/* $Id: italk.c 4661 2008-01-19 22:54:23Z garyemiller $ *//* * Driver for the iTalk binary protocol used by FasTrax */#include <sys/types.h>#include <stdio.h>#include <stdlib.h>#include <string.h>#include <math.h>#include <ctype.h>#include <unistd.h>#include <time.h>#include <stdio.h>#include "gpsd_config.h"#include "gpsd.h"#if defined(ITRAX_ENABLE) && defined(BINARY_ENABLE)#define LITTLE_ENDIAN_PROTOCOL#include "bits.h"#include "italk.h"static gps_mask_t italk_parse(struct gps_device_t *, unsigned char *, size_t);static gps_mask_t decode_itk_navfix(struct gps_device_t *, unsigned char *, size_t);static gps_mask_t decode_itk_prnstatus(struct gps_device_t *, unsigned char *, size_t);static gps_mask_t decode_itk_utcionomodel(struct gps_device_t *, unsigned char *, size_t);static gps_mask_t decode_itk_navfix(struct gps_device_t *session, unsigned char *buf, size_t len){    unsigned int tow;    unsigned short gps_week, flags, cflags, pflags;    gps_mask_t mask = 0;    double epx, epy, epz, evx, evy, evz;    double t;    if (len != 296){	gpsd_report(LOG_PROG, "ITALK: bad NAV_FIX (len %d, should be 296)\n", len);	return -1;    }    flags = getuw(buf, 7 + 4);    cflags = getuw(buf, 7 + 6);    pflags = getuw(buf, 7 + 8);    session->gpsdata.status = STATUS_NO_FIX;    session->gpsdata.fix.mode = MODE_NO_FIX;    mask =  ONLINE_SET | MODE_SET | STATUS_SET | CYCLE_START_SET;    /* just bail out if this fix is not marked valid */    if (0 != (pflags & FIX_FLAG_MASK_INVALID) || 0 == (flags & FIXINFO_FLAG_VALID))	return mask;    gps_week = (ushort)getsw(buf, 7 + 82);    tow = getul(buf, 7 + 84);    t = gpstime_to_unix((int)gps_week, tow/1000.0) - session->context->leap_seconds;    session->gpsdata.sentence_time = t;    session->gpsdata.fix.time = t;    mask |= TIME_SET;    epx = (double)(getsl(buf, 7 + 96)/100.0);    epy = (double)(getsl(buf, 7 + 100)/100.0);    epz = (double)(getsl(buf, 7 + 104)/100.0);    evx = (double)(getsl(buf, 7 + 186)/1000.0);    evy = (double)(getsl(buf, 7 + 190)/1000.0);    evz = (double)(getsl(buf, 7 + 194)/1000.0);    ecef_to_wgs84fix(&session->gpsdata, epx, epy, epz, evx, evy, evz);    mask |= LATLON_SET | ALTITUDE_SET | SPEED_SET | TRACK_SET | CLIMB_SET  ;    session->gpsdata.fix.eph = (double)(getsl(buf, 7 + 252)/100.0);    session->gpsdata.fix.eps = (double)(getsl(buf, 7 + 254)/100.0);    session->gpsdata.satellites_used = 0xffff ^ getub(buf, 7 + 16);    mask |= USED_SET ;    if (flags & FIX_CONV_DOP_VALID){	session->gpsdata.hdop = (double)(getuw(buf, 7 + 56)/100.0);	session->gpsdata.gdop = (double)(getuw(buf, 7 + 58)/100.0);	session->gpsdata.pdop = (double)(getuw(buf, 7 + 60)/100.0);	session->gpsdata.vdop = (double)(getuw(buf, 7 + 62)/100.0);	session->gpsdata.tdop = (double)(getuw(buf, 7 + 64)/100.0);	mask |= HDOP_SET | GDOP_SET | PDOP_SET | VDOP_SET | TDOP_SET;    }    if ((pflags & FIX_FLAG_MASK_INVALID) == 0 && (flags & FIXINFO_FLAG_VALID) != 0){	if (pflags & FIX_FLAG_3DFIX)	    session->gpsdata.fix.mode = MODE_3D;	else	    session->gpsdata.fix.mode = MODE_2D;	if (pflags & FIX_FLAG_DGPS_CORRECTION)	    session->gpsdata.status = STATUS_DGPS_FIX;	else	    session->gpsdata.status = STATUS_FIX;    }    return mask;}static gps_mask_t decode_itk_prnstatus(struct gps_device_t *session, unsigned char *buf, size_t len){    unsigned int i, tow, nsv, nchan, st;    unsigned short gps_week;    double t;    if (len < 62){	gpsd_report(LOG_PROG, "ITALK: runt PRN_STATUS (len=%d)\n", len);	return ERROR_SET;    }    gps_week = getuw(buf, 7 + 4);    tow = getul(buf, 7 + 6);    t = gpstime_to_unix((int)gps_week, tow/1000.0) - session->context->leap_seconds;    session->gpsdata.sentence_time = session->gpsdata.fix.time = t;    gpsd_zero_satellites(&session->gpsdata);    nchan = (unsigned int)((len - 10 - 52) / 20);    nsv = 0;    for (i = st = 0; i < nchan; i++) {	int off = 7+ 52 + 20 * i;	unsigned short flags;	flags = getuw(buf, off);	session->gpsdata.ss[i]		= (int)getuw(buf, off+2)&0xff;	session->gpsdata.PRN[i]		= (int)getuw(buf, off+4)&0xff;	session->gpsdata.elevation[i]	= (int)getsw(buf, off+6)&0xff;	session->gpsdata.azimuth[i]	= (int)getsw(buf, off+8)&0xff;	if (session->gpsdata.PRN[i]){	    st++;	    if (flags & PRN_FLAG_USE_IN_NAV)		session->gpsdata.used[nsv++] = session->gpsdata.PRN[i];	}    }    session->gpsdata.satellites = (int)st;    session->gpsdata.satellites_used = (int)nsv;    return USED_SET | SATELLITE_SET | TIME_SET;}static gps_mask_t decode_itk_utcionomodel(struct gps_device_t *session, unsigned char *buf, size_t len){    unsigned int tow;    int leap;    unsigned short gps_week, flags;    double t;    if (len != 64){	gpsd_report(LOG_PROG, "ITALK: bad UTC_IONO_MODEL (len %d, should be 64)\n", len);	return ERROR_SET;    }    flags = getuw(buf, 7);    if (0 == (flags & UTC_IONO_MODEL_UTCVALID))	return 0;    leap = (int)getuw(buf, 7 + 24);    if (session->context->leap_seconds < leap)	session->context->leap_seconds = leap;    gps_week = getuw(buf, 7 + 36);    tow = getul(buf, 7 + 38);    t = gpstime_to_unix((int)gps_week, tow/1000.0) - session->context->leap_seconds;    session->gpsdata.sentence_time = session->gpsdata.fix.time = t;    return TIME_SET;}/*@ +charint -usedef -compdef @*/static bool italk_write(int fd, unsigned char *msg, size_t msglen) {   bool      ok;   /* CONSTRUCT THE MESSAGE */   /* we may need to dump the message */   gpsd_report(LOG_IO, "writing italk control type %02x:%s\n",	       msg[0], gpsd_hexdump(msg, msglen));#ifdef ALLOW_RECONFIGURE   ok = (write(fd, msg, msglen) == (ssize_t)msglen);   (void)tcdrain(fd);#else   ok = 0;#endif /* ALLOW_RECONFIGURE */   return(ok);}/*@ -charint +usedef +compdef @*//*@ +charint @*/static gps_mask_t italk_parse(struct gps_device_t *session, unsigned char *buf, size_t len){    unsigned int type;    gps_mask_t mask = 0;    if (len == 0)	return 0;    type = (uint)getub(buf, 4);    /* we may need to dump the raw packet */    gpsd_report(LOG_RAW, "raw italk packet type 0x%02x length %d: %s\n", type, len, gpsd_hexdump(buf, len));    switch (type)    {    case ITALK_NAV_FIX:	gpsd_report(LOG_IO, "iTalk NAV_FIX len %d\n", len);	mask = decode_itk_navfix(session, buf, len);	break;    case ITALK_PRN_STATUS:	gpsd_report(LOG_IO, "iTalk PRN_STATUS len %d\n", len);	mask = decode_itk_prnstatus(session, buf, len);	break;    case ITALK_UTC_IONO_MODEL:	gpsd_report(LOG_IO, "iTalk UTC_IONO_MODEL len %d\n", len);	mask = decode_itk_utcionomodel(session, buf, len);	break;    case ITALK_ACQ_DATA:	gpsd_report(LOG_IO, "iTalk ACQ_DATA len %d\n", len);	break;    case ITALK_TRACK:	gpsd_report(LOG_IO, "iTalk TRACK len %d\n", len);	break;    case ITALK_PSEUDO:	gpsd_report(LOG_IO, "iTalk PSEUDO len %d\n", len);	break;    case ITALK_RAW_ALMANAC:	gpsd_report(LOG_IO, "iTalk RAW_ALMANAC len %d\n", len);	break;    case ITALK_RAW_EPHEMERIS:	gpsd_report(LOG_IO, "iTalk RAW_EPHEMERIS len %d\n", len);	break;    case ITALK_SUBFRAME:	gpsd_report(LOG_IO, "iTalk SUBFRAME len %d\n", len);	break;    case ITALK_BIT_STREAM:	gpsd_report(LOG_IO, "iTalk BIT_STREAM len %d\n", len);	break;    case ITALK_AGC:    case ITALK_SV_HEALTH:    case ITALK_PRN_PRED:    case ITALK_FREQ_PRED:    case ITALK_DBGTRACE:    case ITALK_START:    case ITALK_STOP:    case ITALK_SLEEP:    case ITALK_STATUS:    case ITALK_ITALK_CONF:    case ITALK_SYSINFO:    case ITALK_ITALK_TASK_ROUTE:    case ITALK_PARAM_CTRL:    case ITALK_PARAMS_CHANGED:    case ITALK_START_COMPLETED:    case ITALK_STOP_COMPLETED:    case ITALK_LOG_CMD:    case ITALK_SYSTEM_START:    case ITALK_STOP_SEARCH:    case ITALK_SEARCH:    case ITALK_PRED_SEARCH: