2 * $Id: refclock_ripencc.c,v 1.13 2002/06/18 14:20:55 marks Exp marks $
4 * Copyright (c) 2002 RIPE NCC
8 * Permission to use, copy, modify, and distribute this software and its
9 * documentation for any purpose and without fee is hereby granted,
10 * provided that the above copyright notice appear in all copies and that
11 * both that copyright notice and this permission notice appear in
12 * supporting documentation, and that the name of the author not be
13 * used in advertising or publicity pertaining to distribution of the
14 * software without specific, written prior permission.
16 * THE AUTHOR DISCLAIMS ALL WARRANTIES WITH REGARD TO THIS SOFTWARE, INCLUDING
17 * ALL IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS; IN NO EVENT SHALL
18 * AUTHOR BE LIABLE FOR ANY SPECIAL, INDIRECT OR CONSEQUENTIAL DAMAGES OR ANY
19 * DAMAGES WHATSOEVER RESULTING FROM LOSS OF USE, DATA OR PROFITS, WHETHER IN
20 * AN ACTION OF CONTRACT, NEGLIGENCE OR OTHER TORTIOUS ACTION, ARISING OUT OF
21 * OR IN CONNECTION WITH THE USE OR PERFORMANCE OF THIS SOFTWARE.
25 * This driver was developed for use with the RIPE NCC TTM project.
28 * The initial driver was developed by Daniel Karrenberg <dfk@ripe.net>
29 * using the code made available by Trimble. This was for xntpd-3.x.x
31 * Rewrite of the driver for ntpd-4.x.x by Mark Santcroos <marks@ripe.net>
37 #endif /* HAVE_CONFIG_H */
39 #if defined(REFCLOCK) && defined(CLOCK_RIPENCC)
41 #include "ntp_stdlib.h"
43 #include "ntp_refclock.h"
44 #include "ntp_unixtime.h"
49 #else /* HAVE_TIMEPPS_H */
50 # ifdef HAVE_SYS_TIMEPPS_H
51 # include <sys/timepps.h>
52 # endif /* HAVE_SYS_TIMEPPS_H */
53 #endif /* HAVE_TIMEPPS_H */
59 /* we are on little endian */
63 * DEBUG statements: uncomment if necessary
65 /* #define DEBUG_NCC */ /* general debug statements */
66 /* #define DEBUG_PPS */ /* debug pps */
67 /* #define DEBUG_RAW */ /* print raw packets */
69 #define TRIMBLE_OUTPUT_FUNC
70 #define TSIP_VERNUM "7.12a"
77 #define GPS_PI (3.1415926535898)
78 #define GPS_C (299792458.)
79 #define D2R (GPS_PI/180.0)
80 #define R2D (180.0/GPS_PI)
81 #define WEEK (604800.)
84 /* control characters for TSIP packets */
88 #define MAX_RPTBUF (256)
90 /* values of TSIPPKT.status */
91 #define TSIP_PARSED_EMPTY 0
92 #define TSIP_PARSED_FULL 1
93 #define TSIP_PARSED_DLE_1 2
94 #define TSIP_PARSED_DATA 3
95 #define TSIP_PARSED_DLE_2 4
97 #define UTCF_UTC_AVAIL (unsigned char) (1) /* UTC available */
98 #define UTCF_LEAP_SCHD (unsigned char) (1<<4) /* Leap scheduled */
99 #define UTCF_LEAP_PNDG (unsigned char) (1<<5) /* Leap pending, will occur at end of day */
101 #define DEVICE "/dev/gps%d" /* name of radio device */
102 #define PRECISION (-9) /* precision assumed (about 2 ms) */
103 #define PPS_PRECISION (-20) /* precision assumed (about 1 us) */
104 #define REFID "GPS\0" /* reference id */
106 #define DESCRIPTION "RIPE NCC GPS (Palisade)" /* Description */
107 #define SPEED232 B9600 /* 9600 baud */
109 #define NSAMPLES 3 /* stages of median filter */
113 /* TSIP packets have the following structure, whether report or command. */
116 counter, /* counter */
117 len; /* size of buf; < MAX_RPTBUF unsigned chars */
119 status, /* TSIP packet format/parse status */
120 code, /* TSIP code */
121 buf[MAX_RPTBUF];/* report or command string */
124 /* TSIP binary data structures */
129 e, t_oa, i_0, OMEGADOT, sqrt_A,
130 OMEGA_0, omega, M_0, a_f0, a_f1,
131 Axis, n, OMEGA_n, ODOT_n, t_zc;
136 typedef struct { /* Almanac health page (25) parameters */
138 WN_a, SV_health[32], t_oa;
141 typedef struct { /* Universal Coordinated Time (UTC) parms */
151 WN_t, WN_LSF, DN, delta_t_LSF;
154 typedef struct { /* Ionospheric info (float) */
156 alpha_0, alpha_1, alpha_2, alpha_3,
157 beta_0, beta_1, beta_2, beta_3;
160 typedef struct { /* Subframe 1 info (float) */
164 codeL2, L2Pdata, SVacc_raw, SV_health;
168 T_GD, t_oc, a_f2, a_f1, a_f0, SVacc;
171 typedef struct { /* Ephemeris info (float) */
201 Axis, n, r1me2, OMEGA_n, ODOT_n;
204 typedef struct { /* Navigation data structure */
206 sv_number; /* SV number (0 = no entry) */
208 t_ephem; /* time of ephemeris collection */
210 ephclk; /* subframe 1 data */
212 ephorb; /* ephemeris data */
232 #ifdef TRIMBLE_OUTPUT_FUNC
234 *dayname[7] = { "Sun", "Mon", "Tue", "Wed", "Thu", "Fri", "Sat"},
235 old_baudnum[] = {0, 1, 4, 5, 6, 8, 9, 11, 28, 12},
236 *st_baud_text_app [] = {"", "", " 300", " 600", " 1200", " 2400",
237 " 4800", " 9600", "19200", "38400"},
238 *old_parity_text[] = {"EVEN", "ODD", "", "", "NONE"},
239 *parity_text [] = {"NONE", "ODD", "EVEN"},
240 *old_input_ch[] = { "TSIP", "RTCM (6 of 8 bits)"},
241 *old_output_ch[] = { "TSIP", "No output", "", "", "", "NMEA 0183"},
242 *protocols_in_text[] = { "", "TSIP", "", ""},
243 *protocols_out_text[] = { "", "TSIP", "NMEA"},
244 *rcvr_port_text [] = { "Port A ", "Port B ", "Current Port"},
245 *dyn_text [] = {"Unchanged", "Land", "Sea", "Air", "Static"},
246 *NavModeText0xBB[] = {"automatic", "time only (0-D)", "", "2-D",
247 "3-D", "", "", "OverDetermined Time"},
248 *PPSTimeBaseText[] = {"GPS", "UTC", "USER"},
249 *PPSPolarityText[] = {"Positive", "Negative"},
250 *MaskText[] = { "Almanac ", "Ephemeris", "UTC ", "Iono ",
251 "GPS Msg ", "Alm Hlth ", "Time Fix ", "SV Select",
252 "Ext Event", "Pos Fix ", "Raw Meas "};
254 #endif /* TRIMBLE_OUTPUT_FUNC */
257 * Unit control structure
259 struct ripencc_unit {
260 int unit; /* unit number */
261 int pollcnt; /* poll message counter */
262 int polled; /* Hand in a sample? */
263 char leapdelta; /* delta of next leap event */
264 unsigned char utcflags; /* delta of next leap event */
265 l_fp tstamp; /* timestamp of last poll */
267 struct timespec ts; /* last timestamp */
268 pps_params_t pps_params; /* pps parameters */
269 pps_info_t pps_info; /* last pps data */
270 pps_handle_t handle; /* pps handlebars */
275 /******************* PROTOYPES *****************/
277 /* prototypes for report parsing primitives */
278 short rpt_0x3D (TSIPPKT *rpt, unsigned char *tx_baud_index,
279 unsigned char *rx_baud_index, unsigned char *char_format_index,
280 unsigned char *stop_bits, unsigned char *tx_mode_index,
281 unsigned char *rx_mode_index);
282 short rpt_0x40 (TSIPPKT *rpt, unsigned char *sv_prn, short *week_num,
283 float *t_zc, float *eccentricity, float *t_oa, float *i_0,
284 float *OMEGA_dot, float *sqrt_A, float *OMEGA_0, float *omega,
286 short rpt_0x41 (TSIPPKT *rpt, float *time_of_week, float *UTC_offset,
288 short rpt_0x42 (TSIPPKT *rpt, float ECEF_pos[3], float *time_of_fix);
289 short rpt_0x43 (TSIPPKT *rpt, float ECEF_vel[3], float *freq_offset,
291 short rpt_0x45 (TSIPPKT *rpt, unsigned char *major_nav_version,
292 unsigned char *minor_nav_version, unsigned char *nav_day,
293 unsigned char *nav_month, unsigned char *nav_year,
294 unsigned char *major_dsp_version, unsigned char *minor_dsp_version,
295 unsigned char *dsp_day, unsigned char *dsp_month,
296 unsigned char *dsp_year);
297 short rpt_0x46 (TSIPPKT *rpt, unsigned char *status1, unsigned char *status2);
298 short rpt_0x47 (TSIPPKT *rpt, unsigned char *nsvs, unsigned char *sv_prn,
300 short rpt_0x48 (TSIPPKT *rpt, unsigned char *message);
301 short rpt_0x49 (TSIPPKT *rpt, unsigned char *sv_health);
302 short rpt_0x4A (TSIPPKT *rpt, float *lat, float *lon, float *alt,
303 float *clock_bias, float *time_of_fix);
304 short rpt_0x4A_2 (TSIPPKT *rpt, float *alt, float *dummy,
305 unsigned char *alt_flag);
306 short rpt_0x4B (TSIPPKT *rpt, unsigned char *machine_id,
307 unsigned char *status3, unsigned char *status4);
308 short rpt_0x4C (TSIPPKT *rpt, unsigned char *dyn_code, float *el_mask,
309 float *snr_mask, float *dop_mask, float *dop_switch);
310 short rpt_0x4D (TSIPPKT *rpt, float *osc_offset);
311 short rpt_0x4E (TSIPPKT *rpt, unsigned char *response);
312 short rpt_0x4F (TSIPPKT *rpt, double *a0, float *a1, float *time_of_data,
313 short *dt_ls, short *wn_t, short *wn_lsf, short *dn, short *dt_lsf);
314 short rpt_0x54 (TSIPPKT *rpt, float *clock_bias, float *freq_offset,
316 short rpt_0x55 (TSIPPKT *rpt, unsigned char *pos_code, unsigned char *vel_code,
317 unsigned char *time_code, unsigned char *aux_code);
318 short rpt_0x56 (TSIPPKT *rpt, float vel_ENU[3], float *freq_offset,
320 short rpt_0x57 (TSIPPKT *rpt, unsigned char *source_code,
321 unsigned char *diag_code, short *week_num, float *time_of_fix);
322 short rpt_0x58 (TSIPPKT *rpt, unsigned char *op_code, unsigned char *data_type,
323 unsigned char *sv_prn, unsigned char *data_length,
324 unsigned char *data_packet);
325 short rpt_0x59 (TSIPPKT *rpt, unsigned char *code_type,
326 unsigned char status_code[32]);
327 short rpt_0x5A (TSIPPKT *rpt, unsigned char *sv_prn, float *sample_length,
328 float *signal_level, float *code_phase, float *Doppler,
329 double *time_of_fix);
330 short rpt_0x5B (TSIPPKT *rpt, unsigned char *sv_prn, unsigned char *sv_health,
331 unsigned char *sv_iode, unsigned char *fit_interval_flag,
332 float *time_of_collection, float *time_of_eph, float *sv_accy);
333 short rpt_0x5C (TSIPPKT *rpt, unsigned char *sv_prn, unsigned char *slot,
334 unsigned char *chan, unsigned char *acq_flag, unsigned char *eph_flag,
335 float *signal_level, float *time_of_last_msmt, float *elev,
336 float *azim, unsigned char *old_msmt_flag,
337 unsigned char *integer_msec_flag, unsigned char *bad_data_flag,
338 unsigned char *data_collect_flag);
339 short rpt_0x6D (TSIPPKT *rpt, unsigned char *manual_mode, unsigned char *nsvs,
340 unsigned char *ndim, unsigned char sv_prn[], float *pdop,
341 float *hdop, float *vdop, float *tdop);
342 short rpt_0x82 (TSIPPKT *rpt, unsigned char *diff_mode);
343 short rpt_0x83 (TSIPPKT *rpt, double ECEF_pos[3], double *clock_bias,
345 short rpt_0x84 (TSIPPKT *rpt, double *lat, double *lon, double *alt,
346 double *clock_bias, float *time_of_fix);
347 short rpt_Paly0xBB(TSIPPKT *rpt, TSIP_RCVR_CFG *TsipxBB);
348 short rpt_0xBC (TSIPPKT *rpt, unsigned char *port_num,
349 unsigned char *in_baud, unsigned char *out_baud,
350 unsigned char *data_bits, unsigned char *parity,
351 unsigned char *stop_bits, unsigned char *flow_control,
352 unsigned char *protocols_in, unsigned char *protocols_out,
353 unsigned char *reserved);
355 /* prototypes for superpacket parsers */
357 short rpt_0x8F0B (TSIPPKT *rpt, unsigned short *event, double *tow,
358 unsigned char *date, unsigned char *month, short *year,
359 unsigned char *dim_mode, short *utc_offset, double *bias, double *drift,
360 float *bias_unc, float *dr_unc, double *lat, double *lon, double *alt,
362 short rpt_0x8F14 (TSIPPKT *rpt, short *datum_idx, double datum_coeffs[5]);
363 short rpt_0x8F15 (TSIPPKT *rpt, short *datum_idx, double datum_coeffs[5]);
364 short rpt_0x8F20 (TSIPPKT *rpt, unsigned char *info, double *lat,
365 double *lon, double *alt, double vel_enu[], double *time_of_fix,
366 short *week_num, unsigned char *nsvs, unsigned char sv_prn[],
367 short sv_IODC[], short *datum_index);
368 short rpt_0x8F41 (TSIPPKT *rpt, unsigned char *bSearchRange,
369 unsigned char *bBoardOptions, unsigned long *iiSerialNumber,
370 unsigned char *bBuildYear, unsigned char *bBuildMonth,
371 unsigned char *bBuildDay, unsigned char *bBuildHour,
372 float *fOscOffset, unsigned short *iTestCodeId);
373 short rpt_0x8F42 (TSIPPKT *rpt, unsigned char *bProdOptionsPre,
374 unsigned char *bProdNumberExt, unsigned short *iCaseSerialNumberPre,
375 unsigned long *iiCaseSerialNumber, unsigned long *iiProdNumber,
376 unsigned short *iPremiumOptions, unsigned short *iMachineID,
377 unsigned short *iKey);
378 short rpt_0x8F45 (TSIPPKT *rpt, unsigned char *bSegMask);
379 short rpt_0x8F4A_16 (TSIPPKT *rpt, unsigned char *pps_enabled,
380 unsigned char *pps_timebase, unsigned char *pos_polarity,
381 double *pps_offset, float *bias_unc_threshold);
382 short rpt_0x8F4B (TSIPPKT *rpt, unsigned long *decorr_max);
383 short rpt_0x8F4D (TSIPPKT *rpt, unsigned long *event_mask);
384 short rpt_0x8FA5 (TSIPPKT *rpt, unsigned char *spktmask);
385 short rpt_0x8FAD (TSIPPKT *rpt, unsigned short *COUNT, double *FracSec,
386 unsigned char *Hour, unsigned char *Minute, unsigned char *Second,
387 unsigned char *Day, unsigned char *Month, unsigned short *Year,
388 unsigned char *Status, unsigned char *Flags);
391 /* prototypes for command-encode primitives with suffix convention: */
392 /* c = clear, s = set, q = query, e = enable, d = disable */
393 void cmd_0x1F (TSIPPKT *cmd);
394 void cmd_0x26 (TSIPPKT *cmd);
395 void cmd_0x2F (TSIPPKT *cmd);
396 void cmd_0x35s (TSIPPKT *cmd, unsigned char pos_code, unsigned char vel_code,
397 unsigned char time_code, unsigned char opts_code);
398 void cmd_0x3C (TSIPPKT *cmd, unsigned char sv_prn);
399 void cmd_0x3Ds (TSIPPKT *cmd, unsigned char baud_out, unsigned char baud_inp,
400 unsigned char char_code, unsigned char stopbitcode,
401 unsigned char output_mode, unsigned char input_mode);
402 void cmd_0xBBq (TSIPPKT *cmd, unsigned char subcode) ;
404 /* prototypes 8E commands */
405 void cmd_0x8E0Bq (TSIPPKT *cmd);
406 void cmd_0x8E41q (TSIPPKT *cmd);
407 void cmd_0x8E42q (TSIPPKT *cmd);
408 void cmd_0x8E4Aq (TSIPPKT *cmd);
409 void cmd_0x8E4As (TSIPPKT *cmd, unsigned char PPSOnOff, unsigned char TimeBase,
410 unsigned char Polarity, double PPSOffset, float Uncertainty);
411 void cmd_0x8E4Bq (TSIPPKT *cmd);
412 void cmd_0x8E4Ds (TSIPPKT *cmd, unsigned long AutoOutputMask);
413 void cmd_0x8EADq (TSIPPKT *cmd);
415 /* header/source border XXXXXXXXXXXXXXXXXXXXXXXXXX */
417 /* Trimble parse functions */
418 static int parse0x8FAD P((TSIPPKT *, struct peer *));
419 static int parse0x8F0B P((TSIPPKT *, struct peer *));
420 #ifdef TRIMBLE_OUTPUT_FUNC
421 static int parseany P((TSIPPKT *, struct peer *));
422 static void TranslateTSIPReportToText P((TSIPPKT *, char *));
423 #endif /* TRIMBLE_OUTPUT_FUNC */
424 static int parse0x5C P((TSIPPKT *, struct peer *));
425 static int parse0x4F P((TSIPPKT *, struct peer *));
426 static void tsip_input_proc P((TSIPPKT *, int));
428 /* Trimble helper functions */
429 static void bPutFloat P((float *, unsigned char *));
430 static void bPutDouble P((double *, unsigned char *));
431 static void bPutULong P((unsigned long *, unsigned char *));
432 static int print_msg_table_header P((int rptcode, char *HdrStr, int force));
433 static char * show_time P((float time_of_week));
435 /* RIPE NCC functions */
436 static void ripencc_control P((int, struct refclockstat *, struct
437 refclockstat *, struct peer *));
438 static int ripencc_ppsapi P((struct peer *, int, int));
439 static int ripencc_get_pps_ts P((struct ripencc_unit *, l_fp *));
440 static int ripencc_start P((int, struct peer *));
441 static void ripencc_shutdown P((int, struct peer *));
442 static void ripencc_poll P((int, struct peer *));
443 static void ripencc_send P((struct peer *, TSIPPKT spt));
444 static void ripencc_receive P((struct recvbuf *));
446 /* fill in reflock structure for our clock */
447 struct refclock refclock_ripencc = {
448 ripencc_start, /* start up driver */
449 ripencc_shutdown, /* shut down driver */
450 ripencc_poll, /* transmit poll message */
451 ripencc_control, /* control function */
452 noentry, /* initialize driver */
453 noentry, /* debug info */
454 NOFLAGS /* clock flags */
458 * Tables to compute the ddd of year form icky dd/mm timecode. Viva la
461 static int day1tab[] = {31, 28, 31, 30, 31, 30, 31, 31, 30, 31, 30, 31};
462 static int day2tab[] = {31, 29, 31, 30, 31, 30, 31, 31, 30, 31, 30, 31};
466 * ripencc_start - open the GPS devices and initialize data for processing
469 ripencc_start(int unit, struct peer *peer)
471 register struct ripencc_unit *up;
472 struct refclockproc *pp;
481 (void)snprintf(device, sizeof(device), DEVICE, unit);
482 if (!(fd = refclock_open(device, SPEED232, LDISC_RAW)))
485 /* from refclock_palisade.c */
486 if (tcgetattr(fd, &tio) < 0) {
487 msyslog(LOG_ERR, "Palisade(%d) tcgetattr(fd, &tio): %m",unit);
494 tio.c_cflag |= (PARENB|PARODD);
495 tio.c_iflag &= ~ICRNL;
496 if (tcsetattr(fd, TCSANOW, &tio) == -1) {
497 msyslog(LOG_ERR, "Palisade(%d) tcsetattr(fd, &tio): %m",unit);
502 * Allocate and initialize unit structure
504 if (!(up = (struct ripencc_unit *)
505 emalloc(sizeof(struct ripencc_unit)))) {
509 memset((char *)up, 0, sizeof(struct ripencc_unit));
511 pp->io.clock_recv = ripencc_receive;
512 pp->io.srcclock = (caddr_t)peer;
515 if (!io_addclock(&pp->io)) {
520 pp->unitptr = (caddr_t)up;
523 * Initialize miscellaneous variables
525 peer->precision = PRECISION;
526 pp->clockdesc = DESCRIPTION;
527 memcpy((char *)&pp->refid, REFID, REFID_LEN);
534 * Initialize the Clock
537 /* query software versions */
539 ripencc_send(peer, spt);
541 /* query receiver health */
543 ripencc_send(peer, spt);
545 /* query serial numbers */
547 ripencc_send(peer, spt);
549 /* query manuf params */
551 ripencc_send(peer, spt);
553 /* i/o opts */ /* trimble manual page A30 */
558 0x0a); /* auxilary */
559 ripencc_send(peer, spt);
561 /* turn off port A */
565 0x07, /* char_code */
566 0x07, /* stopbitcode */
567 0x01, /* output_mode */
568 0x00); /* input_mode */
569 ripencc_send(peer, spt);
571 /* set i/o options */
574 0x01, /* Timebase UTC */
575 0x00, /* polarity positive */
576 0., /* 100 ft. cable XXX make flag */
577 1e-6 * GPS_C); /* turn of biasuncert. > (1us) */
578 ripencc_send(peer,spt);
580 /* all outomatic packet output off */
582 0x00000000); /* AutoOutputMask */
583 ripencc_send(peer, spt);
586 0x00); /* query primary configuration */
587 ripencc_send(peer,spt);
590 /* query PPS parameters */
591 cmd_0x8E4Aq (&spt); /* query PPS params */
592 ripencc_send(peer,spt);
594 /* query survey limit */
595 cmd_0x8E4Bq (&spt); /* query survey limit */
596 ripencc_send(peer,spt);
600 printf("ripencc_start: success\n");
601 #endif /* DEBUG_NCC */
604 * Start the PPSAPI interface if it is there. Default to use
605 * the assert edge and do not enable the kernel hardpps.
607 if (time_pps_create(fd, &up->handle) < 0) {
609 msyslog(LOG_ERR, "refclock_ripencc: time_pps_create failed: %m");
613 return(ripencc_ppsapi(peer, 0, 0));
617 * ripencc_control - fudge control
621 int unit, /* unit (not used) */
622 struct refclockstat *in, /* input parameters (not used) */
623 struct refclockstat *out, /* output parameters (not used) */
624 struct peer *peer /* peer structure pointer */
627 struct refclockproc *pp;
630 msyslog(LOG_INFO,"%s()",__FUNCTION__);
631 #endif /* DEBUG_NCC */
634 ripencc_ppsapi(peer, pp->sloppyclockflag & CLK_FLAG2,
635 pp->sloppyclockflag & CLK_FLAG3);
644 struct peer *peer, /* peer structure pointer */
645 int enb_clear, /* clear enable */
646 int enb_hardpps /* hardpps enable */
649 struct refclockproc *pp;
650 struct ripencc_unit *up;
654 up = (struct ripencc_unit *)pp->unitptr;
655 if (time_pps_getcap(up->handle, &capability) < 0) {
657 "refclock_ripencc: time_pps_getcap failed: %m");
660 memset(&up->pps_params, 0, sizeof(pps_params_t));
662 up->pps_params.mode = capability & PPS_CAPTURECLEAR;
664 up->pps_params.mode = capability & PPS_CAPTUREASSERT;
665 if (!up->pps_params.mode) {
667 "refclock_ripencc: invalid capture edge %d",
671 up->pps_params.mode |= PPS_TSFMT_TSPEC;
672 if (time_pps_setparams(up->handle, &up->pps_params) < 0) {
674 "refclock_ripencc: time_pps_setparams failed: %m");
678 if (time_pps_kcbind(up->handle, PPS_KC_HARDPPS,
679 up->pps_params.mode & ~PPS_TSFMT_TSPEC,
680 PPS_TSFMT_TSPEC) < 0) {
682 "refclock_ripencc: time_pps_kcbind failed: %m");
687 peer->precision = PPS_PRECISION;
691 time_pps_getparams(up->handle, &up->pps_params);
693 "refclock_ripencc: capability 0x%x version %d mode 0x%x kern %d\n",
694 capability, up->pps_params.api_version,
695 up->pps_params.mode, enb_hardpps);
697 #endif /* DEBUG_NCC */
703 * This function is called every 64 seconds from ripencc_receive
704 * It will fetch the pps time
706 * Return 0 on failure and 1 on success.
710 struct ripencc_unit *up,
715 struct timespec timeout, ts;
720 msyslog(LOG_INFO,"ripencc_get_pps_ts\n");
721 #endif /* DEBUG_PPS */
725 * Convert the timespec nanoseconds field to ntp l_fp units.
731 memcpy(&pps_info, &up->pps_info, sizeof(pps_info_t));
732 if (time_pps_fetch(up->handle, PPS_TSFMT_TSPEC, &up->pps_info,
735 if (up->pps_params.mode & PPS_CAPTUREASSERT) {
736 if (pps_info.assert_sequence ==
737 up->pps_info.assert_sequence)
739 ts = up->pps_info.assert_timestamp;
740 } else if (up->pps_params.mode & PPS_CAPTURECLEAR) {
741 if (pps_info.clear_sequence ==
742 up->pps_info.clear_sequence)
744 ts = up->pps_info.clear_timestamp;
748 if ((up->ts.tv_sec == ts.tv_sec) && (up->ts.tv_nsec == ts.tv_nsec))
752 tstmp.l_ui = ts.tv_sec + JAN_1970;
753 dtemp = ts.tv_nsec * FRAC / 1e9;
754 tstmp.l_uf = (u_int32)dtemp;
757 msyslog(LOG_INFO,"ts.tv_sec: %d\n",(int)ts.tv_sec);
758 msyslog(LOG_INFO,"ts.tv_nsec: %ld\n",ts.tv_nsec);
759 #endif /* DEBUG_PPS */
766 * ripencc_shutdown - shut down a GPS clock
769 ripencc_shutdown(int unit, struct peer *peer)
771 register struct ripencc_unit *up;
772 struct refclockproc *pp;
775 up = (struct ripencc_unit *)pp->unitptr;
778 time_pps_destroy(up->handle);
780 io_closeclock(&pp->io);
786 * ripencc_poll - called by the transmit procedure
789 ripencc_poll(int unit, struct peer *peer)
791 register struct ripencc_unit *up;
792 struct refclockproc *pp;
797 fprintf(stderr, "ripencc_poll(%d)\n", unit);
798 #endif /* DEBUG_NCC */
800 up = (struct ripencc_unit *)pp->unitptr;
801 if (up->pollcnt == 0)
802 refclock_report(peer, CEVNT_TIMEOUT);
809 /* poll for UTC superpacket */
811 ripencc_send(peer,spt);
815 * ripencc_send - send message to clock
816 * use the structures being created by the trimble functions!
817 * makes the code more readable/clean
820 ripencc_send(struct peer *peer, TSIPPKT spt)
822 unsigned char *ip, *op;
823 unsigned char obuf[512];
827 register struct ripencc_unit *up;
828 register struct refclockproc *pp;
831 up = (struct ripencc_unit *)pp->unitptr;
833 printf("ripencc_send(%d, %02X)\n", up->unit, cmd);
835 #endif /* DEBUG_RAW */
844 if (op-obuf > sizeof(obuf)-5) {
845 msyslog(LOG_ERR, "ripencc_send obuf overflow!");
846 refclock_report(peer, CEVNT_FAULT);
850 if (*ip == 0x10) /* byte stuffing */
859 if (debug) { /* print raw packet */
863 printf("ripencc_send: len %d\n", op-obuf);
864 for (i=1, cp=obuf; cp<op; i++, cp++) {
865 printf(" %02X", *cp);
871 #endif /* DEBUG_RAW */
873 if (write(peer->procptr->io.fd, obuf, op-obuf) == -1) {
874 refclock_report(peer, CEVNT_FAULT);
881 * called when a packet is received on the serial port
882 * takes care of further processing
886 ripencc_receive(struct recvbuf *rbufp)
888 register struct ripencc_unit *up;
889 register struct refclockproc *pp;
891 static TSIPPKT rpt; /* structure for current incoming TSIP report */
892 TSIPPKT spt; /* send packet */
896 /* Use these variables to hold data until we decide its worth keeping */
897 char rd_lastcode[BMAX];
901 /* msyslog(LOG_INFO, "%s",__FUNCTION__); */
904 * Initialize pointers and read the timecode and timestamp
906 peer = (struct peer *)rbufp->recv_srcclock;
908 up = (struct ripencc_unit *)pp->unitptr;
909 rd_lencode = refclock_gtlin(rbufp, rd_lastcode, BMAX, &rd_tmp);
913 fprintf(stderr, "ripencc_receive(%d)\n", up->unit);
914 #endif /* DEBUG_RAW */
917 if (debug) { /* print raw packet */
921 printf("ripencc_receive: len %d\n", rbufp->recv_length);
922 for (i=1, cp=(char*)&rbufp->recv_space; i <= rbufp->recv_length; i++, cp++) {
923 printf(" %02X", *cp);
929 #endif /* DEBUG_RAW */
931 cp = (char*) &rbufp->recv_space;
932 i=rbufp->recv_length;
934 while (i--) { /* loop over received chars */
936 tsip_input_proc(&rpt, (unsigned char) *cp++);
938 if (rpt.status != TSIP_PARSED_FULL)
943 case 0x8F: /* superpacket */
945 switch (rpt.buf[0]) {
947 case 0xAD: /* UTC Time */
949 * When polling on port B the timecode
950 * is the time of the previous PPS.
951 * If we completed receiving the packet
952 * less than 150ms after the turn of the second,
953 * it may have the code of the previous second.
954 * We do not trust that and simply poll again
955 * without even parsing it.
957 * More elegant would be to re-schedule the poll,
958 * but I do not know (yet) how to do that cleanly.
961 /* BLA ns_since_pps = ncc_tstmp(rbufp, &trtmp); */
962 /* if (up->polled && ns_since_pps > -1 && ns_since_pps < 150) { */
965 if (up->polled && ns_since_pps < 150) {
966 msyslog(LOG_INFO, "%s(): up->polled",__FUNCTION__);
967 ripencc_poll(up->unit, peer);
972 * Parse primary utc time packet
973 * and fill refclock structure
976 if (parse0x8FAD(&rpt, peer) < 0) {
977 msyslog(LOG_INFO, "%s(): parse0x8FAD < 0",__FUNCTION__);
978 refclock_report(peer, CEVNT_BADREPLY);
982 * If the PPSAPI is working, rather use its
984 * assume that the PPS occurs on the second
987 if (ripencc_get_pps_ts(up, &rd_tmp) == 1) {
988 pp->lastrec = up->tstamp = rd_tmp;
992 msyslog(LOG_INFO, "%s(): ripencc_get_pps_ts returns failure\n",__FUNCTION__);
996 msyslog(LOG_INFO, "%s(): unrequested packet\n",__FUNCTION__);
997 /* unrequested packet */
1001 /* we have been polled ! */
1005 /* poll for next packet */
1007 ripencc_send(peer,spt);
1009 if (ns_since_pps < 0) { /* no PPS */
1010 msyslog(LOG_INFO, "%s(): ns_since_pps < 0",__FUNCTION__);
1011 refclock_report(peer, CEVNT_BADTIME);
1016 * Process the new sample in the median filter and determine the
1017 * reference clock offset and dispersion.
1019 if (!refclock_process(pp)) {
1020 msyslog(LOG_INFO, "%s(): !refclock_process",__FUNCTION__);
1021 refclock_report(peer, CEVNT_BADTIME);
1025 refclock_receive(peer);
1028 case 0x0B: /* comprehensive time packet */
1029 parse0x8F0B(&rpt, peer);
1032 default: /* other superpackets */
1034 msyslog(LOG_INFO, "%s(): calling parseany",__FUNCTION__);
1035 #endif /* DEBUG_NCC */
1036 #ifdef TRIMBLE_OUTPUT_FUNC
1037 parseany(&rpt, peer);
1038 #endif /* TRIMBLE_OUTPUT_FUNC */
1043 case 0x4F: /* UTC parameters, for leap info */
1044 parse0x4F(&rpt, peer);
1047 case 0x5C: /* sat tracking data */
1048 parse0x5C(&rpt, peer);
1051 default: /* other packets */
1052 #ifdef TRIMBLE_OUTPUT_FUNC
1053 parseany(&rpt, peer);
1054 #endif /* TRIMBLE_OUTPUT_FUNC */
1057 rpt.status = TSIP_PARSED_EMPTY;
1062 * All trimble functions that are directly referenced from driver code
1063 * (so not from parseany)
1066 void cmd_0x1F (TSIPPKT *cmd)
1067 /* request software versions */
1073 void cmd_0x26 (TSIPPKT *cmd)
1074 /* request receiver health */
1083 void cmd_0x2F (TSIPPKT *cmd)
1084 /* request UTC params */
1090 void cmd_0x35s (TSIPPKT *cmd, unsigned char pos_code, unsigned char vel_code,
1091 unsigned char time_code, unsigned char opts_code)
1092 /* set serial I/O options */
1094 cmd->buf[0] = pos_code;
1095 cmd->buf[1] = vel_code;
1096 cmd->buf[2] = time_code;
1097 cmd->buf[3] = opts_code;
1101 void cmd_0x3C (TSIPPKT *cmd, unsigned char sv_prn)
1102 /* request tracking status */
1104 cmd->buf[0] = sv_prn;
1110 void cmd_0x3Ds (TSIPPKT *cmd,
1111 unsigned char baud_out, unsigned char baud_inp,
1112 unsigned char char_code, unsigned char stopbitcode,
1113 unsigned char output_mode, unsigned char input_mode)
1114 /* set Channel A configuration for dual-port operation */
1116 cmd->buf[0] = baud_out; /* XMT baud rate */
1117 cmd->buf[1] = baud_inp; /* RCV baud rate */
1118 cmd->buf[2] = char_code; /* parity and #bits per byte */
1119 cmd->buf[3] = stopbitcode; /* number of stop bits code */
1120 cmd->buf[4] = output_mode; /* Ch. A transmission mode */
1121 cmd->buf[5] = input_mode; /* Ch. A reception mode */
1127 /* query primary configuration */
1128 void cmd_0xBBq (TSIPPKT *cmd,
1129 unsigned char subcode)
1134 cmd->buf[0] = subcode;
1138 /**** Superpackets ****/
1139 void cmd_0x8E0Bq (TSIPPKT *cmd)
1140 /* 8E-0B to query 8F-0B controls */
1149 void cmd_0x8E41q (TSIPPKT *cmd)
1150 /* 8F-41 to query board serial number */
1159 void cmd_0x8E42q (TSIPPKT *cmd)
1160 /* 8F-42 to query product serial number */
1167 void cmd_0x8E4Aq (TSIPPKT *cmd)
1168 /* 8F-4A to query PPS parameters */
1176 /* set i/o options */
1177 void cmd_0x8E4As (TSIPPKT *cmd,
1178 unsigned char PPSOnOff,
1179 unsigned char TimeBase,
1180 unsigned char Polarity,
1187 cmd->buf[1] = PPSOnOff;
1188 cmd->buf[2] = TimeBase;
1189 cmd->buf[3] = Polarity;
1190 bPutDouble (&PPSOffset, &cmd->buf[4]);
1191 bPutFloat (&Uncertainty, &cmd->buf[12]);
1193 void cmd_0x8E4Bq (TSIPPKT *cmd)
1194 /* 8F-4B query survey limit */
1202 /* poll for UTC superpacket */
1203 void cmd_0x8EADq (TSIPPKT *cmd)
1204 /* 8E-AD to query 8F-AD controls */
1211 /* all outomatic packet output off */
1212 void cmd_0x8E4Ds (TSIPPKT *cmd,
1213 unsigned long AutoOutputMask)
1218 bPutULong (&AutoOutputMask, &cmd->buf[1]);
1224 /* for DOS machines, reverse order of bytes as they come through the
1227 static short bGetShort (unsigned char *bp)
1230 unsigned char *optr;
1232 optr = (unsigned char*)&outval + 1;
1238 #ifdef TRIMBLE_OUTPUT_FUNC
1239 static unsigned short bGetUShort (unsigned char *bp)
1241 unsigned short outval;
1242 unsigned char *optr;
1244 optr = (unsigned char*)&outval + 1;
1250 static long bGetLong (unsigned char *bp)
1253 unsigned char *optr;
1255 optr = (unsigned char*)&outval + 3;
1263 static unsigned long bGetULong (unsigned char *bp)
1265 unsigned long outval;
1266 unsigned char *optr;
1268 optr = (unsigned char*)&outval + 3;
1275 #endif /* TRIMBLE_OUTPUT_FUNC */
1277 static float bGetSingle (unsigned char *bp)
1280 unsigned char *optr;
1282 optr = (unsigned char*)&outval + 3;
1290 static double bGetDouble (unsigned char *bp)
1293 unsigned char *optr;
1295 optr = (unsigned char*)&outval + 7;
1307 #else /* not BYTESWAP */
1309 #define bGetShort(bp) (*(short*)(bp))
1310 #define bGetLong(bp) (*(long*)(bp))
1311 #define bGetULong(bp) (*(unsigned long*)(bp))
1312 #define bGetSingle(bp) (*(float*)(bp))
1313 #define bGetDouble(bp) (*(double*)(bp))
1315 #endif /* BYTESWAP */
1317 * Byte-reversal is necessary for little-endian (Intel-based) machines.
1318 * TSIP streams are Big-endian (Motorola-based).
1323 bPutFloat (float *in, unsigned char *out)
1325 unsigned char *inptr;
1327 inptr = (unsigned char*)in + 3;
1335 bPutULong (unsigned long *in, unsigned char *out)
1337 unsigned char *inptr;
1339 inptr = (unsigned char*)in + 3;
1347 bPutDouble (double *in, unsigned char *out)
1349 unsigned char *inptr;
1351 inptr = (unsigned char*)in + 7;
1362 #else /* not BYTESWAP */
1364 void bPutShort (short a, unsigned char *cmdbuf) {*(short*) cmdbuf = a;}
1365 void bPutULong (long a, unsigned char *cmdbuf) {*(long*) cmdbuf = a;}
1366 void bPutFloat (float a, unsigned char *cmdbuf) {*(float*) cmdbuf = a;}
1367 void bPutDouble (double a, unsigned char *cmdbuf){*(double*) cmdbuf = a;}
1369 #endif /* BYTESWAP */
1372 * Parse primary utc time packet
1373 * and fill refclock structure
1381 parse0x8FAD(rpt, peer)
1385 register struct refclockproc *pp;
1386 register struct ripencc_unit *up;
1388 unsigned day, month, year; /* data derived from received timecode */
1389 unsigned hour, minute, second;
1390 unsigned char trackstat, utcflags;
1392 static char logbuf[1024]; /* logging string buffer */
1402 if (bGetShort(&buf[1]) != 0) {
1405 printf("parse0x8FAD: event count != 0\n");
1406 #endif /* DEBUG_NCC */
1411 if (bGetDouble(&buf[3]) != 0.0) {
1414 printf("parse0x8FAD: fracsecs != 0\n");
1415 #endif /* DEBUG_NCC */
1419 hour = (unsigned int) buf[11];
1420 minute = (unsigned int) buf[12];
1421 second = (unsigned int) buf[13];
1422 day = (unsigned int) buf[14];
1423 month = (unsigned int) buf[15];
1424 year = bGetShort(&buf[16]);
1425 trackstat = buf[18];
1429 sprintf(logbuf, "U1 %d.%d.%d %02d:%02d:%02d %d %02x",
1430 day, month, year, hour, minute, second, trackstat, utcflags);
1435 #endif /* DEBUG_NCC */
1437 record_clock_stats(&peer->srcadr, logbuf);
1439 if (!utcflags & UTCF_UTC_AVAIL)
1442 /* poll for UTC parameters once and then if UTC flag changed */
1443 up = (struct ripencc_unit *) pp->unitptr;
1444 if (utcflags != up->utcflags) {
1445 TSIPPKT spt; /* local structure for send packet */
1446 cmd_0x2F (&spt); /* request UTC params */
1447 ripencc_send(peer,spt);
1448 up->utcflags = utcflags;
1452 * If we hit the leap second, we choose to skip this sample
1453 * rather than rely on other code to be perfectly correct.
1454 * No offense, just defense ;-).
1459 /* now check and convert the time we received */
1462 if (month < 1 || month > 12 || day < 1 || day > 31)
1466 if (day > day1tab[month - 1])
1468 for (i = 0; i < month - 1; i++)
1471 if (day > day2tab[month - 1])
1473 for (i = 0; i < month - 1; i++)
1478 pp->minute = minute;
1479 pp-> second = second;
1482 if ((utcflags&UTCF_LEAP_PNDG) && up->leapdelta != 0)
1483 pp-> leap = (up->leapdelta > 0 ? LEAP_ADDSECOND : LEAP_DELSECOND);
1485 pp-> leap = LEAP_NOWARNING;
1491 * Parse comprehensive time packet
1497 int parse0x8F0B(rpt, peer)
1501 register struct refclockproc *pp;
1503 unsigned day, month, year; /* data derived from received timecode */
1504 unsigned hour, minute, second;
1508 float biasunc, rateunc;
1509 double lat, lon, alt;
1510 short lat_deg, lon_deg;
1511 float lat_min, lon_min;
1512 unsigned char north_south, east_west;
1515 static char logbuf[1024]; /* logging string buffer */
1527 if (bGetShort(&buf[1]) != 0)
1530 tow = bGetDouble(&buf[3]);
1535 else if ((tow >= 604800.0) || (tow < 0.0)) {
1540 if (tow < 604799.9) tow = tow + .00000001;
1541 second = (unsigned int) fmod(tow, 60.);
1542 minute = (unsigned int) fmod(tow/60., 60.);
1543 hour = (unsigned int )fmod(tow / 3600., 24.);
1547 day = (unsigned int) buf[11];
1548 month = (unsigned int) buf[12];
1549 year = bGetShort(&buf[13]);
1551 utcoff = bGetShort(&buf[16]);
1552 bias = bGetDouble(&buf[18]) / GPS_C * 1e9; /* ns */
1553 rate = bGetDouble(&buf[26]) / GPS_C * 1e9; /* ppb */
1554 biasunc = bGetSingle(&buf[34]) / GPS_C * 1e9; /* ns */
1555 rateunc = bGetSingle(&buf[38]) / GPS_C * 1e9; /* ppb */
1556 lat = bGetDouble(&buf[42]) * R2D;
1557 lon = bGetDouble(&buf[50]) * R2D;
1558 alt = bGetDouble(&buf[58]);
1567 lat_deg = (short)lat;
1568 lat_min = (lat - lat_deg) * 60.0;
1578 lon_deg = (short)lon;
1579 lon_min = (lon - lon_deg) * 60.0;
1581 for (i=0; i<8; i++) {
1582 sv[i] = buf[i + 66];
1584 TSIPPKT spt; /* local structure for sendpacket */
1585 b = (unsigned char) (sv[i]<0 ? -sv[i] : sv[i]);
1586 /* request tracking status */
1588 ripencc_send(peer,spt);
1593 sprintf(logbuf, "C1 %02d%02d%04d %02d%02d%02d %d %7.0f %.1f %.0f %.1f %d %02d%09.6f %c %02d%09.6f %c %.0f %d %d %d %d %d %d %d %d",
1594 day, month, year, hour, minute, second, mode, bias, biasunc, rate, rateunc, utcoff,
1595 lat_deg, lat_min, north_south, lon_deg, lon_min, east_west, alt,
1596 sv[0], sv[1], sv[2], sv[3], sv[4], sv[5], sv[6], sv[7]);
1601 #endif /* DEBUG_NCC */
1603 record_clock_stats(&peer->srcadr, logbuf);
1608 #ifdef TRIMBLE_OUTPUT_FUNC
1610 * Parse any packet using Trimble machinery
1612 int parseany(rpt, peer)
1616 static char logbuf[1024]; /* logging string buffer */
1618 TranslateTSIPReportToText (rpt, logbuf); /* anything else */
1622 #endif /* DEBUG_NCC */
1623 record_clock_stats(&peer->srcadr, &logbuf[1]);
1626 #endif /* TRIMBLE_OUTPUT_FUNC */
1630 * Parse UTC Parameter Packet
1632 * See the IDE for documentation!
1638 int parse0x4F(rpt, peer)
1642 register struct ripencc_unit *up;
1646 int dt_ls, wn_t, wn_lsf, dn, dt_lsf;
1648 static char logbuf[1024]; /* logging string buffer */
1655 a0 = bGetDouble (buf);
1656 a1 = bGetSingle (&buf[8]);
1657 dt_ls = bGetShort (&buf[12]);
1658 tot = bGetSingle (&buf[14]);
1659 wn_t = bGetShort (&buf[18]);
1660 wn_lsf = bGetShort (&buf[20]);
1661 dn = bGetShort (&buf[22]);
1662 dt_lsf = bGetShort (&buf[24]);
1664 sprintf(logbuf, "L1 %d %d %d %g %g %g %d %d %d",
1665 dt_lsf - dt_ls, dt_ls, dt_lsf, a0, a1, tot, wn_t, wn_lsf, dn);
1670 #endif /* DEBUG_NCC */
1672 record_clock_stats(&peer->srcadr, logbuf);
1674 up = (struct ripencc_unit *) peer->procptr->unitptr;
1675 up->leapdelta = dt_lsf - dt_ls;
1681 * Parse Tracking Status packet
1687 int parse0x5C(rpt, peer)
1691 unsigned char prn, channel, aqflag, ephstat;
1692 float snr, azinuth, elevation;
1694 static char logbuf[1024]; /* logging string buffer */
1703 channel = (unsigned char)(buf[1] >> 3);
1704 if (channel == 0x10)
1710 snr = bGetSingle(&buf[4]);
1711 elevation = bGetSingle(&buf[12]) * R2D;
1712 azinuth = bGetSingle(&buf[16]) * R2D;
1714 sprintf(logbuf, "S1 %02d %d %d %02x %4.1f %5.1f %4.1f",
1715 prn, channel, aqflag, ephstat, snr, azinuth, elevation);
1720 #endif /* DEBUG_NCC */
1722 record_clock_stats(&peer->srcadr, logbuf);
1727 /******* Code below is from Trimble Tsipchat *************/
1730 * *************************************************************************
1732 * Trimble Navigation, Ltd.
1733 * OEM Products Development Group
1735 * 645 North Mary Avenue
1736 * Sunnyvale, California 94088-3642
1738 * Corporate Headquarter:
1739 * Telephone: (408) 481-8000
1740 * Fax: (408) 481-6005
1742 * Technical Support Center:
1743 * Telephone: (800) 767-4822 (U.S. and Canada)
1744 * (408) 481-6940 (outside U.S. and Canada)
1745 * Fax: (408) 481-6020
1746 * BBS: (408) 481-7800
1747 * e-mail: trimble_support@trimble.com
1748 * ftp://ftp.trimble.com/pub/sct/embedded/bin
1750 * *************************************************************************
1752 * ------- BYTE-SWAPPING -------
1753 * TSIP is big-endian (Motorola) protocol. To use on little-endian (Intel)
1754 * systems, the bytes of all multi-byte types (shorts, floats, doubles, etc.)
1755 * must be reversed. This is controlled by the MACRO BYTESWAP; if defined, it
1756 * assumes little-endian protocol.
1757 * --------------------------------
1759 * T_PARSER.C and T_PARSER.H contains primitive functions that interpret
1760 * reports received from the receiver. A second source file pair,
1761 * T_FORMAT.C and T_FORMAT.H, contin the matching TSIP command formatters.
1763 * The module is in very portable, basic C language. It can be used as is, or
1764 * with minimal changes if a TSIP communications application is needed separate
1765 * from TSIPCHAT. The construction of most argument lists avoid the use of
1766 * structures, but the developer is encouraged to reconstruct them using such
1767 * definitions to meet project requirements. Declarations of T_PARSER.C
1768 * functions are included in T_PARSER.H to provide prototyping definitions.
1770 * There are two types of functions: a serial input processing routine,
1772 * which assembles incoming bytes into a TSIPPKT structure, and the
1773 * report parsers, rpt_0x??().
1775 * 1) The function tsip_input_proc() accumulates bytes from the receiver,
1776 * strips control bytes (DLE), and checks if the report end sequence (DLE ETX)
1777 * has been received. rpt.status is defined as TSIP_PARSED_FULL (== 1)
1778 * if a complete packet is available.
1780 * 2) The functions rpt_0x??() are report string interpreters patterned after
1781 * the document called "Trimble Standard Interface Protocol". It should be
1782 * noted that if the report buffer is sent into the receiver with the wrong
1783 * length (byte count), the rpt_0x??() returns the Boolean equivalence for
1786 * *************************************************************************
1792 static void tsip_input_proc (
1795 /* reads bytes until serial buffer is empty or a complete report
1796 * has been received; end of report is signified by DLE ETX.
1799 unsigned char newbyte;
1801 if (inbyte < 0 || inbyte > 0xFF) return;
1803 newbyte = (unsigned char)(inbyte);
1804 switch (rpt->status)
1806 case TSIP_PARSED_DLE_1:
1811 /* illegal TSIP IDs */
1813 rpt->status = TSIP_PARSED_EMPTY;
1816 /* try normal message start again */
1818 rpt->status = TSIP_PARSED_DLE_1;
1821 /* legal TSIP ID; start message */
1822 rpt->code = newbyte;
1824 rpt->status = TSIP_PARSED_DATA;
1828 case TSIP_PARSED_DATA:
1831 /* expect DLE or ETX next */
1832 rpt->status = TSIP_PARSED_DLE_2;
1835 /* normal data byte */
1836 rpt->buf[rpt->len] = newbyte;
1838 /* no change in rpt->status */
1842 case TSIP_PARSED_DLE_2:
1845 /* normal data byte */
1846 rpt->buf[rpt->len] = newbyte;
1848 rpt->status = TSIP_PARSED_DATA;
1851 /* end of message; return TRUE here. */
1852 rpt->status = TSIP_PARSED_FULL;
1855 /* error: treat as TSIP_PARSED_DLE_1; start new report packet */
1856 rpt->code = newbyte;
1858 rpt->status = TSIP_PARSED_DATA;
1861 case TSIP_PARSED_FULL:
1862 case TSIP_PARSED_EMPTY:
1866 /* normal message start */
1868 rpt->status = TSIP_PARSED_DLE_1;
1871 /* error: ignore newbyte */
1873 rpt->status = TSIP_PARSED_EMPTY;
1877 if (rpt->len > MAX_RPTBUF) {
1878 /* error: start new report packet */
1879 rpt->status = TSIP_PARSED_EMPTY;
1884 #ifdef TRIMBLE_OUTPUT_FUNC
1887 short rpt_0x3D (TSIPPKT *rpt,
1888 unsigned char *tx_baud_index,
1889 unsigned char *rx_baud_index,
1890 unsigned char *char_format_index,
1891 unsigned char *stop_bits,
1892 unsigned char *tx_mode_index,
1893 unsigned char *rx_mode_index)
1894 /* Channel A configuration for dual port operation */
1899 if (rpt->len != 6) return TRUE;
1900 *tx_baud_index = buf[0];
1901 *rx_baud_index = buf[1];
1902 *char_format_index = buf[2];
1903 *stop_bits = (unsigned char)((buf[3] == 0x07) ? 1 : 2);
1904 *tx_mode_index = buf[4];
1905 *rx_mode_index = buf[5];
1910 short rpt_0x40 (TSIPPKT *rpt,
1911 unsigned char *sv_prn,
1914 float *eccentricity,
1922 /* almanac data for specified satellite */
1927 if (rpt->len != 39) return TRUE;
1929 *t_zc = bGetSingle (&buf[1]);
1930 *week_num = bGetShort (&buf[5]);
1931 *eccentricity = bGetSingle (&buf[7]);
1932 *t_oa = bGetSingle (&buf[11]);
1933 *i_0 = bGetSingle (&buf[15]);
1934 *OMEGA_dot = bGetSingle (&buf[19]);
1935 *sqrt_A = bGetSingle (&buf[23]);
1936 *OMEGA_0 = bGetSingle (&buf[27]);
1937 *omega = bGetSingle (&buf[31]);
1938 *M_0 = bGetSingle (&buf[35]);
1942 short rpt_0x41 (TSIPPKT *rpt,
1943 float *time_of_week,
1951 if (rpt->len != 10) return TRUE;
1952 *time_of_week = bGetSingle (buf);
1953 *week_num = bGetShort (&buf[4]);
1954 *UTC_offset = bGetSingle (&buf[6]);
1958 short rpt_0x42 (TSIPPKT *rpt,
1961 /* position in ECEF, single precision */
1966 if (rpt->len != 16) return TRUE;
1967 pos_ECEF[0] = bGetSingle (buf);
1968 pos_ECEF[1]= bGetSingle (&buf[4]);
1969 pos_ECEF[2]= bGetSingle (&buf[8]);
1970 *time_of_fix = bGetSingle (&buf[12]);
1974 short rpt_0x43 (TSIPPKT *rpt,
1978 /* velocity in ECEF, single precision */
1983 if (rpt->len != 20) return TRUE;
1984 ECEF_vel[0] = bGetSingle (buf);
1985 ECEF_vel[1] = bGetSingle (&buf[4]);
1986 ECEF_vel[2] = bGetSingle (&buf[8]);
1987 *freq_offset = bGetSingle (&buf[12]);
1988 *time_of_fix = bGetSingle (&buf[16]);
1992 short rpt_0x45 (TSIPPKT *rpt,
1993 unsigned char *major_nav_version,
1994 unsigned char *minor_nav_version,
1995 unsigned char *nav_day,
1996 unsigned char *nav_month,
1997 unsigned char *nav_year,
1998 unsigned char *major_dsp_version,
1999 unsigned char *minor_dsp_version,
2000 unsigned char *dsp_day,
2001 unsigned char *dsp_month,
2002 unsigned char *dsp_year)
2003 /* software versions */
2008 if (rpt->len != 10) return TRUE;
2009 *major_nav_version = buf[0];
2010 *minor_nav_version = buf[1];
2012 *nav_month = buf[3];
2014 *major_dsp_version = buf[5];
2015 *minor_dsp_version = buf[6];
2017 *dsp_month = buf[8];
2022 short rpt_0x46 (TSIPPKT *rpt,
2023 unsigned char *status1,
2024 unsigned char *status2)
2025 /* receiver health and status */
2030 if (rpt->len != 2) return TRUE;
2036 short rpt_0x47 (TSIPPKT *rpt,
2037 unsigned char *nsvs, unsigned char *sv_prn,
2039 /* signal levels for all satellites tracked */
2045 if (rpt->len != 1 + 5*buf[0]) return TRUE;
2047 for (isv = 0; isv < (*nsvs); isv++) {
2048 sv_prn[isv] = buf[5*isv + 1];
2049 snr[isv] = bGetSingle (&buf[5*isv + 2]);
2054 short rpt_0x48 (TSIPPKT *rpt,
2055 unsigned char *message)
2056 /* GPS system message */
2061 if (rpt->len != 22) return TRUE;
2062 memcpy (message, buf, 22);
2067 short rpt_0x49 (TSIPPKT *rpt,
2068 unsigned char *sv_health)
2069 /* health for all satellites from almanac health page */
2075 if (rpt->len != 32) return TRUE;
2076 for (i = 0; i < 32; i++) sv_health [i]= buf[i];
2080 short rpt_0x4A (TSIPPKT *rpt,
2086 /* position in lat-lon-alt, single precision */
2091 if (rpt->len != 20) return TRUE;
2092 *lat = bGetSingle (buf);
2093 *lon = bGetSingle (&buf[4]);
2094 *alt = bGetSingle (&buf[8]);
2095 *clock_bias = bGetSingle (&buf[12]);
2096 *time_of_fix = bGetSingle (&buf[16]);
2100 short rpt_0x4A_2 (TSIPPKT *rpt,
2101 float *alt, float *dummy , unsigned char *alt_flag)
2102 /* reference altitude parameters */
2108 if (rpt->len != 9) return TRUE;
2109 *alt = bGetSingle (buf);
2110 *dummy = bGetSingle (&buf[4]);
2115 short rpt_0x4B (TSIPPKT *rpt,
2116 unsigned char *machine_id,
2117 unsigned char *status3,
2118 unsigned char *status4)
2119 /* machine ID code, status */
2124 if (rpt->len != 3) return TRUE;
2125 *machine_id = buf[0];
2131 short rpt_0x4C (TSIPPKT *rpt,
2132 unsigned char *dyn_code,
2137 /* operating parameters and masks */
2142 if (rpt->len != 17) return TRUE;
2144 *el_mask = bGetSingle (&buf[1]);
2145 *snr_mask = bGetSingle (&buf[5]);
2146 *dop_mask = bGetSingle (&buf[9]);
2147 *dop_switch = bGetSingle (&buf[13]);
2151 short rpt_0x4D (TSIPPKT *rpt,
2153 /* oscillator offset */
2158 if (rpt->len != 4) return TRUE;
2159 *osc_offset = bGetSingle (buf);
2163 short rpt_0x4E (TSIPPKT *rpt,
2164 unsigned char *response)
2165 /* yes/no response to command to set GPS time */
2170 if (rpt->len != 1) return TRUE;
2175 short rpt_0x4F (TSIPPKT *rpt,
2178 float *time_of_data,
2189 if (rpt->len != 26) return TRUE;
2190 *a0 = bGetDouble (buf);
2191 *a1 = bGetSingle (&buf[8]);
2192 *dt_ls = bGetShort (&buf[12]);
2193 *time_of_data = bGetSingle (&buf[14]);
2194 *wn_t = bGetShort (&buf[18]);
2195 *wn_lsf = bGetShort (&buf[20]);
2196 *dn = bGetShort (&buf[22]);
2197 *dt_lsf = bGetShort (&buf[24]);
2202 short rpt_0x54 (TSIPPKT *rpt,
2206 /* clock offset and frequency offset in 1-SV (0-D) mode */
2211 if (rpt->len != 12) return TRUE;
2212 *clock_bias = bGetSingle (buf);
2213 *freq_offset = bGetSingle (&buf[4]);
2214 *time_of_fix = bGetSingle (&buf[8]);
2218 short rpt_0x55 (TSIPPKT *rpt,
2219 unsigned char *pos_code,
2220 unsigned char *vel_code,
2221 unsigned char *time_code,
2222 unsigned char *aux_code)
2223 /* I/O serial options */
2228 if (rpt->len != 4) return TRUE;
2231 *time_code = buf[2];
2236 short rpt_0x56 (TSIPPKT *rpt,
2237 float vel_ENU[3], float *freq_offset, float *time_of_fix)
2238 /* velocity in east-north-up coordinates */
2243 if (rpt->len != 20) return TRUE;
2245 vel_ENU[0] = bGetSingle (buf);
2247 vel_ENU[1] = bGetSingle (&buf[4]);
2249 vel_ENU[2] = bGetSingle (&buf[8]);
2250 *freq_offset = bGetSingle (&buf[12]);
2251 *time_of_fix = bGetSingle (&buf[16]);
2255 short rpt_0x57 (TSIPPKT *rpt,
2256 unsigned char *source_code, unsigned char *diag_code,
2259 /* info about last computed fix */
2264 if (rpt->len != 8) return TRUE;
2265 *source_code = buf[0];
2266 *diag_code = buf[1];
2267 *time_of_fix = bGetSingle (&buf[2]);
2268 *week_num = bGetShort (&buf[6]);
2272 short rpt_0x58 (TSIPPKT *rpt,
2273 unsigned char *op_code, unsigned char *data_type, unsigned char *sv_prn,
2274 unsigned char *data_length, unsigned char *data_packet)
2275 /* GPS system data or acknowledgment of GPS system data load */
2277 unsigned char *buf, *buf4;
2287 if (rpt->len < 4) return TRUE;
2288 if (rpt->len != 4+buf[3]) return TRUE;
2290 else if (rpt->len != 3) {
2294 *data_type = buf[1];
2296 if (*op_code == 2) {
2298 *data_length = (unsigned char)dl;
2300 switch (*data_type) {
2303 if (*data_length != sizeof (ALM_INFO)) return TRUE;
2304 alminfo = (ALM_INFO*)data_packet;
2305 alminfo->t_oa_raw = buf4[0];
2306 alminfo->SV_health = buf4[1];
2307 alminfo->e = bGetSingle(&buf4[2]);
2308 alminfo->t_oa = bGetSingle(&buf4[6]);
2309 alminfo->i_0 = bGetSingle(&buf4[10]);
2310 alminfo->OMEGADOT = bGetSingle(&buf4[14]);
2311 alminfo->sqrt_A = bGetSingle(&buf4[18]);
2312 alminfo->OMEGA_0 = bGetSingle(&buf4[22]);
2313 alminfo->omega = bGetSingle(&buf4[26]);
2314 alminfo->M_0 = bGetSingle(&buf4[30]);
2315 alminfo->a_f0 = bGetSingle(&buf4[34]);
2316 alminfo->a_f1 = bGetSingle(&buf4[38]);
2317 alminfo->Axis = bGetSingle(&buf4[42]);
2318 alminfo->n = bGetSingle(&buf4[46]);
2319 alminfo->OMEGA_n = bGetSingle(&buf4[50]);
2320 alminfo->ODOT_n = bGetSingle(&buf4[54]);
2321 alminfo->t_zc = bGetSingle(&buf4[58]);
2322 alminfo->weeknum = bGetShort(&buf4[62]);
2323 alminfo->wn_oa = bGetShort(&buf4[64]);
2327 /* Almanac health page */
2328 if (*data_length != sizeof (ALH_PARMS) + 3) return TRUE;
2330 /* this record is returned raw */
2331 memcpy (data_packet, buf4, dl);
2336 if (*data_length != sizeof (ION_INFO) + 8) return TRUE;
2337 ioninfo = (ION_INFO*)data_packet;
2338 ioninfo->alpha_0 = bGetSingle (&buf4[8]);
2339 ioninfo->alpha_1 = bGetSingle (&buf4[12]);
2340 ioninfo->alpha_2 = bGetSingle (&buf4[16]);
2341 ioninfo->alpha_3 = bGetSingle (&buf4[20]);
2342 ioninfo->beta_0 = bGetSingle (&buf4[24]);
2343 ioninfo->beta_1 = bGetSingle (&buf4[28]);
2344 ioninfo->beta_2 = bGetSingle (&buf4[32]);
2345 ioninfo->beta_3 = bGetSingle (&buf4[36]);
2350 if (*data_length != sizeof (UTC_INFO) + 13) return TRUE;
2351 utcinfo = (UTC_INFO*)data_packet;
2352 utcinfo->A_0 = bGetDouble (&buf4[13]);
2353 utcinfo->A_1 = bGetSingle (&buf4[21]);
2354 utcinfo->delta_t_LS = bGetShort (&buf4[25]);
2355 utcinfo->t_ot = bGetSingle(&buf4[27]);
2356 utcinfo->WN_t = bGetShort (&buf4[31]);
2357 utcinfo->WN_LSF = bGetShort (&buf4[33]);
2358 utcinfo->DN = bGetShort (&buf4[35]);
2359 utcinfo->delta_t_LSF = bGetShort (&buf4[37]);
2364 if (*data_length != sizeof (NAV_INFO) - 1) return TRUE;
2366 navinfo = (NAV_INFO*)data_packet;
2368 navinfo->sv_number = buf4[0];
2369 navinfo->t_ephem = bGetSingle (&buf4[1]);
2370 navinfo->ephclk.weeknum = bGetShort (&buf4[5]);
2372 navinfo->ephclk.codeL2 = buf4[7];
2373 navinfo->ephclk.L2Pdata = buf4[8];
2374 navinfo->ephclk.SVacc_raw = buf4[9];
2375 navinfo->ephclk.SV_health = buf4[10];
2376 navinfo->ephclk.IODC = bGetShort (&buf4[11]);
2377 navinfo->ephclk.T_GD = bGetSingle (&buf4[13]);
2378 navinfo->ephclk.t_oc = bGetSingle (&buf4[17]);
2379 navinfo->ephclk.a_f2 = bGetSingle (&buf4[21]);
2380 navinfo->ephclk.a_f1 = bGetSingle (&buf4[25]);
2381 navinfo->ephclk.a_f0 = bGetSingle (&buf4[29]);
2382 navinfo->ephclk.SVacc = bGetSingle (&buf4[33]);
2384 navinfo->ephorb.IODE = buf4[37];
2385 navinfo->ephorb.fit_interval = buf4[38];
2386 navinfo->ephorb.C_rs = bGetSingle (&buf4[39]);
2387 navinfo->ephorb.delta_n = bGetSingle (&buf4[43]);
2388 navinfo->ephorb.M_0 = bGetDouble (&buf4[47]);
2389 navinfo->ephorb.C_uc = bGetSingle (&buf4[55]);
2390 navinfo->ephorb.e = bGetDouble (&buf4[59]);
2391 navinfo->ephorb.C_us = bGetSingle (&buf4[67]);
2392 navinfo->ephorb.sqrt_A = bGetDouble (&buf4[71]);
2393 navinfo->ephorb.t_oe = bGetSingle (&buf4[79]);
2394 navinfo->ephorb.C_ic = bGetSingle (&buf4[83]);
2395 navinfo->ephorb.OMEGA_0 = bGetDouble (&buf4[87]);
2396 navinfo->ephorb.C_is = bGetSingle (&buf4[95]);
2397 navinfo->ephorb.i_0 = bGetDouble (&buf4[99]);
2398 navinfo->ephorb.C_rc = bGetSingle (&buf4[107]);
2399 navinfo->ephorb.omega = bGetDouble (&buf4[111]);
2400 navinfo->ephorb.OMEGADOT=bGetSingle (&buf4[119]);
2401 navinfo->ephorb.IDOT = bGetSingle (&buf4[123]);
2402 navinfo->ephorb.Axis = bGetDouble (&buf4[127]);
2403 navinfo->ephorb.n = bGetDouble (&buf4[135]);
2404 navinfo->ephorb.r1me2 = bGetDouble (&buf4[143]);
2405 navinfo->ephorb.OMEGA_n=bGetDouble (&buf4[151]);
2406 navinfo->ephorb.ODOT_n = bGetDouble (&buf4[159]);
2413 short rpt_0x59 (TSIPPKT *rpt,
2414 unsigned char *code_type,
2415 unsigned char status_code[32])
2416 /* satellite enable/disable or health heed/ignore list */
2422 if (rpt->len != 33) return TRUE;
2423 *code_type = buf[0];
2424 for (iprn = 0; iprn < 32; iprn++)
2425 status_code[iprn] = buf[iprn + 1];
2429 short rpt_0x5A (TSIPPKT *rpt,
2430 unsigned char *sv_prn,
2431 float *sample_length,
2432 float *signal_level,
2435 double *time_of_fix)
2436 /* raw measurement data - code phase/Doppler */
2441 if (rpt->len != 25) return TRUE;
2443 *sample_length = bGetSingle (&buf[1]);
2444 *signal_level = bGetSingle (&buf[5]);
2445 *code_phase = bGetSingle (&buf[9]);
2446 *Doppler = bGetSingle (&buf[13]);
2447 *time_of_fix = bGetDouble (&buf[17]);
2451 short rpt_0x5B (TSIPPKT *rpt,
2452 unsigned char *sv_prn,
2453 unsigned char *sv_health,
2454 unsigned char *sv_iode,
2455 unsigned char *fit_interval_flag,
2456 float *time_of_collection,
2459 /* satellite ephorb status */
2464 if (rpt->len != 16) return TRUE;
2466 *time_of_collection = bGetSingle (&buf[1]);
2467 *sv_health = buf[5];
2469 *time_of_eph = bGetSingle (&buf[7]);
2470 *fit_interval_flag = buf[11];
2471 *sv_accy = bGetSingle (&buf[12]);
2475 short rpt_0x5C (TSIPPKT *rpt,
2476 unsigned char *sv_prn,
2477 unsigned char *slot,
2478 unsigned char *chan,
2479 unsigned char *acq_flag,
2480 unsigned char *eph_flag,
2481 float *signal_level,
2482 float *time_of_last_msmt,
2485 unsigned char *old_msmt_flag,
2486 unsigned char *integer_msec_flag,
2487 unsigned char *bad_data_flag,
2488 unsigned char *data_collect_flag)
2489 /* satellite tracking status */
2494 if (rpt->len != 24) return TRUE;
2496 *slot = (unsigned char)((buf[1] & 0x07) + 1);
2497 *chan = (unsigned char)(buf[1] >> 3);
2498 if (*chan == 0x10) *chan = 2;
2502 *signal_level = bGetSingle (&buf[4]);
2503 *time_of_last_msmt = bGetSingle (&buf[8]);
2504 *elev = bGetSingle (&buf[12]);
2505 *azim = bGetSingle (&buf[16]);
2506 *old_msmt_flag = buf[20];
2507 *integer_msec_flag = buf[21];
2508 *bad_data_flag = buf[22];
2509 *data_collect_flag = buf[23];
2514 short rpt_0x6D (TSIPPKT *rpt,
2515 unsigned char *manual_mode,
2516 unsigned char *nsvs,
2517 unsigned char *ndim,
2518 unsigned char sv_prn[],
2523 /* over-determined satellite selection for position fixes, PDOP, fix mode */
2529 *nsvs = (unsigned char)((buf[0] & 0xF0) >> 4);
2530 if ((*nsvs)>8) return TRUE;
2531 if (rpt->len != 17 + (*nsvs) ) return TRUE;
2533 *manual_mode = (unsigned char)(buf[0] & 0x08);
2534 *ndim = (unsigned char)((buf[0] & 0x07));
2535 *pdop = bGetSingle (&buf[1]);
2536 *hdop = bGetSingle (&buf[5]);
2537 *vdop = bGetSingle (&buf[9]);
2538 *tdop = bGetSingle (&buf[13]);
2539 for (islot = 0; islot < (*nsvs); islot++)
2540 sv_prn[islot] = buf[islot + 17];
2545 short rpt_0x82 (TSIPPKT *rpt,
2546 unsigned char *diff_mode)
2547 /* differential fix mode */
2552 if (rpt->len != 1) return TRUE;
2553 *diff_mode = buf[0];
2557 short rpt_0x83 (TSIPPKT *rpt,
2561 /* position, ECEF double precision */
2566 if (rpt->len != 36) return TRUE;
2567 ECEF_pos[0] = bGetDouble (buf);
2568 ECEF_pos[1] = bGetDouble (&buf[8]);
2569 ECEF_pos[2] = bGetDouble (&buf[16]);
2570 *clock_bias = bGetDouble (&buf[24]);
2571 *time_of_fix = bGetSingle (&buf[32]);
2575 short rpt_0x84 (TSIPPKT *rpt,
2581 /* position, lat-lon-alt double precision */
2586 if (rpt->len != 36) return TRUE;
2587 *lat = bGetDouble (buf);
2588 *lon = bGetDouble (&buf[8]);
2589 *alt = bGetDouble (&buf[16]);
2590 *clock_bias = bGetDouble (&buf[24]);
2591 *time_of_fix = bGetSingle (&buf[32]);
2595 short rpt_Paly0xBB(TSIPPKT *rpt,
2596 TSIP_RCVR_CFG *TsipxBB)
2602 /* Palisade is inconsistent with other TSIP, which has a kength of 40 */
2603 /* if (rpt->len != 40) return TRUE; */
2604 if (rpt->len != 43) return TRUE;
2606 TsipxBB->bSubcode = buf[0];
2607 TsipxBB->operating_mode = buf[1] ;
2608 TsipxBB->dyn_code = buf[3] ;
2609 TsipxBB->elev_mask = bGetSingle (&buf[5]);
2610 TsipxBB->cno_mask = bGetSingle (&buf[9]);
2611 TsipxBB->dop_mask = bGetSingle (&buf[13]);
2612 TsipxBB->dop_switch = bGetSingle (&buf[17]);
2616 short rpt_0xBC (TSIPPKT *rpt,
2617 unsigned char *port_num,
2618 unsigned char *in_baud,
2619 unsigned char *out_baud,
2620 unsigned char *data_bits,
2621 unsigned char *parity,
2622 unsigned char *stop_bits,
2623 unsigned char *flow_control,
2624 unsigned char *protocols_in,
2625 unsigned char *protocols_out,
2626 unsigned char *reserved)
2627 /* Receiver serial port configuration */
2632 if (rpt->len != 10) return TRUE;
2636 *data_bits = buf[3];
2638 *stop_bits = buf[5];
2639 *flow_control = buf[6];
2640 *protocols_in = buf[7];
2641 *protocols_out = buf[8];
2647 /**** Superpackets ****/
2649 short rpt_0x8F0B(TSIPPKT *rpt,
2650 unsigned short *event,
2652 unsigned char *date,
2653 unsigned char *month,
2655 unsigned char *dim_mode,
2670 if (rpt->len != 74) return TRUE;
2671 *event = bGetShort(&buf[1]);
2672 *tow = bGetDouble(&buf[3]);
2675 *year = bGetShort(&buf[13]);
2676 *dim_mode = buf[15];
2677 *utc_offset = bGetShort(&buf[16]);
2678 *bias = bGetDouble(&buf[18]);
2679 *drift = bGetDouble(&buf[26]);
2680 *bias_unc = bGetSingle(&buf[34]);
2681 *dr_unc = bGetSingle(&buf[38]);
2682 *lat = bGetDouble(&buf[42]);
2683 *lon = bGetDouble(&buf[50]);
2684 *alt = bGetDouble(&buf[58]);
2686 for (local_index=0; local_index<8; local_index++) sv_id[local_index] = buf[local_index + 66];
2690 short rpt_0x8F14 (TSIPPKT *rpt,
2692 double datum_coeffs[5])
2693 /* datum index and coefficients */
2698 if (rpt->len != 43) return TRUE;
2699 *datum_idx = bGetShort(&buf[1]);
2700 datum_coeffs[0] = bGetDouble (&buf[3]);
2701 datum_coeffs[1] = bGetDouble (&buf[11]);
2702 datum_coeffs[2] = bGetDouble (&buf[19]);
2703 datum_coeffs[3] = bGetDouble (&buf[27]);
2704 datum_coeffs[4] = bGetDouble (&buf[35]);
2709 short rpt_0x8F15 (TSIPPKT *rpt,
2711 double datum_coeffs[5])
2712 /* datum index and coefficients */
2717 if (rpt->len != 43) return TRUE;
2718 *datum_idx = bGetShort(&buf[1]);
2719 datum_coeffs[0] = bGetDouble (&buf[3]);
2720 datum_coeffs[1] = bGetDouble (&buf[11]);
2721 datum_coeffs[2] = bGetDouble (&buf[19]);
2722 datum_coeffs[3] = bGetDouble (&buf[27]);
2723 datum_coeffs[4] = bGetDouble (&buf[35]);
2728 #define MAX_LONG (2147483648.) /* 2**31 */
2730 short rpt_0x8F20 (TSIPPKT *rpt,
2731 unsigned char *info,
2736 double *time_of_fix,
2738 unsigned char *nsvs,
2739 unsigned char sv_prn[],
2756 if (rpt->len != 56) return TRUE;
2758 vel_scale = (buf[24]&1)? 0.020 : 0.005;
2759 vel_enu[0] = bGetShort (buf+2)*vel_scale;
2760 vel_enu[1] = bGetShort (buf+4)*vel_scale;
2761 vel_enu[2] = bGetShort (buf+6)*vel_scale;
2763 *time_of_fix = bGetULong (buf+8)*.001;
2765 longtemp = bGetLong (buf+12);
2766 *lat = longtemp*(GPS_PI/MAX_LONG);
2768 ulongtemp = bGetULong (buf+16);
2769 *lon = ulongtemp*(GPS_PI/MAX_LONG);
2770 if (*lon > GPS_PI) *lon -= 2.0*GPS_PI;
2772 *alt = bGetLong (buf+20)*.001;
2773 /* 25 blank; 29 = UTC */
2774 (*datum_index) = (short)((short)buf[26]-1);
2777 *week_num = bGetShort (&buf[30]);
2778 for (isv = 0; isv < 8; isv++) {
2779 prnx = buf[32+2*isv];
2780 sv_prn[isv] = (unsigned char)(prnx&0x3F);
2781 iode = buf[33+2*isv];
2782 sv_IODC[isv] = (short)(iode | ((prnx>>6)<<8));
2787 short rpt_0x8F41 (TSIPPKT *rpt,
2788 unsigned char *bSearchRange,
2789 unsigned char *bBoardOptions,
2790 unsigned long *iiSerialNumber,
2791 unsigned char *bBuildYear,
2792 unsigned char *bBuildMonth,
2793 unsigned char *bBuildDay,
2794 unsigned char *bBuildHour,
2796 unsigned short *iTestCodeId)
2798 if(rpt->len != 17) return FALSE;
2799 *bSearchRange = rpt->buf[1];
2800 *bBoardOptions = rpt->buf[2];
2801 *iiSerialNumber = bGetLong(&rpt->buf[3]);
2802 *bBuildYear = rpt->buf[7];
2803 *bBuildMonth = rpt->buf[8];
2804 *bBuildDay = rpt->buf[9];
2805 *bBuildHour = rpt->buf[10];
2806 *fOscOffset = bGetSingle(&rpt->buf[11]);
2807 *iTestCodeId = bGetShort(&rpt->buf[15]);
2808 /* Tsipx8E41Data = *Tsipx8E41; */
2812 short rpt_0x8F42 (TSIPPKT *rpt,
2813 unsigned char *bProdOptionsPre,
2814 unsigned char *bProdNumberExt,
2815 unsigned short *iCaseSerialNumberPre,
2816 unsigned long *iiCaseSerialNumber,
2817 unsigned long *iiProdNumber,
2818 unsigned short *iPremiumOptions,
2819 unsigned short *iMachineID,
2820 unsigned short *iKey)
2822 if(rpt->len != 19) return FALSE;
2823 *bProdOptionsPre = rpt->buf[1];
2824 *bProdNumberExt = rpt->buf[2];
2825 *iCaseSerialNumberPre = bGetShort(&rpt->buf[3]);
2826 *iiCaseSerialNumber = bGetLong(&rpt->buf[5]);
2827 *iiProdNumber = bGetLong(&rpt->buf[9]);
2828 *iPremiumOptions = bGetShort(&rpt->buf[13]);
2829 *iMachineID = bGetShort(&rpt->buf[15]);
2830 *iKey = bGetShort(&rpt->buf[17]);
2834 short rpt_0x8F45(TSIPPKT *rpt,
2835 unsigned char *bSegMask)
2837 if(rpt->len != 2) return FALSE;
2838 *bSegMask = rpt->buf[1];
2842 short rpt_0x8F4A_16(TSIPPKT *rpt,
2843 unsigned char *pps_enabled,
2844 unsigned char *pps_timebase,
2845 unsigned char *pos_polarity,
2847 float *bias_unc_threshold)
2848 /* Stinger PPS definition */
2854 if (rpt->len != 16) return TRUE;
2855 *pps_enabled = buf[1];
2856 *pps_timebase = buf[2];
2857 *pos_polarity = buf[3];
2858 *pps_offset = bGetDouble(&buf[4]);
2859 *bias_unc_threshold = bGetSingle(&buf[12]);
2863 short rpt_0x8F4B(TSIPPKT *rpt,
2864 unsigned long *decorr_max)
2870 if (rpt->len != 5) return TRUE;
2871 *decorr_max = bGetLong(&buf[1]);
2875 short rpt_0x8F4D(TSIPPKT *rpt,
2876 unsigned long *event_mask)
2882 if (rpt->len != 5) return TRUE;
2883 *event_mask = bGetULong (&buf[1]);
2887 short rpt_0x8FA5(TSIPPKT *rpt,
2888 unsigned char *spktmask)
2894 if (rpt->len != 5) return TRUE;
2895 spktmask[0] = buf[1];
2896 spktmask[1] = buf[2];
2897 spktmask[2] = buf[3];
2898 spktmask[3] = buf[4];
2902 short rpt_0x8FAD (TSIPPKT *rpt,
2903 unsigned short *COUNT,
2905 unsigned char *Hour,
2906 unsigned char *Minute,
2907 unsigned char *Second,
2909 unsigned char *Month,
2910 unsigned short *Year,
2911 unsigned char *Status,
2912 unsigned char *Flags)
2915 if (rpt->len != 22) return TRUE;
2917 *COUNT = bGetUShort(&rpt->buf[1]);
2918 *FracSec = bGetDouble(&rpt->buf[3]);
2919 *Hour = rpt->buf[11];
2920 *Minute = rpt->buf[12];
2921 *Second = rpt->buf[13];
2922 *Day = rpt->buf[14];
2923 *Month = rpt->buf[15];
2924 *Year = bGetUShort(&rpt->buf[16]);
2925 *Status = rpt->buf[18];
2926 *Flags = rpt->buf[19];
2932 * *************************************************************************
2934 * Trimble Navigation, Ltd.
2935 * OEM Products Development Group
2937 * 645 North Mary Avenue
2938 * Sunnyvale, California 94088-3642
2940 * Corporate Headquarter:
2941 * Telephone: (408) 481-8000
2942 * Fax: (408) 481-6005
2944 * Technical Support Center:
2945 * Telephone: (800) 767-4822 (U.S. and Canada)
2946 * (408) 481-6940 (outside U.S. and Canada)
2947 * Fax: (408) 481-6020
2948 * BBS: (408) 481-7800
2949 * e-mail: trimble_support@trimble.com
2950 * ftp://ftp.trimble.com/pub/sct/embedded/bin
2952 * *************************************************************************
2954 * T_REPORT.C consists of a primary function TranslateTSIPReportToText()
2957 * This function takes a character buffer that has been received as a report
2958 * from a TSIP device and interprets it. The character buffer has been
2959 * assembled using tsip_input_proc() in T_PARSER.C.
2961 * A large case statement directs processing to one of many mid-level
2962 * functions. The mid-level functions specific to the current report
2963 * code passes the report buffer to the appropriate report decoder
2964 * rpt_0x?? () in T_PARSER.C, which converts the byte stream in rpt.buf
2965 * to data values approporaite for use.
2967 * *************************************************************************
2972 #define GOOD_PARSE 0
2973 #define BADID_PARSE 1
2974 #define BADLEN_PARSE 2
2975 #define BADDATA_PARSE 3
2981 /* pbuf is the pointer to the current location of the text output */
2985 /* keep track of whether the message has been successfully parsed */
2990 /* convert time of week into day-hour-minute-second and print */
2991 char* show_time (float time_of_week)
2993 short days, hours, minutes;
2996 static char timestring [80];
2998 if (time_of_week == -1.0)
3000 sprintf(timestring, " <No time yet> ");
3002 else if ((time_of_week >= 604800.0) || (time_of_week < 0.0))
3004 sprintf(timestring, " <Bad time> ");
3008 if (time_of_week < 604799.9)
3009 tow = time_of_week + .00000001;
3010 seconds = (float)fmod(tow, 60.);
3011 minutes = (short) fmod(tow/60., 60.);
3012 hours = (short)fmod(tow / 3600., 24.);
3013 days = (short)(tow / 86400.0);
3014 sprintf(timestring, " %s %02d:%02d:%05.2f ",
3015 dayname[days], hours, minutes, seconds);
3022 static void rpt_chan_A_config (TSIPPKT *rpt)
3025 tx_baud_index, rx_baud_index,
3026 char_format_index, stop_bits,
3027 tx_mode_index, rx_mode_index,
3034 &tx_baud_index, &rx_baud_index, &char_format_index,
3035 &stop_bits, &tx_mode_index, &rx_mode_index)) {
3036 parsed = BADLEN_PARSE;
3040 pbuf += sprintf(pbuf, "\nChannel A Configuration");
3042 nbaud = sizeof(old_baudnum);
3044 for (i = 0; i < nbaud; ++i) if (tx_baud_index == old_baudnum[i]) break;
3045 pbuf += sprintf(pbuf, "\n Transmit speed: %s at %s",
3046 old_output_ch[tx_mode_index], st_baud_text_app[i]);
3048 for (i = 0; i < nbaud; ++i) if (rx_baud_index == old_baudnum[i]) break;
3049 pbuf += sprintf(pbuf, "\n Receive speed: %s at %s",
3050 old_input_ch[rx_mode_index], st_baud_text_app[i]);
3052 databits = (unsigned char)((char_format_index & 0x03) + 5);
3054 parity = (unsigned char)(char_format_index >> 2);
3055 if (parity > 4) parity = 2;
3057 pbuf += sprintf(pbuf, "\n Character format (bits/char, parity, stop bits): %d-%s-%d",
3058 databits, old_parity_text[parity], stop_bits);
3063 static void rpt_almanac_data_page (TSIPPKT *rpt)
3082 &sv_prn, &week_num, &t_zc, &eccentricity, &t_oa,
3083 &i_0, &OMEGA_dot, &sqrt_A, &OMEGA_0, &omega, &M_0)) {
3084 parsed = BADLEN_PARSE;
3088 pbuf += sprintf(pbuf, "\nAlmanac for SV %02d", sv_prn);
3089 pbuf += sprintf(pbuf, "\n Captured:%15.0f %s",
3090 t_zc, show_time (t_zc));
3091 pbuf += sprintf(pbuf, "\n week:%15d", week_num);
3092 pbuf += sprintf(pbuf, "\n Eccentricity:%15g", eccentricity);
3093 pbuf += sprintf(pbuf, "\n T_oa:%15.0f %s",
3094 t_oa, show_time (t_oa));
3095 pbuf += sprintf(pbuf, "\n i 0:%15g", i_0);
3096 pbuf += sprintf(pbuf, "\n OMEGA dot:%15g", OMEGA_dot);
3097 pbuf += sprintf(pbuf, "\n sqrt A:%15g", sqrt_A);
3098 pbuf += sprintf(pbuf, "\n OMEGA 0:%15g", OMEGA_0);
3099 pbuf += sprintf(pbuf, "\n omega:%15g", omega);
3100 pbuf += sprintf(pbuf, "\n M 0:%15g", M_0);
3104 static void rpt_GPS_time (TSIPPKT *rpt)
3107 time_of_week, UTC_offset;
3112 if (rpt_0x41 (rpt, &time_of_week, &UTC_offset, &week_num)) {
3113 parsed = BADLEN_PARSE;
3117 pbuf += sprintf(pbuf, "\nGPS time:%s GPS week: %d UTC offset %.1f",
3118 show_time(time_of_week), week_num, UTC_offset);
3123 static void rpt_single_ECEF_position (TSIPPKT *rpt)
3126 ECEF_pos[3], time_of_fix;
3129 if (rpt_0x42 (rpt, ECEF_pos, &time_of_fix)) {
3130 parsed = BADLEN_PARSE;
3134 pbuf += sprintf(pbuf, "\nSXYZ: %15.0f %15.0f %15.0f %s",
3135 ECEF_pos[0], ECEF_pos[1], ECEF_pos[2],
3136 show_time(time_of_fix));
3140 static void rpt_single_ECEF_velocity (TSIPPKT *rpt)
3144 ECEF_vel[3], freq_offset, time_of_fix;
3147 if (rpt_0x43 (rpt, ECEF_vel, &freq_offset, &time_of_fix)) {
3148 parsed = BADLEN_PARSE;
3152 pbuf += sprintf(pbuf, "\nVelECEF: %11.3f %11.3f %11.3f %12.3f%s",
3153 ECEF_vel[0], ECEF_vel[1], ECEF_vel[2], freq_offset,
3154 show_time(time_of_fix));
3158 static void rpt_SW_version (TSIPPKT *rpt) {
3160 major_nav_version, minor_nav_version,
3161 nav_day, nav_month, nav_year,
3162 major_dsp_version, minor_dsp_version,
3163 dsp_day, dsp_month, dsp_year;
3167 &major_nav_version, &minor_nav_version,
3168 &nav_day, &nav_month, &nav_year,
3169 &major_dsp_version, &minor_dsp_version,
3170 &dsp_day, &dsp_month, &dsp_year)) {
3171 parsed = BADLEN_PARSE;
3175 pbuf += sprintf(pbuf,
3176 "\nFW Versions: Nav Proc %2d.%02d %2d/%2d/%2d Sig Proc %2d.%02d %2d/%2d/%2d",
3177 major_nav_version, minor_nav_version, nav_day, nav_month, nav_year,
3178 major_dsp_version, minor_dsp_version, dsp_day, dsp_month, dsp_year);
3182 static void rpt_rcvr_health (TSIPPKT *rpt)
3188 "Doing position fixes",
3189 "Don't have GPS time yet",
3190 "Waiting for almanac collection",
3192 "No satellites available",
3193 "Only 1 satellite available",
3194 "Only 2 satellites available",
3195 "Only 3 satellites available",
3196 "No satellites usable ",
3197 "Only 1 satellite usable",
3198 "Only 2 satellites usable",
3199 "Only 3 satellites usable",
3200 "Chosen satellite unusable"};
3204 if (rpt_0x46 (rpt, &status1, &status2))
3206 parsed = BADLEN_PARSE;
3210 pbuf += sprintf(pbuf, "\nRcvr status1: %s (%02Xh); ",
3211 sc_text[rpt->buf[0]], status1);
3213 pbuf += sprintf(pbuf, "status2: %s, %s (%02Xh)",
3214 (status2 & 0x01)?"No BBRAM":"BBRAM OK",
3215 (status2 & 0x10)?"No Ant":"Ant OK",
3220 static void rpt_SNR_all_SVs (TSIPPKT *rpt)
3230 if (rpt_0x47 (rpt, &nsvs, sv_prn, snr))
3232 parsed = BADLEN_PARSE;
3236 pbuf += sprintf(pbuf, "\nSNR for satellites: %d", nsvs);
3237 for (isv = 0; isv < nsvs; isv++)
3239 pbuf += sprintf(pbuf, "\n SV %02d %6.2f",
3240 sv_prn[isv], snr[isv]);
3245 static void rpt_GPS_system_message (TSIPPKT *rpt)
3251 if (rpt_0x48 (rpt, message))
3253 parsed = BADLEN_PARSE;
3257 pbuf += sprintf(pbuf, "\nGPS message: %s", message);
3261 static void rpt_almanac_health_page (TSIPPKT *rpt)
3269 if (rpt_0x49 (rpt, sv_health))
3271 parsed = BADLEN_PARSE;
3275 pbuf += sprintf(pbuf, "\nAlmanac health page:");
3276 for (iprn = 0; iprn < 32; iprn++)
3278 if (!(iprn%5)) *pbuf++ = '\n';
3279 pbuf += sprintf(pbuf, " SV%02d %2X",
3280 (iprn+1) , sv_health[iprn]);
3285 static void rpt_single_lla_position (TSIPPKT *rpt) {
3290 alt, clock_bias, time_of_fix;
3291 double lat_min, lon_min;
3293 north_south, east_west;
3296 &lat, &lon, &alt, &clock_bias, &time_of_fix))
3298 parsed = BADLEN_PARSE;
3302 /* convert from radians to degrees */
3310 lat_deg = (short)lat;
3311 lat_min = (lat - lat_deg) * 60.0;
3320 lon_deg = (short)lon;
3321 lon_min = (lon - lon_deg) * 60.0;
3323 pbuf += sprintf(pbuf, "\nSLLA: %4d: %06.3f %c%5d:%06.3f %c%10.2f %12.2f%s",
3324 lat_deg, lat_min, north_south,
3325 lon_deg, lon_min, east_west,
3327 show_time(time_of_fix));
3331 static void rpt_ref_alt (TSIPPKT *rpt) {
3338 if (rpt_0x4A_2 (rpt,
3339 &alt, &dummy, &alt_flag))
3341 parsed = BADLEN_PARSE;
3345 pbuf += sprintf(pbuf, "\nReference Alt: %.1f m; %s",
3346 alt, alt_flag?"ON":"OFF");
3350 static void rpt_rcvr_id_and_status (TSIPPKT *rpt)
3354 machine_id, status3, status4;
3357 if (rpt_0x4B (rpt, &machine_id, &status3, &status4))
3359 parsed = BADLEN_PARSE;
3363 pbuf += sprintf(pbuf, "\nRcvr Machine ID: %d; Status3 = %s, %s (%02Xh)",
3365 (status3 & 0x02)?"No RTC":"RTC OK",
3366 (status3 & 0x08)?"No Alm":"Alm OK",
3371 static void rpt_operating_parameters (TSIPPKT *rpt)
3376 el_mask, snr_mask, dop_mask, dop_switch;
3379 if (rpt_0x4C (rpt, &dyn_code, &el_mask,
3380 &snr_mask, &dop_mask, &dop_switch))
3382 parsed = BADLEN_PARSE;
3386 pbuf += sprintf(pbuf, "\nOperating Parameters:");
3387 pbuf += sprintf(pbuf, "\n Dynamics code = %d %s",
3388 dyn_code, dyn_text[dyn_code]);
3389 pbuf += sprintf(pbuf, "\n Elevation mask = %.2fø", el_mask * R2D);
3390 pbuf += sprintf(pbuf, "\n SNR mask = %.2f", snr_mask);
3391 pbuf += sprintf(pbuf, "\n DOP mask = %.2f", dop_mask);
3392 pbuf += sprintf(pbuf, "\n DOP switch = %.2f", dop_switch);
3396 static void rpt_oscillator_offset (TSIPPKT *rpt)
3402 if (rpt_0x4D (rpt, &osc_offset))
3404 parsed = BADLEN_PARSE;
3408 pbuf += sprintf(pbuf, "\nOscillator offset: %.2f Hz = %.3f PPM",
3409 osc_offset, osc_offset/1575.42);
3413 static void rpt_GPS_time_set_response (TSIPPKT *rpt)
3420 if (rpt_0x4E (rpt, &response))
3422 parsed = BADLEN_PARSE;
3429 pbuf += sprintf(pbuf, "\nTime set accepted");
3433 pbuf += sprintf(pbuf, "\nTime set rejected or not required");
3437 parsed = BADDATA_PARSE;
3442 static void rpt_UTC_offset (TSIPPKT *rpt)
3449 dt_ls, wn_t, wn_lsf, dn, dt_lsf;
3452 if (rpt_0x4F (rpt, &a0, &a1, &time_of_data,
3453 &dt_ls, &wn_t, &wn_lsf, &dn, &dt_lsf)) {
3454 parsed = BADLEN_PARSE;
3458 pbuf += sprintf(pbuf, "\nUTC Correction Data");
3459 pbuf += sprintf(pbuf, "\n A_0 = %g ", a0);
3460 pbuf += sprintf(pbuf, "\n A_1 = %g ", a1);
3461 pbuf += sprintf(pbuf, "\n delta_t_LS = %d ", dt_ls);
3462 pbuf += sprintf(pbuf, "\n t_ot = %.0f ", time_of_data);
3463 pbuf += sprintf(pbuf, "\n WN_t = %d ", wn_t );
3464 pbuf += sprintf(pbuf, "\n WN_LSF = %d ", wn_lsf );
3465 pbuf += sprintf(pbuf, "\n DN = %d ", dn );
3466 pbuf += sprintf(pbuf, "\n delta_t_LSF = %d ", dt_lsf );
3471 static void rpt_1SV_bias (TSIPPKT *rpt)
3474 clock_bias, freq_offset, time_of_fix;
3477 if (rpt_0x54 (rpt, &clock_bias, &freq_offset, &time_of_fix)) {
3478 parsed = BADLEN_PARSE;
3482 pbuf += sprintf (pbuf, "\nTime Fix Clock Bias: %6.2f m Freq Bias: %6.2f m/s%s",
3483 clock_bias, freq_offset, show_time (time_of_fix));
3487 static void rpt_io_opt (TSIPPKT *rpt)
3490 pos_code, vel_code, time_code, aux_code;
3494 &pos_code, &vel_code, &time_code, &aux_code)) {
3495 parsed = BADLEN_PARSE;
3498 /* rptbuf unloaded */
3500 pbuf += sprintf(pbuf, "\nI/O Options: %2X %2X %2X %2X",
3501 pos_code, vel_code, time_code, aux_code);
3503 if (pos_code & 0x01) {
3504 pbuf += sprintf(pbuf, "\n ECEF XYZ position output");
3507 if (pos_code & 0x02) {
3508 pbuf += sprintf(pbuf, "\n LLA position output");
3511 pbuf += sprintf(pbuf, (pos_code & 0x04)?
3512 "\n MSL altitude output (Geoid height) ":
3513 "\n WGS-84 altitude output");
3515 pbuf += sprintf(pbuf, (pos_code & 0x08)?
3516 "\n MSL altitude input":
3517 "\n WGS-84 altitude input");
3519 pbuf += sprintf(pbuf, (pos_code & 0x10)?
3520 "\n Double precision":
3521 "\n Single precision");
3523 if (pos_code & 0x20) {
3524 pbuf += sprintf(pbuf, "\n All Enabled Superpackets");
3527 if (vel_code & 0x01) {
3528 pbuf += sprintf(pbuf, "\n ECEF XYZ velocity output");
3531 if (vel_code & 0x02) {
3532 pbuf += sprintf(pbuf, "\n ENU velocity output");
3535 pbuf += sprintf(pbuf, (time_code & 0x01)?
3536 "\n Time tags in UTC":
3537 "\n Time tags in GPS time");
3539 if (time_code & 0x02) {
3540 pbuf += sprintf(pbuf, "\n Fixes delayed to integer seconds");
3543 if (time_code & 0x04) {
3544 pbuf += sprintf(pbuf, "\n Fixes sent only on request");
3547 if (time_code & 0x08) {
3548 pbuf += sprintf(pbuf, "\n Synchronized measurements");
3551 if (time_code & 0x10) {
3552 pbuf += sprintf(pbuf, "\n Minimize measurement propagation");
3555 pbuf += sprintf(pbuf, (time_code & 0x20) ?
3556 "\n PPS output at all times" :
3557 "\n PPS output during fixes");
3559 if (aux_code & 0x01) {
3560 pbuf += sprintf(pbuf, "\n Raw measurement output");
3563 if (aux_code & 0x02) {
3564 pbuf += sprintf(pbuf, "\n Code-phase smoothed before output");
3567 if (aux_code & 0x04) {
3568 pbuf += sprintf(pbuf, "\n Additional fix status");
3571 pbuf += sprintf(pbuf, (aux_code & 0x08)?
3572 "\n Signal Strength Output as dBHz" :
3573 "\n Signal Strength Output as AMU");
3577 static void rpt_ENU_velocity (TSIPPKT *rpt)
3580 vel_ENU[3], freq_offset, time_of_fix;
3583 if (rpt_0x56 (rpt, vel_ENU, &freq_offset, &time_of_fix)) {
3584 parsed = BADLEN_PARSE;
3588 pbuf += sprintf(pbuf, "\nVel ENU: %11.3f %11.3f %11.3f %12.3f%s",
3589 vel_ENU[0], vel_ENU[1], vel_ENU[2], freq_offset,
3590 show_time (time_of_fix));
3594 static void rpt_last_fix_info (TSIPPKT *rpt)
3597 source_code, diag_code;
3604 if (rpt_0x57 (rpt, &source_code, &diag_code, &week_num, &time_of_fix)) {
3605 parsed = BADLEN_PARSE;
3609 pbuf += sprintf(pbuf, "\n source code %d; diag code: %2Xh",
3610 source_code, diag_code);
3611 pbuf += sprintf(pbuf, "\n Time of last fix:%s", show_time(time_of_fix));
3612 pbuf += sprintf(pbuf, "\n Week of last fix: %d", week_num);
3616 static void rpt_GPS_system_data (TSIPPKT *rpt)
3620 op_code, data_type, sv_prn,
3621 data_length, data_packet[250];
3642 {"", "", "Almanac Orbit",
3643 "Health Page & Ref Time", "Ionosphere", "UTC ",
3647 if (rpt_0x58 (rpt, &op_code, &data_type, &sv_prn,
3648 &data_length, data_packet))
3650 parsed = BADLEN_PARSE;
3654 pbuf += sprintf(pbuf, "\nSystem data [%d]: %s SV%02d",
3655 data_type, datname[data_type], sv_prn);
3659 pbuf += sprintf(pbuf, " Acknowledgment");
3662 pbuf += sprintf(pbuf, " length = %d bytes", data_length);
3663 switch (data_type) {
3666 if (sv_prn == 0 || sv_prn > 32) {
3667 pbuf += sprintf(pbuf, " Binary PRN invalid");
3670 almanac = (ALM_INFO*)data_packet;
3671 pbuf += sprintf(pbuf, "\n t_oa_raw = % -12d SV_hlth = % -12d ",
3672 almanac->t_oa_raw , almanac->SV_health );
3673 pbuf += sprintf(pbuf, "\n e = % -12g t_oa = % -12g ",
3674 almanac->e , almanac->t_oa );
3675 pbuf += sprintf(pbuf, "\n i_0 = % -12g OMEGADOT = % -12g ",
3676 almanac->i_0 , almanac->OMEGADOT );
3677 pbuf += sprintf(pbuf, "\n sqrt_A = % -12g OMEGA_0 = % -12g ",
3678 almanac->sqrt_A , almanac->OMEGA_0 );
3679 pbuf += sprintf(pbuf, "\n omega = % -12g M_0 = % -12g ",
3680 almanac->omega , almanac->M_0 );
3681 pbuf += sprintf(pbuf, "\n a_f0 = % -12g a_f1 = % -12g ",
3682 almanac->a_f0 , almanac->a_f1 );
3683 pbuf += sprintf(pbuf, "\n Axis = % -12g n = % -12g ",
3684 almanac->Axis , almanac->n );
3685 pbuf += sprintf(pbuf, "\n OMEGA_n = % -12g ODOT_n = % -12g ",
3686 almanac->OMEGA_n , almanac->ODOT_n );
3687 pbuf += sprintf(pbuf, "\n t_zc = % -12g weeknum = % -12d ",
3688 almanac->t_zc , almanac->weeknum );
3689 pbuf += sprintf(pbuf, "\n wn_oa = % -12d", almanac->wn_oa );
3693 /* Almanac health page */
3694 almh = (ALH_PARMS*)data_packet;
3695 pbuf += sprintf(pbuf, "\n t_oa = %d, wn_oa&0xFF = %d ",
3696 almh->t_oa, almh->WN_a);
3697 pbuf += sprintf(pbuf, "\nAlmanac health page:");
3698 for (iprn = 0; iprn < 32; iprn++) {
3699 if (!(iprn%5)) *pbuf++ = '\n';
3700 pbuf += sprintf(pbuf, " SV%02d %2X",
3701 (iprn+1) , almh->SV_health[iprn]);
3703 curr_t_oa = data_packet[34];
3704 curr_wn_oa = (unsigned short)((data_packet[35]<<8) + data_packet[36]);
3705 pbuf += sprintf(pbuf, "\n current t_oa = %d, wn_oa = %d ",
3706 curr_t_oa, curr_wn_oa);
3711 ionosphere = (ION_INFO*)data_packet;
3712 pbuf += sprintf(pbuf, "\n alpha_0 = % -12g alpha_1 = % -12g ",
3713 ionosphere->alpha_0, ionosphere->alpha_1);
3714 pbuf += sprintf(pbuf, "\n alpha_2 = % -12g alpha_3 = % -12g ",
3715 ionosphere->alpha_2, ionosphere->alpha_3);
3716 pbuf += sprintf(pbuf, "\n beta_0 = % -12g beta_1 = % -12g ",
3717 ionosphere->beta_0, ionosphere->beta_1);
3718 pbuf += sprintf(pbuf, "\n beta_2 = % -12g beta_3 = % -12g ",
3719 ionosphere->beta_2, ionosphere->beta_3);
3724 utc = (UTC_INFO*)data_packet;
3725 pbuf += sprintf(pbuf, "\n A_0 = %g ", utc->A_0);
3726 pbuf += sprintf(pbuf, "\n A_1 = %g ", utc->A_1);
3727 pbuf += sprintf(pbuf, "\n delta_t_LS = %d ", utc->delta_t_LS);
3728 pbuf += sprintf(pbuf, "\n t_ot = %.0f ", utc->t_ot );
3729 pbuf += sprintf(pbuf, "\n WN_t = %d ", utc->WN_t );
3730 pbuf += sprintf(pbuf, "\n WN_LSF = %d ", utc->WN_LSF );
3731 pbuf += sprintf(pbuf, "\n DN = %d ", utc->DN );
3732 pbuf += sprintf(pbuf, "\n delta_t_LSF = %d ", utc->delta_t_LSF );
3735 case 6: /* Ephemeris */
3736 if (sv_prn == 0 || sv_prn > 32) {
3737 pbuf += sprintf(pbuf, " Binary PRN invalid");
3740 nav_data = (NAV_INFO*)data_packet;
3742 pbuf += sprintf(pbuf, "\n SV_PRN = % -12d . t_ephem = % -12g . ",
3743 nav_data->sv_number , nav_data->t_ephem );
3744 cdata = &(nav_data->ephclk);
3745 pbuf += sprintf(pbuf,
3746 "\n weeknum = % -12d . codeL2 = % -12d . L2Pdata = % -12d",
3747 cdata->weeknum , cdata->codeL2 , cdata->L2Pdata );
3748 pbuf += sprintf(pbuf,
3749 "\n SVacc_raw = % -12d .SV_health = % -12d . IODC = % -12d",
3750 cdata->SVacc_raw, cdata->SV_health, cdata->IODC );
3751 pbuf += sprintf(pbuf,
3752 "\n T_GD = % -12g . t_oc = % -12g . a_f2 = % -12g",
3753 cdata->T_GD, cdata->t_oc, cdata->a_f2 );
3754 pbuf += sprintf(pbuf,
3755 "\n a_f1 = % -12g . a_f0 = % -12g . SVacc = % -12g",
3756 cdata->a_f1, cdata->a_f0, cdata->SVacc );
3757 edata = &(nav_data->ephorb);
3758 pbuf += sprintf(pbuf,
3759 "\n IODE = % -12d .fit_intvl = % -12d . C_rs = % -12g",
3760 edata->IODE, edata->fit_interval, edata->C_rs );
3761 pbuf += sprintf(pbuf,
3762 "\n delta_n = % -12g . M_0 = % -12g . C_uc = % -12g",
3763 edata->delta_n, edata->M_0, edata->C_uc );
3764 pbuf += sprintf(pbuf,
3765 "\n ecc = % -12g . C_us = % -12g . sqrt_A = % -12g",
3766 edata->e, edata->C_us, edata->sqrt_A );
3767 pbuf += sprintf(pbuf,
3768 "\n t_oe = % -12g . C_ic = % -12g . OMEGA_0 = % -12g",
3769 edata->t_oe, edata->C_ic, edata->OMEGA_0 );
3770 pbuf += sprintf(pbuf,
3771 "\n C_is = % -12g . i_0 = % -12g . C_rc = % -12g",
3772 edata->C_is, edata->i_0, edata->C_rc );
3773 pbuf += sprintf(pbuf,
3774 "\n omega = % -12g . OMEGADOT = % -12g . IDOT = % -12g",
3775 edata->omega, edata->OMEGADOT, edata->IDOT );
3776 pbuf += sprintf(pbuf,
3777 "\n Axis = % -12g . n = % -12g . r1me2 = % -12g",
3778 edata->Axis, edata->n, edata->r1me2 );
3779 pbuf += sprintf(pbuf,
3780 "\n OMEGA_n = % -12g . ODOT_n = % -12g",
3781 edata->OMEGA_n, edata->ODOT_n );
3789 static void rpt_SVs_enabled (TSIPPKT *rpt)
3799 if (rpt_0x59 (rpt, &code_type, status_code))
3801 parsed = BADLEN_PARSE;
3806 case 3: pbuf += sprintf(pbuf, "\nSVs Disabled:\n"); break;
3807 case 6: pbuf += sprintf(pbuf, "\nSVs with Health Ignored:\n"); break;
3811 for (iprn=0; iprn<32; iprn++)
3813 if (status_code[iprn])
3815 pbuf += sprintf(pbuf, " %02d", iprn+1);
3819 if (numsvs == 0) pbuf += sprintf(pbuf, "None");
3824 static void rpt_raw_msmt (TSIPPKT *rpt)
3829 sample_length, signal_level, code_phase, Doppler;
3834 if (rpt_0x5A (rpt, &sv_prn, &sample_length, &signal_level,
3835 &code_phase, &Doppler, &time_of_fix))
3837 parsed = BADLEN_PARSE;
3841 pbuf += sprintf(pbuf, "\n %02d %5.0f %7.1f %10.2f %10.2f %12.3f %s",
3842 sv_prn, sample_length, signal_level, code_phase, Doppler, time_of_fix,
3843 show_time ((float)time_of_fix));
3847 static void rpt_SV_ephemeris_status (TSIPPKT *rpt)
3850 sv_prn, sv_health, sv_iode, fit_interval_flag;
3852 time_of_collection, time_of_eph, sv_accy;
3855 if (rpt_0x5B (rpt, &sv_prn, &sv_health, &sv_iode, &fit_interval_flag,
3856 &time_of_collection, &time_of_eph, &sv_accy))
3858 parsed = BADLEN_PARSE;
3862 pbuf += sprintf(pbuf, "\n SV%02d %s %2Xh %2Xh ",
3863 sv_prn, show_time (time_of_collection), sv_health, sv_iode);
3864 /* note: cannot use show_time twice in same call */
3865 pbuf += sprintf(pbuf, "%s %1d %4.1f",
3866 show_time (time_of_eph), fit_interval_flag, sv_accy);
3870 static void rpt_SV_tracking_status (TSIPPKT *rpt)
3873 sv_prn, chan, slot, acq_flag, eph_flag,
3874 old_msmt_flag, integer_msec_flag, bad_data_flag,
3877 signal_level, time_of_last_msmt,
3882 &sv_prn, &slot, &chan, &acq_flag, &eph_flag,
3883 &signal_level, &time_of_last_msmt, &elev, &azim,
3884 &old_msmt_flag, &integer_msec_flag, &bad_data_flag,
3885 &data_collect_flag))
3887 parsed = BADLEN_PARSE;
3891 pbuf += sprintf(pbuf,
3892 "\n SV%2d %1d %1d %1d %4.1f %s %5.1f %5.1f",
3894 acq_flag, eph_flag, signal_level,
3895 show_time(time_of_last_msmt),
3896 elev*R2D, azim*R2D);
3901 static void rpt_allSV_selection (TSIPPKT *rpt)
3904 manual_mode, nsvs, sv_prn[8], ndim;
3908 pdop, hdop, vdop, tdop;
3912 &manual_mode, &nsvs, &ndim, sv_prn,
3913 &pdop, &hdop, &vdop, &tdop))
3915 parsed = BADLEN_PARSE;
3922 pbuf += sprintf(pbuf, "\nMode: Searching, %d-SV:", nsvs);
3925 pbuf += sprintf(pbuf, "\nMode: One-SV Timing:");
3928 pbuf += sprintf(pbuf, "\nMode: %c-%dD, %d-SV:",
3929 manual_mode ? 'M' : 'A', ndim - 1, nsvs);
3932 pbuf += sprintf(pbuf, "\nMode: Timing, %d-SV:", nsvs);
3935 pbuf += sprintf(pbuf, "\nMode: Unknown = %d:", ndim);
3939 for (islot = 0; islot < nsvs; islot++)
3941 if (sv_prn[islot]) pbuf += sprintf(pbuf, " %02d", sv_prn[islot]);
3943 if (ndim == 3 || ndim == 4)
3945 pbuf += sprintf(pbuf, "; DOPs: P %.1f H %.1f V %.1f T %.1f",
3946 pdop, hdop, vdop, tdop);
3952 static void rpt_DGPS_position_mode (TSIPPKT *rpt)
3958 if (rpt_0x82 (rpt, &diff_mode)) {
3959 parsed = BADLEN_PARSE;
3963 pbuf += sprintf(pbuf, "\nFix is%s DGPS-corrected (%s mode) (%d)",
3964 (diff_mode&1) ? "" : " not",
3965 (diff_mode&2) ? "auto" : "manual",
3970 static void rpt_double_ECEF_position (TSIPPKT *rpt)
3974 ECEF_pos[3], clock_bias;
3979 if (rpt_0x83 (rpt, ECEF_pos, &clock_bias, &time_of_fix))
3981 parsed = BADLEN_PARSE;
3985 pbuf += sprintf(pbuf, "\nDXYZ:%12.2f %13.2f %13.2f %12.2f%s",
3986 ECEF_pos[0], ECEF_pos[1], ECEF_pos[2], clock_bias,
3987 show_time(time_of_fix));
3991 static void rpt_double_lla_position (TSIPPKT *rpt)
3996 lat, lon, lat_min, lon_min,
4001 north_south, east_west;
4005 &lat, &lon, &alt, &clock_bias, &time_of_fix))
4007 parsed = BADLEN_PARSE;
4019 lat_deg = (short)lat;
4020 lat_min = (lat - lat_deg) * 60.0;
4028 lon_deg = (short)lon;
4029 lon_min = (lon - lon_deg) * 60.0;
4030 pbuf += sprintf(pbuf, "\nDLLA: %2d:%08.5f %c; %3d:%08.5f %c; %10.2f %12.2f%s",
4031 lat_deg, lat_min, north_south,
4032 lon_deg, lon_min, east_west,
4034 show_time(time_of_fix));
4038 static void rpt_complete_rcvr_config (TSIPPKT *rpt)
4040 TSIP_RCVR_CFG TsipxBB ;
4042 if (rpt_Paly0xBB (rpt, &TsipxBB))
4044 parsed = BADLEN_PARSE;
4048 pbuf += sprintf(pbuf, "\n operating mode: %s",
4049 NavModeText0xBB[TsipxBB.operating_mode]);
4050 pbuf += sprintf(pbuf, "\n dynamics: %s",
4051 dyn_text[TsipxBB.dyn_code]);
4052 pbuf += sprintf(pbuf, "\n elev angle mask: %g deg",
4053 TsipxBB.elev_mask * R2D);
4054 pbuf += sprintf(pbuf, "\n SNR mask: %g AMU",
4056 pbuf += sprintf(pbuf, "\n DOP mask: %g",
4058 pbuf += sprintf(pbuf, "\n DOP switch: %g",
4059 TsipxBB.dop_switch);
4064 static void rpt_rcvr_serial_port_config (TSIPPKT *rpt)
4067 port_num, in_baud, out_baud, data_bits, parity, stop_bits, flow_control,
4068 protocols_in, protocols_out, reserved;
4069 unsigned char known;
4072 if (rpt_0xBC (rpt, &port_num, &in_baud, &out_baud, &data_bits, &parity,
4073 &stop_bits, &flow_control, &protocols_in, &protocols_out, &reserved)) {
4074 parsed = BADLEN_PARSE;
4077 /* rptbuf unloaded */
4079 pbuf += sprintf(pbuf, "\n RECEIVER serial port %s config:",
4080 rcvr_port_text[port_num]);
4082 pbuf += sprintf(pbuf, "\n I/O Baud %s/%s, %d - %s - %d",
4083 st_baud_text_app[in_baud],
4084 st_baud_text_app[out_baud],
4086 parity_text[parity],
4088 pbuf += sprintf(pbuf, "\n Input protocols: ");
4090 if (protocols_in&B_TSIP)
4092 pbuf += sprintf(pbuf, "%s ", protocols_in_text[1]);
4095 if (known == FALSE) pbuf += sprintf(pbuf, "No known");
4097 pbuf += sprintf(pbuf, "\n Output protocols: ");
4099 if (protocols_out&B_TSIP)
4101 pbuf += sprintf(pbuf, "%s ", protocols_out_text[1]);
4104 if (protocols_out&B_NMEA)
4106 pbuf += sprintf(pbuf, "%s ", protocols_out_text[2]);
4109 if (known == FALSE) pbuf += sprintf(pbuf, "No known");
4110 reserved = reserved;
4116 static void rpt_8F0B(TSIPPKT *rpt)
4121 "full position (3-D)",
4122 "single satellite (0-D)",
4126 "overdetermined clock"};
4177 parsed = BADLEN_PARSE;
4183 pbuf += sprintf(pbuf, "\nNew partial+full meas");
4187 pbuf += sprintf(pbuf, "\nEvent count: %5d", event);
4190 pbuf += sprintf(pbuf, "\nGPS time : %s %2d/%2d/%2d (DMY)",
4191 show_time(tow), date, month, year);
4192 pbuf += sprintf(pbuf, "\nMode : %s", oprtng_dim[dim_mode]);
4193 pbuf += sprintf(pbuf, "\nUTC offset: %2d", utc_offset);
4194 pbuf += sprintf(pbuf, "\nClock Bias: %6.2f m", bias);
4195 pbuf += sprintf(pbuf, "\nFreq bias : %6.2f m/s", drift);
4196 pbuf += sprintf(pbuf, "\nBias unc : %6.2f m", bias_unc);
4197 pbuf += sprintf(pbuf, "\nFreq unc : %6.2f m/s", dr_unc);
4199 lat *= R2D; /* convert from radians to degrees */
4211 lat_deg = (short)lat;
4212 lat_min = (lat - lat_deg) * 60.0;
4223 lon_deg = (short)lon;
4224 lon_min = (lon - lon_deg) * 60.0;
4225 pbuf += sprintf(pbuf, "\nPosition :");
4226 pbuf += sprintf(pbuf, " %4d %6.3f %c", lat_deg, lat_min, north_south);
4227 pbuf += sprintf(pbuf, " %5d %6.3f %c", lon_deg, lon_min, east_west);
4228 pbuf += sprintf(pbuf, " %10.2f", alt);
4230 numfix = numnotfix = 0;
4231 for (local_index=0; local_index<8; local_index++)
4233 if (sv_id[local_index] < 0) numnotfix++;
4234 if (sv_id[local_index] > 0) numfix++;
4238 pbuf += sprintf(pbuf, "\nSVs used in fix : ");
4239 for (local_index=0; local_index<8; local_index++)
4241 if (sv_id[local_index] > 0)
4243 pbuf += sprintf(pbuf, "%2d ", sv_id[local_index]);
4249 pbuf += sprintf(pbuf, "\nOther SVs tracked: ");
4250 for (local_index=0; local_index<8; local_index++)
4252 if (sv_id[local_index] < 0)
4254 pbuf += sprintf(pbuf, "%2d ", sv_id[local_index]);
4261 static void rpt_8F14 (TSIPPKT *rpt)
4262 /* Datum parameters */
4270 if (rpt_0x8F14 (rpt, &datum_idx, datum_coeffs))
4272 parsed = BADLEN_PARSE;
4276 if (datum_idx == -1)
4278 pbuf += sprintf(pbuf, "\nUser-Entered Datum:");
4279 pbuf += sprintf(pbuf, "\n dx = %6.1f", datum_coeffs[0]);
4280 pbuf += sprintf(pbuf, "\n dy = %6.1f", datum_coeffs[1]);
4281 pbuf += sprintf(pbuf, "\n dz = %6.1f", datum_coeffs[2]);
4282 pbuf += sprintf(pbuf, "\n a-axis = %10.3f", datum_coeffs[3]);
4283 pbuf += sprintf(pbuf, "\n e-squared = %16.14f", datum_coeffs[4]);
4285 else if (datum_idx == 0)
4287 pbuf += sprintf(pbuf, "\nWGS-84 datum, Index 0 ");
4291 pbuf += sprintf(pbuf, "\nStandard Datum, Index %3d ", datum_idx);
4296 static void rpt_8F15 (TSIPPKT *rpt)
4297 /* Datum parameters */
4305 if (rpt_0x8F15 (rpt, &datum_idx, datum_coeffs)) {
4306 parsed = BADLEN_PARSE;
4310 if (datum_idx == -1)
4312 pbuf += sprintf(pbuf, "\nUser-Entered Datum:");
4313 pbuf += sprintf(pbuf, "\n dx = %6.1f", datum_coeffs[0]);
4314 pbuf += sprintf(pbuf, "\n dy = %6.1f", datum_coeffs[1]);
4315 pbuf += sprintf(pbuf, "\n dz = %6.1f", datum_coeffs[2]);
4316 pbuf += sprintf(pbuf, "\n a-axis = %10.3f", datum_coeffs[3]);
4317 pbuf += sprintf(pbuf, "\n e-squared = %16.14f", datum_coeffs[4]);
4319 else if (datum_idx == 0)
4321 pbuf += sprintf(pbuf, "\nWGS-84 datum, Index 0 ");
4325 pbuf += sprintf(pbuf, "\nStandard Datum, Index %3d ", datum_idx);
4330 #define INFO_DGPS 0x02
4331 #define INFO_2D 0x04
4332 #define INFO_ALTSET 0x08
4333 #define INFO_FILTERED 0x10
4334 static void rpt_8F20 (TSIPPKT *rpt)
4337 info, nsvs, sv_prn[32];
4339 week_num, datum_index, sv_IODC[32];
4341 lat, lon, alt, time_of_fix;
4343 londeg, latdeg, vel[3];
4350 if (rpt_0x8F20 (rpt,
4351 &info, &lat, &lon, &alt, vel,
4353 &week_num, &nsvs, sv_prn, sv_IODC, &datum_index))
4355 parsed = BADLEN_PARSE;
4358 pbuf += sprintf(pbuf,
4359 "\nFix at: %04d:%3s:%02d:%02d:%06.3f GPS (=UTC+%2ds) FixType: %s%s%s",
4361 dayname[(short)(time_of_fix/86400.0)],
4362 (short)fmod(time_of_fix/3600., 24.),
4363 (short)fmod(time_of_fix/60., 60.),
4364 fmod(time_of_fix, 60.),
4365 (char)rpt->buf[29], /* UTC offset */
4366 (info & INFO_DGPS)?"Diff":"",
4367 (info & INFO_2D)?"2D":"3D",
4368 (info & INFO_FILTERED)?"-Filtrd":"");
4370 if (datum_index > 0)
4372 sprintf(datum_string, "Datum%3d", datum_index);
4374 else if (datum_index)
4376 sprintf(datum_string, "Unknown ");
4380 sprintf(datum_string, "WGS-84");
4383 /* convert from radians to degrees */
4384 latdeg = R2D * fabs(lat);
4385 londeg = R2D * fabs(lon);
4386 pbuf += sprintf(pbuf,
4387 "\n Pos: %4d:%09.6f %c %5d:%09.6f %c %10.2f m HAE (%s)",
4388 (short)latdeg, fmod (latdeg, 1.)*60.0,
4390 (short)londeg, fmod (londeg, 1.)*60.0,
4394 pbuf += sprintf(pbuf,
4395 "\n Vel: %9.3f E %9.3f N %9.3f U (m/sec)",
4396 vel[0], vel[1], vel[2]);
4398 pbuf += sprintf(pbuf,
4400 for (isv = 0; isv < nsvs; isv++) {
4401 pbuf += sprintf(pbuf, " %02d", sv_prn[isv]);
4403 pbuf += sprintf(pbuf, " (IODEs:");
4404 for (isv = 0; isv < nsvs; isv++) {
4405 pbuf += sprintf(pbuf, " %02X", sv_IODC[isv]&0xFF);
4407 pbuf += sprintf(pbuf, ")");
4411 static void rpt_8F41(TSIPPKT *rpt)
4427 if (!rpt_0x8F41(rpt,
4438 parsed = BADLEN_PARSE;
4442 pbuf += sprintf(pbuf, "\n search range: %d",
4444 pbuf += sprintf(pbuf, "\n board options: %d",
4446 pbuf += sprintf(pbuf, "\n board serial #: %ld",
4448 pbuf += sprintf(pbuf, "\n build date/hour: %02d/%02d/%02d %02d:00",
4449 bBuildDay, bBuildMonth, bBuildYear, bBuildHour);
4450 pbuf += sprintf(pbuf, "\n osc offset: %.3f PPM (%.0f Hz)",
4451 fOscOffset/1575.42, fOscOffset);
4452 pbuf += sprintf(pbuf, "\n test code: %d",
4457 static void rpt_8F42(TSIPPKT *rpt)
4463 iCaseSerialNumberPre,
4471 if (!rpt_0x8F42(rpt,
4474 &iCaseSerialNumberPre,
4475 &iiCaseSerialNumber,
4481 parsed = BADLEN_PARSE;
4485 pbuf += sprintf(pbuf, "\nProduct ID 8F42");
4486 pbuf += sprintf(pbuf, "\n extension: %d", bProdNumberExt);
4487 pbuf += sprintf(pbuf, "\n case serial # prefix: %d", iCaseSerialNumberPre);
4488 pbuf += sprintf(pbuf, "\n case serial #: %ld", iiCaseSerialNumber);
4489 pbuf += sprintf(pbuf, "\n prod. #: %ld", iiProdNumber);
4490 pbuf += sprintf(pbuf, "\n premium options: %Xh", iPremiumOptions);
4491 pbuf += sprintf(pbuf, "\n machine ID: %d", iMachineID);
4492 pbuf += sprintf(pbuf, "\n key: %Xh", iKey);
4496 static void rpt_8F45(TSIPPKT *rpt)
4498 unsigned char bSegMask;
4500 if (!rpt_0x8F45(rpt,
4503 parsed = BADLEN_PARSE;
4506 pbuf += sprintf(pbuf, "\nCleared Segment Mask: %Xh", bSegMask);
4509 static void rpt_8F4A(TSIPPKT *rpt)
4510 /* Stinger PPS def */
4521 if (rpt_0x8F4A_16 (rpt,
4526 &bias_unc_threshold))
4528 parsed = BADLEN_PARSE;
4532 pbuf += sprintf(pbuf, "\nPPS is %s", pps_enabled?"enabled":"disabled");
4533 pbuf += sprintf(pbuf, "\n timebase: %s", PPSTimeBaseText[pps_timebase]);
4534 pbuf += sprintf(pbuf, "\n polarity: %s", PPSPolarityText[pps_polarity]);
4535 pbuf += sprintf(pbuf, "\n offset: %.1f ns, ", pps_offset*1.e9);
4536 pbuf += sprintf(pbuf, "\n biasunc: %.1f ns", bias_unc_threshold/GPS_C*1.e9);
4539 static void rpt_8F4B(TSIPPKT *rpt)
4540 /* fast-SA decorrolation time for self-survey */
4545 if (rpt_0x8F4B(rpt, &decorr_max))
4547 parsed = BADLEN_PARSE;
4551 pbuf += sprintf(pbuf,
4552 "\nMax # of position fixes for self-survey : %ld",
4556 static void rpt_8F4D(TSIPPKT *rpt)
4562 static unsigned long
4564 0x00000001, 0x00000002, 0x00000004, 0x00000008, 0x00000010, 0x00000020,
4565 0x00000100L, 0x00000800L, 0x00001000L,
4566 0x40000000L, 0x80000000L};
4571 if (rpt_0x8F4D(rpt, &OutputMask))
4573 parsed = BADLEN_PARSE;
4577 pbuf += sprintf(pbuf, "\nAuto-Report Mask: %02X %02X %02X %02X",
4578 (unsigned char)(OutputMask>>24),
4579 (unsigned char)(OutputMask>>16),
4580 (unsigned char)(OutputMask>>8),
4581 (unsigned char)OutputMask);
4583 numchoices = sizeof(MaskText)/sizeof(char*);
4584 pbuf += sprintf(pbuf, "\nAuto-Reports scheduled for Output:");
4586 for (ichoice=0; ichoice<numchoices; ichoice++)
4588 if (OutputMask&MaskBit[ichoice])
4590 pbuf += sprintf(pbuf, "%s %s",
4591 (pbuf==linestart)?"\n ":",",
4593 if (pbuf-linestart > 60) linestart = pbuf;
4597 pbuf += sprintf(pbuf, "\nAuto-Reports NOT scheduled for Output:");
4599 for (ichoice=0; ichoice<numchoices; ichoice++)
4601 if (OutputMask&MaskBit[ichoice]) continue;
4602 pbuf += sprintf(pbuf, "%s %s",
4603 (pbuf==linestart)?"\n ":",",
4605 if (pbuf-linestart > 60) linestart = pbuf;
4609 static void rpt_8FA5(TSIPPKT *rpt)
4614 if (rpt_0x8FA5(rpt, spktmask))
4616 parsed = BADLEN_PARSE;
4620 pbuf += sprintf(pbuf, "\nSuperpacket auto-output mask: %02X %02X %02X %02X",
4621 spktmask[0], spktmask[1], spktmask[2], spktmask[3]);
4623 if (spktmask[0]&0x01) pbuf+= sprintf (pbuf, "\n PPS 8F-0B");
4624 if (spktmask[0]&0x02) pbuf+= sprintf (pbuf, "\n Event 8F-0B");
4625 if (spktmask[0]&0x10) pbuf+= sprintf (pbuf, "\n PPS 8F-AD");
4626 if (spktmask[0]&0x20) pbuf+= sprintf (pbuf, "\n Event 8F-AD");
4627 if (spktmask[2]&0x01) pbuf+= sprintf (pbuf, "\n ppos Fix 8F-20");
4630 static void rpt_8FAD (TSIPPKT *rpt)
4645 static char* Status8FADText[] = {
4650 "CODE_NEED_INITIALIZATION",
4657 "CODE_NO_INTEGRITY",
4661 *LeapStatusText[] = {
4662 " UTC Avail", " ", " ", " ",
4663 " Scheduled", " Pending", " Warning", " In Progress"};
4666 if (rpt_0x8FAD (rpt,
4678 parsed = BADLEN_PARSE;
4682 pbuf += sprintf(pbuf, "\n8FAD Count: %d Status: %s",
4683 Count, Status8FADText[Status]);
4685 pbuf += sprintf(pbuf, "\n Leap Flags:");
4690 if (Flags&(1<<i)) pbuf += sprintf(pbuf, LeapStatusText[i]);
4695 pbuf += sprintf(pbuf, " UTC info not available");
4698 pbuf += sprintf(pbuf, "\n %02d/%02d/%04d (DMY) %02d:%02d:%02d.%09ld UTC",
4699 Day, Month, Year, Hour, Minute, Second, (long)(FracSec*1.e9));
4703 int print_msg_table_header (int rptcode, char *HdrStr, int force)
4705 /* force header is to help auto-output function */
4706 /* last_rptcode is to determine whether to print a header */
4707 /* for the first occurrence of a series of reports */
4714 if (force || rptcode!=last_rptcode)
4716 /* supply a header in console output */
4720 numchars = sprintf(HdrStr, "\nRaw Measurement Data");
4721 numchars += sprintf(HdrStr+numchars,
4722 "\n SV Sample SNR Code Phase Doppler Seconds Time of Meas");
4726 numchars = sprintf(HdrStr, "\nEphemeris Status");
4727 numchars += sprintf(HdrStr+numchars,
4728 "\n SV Time collected Health IODE t oe Fit URA");
4732 numchars = sprintf(HdrStr, "\nTracking Info");
4733 numchars += sprintf(HdrStr+numchars,
4734 "\n SV C Acq Eph SNR Time of Meas Elev Azim ");
4739 last_rptcode = rptcode;
4740 return (short)numchars;
4743 static void unknown_rpt (TSIPPKT *rpt)
4747 /* app-specific rpt packets */
4748 if (parsed == BADLEN_PARSE)
4750 pbuf += sprintf(pbuf, "\nTSIP report packet ID %2Xh, length %d: Bad length",
4751 rpt->code, rpt->len);
4753 if (parsed == BADID_PARSE)
4755 pbuf += sprintf(pbuf,
4756 "\nTSIP report packet ID %2Xh, length %d: translation not supported",
4757 rpt->code, rpt->len);
4760 if (parsed == BADDATA_PARSE)
4762 pbuf += sprintf(pbuf,
4763 "\nTSIP report packet ID %2Xh, length %d: data content incorrect",
4764 rpt->code, rpt->len);
4767 for (i = 0; i < rpt->len; i++) {
4768 if ((i % 20) == 0) *pbuf++ = '\n';
4769 pbuf += sprintf(pbuf, " %02X", rpt->buf[i]);
4774 ** main subroutine, called from ProcessInputBytesWhileWaitingForKBHit()
4776 void TranslateTSIPReportToText (TSIPPKT *rpt, char *TextOutputBuffer)
4779 /* pbuf is the pointer to the current location of the text output */
4780 pbuf = TextOutputBuffer;
4782 /* keep track of whether the message has been successfully parsed */
4783 parsed = GOOD_PARSE;
4785 /* print a header if this is the first of a series of messages */
4786 pbuf += print_msg_table_header (rpt->code, pbuf, FALSE);
4788 /* process incoming TSIP report according to code */
4791 case 0x3D: rpt_chan_A_config (rpt); break;
4792 case 0x40: rpt_almanac_data_page (rpt); break;
4793 case 0x41: rpt_GPS_time (rpt); break;
4794 case 0x42: rpt_single_ECEF_position (rpt); break;
4795 case 0x43: rpt_single_ECEF_velocity (rpt); break;
4796 case 0x45: rpt_SW_version (rpt); break;
4797 case 0x46: rpt_rcvr_health (rpt); break;
4798 case 0x47: rpt_SNR_all_SVs (rpt); break;
4799 case 0x48: rpt_GPS_system_message (rpt); break;
4800 case 0x49: rpt_almanac_health_page (rpt); break;
4801 case 0x4A: switch (rpt->len) {
4803 ** special case (=slip-up) in the TSIP protocol;
4804 ** parsing method depends on length
4806 case 20: rpt_single_lla_position (rpt); break;
4807 case 9: rpt_ref_alt (rpt); break;
4809 case 0x4B: rpt_rcvr_id_and_status (rpt);break;
4810 case 0x4C: rpt_operating_parameters (rpt); break;
4811 case 0x4D: rpt_oscillator_offset (rpt); break;
4812 case 0x4E: rpt_GPS_time_set_response (rpt); break;
4813 case 0x4F: rpt_UTC_offset (rpt); break;
4814 case 0x54: rpt_1SV_bias (rpt); break;
4815 case 0x55: rpt_io_opt (rpt); break;
4816 case 0x56: rpt_ENU_velocity (rpt); break;
4817 case 0x57: rpt_last_fix_info (rpt); break;
4818 case 0x58: rpt_GPS_system_data (rpt); break;
4819 case 0x59: rpt_SVs_enabled (rpt); break;
4820 case 0x5A: rpt_raw_msmt (rpt); break;
4821 case 0x5B: rpt_SV_ephemeris_status (rpt); break;
4822 case 0x5C: rpt_SV_tracking_status (rpt); break;
4823 case 0x6D: rpt_allSV_selection (rpt); break;
4824 case 0x82: rpt_DGPS_position_mode (rpt); break;
4825 case 0x83: rpt_double_ECEF_position (rpt); break;
4826 case 0x84: rpt_double_lla_position (rpt); break;
4827 case 0xBB: rpt_complete_rcvr_config (rpt); break;
4828 case 0xBC: rpt_rcvr_serial_port_config (rpt); break;
4830 case 0x8F: switch (rpt->buf[0])
4832 /* superpackets; parsed according to subcodes */
4833 case 0x0B: rpt_8F0B(rpt); break;
4834 case 0x14: rpt_8F14(rpt); break;
4835 case 0x15: rpt_8F15(rpt); break;
4836 case 0x20: rpt_8F20(rpt); break;
4837 case 0x41: rpt_8F41(rpt); break;
4838 case 0x42: rpt_8F42(rpt); break;
4839 case 0x45: rpt_8F45(rpt); break;
4840 case 0x4A: rpt_8F4A(rpt); break;
4841 case 0x4B: rpt_8F4B(rpt); break;
4842 case 0x4D: rpt_8F4D(rpt); break;
4843 case 0xA5: rpt_8FA5(rpt); break;
4844 case 0xAD: rpt_8FAD(rpt); break;
4845 default: parsed = BADID_PARSE; break;
4849 default: parsed = BADID_PARSE; break;
4852 if (parsed != GOOD_PARSE)
4855 **The message has TSIP structure (DLEs, etc.)
4856 ** but could not be parsed by above routines
4861 /* close TextOutputBuffer */
4865 #endif /* TRIMBLE_OUTPUT_FUNC */
4867 #else /* defined(REFCLOCK) && defined(CLOCK_RIPENCC) */
4868 int refclock_ripencc_bs;
4869 #endif /* defined(REFCLOCK) && defined(CLOCK_RIPENCC) */