diff options
| -rwxr-xr-x | ubxtool | 75 |
1 files changed, 56 insertions, 19 deletions
@@ -2265,7 +2265,7 @@ class ubx(object): return " Bad Length %s" % m_len u = struct.unpack_from('<LllLL', buf, 0) - return (' iTOW:%d ms, clkB:%d ns clkD:%d ns/s tAcc:%d ns,' + return (' iTOW:%d ms, clkB:%d ns clkD:%d ns/s tAcc:%d ns,' 'fAcc:%d ns/s' % u) def nav_dgps(self, buf): @@ -2327,7 +2327,7 @@ class ubx(object): return " Bad Length %s" % m_len u = struct.unpack_from('<LlllL', buf, 0) - return ' iTOW:%d ms, ecefX:%d cm Y:%d cm Z:%d cm\n pAcc:%d cm' % u + return ' iTOW:%d ms, ecefX:%d cm Y:%d cm Z:%d cm\n pAcc:%d cm' % u def nav_pvt(self, buf): """UBX-NAV-PVT decode""" @@ -2341,17 +2341,17 @@ class ubx(object): return " Bad Length %s" % m_len u = struct.unpack_from('<LHBBBBBBLlBBBBllllLLlllllLLHHHH', buf, 0) - s = (' iTOW %d ms, time %d/%d/%d %2d:%2d:%2d valid %#x\n' - ' tAcc %d ns nano %d fixType %d flags %#x flags2 %#x\n' - ' numSV %d lon %d lat %d height %d\n' - ' hMSL %d hAcc %d vAcc %d\n' - ' velN %d velE %d velD %d gSpeed %d headMot %d\n' - ' sAcc %d headAcc %d pDOP %d reserved1 %d %d %d' % u) + s = (' iTOW %d ms, time %d/%d/%d %2d:%2d:%2d valid %#x\n' + ' tAcc %d ns nano %d fixType %d flags %#x flags2 %#x\n' + ' numSV %d lon %d lat %d height %d\n' + ' hMSL %d hAcc %d vAcc %d\n' + ' velN %d velE %d velD %d gSpeed %d headMot %d\n' + ' sAcc %d headAcc %d pDOP %d reserved1 %d %d %d' % u) if 92 <= m_len: # version 15 u = struct.unpack_from('<lhH', buf, 81) - s += ('\n headVeh %d magDec %d magAcc %u' % u) + s += ('\n headVeh %d magDec %d magAcc %u' % u) return s def nav_sat(self, buf): @@ -2364,16 +2364,16 @@ class ubx(object): return " Bad Length %s" % m_len u = struct.unpack_from('<LBB', buf, 0) - s = ' iTOW %d ms, version %d numSvs %d' % u + s = ' iTOW %d ms, version %d numSvs %d' % u m_len -= 8 i = 0 while 0 < m_len: u = struct.unpack_from('<BBBbhhL', buf, 8 + i * 12) - s += ('\n gnssd %d svid %3d cno %2d elev %3d azim %3d prRes %6d' + s += ('\n gnssd %d svid %3d cno %2d elev %3d azim %3d prRes %6d' ' flags %#x\n' % u) if 0 < u[6]: - s += ' ' + s += ' ' s += 'qualityInd %u ' % (0x07 & u[6]) if 8 & u[6]: s += 'svUsed ' @@ -2443,6 +2443,29 @@ class ubx(object): return s + def nav_sig(self, buf): + """UBX-NAV-SIG decode, Signal Information""" + m_len = len(buf) + if 0 == m_len: + return " Poll request" + + if 8 > m_len: + return " Bad Length %s" % m_len + + u = struct.unpack_from('<LBBH', buf, 0) + s = ' iTOW %u version %u numSigs %u reserved1 %u' % u + + numSigs = u[2] + i = 0 + while i < numSigs: + u = struct.unpack_from('<BBBBhBBBBHL', buf, 8 + (i * 16)) + s += ('\n gnssID %u svId %u sigId %u freqId %u prRes %d cno %u ' + 'qualityInd %u\n' + ' corrSource %u ionoModel %u sigFlags %#x reserved2 %u' % + u) + i += 1 + return s + # u-blox TIME ONLY is same as Surveyed fix_types = ('None', 'Dead Reckoning', '2D', '3D', 'GPS+DR', 'Surveyed') @@ -2488,8 +2511,8 @@ class ubx(object): return " Bad Length %s" % m_len u = struct.unpack_from('<LBBBBLL', buf, 0) - return (' iTOW:%d ms, fix:%d flags:%#x fixstat:%#x flags2:%#x\n' - ' ttff:%d, msss:%d' % u) + return (' iTOW:%d ms, fix:%d flags:%#x fixstat:%#x flags2:%#x\n' + ' ttff:%d, msss:%d' % u) def nav_svin(self, buf): """UBX-NAV-SVIN decode, Survey-in data""" @@ -2501,10 +2524,10 @@ class ubx(object): return " Bad Length %s" % m_len u = struct.unpack_from('<BBBBLLlllbbbBLLBB', buf, 0) - return (' version %u reserved1[%u %u %u] iTOW %u dur %u\n' + return (' version %u reserved1[%u %u %u] iTOW %u dur %u\n' ' meanX %d meanY %d meanZ %d\n' ' meanXHP %d meanYHP %d meanZHP %d reserved2 %u meanAcc %u\n' - ' obs %u valid %u active %u\n' % u) + ' obs %u valid %u active %u' % u) def nav_svinfo(self, buf): """UBX-NAV-SVINFO decode""" @@ -2743,7 +2766,7 @@ class ubx(object): 0x39: {'str': 'GEOFENCE', 'name': 'UBX-NAV-GEOFENCE'}, 0x3B: {'str': 'SVIN', 'dec': nav_svin, 'name': 'UBX-NAV-SVIN'}, 0x3C: {'str': 'RELPOSNED', 'name': 'UBX-NAV-RELPOSNED'}, - 0x43: {'str': 'SIG', 'name': 'UBX-NAV-SIG'}, + 0x43: {'str': 'SIG', 'dec': nav_sig, 'name': 'UBX-NAV-SIG'}, 0x60: {'str': 'AOPSTATUS', 'name': 'UBX-NAV-AOPSTATUS'}, 0x61: {'str': 'EOE', 'dec': nav_eoe, 'name': 'UBX-NAV-EOE'}, } @@ -2953,8 +2976,8 @@ class ubx(object): return " Bad Length %s" % m_len u = struct.unpack_from('<LlllLLBB', buf, 0) - s = (' dur %u meanX %d meanY %d meanZ %d\n' - ' meanV %u obs %u valid %u active %u' % u) + s = (' dur %u meanX %d meanY %d meanZ %d meanV %u\n' + ' obs %u valid %u active %u' % u) return s def tim_tp(self, buf): @@ -3718,6 +3741,11 @@ class ubx(object): m_data = bytearray(0) gps_model.gps_send(1, 1, m_data) + def send_nav_sig(self): + """UBX-NAV-SIG, poll Signal information""" + m_data = bytearray(0) + gps_model.gps_send(1, 0x43, m_data) + def send_nav_velecef(self): """UBX-NAV-VELECEF, poll ECEF velocity decode""" m_data = bytearray(0) @@ -3861,6 +3889,15 @@ class ubx(object): # UBX-CFG-NAVX5, poll Nav Engine Expert Settings "NAVX5": {"command": send_cfg_navx5, "help": "UBX-CFG-NAVX5 poll Nav Engines Expert Settings"}, + # UBX-NAV_SIG, poll Signal information + "NAV-SIG": {"command": send_nav_sig, + "help": "UBX-NAV-SIG poll Signal Information"}, + # UBX-NAV_POSECEF, poll ECEF position + "NAV-POSECEF": {"command": send_nav_posecef, + "help": "UBX-NAV-POSECEF poll ECEF position"}, + # UBX-NAV_VELECEF, poll ECEF velocity + "NAV-VELECEF": {"command": send_nav_velecef, + "help": "UBX-NAV-VELECEF poll ECEF velocity"}, # UBX-CFG-PMS, poll power management settings "PMS": {"command": send_cfg_pms, "help": "UBX-CFG-PMS poll power management settings"}, |