diff options
Diffstat (limited to 'driver_nmea0183.c')
| -rw-r--r-- | driver_nmea0183.c | 213 |
1 files changed, 176 insertions, 37 deletions
diff --git a/driver_nmea0183.c b/driver_nmea0183.c index 8aded2b0..9c0e5d41 100644 --- a/driver_nmea0183.c +++ b/driver_nmea0183.c @@ -801,7 +801,7 @@ static gps_mask_t processGGA(int c UNUSED, char *field[], session->gpsdata.status = STATUS_NO_FIX; session->newdata.mode = MODE_NO_FIX; gpsd_log(&session->context->errout, LOG_PROG, - "xxGSA: latch mode\n"); + "xxGGA: latch mode\n"); } else (void)strlcpy(session->nmea.last_gga_timestamp, field[1], sizeof(session->nmea.last_gga_timestamp)); @@ -944,7 +944,7 @@ static unsigned char nmea_sigid_to_ubx(unsigned char nmea_sigid) default: /* FALLTHROUGH */ case 0: - /* missing, assume GPS */ + /* missing, assume GPS L1 */ ubx_sigid = 0; break; case 1: @@ -981,10 +981,12 @@ static unsigned char nmea_sigid_to_ubx(unsigned char nmea_sigid) * See struct satellite_t in gps.h for ubx and nmea gnssid and svid mappings * * char *talker -- NMEA talker string - * int nmea_satnum -- NMEA satellite number (kinds tha PRN) + * int nmea_satnum -- NMEA (All ver) satellite number (kinda the PRN) * int nmea_gnssid -- NMEA 4.10 gnssid, if known, otherwise zero * unsigned char *ubx_gnssid -- returned u-blox gnssid * unsigned char *ubx_svid -- returned u-blox gnssid + * + * Return the NMEA 2.x to 4.0 extended PRN */ static int nmeaid_to_prn(char *talker, int nmea_satnum, int nmea_gnssid, @@ -1019,23 +1021,94 @@ static int nmeaid_to_prn(char *talker, int nmea_satnum, * effect, they're recorded by the order in which they occur * rather than by PRN. */ + int nmea2_prn = nmea_satnum; + *ubx_gnssid = 0; /* default to ubx_gnssid is GPS */ *ubx_svid = 0; /* default to unnknown ubx_svid */ - if (0 != nmea_satnum && 32 >= nmea_satnum) { + + if (1 > nmea_satnum) { + /* uh, oh... */ + nmea2_prn = 0; + } else if (0 < nmea_gnssid) { + /* this switch handles case where nmea_gnssid is known */ + switch (nmea_gnssid) { + default: + /* x = IMES Not defined by NMEA 4.10 */ + /* FALLTHROUGH */ + case 0: + /* none given, ignore */ + nmea2_prn = 0; + break; + case 1: + if (33 > nmea_satnum) { + /* 1 = GPS 1-32 */ + *ubx_gnssid = 0; + *ubx_svid = nmea_satnum; + } else if (65 > nmea_satnum) { + /* 1 = SBAS 33-64 */ + *ubx_gnssid = 1; + *ubx_svid = 87 + nmea_satnum; + } else if (152 > nmea_satnum) { + /* Huh? */ + *ubx_gnssid = 0; + *ubx_svid = 0; + nmea2_prn = 0; + } else if (158 > nmea_satnum) { + /* 1 = SBAS 152-158 */ + *ubx_gnssid = 1; + *ubx_svid = nmea_satnum; + } else if (193 > nmea_satnum) { + /* Huh? */ + *ubx_gnssid = 0; + *ubx_svid = 0; + nmea2_prn = 0; + } else if (198 > nmea_satnum) { + /* 1 = QZSS 193-197 */ + *ubx_gnssid = 3; + *ubx_svid = nmea_satnum - 192; + } else { + /* Huh? */ + *ubx_gnssid = 0; + *ubx_svid = 0; + nmea2_prn = 0; + } + break; + case 2: + /* 2 = GLONASS 65-96, nul */ + *ubx_gnssid = 6; + *ubx_svid = nmea_satnum; + break; + case 3: + /* 3 = Galileo 1-36 */ + *ubx_gnssid = 2; + *ubx_svid = nmea_satnum; + nmea2_prn = 300 + nmea_satnum; + break; + case 4: + /* 4 - BeiDou 1-37 */ + *ubx_gnssid = 3; + *ubx_svid = nmea_satnum; + nmea2_prn = 300 + nmea_satnum; + break; + } + + /* left with NMEA 2.x to NMEA 4.0 satnums + * use talker ID to disambiguate */ + } else if (32 >= nmea_satnum) { *ubx_svid = nmea_satnum; switch (talker[0]) { case 'G': if (talker[1] == 'A') { /* Galileo */ - nmea_satnum += 300; /* Used by u-blox at least */ + nmea2_prn = 300 + nmea_satnum; *ubx_gnssid = 2; } else if (talker[1] == 'B') { - /* map Beidou IDs */ + /* map Beidou IDs 1..37 to 401..437 */ *ubx_gnssid = 3; - nmea_satnum += 200; + nmea2_prn = 400 + nmea_satnum; } else if (talker[1] == 'L') { /* GLONASS GL doesn't seem to do this, better safe than sorry */ - nmea_satnum += 64; + nmea2_prn = 64 + nmea_satnum; *ubx_gnssid = 6; } else if (talker[1] == 'N') { /* all of them, but only GPS is 0 < PRN < 33 */ @@ -1046,14 +1119,14 @@ static int nmeaid_to_prn(char *talker, int nmea_satnum, case 'B': if (talker[1] == 'D') { /* map Beidou IDs */ - nmea_satnum += 200; + nmea2_prn = 400 + nmea_satnum; *ubx_gnssid = 3; } /* else ?? */ break; case 'Q': if (talker[1] == 'Z') { /* QZSS */ - nmea_satnum += 192; + nmea2_prn = 192 + nmea_satnum; *ubx_gnssid = 5; } /* else ? */ break; @@ -1061,39 +1134,79 @@ static int nmeaid_to_prn(char *talker, int nmea_satnum, /* huh? */ break; } - } else if ( 33 <= nmea_satnum && 64 >= nmea_satnum) { + } else if (64 >= nmea_satnum) { // NMEA-ID (33..64) to SBAS PRN 120-151. /* SBAS */ - nmea_satnum += 87; *ubx_gnssid = 1; - *ubx_svid = nmea_satnum; - } else if (65 <= nmea_satnum && 96 >= nmea_satnum) { - /* GLONASS */ + *ubx_svid = 87 + nmea_satnum; + } else if (96 >= nmea_satnum) { + /* GLONASS 65..96 */ *ubx_gnssid = 6; *ubx_svid = nmea_satnum - 64; - } else if (120 <= nmea_satnum && 158 >= nmea_satnum) { - /* SBAS */ + } else if (120 > nmea_satnum) { + /* Huh? */ + *ubx_gnssid = 0; + *ubx_svid = 0; + nmea2_prn = 0; + } else if (158 >= nmea_satnum) { + /* SBAS 120..158 */ *ubx_gnssid = 1; *ubx_svid = nmea_satnum; - } else if (173 <= nmea_satnum && 182 >= nmea_satnum) { - /* IMES */ + } else if (173 > nmea_satnum) { + /* Huh? */ + *ubx_gnssid = 0; + *ubx_svid = 0; + nmea2_prn = 0; + } else if (182 >= nmea_satnum) { + /* IMES 173..182 */ *ubx_gnssid = 4; *ubx_svid = nmea_satnum - 172; - } else if (193 <= nmea_satnum && 197 >= nmea_satnum) { - /* QZSS */ + } else if (193 > nmea_satnum) { + /* Huh? */ + *ubx_gnssid = 0; + *ubx_svid = 0; + nmea2_prn = 0; + } else if (197 >= nmea_satnum) { + /* QZSS 193..197 */ *ubx_gnssid = 5; *ubx_svid = nmea_satnum - 192; - } else if (301 <= nmea_satnum && 356 >= nmea_satnum) { - /* QZSS */ + } else if (201 > nmea_satnum) { + /* Huh? */ + *ubx_gnssid = 0; + *ubx_svid = 0; + nmea2_prn = 0; + } else if (237 >= nmea_satnum) { + /* BeiDou, non-standard, some SiRF put BeiDou 201-237 */ + /* $GBGSV,2,2,05,209,07,033,*62 */ + *ubx_gnssid = 3; + *ubx_svid = nmea_satnum - 200; + nmea2_prn += 200; /* move up to 400 where NMEA 2.x wants it. */ + } else if (301 > nmea_satnum) { + /* Huh? */ + *ubx_gnssid = 0; + *ubx_svid = 0; + nmea2_prn = 0; + } else if (356 >= nmea_satnum) { + /* QZSS 301..356 */ *ubx_gnssid = 2; *ubx_svid = nmea_satnum - 300; - } else if (401 <= nmea_satnum && 437 >= nmea_satnum) { + } else if (401 > nmea_satnum) { + /* Huh? */ + *ubx_gnssid = 0; + *ubx_svid = 0; + nmea2_prn = 0; + } else if (437 >= nmea_satnum) { /* BeiDou */ *ubx_gnssid = 3; *ubx_svid = nmea_satnum - 400; + } else { + /* greater than 437 Huh? */ + *ubx_gnssid = 0; + *ubx_svid = 0; + nmea2_prn = 0; } - return nmea_satnum; + return nmea2_prn; } static gps_mask_t processGSA(int count, char *field[], @@ -1146,15 +1259,19 @@ static gps_mask_t processGSA(int count, char *field[], * seems like the first is GNSS and the second GLONASS * * u-blox 9 outputs one per GNSS on each cycle. Note the - * extra last parameter which is NMEA gnssid + * extra last parameter which is NMEA gnssid: * $GNGSA,A,3,13,16,21,15,10,29,27,20,,,,,1.05,0.64,0.83,1*03 * $GNGSA,A,3,82,66,81,,,,,,,,,,1.05,0.64,0.83,2*0C * $GNGSA,A,3,07,12,33,,,,,,,,,,1.05,0.64,0.83,3*0A * $GNGSA,A,3,13,12,22,19,08,21,,,,,,,1.05,0.64,0.83,4*0B + * Also note the NMEA 4.0 GLONASS PRN (82) in an NMEA 4.1 + * sentence. */ gps_mask_t mask = ONLINE_SET; char last_last_gsa_talker = session->nmea.last_gsa_talker; int nmea_gnssid = 0; + int nmea_sigid = 0; + int ubx_sigid = 0; /* * One chipset called the i.Trek M3 issues GPGSA lines that look like @@ -1200,8 +1317,10 @@ static gps_mask_t processGSA(int count, char *field[], if (field[17][0] != '\0') session->gpsdata.dop.vdop = safe_atof(field[17]); if (19 == count && '\0' != field[18][0]) { - /* get the NMEA 4.10 gnssid */ - nmea_gnssid = atoi(field[18]); + /* get the NMEA 4.10 sigid */ + nmea_sigid = atoi(field[18]); + /* FIXME: ubx_sigid not used yet */ + ubx_sigid = nmea_sigid_to_ubx(nmea_sigid); } } /* @@ -1231,15 +1350,28 @@ static gps_mask_t processGSA(int count, char *field[], /* the magic 6 here counts the tag, two mode fields, and DOP fields */ for (i = 0; i < count - 6; i++) { int prn; + int nmea_satnum; unsigned char ubx_gnssid; /* UNUSED */ unsigned char ubx_svid; /* UNUSED */ /* skip empty fields, otherwise empty becomes prn=200 */ - if ( '\0' == field[i + 3][0] ) { + nmea_satnum = atoi(field[i + 3]); + if (1 > nmea_satnum) { continue; } - prn = nmeaid_to_prn(field[0], atoi(field[i + 3]), nmea_gnssid, + prn = nmeaid_to_prn(field[0], nmea_satnum, nmea_gnssid, &ubx_gnssid, &ubx_svid); + +#ifdef __UNUSED__ + /* debug */ + gpsd_log(&session->context->errout, LOG_ERROR, + "%s nmeaid_to_prn: nmea_gnssid %d nmea_satnum %d ubx_gnssid %d " + "ubx_svid %d nmea2_prn %d\n", field[0], + nmea_gnssid, nmea_satnum, ubx_gnssid, ubx_svid, prn); + gpsd_log(&session->context->errout, LOG_ERROR, + "%s count %d\n", field[0], count); +#endif /* __UNUSED__ */ + if (prn > 0) { /* check first BEFORE over-writing memory */ if (MAXCHANNELS <= session->gpsdata.satellites_used) { @@ -1254,12 +1386,13 @@ static gps_mask_t processGSA(int count, char *field[], } mask |= DOP_SET | USED_IS; gpsd_log(&session->context->errout, LOG_DATA, - "xxGSA: mode=%d used=%d pdop=%.2f hdop=%.2f vdop=%.2f\n", + "xxGSA: mode=%d used=%d pdop=%.2f hdop=%.2f vdop=%.2f " + "ubx_sigid %d\n", session->newdata.mode, session->gpsdata.satellites_used, session->gpsdata.dop.pdop, session->gpsdata.dop.hdop, - session->gpsdata.dop.vdop); + session->gpsdata.dop.vdop, ubx_sigid); } /* assumes GLGSA or BDGSA, if present, is emitted directly * after the GPGSA*/ @@ -1384,9 +1517,6 @@ static gps_mask_t processGSV(int count, char *field[], /* NMEA 4.10, get the signal ID */ nmea_sigid = atoi(field[count - 1]); ubx_sigid = nmea_sigid_to_ubx(nmea_sigid); - gpsd_log(&session->context->errout, LOG_DATA, - "GPGSV fieldcount %d %% 4 == 1, nmea_sigid %u ubx_sig %u\n", - count, nmea_sigid, ubx_sigid); break; default: /* bad count */ @@ -1455,7 +1585,7 @@ static gps_mask_t processGSV(int count, char *field[], if (session->gpsdata.satellites_visible >= MAXCHANNELS) { gpsd_log(&session->context->errout, LOG_ERROR, - "internal error - too many satellites [%d]!\n", + "xxGSV: internal error - too many satellites [%d]!\n", session->gpsdata.satellites_visible); gpsd_zero_satellites(&session->gpsdata); break; @@ -1466,9 +1596,18 @@ static gps_mask_t processGSV(int count, char *field[], /* skip bogus fields */ continue; } - /* FIXME: this ignores possible NMEA 4.1 nmea_gnssid hint */ + /* FIXME: this ignores possible NMEA 4.1 Signal ID hint */ sp->PRN = (short)nmeaid_to_prn(field[0], nmea_svid, nmea_gnssid, &sp->gnssid, &sp->svid); + +#ifdef __UNUSED__ + /* debug */ + gpsd_log(&session->context->errout, LOG_ERROR, + "%s nmeaid_to_prn: nmea_gnssid %d nmea_satnum %d " + "ubx_gnssid %d ubx_svid %d nmea2_prn %d\n", field[0], + nmea_gnssid, nmea_svid, sp->gnssid, sp->svid, sp->PRN); +#endif /* __UNUSED__ */ + sp->elevation = (short)atoi(field[fldnum++]); sp->azimuth = (short)atoi(field[fldnum++]); sp->ss = (float)atoi(field[fldnum++]); |