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Rodney Lorrimar adds support for SBN as used by the Locosys GT-31/BGT-31.
authorrobertl <robertl>
Wed, 19 Nov 2008 04:52:59 +0000 (04:52 +0000)
committerrobertl <robertl>
Wed, 19 Nov 2008 04:52:59 +0000 (04:52 +0000)
12 files changed:
Makefile.in patch | blob | history
defs.h patch | blob | history
navilink.c patch | blob | history
navilink.h patch | blob | history
reference/track/sbn.SBN [new file with mode: 0644] patch | blob
reference/track/sbn.gpx [new file with mode: 0644] patch | blob
sbn.c [new file with mode: 0644] patch | blob
sbp.c patch | blob | history
testo patch | blob | history
util.c patch | blob | history
vecs.c patch | blob | history
xmldoc/formats/sbn.xml [new file with mode: 0644] patch | blob

diff --git a/Makefile.in b/Makefile.in
index b20154649349e5aec9928abbf75a86e646fbcede..5c24513278192daffab09476533e734f1f5ecc2c 100644 (file)
--- a/Makefile.in
+++ b/Makefile.in
@@ -61,7 +61,7 @@ ALL_FMTS=$(MINIMAL_FMTS) gtm.o gpsutil.o pcx.o cetus.o copilot.o \
        ggv_log.o g7towin.o garmin_gpi.o lmx.o random.o xol.o dg-100.o \
        navilink.o mtk_logger.o ik3d.o osm.o destinator.o exif.o vidaone.o \
        igo8.o gopal.o humminbird.o mapasia.o gnav_trl.o navitel.o ggv_ovl.o \
-       jtr.o sbp.o mmo.o skyforce.o itracku.o
+       jtr.o sbp.o sbn.o mmo.o skyforce.o itracku.o
 
 FMTS=@FMTS@
 
diff --git a/defs.h b/defs.h
index e96eba6f88ba2456ea1296160de7e85964965bbb..984c7c6f40c9afaf5bb9405253310815134dc4a5 100644 (file)
--- a/defs.h
+++ b/defs.h
@@ -909,6 +909,7 @@ typedef struct {
  */
 
 signed int be_read16(const void *p);
+unsigned int be_readu16(const void *p);
 signed int be_read32(const void *p);
 signed int le_read16(const void *p);
 unsigned int le_readu16(const void *p);
diff --git a/navilink.c b/navilink.c
index ecec3986aae14be88e9819abcf922169e3fcffc1..9198c36fc1492f0494980782ff65d58a3a530f43 100644 (file)
--- a/navilink.c
+++ b/navilink.c
@@ -197,8 +197,8 @@ compare_waypoints(const waypoint *waypt1, const waypoint *waypt2)
                strcmp(waypt1->shortname, waypt2->shortname) == 0;
 }
 
-static unsigned
-checksum_packet(const unsigned char *packet, unsigned length)
+unsigned
+navilink_checksum_packet(const unsigned char *packet, unsigned length)
 {
        unsigned checksum = 0;
 
@@ -237,7 +237,7 @@ write_packet(unsigned type, const void *payload, unsigned length)
        le_write16(packet + 2, length + 1);
        packet[4] = type;
        memcpy(packet + 5, payload, length);
-       le_write16(packet + length + 5, checksum_packet(packet + 4, length + 1));
+       le_write16(packet + length + 5, navilink_checksum_packet(packet + 4, length + 1));
        packet[length + 7] = 0xb0;
        packet[length + 8] = 0xb3;
 
@@ -310,8 +310,9 @@ read_packet(unsigned type, void *payload,
                fatal(MYNAME ": Protocol error: Bad packet type (expected 0x%02x but got 0x%02x)\n", type, data[0]);
        }
 
-       if ((checksum = read_word()) != checksum_packet(data, size)) {
-               fatal(MYNAME ": Checksum error - expected %x got %x\n", checksum_packet(data, size), checksum);
+       if ((checksum = read_word()) != navilink_checksum_packet(data, size)) {
+               fatal(MYNAME ": Checksum error - expected %x got %x\n",
+                     navilink_checksum_packet(data, size), checksum);
        }
 
        if (read_word() != 0xb3b0) {
diff --git a/navilink.h b/navilink.h
index a875eb8a0998af16e1e5ab4336db42ed97f84939..d74eaaee4f0a072ed765ae2e2ee9166662ca9544 100644 (file)
--- a/navilink.h
+++ b/navilink.h
@@ -28,7 +28,12 @@
 
 #define SBP_RECORD_LEN 32
 
+/* defined in navilink.c */
 waypoint *navilink_decode_logpoint(const unsigned char *buffer);
+unsigned navilink_checksum_packet(const unsigned char *packet, unsigned length);
+
+/* defined in sbn.c */
+int locosys_decode_file_id(char *header, size_t len);
 
 
 #ifdef THIS_IS_ONLY_FOR_REFERENCE
diff --git a/reference/track/sbn.SBN b/reference/track/sbn.SBN
new file mode 100644 (file)
index 0000000..f3d947a
Binary files /dev/null and b/reference/track/sbn.SBN differ
diff --git a/reference/track/sbn.gpx b/reference/track/sbn.gpx
new file mode 100644 (file)
index 0000000..9a9e006
--- /dev/null
+++ b/reference/track/sbn.gpx
@@ -0,0 +1,8220 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<gpx
+  version="1.0"
+  creator="GPSBabel - http://www.gpsbabel.org"
+  xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance"
+  xmlns="http://www.topografix.com/GPX/1/0"
+  xsi:schemaLocation="http://www.topografix.com/GPX/1/0 http://www.topografix.com/GPX/1/0/gpx.xsd">
+<time>1970-01-01T00:00:00Z</time>
+<bounds minlat="59.298455900" minlon="18.066403000" maxlat="59.328678100" maxlon="18.082429000"/>
+<trk>
+<trkseg>
+<trkpt lat="59.299207200" lon="18.080421900">
+  <ele>80.820000</ele>
+  <time>2008-11-07T09:59:38Z</time>
+  <course>9.750000</course>
+  <speed>1.220000</speed>
+  <fix>3d</fix>
+  <sat>4</sat>
+  <hdop>5.400000</hdop>
+</trkpt>
+<trkpt lat="59.299212600" lon="18.080417600">
+  <ele>80.320000</ele>
+  <time>2008-11-07T09:59:39Z</time>
+  <course>359.589996</course>
+  <speed>1.190000</speed>
+  <fix>3d</fix>
+  <sat>4</sat>
+  <hdop>5.400000</hdop>
+</trkpt>
+<trkpt lat="59.299215800" lon="18.080411500">
+  <ele>79.860000</ele>
+  <time>2008-11-07T09:59:40Z</time>
+  <course>353.699982</course>
+  <speed>0.950000</speed>
+  <fix>3d</fix>
+  <sat>4</sat>
+  <hdop>5.400000</hdop>
+</trkpt>
+<trkpt lat="59.299219900" lon="18.080411600">
+  <ele>79.420000</ele>
+  <time>2008-11-07T09:59:41Z</time>
+  <course>15.790000</course>
+  <speed>1.040000</speed>
+  <fix>3d</fix>
+  <sat>4</sat>
+  <hdop>5.400000</hdop>
+</trkpt>
+<trkpt lat="59.299222900" lon="18.080413400">
+  <ele>78.980000</ele>
+  <time>2008-11-07T09:59:42Z</time>
+  <course>22.900000</course>
+  <speed>0.920000</speed>
+  <fix>3d</fix>
+  <sat>4</sat>
+  <hdop>5.400000</hdop>
+</trkpt>
+<trkpt lat="59.299230800" lon="18.080420600">
+  <ele>78.530000</ele>
+  <time>2008-11-07T09:59:43Z</time>
+  <course>25.400000</course>
+  <speed>1.520000</speed>
+  <fix>3d</fix>
+  <sat>4</sat>
+  <hdop>5.400000</hdop>
+</trkpt>
+<trkpt lat="59.299241000" lon="18.080429100">
+  <ele>78.070000</ele>
+  <time>2008-11-07T09:59:44Z</time>
+  <course>23.930000</course>
+  <speed>1.760000</speed>
+  <fix>3d</fix>
+  <sat>4</sat>
+  <hdop>5.400000</hdop>
+</trkpt>
+<trkpt lat="59.299245800" lon="18.080438000">
+  <ele>77.610000</ele>
+  <time>2008-11-07T09:59:45Z</time>
+  <course>39.189999</course>
+  <speed>1.230000</speed>
+  <fix>3d</fix>
+  <sat>4</sat>
+  <hdop>5.400000</hdop>
+</trkpt>
+<trkpt lat="59.299247400" lon="18.080450300">
+  <ele>77.170000</ele>
+  <time>2008-11-07T09:59:46Z</time>
+  <course>58.789997</course>
+  <speed>1.130000</speed>
+  <fix>3d</fix>
+  <sat>4</sat>
+  <hdop>5.400000</hdop>
+</trkpt>
+<trkpt lat="59.299243300" lon="18.080457500">
+  <ele>76.460000</ele>
+  <time>2008-11-07T09:59:47Z</time>
+  <course>66.559998</course>
+  <speed>0.940000</speed>
+  <fix>3d</fix>
+  <sat>4</sat>
+  <hdop>5.400000</hdop>
+</trkpt>
+<trkpt lat="59.299239000" lon="18.080461300">
+  <ele>75.380000</ele>
+  <time>2008-11-07T09:59:48Z</time>
+  <course>45.469997</course>
+  <speed>1.320000</speed>
+  <fix>3d</fix>
+  <sat>4</sat>
+  <hdop>5.400000</hdop>
+</trkpt>
+<trkpt lat="59.299234900" lon="18.080461700">
+  <ele>74.310000</ele>
+  <time>2008-11-07T09:59:49Z</time>
+  <course>39.719997</course>
+  <speed>1.130000</speed>
+  <fix>3d</fix>
+  <sat>4</sat>
+  <hdop>5.400000</hdop>
+</trkpt>
+<trkpt lat="59.299234500" lon="18.080460000">
+  <ele>73.250000</ele>
+  <time>2008-11-07T09:59:50Z</time>
+  <course>24.160000</course>
+  <speed>1.470000</speed>
+  <fix>3d</fix>
+  <sat>4</sat>
+  <hdop>5.400000</hdop>
+</trkpt>
+<trkpt lat="59.299229900" lon="18.080453100">
+  <ele>72.090000</ele>
+  <time>2008-11-07T09:59:51Z</time>
+  <course>22.160000</course>
+  <speed>1.140000</speed>
+  <fix>3d</fix>
+  <sat>4</sat>
+  <hdop>5.400000</hdop>
+</trkpt>
+<trkpt lat="59.299223700" lon="18.080441200">
+  <ele>70.770000</ele>
+  <time>2008-11-07T09:59:52Z</time>
+  <course>13.500000</course>
+  <speed>1.130000</speed>
+  <fix>3d</fix>
+  <sat>4</sat>
+  <hdop>5.400000</hdop>
+</trkpt>
+<trkpt lat="59.299216500" lon="18.080429400">
+  <ele>69.450000</ele>
+  <time>2008-11-07T09:59:53Z</time>
+  <course>16.520000</course>
+  <speed>1.030000</speed>
+  <fix>3d</fix>
+  <sat>4</sat>
+  <hdop>5.400000</hdop>
+</trkpt>
+<trkpt lat="59.299211700" lon="18.080420300">
+  <ele>68.190000</ele>
+  <time>2008-11-07T09:59:54Z</time>
+  <course>18.939999</course>
+  <speed>1.230000</speed>
+  <fix>3d</fix>
+  <sat>4</sat>
+  <hdop>5.400000</hdop>
+</trkpt>
+<trkpt lat="59.299203900" lon="18.080410400">
+  <ele>66.980000</ele>
+  <time>2008-11-07T09:59:55Z</time>
+  <course>23.480000</course>
+  <speed>0.810000</speed>
+  <fix>3d</fix>
+  <sat>4</sat>
+  <hdop>5.400000</hdop>
+</trkpt>
+<trkpt lat="59.299197500" lon="18.080406700">
+  <ele>65.840000</ele>
+  <time>2008-11-07T09:59:56Z</time>
+  <course>38.399998</course>
+  <speed>1.020000</speed>
+  <fix>3d</fix>
+  <sat>4</sat>
+  <hdop>5.400000</hdop>
+</trkpt>
+<trkpt lat="59.299192000" lon="18.080399800">
+  <ele>64.770000</ele>
+  <time>2008-11-07T09:59:57Z</time>
+  <course>22.549999</course>
+  <speed>0.880000</speed>
+  <fix>3d</fix>
+  <sat>4</sat>
+  <hdop>5.400000</hdop>
+</trkpt>
+<trkpt lat="59.299186200" lon="18.080396400">
+  <ele>63.780000</ele>
+  <time>2008-11-07T09:59:58Z</time>
+  <course>39.520000</course>
+  <speed>0.830000</speed>
+  <fix>3d</fix>
+  <sat>4</sat>
+  <hdop>5.400000</hdop>
+</trkpt>
+<trkpt lat="59.299182600" lon="18.080400300">
+  <ele>62.860000</ele>
+  <time>2008-11-07T09:59:59Z</time>
+  <course>47.939999</course>
+  <speed>1.180000</speed>
+  <fix>3d</fix>
+  <sat>4</sat>
+  <hdop>5.400000</hdop>
+</trkpt>
+<trkpt lat="59.299179000" lon="18.080404000">
+  <ele>62.010000</ele>
+  <time>2008-11-07T10:00:00Z</time>
+  <course>48.759998</course>
+  <speed>1.070000</speed>
+  <fix>3d</fix>
+  <sat>4</sat>
+  <hdop>5.400000</hdop>
+</trkpt>
+<trkpt lat="59.299176200" lon="18.080412300">
+  <ele>61.230000</ele>
+  <time>2008-11-07T10:00:01Z</time>
+  <course>56.529999</course>
+  <speed>1.230000</speed>
+  <fix>3d</fix>
+  <sat>4</sat>
+  <hdop>5.400000</hdop>
+</trkpt>
+<trkpt lat="59.299171900" lon="18.080421700">
+  <ele>60.540000</ele>
+  <time>2008-11-07T10:00:02Z</time>
+  <course>67.639999</course>
+  <speed>1.110000</speed>
+  <fix>3d</fix>
+  <sat>4</sat>
+  <hdop>5.400000</hdop>
+</trkpt>
+<trkpt lat="59.299167300" lon="18.080432600">
+  <ele>59.910000</ele>
+  <time>2008-11-07T10:00:03Z</time>
+  <course>73.400002</course>
+  <speed>1.120000</speed>
+  <fix>3d</fix>
+  <sat>4</sat>
+  <hdop>5.400000</hdop>
+</trkpt>
+<trkpt lat="59.299161700" lon="18.080450200">
+  <ele>59.430000</ele>
+  <time>2008-11-07T10:00:04Z</time>
+  <course>89.419998</course>
+  <speed>1.360000</speed>
+  <fix>3d</fix>
+  <sat>4</sat>
+  <hdop>5.400000</hdop>
+</trkpt>
+<trkpt lat="59.299154500" lon="18.080465200">
+  <ele>59.090000</ele>
+  <time>2008-11-07T10:00:05Z</time>
+  <course>106.129997</course>
+  <speed>1.150000</speed>
+  <fix>3d</fix>
+  <sat>4</sat>
+  <hdop>5.400000</hdop>
+</trkpt>
+<trkpt lat="59.299145600" lon="18.080475800">
+  <ele>58.660000</ele>
+  <time>2008-11-07T10:00:06Z</time>
+  <course>110.320000</course>
+  <speed>0.990000</speed>
+  <fix>3d</fix>
+  <sat>4</sat>
+  <hdop>5.400000</hdop>
+</trkpt>
+<trkpt lat="59.299131500" lon="18.080478500">
+  <ele>58.320000</ele>
+  <time>2008-11-07T10:00:07Z</time>
+  <course>153.649994</course>
+  <speed>1.070000</speed>
+  <fix>3d</fix>
+  <sat>4</sat>
+  <hdop>5.400000</hdop>
+</trkpt>
+<trkpt lat="59.299118300" lon="18.080485700">
+  <ele>58.090000</ele>
+  <time>2008-11-07T10:00:08Z</time>
+  <course>141.419998</course>
+  <speed>1.200000</speed>
+  <fix>3d</fix>
+  <sat>4</sat>
+  <hdop>5.400000</hdop>
+</trkpt>
+<trkpt lat="59.299103800" lon="18.080490800">
+  <ele>57.780000</ele>
+  <time>2008-11-07T10:00:09Z</time>
+  <course>146.440002</course>
+  <speed>1.210000</speed>
+  <fix>3d</fix>
+  <sat>4</sat>
+  <hdop>5.400000</hdop>
+</trkpt>
+<trkpt lat="59.299096900" lon="18.080498300">
+  <ele>57.720000</ele>
+  <time>2008-11-07T10:00:10Z</time>
+  <course>124.549995</course>
+  <speed>0.810000</speed>
+  <fix>3d</fix>
+  <sat>4</sat>
+  <hdop>5.400000</hdop>
+</trkpt>
+<trkpt lat="59.299090300" lon="18.080489200">
+  <ele>57.770000</ele>
+  <time>2008-11-07T10:00:11Z</time>
+  <course>215.580002</course>
+  <speed>0.650000</speed>
+  <fix>3d</fix>
+  <sat>4</sat>
+  <hdop>5.400000</hdop>
+</trkpt>
+<trkpt lat="59.299077200" lon="18.080478600">
+  <ele>57.970000</ele>
+  <time>2008-11-07T10:00:12Z</time>
+  <course>196.119995</course>
+  <speed>1.450000</speed>
+  <fix>3d</fix>
+  <sat>4</sat>
+  <hdop>5.400000</hdop>
+</trkpt>
+<trkpt lat="59.299063900" lon="18.080467100">
+  <ele>58.430000</ele>
+  <time>2008-11-07T10:00:13Z</time>
+  <course>196.509995</course>
+  <speed>1.690000</speed>
+  <fix>3d</fix>
+  <sat>4</sat>
+  <hdop>5.400000</hdop>
+</trkpt>
+<trkpt lat="59.299048700" lon="18.080450900">
+  <ele>58.880000</ele>
+  <time>2008-11-07T10:00:14Z</time>
+  <course>202.050003</course>
+  <speed>1.980000</speed>
+  <fix>3d</fix>
+  <sat>4</sat>
+  <hdop>5.400000</hdop>
+</trkpt>
+<trkpt lat="59.299033800" lon="18.080430300">
+  <ele>59.440000</ele>
+  <time>2008-11-07T10:00:15Z</time>
+  <course>207.690002</course>
+  <speed>2.000000</speed>
+  <fix>3d</fix>
+  <sat>4</sat>
+  <hdop>5.400000</hdop>
+</trkpt>
+<trkpt lat="59.299033600" lon="18.080422400">
+  <ele>60.230000</ele>
+  <time>2008-11-07T10:00:16Z</time>
+  <course>214.949997</course>
+  <speed>0.920000</speed>
+  <fix>3d</fix>
+  <sat>4</sat>
+  <hdop>5.400000</hdop>
+</trkpt>
+<trkpt lat="59.299042900" lon="18.080417300">
+  <ele>61.070000</ele>
+  <time>2008-11-07T10:00:17Z</time>
+  <course>280.729980</course>
+  <speed>0.520000</speed>
+  <fix>3d</fix>
+  <sat>4</sat>
+  <hdop>5.400000</hdop>
+</trkpt>
+<trkpt lat="59.299052300" lon="18.080411900">
+  <ele>61.840000</ele>
+  <time>2008-11-07T10:00:18Z</time>
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+  <speed>0.100000</speed>
+  <fix>3d</fix>
+  <sat>8</sat>
+  <hdop>1.000000</hdop>
+</trkpt>
+<trkpt lat="59.321898800" lon="18.074639500">
+  <ele>1.910000</ele>
+  <time>2008-11-07T10:21:17Z</time>
+  <course>55.250000</course>
+  <speed>0.190000</speed>
+  <fix>3d</fix>
+  <sat>8</sat>
+  <hdop>1.000000</hdop>
+</trkpt>
+<trkpt lat="59.321900600" lon="18.074636700">
+  <ele>2.030000</ele>
+  <time>2008-11-07T10:21:18Z</time>
+  <course>322.799988</course>
+  <speed>0.350000</speed>
+  <fix>3d</fix>
+  <sat>7</sat>
+  <hdop>1.400000</hdop>
+</trkpt>
+<trkpt lat="59.321905400" lon="18.074633700">
+  <ele>2.220000</ele>
+  <time>2008-11-07T10:21:19Z</time>
+  <course>343.479980</course>
+  <speed>0.670000</speed>
+  <fix>3d</fix>
+  <sat>8</sat>
+  <hdop>1.000000</hdop>
+</trkpt>
+<trkpt lat="59.321907900" lon="18.074639000">
+  <ele>2.360000</ele>
+  <time>2008-11-07T10:21:20Z</time>
+  <course>40.820000</course>
+  <speed>0.470000</speed>
+  <fix>3d</fix>
+  <sat>8</sat>
+  <hdop>1.000000</hdop>
+</trkpt>
+<trkpt lat="59.321909100" lon="18.074643500">
+  <ele>2.450000</ele>
+  <time>2008-11-07T10:21:21Z</time>
+  <course>41.110001</course>
+  <speed>0.350000</speed>
+  <fix>3d</fix>
+  <sat>8</sat>
+  <hdop>1.000000</hdop>
+</trkpt>
+<trkpt lat="59.321911600" lon="18.074642000">
+  <ele>2.500000</ele>
+  <time>2008-11-07T10:21:22Z</time>
+  <course>340.970001</course>
+  <speed>0.430000</speed>
+  <fix>3d</fix>
+  <sat>8</sat>
+  <hdop>1.000000</hdop>
+</trkpt>
+<trkpt lat="59.321913700" lon="18.074633900">
+  <ele>2.620000</ele>
+  <time>2008-11-07T10:21:23Z</time>
+  <course>301.220001</course>
+  <speed>0.590000</speed>
+  <fix>3d</fix>
+  <sat>8</sat>
+  <hdop>1.000000</hdop>
+</trkpt>
+<trkpt lat="59.321911900" lon="18.074623100">
+  <ele>2.660000</ele>
+  <time>2008-11-07T10:21:24Z</time>
+  <course>256.019989</course>
+  <speed>0.640000</speed>
+  <fix>3d</fix>
+  <sat>8</sat>
+  <hdop>1.000000</hdop>
+</trkpt>
+<trkpt lat="59.321909600" lon="18.074615600">
+  <ele>2.700000</ele>
+  <time>2008-11-07T10:21:25Z</time>
+  <course>246.779999</course>
+  <speed>0.450000</speed>
+  <fix>3d</fix>
+  <sat>8</sat>
+  <hdop>1.000000</hdop>
+</trkpt>
+<trkpt lat="59.321906700" lon="18.074609300">
+  <ele>2.780000</ele>
+  <time>2008-11-07T10:21:26Z</time>
+  <course>231.279999</course>
+  <speed>0.410000</speed>
+  <fix>3d</fix>
+  <sat>8</sat>
+  <hdop>1.000000</hdop>
+</trkpt>
+<trkpt lat="59.321906100" lon="18.074606800">
+  <ele>2.830000</ele>
+  <time>2008-11-07T10:21:27Z</time>
+  <course>286.880005</course>
+  <speed>0.080000</speed>
+  <fix>3d</fix>
+  <sat>8</sat>
+  <hdop>1.000000</hdop>
+</trkpt>
+<trkpt lat="59.321904800" lon="18.074603300">
+  <ele>2.840000</ele>
+  <time>2008-11-07T10:21:28Z</time>
+  <course>232.349991</course>
+  <speed>0.120000</speed>
+  <fix>3d</fix>
+  <sat>8</sat>
+  <hdop>1.000000</hdop>
+</trkpt>
+<trkpt lat="59.321905400" lon="18.074602200">
+  <ele>2.820000</ele>
+  <time>2008-11-07T10:21:29Z</time>
+  <course>26.379999</course>
+  <speed>0.160000</speed>
+  <fix>3d</fix>
+  <sat>8</sat>
+  <hdop>1.000000</hdop>
+</trkpt>
+<trkpt lat="59.321906300" lon="18.074600100">
+  <ele>2.760000</ele>
+  <time>2008-11-07T10:21:30Z</time>
+  <course>359.239990</course>
+  <speed>0.160000</speed>
+  <fix>3d</fix>
+  <sat>7</sat>
+  <hdop>1.400000</hdop>
+</trkpt>
+<trkpt lat="59.321906700" lon="18.074598400">
+  <ele>2.660000</ele>
+  <time>2008-11-07T10:21:31Z</time>
+  <course>27.830000</course>
+  <speed>0.150000</speed>
+  <fix>3d</fix>
+  <sat>8</sat>
+  <hdop>1.000000</hdop>
+</trkpt>
+<trkpt lat="59.321905300" lon="18.074596300">
+  <ele>2.580000</ele>
+  <time>2008-11-07T10:21:32Z</time>
+  <course>133.819992</course>
+  <speed>0.060000</speed>
+  <fix>3d</fix>
+  <sat>8</sat>
+  <hdop>1.000000</hdop>
+</trkpt>
+<trkpt lat="59.321905300" lon="18.074594500">
+  <ele>2.570000</ele>
+  <time>2008-11-07T10:21:33Z</time>
+  <course>28.250000</course>
+  <speed>0.150000</speed>
+  <fix>3d</fix>
+  <sat>7</sat>
+  <hdop>1.400000</hdop>
+</trkpt>
+<trkpt lat="59.321904500" lon="18.074590700">
+  <ele>2.540000</ele>
+  <time>2008-11-07T10:21:34Z</time>
+  <course>301.220001</course>
+  <speed>0.050000</speed>
+  <fix>3d</fix>
+  <sat>7</sat>
+  <hdop>1.400000</hdop>
+</trkpt>
+<trkpt lat="59.321903400" lon="18.074588100">
+  <ele>2.550000</ele>
+  <time>2008-11-07T10:21:35Z</time>
+  <course>72.150002</course>
+  <speed>0.030000</speed>
+  <fix>3d</fix>
+  <sat>7</sat>
+  <hdop>1.400000</hdop>
+</trkpt>
+<trkpt lat="59.321902200" lon="18.074585400">
+  <ele>2.550000</ele>
+  <time>2008-11-07T10:21:36Z</time>
+  <course>48.230000</course>
+  <speed>0.050000</speed>
+  <fix>3d</fix>
+  <sat>7</sat>
+  <hdop>1.400000</hdop>
+</trkpt>
+<trkpt lat="59.321900700" lon="18.074585000">
+  <ele>2.560000</ele>
+  <time>2008-11-07T10:21:37Z</time>
+  <course>85.879997</course>
+  <speed>0.180000</speed>
+  <fix>3d</fix>
+  <sat>8</sat>
+  <hdop>1.000000</hdop>
+</trkpt>
+<trkpt lat="59.321900600" lon="18.074584900">
+  <ele>2.620000</ele>
+  <time>2008-11-07T10:21:38Z</time>
+  <course>46.719997</course>
+  <speed>0.270000</speed>
+  <fix>3d</fix>
+  <sat>8</sat>
+  <hdop>1.000000</hdop>
+</trkpt>
+<trkpt lat="59.321900000" lon="18.074583100">
+  <ele>2.690000</ele>
+  <time>2008-11-07T10:21:39Z</time>
+  <course>30.209999</course>
+  <speed>0.170000</speed>
+  <fix>3d</fix>
+  <sat>8</sat>
+  <hdop>1.000000</hdop>
+</trkpt>
+<trkpt lat="59.321898200" lon="18.074580000">
+  <ele>2.740000</ele>
+  <time>2008-11-07T10:21:40Z</time>
+  <course>159.919998</course>
+  <speed>0.010000</speed>
+  <fix>3d</fix>
+  <sat>7</sat>
+  <hdop>1.400000</hdop>
+</trkpt>
+<trkpt lat="59.321896700" lon="18.074577500">
+  <ele>2.790000</ele>
+  <time>2008-11-07T10:21:41Z</time>
+  <course>41.649998</course>
+  <speed>0.050000</speed>
+  <fix>3d</fix>
+  <sat>7</sat>
+  <hdop>1.400000</hdop>
+</trkpt>
+<trkpt lat="59.321896100" lon="18.074576200">
+  <ele>2.840000</ele>
+  <time>2008-11-07T10:21:42Z</time>
+  <course>33.110001</course>
+  <speed>0.130000</speed>
+  <fix>3d</fix>
+  <sat>8</sat>
+  <hdop>1.000000</hdop>
+</trkpt>
+<trkpt lat="59.321895500" lon="18.074574400">
+  <ele>2.940000</ele>
+  <time>2008-11-07T10:21:43Z</time>
+  <course>14.190000</course>
+  <speed>0.090000</speed>
+  <fix>3d</fix>
+  <sat>7</sat>
+  <hdop>1.400000</hdop>
+</trkpt>
+<trkpt lat="59.321896400" lon="18.074574700">
+  <ele>3.050000</ele>
+  <time>2008-11-07T10:21:44Z</time>
+  <course>28.490000</course>
+  <speed>0.310000</speed>
+  <fix>3d</fix>
+  <sat>7</sat>
+  <hdop>1.400000</hdop>
+</trkpt>
+</trkseg>
+</trk>
+</gpx>
diff --git a/sbn.c b/sbn.c
new file mode 100644 (file)
index 0000000..bf94ecc
--- /dev/null
+++ b/sbn.c
@@ -0,0 +1,331 @@
+/*
+    Locosys NaviGPS GT-31/BGT-31 SiRF binary logging format (SBN)
+
+    Copyright (C) 2008  Rodney Lorrimar <rodney@rodney.id.au>
+    Copyright (C) 2005  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 "defs.h"
+#include "navilink.h"
+#include <ctype.h>
+
+#define MYNAME "sbn"
+
+static gbfile *file_handle = NULL;
+
+static
+arglist_t sbn_args[] = {
+       ARG_TERMINATOR
+};
+
+
+/**********************************************************************/
+
+/* Packets are encoded according to the SiRF Binary Protocol.
+ *
+ *   http://www.navmanwirelessoem.com/oem/customer-support/oem-ne
+ *   ws/product-briefs-and-data-sheets/jupiter-32-xlp-new2/sirf-b
+ *   inary-protocol-reference-manual
+ *
+ * The important packet is "Geodetic Navigation Data" (Message ID 41).
+ */
+
+#define PID_SBN              41
+#define SBN_RECORD_LEN       95 /* 91 plus two shorts added by Locosys */
+#define PID_VISIBLE_LIST     13
+#define PID_QRY_INFORMATION  253
+#define QRY_INFORMATION_LEN  41
+#define INFO_USERNAME_LEN    13
+#define INFO_SERIAL_NUM_LEN  9
+#define INFO_LOG_RATE_LEN    3
+#define INFO_VERSION_LEN     12
+#define INFO_SEP             ','
+
+
+/*
+ * Very similar to read_packet in navilink.c, except reads from file
+ * instead of serial, and integers are read in big endian order.
+ */
+static size_t
+read_packet(int *type, void *payload, size_t max_len)
+{
+       size_t size, data_size;
+       unsigned char start[4];
+       unsigned int  checksum_exp, checksum_act;
+       unsigned char *data;
+       
+       if (gbfread(start, sizeof(start), 1, file_handle) != 1) {
+               if (gbfeof(file_handle))
+                       return 0;
+               
+               fatal(MYNAME ": Format error: No packet start.\n");
+       }
+       
+       if (start[0] != 0xa0 || start[1] != 0xa2) {
+               fatal(MYNAME ": Format error: Bad packet start.\n");
+       }
+
+       size = be_readu16(start + 2);
+       
+       if (size < 1 || max_len < size) {
+               fatal(MYNAME ": Format error: unexpected size: %d.\n", (int) size);
+       }
+
+       /* allocate space for checksum and trailing 0xb0b3 */
+       data_size = size + 4;
+
+       /* data_size can be up to about 64k */
+       data = xmalloc(data_size);
+
+       if (gbfread(data, data_size, 1, file_handle) != 1) {
+               fatal(MYNAME ": Format error: could not read %d bytes.\n",
+                     (int) data_size);
+       }
+
+       *type = data[0];
+
+       checksum_exp = be_readu16(data + size);
+       checksum_act = navilink_checksum_packet(data, size);
+       
+       if (checksum_exp != checksum_act) {
+               fatal(MYNAME ": Checksum error - expected %x got %x\n",
+                     checksum_exp, checksum_act);
+       }
+
+       if (data[size + 2] != 0xb0 || data[size + 3] != 0xb3) {
+               fatal(MYNAME ": Format error: Bad packet trailer\n");
+       }
+
+       --size;
+       
+       memcpy(payload, data + 1, size);
+       xfree(data);
+
+       return size;
+}
+
+#ifdef LOCOSYS_PARSE_FILE_ID
+static size_t
+hdrcpy(char *dest, const char *src, size_t max_len)
+{
+       size_t i;
+       
+       for (i = 0; i < max_len && *src != INFO_SEP; i++) 
+               *dest++ = *src++;
+       *dest++ = 0;
+
+       return ++i;
+}
+#endif /* LOCOSYS_PARSE_FILE_ID */
+
+int
+locosys_decode_file_id(char *header, size_t len)
+{
+#ifdef LOCOSYS_PARSE_FILE_ID
+       /*
+        * MID_FILE_ID(0xfd) contains the following payload :
+        *   User Name, Serial Number, Log Rate, Firmware Version
+        *     >field separator:","
+        *     >User Name : MAX CHAR(13)
+        *     >Serial Number : MAX CHAR(8)
+        *     >Log Rate : MAX CHAR 3, 0..255 in seconds
+        *     >Firmware Version  :  MAX CHAR (13)
+        */
+
+       char username[INFO_USERNAME_LEN + 1];
+       char serial_num[INFO_SERIAL_NUM_LEN + 1];
+       char log_rate[INFO_LOG_RATE_LEN + 1];
+       char version[INFO_VERSION_LEN + 1];
+       char *p = header;
+
+       p += hdrcpy(username,   p, INFO_USERNAME_LEN);
+       p += hdrcpy(serial_num, p, INFO_SERIAL_NUM_LEN);
+       p += hdrcpy(log_rate,   p, INFO_LOG_RATE_LEN);
+       p += hdrcpy(version,    p, INFO_VERSION_LEN);
+
+       printf(MYNAME ": Username: %s\n", username);
+       printf(MYNAME ": Serial Number: %s\n", serial_num);
+       printf(MYNAME ": Log rate (seconds): %s\n", log_rate);
+       printf(MYNAME ": Firmware version: %s\n", version);
+#endif /* LOCOSYS_PARSE_FILE_ID */
+
+       return TRUE;
+}
+
+static void
+read_sbn_header(route_head *track)
+{
+       char header[QRY_INFORMATION_LEN];
+       size_t len;
+       int type = 0;
+       
+       len = read_packet(&type, header, sizeof(header));
+
+       if (len == 0 || type != PID_QRY_INFORMATION ||
+                       !locosys_decode_file_id(header, len)) {
+               fatal(MYNAME ": Format error: Couldn't read SBN header."
+                                       "This probably isn't a SBN file.\n");
+       }
+}
+
+static int
+is_sbn_valid(const unsigned char *buffer)
+{
+       /* valid navigation (any bit set implies navigation solution is not
+        * optimal) */
+       return !buffer[0] && !buffer[1];
+}
+
+static fix_type
+decode_sbn_mode(const unsigned char *mode)
+{
+       static const fix_type fixes[8] = {
+               fix_none,     /* 000 No Nav */
+               fix_none,     /* 001 1 SV solution */
+               fix_none,     /* 010 2 SV solution */
+               fix_2d,       /* 011 3 SV solution (2D) */
+               fix_3d,       /* 100 4 or more SV solution (3D) */
+               fix_2d,       /* 101 Least Square 2D solution */
+               fix_3d,       /* 110 Least Square 3D solution */
+               fix_none      /* 111 DR solution (no SV) */
+       };
+       int dgps_correction = *mode & 0x80;
+       fix_type fix = fixes[*mode & 7];
+       
+       return dgps_correction && fix == fix_3d ? fix_dgps : fix;
+}
+
+static void
+decode_sbn_datetime(const unsigned char *buffer, waypoint *waypt)
+{
+       struct tm tm;
+       int ms = be_readu16(buffer + 6);
+       
+       tm.tm_sec = ms / 1000;
+       tm.tm_min = buffer[5];  
+       tm.tm_hour = buffer[4];
+       tm.tm_mday = buffer[3];
+       tm.tm_mon = buffer[2] - 1;
+       tm.tm_year = be_readu16(buffer) - 1900;
+
+       waypt->creation_time = mkgmtime(&tm);
+       waypt->microseconds = (ms % 1000) * 1000;
+}
+
+static void
+decode_sbn_position(const unsigned char *buffer, waypoint *waypt)
+{
+       waypt->latitude = be_read32(buffer + 0) * 0.0000001;
+       waypt->longitude = be_read32(buffer + 4) * 0.0000001;
+       waypt->altitude = be_read32(buffer + 12) * 0.01;
+}
+
+static waypoint *
+decode_sbn_record(unsigned char *buffer)
+{
+       waypoint *waypt = NULL;
+       waypt = waypt_new();
+
+       if (is_sbn_valid(buffer))
+               waypt->fix = decode_sbn_mode(buffer + 3);
+       else
+               waypt->fix = fix_none;
+       
+       decode_sbn_datetime(buffer + 10, waypt);
+       decode_sbn_position(buffer + 22, waypt);
+       WAYPT_SET(waypt, speed, be_read16(buffer + 39) * 0.01f);
+       WAYPT_SET(waypt, course, be_read16(buffer + 41) * 0.01f);
+       waypt->sat = buffer[87];
+       waypt->hdop = buffer[88] * 0.2f;
+
+       return waypt;
+}
+
+static void
+add_logpoints(route_head *track)
+{
+       unsigned char buffer[SBN_RECORD_LEN];
+       int type = 0;
+       
+       while (read_packet(&type, buffer, sizeof(buffer))) {
+               if (type == PID_SBN) {
+                       track_add_wpt(track, decode_sbn_record(buffer));
+               } else if (type == PID_VISIBLE_LIST) {
+                       /* A list of visible SVs, their IDs, azimuths, elevations.
+                        * Not storing this info for now. */
+               } else {
+                       warning(MYNAME ": Format error: Unknown packet type 0x%02x.\n", type);
+               }
+       }
+}
+
+/**********************************************************************/
+
+static void
+sbn_rd_init(const char *fname)
+{
+       file_handle = gbfopen(fname, "r", MYNAME);
+}
+
+static void 
+sbn_rd_deinit(void)
+{
+       gbfclose(file_handle);
+}
+
+static void
+sbn_read(void)
+{
+       if (global_opts.masked_objective & TRKDATAMASK) {
+               route_head     *track;
+               
+               track = route_head_alloc();
+               track_add_head(track);
+
+               read_sbn_header(track);
+
+               add_logpoints(track);
+       }
+}
+
+static void
+sbn_exit(void)
+{
+}
+
+/**********************************************************************/
+
+ff_vecs_t sbn_vecs = {
+       ff_type_file,
+       { 
+               ff_cap_none         /* waypoints */, 
+               ff_cap_read                                     /* tracks */, 
+               ff_cap_none                                     /* routes */
+       },
+       sbn_rd_init,    
+       NULL,   
+       sbn_rd_deinit,  
+       NULL,   
+       sbn_read,
+       NULL,
+       sbn_exit,
+       sbn_args,
+       /* Characters are always encoded in ASCII. Even if the unit is set
+        * to Chinese language, only ASCII characters can be entered. */
+       CET_CHARSET_ASCII, 0
+};
+/**********************************************************************/
diff --git a/sbp.c b/sbp.c
index 5cac94d04fc6109034b5651c64c5ba03b06bdbb0..1ec70597a0df65af4ced2281e2bb171d147561a0 100644 (file)
--- a/sbp.c
+++ b/sbp.c
@@ -49,77 +49,36 @@ sbp_rd_deinit(void)
        gbfclose(file_handle);
 }
 
-#ifdef SBP_PARSE_HEADER
-static size_t
-hdrcpy(char *dest, const char *src,
-       size_t max_len, char delim)
-{
-       size_t i;
-       
-       for (i = 0; i < max_len && *src != delim; i++) 
-               *dest++ = *src++;
-       *dest++ = 0;
-
-       return ++i;
-}
-#endif
-
 static void
-decode_header(route_head *track)
+read_sbp_header(route_head *track)
 {
-  char header[64];
-
-  if (gbfread(header, sizeof(header), 1, file_handle) == 1) {
-#ifdef SBP_PARSE_HEADER
-               /*
-                * A complete SBP file contains 64 bytes header,
-                *
-                * Here is the definition of the SBP header 
-                * BYTE 0 ~1 : true SBP header length 
-                * BYTE 2~63:  MID_FILE_ID(0xfd) with following payload :
-                *             User Name, Serial Number, Log Rate, Firmware Version
-                *               >field separator:","
-                *               >User Name : MAX CHAR(13)
-                *               >Serial Number : MAX CHAR(8)
-                *               >Log Rate : MAX CHAR 3, 0..255 in seconds
-                *               >Firmware Version  :  MAX CHAR (13)
-                *               // will stuff 0xff for remaining bytes
-                */
-
-#define HDR_LEN         2
-#define PACKET_HDR_LEN  5       /* 0xa0 0xa2 len 0xfd */
-#define USERNAME_LEN    13
-#define SERIAL_NUM_LEN  9
-#define LOG_RATE_LEN    3
-#define VERSION_LEN     13
-#define SEP             ','
-#define PAD             0xFF
-
-               int hdr_len;
-               char username[USERNAME_LEN + 1];
-               char serial_num[SERIAL_NUM_LEN + 1];
-               char log_rate[LOG_RATE_LEN + 1];
-               char version[VERSION_LEN + 1];
-               char *p = header;
-
-               hdr_len = le_read16(p);
-               p += HDR_LEN;
-               p += PACKET_HDR_LEN;
-
-               p += hdrcpy(username,   p, USERNAME_LEN,   SEP);
-               p += hdrcpy(serial_num, p, SERIAL_NUM_LEN, SEP);
-               p += hdrcpy(log_rate,   p, LOG_RATE_LEN,   SEP);
-               p += hdrcpy(version,    p, VERSION_LEN,    PAD);
-    /* fixme: version includes checksum and end sequence bytes */
-
-               printf("Username: %s\n", username);
-               printf("Serial Number: %s\n", serial_num);
-               printf("Log rate (seconds): %s\n", log_rate);
-               printf("Firmware version: %s\n", version);
-#endif /* SBP_PARSE_HEADER */
+       /*
+        * A complete SBP file contains 64 bytes header,
+        *
+        * Here is the definition of the SBP header 
+        * BYTE 0 ~1 : true SBP header length 
+        * BYTE 2~63:  MID_FILE_ID(0xfd)
+        *             will stuff 0xff for remaining bytes
+        */
+
+#define HEADER_SKIP 7
+
+       int success;
+       char header[64];
+
+       if (gbfread(header, sizeof(header), 1, file_handle) == 1) {
+               size_t len = le_read16(header) - HEADER_SKIP;
+               if (len > sizeof(header))
+                       len = sizeof(header);
+
+               success = locosys_decode_file_id(header + HEADER_SKIP, len);
        } else {
-               fatal(MYNAME ": Couldn't read SBP header. "
-                    "This probably isn't a SBP file.\n");
+               success = FALSE;
+       }
+
+       if (!success) {
+               fatal(MYNAME ": Format error: Couldn't read SBP header."
+                     "This probably isn't a SBP file.\n");
        }
 }
 
@@ -145,7 +104,7 @@ sbp_read(void)
                track = route_head_alloc();
                track_add_head(track);
 
-               decode_header(track);
+               read_sbp_header(track);
   
                while ((logpoint = read_logpoint())) {
                        track_add_wpt(track, logpoint);
diff --git a/testo b/testo
index 4006387465f0605db69e667360b987029ece6d21..d201d42b4cea321d393c5f891091414f33302d3a 100755 (executable)
--- a/testo
+++ b/testo
@@ -1314,6 +1314,12 @@ gpsbabel -t -i gpx -f ${TMPDIR}/navilink_tracks.gpx -o navilink -F ${TMPDIR}/nav
 gpsbabel -t -i sbp -f ${REFERENCE}/track/datalog.sbp -o gpx -F ${TMPDIR}/datalog.gpx
 compare ${TMPDIR}/datalog.gpx ${REFERENCE}/track/datalog.gpx
 
+#
+# SBN tracks (Locosys NaviGPS)
+#
+gpsbabel -t -i sbn -f ${REFERENCE}/track/sbn.SBN -o gpx -F ${TMPDIR}/sbn.gpx
+compare ${TMPDIR}/sbn.gpx ${REFERENCE}/track/sbn.gpx
+
 #
 # MTK logger tests
 #
@@ -1506,7 +1512,7 @@ bincompare ${TMPDIR}/navitel_trk.bin ${TMPDIR}/navitel_trk2.bin
 #
 rm -f ${TMPDIR}/itracku.unicsv
 gpsbabel -w -i itracku-bin -f ${REFERENCE}/itracku.dat -o unicsv -F ${TMPDIR}/itracku.unicsv
-echo FIXME: Skipping itracku for TZ problem.
+echo FIXME: Skipping itracku for TZ problem.  Continuing.
 # compare ${REFERENCE}/itracku.unicsv ${TMPDIR}/itracku.unicsv
 
 #
diff --git a/util.c b/util.c
index 92fd7247f9367e4abf58aba41ac6b30a6859d177..8bd327487beafb819beb78fbd1d9a09d0de15b77 100644 (file)
--- a/util.c
+++ b/util.c
@@ -689,6 +689,13 @@ be_read16(const void *p)
        return i[0] << 8 | i[1];
 }
 
+unsigned int
+be_readu16(const void *p)
+{
+       const unsigned char *i = (unsigned char *) p;
+       return i[0] << 8 | i[1];
+}
+
 void
 be_write16(void *addr, const unsigned value)
 {
diff --git a/vecs.c b/vecs.c
index 9f9ae3311b5d9de46b12989f1ef84d0fc648dafb..9da58ece741fbc0a24c23a8464879fe25659caf8 100644 (file)
--- a/vecs.c
+++ b/vecs.c
@@ -153,6 +153,7 @@ extern ff_vecs_t jtr_vecs;
 extern ff_vecs_t itracku_vecs;
 extern ff_vecs_t itracku_fvecs;
 extern ff_vecs_t sbp_vecs;
+extern ff_vecs_t sbn_vecs;
 extern ff_vecs_t mmo_vecs;
 extern ff_vecs_t skyforce_vecs;
 
@@ -879,6 +880,12 @@ vecs_t vec_list[] = {
                 "NaviGPS GT-31/BGT-31 datalogger (.sbp)",
                 "sbp"
         },
+        {
+                &sbn_vecs,
+                "sbn",
+                "NaviGPS GT-31/BGT-31 SiRF binary logfile (.sbn)",
+                "sbn"
+        },
         {
                 &mmo_vecs,
                 "mmo",
diff --git a/xmldoc/formats/sbn.xml b/xmldoc/formats/sbn.xml
new file mode 100644 (file)
index 0000000..18d2221
--- /dev/null
+++ b/xmldoc/formats/sbn.xml
@@ -0,0 +1,30 @@
+<para>
+       This format is for SBN datalog files saved to the SD card by
+       the Locosys GT-11/BGT-11/GT-31/BGT-31.
+</para>
+<para>
+       On the device, logging in this format is enabled by choosing
+       SBN from the NMEA ITEMS menu on the MEMORY CARD screen.
+</para>
+<para>
+       Not all data logged in this format is converted by GPSBabel,
+       but the following are:
+
+<simplelist columns="3">
+       <member>Position</member>
+       <member>Elevation</member>
+       <member>Time</member>
+       <member>Fix type (2D/3D/DGPS)</member>
+       <member>Speed</member>
+       <member>Course</member>
+       <member>Number of satellites visible</member>
+       <member>Horizontal Dilution of Precision (HDOP)</member>
+</simplelist>
+</para>
+
+<para>
+       The specification of this format can be found in
+       the <ulink url="http://www.navmanwirelessoem.com/oem/customer-support/oem-news/product-briefs-and-data-sheets/jupiter-32-xlp-new2/sirf-binary-protocol-reference-manual">
+       SiRF Binary Protocol Reference Manual</ulink>, in the section
+       called Geodetic Navigation Data - Message ID 41.
+</para>
Unnamed repository; edit this file 'description' to name the repository.