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driver_ubx.c
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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 by the GPSD project
* SPDX-License-Identifier: BSD-2-clause
*
*/
#include <stdio.h>
#include <stdbool.h>
#include <assert.h>
#include <string.h>
#include <math.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_sbas(struct gps_device_t *session, unsigned char *buf);
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_mon_ver(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 */
/**
* Receiver/Software Version
* UBX-MON-VER
*
* sadly more info than fits in session->swtype for now.
* so squish the data hard, max is maybe 100?
*/
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 */
if ( 44 > data_len ) {
/* incomplete message */
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));
/* output SW and HW Version at LOG_INFO */
gpsd_log(&session->context->errout, LOG_INF,
"UBX_MON_VER: %.*s\n",
(int)sizeof(obuf), obuf);
}
/*
* 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;
double fTOW;
if (data_len < 20) {
gpsd_log(&session->context->errout, LOG_WARN,
"Invalid NAV POSECEF message, payload len %zd", data_len);
return 0;
}
fTOW = getleu32(buf, 0) / 1000.0;
session->newdata.ecef.x = getles32(buf, 4) / 100.0;
session->newdata.ecef.y = getles32(buf, 8) / 100.0;
session->newdata.ecef.z = getles32(buf, 12) / 100.0;
session->newdata.ecef.pAcc = getleu32(buf, 16) / 100.0;
gpsd_log(&session->context->errout, LOG_DATA,
"UBX_NAV_POSECEF: fTOW=%.3f ECEF x=%.2f y=%.2f z=%.2f pAcc=%.2f\n",
fTOW,
session->newdata.ecef.x,
session->newdata.ecef.y,
session->newdata.ecef.z,
session->newdata.ecef.pAcc);
return mask;
}
/**
* Navigation Position Velocity Time solution message
*/
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;
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);
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;
}
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 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;
}
/**
* Navigation solution message: UBX-NAV-SOL
*/
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 (data_len != 52)
return 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 gw;
unsigned int tow;
tow = (unsigned int)getleu32(buf, 0);
gw = (unsigned short)getles16(buf, 8);
session->newdata.time = gpsd_gpstime_resolve(session, gw, tow / 1000.0);
mask |= TIME_SET | NTPTIME_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;
if (session->driver.ubx.last_herr > 0.0) {
session->newdata.epx = session->newdata.epy \
= session->driver.ubx.last_herr;
mask |= HERR_SET;
session->driver.ubx.last_herr = 0.0;
}
if (session->driver.ubx.last_verr > 0.0) {
session->newdata.epv = session->driver.ubx.last_verr;
mask |= VERR_SET;
session->driver.ubx.last_verr = 0.0;
}
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;
mask |= GOODTIME_IS;
break;
case UBX_MODE_3D:
session->newdata.mode = MODE_3D;
break;
case UBX_MODE_2D:
case UBX_MODE_DR: /* consider this too as 2D */
case UBX_MODE_GPSDR: /* FIX-ME: DR-aided GPS may be valid 3D */
session->newdata.mode = MODE_2D;
break;
default:
session->newdata.mode = MODE_NO_FIX;
}
if ((flags & UBX_SOL_FLAG_DGPS) != 0)
session->gpsdata.status = STATUS_DGPS_FIX;
else if (session->newdata.mode != MODE_NO_FIX)
session->gpsdata.status = STATUS_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 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;
}
/**
* Geodetic position solution message
*/
static gps_mask_t
ubx_msg_nav_posllh(struct gps_device_t *session, unsigned char *buf,
size_t data_len UNUSED)
{
session->driver.ubx.last_herr = (double)(getleu32(buf, 20) / 1000.0);
session->driver.ubx.last_verr = (double)(getleu32(buf, 24) / 1000.0);
return 0;
}
/**
* 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 (data_len != 18)
return 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
*/
static gps_mask_t
ubx_msg_nav_eoe(struct gps_device_t *session, unsigned char *buf,
size_t data_len)
{
long int iTOW;
if ( 4 > data_len)
return 0;
iTOW = getles32(buf, 0);
gpsd_log(&session->context->errout, LOG_DATA, "EOE: iTOW=%ld\n", iTOW);
/* nothing really to new, but report data collected so far
* and clear for next data set */
// return CLEAR_IS | REPORT_IS;
// return REPORT_IS | STATUS_SET;
/* strangely any mask return here makes things worse... */
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 (data_len != 16)
return 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);
}
// 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 iTOW; /* integer part of TOW in ms */
double fTOW; /* fractional part of TOW in ns */
double TOW; /* complete TOW in seconds */
double tAcc; /* Time Accuracy Estimate in ns */
iTOW = (double)getleu32(buf, 0); /* GPS TOW in ms */
fTOW = (double)getles32(buf, 4); /* Fractional part of TOW */
week = getles16(buf, 8);
tAcc = (double)getleu32(buf, 12); /* tAcc in ms */
TOW = (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
*/
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 (data_len < 8) {
gpsd_log(&session->context->errout, LOG_PROG,
"runt NAV-SAT (datalen=%zd)\n", data_len);
return 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,
"Invalid 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 PRN = 0;
unsigned char gnssId = getub(buf, off + 0);
short svId = (short)getub(buf, off + 1);
unsigned char cno = getub(buf, off + 2);
uint32_t flags = getleu32(buf, off + 8);
bool used = (bool)(flags & 0x08);
if (0 == svId) {
/* skip 0 svId */
continue;
}
/* make up a PRN based on gnssId:svId, using Appendix A from
* u-blox 8 / u-blox M8 Receiver Description - Manual */
switch (gnssId) {
case 0:
/* GPS, 1-32 maps to 1-32 */
if (32 < svId) {
/* skip bad svId */
continue;
}
PRN = svId;
break;
case 1:
/* SBAS, 120-158 mapes to 120-158 */
if (120 > svId || 158 < svId) {
/* skip bad svId */
continue;
}
PRN = svId;
break;
case 2:
/* Galileo, 1-36 maps to 211-246 */
if (36 < svId) {
/* skip bad svId */
continue;
}
PRN = svId + 210;
break;
case 3:
/* BeiDou, 1-37 maps to 159-163,33-64 */
if (6 > svId) {
/* 1-5 maps to 159-163 */
PRN = svId + 158;
} else if (37 < svId) {
/* skip bad svId */
continue;
} else {
/* 6-37 maps to 33-64 */
PRN = svId + 27;
}
break;
case 4:
/* IMES, 1-10 maps to 173-182 */
if (10 < svId) {
/* skip bad svId */
continue;
}
PRN = svId + 172;
break;
case 5:
/* QZSS, 1-5 maps to 193-197 */
if (5 < svId) {
/* skip bad svId */
continue;
}
PRN = svId + 192;
break;
case 6:
/* GLONASS, 1-32 maps to 65-96 */
if (32 < svId) {
/* skip bad svId */
/* 255 == tracked, but unidentified, skip */
continue;
}
PRN = svId + 64;
break;
default:
/* Huh? */
continue;
}
session->gpsdata.skyview[st].gnssid = gnssId;
session->gpsdata.skyview[st].svid = svId;
session->gpsdata.skyview[st].PRN = PRN;
session->gpsdata.skyview[st].ss = (float)cno;
session->gpsdata.skyview[st].elevation = (short)getsb(buf, off + 3);
session->gpsdata.skyview[st].azimuth = (short)getles16(buf, off + 4);
session->gpsdata.skyview[st].used = used;
if (used || PRN == (short)session->driver.ubx.sbas_in_use) {
nsv++;
session->gpsdata.skyview[st].used = true;
}
st++;
}
/* UBX does not give us these, so recompute */
session->gpsdata.dop.xdop = NAN;
session->gpsdata.dop.ydop = NAN;
session->gpsdata.skyview_time = NAN;
session->gpsdata.satellites_visible = (int)st;
session->gpsdata.satellites_used = (int)nsv;
gpsd_log(&session->context->errout, LOG_DATA,
"SAT: visible=%d used=%d mask={SATELLITE|USED}\n",
session->gpsdata.satellites_visible,
session->gpsdata.satellites_used);
return SATELLITE_SET | USED_IS;
}
/**
* GPS Satellite Info -- deprecated - UBX-NAV-SVINFO
*/
static gps_mask_t
ubx_msg_nav_svinfo(struct gps_device_t *session, unsigned char *buf,
size_t data_len)
{
unsigned int i, nchan, nsv, st;
if (data_len < 8) {
gpsd_log(&session->context->errout, LOG_PROG,
"runt svinfo (datalen=%zd)\n", data_len);
return 0;
}
nchan = (unsigned int)getub(buf, 4);
if (nchan > MAXCHANNELS) {
gpsd_log(&session->context->errout, LOG_WARN,
"Invalid NAV SVINFO message, >%d reported visible",
MAXCHANNELS);
return 0;
}
gpsd_zero_satellites(&session->gpsdata);
nsv = 0;
for (i = st = 0; i < nchan; i++) {
unsigned int off = 8 + 12 * i;
short PRN = (short)getub(buf, off + 1);
unsigned char snr = getub(buf, off + 4);
bool used = (bool)(getub(buf, off + 2) & 0x01);
/* fit into gnssid:svid */
if (0 == PRN) {
/* skip 0 PRN */
continue;
} else if ((1 <= PRN) && (32 >= PRN)) {
/* GPS */
session->gpsdata.skyview[st].gnssid = 0;
session->gpsdata.skyview[st].svid = PRN;
} else if ((33 <= PRN) && (64 >= PRN)) {
/* BeiDou */
session->gpsdata.skyview[st].gnssid = 3;
session->gpsdata.skyview[st].svid = PRN - 158;
} else if ((65 <= PRN) && (96 >= PRN)) {
/* GLONASS */
session->gpsdata.skyview[st].gnssid = 6;
session->gpsdata.skyview[st].svid = PRN - 64;
} else if ((120 <= PRN) && (158 >= PRN)) {
/* SBAS */
session->gpsdata.skyview[st].gnssid = 1;
session->gpsdata.skyview[st].svid = PRN;
} else if ((159 <= PRN) && (163 >= PRN)) {
/* BeiDou, again */
session->gpsdata.skyview[st].gnssid = 3;
session->gpsdata.skyview[st].svid = PRN - 126;
} else if ((173 <= PRN) && (182 >= PRN)) {
/* IMES */
session->gpsdata.skyview[st].gnssid = 4;
session->gpsdata.skyview[st].svid = PRN - 172;
} else if ((193 <= PRN) && (197 >= PRN)) {
/* QZSS */
session->gpsdata.skyview[st].gnssid = 5;
session->gpsdata.skyview[st].svid = PRN - 192;
} else if ((211 <= PRN) && (246 >= PRN)) {
/* Galileo */
session->gpsdata.skyview[st].gnssid = 2;
session->gpsdata.skyview[st].svid = PRN - 210;
} else if (255 == PRN) {
/* GLONASS, again */
session->gpsdata.skyview[st].gnssid = 6;
session->gpsdata.skyview[st].svid = 255;
}
session->gpsdata.skyview[st].PRN = PRN;
session->gpsdata.skyview[st].ss = (float)snr;
session->gpsdata.skyview[st].elevation = (short)getsb(buf, off + 5);
session->gpsdata.skyview[st].azimuth = (short)getles16(buf, off + 6);
session->gpsdata.skyview[st].used = used;
if (used || PRN == (short)session->driver.ubx.sbas_in_use) {
nsv++;
session->gpsdata.skyview[st].used = true;
}
st++;
}
/* UBX does not give us these, so recompute */
session->gpsdata.dop.xdop = NAN;
session->gpsdata.dop.ydop = NAN;
session->gpsdata.skyview_time = NAN;
session->gpsdata.satellites_visible = (int)st;
session->gpsdata.satellites_used = (int)nsv;
gpsd_log(&session->context->errout, LOG_DATA,
"SVINFO: visible=%d used=%d mask={SATELLITE|USED}\n",
session->gpsdata.satellites_visible,
session->gpsdata.satellites_used);
return SATELLITE_SET | USED_IS;
}
/*
* Velocity Position ECEF message
*/
static gps_mask_t
ubx_msg_nav_velecef(struct gps_device_t *session, unsigned char *buf,
size_t data_len)
{
gps_mask_t mask = VECEF_SET;
double fTOW;
if (data_len < 20) {
gpsd_log(&session->context->errout, LOG_WARN,
"Invalid NAV VELECEF message, payload len %zd", data_len);
return 0;
}
fTOW = getleu32(buf, 0) / 1000.0;
session->newdata.ecef.vx = getles32(buf, 4) / 100.0;
session->newdata.ecef.vy = getles32(buf, 8) / 100.0;
session->newdata.ecef.vz = getles32(buf, 12) / 100.0;
session->newdata.ecef.vAcc = getleu32(buf, 16) / 100.0;
gpsd_log(&session->context->errout, LOG_DATA,
"UBX_NAV_VELECEF: fTOW=%.3f ECEF vx=%.2f vy=%.2f vz=%.2f vAcc=%.2f\n",
fTOW,
session->newdata.ecef.vx,
session->newdata.ecef.vy,
session->newdata.ecef.vz,
session->newdata.ecef.vAcc);
return mask;
}
/*
* SBAS Info
*/
static void ubx_msg_sbas(struct gps_device_t *session, unsigned char *buf)
{
#ifdef __UNUSED_DEBUG__
unsigned int i, nsv;
gpsd_log(&session->context->errout, LOG_WARN,
"SBAS: %d %d %d %d %d\n",
(int)getub(buf, 4), (int)getub(buf, 5), (int)getub(buf, 6),
(int)getub(buf, 7), (int)getub(buf, 8));
nsv = (int)getub(buf, 8);
for (i = 0; i < nsv; i++) {
int off = 12 + 12 * i;
gpsd_log(&session->context->errout, LOG_WARN,
"SBAS info on SV: %d\n", (int)getub(buf, off));
}
#endif /* __UNUSED_DEBUG__ */
/* really 'in_use' depends on the sats info, EGNOS is still in test */
/* In WAAS areas one might also check for the type of corrections indicated */
session->driver.ubx.sbas_in_use = (unsigned char)getub(buf, 4);
}
/*
* Multi-GNSS Raw measurement Data -- UBX-RXM-RAWX
*/
static gps_mask_t ubx_rxm_rawx(struct gps_device_t *session,
const unsigned char *buf,
size_t data_len)
{
double rcvTow;
uint16_t week;
int8_t leapS;
uint8_t numMeas;
uint8_t recStat;
if (16 > data_len) {
gpsd_log(&session->context->errout, LOG_WARN,
"Invalid RXM-RAWX message, payload len %zd", data_len);
return 0;
}
rcvTow = getled64((const char *)buf, 0);
week = getleu16(buf, 8);
leapS = getsb(buf, 10);
numMeas = getub(buf, 11);
recStat = getub(buf, 12);
gpsd_log(&session->context->errout, LOG_PROG,
"UBX_RXM_RAWX: rcvTow %f week %u leapS %d numMeas %u recStat %d\n",
rcvTow, week, leapS, numMeas, recStat);
for (int i = 0; i < numMeas; i++) {
int off = 32 * i;
double prMes = getled64((const char *)buf, off + 16);
double cpMes = getled64((const char *)buf, off + 24);
double doMes = getlef32((const char *)buf, off + 32);
uint8_t gnssId = getub(buf, off + 36);
uint8_t svId = getub(buf, off + 37);
uint8_t freqId = getub(buf, off + 39);
uint16_t locktime = getleu16(buf, off + 40);
uint8_t cno = getub(buf, off + 42);
uint8_t prStdev = getub(buf, off + 43);
uint8_t cpStdev = getub(buf, off + 44);
uint8_t doStdev = getub(buf, off + 45);
uint8_t trkStat = getub(buf, off + 46);
gpsd_log(&session->context->errout, LOG_DATA,
"%u:%u:%u prMes %f cpMes %f doMes %f locktime %u\n"
"cno %u prStdev %u cpStdev %u doStdev %u rtkStat %u\n",
gnssId, svId, freqId, prMes, cpMes, doMes, locktime,
cno, prStdev, cpStdev, doStdev, trkStat);
}
/* TODO: no place to put this data, yet */
return 0;
}
/*
* Raw Subframes - UBX-RXM-SFRB
*/
static gps_mask_t ubx_rxm_sfrb(struct gps_device_t *session, unsigned char *buf)
{
unsigned int i, chan, svid;
uint32_t words[10];
chan = (unsigned int)getub(buf, 0);
svid = (unsigned int)getub(buf, 1);
gpsd_log(&session->context->errout, LOG_PROG,
"UBX_RXM_SFRB: %u %u\n", chan, svid);
/* UBX does all the parity checking, but still bad data gets through */
for (i = 0; i < 10; i++) {
words[i] = (uint32_t)getleu32(buf, 4 * i + 2) & 0xffffff;
}
return gpsd_interpret_subframe(session, svid, words);
}
static void ubx_msg_inf(struct gps_device_t *session, unsigned char *buf,
size_t data_len)
{
unsigned short msgid;
static char txtbuf[MAX_PACKET_LENGTH];
msgid = (unsigned short)((buf[2] << 8) | buf[3]);
if (data_len > MAX_PACKET_LENGTH - 1)
data_len = MAX_PACKET_LENGTH - 1;
(void)strlcpy(txtbuf, (char *)buf + UBX_PREFIX_LEN, sizeof(txtbuf));
txtbuf[data_len] = '\0';
switch (msgid) {
case UBX_INF_DEBUG:
gpsd_log(&session->context->errout, LOG_PROG, "UBX_INF_DEBUG: %s\n", txtbuf);
break;
case UBX_INF_TEST:
gpsd_log(&session->context->errout, LOG_PROG, "UBX_INF_TEST: %s\n", txtbuf);
break;
case UBX_INF_NOTICE:
gpsd_log(&session->context->errout, LOG_INF, "UBX_INF_NOTICE: %s\n", txtbuf);
break;
case UBX_INF_WARNING:
gpsd_log(&session->context->errout, LOG_WARN, "UBX_INF_WARNING: %s\n", txtbuf);
break;
case UBX_INF_ERROR:
gpsd_log(&session->context->errout, LOG_WARN, "UBX_INF_ERROR: %s\n", txtbuf);
break;
default:
break;
}
return;
}
gps_mask_t ubx_parse(struct gps_device_t * session, unsigned char *buf,
size_t len)
{
size_t data_len;
unsigned short msgid;
gps_mask_t mask = 0;
/* the packet at least contains a head long enough for an empty message */
if (len < UBX_PREFIX_LEN)
return 0;
session->cycle_end_reliable = true;
/* extract message id and length */
msgid = (buf[2] << 8) | buf[3];
data_len = (size_t) getles16(buf, 4);
switch (msgid) {
case UBX_ACK_ACK:
gpsd_log(&session->context->errout, LOG_DATA,
"UBX_ACK_ACK, class: %02x, id: %02x\n",
buf[UBX_CLASS_OFFSET],
buf[UBX_TYPE_OFFSET]);
break;
case UBX_ACK_NAK:
gpsd_log(&session->context->errout, LOG_WARN,
"UBX_ACK_NAK, class: %02x, id: %02x\n",
buf[UBX_CLASS_OFFSET],
buf[UBX_TYPE_OFFSET]);
break;
case UBX_CFG_PRT:
if (session->driver.ubx.port_id != buf[UBX_MESSAGE_DATA_OFFSET + 0] ) {
session->driver.ubx.port_id = buf[UBX_MESSAGE_DATA_OFFSET + 0];
gpsd_log(&session->context->errout, LOG_INF,
"UBX_CFG_PRT: port %d\n", session->driver.ubx.port_id);
#ifdef RECONFIGURE_ENABLE
/* Need to reinitialize since port changed */
if (session->mode == O_OPTIMIZE) {
ubx_mode(session, MODE_BINARY);
} else {
ubx_mode(session, MODE_NMEA);
}
#endif /* RECONFIGURE_ENABLE */
}
break;
case UBX_INF_DEBUG:
/* FALLTHROUGH */
case UBX_INF_ERROR:
/* FALLTHROUGH */
case UBX_INF_NOTICE:
/* FALLTHROUGH */
case UBX_INF_TEST:
/* FALLTHROUGH */
case UBX_INF_USER:
/* FALLTHROUGH */
case UBX_INF_WARNING:
ubx_msg_inf(session, buf, data_len);
break;
case UBX_MON_EXCEPT:
gpsd_log(&session->context->errout, LOG_DATA, "UBX_MON_EXCEPT\n");
break;
case UBX_MON_GNSS:
gpsd_log(&session->context->errout, LOG_DATA, "UBX_MON_GNSS\n");
break;
case UBX_MON_HW:
gpsd_log(&session->context->errout, LOG_DATA, "UBX_MON_HW\n");
break;
case UBX_MON_HW2:
gpsd_log(&session->context->errout, LOG_DATA, "UBX_MON_HW2\n");
break;
case UBX_MON_IO:
gpsd_log(&session->context->errout, LOG_DATA, "UBX_MON_IO\n");
break;
case UBX_MON_IPC:
gpsd_log(&session->context->errout, LOG_DATA, "UBX_MON_IPC\n");
break;
case UBX_MON_MSGPP:
gpsd_log(&session->context->errout, LOG_DATA, "UBX_MON_MSGPP\n");
break;
case UBX_MON_PATCH:
gpsd_log(&session->context->errout, LOG_DATA, "UBX_MON_PATCH\n");
break;
case UBX_MON_RXBUF:
gpsd_log(&session->context->errout, LOG_DATA, "UBX_MON_RXBUF\n");