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freebsd-skq/contrib/ntp/ntpd/refclock_ripencc.c
Ollivier Robert 9c2daa00c2 Virgin import of ntpd 4.2.0
2004-07-20 15:01:56 +00:00

4871 lines
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/*
* $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_TIMEPPS_H
# include <timepps.h>
#else /* HAVE_TIMEPPS_H */
# ifdef HAVE_SYS_TIMEPPS_H
# include <sys/timepps.h>
# endif /* HAVE_SYS_TIMEPPS_H */
#endif /* HAVE_TIMEPPS_H */
/*
* 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 = %.2f<EFBFBD>", 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) */
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