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Support UBX NAV-PVT
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NAV-SOL has only been retained for backwards compatibility; users are
recommended to use the UBX-NAV-PVT message in preference.

A regression test case using ublox-neo-m8n is also added.

Also fix the checking on valid flags of iTOW and fTOW and process fTOW whose
range is +-500us. Update test/dae/ublox-aek-4t.log.chk accordingly.

Signed-off-by: Clark Li <[email protected]>
Signed-off-by: Fred Wright <[email protected]>
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@cli-cohdawireless @fhgwright
cli-cohdawireless authored and fhgwright committed Aug 8, 2017
1 parent 694efb7 commit 22a020e
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Showing 5 changed files with 278 additions and 20 deletions.
165 changes: 146 additions & 19 deletions driver_ubx.c
View file
Original file line number Diff line number Diff line change
Expand Up @@ -130,19 +130,129 @@ static gps_mask_t
ubx_msg_nav_pvt(struct gps_device_t *session, unsigned char *buf,
size_t data_len)
{
unsigned int flags;
uint8_t valid;
uint8_t flags;
uint8_t navmode;
struct tm unpacked_date;
double subseconds;
double hacc, vacc, sacc;
int *status = &session->gpsdata.status;
int *mode = &session->newdata.mode;
gps_mask_t mask = 0;

if (data_len != 92)
return 0;

valid = (unsigned int)getub(buf, 11);
navmode = (unsigned char)getub(buf, 20);
flags = (unsigned int)getub(buf, 21);

/* TODO: finish decoding UBX_MON_PVT
* no need until depreacaed UBX_MON_SOL is dead
*/
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 | CLEAR_IS
| REPORT_IS;
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) {
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;
}

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, 32);
session->newdata.speed = 1e-3 * (int32_t)getles32(buf, 60);
session->newdata.track = 1e-5 * (int32_t)getles32(buf, 64);
hacc = (double)(getles32(buf, 40) / 1000.0);
vacc = (double)(getles32(buf, 44) / 1000.0);
sacc = (double)(getles32(buf, 48) / 1000.0);
// Assuming hacc == epx == epy is the best we can do
session->newdata.epx = session->newdata.epy = hacc;
session->newdata.epv = vacc;
session->newdata.eps = sacc;
mask |= HERR_SET | VERR_SET | SPEEDERR_SET;
gpsd_log(&session->context->errout, LOG_DATA,
"NAV-PVT: flags:%02x\n", flags);
"NAV_PVT: flags=%02x time=%.2f lat=%.2f lon=%.2f alt=%.2f 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);
return mask;
}

Expand All @@ -166,10 +276,14 @@ ubx_msg_nav_sol(struct gps_device_t *session, unsigned char *buf,
#define DATE_VALID (UBX_SOL_VALID_WEEK | UBX_SOL_VALID_TIME)
if ((flags & DATE_VALID) == DATE_VALID) {
unsigned short gw;
unsigned int tow;
tow = (unsigned int)getleu32(buf, 0);
unsigned int iTOW;
int fTOW;
iTOW = (unsigned int)getleu32(buf, 0);
fTOW = (int)getles32(buf, 4);
gw = (unsigned short)getles16(buf, 8);
session->newdata.time = gpsd_gpstime_resolve(session, gw, tow / 1000.0);
session->newdata.time = gpsd_gpstime_resolve(session, gw,
(iTOW * 1e-3)
+ (fTOW * 1e-9));
mask |= TIME_SET | NTPTIME_IS;
}
#undef DATE_VALID
Expand Down Expand Up @@ -292,24 +406,36 @@ static gps_mask_t
ubx_msg_nav_timegps(struct gps_device_t *session, unsigned char *buf,
size_t data_len)
{
unsigned int gw, tow, flags;
unsigned int gw, iTOW, flags;
int fTOW;
gps_mask_t mask = 0;

if (data_len != 16)
return 0;

tow = (unsigned int)getleu32(buf, 0);
gw = (unsigned int)getles16(buf, 8);
flags = (unsigned int)getub(buf, 11);
if ((flags & 0x7) != 0)
// Valid leap seconds
if ((flags & UBX_TIMEGPS_VALID_LEAP_SECOND) == UBX_TIMEGPS_VALID_LEAP_SECOND)
session->context->leap_seconds = (int)getub(buf, 10);
session->newdata.time = gpsd_gpstime_resolve(session,
(unsigned short int)gw,
(double)tow / 1000.0);
// Valid GPS time of week and week number
#define VALID_TIME (UBX_TIMEGPS_VALID_TIME | UBX_TIMEGPS_VALID_WEEK)
if ((flags & VALID_TIME) == VALID_TIME)
#undef VALID_TIME
{
iTOW = (unsigned int)getleu32(buf, 0);
fTOW = (int)getles32(buf, 4);
gw = (unsigned int)getles16(buf, 8);
session->newdata.time =
gpsd_gpstime_resolve(session,
(unsigned short int)gw,
((double)iTOW * 1e-3) + ((double)fTOW * 1e-9));
mask |= (TIME_SET | NTPTIME_IS);
}

gpsd_log(&session->context->errout, LOG_DATA,
"TIMEGPS: time=%.2f leap=%d, mask={TIME}\n",
session->newdata.time, session->context->leap_seconds);
return TIME_SET | NTPTIME_IS;
"TIMEGPS: time=%.2f mask={TIME}\n",
session->newdata.time);
return mask;
}

/**
Expand Down Expand Up @@ -486,7 +612,8 @@ gps_mask_t ubx_parse(struct gps_device_t * session, unsigned char *buf,
break;
case UBX_NAV_PVT:
gpsd_log(&session->context->errout, LOG_PROG, "UBX_NAV_PVT\n");
mask = ubx_msg_nav_pvt(session, &buf[UBX_PREFIX_LEN], data_len);
mask = ubx_msg_nav_pvt(session, &buf[UBX_PREFIX_LEN], data_len)
| (CLEAR_IS | REPORT_IS);
break;
case UBX_NAV_POSUTM:
gpsd_log(&session->context->errout, LOG_DATA, "UBX_NAV_POSUTM\n");
Expand Down
11 changes: 11 additions & 0 deletions driver_ubx.h
View file
Original file line number Diff line number Diff line change
Expand Up @@ -102,6 +102,10 @@ typedef enum {
#define UBX_SOL_VALID_WEEK 0x04
#define UBX_SOL_VALID_TIME 0x08

#define UBX_TIMEGPS_VALID_TIME 0x01
#define UBX_TIMEGPS_VALID_WEEK 0x02
#define UBX_TIMEGPS_VALID_LEAP_SECOND 0x04

/* from UBX_NAV_SVINFO */
#define UBX_SAT_USED 0x01
#define UBX_SAT_DGPS 0x02
Expand All @@ -118,4 +122,11 @@ typedef enum {
#define UBX_SIG_CDCRLK2 6
#define UBX_SIG_NAVMSG 7

#define UBX_NAV_PVT_VALID_DATE 0x01
#define UBX_NAV_PVT_VALID_TIME 0x02
#define UBX_NAV_PVT_VALID_DATE_TIME (UBX_NAV_PVT_VALID_DATE | UBX_NAV_PVT_VALID_TIME)

#define UBX_NAV_PVT_FLAG_GPS_FIX_OK 0x01
#define UBX_NAV_PVT_FLAG_DGPS 0x02

#endif /* _GPSD_UBX_H_ */
2 changes: 1 addition & 1 deletion test/daemon/ublox-aek-4t.log.chk
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Original file line number Diff line number Diff line change
Expand Up @@ -26,4 +26,4 @@ $GPZDA,231127.00,23,12,2007,00,00*65
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$GPRMC,231126,A,2037.7569,N,08704.0845,W,0.0000,0.000,231207,,*36
$GPGSA,A,3,15,2,30,5,12,18,135,,,,,,2.6,1.7,2.0*0F
{"class":"TPV","status":2,"mode":3,"time":"2007-12-23T23:11:26.999Z","ept":0.005,"lat":20.629281718,"lon":-87.068075424,"alt":75.754,"epx":2.973,"epy":6.138,"epv":11.443,"track":0.0000,"speed":0.000,"climb":0.000,"eps":0.17,"epc":22.89}
{"class":"TPV","status":2,"mode":3,"time":"2007-12-23T23:11:26.999Z","ept":0.005,"lat":20.629281718,"lon":-87.068075424,"alt":75.754,"epx":2.973,"epy":6.138,"epv":11.443,"track":0.0000,"speed":0.000,"climb":0.000,"eps":0.17,"epc":22.88}
Binary file added test/daemon/ublox-neo-m8n.log
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120 changes: 120 additions & 0 deletions test/daemon/ublox-neo-m8n.log.chk
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@@ -0,0 +1,120 @@
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{"class":"TPV","status":2,"mode":3,"time":"2017-07-19T08:50:03.600Z","ept":0.005,"lat":-34.906230900,"lon":138.608121000,"alt":24.561,"epx":1.119,"epy":1.119,"epv":1.582,"track":31.4718,"speed":0.013,"climb":-0.280,"eps":-0.01,"epc":15.95}
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{"class":"TPV","status":2,"mode":3,"time":"2017-07-19T08:50:03.800Z","ept":0.005,"lat":-34.906231300,"lon":138.608120900,"alt":24.486,"epx":1.098,"epy":1.098,"epv":1.552,"track":31.4718,"speed":0.021,"climb":-0.375,"eps":0.02,"epc":15.67}
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{"class":"TPV","status":2,"mode":3,"time":"2017-07-19T08:50:03.000Z","ept":0.005,"lat":-34.906231700,"lon":138.608120600,"alt":24.390,"epx":1.090,"epy":1.090,"epv":1.538,"track":31.4718,"speed":0.012,"climb":-0.480,"eps":-0.00,"epc":15.45}
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