/***************************************************************************               pvt.c  -  Position, Velocity, Time related functions                             -------------------    begin                : So M鋜 21 17:50:31 CET 2004    copyright            : (C) 2004 by Dennis Real    email                : dev-null@users.sourceforge.net ***************************************************************************//*************************************************************************** *                                                                         * *   This program is free software; you can redistribute it and/or modify  * *   it under the terms of the GNU General Public License as published by  * *   the Free Software Foundation; either version 2 of the License, or     * *   (at your option) any later version.                                   * *                                                                         * ***************************************************************************/#include <stdio.h>#include <gtk/gtk.h>#include <math.h>#include "support.h"#include "def.h"#include "llayer.h"#include "convert.h"#include "datatypes.h"/*	get latitude and lonitude in radians	*/Radian_Type getPosition (int tty){	Radian_Type position;		unsigned int s;	char *gcommand;	position.lat=0;	position.lon=0;  /* abort current transfer */  SendCommand(tty, "\x0a\x02\x00\x00", 4);	gcommand=GetCommand(tty, &s);		//ack 0	/* get position -> PVT */	SendCommand(tty, "\x0a\x02\x31\x00", 4);	gcommand=GetCommand(tty, &s);	//ack x31	gcommand=GetCommand(tty, &s);	//pvt 	if( gcommand!=NULL )	{	  if ( (gcommand[0]==0x33) && (s==66) && (((unsigned char)gcommand[1]+2)==s) )  	{			ACKCommand(tty, gcommand, s);  	  			position.lat=char2double(&gcommand[28]);			position.lon=char2double(&gcommand[36]);		}		else		{			/* invalid packet */		}	}		/* stop pvt transfer */	SendCommand(tty, "\x0a\x02\x32\x00", 4);	gcommand=GetCommand(tty, &s);	return position;}D600_Date_Time_Type getTime(int tty){	unsigned int s;	char *gcommand;	D600_Date_Time_Type back;		back.month=0;	back.day=0;	back.year=0;	back.hour=0;	back.minute=0;	back.second=0;		/* get time (A600, D600) */	SendCommand(tty, "\x0a\x02\x05\x00", 4); // 5 transfer time	gcommand=GetCommand(tty, &s); //ack	if (gcommand==NULL)	{		return back;	}	gcommand=GetCommand(tty, &s); // 14 (\x0e) date_time_data	if( (gcommand[0]==0x0e) && (gcommand[1]==8) && (s==10) )	{		back.month=gcommand[2];		back.day=gcommand[3];		back.year=(BYTE)gcommand[4]+(BYTE)gcommand[5]*256;		back.hour=(BYTE)gcommand[6]+(BYTE)gcommand[7]*256;		back.minute=gcommand[8];		back.second=gcommand[9];		ACKCommand(tty, gcommand, s);	}	return back;	}	D800_Pvt_Data_Type getAllpvtD800(int tty){	D800_Pvt_Data_Type pvt;	unsigned int s;	char *gcommand;	pvt.alt=0;	pvt.epe=0;	pvt.eph=0;	pvt.epv=0;	pvt.fix=0;	pvt.tow=0;	pvt.posn.lat=0;	pvt.posn.lon=0;	pvt.east=0;	pvt.north=0;	pvt.up=0;	pvt.msl_hght=0;	pvt.leap_scnds=0;	pvt.wn_days=0;     	/* abort current transfer */	SendCommand(tty, "\x0a\x02\x32\x00", 4);	gcommand=GetCommand(tty, &s);		//ack10	/* start transfer */		SendCommand(tty, "\x0a\x02\x31\x00", 4);	gcommand=GetCommand(tty, &s);	//ack10		gcommand=GetCommand(tty, &s);	//pvtdata33	if (gcommand!=NULL)	{		if ( (gcommand[2]=0x33) && (s==66) && (((unsigned char)gcommand[1]+2)==s)  )		{  /*	printf("Alt: %f EPE: %f EPEh: %f EPEv %f fix: %d\n", 			char2float(&gcommand[2]), char2float(&gcommand[6]),			char2float(&gcommand[10]), char2float(&gcommand[14]),			(int)((BYTE)(gcommand[18])+((BYTE)(gcommand[19])*256))			);	fprintf(stderr, "VelocityE: %f VelocityN: %f VelUP: %f Height %f leap_sec: %d\n", 			char2float(&gcommand[44]), char2float(&gcommand[48]),			char2float(&gcommand[52]), char2float(&gcommand[56]),			(int)(((BYTE)(gcommand[60]))+(((BYTE)(gcommand[61]))*256))			);	printf("wn_days: %ld timeofweek: %lf\nlatitude: %lf longitude: %lf\nlat (deg): %3.5lf long(deg): %3.5lf\n", 			char2long(&gcommand[62]), char2double(&gcommand[20]),			char2double(&gcommand[28]), char2double(&gcommand[36]),			rad2deg(char2double(&gcommand[28])), rad2deg(char2double(&gcommand[36]))						);*/			pvt.alt=char2float(&gcommand[2]);			pvt.epe=char2float(&gcommand[6]);			pvt.eph=char2float(&gcommand[10]);			pvt.epv=char2float(&gcommand[14]);			pvt.fix=(int)((BYTE)(gcommand[18])+((BYTE)(gcommand[19])*256));			pvt.tow=char2double(&gcommand[20]);			pvt.posn=char2radiantype(&gcommand[28]);			pvt.east=char2float(&gcommand[44]);			pvt.north=char2float(&gcommand[48]);			pvt.up=char2float(&gcommand[52]);			pvt.msl_hght=char2float(&gcommand[56]);			pvt.leap_scnds=(int)(((BYTE)(gcommand[60]))+(((BYTE)(gcommand[61]))*256));			pvt.wn_days=char2long(&gcommand[62]);		}		else		{			/* invalid packet */		}		}                            	SendCommand(tty, "\x0a\x02\x32\x00", 4); //50 (\x32) end pvt	gcommand=GetCommand(tty, &s);	//ack10	return pvt;}