tsip_rpt.c

gps开发专用的源代码

{
	unsigned char
		op_code, data_type, sv_prn,
		data_length, data_packet[250];
	ALM_INFO
		*almanac;
	ALH_PARMS
		*almh;
	UTC_INFO
		*utc;
	ION_INFO
		*ionosphere;
	EPHEM_CLOCK
		*cdata;
	EPHEM_ORBIT
		*edata;
	NAV_INFO
		*nav_data;
	unsigned char
		curr_t_oa;
	short
		curr_wn_oa;
	const char
		*datname[MAX_DAT_MESSAGE] =
		{"", "", "Almanac",
		"Health Page, T_oa, WN_oa", "Ionosphere", "UTC ",
		"Ephemeris"};

	/* unload rptbuf */
	if (rpt_0x58 (rpt, &op_code, &data_type, &sv_prn,
		&data_length, data_packet)) {
		parsed = BADLEN_PARSE;
		return;
	}

	xprintf ("System data [%d]:  %s  SV%2.2d",
		data_type, datname[data_type], sv_prn);
	switch (op_code)
	{
	case 1:
		xprintf ("  Acknowledged");
		show_crlf ();
		break;
	case 2:
		xprintf ("  length = %d bytes", data_length);
		show_crlf ();
		switch (data_type) {
		case 2:
			/* Almanac */
			if (sv_prn == 0 || sv_prn > 32) {
				xprintf ("Binary PRN invalid");
				return;
			}
			almanac = (ALM_INFO*)data_packet;
			xprintf ("t_oa_raw = %12d  ", almanac->t_oa_raw );
			xprintf ("SV_hlth  = %12d  ", almanac->SV_health );
			show_crlf ();
			xprintf ("e        = % -12g  ", almanac->e        );
			xprintf ("t_oa     = % -12g  ", almanac->t_oa     );
			show_crlf ();
			xprintf ("i_0      = % -12g  ", almanac->i_0      );
			xprintf ("OMEGADOT = % -12g  ", almanac->OMEGADOT );
			show_crlf ();
			xprintf ("sqrt_A   = % -12g  ", almanac->sqrt_A   );
			xprintf ("OMEGA_0  = % -12g  ", almanac->OMEGA_0  );
			show_crlf ();
			xprintf ("omega    = % -12g  ", almanac->omega    );
			xprintf ("M_0      = % -12g  ", almanac->M_0      );
			show_crlf ();
			xprintf ("a_f0     = % -12g  ", almanac->a_f0     );
			xprintf ("a_f1     = % -12g  ", almanac->a_f1     );
			show_crlf ();
			xprintf ("Axis     = % -12g  ", almanac->Axis     );
			xprintf ("n        = % -12g  ", almanac->n        );
			show_crlf ();
			xprintf ("OMEGA_n  = % -12g  ", almanac->OMEGA_n  );
			xprintf ("ODOT_n   = % -12g  ", almanac->ODOT_n   );
			show_crlf ();
			xprintf ("t_zc     = % -12g  ", almanac->t_zc     );
			xprintf ("weeknum  = %12d  ", almanac->weeknum  );
			show_crlf ();
			xprintf ("wn_oa    = %12d", almanac->wn_oa    );
			break;

		case 3:
			/* Almanac health page */
			almh = (ALH_PARMS*)data_packet;
			xprintf ("t_oa = %d, wn_oa&0xFF = %d  ", almh->t_oa, almh->WN_a);
			show_crlf ();
			xprintf ("%02X %02X %02X %02X %02X %02X %02X %02X  ",
				almh->SV_health[0], almh->SV_health[1], almh->SV_health[2],
				almh->SV_health[3], almh->SV_health[4], almh->SV_health[5],
				almh->SV_health[6], almh->SV_health[7]);
			show_crlf ();
			xprintf ("%02X %02X %02X %02X %02X %02X %02X %02X  ",
				almh->SV_health[8], almh->SV_health[9], almh->SV_health[10],
				almh->SV_health[11], almh->SV_health[12], almh->SV_health[13],
				almh->SV_health[14], almh->SV_health[15]);
			show_crlf ();
			xprintf ("%02X %02X %02X %02X %02X %02X %02X %02X  ",
				almh->SV_health[16], almh->SV_health[17], almh->SV_health[18],
				almh->SV_health[19], almh->SV_health[20], almh->SV_health[21],
				almh->SV_health[22], almh->SV_health[23]);
			show_crlf ();
			xprintf ("%02X %02X %02X %02X %02X %02X %02X %02X  ",
				almh->SV_health[24], almh->SV_health[25], almh->SV_health[26],
				almh->SV_health[27], almh->SV_health[28], almh->SV_health[29],
				almh->SV_health[30], almh->SV_health[31]);
			show_crlf ();
			curr_t_oa = data_packet[34];
			curr_wn_oa = (data_packet[35]<<8) + data_packet[36];
			xprintf ("current t_oa = %d, wn_oa = %d  ", curr_t_oa, curr_wn_oa);
			show_crlf();
			break;

		case 4:
			/* Ionosphere */
			ionosphere = (ION_INFO*)data_packet;
			xprintf ("alpha_0 = % -12g ", ionosphere->alpha_0);
			xprintf ("alpha_1 = % -12g ", ionosphere->alpha_1);
			show_crlf ();
			xprintf ("alpha_2 = % -12g ", ionosphere->alpha_2);
			xprintf ("alpha_3 = % -12g ", ionosphere->alpha_3);
			show_crlf ();
			xprintf ("beta_0  = % -12g  ", ionosphere->beta_0);
			xprintf ("beta_1  = % -12g  ", ionosphere->beta_1);
			show_crlf ();
			xprintf ("beta_2  = % -12g  ", ionosphere->beta_2);
			xprintf ("beta_3  = % -12g  ", ionosphere->beta_3);
			show_crlf ();
			break;

		case 5:
			/* UTC */
			show_crlf ();
			utc = (UTC_INFO*)data_packet;
			xprintf ("A_0        = %g  ", utc->A_0);
			show_crlf ();
			xprintf ("A_1        = %g  ", utc->A_1);
			show_crlf ();
			xprintf ("delta_t_LS = %d  ", utc->delta_t_LS);
			show_crlf ();
			xprintf ("t_ot       = %f  ", utc->t_ot );
			show_crlf ();
			xprintf ("WN_t       = %d  ", utc->WN_t );
			show_crlf ();
			xprintf ("WN_LSF     = %d  ", utc->WN_LSF );
			show_crlf ();
			xprintf ("DN         = %d  ", utc->DN );
			show_crlf ();
			xprintf ("delta_t_LSF = %d  ", utc->delta_t_LSF );
			break;

		case 6: /* Ephemeris */
			show_crlf ();
			if (sv_prn == 0 || sv_prn > 32) {
				xprintf ("Binary PRN invalid");
				show_crlf ();
				return;
			}
			nav_data = (NAV_INFO*)data_packet;

			xprintf ("   SV_PRN = % -12d . ", nav_data->sv_number );
			xprintf ("  t_ephem = % -12g . ", nav_data->t_ephem );
			show_crlf ();
			cdata = &(nav_data->ephclk);
			xprintf ("  weeknum = % -12d . ", cdata->weeknum );
			xprintf ("   codeL2 = % -12d . ", cdata->codeL2 );
			xprintf ("  L2Pdata = % -12d", cdata->L2Pdata );
			show_crlf ();
			xprintf ("SVacc_raw = % -12d . ", cdata->SVacc_raw );
			xprintf ("SV_health = % -12d . ", cdata->SV_health );
			xprintf ("     IODC = % -12d", cdata->IODC );
			show_crlf ();
			xprintf ("     T_GD = % -12g . ", cdata->T_GD );
			xprintf ("     t_oc = % -12g . ", cdata->t_oc );
			xprintf ("     a_f2 = % -12g", cdata->a_f2 );
			show_crlf ();
			xprintf ("     a_f1 = % -12g . ", cdata->a_f1 );
			xprintf ("     a_f0 = % -12g . ", cdata->a_f0 );
			xprintf ("    SVacc = % -12g", cdata->SVacc );
			show_crlf ();
			edata = &(nav_data->ephorb);
			xprintf ("     IODE = % -12d . ", edata->IODE );
			xprintf ("fit_intvl = % -12d . ", edata->fit_interval );
			xprintf ("     C_rs = % -12g", edata->C_rs );
			show_crlf ();
			xprintf ("  delta_n = % -12g . ", edata->delta_n );
			xprintf ("      M_0 = % -12g . ", edata->M_0 );
			xprintf ("     C_uc = % -12g", edata->C_uc );
			show_crlf ();
			xprintf ("      ecc = % -12g . ", edata->e );
			xprintf ("     C_us = % -12g . ", edata->C_us );
			xprintf ("   sqrt_A = % -12g", edata->sqrt_A );
			show_crlf ();
			xprintf ("     t_oe = % -12g . ", edata->t_oe );
			xprintf ("     C_ic = % -12g . ", edata->C_ic );
			xprintf ("  OMEGA_0 = % -12g", edata->OMEGA_0 );
			show_crlf ();
			xprintf ("     C_is = % -12g . ", edata->C_is );
			xprintf ("      i_0 = % -12g . ", edata->i_0 );
			xprintf ("     C_rc = % -12g", edata->C_rc );
			show_crlf ();
			xprintf ("    omega = % -12g . ", edata->omega );
			xprintf (" OMEGADOT = % -12g . ", edata->OMEGADOT );
			xprintf ("     IDOT = % -12g", edata->IDOT );
			show_crlf ();
			xprintf ("     Axis = % -12g . ", edata->Axis );
			xprintf ("        n = % -12g . ", edata->n );
			xprintf ("    r1me2 = % -12g", edata->r1me2 );
			show_crlf ();
			xprintf ("  OMEGA_n = % -12g . ", edata->OMEGA_n );
			xprintf ("   ODOT_n = % -12g", edata->ODOT_n );
			break;
		}
	}
}


/* 0x59: */
static void rpt_SVs_enabled (TSIPPKT *rpt)
{
	unsigned char
		code_type, status_code[32];
	short
		iprn;

	/* unload rptbuf */
	if (rpt_0x59 (rpt, &code_type, status_code)) {
		parsed = BADLEN_PARSE;
		return;
	}

	if (code_type == 3) {
		xprintf ("SVs Enable/Disable");
		show_crlf ();

		for (iprn=0; iprn<32; iprn++) {
			xprintf ("%c%c", (iprn%10) ? ' ' : '.',
				status_code[iprn] ? 'D' : 'E');
		}
	}
	if (code_type == 6) {
		xprintf ("SVs Heed/Ignore Health");
		show_crlf ();

		for (iprn=0; iprn<32; iprn++) {
			xprintf ("%c%c", (iprn%10) ? ' ' : '.',
				status_code[iprn] ? 'I' : 'H');
		}
	}
}


/* 0x5A */
static void rpt_raw_msmt (TSIPPKT *rpt)
{
	unsigned char
		sv_prn;
	float
		sample_length, signal_level, code_phase, Doppler;
	double
		time_of_fix;

	/* unload rptbuf */
	if (rpt_0x5A (rpt, &sv_prn, &sample_length, &signal_level,
		&code_phase, &Doppler, &time_of_fix)) {
		parsed = BADLEN_PARSE;
		return;
	}

	xprintf ("   %02d %5.0f %7.1f %10.2f %10.2f %12.3f ",
		sv_prn, sample_length, signal_level, code_phase, Doppler, time_of_fix);
	show_time ((float)time_of_fix);
}

/* 0x5C */
static void rpt_SV_tracking_status (TSIPPKT *rpt)
{
	unsigned char
		sv_prn, chan, slot, acq_flag, eph_flag,
		old_msmt_flag, integer_msec_flag, bad_data_flag,
		data_collect_flag;
	float
		signal_level, time_of_last_msmt,
		elev, azim;

	/* unload rptbuf */
	if (rpt_0x5C (rpt,
		&sv_prn, &slot, &chan, &acq_flag, &eph_flag,
		&signal_level, &time_of_last_msmt, &elev, &azim,
		&old_msmt_flag, &integer_msec_flag, &bad_data_flag,
		&data_collect_flag)) {
		parsed = BADLEN_PARSE;
		return;
	}

	xprintf ("   %2d  %1d %1d  %1d   %1d   %4.1f  ",
		sv_prn, chan, slot, acq_flag, eph_flag, signal_level);
	show_time (time_of_last_msmt);
	xprintf ("  %5.1f  %5.1f   %d    %d    %d    %d",
		elev*R2D, azim*R2D, old_msmt_flag,
		integer_msec_flag, bad_data_flag, data_collect_flag);
}

/**/
/* 0x6D */
static void rpt_allSV_selection (TSIPPKT *rpt)
{
	unsigned char
		manual_mode, nsvs, sv_prn[8], ndim;
	short
		islot;
	float
		pdop, hdop, vdop, tdop;

	/* unload rptbuf */
	if (rpt_0x6D (rpt,
		&manual_mode, &nsvs, &ndim, sv_prn,
		&pdop, &hdop, &vdop, &tdop)) {
		parsed = BADLEN_PARSE;
		return;
	}

	xprintf ("Mode: %s  %d SV (%d-D):",
		manual_mode ? "Manual" : "Auto",
		nsvs, ndim - 1);
	for (islot = 0; islot < nsvs; islot++) {
		if (sv_prn[islot]) xprintf (" %2d", sv_prn[islot]);
	}
	show_crlf ();
	xprintf ("      P, H, V, TDOP = %.2f, %.2f, %.2f, %.2f",
		pdop, hdop, vdop, tdop);
}

/* 0x6E */
static void rpt_full_msmt_packet_controls (TSIPPKT *rpt)
{
	unsigned char
	subcode,
	enable,
	interval;

	if (rpt_0x6E (rpt, &subcode, &enable, &interval)) {
		parsed = BADLEN_PARSE;
		return;
	}

	if (enable) xprintf ("Full msmt packet enabled with %d sec interval",
		interval);
	else xprintf ("Full msmt packet disabled");
}

/* 0x6F */
static void rpt_full_msmt_packet (TSIPPKT *rpt)
{
	int
		ichan;
	struct cph1_msg_struct
		cph1;
	struct cph1_datablock_struct
		*cph1d;
	double
		gtime;

	if (rpt->buf[0] != 1) {
		xprintf ("Measurement package 6F-%02d not supported", rpt->buf[0]);
		parsed = BADID_PARSE;
		return;
	}

	/* unload rptbuf */
	if (rpt_0x6F01 (rpt, &cph1)) {
		parsed = BADLEN_PARSE;
		return;
	}

	gtime = cph1.receive_time*.001;
	xprintf ("Time = %.4f secs, off = %.3f msec, numsvs = %d",
		gtime, cph1.clock_offset, cph1.numsvs);
	show_crlf();
	for (ichan = 0; ichan < cph1.numsvs; ichan++) {
		cph1d = &cph1.db[ichan];
		xprintf ("*SV%02d (%02X) S %5.2f  PR %10.1f  Cph %12.2f  Dp %8.2f",
			cph1d->prn,
			cph1d->flagbyte,
			(double)cph1d->signal_strength * 0.25,
			cph1d->pseudorange,
			cph1d->carrier_phase,
			cph1d->Doppler);
		show_crlf();
	}
	return;
}
/**/
/* 0x70 */
static void show_pv_operation (TSIPPKT *rpt)
{
	unsigned char dyn_switch, static_switch, alt_switch, extra;

	if (rpt_0x70 (rpt, &dyn_switch, &static_switch, &alt_switch, &extra)) {
		parsed = BADLEN_PARSE;
		return;
	}

	/* If dynamic filter is off, then static filter cannot run, so just
		inform user that the entire PV filter is disabled */
	if (dyn_switch == 0) {

		xprintf ("PV filter disabled");
		show_crlf();
	}
	else {
		xprintf ("PV dynamic filter %s", dyn_switch?"enabled":"disabled");
		show_crlf();
		xprintf ("PV static filter %s", static_switch?"enabled":"disabled");
		show_crlf();
	}
	xprintf ("Altitude filter %s", alt_switch?"enabled":"disabled");
	show_crlf();
}

/* 0x7B */
static void rpt_nmea_parameters (TSIPPKT *rpt)
/* NMEA Control parameters */
{
	unsigned char
		subcode,
		interval;
	unsigned long
		nmeamask;

	if (rpt_0x7B (rpt,
		&subcode, &interval, &nmeamask)) {
		parsed = BADLEN_PARSE;
		return;
	}

	xprintf("NMEA output interval: %d", interval);
	show_crlf();
	xprintf("NMEA output mask:  0x%08lX", nmeamask);
}

/**/
/* 0x82 */
static void rpt_DGPS_position_mode (TSIPPKT *rpt)
{
	unsigned char
		diff_mode;

	/* unload rptbuf */
	if (rpt_0x82 (rpt, &diff_mode)) {
		parsed = BADLEN_PARSE;
		return;
	}

	xprintf ("DGPS mode is %d, ", diff_mode);
	switch (diff_mode) {
	case 0:
		xprintf ("diff off");
		break;

	case 1:
		xprintf ("report diff fixes only");
		break;

	case 2:
		xprintf ("auto diff, diff off");
		break;

	case 3:
		xprintf ("auto diff, diff on");
		break;
	}
}

/* 0x83 */
static void rpt_double_ECEF_position (TSIPPKT *rpt)
{

	double
		ECEF_pos[3], clock_bias;
	float
		time_of_fix;

	/* unload rptbuf */
	if (rpt_0x83 (rpt, ECEF_pos, &clock_bias, &time_of_fix)) {
		parsed = BADLEN_PARSE;
		return;
	}

	xprintf ("DPos:%12.2f %13.2f %13.2f %12.2f",
		ECEF_pos[0], ECEF_pos[1], ECEF_pos[2], clock_bias);
	show_time (time_of_fix);
}

/* 0x84 */
static void rpt_double_lla_position (TSIPPKT *rpt)
{
	short
		lat_deg, lon_deg;
	double
		lat, lon, lat_min, lon_min,
		alt, clock_bias;
	float
		time_of_fix;
	unsigned char
		north_south, east_west;

	/* unload rptbuf */
	if (rpt_0x84 (rpt,
		&lat, &lon, &alt, &clock_bias, &time_of_fix)) {
		parsed = BADLEN_PARSE;
		return;
	}

	lat *= R2D;
	lon *= R2D;
	if (lat < 0.0) {
		north_south = 'S';
		lat = -lat;
	} else {
		north_south = 'N';
	}
	lat_deg = (short)lat;
	lat_min = (lat - lat_deg) * 60.0;

	if (lon < 0.0) {
		east_west = 'W';
		lon = -lon;
	} else {
		east_west = 'E';
	}
	lon_deg = (short)lon;
	lon_min = (lon - lon_deg) * 60.0;
	xprintf ("DPos: %2d:%08.5f %c; %3d:%08.5f %c; %10.2f %12.2f",
		lat_deg, lat_min, north_south,
		lon_deg, lon_min, east_west,
		alt, clock_bias);
	show_time (time_of_fix);
}

/* 0x85 */
static void rpt_dgps_info (TSIPPKT *rpt)
{
	const char
		*dm_text[6] = {"Good", "Delt", "StaH", " Age", "UDRE", "IODE"  };
	unsigned char
		sv_prn, summary_status, station_health, SV_UDRE_parm,
		iode1, iode2;
	float
		z_cnt_tow, range_corr, range_rate_corr, delta_range_corr;

	/* unload rptbuf */
	if (rpt_0x85 (rpt,
		&sv_prn, &summary_status, &station_health,
		&SV_UDRE_parm, &iode1, &iode2,
		&z_cnt_tow, &range_corr,
		&range_rate_corr, &delta_range_corr)) {
		parsed = BADLEN_PARSE;
		return;
	}

	xprintf ("    %2d  %d=%s    %d    %d    %02X    %02X  ", 
		sv_prn, summary_status,
		(summary_status < 6) ? dm_text[summary_status] : "Unkn",
		station_health, SV_UDRE_parm, iode1, iode2);
	show_time (z_cnt_tow);
	xprintf (" %6.1f %6.1f %6.1f", range_corr, range_rate_corr, delta_range_corr);
}

/* 0x8F15 */