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enable ublox jamming statistics, send them out, document & store them

pull/96/head
bert hubert 2020-01-29 18:06:23 +01:00
parent eeb85af0a8
commit a28cde8010
5 changed files with 77 additions and 3 deletions
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5
influxdb.md
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@ -104,4 +104,9 @@ Observer and SV measurements:
* ele: calculated elevation for SV from this receiver
* prres: pseudorange residual according to receiver
* qi: 0-7, quality indicator according to receiver
* ubx\_jamming
* noise\_per\_ms: the Ublox noisePerMS field
* agccnt: the Ublox automatic gain correction "count"
* jamind: The Ublox jamming indicator
* flag: The Ublox jamming flag field

6
navdump.cc
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@ -883,6 +883,12 @@ try
cout<<endl;
}
else if(nmm.type() == NavMonMessage::UbloxJammingStatsType) {
etstamp();
cout<<"noisePerMS "<<nmm.ujs().noiseperms() << " agcCnt "<<
nmm.ujs().agccnt()<<" flags "<<nmm.ujs().flags()<<" jamind "<<
nmm.ujs().jamind()<<endl;
}
else if(nmm.type() == NavMonMessage::DebuggingType) {
auto res = parseTrkMeas(basic_string<uint8_t>((const uint8_t*)nmm.dm().payload().c_str(), nmm.dm().payload().size()));

11
navmon.proto
View File

@ -13,6 +13,7 @@ message NavMonMessage {
SARResponseType = 9;
DebuggingType = 10;
ObserverDetailsType = 11;
UbloxJammingStatsType = 12;
}
required uint64 sourceID = 1;
@ -143,6 +144,13 @@ message NavMonMessage {
optional uint32 uptime = 13;
}
message UbloxJammingStats
{
required uint32 noisePerMS = 1;
required uint32 agcCnt = 2;
required uint32 flags = 3;
required uint32 jamInd = 4;
}
optional GalileoInav gi=5;
optional ReceptionData rd=6;
@ -154,5 +162,6 @@ message NavMonMessage {
optional GlonassInav gloi=12;
optional SARResponse sr=13;
optional DebuggingMessage dm = 14;
optional ObserverDetails od = 15;
optional ObserverDetails od = 15;
optional UbloxJammingStats ujs = 16;
}

17
navparse.cc
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@ -1828,6 +1828,23 @@ try
}
else if(nmm.type() == NavMonMessage::UbloxJammingStatsType) {
/*
cout<<"noisePerMS "<<nmm.ujs().noiseperms() << " agcCnt "<<
nmm.ujs().agccnt()<<" flags "<<nmm.ujs().flags()<<" jamind "<<
nmm.ujs().jamind()<<endl;
*/
idb.addValueObserver(nmm.sourceid(), "ubx_jamming", {
{"noise_per_ms", nmm.ujs().noiseperms()},
{"agccnt", nmm.ujs().agccnt()},
{"jamind", nmm.ujs().jamind()},
{"flags", nmm.ujs().flags()}
},
nmm.localutcseconds());
}
else if(nmm.type()== NavMonMessage::DebuggingType) {
auto ret = parseTrkMeas(basic_string<uint8_t>((const uint8_t*)nmm.dm().payload().c_str(), nmm.dm().payload().size()));
for(const auto& tss : ret) {

41
ubxtool.cc
View File

@ -930,6 +930,10 @@ int main(int argc, char** argv)
if (doDEBUG) { cerr<<humanTimeNow()<<" Enabling UBX-RXM-RLM"<<endl; } // SAR
enableUBXMessageOnPort(fd, 0x02, 0x59, ubxport); // UBX-RXM-RLM
if (doDEBUG) { cerr<<humanTimeNow()<<" Enabling UBX-MON-HW"<<endl; } // SAR
enableUBXMessageOnPort(fd, 0x0A, 0x09, ubxport, 16); // UBX-MON-HW
if(version9) {
if (doDEBUG) { cerr<<humanTimeNow()<<" Enabling UBX-NAV-SVIN"<<endl; } // Survey-in results
enableUBXMessageOnPort(fd, 0x01, 0x3b, ubxport, 2);
@ -1086,7 +1090,6 @@ int main(int argc, char** argv)
nmm.mutable_op()->set_z(5001904.9952);
nmm.mutable_op()->set_acc(3.14);
ns.emitNMM( nmm);
}
}
@ -1680,7 +1683,41 @@ int main(int argc, char** argv)
cerr<<std::fixed<<"("<<TS.meanXCM <<", "<<TS.meanYCM <<", "<<TS.meanZCM<<")"<<endl;
}
lastTS = TS;
}
}
else if(msg.getClass() == 0x0a && msg.getType() == 0x09) { // UBX-MON-HW
struct MonHW {
uint32_t pinSel, pinBank, pinDir, pinVal;
uint16_t noisePerMS;
uint16_t agcCnt;
uint8_t aStatus;
uint8_t aPower;
uint8_t flags;
uint8_t res1;
uint32_t usedMask;
uint8_t VP[17];
uint8_t jamInd;
uint16_t res2;
uint32_t pinIrq, pullH, pullL;
} __attribute__((packed));
MonHW mhw;
memcpy(&mhw, payload.c_str(), sizeof(MonHW));
// cerr << "agcCnt "<< mhw.agcCnt <<" jamind " << (unsigned int) mhw.jamInd <<" flags "<< (unsigned int)mhw.flags << endl;
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::UbloxJammingStatsType);
nmm.mutable_ujs()->set_noiseperms(mhw.noisePerMS);
nmm.mutable_ujs()->set_agccnt(mhw.agcCnt);
nmm.mutable_ujs()->set_flags(mhw.flags);
nmm.mutable_ujs()->set_jamind(mhw.jamInd);
ns.emitNMM(nmm);
}
else
if (doDEBUG) { cerr<<humanTimeNow()<<" Unknown UBX message of class "<<(int) msg.getClass() <<" and type "<< (int) msg.getType()<< " of "<<payload.size()<<" bytes"<<endl; }