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1 Commits
spacecruft
...
ptudor-pat
| Author | SHA1 | Date |
|---|---|---|
Jeff Moe
|
49b1ae92d1 |
4
Makefile
4
Makefile
|
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@ -1,6 +1,6 @@
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CFLAGS = -O3 -Wall -ggdb
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CXXFLAGS:= -std=gnu++17 -Wall -O3 -ggdb -MMD -MP -fno-omit-frame-pointer -Iext/CLI11 \
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CXXFLAGS:= -std=gnu++17 -Wall -O0 -ggdb -MMD -MP -fno-omit-frame-pointer -Iext/CLI11 \
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-Iext/fmt-6.1.2/include/ -Iext/powerblog/ext/simplesocket -Iext/powerblog/ext/ \
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-I/usr/local/opt/openssl/include/ \
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-Iext/sgp4/libsgp4/ \
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@ -27,6 +27,8 @@ CHEAT_ARG := $(shell ./update-git-hash-if-necessary)
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PROGRAMS = navparse ubxtool navnexus navcat navrecv navdump testrunner navdisplay tlecatch reporter sp3feed \
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galmonmon rinreport rinjoin rtcmtool gndate septool navmerge
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PROGRAMS_d = ubxtool
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all: navmon.pb.cc $(PROGRAMS)
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-include Makefile.local
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@ -25,6 +25,11 @@ bool getTOWFromInav(std::basic_string_view<uint8_t> inav, uint32_t *satTOW, uint
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return false;
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}
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bool getTOWFromFnav(std::basic_string_view<uint8_t> fnav, uint32_t *satTOW, uint16_t *wn)
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{
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return false;
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}
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int GalileoMessage::parseFnav(std::basic_string_view<uint8_t> page)
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{
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const uint8_t* ptr = &page[0];
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@ -7,6 +7,7 @@
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#include "bits.hh"
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bool getTOWFromInav(std::basic_string_view<uint8_t> inav, uint32_t *satTOW, uint16_t *wn);
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bool getTOWFromFnav(std::basic_string_view<uint8_t> fnav, uint32_t *satTOW, uint16_t *wn);
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struct GalileoMessage : GPSLikeEphemeris
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{
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@ -61,7 +61,7 @@ function maketable(str, arr)
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else if(row["gnssid"] == 6)
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img='ext/glo.png';
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ret.value = '<img width="16" height="16" src="https://berthub.eu/tmp/'+ img +'"/>';
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ret.value = '<img width="16" height="16" src="https://gpsmon.us/'+ img +'"/>';
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// ret.value="";
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ret.value += " <a href='sv.html?gnssid="+row.gnssid+"&sv="+row.svid+"&sigid="+row.sigid+"'>"+row.sv+"</a>";
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}
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@ -303,6 +303,8 @@ function updateSats()
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wantIt = true;
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if(d3.select("#GPSL2C").property("checked") && arr[n].gnssid==0 && arr[n].sigid == 4)
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wantIt = true;
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if(d3.select("#GPSL5").property("checked") && arr[n].gnssid==0 && arr[n].sigid == 6)
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wantIt = true;
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if(d3.select("#BeiDouB1I").property("checked") && arr[n].gnssid==3 && arr[n].sigid == 0)
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wantIt = true;
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if(d3.select("#BeiDouB2I").property("checked") && arr[n].gnssid==3 && arr[n].sigid == 2)
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@ -311,6 +313,10 @@ function updateSats()
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wantIt = true;
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if(d3.select("#GlonassL2").property("checked") && arr[n].gnssid==6 && arr[n].sigid == 2)
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wantIt = true;
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if(d3.select("#NAVICL5").property("checked") && arr[n].gnssid==98 && arr[n].sigid == 6)
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wantIt = true;
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if(d3.select("#QZSSL5").property("checked") && arr[n].gnssid==99 && arr[n].sigid == 6)
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wantIt = true;
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if(!wantIt)
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continue;
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@ -383,7 +389,7 @@ function setButtonSetting(name)
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localStorage.setItem("want"+name, d3.select("#"+name).property("checked"));
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}
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var modes=["GalE1", "GalE5b", "GPSL1CA", "GPSL2C", "BeiDouB1I", "BeiDouB2I", "GlonassL1", "GlonassL2"];
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var modes=["GalE1", "GalE5b", "GalE5a", "GPSL1CA", "GPSL2C", "GPSL5", "BeiDouB1I", "BeiDouB2I", "GlonassL1", "GlonassL2", "NAVICL5", "QZSSL5"];
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function setButtonSettings()
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{
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@ -18,6 +18,9 @@
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<input type="checkbox" id="GlonassL2" onclick="updateSats();"> <label for="GlonassL2">Glonass L2</label>
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<input type="checkbox" id="GPSL1CA" onclick="updateSats();"> <label for="GPSL1CA">GPS L1C/A</label>
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<input type="checkbox" id="GPSL2C" onclick="updateSats();"> <label for="GPSL2C">GPS L2C</label>
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<input type="checkbox" id="GPSL5" onclick="updateSats();"> <label for="GPSL5">GPS L5</label>
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<input type="checkbox" id="NAVICL5" onclick="updateSats();"> <label for="NAVICL5">NavIC L5</label>
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<input type="checkbox" id="QZSSL5" onclick="updateSats();"> <label for="QZSSL5">QZSS L5</label>
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</div>
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<hr/>
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<table id="svs"></table>
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@ -154,7 +154,7 @@ int main(int argc, char** argv)
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CLI::App app(program);
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string localAddress("127.0.0.1");
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int hours = 4;
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int hours = 1;
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app.add_flag("--version", doVERSION, "show program version and copyright");
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app.add_option("--bind,-b", localAddress, "Address:port to bind to");
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app.add_option("--storage,-s", g_storage, "Location of storage files");
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30
navparse.cc
30
navparse.cc
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@ -39,6 +39,8 @@
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#include "version.hh"
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//#include "nequick.hh"
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bool doDEBUG{true};
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static char program[]="navparse";
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using namespace std;
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@ -818,6 +820,7 @@ try
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item["hna"] = ae.second.second.hna;
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item["observed"] = false;
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// ptudor glonass
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for(uint32_t sigid : {0,1,2}) { // XXX SIGIDS
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if(auto iter = svstats.find({6, (uint32_t)ae.first, sigid}); iter != svstats.end()) {
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if(time(0) - nanoTime(6, iter->second.wn(), iter->second.tow())/1000000000 < 300) {
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@ -872,7 +875,8 @@ try
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item["observed"] = false;
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for(uint32_t sigid : {0,1,5}) {
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// ptudor gal
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for(uint32_t sigid : {0,1,5,6}) {
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if(auto iter = svstats.find({2, (uint32_t)ae.first, sigid}); iter != svstats.end()) {
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if(iter->second.completeIOD()) {
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@ -937,7 +941,8 @@ try
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item["eph-latitude"]= 180*longlat.second/M_PI;
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item["observed"] = false;
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for(uint32_t sigid : {0,1,4}) {
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// ptudor gps
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for(uint32_t sigid : {0,1,4,6}) {
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if(auto iter = svstats.find({0, (uint32_t)ae.first, sigid}); iter != svstats.end()) {
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if(time(0) - nanoTime(0, iter->second.wn(), iter->second.tow())/1000000000 < 300)
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item["observed"] = true;
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@ -1928,6 +1933,12 @@ try
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int sigid = nmm.rd().sigid();
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if(gnssid==2 && sigid == 0)
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sigid = 1;
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// ptudor E5a testing
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if(gnssid==2 && sigid == 4)
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sigid = 3;
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// testing the brain hurts section
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// if(gnssid==0 && sigid == 7)
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// sigid = 6;
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SatID id{(uint32_t)gnssid, (uint32_t)sv, (uint32_t)sigid};
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auto& perrecv = g_svstats[id].perrecv[nmm.sourceid()];
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@ -2774,7 +2785,19 @@ try
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}
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else if(nmm.type()== NavMonMessage::GPSCnavType) {
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// brain hurts section
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// if(gnssid ==0) {
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// if(sigid==3) // L2C is sent as '4' and '3', but the '4' numbers here are bogus
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// sigid=4; // if we see 3, use it, and change number to 4 to be consistent
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// if(sigid==7) // L5-CNAV is sent as '6' and '7', but the '7' numbers here are bogus
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// sigid=6; // if we see 7, use it, and change number to 6 to be consistent
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// else if(sigid != 0) // sigid 0 = 0
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// continue; // ignore the rest
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// }
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//SatID id={2,(uint32_t)sv,6}; // E5a
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SatID id{nmm.gpsc().gnssid(), nmm.gpsc().gnsssv(), nmm.gpsc().sigid()};
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//hardcoding doesn't change results because data is fine. SatID id={0,nmm.gpsc().gnsssv(),6}; // GPS L5 ptudor brain
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g_svstats[id].perrecv[nmm.sourceid()].t = nmm.localutcseconds();
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auto& svstat = g_svstats[id];
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@ -2785,7 +2808,8 @@ try
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std::basic_string<uint8_t>((uint8_t*)nmm.gpsc().contents().c_str(),
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nmm.gpsc().contents().size()),
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gcns);
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// cout<<"Got a message from "<<makeSatIDName(id)<<endl;
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// ptudor
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if (doDEBUG) { cerr<<humanTimeNow()<<" Received a message with "<<makeSatIDName(id)<<endl; }
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// XXX conversion possibly vital
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// svstat.tow = nmm.gpsc().gnsstow();
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12
ubx.cc
12
ubx.cc
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@ -163,3 +163,15 @@ basic_string<uint8_t> getSBASFromSFRBXMsg(std::basic_string_view<uint8_t> msg)
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return payload;
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}
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basic_string<uint8_t> getFnavFromSFRBXMsg(std::basic_string_view<uint8_t> msg)
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{
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// byte order adjustment
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std::basic_string<uint8_t> payload;
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for(unsigned int i = 0 ; i < (msg.size() - 8) / 4; ++i)
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for(int j=1; j <= 4; ++j)
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payload.append(1, msg[8 + (i+1) * 4 -j]);
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return payload;
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}
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1
ubx.hh
1
ubx.hh
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@ -17,6 +17,7 @@ std::basic_string<uint8_t> getGPSFromSFRBXMsg(std::basic_string_view<uint8_t> ms
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std::basic_string<uint8_t> getGlonassFromSFRBXMsg(std::basic_string_view<uint8_t> msg);
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std::basic_string<uint8_t> getBeidouFromSFRBXMsg(std::basic_string_view<uint8_t> msg);
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std::basic_string<uint8_t> getSBASFromSFRBXMsg(std::basic_string_view<uint8_t> msg);
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std::basic_string<uint8_t> getFnavFromSFRBXMsg(std::basic_string_view<uint8_t> msg);
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struct CRCMismatch{};
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struct TrkSatStat
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203
ubxtool.cc
203
ubxtool.cc
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@ -39,6 +39,7 @@
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static char program[]="ubxtool";
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bool doDEBUG{false};
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bool doDEBUGplus{true};
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bool doLOGFILE{false};
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bool doVERSION{false};
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@ -56,6 +57,8 @@ static int getBaudrate(int baud)
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{
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if(baud==115200)
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return B115200;
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else if(baud==460800)
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return B460800;
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else if(baud==57600)
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return B57600;
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else if(baud==38400)
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@ -72,6 +75,8 @@ static int getBaudrateFromSymbol(int baud)
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{
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if(baud==B115200)
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return 115200;
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else if(baud==B460800)
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return 460800;
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else if(baud==B57600)
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return 57600;
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else if(baud==B38400)
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@ -293,13 +298,14 @@ bool sendAndWaitForUBXAckNack(int fd, int seconds, basic_string_view<uint8_t> ms
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bool version9 = false;
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bool version9_L2_E5b = false;
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bool version9_L5_E5a = false;
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void enableUBXMessageOnPort(int fd, uint8_t ubxClass, uint8_t ubxType, uint8_t port, uint8_t rate=1)
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{
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for(int n=0 ; n < 5; ++n) {
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try {
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basic_string<uint8_t> payload;
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if(version9) {
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if(version9_L2_E5b || version9_L5_E5a) {
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payload= basic_string<uint8_t>({ubxClass, ubxType, rate});
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}
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else {
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@ -503,6 +509,7 @@ int main(int argc, char** argv)
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bool doGPS{true}, doGalileo{true}, doGlonass{false}, doBeidou{false}, doReset{false}, doWait{true}, doRTSCTS{true}, doSBAS{false};
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bool doQZSS(false), doNAVIC(false);
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bool doFakeFix{false};
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bool doKeepNMEA{false};
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bool doSTDOUT=false;
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@ -528,6 +535,9 @@ int main(int argc, char** argv)
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app.add_flag("--glonass,-r", doGlonass, "Enable Glonass reception");
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app.add_flag("--galileo,-e", doGalileo, "Enable Galileo reception");
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app.add_flag("--sbas,-s", doSBAS, "Enable SBAS (EGNOS/WAAS/etc) reception");
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app.add_flag("--zed-e5a", version9_L5_E5a, "Enable uBlox ZED F9T-10B support for L5 signals");
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app.add_flag("--navic", doNAVIC, "Enable NAVIC reception");
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app.add_flag("--qzss", doQZSS, "Enable QZSS reception");
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app.add_option("--rtscts", doRTSCTS, "Set hardware handshaking");
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app.add_flag("--stdout", doSTDOUT, "Emit output to stdout");
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auto pn = app.add_option("--port,-p", portName, "Device or file to read serial from");
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@ -592,8 +602,9 @@ int main(int argc, char** argv)
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if(!baudrate)
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baudrate = getBaudrateFromSymbol(g_baudval);
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// ptudor @warning
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if(doFakeFix) // hack
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version9 = true;
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version9_L2_E5b = true;
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bool m8t = false;
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string hwversion;
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@ -646,8 +657,12 @@ int main(int argc, char** argv)
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string line = (const char*)um1.getPayload().c_str() + 40 +30*n;
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cerr<<humanTimeNow()<<" Extended info: "<<line <<endl;
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// see also ptudor @warning
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if(line.find("F9") != string::npos)
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version9=true;
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// ptudor: command line L5 argument can override auto-default L2 module
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if (!version9_L5_E5a) {
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version9_L2_E5b=true;
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}
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if(line.find("M8T") != string::npos) {
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m8t=true;
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@ -667,8 +682,10 @@ int main(int argc, char** argv)
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cerr<<humanTimeNow()<<" Serial number "<< serialno <<endl;
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if(version9)
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if(version9_L2_E5b)
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cerr<<humanTimeNow()<<" Detected version U-Blox 9"<<endl;
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if(version9_L5_E5a)
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cerr<<humanTimeNow()<<" Detected version U-Blox 9 on ZED F9T 10B with L5 signals"<<endl;
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usleep(50000);
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if (doDEBUG) { cerr<<humanTimeNow()<<" Sending GNSS query"<<endl; }
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msg = buildUbxMessage(0x06, 0x3e, {});
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@ -689,7 +706,8 @@ int main(int argc, char** argv)
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}catch(...) {
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cerr<<"Got timeout waiting for ack of poll, no problem"<<endl;
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}
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if(!version9) {
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// ptudor reminder for where defaults are established
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if(!version9_L2_E5b && !version9_L5_E5a) {
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// ver RO maxch cfgs
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msg = buildUbxMessage(0x06, 0x3e, {0x00, 0x00, 0xff, 0x06,
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// GPS min max res x1 x2 x3, x4
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@ -718,6 +736,61 @@ int main(int argc, char** argv)
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exit(-1);
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}
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}
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else if(version9_L5_E5a) {
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// UBX-CFG-VALSET
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// vers ram res res
|
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/*
|
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* compat
|
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B5 62 06 8A 63
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00 01 05 00 00
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-
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01 00 31 10 01 //signal Gps L1C
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04 00 31 10 00 //signal GPS L5
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05 00 31 10 00 //signal SBAS L1C
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07 00 31 10 01 //sig GAL E1
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09 00 31 10 00 //sig GAL E5a
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0D 00 31 10 01 //sig BDS B1
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0F 00 31 10 01 //sig BDS B1c
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12 00 31 10 01 //sig QZSS L1C/A
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17 00 31 10 00 //sig QZSS L5
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18 00 31 10 01 //sig GLO L1
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1D 00 31 10 01 //sig NAVIC L5
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1F 00 31 10 01 //enable GPS
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20 00 31 10 00 //enable SBAS
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21 00 31 10 01 //enable GAL
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22 00 31 10 01 //enable BDS
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24 00 31 10 00 //sig GLO L1 part two? dunno
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25 00 31 10 01 //enable GLO
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26 00 31 10 00 //enable NAVIC
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28 00 31 10 01 //sig BDS B2a
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33 73
|
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|
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*/
|
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bool doCrashFast = false;
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msg = buildUbxMessage(0x06, 0x8a,
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{0x01,0x01,0x00,0x00, // intro stanza ptudor blindly copied
|
||||
0x01,0x00,0x31,0x10, doGPS, // signal gps L1C/A
|
||||
0x04,0x00,0x31,0x10, doGPS, // signal gps L5
|
||||
0x1f,0x00,0x31,0x10, doGPS, // enable GPS
|
||||
|
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0x21,0x00,0x31,0x10, doGalileo, //enable
|
||||
0x07,0x00,0x31,0x10, doGalileo, // signal E1
|
||||
// getting CRC errors on E5a
|
||||
0x09,0x00,0x31,0x10, doGalileo, //signal E5a
|
||||
|
||||
0x0d,0x00,0x31,0x10, doBeidou, // BDS B1
|
||||
// getting a nack from this one
|
||||
//0x0f,0x00,0x31,0x10, doBeidou, // BDS B1C
|
||||
// getting an immediate crash with this one
|
||||
//0x28,0x00,0x31,0x10, doBeidou, // BDS B2a
|
||||
0x28,0x00,0x31,0x10, doCrashFast, // BDS B2a
|
||||
0x22,0x00,0x31,0x10, doBeidou, // BDS enable
|
||||
|
||||
0x25,0x00,0x31,0x10, doGlonass, //enable GLO
|
||||
0x18,0x00,0x31,0x10, doGlonass, // GLO L1
|
||||
0x24,0x00,0x31,0x10, doGlonass //Glo part 2
|
||||
});
|
||||
}
|
||||
else { // UBX-CFG-VALSET
|
||||
// vers ram res res
|
||||
msg = buildUbxMessage(0x06, 0x8a, {0x00, 0x01, 0x00, 0x00,
|
||||
|
|
@ -737,15 +810,17 @@ int main(int argc, char** argv)
|
|||
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(version9_L2_E5b || version9_L5_E5a) {
|
||||
if (doDEBUG) { cerr<<humanTimeNow()<<" Sending F9P GNSS setting, GPS: "<<doGPS<<", Galileo: "<<doGalileo<<", BeiDou: "<<doBeidou<<", GLONASS: "<<doGlonass<<", SBAS: "<<doSBAS<<", QZSS: "<<doQZSS<<", NAVIC: "<<doNAVIC<<endl; }
|
||||
|
||||
if(sendAndWaitForUBXAckNack(fd, 2, msg, 0x06, 0x8a)) { // GNSS setting, F9 stylee
|
||||
if (doDEBUG) { cerr<<humanTimeNow()<<" Got ack on F9P GNSS setting"<<endl; }
|
||||
}
|
||||
else {
|
||||
cerr<<humanTimeNow()<<" Got nack on F9P GNSS setting"<<endl;
|
||||
exit(-1);
|
||||
//ptudor
|
||||
exit(-1);
|
||||
}
|
||||
/* VALSET
|
||||
0x20 91 02 32 =
|
||||
|
|
@ -809,7 +884,7 @@ int main(int argc, char** argv)
|
|||
uint8_t* ptrSeconds = (uint8_t*)&minSecondsVal, *ptrCent= (uint8_t*)&minCentimetersVal;
|
||||
uint8_t cmd;
|
||||
std::basic_string<uint8_t> msg;
|
||||
if(version9) {
|
||||
if(version9_L2_E5b) {
|
||||
cmd = 0x8a;
|
||||
msg = buildUbxMessage(0x06, cmd, {0x00, 0x01, 0x00, 0x00,
|
||||
0x01,0x00,0x03,0x20, 1, // survey in mode
|
||||
|
|
@ -930,12 +1005,15 @@ int main(int argc, char** argv)
|
|||
if (doDEBUG) { cerr<<humanTimeNow()<<" Enabling UBX-MON-HW"<<endl; }
|
||||
enableUBXMessageOnPort(fd, 0x0A, 0x09, ubxport, 16); // UBX-MON-HW
|
||||
|
||||
|
||||
if(version9) {
|
||||
// ptudor
|
||||
/*
|
||||
if(version9_L2_E5b) {
|
||||
if (doDEBUG) { cerr<<humanTimeNow()<<" Enabling UBX-NAV-SVIN"<<endl; } // Survey-in results
|
||||
enableUBXMessageOnPort(fd, 0x01, 0x3b, ubxport, 2);
|
||||
}
|
||||
else if(m8t) {
|
||||
*/
|
||||
if(m8t) {
|
||||
if (doDEBUG) { cerr<<humanTimeNow()<<" Enabling UBX-TIM-SVIN"<<endl; } // Survey-in results
|
||||
enableUBXMessageOnPort(fd, 0x0d, 0x04, ubxport, 2);
|
||||
}
|
||||
|
|
@ -964,7 +1042,7 @@ int main(int argc, char** argv)
|
|||
}
|
||||
}
|
||||
|
||||
if(!version9 && !m8t && !fuzzPositionMeters) {
|
||||
if(!version9_L2_E5b && !m8t && !fuzzPositionMeters) {
|
||||
if (doDEBUG) { cerr<<humanTimeNow()<<" Enabling debugging data"<<endl; } // RF doppler
|
||||
enableUBXMessageOnPort(fd, 0x03, 0x10, ubxport, 4);
|
||||
}
|
||||
|
|
@ -977,7 +1055,8 @@ int main(int argc, char** argv)
|
|||
if (doDEBUG) { cerr<<humanTimeNow()<<" Enabling UBX-NAV-POSECEF"<<endl; } // position
|
||||
enableUBXMessageOnPort(fd, 0x01, 0x01, ubxport, 8); // POSECEF
|
||||
|
||||
if(version9) {
|
||||
// ptudor
|
||||
if(version9_L2_E5b || version9_L5_E5a) {
|
||||
if (doDEBUG) { cerr<<humanTimeNow()<<" Enabling UBX-NAV-SIG"<<endl; } // satellite reception details
|
||||
enableUBXMessageOnPort(fd, 0x01, 0x43, ubxport, 8); // NAV-SIG
|
||||
/*
|
||||
|
|
@ -1216,17 +1295,31 @@ int main(int argc, char** argv)
|
|||
int gnssid = payload[36+32*n];
|
||||
int sv = payload[37+32*n];
|
||||
int sigid=0;
|
||||
if(version9) {
|
||||
// ptudor
|
||||
if(version9_L2_E5b || version9_L5_E5a) {
|
||||
sigid = payload[38+32*n];
|
||||
// ptudor next two
|
||||
if(gnssid == 2 && sigid ==4) // they separate out I and Q, but the rest of UBX doesn't
|
||||
sigid = 3; // so map it back
|
||||
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 ==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
|
||||
if(sigid==7) // L5-CNAV is sent as '6' and '7', but the '7' numbers here are bogus
|
||||
sigid=6; // if we see 7, use it, and change number to 6 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;
|
||||
}
|
||||
|
||||
if(doDEBUG)
|
||||
cerr<<humanTimeNow()<<" sigidhackresult "<< gnssid << "@" << sigid <<endl;
|
||||
|
||||
uint16_t locktimems;
|
||||
memcpy(&locktimems, &payload[40+32*n], 2);
|
||||
|
|
@ -1357,7 +1450,10 @@ int main(int argc, char** argv)
|
|||
ns.emitNMM( nmm);
|
||||
continue;
|
||||
}
|
||||
if(id.first == 0 && sigid) { // new GPS
|
||||
//ptudor
|
||||
//if(id.first == 0 && sigid == 0) { // new GPS but not L5
|
||||
if(id.first == 0 && sigid) { // "The L5-CNAV is modulated onto L5I signal component, containing basically the same information data as L2-CNAV. The message structure is exactly the same but its content may vary slightly.
|
||||
if (doDEBUG) { cerr<<humanTimeNow()<<" SFRBX from GPS L2C or L5-CNAV "<<id.second<<" @ signal "<<sigid<<", msg of "<<(int)payload[4]<< " words"<<endl; }
|
||||
auto cnav = getGPSFromSFRBXMsg(payload);
|
||||
static int wn, tow;
|
||||
|
||||
|
|
@ -1384,7 +1480,11 @@ int main(int argc, char** argv)
|
|||
nmm.mutable_gpsc()->set_contents(string((char*)cnav.c_str(), cnav.size()));
|
||||
ns.emitNMM( nmm);
|
||||
}
|
||||
// else if(id.first == 0 && sigid == 6) { // GPS L5 placeholder
|
||||
//// if (doDEBUGplus) { cerr<<humanTimeNow()<<" GPS-L5 " <<endl; }
|
||||
// }
|
||||
else if(id.first ==2) { // GALILEO
|
||||
if(sigid == 1 || sigid == 5) {
|
||||
basic_string<uint8_t> reserved1, reserved2, sar, spare, crc;
|
||||
auto inav = getInavFromSFRBXMsg(payload, reserved1, reserved2, sar, spare, crc);
|
||||
unsigned int wtype = getbitu(&inav[0], 0, 6);
|
||||
|
|
@ -1392,14 +1492,20 @@ int main(int argc, char** argv)
|
|||
uint32_t satTOW;
|
||||
int msgTOW{0};
|
||||
if(getTOWFromInav(inav, &satTOW, &g_galwn)) { // 0, 6, 5
|
||||
// if (doDEBUG) { cerr<<humanTimeNow()<<" "<<wtype<<" sv "<<id.second<<" tow "<<satTOW << " % 30 = "<< satTOW % 30<<", implied start of cycle: "<<(satTOW - (satTOW %30)) <<endl; }
|
||||
// ptudor
|
||||
//if (doDEBUGplus) { cerr<<humanTimeNow()<<" "<<wtype<<" sv "<<id.second<<" tow "<<satTOW << " % 30 = "<< satTOW % 30<<", implied start of cycle: "<<(satTOW - (satTOW %30)) <<endl; }
|
||||
msgTOW = satTOW;
|
||||
curCycleTOW = satTOW - (satTOW %30);
|
||||
}
|
||||
else {
|
||||
if(curCycleTOW < 0) // did not yet have a start of cycle
|
||||
continue;
|
||||
// if (doDEBUG) { cerr<<humanTimeNow()<<" "<<wtype<<" sv "<<id.second<<" tow "; }
|
||||
// ptudor
|
||||
//if (doDEBUGplus) { cerr<<humanTimeNow()<<" "<<wtype<<" sv "<<id.second<<" tow "; }
|
||||
// if(sigid != 5) {
|
||||
//if (doDEBUGplus) { cerr<<humanTimeNow()<<" GAL-E5a "<<sigid<<" sigidthree "<<endl; }
|
||||
//}
|
||||
//if(sigid == 5 || sigid == 3) {
|
||||
if(sigid == 5) {
|
||||
if(wtype == 2) {
|
||||
msgTOW = curCycleTOW + 20;
|
||||
|
|
@ -1454,6 +1560,7 @@ int main(int argc, char** argv)
|
|||
|
||||
}
|
||||
}
|
||||
// ptudor note galileo magic here
|
||||
NavMonMessage nmm;
|
||||
nmm.set_sourceid(g_srcid);
|
||||
nmm.set_type(NavMonMessage::GalileoInavType);
|
||||
|
|
@ -1474,6 +1581,43 @@ int main(int argc, char** argv)
|
|||
nmm.mutable_gi()->set_spare((const char*)&spare[0], spare.size());
|
||||
|
||||
ns.emitNMM( nmm);
|
||||
}
|
||||
// ptudor GAL E5a sigidthree
|
||||
else if(sigid == 3) {
|
||||
auto fnav = getFnavFromSFRBXMsg(payload);
|
||||
uint32_t satTOW;
|
||||
int msgTOW{0};
|
||||
if(getTOWFromFnav(fnav, &satTOW, &g_galwn)) { // 0, 6, 5
|
||||
// ptudor
|
||||
//if (doDEBUGplus) { cerr<<humanTimeNow()<<" "<<wtype<<" sv "<<id.second<<" tow "<<satTOW << " % 30 = "<< satTOW % 30<<", implied start of cycle: "<<(satTOW - (satTOW %30)) <<endl; }
|
||||
msgTOW = satTOW;
|
||||
curCycleTOW = satTOW - (satTOW %30);
|
||||
}
|
||||
if (doDEBUG) { cerr<<humanTimeNow()<<" SFRBX from GAL E5a "<<id.second<<" @ signal "<<sigid<<", msg of "<<(int)payload[4]<< " words"<<endl; }
|
||||
auto gstr = getFnavFromSFRBXMsg(payload);
|
||||
NavMonMessage nmm;
|
||||
nmm.set_localutcseconds(g_gnssutc.tv_sec);
|
||||
nmm.set_localutcnanoseconds(g_gnssutc.tv_nsec);
|
||||
nmm.set_sourceid(g_srcid);
|
||||
nmm.set_type(NavMonMessage::GalileoFnavType);
|
||||
//nmm.mutable_gf()->set_freq(payload[3]);
|
||||
nmm.mutable_gf()->set_gnssid(id.first);
|
||||
nmm.mutable_gf()->set_gnsssv(id.second);
|
||||
nmm.mutable_gf()->set_sigid(sigid);
|
||||
nmm.mutable_gf()->set_contents(string((char*)gstr.c_str(), gstr.size()));
|
||||
//gf.gnssWN, gf.gnssTOW
|
||||
nmm.mutable_gf()->set_gnsswn(g_galwn);
|
||||
nmm.mutable_gf()->set_gnsstow(msgTOW);
|
||||
//sep nmm.mutable_gf()->set_gnsswn(sf.wn - 1024);
|
||||
//sep nmm.mutable_gf()->set_gnsstow(sf.towMsec/1000.0);
|
||||
|
||||
ns.emitNMM( nmm);
|
||||
|
||||
//sep nmm.mutable_gf()->set_contents((const char*)&payload[0], payload.size());
|
||||
|
||||
|
||||
|
||||
}
|
||||
}
|
||||
else if(id.first==3) {
|
||||
auto gstr = getGlonassFromSFRBXMsg(payload);
|
||||
|
|
@ -1571,7 +1715,9 @@ int main(int argc, char** argv)
|
|||
|
||||
}
|
||||
else if(msg.getClass() == 1 && msg.getType() == 0x35) { // UBX-NAV-SAT
|
||||
if(version9) // we have UBX-NAV-SIG
|
||||
//if(version9_L2_E5b) // we have UBX-NAV-SIG
|
||||
// ptudor
|
||||
if(version9_L2_E5b || version9_L5_E5a)
|
||||
continue;
|
||||
// if (doDEBUG) { cerr<<humanTimeNow()<<" Info for "<<(int) payload[5]<<" svs: \n"; }
|
||||
for(unsigned int n = 0 ; n < payload[5]; ++n) {
|
||||
|
|
@ -1580,6 +1726,7 @@ int main(int argc, char** argv)
|
|||
|
||||
auto el = (int)(char)payload[11+12*n];
|
||||
auto azi = ((int)payload[13+12*n]*256 + payload[12+12*n]);
|
||||
// auto db one
|
||||
auto db = (int)payload[10+12*n];
|
||||
// if (doDEBUG) { cerr<<"gnssid "<<gnssid<<" sv "<<sv<<" el "<<el<<endl; }
|
||||
NavMonMessage nmm;
|
||||
|
|
@ -1600,7 +1747,7 @@ int main(int argc, char** argv)
|
|||
nmm.mutable_rd()->set_qi(status & 7);
|
||||
nmm.mutable_rd()->set_used(status & 8);
|
||||
|
||||
/*
|
||||
/*
|
||||
if (doDEBUG) {
|
||||
cerr<<humanTimeNow()<<" "<<gnssid<<","<<sv<<":";
|
||||
cerr<<" used " << ((status & 8) == 8);
|
||||
|
|
@ -1614,7 +1761,7 @@ int main(int argc, char** argv)
|
|||
cerr<<" alm-avail " << !!(status & (1<<12));
|
||||
cerr<<endl;
|
||||
}
|
||||
*/
|
||||
*/
|
||||
ns.emitNMM( nmm);
|
||||
}
|
||||
}
|
||||
|
|
@ -1627,15 +1774,24 @@ int main(int argc, char** argv)
|
|||
memcpy(&sigflags, &payload[18+16*n], 2);
|
||||
int sigid = 0;
|
||||
|
||||
if(version9) { // we only use this on version9 right now tho
|
||||
// ptudor anothersigidhack
|
||||
if(version9_L2_E5b || version9_L5_E5a) { // we only use this on version9_L2_E5b right now tho
|
||||
sigid = payload[10+16*n];
|
||||
// sigId 3 = E5aI; sigId 4 = e5aQ; sigId 5 = e5bI ; sigId 6 = E5bQ
|
||||
if(gnssid == 2 && sigid ==4) // they separate out I and Q, but the rest of UBX doesn't
|
||||
sigid = 3; // so map it back
|
||||
if(gnssid == 2 && sigid ==6) // they separate out I and Q, but the rest of UBX doesn't
|
||||
sigid = 5; // so map it back
|
||||
// reset 3 to 6 after 6 becomes 5 and 4 becomes 3. my brain hurts. see page 19 UBX-21048598
|
||||
if(gnssid == 2 && sigid ==3) // they separate out I and Q, but the rest of UBX doesn't
|
||||
sigid = 6; // 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
|
||||
if(sigid==7) // L5-CNAV is sent as '6' and '7', but the '7' numbers here are bogus
|
||||
sigid=6; // if we see 7, use it, and change number to 6 to be consistent
|
||||
else if(sigid != 0) // sigid 0 = 0
|
||||
continue; // ignore the rest
|
||||
}
|
||||
|
|
@ -1644,8 +1800,9 @@ int main(int argc, char** argv)
|
|||
sigid = 1;
|
||||
}
|
||||
|
||||
// auto db two
|
||||
auto db = (int)payload[14+16*n];
|
||||
// if (doDEBUG) { cerr<<"gnssid "<<gnssid<<" sv "<<sv<<" el "<<el<<endl; }
|
||||
if (doDEBUGplus) { cerr<<"UBX-NAV-SIG: gnssid "<<gnssid<<" sv "<<sv<<" sigid "<<sigid<<" qi "<<qi<<" db "<<db<<endl; }
|
||||
NavMonMessage nmm;
|
||||
nmm.set_sourceid(g_srcid);
|
||||
nmm.set_localutcseconds(g_gnssutc.tv_sec);
|
||||
|
|
|
|||
Loading…
Reference in New Issue