*** as_gps.c.orig Mon Sep 20 12:19:19 1999 --- as_gps.c Sun Nov 7 23:23:01 1999 *************** *** 53,60 **** ttyset.c_ispeed = B9600; ttyset.c_ospeed = B9600; #endif ! ttyset.c_cflag &= ~(PARENB | CRTSCTS); ! ttyset.c_cflag |= (CSIZE & CS8) | CREAD | CLOCAL; ttyset.c_iflag = ttyset.c_oflag = ttyset.c_lflag = (tcflag_t) 0; --- 53,59 ---- ttyset.c_ispeed = B9600; ttyset.c_ospeed = B9600; #endif ! ttyset.c_cflag |= (CSIZE & CS8) | CREAD | CLOCAL | PARENB | CRTSCTS; ttyset.c_iflag = ttyset.c_oflag = ttyset.c_lflag = (tcflag_t) 0; *************** *** 92,98 **** if(read(as_gps_file, &cur, 1) != 1) return 0; ! if((last == cur) && (cur >= 0xb0) && (cur <= 0xca)) { // start of a response mode = data[0] = data[1] = cur; offset = 2; --- 91,97 ---- if(read(as_gps_file, &cur, 1) != 1) return 0; ! if((last == cur) && (cur >= 0xb0) && (cur <= 0xcb)) { // start of a response mode = data[0] = data[1] = cur; offset = 2; *************** *** 114,119 **** --- 113,119 ---- { printf("Checksum Error: Cmd:%02x, E:%d, E:%02x, A:%02x\n", data[0], checksum, checksum, data[as_gps_rcv_size[mode - 0xB0]-2]); + mode = 0x0; return 1; } *************** *** 133,140 **** --- 133,154 ---- *result_data = (void *) malloc(sizeof(AS_GPS_ReceiverMode)); as_gps_parse_receiver_mode(data, *result_data); break; + + case 0xcb: /* Receive sat */ + *result_data = (void *) malloc(sizeof(AS_GPS_ReceiveSats)); + as_gps_parse_receive_sats(data, *result_data); + break; + + #ifdef INCLUDE_GPS_CONDITION + case 0xc6: /* gps condition */ + *result_data = (void *) malloc(sizeof(AS_GPS_Condition)); + as_gps_parse_gps_condition(data, *result_data); + break; + #endif + default: printf("Unsupported cmd: '%x'\n", mode); + mode = 0x0; return 0; } *************** *** 154,169 **** --- 168,203 ---- { // printf("Receiver Mode: %02x %02x %02x %02x %02x\n", // data[2], data[3], data[4], data[5], data[6]); + rcv->status = data[2]; + rcv->elevation_mask = data[3]; + rcv->signal_level_mask = data[4]; /* .2 units */ + rcv->PDOP_limit = data[5]; + rcv->smooth_level = data[6]; + rcv->hgt = (double)(data[7]<<8 | data[8]); } + static time_t as_UTC_offset=-1L; int as_gps_parse_position_data(unsigned char *data, AS_GPS_PositionData *pos) { signed lat_tmp, lgt_tmp, hdg_tmp, speed_tmp; signed short hgt_tmp; unsigned entry, entries, sat_status; int sat; + static int century_bias; struct tm tm; + #if BREAK_WHEN_DST_CHANGES + if(as_UTC_offset == -1L) { /* determine proper delta from UTC to localtime */ + #endif + time(&as_UTC_offset); /* system's UTC value */ + memcpy(&tm, gmtime(&as_UTC_offset), sizeof(struct tm)); + tm.tm_isdst = -1; /* gmtime may not set isdst right. We force to "don't know" */ + century_bias = tm.tm_year - (tm.tm_year % 100); /* 0, 100, ... */ + as_UTC_offset = mktime(&tm) - as_UTC_offset; /* positive if W if Grenwich */ + #if BREAK_WHEN_DST_CHANGES + } + #endif + pos->healthy = data[32]; pos->status = data[2]; *************** *** 193,208 **** pos->speed = (double) speed_tmp / 4.0; pos->speed_error = (double) data[20] / 4.0; ! tm.tm_year = bcd2uchar(data[24]); tm.tm_mon = bcd2uchar(data[25])-1; tm.tm_mday = bcd2uchar(data[26]); tm.tm_hour = bcd2uchar(data[27]); tm.tm_min = bcd2uchar(data[28]); tm.tm_sec = bcd2uchar(data[29]); ! pos->time = mktime(&tm); pos->HDOP = (double) data[30] * 0.2; pos->VDOP = (double) data[31] * 0.2; --- 227,247 ---- pos->speed = (double) speed_tmp / 4.0; pos->speed_error = (double) data[20] / 4.0; + pos->unknown[0] = data[21]; + pos->unknown[1] = data[22]; + pos->unknown[2] = data[23]; + pos->unknown[3] = data[41]; ! tm.tm_year = bcd2uchar(data[24]) + century_bias; /* #define to 100 after 1/1/2000 */ tm.tm_mon = bcd2uchar(data[25])-1; tm.tm_mday = bcd2uchar(data[26]); tm.tm_hour = bcd2uchar(data[27]); tm.tm_min = bcd2uchar(data[28]); tm.tm_sec = bcd2uchar(data[29]); + tm.tm_isdst= -1; /* dunno if DST */ ! pos->time = mktime(&tm) - as_UTC_offset; /* compensate for mktime()'s TZ correction */ pos->HDOP = (double) data[30] * 0.2; pos->VDOP = (double) data[31] * 0.2; *************** *** 219,227 **** for(entry = 0; entry < 8; entry++) pos->sat_entries[entry].valid = 0; ! for(entry = 0, sat = 31; sat >= 0; sat--) { ! if(entries & 0x80000000) { unsigned status; --- 258,266 ---- for(entry = 0; entry < 8; entry++) pos->sat_entries[entry].valid = 0; ! for(entry = 0, sat = 1; sat < 33; sat++) { ! if(entries & 0x00000001) { unsigned status; *************** *** 242,253 **** entry++; } ! entries = entries << 1; } return 0; } void as_gps_print_sat_entries(const AS_GPS_SatEntry *sat_entries) { unsigned entry; --- 281,419 ---- entry++; } ! entries = entries >> 1; } return 0; } + + #ifdef INCLUDE_GPS_CONDITION + int xbcd2int(unsigned char *bcd) + { + int result, sign=1; + + if((char)(*bcd&0xf) == 0xB) + sign=-1; + bcd++; + result = 100 * ((char)((*bcd>>4)&0xf)*10 + (char)(*bcd&0xf)); + bcd++; + result += (char)((*bcd>>4)&0xf)*10 + (char)(*bcd&0xf); + return (sign * result); + } + + double xbcd2lat(unsigned char *bcd) + { + char digit; + int deg, sign=1; + double result; + + if( (char)((*bcd>>4)&0xf) == 0xB) + sign=-1; + digit = (char)(*bcd&0xf); + if(digit==10) digit=0; /* leading blank */ + deg = 100 * digit; + printf("debug: deg=%d, byte=%x\n", deg, *bcd); + bcd++; + deg += (char)((*bcd>>4)&0xf)*10 + (char)(*bcd&0xf); + bcd++; + result = (double)deg + (double)((char)((*bcd>>4)&0xf)*10 + (char)(*bcd&0xf))/60.0; + printf("debug: deg=%d, byte=%x, result=%8.5f\n", deg, *bcd, result); + bcd++; + result += (double)((char)((*bcd>>4)&0xf)*10 + (char)(*bcd&0xf))/3600.0; + return (sign * result); + } + + int as_gps_parse_gps_condition(unsigned char *data, AS_GPS_Condition *cnd) + { + unsigned i; + struct tm tm; + + cnd->status = data[2]; + cnd->healthy = bcd2uchar(data[3]); + cnd->visible = bcd2uchar(data[4]); + cnd->height = xbcd2int(data+5); + cnd->lgt = xbcd2lat(data+8); + cnd->lat = xbcd2lat(data+14); + + #ifndef CENTURY_BIAS + #define CENTURY_BIAS 0 + #endif + tm.tm_year = bcd2uchar(data[20]) + CENTURY_BIAS; /* #define to 100 after 1/1/2000 */ + tm.tm_mon = bcd2uchar(data[21])-1; + tm.tm_mday = bcd2uchar(data[22]); + + tm.tm_hour = bcd2uchar(data[23]); + tm.tm_min = bcd2uchar(data[24]); + tm.tm_sec = bcd2uchar(data[25]); + tm.tm_isdst= -1; /* dunno if DST */ + + cnd->time = mktime(&tm) - as_UTC_offset; /* compensate for mktime()'s TZ correction */ + for (i=0; i<8; i++) { + cnd->id_lvl[i].id = bcd2uchar(data[26+2*i]); + cnd->id_lvl[i].level = bcd2uchar(data[27+2*i]); + } + cnd->diag[0] = data[42]; + cnd->diag[1] = data[43]; + } + + void as_gps_print_gps_condition(const AS_GPS_Condition *cnd) + { + int i; + + printf("GPS Condition: "); + switch(cnd->status & 0xF) + { + case 0x0: printf("No Decoded Sats"); break; + case 0x1: printf("1 Decoded Sat"); break; + case 0x2: printf("2 Decoded Sats"); break; + case 0x3: printf("2D Fix"); break; + case 0x4: printf("3D Fix"); break; + case 0x5: printf("Acceleration > 1G"); break; + case 0x9: printf("Receiver error"); break; + } + printf(", %d healthy, %d sats visible\n", cnd->healthy, cnd->visible); + printf(" Lat: %02.7f, Long: %02.7f,", cnd->lat, cnd->lgt); + printf(" Height: %5dm,", cnd->height); + printf(" %s", asctime(localtime(&cnd->time))); + + for(i=0; i<8; i++) { + printf(" Sat: %2d, Lvl: %2d\n", cnd->id_lvl[i].id, cnd->id_lvl[i].level); + } + if ((cnd->diag[0]>>4)&0xf == 1) printf(" cold start RAM check NG1"); + else if ((cnd->diag[0]>>4)&0xf == 2) printf(" cold start RAM check NG2"); + if (cnd->diag[0]&0xf == 1) printf(" cold start RTC err 1"); + else if (cnd->diag[0]&0xf == 2) printf(" cold start RTC err 2"); + if (cnd->diag[1]&0xf == 1) printf(" Almanac too old"); + } + #endif + + int as_gps_parse_receive_sats(unsigned char *data, AS_GPS_ReceiveSats *rcv) + { + unsigned entry; + + rcv->seconds = data[2]; + rcv->almanac_age = data[43]; + + for(entry = 0; entry < 8; entry++) + { + rcv->sat_entries[entry].id = data[3+5*entry]; /* 0 means not used */ + rcv->sat_entries[entry].condition = data[4+5*entry]; + rcv->sat_entries[entry].level = data[5+5*entry]; /* in .2 units */ + rcv->sat_entries[entry].azimuth = data[6+5*entry] * 360 / 256; + rcv->sat_entries[entry].elevation = data[6+5*entry] * 180 / 256; + } + + for(entry = 0; entry < 32; entry++) + { + int byteoffset = entry/8; + int bitoffset = entry%8; + int mask = 0x01<health[entry] = (data[44+byteoffset] & mask) ? 'H' : 'U'; + } + } + void as_gps_print_sat_entries(const AS_GPS_SatEntry *sat_entries) { unsigned entry; *************** *** 289,294 **** --- 455,497 ---- } } + void as_gps_print_receive_sats(const AS_GPS_ReceiveSats *rcv) + { + unsigned entry; + + printf("Almanac Age %d days;", rcv->almanac_age); + + printf(" Sat Health 1..32: %.4s %.4s %.4s %.4s %.4s %.4s %.4s %.4s\n", + rcv->health, rcv->health+4, rcv->health+8, rcv->health+12, + rcv->health+16, rcv->health+20, rcv->health+24, rcv->health+28); + + for(entry = 0; entry < 8; entry++) + { + AS_GPS_SatInfoEntry sat_entry = rcv->sat_entries[entry]; + if (sat_entry.id == 0) continue; /* slot not used */ + printf(" Sat: %2d Cond: svacc=%2d,", sat_entry.id, + (sat_entry.condition>>4)&0xf); + + switch(sat_entry.condition&0xf) + { + case 1: + printf("Searching "); break; + case 2: + printf("Tracking "); break; + case 4: + printf("Decoded (Not Used)"); break; + case 8: + printf("Decoded (Used) "); break; + default: + printf("Unknown bit config"); break; + } + + printf(" Lvl: %2d", sat_entry.level); + printf(" Az: %3d El: %3d\n", sat_entry.azimuth, sat_entry.elevation); + } + + } + void as_gps_print_position_data(const AS_GPS_PositionData *pos) { printf("Position Data: "); *************** *** 321,336 **** // pos->lat, avg_lat / (double) avg_cnt, // pos->lgt, avg_lgt / (double) avg_cnt); // else ! printf(" Lat: %02.7f, Long: %02.7f\n", pos->lat, pos->lgt); ! ! printf(" %s", asctime(localtime(&pos->time))); - printf(" HDOP: %02.1f, VDOP: %02.1f\n", pos->HDOP, pos->VDOP); - printf(" Height: %04.1fm\n", pos->hgt); - printf(" Error Ellipse: Long: %dm, Short: %dm\n", pos->long_error, pos->short_error); printf(" Heading: %3.6f +/- %2.6f deg cw from N\n", pos->heading, ! pos->heading_error); printf(" Speed: %3.6f +/- %3.6f km/h\n", pos->speed, pos->speed_error); as_gps_print_sat_entries(pos->sat_entries); } --- 524,540 ---- // pos->lat, avg_lat / (double) avg_cnt, // pos->lgt, avg_lgt / (double) avg_cnt); // else ! printf(" Lat: %02.7f, Long: %02.7f,", pos->lat, pos->lgt); ! printf(" Height: %04.1fm,", pos->hgt); ! printf(" %s", asctime(localtime(&pos->time))); printf(" Heading: %3.6f +/- %2.6f deg cw from N\n", pos->heading, ! pos->heading_error); printf(" Speed: %3.6f +/- %3.6f km/h\n", pos->speed, pos->speed_error); + printf(" HDOP: %02.1f, VDOP: %02.1f;", pos->HDOP, pos->VDOP); + printf(" Error Ellipse: Long: %dm, Short: %dm\n", pos->long_error, pos->short_error); + printf(" Unknown use: %2x %2x %2x %2x\n", pos->unknown[0], pos->unknown[1], + pos->unknown[2], pos->unknown[3]); as_gps_print_sat_entries(pos->sat_entries); } *************** *** 370,385 **** --- 574,593 ---- data[length-1] = 0xd; // terminate + #ifdef DEBUGWRITE printf("Sending: "); + #endif result = write(as_gps_file, data, length); + #if DEBUGWRITE for(count = 0; count < length; count++) { printf(" %02x", data[count]); } printf(" %d\n", result); + #endif return 0; } *** as_gps.h.orig Mon Sep 20 12:19:33 1999 --- as_gps.h Tue Nov 2 23:25:46 1999 *************** *** 8,13 **** --- 8,14 ---- #include #include #include + #include #define AS_GPS_SAT_CONDITION_SEARCH 0 #define AS_GPS_SAT_CONDITION_TRACKING 1 *************** *** 77,82 **** --- 78,84 ---- double heading, heading_error; double speed, speed_error; + unsigned char unknown[4]; AS_GPS_SatEntry sat_entries[8]; } AS_GPS_PositionData; *************** *** 97,103 **** double hgt; } AS_GPS_ReceiverMode; ! extern intas_gps_file; int as_gps_open(char *); int as_gps_close(); --- 99,141 ---- double hgt; } AS_GPS_ReceiverMode; ! typedef struct ! { ! unsigned char id; ! unsigned char condition; ! unsigned char level; ! unsigned azimuth; ! unsigned elevation; ! }AS_GPS_SatInfoEntry; ! ! typedef struct ! { ! unsigned seconds; ! AS_GPS_SatInfoEntry sat_entries[8]; ! unsigned almanac_age; ! char health[32]; ! } AS_GPS_ReceiveSats; ! ! typedef struct ! { ! unsigned char id; ! unsigned char level; ! } AS_GPS_SatCondition; ! ! typedef struct ! { ! unsigned char status; ! unsigned char healthy; ! unsigned char visible; ! int height; ! double lgt; ! double lat; ! time_t time; ! AS_GPS_SatCondition id_lvl[8]; ! unsigned char diag[2]; ! } AS_GPS_Condition; ! ! extern int as_gps_file; int as_gps_open(char *); int as_gps_close(); *************** *** 106,114 **** --- 144,154 ---- int as_gps_send_cmd(unsigned char cmd, unsigned char *data, int length); int as_gps_parse_position_data(unsigned char *data, AS_GPS_PositionData *pos); + int as_gps_parse_receive_sats(unsigned char *data, AS_GPS_ReceiveSats *pos); void as_gps_print_position_data(const AS_GPS_PositionData *pos); void as_gps_print_sat_entries(const AS_GPS_SatEntry *sat_entries); + void as_gps_print_receive_sats(const AS_GPS_ReceiveSats *pos); unsigned char bcd2uchar(unsigned char); *** gps_average.c.orig Mon Sep 20 12:30:08 1999 --- gps_average.c Fri Oct 29 21:00:14 1999 *************** *** 2,7 **** --- 2,11 ---- int main(int argc, char **argv) { + void *data; + double lat, lgt; + unsigned fix, read_count = 0; + if(as_gps_open("/dev/gps")) { printf("Can't open device\n"); *************** *** 10,25 **** while(1) { - void *data; - double lat, lgt; - unsigned read_count = 0; unsigned char result = as_gps_handle_input(&data); if(result == AS_GPS_RCV_POSITION_DATA) { AS_GPS_PositionData *pos = (AS_GPS_PositionData *)data; ! if((pos->status & 0x03) || (pos->status & 0x04)) // atleast a 2D or 3D fix { lat = (pos->lat + ((double)read_count * lat)) / ((double)read_count+1); --- 14,27 ---- while(1) { unsigned char result = as_gps_handle_input(&data); if(result == AS_GPS_RCV_POSITION_DATA) { AS_GPS_PositionData *pos = (AS_GPS_PositionData *)data; ! fix = pos->status & 0x0f; ! if(fix == 3 || fix == 4) /* at least a 2D or 3D fix */ { lat = (pos->lat + ((double)read_count * lat)) / ((double)read_count+1); *************** *** 27,33 **** lgt = (pos->lgt + ((double)read_count * lgt)) / ((double)read_count+1); ! printf("%5d: Lat: %3.16f, Lgt: %3.16f\n", read_count, lat, lgt); read_count++; } } --- 29,35 ---- lgt = (pos->lgt + ((double)read_count * lgt)) / ((double)read_count+1); ! printf("%5u: Lat: %3.16f, Lgt: %3.16f\n", read_count, lat, lgt); read_count++; } } *** gps_printloc.c.orig Sun Nov 7 23:09:11 1999 --- gps_printloc.c Sun Nov 7 23:15:30 1999 *************** *** 0 **** --- 1,56 ---- + #include "as_gps.h" + + /* Usage: gps_printloc [#samples] + Prints UTCtime, lat, long, height in meters + until #samples lines are printed. If #samples is zero, or missing, + gps_printloc continues until interrupted. Also, repeated identical + samples are discarded (but a time discontinuity will be observed). + Normally one sample per second is printed. + Written 10-29-99 by jpd@usl.edu (adapted from gps_average.c). + Note: a neat way to show the effects of SA, is to graph via gnuplot: + gps_printloc > gps_printloc.out [kill after sufficient samples written] + plot "gps_printloc.out" using ($2):($3) + pause -1 "Press CR to continue" + splot "gps_printloc.out" using ($2):($3):($4) + pause -1 "Press CR to continue" + */ + int main(int argc, char *argv[]) + { + unsigned fix, count=0, samples; + double lat,lgt,hgt; + + if(as_gps_open("/dev/gps")) + { + printf("Can't open device\n"); + exit(1); + } + + if (argc > 1) + samples = atoi(argv[1]); + else + samples = 0; + + while(!samples || count < samples) + { + void *data=NULL; + unsigned char result = as_gps_handle_input(&data); + + if(result == AS_GPS_RCV_POSITION_DATA) + { + AS_GPS_PositionData *pos = (AS_GPS_PositionData *)data; + + fix = pos->status & 0x0f; + if((fix == 3 || fix == 4) /* at least a 2D or 3D fix */ + && (lat!=pos->lat || lgt!=pos->lgt || hgt!=pos->hgt)) + { + printf("%ld, %3.16f, %3.16f, %5.1f\n", pos->time, pos->lat, pos->lgt, pos->hgt); + lat=pos->lat; lgt=pos->lgt; hgt=pos->hgt; + count++; + } + } + free(data); + } + + as_gps_close(); + } + *** gps_reset.c.orig Sun Nov 7 23:08:58 1999 --- gps_reset.c Sun Nov 7 20:43:39 1999 *************** *** 0 **** --- 1,94 ---- + #include + #include + #include "as_gps.h" + extern unsigned as_gps_snd_size[32]; + #define sbsize(x) (as_gps_snd_size[x - 0xB0]) + + int main(int argc, char **argv) + { + extern char *optarg; + char *endp; + int option; + double latitude, longitude; + int Lopt=0, lopt=0; + char sndbuf[5]; + + + while ((option = getopt(argc, argv, "L:h?l:")) != -1) { + switch (option) { + case 'L': + longitude = strtod(optarg, &endp); + if (endp != NULL && toupper(*endp) == 'W') + longitude=-longitude; + else if (endp == NULL || (*endp && toupper(*endp)!='E')) { + fprintf(stderr, "invalid longitude (-L) option; %s\n", optarg); + exit(1); + } + Lopt++; + break; + case 'l': + latitude = strtod(optarg, &endp); + if (endp != NULL && toupper(*endp) == 'S') + latitude=-latitude; + else if (endp == NULL || (*endp && toupper(*endp)!='N')) { + fprintf(stderr, "invalid latitude (-l) option; %s\n", optarg); + exit(1); + } + lopt++; + break; + case 'h': + case '?': + default: + fputs("usage: gps_reset [options] \n\ + options include: \n\ + -L longitude [ set longitude ] \n\ + -h [ help message ] \n\ + -l latitude [ set latitude ] \n\ + ", stderr); + exit(0); + } + } + + if(as_gps_open("/dev/gps")) + { + printf("Can't open device\n"); + exit(1); + } + + as_gps_send_cmd(AS_GPS_SET_SYSTEM_RESET, sndbuf, sbsize(AS_GPS_SET_SYSTEM_RESET)); + if(Lopt && lopt) { + option = (int)(latitude * 256.0 * 3600.0); + sndbuf[2] = (option>>24); + sndbuf[3] = (option>>16)&0xff; + sndbuf[4] = (option>>8)&0xff; + sndbuf[5] = (option)&0xff; + + option = (int)(longitude * 256.0 * 3600.0); + sndbuf[6] = (option>>24); + sndbuf[7] = (option>>16)&0xff; + sndbuf[8] = (option>>8)&0xff; + sndbuf[9] = (option)&0xff; + + as_gps_send_cmd(AS_GPS_SET_CURRENT_POSITION, sndbuf, sbsize(AS_GPS_SET_CURRENT_POSITION)); + } + + while(1) + { + void *data=NULL; + unsigned char result = as_gps_handle_input(&data); + + if(result == AS_GPS_RCV_POSITION_DATA) // PositionData + { + as_gps_print_position_data((AS_GPS_PositionData *)data); + } + else if(result == AS_GPS_RCV_RECEIVE_SAT) // SatPositionData + { + as_gps_print_receive_sats((AS_GPS_ReceiveSats *)data); + } + + free(data); + } + + as_gps_close(); + } + *** gps_settime.c.orig Mon Sep 20 11:15:46 1999 --- gps_settime.c Sun Nov 7 19:01:29 1999 *************** *** 14,20 **** while(1) { ! void *data; double lat, lgt; unsigned read_count = 0; unsigned char result = as_gps_handle_input(&data); --- 14,20 ---- while(1) { ! void *data=NULL; double lat, lgt; unsigned read_count = 0; unsigned char result = as_gps_handle_input(&data); *************** *** 38,59 **** void set_time(const AS_GPS_PositionData *pos) { time_t time; struct timeval timeval; struct timezone timezone; time = pos->time; timeval.tv_sec = mktime(gmtime(&time)); timeval.tv_usec = 0; timezone.tz_minuteswest = 0; timezone.tz_dsttime = 0; ! printf("Setting time to %s", asctime(localtime(&time))); ! printf("Setting time to %s", asctime(gmtime(&time))); ! if(settimeofday(&timeval, &timezone)) { printf("Error: Must be superuser to set time.\n"); } } --- 38,68 ---- void set_time(const AS_GPS_PositionData *pos) { time_t time; + #if 0 struct timeval timeval; struct timezone timezone; + #endif time = pos->time; + #if 0 timeval.tv_sec = mktime(gmtime(&time)); timeval.tv_usec = 0; timezone.tz_minuteswest = 0; timezone.tz_dsttime = 0; ! #endif ! #if 0 if(settimeofday(&timeval, &timezone)) + #else + if(stime(&time)) + #endif { printf("Error: Must be superuser to set time.\n"); + exit(1); } + + printf("Setting time to %s", asctime(localtime(&time))); + printf("Setting time to %.24s UTC\n", asctime(gmtime(&time))); } *** gps_test.c.orig Mon Sep 20 11:15:52 1999 --- gps_test.c Fri Nov 5 01:14:27 1999 *************** *** 8,22 **** exit(1); } while(1) { ! void *data; unsigned char result = as_gps_handle_input(&data); if(result == AS_GPS_RCV_POSITION_DATA) // PositionData { as_gps_print_position_data((AS_GPS_PositionData *)data); } free(data); } --- 8,47 ---- exit(1); } + #ifdef INCLUDE_GPS_CONDITION + #define sbsize(x) (as_gps_snd_size[x - 0xB0]) + { + extern unsigned as_gps_snd_size[32]; + + char sndbuf[5]; + as_gps_send_cmd(AS_GPS_REQ_CONDITION, sndbuf, sbsize(AS_GPS_REQ_CONDITION)); + } + #endif + while(1) { ! void *data=NULL; unsigned char result = as_gps_handle_input(&data); if(result == AS_GPS_RCV_POSITION_DATA) // PositionData { as_gps_print_position_data((AS_GPS_PositionData *)data); } + else if(result == AS_GPS_RCV_RECEIVE_SAT) // SatPositionData + { + as_gps_print_receive_sats((AS_GPS_ReceiveSats *)data); + } + #ifdef INCLUDE_GPS_CONDITION + else if(result == AS_GPS_RCV_CONDITION) // req gps condition + { + extern unsigned as_gps_snd_size[32]; + char sndbuf[5]; + + as_gps_print_gps_condition((AS_GPS_Condition *)data); + + /* as_gps_send_cmd(AS_GPS_REQ_CONDITION, sndbuf, sbsize(AS_GPS_REQ_CONDITION));*/ + } + #endif free(data); } *** gps_test_send.c.orig Mon Sep 20 11:16:03 1999 --- gps_test_send.c Sun Nov 7 14:07:20 1999 *************** *** 10,16 **** while(1) { ! void *data; char send_data[50]; unsigned char result = as_gps_handle_input(&data); --- 10,16 ---- while(1) { ! void *data=NULL; char send_data[50]; unsigned char result = as_gps_handle_input(&data); --Drey_of_Squirrels_866_000 Content-Type: TEXT/plain; name="gpsd.diffs"; charset=us-ascii; x-unix-mode=0640 Content-Description: gpsd.diffs Content-MD5: c5QoB1qOQqKv2PMWCQtCkw== *** Makefile.orig Thu Oct 28 22:26:54 1999 --- Makefile Mon Nov 1 00:26:32 1999 *************** *** 94,100 **** X_INCLUDE = -I/usr/X11R6/include ## Where to look for include files. ! INCLUDE = -I. $(X_INCLUDE) ## Implicit rules. .SUFFIXES: .c --- 94,100 ---- X_INCLUDE = -I/usr/X11R6/include ## Where to look for include files. ! INCLUDE = -I. $(X_INCLUDE) -I../as-gps-0.1 ## Implicit rules. .SUFFIXES: .c *************** *** 103,109 **** ## Libraries and object files ! LIB_OBJECTS = netlib.o nmea_parse.o serial.o tm.o em.o $(MOTIF_OBJECTS) ## Programs PROGRAMS=gpsd --- 103,109 ---- ## Libraries and object files ! LIB_OBJECTS = netlib.o nmea_parse.o serial.o tm.o em.o aisin.o ../as-gps-0.1/as_gps.o $(MOTIF_OBJECTS) ## Programs PROGRAMS=gpsd *** aisin.c.orig Mon Nov 8 00:22:06 1999 --- aisin.c Tue Nov 2 02:09:08 1999 *************** *** 0 **** --- 1,99 ---- + #include "config.h" + #include + #include + #include + #include "nmea.h" + #include "as_gps.h" + + AS_GPS_PositionData Pos; + AS_GPS_ReceiveSats Rcv; + extern unsigned as_gps_rcv_size[32]; + extern struct OUTDATA gNMEAdata; + + int aisin_checksum(unsigned char mode, unsigned char *sentence) + { + int count; + unsigned char checksum = 0; + + for(count = 0; count < as_gps_rcv_size[mode - 0xB0] - 1; count++) + checksum += sentence[count]; + + if(checksum) + { + printf("Checksum Error: Cmd:%02x, E:%d, E:%02x, A:%02x\n", + mode, checksum, checksum, sentence[as_gps_rcv_size[mode - 0xB0]-2]); + return 1; + } + return 0; + } + + void aisin2nmea(unsigned char *sentence) + { + unsigned char mode = *sentence; + int entry, i, mod; + struct tm *tm; + + if(aisin_checksum(mode, sentence)) /* cksum error */ + return; + if(mode == AS_GPS_RCV_POSITION_DATA) { + as_gps_parse_position_data(sentence, &Pos); + tm = gmtime(&Pos.time); + sprintf(gNMEAdata.utc, "%02d/%02d/%02d %02d:%02d:%02d ", + tm->tm_mon+1, tm->tm_mday, tm->tm_year%100, + tm->tm_hour, tm->tm_min, tm->tm_sec); + if (gNMEAdata.latitude != Pos.lat) + gNMEAdata.cmask |= C_LATLON; + gNMEAdata.latitude = Pos.lat; + if (gNMEAdata.longitude != Pos.lgt) + gNMEAdata.cmask |= C_LATLON; + gNMEAdata.longitude = Pos.lgt; + gNMEAdata.altitude = Pos.hgt; /* m */ + gNMEAdata.speed = Pos.speed; /* knots !! */ + gNMEAdata.track = Pos.heading; + + gNMEAdata.satellites=0; + for(entry=0; entry<8; entry++) { + AS_GPS_SatEntry sat_entry = Pos.sat_entries[entry]; + if (sat_entry.valid && sat_entry.condition==AS_GPS_SAT_CONDITION_DECODED_USED) + gNMEAdata.satellites ++; + } + + if(Pos.status&0xF == 3) { /* 2d fix */ + gNMEAdata.status = 1; /* fix via gps */ + gNMEAdata.mode = 2; /* 2d */ + } + else if(Pos.status&0xF == 4) { /* 3d fix */ + gNMEAdata.status = 1; /* fix via gps */ + gNMEAdata.mode = 3; /* 3d */ + } + else { + gNMEAdata.status = 0; /* no fix */ + gNMEAdata.mode = 1; /* no fix */ + } + gNMEAdata.pdop = 0.0; /* ?? */ + gNMEAdata.hdop = Pos.HDOP; + gNMEAdata.vdop = Pos.VDOP; + } + else if (mode == AS_GPS_RCV_RECEIVE_SAT) { + as_gps_parse_receive_sats(sentence, &Rcv); + + for(mod=i=entry=0; entry<8; entry++) { + AS_GPS_SatInfoEntry sat_entry = Rcv.sat_entries[entry]; + if (sat_entry.id) { + if (gNMEAdata.PRN[i] != sat_entry.id) mod++; + gNMEAdata.PRN[i] = sat_entry.id; + if (gNMEAdata.elevation[i] != sat_entry.elevation) mod++; + gNMEAdata.elevation[i] = sat_entry.elevation; + if (gNMEAdata.azimuth[i] != sat_entry.azimuth) mod++; + gNMEAdata.azimuth[i] = sat_entry.azimuth; + if (gNMEAdata.ss[i] != sat_entry.level) mod++; + gNMEAdata.ss[i] = sat_entry.level; /* scale this? */ + i++; + } + } + if (gNMEAdata.in_view != i) mod++; + gNMEAdata.in_view = i; + + if (mod) gNMEAdata.cmask |= C_SAT; + } + } *** gps.c.orig Sat Feb 6 18:43:57 1999 --- gps.c Tue Nov 2 01:13:39 1999 *************** *** 440,447 **** case 'e': device_type = DEVICE_EARTHMATE; break; default: ! fprintf(stderr,"Invalide device type \"%s\"\n" "Using GENERIC instead\n", device_type); break; } --- 440,450 ---- case 'e': device_type = DEVICE_EARTHMATE; break; + case 'a': + device_type = DEVICE_AISIN; + break; default: ! fprintf(stderr,"Invalid device type \"%s\"\n" "Using GENERIC instead\n", device_type); break; } *** gpsd.c.orig Tue Nov 2 00:58:24 1999 --- gpsd.c Tue Nov 2 02:02:46 1999 *************** *** 42,47 **** --- 42,48 ---- #include "nmea.h" #include "gpsd.h" #include "version.h" + extern unsigned as_gps_rcv_size[32]; #define QLEN 5 #define BUFSIZE 4096 *************** *** 128,135 **** case 'e': device_type = DEVICE_EARTHMATE; break; default: ! fprintf(stderr,"Invalide device type \"%s\"\n" "Using GENERIC instead\n", device_type); break; } --- 129,139 ---- case 'e': device_type = DEVICE_EARTHMATE; break; + case 'a': + device_type = DEVICE_AISIN; + break; default: ! fprintf(stderr,"Invalid device type \"%s\"\n" "Using GENERIC instead\n", device_type); break; } *************** *** 386,391 **** --- 390,408 ---- while (offset < BUFSIZE) { if (read(input, buf + offset, 1) != 1) return 1; + + if (device_type == DEVICE_AISIN) { + if (offset == 1) { /* first 2 bytes must be suitable cmd bytes */ + if (buf[0] != buf[1] || buf[0] < 0xB0 || buf[0] > 0xCC) { + buf[0] = buf[1]; + continue; /* read again */ + } + } + if (offset < as_gps_rcv_size[buf[0] - 0xB0]-1) { + offset++; + continue; + } + } if (buf[offset] == '\n' || buf[offset] == '\r') { buf[offset] = '\0'; *** gpsd.h.orig Fri Jan 29 21:58:51 1999 --- gpsd.h Sat Oct 30 13:05:32 1999 *************** *** 1,6 **** ! enum { DEVICE_GENERIC, DEVICE_TRIPMATE, DEVICE_EARTHMATE }; extern int serial_open(); extern void serial_close(); --- 1,6 ---- ! enum { DEVICE_GENERIC, DEVICE_TRIPMATE, DEVICE_EARTHMATE, DEVICE_AISIN }; extern int serial_open(); extern void serial_close(); *** nmea_parse.c.orig Tue Aug 18 17:56:12 1998 --- nmea_parse.c Sat Oct 30 13:10:19 1999 *************** *** 31,37 **** strncpy(s + 3, d, 2); // copy date ! strncpy(s + 6, "19", 2); // 20th century strncpy(s + 8, d + 4, 2); // copy year --- 31,37 ---- strncpy(s + 3, d, 2); // copy date ! strncpy(s + 6, "19", 2); // 20th century Y2K FIXME!!jpd strncpy(s + 8, d + 4, 2); // copy year *** serial.c.orig Sat Jan 30 00:51:10 1999 --- serial.c Tue Nov 2 00:21:26 1999 *************** *** 83,89 **** #if defined (USE_TERMIO) ttyset.c_cflag = CBAUD & device_speed; ! ttyset.c_cflag = CBAUD & B4800; #else ttyset.c_ispeed = device_speed; ttyset.c_ospeed = device_speed; --- 83,89 ---- #if defined (USE_TERMIO) ttyset.c_cflag = CBAUD & device_speed; ! /* OMIT ttyset.c_cflag = CBAUD & B4800;*/ #else ttyset.c_ispeed = device_speed; ttyset.c_ospeed = device_speed; *** tm.c.orig Sat Feb 6 18:42:44 1999 --- tm.c Tue Nov 2 00:43:37 1999 *************** *** 58,64 **** "$PRWIINIT,V,,,%s,%c,%s,%c,100.0,0.0,M,0.0,T,%02d%02d%02d,%02d%02d%02d*", latitude, latd, longitude, lond, tm->tm_hour, tm->tm_min, tm->tm_sec, ! tm->tm_mday, tm->tm_mon + 1, tm->tm_year); add_checksum(buf + 1); /* add c-sum + cr/lf */ write(gNMEAdata.fdout, buf, strlen(buf)); if (debug > 1) { --- 58,64 ---- "$PRWIINIT,V,,,%s,%c,%s,%c,100.0,0.0,M,0.0,T,%02d%02d%02d,%02d%02d%02d*", latitude, latd, longitude, lond, tm->tm_hour, tm->tm_min, tm->tm_sec, ! tm->tm_mday, tm->tm_mon + 1, tm->tm_year%100); /* jpd: y2k mod */ add_checksum(buf + 1); /* add c-sum + cr/lf */ write(gNMEAdata.fdout, buf, strlen(buf)); if (debug > 1) { *************** *** 97,105 **** // Maybe we wait a bit and initialize in NMEA mode? } else if (debug > 1) { ! fprintf(stderr, "Unknown exception: \"%s\"", ! sentence); } } --- 97,111 ---- // Maybe we wait a bit and initialize in NMEA mode? + } else if (*sentence == *(sentence+1) && + (unsigned char)*sentence >= 0xB0 && + (unsigned char)*sentence <= 0xCC) { + aisin2nmea(sentence); /* handle AISIN SEIKI gps */ + device_type = DEVICE_AISIN; } else if (debug > 1) { ! fprintf(stderr, "Unknown exception: \"%s\" [%x %x %x ...]", ! sentence, (unsigned char)sentence[0], ! (unsigned char)sentence[1], (unsigned char)sentence[2]); } }