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ubx infra for glonass/beidou

pull/1/head
bert hubert 2019-08-26 00:19:23 +02:00
parent 50af7e4397
commit 8ed9401cab
2 changed files with 30 additions and 2 deletions
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28
ubx.cc
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@ -88,7 +88,8 @@ basic_string<uint8_t> getInavFromSFRBXMsg(std::basic_string_view<uint8_t> msg)
return inav;
}
basic_string<uint8_t> getGPSFromSFRBXMsg(int sv, std::basic_string_view<uint8_t> msg)
// XXX this should do the parity check
basic_string<uint8_t> getGPSFromSFRBXMsg(std::basic_string_view<uint8_t> msg)
{
// byte order adjustment
std::basic_string<uint8_t> payload;
@ -100,3 +101,28 @@ basic_string<uint8_t> getGPSFromSFRBXMsg(int sv, std::basic_string_view<uint8_t>
return payload;
}
// note, this returns the fourth UBX specific word with derived data, feel free to ignore!
basic_string<uint8_t> getGlonassFromSFRBXMsg(std::basic_string_view<uint8_t> msg)
{
// byte order adjustment
std::basic_string<uint8_t> payload;
for(unsigned int i = 0 ; i < (msg.size() - 8) / 4; ++i)
for(int j=1; j <= 4; ++j)
payload.append(1, msg[8 + (i+1) * 4 -j]);
return payload;
}
// note, this returns the fourth UBX specific word with derived data, feel free to ignore!
basic_string<uint8_t> getBeidouFromSFRBXMsg(std::basic_string_view<uint8_t> msg)
{
// byte order adjustment
std::basic_string<uint8_t> payload;
for(unsigned int i = 0 ; i < (msg.size() - 8) / 4; ++i)
for(int j=1; j <= 4; ++j)
payload.append(1, msg[8 + (i+1) * 4 -j]);
return payload;
}

4
ubx.hh
View File

@ -6,5 +6,7 @@ std::basic_string<uint8_t> buildUbxMessage(uint8_t ubxClass, uint8_t ubxType, st
std::basic_string<uint8_t> buildUbxMessage(uint8_t ubxClass, uint8_t ubxType, const std::initializer_list<uint8_t>& str);
std::basic_string<uint8_t> getInavFromSFRBXMsg(std::basic_string_view<uint8_t> msg);
std::basic_string<uint8_t> getGPSFromSFRBXMsg(int sv, std::basic_string_view<uint8_t> msg);
std::basic_string<uint8_t> getGPSFromSFRBXMsg(std::basic_string_view<uint8_t> msg);
std::basic_string<uint8_t> getGlonassFromSFRBXMsg(std::basic_string_view<uint8_t> msg);
std::basic_string<uint8_t> getBeidouFromSFRBXMsg(std::basic_string_view<uint8_t> msg);
struct CRCMismatch{};