diff options
Diffstat (limited to 'driver_tsip.c')
| -rw-r--r-- | driver_tsip.c | 41 |
1 files changed, 1 insertions, 40 deletions
diff --git a/driver_tsip.c b/driver_tsip.c index 5fbecd16..037ba39f 100644 --- a/driver_tsip.c +++ b/driver_tsip.c @@ -17,9 +17,7 @@ #include <stdbool.h> #include <math.h> #include <time.h> -#ifndef S_SPLINT_S #include <unistd.h> -#endif /* S_SPLINT_S */ #include "gpsd.h" #include "bits.h" @@ -38,26 +36,21 @@ void configuration_packets_generic(struct gps_device_t *session); #define TSIP_CHANNELS 12 static int tsip_write(struct gps_device_t *session, - unsigned int id, /*@null@*/ unsigned char *buf, - size_t len) + unsigned int id, unsigned char *buf, size_t len) { char *ep, *cp; - /*@ +charint @*/ session->msgbuf[0] = '\x10'; session->msgbuf[1] = (char)id; ep = session->msgbuf + 2; - /*@ -nullderef @*/ for (cp = (char *)buf; len-- > 0; cp++) { if (*cp == '\x10') *ep++ = '\x10'; *ep++ = *cp; } - /*@ +nullderef @*/ *ep++ = '\x10'; *ep++ = '\x03'; session->msgbuflen = (size_t) (ep - session->msgbuf); - /*@ -charint @*/ gpsd_log(&session->context->errout, LOG_PROG, "Sent TSIP packet id 0x%02x\n", id); if (gpsd_write(session, session->msgbuf, session->msgbuflen) != @@ -89,12 +82,10 @@ static bool tsip_detect(struct gps_device_t *session) gpsd_set_speed(session, 9600, 'O', 1); /* request firmware revision and look for a valid response */ - /*@+ignoresigns@*/ putbyte(buf, 0, 0x10); putbyte(buf, 1, 0x1f); putbyte(buf, 2, 0x10); putbyte(buf, 3, 0x03); - /*@+ignoresigns@*/ myfd = session->gpsdata.gps_fd; if (write(myfd, buf, 4) == 4) { unsigned int n; @@ -145,7 +136,6 @@ static gps_mask_t tsip_parse_input(struct gps_device_t *session) return 0; } - /*@ +charint @*/ if (session->lexer.outbuflen < 4 || session->lexer.outbuffer[0] != 0x10) return 0; @@ -161,7 +151,6 @@ static gps_mask_t tsip_parse_input(struct gps_device_t *session) str_appendf(buf2, sizeof(buf2), "%02x", buf[len++] = session->lexer.outbuffer[i]); } - /*@ -charint @*/ id = (unsigned)session->lexer.outbuffer[1]; gpsd_log(&session->context->errout, LOG_DATA, @@ -208,11 +197,9 @@ static gps_mask_t tsip_parse_input(struct gps_device_t *session) } buf2[i] = '\0'; - /*@ -formattype @*/ (void)snprintf(session->subtype, sizeof(session->subtype), "sw %u %u %u %02u.%02u.%04u %s", u2, u3, u4, u6, u5, s1, buf2); - /*@ +formattype @*/ gpsd_log(&session->context->errout, LOG_INF, "Software version: %s\n", session->subtype); @@ -232,7 +219,6 @@ static gps_mask_t tsip_parse_input(struct gps_device_t *session) } buf2[i] = '\0'; - /*@ -formattype @*/ (void)snprintf(session->subtype, sizeof(session->subtype), "hw %u %02u.%02u.%04u %02u %u %s", ul1, u2, u3, s1, u4, s2, buf2); @@ -297,7 +283,6 @@ static gps_mask_t tsip_parse_input(struct gps_device_t *session) case 0x45: /* Software Version Information */ if (len != 10) break; - /*@ -formattype @*/ (void)snprintf(session->subtype, sizeof(session->subtype), "%d.%d %02d%02d%02d %d.%d %02d%02d%02d", getub(buf, 0), @@ -310,7 +295,6 @@ static gps_mask_t tsip_parse_input(struct gps_device_t *session) getub(buf, 9), getub(buf, 7), getub(buf, 8)); - /*@ +formattype @*/ gpsd_log(&session->context->errout, LOG_INF, "Software version: %s\n", session->subtype); mask |= DEVICEID_SET; @@ -444,9 +428,7 @@ static gps_mask_t tsip_parse_input(struct gps_device_t *session) f4 = getbef32((char *)buf, 12); /* clock bias rate */ f5 = getbef32((char *)buf, 16); /* time-of-fix */ session->newdata.climb = f3; - /*@ -evalorder @*/ session->newdata.speed = sqrt(pow(f2, 2) + pow(f1, 2)); - /*@ +evalorder @*/ if ((session->newdata.track = atan2(f1, f2) * RAD_2_DEG) < 0) session->newdata.track += 360.0; gpsd_log(&session->context->errout, LOG_INF, @@ -467,10 +449,8 @@ static gps_mask_t tsip_parse_input(struct gps_device_t *session) u2 = getub(buf, 1); /* Mfg. diagnostic */ f1 = getbef32((char *)buf, 2); /* gps_time */ s1 = getbes16(buf, 6); /* tsip.gps_week */ - /*@ +charint @*/ if (getub(buf, 0) == 0x01) /* good current fix? */ (void)gpsd_gpstime_resolve(session, (unsigned short)s1, (double)f1); - /*@ -charint @*/ gpsd_log(&session->context->errout, LOG_INF, "Fix info %02x %02x %d %f\n", u1, u2, s1, f1); break; @@ -569,20 +549,16 @@ static gps_mask_t tsip_parse_input(struct gps_device_t *session) session->gpsdata.dop.hdop = getbef32((char *)buf, 5); session->gpsdata.dop.vdop = getbef32((char *)buf, 9); session->gpsdata.dop.tdop = getbef32((char *)buf, 13); - /*@ -evalorder @*/ session->gpsdata.dop.gdop = sqrt(pow(session->gpsdata.dop.pdop, 2) + pow(session->gpsdata.dop.tdop, 2)); - /*@ +evalorder @*/ memset(session->driver.tsip.sats_used, 0, sizeof(session->driver.tsip.sats_used)); buf2[0] = '\0'; - /*@ +charint @*/ for (i = 0; i < count; i++) str_appendf(buf2, sizeof(buf2), " %d", session->driver.tsip.sats_used[i] = (short)getub(buf, 17 + i)); - /*@ -charint @*/ gpsd_log(&session->context->errout, LOG_DATA, "AIVSS: 0x6d status=%d used=%d " "pdop=%.1f hdop=%.1f vdop=%.1f tdop=%.1f gdup=%.1f\n", @@ -599,10 +575,8 @@ static gps_mask_t tsip_parse_input(struct gps_device_t *session) break; #ifdef __UNUSED__ case 0x6f: /* Synchronized Measurements Report */ - /*@ +charint @*/ if (len < 20 || getub(buf, 0) != 1 || getub(buf, 1) != 2) break; - /*@ -charint @*/ s1 = getbes16(buf, 2); /* number of bytes */ u1 = getub(buf, 20); /* number of SVs */ break; @@ -615,12 +589,10 @@ static gps_mask_t tsip_parse_input(struct gps_device_t *session) if (len != 1) break; u1 = getub(buf, 0); /* fix mode */ - /*@ +charint @*/ if (session->gpsdata.status == STATUS_FIX && (u1 & 0x01) != 0) { session->gpsdata.status = STATUS_DGPS_FIX; mask |= STATUS_SET; } - /*@ -charint @*/ gpsd_log(&session->context->errout, LOG_DATA, "DPFM 0x82 status=%d\n", session->gpsdata.status); break; @@ -664,9 +636,7 @@ static gps_mask_t tsip_parse_input(struct gps_device_t *session) session->newdata.altitude); break; case 0x8f: /* Super Packet. Well... */ - /*@ +charint @*/ u1 = (uint8_t) getub(buf, 0); - /*@ -charint @*/ switch (u1) { /* sub-packet ID */ case 0x15: /* Current Datum Values */ if (len != 43) @@ -710,9 +680,7 @@ static gps_mask_t tsip_parse_input(struct gps_device_t *session) d1 = (double)s1 * d5; /* east velocity m/s */ d2 = (double)s2 * d5; /* north velocity m/s */ session->newdata.climb = (double)s3 * d5; /* up velocity m/s */ - /*@ -evalorder @*/ session->newdata.speed = sqrt(pow(d2, 2) + pow(d1, 2)); - /*@ +evalorder @*/ if ((session->newdata.track = atan2(d1, d2) * RAD_2_DEG) < 0) session->newdata.track += 360.0; session->newdata.latitude = (double)sl1 * SEMI_2_DEG; @@ -809,10 +777,8 @@ static gps_mask_t tsip_parse_input(struct gps_device_t *session) d1 = (double)s2 * d5; /* east velocity m/s */ d2 = (double)s3 * d5; /* north velocity m/s */ session->newdata.climb = (double)s4 * d5; /* up velocity m/s */ - /*@ -evalorder @*/ session->newdata.speed = sqrt(pow(d2, 2) + pow(d1, 2)) * MPS_TO_KNOTS; - /*@ +evalorder @*/ if ((session->newdata.track = atan2(d1, d2) * RAD_2_DEG) < 0) session->newdata.track += 360.0; mask |= @@ -1192,7 +1158,6 @@ void configuration_packets_generic(struct gps_device_t *session) putbef32((char *)buf, 9, (float)8.0); /* - PDOP switch */ putbef32((char *)buf, 13, (float)6.0); - /*@ +shiftimplementation @*/ (void)tsip_write(session, 0x2c, buf, 17); /* Set Position Fix Mode (auto 2D/3D) */ putbyte(buf, 0, 0x00); @@ -1219,10 +1184,8 @@ void configuration_packets_accutime_gold(struct gps_device_t *session) putbyte(buf, 0, 0xa9); /* Subcode */ putbyte(buf, 1, 0x01); /* Self-Survey Enable = enable */ putbyte(buf, 2, 0x01); /* Position Save Flag = save position */ - /*@-shiftimplementation@*/ putbe32(buf, 3, 2000); /* Self-Survey Length = 2000 */ putbe32(buf, 7, 0); /* Reserved */ - /*@+shiftimplementation@*/ (void)tsip_write(session, 0x8e, buf, 11); /* Set PPS Output Option */ putbyte(buf, 0, 0x4e); /* Subcode */ @@ -1242,12 +1205,10 @@ void configuration_packets_accutime_gold(struct gps_device_t *session) putbyte(buf, 22, 0x0); /* Foliage Mode = default */ putbe16(buf, 23, 0xffff); /* Reserved */ putbe16(buf, 25, 0x0000); /* Measurement Rate and Position Fix Rate = default */ - /*@-shiftimplementation@*/ putbe32(buf, 27, 0xffffffff); /* Reserved */ putbe32(buf, 31, 0xffffffff); /* Reserved */ putbe32(buf, 35, 0xffffffff); /* Reserved */ putbe32(buf, 39, 0xffffffff); /* Reserved */ - /*@+shiftimplementation@*/ (void)tsip_write(session, 0xbb, buf, 43); /* Set Packet Broadcast Mask */ putbyte(buf, 0, 0xa5); /* Subcode */ |