diff options
Diffstat (limited to 'driver_nmea2000.c')
| -rw-r--r-- | driver_nmea2000.c | 75 |
1 files changed, 15 insertions, 60 deletions
diff --git a/driver_nmea2000.c b/driver_nmea2000.c index 957a55fb..3e5a26b4 100644 --- a/driver_nmea2000.c +++ b/driver_nmea2000.c @@ -13,22 +13,18 @@ #include <time.h> #include <math.h> #include <fcntl.h> -#ifndef S_SPLINT_S #include <unistd.h> #include <sys/socket.h> #include <net/if.h> #include <sys/ioctl.h> -#endif /* S_SPLINT_S */ #include "gpsd.h" #if defined(NMEA2000_ENABLE) #include "driver_nmea2000.h" #include "bits.h" -#ifndef S_SPLINT_S #include <linux/can.h> #include <linux/can/raw.h> -#endif /* S_SPLINT_S */ #define LOG_FILE 1 #define NMEA2000_NETS 4 @@ -51,7 +47,6 @@ typedef struct PGN const char *name; } PGN; -/*@-nullassign@*/ #if LOG_FILE FILE *logFile = NULL; @@ -67,7 +62,7 @@ static int scale_int(int32_t var, const int64_t factor) ret = var; ret *= factor; - /*@i1@*/ ret >>= 32; + ret >>= 32; return((int)ret); } @@ -76,7 +71,6 @@ static void print_data(struct gps_context_t *context, unsigned char *buffer, int len, PGN *pgn) { #ifdef LIBGPS_DEBUG - /*@-bufferoverflowhigh@*/ if ((libgps_debuglevel >= LOG_IO) != 0) { int l1, l2, ptr; char bu[128]; @@ -96,7 +90,6 @@ static void print_data(struct gps_context_t *context, } gpsd_log(&context->errout, LOG_IO,"%s\n", bu); } - /*@+bufferoverflowhigh@*/ #else (void)context; (void)buffer; @@ -273,10 +266,8 @@ static gps_mask_t hnd_129025(unsigned char *bu, int len, PGN *pgn, struct gps_de gpsd_log(&session->context->errout, LOG_DATA, "pgn %6d(%3d):\n", pgn->pgn, session->driver.nmea2000.unit); - /*@-type@*//* splint has a bug here */ session->newdata.latitude = getles32(bu, 0) * 1e-7; session->newdata.longitude = getles32(bu, 4) * 1e-7; - /*@+type@*/ return LATLON_SET | get_mode(session); } @@ -293,10 +284,8 @@ static gps_mask_t hnd_129026(unsigned char *bu, int len, PGN *pgn, struct gps_de session->driver.nmea2000.sid[0] = bu[0]; - /*@-type@*//* splint has a bug here */ session->newdata.track = getleu16(bu, 2) * 1e-4 * RAD_2_DEG; session->newdata.speed = getleu16(bu, 4) * 1e-2; - /*@+type@*/ return SPEED_SET | TRACK_SET | get_mode(session); } @@ -317,9 +306,7 @@ static gps_mask_t hnd_126992(unsigned char *bu, int len, PGN *pgn, struct gps_de //sid = bu[0]; //source = bu[1] & 0x0f; - /*@-type@*//* splint has a bug here */ session->newdata.time = getleu16(bu, 2)*24*60*60 + getleu32(bu, 4)/1e4; - /*@+type@*/ return TIME_SET | get_mode(session); } @@ -356,11 +343,9 @@ static gps_mask_t hnd_129539(unsigned char *bu, int len, PGN *pgn, struct gps_de session->driver.nmea2000.mode = mode_tab[act_mode]; - /*@-type@*//* splint has a bug here */ session->gpsdata.dop.hdop = getleu16(bu, 2) * 1e-2; session->gpsdata.dop.vdop = getleu16(bu, 4) * 1e-2; session->gpsdata.dop.tdop = getleu16(bu, 6) * 1e-2; - /*@+type@*/ mask |= DOP_SET; gpsd_log(&session->context->errout, LOG_DATA, @@ -395,11 +380,9 @@ static gps_mask_t hnd_129540(unsigned char *bu, int len, PGN *pgn, struct gps_de int svt; double azi, elev, snr; - /*@-type@*//* splint has a bug here */ elev = getles16(bu, 3+12*l1+1) * 1e-4 * RAD_2_DEG; azi = getleu16(bu, 3+12*l1+3) * 1e-4 * RAD_2_DEG; snr = getles16(bu, 3+12*l1+5) * 1e-2; - /*@+type@*/ svt = (int)(bu[3+12*l1+11] & 0x0f); @@ -431,20 +414,14 @@ static gps_mask_t hnd_129029(unsigned char *bu, int len, PGN *pgn, struct gps_de mask = 0; session->driver.nmea2000.sid[3] = bu[0]; - /*@-type@*//* splint has a bug here */ session->newdata.time = getleu16(bu,1) * 24*60*60 + getleu32(bu, 3)/1e4; - /*@+type@*/ mask |= TIME_SET; - /*@-type@*//* splint has a bug here */ session->newdata.latitude = getles64(bu, 7) * 1e-16; session->newdata.longitude = getles64(bu, 15) * 1e-16; - /*@+type@*/ mask |= LATLON_SET; - /*@-type@*//* splint has a bug here */ session->newdata.altitude = getles64(bu, 23) * 1e-6; - /*@+type@*/ mask |= ALTITUDE_SET; // printf("mode %x %x\n", (bu[31] >> 4) & 0x0f, bu[31]); @@ -469,17 +446,13 @@ static gps_mask_t hnd_129029(unsigned char *bu, int len, PGN *pgn, struct gps_de } mask |= STATUS_SET; - /*@-type@*//* splint has a bug here */ session->gpsdata.separation = getles32(bu, 38) / 100.0; - /*@+type@*/ session->newdata.altitude -= session->gpsdata.separation; session->gpsdata.satellites_used = (int)bu[33]; - /*@-type@*//* splint has a bug here */ session->gpsdata.dop.hdop = getleu16(bu, 34) * 0.01; session->gpsdata.dop.pdop = getleu16(bu, 36) * 0.01; - /*@+type@*/ mask |= DOP_SET; return mask | get_mode(session); @@ -976,7 +949,6 @@ static gps_mask_t hnd_127250(unsigned char *bu, int len, PGN *pgn, struct gps_de print_data(session->context, bu, len, pgn); - /*@-type@*/ session->gpsdata.attitude.heading = getleu16(bu, 1) * RAD_2_DEG * 0.0001; // printf("ATT 0:%8.3f\n",session->gpsdata.attitude.heading); aux = getles16(bu, 3); @@ -988,7 +960,6 @@ static gps_mask_t hnd_127250(unsigned char *bu, int len, PGN *pgn, struct gps_de if (aux != 0x07fff) { session->gpsdata.attitude.heading += aux * RAD_2_DEG * 0.0001; } - /*@+type@*/ // printf("ATT 2:%8.3f %6x\n",session->gpsdata.attitude.heading, aux); session->gpsdata.attitude.mag_st = '\0'; session->gpsdata.attitude.pitch = NAN; @@ -1055,7 +1026,7 @@ static gps_mask_t hnd_128267(unsigned char *bu, int len, PGN *pgn, struct gps_de session->gpsdata.attitude.gyro_x = NAN; session->gpsdata.attitude.gyro_y = NAN; session->gpsdata.attitude.temp = NAN; - /*@i@*/session->gpsdata.attitude.depth = getleu32(bu, 1) *.01; + session->gpsdata.attitude.depth = getleu32(bu, 1) *.01; gpsd_log(&session->context->errout, LOG_DATA, "pgn %6d(%3d):\n", pgn->pgn, session->driver.nmea2000.unit); @@ -1147,7 +1118,6 @@ static gps_mask_t hnd_130311(unsigned char *bu, int len, PGN *pgn, struct gps_de } -/*@-usereleased@*/ static const char msg_059392[] = {"ISO Acknowledgment"}; static const char msg_060928[] = {"ISO Address Claim"}; static const char msg_126208[] = {"NMEA Command/Request/Acknowledge"}; @@ -1256,10 +1226,8 @@ static PGN navpgn[] = {{ 59392, 0, 0, hnd_059392, &msg_059392[0]}, {0 , 0, 0, NULL, &msg_error [0]}}; -/*@+usereleased@*/ -/*@-immediatetrans@*/ -static /*@null@*/ PGN *search_pgnlist(unsigned int pgn, PGN *pgnlist) +static PGN *search_pgnlist(unsigned int pgn, PGN *pgnlist) { int l1; PGN *work; @@ -1276,9 +1244,7 @@ static /*@null@*/ PGN *search_pgnlist(unsigned int pgn, PGN *pgnlist) } return work; } -/*@+immediatetrans@*/ -/*@-nullstate -branchstate -globstate -mustfreeonly@*/ static void find_pgn(struct can_frame *frame, struct gps_device_t *session) { unsigned int can_net; @@ -1291,7 +1257,6 @@ static void find_pgn(struct can_frame *frame, struct gps_device_t *session) return; } - /*@ignore@*//* because the CAN include files choke splint */ if (frame->can_id & 0x80000000) { // cppcheck-suppress unreadVariable #ifdef __UNUSED__ @@ -1321,15 +1286,12 @@ static void find_pgn(struct can_frame *frame, struct gps_device_t *session) fprintf(logFile, "\n"); } #endif /* of if LOG_FILE */ - /*@end@*/ session->driver.nmea2000.can_msgcnt += 1; - /*@ignore@*//* because the CAN include files choke splint */ source_pgn = (frame->can_id >> 8) & 0x1ffff; #ifdef __UNUSED__ source_prio = (frame->can_id >> 26) & 0x7; #endif source_unit = frame->can_id & 0x0ff; - /*@end@*/ if (((source_pgn & 0x0ff00) >> 8) < 240) { #ifdef __UNUSED__ @@ -1395,36 +1357,36 @@ static void find_pgn(struct can_frame *frame, struct gps_device_t *session) gpsd_log(&session->context->errout, LOG_DATA, "pgn %6d:%s \n", work->pgn, work->name); session->driver.nmea2000.workpgn = (void *) work; - /*@i1@*/session->lexer.outbuflen = frame->can_dlc & 0x0f; + session->lexer.outbuflen = frame->can_dlc & 0x0f; for (l2=0;l2<session->lexer.outbuflen;l2++) { - /*@i3@*/session->lexer.outbuffer[l2]= frame->data[l2]; + session->lexer.outbuffer[l2]= frame->data[l2]; } - /*@i2@*/} else if ((frame->data[0] & 0x1f) == 0) { + } else if ((frame->data[0] & 0x1f) == 0) { unsigned int l2; - /*@i2@*/session->driver.nmea2000.fast_packet_len = frame->data[1]; - /*@i2@*/session->driver.nmea2000.idx = frame->data[0]; + session->driver.nmea2000.fast_packet_len = frame->data[1]; + session->driver.nmea2000.idx = frame->data[0]; #if NMEA2000_FAST_DEBUG gpsd_log(&session->context->errout, LOG_ERROR, "Set idx %2x %2x %2x %6d\n", - /*@i1@*/frame->data[0], + frame->data[0], session->driver.nmea2000.unit, - /*@i1@*/frame->data[1], + frame->data[1], source_pgn); #endif /* of #if NMEA2000_FAST_DEBUG */ session->lexer.inbuflen = 0; session->driver.nmea2000.idx += 1; for (l2=2;l2<8;l2++) { - /*@i3@*/session->lexer.inbuffer[session->lexer.inbuflen++] = frame->data[l2]; + session->lexer.inbuffer[session->lexer.inbuflen++] = frame->data[l2]; } gpsd_log(&session->context->errout, LOG_DATA, "pgn %6d:%s \n", work->pgn, work->name); - /*@i2@*/} else if (frame->data[0] == session->driver.nmea2000.idx) { + } else if (frame->data[0] == session->driver.nmea2000.idx) { unsigned int l2; for (l2=1;l2<8;l2++) { if (session->driver.nmea2000.fast_packet_len > session->lexer.inbuflen) { - /*@i3@*/session->lexer.inbuffer[session->lexer.inbuflen++] = frame->data[l2]; + session->lexer.inbuffer[session->lexer.inbuflen++] = frame->data[l2]; } } if (session->lexer.inbuflen == session->driver.nmea2000.fast_packet_len) { @@ -1432,7 +1394,7 @@ static void find_pgn(struct can_frame *frame, struct gps_device_t *session) gpsd_log(&session->context->errout, LOG_ERROR, "Fast done %2x %2x %2x %2x %6d\n", session->driver.nmea2000.idx, - /*@i1@*/frame->data[0], + frame->data[0], session->driver.nmea2000.unit, (unsigned int) session->driver.nmea2000.fast_packet_len, source_pgn); @@ -1450,7 +1412,7 @@ static void find_pgn(struct can_frame *frame, struct gps_device_t *session) gpsd_log(&session->context->errout, LOG_ERROR, "Fast error %2x %2x %2x %2x %6d\n", session->driver.nmea2000.idx, - /*@i2@*/frame->data[0], + frame->data[0], session->driver.nmea2000.unit, (unsigned int) session->driver.nmea2000.fast_packet_len, source_pgn); @@ -1479,7 +1441,6 @@ static void find_pgn(struct can_frame *frame, struct gps_device_t *session) // we got RTR or 2.0A CAN frame, not used } } -/*@+nullstate +branchstate +globstate +mustfreeonly@*/ static ssize_t nmea2000_get(struct gps_device_t *session) @@ -1498,7 +1459,6 @@ static ssize_t nmea2000_get(struct gps_device_t *session) return 0; } -/*@-mustfreeonly -nullstate@*/ static gps_mask_t nmea2000_parse_input(struct gps_device_t *session) { gps_mask_t mask; @@ -1516,11 +1476,7 @@ static gps_mask_t nmea2000_parse_input(struct gps_device_t *session) return mask; } -/*@+mustfreeonly -nullstate@*/ -/*@+nullassign@*/ - -#ifndef S_SPLINT_S int nmea2000_open(struct gps_device_t *session) { @@ -1665,7 +1621,6 @@ int nmea2000_open(struct gps_device_t *session) session->gpsdata.dev.stopbits = 0; return session->gpsdata.gps_fd; } -#endif /* of ifndef S_SPLINT_S */ void nmea2000_close(struct gps_device_t *session) { |