In super-E mode operation, UBX modules such as the ZOE-M8B can operate as stand-alone and batch data internally. Batched data is then retrieved by a proper pull request UBX-LOG-RETRIEVEBATCH.
The thing is, in this mode, the GNSS modem will send no data at all (no periodic frame) This bit of code in gpsd.c causes a disconnection when entering this mode (proper configuration with ubxtool):
GPSD_LOG(LOG_PROG, &context.errout,
"checking client(%d)\n",
sub_index(sub));
if ((buflen =
(int)recv(sub->fd, buf, sizeof(buf) - 1, 0)) <= 0) {
detach_client(sub); //==> causes unwanted detach for super e-Mode devices
} else {
if (buf[buflen - 1] != '\n')
buf[buflen++] = '\n';
buf[buflen] = '\0';
GPSD_LOG(LOG_CLIENT, &context.errout,
"<= client(%d): %s\n", sub_index(sub), buf);In this mode of operation, it is preferred to keep the device attached even without receiving periodic frames.
I ran some tests and commenting the detach_client() call after the buffer length check is performed yields the expected behavior. But I am not sure how exactly gpsd.c could be modified to account for the use case without impacting the normal operation.
What would you suggest ?
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Also, in the driver_ubx, parsing of the frame is not supported yet. I made an initial proposal for parsing the UBX-LOG-BATCH frames pushing the parsed data to the "newdata" structure (current data) but as commented by Gary, BATCHED data is in fact a log of older data and not the current data per say. So this is incorrect to do so and LOG-BATCH data should not be parsed by updating the newdata structure.
=====================
Used ubxtool configuration script for the ZOE-M8B EVK:
echo Start UBX config script
#disable NMEA
ubxtool -d NMEA
#disable GLONASS
ubxtool -d GLONASS
#disable UBX_NAV_POSECEF
ubxtool -c 0x06,0x01,0x01,0x01,0,0,0,0,0,0
#disable UBX_NAV_POSLLH
ubxtool -c 0x06,0x01,0x01,0x02,0,0,0,0,0,0
#disable UBX_NAV_STATUS
ubxtool -c 0x06,0x01,0x01,0x03,0,0,0,0,0,0
#disable UBX_NAV_DOP
ubxtool -c 0x06,0x01,0x01,0x04,0,0,0,0,0,0
#disable UBX_NAV_SOL
ubxtool -c 0x06,0x01,0x01,0x06,0,0,0,0,0,0
#disable UBX_NAV_PVT
#ubxtool -c 0x06,0x01,0x01,0x07,0,0,0,0,0,0
#disable UBX_NAV_ODO
ubxtool -c 0x06,0x01,0x01,0x09,0,0,0,0,0,0
#disable UBX_NAV_VELECEF
ubxtool -c 0x06,0x01,0x01,0x11,0,0,0,0,0,0
#disable UBX_NAV_VELNED
ubxtool -c 0x06,0x01,0x01,0x12,0,0,0,0,0,0
#disable UBX_NAV_TIMEGPS
ubxtool -c 0x06,0x01,0x01,0x20,0,0,0,0,0,0
#disable UBX_NAV_TIMEUTC
ubxtool -c 0x06,0x01,0x01,0x21,0,0,0,0,0,0
#disable UBX_NAV_CLOCK
ubxtool -c 0x06,0x01,0x01,0x22,0,0,0,0,0,0
#disable UBX_NAV_TIMEGLO
ubxtool -c 0x06,0x01,0x01,0x23,0,0,0,0,0,0
#disable UBX_NAV_TIMEBDS
ubxtool -c 0x06,0x01,0x01,0x24,0,0,0,0,0,0
#disable UBX_NAV_TIMEGAL
ubxtool -c 0x06,0x01,0x01,0x25,0,0,0,0,0,0
#disable UBX_NAV_TIMELS
ubxtool -c 0x06,0x01,0x01,0x26,0,0,0,0,0,0
#disable UBX_NAV_SVINFO
ubxtool -c 0x06,0x01,0x01,0x30,0,0,0,0,0,0
#disable UBX_NAV_DGPS
ubxtool -c 0x06,0x01,0x01,0x31,0,0,0,0,0,0
#disable UBX_NAV_SBAS
#disable UBX_NAV_ORB
ubxtool -c 0x06,0x01,0x01,0x34,0,0,0,0,0,0
#disable UBX_NAV_SAT
ubxtool -c 0x06,0x01,0x01,0x35,0,0,0,0,0,0
#disable UBX_NAV_GEOFENCE
ubxtool -c 0x06,0x01,0x01,0x39,0,0,0,0,0,0
#disable UBX_NAV_AOPSTATUS
ubxtool -c 0x06,0x01,0x01,0x60,0,0,0,0,0,0
#disable UBX_NAV_EOE
ubxtool -c 0x06,0x01,0x01,0x61,0,0,0,0,0,0
#disable all INF messages
ubxtool -c 0x06,0x02,0,0,0,0,0x00,0x00,0x00,0x00,0x00,0x00
#enable autonomous AssitNow, set initial fix as 3D
ubxtool -c 0x06,0x23,0x02,0,0x40,0x40,0,0,0,0,0,0,0,0,0,0,0x01,0,0,0,0,0,0,0,0,0,0,0,0,0x01,0,0,0,0x64,$
#setup super E-mode 1Hz aggressive
ubxtool -c 0x06,0x86,0,0x03,0,0,0,0,0,0
#enable power save mode on CFG-RXM
#enable power save mode on CFG-RXM
ubxtool -c 0x06,0x11,0,0x01
##configure batching solution: ##
#flags >> pioActiveLow,pioEn,extraPvt,Enable
#buff size >> 150 = 0x96
#fill level trigger >> 144 = 0x90
#pio output >> pio14 = 0xE
#ubxtool -c 0x06,0x93,0,0x65,0x96,0,0x90,0,0xE,0
##configuration without PIO output
ubxtool -c 0x06,0x93,0,0x05,0x96,0,0x90,0,0x0,0
##configure LOGFILTER
#flags >> recorEnabled, applyAllFilters
#minInterval >> 120s=0x78
#timeThd >> 10s=0x0A
#speedThd >> None=0
#distanceThd >> 500m=0x1F4
ubxtool -c 0x06,0x47,0x01,0x05,0x78,0x00,0x2C,0x01,0,0,0xF4,0x01,0,0
#save current NAV messages configuration into QSPI (last byte selects for memory to load from/to)
#ubxtool -c 0x06,0x09,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x08,0x00,0x00,0x00,0x00,0x02
ubxtool -c 0x06,0x09,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x08,0x00,0x00,0x00,0x00
echo UBX ZOE-M8B config complete
=====================
Example of LOG-BATCH frame decoded by ubxtool
Class x21 (LOG) ID x11 (BATCH), len: 0x64
payload: 00,01,0b,00,c8,2d,f1,13,e4,07,01,1d,14,37,37,33,32,00,00,00,69,ba,00,00,03,09,0a,07,18,3e,ed,03,56,27,bd,1b,da,a3,07,00,5d,eb,06,00,db,40,00,00,cb,52,00,00,e1,ff,ff,ff,59,ff,ff,ff,00,00,00,00,46,00,00,00,8f,ce,66,ff,a1,02,00,00,87,50,3c,00,b3,00,00,00,00,00,00,00,00,00,00,00,00,00,00,00,00,00,00,00
UBX-LOG-BATCH:
version 0 contentValid x1 msgCnt 11 iTow 334573000
year 2020 month 1 day 29 hour 20 min 55 sec 55 valid x33
tAcc 50 fracSec 47721 fixType 3 flags x9 flags2 xa numSV 7
lon 65879576 lat 465381206 height 500698 hMSL 453469 hAcc 16603 vAcc 0
vel N 21195 E -31 D -167 gSpeed 0dA headMot 70 sAxx 4284927631 headAcc 673
pdep 20615 reserved1 x3c distance 179 totalDistance 0
distanceStd 0 reserved2 x0
contentValid (extraPvt) valid (validDate validTime) fixType (3D Fix) flags (gnssFixOK) psmState (Acquisition)
=====================
Examples of binary frames for LOG-BATCH (0x2111)
gpsd:IO: UBX: len 108 gpsd:WARN: UBX: unknown packet id 0x2111 (length 108) gpsd:CLIENT: => client(0): =b5622111640000018600704b9117e407011e0d312837110000000e3cfaff03110a082569ea03a7bebc1bac1a07002f620600e60e0000151b00004d0000000c010000e7ffffff030200000de77000700200009f164000db00000000000000000000000000000000000000c90d gpsd:IO: UBX: len 108 gpsd:WARN: UBX: unknown packet id 0x2111 (length 108)gpsd:CLIENT: => client(0): =b5622111640000018700584f9117e407011e0d31293712000000153bfaff03110a084469ea0386bebc1bd1140700555c06000c0f0000581b00005d0000009d0100000000000015030000c40176007102000074892d00db00000000000000000000000000000000000000424b
Quentin Cabrol
Aeler Technologies SA
