Attention! the program is in it's beta stage. it is neither tested nor documented thoroughly enough

Attention! bluetooth connection process is slow. experiments show that connections and disconnections can get 30 seconds (this seem to be a fundamental property of the system). after all connections has been setup, they work well. tested configuration: Tungsten T and two bluetooth receivers, one setup to NMEA and the other to SiRF.

nauta 4?15l (first patch level) (October17)

What

Nauta is a serial browser and data logger for Palm.

Where

Project at sourceforge
Homepage in English

News

• coreform.prc: nauta core settings
• multiple bugs fixed
• many minor improvements

Copying

It is free software; you can redistribute it and/or modify it under the terms of the GNU General Public License (v3 or later) and so on.

This is distributed in the hope that it will be useful, but without any warranty, contains mistakes of all kinds (however, unintentional) and all that.

The exact terms are in COPYING

Though this is a free (in rms sense) program, PalmOS is not, and never will be. I don't know whether they want to free the system or not, however they can't do this on their own, because PalmOS was based on a system that belonged to another firm. I distinctly realize that, therefore I write nauta for fun and self-education.

Main Features

System requirements: PalmOS 3.5 and higher.

• Supported protocols:
  1. NMEA:
     • messages GGA, GLL, GSA, GSV, RMC, VTG, ZDA.
     • sensor types AG, GP, HC, LA, LC, OM, TR.
  2. TSIP (0x41, 0x42, 0x43, 0x46, 0x4A, 0x56, 0x6D, 0x83, 0x84 messages)
  3. SiRF
  4. There are also two simple "protocols", HEXA and ASCII: the data will not be parsed, just shown at Scroll display and optionally logged.
• log and view all data from any sensor with a serial interface. Bluetooth, infrared, RS-232 ports are supported; multiple ports can be open at the same time. SDIO, MMC ports are not supported (but the memory cards are supported).
• scalable database of (NMEA) sensor and message types (almost useless).
• triple language support: Latin, Russian and English versions are available.
• differential corrections can be translated from any port to others.

Distribution Contents

The archive contains the nauta 4?15l (first patch level) (October17) which includes the following files:

• PalmOS files
  in bin/iii and bin/v directories (language-independent), bin/iii/lat/ and bin/v/lat/ (Latin), bin/iii/ru/ bin/v/ru/ (Russian, KOI8-R), bin/iii/ruwin/ and bin/v/ruwin/ (Russian, CP1251), bin/iii/en/ and bin/v/en/ (English). in bin/iii the files for PalmOS 3.5 are placed: procedures working on external memory and Bluetooth are removed from them. in bin/v there are files for PalmOS 5: they contain all those functions. files from different directories should not be installed on a single device, though the both classes of binaries will work on any PalmOS from 3.5 to 5.x (or even later).

  nauta.prc	nauta for Palm (the main application)
  tiedb.pdb	table of transitions on keypresses
  asciiparser.prc	ASCII parser
  coreform.prc	programme core settings
  gpsform.prc	satellites and measurements status
  hexparser.prc	HEXA parser
  logform.prc	tracks with comments are logged to a file
  menuform.prc	menu
  frmn.pdb	instructions for menuform.prc
  navform.prc	position and velocity
  nmeaparser.prc	NMEA parser
  prefsform.prc	preferences
  rmlog.prc	application to quickly delete nauta's logs
  rtcmparser.prc	simple parser for DGPS corrections
  scrollform.prc	scrolling screen
  sirfparser.prc	SiRF parser
  skyform.prc	the same data as in gpsform.prc in graphs.
  trackform.prc	the ways passed with receivers
  statform.prc	current and medium position, root-mean-squares.
  syncform.prc	Palm time and UTC difference; clock correction
  sysform.prc	Palm information
  tsiparser.prc	TSIP parser

• Descriptions in doc/ directory
• Sources in src/ directory

Installation

1. Remove the previous version of the program if installed
2. Install the selected version of the files. nauta.prc is necessary, the other files are not. but if nothing else is installed, nothing is shown. all files combinations are considered to be equally stable (but remember the distribution conditions). if menuform.prc don't find frmn.pdb or nauta.prc don't find tiedb.pdb, default files are generated automatically.
3. The data conversion utilities are not present in binary form. they can be built where GNU make, gcc, bash and sed are (e.g. under *nix, including cygwin). just say

   $ make utils

   then the utilities should appear in bin/utils/.

Modules description

nauta.prc

The main application. he has no forms besides auxiliary. he controls all the rest. he reads in tiedb.pdb his table of transitions between forms on keypresses. he writes his events in /var/lib/nauta/log. they can be read after conversion with db2txt program. in released versions, those logs are not so verbose, but you will have to delete them from time to time. I use FileZ and my rmlog.

The entering from sources data are passed to parsers (..parser.prc). the parser converts these data in messages, then the messages are fetched to the current form (..form.prc). now this latter form displays the data in accordance to her will. certain parsers can be feeders. such a parser produces from it's source differential corrections and sends them to sources.

A pipe includes a source, a feeder, a parser and a database whither the data are written. the data can be displayed or not, written or not. all this can be customized at preferences form (prefsform.prc). All pipes, no pipes and single pipe can also be quickly selected. this is performed with a popup list in the upper left corner. multiple simultaneous channels are supported. now trackform.prc is the only one that distinguishes messages from different sources. multiple channels can be useful if data from several sources need to be logged at the same time. of course, the hardware must admit this.

asciiparser.prc

This converts all the data to text messages. they can be seen at the Scroll form.

coreform.prc



Nauta core: settings and state.

gpsform.prc



Measurements state, number and list of satellites in use, and in which directions they are seen, and dilusions of precision.

hexparser.prc

The only difference from asciiparser.prc is that this transforms the data to hexadecimal form.

logform.prc



Current positions with user comments are written into a database. in the upper part the current measurement and free memory are shown. then the write interval in seconds is shown and can be modified. after that there are the comments list. the comments can be selected, deleted, corrected and added. you can select them from the list in the usual for PalmOS way or with >Up< and >Down< keys, as well as via graffitying the first letter of the comment. in the lower part the database in which the measurements and comments are written is defined.

If an external memory card was used, copy the logged file to a less portable machine. in the file you can see lines like these:

@Palm date: 23/6/1976 
63230000 200580001 134880002 10200 2
@GPS date: 23/6/1976 
63240000 200580003 134880004 10200 3
#Pooh Corner
63257000 200580005 134880006 10200 1
63270000 200580007 134880008 10200 2
#oak (or birk?)
63280000 200580009 134880010 10200 2
63290000 200580001 134880003 10200 2
#well
63310000 200580002 134880004 10200 2

The lines in "#" are user's comments; "@Palm date:" goes from PalmOS; "@GPS date:" is the date from the receiver. the other lines are measurements: the first position is UTC in milliseconds; the second — latitude in milliseconds; the third — longitude in milliseconds; the fourth — altitude in centimeters; the last sign is the measurement quality (0 - no measurement; 2 - two-dimensional; 3 - three-dimensional).

If the log is written in the Palm internal memory, it can be translated to the same form with db2txt itility.

menuform.prc



In this form the other forms are listed and hither can be reached. the buttons positions are written in frmn.pdb. if this database is absent, a new one is created, in which all present forms are collected. we can go to this form with >Menu< button.

navform.prc



Time, curent position and speed with large font.

nmeaparser.prc

NMEA parser. It can read about messages structure from it's dababase (dbnmea.pdb), but even without the database it knows enough. this is why dbnmea.pdb is not included in the distribution.

prefsform.prc



The program preferences.

rtcmparser.prc

Parser for differential corrections management. it sends all entering data with no transform to defined sources.

scrollform.prc



Here the entering data run.

sirfarser.prc

SiRF (Trimble binary protocol) parser.

skyform.prc



It writes time, position, dilusions of precision, draws signal-to-noise ratio and satellites in the sky.

statform.prc



Time, current and mean position. RMS is estimated. of course, it is not the error magnitude, only degree of difference between measurements at the observation timespan.

syncform.prc



Palm time, UTC, the difference. Palm clock can be corrected.

sysform.prc



Palm features: free memory, time, serial ports, the device serial number.

trackform.prc



The ways passed are drawn. different sources are distinguished. the receiver current position is designated with the pipe number. the scale of the drawing is written at the left upper corner.

tsiparser.prc

TSIP (Trimble binary protocol) parser.

On using the utilities

db2txt

Nauta creates files in the Palm memory. if you transfer them in any way to another computer you can convert it to a file containing data as they are written. all you need is to run db2txt like this:

$ db2txt nautadb.pdb nautadb.dat

The result will be written in nautadb.dat.

mndb2txt and txt2mndb

Use them to change buttons in menuform.prc. I won't describe here the format, but you can read an example in the sources.

tiedb2txt and txt2tiedb

The same for the transitions table tiedb.pdb.

More Info

See the program tips and NMEA 0183 documentation. TSIP description is available at Trimble home page.

Author

Ineiev<ineiev@users.sourceforge.net>, PMS18 graduate