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[gpsd-dev] [PATCH 3/3] Support UBX NAV-PVT
|
From: |
Clark Li |
|
Subject: |
[gpsd-dev] [PATCH 3/3] Support UBX NAV-PVT |
|
Date: |
Sun, 17 Sep 2017 04:02:14 +0000 |
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.
---
driver_ubx.c | 123 ++++++++++++++++++++++++++++++++++++--
driver_ubx.h | 7 +++
test/daemon/ublox-neo-m8n.log | Bin 0 -> 5054 bytes
test/daemon/ublox-neo-m8n.log.chk | 120 +++++++++++++++++++++++++++++++++++++
4 files changed, 244 insertions(+), 6 deletions(-)
create mode 100644 test/daemon/ublox-neo-m8n.log
create mode 100644 test/daemon/ublox-neo-m8n.log.chk
diff --git a/driver_ubx.c b/driver_ubx.c
index 51ad299..7967441 100644
--- a/driver_ubx.c
+++ b/driver_ubx.c
@@ -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;
}
@@ -502,7 +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");
diff --git a/driver_ubx.h b/driver_ubx.h
index c4e28fe..99ef9b9 100644
--- a/driver_ubx.h
+++ b/driver_ubx.h
@@ -122,4 +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_ */
diff --git a/test/daemon/ublox-neo-m8n.log b/test/daemon/ublox-neo-m8n.log
new file mode 100644
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diff --git a/test/daemon/ublox-neo-m8n.log.chk
b/test/daemon/ublox-neo-m8n.log.chk
new file mode 100644
index 0000000..8a1d357
--- /dev/null
+++ b/test/daemon/ublox-neo-m8n.log.chk
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--
2.7.4