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first part of the timegal timegps etc stuff

timework
bert hubert 2020-07-09 17:18:35 +02:00
parent 4456e15d29
commit 31360724bd
4 changed files with 197 additions and 11 deletions
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7
navdump.cc
View File

@ -1171,6 +1171,13 @@ try
cout<<" SAR RLM type "<< nmm.sr().type() <<" from gal sv ";
cout<< nmm.sr().gnsssv() << " beacon "<<hexstring <<" code "<<(int)nmm.sr().code()<<" params "<< makeHexDump(nmm.sr().params()) <<endl;
}
else if(nmm.type() == NavMonMessage::TimeOffsetType) {
cout<<" got a time-offset message with "<< nmm.to().offsets().size()<<" offsets"<<endl;
for(const auto& o : nmm.to().offsets()) {
cout << o.gnssid()<<" " << o.offsetns() << " ";
}
}
else {
etstamp();
cout<<"Unknown type "<< (int)nmm.type()<<endl;

26
navmon.proto
View File

@ -17,6 +17,7 @@ message NavMonMessage {
SBASMessageType = 13;
GPSCnavType = 14;
RTCMMessageType = 15;
TimeOffsetType = 16;
}
required uint64 sourceID = 1;
@ -172,10 +173,32 @@ message NavMonMessage {
required uint32 sigid = 6;
}
message RTCMMessage {
required bytes contents =5;
}
message GNSSOffset
{
required uint32 gnssid = 1;
required int32 offsetNS = 2;
required uint32 tAcc = 3;
required bool valid = 4;
optional int32 leapS = 5;
required uint32 tow = 6;
optional uint32 wn = 7;
optional uint32 nT = 8;
optional uint32 n4 = 9;
}
message TimeOffsetMessage
{
required uint32 itow = 1;
repeated GNSSOffset offsets = 2;
}
optional GalileoInav gi=5;
@ -192,5 +215,6 @@ message NavMonMessage {
optional UbloxJammingStats ujs = 16;
optional SBASMessage sbm = 17;
optional GPSCnav gpsc = 18;
optional RTCMMessage rm = 19;
optional RTCMMessage rm = 19;
optional TimeOffsetMessage to = 20;
}

41
navparse.cc
View File

@ -2797,14 +2797,51 @@ try
for(int n = 0; n < 15; ++n)
hexstring+=fmt::sprintf("%x", (int)getbitu((unsigned char*)hexid.c_str(), 4 + 4*n, 4));
idb.addValue(id, "galsar", {{"mtype", (int) nmm.sr().type()},
{"midentifier", hexstring},
{"mcode", nmm.sr().code()},
{"mparams", makeHexDump(nmm.sr().params())}}, satUTCTime(id), nmm.sourceid());
}
else if(nmm.type() == NavMonMessage::TimeOffsetType) {
struct gnsstimeoffset
{
double offset;
double accuracy;
} gps, gal, glo, bds;
for(const auto& o : nmm.to().offsets()) {
if(o.gnssid() == 0) {
gps.offset = o.offsetns();
gps.accuracy = o.tacc();
} else if(o.gnssid() == 2) {
gal.offset = o.offsetns();
gal.accuracy = o.tacc();
} else if(o.gnssid() == 3) {
bds.offset = o.offsetns();
bds.accuracy = o.tacc();
} else if(o.gnssid() == 6) {
glo.offset = o.offsetns();
glo.accuracy = o.tacc();
}
}
idb.addValueObserver(nmm.sourceid(), "timeoffset",
{{"itow", nmm.to().itow()},
{"gps-offset", gps.offset},
{"gal-offset", gal.offset},
{"glo-offset", glo.offset},
{"bds-offset", bds.offset},
{"gps-tacc", gps.accuracy},
{"gal-tacc", gal.accuracy},
{"glo-tacc", glo.accuracy},
{"bds-tacc", bds.accuracy},
{"gal-gps-offset", gal.offset - gps.offset},
{"gal-bds-offset", gal.offset - bds.offset},
{"gal-glo-offset", gal.offset - glo.offset},
{"gps-bds-offset", gps.offset - bds.offset},
{"gps-glo-offset", gps.offset - glo.offset},
{"bds-glo-offset", bds.offset - glo.offset}},
nmm.localutcseconds());
}
else {
cout<<"Unknown type "<< (int)nmm.type()<<endl;
}

134
ubxtool.cc
View File

@ -446,6 +446,53 @@ static string format_serial(basic_string<uint8_t> payload)
payload[8]);
}
// these are four structs to capture Ublox F9P time offset stats
namespace {
struct TIMEGAL
{
uint32_t itow;
uint32_t galTow;
int32_t fGalTow;
int16_t galWno;
int8_t leapS;
uint8_t valid;
uint32_t tAcc;
} __attribute__((packed));
struct TIMEBDS
{
uint32_t itow;
uint32_t sow;
int32_t fSow;
int16_t week;
int8_t leapS;
uint8_t valid;
uint32_t tAcc;
} __attribute__((packed));
struct TIMEGLO
{
uint32_t itow;
uint32_t tod;
int32_t fTod;
uint16_t nT;
uint8_t n4;
uint8_t valid;
uint32_t tAcc;
} __attribute__((packed));
struct TIMEGPS
{
uint32_t itow;
int32_t ftow;
int16_t week;
int8_t leapS;
uint8_t valid;
uint32_t tAcc;
} __attribute__((packed));
}
// ubxtool device srcid
int main(int argc, char** argv)
{
@ -672,9 +719,9 @@ int main(int argc, char** argv)
}
}
else { // UBX-CFG-VALSET
// vers ram res res
msg = buildUbxMessage(0x06, 0x8a, {0x00, 0x01, 0x00, 0x00,
0x1f,0x00,0x31,0x10, doGPS,
0x1f,0x00,0x31,0x10, doGPS, //
0x01,0x00,0x31,0x10, doGPS,
0x03,0x00,0x31,0x10, doGPS,
@ -899,7 +946,20 @@ 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 (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 UBX-NAV-CLOCK"<<endl; } // Galileo time solution
enableUBXMessageOnPort(fd, 0x01, 0x25, ubxport, 16); // UBX-NAV-TIMEGAL
}
if(!version9 && !m8t && !fuzzPositionMeters) {
if (doDEBUG) { cerr<<humanTimeNow()<<" Enabling debugging data"<<endl; } // RF doppler
enableUBXMessageOnPort(fd, 0x03, 0x10, ubxport, 4);
@ -948,12 +1008,73 @@ int main(int argc, char** argv)
ns.launch();
cerr<<humanTimeNow()<<" Entering main loop"<<endl;
struct TIMEXState
{
TIMEGAL gal;
TIMEGPS gps;
TIMEGLO glo;
TIMEBDS bds;
void transmitIfComplete(NMMSender& ns)
{
if(!(gal.itow && gal.itow == bds.itow && bds.itow == glo.itow && glo.itow == gps.itow))
return;
NavMonMessage nmm;
nmm.set_sourceid(g_srcid);
nmm.set_localutcseconds(g_gnssutc.tv_sec);
nmm.set_localutcnanoseconds(g_gnssutc.tv_nsec);
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);
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);
ns.emitNMM(nmm);
gal.itow = 0;
}
} tstate;
for(;;) {
try {
auto [msg, timestamp] = getUBXMessage(fd, nullptr);
(void)timestamp;
auto payload = msg.getPayload();
if(msg.getClass() == 0x01 && msg.getType() == 0x07) { // UBX-NAV-PVT
struct PVT
{
@ -1042,10 +1163,7 @@ int main(int argc, char** argv)
if(doDEBUG)
cerr<<humanTimeNow()<<" Serial number from stream "<< serialno <<endl;
}
if(msg.getClass() == 0x02 && msg.getType() == 0x15) { // RAWX, the doppler stuff
else if(msg.getClass() == 0x02 && msg.getType() == 0x15) { // RAWX, the doppler stuff
// if (doDEBUG) { cerr<<humanTimeNow()<<" Got "<<(int)payload[11] <<" measurements "<<endl; }
double rcvTow;
memcpy(&rcvTow, &payload[0], 8);