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add survey-in commands for M8T and F9

pull/85/head
bert hubert 2020-01-16 14:54:21 +00:00
parent e1e3721561
commit d05946426e
1 changed files with 88 additions and 4 deletions
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92
ubxtool.cc
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@ -573,6 +573,11 @@ int main(int argc, char** argv)
app.add_option("--owner,-o", owner, "Name/handle/nick of owner/operator");
app.add_option("--remark", remark, "Remark for this station");
int surveyMinSeconds = 0;
int surveyMinCM = 0;
app.add_option("--survey-min-seconds", surveyMinSeconds, "Survey minimally this amount of seconds");
app.add_option("--survey-min-cm", surveyMinCM, "Survey until accuracy is better (lower) than this setting");
app.add_flag("--debug", doDEBUG, "Display debug information");
app.add_flag("--logfile", doLOGFILE, "Create logfile");
try {
@ -741,12 +746,8 @@ int main(int argc, char** argv)
0x25,0x00,0x31,0x10, doGlonass,
0x18,0x00,0x31,0x10, doGlonass,
0x1a,0x00,0x31,0x10, doGlonass
});
if (doDEBUG) { cerr<<humanTimeNow()<<" Sending F9P GNSS setting, GPS: "<<doGPS<<", Galileo: "<<doGalileo<<", BeiDou: "<<doBeidou<<", GLONASS: "<<doGlonass<<", SBAS: "<<doSBAS<<endl; }
if(sendAndWaitForUBXAckNack(fd, 2, msg, 0x06, 0x8a)) { // GNSS setting, F9 stylee
@ -757,6 +758,49 @@ int main(int argc, char** argv)
exit(-1);
}
if(surveyMinSeconds || surveyMinCM) {
uint32_t minSecondsVal = surveyMinSeconds;
uint32_t minCentimetersVal;
if(surveyMinCM==0)
minCentimetersVal = 10000000; // 100km
else
minCentimetersVal = surveyMinCM * 100;
uint8_t* ptrSeconds = (uint8_t*)&minSecondsVal, *ptrCent= (uint8_t*)&minCentimetersVal;
uint8_t cmd;
if(version9) {
cmd = 0x8a;
msg = buildUbxMessage(0x06, cmd, {0x00, 0x01, 0x00, 0x00,
0x01,0x00,0x03,0x20, 1, // survey in mode
// min survey time:
0x10,0x00,0x03,0x40, ptrSeconds[0], ptrSeconds[1], ptrSeconds[2], ptrSeconds[3],
0x11,0x00,0x03,0x40, ptrCent[0], ptrCent[1], ptrCent[2], ptrCent[3]
});
}
else {
cmd = 0x71; // vers res survey ign
msg = buildUbxMessage(0x06, cmd, {0x00, 0x00, 1, 0,
0,0,0,0, // x
0,0,0,0, // y
0,0,0,0, // z
0, 0, 0, // HP x, y, z
0, // reserved
0,0,0,0, // fixed position accuracy
ptrSeconds[0], ptrSeconds[1], ptrSeconds[2], ptrSeconds[3],
ptrCent[0], ptrCent[1], ptrCent[2], ptrCent[3],
0,0,0,0,0,0,0,0});
}
cerr<<humanTimeNow()<<" Sending survey-in commmand"<<endl;
if(sendAndWaitForUBXAckNack(fd, 2, msg, 0x06, cmd)) {
if (doDEBUG) { cerr<<humanTimeNow()<<" Got ack on survey-in"<<endl; }
}
else {
cerr<<humanTimeNow()<<" Got nack on F9P GNSS setting"<<endl;
exit(-1);
}
}
/* VALSET
0x20 91 02 32 =
*/
@ -837,6 +881,12 @@ 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(m8t || version9) {
if (doDEBUG) { cerr<<humanTimeNow()<<" Enabling UBX-NAV-SVIN"<<endl; } // Survey-in results
enableUBXMessageOnPort(fd, 0x01, 0x3b, ubxport, 2);
}
if (doDEBUG) { cerr<<humanTimeNow()<<" Enabling UBX-RXM-RAWX"<<endl; } // RF doppler
enableUBXMessageOnPort(fd, 0x02, 0x15, ubxport, 8); // RXM-RAWX
@ -1515,6 +1565,40 @@ int main(int argc, char** argv)
nmm.mutable_dm()->set_payload(string((char*)&payload[0], payload.size()));
ns.emitNMM( nmm);
}
else if(msg.getClass() == 0x01 && msg.getType() == 0x3B) { // UBX-NAV-SVIN
struct NavSin
{
uint8_t ver;
uint8_t res[3];
uint32_t iTow;
uint32_t dur;
int32_t meanXCM, meanYCM, meanZCM;
int8_t meanXHP, meanYHP, meanZHP;
uint8_t res2;
int32_t meanAcc;
int32_t obs;
int8_t valid;
int8_t active;
uint8_t res3[2];
} __attribute__((packed));
NavSin NS;
static NavSin lastNS;
if(payload.size() != sizeof(NS)) {
cerr<<"Wrong NAV-SVIN message size, skipping"<<endl;
continue;
}
memcpy(&NS, payload.c_str(), sizeof(NS));
NS.res[0] = NS.res[1] = NS.res[2] = 0;
NS.res2=0;
NS.res3[0] = NS.res3[1] = 0;
NS.iTow = 0;
if(memcmp(&NS, &lastNS, sizeof(NS))) {
cerr<<humanTimeNow()<<" NAV-SVIN ver "<<(int)NS.ver<< " valid "<< (int)NS.valid<<" active " << (int)NS.active<<" duration "<<NS.dur<<"s meanAcc " <<NS.meanAcc /100<< "cm obs "<<NS.obs<<" ";
cerr<<std::fixed<<" ( "<<NS.meanXCM + 0.01*NS.meanXHP<<", "<<NS.meanYCM + 0.01*NS.meanYHP<<", "<<NS.meanZCM + 0.01*NS.meanZHP<<")"<<endl;
}
lastNS = NS;
}
else
if (doDEBUG) { cerr<<humanTimeNow()<<" Unknown UBX message of class "<<(int) msg.getClass() <<" and type "<< (int) msg.getType()<< " of "<<payload.size()<<" bytes"<<endl; }