tsip_cmd.c

gps开发专用的源代码

/*
 * *************************************************************************
 *
 * Trimble Navigation, Ltd.
 * OEM Products Development Group
 * P.O. Box 3642
 * 645 North Mary Avenue
 * Sunnyvale, California 94088-3642
 *
 * Corporate Headquarter:
 *    Telephone:  [phone]
 *    Fax:        [phone]
 *
 * Technical Support Center:
 *    Telephone:  [phone]	(U.S. and Canada)
 *                [phone]    (outside U.S. and Canada)
 *    Fax:        [phone]
 *    BBS:        [phone]
 *    e-mail:     [e-mail]
 *
 * *************************************************************************
 *
 * Vers	Date		   Changes									  Author
 * ----	---------   ----------------------------------------     ----------
 * v1.40
 * 5a10				matched 5.10 manual 						pvwl
 * *************************************************************************
 *
 * TSIP_CMD.C carries the function help_screen() displays the Keystroke
 * Command List in the format (key packet Id description).  For example,
 * (t 0x21 show time) means the keystroke 't' must be pressed in order to
 * request the time the receiver carries whether it is from an upload from
 * the user/computer or from the GPS constellation.  The TSIP commands are
 * displayed in the Keystroke Command List in ascending hexadecimal order.
 *
 * A large case statement in proc_kbd() parses the keyboard inputs and
 * directs processing to the mid-level function specific to the keyboard
 * stroke.  The called function then queries for user parameters and passes
 * them to the appropriate command string generator cmd_0x?? in TSIP_IFC.C.
 * The suffix convention for the command string generator follows:
 *
 *                   cmd_0x??q   -  query
 * 	               cmd_0x??s   -  set
 * 	               cmd_0x??c   -  clear/set to default
 * 	               cmd_0x??e   -  enable
 * 	               cmd_0x??d   -  disable
 *
 * In general, one command code corresponds to one or more keystrokes.
 * There are two exceptions to this single-command model:  Two functions
 * called by proc_kbd(), almgetb() and almputb(), begin a series of tasks
 * that get and load a full set of binary data from and into the receiver.
 * When either functions get invoked, several commands and reports are
 * generated before an exit to the main() function is performed.
 *
 * *************************************************************************
 *
 */

#include <stdio.h>
#include <stdlib.h>
#include <conio.h>
#include <dos.h>
#include <math.h>
#include <string.h>
#include <ctype.h>
#include <time.h>
#include "tsip_ifc.h"

#include "tsipincl.h"
/*********************************************************************************************/
#define MAX_KB_CMDS 100
#define NUM_ALL_CMDS 48
static KB_CMD kb_all_cmd[NUM_ALL_CMDS] = {
	{"^K", 0x0B, 0x1E, 0x45, "clear battery RAM"},
	{" v",  'v', 0x1F, 0x45, "show S/W version "},
	{" t",  't', 0x21, 0x41, "show time        "},
	{" z",  'z', 0x21, 0x41, "sync PC to UTC   "},
	{" i",  'i', 0x23, 0x00, "input XYZ pos    "},
	{" M",  'M', 0x24, 0x6D, "show 2D/3D mode  "},
	{"^R", 0x12, 0x25, 0x45, "reset receiver   "},
	{" h",  'h', 0x26, 0x46, "receiver health  "},
	{" s",  's', 0x27, 0x47, "show sig levels  "},
	{" m",  'm', 0x28, 0x48, "GPS sys message  "},
	{"^A", 0x01, 0x2A, 0x4A, "altitude for 2-D "},
	{" I",  'I', 0x2B, 0x00, "input LLA pos    "},
	{" o",  'o', 0x2D, 0x4D, "show osc offset  "},
	{" T",  'T', 0x2E, 0x4E, "set time from PC "},
	{" b",  'b', 0x31, 0x00, "set acc ECEF pos "},
	{" B",  'B', 0x32, 0x00, "set acc LLA pos  "},
	{" O",  'O', 0x35, 0x55, "show I/O options "},
	{"^O", 0x0F, 0x35, 0x55, "set I/O options  "},
	{" w",  'w', 0x37, 0x57, "show last fix    "},
	{" $",  '$', 0x38, 0x58, "set/recv SV data "},
	{" a",  'a', 0x38, 0x58, "show alm health  "},
	{" A",  'A', 0x38, 0x58, "show almanac     "},
	{" u",  'u', 0x38, 0x58, "show UTC data    "},
	{" e",  'e', 0x38, 0x58, "show ephemeris   "},
	{" d",  'd', 0x39, 0x59, "enable/disable SV"},
	{" <",  '<', 0x3A, 0x5A, "show raw meas    "},
	{" >",  '>', 0x3C, 0x5C, "show track status"},
	{" D",  'D', 0x62, 0x82, "show DGPS mode   "},
	{" /",  '/', 0x65, 0x85, "show DGPS info   "},
	{" l",  'l', 0x70, 0x70, "filter control   "},
	{" q",  'q', 0x7A, 0x7B, "NMEA output cntrl"},
	{" =",  '=', 0x8E, 0x8F, "extended cmds    "},
	{" p",  'p', 0xBB, 0xBB, "rcvr configure   "},
	{" U",  'U', 0xBC, 0xBC, "port configure   "},
	{" %",  '%', 0x13, 0x00, "generic command  "},
	{"  ", '\0', 0x00, 0x00, "end record       "}
};

#define NUM_8E_CMDS 6
static KB_CMD kb_8e_cmd[NUM_8E_CMDS] = {
	{" d",  'd', 0x15, 0x100 + 0x15, "datum index      "},
	{" f",  'f', 0x19, 0x100 + 0x19, "UTM control      "},
	{" g",  'g', 0x20, 0x100 + 0x20, "Std PosVel spkt  "},
	{" =",  '=', 0x00,         0x00, "generic 8E pkt   "},
	{"  ", '\0', 0x00, 0x00, "end record       "}
};

#define NUM_REPEAT_CMDS 10
static KB_CMD kb_repeat_cmd[NUM_REPEAT_CMDS] = {
	{" t",  't', 0x21, 0x41, "show time        "},
	{" o",  'o', 0x2D, 0x4D, "show osc offset  "},
	{" <",  '<', 0x3A, 0x5A, "show raw meas    "},
	{" s",  's', 0x27, 0x47, "show sig levels  "},
	{" >",  '>', 0x3C, 0x5C, "show track status"},
	{" /",  '/', 0x65, 0x85, "show DGPS info   "},
	{"  ", '\0', 0x00, 0x00, "end record       "}
};
#define ABLE_TEXT_LEN		4
#define ALT_TEXT_LEN		2
#define BAUD_TEXT_0x3D_LEN	10
#define BITS_PER_BYTETEXT_0x3D_LEN	4
#define FLOW_CNTRL_TEXT_LEN	5
#define FRMT_TEXT_LEN		2
#define IN_OUT_TEXT_LEN		4
#define MODE_TEXT_LEN		4
#define OP_TEXT_LEN			7
#define PARITYTEXT_0x3D_LEN 5
#define PREC_TEXT_LEN		2
#define PROTOCOLS_TEXT_LEN	5
#define PORT_TEXT_LEN		3
#define QUERY_TEXT_LEN		2
#define RAW_TEXT_LEN			2
#define REQ_SET_TEXT_LEN   2
#define RX_MODE_TEXT_LEN  	2
#define SNR_TEXT_LEN			2
#define STOP_BIT_TEXT_0x3D_LEN 3
#define TIME_TEXT_LEN		2
#define TOGGLE_TEXT_LEN 	2
#define TX_MODE_TEXT_LEN	6
#define TYPE_TEXT_LEN		7
#define MAX_SERIAL_TEXT_LEN     10

char
	 *st_baud_text_app [BAUD_TEXT_LEN] =
		{"", "110", "300", "600", "1200",	"2400", "4800", "9600",
			"19200", "38400"},
	 *able_text2[ABLE_TEXT_LEN] 	=
		{"DISABLE", "ENABLE " },
	 *databit_text_app [DATABIT_TEXT_LEN] =
		{"5", "6", "7", "8"},
	 *dgps_mode_text2[DGPS_MODE_TEXT_LEN] =
		{"manual GPS (DGPS off)", "manual DGPS (DGPS req'd)", "",
			"auto DGPS/GPS", ""},
	 *dyn_text2 [DYN_TEXT_LEN] =
		{"", "land", "sea", "air (default)", "static"},
	 *flow_cntrl_text[FLOW_CNTRL_TEXT_LEN] =
		{"none", "RTS/CTS", "TX XON/XOFF", "TX XANY", "RX XON/XOFF"},
	 *in_out_text[IN_OUT_TEXT_LEN] =
		{"off", "in/out", "in only", "out only"},
	 *parity_text [PARITY_TEXT_LEN] =
		{"NONE", "ODD", "EVEN"},
	 *port_text [PORT_TEXT_LEN] =
		{"COM1", "COM2", ""},
	 *pos_fix_text[POS_FIX_TEXT_LEN] =
		{"automatic", "time only (0-D)", "", "horizontal (2-D)",
			"full position (3-D)"},
	 *protocols_text[PROTOCOLS_TEXT_LEN] =
		{"TAIP ", "TSIP ", "NMEA ", "RTCM ", " "},
	 *rcvr_port_text [RCVR_PORT_TEXT_LEN] =
		{"Port 1", "Port 2", "Current Port"},
	 *req_set_text[REQ_SET_TEXT_LEN] =
		{"Request", "Set"},
	 *stopbit_text[STOPBIT_TEXT_LEN] =
		{"1", "2"},
	 *toggle_text[TOGGLE_TEXT_LEN] =
		{"off", "on"},
	 *trackmode_text3[TRACKMODE_TEXT_LEN] =
		{"mode unchanged", "over-determined 8", "weighted over-determined 8"}
;

/*********************************************************************************************/

/* Defines from Stinger Serial port config/TP task */

#define PORT_HS_NONE				0
#define PORT_HS_RTS_CTS			1
#define PORT_HS_TX_XON_XOFF	2
#define PORT_HS_TX_XANY			4  /* requires PORT_HS_TX_XON_XOFF as well */
#define PORT_HS_RX_XON_XOFF	8

#define TAIP	0x01
#define TSIP	0x02
#define NMEA	0x04
#define RTCM	0x08
#define DCOL	0x10

/* Generate Control-letter character */
#define cntrl(x) ((x)-'A'+0x01)
#define ask_int(x) ask_byte(x)

/* Utility to check on sv_prn values */
short prn_valid (unsigned char sv_prn)
{
	if ((sv_prn > 0) && (sv_prn < 33)) {
	  return TRUE;
   }
	xprintf ("SV number must be between 1 and 32 inclusive");
	return FALSE;
}

/**/
/* ***************  USER-PROMPTING ROUTINES FOR COMMANDS ************** */

/* 0x1D */
static void set_osc_offset (void)
{
	float
		offset;

	xprintf ("Input oscillator offset value?");
	if (!ask_verify ()) {
		set_cmd_esc (TRUE);
		return;
	}
	offset = ask_dbl ("Set oscillator offset (Hz) to: ");
	if (cmd_esc ()) return;
	xprintf ("Reset offset to %g Hz?", offset);
	if (!ask_verify_nocmdcrlf ()) {
		set_cmd_esc (TRUE);
		return;
	}
	cmd_0x1Ds (offset);
}

/**/
/* 0x23 */
static void set_initial_ECEF_position (void)
{
	float
		pos_ECEF[3];

	pos_ECEF[0] = ask_dbl ("Enter ECEF x: ");	if (cmd_esc ()) return;
	pos_ECEF[1] = ask_dbl ("Enter ECEF y: ");	if (cmd_esc ()) return;
	pos_ECEF[2] = ask_dbl ("Enter ECEF z: ");	if (cmd_esc ()) return;

	xprintf ("Set new position to %g, %g, %g m ECEF?",
		pos_ECEF[0], pos_ECEF[1], pos_ECEF[2]);
	if (!ask_verify_nocmdcrlf ()) {
		set_cmd_esc (TRUE);
		return;
	}
	cmd_0x23 (pos_ECEF);
	return;
}

/* 0x2A */
void set_altitude(void)
{
	float
		alt;
	unsigned char
		op_code;
	static char
		*op_text[3] = {"query", "set alt", "disable"};

	op_code = pick_one ("Enter operation: ", op_text, 3);
	if (cmd_esc ()) return;

	switch (op_code)
	{
	case 0:
		cmd_0x2Aq();
		break;
	case 1:
		alt = ask_dbl("Enter reference altitude: ");
		if (cmd_esc ()) break;
		cmd_0x2As (alt) ;
		break;
	case 2:
		xprintf ("Disable reference altitude?");
		if (!ask_verify_nocmdcrlf ())
		{
			set_cmd_esc (TRUE);
			break;
		}
		cmd_0x2Ad ();
		break;
	}

	return ;
}

/* 0x2B */
static void set_initial_lla_position (void)
{
	float
		lat, lon, alt;

	lat = ask_dbl ("Enter lat (