6419e189a4
Currently, each backend has it's own function to verify whether the object vtable pointer is the expected one. All these functions can be removed in favor of a single isintance function in the base class, which takes the expected vtable pointer as a parameter. Functions which are called through the vtable, don't need to verify the vtable pointer, and those checks are removed.
710 lines
18 KiB
C
710 lines
18 KiB
C
/*
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* libdivecomputer
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*
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* Copyright (C) 2008 Jef Driesen
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*
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* This library is free software; you can redistribute it and/or
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* modify it under the terms of the GNU Lesser General Public
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* License as published by the Free Software Foundation; either
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* version 2.1 of the License, or (at your option) any later version.
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*
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* This library is distributed in the hope that it will be useful,
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* but WITHOUT ANY WARRANTY; without even the implied warranty of
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* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
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* Lesser General Public License for more details.
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*
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* You should have received a copy of the GNU Lesser General Public
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* License along with this library; if not, write to the Free Software
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* Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston,
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* MA 02110-1301 USA
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*/
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#include <stdlib.h>
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#include <string.h> // memcmp
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#include <libdivecomputer/uwatec_smart.h>
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#include <libdivecomputer/units.h>
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#include "context-private.h"
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#include "parser-private.h"
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#include "array.h"
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#define ISINSTANCE(parser) dc_parser_isinstance((parser), &uwatec_smart_parser_vtable)
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#define NBITS 8
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#define NELEMENTS(x) ( sizeof(x) / sizeof((x)[0]) )
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#define SMARTPRO 0x10
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#define GALILEO 0x11
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#define ALADINTEC 0x12
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#define ALADINTEC2G 0x13
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#define SMARTCOM 0x14
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#define SMARTTEC 0x18
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#define GALILEOTRIMIX 0x19
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#define SMARTZ 0x1C
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typedef struct uwatec_smart_parser_t uwatec_smart_parser_t;
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struct uwatec_smart_parser_t {
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dc_parser_t base;
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unsigned int model;
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unsigned int devtime;
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dc_ticks_t systime;
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};
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static dc_status_t uwatec_smart_parser_set_data (dc_parser_t *abstract, const unsigned char *data, unsigned int size);
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static dc_status_t uwatec_smart_parser_get_datetime (dc_parser_t *abstract, dc_datetime_t *datetime);
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static dc_status_t uwatec_smart_parser_get_field (dc_parser_t *abstract, dc_field_type_t type, unsigned int flags, void *value);
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static dc_status_t uwatec_smart_parser_samples_foreach (dc_parser_t *abstract, dc_sample_callback_t callback, void *userdata);
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static dc_status_t uwatec_smart_parser_destroy (dc_parser_t *abstract);
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static const dc_parser_vtable_t uwatec_smart_parser_vtable = {
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DC_FAMILY_UWATEC_SMART,
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uwatec_smart_parser_set_data, /* set_data */
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uwatec_smart_parser_get_datetime, /* datetime */
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uwatec_smart_parser_get_field, /* fields */
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uwatec_smart_parser_samples_foreach, /* samples_foreach */
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uwatec_smart_parser_destroy /* destroy */
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};
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dc_status_t
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uwatec_smart_parser_create (dc_parser_t **out, dc_context_t *context, unsigned int model, unsigned int devtime, dc_ticks_t systime)
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{
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if (out == NULL)
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return DC_STATUS_INVALIDARGS;
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// Allocate memory.
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uwatec_smart_parser_t *parser = (uwatec_smart_parser_t *) malloc (sizeof (uwatec_smart_parser_t));
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if (parser == NULL) {
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ERROR (context, "Failed to allocate memory.");
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return DC_STATUS_NOMEMORY;
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}
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// Initialize the base class.
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parser_init (&parser->base, context, &uwatec_smart_parser_vtable);
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// Set the default values.
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parser->model = model;
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parser->devtime = devtime;
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parser->systime = systime;
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*out = (dc_parser_t*) parser;
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return DC_STATUS_SUCCESS;
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}
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static dc_status_t
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uwatec_smart_parser_destroy (dc_parser_t *abstract)
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{
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// Free memory.
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free (abstract);
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return DC_STATUS_SUCCESS;
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}
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static dc_status_t
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uwatec_smart_parser_set_data (dc_parser_t *abstract, const unsigned char *data, unsigned int size)
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{
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return DC_STATUS_SUCCESS;
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}
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static dc_status_t
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uwatec_smart_parser_get_datetime (dc_parser_t *abstract, dc_datetime_t *datetime)
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{
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uwatec_smart_parser_t *parser = (uwatec_smart_parser_t *) abstract;
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if (abstract->size < 8 + 4)
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return DC_STATUS_DATAFORMAT;
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unsigned int timestamp = array_uint32_le (abstract->data + 8);
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dc_ticks_t ticks = parser->systime - (parser->devtime - timestamp) / 2;
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if (!dc_datetime_localtime (datetime, ticks))
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return DC_STATUS_DATAFORMAT;
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return DC_STATUS_SUCCESS;
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}
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typedef struct uwatec_smart_header_info_t {
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unsigned int maxdepth;
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unsigned int divetime;
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unsigned int gasmix;
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unsigned int ngases;
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} uwatec_smart_header_info_t;
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static const
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uwatec_smart_header_info_t uwatec_smart_pro_header = {
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18,
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20,
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24, 1
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};
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static const
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uwatec_smart_header_info_t uwatec_smart_aladin_header = {
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22,
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24,
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30, 1
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};
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static const
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uwatec_smart_header_info_t uwatec_smart_aladin_tec2g_header = {
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22,
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26,
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32, 3
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};
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static const
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uwatec_smart_header_info_t uwatec_smart_com_header = {
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18,
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20,
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24, 1
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};
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static const
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uwatec_smart_header_info_t uwatec_smart_tec_header = {
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18,
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20,
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28, 3
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};
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static const
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uwatec_smart_header_info_t uwatec_smart_z_header = {
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18,
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20,
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28, 1
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};
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static const
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uwatec_smart_header_info_t uwatec_galileo_sol_header = {
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22,
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26,
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44, 3
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};
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static dc_status_t
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uwatec_smart_parser_get_field (dc_parser_t *abstract, dc_field_type_t type, unsigned int flags, void *value)
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{
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uwatec_smart_parser_t *parser = (uwatec_smart_parser_t *) abstract;
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const unsigned char *data = abstract->data;
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unsigned int size = abstract->size;
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unsigned int header = 0;
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unsigned int trimix = 0;
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const uwatec_smart_header_info_t *table = NULL;
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// Load the correct table.
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switch (parser->model) {
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case SMARTPRO:
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header = 92;
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table = &uwatec_smart_pro_header;
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break;
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case GALILEO:
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case GALILEOTRIMIX:
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header = 152;
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if (data[43] & 0x80) {
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header = 0xB1;
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trimix = 1;
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}
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table = &uwatec_galileo_sol_header;
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break;
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case ALADINTEC:
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header = 108;
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table = &uwatec_smart_aladin_header;
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break;
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case ALADINTEC2G:
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header = 116;
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table = &uwatec_smart_aladin_tec2g_header;
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break;
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case SMARTCOM:
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header = 100;
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table = &uwatec_smart_com_header;
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break;
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case SMARTTEC:
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header = 132;
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table = &uwatec_smart_tec_header;
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break;
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case SMARTZ:
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header = 132;
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table = &uwatec_smart_z_header;
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break;
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default:
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return DC_STATUS_DATAFORMAT;
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}
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if (size < header)
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return DC_STATUS_DATAFORMAT;
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dc_gasmix_t *gasmix = (dc_gasmix_t *) value;
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if (value) {
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switch (type) {
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case DC_FIELD_DIVETIME:
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*((unsigned int *) value) = array_uint16_le (data + table->divetime) * 60;
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break;
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case DC_FIELD_MAXDEPTH:
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*((double *) value) = array_uint16_le (data + table->maxdepth) / 100.0;
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break;
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case DC_FIELD_GASMIX_COUNT:
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if (trimix)
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*((unsigned int *) value) = 0;
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else
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*((unsigned int *) value) = table->ngases;
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break;
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case DC_FIELD_GASMIX:
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gasmix->helium = 0.0;
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gasmix->oxygen = array_uint16_le (data + table->gasmix + flags * 2) / 100.0;
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gasmix->nitrogen = 1.0 - gasmix->oxygen - gasmix->helium;
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break;
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default:
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return DC_STATUS_UNSUPPORTED;
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}
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}
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return DC_STATUS_SUCCESS;
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}
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static unsigned int
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uwatec_smart_identify (const unsigned char data[], unsigned int size)
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{
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unsigned int count = 0;
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for (unsigned int i = 0; i < size; ++i) {
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unsigned char value = data[i];
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for (unsigned int j = 0; j < NBITS; ++j) {
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unsigned char mask = 1 << (NBITS - 1 - j);
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if ((value & mask) == 0)
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return count;
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count++;
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}
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}
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return (unsigned int) -1;
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}
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static unsigned int
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uwatec_galileo_identify (unsigned char value)
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{
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// Bits: 0ddd dddd
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if ((value & 0x80) == 0)
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return 0;
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// Bits: 100d dddd
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if ((value & 0xE0) == 0x80)
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return 1;
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// Bits: 1XXX dddd
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if ((value & 0xF0) != 0xF0)
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return (value & 0x70) >> 4;
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// Bits: 1111 XXXX
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return (value & 0x0F) + 7;
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}
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static unsigned int
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uwatec_smart_fixsignbit (unsigned int x, unsigned int n)
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{
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if (n <= 0 || n > 32)
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return 0;
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unsigned int signbit = (1 << (n - 1));
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unsigned int mask = (0xFFFFFFFF << n);
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// When turning a two's-complement number with a certain number
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// of bits into one with more bits, the sign bit must be repeated
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// in all the extra bits.
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if ((x & signbit) == signbit)
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return x | mask;
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else
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return x & ~mask;
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}
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typedef enum {
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PRESSURE_DEPTH,
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RBT,
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TEMPERATURE,
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PRESSURE,
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DEPTH,
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HEARTRATE,
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BEARING,
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ALARMS,
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TIME,
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UNKNOWN1,
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UNKNOWN2,
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} uwatec_smart_sample_t;
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typedef struct uwatec_smart_sample_info_t {
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uwatec_smart_sample_t type;
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unsigned int absolute;
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unsigned int index;
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unsigned int ntypebits;
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unsigned int ignoretype;
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unsigned int extrabytes;
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} uwatec_smart_sample_info_t;
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static const
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uwatec_smart_sample_info_t uwatec_smart_pro_table [] = {
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{DEPTH, 0, 0, 1, 0, 0}, // 0ddddddd
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{TEMPERATURE, 0, 0, 2, 0, 0}, // 10dddddd
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{TIME, 1, 0, 3, 0, 0}, // 110ddddd
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{ALARMS, 1, 0, 4, 0, 0}, // 1110dddd
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{DEPTH, 0, 0, 5, 0, 1}, // 11110ddd dddddddd
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{TEMPERATURE, 0, 0, 6, 0, 1}, // 111110dd dddddddd
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{DEPTH, 1, 0, 7, 1, 2}, // 1111110d dddddddd dddddddd
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{TEMPERATURE, 1, 0, 8, 0, 2}, // 11111110 dddddddd dddddddd
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};
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static const
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uwatec_smart_sample_info_t uwatec_smart_aladin_table [] = {
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{DEPTH, 0, 0, 1, 0, 0}, // 0ddddddd
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{TEMPERATURE, 0, 0, 2, 0, 0}, // 10dddddd
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{TIME, 1, 0, 3, 0, 0}, // 110ddddd
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{ALARMS, 1, 0, 4, 0, 0}, // 1110dddd
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{DEPTH, 0, 0, 5, 0, 1}, // 11110ddd dddddddd
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{TEMPERATURE, 0, 0, 6, 0, 1}, // 111110dd dddddddd
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{DEPTH, 1, 0, 7, 1, 2}, // 1111110d dddddddd dddddddd
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{TEMPERATURE, 1, 0, 8, 0, 2}, // 11111110 dddddddd dddddddd
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{ALARMS, 1, 1, 9, 0, 0}, // 11111111 0ddddddd
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};
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static const
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uwatec_smart_sample_info_t uwatec_smart_com_table [] = {
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{PRESSURE_DEPTH, 0, 0, 1, 0, 1}, // 0ddddddd dddddddd
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{RBT, 0, 0, 2, 0, 0}, // 10dddddd
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{TEMPERATURE, 0, 0, 3, 0, 0}, // 110ddddd
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{PRESSURE, 0, 0, 4, 0, 1}, // 1110dddd dddddddd
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{DEPTH, 0, 0, 5, 0, 1}, // 11110ddd dddddddd
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{TEMPERATURE, 0, 0, 6, 0, 1}, // 111110dd dddddddd
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{ALARMS, 1, 0, 7, 1, 1}, // 1111110d dddddddd
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{TIME, 1, 0, 8, 0, 1}, // 11111110 dddddddd
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{DEPTH, 1, 0, 9, 1, 2}, // 11111111 0ddddddd dddddddd dddddddd
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{PRESSURE, 1, 0, 10, 1, 2}, // 11111111 10dddddd dddddddd dddddddd
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{TEMPERATURE, 1, 0, 11, 1, 2}, // 11111111 110ddddd dddddddd dddddddd
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{RBT, 1, 0, 12, 1, 1}, // 11111111 1110dddd dddddddd
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};
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static const
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uwatec_smart_sample_info_t uwatec_smart_tec_table [] = {
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{PRESSURE_DEPTH, 0, 0, 1, 0, 1}, // 0ddddddd dddddddd
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{RBT, 0, 0, 2, 0, 0}, // 10dddddd
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{TEMPERATURE, 0, 0, 3, 0, 0}, // 110ddddd
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{PRESSURE, 0, 0, 4, 0, 1}, // 1110dddd dddddddd
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{DEPTH, 0, 0, 5, 0, 1}, // 11110ddd dddddddd
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{TEMPERATURE, 0, 0, 6, 0, 1}, // 111110dd dddddddd
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{ALARMS, 1, 0, 7, 1, 1}, // 1111110d dddddddd
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{TIME, 1, 0, 8, 0, 1}, // 11111110 dddddddd
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{DEPTH, 1, 0, 9, 1, 2}, // 11111111 0ddddddd dddddddd dddddddd
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{TEMPERATURE, 1, 0, 10, 1, 2}, // 11111111 10dddddd dddddddd dddddddd
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{PRESSURE, 1, 0, 11, 1, 2}, // 11111111 110ddddd dddddddd dddddddd
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{PRESSURE, 1, 1, 12, 1, 2}, // 11111111 1110dddd dddddddd dddddddd
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{PRESSURE, 1, 2, 13, 1, 2}, // 11111111 11110ddd dddddddd dddddddd
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{RBT, 1, 0, 14, 1, 1}, // 11111111 111110dd dddddddd
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};
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static const
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uwatec_smart_sample_info_t uwatec_galileo_sol_table [] = {
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{DEPTH, 0, 0, 1, 0, 0}, // 0ddd dddd
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{RBT, 0, 0, 3, 0, 0}, // 100d dddd
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{PRESSURE, 0, 0, 4, 0, 0}, // 1010 dddd
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{TEMPERATURE, 0, 0, 4, 0, 0}, // 1011 dddd
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{TIME, 1, 0, 4, 0, 0}, // 1100 dddd
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{HEARTRATE, 0, 0, 4, 0, 0}, // 1101 dddd
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{ALARMS, 1, 0, 4, 0, 0}, // 1110 dddd
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{ALARMS, 1, 1, 8, 0, 1}, // 1111 0000 dddddddd
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{DEPTH, 1, 0, 8, 0, 2}, // 1111 0001 dddddddd dddddddd
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{RBT, 1, 0, 8, 0, 1}, // 1111 0010 dddddddd
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{TEMPERATURE, 1, 0, 8, 0, 2}, // 1111 0011 dddddddd dddddddd
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{PRESSURE, 1, 0, 8, 0, 2}, // 1111 0100 dddddddd dddddddd
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{PRESSURE, 1, 1, 8, 0, 2}, // 1111 0101 dddddddd dddddddd
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{PRESSURE, 1, 2, 8, 0, 2}, // 1111 0110 dddddddd dddddddd
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{HEARTRATE, 1, 0, 8, 0, 1}, // 1111 0111 dddddddd
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{BEARING, 1, 0, 8, 0, 2}, // 1111 1000 dddddddd dddddddd
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{ALARMS, 1, 2, 8, 0, 1}, // 1111 1001 dddddddd
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{UNKNOWN1, 1, 0, 8, 0, 0}, // 1111 1010 (8 bytes)
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{UNKNOWN2, 1, 0, 8, 0, 1}, // 1111 1011 dddddddd (n-1 bytes)
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};
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static dc_status_t
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uwatec_smart_parser_samples_foreach (dc_parser_t *abstract, dc_sample_callback_t callback, void *userdata)
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{
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uwatec_smart_parser_t *parser = (uwatec_smart_parser_t*) abstract;
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const unsigned char *data = abstract->data;
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unsigned int size = abstract->size;
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const uwatec_smart_sample_info_t *table = NULL;
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unsigned int entries = 0;
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unsigned int header = 0;
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unsigned int trimix = 0;
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// Load the correct table.
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switch (parser->model) {
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case SMARTPRO:
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header = 92;
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table = uwatec_smart_pro_table;
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entries = NELEMENTS (uwatec_smart_pro_table);
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break;
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case GALILEO:
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case GALILEOTRIMIX:
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header = 152;
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if (data[43] & 0x80) {
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header = 0xB1;
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trimix = 1;
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}
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table = uwatec_galileo_sol_table;
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entries = NELEMENTS (uwatec_galileo_sol_table);
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break;
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case ALADINTEC:
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|
header = 108;
|
|
table = uwatec_smart_aladin_table;
|
|
entries = NELEMENTS (uwatec_smart_aladin_table);
|
|
break;
|
|
case ALADINTEC2G:
|
|
header = 116;
|
|
table = uwatec_smart_aladin_table;
|
|
entries = NELEMENTS (uwatec_smart_aladin_table);
|
|
break;
|
|
case SMARTCOM:
|
|
header = 100;
|
|
table = uwatec_smart_com_table;
|
|
entries = NELEMENTS (uwatec_smart_com_table);
|
|
break;
|
|
case SMARTTEC:
|
|
case SMARTZ:
|
|
header = 132;
|
|
table = uwatec_smart_tec_table;
|
|
entries = NELEMENTS (uwatec_smart_tec_table);
|
|
break;
|
|
default:
|
|
return DC_STATUS_DATAFORMAT;
|
|
}
|
|
|
|
// Get the maximum number of alarm bytes.
|
|
unsigned int nalarms = 0;
|
|
for (unsigned int i = 0; i < entries; ++i) {
|
|
if (table[i].type == ALARMS &&
|
|
table[i].index >= nalarms)
|
|
{
|
|
nalarms = table[i].index + 1;
|
|
}
|
|
}
|
|
|
|
int complete = 0;
|
|
int calibrated = 0;
|
|
|
|
unsigned int time = 0;
|
|
unsigned int rbt = 99;
|
|
unsigned int tank = 0;
|
|
double depth = 0, depth_calibration = 0;
|
|
double temperature = 0;
|
|
double pressure = 0;
|
|
unsigned int heartrate = 0;
|
|
unsigned int bearing = 0;
|
|
unsigned char alarms[3] = {0, 0, 0};
|
|
|
|
int have_depth = 0, have_temperature = 0, have_pressure = 0, have_rbt = 0,
|
|
have_heartrate = 0, have_alarms = 0, have_bearing = 0;
|
|
|
|
unsigned int offset = header;
|
|
while (offset < size) {
|
|
dc_sample_value_t sample = {0};
|
|
|
|
// Process the type bits in the bitstream.
|
|
unsigned int id = 0;
|
|
if (parser->model == GALILEO || parser->model == GALILEOTRIMIX) {
|
|
// Uwatec Galileo
|
|
id = uwatec_galileo_identify (data[offset]);
|
|
} else {
|
|
// Uwatec Smart
|
|
id = uwatec_smart_identify (data + offset, size - offset);
|
|
}
|
|
if (id >= entries) {
|
|
ERROR (abstract->context, "Invalid type bits.");
|
|
return DC_STATUS_DATAFORMAT;
|
|
}
|
|
|
|
// Skip the processed type bytes.
|
|
offset += table[id].ntypebits / NBITS;
|
|
|
|
// Process the remaining data bits.
|
|
unsigned int nbits = 0;
|
|
unsigned int value = 0;
|
|
unsigned int n = table[id].ntypebits % NBITS;
|
|
if (n > 0) {
|
|
nbits = NBITS - n;
|
|
value = data[offset] & (0xFF >> n);
|
|
if (table[id].ignoretype) {
|
|
// Ignore any data bits that are stored in
|
|
// the last type byte for certain samples.
|
|
nbits = 0;
|
|
value = 0;
|
|
}
|
|
offset++;
|
|
}
|
|
|
|
// Check for buffer overflows.
|
|
if (offset + table[id].extrabytes > size) {
|
|
ERROR (abstract->context, "Incomplete sample data.");
|
|
return DC_STATUS_DATAFORMAT;
|
|
}
|
|
|
|
// Process the extra data bytes.
|
|
for (unsigned int i = 0; i < table[id].extrabytes; ++i) {
|
|
nbits += NBITS;
|
|
value <<= NBITS;
|
|
value += data[offset];
|
|
offset++;
|
|
}
|
|
|
|
// Fix the sign bit.
|
|
signed int svalue = uwatec_smart_fixsignbit (value, nbits);
|
|
|
|
// Parse the value.
|
|
switch (table[id].type) {
|
|
case PRESSURE_DEPTH:
|
|
pressure += ((signed char) ((svalue >> NBITS) & 0xFF)) / 4.0;
|
|
depth += ((signed char) (svalue & 0xFF)) / 50.0;
|
|
complete = 1;
|
|
break;
|
|
case RBT:
|
|
if (table[id].absolute) {
|
|
rbt = value;
|
|
have_rbt = 1;
|
|
} else {
|
|
rbt += svalue;
|
|
}
|
|
break;
|
|
case TEMPERATURE:
|
|
if (table[id].absolute) {
|
|
temperature = value / 2.5;
|
|
have_temperature = 1;
|
|
} else {
|
|
temperature += svalue / 2.5;
|
|
}
|
|
break;
|
|
case PRESSURE:
|
|
if (table[id].absolute) {
|
|
if (trimix) {
|
|
tank = (value & 0xF000) >> 24;
|
|
pressure = (value & 0x0FFF) / 4.0;
|
|
} else {
|
|
tank = table[id].index;
|
|
pressure = value / 4.0;
|
|
}
|
|
have_pressure = 1;
|
|
} else {
|
|
pressure += svalue / 4.0;
|
|
}
|
|
break;
|
|
case DEPTH:
|
|
if (table[id].absolute) {
|
|
depth = value / 50.0;
|
|
if (!calibrated) {
|
|
calibrated = 1;
|
|
depth_calibration = depth;
|
|
}
|
|
have_depth = 1;
|
|
} else {
|
|
depth += svalue / 50.0;
|
|
}
|
|
complete = 1;
|
|
break;
|
|
case HEARTRATE:
|
|
if (table[id].absolute) {
|
|
heartrate = value;
|
|
have_heartrate = 1;
|
|
} else {
|
|
heartrate += svalue;
|
|
}
|
|
break;
|
|
case BEARING:
|
|
bearing = value;
|
|
have_bearing = 1;
|
|
break;
|
|
case ALARMS:
|
|
alarms[table[id].index] = value;
|
|
have_alarms = 1;
|
|
break;
|
|
case TIME:
|
|
complete = value;
|
|
break;
|
|
case UNKNOWN1:
|
|
if (offset + 8 > size) {
|
|
ERROR (abstract->context, "Incomplete sample data.");
|
|
return DC_STATUS_DATAFORMAT;
|
|
}
|
|
offset += 8;
|
|
break;
|
|
case UNKNOWN2:
|
|
if (value < 1 || offset + value - 1 > size) {
|
|
ERROR (abstract->context, "Incomplete sample data.");
|
|
return DC_STATUS_DATAFORMAT;
|
|
}
|
|
offset += value - 1;
|
|
break;
|
|
default:
|
|
WARNING (abstract->context, "Unknown sample type.");
|
|
break;
|
|
}
|
|
|
|
while (complete) {
|
|
sample.time = time;
|
|
if (callback) callback (DC_SAMPLE_TIME, sample, userdata);
|
|
|
|
if (have_temperature) {
|
|
sample.temperature = temperature;
|
|
if (callback) callback (DC_SAMPLE_TEMPERATURE, sample, userdata);
|
|
}
|
|
|
|
if (have_alarms) {
|
|
sample.vendor.type = SAMPLE_VENDOR_UWATEC_SMART;
|
|
sample.vendor.size = nalarms;
|
|
sample.vendor.data = alarms;
|
|
if (callback) callback (DC_SAMPLE_VENDOR, sample, userdata);
|
|
memset (alarms, 0, sizeof (alarms));
|
|
have_alarms = 0;
|
|
}
|
|
|
|
if (have_rbt || have_pressure) {
|
|
sample.rbt = rbt;
|
|
if (callback) callback (DC_SAMPLE_RBT, sample, userdata);
|
|
}
|
|
|
|
if (have_pressure) {
|
|
sample.pressure.tank = tank;
|
|
sample.pressure.value = pressure;
|
|
if (callback) callback (DC_SAMPLE_PRESSURE, sample, userdata);
|
|
}
|
|
|
|
if (have_heartrate) {
|
|
sample.heartbeat = heartrate;
|
|
if (callback) callback (DC_SAMPLE_HEARTBEAT, sample, userdata);
|
|
}
|
|
|
|
if (have_bearing) {
|
|
sample.bearing = bearing;
|
|
if (callback) callback (DC_SAMPLE_BEARING, sample, userdata);
|
|
have_bearing = 0;
|
|
}
|
|
|
|
if (have_depth) {
|
|
sample.depth = depth - depth_calibration;
|
|
if (callback) callback (DC_SAMPLE_DEPTH, sample, userdata);
|
|
}
|
|
|
|
time += 4;
|
|
complete--;
|
|
}
|
|
}
|
|
|
|
return DC_STATUS_SUCCESS;
|
|
}
|