private void manuf_params(TsipPacket tp)
{
Debug.Print("Packet 8F.41 (Manufacturing Params):");
UInt16 sn_prefix = tp.GetNextWord();
UInt32 serial_num = tp.GetNextDWord();
byte build_year = tp.GetNextByte();
byte build_month = tp.GetNextByte();
byte build_day = tp.GetNextByte();
byte build_hour = tp.GetNextByte();
Single osc_offset = tp.GetNextSingle();
UInt16 test_code = tp.GetNextWord();
unit_build.Date = new DateTime(build_year + 2000, build_month, build_day, build_hour, 0, 0);
unit_build.SerialNumber = sn_prefix.ToString() + "-" + serial_num.ToString();
}
private void packet_mask(TsipPacket tp)
{
Debug.Print("Packet 8F.A5 (Packet mask):");
UInt16 mask1 = tp.GetNextWord();
UInt16 mask2 = tp.GetNextWord();
}
private void gps_time_received(TsipPacket tp)
{
Debug.Print(":0x41 GPS Time Received");
Single s_time = tp.GetNextSingle();
Int16 s_week = (short)tp.GetNextWord();
Single s_offset = tp.GetNextSingle();
if (GPSTimeReceived != null)
GPSTimeReceived(this, new GPSTimeInfoEventArgs(s_time, s_week, s_offset));
}
private void last_fix_info(TsipPacket tp)
{
Debug.Print("Packet 57 (last fix info):");
byte source_of_fix = tp.GetNextByte();
byte tracking_mode = tp.GetNextByte();
Single time_of_fix = tp.GetNextSingle();
UInt16 week_of_fix = tp.GetNextWord();
}
// Thunderbolt E Version Information
private void ebolt_version(TsipPacket tp)
{
byte rev_month;
byte rev_day;
UInt16 rev_year;
byte subcode = tp.GetNextByte();
if (subcode == 0x81) // firmware version
{
Debug.Print(":0x1C.0x81 (Firmware Version)");
byte reserved8 = tp.GetNextByte();
byte major = tp.GetNextByte(); // major version number
byte minor = tp.GetNextByte(); // minor version number
byte build = tp.GetNextByte(); // build number
rev_month = tp.GetNextByte(); // build month
rev_day = tp.GetNextByte(); // build day
rev_year = tp.GetNextWord(); // build year
unit_firmware.VersionString = tp.GetNextString(); // product name string
try
{
unit_firmware.Date = new DateTime(rev_year, rev_month, rev_day, 0, 0, 0);
}
catch (Exception e)
{
unit_firmware.Date = new DateTime(0L); // bad date
Debug.Print("Date Conversion Exception: " + e.Message);
}
unit_firmware.Code = 0;
if (FirmwareVersionInfoReceived != null)
FirmwareVersionInfoReceived(this, new VersionInfoEventArgs(unit_firmware));
}
else if (subcode == 0x83) // hardware version
{
Debug.Print(":0x1C.0x83 (Hardware Version)");
UInt32 serno = tp.GetNextDWord(); // board serial number
rev_day = tp.GetNextByte(); // board build day
rev_month = tp.GetNextByte(); // board build month
rev_year = tp.GetNextWord(); // board build year
byte rev_hour = tp.GetNextByte(); // board build hour
unit_hardware.Code = tp.GetNextWord(); // hardware code associated with hardware ID
unit_hardware.VersionString = tp.GetNextString(); // Hardware ID
unit_hardware.SerialNumber = "SN:" + serno.ToString();
try
{
unit_hardware.Date = new DateTime(rev_year, rev_month, rev_day, rev_hour, 0, 0);
}
catch (Exception e)
{
unit_hardware.Date = new DateTime(0L); // bad date
Debug.Print("Date Conversion Exception: " + e.Message);
}
if (HardwareVersionInfoReceived != null)
HardwareVersionInfoReceived(this, new VersionInfoEventArgs(unit_hardware));
}
else
unknown_msg(tp);
}
private void eeprom_status(TsipPacket tp)
{
Debug.Print("Packet 5F (EEPROM status):");
byte flag = tp.GetNextByte();
if (flag == 0x11)
{
UInt16 ee_status = tp.GetNextWord();
}
}
private void datums(TsipPacket tp)
{
Debug.Print("Packet 8F.15 (Datums)");
int index = tp.GetNextWord();
double dx = tp.GetNextDouble();
double dy = tp.GetNextDouble();
double dz = tp.GetNextDouble();
double a_axis = tp.GetNextDouble();
double ecc = tp.GetNextDouble();
}
private void secondary_timing(TsipPacket tp)
{
Debug.Print(":0x8F.AC (Secondary Timing)");
byte spare;
try
{
receiver_mode = (ReceiverMode)tp.GetNextByte();
}
catch
{
receiver_mode = ReceiverMode.Unknown;
}
try
{
discipline_mode = (DiscipliningMode)tp.GetNextByte();
}
catch
{
discipline_mode = DiscipliningMode.Unknown;
}
survey_progress = tp.GetNextByte(); // 0-100%
holdover = tp.GetNextDWord(); // seconds
critical_alarms = tp.GetNextWord();
minor_alarms = tp.GetNextWord();
try
{
gps_status = (ReceiverStatus)tp.GetNextByte();
}
catch
{
gps_status = ReceiverStatus.Unknown;
}
try
{
discipline = (DiscipliningActivity)tp.GetNextByte();
}
catch
{
discipline = DiscipliningActivity.Unknown;
}
spare = tp.GetNextByte();
spare = tp.GetNextByte();
pps_offset = tp.GetNextSingle(); // in nano seconds (ns)
osc_offset = tp.GetNextSingle(); // in parts per billion (ppb)
dac_value = tp.GetNextDWord();
dac_voltage = tp.GetNextSingle(); // in V
temperature = tp.GetNextSingle(); // in C
position.Latitude = tp.GetNextDouble();
position.Longitude = tp.GetNextDouble();
position.Altitude = tp.GetNextDouble();
if (SecondaryTimingChanged != null)
SecondaryTimingChanged(this, null);
raise_position_change();
clear_sat_tracking(); //??
}
//not available on ThunderBolt-E
/// <summary>
/// This broadcast packet provides individual satellite solutions as well as the combined
/// timing solutions. Two formats of this packet are supported: a floating-point form and an
/// integer form. This packet is broadcast once per second if enabled with the 0x8E-A5 packet
/// mask command. Packet 0x8E-A5 allows the user to select which format will be broadcast.
///
/// notes:
/// If both formats are selected the ThunderBolt will send format 0 (floating point) only.
///
/// For clock bias numbers, a positive sign indicates that the ThunderBolt PPS occurs after the
/// GPS PPS.
///
/// For clock bias rate numbers, a positive sign indicates that the ThunderBolt
/// 10MHz frequency output is running slow relative to GPS.
///
/// 8 sets of satellite ID and data are sent with n=1, 2, . . . 8
/// </summary>
private void sat_solutions(TsipPacket tp)
{
Debug.Print(":0x8F.A7 (Satellite Solutions)");
byte format = tp.GetNextByte();
UInt32 time_of_week = tp.GetNextDWord();
Single clock_bias;
Single clock_bias_rate;
if (format == 0)
{ // floating point
clock_bias = tp.GetNextSingle();
clock_bias_rate = tp.GetNextSingle();
}
else if (format == 1)
{ // integer values
clock_bias = (float)(int)tp.GetNextWord();
clock_bias *= 100.0e-12F;
clock_bias_rate = (float)(int)tp.GetNextWord();
clock_bias_rate *= 1.0e-12F;
}
else
{
unknown_msg(tp);
return;
}
for (int i = 0; i < 32; i++) // reset current bias flags
Satellites[i].HasBiasInfo = false;
for (int i = 0; i < 8; i++) // get bias info from all visible satellites
{
byte prn = tp.GetNextByte();
prn--;
if (prn > 31) // ignore bogus data
continue;
if (format == 0)
Satellites[prn].SatBias = tp.GetNextSingle();
else
{
Satellites[prn].SatBias = (float)(int)tp.GetNextWord();
Satellites[prn].SatBias *= 100.0e-12F;
}
Satellites[prn].TimeOfFix = (float)time_of_week;
Satellites[prn].HasBiasInfo = true;
}
}
private void prodn_params(TsipPacket tp)
{
Debug.Print("Packet 8F.42 (Production Params):");
byte prodn_options = tp.GetNextByte();
byte prodn_number = tp.GetNextByte();
UInt16 case_prefix = tp.GetNextWord();
UInt32 case_sn = tp.GetNextDWord();
UInt32 prodn_num = tp.GetNextDWord();
UInt16 rsvd1 = tp.GetNextWord();
UInt16 machine_id = tp.GetNextWord();
UInt16 rsvd2 = tp.GetNextWord();
}
private void primary_timing(TsipPacket tp)
{
Debug.Print(":0x8F.AB (Primary Timing)");
UInt32 pri_tow = tp.GetNextDWord();
UInt16 pri_gps_week = tp.GetNextWord();
Int16 pri_utc_offset = (short)tp.GetNextWord();
byte time_flags = tp.GetNextByte();
byte pri_seconds = tp.GetNextByte();
byte pri_minutes = tp.GetNextByte();
byte pri_hours = tp.GetNextByte();
byte pri_day = tp.GetNextByte();
byte pri_month = tp.GetNextByte();
UInt16 pri_year = tp.GetNextWord();
try
{
// if this fires an execption, just skip the bad packet
current_time = new DateTime(pri_year, pri_month, pri_day, pri_hours, pri_minutes, pri_seconds);
tow = pri_tow;
utc_offset = pri_utc_offset;
gps_week = pri_gps_week;
if ((time_flags & 0x04) == 0x04)
time_value = TimeType.NoTimeAvailable;
else if ((time_flags & 0x08) == 0x08)
time_value = TimeType.NoUTCOffset;
else if ((time_flags & 0x10) == 0x10)
time_value = TimeType.UserSetTime;
else if ((time_flags & 0x01) == 0x01)
time_value = TimeType.UTCTimeOk;
else
time_value = TimeType.GPSTimeOk;
// Set the time on the netduino to the current time on the Thunderbolt.
Microsoft.SPOT.Hardware.Utility.SetLocalTime(current_time);
if ((last_current_time != current_time) && (TimeChanged != null))
TimeChanged(this, new EventArgs());
last_current_time = current_time;
}
catch (Exception e)
{
current_time = last_current_time;
Debug.Print("Exception:" + e.Message);
}
}