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driver_ubx.c
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/*
* UBX driver. All capabilities are common to Antaris4 and u-blox 6.
* Reference manuals are at
* http://www.u-blox.com/en/download/documents-a-resources/u-blox-6-gps-modules-resources.html
*
* updated for u-blox 8
* http://www.ublox.com/images/downloads/Product_Docs/u-bloxM8_ReceiverDescriptionProtocolSpec_%28UBX-13003221%29_Public.pdf
*
* Week counters are not limited to 10 bits. It's unknown what
* the firmware is doing to disambiguate them, if anything; it might just
* be adding a fixed offset based on a hidden epoch value, in which case
* unhappy things will occur on the next rollover.
*
* For the Antaris 4, the default leap-second offset (before getting one from
* the sats, one presumes) is 0sec; for the u-blox 6 it's 15sec.
*
* This file is Copyright (c) 2010-2019 by the GPSD project
* SPDX-License-Identifier: BSD-2-clause
*
*/
#include "gpsd_config.h" /* must be before all includes */
#include <assert.h>
#include <math.h>
#include <stdbool.h>
#include <stdio.h>
#include <stdlib.h>
#include <string.h>
#include <unistd.h>
#include "gpsd.h"
#if defined(UBLOX_ENABLE) && defined(BINARY_ENABLE)
#include "driver_ubx.h"
#include "bits.h"
/*
* A ubx packet looks like this:
* leader: 0xb5 0x62
* message class: 1 byte
* message type: 1 byte
* length of payload: 2 bytes
* payload: variable length
* checksum: 2 bytes
*
* see also the FV25 and UBX documents on reference.html
*/
#define UBX_PREFIX_LEN 6
#define UBX_CLASS_OFFSET 2
#define UBX_TYPE_OFFSET 3
/* because we hates magic numbers forever */
#define USART1_ID 1
#define USART2_ID 2
#define USB_ID 3
#define UBX_PROTOCOL_MASK 0x01
#define NMEA_PROTOCOL_MASK 0x02
#define RTCM_PROTOCOL_MASK 0x04
#define UBX_CFG_LEN 20
#define outProtoMask 14
static gps_mask_t ubx_parse(struct gps_device_t *session, unsigned char *buf,
size_t len);
static gps_mask_t ubx_msg_nav_eoe(struct gps_device_t *session,
unsigned char *buf, size_t data_len);
static gps_mask_t ubx_msg_nav_dop(struct gps_device_t *session,
unsigned char *buf, size_t data_len);
static void ubx_msg_inf(struct gps_device_t *session, unsigned char *buf,
size_t data_len);
static gps_mask_t ubx_msg_nav_posecef(struct gps_device_t *session,
unsigned char *buf, size_t data_len);
static gps_mask_t ubx_msg_nav_pvt(struct gps_device_t *session,
unsigned char *buf, size_t data_len);
static void ubx_msg_mon_ver(struct gps_device_t *session,
unsigned char *buf, size_t data_len);
static gps_mask_t ubx_msg_nav_sat(struct gps_device_t *session,
unsigned char *buf, size_t data_len);
static gps_mask_t ubx_msg_nav_sol(struct gps_device_t *session,
unsigned char *buf, size_t data_len);
static gps_mask_t ubx_msg_nav_svinfo(struct gps_device_t *session,
unsigned char *buf, size_t data_len);
static gps_mask_t ubx_msg_nav_timegps(struct gps_device_t *session,
unsigned char *buf, size_t data_len);
static gps_mask_t ubx_msg_nav_velecef(struct gps_device_t *session,
unsigned char *buf, size_t data_len);
static void ubx_msg_sbas(struct gps_device_t *session, unsigned char *buf,
size_t data_len);
static gps_mask_t ubx_msg_tim_tp(struct gps_device_t *session,
unsigned char *buf, size_t data_len);
#ifdef RECONFIGURE_ENABLE
static void ubx_mode(struct gps_device_t *session, int mode);
#endif /* RECONFIGURE_ENABLE */
/* make up an NMEA 4.0 (extended) PRN based on gnssId:svId,
* using Appendix A from * u-blox ZED-F9P Interface Description
*
* Return PRN, or zero for error
*/
static short ubx2_to_prn(int gnssId, int svId)
{
short nmea_PRN;
if (1 > svId) {
/* skip 0 svId */
return 0;
}
switch (gnssId) {
case 0:
/* GPS, 1-32 maps to 1-32 */
if (32 < svId) {
/* skip bad svId */
return 0;
}
nmea_PRN = svId;
break;
case 1:
/* SBAS, 120..151, 152..158 maps to 33..64, 152..158 */
if (120 > svId) {
/* Huh? */
return 0;
} else if (151 >= svId) {
nmea_PRN = svId - 87;
} else if (158 >= svId) {
nmea_PRN = svId;
} else {
/* Huh? */
return 0;
}
break;
case 2:
/* Galileo, 1..36 -> 301-336 */
/* Galileo, 211..246 -> 301-336 */
if (36 >= svId) {
nmea_PRN = svId + 300;
} else if (211 > svId) {
/* skip bad svId */
return 0;
} else if (246 >= svId) {
nmea_PRN = svId + 90;
} else {
/* skip bad svId */
return 0;
}
break;
case 3:
/* BeiDou, 1..37 -> to 401-437 */
/* BeiDou, 159..163,33..64 -> to 401-437 */
if (37 >= svId) {
nmea_PRN = svId + 400;
} else {
/* skip bad svId */
return 0;
}
break;
case 4:
/* IMES, 1-10 -> to 173-182, per u-blox 8/NMEA 4.0 extended */
if (10 < svId) {
/* skip bad svId */
return 0;
}
nmea_PRN = svId + 172;
break;
case 5:
/* QZSS, 1-5 maps to 193-197 */
/* ZED-F9T also see 198 and 199 */
if (7 < svId) {
/* skip bad svId */
return 0;
}
nmea_PRN = svId + 192;
break;
case 6:
/* GLONASS, 1-32 maps to 65-96 */
if (32 < svId) {
/* skip bad svId */
/* 255 == tracked, but unidentified, skip */
return 0;
}
nmea_PRN = svId + 64;
break;
default:
/* Huh? */
return 0;
}
return nmea_PRN;
}
/* Convert a ubx PRN to an NMEA 4.0 (extended) PRN and ubx gnssid, svid
*
* return 0 on fail
*/
static short ubx_to_prn(int ubx_PRN, unsigned char *gnssId,
unsigned char *svId)
{
*gnssId = 0;
*svId = 0;
if (1 > ubx_PRN) {
/* skip 0 PRN */
return 0;
} else if (32 >= ubx_PRN) {
/* GPS 1..32 -> 1..32 */
*gnssId = 0;
*svId = ubx_PRN;
} else if (64 >= ubx_PRN) {
/* BeiDou, 159..163,33..64 -> 1..5,6..37 */
*gnssId = 3;
*svId = ubx_PRN - 27;
} else if (96 >= ubx_PRN) {
/* GLONASS 65..96 -> 1..32 */
*gnssId = 6;
*svId = ubx_PRN - 64;
} else if (120 > ubx_PRN) {
/* Huh? */
return 0;
} else if (158 >= ubx_PRN) {
/* SBAS 120..158 -> 120..158 */
*gnssId = 1;
*svId = ubx_PRN;
} else if (163 >= ubx_PRN) {
/* BeiDou, 159..163 -> 1..5 */
*gnssId = 3;
*svId = ubx_PRN - 158;
} else if (173 > ubx_PRN) {
/* Huh? */
return 0;
} else if (182 >= ubx_PRN) {
/* IMES 173..182 -> 1..5, in u-blox 8, bot u-blox 9 */
*gnssId = 4;
*svId = ubx_PRN - 172;
} else if (193 > ubx_PRN) {
/* Huh? */
return 0;
} else if (199 >= ubx_PRN) {
/* QZSS 193..197 -> 1..5 */
/* ZED-F9T also see 198 and 199 */
*gnssId = 5;
*svId = ubx_PRN - 192;
} else if (211 > ubx_PRN) {
/* Huh? */
return 0;
} else if (246 >= ubx_PRN) {
/* Galileo 211..246 -> 1..36 */
*gnssId = 2;
*svId = ubx_PRN - 210;
} else {
/* greater than 246
* GLONASS (255), unused, or other unknown */
return 0;
}
return ubx2_to_prn(*gnssId, *svId);
}
/**
* Receiver/Software Version
* UBX-MON-VER
*
* sadly more info than fits in session->swtype for now.
* so squish the data hard.
*/
static void
ubx_msg_mon_ver(struct gps_device_t *session, unsigned char *buf,
size_t data_len)
{
size_t n = 0; /* extended info counter */
char obuf[128]; /* temp version string buffer */
char *cptr;
if (40 > data_len) {
gpsd_log(&session->context->errout, LOG_WARN,
"Runt MON-VER message, payload len %zd", data_len);
return;
}
/* save SW and HW Version as subtype */
(void)snprintf(obuf, sizeof(obuf),
"SW %.30s,HW %.10s",
(char *)&buf[UBX_MESSAGE_DATA_OFFSET + 0],
(char *)&buf[UBX_MESSAGE_DATA_OFFSET + 30]);
/* get n number of Extended info strings. what is max n? */
for ( n = 0; ; n++ ) {
size_t start_of_str = UBX_MESSAGE_DATA_OFFSET + 40 + (30 * n);
if ( (start_of_str + 2 ) > data_len ) {
/* last one can be shorter than 30 */
/* no more data */
break;
}
(void)strlcat(obuf, ",", sizeof(obuf));
(void)strlcat(obuf, (char *)&buf[start_of_str], sizeof(obuf));
}
/* save what we can */
(void)strlcpy(session->subtype, obuf, sizeof(session->subtype));
/* find PROTVER= */
cptr = strstr(session->subtype, "PROTVER=");
if (NULL != cptr) {
int protver = atoi(cptr + 8);
if (9 < protver) {
/* protver 10, u-blox 5, is the oldest we know */
session->driver.ubx.protver = protver;
}
}
/* output SW and HW Version at LOG_INFO */
gpsd_log(&session->context->errout, LOG_INF,
"UBX-MON-VER: %.*s\n",
(int)sizeof(obuf), obuf);
}
/*
* UBX-NAV-HPPOSECEF - High Precision Position Solution in ECEF
*/
static gps_mask_t
ubx_msg_nav_hpposecef(struct gps_device_t *session, unsigned char *buf,
size_t data_len)
{
gps_mask_t mask = ECEF_SET;
int version;
if (28 > data_len) {
gpsd_log(&session->context->errout, LOG_WARN,
"Runt UBX-NAV-HPPOSECEF message, payload len %zd", data_len);
return 0;
}
version = getub(buf, 0);
session->driver.ubx.iTOW = getleu32(buf, 4);
session->newdata.ecef.x = ((getles32(buf, 8) +
(getsb(buf, 20) * 1e-2)) * 1e-2);
session->newdata.ecef.y = ((getles32(buf, 12) +
(getsb(buf, 21) * 1e-2)) * 1e-2);
session->newdata.ecef.z = ((getles32(buf, 16) +
(getsb(buf, 22) * 1e-2)) * 1e-2);
session->newdata.ecef.pAcc = getleu32(buf, 24) * 1e-4;
/* (long long) cast for 32-bit compat */
gpsd_log(&session->context->errout, LOG_DATA,
"UBX-NAV-HPPOSECEF: version %d iTOW=%lld ECEF x=%.4f y=%.4f z=%.4f "
"pAcc=%.4f\n",
version,
(long long)session->driver.ubx.iTOW,
session->newdata.ecef.x,
session->newdata.ecef.y,
session->newdata.ecef.z,
session->newdata.ecef.pAcc);
return mask;
}
/**
* High Precision Geodetic Position Solution
* UBX-NAV-HPPOSLLH, Class 1, ID x14
*
* No mode, so limited usefulness.
*/
static gps_mask_t
ubx_msg_nav_hpposllh(struct gps_device_t *session, unsigned char *buf,
size_t data_len UNUSED)
{
int version;
gps_mask_t mask = 0;
if (36 > data_len) {
gpsd_log(&session->context->errout, LOG_WARN,
"Runt NAV-HPPOSLLH message, payload len %zd", data_len);
return mask;
}
mask = ONLINE_SET | HERR_SET | VERR_SET | LATLON_SET | ALTITUDE_SET;
version = getub(buf, 0);
session->driver.ubx.iTOW = getles32(buf, 4);
session->newdata.longitude = (1e-7 * (getles32(buf, 8) +
(getsb(buf, 24) * 1e-2)));
session->newdata.latitude = (1e-7 * (getles32(buf, 12) + \
(getsb(buf, 25) * 1e-2)));
session->newdata.altitude = (1e-3 * (getles32(buf, 20) + \
(getsb(buf, 27) * 1e-2)));
/* Horizontal accuracy estimate in .1 mm, unknown est type */
session->newdata.eph = getleu32(buf, 28) * 1e-4;
/* Vertical accuracy estimate in .1 mm, unknown est type */
session->newdata.epv = getleu32(buf, 32) * 1e-4;
gpsd_log(&session->context->errout, LOG_DATA,
"UBX-NAV-HPPOSLLH: version %d iTOW=%lld lat=%.4f lon=%.4f alt=%.4f\n",
version,
(long long)session->driver.ubx.iTOW,
session->newdata.latitude,
session->newdata.longitude,
session->newdata.altitude);
return mask;
}
/*
* Navigation Position ECEF message
*/
static gps_mask_t
ubx_msg_nav_posecef(struct gps_device_t *session, unsigned char *buf,
size_t data_len)
{
gps_mask_t mask = ECEF_SET;
if (20 > data_len) {
gpsd_log(&session->context->errout, LOG_WARN,
"Runt UBX-NAV-POSECEF message, payload len %zd", data_len);
return 0;
}
session->driver.ubx.iTOW = getleu32(buf, 0);
/* all in cm */
session->newdata.ecef.x = getles32(buf, 4) * 1e-2;
session->newdata.ecef.y = getles32(buf, 8) * 1e-2;
session->newdata.ecef.z = getles32(buf, 12) * 1e-2;
session->newdata.ecef.pAcc = getleu32(buf, 16) * 1e-2;
/* (long long) cast for 32-bit compat */
gpsd_log(&session->context->errout, LOG_DATA,
"UBX-NAV-POSECEF: iTOW=%lld ECEF x=%.2f y=%.2f z=%.2f pAcc=%.2f\n",
(long long)session->driver.ubx.iTOW,
session->newdata.ecef.x,
session->newdata.ecef.y,
session->newdata.ecef.z,
session->newdata.ecef.pAcc);
return mask;
}
/**
* Navigation Position Velocity Time solution message
* UBX-NAV-PVT Class 1, ID 7
*
* Not in u-blox 5
*/
static gps_mask_t
ubx_msg_nav_pvt(struct gps_device_t *session, unsigned char *buf,
size_t data_len)
{
uint8_t valid;
uint8_t flags;
uint8_t navmode;
struct tm unpacked_date;
int *status = &session->gpsdata.status;
int *mode = &session->newdata.mode;
gps_mask_t mask = 0;
/* u-blox 6 and 7 are 84 bytes, u-blox 8 and 9 are 92 bytes */
if (84 > data_len) {
gpsd_log(&session->context->errout, LOG_WARN,
"Runt NAV-PVT message, payload len %zd", data_len);
return 0;
}
session->driver.ubx.iTOW = getleu32(buf, 0);
valid = (unsigned int)getub(buf, 11);
navmode = (unsigned char)getub(buf, 20);
flags = (unsigned int)getub(buf, 21);
switch (navmode)
{
case UBX_MODE_TMONLY:
{
if (*mode != MODE_NO_FIX) {
*mode = MODE_NO_FIX;
mask |= MODE_SET;
}
if (*status != STATUS_NO_FIX) {
*status = STATUS_NO_FIX;
mask |= STATUS_SET;
}
break;
}
case UBX_MODE_3D:
case UBX_MODE_GPSDR:
{
if (*mode != MODE_3D) {
*mode = MODE_3D;
mask |= MODE_SET;
}
if ((flags & UBX_NAV_PVT_FLAG_DGPS) == UBX_NAV_PVT_FLAG_DGPS) {
if (*status != STATUS_DGPS_FIX) {
*status = STATUS_DGPS_FIX;
mask |= STATUS_SET;
}
} else {
if (*status != STATUS_FIX) {
*status = STATUS_FIX;
mask |= STATUS_SET;
}
}
mask |= LATLON_SET | ALTITUDE_SET | SPEED_SET | TRACK_SET;
break;
}
case UBX_MODE_2D:
case UBX_MODE_DR: /* consider this too as 2D */
{
if (*mode != MODE_2D) {
*mode = MODE_2D;
mask |= MODE_SET;
};
if (*status != STATUS_FIX) {
*status = STATUS_FIX;
mask |= STATUS_SET;
}
mask |= LATLON_SET | SPEED_SET;
break;
}
default:
{
if (*mode != MODE_NO_FIX) {
*mode = MODE_NO_FIX;
mask |= MODE_SET;
};
if (*status != STATUS_NO_FIX) {
*status = STATUS_NO_FIX;
mask |= STATUS_SET;
}
break;
}
}
if ((valid & UBX_NAV_PVT_VALID_DATE_TIME) == UBX_NAV_PVT_VALID_DATE_TIME) {
double subseconds;
unpacked_date.tm_year = (uint16_t)getleu16(buf, 4) - 1900;
unpacked_date.tm_mon = (uint8_t)getub(buf, 6) - 1;
unpacked_date.tm_mday = (uint8_t)getub(buf, 7);
unpacked_date.tm_hour = (uint8_t)getub(buf, 8);
unpacked_date.tm_min = (uint8_t)getub(buf, 9);
unpacked_date.tm_sec = (uint8_t)getub(buf, 10);
unpacked_date.tm_isdst = 0;
unpacked_date.tm_wday = 0;
unpacked_date.tm_yday = 0;
subseconds = 1e-9 * (int32_t)getles32(buf, 16);
session->newdata.time = \
(timestamp_t)mkgmtime(&unpacked_date) + subseconds;
mask |= TIME_SET | NTPTIME_IS | GOODTIME_IS;
}
session->newdata.longitude = 1e-7 * (int32_t)getles32(buf, 24);
session->newdata.latitude = 1e-7 * (int32_t)getles32(buf, 28);
session->newdata.altitude = 1e-3 * (int32_t)getles32(buf, 36);
session->newdata.speed = 1e-3 * (int32_t)getles32(buf, 60);
session->newdata.track = 1e-5 * (int32_t)getles32(buf, 64);
mask |= LATLON_SET | ALTITUDE_SET | SPEED_SET | TRACK_SET;
/* Height Accuracy estimate, unknown details */
session->newdata.eph = (double)(getles32(buf, 40) / 1000.0);
/* Velocity Accuracy estimate, unknown details */
session->newdata.epv = (double)(getles32(buf, 44) / 1000.0);
/* Speed Accuracy estimate, unknown details */
session->newdata.eps = (double)(getles32(buf, 48) / 1000.0);
/* let gpsd_error_model() do the rest */
mask |= HERR_SET | SPEEDERR_SET | VERR_SET;
gpsd_log(&session->context->errout, LOG_DATA,
"NAV-PVT: flags=%02x time=%.2f lat=%.2f lon=%.2f alt=%.2f\n"
" track=%.2f speed=%.2f climb=%.2f mode=%d status=%d used=%d\n",
flags,
session->newdata.time,
session->newdata.latitude,
session->newdata.longitude,
session->newdata.altitude,
session->newdata.track,
session->newdata.speed,
session->newdata.climb,
session->newdata.mode,
session->gpsdata.status,
session->gpsdata.satellites_used);
if (92 <= data_len) {
/* u-blox 8 and 9 extended */
double magDec = NAN;
double magAcc = NAN;
if (flags & UBX_NAV_PVT_FLAG_HDG_OK) {
session->newdata.track = (double)(getles32(buf, 84) * 1e-5);
}
if (valid & UBX_NAV_PVT_VALID_MAG) {
magDec = (double)(getles16(buf, 88) * 1e-2);
magAcc = (double)(getleu16(buf, 90) * 1e-2);
}
gpsd_log(&session->context->errout, LOG_DATA,
" headVeh %.5f magDec %.2f magAcc %.2f\n",
session->newdata.track, magDec, magAcc);
}
return mask;
}
/**
* Navigation solution message: UBX-NAV-SOL
*
* UBX-NAV-SOL deprecated in u-blox 6, gone in u-blox 9.
* Use UBX-NAV-PVT instead
*/
static gps_mask_t
ubx_msg_nav_sol(struct gps_device_t *session, unsigned char *buf,
size_t data_len)
{
unsigned int flags;
unsigned char navmode;
gps_mask_t mask;
if (52 > data_len) {
gpsd_log(&session->context->errout, LOG_WARN,
"Runt NAV-SOL message, payload len %zd", data_len);
return 0;
}
session->driver.ubx.iTOW = getleu32(buf, 0);
flags = (unsigned int)getub(buf, 11);
mask = 0;
#define DATE_VALID (UBX_SOL_VALID_WEEK | UBX_SOL_VALID_TIME)
if ((flags & DATE_VALID) == DATE_VALID) {
unsigned short week;
int32_t fTOW; /* fractional part of TOW in ns */
double TOW; /* complete TOW in seconds */
fTOW = (double)getles32(buf, 4); /* Fractional part of TOW */
TOW = (session->driver.ubx.iTOW * 1e-3) + (fTOW * 1e-9);
week = (unsigned short)getles16(buf, 8);
session->newdata.time = gpsd_gpstime_resolve(session, week, TOW);
mask |= TIME_SET | NTPTIME_IS | GOODTIME_IS;
}
#undef DATE_VALID
session->newdata.ecef.x = getles32(buf, 12) / 100.0;
session->newdata.ecef.y = getles32(buf, 16) / 100.0;
session->newdata.ecef.z = getles32(buf, 20) / 100.0;
session->newdata.ecef.pAcc = getleu32(buf, 24) / 100.0;
session->newdata.ecef.vx = getles32(buf, 28) / 100.0;
session->newdata.ecef.vy = getles32(buf, 32) / 100.0;
session->newdata.ecef.vz = getles32(buf, 36) / 100.0;
session->newdata.ecef.vAcc = getleu32(buf, 40) / 100.0;
ecef_to_wgs84fix(&session->newdata, &session->gpsdata.separation,
session->newdata.ecef.x, session->newdata.ecef.y,
session->newdata.ecef.z, session->newdata.ecef.vx,
session->newdata.ecef.vy, session->newdata.ecef.vz);
mask |= LATLON_SET | ALTITUDE_SET | SPEED_SET | TRACK_SET | CLIMB_SET \
| ECEF_SET | VECEF_SET;
session->newdata.eps = (double)(getles32(buf, 40) / 100.0);
mask |= SPEEDERR_SET;
/* Better to have a single point of truth about DOPs */
//session->gpsdata.dop.pdop = (double)(getleu16(buf, 44)/100.0);
session->gpsdata.satellites_used = (int)getub(buf, 47);
navmode = (unsigned char)getub(buf, 10);
switch (navmode) {
case UBX_MODE_TMONLY:
/* Surveyed-in, better not have moved */
session->newdata.mode = MODE_3D;
session->gpsdata.status = STATUS_TIME;
break;
case UBX_MODE_3D:
session->newdata.mode = MODE_3D;
session->gpsdata.status = STATUS_FIX;
break;
case UBX_MODE_2D:
session->newdata.mode = MODE_2D;
session->gpsdata.status = STATUS_FIX;
break;
case UBX_MODE_DR: /* consider this too as 2D */
session->newdata.mode = MODE_2D;
session->gpsdata.status = STATUS_DR;
break;
case UBX_MODE_GPSDR: /* DR-aided GPS is valid 3D */
session->newdata.mode = MODE_3D;
session->gpsdata.status = STATUS_GNSSDR;
break;
default:
session->newdata.mode = MODE_NO_FIX;
session->gpsdata.status = STATUS_NO_FIX;
break;
}
if ((flags & UBX_SOL_FLAG_DGPS) != 0)
session->gpsdata.status = STATUS_DGPS_FIX;
mask |= MODE_SET | STATUS_SET;
gpsd_log(&session->context->errout, LOG_DATA,
"UBX-NAV-SOL: time=%.2f lat=%.2f lon=%.2f alt=%.2f track=%.2f\n"
" speed=%.2f climb=%.2f mode=%d status=%d used=%d\n",
session->newdata.time,
session->newdata.latitude,
session->newdata.longitude,
session->newdata.altitude,
session->newdata.track,
session->newdata.speed,
session->newdata.climb,
session->newdata.mode,
session->gpsdata.status,
session->gpsdata.satellites_used);
return mask;
}
/**
* Navigation time to leap second: UBX-NAV-TIMELS
*
* Sets leap_notify if leap second is < 23 hours away.
* Not in u-blox 5
*/
static void ubx_msg_nav_timels(struct gps_device_t *session,
unsigned char *buf, size_t data_len)
{
int version;
unsigned int flags;
int valid_curr_ls;
int valid_time_to_ls_event;
#define UBX_TIMELS_VALID_CURR_LS 0x01
#define UBX_TIMELS_VALID_TIME_LS_EVT 0x01
if (24 > data_len) {
gpsd_log(&session->context->errout, LOG_WARN,
"UBX-NAV-TIMELS: unexpected length %zd, expecting 24\n",
data_len);
return;
}
session->driver.ubx.iTOW = getles32(buf, 0);
version = getsb(buf, 4);
/* Only version 0 is defined so far. */
flags = (unsigned int)getub(buf, 23);
gpsd_log(&session->context->errout, LOG_PROG,
"UBX-NAV-TIMELS: flags 0x%x message version %d\n",
flags, version);
valid_curr_ls = flags & UBX_TIMELS_VALID_CURR_LS;
valid_time_to_ls_event = flags & UBX_TIMELS_VALID_TIME_LS_EVT;
if (valid_curr_ls) {
unsigned int src_of_curr_ls = getub(buf,8);
int curr_ls = getsb(buf,9);
char *src = "Unknown";
static char *srcOfCurrLs[] = {
"firmware",
"GPS GLONASS difference",
"GPS",
"SBAS",
"BeiDou",
"Galileo",
"Aided data",
"Configured"
};
if (src_of_curr_ls < (sizeof(srcOfCurrLs) / sizeof(srcOfCurrLs[0])))
src = srcOfCurrLs[src_of_curr_ls];
gpsd_log(&session->context->errout, LOG_DATA,
"UBX-NAV-TIMELS: source_of_current_leapsecond=%u:%s "
"curr_ls=%d\n",
src_of_curr_ls, src,curr_ls);
session->context->leap_seconds = curr_ls;
session->context->valid |= LEAP_SECOND_VALID;
} /* Valid current leap second */
if (valid_time_to_ls_event) {
char *src = "Unknown";
unsigned int src_of_ls_change;
unsigned short dateOfLSGpsWn, dateOfLSGpsDn;
int lsChange = getsb(buf, 11);
int timeToLsEvent = getles32(buf, 12);
static char *srcOfLsChange[] = {
"No Source",
"Undefined",
"GPS",
"SBAS",
"BeiDou",
"Galileo",
"GLONASS",
};
src_of_ls_change = getub(buf,10);
if (src_of_ls_change <
(sizeof(srcOfLsChange) / sizeof(srcOfLsChange[0]))) {
src = srcOfLsChange[src_of_ls_change];
}
dateOfLSGpsWn = getles16(buf,16);
dateOfLSGpsDn = getles16(buf,18);
gpsd_log(&session->context->errout, LOG_DATA,
"UBX-NAV-TIMELS: source_of_leapsecond_change %u:%s "
"leapSecondChage %d timeToLsEvent %d\n",
src_of_ls_change,src,lsChange,timeToLsEvent);
gpsd_log(&session->context->errout, LOG_DATA,
"UBX-NAV-TIMELS: dateOfLSGpsWn=%d dateOfLSGpsDn=%d\n",
dateOfLSGpsWn,dateOfLSGpsDn);
if ((0 != lsChange) && (0 < timeToLsEvent) &&
((60 * 60 * 23) > timeToLsEvent)) {
if (1 == lsChange) {
session->context->leap_notify = LEAP_ADDSECOND;
gpsd_log(&session->context->errout,LOG_INF,
"UBX-NAV-TIMELS: Positive leap second today\n");
} else if (-1 == lsChange) {
session->context->leap_notify = LEAP_DELSECOND;
gpsd_log(&session->context->errout,LOG_INF,
"UBX-NAV-TIMELS: Negative leap second today\n");
}
} else {
session->context->leap_notify = LEAP_NOWARNING;
gpsd_log(&session->context->errout, LOG_DATA,
"UBX-NAV-TIMELS: leap_notify %d, none today\n",
session->context->leap_notify);
}
}
}
/**
* Geodetic position solution message
* UBX-NAV-POSLLH, Class 1, ID 2
*
* No mode, so limited usefulness
*/
static gps_mask_t
ubx_msg_nav_posllh(struct gps_device_t *session, unsigned char *buf,
size_t data_len UNUSED)
{
gps_mask_t mask = 0;
if (28 > data_len) {
gpsd_log(&session->context->errout, LOG_WARN,
"Runt NAV-POSLLH message, payload len %zd", data_len);
return 0;
}
mask = ONLINE_SET | HERR_SET | VERR_SET | LATLON_SET | ALTITUDE_SET;
session->driver.ubx.iTOW = getles32(buf, 0);
session->newdata.longitude = 1e-7 * getles32(buf, 4);
session->newdata.latitude = 1e-7 * getles32(buf, 8);
session->newdata.altitude = 1e-3 * getles32(buf, 16);
/* Horizontal accuracy estimate in mm, unknown type */
session->newdata.eph = getleu32(buf, 20) * 1e-3;
/* Vertical accuracy estimate in mm, unknown type */
session->newdata.epv = getleu32(buf, 24) * 1e-3;
gpsd_log(&session->context->errout, LOG_DATA,
"UBX-NAV-POSLLH: iTOW=%lld lat=%.3f lon=%.3f alt=%.3f "
"eph %.3f epv %.3f\n",
(long long)session->driver.ubx.iTOW,
session->newdata.latitude,
session->newdata.longitude,
session->newdata.altitude,
session->newdata.eph,
session->newdata.epv);
return mask;
}
/**
* Dilution of precision message
*/
static gps_mask_t
ubx_msg_nav_dop(struct gps_device_t *session, unsigned char *buf,
size_t data_len)
{
if (18 > data_len) {
gpsd_log(&session->context->errout, LOG_WARN,
"Runt RXM-SFRB message, payload len %zd", data_len);
return 0;
}
session->driver.ubx.iTOW = getles32(buf, 0);
/*
* We make a deliberate choice not to clear DOPs from the
* last skyview here, but rather to treat this as a supplement
* to our calculations from the visibility matrix, trusting
* the firmware algorithms over ours.
*/
session->gpsdata.dop.gdop = (double)(getleu16(buf, 4) / 100.0);
session->gpsdata.dop.pdop = (double)(getleu16(buf, 6) / 100.0);
session->gpsdata.dop.tdop = (double)(getleu16(buf, 8) / 100.0);
session->gpsdata.dop.vdop = (double)(getleu16(buf, 10) / 100.0);
session->gpsdata.dop.hdop = (double)(getleu16(buf, 12) / 100.0);
gpsd_log(&session->context->errout, LOG_DATA,
"NAVDOP: gdop=%.2f pdop=%.2f "
"hdop=%.2f vdop=%.2f tdop=%.2f mask={DOP}\n",
session->gpsdata.dop.gdop,
session->gpsdata.dop.hdop,
session->gpsdata.dop.vdop,
session->gpsdata.dop.pdop, session->gpsdata.dop.tdop);
return DOP_SET;
}
/**
* End of Epoch
* Not in u-blox 5, 6 or 7
* Present in u-blox 8 and 9
*/
static gps_mask_t
ubx_msg_nav_eoe(struct gps_device_t *session, unsigned char *buf,
size_t data_len)
{
if (4 > data_len) {
gpsd_log(&session->context->errout, LOG_WARN,
"Runt NAV-EOE message, payload len %zd", data_len);
return 0;
}
if (18 > session->driver.ubx.protver) {
/* this GPS is at least protver 18 */
session->driver.ubx.protver = 18;
}
session->driver.ubx.iTOW = getles32(buf, 0);
gpsd_log(&session->context->errout, LOG_DATA, "EOE: iTOW=%lld\n",
(long long)session->driver.ubx.iTOW);
/* nothing to report, but the iTOW for cycle ender is good */
return 0;
}
/**
* GPS Leap Seconds - UBX-NAV-TIMEGPS
*/
static gps_mask_t
ubx_msg_nav_timegps(struct gps_device_t *session, unsigned char *buf,
size_t data_len)
{
uint8_t valid; /* Validity Flags */
gps_mask_t mask = 0;
if (16 > data_len) {
gpsd_log(&session->context->errout, LOG_WARN,
"Runt NAV-TIMEGPS message, payload len %zd", data_len);
return 0;
}
session->driver.ubx.iTOW = getles32(buf, 0);
valid = getub(buf, 11);
// Valid leap seconds ?
if ((valid & UBX_TIMEGPS_VALID_LEAP_SECOND) ==
UBX_TIMEGPS_VALID_LEAP_SECOND) {
session->context->leap_seconds = (int)getub(buf, 10);
session->context->valid |= LEAP_SECOND_VALID;
}
// Valid GPS time of week and week number
#define VALID_TIME (UBX_TIMEGPS_VALID_TIME | UBX_TIMEGPS_VALID_WEEK)
if ((valid & VALID_TIME) == VALID_TIME) {
#undef VALID_TIME
uint16_t week;
double fTOW; /* fractional part of TOW in ns */
double TOW; /* complete TOW in seconds */
double tAcc; /* Time Accuracy Estimate in ns */
fTOW = (double)getles32(buf, 4); /* Fractional part of TOW */
week = getles16(buf, 8);
tAcc = (double)getleu32(buf, 12); /* tAcc in ms */
TOW = (session->driver.ubx.iTOW * 1e-3) + (fTOW * 1e-9);
session->newdata.time = gpsd_gpstime_resolve(session, week, TOW);
session->newdata.ept = tAcc * 1e-9;
mask |= (TIME_SET | NTPTIME_IS);
}
gpsd_log(&session->context->errout, LOG_DATA,
"TIMEGPS: time=%.2f mask={TIME}\n",
session->newdata.time);
return mask;
}
/**
* GPS Satellite Info -- new style UBX-NAV-SAT
* Not in u-blox 5
*/
static gps_mask_t
ubx_msg_nav_sat(struct gps_device_t *session, unsigned char *buf,
size_t data_len)
{
unsigned int i, nchan, nsv, st, ver;
if (8 > data_len) {
gpsd_log(&session->context->errout, LOG_PROG,
"Runt NAV-SAT (datalen=%zd)\n", data_len);
return 0;
}
session->driver.ubx.iTOW = getles32(buf, 0);
ver = (unsigned int)getub(buf, 4);
if (1 != ver) {
gpsd_log(&session->context->errout, LOG_WARN,
"NAV-SAT message unknown version %d", ver);
return 0;
}
nchan = (unsigned int)getub(buf, 5);
if (nchan > MAXCHANNELS) {
gpsd_log(&session->context->errout, LOG_WARN,
"Runt NAV-SAT message, >%d reported visible",
MAXCHANNELS);
return 0;
}
/* two "unused" bytes at buf[6:7] */
gpsd_zero_satellites(&session->gpsdata);
nsv = 0;
for (i = st = 0; i < nchan; i++) {
unsigned int off = 8 + 12 * i;
short nmea_PRN = 0;
unsigned char gnssId = getub(buf, off + 0);