diff options
| -rw-r--r-- | Makefile.am | 3 | ||||
| -rw-r--r-- | NEWS | 4 | ||||
| -rw-r--r-- | gpsmon.c | 1 | ||||
| -rw-r--r-- | monitor_oncore.c | 373 |
4 files changed, 378 insertions, 3 deletions
diff --git a/Makefile.am b/Makefile.am index 92cd47d3..b656b992 100644 --- a/Makefile.am +++ b/Makefile.am @@ -117,7 +117,8 @@ lcdgps_LDADD = $(LIBM) libgps.la -lm # Build gpsmon # gpsmon_SOURCES = gpsmon.c monitor_nmea.c monitor_sirf.c \ - monitor_italk.c monitor_ubx.c monitor_superstar2.c + monitor_italk.c monitor_ubx.c monitor_superstar2.c \ + monitor_oncore.c gpsmon_LDADD = $(LIBM) $(NCURSES_LIBS) libgps.la -lm $(LIBPTHREAD) # @@ -6,8 +6,8 @@ vendor cooperation than we're likely to get. gpsdecode can now dump records in JSON (JavaScript Object Format). Increase major version of shared library due to significant API change. Added new driver for - Motorola Oncore receivers. Gpsd can now connect to remote gpsds via a - gpsd:// url. + Motorola Oncore receivers, with help from Håkan Johansson. Gpsd can + now connect to remote gpsds via a gpsd:// url. * Wed Mar 18 2009 Eric S. Raymond <esr@snark.thyrsus.com> - 2.39 Fixed potential core dump in C client handling of "K" responses. @@ -58,6 +58,7 @@ extern int netlib_connectsock(const char *, const char *, const char *); extern struct monitor_object_t nmea_mmt, sirf_mmt, garmin_mmt, ashtech_mmt; extern struct monitor_object_t italk_mmt, ubx_mmt, superstar2_mmt; extern struct monitor_object_t fv18_mmt, gpsclock_mmt, mkt3301_mmt; +extern struct monitor_object_t oncore_mmt; /* These are public */ struct gps_device_t session; diff --git a/monitor_oncore.c b/monitor_oncore.c new file mode 100644 index 00000000..ba43f1e6 --- /dev/null +++ b/monitor_oncore.c @@ -0,0 +1,373 @@ +/* $Id$ */ +/* + * OnCore object for the GPS packet monitor. + */ +#include <stdio.h> +#include <stdlib.h> +#include <string.h> +#include <math.h> +#include <ctype.h> +#ifndef S_SPLINT_S +#include <unistd.h> +#endif /* S_SPLINT_S */ +#include <stdarg.h> +#include <stdbool.h> +#include <assert.h> + +#include "gpsd_config.h" +#ifdef HAVE_NCURSES_H +#include <ncurses.h> +#else +#include <curses.h> +#endif /* HAVE_NCURSES_H */ +#include "gpsd.h" + +#include "bits.h" +#include "gpsmon.h" + +#if defined(ONCORE_ENABLE) && defined(BINARY_ENABLE) +extern const struct gps_type_t oncore_binary; + +static WINDOW *Ea1win, *Eawin, *Bbwin, *Enwin; +static unsigned char EaSVlines[8]; + +static const char *antenna[] = +{ + "OK (conn)", + "OC (short)", + "UC (open)", + "OU (short)" +}; + +static const char *sv_mode[] = +{ + "srch", + "acq", + "AGCs", + "pacq", + "bits", + "msgs", + "satT", + "epha", + "avl" +}; + +static const char *pps_ctrl[] = +{ + "off", + "on", + "on if >= 1 SV", + "on if TRAIM ok" +}; + +static const char *pps_sync[] = +{ + "UTC", + "GPS" +}; + +static const char *traim_sol[] = +{ + "OK", + "ALARM", + "UNKNOWN" +}; + +static const char *traim_status[] = +{ + "detect & isolate", + "detect", + "insufficient" +}; + +#define ONCTYPE(id2,id3) ((((unsigned int)id2)<<8)|(id3)) + +#define MAXTRACKSATS 8 /* the most satellites being tracked */ +#define MAXVISSATS 12 /* the most satellites with known az/el */ + +static bool oncore_initialize(void) +{ + unsigned int i; + + /*@ -onlytrans @*/ + Ea1win = subwin(devicewin, 5, 80, 1, 0); + Eawin = subwin(devicewin, MAXTRACKSATS+3, 27, 6, 0); + Bbwin = subwin(devicewin, MAXVISSATS+3, 22, 6, 28); + Enwin = subwin(devicewin, 10, 9, 6, 51); + /*@ +onlytrans @*/ + + if (Ea1win==NULL || Eawin==NULL || Bbwin==NULL || Enwin==NULL) + return false; + + (void)syncok(Ea1win,true); + (void)syncok(Eawin, true); + (void)syncok(Bbwin, true); + (void)syncok(Enwin, true); + + (void)wborder(Ea1win, 0, 0, 0, 0, 0, 0, 0, 0), + (void)wattrset(Ea1win, A_BOLD); + (void)mvwaddstr(Ea1win, 1, 1, "Time: Lat: Lon:"); + (void)mvwaddstr(Ea1win, 2, 1, "Antenna: DOP: Speed: Course:"); + (void)mvwaddstr(Ea1win, 3, 1, "SV/vis: Status: Alt:"); + (void)mvwprintw(Ea1win, 4, 4, " @@Ea (pos) "); + (void)wattrset(Ea1win, A_NORMAL); + + (void)wborder(Eawin, 0, 0, 0, 0, 0, 0, 0, 0), + (void)wattrset(Eawin, A_BOLD); + (void)mvwprintw(Eawin, 1, 1, "Ch PRN mode S/N ????????"); + (void)mvwprintw(Eawin, 10, 4, " @@Ea (sat) "); + for (i = 0; i < 8; i++) { + (void)mvwprintw(Eawin, (int)(i+2), 1, "%2d",i); + } + (void)wattrset(Eawin, A_NORMAL); + + (void)wborder(Bbwin, 0, 0, 0, 0, 0, 0, 0, 0), + (void)wattrset(Bbwin, A_BOLD); + (void)mvwprintw(Bbwin, 1, 1, "PRN Az El doppl ??"); + (void)mvwprintw(Bbwin, 14, 4, " @@Bb "); + (void)wattrset(Bbwin, A_NORMAL); + + (void)wborder(Enwin, 0, 0, 0, 0, 0, 0, 0, 0), + (void)wattrset(Enwin, A_BOLD); + (void)mvwprintw(Enwin, 1, 1, "Time RAIM: "); + (void)mvwprintw(Enwin, 2, 1, "Alarm limit:"); + (void)mvwprintw(Enwin, 3, 1, "PPS ctrl:"); + (void)mvwprintw(Enwin, 4, 1, "Pulse:"); + (void)mvwprintw(Enwin, 5, 1, "PPS sync:"); + (void)mvwprintw(Enwin, 6, 1, "TRAIM sol stat:"); + (void)mvwprintw(Enwin, 7, 1, "Status:"); + (void)mvwprintw(Enwin, 8, 1, "Time sol sigma:"); + (void)mvwprintw(Enwin, 9, 4, " @@En "); + (void)wattrset(Enwin, A_NORMAL); + + memset(EaSVlines, 0, sizeof(EaSVlines)); + + return true; +} + +static void oncore_update(void) +{ + unsigned int i, j, off; + unsigned char *buf; + unsigned int type; + + assert(Eawin != NULL); + buf = session.packet.outbuffer; + type = ONCTYPE(buf[2],buf[3]); + switch (type) + { + case ONCTYPE('E','a'): + { + double lat, lon, alt; + float speed, track; + float dop; + unsigned short year; + unsigned char mon, day, hour, min, sec; + unsigned int nsec; + unsigned char dopt, nvis, nsat, status; + char statusbuf[64]; /* 6+9+3+3+10+5+7+12+1=56 */ + + mon = getub(buf, 4); + day = getub(buf, 5); + year = getbeuw(buf, 6); + hour = getub(buf, 8); + min = getub(buf, 9); + sec = getub(buf, 10); + nsec = getbeul(buf, 11); + + lat = getbesl(buf, 15) / 3600000.0; + lon = getbesl(buf, 19) / 3600000.0; + alt = getbesl(buf, 23) / 100.0; + speed = (float)(getbeuw(buf, 31) / 100.0); + track = (float)(getbeuw(buf, 33) / 10.0); + dop = (float)(getbeuw(buf, 35) / 1.0); + dopt = getub(buf, 37); + nvis = getub(buf, 38); + nsat = getub(buf, 39); + status = getub(buf, 72); + + (void)mvwprintw(Ea1win, 1, 7, "%04d-%02d-%02d %02d:%02d:%02d.%09d", + year,mon,day,hour,min,sec,nsec); + (void)mvwprintw(Ea1win, 1, 48, "%9.6lf %c", + fabs(lat),lat < 0 ? 'S' : lat > 0 ? 'N' : ' '); + (void)mvwprintw(Ea1win, 1, 67, "%9.6lf %c", + fabs(lon),lat < 0 ? 'W' : lon > 0 ? 'E' : ' '); + + (void)mvwprintw(Ea1win, 2, 50, "%6.2f m/s",speed); + (void)mvwprintw(Ea1win, 2, 70, "%5.1f",track); + (void)mvwprintw(Ea1win, 3, 68, "%8.2f m",alt); + + /*@ -predboolothers @*/ + (void)snprintf (statusbuf, sizeof (statusbuf), "%s%s%s%s%s%s%s%s", + status & 0x80 ? "PProp " : "", + status & 0x40 ? "PoorGeom " : "", + status & 0x20 ? "3D " : "", + status & 0x10 ? "2D " : "", + status & 0x08 ? "Acq/PHold " : "", + status & 0x04 ? "Diff " : "", + status & 0x02 ? "Ins (<3 SV) " : "", + status & 0x01 ? "BadAlm " : ""); + /*@ +predboolothers @*/ + + (void)mvwprintw(Ea1win, 3, 24, "%-37s",statusbuf); + + (void)mvwprintw(Ea1win, 2, 10, "%-10s",antenna[dopt >> 6]); + + /*@ -predboolothers @*/ + (void)mvwprintw(Ea1win, 2, 27, "%s %4.1f", + dopt & 1 ? "hdop" : "pdop", + dop); + /*@ +predboolothers @*/ + + (void)mvwprintw(Ea1win, 3, 10, "%d/%d ",nsat,nvis); + } + + for (i = 0; i < 8; i++) { + unsigned char sv, mode, sn, status; + + off = 40 + 4 * i; + sv = getub(buf, off); + mode = getub(buf, off+1); + sn = getub(buf, off+2); + status = getub(buf, off+3); + (void)wmove(Eawin, (int)(i+2), 3); + (void)wprintw(Eawin, " %3d",sv); + EaSVlines[i] = sv; + if (mode <= (unsigned char) 8) + (void)wprintw(Eawin, " %4s",sv_mode[mode]); + else + (void)wprintw(Eawin, " -"); + (void)wprintw(Eawin, " %3d",sn); + /*@ -predboolothers @*/ + (void)wprintw(Eawin, " %c%c%c%c%c%c%c%c", + (status & 0x80) ? 'p' : ' ', /* used for pos fix */ + (status & 0x40) ? 'M' : ' ', /* momentum alert */ + (status & 0x20) ? 's' : ' ', /* anti-spoof */ + (status & 0x10) ? 'U' : ' ', /* unhealthy */ + (status & 0x08) ? 'I' : ' ', /* inaccurate */ + (status & 0x04) ? 'S' : ' ', /* spare */ + (status & 0x02) ? 't' : ' ', /* used for time sol */ + (status & 0x01) ? 'P' : ' '); /* parity error */ + /*@ +predboolothers @*/ + } + + monitor_log("Ea ="); + break; + + case ONCTYPE('B','b'): + { + unsigned int Bblines[12]; + unsigned int Bblines_mask; + unsigned int next_line; + unsigned char sv; + unsigned int ch; + + ch = (unsigned int)getub(buf, 4); + if (ch > 12) + ch = 12; + /* Try to align the entries for each SV of the Bb message at + * the same lines as in the Ea message. + */ + memset(Bblines, 0, sizeof(Bblines)); + Bblines_mask = 0; + for (i = 0; i < ch; i++) { + off = 5 + 7 * i; + sv = getub(buf, off); + /*@ -boolops @*/ + for (j = 0; j < 8; j++) + if (EaSVlines[j] == sv && + !(Bblines_mask & (1 << j))) { + Bblines[i] = j+2; + Bblines_mask |= 1 << Bblines[i]; + } + /*@ +boolops @*/ + } + /* SVs not seen in Ea fill lines left over. */ + next_line = 2; + for (i = 0; i < ch; i++) { + if (Bblines[i] == 0) { + while (Bblines_mask & (1 << next_line)) + next_line++; + Bblines[i] = next_line++; + } + } + /* Ready to print on precalculated lines. */ + for (i = 0; i < ch; i++) { + int doppl, el, az, health; + + off = 5 + 7 * i; + sv = getub(buf, off); + doppl = (int)getbesw(buf, off+1); + el = (int)getub(buf, off+3); + az = (int)getbeuw(buf, off+4); + health = (int)getub(buf, off+5); + + (void)wmove(Bbwin, (int)Bblines[i], 1); + (void)wprintw(Bbwin, "%3d %3d %2d %5d", + sv,az,el,doppl, + (health & 0x02) ? 'U' : ' ', /* unhealthy */ + (health & 0x01) ? 'R' : ' '); /* removed */ + } + } + + monitor_log("Bb ="); + break; + + case ONCTYPE('E','n'): + { + unsigned char traim, ctrl, pulse, sync, sol_stat, status; + float alarm, sigma; + + traim = getub(buf, 5); + alarm = (float)(getbeuw(buf, 6) / 10.); + ctrl = getub(buf, 8); + pulse = getub(buf, 9); + sync = getub(buf, 10); + sol_stat = getub(buf, 11); + status = getub(buf, 12); + sigma = (float)(getbeuw(buf, 13)); + + /*@ -predboolothers @*/ + (void)mvwprintw(Enwin, 1, 24, "%3s",traim ? "on" : "off"); + (void)mvwprintw(Enwin, 2, 18, "%6.1f us",alarm); + (void)mvwprintw(Enwin, 3, 13, "%14s",pps_ctrl[ctrl],ctrl); + (void)mvwprintw(Enwin, 4, 24, "%3s",pulse ? "on" : "off"); + (void)mvwprintw(Enwin, 5, 24, "%3s",pps_sync[sync]); + (void)mvwprintw(Enwin, 6, 20, "%7s",traim_sol[sol_stat]); + (void)mvwprintw(Enwin, 7, 11, "%16s",traim_status[status]); + (void)mvwprintw(Enwin, 8, 18, "%6.3f us",sigma); + /*@ +predboolothers @*/ + } + + monitor_log("En ="); + break; + + default: + monitor_log("%c%c =", buf[2], buf[3]); + break; + } +} + +static int oncore_command(char line[] UNUSED) +{ + return COMMAND_UNKNOWN; +} + +static void oncore_wrap(void) +{ + (void)delwin(Ea1win); + (void)delwin(Eawin); + (void)delwin(Bbwin); + (void)delwin(Enwin); +} + +const struct monitor_object_t oncore_mmt = { + .initialize = oncore_initialize, + .update = oncore_update, + .command = oncore_command, + .wrap = oncore_wrap, + .min_y = 20, .min_x = 80, /* size of the device window */ + .driver = &oncore_binary, +}; + +#endif /* defined(ONCORE_ENABLE) && defined(BINARY_ENABLE) */ |