diff options
Diffstat (limited to 'driver_ubx.c')
| -rw-r--r-- | driver_ubx.c | 50 |
1 files changed, 25 insertions, 25 deletions
diff --git a/driver_ubx.c b/driver_ubx.c index 1e6eb887..ea985571 100644 --- a/driver_ubx.c +++ b/driver_ubx.c @@ -66,8 +66,8 @@ ubx_msg_nav_sol(struct gps_device_t *session, unsigned char *buf, flags = (unsigned int)getub(buf, 11); mask = 0; if ((flags & (UBX_SOL_VALID_WEEK | UBX_SOL_VALID_TIME)) != 0) { - tow = (unsigned int)getleul(buf, 0); - gw = (unsigned short)getlesw(buf, 8); + tow = (unsigned int)getleu32(buf, 0); + gw = (unsigned short)getles16(buf, 8); session->context->gps_week = gw; session->context->gps_tow = tow / 1000.0; @@ -79,20 +79,20 @@ ubx_msg_nav_sol(struct gps_device_t *session, unsigned char *buf, mask |= TIME_IS; } - epx = (double)(getlesl(buf, 12) / 100.0); - epy = (double)(getlesl(buf, 16) / 100.0); - epz = (double)(getlesl(buf, 20) / 100.0); - evx = (double)(getlesl(buf, 28) / 100.0); - evy = (double)(getlesl(buf, 32) / 100.0); - evz = (double)(getlesl(buf, 36) / 100.0); + epx = (double)(getles32(buf, 12) / 100.0); + epy = (double)(getles32(buf, 16) / 100.0); + epz = (double)(getles32(buf, 20) / 100.0); + evx = (double)(getles32(buf, 28) / 100.0); + evy = (double)(getles32(buf, 32) / 100.0); + evz = (double)(getles32(buf, 36) / 100.0); ecef_to_wgs84fix(&session->newdata, &session->gpsdata.separation, epx, epy, epz, evx, evy, evz); mask |= LATLON_IS | ALTITUDE_IS | SPEED_IS | TRACK_IS | CLIMB_IS; session->newdata.epx = session->newdata.epy = - (double)(getlesl(buf, 24) / 100.0) / sqrt(2); - session->newdata.eps = (double)(getlesl(buf, 40) / 100.0); + (double)(getles32(buf, 24) / 100.0) / sqrt(2); + session->newdata.eps = (double)(getles32(buf, 40) / 100.0); /* Better to have a single point of truth about DOPs */ - //session->gpsdata.dop.pdop = (double)(getleuw(buf, 44)/100.0); + //session->gpsdata.dop.pdop = (double)(getleu16(buf, 44)/100.0); session->gpsdata.satellites_used = (int)getub(buf, 47); navmode = (unsigned char)getub(buf, 10); @@ -147,11 +147,11 @@ ubx_msg_nav_dop(struct gps_device_t *session, unsigned char *buf, * to our calculations from the visiniolity matrix, trusting * the firmware algorithms over ours. */ - session->gpsdata.dop.gdop = (double)(getleuw(buf, 4) / 100.0); - session->gpsdata.dop.pdop = (double)(getleuw(buf, 6) / 100.0); - session->gpsdata.dop.tdop = (double)(getleuw(buf, 8) / 100.0); - session->gpsdata.dop.vdop = (double)(getleuw(buf, 10) / 100.0); - session->gpsdata.dop.hdop = (double)(getleuw(buf, 12) / 100.0); + session->gpsdata.dop.gdop = (double)(getleu16(buf, 4) / 100.0); + session->gpsdata.dop.pdop = (double)(getleu16(buf, 6) / 100.0); + session->gpsdata.dop.tdop = (double)(getleu16(buf, 8) / 100.0); + session->gpsdata.dop.vdop = (double)(getleu16(buf, 10) / 100.0); + session->gpsdata.dop.hdop = (double)(getleu16(buf, 12) / 100.0); gpsd_report(LOG_DATA, "NAVDOP: gdop=%.2f pdop=%.2f " "hdop=%.2f vdop=%.2f tdop=%.2f mask={DOP}\n", session->gpsdata.dop.gdop, @@ -174,8 +174,8 @@ ubx_msg_nav_timegps(struct gps_device_t *session, unsigned char *buf, if (data_len != 16) return 0; - tow = (unsigned int)getleul(buf, 0); - gw = (unsigned int)getlesw(buf, 8); + tow = (unsigned int)getleu32(buf, 0); + gw = (unsigned int)getles16(buf, 8); if (gw > session->context->gps_week) session->context->gps_week = (unsigned short)gw; @@ -226,7 +226,7 @@ ubx_msg_nav_svinfo(struct gps_device_t *session, unsigned char *buf, session->gpsdata.PRN[j] = (int)getub(buf, off + 1); session->gpsdata.ss[j] = (float)getub(buf, off + 4); session->gpsdata.elevation[j] = (int)getsb(buf, off + 5); - session->gpsdata.azimuth[j] = (int)getlesw(buf, off + 6); + session->gpsdata.azimuth[j] = (int)getles16(buf, off + 6); if (session->gpsdata.PRN[j]) st++; /*@ -predboolothers */ @@ -284,7 +284,7 @@ static void ubx_msg_sfrb(struct gps_device_t *session, unsigned char *buf) /* UBX does all the parity checking, but still bad data gets through */ for (i = 0; i < 10; i++) { - words[i] = (uint32_t)getleul(buf, 4 * i + 2) & 0xffffff; + words[i] = (uint32_t)getleu32(buf, 4 * i + 2) & 0xffffff; } gpsd_interpret_subframe(session, svid, words); @@ -339,7 +339,7 @@ gps_mask_t ubx_parse(struct gps_device_t * session, unsigned char *buf, /* extract message id and length */ msgid = (buf[2] << 8) | buf[3]; - data_len = (size_t) getlesw(buf, 4); + data_len = (size_t) getles16(buf, 4); switch (msgid) { case UBX_NAV_POSECEF: gpsd_report(LOG_IO, "UBX_NAV_POSECEF\n"); @@ -678,7 +678,7 @@ static void ubx_nmea_mode(struct gps_device_t *session, int mode) i++) buf[i] = session->driver.ubx.original_port_settings[i]; /* copy the original port settings */ if (buf[0] == 0x01) /* set baudrate on serial port only */ - putlelong(buf, 8, session->gpsdata.dev.baudrate); + putle32(buf, 8, session->gpsdata.dev.baudrate); if (mode == MODE_NMEA) { buf[14] &= ~0x01; /* turn off UBX output on this port */ @@ -705,7 +705,7 @@ static bool ubx_speed(struct gps_device_t *session, if ((!session->driver.ubx.have_port_configuration) || (buf[0] != 0x01)) /* set baudrate on serial port only */ return false; - usart_mode = (unsigned long)getleul(buf, 4); + usart_mode = (unsigned long)getleu32(buf, 4); usart_mode &= ~0xE00; /* zero bits 11:9 */ switch (parity) { case (int)'E': @@ -725,8 +725,8 @@ static bool ubx_speed(struct gps_device_t *session, usart_mode &= ~0x03000; /* zero bits 13:12 */ if (stopbits == 2) usart_mode |= 0x2000; /* zero value means 1 stop bit */ - putlelong(buf, 4, usart_mode); - putlelong(buf, 8, speed); + putle32(buf, 4, usart_mode); + putle32(buf, 8, speed); (void)ubx_write(session, 0x06, 0x00, &buf[6], 20); /* send back with all other settings intact */ /*@ -charint +usedef +compdef */ return true; |