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make ubxtool enable TIMEGPS/TIMEGAL etc by default, but make sure we disable GNSSes we are not looking for, strange numbers come out otherwise

timework
bert hubert 2020-07-09 20:40:38 +01:00
parent f53b8f79bb
commit 2400a166f0
1 changed files with 80 additions and 49 deletions
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129
ubxtool.cc
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@ -946,18 +946,18 @@ int main(int argc, char** argv)
if (doDEBUG) { cerr<<humanTimeNow()<<" Enabling UBX-NAV-CLOCK"<<endl; } // clock details
enableUBXMessageOnPort(fd, 0x01, 0x22, ubxport, 16); // UBX-NAV-CLOCK
if(version9) {
if (doDEBUG) { cerr<<humanTimeNow()<<" Enabling UBX-NAV-CLOCK"<<endl; } // GPS time solution
enableUBXMessageOnPort(fd, 0x01, 0x20, ubxport, 16); // UBX-NAV-TIMEGPS
if (doDEBUG) { cerr<<humanTimeNow()<<" Enabling UBX-NAV-CLOCK"<<endl; } // GLONASS time solution
enableUBXMessageOnPort(fd, 0x01, 0x23, ubxport, 16); // UBX-NAV-TIMEGLO
if(1) {
if (doDEBUG) { cerr<<humanTimeNow()<<" Enabling/disabling UBX-NAV-TIMEGPS"<<endl; } // GPS time solution
enableUBXMessageOnPort(fd, 0x01, 0x20, ubxport, doGPS ? 16 : 0); // UBX-NAV-TIMEGPS
if (doDEBUG) { cerr<<humanTimeNow()<<" Enabling/disabling "<< doGlonass<< " UBX-NAV-TIMEGLO"<<endl; } // GLONASS time solution
enableUBXMessageOnPort(fd, 0x01, 0x23, ubxport, doGlonass ? 16 : 0); // UBX-NAV-TIMEGLO
if (doDEBUG) { cerr<<humanTimeNow()<<" Enabling UBX-NAV-CLOCK"<<endl; } // Beidou time solution
enableUBXMessageOnPort(fd, 0x01, 0x24, ubxport, 16); // UBX-NAV-TIMEBDS
if (doDEBUG) { cerr<<humanTimeNow()<<" Enabling/disabling UBX-NAV-TIMEBDS"<<endl; } // Beidou time solution
enableUBXMessageOnPort(fd, 0x01, 0x24, ubxport, doBeidou ? 16 : 0); // UBX-NAV-TIMEBDS
if (doDEBUG) { cerr<<humanTimeNow()<<" Enabling UBX-NAV-CLOCK"<<endl; } // Galileo time solution
enableUBXMessageOnPort(fd, 0x01, 0x25, ubxport, 16); // UBX-NAV-TIMEGAL
if (doDEBUG) { cerr<<humanTimeNow()<<" Enabling/disabling UBX-NAV-TIMEGAL"<<endl; } // Galileo time solution
enableUBXMessageOnPort(fd, 0x01, 0x25, ubxport, doGalileo ? 16 : 0); // UBX-NAV-TIMEGAL
}
if(!version9 && !m8t && !fuzzPositionMeters) {
@ -1015,11 +1015,28 @@ int main(int argc, char** argv)
TIMEGPS gps;
TIMEGLO glo;
TIMEBDS bds;
bool doGlonass, doGalileo, doBeidou, doGPS;
void transmitIfComplete(NMMSender& ns)
{
if(!(gal.itow && gal.itow == bds.itow && bds.itow == glo.itow && glo.itow == gps.itow))
vector<int> itows;
if(doGlonass)
itows.push_back(glo.itow);
if(doGalileo)
itows.push_back(gal.itow);
if(doBeidou)
itows.push_back(bds.itow);
if(doGPS)
itows.push_back(gps.itow);
if(itows.empty())
return;
if(itows[0] == 0)
return;
for(const auto& itow : itows)
if(itow != itows[0])
return;
NavMonMessage nmm;
nmm.set_sourceid(g_srcid);
nmm.set_localutcseconds(g_gnssutc.tv_sec);
@ -1028,47 +1045,61 @@ int main(int argc, char** argv)
nmm.set_type(NavMonMessage::TimeOffsetType);
nmm.mutable_to()->set_itow(gps.itow);
auto no = nmm.mutable_to()->add_offsets();
no->set_gnssid(0);
no->set_offsetns(gps.ftow);
no->set_tacc(gps.tAcc);
no->set_tow(gps.itow); // this is for consistency
no->set_leaps(gps.leapS);
no->set_wn(gps.week);
no->set_valid(gps.valid);
no = nmm.mutable_to()->add_offsets();
no->set_gnssid(2);
no->set_offsetns(gal.fGalTow);
no->set_tacc(gal.tAcc);
no->set_leaps(gal.leapS);
no->set_wn(gal.galWno);
no->set_valid(gal.valid);
no->set_tow(gal.galTow);
NavMonMessage::GNSSOffset* no;
if(doGPS) {
no = nmm.mutable_to()->add_offsets();
no->set_gnssid(0);
no->set_offsetns(gps.ftow);
no->set_tacc(gps.tAcc);
no->set_tow(gps.itow); // this is for consistency
no->set_leaps(gps.leapS);
no->set_wn(gps.week);
no->set_valid(gps.valid);
}
no = nmm.mutable_to()->add_offsets();
no->set_gnssid(3);
no->set_offsetns(bds.fSow);
no->set_tacc(bds.tAcc);
no->set_leaps(bds.leapS);
no->set_wn(bds.week);
no->set_valid(bds.valid);
no->set_tow(bds.sow);
no = nmm.mutable_to()->add_offsets();
no->set_gnssid(6);
no->set_offsetns(glo.fTod);
no->set_tacc(glo.tAcc);
no->set_nt(glo.nT);
no->set_n4(glo.n4);
no->set_valid(glo.valid);
no->set_tow(glo.tod);
if(doGalileo) {
no = nmm.mutable_to()->add_offsets();
no->set_gnssid(2);
no->set_offsetns(gal.fGalTow);
no->set_tacc(gal.tAcc);
no->set_leaps(gal.leapS);
no->set_wn(gal.galWno);
no->set_valid(gal.valid);
no->set_tow(gal.galTow);
}
if(doBeidou) {
no = nmm.mutable_to()->add_offsets();
no->set_gnssid(3);
no->set_offsetns(bds.fSow);
no->set_tacc(bds.tAcc);
no->set_leaps(bds.leapS);
no->set_wn(bds.week);
no->set_valid(bds.valid);
no->set_tow(bds.sow);
}
if(doGlonass) {
no = nmm.mutable_to()->add_offsets();
no->set_gnssid(6);
no->set_offsetns(glo.fTod);
no->set_tacc(glo.tAcc);
no->set_nt(glo.nT);
no->set_n4(glo.n4);
no->set_valid(glo.valid);
no->set_tow(glo.tod);
}
ns.emitNMM(nmm);
gal.itow = 0;
gps.itow = 0;
glo.itow = 0;
bds.itow = 0;
}
} tstate;
tstate.doGPS = doGPS; tstate.doGalileo = doGalileo; tstate.doGlonass = doGlonass;
tstate.doBeidou = doBeidou;
for(;;) {
try {
auto [msg, timestamp] = getUBXMessage(fd, nullptr);
@ -1833,13 +1864,13 @@ int main(int argc, char** argv)
else
if(msg.getClass() == 0x01 && msg.getType() == 0x24) { // UBX-NAV-TIMEBDS
memcpy(&tstate.bds, &payload[0], sizeof(TIMEBDS));
// cerr << "TIMEBDS itow: "<<tstate.bds.itow<<", fSow: "<<tstate.bds.fSow<<", tAcc: "<<tstate.bds.tAcc<< ", valid: "<< !!tstate.bds.valid << endl;
// cerr << "TIMEBDS itow: "<<tstate.bds.itow<<", fSow: "<<tstate.bds.fSow<<", tAcc: "<<tstate.bds.tAcc<< ", valid: "<< !!tstate.bds.valid << endl;
tstate.transmitIfComplete(ns);
}
else
if(msg.getClass() == 0x01 && msg.getType() == 0x23) { // UBX-NAV-TIMEGLO
memcpy(&tstate.glo, &payload[0], sizeof(TIMEGLO));
// cerr << "TIMEGLO itow: "<<tstate.glo.itow<<", fTod: "<<tstate.glo.fTod<<", tAcc: "<<tstate.glo.tAcc<< ", valid: "<<!!tstate.glo.valid<<endl;
// cerr << "TIMEGLO itow: "<<tstate.glo.itow<<", fTod: "<<tstate.glo.fTod<<", tAcc: "<<tstate.glo.tAcc<< ", valid: "<<!!tstate.glo.valid<<endl;
tstate.transmitIfComplete(ns);
}
else