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-rw-r--r--evermore.c2
-rw-r--r--gps.h1
-rw-r--r--gpsd.c22
-rw-r--r--gpsd.h-tail2
-rw-r--r--libgpsd_core.c83
-rw-r--r--navcom.c6
-rw-r--r--netlib.c2
-rw-r--r--serial.c10
-rw-r--r--ubx.c4
9 files changed, 70 insertions, 62 deletions
diff --git a/evermore.c b/evermore.c
index 0d5800a8..e74a02e7 100644
--- a/evermore.c
+++ b/evermore.c
@@ -176,7 +176,7 @@ static bool evermore_write(struct gps_device_t *session, unsigned char *msg, siz
gpsd_report(LOG_IO, "writing EverMore control type 0x%02x: %s\n", msg[0],
gpsd_hexdump(stuffed, len));
#ifdef ALLOW_RECONFIGURE
- return gpsd_write(session, stuffed, len);
+ return (gpsd_write(session, stuffed, len) == len);
#else
return 0;
#endif /* ALLOW_RECONFIGURE */
diff --git a/gps.h b/gps.h
index 354db889..d0f42f6b 100644
--- a/gps.h
+++ b/gps.h
@@ -221,7 +221,6 @@ struct gps_data_t {
*/
struct gps_fix_t fix; /* accumulated PVT data */
- struct gps_fix_t oldfix; /* previous fix for error modelling */
double separation; /* Geoidal separation, MSL - WGS84 (Meters) */
diff --git a/gpsd.c b/gpsd.c
index fdaed105..6e778ea5 100644
--- a/gpsd.c
+++ b/gpsd.c
@@ -914,16 +914,16 @@ static int handle_gpsd_request(struct subscriber_t* sub, char *buf, int buflen)
sub->fixbuffer.altitude);
else
(void)strlcat(phrase, " ?", BUFSIZ);
- if (isnan(sub->device->gpsdata.fix.eph)==0)
+ if (isnan(sub->fixbuffer.eph)==0)
(void)snprintf(phrase+strlen(phrase),
sizeof(phrase)-strlen(phrase),
- " %.2f", sub->device->gpsdata.fix.eph);
+ " %.2f", sub->fixbuffer.eph);
else
(void)strlcat(phrase, " ?", BUFSIZ);
- if (isnan(sub->device->gpsdata.fix.epv)==0)
+ if (isnan(sub->fixbuffer.epv)==0)
(void)snprintf(phrase+strlen(phrase),
sizeof(phrase)-strlen(phrase),
- " %.2f", sub->device->gpsdata.fix.epv);
+ " %.2f", sub->fixbuffer.epv);
else
(void)strlcat(phrase, " ?", BUFSIZ);
if (isnan(sub->fixbuffer.track)==0)
@@ -941,23 +941,23 @@ static int handle_gpsd_request(struct subscriber_t* sub, char *buf, int buflen)
sub->fixbuffer.climb);
else
(void)strlcat(phrase, " ?", BUFSIZ);
- if (isnan(sub->device->gpsdata.fix.epd)==0)
+ if (isnan(sub->fixbuffer.epd)==0)
(void)snprintf(phrase+strlen(phrase),
sizeof(phrase)-strlen(phrase),
" %.4f",
- sub->device->gpsdata.fix.epd);
+ sub->fixbuffer.epd);
else
(void)strlcat(phrase, " ?", BUFSIZ);
- if (isnan(sub->device->gpsdata.fix.eps)==0)
+ if (isnan(sub->fixbuffer.eps)==0)
(void)snprintf(phrase+strlen(phrase),
sizeof(phrase)-strlen(phrase),
- " %.2f", sub->device->gpsdata.fix.eps);
+ " %.2f", sub->fixbuffer.eps);
else
(void)strlcat(phrase, " ?", BUFSIZ);
- if (isnan(sub->device->gpsdata.fix.epc)==0)
+ if (isnan(sub->fixbuffer.epc)==0)
(void)snprintf(phrase+strlen(phrase),
sizeof(phrase)-strlen(phrase),
- " %.2f", sub->device->gpsdata.fix.epc);
+ " %.2f", sub->fixbuffer.epc);
else
(void)strlcat(phrase, " ?", BUFSIZ);
if (sub->fixbuffer.mode > 0)
@@ -1676,6 +1676,8 @@ int main(int argc, char *argv[])
gps_merge_fix(&sub->fixbuffer,
changed,
&sub->device->gpsdata.fix);
+ gpsd_error_model(sub->device,
+ &sub->fixbuffer, &sub->oldfix);
}
}
}
diff --git a/gpsd.h-tail b/gpsd.h-tail
index 22a8f531..83317c42 100644
--- a/gpsd.h-tail
+++ b/gpsd.h-tail
@@ -363,7 +363,7 @@ extern void ntrip_report(struct gps_device_t *);
extern void gpsd_tty_init(struct gps_device_t *);
extern int gpsd_open(struct gps_device_t *);
extern bool gpsd_set_raw(struct gps_device_t *);
-extern bool gpsd_write(struct gps_device_t *, void const *, size_t);
+extern ssize_t gpsd_write(struct gps_device_t *, void const *, size_t);
extern bool gpsd_next_hunt_setting(struct gps_device_t *);
extern int gpsd_switch_driver(struct gps_device_t *, char *);
extern void gpsd_set_speed(struct gps_device_t *, speed_t, unsigned char, unsigned int);
diff --git a/libgpsd_core.c b/libgpsd_core.c
index b776bb49..89d41265 100644
--- a/libgpsd_core.c
+++ b/libgpsd_core.c
@@ -76,7 +76,6 @@ void gpsd_init(struct gps_device_t *session, struct gps_context_t *context, char
/*@ +mayaliasunique @*/
/*@ +mustfreeonly @*/
gps_clear_fix(&session->gpsdata.fix);
- gps_clear_fix(&session->gpsdata.oldfix);
session->gpsdata.set &=~ (FIX_SET | DOP_SET);
session->gpsdata.hdop = NAN;
session->gpsdata.vdop = NAN;
@@ -513,8 +512,9 @@ static void gpsd_binary_dump(struct gps_device_t *session,
#endif /* BINARY_ENABLE */
-void gpsd_error_model_fixup(struct gps_device_t *session)
-/* compute missing errors and derived quantities */
+void gpsd_error_model(struct gps_device_t *session,
+ struct gps_fix_t *fix, struct gps_fix_t *oldfix)
+/* compute errors and derived quantities */
{
/*
* Now we compute derived quantities. This is where the tricky error-
@@ -534,37 +534,42 @@ void gpsd_error_model_fixup(struct gps_device_t *session)
* the GPS clock, so we put the bound of the error
* in as a constant pending getting it from each driver.
*/
- if (isnan(session->gpsdata.fix.ept))
- session->gpsdata.fix.ept = 0.005;
-
+ if (isnan(fix->ept)!=0)
+ fix->ept = 0.005;
/* Other error computations depend on having a valid fix */
- if (session->gpsdata.fix.mode >= MODE_2D) {
- if (isnan(session->gpsdata.fix.eph) && finite(session->gpsdata.hdop))
- session->gpsdata.fix.eph = session->gpsdata.hdop * uere;
- if ((session->gpsdata.fix.mode >= MODE_3D)
- && isnan(session->gpsdata.fix.epv) && finite(session->gpsdata.vdop))
- session->gpsdata.fix.epv = session->gpsdata.vdop * uere;
- if (isnan(session->gpsdata.epe) && finite(session->gpsdata.vdop))
+ if (fix->mode >= MODE_2D) {
+ if (isnan(fix->eph)!=0 && finite(session->gpsdata.hdop)!=0)
+ fix->eph = session->gpsdata.hdop * uere;
+ else
+ fix->eph = NAN;
+ if ((fix->mode >= MODE_3D)
+ && isnan(fix->epv)!=0 && finite(session->gpsdata.vdop)!=0)
+ fix->epv = session->gpsdata.vdop * uere;
+ else
+ fix->epv = NAN;
+ if (isnan(session->gpsdata.epe)!=0 && finite(session->gpsdata.vdop)!=0)
session->gpsdata.epe = session->gpsdata.pdop * uere;
+ else
+ session->gpsdata.epe = NAN;
/*
* If we have a current fix and an old fix, and the packet handler
* didn't set the speed error and climb error members itself,
* try to compute them now.
*/
- if (isnan(session->gpsdata.fix.eps) && session->gpsdata.fix.time > session->gpsdata.oldfix.time) {
- if (session->gpsdata.oldfix.mode > MODE_NO_FIX && session->gpsdata.fix.mode > MODE_NO_FIX) {
- double t = session->gpsdata.fix.time-session->gpsdata.oldfix.time;
- double e = session->gpsdata.oldfix.eph + session->gpsdata.fix.eph;
- session->gpsdata.fix.eps = e/t;
+ if (isnan(fix->eps)!=0 && fix->time > oldfix->time) {
+ if (oldfix->mode > MODE_NO_FIX && fix->mode > MODE_NO_FIX) {
+ double t = fix->time-oldfix->time;
+ double e = oldfix->eph + fix->eph;
+ fix->eps = e/t;
}
}
- if ((session->gpsdata.fix.mode >= MODE_3D)
- && isnan(session->gpsdata.fix.epc) && session->gpsdata.fix.time > session->gpsdata.oldfix.time) {
- if (session->gpsdata.oldfix.mode >= MODE_3D && session->gpsdata.fix.mode >= MODE_3D) {
- double t = session->gpsdata.fix.time-session->gpsdata.oldfix.time;
- double e = session->gpsdata.oldfix.epv + session->gpsdata.fix.epv;
+ if ((fix->mode >= MODE_3D)
+ && isnan(fix->epc)!=0 && fix->time > oldfix->time) {
+ if (oldfix->mode > MODE_3D && fix->mode > MODE_3D) {
+ double t = fix->time-oldfix->time;
+ double e = oldfix->epv + fix->epv;
/* if vertical uncertainties are zero this will be too */
- session->gpsdata.fix.epc = e/t;
+ fix->epc = e/t;
}
/*
* We compute a track error estinate solely from the
@@ -582,26 +587,24 @@ void gpsd_error_model_fixup(struct gps_device_t *session)
* garbage, throw back NaN if the distance from the previous
* fix is less than the error estimate.
*/
- if (isnan(session->gpsdata.fix.epd)) {
- if (session->gpsdata.oldfix.mode >= MODE_2D) {
- double adj = earth_distance(
- session->gpsdata.oldfix.latitude, session->gpsdata.oldfix.longitude,
- session->gpsdata.fix.latitude, session->gpsdata.fix.longitude);
- if (isnan(adj)==0 && adj > session->gpsdata.fix.eph) {
- double opp = session->gpsdata.fix.eph;
- double hyp = sqrt(adj*adj + opp*opp);
- session->gpsdata.fix.epd = RAD_2_DEG * 2 * asin(opp / hyp);
- }
- }
+ fix->epd = NAN;
+ if (oldfix->mode >= MODE_2D) {
+ double adj = earth_distance(
+ oldfix->latitude, oldfix->longitude,
+ fix->latitude, fix->longitude);
+ if (isnan(adj)==0 && adj > fix->eph) {
+ double opp = fix->eph;
+ double hyp = sqrt(adj*adj + opp*opp);
+ fix->epd = RAD_2_DEG * 2 * asin(opp / hyp);
+ }
}
}
}
- session->gpsdata.set |= ERR_SET | SPEEDERR_SET | TRACKERR_SET | CLIMBERR_SET ;
/* save old fix for later error computations */
/*@ -mayaliasunique @*/
- if (session->gpsdata.fix.mode >= MODE_2D)
- (void)memcpy(&(session->gpsdata.oldfix), &(session->gpsdata.fix), sizeof(struct gps_fix_t));
+ if (fix->mode >= MODE_2D)
+ (void)memcpy(oldfix, fix, sizeof(struct gps_fix_t));
/*@ +mayaliasunique @*/
}
@@ -718,10 +721,8 @@ gps_mask_t gpsd_poll(struct gps_device_t *session)
/* Get data from current packet into the fix structure */
received = 0;
if (session->packet.type != COMMENT_PACKET)
- if (session->device_type != NULL && session->device_type->parse_packet!=NULL) {
+ if (session->device_type != NULL && session->device_type->parse_packet!=NULL)
received = session->device_type->parse_packet(session);
- gpsd_error_model_fixup(session);
- }
/*
* Compute fix-quality data from the satellite positions.
diff --git a/navcom.c b/navcom.c
index c067559b..dcaf6075 100644
--- a/navcom.c
+++ b/navcom.c
@@ -94,7 +94,7 @@ static u_int8_t checksum(unsigned char *buf, size_t len)
static bool navcom_send_cmd(struct gps_device_t *session, unsigned char *cmd, size_t len)
{
gpsd_report(LOG_RAW, "Navcom: command dump: %s\n", gpsd_hexdump(cmd, len));
- return gpsd_write(session, cmd, len);
+ return (gpsd_write(session, cmd, len) == (ssize_t)len);
}
/* Data Request */
@@ -194,6 +194,7 @@ static void navcom_probe_subtype(struct gps_device_t *session, unsigned int seq)
{
/* Request the following messages: */
if (seq==0) {
+ /*@ +charint @*/
navcom_cmd_0x1c(session, 0x01, 5); /* Blink LEDs on receiver */
navcom_cmd_0x20(session, 0xae, 0x1770); /* Identification Block - send every 10 min*/
navcom_cmd_0x20(session, 0xb1, 0x4000); /* PVT Block */
@@ -204,6 +205,7 @@ static void navcom_probe_subtype(struct gps_device_t *session, unsigned int seq)
navcom_cmd_0x20(session, 0x86, 0x4000); /* Channel Status */
navcom_cmd_0x20(session, 0x83, 0x4000); /* Ionosphere and UTC Data */
navcom_cmd_0x20(session, 0xef, 0x0bb8); /* Clock Drift - send every 5 min */
+ /*@ -charint @*/
}
}
@@ -223,6 +225,7 @@ static bool navcom_speed(struct gps_device_t *session, unsigned int speed)
/* We still don't know which port we're connected to */
return false;
}
+ /*@ +charint @*/
switch (speed) {
/* NOTE - The spec says that certain baud combinations
on ports A and B are not allowed, those are
@@ -256,6 +259,7 @@ static bool navcom_speed(struct gps_device_t *session, unsigned int speed)
/* Unsupported speed */
return false;
}
+ /*@ -charint @*/
/* Proceed to construct our message */
port_selection = physical_port | baud;
diff --git a/netlib.c b/netlib.c
index e0ba59a0..1b165256 100644
--- a/netlib.c
+++ b/netlib.c
@@ -65,7 +65,9 @@ int netlib_connectsock(const char *host, const char *service, const char *protoc
#ifdef IPTOS_LOWDELAY
opt = IPTOS_LOWDELAY;
+ /*@ -unrecog @*/
(void)setsockopt(s, IPPROTO_IP, IP_TOS, &opt, sizeof opt);
+ /*@ +unrecog @*/
#endif
#ifdef TCP_NODELAY
if (type == SOCK_STREAM)
diff --git a/serial.c b/serial.c
index eb876752..a1806206 100644
--- a/serial.c
+++ b/serial.c
@@ -201,16 +201,16 @@ void gpsd_set_speed(struct gps_device_t *session,
int gpsd_open(struct gps_device_t *session)
{
struct stat sb;
- mode_t mode = O_RDWR;
+ mode_t mode = (mode_t)O_RDWR;
if (device_readonly || ((stat(session->gpsdata.gps_device, &sb) != -1) && ((sb.st_mode & S_IFCHR) != S_IFCHR))){
- mode = O_RDONLY;
+ mode = (mode_t)O_RDONLY;
gpsd_report(LOG_INF, "opening read-only GPS data source at '%s'\n", session->gpsdata.gps_device);
} else {
gpsd_report(LOG_INF, "opening GPS data source at '%s'\n", session->gpsdata.gps_device);
}
- if ((session->gpsdata.gps_fd = open(session->gpsdata.gps_device, mode|O_NONBLOCK|O_NOCTTY)) < 0) {
+ if ((session->gpsdata.gps_fd = open(session->gpsdata.gps_device, (int)(mode|O_NONBLOCK|O_NOCTTY))) < 0) {
gpsd_report(LOG_ERROR, "device open failed: %s - retrying read-only\n", strerror(errno));
if ((session->gpsdata.gps_fd = open(session->gpsdata.gps_device, O_RDONLY|O_NONBLOCK|O_NOCTTY)) < 0) {
gpsd_report(LOG_ERROR, "read-only device open failed: %s\n", strerror(errno));
@@ -260,7 +260,7 @@ int gpsd_open(struct gps_device_t *session)
return session->gpsdata.gps_fd;
}
-bool gpsd_write(struct gps_device_t *session, void const *buf, size_t len)
+ssize_t gpsd_write(struct gps_device_t *session, void const *buf, size_t len)
{
ssize_t status;
bool ok;
@@ -271,7 +271,7 @@ bool gpsd_write(struct gps_device_t *session, void const *buf, size_t len)
(void)tcdrain(session->gpsdata.gps_fd);
/* no test here now, always print as hex */
gpsd_report(LOG_IO, "=> GPS: %s%s\n", gpsd_hexdump(buf, len), ok?"":" FAILED");
- return ok;
+ return status;
}
/*
diff --git a/ubx.c b/ubx.c
index 01bd5726..533f5e66 100644
--- a/ubx.c
+++ b/ubx.c
@@ -45,9 +45,9 @@ ubx_msg_nav_sol(struct gps_device_t *session, unsigned char *buf, size_t data_le
flags = getub(buf, 11);
mask = ONLINE_SET;
- if (flags & (UBX_SOL_VALID_WEEK |UBX_SOL_VALID_TIME)){
+ if ((flags & (UBX_SOL_VALID_WEEK |UBX_SOL_VALID_TIME)) != 0){
tow = getul(buf, 0);
- gw = getsw(buf, 8);
+ gw = (unsigned short)getsw(buf, 8);
gps_week = gw;
t = gpstime_to_unix(gps_week, tow/1000.0) - session->context->leap_seconds;