Revert "Support UBX NAV-PVT"

This reverts commit 22a020ec1c2bc85eff681ecacc6d2bb79fdddc9c.

This commit broke PPS on uBlox.  PPS would flip from offset
0 to offset -1, and back, every few minutes.

Also stray characters (^M) in the log files.

1 files changed, 19 insertions, 146 deletions

diff --git a/driver_ubx.c b/driver_ubx.c
index 79674410..88be6c07 100644
--- a/driver_ubx.c
+++ b/driver_ubx.c
@@ -130,129 +130,19 @@ static gps_mask_t
 ubx_msg_nav_pvt(struct gps_device_t *session, unsigned char *buf,
 		size_t data_len)
 {
-    uint8_t valid;
-    uint8_t flags;
-    uint8_t navmode;
-    struct tm unpacked_date;
-    double subseconds;
-    double hacc, vacc, sacc;
-    int *status = &session->gpsdata.status;
-    int *mode = &session->newdata.mode;
+    unsigned int flags;
     gps_mask_t mask = 0;
 
     if (data_len != 92)
 	return 0;
 
-    valid = (unsigned int)getub(buf, 11);
-    navmode = (unsigned char)getub(buf, 20);
     flags = (unsigned int)getub(buf, 21);
 
-    switch (navmode)
-    {
-    case UBX_MODE_TMONLY:
-    {
-	if (*mode != MODE_NO_FIX) {
-	    *mode = MODE_NO_FIX;
-	    mask |= MODE_SET;
-	}
-	if (*status != STATUS_NO_FIX) {
-	    *status = STATUS_NO_FIX;
-	    mask |= STATUS_SET;
-	}
-	break;
-    }
-    case UBX_MODE_3D:
-    case UBX_MODE_GPSDR:
-    {
-	if (*mode != MODE_3D) {
-	    *mode = MODE_3D;
-	    mask |= MODE_SET;
-	}
-	if ((flags & UBX_NAV_PVT_FLAG_DGPS) == UBX_NAV_PVT_FLAG_DGPS) {
-	    if (*status != STATUS_DGPS_FIX) {
-		*status = STATUS_DGPS_FIX;
-		mask |= STATUS_SET;
-	    }
-	} else {
-	    if (*status != STATUS_FIX) {
-		*status = STATUS_FIX;
-		mask |= STATUS_SET;
-	    }
-	}
-	mask |=	  LATLON_SET | ALTITUDE_SET | SPEED_SET | TRACK_SET | CLEAR_IS
-		| REPORT_IS;
-	break;
-    }
-    case UBX_MODE_2D:
-    case UBX_MODE_DR:		/* consider this too as 2D */
-    {
-	if (*mode != MODE_2D) {
-	    *mode = MODE_2D;
-	    mask |= MODE_SET;
-	};
-	if (*status != STATUS_FIX) {
-	    *status = STATUS_FIX;
-	    mask |= STATUS_SET;
-	}
-	mask |= LATLON_SET | SPEED_SET;
-	break;
-    }
-    default:
-    {
-	if (*mode != MODE_NO_FIX) {
-	    *mode = MODE_NO_FIX;
-	    mask |= MODE_SET;
-	};
-	if (*status != STATUS_NO_FIX) {
-	    *status = STATUS_NO_FIX;
-	    mask |= STATUS_SET;
-	}
-	break;
-    }
-    }
-
-    if ((valid & UBX_NAV_PVT_VALID_DATE_TIME) == UBX_NAV_PVT_VALID_DATE_TIME) {
-	unpacked_date.tm_year = (uint16_t)getleu16(buf, 4) - 1900;
-	unpacked_date.tm_mon = (uint8_t)getub(buf, 6) - 1;
-	unpacked_date.tm_mday = (uint8_t)getub(buf, 7);
-	unpacked_date.tm_hour = (uint8_t)getub(buf, 8);
-	unpacked_date.tm_min = (uint8_t)getub(buf, 9);
-	unpacked_date.tm_sec = (uint8_t)getub(buf, 10);
-	unpacked_date.tm_isdst = 0;
-	unpacked_date.tm_wday = 0;
-	unpacked_date.tm_yday = 0;
-	subseconds = 1e-9 * (int32_t)getles32(buf, 16);
-	session->newdata.time = \
-	    (timestamp_t)mkgmtime(&unpacked_date) + subseconds;
-	mask |= TIME_SET | NTPTIME_IS;
-    }
-
-    session->newdata.longitude = 1e-7 * (int32_t)getles32(buf, 24);
-    session->newdata.latitude = 1e-7 * (int32_t)getles32(buf, 28);
-    session->newdata.altitude = 1e-3 * (int32_t)getles32(buf, 32);
-    session->newdata.speed = 1e-3 * (int32_t)getles32(buf, 60);
-    session->newdata.track = 1e-5 * (int32_t)getles32(buf, 64);
-    hacc = (double)(getles32(buf, 40) / 1000.0);
-    vacc = (double)(getles32(buf, 44) / 1000.0);
-    sacc = (double)(getles32(buf, 48) / 1000.0);
-    // Assuming hacc == epx == epy is the best we can do
-    session->newdata.epx = session->newdata.epy = hacc;
-    session->newdata.epv = vacc;
-    session->newdata.eps = sacc;
-    mask |= HERR_SET | VERR_SET | SPEEDERR_SET;
+    /* TODO: finish decoding UBX_MON_PVT
+     * no need until depreacaed UBX_MON_SOL is dead
+     */
     gpsd_log(&session->context->errout, LOG_DATA,
-	 "NAV_PVT: flags=%02x time=%.2f lat=%.2f lon=%.2f alt=%.2f track=%.2f speed=%.2f climb=%.2f mode=%d status=%d used=%d\n",
-	 flags,
-	 session->newdata.time,
-	 session->newdata.latitude,
-	 session->newdata.longitude,
-	 session->newdata.altitude,
-	 session->newdata.track,
-	 session->newdata.speed,
-	 session->newdata.climb,
-	 session->newdata.mode,
-	 session->gpsdata.status,
-	 session->gpsdata.satellites_used);
+	     "NAV-PVT: flags:%02x\n", flags);
     return mask;
 }
 
@@ -276,14 +166,10 @@ ubx_msg_nav_sol(struct gps_device_t *session, unsigned char *buf,
 #define DATE_VALID	(UBX_SOL_VALID_WEEK | UBX_SOL_VALID_TIME)
     if ((flags & DATE_VALID) == DATE_VALID) {
 	unsigned short gw;
-	unsigned int iTOW;
-	int fTOW;
-	iTOW = (unsigned int)getleu32(buf, 0);
-	fTOW = (int)getles32(buf, 4);
+	unsigned int tow;
+	tow = (unsigned int)getleu32(buf, 0);
 	gw = (unsigned short)getles16(buf, 8);
-	session->newdata.time = gpsd_gpstime_resolve(session, gw,
-						     (iTOW * 1e-3)
-						     + (fTOW * 1e-9));
+	session->newdata.time = gpsd_gpstime_resolve(session, gw, tow / 1000.0);
 	mask |= TIME_SET | NTPTIME_IS;
     }
 #undef DATE_VALID
@@ -406,36 +292,24 @@ static gps_mask_t
 ubx_msg_nav_timegps(struct gps_device_t *session, unsigned char *buf,
 		    size_t data_len)
 {
-    unsigned int gw, iTOW, flags;
-    int fTOW;
-    gps_mask_t mask = 0;
+    unsigned int gw, tow, flags;
 
     if (data_len != 16)
 	return 0;
 
+    tow = (unsigned int)getleu32(buf, 0);
+    gw = (unsigned int)getles16(buf, 8);
     flags = (unsigned int)getub(buf, 11);
-    // Valid leap seconds
-    if ((flags & UBX_TIMEGPS_VALID_LEAP_SECOND) == UBX_TIMEGPS_VALID_LEAP_SECOND)
+    if ((flags & 0x7) != 0)
 	session->context->leap_seconds = (int)getub(buf, 10);
-    // Valid GPS time of week and week number
-#define VALID_TIME (UBX_TIMEGPS_VALID_TIME | UBX_TIMEGPS_VALID_WEEK)
-    if ((flags & VALID_TIME) == VALID_TIME)
-#undef VALID_TIME
-    {
-	iTOW = (unsigned int)getleu32(buf, 0);
-	fTOW = (int)getles32(buf, 4);
-	gw = (unsigned int)getles16(buf, 8);
-	session->newdata.time =
-	  gpsd_gpstime_resolve(session,
-			       (unsigned short int)gw,
-			       ((double)iTOW * 1e-3) + ((double)fTOW * 1e-9));
-	mask |= (TIME_SET | NTPTIME_IS);
-    }
+    session->newdata.time = gpsd_gpstime_resolve(session,
+					      (unsigned short int)gw,
+					      (double)tow / 1000.0);
 
     gpsd_log(&session->context->errout, LOG_DATA,
-	     "TIMEGPS: time=%.2f mask={TIME}\n",
-	     session->newdata.time);
-    return mask;
+	     "TIMEGPS: time=%.2f leap=%d, mask={TIME}\n",
+	     session->newdata.time, session->context->leap_seconds);
+    return TIME_SET | NTPTIME_IS;
 }
 
 /**
@@ -612,8 +486,7 @@ gps_mask_t ubx_parse(struct gps_device_t * session, unsigned char *buf,
 	break;
     case UBX_NAV_PVT:
 	gpsd_log(&session->context->errout, LOG_PROG, "UBX_NAV_PVT\n");
-	mask = ubx_msg_nav_pvt(session, &buf[UBX_PREFIX_LEN], data_len)
-	     | (CLEAR_IS | REPORT_IS);
+	mask = ubx_msg_nav_pvt(session, &buf[UBX_PREFIX_LEN], data_len);
         break;
     case UBX_NAV_POSUTM:
 	gpsd_log(&session->context->errout, LOG_DATA, "UBX_NAV_POSUTM\n");