diff options
| -rw-r--r-- | dgpsip.c | 2 | ||||
| -rw-r--r-- | gps.h | 3 | ||||
| -rw-r--r-- | gpsfake.1 | 5 | ||||
| -rw-r--r-- | rtcm.c | 65 |
4 files changed, 41 insertions, 34 deletions
@@ -61,7 +61,7 @@ void dgpsip_relay(struct gps_device_t *session) if (session->gpsdata.gps_fd !=-1 && session->context->rtcmbytes > -1 && session->rtcmtime < session->context->rtcmtime - && session->device_type->rtcm_writer) { + && session->device_type->rtcm_writer != NULL) { if (session->device_type->rtcm_writer(session, session->context->rtcmbuf, (size_t)session->context->rtcmbytes) == 0) @@ -109,6 +109,7 @@ struct rtcm_t { unsigned ident; /* satellite ID */ unsigned udre; /* user diff. range error */ unsigned issuedata; /* issue of data */ + bool largescale; double rangerr; /* range error */ double rangerate; /* range error rate */ } sat[MAXCORRECTIONS]; @@ -134,7 +135,7 @@ struct rtcm_t { #define HEALTH_UNMONITORED (1) /* No integrity monitor operating */ #define HEALTH_NOINFO (2) /* No information available */ #define HEALTH_DONOTUSE (3) /* Do not use this radiobeacon */ - unsigned int snr; /* signal-to-noise ratio, dB */ + int snr; /* signal-to-noise ratio, dB */ #define SNR_BAD -1 /* not reported */ unsigned int health_en; /* health enabled */ bool new_data; /* new data? */ @@ -24,7 +24,7 @@ gpsfake \- test harness for gpsd, simulating a GPS .ad l .hy 0 .HP 8 -\fBgpsfake\fR [\-h] [\-b] [\-c\ \fIinterval\fR] [\-D\ \fIdebuglevel\fR] [\-l] [\-m\ \fImonitor\fR] [\-o\ \fIoptions\fR] [\-p] [\-s\ \fIspeed\fR] [\fIlogfile\fR] +\fBgpsfake\fR [\-h] [\-b] [\-c\ \fIinterval\fR] [\-i] [\-D\ \fIdebuglevel\fR] [\-l] [\-m\ \fImonitor\fR] [\-o\ \fIoptions\fR] [\-p] [\-s\ \fIspeed\fR] [\fIlogfile\fR] .ad .hy @@ -54,6 +54,9 @@ The \-c option sets the delay between sentences in seconds\&. Fractional values The \-l option makes the program dump a line or packet number just before each sentence is fed to the daemon\&. If the sentence is textual (e\&.g\&. NMEA, the text is dumped as well)\&. .PP +The \-i option is for single\-stepping through logfiles\&. It dumps the line or packet number (and the sentence if the protocol is textual) followed by "? "\&. Only when the user keys Enter is the line actually fed to gpsd\&. + +.PP The \-m option specifies a monitor program inside which the daemon should be run\&. This option is intended to be used with \fBvalgrind\fR(1), \fBgdb\fR(1) and similar programs\&. .PP @@ -213,8 +213,8 @@ void rtcm_init(/*@out@*/struct gps_device_t *session) #define XYZ_SCALE 0.01 /* meters */ #define DXYZ_SCALE 0.1 /* meters */ -#define LA_SCALE 90.0/32767.0 /* degrees */ -#define LO_SCALE 180.0/32767.0 /* degrees */ +#define LA_SCALE (90.0/32767.0) /* degrees */ +#define LO_SCALE (180.0/32767.0) /* degrees */ #define FREQ_SCALE 0.1 /* kHz */ #define FREQ_OFFSET 190.0 /* kHz */ #define CNR_OFFSET 24 /* dB */ @@ -497,6 +497,7 @@ static void unpack(struct gps_device_t *session) tp->ranges.sat[n].ident = unsigned5(m->w3.satident1); tp->ranges.sat[n].udre = unsigned2(m->w3.udre1); tp->ranges.sat[n].issuedata = unsigned8(m->w4.issuedata1); + tp->ranges.sat[n].largescale = (bool)m->w3.scale1; tp->ranges.sat[n].rangerr = signed16(m->w3.pc1) * (m->w3.scale1 ? PCLARGE : PCSMALL); tp->ranges.sat[n].rangerate = signed8(m->w4.rangerate1) * @@ -507,6 +508,7 @@ static void unpack(struct gps_device_t *session) tp->ranges.sat[n].ident = unsigned5(m->w4.satident2); tp->ranges.sat[n].udre = unsigned2(m->w4.udre2); tp->ranges.sat[n].issuedata = unsigned8(m->w6.issuedata2); + tp->ranges.sat[n].largescale = (bool)m->w4.scale2; tp->ranges.sat[n].rangerr = signed16(m->w5.pc2) * (m->w4.scale2 ? PCLARGE : PCSMALL); tp->ranges.sat[n].rangerate = signed8(m->w5.rangerate2) * @@ -517,6 +519,7 @@ static void unpack(struct gps_device_t *session) tp->ranges.sat[n].ident = unsigned5(m->w6.satident3); tp->ranges.sat[n].udre = unsigned2(m->w6.udre3); tp->ranges.sat[n].issuedata = unsigned8(m->w7.issuedata3); + tp->ranges.sat[n].largescale = (bool)m->w6.scale3; /*@ -shiftimplementation @*/ tp->ranges.sat[n].rangerr = ((signed8(m->w6.pc3_h)<<8)|(unsigned8(m->w7.pc3_l))) * (m->w6.scale3 ? PCLARGE : PCSMALL); @@ -632,7 +635,6 @@ static void unpack(struct gps_device_t *session) } } -#ifdef __UNUSED__ static void repack(struct gps_device_t *session) /* repack the content fields into the raw bits */ { @@ -644,7 +646,7 @@ static void repack(struct gps_device_t *session) memset(session->rtcm.buf, 0, sizeof(session->rtcm.buf)); msg->w1.msgtype = unsigned6(tp->type); msg->w2.frmlen = unsigned5(tp->length); - msg->w2.zcnt = unsigned13(tp->zcount / ZCOUNT_SCALE); + msg->w2.zcnt = unsigned13((unsigned)(tp->zcount / ZCOUNT_SCALE)); msg->w1.refstaid = unsigned10(tp->refstaid); msg->w2.sqnum = unsigned3(tp->seqnum); msg->w2.stathlth = unsigned3(tp->stathlth); @@ -662,30 +664,28 @@ static void repack(struct gps_device_t *session) m->w3.satident1 = unsigned5(tp->ranges.sat[n].ident); m->w3.udre1 = unsigned2(tp->ranges.sat[n].udre); m->w4.issuedata1 = unsigned8(tp->ranges.sat[n].issuedata); - //tp->ranges.sat[n].rangerr = signed16(m->w3.pc1) * - // (m->w3.scale1 ? PCLARGE : PCSMALL); - //tp->ranges.sat[n].rangerate = signed8(m->w4.rangerate1) * - // (m->w3.scale1 ? RRLARGE : RRSMALL); + m->w3.scale1 = (unsigned)tp->ranges.sat[n].largescale; + m->w3.pc1 = (int)(signed16(tp->ranges.sat[n].rangerr) / (m->w3.scale1 ? PCLARGE : PCSMALL)); + m->w4.rangerate1 = (int)(signed8(tp->ranges.sat[n].rangerate) / (m->w3.scale1 ? RRLARGE : RRSMALL)); n++; } if (len >= 4) { m->w4.satident2 = unsigned5(tp->ranges.sat[n].ident); m->w4.udre2 = unsigned2(tp->ranges.sat[n].udre); m->w6.issuedata2 = unsigned8(tp->ranges.sat[n].issuedata); - //tp->ranges.sat[n].rangerr = signed16(m->w5.pc2) * - // (m->w4.scale2 ? PCLARGE : PCSMALL); - //tp->ranges.sat[n].rangerate = signed8(m->w5.rangerate2) * - // (m->w4.scale2 ? RRLARGE : RRSMALL); + m->w4.scale2 = (unsigned)tp->ranges.sat[n].largescale; + m->w5.pc2 = (int)(signed16(tp->ranges.sat[n].rangerr) / (m->w4.scale2 ? PCLARGE : PCSMALL)); + m->w5.rangerate2 = (int)(signed8(tp->ranges.sat[n].rangerate) / (m->w4.scale2 ? RRLARGE : RRSMALL)); n++; } if (len >= 5) { m->w6.satident3 = unsigned5(tp->ranges.sat[n].ident); m->w6.udre3 = unsigned2(tp->ranges.sat[n].udre); m->w7.issuedata3 = unsigned8(tp->ranges.sat[n].issuedata); + m->w6.scale3 = (unsigned)tp->ranges.sat[n].largescale; // tp->ranges.sat[n].rangerr = ((signed8(m->w6.pc3_h)<<8)|(unsigned8(m->w7.pc3_l))) * // (m->w6.scale3 ? PCLARGE : PCSMALL); - //tp->ranges.sat[n].rangerate = signed8(m->w7.rangerate3) * - // (m->w6.scale3 ? RRLARGE : RRSMALL); + m->w7.rangerate3 = (int)(signed8(tp->ranges.sat[n].rangerate) / (m->w6.scale3 ? RRLARGE : RRSMALL)); n++; } len -= 5; @@ -714,7 +714,8 @@ static void repack(struct gps_device_t *session) struct rtcm_msg4 *m = &msg->type4; m->w3.dgnss = tp->reference.system; - m->w3.dat = (tp->reference.sense == global); + m->w3.dat = (unsigned)(tp->reference.sense == global); + /*@ -predboolothers -type @*/ if (tp->reference.datum[0]) m->w3.datum_alpha_char1 = unsigned8(tp->reference.datum[0]); else @@ -735,39 +736,40 @@ static void repack(struct gps_device_t *session) m->w4.datum_sub_div_char3 = unsigned8(tp->reference.datum[4]); else m->w4.datum_sub_div_char3 = 0; - if (tp->reference.system != invalid) { - m->w5.dx = unsigned16(tp->reference.dx / DXYZ_SCALE); + /*@ +predboolothers +type @*/ + if (tp->reference.system != unknown) { + m->w5.dx = unsigned16((uint)(tp->reference.dx / DXYZ_SCALE)); //tp->reference.dy = ((unsigned8(m->w5.dy_h) << 8) | unsigned8(m->w6.dy_l)) * DXYZ_SCALE; - m->w6.dz = unsigned24(tp->reference.dz / DXYZ_SCALE); + m->w6.dz = unsigned24((uint)(tp->reference.dz / DXYZ_SCALE)); } } break; case 5: - for (n = 0; n < len; n++) { + for (n = 0; n < (unsigned)len; n++) { struct consat_t *csp = &tp->conhealth.sat[n]; struct b_health_t *m = &msg->type5.health[n]; m->sat_id = unsigned5(csp->ident); - m->issue_of_data_link = csp->iodl !=0; + m->issue_of_data_link = (unsigned)csp->iodl; m->data_health = unsigned3(csp->health); - m->cn0 = (csp->snr == SNR_BAD) ? 0 : csp->snr - CNR_OFFSET; + m->cn0 = (csp->snr == SNR_BAD) ? 0 : (unsigned)csp->snr - CNR_OFFSET; m->health_enable = unsigned2(csp->health_en); - m->new_nav_data = csp->new_data != 0; - m->loss_warn = csp->los_warning != 0; - m->time_unhealthy = unsigned4(csp->tou / TU_SCALE); + m->new_nav_data = (unsigned)csp->new_data; + m->loss_warn = (unsigned)csp->los_warning; + m->time_unhealthy = unsigned4((unsigned)(csp->tou / TU_SCALE)); } break; case 7: for (w = 0; w < (RTCM_WORDS_MAX - 2)/ 3; w++) { struct station_t *np = &tp->almanac.station[n]; - struct b_station_t *mp = msg->type7.almanac[w]; + struct b_station_t *mp = &msg->type7.almanac[w]; - //np->latitude = signed16(mp->w3.lat) * LA_SCALE; + mp->w3.lat = signed16((int)(np->latitude / LA_SCALE)); //np->longitude = ((signed8(mp->w3.lon_h) << 8) | unsigned8(mp->w4.lon_l)) * LO_SCALE; mp->w4.range = unsigned10(np->range); //np->frequency = (((unsigned6(mp->w4.freq_h) << 6) | unsigned6(mp->w5.freq_l)) * FREQ_SCALE) + FREQ_OFFSET; mp->w5.health = unsigned2(np->health); - //np->station_id = unsigned10(mp->w5.station_id), + mp->w5.station_id = unsigned10(np->station_id); //np->bitrate = tx_speed[unsigned3(mp->w5.bit_rate)]; } tp->almanac.nentries = n; @@ -778,15 +780,15 @@ static void repack(struct gps_device_t *session) if (!tp->message[n]) { break; } - msg->type16.txt[w].byte1 = unsigned8(tp->message[n++]); + msg->type16.txt[w].byte1 = unsigned8((unsigned)tp->message[n++]); if (!tp->message[n]) { break; } - msg->type16.txt[w].byte2 = unsigned8(tp->message[n++]); + msg->type16.txt[w].byte2 = unsigned8((unsigned)tp->message[n++]); if (!tp->message[n]) { break; } - msg->type16.txt[w].byte3 = unsigned8(tp->message[n++]); + msg->type16.txt[w].byte3 = unsigned8((unsigned)tp->message[n++]); } /*@ +boolops @*/ break; @@ -794,6 +796,7 @@ static void repack(struct gps_device_t *session) /* FIXME: must compute parity and inversion here */ } +#ifdef __UNUSED__ #endif /* __UNUSED__ */ /*@ -usereleased -compdef @*/ @@ -984,7 +987,7 @@ void rtcm_dump(struct gps_device_t *session, /*@out@*/char buf[], size_t buflen) struct consat_t *csp = &session->gpsdata.rtcm.conhealth.sat[n]; (void)snprintf(buf + strlen(buf), buflen - strlen(buf), /* FIXME: turn these spaces to tabs someday */ - "C\t%2u\t%1u %1u\t%2u\t%1u %1u %1u\t%2u\n", + "C\t%2u\t%1u %1u\t%2d\t%1u %1u %1u\t%2u\n", csp->ident, (unsigned)csp->iodl, (unsigned)csp->health, |