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/*
* Garmin binary object for the GPS packet monitor.
*
* This file is Copyright (c) 2011 by the GPSD project
* BSD terms apply: see the file COPYING in the distribution root for details.
*/
#include <assert.h>
#include <math.h>
#include "gpsd.h"
#include "bits.h"
#include "gpsmon.h"
#if defined(GARMIN_ENABLE) && defined(BINARY_ENABLE)
extern const struct gps_type_t driver_garmin_ser_binary;
static WINDOW *miscwin, *mid51win, *mid114win;
#define display (void)mvwprintw
#define GARMIN_CHANNELS 12
#define GPSD_LE16TOH(x) getles16((char *)(&(x)), 0)
#define GPSD_LE32TOH(x) getles32((char *)(&(x)), 0)
#pragma pack(1)
/* Satellite Data Record */
typedef struct __attribute__((__packed__))
{
uint8_t svid;
uint16_t snr;
uint8_t elev;
uint16_t azmth;
uint8_t status;
} cpo_sat_data;
/* Position Record */
typedef struct __attribute__((__packed__))
{
float alt;
float epe;
float eph;
float epv;
int16_t fix;
double gps_tow;
double lat;
double lon;
float lon_vel;
float lat_vel;
float alt_vel;
float msl_hght;
int16_t leap_sec;
int32_t grmn_days;
} cpo_pvt_data;
/* Receiver Measurement Record */
typedef struct __attribute__((__packed__))
{
// cppcheck-suppress unusedStructMember
uint32_t cycles;
// cppcheck-suppress unusedStructMember
double pr;
// cppcheck-suppress unusedStructMember
uint16_t phase;
// cppcheck-suppress unusedStructMember
int8_t slp_dtct;
// cppcheck-suppress unusedStructMember
uint8_t snr_dbhz;
uint8_t svid;
// cppcheck-suppress unusedStructMember
int8_t valid;
} cpo_rcv_sv_data;
typedef struct __attribute__((__packed__))
{
// cppcheck-suppress unusedStructMember
double rcvr_tow;
// cppcheck-suppress unusedStructMember
int16_t rcvr_wn;
// cppcheck-suppress unusedStructMember
cpo_rcv_sv_data sv[GARMIN_CHANNELS];
} cpo_rcv_data;
/* description of the status */
static char *fixdesc[] = {
"no fix",
"no fix",
"2D",
"3D",
"2D dif",
"3D dif",
};
/* check range of an unsigned quantity */
#define CHECK_RANGE(vec, i) ((i) < sizeof(vec)/sizeof(vec[0]))
static bool garmin_bin_initialize(void)
{
unsigned int i;
#ifndef CONTROLSEND_ENABLE
if(serial) {
monitor_complain("Direct mode doesn't supported.");
return false;
}
#endif
miscwin = subwin(devicewin, 1, 80, 1, 0);
mid51win = subwin(devicewin, 12, 18, 2, 0);
mid114win = subwin(devicewin, GARMIN_CHANNELS + 3, 23, 2, 18);
if (miscwin == NULL || mid51win == NULL || mid114win == NULL)
return false;
(void)syncok(miscwin, true);
(void)syncok(mid51win, true);
(void)syncok(mid114win, true);
(void)wattrset(miscwin, A_BOLD);
display(miscwin, 0, 0, "Time:");
(void)wattrset(miscwin, A_NORMAL);
(void)wborder(mid51win, 0, 0, 0, 0, 0, 0, 0, 0),
(void)wattrset(mid51win, A_BOLD);
display(mid51win, 0, 4, " Position ");
display(mid51win, 1, 2, "Fix:");
display(mid51win, 2, 2, "Lat:");
(void)mvwaddch(mid51win, 2, 16, ACS_DEGREE);
display(mid51win, 3, 2, "Lon:");
(void)mvwaddch(mid51win, 3, 16, ACS_DEGREE);
display(mid51win, 4, 2, "Alt: m");
display(mid51win, 5, 2, "Speed: m/s");
display(mid51win, 6, 2, "Climb: m/s");
display(mid51win, 7, 2, "Leap: sec");
display(mid51win, 8, 2, "epe: m");
display(mid51win, 9, 2, "eph: m");
display(mid51win, 10, 2, "epv: m");
display(mid51win, 11, 3, " ID 51 (0x33) ");
(void)wattrset(mid51win, A_NORMAL);
(void)wborder(mid114win, 0, 0, 0, 0, 0, 0, 0, 0),
(void)wattrset(mid114win, A_BOLD);
display(mid114win, 1, 1, "Ch PRN Az El SNR ST");
for (i = 0; i < GARMIN_CHANNELS; i++) {
display(mid114win, (int)i + 2, 1, "%2d", i);
}
display(mid114win, 0, 5, " Satellite ");
display(mid114win, 14, 4, " ID 114 (0x72) ");
(void)wattrset(mid114win, A_NORMAL);
/* initialize the GPS context's time fields */
gpsd_time_init(session.context, time(NULL));
return true;
}
static void garmin_bin_update(uint16_t pkt_id, uint32_t pkt_size UNUSED, unsigned char *pkt_data)
{
int i;
cpo_sat_data *sats = NULL;
cpo_pvt_data *pvt = NULL;
//cpo_rcv_data *rmd = NULL;
char tbuf[JSON_DATE_MAX+1];
switch (pkt_id) {
case 0x29: /* Receiver Measurement Record */
case 0x34:
/* for future use */
//rmd = (cpo_rcv_data *)pkt_data;
monitor_log("RMD 0x%02x=", pkt_id);
break;
case 0x33: /* Position Record */
/* coverity_submit[tainted_data] */
display(miscwin, 0, 6, "%-24s",
unix_to_iso8601(session.gpsdata.fix.time, tbuf, sizeof(tbuf)));
pvt = (cpo_pvt_data *)pkt_data;
display(mid51win, 1, 7, "%s",
(CHECK_RANGE(fixdesc, (uint8_t)GPSD_LE16TOH(pvt->fix)) ? \
fixdesc[GPSD_LE16TOH(pvt->fix)] : "unknown"));
display(mid51win, 2, 8, "%3.5f", pvt->lat * RAD_2_DEG);
display(mid51win, 3, 8, "%3.5f", pvt->lon * RAD_2_DEG);
display(mid51win, 4, 8, "%8.2f", pvt->alt + pvt->msl_hght);
display(mid51win, 5, 9, "%5.1f", hypot(pvt->lon_vel, pvt->lat_vel));
display(mid51win, 6, 9, "%5.1f", pvt->alt_vel);
display(mid51win, 7, 8, "%d", (int)GPSD_LE16TOH(pvt->leap_sec));
if (GPSD_LE16TOH(pvt->fix) < 2) /* error value is very large when status no fix */
pvt->epe = pvt->eph = pvt->epv = NAN;
display(mid51win, 8, 7, "%6.2f", pvt->epe);
display(mid51win, 9, 7, "%6.2f", pvt->eph);
display(mid51win, 10, 7, "%6.2f", pvt->epv);
monitor_log("PVT 0x%02x=", pkt_id);
break;
case 0x72: /* Satellite Data Record */
sats = (cpo_sat_data *)pkt_data;
for (i = 0; i < GARMIN_CHANNELS; i++, sats++) {
display(mid114win, i + 2, 3, " %3u %3u %2u %4.1f %2x",
sats->svid,
GPSD_LE16TOH(sats->azmth),
sats->elev,
(float)GPSD_LE16TOH(sats->snr) / 100.0,
sats->status);
}
monitor_log("SAT 0x%02x=", pkt_id);
break;
case 0xff: /* Product Data Record */
monitor_log("PDR 0x%02x=", pkt_id);
break;
default:
monitor_log("UNK 0x%02x=", pkt_id);
break;
}
}
static void garmin_bin_ser_update(void)
{
unsigned char *buf;
size_t len;
uint16_t pkt_id;
uint32_t pkt_size;
unsigned char pkt_data[255];
int i, j;
unsigned char c;
unsigned char chksum;
bool pkt_good = false, got_dle = false;
buf = session.lexer.outbuffer;
len = session.lexer.outbuflen;
if (!(buf[0] == (unsigned char)0x10 && /* DLE */
buf[len-2] == (unsigned char)0x10 && /* DLE */
buf[len-1] == (unsigned char)0x03)) /* ETX */
goto end; /* bad pkt */
if (buf[1] == (unsigned char)0x10 && buf[2] != (unsigned char)0x10)
goto end; /* bad pkt */
pkt_id = (uint16_t)buf[1];
if (buf[2] == (unsigned char)0x10 && buf[3] != (unsigned char)0x10)
goto end; /* bad pkt */
pkt_size = (uint32_t)buf[2];
chksum = buf[1] + buf[2]; /* pkt_id + pkt_size */
j = 0;
for (i = 0; i <= 255; i++) {
if (pkt_size == (uint32_t)j)
break;
c = buf[i+3];
if (got_dle) {
got_dle = false;
if (c != (unsigned char)0x10)
goto end; /* bad pkt */
} else {
pkt_data[j++] = c;
chksum += c;
if (c == (unsigned char)0x10)
got_dle = true;
}
}
/* check pkt chksum */
if ((unsigned char)(-chksum) == buf[len-3])
pkt_good = true;
end:
if (pkt_good) {
#ifdef CONTROLSEND_ENABLE
if(serial)
/* good packet, send ACK */
(void)monitor_control_send((unsigned char *)"\x10\x06\x00\xfa\x10\x03", 6);
#endif
garmin_bin_update(pkt_id, pkt_size, pkt_data);
} else {
#ifdef CONTROLSEND_ENABLE
if(serial)
/* bad packet, send NAK */
(void)monitor_control_send((unsigned char *)"\x10\x15\x00\xeb\x10\x03", 6);
#endif
monitor_log("BAD 0x%02x=", buf[1]);
}
}
static void garmin_bin_wrap(void)
{
(void)delwin(miscwin);
(void)delwin(mid51win);
(void)delwin(mid114win);
}
const struct monitor_object_t garmin_bin_ser_mmt = {
.initialize = garmin_bin_initialize,
.update = garmin_bin_ser_update,
.command = NULL,
.wrap = garmin_bin_wrap,
.min_y = 16,.min_x = 80,
.driver = &driver_garmin_ser_binary,
};
#endif /* defined(GARMIN_ENABLE) && defined(BINARY_ENABLE) */
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