuf, "None");
- }
- /* 0x5A */
- static void rpt_raw_msmt (TSIPPKT *rpt)
- {
- unsigned char
- sv_prn;
- float
- sample_length, signal_level, code_phase, Doppler;
- double
- time_of_fix;
- /* unload rptbuf */
- if (rpt_0x5A (rpt, &sv_prn, &sample_length, &signal_level,
- &code_phase, &Doppler, &time_of_fix))
- {
- parsed = BADLEN_PARSE;
- return;
- }
- pbuf += sprintf(pbuf, "\n %02d %5.0f %7.1f %10.2f %10.2f %12.3f %s",
- sv_prn, sample_length, signal_level, code_phase, Doppler, time_of_fix,
- show_time ((float)time_of_fix));
- }
- /* 0x5B */
- static void rpt_SV_ephemeris_status (TSIPPKT *rpt)
- {
- unsigned char
- sv_prn, sv_health, sv_iode, fit_interval_flag;
- float
- time_of_collection, time_of_eph, sv_accy;
- /* unload rptbuf */
- if (rpt_0x5B (rpt, &sv_prn, &sv_health, &sv_iode, &fit_interval_flag,
- &time_of_collection, &time_of_eph, &sv_accy))
- {
- parsed = BADLEN_PARSE;
- return;
- }
- pbuf += sprintf(pbuf, "\n SV%02d %s %2Xh %2Xh ",
- sv_prn, show_time (time_of_collection), sv_health, sv_iode);
- /* note: cannot use show_time twice in same call */
- pbuf += sprintf(pbuf, "%s %1d %4.1f",
- show_time (time_of_eph), fit_interval_flag, sv_accy);
- }
- /* 0x5C */
- static void rpt_SV_tracking_status (TSIPPKT *rpt)
- {
- unsigned char
- sv_prn, chan, slot, acq_flag, eph_flag,
- old_msmt_flag, integer_msec_flag, bad_data_flag,
- data_collect_flag;
- float
- signal_level, time_of_last_msmt,
- elev, azim;
- /* unload rptbuf */
- if (rpt_0x5C (rpt,
- &sv_prn, &slot, &chan, &acq_flag, &eph_flag,
- &signal_level, &time_of_last_msmt, &elev, &azim,
- &old_msmt_flag, &integer_msec_flag, &bad_data_flag,
- &data_collect_flag))
- {
- parsed = BADLEN_PARSE;
- return;
- }
- pbuf += sprintf(pbuf,
- "\n SV%2d %1d %1d %1d %4.1f %s %5.1f %5.1f",
- sv_prn, chan,
- acq_flag, eph_flag, signal_level,
- show_time(time_of_last_msmt),
- elev*R2D, azim*R2D);
- }
- /**/
- /* 0x6D */
- static void rpt_allSV_selection (TSIPPKT *rpt)
- {
- unsigned char
- manual_mode, nsvs, sv_prn[8], ndim;
- short
- islot;
- float
- pdop, hdop, vdop, tdop;
- /* unload rptbuf */
- if (rpt_0x6D (rpt,
- &manual_mode, &nsvs, &ndim, sv_prn,
- &pdop, &hdop, &vdop, &tdop))
- {
- parsed = BADLEN_PARSE;
- return;
- }
- switch (ndim)
- {
- case 0:
- pbuf += sprintf(pbuf, "\nMode: Searching, %d-SV:", nsvs);
- break;
- case 1:
- pbuf += sprintf(pbuf, "\nMode: One-SV Timing:");
- break;
- case 3: case 4:
- pbuf += sprintf(pbuf, "\nMode: %c-%dD, %d-SV:",
- manual_mode ? 'M' : 'A', ndim - 1, nsvs);
- break;
- case 5:
- pbuf += sprintf(pbuf, "\nMode: Timing, %d-SV:", nsvs);
- break;
- default:
- pbuf += sprintf(pbuf, "\nMode: Unknown = %d:", ndim);
- break;
- }
- for (islot = 0; islot < nsvs; islot++)
- {
- if (sv_prn[islot]) pbuf += sprintf(pbuf, " %02d", sv_prn[islot]);
- }
- if (ndim == 3 || ndim == 4)
- {
- pbuf += sprintf(pbuf, "; DOPs: P %.1f H %.1f V %.1f T %.1f",
- pdop, hdop, vdop, tdop);
- }
- }
- /**/
- /* 0x82 */
- static void rpt_DGPS_position_mode (TSIPPKT *rpt)
- {
- unsigned char
- diff_mode;
- /* unload rptbuf */
- if (rpt_0x82 (rpt, &diff_mode)) {
- parsed = BADLEN_PARSE;
- return;
- }
- pbuf += sprintf(pbuf, "\nFix is%s DGPS-corrected (%s mode) (%d)",
- (diff_mode&1) ? "" : " not",
- (diff_mode&2) ? "auto" : "manual",
- diff_mode);
- }
- /* 0x83 */
- static void rpt_double_ECEF_position (TSIPPKT *rpt)
- {
- double
- ECEF_pos[3], clock_bias;
- float
- time_of_fix;
- /* unload rptbuf */
- if (rpt_0x83 (rpt, ECEF_pos, &clock_bias, &time_of_fix))
- {
- parsed = BADLEN_PARSE;
- return;
- }
- pbuf += sprintf(pbuf, "\nDXYZ:%12.2f %13.2f %13.2f %12.2f%s",
- ECEF_pos[0], ECEF_pos[1], ECEF_pos[2], clock_bias,
- show_time(time_of_fix));
- }
- /* 0x84 */
- static void rpt_double_lla_position (TSIPPKT *rpt)
- {
- short
- lat_deg, lon_deg;
- double
- lat, lon, lat_min, lon_min,
- alt, clock_bias;
- float
- time_of_fix;
- unsigned char
- north_south, east_west;
- /* unload rptbuf */
- if (rpt_0x84 (rpt,
- &lat, &lon, &alt, &clock_bias, &time_of_fix))
- {
- parsed = BADLEN_PARSE;
- return;
- }
- lat *= R2D;
- lon *= R2D;
- if (lat < 0.0) {
- north_south = 'S';
- lat = -lat;
- } else {
- north_south = 'N';
- }
- lat_deg = (short)lat;
- lat_min = (lat - lat_deg) * 60.0;
- if (lon < 0.0) {
- east_west = 'W';
- lon = -lon;
- } else {
- east_west = 'E';
- }
- lon_deg = (short)lon;
- lon_min = (lon - lon_deg) * 60.0;
- pbuf += sprintf(pbuf, "\nDLLA: %2d:%08.5f %c; %3d:%08.5f %c; %10.2f %12.2f%s",
- lat_deg, lat_min, north_south,
- lon_deg, lon_min, east_west,
- alt, clock_bias,
- show_time(time_of_fix));
- }
- /* 0xBB */
- static void rpt_complete_rcvr_config (TSIPPKT *rpt)
- {
- TSIP_RCVR_CFG TsipxBB ;
- /* unload rptbuf */
- if (rpt_Paly0xBB (rpt, &TsipxBB))
- {
- parsed = BADLEN_PARSE;
- return;
- }
- pbuf += sprintf(pbuf, "\n operating mode: %s",
- NavModeText0xBB[TsipxBB.operating_mode]);
- pbuf += sprintf(pbuf, "\n dynamics: %s",
- dyn_text[TsipxBB.dyn_code]);
- pbuf += sprintf(pbuf, "\n elev angle mask: %g deg",
- TsipxBB.elev_mask * R2D);
- pbuf += sprintf(pbuf, "\n SNR mask: %g AMU",
- TsipxBB.cno_mask);
- pbuf += sprintf(pbuf, "\n DOP mask: %g",
- TsipxBB.dop_mask);
- pbuf += sprintf(pbuf, "\n DOP switch: %g",
- TsipxBB.dop_switch);
- return ;
- }
- /* 0xBC */
- static void rpt_rcvr_serial_port_config (TSIPPKT *rpt)
- {
- unsigned char
- port_num, in_baud, out_baud, data_bits, parity, stop_bits, flow_control,
- protocols_in, protocols_out, reserved;
- unsigned char known;
- /* unload rptbuf */
- if (rpt_0xBC (rpt, &port_num, &in_baud, &out_baud, &data_bits, &parity,
- &stop_bits, &flow_control, &protocols_in, &protocols_out, &reserved)) {
- parsed = BADLEN_PARSE;
- return;
- }
- /* rptbuf unloaded */
- pbuf += sprintf(pbuf, "\n RECEIVER serial port %s config:",
- rcvr_port_text[port_num]);
- pbuf += sprintf(pbuf, "\n I/O Baud %s/%s, %d - %s - %d",
- st_baud_text_app[in_baud],
- st_baud_text_app[out_baud],
- data_bits+5,
- parity_text[parity],
- stop_bits=1);
- pbuf += sprintf(pbuf, "\n Input protocols: ");
- known = FALSE;
- if (protocols_in&B_TSIP)
- {
- pbuf += sprintf(pbuf, "%s ", protocols_in_text[1]);
- known = TRUE;
- }
- if (known == FALSE) pbuf += sprintf(pbuf, "No known");
- pbuf += sprintf(pbuf, "\n Output protocols: ");
- known = FALSE;
- if (protocols_out&B_TSIP)
- {
- pbuf += sprintf(pbuf, "%s ", protocols_out_text[1]);
- known = TRUE;
- }
- if (protocols_out&B_NMEA)
- {
- pbuf += sprintf(pbuf, "%s ", protocols_out_text[2]);
- known = TRUE;
- }
- if (known == FALSE) pbuf += sprintf(pbuf, "No known");
- reserved = reserved;
- }
- /* 0x8F */
- /* 8F0B */
- static void rpt_8F0B(TSIPPKT *rpt)
- {
- const char
- *oprtng_dim[7] = {
- "horizontal (2-D)",
- "full position (3-D)",
- "single satellite (0-D)",
- "automatic",
- "N/A",
- "N/A",
- "overdetermined clock"};
- char
- sv_id[8];
- unsigned char
- month,
- date,
- dim_mode,
- north_south,
- east_west;
- unsigned short
- event;
- short
- utc_offset,
- year,
- local_index;
- short
- lat_deg,
- lon_deg;
- float
- bias_unc,
- dr_unc;
- double
- tow,
- bias,
- drift,
- lat,
- lon,
- alt,
- lat_min,
- lon_min;
- int
- numfix,
- numnotfix;
- if (rpt_0x8F0B(rpt,
- &event,
- &tow,
- &date,
- &month,
- &year,
- &dim_mode,
- &utc_offset,
- &bias,
- &drift,
- &bias_unc,
- &dr_unc,
- &lat,
- &lon,
- &alt,
- sv_id))
- {
- parsed = BADLEN_PARSE;
- return;
- }
- if (event == 0)
- {
- pbuf += sprintf(pbuf, "\nNew partial+full meas");
- }
- else
- {
- pbuf += sprintf(pbuf, "\nEvent count: %5d", event);
- }
- pbuf += sprintf(pbuf, "\nGPS time : %s %2d/%2d/%2d (DMY)",
- show_time(tow), date, month, year);
- pbuf += sprintf(pbuf, "\nMode : %s", oprtng_dim[dim_mode]);
- pbuf += sprintf(pbuf, "\nUTC offset: %2d", utc_offset);
- pbuf += sprintf(pbuf, "\nClock Bias: %6.2f m", bias);
- pbuf += sprintf(pbuf, "\nFreq bias : %6.2f m/s", drift);
- pbuf += sprintf(pbuf, "\nBias unc : %6.2f m", bias_unc);
- pbuf += sprintf(pbuf, "\nFreq unc : %6.2f m/s", dr_unc);
- lat *= R2D; /* convert from radians to degrees */
- lon *= R2D;
- if (lat < 0.0)
- {
- north_south = 'S';
- lat = -lat;
- }
- else
- {
- north_south = 'N';
- }
- lat_deg = (short)lat;
- lat_min = (lat - lat_deg) * 60.0;
- if (lon < 0.0)
- {
- east_west = 'W';
- lon = -lon;
- }
- else
- {
- east_west = 'E';
- }
- lon_deg = (short)lon;
- lon_min = (lon - lon_deg) * 60.0;
- pbuf += sprintf(pbuf, "\nPosition :");
- pbuf += sprintf(pbuf, " %4d %6.3f %c", lat_deg, lat_min, north_south);
- pbuf += sprintf(pbuf, " %5d %6.3f %c", lon_deg, lon_min, east_west);
- pbuf += sprintf(pbuf, " %10.2f", alt);
- numfix = numnotfix = 0;
- for (local_index=0; local_index<8; local_index++)
- {
- if (sv_id[local_index] < 0) numnotfix++;
- if (sv_id[local_index] > 0) numfix++;
- }
- if (numfix > 0)
- {
- pbuf += sprintf(pbuf, "\nSVs used in fix : ");
- for (local_index=0; local_index<8; local_index++)
- {
- if (sv_id[local_index] > 0)
- {
- pbuf += sprintf(pbuf, "%2d ", sv_id[local_index]);
- }
- }
- }
- if (numnotfix > 0)
- {
- pbuf += sprintf(pbuf, "\nOther SVs tracked: ");
- for (local_index=0; local_index<8; local_index++)
- {
- if (sv_id[local_index] < 0)
- {
- pbuf += sprintf(pbuf, "%2d ", sv_id[local_index]);
- }
- }
- }
- }
- /* 0x8F14 */
- static void rpt_8F14 (TSIPPKT *rpt)
- /* Datum parameters */
- {
- double
- datum_coeffs[5];
- short
- datum_idx;
- /* unload rptbuf */
- if (rpt_0x8F14 (rpt, &datum_idx, datum_coeffs))
- {
- parsed = BADLEN_PARSE;
- return;
- }
- if (datum_idx == -1)
- {
- pbuf += sprintf(pbuf, "\nUser-Entered Datum:");
- pbuf += sprintf(pbuf, "\n dx = %6.1f", datum_coeffs[0]);
- pbuf += sprintf(pbuf, "\n dy = %6.1f", datum_coeffs[1]);
- pbuf += sprintf(pbuf, "\n dz = %6.1f", datum_coeffs[2]);
- pbuf += sprintf(pbuf, "\n a-axis = %10.3f", datum_coeffs[3]);
- pbuf += sprintf(pbuf, "\n e-squared = %16.14f", datum_coeffs[4]);
- }
- else if (datum_idx == 0)
- {
- pbuf += sprintf(pbuf, "\nWGS-84 datum, Index 0 ");
- }
- else
- {
- pbuf += sprintf(pbuf, "\nStandard Datum, Index %3d ", datum_idx);
- }
- }
- /* 0x8F15 */
- static void rpt_8F15 (TSIPPKT *rpt)
- /* Datum parameters */
- {
- double
- datum_coeffs[5];
- short
- datum_idx;
- /* unload rptbuf */
- if (rpt_0x8F15 (rpt, &datum_idx, datum_coeffs)) {
- parsed = BADLEN_PARSE;
- return;
- }
- if (datum_idx == -1)
- {
- pbuf += sprintf(pbuf, "\nUser-Entered Datum:");
- pbuf += sprintf(pbuf, "\n dx = %6.1f", datum_coeffs[0]);
- pbuf += sprintf(pbuf, "\n dy = %6.1f", datum_coeffs[1]);
- pbuf += sprintf(pbuf, "\n dz = %6.1f", datum_coeffs[2]);
- pbuf += sprintf(pbuf, "\n a-axis = %10.3f", datum_coeffs[3]);
- pbuf += sprintf(pbuf, "\n e-squared = %16.14f", datum_coeffs[4]);
- }
- else if (datum_idx == 0)
- {
- pbuf += sprintf(pbuf, "\nWGS-84 datum, Index 0 ");
- }
- else
- {
- pbuf += sprintf(pbuf, "\nStandard Datum, Index %3d ", datum_idx);
- }
- }
- /* 0x8F20 */
- #define INFO_DGPS 0x02
- #define INFO_2D 0x04
- #define INFO_ALTSET 0x08
- #define INFO_FILTERED 0x10
- static void rpt_8F20 (TSIPPKT *rpt)
- {
- unsigned char
- info, nsvs, sv_prn[32];
- short
- week_num, datum_index, sv_IODC[32];
- double
- lat, lon, alt, time_of_fix;
- double
- londeg, latdeg, vel[3];
- short
- isv;
- char
- datum_string[20];
- /* unload rptbuf */
- if (rpt_0x8F20 (rpt,
- &info, &lat, &lon, &alt, vel,
- &time_of_fix,
- &week_num, &nsvs, sv_prn, sv_IODC, &datum_index))
- {
- parsed = BADLEN_PARSE;
- return;
- }
- pbuf += sprintf(pbuf,
- "\nFix at: %04d:%3s:%02d:%02d:%06.3f GPS (=UTC+%2ds) FixType: %s%s%s",
- week_num,
- dayname[(short)(time_of_fix/86400.0)],
- (short)fmod(time_of_fix/3600., 24.),
- (short)fmod(time_of_fix/60., 60.),
- fmod(time_of_fix, 60.),
- (char)rpt->buf[29], /* UTC offset */
- (info & INFO_DGPS)?"Diff":"",
- (info & INFO_2D)?"2D":"3D",
- (info & INFO_FILTERED)?"-Filtrd":"");
- if (datum_index > 0)
- {
- sprintf(datum_string, "Datum%3d", datum_index);
- }
- else if (datum_index)
- {
- sprintf(datum_string, "Unknown ");
- }
- else
- {
- sprintf(datum_string, "WGS-84");
- }
- /* convert from radians to degrees */
- latdeg = R2D * fabs(lat);
- londeg = R2D * fabs(lon);
- pbuf += sprintf(pbuf,
- "\n Pos: %4d:%09.6f %c %5d:%09.6f %c %10.2f m HAE (%s)",
- (short)latdeg, fmod (latdeg, 1.)*60.0,
- (lat<0.0)?'S':'N',
- (short)londeg, fmod (londeg, 1.)*60.0,
- (lon<0.0)?'W':'E',
- alt,
- datum_string);
- pbuf += sprintf(pbuf,
- "\n Vel: %9.3f E %9.3f N %9.3f U (m/sec)",
- vel[0], vel[1], vel[2]);
- pbuf += sprintf(pbuf,
- "\n SVs: ");
- for (isv = 0; isv < nsvs; isv++) {
- pbuf += sprintf(pbuf, " %02d", sv_prn[isv]);
- }
- pbuf += sprintf(pbuf, " (IODEs:");
- for (isv = 0; isv < nsvs; isv++) {
- pbuf += sprintf(pbuf, " %02X", sv_IODC[isv]&0xFF);
- }
- pbuf += sprintf(pbuf, ")");
- }
- /* 0x8F41 */
- static void rpt_8F41(TSIPPKT *rpt)
- {
- unsigned char
- bSearchRange,
- bBoardOptions,
- bBuildYear,
- bBuildMonth,
- bBuildDay,
- bBuildHour;
- float
- fOscOffset;
- unsigned short
- iTestCodeId;
- unsigned long
- iiSerialNumber;
- if (!rpt_0x8F41(rpt,
- &bSearchRange,
- &bBoardOptions,
- &iiSerialNumber,
- &bBuildYear,
- &bBuildMonth,
- &bBuildDay,
- &bBuildHour,
- &fOscOffset,
- &iTestCodeId))
- {
- parsed = BADLEN_PARSE;
- return;
- }
- pbuf += sprintf(pbuf, "\n search range: %d",
- bSearchRange);
- pbuf += sprintf(pbuf, "\n board options: %d",
- bBoardOptions);
- pbuf += sprintf(pbuf, "\n board serial #: %ld",
- iiSerialNumber);
- pbuf += sprintf(pbuf, "\n build date/hour: %02d/%02d/%02d %02d:00",
- bBuildDay, bBuildMonth, bBuildYear, bBuildHour);
- pbuf += sprintf(pbuf, "\n osc offset: %.3f PPM (%.0f Hz)",
- fOscOffset/1575.42, fOscOffset);
- pbuf += sprintf(pbuf, "\n test code: %d",
- iTestCodeId);
- }
- /* 0x8F42 */
- static void rpt_8F42(TSIPPKT *rpt)
- {
- unsigned char
- bProdOptionsPre,
- bProdNumberExt;
- unsigned short
- iCaseSerialNumberPre,
- iPremiumOptions,
- iMachineID,
- iKey;
- unsigned long
- iiCaseSerialNumber,
- iiProdNumber;
- if (!rpt_0x8F42(rpt,
- &bProdOptionsPre,
- &bProdNumberExt,
- &iCaseSerialNumberPre,
- &iiCaseSerialNumber,
- &iiProdNumber,
- &iPremiumOptions,
- &iMachineID,
- &iKey))
- {
- parsed = BADLEN_PARSE;
- return;
- }
- pbuf += sprintf(pbuf, "\nProduct ID 8F42");
- pbuf += sprintf(pbuf, "\n extension: %d", bProdNumberExt);
- pbuf += sprintf(pbuf, "\n case serial # prefix: %d", iCaseSerialNumberPre);
- pbuf += sprintf(pbuf, "\n case serial #: %ld", iiCaseSerialNumber);
- pbuf += sprintf(pbuf, "\n prod. #: %ld", iiProdNumber);
- pbuf += sprintf(pbuf, "\n premium options: %Xh", iPremiumOptions);
- pbuf += sprintf(pbuf, "\n machine ID: %d", iMachineID);
- pbuf += sprintf(pbuf, "\n key: %Xh", iKey);
- }
- /* 0x8F45 */
- static void rpt_8F45(TSIPPKT *rpt)
- {
- unsigned char bSegMask;
- if (!rpt_0x8F45(rpt,
- &bSegMask))
- {
- parsed = BADLEN_PARSE;
- return;
- }
- pbuf += sprintf(pbuf, "\nCleared Segment Mask: %Xh", bSegMask);
- }
- static void rpt_8F4A(TSIPPKT *rpt)
- /* Stinger PPS def */
- {
- unsigned char
- pps_enabled,
- pps_timebase,
- pps_polarity;
- float
- bias_unc_threshold;
- double
- pps_offset;
- if (rpt_0x8F4A_16 (rpt,
- &pps_enabled,
- &pps_timebase,
- &pps_polarity,
- &pps_offset,
- &bias_unc_threshold))
- {
- parsed = BADLEN_PARSE;
- return;
- }
- pbuf += sprintf(pbuf, "\nPPS is %s", pps_enabled?"enabled":"disabled");
- pbuf += sprintf(pbuf, "\n timebase: %s", PPSTimeBaseText[pps_timebase]);
- pbuf += sprintf(pbuf, "\n polarity: %s", PPSPolarityText[pps_polarity]);
- pbuf += sprintf(pbuf, "\n offset: %.1f ns, ", pps_offset*1.e9);
- pbuf += sprintf(pbuf, "\n biasunc: %.1f ns", bias_unc_threshold/GPS_C*1.e9);
- }
- static void rpt_8F4B(TSIPPKT *rpt)
- /* fast-SA decorrolation time for self-survey */
- {
- unsigned long
- decorr_max;
- if (rpt_0x8F4B(rpt, &decorr_max))
- {
- parsed = BADLEN_PARSE;
- return;
- }
- pbuf += sprintf(pbuf,
- "\nMax # of position fixes for self-survey : %ld",
- decorr_max);
- }
- static void rpt_8F4D(TSIPPKT *rpt)
- {
- static char
- *linestart;
- unsigned long
- OutputMask;
- static unsigned long
- MaskBit[] = {
- 0x00000001, 0x00000002, 0x00000004, 0x00000008, 0x00000010, 0x00000020,
- 0x00000100L, 0x00000800L, 0x00001000L,
- 0x40000000L, 0x80000000L};
- int
- ichoice,
- numchoices;
- if (rpt_0x8F4D(rpt, &OutputMask))
- {
- parsed = BADLEN_PARSE;
- return;
- }
- pbuf += sprintf(pbuf, "\nAuto-Report Mask: %02X %02X %02X %02X",
- (unsigned char)(OutputMask>>24),
- (unsigned char)(OutputMask>>16),
- (unsigned char)(OutputMask>>8),
- (unsigned char)OutputMask);
- numchoices = sizeof(MaskText)/sizeof(char*);
- pbuf += sprintf(pbuf, "\nAuto-Reports scheduled for Output:");
- linestart = pbuf;
- for (ichoice=0; ichoice<numchoices; ichoice++)
- {
- if (OutputMask&MaskBit[ichoice])
- {
- pbuf += sprintf(pbuf, "%s %s",
- (pbuf==linestart)?"\n ":",",
- MaskText[ichoice]);
- if (pbuf-linestart > 60) linestart = pbuf;
- }
- }
- pbuf += sprintf(pbuf, "\nAuto-Reports NOT scheduled for Output:");
- linestart = pbuf;
- for (ichoice=0; ichoice<numchoices; ichoice++)
- {
- if (OutputMask&MaskBit[ichoice]) continue;
- pbuf += sprintf(pbuf, "%s %s",
- (pbuf==linestart)?"\n ":",",
- MaskText[ichoice]);
- if (pbuf-linestart > 60) linestart = pbuf;
- }
- }
- static void rpt_8FA5(TSIPPKT *rpt)
- {
- unsigned char
- spktmask[4];
- if (rpt_0x8FA5(rpt, spktmask))
- {
- parsed = BADLEN_PARSE;
- return;
- }
- pbuf += sprintf(pbuf, "\nSuperpacket auto-output mask: %02X %02X %02X %02X",
- spktmask[0], spktmask[1], spktmask[2], spktmask[3]);
- if (spktmask[0]&0x01) pbuf+= sprintf (pbuf, "\n PPS 8F-0B");
- if (spktmask[0]&0x02) pbuf+= sprintf (pbuf, "\n Event 8F-0B");
- if (spktmask[0]&0x10) pbuf+= sprintf (pbuf, "\n PPS 8F-AD");
- if (spktmask[0]&0x20) pbuf+= sprintf (pbuf, "\n Event 8F-AD");
- if (spktmask[2]&0x01) pbuf+= sprintf (pbuf, "\n ppos Fix 8F-20");
- }
- static void rpt_8FAD (TSIPPKT *rpt)
- {
- unsigned short
- Count,
- Year;
- double
- FracSec;
- unsigned char
- Hour,
- Minute,
- Second,
- Day,
- Month,
- Status,
- Flags;
- static char* Status8FADText[] = {
- "CODE_DOING_FIXES",
- "CODE_GOOD_1_SV",
- "CODE_APPX_1SV",
- "CODE_NEED_TIME",
- "CODE_NEED_INITIALIZATION",
- "CODE_PDOP_HIGH",
- "CODE_BAD_1SV",
- "CODE_0SVS",
- "CODE_1SV",
- "CODE_2SVS",
- "CODE_3SVS",
- "CODE_NO_INTEGRITY",
- "CODE_DCORR_GEN",
- "CODE_OVERDET_CLK",
- "Invalid Status"},
- *LeapStatusText[] = {
- " UTC Avail", " ", " ", " ",
- " Scheduled", " Pending", " Warning", " In Progress"};
- int i;
- if (rpt_0x8FAD (rpt,
- &Count,
- &FracSec,
- &Hour,
- &Minute,
- &Second,
- &Day,
- &Month,
- &Year,
- &Status,
- &Flags))
- {
- parsed = BADLEN_PARSE;
- return;
- }
- pbuf += sprintf(pbuf, "\n8FAD Count: %d Status: %s",
- Count, Status8FADText[Status]);
- pbuf += sprintf(pbuf, "\n Leap Flags:");
- if (Flags)
- {
- for (i=0; i<8; i++)
- {
- if (Flags&(1<<i)) pbuf += sprintf(pbuf, LeapStatusText[i]);
- }
- }
- else
- {
- pbuf += sprintf(pbuf, " UTC info not available");
- }
- pbuf += sprintf(pbuf, "\n %02d/%02d/%04d (DMY) %02d:%02d:%02d.%09ld UTC",
- Day, Month, Year, Hour, Minute, Second, (long)(FracSec*1.e9));
- }
- int print_msg_table_header (int rptcode, char *HdrStr, int force)
- {
- /* force header is to help auto-output function */
- /* last_rptcode is to determine whether to print a header */
- /* for the first occurrence of a series of reports */
- static int
- last_rptcode = 0;
- int
- numchars;
- numchars = 0;
- if (force || rptcode!=last_rptcode)
- {
- /* supply a header in console output */
- switch (rptcode)
- {
- case 0x5A:
- numchars = sprintf(HdrStr, "\nRaw Measurement Data");
- numchars += sprintf(HdrStr+numchars,
- "\n SV Sample SNR Code Phase Doppler Seconds Time of Meas");
- break;
- case 0x5B:
- numchars = sprintf(HdrStr, "\nEphemeris Status");
- numchars += sprintf(HdrStr+numchars,
- "\n SV Time collected Health IODE t oe Fit URA");
- break;
- case 0x5C:
- numchars = sprintf(HdrStr, "\nTracking Info");
- numchars += sprintf(HdrStr+numchars,
- "\n SV C Acq Eph SNR Time of Meas Elev Azim ");
- break;
- }
- }
- last_rptcode = rptcode;
- return (short)numchars;
- }
- static void unknown_rpt (TSIPPKT *rpt)
- {
- int i;
- /* app-specific rpt packets */
- if (parsed == BADLEN_PARSE)
- {
- pbuf += sprintf(pbuf, "\nTSIP report packet ID %2Xh, length %d: Bad length",
- rpt->code, rpt->len);
- }
- if (parsed == BADID_PARSE)
- {
- pbuf += sprintf(pbuf,
- "\nTSIP report packet ID %2Xh, length %d: translation not supported",
- rpt->code, rpt->len);
- }
- if (parsed == BADDATA_PARSE)
- {
- pbuf += sprintf(pbuf,
- "\nTSIP report packet ID %2Xh, length %d: data content incorrect",
- rpt->code, rpt->len);
- }
- for (i = 0; i < rpt->len; i++) {
- if ((i % 20) == 0) *pbuf++ = '\n';
- pbuf += sprintf(pbuf, " %02X", rpt->buf[i]);
- }
- }
- /**/
- /*
- ** main subroutine, called from ProcessInputBytesWhileWaitingForKBHit()
- */
- void TranslateTSIPReportToText (TSIPPKT *rpt, char *TextOutputBuffer)
- {
- /* pbuf is the pointer to the current location of the text output */
- pbuf = TextOutputBuffer;
- /* keep track of whether the message has been successfully parsed */
- parsed = GOOD_PARSE;
- /* print a header if this is the first of a series of messages */
- pbuf += print_msg_table_header (rpt->code, pbuf, FALSE);
- /* process incoming TSIP report according to code */
- switch (rpt->code)
- {
- case 0x3D: rpt_chan_A_config (rpt); break;
- case 0x40: rpt_almanac_data_page (rpt); break;
- case 0x41: rpt_GPS_time (rpt); break;
- case 0x42: rpt_single_ECEF_position (rpt); break;
- case 0x43: rpt_single_ECEF_velocity (rpt); break;
- case 0x45: rpt_SW_version (rpt); break;
- case 0x46: rpt_rcvr_health (rpt); break;
- case 0x47: rpt_SNR_all_SVs (rpt); break;
- case 0x48: rpt_GPS_system_message (rpt); break;
- case 0x49: rpt_almanac_health_page (rpt); break;
- case 0x4A: switch (rpt->len) {
- /*
- ** special case (=slip-up) in the TSIP protocol;
- ** parsing method depends on length
- */
- case 20: rpt_single_lla_position (rpt); break;
- case 9: rpt_ref_alt (rpt); break;
- } break;
- case 0x4B: rpt_rcvr_id_and_status (rpt);break;
- case 0x4C: rpt_operating_parameters (rpt); break;
- case 0x4D: rpt_oscillator_offset (rpt); break;
- case 0x4E: rpt_GPS_time_set_response (rpt); break;
- case 0x4F: rpt_UTC_offset (rpt); break;
- case 0x54: rpt_1SV_bias (rpt); break;
- case 0x55: rpt_io_opt (rpt); break;
- case 0x56: rpt_ENU_velocity (rpt); break;
- case 0x57: rpt_last_fix_info (rpt); break;
- case 0x58: rpt_GPS_system_data (rpt); break;
- case 0x59: rpt_SVs_enabled (rpt); break;
- case 0x5A: rpt_raw_msmt (rpt); break;
- case 0x5B: rpt_SV_ephemeris_status (rpt); break;
- case 0x5C: rpt_SV_tracking_status (rpt); break;
- case 0x6D: rpt_allSV_selection (rpt); break;
- case 0x82: rpt_DGPS_position_mode (rpt); break;
- case 0x83: rpt_double_ECEF_position (rpt); break;
- case 0x84: rpt_double_lla_position (rpt); break;
- case 0xBB: rpt_complete_rcvr_config (rpt); break;
- case 0xBC: rpt_rcvr_serial_port_config (rpt); break;
- case 0x8F: switch (rpt->buf[0])
- {
- /* superpackets; parsed according to subcodes */
- case 0x0B: rpt_8F0B(rpt); break;
- case 0x14: rpt_8F14(rpt); break;
- case 0x15: rpt_8F15(rpt); break;
- case 0x20: rpt_8F20(rpt); break;
- case 0x41: rpt_8F41(rpt); break;
- case 0x42: rpt_8F42(rpt); break;
- case 0x45: rpt_8F45(rpt); break;
- case 0x4A: rpt_8F4A(rpt); break;
- case 0x4B: rpt_8F4B(rpt); break;
- case 0x4D: rpt_8F4D(rpt); break;
- case 0xA5: rpt_8FA5(rpt); break;
- case 0xAD: rpt_8FAD(rpt); break;
- default: parsed = BADID_PARSE; break;
- }
- break;
- default: parsed = BADID_PARSE; break;
- }
- if (parsed != GOOD_PARSE)
- {
- /*
- **The message has TSIP structure (DLEs, etc.)
- ** but could not be parsed by above routines
- */
- unknown_rpt (rpt);
- }
- /* close TextOutputBuffer */
- pbuf = '\0';
- }
- #endif /* TRIMBLE_OUTPUT_FUNC */
- #else /* defined(REFCLOCK) && defined(CLOCK_RIPENCC) */
- int refclock_ripencc_bs;
- #endif /* defined(REFCLOCK) && defined(CLOCK_RIPENCC) */