[Firebug-cvs] fireboard/beta/tools/gps/SiRF sirftest_util.c,NONE,1.1 sirftest_util.h,NONE,1.1 Makefile,1.5,1.6 sirf_id2.c,1.2,1.3 sirf_id28.c,1.1,1.2 sirf_id28_1.c,1.8,1.9 sirf_id28_2.c,1.8,1.9 sirf_id28_3.c,1.8,1.9 sirf_id2_1.c,1.8,1.9 sirf_id2_2.c,1.8,1.9 sirftest.c,1.6,1.7

[David M. D. <do...@us...>]

Update of /cvsroot/firebug/fireboard/beta/tools/gps/SiRF
In directory sc8-pr-cvs1.sourceforge.net:/tmp/cvs-serv14310/tools/gps/SiRF

Modified Files:
	Makefile sirf_id2.c sirf_id28.c sirf_id28_1.c sirf_id28_2.c 
	sirf_id28_3.c sirf_id2_1.c sirf_id2_2.c sirftest.c 
Added Files:
	sirftest_util.c sirftest_util.h 
Log Message:
sirf id 28 messages can now be handled.

Index: sirftest.c
===================================================================
RCS file: /cvsroot/firebug/fireboard/beta/tools/gps/SiRF/sirftest.c,v
retrieving revision 1.6
retrieving revision 1.7
diff -C2 -d -r1.6 -r1.7
*** sirftest.c	17 Aug 2005 01:56:47 -0000	1.6
--- sirftest.c	17 Aug 2005 21:46:00 -0000	1.7
***************
*** 559,563 ****
    //print_message_sizes();
    print_struct_sizes();
!   //test_sirf_id2_parsing();
  
  
--- 559,563 ----
    //print_message_sizes();
    print_struct_sizes();
! 
  
  
***************
*** 573,584 ****
    sid2 = (SiRF_ID2_t*)calloc(1,sizeof(SiRF_ID2_t));
  
    sid2->xpos = convert_4_bytes_to_int(&msg[1]);
    sid2->ypos = convert_4_bytes_to_int(&msg[5]);
    sid2->zpos = convert_4_bytes_to_int(&msg[9]);
!   sid2->xvel = convert_2_bytes_to_float(&msg[13]);
!   sid2->yvel = convert_2_bytes_to_float(&msg[15])/8.0;
!   sid2->zvel = convert_2_bytes_to_float(&msg[17])/8.0;
    sid2->mode1 = msg[19];
!   sid2->dop = (float)msg[20]/5.0;
    sid2->mode2 = msg[21];
    sid2->gps_week = convert_2_bytes_to_uint16(&msg[22]); 
--- 573,586 ----
    sid2 = (SiRF_ID2_t*)calloc(1,sizeof(SiRF_ID2_t));
  
+   printf("zpos: %i\n",convert_4_bytes_to_int(&msg[9]));
+ 
    sid2->xpos = convert_4_bytes_to_int(&msg[1]);
    sid2->ypos = convert_4_bytes_to_int(&msg[5]);
    sid2->zpos = convert_4_bytes_to_int(&msg[9]);
!   sid2->xvel = convert_2_bytes_to_uint16(&msg[13]);
!   sid2->yvel = convert_2_bytes_to_uint16(&msg[15]);
!   sid2->zvel = convert_2_bytes_to_uint16(&msg[17]);
    sid2->mode1 = msg[19];
!   sid2->dop = msg[20];
    sid2->mode2 = msg[21];
    sid2->gps_week = convert_2_bytes_to_uint16(&msg[22]); 
***************
*** 660,665 ****
    uint8_t mid = get_message_id(sirfmsg);
  
-   printf("sirf id: %d\n",sirfmsg[2]);
- 
    switch (mid) {
    case 2:
--- 662,665 ----
***************
*** 681,690 ****
  pack_struct(msg_packer_t * mp, uint8_t * raw_msg) {
  
!   printf("Block Number:%d\n",mp->blocknumber);
  
!   printf("msg[0]: %d\n",raw_msg[0]);
!   
!   strncpy(&mp->msg[mp->blocknumber*FRAGMENT_PAYLOAD_LENGTH],raw_msg,FRAGMENT_PAYLOAD_LENGTH); 
!   printf("ID: %d\n",mp->msg[0]);
  }
  
--- 681,691 ----
  pack_struct(msg_packer_t * mp, uint8_t * raw_msg) {
  
!   int offset;
  
!   offset = mp->blocknumber*FRAGMENT_PAYLOAD_LENGTH;
!   //printf("offset: %d\n",offset);
!   //printf("zpos: %i\n",convert_4_bytes_to_int(&raw_msg[9]));
!   memcpy(&mp->msg[offset],raw_msg,FRAGMENT_PAYLOAD_LENGTH); 
!   //printf("zpos: %i\n",convert_4_bytes_to_int(&mp->msg[9]));
  }
  
***************
*** 713,720 ****
    msg_packer_t * mp;
  
!   printf("mf->blockcount: %d\n", mf->h.blockCount);
!   printf("mf->mote_id: %d\n", mf->h.mote_id);
!   printf("mf->seqno: %d\n", mf->h.sequenceNumber);
    printf("mf->blocknumber: %d\n", mf->h.blockNumber);
  
    mp = mp_array[mote_id];
--- 714,723 ----
    msg_packer_t * mp;
  
!   
!   //printf("mf->blockcount: %d\n", mf->h.blockCount);
!   //printf("mf->mote_id: %d\n", mf->h.mote_id);
!   //printf("mf->seqno: %d\n", mf->h.sequenceNumber);
    printf("mf->blocknumber: %d\n", mf->h.blockNumber);
+   
  
    mp = mp_array[mote_id];
***************
*** 739,747 ****
    }
  
!   printf("IDID: %d\n",mp->msg[0]);
  
    mp->blocks_received_flags |= 1 << blocknumber;
  
!   printf("Blocks received: %d\n",mp->blocks_received_flags);
    
    if ((number_of_blocks == 1 && mp->blocks_received_flags == 1) ||
--- 742,750 ----
    }
  
!   //printf("IDID: %d\n",mp->msg[0]);
  
    mp->blocks_received_flags |= 1 << blocknumber;
  
!   //printf("Blocks received: %d\n",mp->blocks_received_flags);
    
    if ((number_of_blocks == 1 && mp->blocks_received_flags == 1) ||
***************
*** 750,754 ****
        (number_of_blocks == 4 && mp->blocks_received_flags == 15)) {
      parse_msg(mp->msg);
!     memset(mp, 0x0, sizeof(msg_packer_t));
    }
  
--- 753,757 ----
        (number_of_blocks == 4 && mp->blocks_received_flags == 15)) {
      parse_msg(mp->msg);
!     //memset(mp, 0x0, sizeof(msg_packer_t));
    }
  
***************
*** 784,792 ****
    //printf("%d\n",sirf_id2[0]);
  
!   memcpy(mf1->data,(uint8_t*)sirf_id2,FRAGMENT_PAYLOAD_LENGTH);
!   memcpy(&mf2->data[FRAGMENT_PAYLOAD_LENGTH],sirf_id2,FRAGMENT_PAYLOAD_LENGTH);
  
-   unpack_message((void*)mf1);
    unpack_message((void*)mf2);
  }
  
--- 787,802 ----
    //printf("%d\n",sirf_id2[0]);
  
!   printf("zvel: %d:\n",convert_2_bytes_to_uint16(&sirf_id2[17]));
! 
! 
!   memcpy(mf1->data,sirf_id2,FRAGMENT_PAYLOAD_LENGTH);
!   memcpy(mf2->data,sirf_id2+FRAGMENT_PAYLOAD_LENGTH,FRAGMENT_PAYLOAD_LENGTH);
! 
! 
!   printf("yvel: %d:\n",convert_2_bytes_to_uint16(&mf1->data[15]));
! 
  
    unpack_message((void*)mf2);
+   unpack_message((void*)mf1);
  }
  
***************
*** 805,810 ****
    //printf("Foo: %f\n", foo);
  
-   test_packer();
  
    return 0;
  }
--- 815,822 ----
    //printf("Foo: %f\n", foo);
  
  
+   test_sirf_id2_parsing();
+   test_packer();
+   print_sirf2_message();
    return 0;
  }



Index: sirf_id28.c
===================================================================
RCS file: /cvsroot/firebug/fireboard/beta/tools/gps/SiRF/sirf_id28.c,v
retrieving revision 1.1
retrieving revision 1.2
diff -C2 -d -r1.1 -r1.2
*** sirf_id28.c	11 Jul 2005 22:33:01 -0000	1.1
--- sirf_id28.c	17 Aug 2005 21:46:00 -0000	1.2
***************
*** 1,3 ****
  
  
! #include "sirf.h"
--- 1,805 ----
+ /**
+  * This class is automatically generated by mig. DO NOT EDIT THIS FILE.
+  * This code implements C interface to the 'SiRF_ID28P'
+  * message type.
+  */
  
+ #include <stdio.h>
+ #include <stdlib.h>
+ #include <memory.h>
  
! 
! 
! 
! /** Private header is programmer specified for handling
!  * conversion functions, etc.
!  */
! //#include "SiRF_ID28P_private.h"
! /** Not the best way to handle xbow dependencies. */
! #ifdef TELOS_MOTE
! #include "../xdb.h"
! #include "../xsensors.h"
! #endif
! 
! 
! 
! 
! /** These need to be moved to a header file. */
! typedef struct _SiRF_ID28P SiRF_ID28P;
! #ifndef TELOS_MOTE
! typedef struct _XbowSensorboardPacket XbowSensorboardPacket;
! #endif
! /** The Active Message type associated with this message. */
! //static const int AM_TYPE = 156;
! 
! //#define AM_TYPE 156
! 
! 
! 
! // This struct is defined to keep gcc happy while the module
! // is under development.  At some point in the near future, a
! // a convention for passing arguments into the functions will
! // have to be defined.
! struct _XbowSensorboardPacket {
!   unsigned char data[29];
! };
! 
! 
! 
! 
! 
! 
! 
! 
! struct _SiRF_ID28P {
!    uint8_t header_mote_id;
!    uint8_t header_seqno;
!    uint8_t header_am_type;
!    uint8_t header_blockcount;
!    uint8_t channel;
!    uint32_t time_tag;
!    uint8_t sat_id;
!    uint64_t gps_sw_time;
!    uint64_t pseudo_range;
!    uint32_t carrier_freq;
!    uint64_t carrier_phase;
!    uint16_t time_in_track;
!    uint8_t sync_flags;
!    uint8_t cno1;
!    uint8_t cno2;
!    uint8_t cno3;
!    uint8_t cno4;
!    uint8_t cno5;
!    uint8_t cno6;
!    uint8_t cno7;
!    uint8_t cno8;
!    uint8_t cno9;
!    uint8_t cno10;
!    uint16_t delta_range_interval;
!    uint16_t mean_delta_range_time;
!    uint16_t extrapolation_time;
!    uint8_t phase_error_count;
!    uint8_t low_power_count;
! };
! 
! 
! 
! void
! SiRF_ID28P_set_header_mote_id(SiRF_ID28P * userdata, uint8_t header_mote_id) {
!    userdata->header_mote_id = header_mote_id;
! }
! 
! uint8_t
! SiRF_ID28P_get_header_mote_id(SiRF_ID28P * userdata) {
!    return userdata->header_mote_id;
! }
! 
! void
! SiRF_ID28P_set_header_seqno(SiRF_ID28P * userdata, uint8_t header_seqno) {
!    userdata->header_seqno = header_seqno;
! }
! 
! uint8_t
! SiRF_ID28P_get_header_seqno(SiRF_ID28P * userdata) {
!    return userdata->header_seqno;
! }
! 
! void
! SiRF_ID28P_set_header_am_type(SiRF_ID28P * userdata, uint8_t header_am_type) {
!    userdata->header_am_type = header_am_type;
! }
! 
! uint8_t
! SiRF_ID28P_get_header_am_type(SiRF_ID28P * userdata) {
!    return userdata->header_am_type;
! }
! 
! void
! SiRF_ID28P_set_header_blockcount(SiRF_ID28P * userdata, uint8_t header_blockcount) {
!    userdata->header_blockcount = header_blockcount;
! }
! 
! uint8_t
! SiRF_ID28P_get_header_blockcount(SiRF_ID28P * userdata) {
!    return userdata->header_blockcount;
! }
! 
! void
! SiRF_ID28P_set_channel(SiRF_ID28P * userdata, uint8_t channel) {
!    userdata->channel = channel;
! }
! 
! uint8_t
! SiRF_ID28P_get_channel(SiRF_ID28P * userdata) {
!    return userdata->channel;
! }
! 
! void
! SiRF_ID28P_set_time_tag(SiRF_ID28P * userdata, uint32_t time_tag) {
!    userdata->time_tag = time_tag;
! }
! 
! uint32_t
! SiRF_ID28P_get_time_tag(SiRF_ID28P * userdata) {
!    return userdata->time_tag;
! }
! 
! void
! SiRF_ID28P_set_sat_id(SiRF_ID28P * userdata, uint8_t sat_id) {
!    userdata->sat_id = sat_id;
! }
! 
! uint8_t
! SiRF_ID28P_get_sat_id(SiRF_ID28P * userdata) {
!    return userdata->sat_id;
! }
! 
! void
! SiRF_ID28P_set_gps_sw_time(SiRF_ID28P * userdata, uint64_t gps_sw_time) {
!    userdata->gps_sw_time = gps_sw_time;
! }
! 
! uint64_t
! SiRF_ID28P_get_gps_sw_time(SiRF_ID28P * userdata) {
!    return userdata->gps_sw_time;
! }
! 
! void
! SiRF_ID28P_set_pseudo_range(SiRF_ID28P * userdata, uint64_t pseudo_range) {
!    userdata->pseudo_range = pseudo_range;
! }
! 
! uint64_t
! SiRF_ID28P_get_pseudo_range(SiRF_ID28P * userdata) {
!    return userdata->pseudo_range;
! }
! 
! void
! SiRF_ID28P_set_carrier_freq(SiRF_ID28P * userdata, uint32_t carrier_freq) {
!    userdata->carrier_freq = carrier_freq;
! }
! 
! uint32_t
! SiRF_ID28P_get_carrier_freq(SiRF_ID28P * userdata) {
!    return userdata->carrier_freq;
! }
! 
! void
! SiRF_ID28P_set_carrier_phase(SiRF_ID28P * userdata, uint64_t carrier_phase) {
!    userdata->carrier_phase = carrier_phase;
! }
! 
! uint64_t
! SiRF_ID28P_get_carrier_phase(SiRF_ID28P * userdata) {
!    return userdata->carrier_phase;
! }
! 
! void
! SiRF_ID28P_set_time_in_track(SiRF_ID28P * userdata, uint16_t time_in_track) {
!    userdata->time_in_track = time_in_track;
! }
! 
! uint16_t
! SiRF_ID28P_get_time_in_track(SiRF_ID28P * userdata) {
!    return userdata->time_in_track;
! }
! 
! void
! SiRF_ID28P_set_sync_flags(SiRF_ID28P * userdata, uint8_t sync_flags) {
!    userdata->sync_flags = sync_flags;
! }
! 
! uint8_t
! SiRF_ID28P_get_sync_flags(SiRF_ID28P * userdata) {
!    return userdata->sync_flags;
! }
! 
! void
! SiRF_ID28P_set_cno1(SiRF_ID28P * userdata, uint8_t cno1) {
!    userdata->cno1 = cno1;
! }
! 
! uint8_t
! SiRF_ID28P_get_cno1(SiRF_ID28P * userdata) {
!    return userdata->cno1;
! }
! 
! void
! SiRF_ID28P_set_cno2(SiRF_ID28P * userdata, uint8_t cno2) {
!    userdata->cno2 = cno2;
! }
! 
! uint8_t
! SiRF_ID28P_get_cno2(SiRF_ID28P * userdata) {
!    return userdata->cno2;
! }
! 
! void
! SiRF_ID28P_set_cno3(SiRF_ID28P * userdata, uint8_t cno3) {
!    userdata->cno3 = cno3;
! }
! 
! uint8_t
! SiRF_ID28P_get_cno3(SiRF_ID28P * userdata) {
!    return userdata->cno3;
! }
! 
! void
! SiRF_ID28P_set_cno4(SiRF_ID28P * userdata, uint8_t cno4) {
!    userdata->cno4 = cno4;
! }
! 
! uint8_t
! SiRF_ID28P_get_cno4(SiRF_ID28P * userdata) {
!    return userdata->cno4;
! }
! 
! void
! SiRF_ID28P_set_cno5(SiRF_ID28P * userdata, uint8_t cno5) {
!    userdata->cno5 = cno5;
! }
! 
! uint8_t
! SiRF_ID28P_get_cno5(SiRF_ID28P * userdata) {
!    return userdata->cno5;
! }
! 
! void
! SiRF_ID28P_set_cno6(SiRF_ID28P * userdata, uint8_t cno6) {
!    userdata->cno6 = cno6;
! }
! 
! uint8_t
! SiRF_ID28P_get_cno6(SiRF_ID28P * userdata) {
!    return userdata->cno6;
! }
! 
! void
! SiRF_ID28P_set_cno7(SiRF_ID28P * userdata, uint8_t cno7) {
!    userdata->cno7 = cno7;
! }
! 
! uint8_t
! SiRF_ID28P_get_cno7(SiRF_ID28P * userdata) {
!    return userdata->cno7;
! }
! 
! void
! SiRF_ID28P_set_cno8(SiRF_ID28P * userdata, uint8_t cno8) {
!    userdata->cno8 = cno8;
! }
! 
! uint8_t
! SiRF_ID28P_get_cno8(SiRF_ID28P * userdata) {
!    return userdata->cno8;
! }
! 
! void
! SiRF_ID28P_set_cno9(SiRF_ID28P * userdata, uint8_t cno9) {
!    userdata->cno9 = cno9;
! }
! 
! uint8_t
! SiRF_ID28P_get_cno9(SiRF_ID28P * userdata) {
!    return userdata->cno9;
! }
! 
! void
! SiRF_ID28P_set_cno10(SiRF_ID28P * userdata, uint8_t cno10) {
!    userdata->cno10 = cno10;
! }
! 
! uint8_t
! SiRF_ID28P_get_cno10(SiRF_ID28P * userdata) {
!    return userdata->cno10;
! }
! 
! void
! SiRF_ID28P_set_delta_range_interval(SiRF_ID28P * userdata, uint16_t delta_range_interval) {
!    userdata->delta_range_interval = delta_range_interval;
! }
! 
! uint16_t
! SiRF_ID28P_get_delta_range_interval(SiRF_ID28P * userdata) {
!    return userdata->delta_range_interval;
! }
! 
! void
! SiRF_ID28P_set_mean_delta_range_time(SiRF_ID28P * userdata, uint16_t mean_delta_range_time) {
!    userdata->mean_delta_range_time = mean_delta_range_time;
! }
! 
! uint16_t
! SiRF_ID28P_get_mean_delta_range_time(SiRF_ID28P * userdata) {
!    return userdata->mean_delta_range_time;
! }
! 
! void
! SiRF_ID28P_set_extrapolation_time(SiRF_ID28P * userdata, uint16_t extrapolation_time) {
!    userdata->extrapolation_time = extrapolation_time;
! }
! 
! uint16_t
! SiRF_ID28P_get_extrapolation_time(SiRF_ID28P * userdata) {
!    return userdata->extrapolation_time;
! }
! 
! void
! SiRF_ID28P_set_phase_error_count(SiRF_ID28P * userdata, uint8_t phase_error_count) {
!    userdata->phase_error_count = phase_error_count;
! }
! 
! uint8_t
! SiRF_ID28P_get_phase_error_count(SiRF_ID28P * userdata) {
!    return userdata->phase_error_count;
! }
! 
! void
! SiRF_ID28P_set_low_power_count(SiRF_ID28P * userdata, uint8_t low_power_count) {
!    userdata->low_power_count = low_power_count;
! }
! 
! uint8_t
! SiRF_ID28P_get_low_power_count(SiRF_ID28P * userdata) {
!    return userdata->low_power_count;
! }
! 
! 
! 
! 
! 
! //Format string generated automatically,
! //static char formatstring[] = "%i, %i, %i, %i, %i, %i, %i, %i, %i, %i, %i, %i, %i, %i, %i, %i, %i, %i, %i, %i, %i, %i, %i, %i, %i, %i, %i, %i";
! 
! 
! //static char formatstring[] = "%i, %i, %i, %i, %i, %i, %i, %i, %i, %i, %i, %i, %i, %i, %i, %i, %i, %i, %i, %i, %i, %i, %i, %i, %i, %i, %i, %i";
! 
! 
! static char insert_stmt[] = "INSERT into SiRF_ID28P ("
! "result_time,"
! "header_mote_id,"
! "header_seqno,"
! "header_am_type,"
! "header_blockcount,"
! "channel,"
! "time_tag,"
! "sat_id,"
! "gps_sw_time,"
! "pseudo_range,"
! "carrier_freq,"
! "carrier_phase,"
! "time_in_track,"
! "sync_flags,"
! "cno1,"
! "cno2,"
! "cno3,"
! "cno4,"
! "cno5,"
! "cno6,"
! "cno7,"
! "cno8,"
! "cno9,"
! "cno10,"
! "delta_range_interval,"
! "mean_delta_range_time,"
! "extrapolation_time,"
! "phase_error_count,"
! "low_power_count) values (now(), %i, %i, %i, %i, %i, %i, %i, %i, %i, %i, %i, %i, %i, %i, %i, %i, %i, %i, %i, %i, %i, %i, %i, %i, %i, %i, %i, %i)";
! 
! 
! void
! SiRF_ID28P_pg_log(XbowSensorboardPacket * userdata) {
! char pg_command[255];
! SiRF_ID28P * data = (SiRF_ID28P*)userdata;
! sprintf(pg_command,insert_stmt,
! data->header_mote_id,
! data->header_seqno,
! data->header_am_type,
! data->header_blockcount,
! data->channel,
! data->time_tag,
! data->sat_id,
! data->gps_sw_time,
! data->pseudo_range,
! data->carrier_freq,
! data->carrier_phase,
! data->time_in_track,
! data->sync_flags,
! data->cno1,
! data->cno2,
! data->cno3,
! data->cno4,
! data->cno5,
! data->cno6,
! data->cno7,
! data->cno8,
! data->cno9,
! data->cno10,
! data->delta_range_interval,
! data->mean_delta_range_time,
! data->extrapolation_time,
! data->phase_error_count,
! data->low_power_count);
! #ifdef TELOS_MOTE
! xdb_execute(pg_command);
! #endif
! }
! 
! 
! 
! 
! /** @brief Default behavior is to return the input as output.
!  *  User is responsible for "cooking" the data.
!  */
! static uint8_t
! header_mote_id_convert(uint8_t header_mote_id) {
!    return header_mote_id;
! }
! 
! /** @brief Default behavior is to return the input as output.
!  *  User is responsible for "cooking" the data.
!  */
! static uint8_t
! header_seqno_convert(uint8_t header_seqno) {
!    return header_seqno;
! }
! 
! /** @brief Default behavior is to return the input as output.
!  *  User is responsible for "cooking" the data.
!  */
! static uint8_t
! header_am_type_convert(uint8_t header_am_type) {
!    return header_am_type;
! }
! 
! /** @brief Default behavior is to return the input as output.
!  *  User is responsible for "cooking" the data.
!  */
! static uint8_t
! header_blockcount_convert(uint8_t header_blockcount) {
!    return header_blockcount;
! }
! 
! /** @brief Default behavior is to return the input as output.
!  *  User is responsible for "cooking" the data.
!  */
! static uint8_t
! channel_convert(uint8_t channel) {
!    return channel;
! }
! 
! /** @brief Default behavior is to return the input as output.
!  *  User is responsible for "cooking" the data.
!  */
! static uint32_t
! time_tag_convert(uint32_t time_tag) {
!    return time_tag;
! }
! 
! /** @brief Default behavior is to return the input as output.
!  *  User is responsible for "cooking" the data.
!  */
! static uint8_t
! sat_id_convert(uint8_t sat_id) {
!    return sat_id;
! }
! 
! /** @brief Default behavior is to return the input as output.
!  *  User is responsible for "cooking" the data.
!  */
! static uint64_t
! gps_sw_time_convert(uint64_t gps_sw_time) {
!    return gps_sw_time;
! }
! 
! /** @brief Default behavior is to return the input as output.
!  *  User is responsible for "cooking" the data.
!  */
! static uint64_t
! pseudo_range_convert(uint64_t pseudo_range) {
!    return pseudo_range;
! }
! 
! /** @brief Default behavior is to return the input as output.
!  *  User is responsible for "cooking" the data.
!  */
! static uint32_t
! carrier_freq_convert(uint32_t carrier_freq) {
!    return carrier_freq;
! }
! 
! /** @brief Default behavior is to return the input as output.
!  *  User is responsible for "cooking" the data.
!  */
! static uint64_t
! carrier_phase_convert(uint64_t carrier_phase) {
!    return carrier_phase;
! }
! 
! /** @brief Default behavior is to return the input as output.
!  *  User is responsible for "cooking" the data.
!  */
! static uint16_t
! time_in_track_convert(uint16_t time_in_track) {
!    return time_in_track;
! }
! 
! /** @brief Default behavior is to return the input as output.
!  *  User is responsible for "cooking" the data.
!  */
! static uint8_t
! sync_flags_convert(uint8_t sync_flags) {
!    return sync_flags;
! }
! 
! /** @brief Default behavior is to return the input as output.
!  *  User is responsible for "cooking" the data.
!  */
! static uint8_t
! cno1_convert(uint8_t cno1) {
!    return cno1;
! }
! 
! /** @brief Default behavior is to return the input as output.
!  *  User is responsible for "cooking" the data.
!  */
! static uint8_t
! cno2_convert(uint8_t cno2) {
!    return cno2;
! }
! 
! /** @brief Default behavior is to return the input as output.
!  *  User is responsible for "cooking" the data.
!  */
! static uint8_t
! cno3_convert(uint8_t cno3) {
!    return cno3;
! }
! 
! /** @brief Default behavior is to return the input as output.
!  *  User is responsible for "cooking" the data.
!  */
! static uint8_t
! cno4_convert(uint8_t cno4) {
!    return cno4;
! }
! 
! /** @brief Default behavior is to return the input as output.
!  *  User is responsible for "cooking" the data.
!  */
! static uint8_t
! cno5_convert(uint8_t cno5) {
!    return cno5;
! }
! 
! /** @brief Default behavior is to return the input as output.
!  *  User is responsible for "cooking" the data.
!  */
! static uint8_t
! cno6_convert(uint8_t cno6) {
!    return cno6;
! }
! 
! /** @brief Default behavior is to return the input as output.
!  *  User is responsible for "cooking" the data.
!  */
! static uint8_t
! cno7_convert(uint8_t cno7) {
!    return cno7;
! }
! 
! /** @brief Default behavior is to return the input as output.
!  *  User is responsible for "cooking" the data.
!  */
! static uint8_t
! cno8_convert(uint8_t cno8) {
!    return cno8;
! }
! 
! /** @brief Default behavior is to return the input as output.
!  *  User is responsible for "cooking" the data.
!  */
! static uint8_t
! cno9_convert(uint8_t cno9) {
!    return cno9;
! }
! 
! /** @brief Default behavior is to return the input as output.
!  *  User is responsible for "cooking" the data.
!  */
! static uint8_t
! cno10_convert(uint8_t cno10) {
!    return cno10;
! }
! 
! /** @brief Default behavior is to return the input as output.
!  *  User is responsible for "cooking" the data.
!  */
! static uint16_t
! delta_range_interval_convert(uint16_t delta_range_interval) {
!    return delta_range_interval;
! }
! 
! /** @brief Default behavior is to return the input as output.
!  *  User is responsible for "cooking" the data.
!  */
! static uint16_t
! mean_delta_range_time_convert(uint16_t mean_delta_range_time) {
!    return mean_delta_range_time;
! }
! 
! /** @brief Default behavior is to return the input as output.
!  *  User is responsible for "cooking" the data.
!  */
! static uint16_t
! extrapolation_time_convert(uint16_t extrapolation_time) {
!    return extrapolation_time;
! }
! 
! /** @brief Default behavior is to return the input as output.
!  *  User is responsible for "cooking" the data.
!  */
! static uint8_t
! phase_error_count_convert(uint8_t phase_error_count) {
!    return phase_error_count;
! }
! 
! /** @brief Default behavior is to return the input as output.
!  *  User is responsible for "cooking" the data.
!  */
! static uint8_t
! low_power_count_convert(uint8_t low_power_count) {
!    return low_power_count;
! }
! 
! void
! SiRF_ID28P_cook_packet(SiRF_ID28P * userdata) {
!    userdata->header_mote_id = header_mote_id_convert(userdata->header_mote_id);
!    userdata->header_seqno = header_seqno_convert(userdata->header_seqno);
!    userdata->header_am_type = header_am_type_convert(userdata->header_am_type);
!    userdata->header_blockcount = header_blockcount_convert(userdata->header_blockcount);
!    userdata->channel = channel_convert(userdata->channel);
!    userdata->time_tag = time_tag_convert(userdata->time_tag);
!    userdata->sat_id = sat_id_convert(userdata->sat_id);
!    userdata->gps_sw_time = gps_sw_time_convert(userdata->gps_sw_time);
!    userdata->pseudo_range = pseudo_range_convert(userdata->pseudo_range);
!    userdata->carrier_freq = carrier_freq_convert(userdata->carrier_freq);
!    userdata->carrier_phase = carrier_phase_convert(userdata->carrier_phase);
!    userdata->time_in_track = time_in_track_convert(userdata->time_in_track);
!    userdata->sync_flags = sync_flags_convert(userdata->sync_flags);
!    userdata->cno1 = cno1_convert(userdata->cno1);
!    userdata->cno2 = cno2_convert(userdata->cno2);
!    userdata->cno3 = cno3_convert(userdata->cno3);
!    userdata->cno4 = cno4_convert(userdata->cno4);
!    userdata->cno5 = cno5_convert(userdata->cno5);
!    userdata->cno6 = cno6_convert(userdata->cno6);
!    userdata->cno7 = cno7_convert(userdata->cno7);
!    userdata->cno8 = cno8_convert(userdata->cno8);
!    userdata->cno9 = cno9_convert(userdata->cno9);
!    userdata->cno10 = cno10_convert(userdata->cno10);
!    userdata->delta_range_interval = delta_range_interval_convert(userdata->delta_range_interval);
!    userdata->mean_delta_range_time = mean_delta_range_time_convert(userdata->mean_delta_range_time);
!    userdata->extrapolation_time = extrapolation_time_convert(userdata->extrapolation_time);
!    userdata->phase_error_count = phase_error_count_convert(userdata->phase_error_count);
!    userdata->low_power_count = low_power_count_convert(userdata->low_power_count);
! }
! 
! 
! 
! 
! 
! /** User has to fill in any conversion code
!  * necessary for processing.
!  */
! SiRF_ID28P *
!  SiRF_ID28P_convert(char * data) {
!    // Just to keep gcc happy.
!    return (SiRF_ID28P*)data;
! }
! 
! 
! 
! 
! /** Print the bytes of the packet. */
! void
! SiRF_ID28P_print_raw (XbowSensorboardPacket *packet) {
! 
!    printf("SiRF_ID28P print raw.\n");
! }
! 
! /** Print cooked output. */
! void
! SiRF_ID28P_print_cooked (XbowSensorboardPacket * userdata) {
! 
!    SiRF_ID28P * data = (SiRF_ID28P*)userdata;
!    printf("SiRF_ID28P print cooked:\n");
!    printf("   header_mote_id: %i,\n",data->header_mote_id);
!    printf("   header_seqno: %i,\n",data->header_seqno);
!    printf("   header_am_type: %i,\n",data->header_am_type);
!    printf("   header_blockcount: %i,\n",data->header_blockcount);
!    printf("   channel: %i,\n",data->channel);
!    printf("   time_tag: %i,\n",data->time_tag);
!    printf("   sat_id: %i,\n",data->sat_id);
!    printf("   gps_sw_time: %i,\n",data->gps_sw_time);
!    printf("   pseudo_range: %i,\n",data->pseudo_range);
!    printf("   carrier_freq: %i,\n",data->carrier_freq);
!    printf("   carrier_phase: %i,\n",data->carrier_phase);
!    printf("   time_in_track: %i,\n",data->time_in_track);
!    printf("   sync_flags: %i,\n",data->sync_flags);
!    printf("   cno1: %i,\n",data->cno1);
!    printf("   cno2: %i,\n",data->cno2);
!    printf("   cno3: %i,\n",data->cno3);
!    printf("   cno4: %i,\n",data->cno4);
!    printf("   cno5: %i,\n",data->cno5);
!    printf("   cno6: %i,\n",data->cno6);
!    printf("   cno7: %i,\n",data->cno7);
!    printf("   cno8: %i,\n",data->cno8);
!    printf("   cno9: %i,\n",data->cno9);
!    printf("   cno10: %i,\n",data->cno10);
!    printf("   delta_range_interval: %i,\n",data->delta_range_interval);
!    printf("   mean_delta_range_time: %i,\n",data->mean_delta_range_time);
!    printf("   extrapolation_time: %i,\n",data->extrapolation_time);
!    printf("   phase_error_count: %i,\n",data->phase_error_count);
!    printf("   low_power_count: %i,\n",data->low_power_count);
! }
! 
! #ifdef TELOS_MOTE
! XPacketHandler SiRF_ID28P_packet_handler = {
! // This should be replaced with the AM_TYPE
!   156,
!   "$Id$",
!   SiRF_ID28P_print_raw,
!   SiRF_ID28P_print_cooked,
!   SiRF_ID28P_print_raw,
!   SiRF_ID28P_print_cooked,
!   SiRF_ID28P_pg_log,
!   {0}
! };
! 
! 
! void
! SiRF_ID28P_initialize() {
! xpacket_add_type(&SiRF_ID28P_packet_handler);
! }
! #endif
! /** The default size of this message type in bytes. */
! //static int DEFAULT_MESSAGE_SIZE = 59;
! 
! /** If incomplete types are used, we need to provide a way
!  * to manage memory.
!  */
! SiRF_ID28P *
! SiRF_ID28P_new() {
!    SiRF_ID28P * userdata = (SiRF_ID28P*)malloc(sizeof(SiRF_ID28P));
!    memset((void*)userdata,0xda,sizeof(SiRF_ID28P));
!    return userdata;
! }
! 
! 
! 
! 
! void
! SiRF_ID28P_delete(SiRF_ID28P * userdata) {
!    memset((void*)userdata,0xdd,sizeof(SiRF_ID28P));
!    free(userdata);
! }



Index: Makefile
===================================================================
RCS file: /cvsroot/firebug/fireboard/beta/tools/gps/SiRF/Makefile,v
retrieving revision 1.5
retrieving revision 1.6
diff -C2 -d -r1.5 -r1.6
*** Makefile	17 Aug 2005 01:56:47 -0000	1.5
--- Makefile	17 Aug 2005 21:46:00 -0000	1.6
***************
*** 1,8 ****
  
  SRC  = sirf_id2_1.c sirf_id2_2.c sirf_id28_1.c sirf_id28_2.c sirf_id28_3.c 
! SRC += sirf_id2.c
  
  INCLUDES = ../../../tos/lib/SiRF
  
  # uint32_t -> int format produces annoying warning messages,
  # disable it for now.
--- 1,11 ----
  
  SRC  = sirf_id2_1.c sirf_id2_2.c sirf_id28_1.c sirf_id28_2.c sirf_id28_3.c 
! SRC += sirf_id2.c sirf_id28.c
! SRC += sirftest_util.c
  
  INCLUDES = ../../../tos/lib/SiRF
  
+ all: test sirftest2 sirftest28
+ 
  # uint32_t -> int format produces annoying warning messages,
  # disable it for now.
***************
*** 10,13 ****
--- 13,22 ----
  	gcc -Wall -Wno-format  -o sirftest -I$(INCLUDES) sirftest.c $(SRC)
  
+ sirftest2: 
+ 	gcc -Wall -Wno-format  -o sirftest2 -I$(INCLUDES) sirftest2.c $(SRC)
+ 
+ sirftest28: 
+ 	gcc -Wall -Wno-format  -o sirftest28 -I$(INCLUDES) sirftest28.c $(SRC) -lm
+ 
  
  clean:

--- NEW FILE: sirftest_util.c ---
#include <stdio.h>
#include <string.h>
#include <stdlib.h>


// TODO: Make a macro for this.
int 
convert_4_bytes_to_int(char * bytes) {

  int val = 0;
  val |= bytes[0] & 0xFF;
  val <<= 8;
  val |= bytes[1] & 0xFF;
  val <<= 8;
  val |= bytes[2] & 0xFF;
  val <<= 8;
  val |= bytes[3] & 0xFF;
  return val;
}

/*
static int 
convert_4_bytes_to_uint32(char * bytes) {

  int val = 0;
  val |= bytes[0] & 0xFF;
  val <<= 8;
  val |= bytes[1] & 0xFF;
  val <<= 8;
  val |= bytes[2] & 0xFF;
  val <<= 8;
  val |= bytes[3] & 0xFF;
  return val;
}
*/


// TODO: Make a macro for this.
float
convert_2_bytes_to_float(char * bytes) {

  int16_t val = 0;
  val |= bytes[0] & 0xFF;
  val <<= 8;
  val |= bytes[1] & 0xFF;
  return (float)val;
}


// TODO: Make a macro for this.
float
convert_4_bytes_to_float(char * bytes) {

  int32_t val = 0;
  val |= bytes[0] & 0xFF;
  val <<= 8;
  val |= bytes[1] & 0xFF;
  val <<= 8;
  val |= bytes[2] & 0xFF;
  val <<= 8;
  val |= bytes[3] & 0xFF;
  return (float)val;
}


// FIXME: Get rid of locally defined variable 
// so that this can be turned into a macro.
double
convert_8_bytes_to_double(char * bytes) {

  int64_t val = 0;
  val |= bytes[0] & 0xFF;
  val <<= 8;
  val |= bytes[1] & 0xFF;
  val <<= 8;
  val |= bytes[2] & 0xFF;
  val <<= 8;
  val |= bytes[3] & 0xFF;
  val <<= 8;
  val |= bytes[4] & 0xFF;
  val <<= 8;
  val |= bytes[5] & 0xFF;
  val <<= 8;
  val |= bytes[6] & 0xFF;
  val <<= 8;
  val |= bytes[7] & 0xFF;
  return (double)val;
}

// TODO: Make a macro for this.
uint16_t
convert_2_bytes_to_uint16(char * bytes) {

  uint16_t val = 0;
  val |= bytes[0] & 0xFF;
  val <<= 8;
  val |= bytes[1] & 0xFF;
  return val;
}



--- NEW FILE: sirftest_util.h ---


int      convert_4_bytes_to_int    (char * bytes);

/*
int      convert_4_bytes_to_uint32 (char * bytes);
*/


// TODO: Make a macro for this.
float    convert_2_bytes_to_float  (char * bytes);


// TODO: Make a macro for this.
float    convert_4_bytes_to_float  (char * bytes);


// FIXME: Get rid of locally defined variable 
// so that this can be turned into a macro.
double   convert_8_bytes_to_double (char * bytes);

// TODO: Make a macro for this.
uint16_t convert_2_bytes_to_uint16 (char * bytes);