Add a Gitter chat link to readme.txt

app/rtkrcv/gcc/makefile

@@ -14,7 +14,7 @@ all        : rtkrcv
 rtkrcv     : rtkrcv.o rtkcmn.o rtksvr.o rtkpos.o geoid.o solution.o lambda.o
 rtkrcv     : sbas.o stream.o rcvraw.o rtcm.o preceph.o options.o pntpos.o ppp.o ppp_ar.o
 rtkrcv     : novatel.o ublox.o ss2.o crescent.o skytraq.o gw10.o javad.o nvs.o binex.o
-rtkrcv     : rt17.o ephemeris.o rinex.o ionex.o rtcm2.o rtcm3.o rtcm3e.o qzslex.o
+rtkrcv     : rt17.o ephemeris.o rinex.o ionex.o rtcm2.o rtcm3.o rtcm3e.o qzslex.o spi.o
 
 rtkrcv.o   : ../rtkrcv.c
 	$(CC) -c $(CFLAGS) ../rtkrcv.c
@@ -83,6 +83,9 @@ ionex.o    : $(SRC)/ionex.c
 qzslex.o   : $(SRC)/qzslex.c
 	$(CC) -c $(CFLAGS) $(SRC)/qzslex.c
 
+spi.o   : $(SRC)/spi.c
+	$(CC) -c $(CFLAGS) $(SRC)/spi.c
+
 rtkrcv.o   : $(SRC)/rtklib.h
 rtkcmn.o   : $(SRC)/rtklib.h
 rtksvr.o   : $(SRC)/rtklib.h

app/rtkrcv/gcc/rtkrcv.conf

@@ -4,9 +4,9 @@ console-passwd     =admin
 console-timetype   =gpst       # (0:gpst,1:utc,2:jst,3:tow)
 console-soltype    =dms        # (0:dms,1:deg,2:xyz,3:enu,4:pyl)
 console-solflag    =1          # (0:off,1:std+2:age/ratio/ns)
-inpstr1-type       =serial     # (0:off,1:serial,2:file,3:tcpsvr,4:tcpcli,7:ntripcli,8:ftp,9:http)
-inpstr2-type       =serial     # (0:off,1:serial,2:file,3:tcpsvr,4:tcpcli,7:ntripcli,8:ftp,9:http)
-inpstr3-type       =ftp        # (0:off,1:serial,2:file,3:tcpsvr,4:tcpcli,7:ntripcli,8:ftp,9:http)
+inpstr1-type       =serial     # (0:off,1:serial,2:file,3:tcpsvr,4:tcpcli,7:ntripcli,8:ftp,9:http,10:spi)
+inpstr2-type       =serial     # (0:off,1:serial,2:file,3:tcpsvr,4:tcpcli,7:ntripcli,8:ftp,9:http,10:spi)
+inpstr3-type       =ftp        # (0:off,1:serial,2:file,3:tcpsvr,4:tcpcli,7:ntripcli,8:ftp,9:http,10:spi)
 inpstr1-path       =ttyS0:115200:8:n:1:off
 inpstr2-path       =ttyS1:115200:8:n:1:off
 inpstr3-path       =anonymous:passwd@cddis.gsfc.nasa.gov/gps/products/%W/igu%W%D_%hb.sp3.Z::T=-14400,21600,7200,600

app/rtkrcv/rtkrcv.c

@@ -185,7 +185,7 @@ static const char *pathopts[]={         /* path options help */
 #define TIMOPT  "0:gpst,1:utc,2:jst,3:tow"
 #define CONOPT  "0:dms,1:deg,2:xyz,3:enu,4:pyl"
 #define FLGOPT  "0:off,1:std+2:age/ratio/ns"
-#define ISTOPT  "0:off,1:serial,2:file,3:tcpsvr,4:tcpcli,7:ntripcli,8:ftp,9:http"
+#define ISTOPT  "0:off,1:serial,2:file,3:tcpsvr,4:tcpcli,7:ntripcli,8:ftp,9:http,10:spi"
 #define OSTOPT  "0:off,1:serial,2:file,3:tcpsvr,4:tcpcli,6:ntripsvr"
 #define FMTOPT  "0:rtcm2,1:rtcm3,2:oem4,3:oem3,4:ubx,5:ss2,6:hemis,7:skytraq,8:gw10,9:javad,10:nvs,11:binex,12:rt17,15:sp3"
 #define NMEOPT  "0:off,1:latlon,2:single"

app/str2str/gcc/makefile

@@ -14,7 +14,7 @@ LDLIBS  = -lm -lrt -lpthread
 all        : str2str
 str2str    : str2str.o stream.o rtkcmn.o solution.o sbas.o geoid.o
 str2str    : rcvraw.o novatel.o ublox.o ss2.o crescent.o skytraq.o gw10.o javad.o
-str2str    : nvs.o binex.o rt17.o rtcm.o rtcm2.o rtcm3.o rtcm3e.o preceph.o streamsvr.o
+str2str    : nvs.o binex.o rt17.o rtcm.o rtcm2.o rtcm3.o rtcm3e.o preceph.o streamsvr.o spi.o
 
 str2str.o  : ../str2str.c
 	$(CC) -c $(CFLAGS) ../str2str.c
@@ -62,6 +62,9 @@ rtcm3e.o   : $(SRC)/rtcm3e.c
 	$(CC) -c $(CFLAGS) $(SRC)/rtcm3e.c
 preceph.o  : $(SRC)/preceph.c
 	$(CC) -c $(CFLAGS) $(SRC)/preceph.c
+spi.o  : $(SRC)/spi.c
+	$(CC) -c $(CFLAGS) $(SRC)/spi.c
+
 
 str2str.o  : $(SRC)/rtklib.h
 stream.o   : $(SRC)/rtklib.h
@@ -86,6 +89,7 @@ rtcm2.o    : $(SRC)/rtklib.h
 rtcm3.o    : $(SRC)/rtklib.h
 rtcm3e.o   : $(SRC)/rtklib.h
 preceph.o  : $(SRC)/rtklib.h
+spi.o      : $(SRC)/rtklib.h
 
 install:
 	cp str2str $(BINDIR)

app/str2str/str2str.c

@@ -146,6 +146,7 @@ static int decodepath(const char *path, int *type, char *strpath, int *fmt)
     else if (!strncmp(path,"ntrips",6)) *type=STR_NTRIPSVR;
     else if (!strncmp(path,"ntrip", 5)) *type=STR_NTRIPCLI;
     else if (!strncmp(path,"file",  4)) *type=STR_FILE;
+    else if (!strncmp(path,"spi",  3)) *type=STR_SPI;
     else {
         fprintf(stderr,"stream path error: %s\n",buff);
         return 0;

bin-rpi/opts1.conf

@@ -0,0 +1,84 @@
+# rtkpost options (2010/08/07 09:24:29, v.2.4.0)
+
+#pos1-posmode       =kinematic  # (0:single,1:dgps,2:kinematic,3:static,4:movingbase,5:fixed,6:ppp-kine,7:ppp-static)
+pos1-posmode       =static     # (0:single,1:dgps,2:kinematic,3:static,4:movingbase,5:fixed,6:ppp-kine,7:ppp-static)
+pos1-frequency     =l1+l2      # (1:l1,2:l1+l2,3:l1+l2+l5)
+pos1-soltype       =forward    # (0:forward,1:backward,2:combined)
+pos1-elmask        =10         # (deg)
+pos1-snrmask       =0          # (dBHz)
+pos1-dynamics      =off        # (0:off,1:on)
+pos1-tidecorr      =off        # (0:off,1:on)
+pos1-ionoopt       =brdc       # (0:off,1:brdc,2:sbas,3:dual-freq,4:est-stec)
+pos1-tropopt       =saas       # (0:off,1:saas,2:sbas,3:est-ztd,4:est-ztdgrad)
+pos1-sateph        =brdc       # (0:brdc,1:precise,2:brdc+sbas,3:brdc+ssrapc,4:brdc+ssrcom)
+pos1-exclsats      =           # (prn ...)
+pos1-navsys        =1          # (1:gps+2:sbas+4:glo+8:gal+16:qzs+32:comp)
+pos2-armode        =fix-and-hold # (0:off,1:continous,2:instantaneous,3:fix-and-hold)
+pos2-gloarmode     =on         # (0:off,1:on,2:autocal)
+pos2-arthres       =5
+pos2-arlockcnt     =0
+pos2-arelmask      =0          # (deg)
+pos2-aroutcnt      =5
+pos2-arminfix      =10
+pos2-slipthres     =0.05       # (m)
+pos2-maxage        =30         # (s)
+pos2-rejionno      =30         # (m)
+pos2-niter         =1
+pos2-baselen       =0          # (m)
+pos2-basesig       =0          # (m)
+out-solformat      =llh        # (0:llh,1:xyz,2:enu,3:nmea)
+out-outhead        =on         # (0:off,1:on)
+out-outopt         =on         # (0:off,1:on)
+out-timesys        =gpst       # (0:gpst,1:utc,2:jst)
+out-timeform       =hms        # (0:tow,1:hms)
+out-timendec       =3
+out-degform        =deg        # (0:deg,1:dms)
+out-fieldsep       =
+out-height         =ellipsoidal # (0:ellipsoidal,1:geodetic)
+out-geoid          =internal   # (0:internal,1:egm96,2:egm08_2.5,3:egm08_1,4:gsi2000)
+#out-solstatic      =all        # (0:all,1:single)
+out-solstatic      =single     # (0:all,1:single)
+out-nmeaintv1      =0          # (s)
+out-nmeaintv2      =0          # (s)
+out-outstat        =off        # (0:off,1:state,2:residual)
+stats-errratio     =100
+stats-errphase     =0.003      # (m)
+stats-errphaseel   =0.003      # (m)
+stats-errphasebl   =0          # (m/10km)
+stats-errdoppler   =10         # (Hz)
+stats-stdbias      =30         # (m)
+stats-stdiono      =0.03       # (m)
+stats-stdtrop      =0.3        # (m)
+stats-prnaccelh    =1          # (m/s^2)
+stats-prnaccelv    =0.1        # (m/s^2)
+stats-prnbias      =0.0001     # (m)
+stats-prniono      =0.001      # (m)
+stats-prntrop      =0.0001     # (m)
+stats-clkstab      =5e-12      # (s/s)
+ant1-postype       =llh        # (0:llh,1:xyz,2:single,3:posfile,4:rinexhead,5:rtcm)
+ant1-pos1          =0          # (deg|m)
+ant1-pos2          =0          # (deg|m)
+ant1-pos3          =0          # (m|m)
+ant1-anttype       =*
+ant1-antdele       =0          # (m)
+ant1-antdeln       =0          # (m)
+ant1-antdelu       =0          # (m)
+ant2-postype       =single     # (0:llh,1:xyz,2:single,3:posfile,4:rinexhead,5:rtcm)
+ant2-pos1          =0          # (deg|m)
+ant2-pos2          =0          # (deg|m)
+ant2-pos3          =0          # (m|m)
+ant2-anttype       =*
+ant2-antdele       =0          # (m)
+ant2-antdeln       =0          # (m)
+ant2-antdelu       =0          # (m)
+misc-timeinterp    =on         # (0:off,1:on)
+misc-sbasatsel     =0          # (0:all)
+file-satantfile    =../../../data/igs05.atx
+file-rcvantfile    =../../../data/igs05.atx
+file-staposfile    =../../../data/stations.pos
+file-geoidfile     =
+file-dcbfile       =../../../data/P1C1_ALL.DCB
+file-tempdir       =
+file-geexefile     =
+file-solstatfile   =
+file-tracefile     =

bin-rpi/opts2.conf

@@ -0,0 +1,82 @@
+# rtkpost options (2010/08/07 09:24:41, v.2.4.0)
+
+pos1-posmode       =kinematic  # (0:single,1:dgps,2:kinematic,3:static,4:movingbase,5:fixed,6:ppp-kine,7:ppp-static)
+pos1-frequency     =l1+l2      # (1:l1,2:l1+l2,3:l1+l2+l5)
+pos1-soltype       =combined   # (0:forward,1:backward,2:combined)
+pos1-elmask        =10         # (deg)
+pos1-snrmask       =20         # (dBHz)
+pos1-dynamics      =off        # (0:off,1:on)
+pos1-tidecorr      =off        # (0:off,1:on)
+pos1-ionoopt       =brdc       # (0:off,1:brdc,2:sbas,3:dual-freq,4:est-stec)
+pos1-tropopt       =saas       # (0:off,1:saas,2:sbas,3:est-ztd,4:est-ztdgrad)
+pos1-sateph        =brdc       # (0:brdc,1:precise,2:brdc+sbas,3:brdc+ssrapc,4:brdc+ssrcom)
+pos1-exclsats      =           # (prn ...)
+pos1-navsys        =1          # (1:gps+2:sbas+4:glo+8:gal+16:qzs+32:comp)
+pos2-armode        =continuous # (0:off,1:continuous,2:instantaneous,3:fix-and-hold)
+pos2-gloarmode     =on         # (0:off,1:on,2:autocal)
+pos2-arthres       =3
+pos2-arlockcnt     =5
+pos2-arelmask      =0          # (deg)
+pos2-aroutcnt      =5
+pos2-arminfix      =10
+pos2-slipthres     =0.05       # (m)
+pos2-maxage        =30         # (s)
+pos2-rejionno      =30         # (m)
+pos2-niter         =1
+pos2-baselen       =0          # (m)
+pos2-basesig       =0          # (m)
+out-solformat      =llh        # (0:llh,1:xyz,2:enu,3:nmea)
+out-outhead        =on         # (0:off,1:on)
+out-outopt         =on         # (0:off,1:on)
+out-timesys        =gpst       # (0:gpst,1:utc,2:jst)
+out-timeform       =hms        # (0:tow,1:hms)
+out-timendec       =3
+out-degform        =deg        # (0:deg,1:dms)
+out-fieldsep       =
+out-height         =ellipsoidal # (0:ellipsoidal,1:geodetic)
+out-geoid          =internal   # (0:internal,1:egm96,2:egm08_2.5,3:egm08_1,4:gsi2000)
+out-solstatic      =all        # (0:all,1:single)
+out-nmeaintv1      =0          # (s)
+out-nmeaintv2      =0          # (s)
+out-outstat        =off        # (0:off,1:state,2:residual)
+stats-errratio     =100
+stats-errphase     =0.003      # (m)
+stats-errphaseel   =0.003      # (m)
+stats-errphasebl   =0          # (m/10km)
+stats-errdoppler   =10         # (Hz)
+stats-stdbias      =30         # (m)
+stats-stdiono      =0.03       # (m)
+stats-stdtrop      =0.3        # (m)
+stats-prnaccelh    =1          # (m/s^2)
+stats-prnaccelv    =0.1        # (m/s^2)
+stats-prnbias      =0.0001     # (m)
+stats-prniono      =0.001      # (m)
+stats-prntrop      =0.0001     # (m)
+stats-clkstab      =5e-12      # (s/s)
+ant1-postype       =llh        # (0:llh,1:xyz,2:single,3:posfile,4:rinexhead,5:rtcm)
+ant1-pos1          =0          # (deg|m)
+ant1-pos2          =0          # (deg|m)
+ant1-pos3          =0          # (m|m)
+ant1-anttype       =*
+ant1-antdele       =0          # (m)
+ant1-antdeln       =0          # (m)
+ant1-antdelu       =0          # (m)
+ant2-postype       =llh        # (0:llh,1:xyz,2:single,3:posfile,4:rinexhead,5:rtcm)
+ant2-pos1          =35.1320570679997 # (deg|m)
+ant2-pos2          =139.624306577 # (deg|m)
+ant2-pos3          =73.907699999947 # (m|m)
+ant2-anttype       =*
+ant2-antdele       =0          # (m)
+ant2-antdeln       =0          # (m)
+ant2-antdelu       =0          # (m)
+misc-timeinterp    =on         # (0:off,1:on)
+misc-sbasatsel     =0          # (0:all)
+file-satantfile    =../../../data/igs05.atx
+file-rcvantfile    =../../../data/igs05.atx
+file-staposfile    =../../../data/stations.pos
+file-geoidfile     =
+file-dcbfile       =../../../data/P1C1_ALL.DCB
+file-tempdir       =
+file-geexefile     =
+file-solstatfile   =
+file-tracefile     =

bin-rpi/opts3.conf

@@ -0,0 +1,82 @@
+# rtkpost options (2010/08/07 09:24:53, v.2.4.0)
+
+pos1-posmode       =kinematic  # (0:single,1:dgps,2:kinematic,3:static,4:movingbase,5:fixed,6:ppp-kine,7:ppp-static)
+pos1-frequency     =l1+l2      # (1:l1,2:l1+l2,3:l1+l2+l5)
+pos1-soltype       =forward    # (0:forward,1:backward,2:combined)
+pos1-elmask        =15         # (deg)
+pos1-snrmask       =0          # (dBHz)
+pos1-dynamics      =off        # (0:off,1:on)
+pos1-tidecorr      =off        # (0:off,1:on)
+pos1-ionoopt       =brdc       # (0:off,1:brdc,2:sbas,3:dual-freq,4:est-stec)
+pos1-tropopt       =saas       # (0:off,1:saas,2:sbas,3:est-ztd,4:est-ztdgrad)
+pos1-sateph        =brdc       # (0:brdc,1:precise,2:brdc+sbas,3:brdc+ssrapc,4:brdc+ssrcom)
+pos1-exclsats      =           # (prn ...)
+pos1-navsys        =1          # (1:gps+2:sbas+4:glo+8:gal+16:qzs+32:comp)
+pos2-armode        =fix-and-hold # (0:off,1:continous,2:instantaneous,3:fix-and-hold)
+pos2-gloarmode     =on         # (0:off,1:on,2:autocal)
+pos2-arthres       =3
+pos2-arlockcnt     =5
+pos2-arelmask      =0          # (deg)
+pos2-aroutcnt      =5
+pos2-arminfix      =10
+pos2-slipthres     =0.05       # (m)
+pos2-maxage        =30         # (s)
+pos2-rejionno      =30         # (m)
+pos2-niter         =1
+pos2-baselen       =0          # (m)
+pos2-basesig       =0          # (m)
+out-solformat      =llh        # (0:llh,1:xyz,2:enu,3:nmea)
+out-outhead        =on         # (0:off,1:on)
+out-outopt         =on         # (0:off,1:on)
+out-timesys        =gpst       # (0:gpst,1:utc,2:jst)
+out-timeform       =hms        # (0:tow,1:hms)
+out-timendec       =9
+out-degform        =dms        # (0:deg,1:dms)
+out-fieldsep       =
+out-height         =geodetic   # (0:ellipsoidal,1:geodetic)
+out-geoid          =internal   # (0:internal,1:egm96,2:egm08_2.5,3:egm08_1,4:gsi2000)
+out-solstatic      =all        # (0:all,1:single)
+out-nmeaintv1      =0          # (s)
+out-nmeaintv2      =0          # (s)
+out-outstat        =off        # (0:off,1:state,2:residual)
+stats-errratio     =100
+stats-errphase     =0.003      # (m)
+stats-errphaseel   =0.003      # (m)
+stats-errphasebl   =0          # (m/10km)
+stats-errdoppler   =10         # (Hz)
+stats-stdbias      =30         # (m)
+stats-stdiono      =0.03       # (m)
+stats-stdtrop      =0.3        # (m)
+stats-prnaccelh    =1          # (m/s^2)
+stats-prnaccelv    =0.1        # (m/s^2)
+stats-prnbias      =0.0001     # (m)
+stats-prniono      =0.001      # (m)
+stats-prntrop      =0.0001     # (m)
+stats-clkstab      =5e-12      # (s/s)
+ant1-postype       =llh        # (0:llh,1:xyz,2:single,3:posfile,4:rinexhead,5:rtcm)
+ant1-pos1          =0          # (deg|m)
+ant1-pos2          =0          # (deg|m)
+ant1-pos3          =0          # (m|m)
+ant1-anttype       =*
+ant1-antdele       =0          # (m)
+ant1-antdeln       =0          # (m)
+ant1-antdelu       =0          # (m)
+ant2-postype       =llh        # (0:llh,1:xyz,2:single,3:posfile,4:rinexhead,5:rtcm)
+ant2-pos1          =35.1320570679997 # (deg|m)
+ant2-pos2          =139.624306577 # (deg|m)
+ant2-pos3          =73.907699999947 # (m|m)
+ant2-anttype       =*
+ant2-antdele       =0          # (m)
+ant2-antdeln       =0          # (m)
+ant2-antdelu       =0          # (m)
+misc-timeinterp    =on         # (0:off,1:on)
+misc-sbasatsel     =0          # (0:all)
+file-satantfile    =../../../data/igs05.atx
+file-rcvantfile    =../../../data/igs05.atx
+file-staposfile    =../../../data/stations.pos
+file-geoidfile     =
+file-dcbfile       =../../../data/P1C1_ALL.DCB
+file-tempdir       =
+file-geexefile     =
+file-solstatfile   =
+file-tracefile     =