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make ubxtool emit L2C on F9

pull/98/head
bert hubert 2020-02-11 16:46:40 +01:00
parent 947b4f10cd
commit d533553fe1
1 changed files with 39 additions and 5 deletions
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44
ubxtool.cc
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@ -922,6 +922,7 @@ int main(int argc, char** argv)
exit(-1);
}
}
if(!doKeepNMEA) {
if (doDEBUG) { cerr<<humanTimeNow()<<" Disabling NMEA"<<endl; }
@ -1262,7 +1263,7 @@ int main(int argc, char** argv)
svseen.clear();
}
if(id.first == 0 && !sigid) { // can only parse the old stuff
if(id.first == 0 && !sigid) { // classic GPS
NavMonMessage nmm;
nmm.set_type(NavMonMessage::GPSInavType);
nmm.set_localutcseconds(g_gnssutc.tv_sec);
@ -1288,6 +1289,33 @@ int main(int argc, char** argv)
ns.emitNMM( nmm);
continue;
}
if(id.first == 0 && sigid) { // new GPS
auto cnav = getGPSFromSFRBXMsg(payload);
static int wn, tow;
int type = getbitu(&cnav[0], 14, 6);
tow = 6 * getbitu(&cnav[0], 20, 17) - 12;
if(type == 10) {
wn = getbitu(&cnav[0], 38, 13);
}
if(!wn)
continue; // can't file this yet
NavMonMessage nmm;
nmm.set_type(NavMonMessage::GPSCnavType);
nmm.set_localutcseconds(g_gnssutc.tv_sec);
nmm.set_localutcnanoseconds(g_gnssutc.tv_nsec);
nmm.set_sourceid(g_srcid);
nmm.mutable_gpsc()->set_gnsswn(wn); // XXX this sucks
nmm.mutable_gpsc()->set_sigid(sigid);
nmm.mutable_gpsc()->set_gnsstow(tow); // "with 6 second increments" -- needs to be adjusted
nmm.mutable_gpsc()->set_gnssid(id.first);
nmm.mutable_gpsc()->set_gnsssv(id.second);
nmm.mutable_gpsc()->set_contents(string((char*)cnav.c_str(), cnav.size()));
ns.emitNMM( nmm);
}
else if(id.first ==2) { // GALILEO
auto inav = getInavFromSFRBXMsg(payload);
unsigned int wtype = getbitu(&inav[0], 0, 6);
@ -1469,8 +1497,8 @@ int main(int argc, char** argv)
}
else if(msg.getClass() == 1 && msg.getType() == 0x35) { // UBX-NAV-SAT
// if(version9) // we have UBX-NAV-SIG
// continue;
if(version9) // we have UBX-NAV-SIG
continue;
// if (doDEBUG) { cerr<<humanTimeNow()<<" Info for "<<(int) payload[5]<<" svs: \n"; }
for(unsigned int n = 0 ; n < payload[5]; ++n) {
int gnssid = payload[8+12*n];
@ -1529,8 +1557,14 @@ int main(int argc, char** argv)
sigid = payload[10+16*n];
if(gnssid == 2 && sigid ==6) // they separate out I and Q, but the rest of UBX doesn't
sigid = 5; // so map it back
if(gnssid == 2 && sigid ==0) // they separate out I and Q, but the rest of UBX doesn't
sigid = 1; // so map it back
if(gnssid == 2 && sigid ==0)
sigid = 1;
if(gnssid ==0) {
if(sigid==3) // L2C is sent as '4' and '3', but the '4' numbers here are bogus
sigid=4; // if we see 3, use it, and change number to 4 to be consistent
else if(sigid != 0) // sigid 0 = 0
continue; // ignore the rest
}
}
else if(gnssid==2) { // version 8 defaults galileo to E1B
sigid = 1;