diff options
Diffstat (limited to 'driver_ubx.c')
| -rw-r--r-- | driver_ubx.c | 38 |
1 files changed, 33 insertions, 5 deletions
diff --git a/driver_ubx.c b/driver_ubx.c index e6e695e1..aa9575b8 100644 --- a/driver_ubx.c +++ b/driver_ubx.c @@ -1403,7 +1403,7 @@ gps_mask_t ubx_parse(struct gps_device_t * session, unsigned char *buf, 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); - mask |= REPORT_IS; + mask |= REPORT_IS; break; case UBX_NAV_RELPOSNED: gpsd_log(&session->context->errout, LOG_DATA, "UBX_NAV_RELPOSNED\n"); @@ -1423,8 +1423,8 @@ gps_mask_t ubx_parse(struct gps_device_t * session, unsigned char *buf, /* UBX-NAV-SOL deprecated in u-blox 6, gone in u-blox 9. * Use UBX-NAV-PVT instead */ gpsd_log(&session->context->errout, LOG_PROG, "UBX_NAV_SOL\n"); - mask = ubx_msg_nav_sol(session, &buf[UBX_PREFIX_LEN], data_len) - | REPORT_IS; + mask = ubx_msg_nav_sol(session, &buf[UBX_PREFIX_LEN], data_len); + mask |= REPORT_IS; break; case UBX_NAV_STATUS: gpsd_log(&session->context->errout, LOG_DATA, "UBX_NAV_STATUS\n"); @@ -1556,16 +1556,44 @@ gps_mask_t ubx_parse(struct gps_device_t * session, unsigned char *buf, /* end of cycle ? */ if (session->driver.ubx.end_msgid == msgid) { /* end of cycle, report it */ + gpsd_log(&session->context->errout, LOG_PROG, + "UBX: cycle end %x\n", msgid); mask |= REPORT_IS; } /* start of cycle ? */ if (TIME_SET & mask) { + timestamp_t difftime; /* this sentence has a good time */ - if (session->newdata.time > session->lastfix.time) { - /* time advanced, save cycle ender */ + /* debug + gpsd_log(&session->context->errout, LOG_ERROR, + "UBX: time %.2f msgid %x\n", + session->newdata.time, msgid); + gpsd_log(&session->context->errout, LOG_ERROR, + " last_time %.2f last_msgid %x\n", + session->driver.ubx.last_time, + session->driver.ubx.last_msgid); + */ + /* no more than 100Hz */ + difftime = session->newdata.time - session->driver.ubx.last_time; + if ((0.01 < difftime) && + (session->driver.ubx.end_msgid != + session->driver.ubx.last_msgid)) { + /* time advanced, new cycle ender */ session->driver.ubx.end_msgid = session->driver.ubx.last_msgid; + /* debug + gpsd_log(&session->context->errout, LOG_ERROR, + "UBX: new ender %x, difftime %.2f\n", + session->driver.ubx.end_msgid, difftime); + */ } session->driver.ubx.last_msgid = msgid; + session->driver.ubx.last_time = session->newdata.time; + } else { + /* no time */ + /* debug + gpsd_log(&session->context->errout, LOG_ERROR, + "UBX: No time, msgid %x\n", msgid); + */ } return mask | ONLINE_SET; } |