diff options
Diffstat (limited to 'driver_navcom.c')
| -rw-r--r-- | driver_navcom.c | 41 |
1 files changed, 0 insertions, 41 deletions
diff --git a/driver_navcom.c b/driver_navcom.c index 661cc854..601ee0ee 100644 --- a/driver_navcom.c +++ b/driver_navcom.c @@ -109,7 +109,6 @@ static void navcom_cmd_0x20(struct gps_device_t *session, uint8_t block_id, "- data block id = %02x at rate %02x\n", block_id, rate); } -/*@ unused @*/ // cppcheck-suppress unusedFunction static void UNUSED navcom_cmd_0x3f(struct gps_device_t *session) /* Changes the LED settings in the receiver */ @@ -196,7 +195,6 @@ static void navcom_event_hook(struct gps_device_t *session, event_t event) * unit from more than one port (which is entirely possible * although not necessarily a bright idea), there is a good * chance that we might misidentify our port */ - /*@ +charint @*/ navcom_cmd_0x1c(session, 0x02, 0); /* Test Support Block */ navcom_cmd_0x20(session, 0xae, 0x0000); /* Identification Block */ navcom_cmd_0x20(session, 0x86, 0x000a); /* Channel Status */ @@ -210,7 +208,6 @@ static void navcom_event_hook(struct gps_device_t *session, event_t event) 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 @*/ } } @@ -265,7 +262,6 @@ static gps_mask_t handle_0x83(struct gps_device_t *session) uint8_t dn = getub(buf, 29); int8_t dtlsf = getsb(buf, 30); - /*@ +charint +relaxtypes @*/ /* Ref.: ICD-GPS-200C 20.3.3.5.2.4 */ if ((week % 256) * 604800 + tow / 1000.0 < wnlsf * 604800 + dn * 86400) { /* Effectivity time is in the future, use dtls */ @@ -274,7 +270,6 @@ static gps_mask_t handle_0x83(struct gps_device_t *session) /* Effectivity time is not in the future, use dtlsf */ session->context->leap_seconds = (int)dtlsf; } - /*@ -relaxtypes -charint @*/ gpsd_log(&session->context->errout, LOG_PROG, "Navcom: received packet type 0x83 (Ionosphere and UTC Data)\n"); @@ -324,11 +319,9 @@ static gps_mask_t handle_0x06(struct gps_device_t *session) session->driver.navcom.physical_port = port; /* This tells us which serial port was used last */ gpsd_log(&session->context->errout, LOG_PROG, "Navcom: received packet type 0x06 (Acknowledgement (without error))\n"); - /*@ -type @*/ gpsd_log(&session->context->errout, LOG_DATA, "Navcom: acknowledged command id 0x%02x on port %c\n", cmd_id, (port == 0 ? 'A' : (port == 1 ? 'B' : '?'))); - /*@ +type @*/ return 0; /* Nothing updated */ } @@ -338,7 +331,6 @@ static gps_mask_t handle_0x15(struct gps_device_t *session) size_t n; unsigned char *buf = session->lexer.outbuffer + 3; size_t msg_len = (size_t) getleu16(buf, 1); - /*@ -type @*/ uint8_t port, cmd_id = getub(buf, 3); gpsd_log(&session->context->errout, LOG_PROG, "Navcom: received packet type 0x15 (Negative Acknowledge)\n"); @@ -353,7 +345,6 @@ static gps_mask_t handle_0x15(struct gps_device_t *session) gpsd_log(&session->context->errout, LOG_DATA, "Navcom: negative acknowledge was for command id 0x%02x on port %c\n", cmd_id, (port == 0 ? 'A' : (port == 1 ? 'B' : '?'))); - /*@ -type @*/ return 0; /* Nothing updated */ } @@ -450,14 +441,11 @@ static gps_mask_t handle_0xb1(struct gps_device_t *session) if (track < 0) track += 2 * GPS_PI; session->newdata.track = track * RAD_2_DEG; - /*@ -evalorder @*/ session->newdata.speed = sqrt(pow(vel_east, 2) + pow(vel_north, 2)) * VEL_RES; - /*@ +evalorder @*/ session->newdata.climb = vel_up * VEL_RES; /* Quality indicators */ - /*@ -type @*/ fom = getub(buf, 40); gdop = getub(buf, 41); pdop = getub(buf, 42); @@ -490,7 +478,6 @@ static gps_mask_t handle_0xb1(struct gps_device_t *session) ((-nav_mode & 0x80)!='\0' ? "invalid" : "valid"), nav_mode, ((nav_mode & 0x40)!='\0' ? "3D" : "2D"), ((nav_mode & 0x03)!='\0' ? "DGPS" : "GPS")); - /*@ +type @*/ gpsd_log(&session->context->errout, LOG_DATA, "Navcom: latitude = %f, longitude = %f, altitude = %f, geoid = %f\n", session->newdata.latitude, session->newdata.longitude, @@ -604,9 +591,7 @@ static gps_mask_t handle_0x81(struct gps_device_t *session) uint16_t toc = getleu16_be(buf, 28); int8_t af2 = getsb(buf, 30); int16_t af1 = getles16_be(buf, 31); - /*@ -shiftimplementation @*/ int32_t af0 = getles3224_be(buf, 33) >> 2; - /*@ +shiftimplementation @*/ /* Subframe 2, words 3 to 10 minus parity */ uint8_t iode = getub(buf, 36); int16_t crs = getles16_be(buf, 37); @@ -626,13 +611,11 @@ static gps_mask_t handle_0x81(struct gps_device_t *session) int16_t crc = getles16_be(buf, 72); int32_t omega = getles32_be(buf, 74); int32_t Omegadot = getles3224_be(buf, 78); - /*@ -predboolothers @*/ /* Question: What is the proper way of shifting a signed int 2 bits to * the right, preserving sign? Answer: integer division by 4. */ int16_t idot = (int16_t) (((getles16_be(buf, 82) & 0xfffc) / 4) | (getub(buf, 82) & 80 ? 0xc000 : 0x0000)); - /*@ +predboolothers @*/ session->context->gps_week = (unsigned short)wn; session->context->gps_tow = (double)(toc * SF_TOC); /* leap second? */ @@ -736,12 +719,10 @@ static gps_mask_t handle_0x86(struct gps_device_t *session) session->gpsdata.status = STATUS_NO_FIX; } - /*@ -predboolothers @*/ gpsd_log(&session->context->errout, LOG_DATA, "Navcom: engine status = 0x%x, almanac = %s, time = 0x%x, pos = 0x%x\n", eng_status & 0x07, ((eng_status & 0x08) ? "valid" : "invalid"), eng_status & 0x30 >> 4, eng_status & 0xc0 >> 6); - /*@ +predboolothers @*/ /* Satellite details */ i = nsu = 0; @@ -783,7 +764,6 @@ static gps_mask_t handle_0x86(struct gps_device_t *session) dgps_age = getleu16(buf, n + 11); hw_channel = getub(buf, n + 13); s = (unsigned char)0; - /*@ -predboolothers +charint @*/ /* NOTE - In theory, I think one would check for hw channel number to * see if one is dealing with a GPS or other satellite, but the * channel numbers reported bear no resemblance to what the spec @@ -793,9 +773,7 @@ static gps_mask_t handle_0x86(struct gps_device_t *session) session->gpsdata.skyview[i].PRN = (short)prn; session->gpsdata.skyview[i].elevation = (short)ele; session->gpsdata.skyview[i].azimuth = (short)azm; - /*@ ignore @*//* splint is confused */ s = session->gpsdata.skyview[i].ss = (p2_snr ? p2_snr : ca_snr) / 4.0; - /*@ end @*/ session->gpsdata.skyview[i++].used = (stat == 0xff); if (stat == 0xff) nsu++; @@ -814,7 +792,6 @@ static gps_mask_t handle_0x86(struct gps_device_t *session) ((sol_status & 0x04) ? "dgps" : "unaided"), ((sol_status & 0x08) ? "solved" : "constrained"), ((sol_status & 0x01) ? 0x00 : sol_status & 0x0f00 >> 8)); - /*@ +predboolothers -charint @*/ } gpsd_log(&session->context->errout, LOG_DATA, @@ -842,7 +819,6 @@ static gps_mask_t handle_0xb0(struct gps_device_t *session) gpsd_log(&session->context->errout, LOG_PROG, "Navcom: received packet type 0xb0 (Raw Meas. Data Block)\n"); - /*@ -predboolothers @*/ gpsd_log(&session->context->errout, LOG_DATA, "Navcom: week = %u, tow = %.3f, time slew accumulator = %u (1/1023mS), status = 0x%02x " "(%sclock %s - %u blocks follow)\n", @@ -851,7 +827,6 @@ static gps_mask_t handle_0xb0(struct gps_device_t *session) tm_slew_acc, status, ((status & 0x80) ? "channel time set - " : ""), ((status & 0x40) ? "stable" : "not stable"), status & 0x0f); - /*@ +predboolothers @*/ for (n = 11; n < msg_len - 1; n += 16) { uint8_t sv_status = getub(buf, n); uint8_t ch_status = getub(buf, n + 1); @@ -863,7 +838,6 @@ static gps_mask_t handle_0xb0(struct gps_device_t *session) int16_t p2_ca_pseudorange = getles16(buf, n + 11); int32_t l2_phase = getles3224(buf, n + 13) / 16; uint8_t l2_slips = (uint8_t) (getles3224(buf, n + 13) & 0x0f); - /*@ -predboolothers +charint @*/ double c1 = ((sv_status & 0x80) ? (double)ca_pseudorange / 16.0 * LAMBDA_L1 : NAN); @@ -894,7 +868,6 @@ static gps_mask_t handle_0xb0(struct gps_device_t *session) gpsd_log(&session->context->errout, LOG_DATA + 1, "Navcom: >>> C1: %14.3f, L1: %14.3f, L2: %14.3f, P1: %14.3f, P2: %14.3f\n", c1, l1, l2, p1, p2); - /*@ +predboolothers -charint @*/ } #undef LAMBDA_L1 return 0; /* Raw measurements not yet implemented in gpsd */ @@ -964,7 +937,6 @@ static gps_mask_t handle_0xd3(struct gps_device_t *session UNUSED) /* Identification Block */ static gps_mask_t handle_0xae(struct gps_device_t *session) { - /*@-modobserver@*/ char *engconfstr, *asicstr; unsigned char *buf = session->lexer.outbuffer + 3; size_t msg_len = (size_t) getleu16(buf, 1); @@ -976,11 +948,9 @@ static gps_mask_t handle_0xae(struct gps_device_t *session) uint8_t dcclass = getub(buf, 9); uint16_t rfcser = getleu16(buf, 10); uint8_t rfcclass = getub(buf, 12); - /*@ -stringliteralnoroomfinalnull -type @*/ uint8_t softtm[17] = "\0\0\0\0\0\0\0\0\0\0\0\0\0\0\0\0\0"; uint8_t bootstr[17] = "\0\0\0\0\0\0\0\0\0\0\0\0\0\0\0\0\0"; uint8_t ioptm[17] = "\0\0\0\0\0\0\0\0\0\0\0\0\0\0\0\0\0"; - /*@ +stringliteralnoroomfinalnull +type @*/ uint8_t iopvermaj = (uint8_t) 0x00; uint8_t iopvermin = (uint8_t) 0x00; uint8_t picver = (uint8_t) 0x00; @@ -1081,14 +1051,11 @@ static gps_mask_t handle_0xae(struct gps_device_t *session) iopvermin, iopsbn, picver, ioptm); } - /*@ -formattype @*/ (void)snprintf(session->subtype, sizeof(session->subtype), "%s %s Ver. %u.%u.%u S/N %u.%u %u.%u", engconfstr, asicstr, swvermaj, swvermin, slsbn, dcser, dcclass, rfcser, rfcclass); - /*@ +formattype @*/ return DEVICEID_SET; - /*@+modobserver@*/ } /* Clock Drift and Offset */ @@ -1128,7 +1095,6 @@ static gps_mask_t handle_0xef(struct gps_device_t *session) } -/*@ +charint @*/ gps_mask_t navcom_parse(struct gps_device_t * session, unsigned char *buf, size_t len) { @@ -1142,10 +1108,8 @@ gps_mask_t navcom_parse(struct gps_device_t * session, unsigned char *buf, //payload = &buf[6]; msg_len = (uint) getleu16(buf, 4); - /*@ -usedef -compdef @*/ gpsd_log(&session->context->errout, LOG_RAW, "Navcom: packet type 0x%02x\n", cmd_id); - /*@ +usedef +compdef @*/ session->cycle_end_reliable = true; @@ -1180,7 +1144,6 @@ gps_mask_t navcom_parse(struct gps_device_t * session, unsigned char *buf, } } -/*@ -charint @*/ static gps_mask_t navcom_parse_input(struct gps_device_t *session) { @@ -1199,7 +1162,6 @@ static gps_mask_t navcom_parse_input(struct gps_device_t *session) static ssize_t navcom_control_send(struct gps_device_t *session, char *buf, size_t len) { - /*@ +ignoresigns -mayaliasunique @*/ putbyte(session->msgbuf, 0, 0x02); putbyte(session->msgbuf, 1, 0x99); putbyte(session->msgbuf, 2, 0x66); @@ -1210,7 +1172,6 @@ static ssize_t navcom_control_send(struct gps_device_t *session, checksum((unsigned char *)session->msgbuf + 3, len + 5)); putbyte(session->msgbuf, 7 + len, 0x03); session->msgbuflen = len + 9; - /*@ -ignoresigns +mayaliasunique @*/ return gpsd_write(session, session->msgbuf, session->msgbuflen); } #endif /* CONTROLSEND_ENABLE */ @@ -1230,7 +1191,6 @@ static bool navcom_speed(struct gps_device_t *session, /* 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 @@ -1264,7 +1224,6 @@ static bool navcom_speed(struct gps_device_t *session, /* Unsupported speed */ return false; } - /*@ -charint @*/ /* Proceed to construct our message */ port = session->driver.navcom.physical_port; |