diff options
| -rw-r--r-- | driver_rtcm2.c | 30 | ||||
| -rw-r--r-- | driver_rtcm3.c | 12 | ||||
| -rw-r--r-- | gps.h | 17 |
3 files changed, 33 insertions, 26 deletions
diff --git a/driver_rtcm2.c b/driver_rtcm2.c index 8ade1238..bc2ceaff 100644 --- a/driver_rtcm2.c +++ b/driver_rtcm2.c @@ -147,9 +147,9 @@ void rtcm2_unpack(/*@out@*/struct rtcm2_t *tp, char *buf) struct rtcm2_msg4 *m = &msg->msg_type.type4; tp->msg_data.reference.system = - (m->w3.dgnss==0) ? gps : - ((m->w3.dgnss==1) ? glonass : unknown); - tp->msg_data.reference.sense = (m->w3.dat != 0) ? global : local; + (m->w3.dgnss==0) ? NAVSYSTEM_GPS : + ((m->w3.dgnss==1) ? NAVSYSTEM_GLONASS : NAVSYSTEM_UNKNOWN); + tp->msg_data.reference.sense = (m->w3.dat != 0) ? SENSE_GLOBAL : SENSE_LOCAL; if (m->w3.datum_alpha_char1){ tp->msg_data.reference.datum[n++] = (char)(m->w3.datum_alpha_char1); } @@ -171,7 +171,7 @@ void rtcm2_unpack(/*@out@*/struct rtcm2_t *tp, char *buf) tp->msg_data.reference.dy = ((m->w5.dy_h << 8) | m->w6.dy_l) * DXYZ_SCALE; tp->msg_data.reference.dz = m->w6.dz * DXYZ_SCALE; } else - tp->msg_data.reference.sense = invalid; + tp->msg_data.reference.sense = SENSE_INVALID; } break; case 5: @@ -325,7 +325,7 @@ bool rtcm2_repack(struct rtcm2_t *tp, isgps30bits_t *buf) struct rtcm2_msg4 *m = &msg->msg_type.type4; m->w3.dgnss = tp->msg_data.reference.system; - m->w3.dat = (unsigned)(tp->msg_data.reference.sense == global); + m->w3.dat = (unsigned)(tp->msg_data.reference.sense == SENSE_GLOBAL); /*@ -predboolothers -type @*/ if (tp->msg_data.reference.datum[0]) m->w3.datum_alpha_char1 = tp->msg_data.reference.datum[0]; @@ -348,7 +348,7 @@ bool rtcm2_repack(struct rtcm2_t *tp, isgps30bits_t *buf) else m->w4.datum_sub_div_char3 = 0; /*@ +predboolothers +type @*/ - if (tp->msg_data.reference.system != unknown) { + if (tp->msg_data.reference.system != NAVSYSTEM_UNKNOWN) { m->w5.dx = (uint)round(tp->msg_data.reference.dx / DXYZ_SCALE); uval = (uint)round(tp->msg_data.reference.dy / DXYZ_SCALE); m->w5.dy_h = uval >> 8; @@ -495,8 +495,8 @@ void rtcm2_sager_dump(struct rtcm2_t *rtcm, /*@out@*/char buf[], size_t buflen) if (rtcm->msg_data.reference.valid) (void)snprintf(buf + strlen(buf), buflen - strlen(buf), "D\t%s\t%1d\t%s\t%.1f\t%.1f\t%.1f\n", - (rtcm->msg_data.reference.system==gps) ? "GPS" - : ((rtcm->msg_data.reference.system==glonass) ? "GLONASS" + (rtcm->msg_data.reference.system==NAVSYSTEM_GPS) ? "GPS" + : ((rtcm->msg_data.reference.system==NAVSYSTEM_GLONASS) ? "GLONASS" : "UNKNOWN"), rtcm->msg_data.reference.sense, rtcm->msg_data.reference.datum, @@ -599,9 +599,9 @@ void rtcm2_json_dump(struct rtcm2_t *rtcm, /*@out@*/char buf[], size_t buflen) case 4: if (rtcm->msg_data.reference.valid) (void)snprintf(buf + strlen(buf), buflen - strlen(buf), - "\"system\":%s,\"sense\":%1d,\"datum\":%s,\"dx\":%.1f,\"dy\":%.1f,\"dx\":%.1f", - (rtcm->msg_data.reference.system==gps) ? "GPS" - : ((rtcm->msg_data.reference.system==glonass) ? "GLONASS" + "\"system\":%s,\"sense\":%1d,\"datum\":%s,\"dx\":%.1f,\"dy\":%.1f,\"dz\":%.1f", + (rtcm->msg_data.reference.system==NAVSYSTEM_GPS) ? "GPS" + : ((rtcm->msg_data.reference.system==NAVSYSTEM_GLONASS) ? "GLONASS" : "UNKNOWN"), rtcm->msg_data.reference.sense, rtcm->msg_data.reference.datum, @@ -745,12 +745,12 @@ int rtcm2_undump(/*@out@*/struct rtcm2_t *rtcmp, char *buf) return -5; else { if (strcmp(buf2, "GPS") == 0) - rtcmp->msg_data.reference.system = gps; + rtcmp->msg_data.reference.system = NAVSYSTEM_GPS; else if (strcmp(buf2, "GLONASS") == 0) - rtcmp->msg_data.reference.system = glonass; + rtcmp->msg_data.reference.system = NAVSYSTEM_GLONASS; else - rtcmp->msg_data.reference.system = unknown; - rtcmp->msg_data.reference.sense = (v == 1) ? global : ((v == 0) ? local : invalid); + rtcmp->msg_data.reference.system = NAVSYSTEM_UNKNOWN; + rtcmp->msg_data.reference.sense = (v == 1) ? SENSE_GLOBAL : ((v == 0) ? SENSE_LOCAL : SENSE_INVALID); rtcmp->msg_data.reference.valid = true; return 0; } diff --git a/driver_rtcm3.c b/driver_rtcm3.c index c30bfb5c..58049887 100644 --- a/driver_rtcm3.c +++ b/driver_rtcm3.c @@ -206,11 +206,11 @@ void rtcm3_unpack(/*@out@*/struct rtcm3_t *rtcm, char *buf) rtcm->rtcmtypes.rtcm3_1005.station_id = (unsigned short)ugrab(12); ugrab(6); /* reserved */ if ((bool)ugrab(1)) - rtcm->rtcmtypes.rtcm3_1005.system = gps; + rtcm->rtcmtypes.rtcm3_1005.system = NAVSYSTEM_GPS; else if ((bool)ugrab(1)) - rtcm->rtcmtypes.rtcm3_1005.system = glonass; + rtcm->rtcmtypes.rtcm3_1005.system = NAVSYSTEM_GLONASS; else if ((bool)ugrab(1)) - rtcm->rtcmtypes.rtcm3_1005.system = galileo; + rtcm->rtcmtypes.rtcm3_1005.system = NAVSYSTEM_GALILEO; rtcm->rtcmtypes.rtcm3_1005.reference_station = (bool)ugrab(1); rtcm->rtcmtypes.rtcm3_1005.ecef_x = sgrab(38) * ANTENNA_POSITION_RESOLUTION; rtcm->rtcmtypes.rtcm3_1005.single_receiver = ugrab(1); @@ -225,11 +225,11 @@ void rtcm3_unpack(/*@out@*/struct rtcm3_t *rtcm, char *buf) rtcm->rtcmtypes.rtcm3_1006.station_id = (unsigned short)ugrab(12); ugrab(6); /* reserved */ if ((bool)ugrab(1)) - rtcm->rtcmtypes.rtcm3_1006.system = gps; + rtcm->rtcmtypes.rtcm3_1006.system = NAVSYSTEM_GPS; else if ((bool)ugrab(1)) - rtcm->rtcmtypes.rtcm3_1006.system = glonass; + rtcm->rtcmtypes.rtcm3_1006.system = NAVSYSTEM_GLONASS; else if ((bool)ugrab(1)) - rtcm->rtcmtypes.rtcm3_1006.system = galileo; + rtcm->rtcmtypes.rtcm3_1006.system = NAVSYSTEM_GALILEO; rtcm->rtcmtypes.rtcm3_1006.reference_station = (bool)ugrab(1); rtcm->rtcmtypes.rtcm3_1006.ecef_x = sgrab(38) * ANTENNA_POSITION_RESOLUTION; rtcm->rtcmtypes.rtcm3_1006.single_receiver = ugrab(1); @@ -114,7 +114,11 @@ struct gps_fix_t { typedef /*@unsignedintegraltype@*/ uint32_t isgps30bits_t; #endif /* S_SPLINT_S */ - typedef enum {gps, glonass, galileo, unknown} navsystem; +/* enumerated values for "system" fields */ +#define NAVSYSTEM_UNKNOWN 0 +#define NAVSYSTEM_GPS 1 +#define NAVSYSTEM_GLONASS 2 +#define NAVSYSTEM_GALILEO 3 struct rtcm2_t { /* header contents */ @@ -143,8 +147,11 @@ struct rtcm2_t { } ecef; struct { /* data from type 4 messages */ bool valid; /* is message well-formed? */ - navsystem system; - enum {local, global, invalid} sense; + int system; + int sense; +#define SENSE_INVALID 0 +#define SENSE_LOCAL 1 +#define SENSE_GLOBAL 2 char datum[6]; double dx, dy, dz; } reference; @@ -282,14 +289,14 @@ struct rtcm3_t { } rtcm3_1004; struct { unsigned int station_id; /* Reference Station ID */ - navsystem system; /* Which system is it? */ + int system; /* Which system is it? */ bool reference_station; /* Reference-station indicator */ bool single_receiver; /* Single Receiver Oscillator */ double ecef_x, ecef_y, ecef_z; /* ECEF antenna location */ } rtcm3_1005; struct { unsigned int station_id; /* Reference Station ID */ - navsystem system; /* Which system is it? */ + int system; /* Which system is it? */ bool reference_station; /* Reference-station indicator */ bool single_receiver; /* Single Receiver Oscillator */ double ecef_x, ecef_y, ecef_z; /* ECEF antenna location */ |