+++ /dev/null
-
-/*
- Declination function
-
- Copyright (C) 2002 Robert Lipe, robertlipe@usa.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.
-
- This program is distributed in the hope that it will be useful,
- but WITHOUT ANY WARRANTY; without even the implied warranty of
- MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
- GNU General Public License for more details.
-
- You should have received a copy of the GNU General Public License
- along with this program; if not, write to the Free Software
- Foundation, Inc., 59 Temple Place - Suite 330, Boston, MA 02111 USA
-
- */
-#include <stdio.h>
-#include <math.h>
-#include "defs.h"
-
-static double gh[];
-
-#define STANDALONE
-
-
-/*
-These comments are from the original Fortran code from IGRF
-
- subroutine igrf9syn (isv,date,itype,alt,colat,elong,x,y,z,f)
- c
- c This is a synthesis routine for the 9th generation IGRF as agreed
- c in July 2003 by IAGA Working Group V-8. It is valid 1900.0 to 2005.0
- c inclusive. Values for dates from 1945.0 to 2000.0 inclusive are
- c definitve, otherwise they are non-definitive.
- c INPUT
- c isv = 0 if main-field values are required
- c isv = 1 if secular variation values are required
- c date = year A.D. Must be greater than or equal to 1900.0 and
- c less than or equal to 2010.0. Warning message is given
- c for dates greater than 2005.0. Must be double precision.
- c itype = 1 if geodetic (spheroid)
- c itype = 2 if geocentric (sphere)
- c alt = height in km above sea level if itype = 1
- c = distance from centre of Earth in km if itype = 2 (>3485 km)
- c colat = colatitude (0-180)
- c elong = east-longitude (0-360)
- c alt, colat and elong must be double precision.
- c OUTPUT
- c x = north component (nT) if isv = 0, nT/year if isv = 1
- c y = east component (nT) if isv = 0, nT/year if isv = 1
- c z = vertical component (nT) if isv = 0, nT/year if isv = 1
- c f = total intensity (nT) if isv = 0, rubbish if isv = 1
- c
- c To get the other geomagnetic elements (D, I, H and secular
- c variations dD, dH, dI and dF) use routines ptoc and ptocsv.
- c
- c Adapted from 8th generation version to include new maximum degree for
- c main-field models for 2000.0 and onwards and use WGS84 spheroid instead
- c of International Astronomical Union 1966 spheroid as recommended by IAGA
- c in July 2003. Reference radius remains as 6371.2 km - it is NOT the mean
- c radius (= 6371.0 km) but 6371.2 km is what is used in determining the
- c coefficients. Adaptation by Susan Macmillan, August 2003.
- */
-
- double declination( double date, double alt, double lat, double lon ) {
-
- double cl[14];
- double sl[14];
- double p[106];
- double q[106];
-
- double x = 0;
- double y = 0;
- double z = 0;
- double f = 0;
-
- double colat = 90 - lat;
- double elong = lon;
-
- double t;
- double ll;
- double one;
- double two;
- double three;
- double rho;
- double tc;
-
- double r;
- double ct;
- double st;
- double cd;
- double sd;
-
- double a2;
- double b2;
- double ratio;
- double rr;
-
- double fn;
- double gn;
- double fm;
- double gmm;
-
- int i;
- int j;
- int k;
- int kmx;
- int l;
- int lm;
- int m;
- int n;
- int nc;
- int nmx;
-
- /*
- c set initial values
- */
- x = 0.0;
- y = 0.0;
- z = 0.0;
- if ( date >= 1900 && date <= 2010 ) {
- /*
- if (date.gt.2005.0) write (6,960) date
- 960 format (/' This version of the IGRF is intended for use up',
- 1 ' to 2005.0.'/' values for',f9.3,' will be computed',
- 2 ' but may be of reduced accuracy'/)
- */
- if (date < 2000.0) {
- t = 0.2*(date - 1900.0);
- ll = t;
- one = ll;
- t = t - one;
- if (date <= 1995.0) {
- nmx = 10;
- nc = nmx*(nmx+2);
- ll = nc*ll;
- kmx = (nmx+1)*(nmx+2)/2;
- }
- else {
- nmx = 13;
- nc = nmx*(nmx+2);
- ll = 0.2*(date - 1995.0);
- ll = 120*19 + nc*ll;
- kmx = (nmx+1)*(nmx+2)/2;
- }
- tc = 1.0 - t;
- }
- else {
- t = date - 2000.0;
- tc = 1.0;
- ll = 2475;
- nmx = 13;
- nc = nmx*(nmx+2);
- kmx = (nmx+1)*(nmx+2)/2;
- }
-
- r = alt;
- one = colat*M_PI/180;
- ct = cos(one);
- st = sin(one);
- one = elong*M_PI/180;
- cl[1] = cos(one);
- sl[1] = sin(one);
- cd = 1.0;
- sd = 0.0;
- l = 1;
- m = 1;
- n = 0;
- /*
- c conversion from geodetic to geocentric coordinates
- c (using the WGS84 spheroid)
- */
- a2 = 40680631.6;
- b2 = 40408296.0;
- one = a2*st*st;
- two = b2*ct*ct;
- three = one + two;
- rho = sqrt(three);
- r = sqrt(alt*(alt + 2.0*rho) + (a2*one + b2*two)/three);
- cd = (alt + rho)/r;
- sd = (a2 - b2)/rho*ct*st/r;
- one = ct;
- ct = ct*cd - st*sd;
- st = st*cd + one*sd;
-
- ratio = 6371.2/r;
- rr = ratio*ratio;
- /*
- c computation of Schmidt quasi-normal coefficients p and x(=q)
- */
- p[1] = 1.0;
- p[3] = st;
- q[1] = 0.0;
- q[3] = ct;
- for ( k = 2; k <= kmx; k++ ) {
- if (n < m) {
- m = 0;
- n = n + 1;
- rr = rr*ratio;
- fn = n;
- gn = n - 1;
- }
- fm = m;
- if (m == n) {
- if (k != 3) {
- one = sqrt(1.0 - 0.5/fm);
- j = k - n - 1;
- p[k] = one*st*p[j];
- q[k] = one*(st*q[j] + ct*p[j]);
- cl[m] = cl[m-1]*cl[1] - sl[m-1]*sl[1];
- sl[m] = sl[m-1]*cl[1] + cl[m-1]*sl[1];
- }
- }
- else {
- gmm = m*m;
- one = sqrt(fn*fn - gmm);
- two = sqrt(gn*gn - gmm)/one;
- three = (fn + gn)/one;
- i = k - n;
- j = i - n + 1;
- p[k] = three*ct*p[i] - two*p[j];
- q[k] = three*(ct*q[i] - st*p[i]) - two*q[j];
- }
- /*
- c synthesis of x, y and z in geocentric coordinates
- */
- lm = ll + l;
- one = (tc*gh[lm] + t*gh[lm+nc])*rr;
- if (m != 0) {
- two = (tc*gh[lm+1] + t*gh[lm+nc+1])*rr;
- three = one*cl[m] + two*sl[m];
- x = x + three*q[k];
- z = z - (fn + 1.0)*three*p[k];
- if (st != 0.0) {
- y = y + (one*sl[m] - two*cl[m])*fm*p[k]/st;
- }
- else {
- y = y + (one*sl[m] - two*cl[m])*q[k]*ct;
- }
- l = l + 2;
- }
- else {
- x = x + one*q[k];
- z = z - (fn + 1.0)*one*p[k];
- l = l + 1;
- }
- m = m + 1;
- }
- /*
- c conversion to coordinate system specified by itype
- */
- one = x;
- x = x*cd + z*sd;
-
- return 180/M_PI*atan2(y,x);
- }
- /*
- c error return if date out of bounds
- */
- /*
- fatal ( "Can't compute declination for dates outside of 1900-2010\n" );
- */
- return 999;
-}
-
-
-#ifdef STANDALONE
- int main(int c, char **v) {
- double lat = atof(v[1]);
- double lon = atof(v[2]);
- double date = atof(v[3]);
- double dec = declination( date, 0, lat, lon );
- printf( "declination is %f at %f,%f on %f\n\n", dec, lat, lon, date );
- return 0;
- }
-#endif
-
-
-static double gh[] = {
- 0,
- /* 1900 */
- -31543.,-2298., 5922., -677., 2905.,-1061., 924., 1121.,
- 1022.,-1469., -330., 1256., 3., 572., 523., 876.,
- 628., 195., 660., -69., -361., -210., 134., -75.,
- -184., 328., -210., 264., 53., 5., -33., -86.,
- -124., -16., 3., 63., 61., -9., -11., 83.,
- -217., 2., -58., -35., 59., 36., -90., -69.,
- 70., -55., -45., 0., -13., 34., -10., -41.,
- -1., -21., 28., 18., -12., 6., -22., 11.,
- 8., 8., -4., -14., -9., 7., 1., -13.,
- 2., 5., -9., 16., 5., -5., 8., -18.,
- 8., 10., -20., 1., 14., -11., 5., 12.,
- -3., 1., -2., -2., 8., 2., 10., -1.,
- -2., -1., 2., -3., -4., 2., 2., 1.,
- -5., 2., -2., 6., 6., -4., 4., 0.,
- 0., -2., 2., 4., 2., 0., 0., -6.,
- /* 1905 */
- -31464.,-2298., 5909., -728., 2928.,-1086., 1041., 1065.,
- 1037.,-1494., -357., 1239., 34., 635., 480., 880.,
- 643., 203., 653., -77., -380., -201., 146., -65.,
- -192., 328., -193., 259., 56., -1., -32., -93.,
- -125., -26., 11., 62., 60., -7., -11., 86.,
- -221., 4., -57., -32., 57., 32., -92., -67.,
- 70., -54., -46., 0., -14., 33., -11., -41.,
- 0., -20., 28., 18., -12., 6., -22., 11.,
- 8., 8., -4., -15., -9., 7., 1., -13.,
- 2., 5., -8., 16., 5., -5., 8., -18.,
- 8., 10., -20., 1., 14., -11., 5., 12.,
- -3., 1., -2., -2., 8., 2., 10., 0.,
- -2., -1., 2., -3., -4., 2., 2., 1.,
- -5., 2., -2., 6., 6., -4., 4., 0.,
- 0., -2., 2., 4., 2., 0., 0., -6.,
- /* 1910 */
- -31354.,-2297., 5898., -769., 2948.,-1128., 1176., 1000.,
- 1058.,-1524., -389., 1223., 62., 705., 425., 884.,
- 660., 211., 644., -90., -400., -189., 160., -55.,
- -201., 327., -172., 253., 57., -9., -33., -102.,
- -126., -38., 21., 62., 58., -5., -11., 89.,
- -224., 5., -54., -29., 54., 28., -95., -65.,
- 71., -54., -47., 1., -14., 32., -12., -40.,
- 1., -19., 28., 18., -13., 6., -22., 11.,
- 8., 8., -4., -15., -9., 6., 1., -13.,
- 2., 5., -8., 16., 5., -5., 8., -18.,
- 8., 10., -20., 1., 14., -11., 5., 12.,
- -3., 1., -2., -2., 8., 2., 10., 0.,
- -2., -1., 2., -3., -4., 2., 2., 1.,
- -5., 2., -2., 6., 6., -4., 4., 0.,
- 0., -2., 2., 4., 2., 0., 0., -6.,
- /* 1915 */
- -31212.,-2306., 5875., -802., 2956.,-1191., 1309., 917.,
- 1084.,-1559., -421., 1212., 84., 778., 360., 887.,
- 678., 218., 631., -109., -416., -173., 178., -51.,
- -211., 327., -148., 245., 58., -16., -34., -111.,
- -126., -51., 32., 61., 57., -2., -10., 93.,
- -228., 8., -51., -26., 49., 23., -98., -62.,
- 72., -54., -48., 2., -14., 31., -12., -38.,
- 2., -18., 28., 19., -15., 6., -22., 11.,
- 8., 8., -4., -15., -9., 6., 2., -13.,
- 3., 5., -8., 16., 6., -5., 8., -18.,
- 8., 10., -20., 1., 14., -11., 5., 12.,
- -3., 1., -2., -2., 8., 2., 10., 0.,
- -2., -1., 2., -3., -4., 2., 2., 1.,
- -5., 2., -2., 6., 6., -4., 4., 0.,
- 0., -2., 1., 4., 2., 0., 0., -6.,
- /* 1920 */
- -31060.,-2317., 5845., -839., 2959.,-1259., 1407., 823.,
- 1111.,-1600., -445., 1205., 103., 839., 293., 889.,
- 695., 220., 616., -134., -424., -153., 199., -57.,
- -221., 326., -122., 236., 58., -23., -38., -119.,
- -125., -62., 43., 61., 55., 0., -10., 96.,
- -233., 11., -46., -22., 44., 18., -101., -57.,
- 73., -54., -49., 2., -14., 29., -13., -37.,
- 4., -16., 28., 19., -16., 6., -22., 11.,
- 7., 8., -3., -15., -9., 6., 2., -14.,
- 4., 5., -7., 17., 6., -5., 8., -19.,
- 8., 10., -20., 1., 14., -11., 5., 12.,
- -3., 1., -2., -2., 9., 2., 10., 0.,
- -2., -1., 2., -3., -4., 2., 2., 1.,
- -5., 2., -2., 6., 6., -4., 4., 0.,
- 0., -2., 1., 4., 3., 0., 0., -6.,
- /* 1925 */
- -30926.,-2318., 5817., -893., 2969.,-1334., 1471., 728.,
- 1140.,-1645., -462., 1202., 119., 881., 229., 891.,
- 711., 216., 601., -163., -426., -130., 217., -70.,
- -230., 326., -96., 226., 58., -28., -44., -125.,
- -122., -69., 51., 61., 54., 3., -9., 99.,
- -238., 14., -40., -18., 39., 13., -103., -52.,
- 73., -54., -50., 3., -14., 27., -14., -35.,
- 5., -14., 29., 19., -17., 6., -21., 11.,
- 7., 8., -3., -15., -9., 6., 2., -14.,
- 4., 5., -7., 17., 7., -5., 8., -19.,
- 8., 10., -20., 1., 14., -11., 5., 12.,
- -3., 1., -2., -2., 9., 2., 10., 0.,
- -2., -1., 2., -3., -4., 2., 2., 1.,
- -5., 2., -2., 6., 6., -4., 4., 0.,
- 0., -2., 1., 4., 3., 0., 0., -6.,
- /* 1930 */
- -30805.,-2316., 5808., -951., 2980.,-1424., 1517., 644.,
- 1172.,-1692., -480., 1205., 133., 907., 166., 896.,
- 727., 205., 584., -195., -422., -109., 234., -90.,
- -237., 327., -72., 218., 60., -32., -53., -131.,
- -118., -74., 58., 60., 53., 4., -9., 102.,
- -242., 19., -32., -16., 32., 8., -104., -46.,
- 74., -54., -51., 4., -15., 25., -14., -34.,
- 6., -12., 29., 18., -18., 6., -20., 11.,
- 7., 8., -3., -15., -9., 5., 2., -14.,
- 5., 5., -6., 18., 8., -5., 8., -19.,
- 8., 10., -20., 1., 14., -12., 5., 12.,
- -3., 1., -2., -2., 9., 3., 10., 0.,
- -2., -2., 2., -3., -4., 2., 2., 1.,
- -5., 2., -2., 6., 6., -4., 4., 0.,
- 0., -2., 1., 4., 3., 0., 0., -6.,
- /* 1935 */
- -30715.,-2306., 5812.,-1018., 2984.,-1520., 1550., 586.,
- 1206.,-1740., -494., 1215., 146., 918., 101., 903.,
- 744., 188., 565., -226., -415., -90., 249., -114.,
- -241., 329., -51., 211., 64., -33., -64., -136.,
- -115., -76., 64., 59., 53., 4., -8., 104.,
- -246., 25., -25., -15., 25., 4., -106., -40.,
- 74., -53., -52., 4., -17., 23., -14., -33.,
- 7., -11., 29., 18., -19., 6., -19., 11.,
- 7., 8., -3., -15., -9., 5., 1., -15.,
- 6., 5., -6., 18., 8., -5., 7., -19.,
- 8., 10., -20., 1., 15., -12., 5., 11.,
- -3., 1., -3., -2., 9., 3., 11., 0.,
- -2., -2., 2., -3., -4., 2., 2., 1.,
- -5., 2., -2., 6., 6., -4., 4., 0.,
- 0., -1., 2., 4., 3., 0., 0., -6.,
- /* 1940 */
- -30654.,-2292., 5821.,-1106., 2981.,-1614., 1566., 528.,
- 1240.,-1790., -499., 1232., 163., 916., 43., 914.,
- 762., 169., 550., -252., -405., -72., 265., -141.,
- -241., 334., -33., 208., 71., -33., -75., -141.,
- -113., -76., 69., 57., 54., 4., -7., 105.,
- -249., 33., -18., -15., 18., 0., -107., -33.,
- 74., -53., -52., 4., -18., 20., -14., -31.,
- 7., -9., 29., 17., -20., 5., -19., 11.,
- 7., 8., -3., -14., -10., 5., 1., -15.,
- 6., 5., -5., 19., 9., -5., 7., -19.,
- 8., 10., -21., 1., 15., -12., 5., 11.,
- -3., 1., -3., -2., 9., 3., 11., 1.,
- -2., -2., 2., -3., -4., 2., 2., 1.,
- -5., 2., -2., 6., 6., -4., 4., 0.,
- 0., -1., 2., 4., 3., 0., 0., -6.,
- /* 1945 */
- -30594.,-2285., 5810.,-1244., 2990.,-1702., 1578., 477.,
- 1282.,-1834., -499., 1255., 186., 913., -11., 944.,
- 776., 144., 544., -276., -421., -55., 304., -178.,
- -253., 346., -12., 194., 95., -20., -67., -142.,
- -119., -82., 82., 59., 57., 6., 6., 100.,
- -246., 16., -25., -9., 21., -16., -104., -39.,
- 70., -40., -45., 0., -18., 0., 2., -29.,
- 6., -10., 28., 15., -17., 29., -22., 13.,
- 7., 12., -8., -21., -5., -12., 9., -7.,
- 7., 2., -10., 18., 7., 3., 2., -11.,
- 5., -21., -27., 1., 17., -11., 29., 3.,
- -9., 16., 4., -3., 9., -4., 6., -3.,
- 1., -4., 8., -3., 11., 5., 1., 1.,
- 2., -20., -5., -1., -1., -6., 8., 6.,
- -1., -4., -3., -2., 5., 0., -2., -2.,
- /* 1950 */
- -30554.,-2250., 5815.,-1341., 2998.,-1810., 1576., 381.,
- 1297.,-1889., -476., 1274., 206., 896., -46., 954.,
- 792., 136., 528., -278., -408., -37., 303., -210.,
- -240., 349., 3., 211., 103., -20., -87., -147.,
- -122., -76., 80., 54., 57., -1., 4., 99.,
- -247., 33., -16., -12., 12., -12., -105., -30.,
- 65., -55., -35., 2., -17., 1., 0., -40.,
- 10., -7., 36., 5., -18., 19., -16., 22.,
- 15., 5., -4., -22., -1., 0., 11., -21.,
- 15., -8., -13., 17., 5., -4., -1., -17.,
- 3., -7., -24., -1., 19., -25., 12., 10.,
- 2., 5., 2., -5., 8., -2., 8., 3.,
- -11., 8., -7., -8., 4., 13., -1., -2.,
- 13., -10., -4., 2., 4., -3., 12., 6.,
- 3., -3., 2., 6., 10., 11., 3., 8.,
- /* 1955 */
- -30500.,-2215., 5820.,-1440., 3003.,-1898., 1581., 291.,
- 1302.,-1944., -462., 1288., 216., 882., -83., 958.,
- 796., 133., 510., -274., -397., -23., 290., -230.,
- -229., 360., 15., 230., 110., -23., -98., -152.,
- -121., -69., 78., 47., 57., -9., 3., 96.,
- -247., 48., -8., -16., 7., -12., -107., -24.,
- 65., -56., -50., 2., -24., 10., -4., -32.,
- 8., -11., 28., 9., -20., 18., -18., 11.,
- 9., 10., -6., -15., -14., 5., 6., -23.,
- 10., 3., -7., 23., 6., -4., 9., -13.,
- 4., 9., -11., -4., 12., -5., 7., 2.,
- 6., 4., -2., 1., 10., 2., 7., 2.,
- -6., 5., 5., -3., -5., -4., -1., 0.,
- 2., -8., -3., -2., 7., -4., 4., 1.,
- -2., -3., 6., 7., -2., -1., 0., -3.,
- /* 1960 */
- -30421.,-2169., 5791.,-1555., 3002.,-1967., 1590., 206.,
- 1302.,-1992., -414., 1289., 224., 878., -130., 957.,
- 800., 135., 504., -278., -394., 3., 269., -255.,
- -222., 362., 16., 242., 125., -26., -117., -156.,
- -114., -63., 81., 46., 58., -10., 1., 99.,
- -237., 60., -1., -20., -2., -11., -113., -17.,
- 67., -56., -55., 5., -28., 15., -6., -32.,
- 7., -7., 23., 17., -18., 8., -17., 15.,
- 6., 11., -4., -14., -11., 7., 2., -18.,
- 10., 4., -5., 23., 10., 1., 8., -20.,
- 4., 6., -18., 0., 12., -9., 2., 1.,
- 0., 4., -3., -1., 9., -2., 8., 3.,
- 0., -1., 5., 1., -3., 4., 4., 1.,
- 0., 0., -1., 2., 4., -5., 6., 1.,
- 1., -1., -1., 6., 2., 0., 0., -7.,
- /* 1965 */
- -30334.,-2119., 5776.,-1662., 2997.,-2016., 1594., 114.,
- 1297.,-2038., -404., 1292., 240., 856., -165., 957.,
- 804., 148., 479., -269., -390., 13., 252., -269.,
- -219., 358., 19., 254., 128., -31., -126., -157.,
- -97., -62., 81., 45., 61., -11., 8., 100.,
- -228., 68., 4., -32., 1., -8., -111., -7.,
- 75., -57., -61., 4., -27., 13., -2., -26.,
- 6., -6., 26., 13., -23., 1., -12., 13.,
- 5., 7., -4., -12., -14., 9., 0., -16.,
- 8., 4., -1., 24., 11., -3., 4., -17.,
- 8., 10., -22., 2., 15., -13., 7., 10.,
- -4., -1., -5., -1., 10., 5., 10., 1.,
- -4., -2., 1., -2., -3., 2., 2., 1.,
- -5., 2., -2., 6., 4., -4., 4., 0.,
- 0., -2., 2., 3., 2., 0., 0., -6.,
- /* 1970 */
- -30220.,-2068., 5737.,-1781., 3000.,-2047., 1611., 25.,
- 1287.,-2091., -366., 1278., 251., 838., -196., 952.,
- 800., 167., 461., -266., -395., 26., 234., -279.,
- -216., 359., 26., 262., 139., -42., -139., -160.,
- -91., -56., 83., 43., 64., -12., 15., 100.,
- -212., 72., 2., -37., 3., -6., -112., 1.,
- 72., -57., -70., 1., -27., 14., -4., -22.,
- 8., -2., 23., 13., -23., -2., -11., 14.,
- 6., 7., -2., -15., -13., 6., -3., -17.,
- 5., 6., 0., 21., 11., -6., 3., -16.,
- 8., 10., -21., 2., 16., -12., 6., 10.,
- -4., -1., -5., 0., 10., 3., 11., 1.,
- -2., -1., 1., -3., -3., 1., 2., 1.,
- -5., 3., -1., 4., 6., -4., 4., 0.,
- 1., -1., 0., 3., 3., 1., -1., -4.,
- /* 1975 */
- -30100.,-2013., 5675.,-1902., 3010.,-2067., 1632., -68.,
- 1276.,-2144., -333., 1260., 262., 830., -223., 946.,
- 791., 191., 438., -265., -405., 39., 216., -288.,
- -218., 356., 31., 264., 148., -59., -152., -159.,
- -83., -49., 88., 45., 66., -13., 28., 99.,
- -198., 75., 1., -41., 6., -4., -111., 11.,
- 71., -56., -77., 1., -26., 16., -5., -14.,
- 10., 0., 22., 12., -23., -5., -12., 14.,
- 6., 6., -1., -16., -12., 4., -8., -19.,
- 4., 6., 0., 18., 10., -10., 1., -17.,
- 7., 10., -21., 2., 16., -12., 7., 10.,
- -4., -1., -5., -1., 10., 4., 11., 1.,
- -3., -2., 1., -3., -3., 1., 2., 1.,
- -5., 3., -2., 4., 5., -4., 4., -1.,
- 1., -1., 0., 3., 3., 1., -1., -5.,
- /* 1980 */
- -29992.,-1956., 5604.,-1997., 3027.,-2129., 1663., -200.,
- 1281.,-2180., -336., 1251., 271., 833., -252., 938.,
- 782., 212., 398., -257., -419., 53., 199., -297.,
- -218., 357., 46., 261., 150., -74., -151., -162.,
- -78., -48., 92., 48., 66., -15., 42., 93.,
- -192., 71., 4., -43., 14., -2., -108., 17.,
- 72., -59., -82., 2., -27., 21., -5., -12.,
- 16., 1., 18., 11., -23., -2., -10., 18.,
- 6., 7., 0., -18., -11., 4., -7., -22.,
- 4., 9., 3., 16., 6., -13., -1., -15.,
- 5., 10., -21., 1., 16., -12., 9., 9.,
- -5., -3., -6., -1., 9., 7., 10., 2.,
- -6., -5., 2., -4., -4., 1., 2., 0.,
- -5., 3., -2., 6., 5., -4., 3., 0.,
- 1., -1., 2., 4., 3., 0., 0., -6.,
- /* 1985 */
- -29873.,-1905., 5500.,-2072., 3044.,-2197., 1687., -306.,
- 1296.,-2208., -310., 1247., 284., 829., -297., 936.,
- 780., 232., 361., -249., -424., 69., 170., -297.,
- -214., 355., 47., 253., 150., -93., -154., -164.,
- -75., -46., 95., 53., 65., -16., 51., 88.,
- -185., 69., 4., -48., 16., -1., -102., 21.,
- 74., -62., -83., 3., -27., 24., -2., -6.,
- 20., 4., 17., 10., -23., 0., -7., 21.,
- 6., 8., 0., -19., -11., 5., -9., -23.,
- 4., 11., 4., 14., 4., -15., -4., -11.,
- 5., 10., -21., 1., 15., -12., 9., 9.,
- -6., -3., -6., -1., 9., 7., 9., 1.,
- -7., -5., 2., -4., -4., 1., 3., 0.,
- -5., 3., -2., 6., 5., -4., 3., 0.,
- 1., -1., 2., 4., 3., 0., 0., -6.,
- /* 1990 */
- -29775.,-1848., 5406.,-2131., 3059.,-2279., 1686., -373.,
- 1314.,-2239., -284., 1248., 293., 802., -352., 939.,
- 780., 247., 325., -240., -423., 84., 141., -299.,
- -214., 353., 46., 245., 154., -109., -153., -165.,
- -69., -36., 97., 61., 65., -16., 59., 82.,
- -178., 69., 3., -52., 18., 1., -96., 24.,
- 77., -64., -80., 2., -26., 26., 0., -1.,
- 21., 5., 17., 9., -23., 0., -4., 23.,
- 5., 10., -1., -19., -10., 6., -12., -22.,
- 3., 12., 4., 12., 2., -16., -6., -10.,
- 4., 9., -20., 1., 15., -12., 11., 9.,
- -7., -4., -7., -2., 9., 7., 8., 1.,
- -7., -6., 2., -3., -4., 2., 2., 1.,
- -5., 3., -2., 6., 4., -4., 3., 0.,
- 1., -2., 3., 3., 3., -1., 0., -6.,
- /* 1995 */
- -29692.,-1784., 5306.,-2200., 3070.,-2366., 1681., -412.,
- 1335.,-2266., -262., 1248., 302., 758., -427., 940.,
- 780., 262., 290., -236., -418., 97., 122., -306.,
- -214., 352., 46., 235., 165., -118., -142., -166.,
- -55., -17., 107., 68., 67., -17., 68., 72.,
- -170., 67., 0., -58., 18., 1., -93., 36.,
- 77., -72., -69., 0., -25., 28., 4., 5.,
- 24., 4., 17., 8., -24., -2., -6., 25.,
- 6., 11., -6., -21., -9., 8., -14., -23.,
- 9., 14., 6., 11., -4., -16., -7., -4.,
- 4., 9., -20., 2., 15., -10., 12., 8.,
- -6., -8., -8., -1., 8., 10., 5., -2.,
- -8., -8., 3., -3., -6., 1., 2., 0.,
- -4., 4., -1., 5., 4., -5., 2., -1.,
- 2., -2., 5., 1., 1., -2., 0., -7.,
- 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0,
- 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0,
- 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0,
- /* 2000 */
- -29619.4,-1728.2, 5186.1,-2267.7, 3068.4,-2481.6, 1670.9,
- -458.0, 1339.6,-2288.0, -227.6, 1252.1, 293.4, 714.5,
- -491.1, 932.3, 786.8, 272.6, 250.0, -231.9, -403.0,
- 119.8, 111.3, -303.8, -218.8, 351.4, 43.8, 222.3,
- 171.9, -130.4, -133.1, -168.6, -39.3, -12.9, 106.3,
- 72.3, 68.2, -17.4, 74.2, 63.7, -160.9, 65.1,
- -5.9, -61.2, 16.9, 0.7, -90.4, 43.8, 79.0,
- -74.0, -64.6, 0.0, -24.2, 33.3, 6.2, 9.1,
- 24.0, 6.9, 14.8, 7.3, -25.4, -1.2, -5.8,
- 24.4, 6.6, 11.9, -9.2, -21.5, -7.9, 8.5,
- -16.6, -21.5, 9.1, 15.5, 7.0, 8.9, -7.9,
- -14.9, -7.0, -2.1, 5.0, 9.4, -19.7, 3.0,
- 13.4, -8.4, 12.5, 6.3, -6.2, -8.9, -8.4,
- -1.5, 8.4, 9.3, 3.8, -4.3, -8.2, -8.2,
- 4.8, -2.6, -6.0, 1.7, 1.7, 0.0, -3.1,
- 4.0, -0.5, 4.9, 3.7, -5.9, 1.0, -1.2,
- 2.0, -2.9, 4.2, 0.2, 0.3, -2.2, -1.1,
- -7.4, 2.7, -1.7, 0.1, -1.9, 1.3, 1.5,
- -0.9, -0.1, -2.6, 0.1, 0.9, -0.7, -0.7,
- 0.7, -2.8, 1.7, -0.9, 0.1, -1.2, 1.2,
- -1.9, 4.0, -0.9, -2.2, -0.3, -0.4, 0.2,
- 0.3, 0.9, 2.5, -0.2, -2.6, 0.9, 0.7,
- -0.5, 0.3, 0.3, 0.0, -0.3, 0.0, -0.4,
- 0.3, -0.1, -0.9, -0.2, -0.4, -0.4, 0.8,
- -0.2, -0.9, -0.9, 0.3, 0.2, 0.1, 1.8,
- -0.4, -0.4, 1.3, -1.0, -0.4, -0.1, 0.7,
- 0.7, -0.4, 0.3, 0.3, 0.6, -0.1, 0.3,
- 0.4, -0.2, 0.0, -0.5, 0.1, -0.9,
- /* 2002 */
- 13.3, 11.6, -21.2, -14.4, -3.7, -22.7, -3.6, -11.1,
- -1.1, -3.5, 5.6, -1.2, -4.5, -8.5, -8.0, -2.7,
- 2.2, 1.7, -8.0, 1.0, 4.5, 5.1, -1.9, -0.3,
- -1.4, 0.7, -0.3, -2.6, 1.5, -1.2, 2.0, 0.0,
- 3.8, -0.2, -0.5, 0.4, 0.3, -0.7, 0.7, -1.8,
- 1.9, -0.2, -1.7, -0.4, -0.5, -0.2, 0.7, 1.5,
- 0.2, -0.1, 0.7, -0.3, 0.3, 1.1, 0.1, 0.7,
- 0.3, 0.5, -0.8, -0.3, -0.1, 0.5, 0.2, 0.1,
- 0.2, -0.2, -0.5, 0.1, 0.2, 0.3, -0.4, 0.4,
- 0.2, 0.1, 0.5, -0.3, -0.7, 0.4, 0.4, 0.4,
- 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0,
- 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0,
- 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0,
- 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0,
- 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0
- };
+++ /dev/null
-/*
- * Upload maps serially to Magellan GPS units.
- * Detail maps:
- * 330, SporTrak Map, SporTrak Map/Pro, Meridian Green/Yellow, Gold, Platinum.
- * Base maps:
- * All the above *except* Meridian Green and Yellow. The units with a 2MB
- * base map have a different protocol used.
- *
- * Copyright 2003, 2004 by Robert Lipe.
- * robertlipe@usa.net
- */
-
-
-#include <assert.h>
-#include <errno.h>
-#include <fcntl.h>
-#include <signal.h>
-#include <stdarg.h>
-#include <stdlib.h>
-#include <stdio.h>
-#include <string.h>
-#include <unistd.h>
-#include <termios.h>
-
-
-#define xmalloc malloc
-#define FRAME_SIZE 1000
-
-int magfd;
-int datatype = 1;
-struct termios orig_tio;
-struct termios new_tio;
-
-int debug_level = 0;
-int synced;
-
-typedef struct {
- unsigned int data_length;
- unsigned char *data;
-} vld;
-
-void dump_xframe(vld *frame);
-void send_terminate(void);
-
-const char *usagestring = "\
-Usage: magxfer [-p portname] [-b bitrate] [-t type ] -f filetosend.img\n\
- portname port for uplkoad (default /dev/ttyS0)\n\
- bitrate bitrate (default is 4800)\n\
- type can be \n\
- s (secondary base map),\n\
- p (primary base map), or\n\
- d (detailed map)\n\
- h (firmware HEX file)\n\
- (default d)\n\
- filetosend.img is the image file you wish to upload to the unit\n";
-void
-usage()
-{
- fprintf(stderr, "\nmagxfer version " VERSION "\n");
- fprintf(stderr,"%s",usagestring);
-}
-
-void
-debug(const char *fmt, ...)
-{
- va_list ap;
- va_start(ap, fmt);
-
- if (0 == debug_level)
- return;
-
- vfprintf(stderr, fmt, ap);
-}
-
-/*
- * Magellan uses a simple checksum of 16 bit words, but remember that
- * things are optimized for the receiver, so they're big-endian.
- */
-unsigned short
-xor_checksum(unsigned char *p, int len)
-{
- unsigned short data;
- unsigned short checksum = 0;
- int x;
-
- for (x = 0; x <len; x+= 2) {
- data = (p[x] << 8 ) | p[x+1];
- checksum ^= data;
- }
-
- return checksum;
-}
-
-/*
- * Get and return a single byte from the serial line.
- */
-int rxc(void)
-{
- unsigned char c;
- int maxc;
-
- for (maxc = 0; maxc < 10; maxc++) {
- size_t x;
- x = read(magfd, &c, 1);
- if (x > 0) {
- if (debug_level >= 9) {
- fprintf(stderr, ">%02x<", c);
- }
- return c;
- }
- }
- fprintf(stderr, "Timeout. Unable to receive from GPS.\n");
- exit(1);
-}
-
-int txs(const char *data, size_t n)
-{
- if (debug_level >= 9) {
- fprintf(stderr, "<%02x", *data);
- if (n > 1)
- fprintf(stderr, "...");
- fprintf(stderr, ">");
- }
- return write(magfd, data, n);
-}
-
-/*
- * Certain things in the protocol return a 3 byte sequence
- * starting with '0x8e'. We know when these will happen, so
- * we read until we get the 0x8e and intuit that the next two
- * bytes are the numeric value to be returned.
- */
-int get3(void)
-{
- int x1,x2,x3;
- while ((x1 = rxc()) != 0x8e)
- ;
-
- x2 = rxc();
- x3 = rxc();
-
- return (x2 << 8) | x3;
-}
-
-/*
- * Transmit a single framt to the unit.
- */
-size_t
-xmit_xframe(vld *frame, unsigned int frame_number)
-{
- int i;
- unsigned int acked_frame;
-
- if (debug_level > 3) {
- dump_xframe(frame);
- }
-
- debug("Sending packet %d ", frame_number);
-
- if (frame->data_length == 6) {
- int flen;
- int unit_sum;
- i = frame->data_length;
-
- txs(frame->data, i);
-
- unit_sum = get3();
- if (unit_sum != 0) {
- fprintf(stderr, "Final checksum was 0x%x instead of 0.\n", unit_sum);
- exit(1);
- }
-
- flen = get3() << 16;
- flen |= get3();
- return flen;
- }
-
-
- /*
- * First wait for unit to send us an OK, a hello, or an "I'm waiting"
- */
-retry_tx:
- for (i = 0; (i = rxc()) ;) {
- if (i == 0x55) break;
- if (i == 0x77) break;
- if (i == 0xaa) break;
- }
-
- i = frame->data_length + 10;
- if (debug_level > 3) {
- int x ;
- fprintf(stderr, "Writing\n");
- for (x=0; x< i;x++) {
- fprintf(stderr, "%02x ", frame->data[x]);
- }
- fprintf(stderr, "<\n");
- }
- txs(frame->data, i);
-
- if (datatype == 3 && frame_number == 0xffffffff) {
- /*
- * Do not wait for ACK for flash erase command
- * We have to receive just a series of 0x87 for every
- * block erased and two 0x55: one is the
- * ACK for the frame and another for erase complete
- */
- int cnt = 0;
- int bcnt = 0;
- char erase_command = 0x6a;
- char ok = 0x55;
- for (i = 0; i < 10; i++) {
- unsigned char ch = rxc();
- if(ch == 0x55) {
- cnt++;
- if (cnt >= 2)
- return 0;
- } else if (ch == 0x8f) {
- printf("\rBlock erase: %4d", bcnt++);
- fflush(stdout);
- i--;
- }
- }
- for (i = 0; (i = rxc()) ;) {
- if (i == 0x55) break;
- if (i == 0xaa) break;
- }
- txs(&ok, 1);
- for (i = 0; (i = rxc()) ;) {
- if (i == 0x55) break;
- }
- txs(&erase_command, 1);
- goto retry_tx;
- }
-
- if (datatype == 4) {
- for (i = 0; (i = rxc()) ;) {
- if (i == 0x55)
- return 0;
- }
- }
-
- /*
- * Eat the 'OK' codes the unit spits out after the frame.
- */
- for (i = 0; (i = rxc()) ;) {
- if ((i != 0x55) && (i != 0xaa)) break;
- }
-
- switch (i) {
- case 0x77:
- send_terminate();
- exit (1);
-
- case 0x81:
- debug("Retransmitting frame %d\n", frame_number);
- /*
- * It's not documented, but the unit sends us two
- * additional bytes in one of these. I'm guessing it's
- * the checksum it computed. Read them and toss them.
- */
- rxc();
- rxc();
- goto retry_tx;
-
- case 0x82:
- debug( "Unit saw rec length > 1024. We sent %d\n",
- frame->data[0] << 8 | frame->data[1]);
- exit(1);
- default:
- abort();
- case 0x8e:
- break;
- }
- acked_frame = rxc() << 24;
- acked_frame |= rxc() << 16;
-
- for (i = 0; (i = rxc()) ;) {
- if ((i != 0x55) && (i != 0xaa)) break;
- }
- if (i == 0x77) send_terminate();
-
- if (i != 0x8e) abort();
- acked_frame |= rxc() << 8;
- acked_frame |= rxc();
-
- /*
- * The spec is actually wrong on this. It doesn't ack the frame
- * we just sent. The ack contains the next frame it wants.
- * This has been confirmed by Magellan Engineering.
- */
- if (acked_frame != frame_number + 1) {
- fprintf(stderr, "Got ack for %x. Expected %x\n",
- acked_frame, frame_number);
- abort();
- }
-
- debug("Acked.\n");
-
- return 0;
-}
-
-/*
- * Display a frame in human-readable format.
- */
-void
-dump_xframe(vld *frame)
-{
- unsigned int i;
- unsigned int edata = frame->data_length + 7;
- unsigned int words;
- unsigned int recnum;
- unsigned int checksum;
-
- assert(frame->data[0] == '[');
- debug("%x ", frame->data[0]);
-
- if (frame->data_length == 6) {
- debug("TERMINATION FRAME: ");
- for (i = 0; i < frame->data_length; i++) {
- debug("%02x ", frame->data[i]);
- }
- return;
- }
- words = (frame->data[1] << 8) | frame->data[2];
- debug("Words: %04x ", words);
-
- recnum = (frame->data[3] << 24) | (frame->data[4] << 16) |
- (frame->data[5] << 8) | (frame->data[6]);
-
- debug("Recnum: %08x\n", recnum);
-
- for (i = 0; i < frame->data_length; i++) {
- debug("%02x ", frame->data[i+7]);
- }
- checksum = (frame->data[edata] << 8) | frame->data[edata+1];
- debug("Checksum: %04x ", checksum);
-/* assert(0 == xor_checksum(&frame->data[3], frame->data_length + 4)); */
- assert(frame->data[edata+2] == ']');
- debug(" %x\n\n", frame->data[edata+2]);
-}
-
-/*
- * Prepare a packet for transmission by adding framing, checksum, etc.
- */
-vld *
-make_xframe(void *data, int len, unsigned int recno)
-{
- vld *odata = xmalloc(sizeof *odata);
- unsigned int words;
- unsigned int aligned_len;
- unsigned int checksum;
-
- /*
- * Special case for termination.
- */
- if (len == 0) {
- odata->data = xmalloc(6);
- odata->data[0] = '[';
- odata->data[1] = 0;
- odata->data[2] = 0;
- odata->data[3] = 0;
- odata->data[4] = 0;
- odata->data[5] = ']';
- odata->data_length = 6;
- return odata;
- }
-
- /* Round to even word alignment */
-
- aligned_len = (len + 1) & ~1;
- words = (4 + aligned_len) / 2;
-
- odata->data = xmalloc(aligned_len + 9);
- odata->data_length = aligned_len;
-
- odata->data[0] = '[';
-
- odata->data[1] = words >> 8;
- odata->data[2] = words;
- assert(words <= 1024);
-
- odata->data[3] = recno >> 24;
- odata->data[4] = recno >> 16;
- odata->data[5] = recno >> 8;
- odata->data[6] = recno;
-
- /* If we had to insert padding, this ensures it's zero. If we
- * didn't, it'll get clobbered by the memcpy which is fine.
- */
- odata->data[aligned_len + 6] = 0;
- memcpy(&odata->data[7], data, len);
-
- checksum = xor_checksum(&odata->data[3], aligned_len + 4);
- odata->data[aligned_len + 7] = checksum >> 8;
- odata->data[aligned_len + 8] = checksum;
- odata->data[aligned_len + 9] = ']';
-
- return odata;
-}
-
-void free_xframe(vld *frame)
-{
- free(frame->data);
- free(frame);
-}
-
-/*
- * Something Very Bad has happened. Send a zero-length frame to the unit
- * to tell it we're through playin' now.
- */
-void
-send_terminate(void)
-{
- vld* vld;
-
- fprintf(stderr, "Hopelessly confused. Terminating upload.\n");
-
- vld = make_xframe(NULL, 0, 0);
- xmit_xframe(vld, 0);
- exit(1);
-}
-
-
-/*
- * Send 'sz' bytes from buf to the unit, chunking it up, framing it, and
- * retransmitting chunks as needed.
- */
-size_t
-xmit(char *buf, int sz)
-{
- int frame_number = 0;
- int left = sz;
- int n;
- vld* vld;
-
- for (n = 0; n < sz - FRAME_SIZE; n += FRAME_SIZE,frame_number++) {
- vld = make_xframe(&buf[n], FRAME_SIZE, frame_number);
- printf("\r%3.02f%% done", 100.0 * ((double) n / (double) sz));
- xmit_xframe(vld, frame_number);
- left -= FRAME_SIZE;
- }
-
- if (left > 0) {
- vld = make_xframe(&buf[n], left, frame_number);
- xmit_xframe(vld, frame_number);
- }
-
- vld = make_xframe(&buf[0], 0, frame_number++);
- printf("\r100.00%% done\n");
- return xmit_xframe(vld, frame_number);
-}
-
-
-/*
- * Given a numeric bitrate input, return a speed_t suitable for
- * stuffing into a termios.
- */
-speed_t
-mkspeed(unsigned br)
-{
- switch (br) {
- case 1200: return B1200;
- case 2400: return B2400;
- case 4800: return B4800;
- case 9600: return B9600;
- case 19200: return B19200;
-#if defined B57600
- case 57600: return B57600;
-#endif
-#if defined B115200
- case 115200: return B115200;
-#endif
- default: return B4800;
- }
-}
-
-void
-restore_port()
-{
- if (magfd) {
- sleep(1);
- tcsetattr(magfd, TCSAFLUSH, &orig_tio);
- sleep(1);
- close(magfd);
- magfd = 0;
- }
-}
-
-/*
- *
- */
-void
-setup_port(const char *portname, unsigned bitrate)
-{
- char clean_buff[256];
- magfd = open (portname, O_RDWR);
-
- if (magfd < 0) {
- fprintf(stderr, "Unable to open '%s'. Error: %s\n",
- portname, strerror(errno));
- exit(1);
- }
-
- tcgetattr(magfd, &orig_tio);
- atexit(restore_port);
- new_tio = orig_tio;
- new_tio.c_iflag &= ~(IGNBRK|BRKINT|PARMRK|ISTRIP|INLCR|
- IGNCR|ICRNL|IXON);
- new_tio.c_oflag = 0;
- new_tio.c_lflag = 0;
- new_tio.c_cflag &= ~(CSIZE|PARENB);
- new_tio.c_cflag |= CS8;
- new_tio.c_cc[VTIME] = 10;
- new_tio.c_cc[VMIN] = 0;
- cfsetospeed(&new_tio, mkspeed(bitrate));
- cfsetispeed(&new_tio, mkspeed(bitrate));
- tcsetattr(magfd, TCSAFLUSH, &new_tio);
- while(read(magfd,clean_buff,sizeof(clean_buff)) == sizeof(clean_buff))
- /* Read until buffer is empty */;
-}
-
-
-/*
- * It might seem underambitious, but we really only need to send
- * one command to the unit and we won't even get an ack back, so we
- * just sort of spray it out there as a constant and hope to rendezvous
- * soon. While the spec doesn't say it, we rendezvous at 115.2K, so we
- * slam the local port to that speed immediately after we've written
- * the data.
- */
-void
-send_upload_cmd(void)
-{
- static const char *cmd[] = {
- "$PMGNCMD,MPUPLOAD,1*71\r\n",
- "$PMGNCMD,MPUPLOAD,2*72\r\n",
- "$PMGNCMD,MPUPLOAD,3*73\r\n",
- "$PMGNCMD,DBUPLOAD*77\r\n",
- ""
- };
- txs(cmd[datatype], strlen(cmd[datatype]));
- if (datatype == 4 ) {
- cfsetospeed(&new_tio, B19200);
- cfsetispeed(&new_tio, B19200);
- } else {
- cfsetospeed(&new_tio, B115200);
- cfsetispeed(&new_tio, B115200);
- }
- tcsetattr(magfd, TCSADRAIN, &new_tio);
-}
-
-void
-alarm_handler(int a)
-{
- if (synced) {
- signal(SIGALRM, SIG_DFL);
- return;
- }
- fprintf(stderr, "Fatal error: No communications %d.\n", magfd);
- exit(1);
-
-}
-
-/*
- * Listen for "hello" packets from the unit. If found, the rendezvous must
- * have succeeded so we send back a "hello".
- */
-void
-sync_receiver(void)
-{
- int i;
- char c = 0x55;
-
- signal(SIGALRM, alarm_handler);
- alarm(10);
-
- synced = 0;
- for (i = 0;synced == 0;) {
- switch (i = rxc()) {
- case 0: break;
- case 0xaa: synced=1;
- case 0x77: synced=1;
- }
- }
-
- txs(&c, 1);
-
- /*
- * The spec says we shouldn't have to wait again, but this makes
- * the communications setup way more reliable.
- */
- synced = 0;
- for (i = 0;synced == 0;) {
- switch (i = rxc()) {
- case 0: break;
- case 0xaa: synced=1;
- case 0x77: synced=1;
- case 0x55: synced=1; // For firmware upload
- }
- }
-}
-
-/* Stuff for dealing with S-records file used for firmware distribution */
-
-#define STRSIZE 1024
-#define SRECSIZE STRSIZE/2
-
-struct srec {
- int length;
- unsigned long address;
- unsigned char data[SRECSIZE];
-};
-
-static char *fname;
-
-int hex(int ch)
-{
- ch &= 0xff;
-
- if ((ch >= 'A') && (ch <= 'F'))
- return ch - 'A' + 10;
- else if ((ch >= 'a') && (ch <= 'f'))
- return ch - 'a' + 10;
- else if ((ch >= '0') && (ch <= '9'))
- return ch - '0';
- else
- /* WARNING: This can be machine dependent.
- We assume that -1 is represented as 0xffffffff
- so if there is any error in a input hex format
- the output from this function and sbyte below
- will be -1 */
- return -1;
-}
-
-int sbyte (char *ptr)
-{
- return (hex(*ptr++) << 4) | hex(*ptr);
-}
-
-int get_srec(char *string, struct srec *srec)
-{
- char *ptr;
- unsigned char *sptr;
- int length;
- int type;
- int data;
- int chksum;
-
- while (ptr = strchr(string, '\r'))
- memmove(ptr, ptr+1, strlen(ptr+1));
- if (ptr = strchr(string, '\n'))
- *ptr = 0;
- ptr = string;
- while(*ptr == ' ' || *ptr == '\t')
- ptr++;
- if (*ptr++ != 'S')
- return 0;
- if ((type = hex(*ptr++)) != 3)
- return 0;
- if (((length = sbyte(ptr)) < 0) || (length > SRECSIZE-1-4))
- return -1;
- ptr += 2;
- if (length != strlen(ptr)/2)
- return -2;
-
- chksum = length;
- data = sbyte(ptr);
- chksum += data;
- srec->address = data << 24;
- ptr += 2;
- data = sbyte(ptr);
- chksum += data;
- srec->address |= data << 16;
- ptr += 2;
- data = sbyte(ptr);
- chksum += data;
- srec->address |= data << 8;
- ptr += 2;
- data = sbyte(ptr);
- chksum += data;
- srec->address |= data;
- ptr += 2;
-
- if (srec->address == -1U)
- return -3;
-
- length -= 4;
- sptr = &srec->data[0];
- while (length > 1) {
- if ((data = sbyte(ptr)) == -1)
- return -4;
- chksum += data;
- ptr += 2;
- *sptr++ = data;
- length--;
- }
-
- chksum += sbyte(ptr);
- chksum++;
- if (chksum & 0xff)
- return -5;
- srec->length = (int)(sptr - &srec->data[0]);
- if (srec->address == 0)
- printf("%s\n", string);
- return srec->length;
-}
-
-void flash_erase(unsigned long min_address, unsigned long max_address)
-{
- unsigned char data[4];
- vld *frame;
- char erase_command = 0x6a;
-
- data[0] = (max_address >> 24) & 0xff;
- data[1] = (max_address >> 16) & 0xff;
- data[2] = (max_address >> 8) & 0xff;
- data[3] = max_address & 0xff;
-
- frame = make_xframe(data, 4, min_address);
- txs(&erase_command, 1);
- xmit_xframe(frame, 0xffffffff);
- free_xframe(frame);
-}
-
-void flash_program(unsigned long address, unsigned long length, char *buff)
-{
- vld *frame;
- if (length > 0) {
- if (datatype == 3) {
- frame = make_xframe(buff, length, address);
- } else {
- unsigned long first4bytes;
- first4bytes = (*buff++ << 24) & 0xff000000;
- first4bytes |= (*buff++ << 16) & 0x00ff0000;
- first4bytes |= (*buff++ << 8) & 0x0000ff00;
- first4bytes |= *buff++ & 0x000000ff;
- frame = make_xframe(buff, length-4, first4bytes);
- }
- printf("\rProgramming %4d bytes at address: %08x", length, address);
- fflush(stdout);
- xmit_xframe(frame, address-1);
- free_xframe(frame);
- }
-}
-
-void flash_end (void)
-{
- vld *frame;
- frame = make_xframe(NULL, 0, 0);
- txs(frame->data, 6);
- free_xframe(frame);
-}
-
-void firmware_upload (FILE *infile, char *buffer)
-{
- FILE *outfile;
- char string[STRSIZE];
- struct srec srec;
- unsigned long min_address,max_address;
- unsigned long current_address = 0;
- unsigned long frag_length = 0;
- int rc;
-
- min_address = 0xffffffff;
- max_address = 0x0;
- while(fgets(string, sizeof(string)-1, infile)) {
- if ((rc = get_srec(string, &srec)) == 0)
- continue;
- else if (rc < 0) {
- fprintf(stderr, "Wrong record: %s\n", string);
- exit(-3);
- }
- if ((srec.address + srec.length) > max_address)
- max_address = srec.address + srec.length;
- if (srec.address < min_address)
- min_address = srec.address;
- }
- printf("Lowest address = %08X, Highest address = %08X\n", min_address, max_address);
- fseek(infile, 0, 0);
- if (datatype == 3) {
- flash_erase(min_address, max_address);
- printf("\n");
- }
- while(fgets(string, sizeof(string)-1, infile)) {
- if ((rc = get_srec(string, &srec)) <= 0)
- continue;
- if ((srec.address != current_address + frag_length) || (frag_length + srec.length > 1024)) {
- flash_program(current_address, frag_length, buffer);
- frag_length = 0;
- current_address = srec.address;
- }
- memcpy(buffer + frag_length, &srec.data[0], srec.length);
- frag_length += srec.length;
- }
- flash_program(current_address, frag_length, buffer);
- printf("\n");
- flash_end();
- fclose(infile);
- exit(0);
-}
-
-int
-main(int argc, char *argv[])
-{
- static char ibuf[64*1024*1024];
- unsigned short cksum;
- size_t file_sz;
- size_t sent_sz;
- FILE *inf;
- int c;
- unsigned bitrate = 4800;
- const char *portname = "/dev/ttyS0";
- const char *ifilename = NULL;
-
-
- while ((c = getopt(argc, argv, "t:f:p:b:D:")) != EOF) {
- switch(c) {
- case 't':
- if (strcmp(optarg,"s") == 0)
- datatype = 2;
- else if (strcmp(optarg,"d") == 0)
- datatype = 1;
- else if (strcmp(optarg,"p") == 0)
- datatype = 0;
- else if (strcmp(optarg,"h") == 0)
- datatype = 3;
- else if (strcmp(optarg,"c") == 0)
- datatype = 4;
- else {
- fprintf(stderr,"Map or file type (-t option) can only be 'd', 'p', 's' or 'h'\n");
- exit(1);
- }
- break;
- case 'p':
- portname = optarg;
- break;
- case 'f':
- ifilename = optarg;
- break;
- case 'D':
- debug_level = atoi(optarg);
- break;
- case 'b':
- bitrate = atoi(optarg);
- break;
- default:
- usage();
- exit(1);
- break;
- }
- }
- if (!ifilename) {
- fprintf(stderr, "No input file specified. Exiting.\n");
- usage();
- exit(1);
- }
- setup_port(portname, bitrate);
- send_upload_cmd();
- sync_receiver();
-
- inf = fopen(ifilename, "r");
- if (!inf) {
- perror(ifilename);
- exit(1);
- }
- if ((datatype == 3) || (datatype == 4)) {
- firmware_upload(inf,ibuf);
- }
- file_sz = fread(ibuf, 1, sizeof(ibuf), inf);
- if (file_sz == sizeof(ibuf)) {
- fprintf(stderr, "File '%s' bigger than %d bytes. Exiting.\n",
- ifilename, sizeof(ibuf));
- exit(1);
- }
-
- cksum = xor_checksum(ibuf, file_sz);
- ibuf[file_sz++] = cksum >> 8;
- ibuf[file_sz++] = cksum ;
-
- sent_sz = xmit(ibuf, file_sz);
- if (sent_sz != file_sz) {
- fprintf(stderr, "We sent %d bytes but the unit saw %d\n",
- sent_sz, file_sz);
- exit(1);
- }
-
- return 0;
-}
projects / gpsbabel.git / commitdiff