From a28cde80102e0664993f3e44e161c1429ab9adfd Mon Sep 17 00:00:00 2001
From: bert hubert <bert.hubert@netherlabs.nl>
Date: Wed, 29 Jan 2020 18:06:23 +0100
Subject: [PATCH] enable ublox jamming statistics, send them out, document &
 store them

---
 influxdb.md  |  5 +++++
 navdump.cc   |  6 ++++++
 navmon.proto | 11 ++++++++++-
 navparse.cc  | 17 +++++++++++++++++
 ubxtool.cc   | 41 +++++++++++++++++++++++++++++++++++++++--
 5 files changed, 77 insertions(+), 3 deletions(-)

diff --git a/influxdb.md b/influxdb.md
index ea67a0f..6c124b0 100644
--- a/influxdb.md
+++ b/influxdb.md
@@ -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
 
diff --git a/navdump.cc b/navdump.cc
index 80d746c..180b1e3 100644
--- a/navdump.cc
+++ b/navdump.cc
@@ -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()));
diff --git a/navmon.proto b/navmon.proto
index 914af82..ee3df18 100644
--- a/navmon.proto
+++ b/navmon.proto
@@ -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;
 }
diff --git a/navparse.cc b/navparse.cc
index b30e967..4dd6ef0 100644
--- a/navparse.cc
+++ b/navparse.cc
@@ -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) {
diff --git a/ubxtool.cc b/ubxtool.cc
index 37e7372..f9770b1 100644
--- a/ubxtool.cc
+++ b/ubxtool.cc
@@ -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; }