diff options
Diffstat (limited to 'libgpsd_core.c')
| -rw-r--r-- | libgpsd_core.c | 158 |
1 files changed, 79 insertions, 79 deletions
diff --git a/libgpsd_core.c b/libgpsd_core.c index 0d394e17..c2199b4c 100644 --- a/libgpsd_core.c +++ b/libgpsd_core.c @@ -28,12 +28,12 @@ int gpsd_switch_driver(struct gps_device_t *session, char* type_name) struct gps_type_t **dp; gpsd_report(LOG_PROG, "switch_driver(%s) called...\n", type_name); - if (session->device_type != NULL && + if (session->device_type != NULL && strcmp(session->device_type->type_name, type_name) == 0) { #ifdef ALLOW_RECONFIGURE gpsd_report(LOG_PROG, "Reconfiguring for %s...\n", session->device_type->type_name); - if (session->enable_reconfigure - && session->device_type->configurator != NULL) + if (session->enable_reconfigure + && session->device_type->configurator != NULL) session->device_type->configurator(session, 0); #endif /* ALLOW_RECONFIGURE */ return 0; @@ -48,7 +48,7 @@ int gpsd_switch_driver(struct gps_device_t *session, char* type_name) if (!session->context->readonly && session->device_type->probe_subtype != NULL) session->device_type->probe_subtype(session, session->packet.counter = 0); #ifdef ALLOW_RECONFIGURE - if (session->enable_reconfigure + if (session->enable_reconfigure && session->device_type->configurator != NULL) { gpsd_report(LOG_PROG, "configuring for %s...\n", session->device_type->type_name); session->device_type->configurator(session, 0); @@ -106,7 +106,7 @@ void gpsd_deactivate(struct gps_device_t *session) session->shmTimeP = -1; # endif /* PPS_ENABLE */ #ifdef ALLOW_RECONFIGURE - if (session->enable_reconfigure + if (session->enable_reconfigure && session->device_type != NULL && session->device_type->revert != NULL) { session->device_type->revert(session); @@ -120,7 +120,7 @@ void gpsd_deactivate(struct gps_device_t *session) session->device_type->wrapup(session); } #endif /* NTPSHM_ENABLE */ - gpsd_report(LOG_INF, "closing GPS=%s (%d)\n", + gpsd_report(LOG_INF, "closing GPS=%s (%d)\n", session->gpsdata.gps_device, session->gpsdata.gps_fd); (void)gpsd_close(session); } @@ -156,9 +156,9 @@ static void *gpsd_ppsmonitor(void *arg) break; } } else { - gpsd_report(LOG_RAW, "pps-detect (%s) on %s changed to %d\n", - ((pps_device==TIOCM_CAR) ? "DCD" : "CTS"), - session->gpsdata.gps_device, state); + gpsd_report(LOG_RAW, "pps-detect (%s) on %s changed to %d\n", + ((pps_device==TIOCM_CAR) ? "DCD" : "CTS"), + session->gpsdata.gps_device, state); laststate = state; unchanged = 0; } @@ -179,12 +179,12 @@ static void *gpsd_ppsmonitor(void *arg) * Some GPS instead output a square wave that is 0.5 Hz and each * edge denotes the start of a second. * - * A few stupid GPS, like the Furuno GPSClock, output a 1.0 Hz - * square wave where the leading edge is the start of a second + * A few stupid GPS, like the Furuno GPSClock, output a 1.0 Hz + * square wave where the leading edge is the start of a second * * 5Hz GPS (Garmin 18-5Hz) pulses at 5Hz. Set the pulse length to * 40ms which gives a 160ms pulse before going high. - * + * */ #define timediff(x, y) (int)((x.tv_sec-y.tv_sec)*1000000+x.tv_usec-y.tv_usec) cycle = timediff(tv, pulse[state]); @@ -194,21 +194,21 @@ static void *gpsd_ppsmonitor(void *arg) if (cycle > 199000 && cycle < 201000 ) { /* 5Hz cycle */ /* looks like 5hz PPS pulse */ - if (duration > 45000) + if (duration > 45000) (void)ntpshm_pps(session, &tv); gpsd_report(LOG_RAW, "5Hz PPS pulse. cycle: %d, duration: %d\n", cycle, duration); } else if (cycle > 999000 && cycle < 1001000 ) { /* looks like PPS pulse or square wave */ - if (duration > 499000 && duration < 501000 + if (duration > 499000 && duration < 501000 && session->driver.nmea.ignore_trailing_edge) { - /* looks like 1.0 Hz square wave, ignore trailing edge */ - if (state == 1) { - (void)ntpshm_pps(session, &tv); - } - } else { - /* looks like PPS pulse */ - (void)ntpshm_pps(session, &tv); + /* looks like 1.0 Hz square wave, ignore trailing edge */ + if (state == 1) { + (void)ntpshm_pps(session, &tv); + } + } else { + /* looks like PPS pulse */ + (void)ntpshm_pps(session, &tv); } gpsd_report(LOG_RAW, "PPS pulse. cycle: %d, duration: %d\n", cycle, duration); @@ -216,14 +216,14 @@ static void *gpsd_ppsmonitor(void *arg) } else if (cycle > 1999000 && cycle < 2001000) { /* looks like 0.5 Hz square wave */ (void)ntpshm_pps(session, &tv); - gpsd_report(LOG_RAW, "PPS square wave. cycle: %d, duration: %d\n", + gpsd_report(LOG_RAW, "PPS square wave. cycle: %d, duration: %d\n", cycle, duration); } else { - gpsd_report(LOG_INF, "PPS pulse rejected. cycle: %d, duration: %d\n", + gpsd_report(LOG_INF, "PPS pulse rejected. cycle: %d, duration: %d\n", cycle, duration); } } else { - gpsd_report(LOG_INF, "PPS pulse rejected. No fix.\n"); + gpsd_report(LOG_INF, "PPS pulse rejected. No fix.\n"); } /*@ -boolint @*/ @@ -304,15 +304,15 @@ void ntpd_link_activate(struct gps_device_t *session) #ifdef NTPSHM_ENABLE /* If we are talking to ntpd, allocate a shared-memory segment for "NMEA" time data */ if (session->context->enable_ntpshm) - session->shmindex = ntpshm_alloc(session->context); + session->shmindex = ntpshm_alloc(session->context); #if defined(PPS_ENABLE) && defined(TIOCMIWAIT) /* If we also have the 1pps capability, allocate a shared-memory segment for * the 1pps time data and launch a thread to capture the 1pps transitions */ if (session->shmindex >= 0 && session->context->shmTimePPS) - if ((session->shmTimeP = ntpshm_alloc(session->context)) >= 0) - /*@i1@*/(void)pthread_create(&pt,NULL,gpsd_ppsmonitor,(void *)session); + if ((session->shmTimeP = ntpshm_alloc(session->context)) >= 0) + /*@i1@*/(void)pthread_create(&pt,NULL,gpsd_ppsmonitor,(void *)session); #endif /* defined(PPS_ENABLE) && defined(TIOCMIWAIT) */ #endif /* NTPSHM_ENABLE */ @@ -322,7 +322,7 @@ char /*@observer@*/ *gpsd_id(/*@in@*/struct gps_device_t *session) /* full ID of the device for reports, including subtype */ { static char buf[128]; - if ((session == NULL) || (session->device_type == NULL) || + if ((session == NULL) || (session->device_type == NULL) || (session->device_type->type_name == NULL)) return "unknown,"; (void)strlcpy(buf, session->device_type->type_name, sizeof(buf)); @@ -382,14 +382,14 @@ void gpsd_position_fix_dump(struct gps_device_t *session, if (isnan(session->gpsdata.fix.altitude)) (void)strlcat(bufp, ",", len); else - (void)snprintf(bufp+strlen(bufp), len-strlen(bufp), + (void)snprintf(bufp+strlen(bufp), len-strlen(bufp), "%.2f,M,", session->gpsdata.fix.altitude); if (isnan(session->gpsdata.separation)) (void)strlcat(bufp, ",", len); else - (void)snprintf(bufp+strlen(bufp), len-strlen(bufp), + (void)snprintf(bufp+strlen(bufp), len-strlen(bufp), "%.3f,M,", session->gpsdata.separation); - if (isnan(session->mag_var)) + if (isnan(session->mag_var)) (void)strlcat(bufp, ",", len); else { (void)snprintf(bufp+strlen(bufp), @@ -415,12 +415,12 @@ static void gpsd_transit_fix_dump(struct gps_device_t *session, tm.tm_mon++; tm.tm_year %= 100; } -#define ZEROIZE(x) (isnan(x)!=0 ? 0.0 : x) +#define ZEROIZE(x) (isnan(x)!=0 ? 0.0 : x) /*@ -usedef @*/ (void)snprintf(bufp, len, "$GPRMC,%02d%02d%02d,%c,%09.4f,%c,%010.4f,%c,%.4f,%.3f,%02d%02d%02d,,", - tm.tm_hour, - tm.tm_min, + tm.tm_hour, + tm.tm_min, tm.tm_sec, session->gpsdata.status ? 'A' : 'V', degtodm(fabs(session->gpsdata.fix.latitude)), @@ -444,7 +444,7 @@ static void gpsd_binary_fix_dump(struct gps_device_t *session, gpsd_transit_fix_dump(session, bufp + strlen(bufp), len - strlen(bufp)); } -static void gpsd_binary_satellite_dump(struct gps_device_t *session, +static void gpsd_binary_satellite_dump(struct gps_device_t *session, char bufp[], size_t len) { int i; @@ -454,20 +454,20 @@ static void gpsd_binary_satellite_dump(struct gps_device_t *session, for( i = 0 ; i < session->gpsdata.satellites; i++ ) { if (i % 4 == 0) { bufp += strlen(bufp); - bufp2 = bufp; + bufp2 = bufp; len -= snprintf(bufp, len, - "$GPGSV,%d,%d,%02d", - ((session->gpsdata.satellites-1) / 4) + 1, + "$GPGSV,%d,%d,%02d", + ((session->gpsdata.satellites-1) / 4) + 1, (i / 4) + 1, session->gpsdata.satellites); } bufp += strlen(bufp); if (i < session->gpsdata.satellites) - len -= snprintf(bufp, len, - ",%02d,%02d,%03d,%02d", + len -= snprintf(bufp, len, + ",%02d,%02d,%03d,%02d", session->gpsdata.PRN[i], - session->gpsdata.elevation[i], - session->gpsdata.azimuth[i], + session->gpsdata.elevation[i], + session->gpsdata.azimuth[i], session->gpsdata.ss[i]); if (i % 4 == 3 || i == session->gpsdata.satellites-1) { nmea_add_checksum(bufp2); @@ -482,8 +482,8 @@ static void gpsd_binary_satellite_dump(struct gps_device_t *session, (void)strlcpy(bufp, "$PRWIZCH", len); for (i = 0; i < ZODIAC_CHANNELS; i++) { len -= snprintf(bufp+strlen(bufp), len, - ",%02u,%X", - session->driver.zodiac.Zs[i], + ",%02u,%X", + session->driver.zodiac.Zs[i], session->driver.zodiac.Zv[i] & 0x0f); } nmea_add_checksum(bufp2); @@ -491,7 +491,7 @@ static void gpsd_binary_satellite_dump(struct gps_device_t *session, #endif /* ZODIAC_ENABLE */ } -static void gpsd_binary_quality_dump(struct gps_device_t *session, +static void gpsd_binary_quality_dump(struct gps_device_t *session, char bufp[], size_t len) { int i, j; @@ -513,13 +513,13 @@ static void gpsd_binary_quality_dump(struct gps_device_t *session, (void)strlcpy(bufp, ",", len); } bufp += strlen(bufp); -#define ZEROIZE(x) (isnan(x)!=0 ? 0.0 : x) +#define ZEROIZE(x) (isnan(x)!=0 ? 0.0 : x) if (session->gpsdata.fix.mode == MODE_NO_FIX) (void)strlcat(bufp, ",,,", len); else (void)snprintf(bufp, len-strlen(bufp), - "%.1f,%.1f,%.1f*", - ZEROIZE(session->gpsdata.pdop), + "%.1f,%.1f,%.1f*", + ZEROIZE(session->gpsdata.pdop), ZEROIZE(session->gpsdata.hdop), ZEROIZE(session->gpsdata.vdop)); nmea_add_checksum(bufp2); @@ -527,22 +527,22 @@ static void gpsd_binary_quality_dump(struct gps_device_t *session, if (finite(session->gpsdata.fix.eph) || finite(session->gpsdata.fix.epv) || finite(session->gpsdata.epe)) { - /* + /* * Output PGRME only if realistic. Note: we're converting back to * our guess about Garmin's confidence units here, make sure this * stays consistent with the in-conversion in nmea_parse.c! */ - (void)snprintf(bufp, len-strlen(bufp), + (void)snprintf(bufp, len-strlen(bufp), "$PGRME,%.2f,M,%.2f,M,%.2f,M", - ZEROIZE(session->gpsdata.fix.eph * (CEP50_SIGMA/GPSD_CONFIDENCE)), - ZEROIZE(session->gpsdata.fix.epv * (CEP50_SIGMA/GPSD_CONFIDENCE)), + ZEROIZE(session->gpsdata.fix.eph * (CEP50_SIGMA/GPSD_CONFIDENCE)), + ZEROIZE(session->gpsdata.fix.epv * (CEP50_SIGMA/GPSD_CONFIDENCE)), ZEROIZE(session->gpsdata.epe * (CEP50_SIGMA/GPSD_CONFIDENCE))); - nmea_add_checksum(bufp); + nmea_add_checksum(bufp); } #undef ZEROIZE } -static void gpsd_binary_dump(struct gps_device_t *session, +static void gpsd_binary_dump(struct gps_device_t *session, char bufp[], size_t len) { if ((session->gpsdata.set & LATLON_SET) != 0) @@ -556,16 +556,16 @@ static void gpsd_binary_dump(struct gps_device_t *session, #endif /* BINARY_ENABLE */ -void gpsd_error_model(struct gps_device_t *session, +void gpsd_error_model(struct gps_device_t *session, struct gps_fix_t *fix, struct gps_fix_t *oldfix) /* compute errors and derived quantities */ { /* * Now we compute derived quantities. This is where the tricky error- - * modeling stuff goes. Presently we don't know how to derive + * modeling stuff goes. Presently we don't know how to derive * time error. * - * Some drivers set the position-error fields. Only the Zodiacs + * Some drivers set the position-error fields. Only the Zodiacs * report speed error. Nobody reports track error or climb error. */ #define UERE_NO_DGPS 8.0 /* meters, 95% confidence */ @@ -607,8 +607,8 @@ void gpsd_error_model(struct gps_device_t *session, if (isnan(fix->eps)!=0) { if (oldfix->mode > MODE_NO_FIX && fix->mode > MODE_NO_FIX - && isnan(oldfix->eph)==0 && isnan(oldfix->eph)==0 - && isnan(oldfix->time)==0 && isnan(oldfix->time)==0 + && isnan(oldfix->eph)==0 && isnan(oldfix->eph)==0 + && isnan(oldfix->time)==0 && isnan(oldfix->time)==0 && fix->time > oldfix->time) { double t = fix->time-oldfix->time; double e = oldfix->eph + fix->eph; @@ -616,8 +616,8 @@ void gpsd_error_model(struct gps_device_t *session, } else fix->eps = NAN; } - if ((fix->mode >= MODE_3D) - && isnan(fix->epc)!=0 && fix->time > oldfix->time) { + if ((fix->mode >= MODE_3D) + && isnan(fix->epc)!=0 && fix->time > oldfix->time) { if (oldfix->mode > MODE_3D && fix->mode > MODE_3D) { double t = fix->time-oldfix->time; double e = oldfix->epv + fix->epv; @@ -643,7 +643,7 @@ void gpsd_error_model(struct gps_device_t *session, fix->epd = NAN; if (oldfix->mode >= MODE_2D) { double adj = earth_distance( - oldfix->latitude, oldfix->longitude, + oldfix->latitude, oldfix->longitude, fix->latitude, fix->longitude); if (isnan(adj)==0 && adj > fix->eph) { double opp = fix->eph; @@ -680,8 +680,8 @@ gps_mask_t gpsd_poll(struct gps_device_t *session) } else { newlen = generic_get(session); session->gpsdata.d_xmit_time = timestamp(); - gpsd_report(LOG_RAW, - "packet sniff on %s finds type %d\n", + gpsd_report(LOG_RAW, + "packet sniff on %s finds type %d\n", session->gpsdata.gps_device, session->packet.type); if (session->packet.type > COMMENT_PACKET) { @@ -720,8 +720,8 @@ gps_mask_t gpsd_poll(struct gps_device_t *session) #endif /* UBX_ENABLE */ #ifdef NAVCOM_ENABLE case NAVCOM_PACKET: - (void)gpsd_switch_driver(session, "Navcom binary"); - break; + (void)gpsd_switch_driver(session, "Navcom binary"); + break; #endif /* NAVCOM_ENABLE */ #ifdef EVERMORE_ENABLE case EVERMORE_PACKET: @@ -755,7 +755,7 @@ gps_mask_t gpsd_poll(struct gps_device_t *session) return 0; } else if (newlen == 0) { /* no new data */ if (session->device_type != NULL && timestamp()>session->gpsdata.online+session->device_type->cycle+1){ - gpsd_report(LOG_PROG, "GPS on %s is offline (%lf sec since data)\n", + gpsd_report(LOG_PROG, "GPS on %s is offline (%lf sec since data)\n", session->gpsdata.gps_device, timestamp() - session->gpsdata.online); session->gpsdata.online = 0; @@ -764,17 +764,17 @@ gps_mask_t gpsd_poll(struct gps_device_t *session) return ONLINE_SET; } else if (session->packet.outbuflen == 0) { /* got new data, but no packet */ gpsd_report(LOG_RAW+3, "New data on %s, not yet a packet\n", - session->gpsdata.gps_device); + session->gpsdata.gps_device); return ONLINE_SET; } else { gps_mask_t received, dopmask = 0; session->gpsdata.online = timestamp(); gpsd_report(LOG_RAW+3, "Accepted packet on %s.\n", - session->gpsdata.gps_device); + session->gpsdata.gps_device); /*@ -nullstate @*/ if (session->gpsdata.raw_hook) - session->gpsdata.raw_hook(&session->gpsdata, + session->gpsdata.raw_hook(&session->gpsdata, (char *)session->packet.outbuffer, (size_t)session->packet.outbuflen, 2); /*@ -nullstate @*/ @@ -791,7 +791,7 @@ gps_mask_t gpsd_poll(struct gps_device_t *session) * Compute fix-quality data from the satellite positions. * These will not overwrite DOPs reported from the packet we just got. */ - if (session->gpsdata.fix.mode > MODE_NO_FIX + if (session->gpsdata.fix.mode > MODE_NO_FIX && (session->gpsdata.set & SATELLITE_SET) != 0 && session->gpsdata.satellites > 0) { dopmask = dop(&session->gpsdata); @@ -830,8 +830,8 @@ gps_mask_t gpsd_poll(struct gps_device_t *session) // FIXME: Add RTCMV3 handking as well. #ifdef RTCM104V2_ENABLE if ((session->gpsdata.set & RTCM2_SET) != 0) - rtcm2_dump(&session->gpsdata.rtcm2, - buf2+strlen(buf2), + rtcm2_dump(&session->gpsdata.rtcm2, + buf2+strlen(buf2), (sizeof(buf2)-strlen(buf2))); else { #endif /* RTCM104V2_ENABLE */ @@ -842,10 +842,10 @@ gps_mask_t gpsd_poll(struct gps_device_t *session) } #endif /* RTCM104V2_ENABLE */ if (buf2[0] != '\0') { - gpsd_report(LOG_IO, "<= GPS %s: %s", - session->gpsdata.gps_device, buf2); + gpsd_report(LOG_IO, "<= GPS %s: %s", + session->gpsdata.gps_device, buf2); if (session->gpsdata.raw_hook) - session->gpsdata.raw_hook(&session->gpsdata, + session->gpsdata.raw_hook(&session->gpsdata, buf2, strlen(buf2), 1); } } @@ -866,10 +866,10 @@ void gpsd_wrap(struct gps_device_t *session) void gpsd_zero_satellites(/*@out@*/struct gps_data_t *out) { - (void)memset(out->PRN, 0, sizeof(out->PRN)); + (void)memset(out->PRN, 0, sizeof(out->PRN)); (void)memset(out->elevation, 0, sizeof(out->elevation)); - (void)memset(out->azimuth, 0, sizeof(out->azimuth)); - (void)memset(out->ss, 0, sizeof(out->ss)); + (void)memset(out->azimuth, 0, sizeof(out->azimuth)); + (void)memset(out->ss, 0, sizeof(out->ss)); out->satellites = 0; } |