From 226f0eb3db339311e8487bfa8fd8a6ee390704f9 Mon Sep 17 00:00:00 2001 From: "Gary E. Miller" Date: Tue, 23 Apr 2019 19:49:04 -0700 Subject: driver_sirf: MID 2 decode set track and speed, but no data for those. 7 regressions were reporting track and speed incorrectly. --- driver_sirf.c | 41 +++++-- test/daemon/bu303-climbing.log.chk | 32 +++--- test/daemon/bu303-moving.log.chk | 48 ++++---- test/daemon/bu303-nofix.log.chk | 14 +-- test/daemon/bu303-stillfix.log.chk | 44 ++++---- test/daemon/bu303b-nofix.log.chk | 12 +- test/daemon/sirfstarv.log.chk | 224 ++++++++++++++++++------------------- test/daemon/ublox-sirf1.log.chk | 4 +- 8 files changed, 219 insertions(+), 200 deletions(-) diff --git a/driver_sirf.c b/driver_sirf.c index 97dac42e..469e2729 100644 --- a/driver_sirf.c +++ b/driver_sirf.c @@ -755,6 +755,12 @@ static gps_mask_t sirf_msg_67_1(struct gps_device_t *session, "UTC time %.9f leaps %u, datum %s\n", session->newdata.time, session->context->leap_seconds, session->newdata.datum); + gpsd_log(&session->context->errout, debug_base, + "packed: %02d%02d%02d %02d:%02d:%02d\n", + unpacked_date.tm_mday, unpacked_date.tm_mon + 1, + unpacked_date.tm_year % 100, + unpacked_date.tm_hour, unpacked_date.tm_min, + unpacked_date.tm_sec); gpsd_log(&session->context->errout, debug_base, "solution_info %08x\n", solution_info); gpsd_log(&session->context->errout, debug_base, @@ -1463,10 +1469,14 @@ static gps_mask_t sirf_msg_navsol(struct gps_device_t *session, { unsigned short navtype; unsigned short nav_mode2; + unsigned short gps_week; + uint32_t iTOW; + timespec_t tow; gps_mask_t mask = 0; + timespec_t now = {0}; /* later versions are 47 bytes long */ - if (len < 41) + if (41 > len) return 0; /* @@ -1510,9 +1520,15 @@ static gps_mask_t sirf_msg_navsol(struct gps_device_t *session, /* byte 21 is nav_mode2, not clear how to interpret that */ nav_mode2 = getub(buf, 21); - /* Gack. Early SiRF scales TOW by 100, later by 1000 */ - session->newdata.time = gpsd_gpstime_resolve(session, - (unsigned short)getbes16(buf, 22), (double)getbeu32(buf, 24) * 1e-2); + gps_week = getbes16(buf, 22); + iTOW = getbeu32(buf, 24); + /* Gack. The doc says early SiRF scales iTOW by 100, later ones + * by 1000. But that does not seem to be true in sirfstar V. */ + tow.tv_sec = iTOW / 100; + tow.tv_nsec = (iTOW % 100) * 10000000; + now = gpsd_gpstime_resolv(session, gps_week, tow); + session->newdata.time = now.tv_sec + (now.tv_nsec * 1e-9); + #ifdef TIMEHINT_ENABLE if (session->newdata.mode <= MODE_NO_FIX) { gpsd_log(&session->context->errout, LOG_PROG, @@ -1520,8 +1536,8 @@ static gps_mask_t sirf_msg_navsol(struct gps_device_t *session, session->newdata.mode); } else { gpsd_log(&session->context->errout, LOG_PROG, - "SiRF: NTPD valid time MID 0x02, seen %#02x, time %.3lf, " - "leap:%d nav_mode2\n", + "SiRF: MID 0x02 NTPD valid time, seen %#02x, time %.3lf, " + "leap:%d nav_mode2 %#x\n", session->driver.sirf.time_seen, session->newdata.time, session->context->leap_seconds, nav_mode2); @@ -1529,17 +1545,20 @@ static gps_mask_t sirf_msg_navsol(struct gps_device_t *session, #endif /* TIMEHINT_ENABLE */ /* clear computed DOPs so they get recomputed. */ session->gpsdata.dop.tdop = NAN; - mask |= TIME_SET | LATLON_SET | ALTITUDE_SET | TRACK_SET | ECEF_SET | - VECEF_SET | SPEED_SET | STATUS_SET | MODE_SET | DOP_SET | USED_IS; + mask |= TIME_SET | LATLON_SET | ALTITUDE_SET | ECEF_SET | + VECEF_SET | STATUS_SET | MODE_SET | DOP_SET | USED_IS; if ( 3 <= session->gpsdata.satellites_visible ) { mask |= NTPTIME_IS; } + + gpsd_log(&session->context->errout, LOG_DATA, + "SiRF: MND 0x02: gpsd_week %u iTOW %u\n", + gps_week, iTOW); gpsd_log(&session->context->errout, LOG_DATA, "SiRF: MND 0x02: time %.2f lat %.2f lon %.2f alt %.2f " - "track %.2f speed %.2f mode %d status %d hdop %.2f used %d\n", + "mode %d status %d hdop %.2f used %d\n", session->newdata.time, session->newdata.latitude, session->newdata.longitude, session->newdata.altitude, - session->newdata.track, session->newdata.speed, session->newdata.mode, session->gpsdata.status, session->gpsdata.dop.hdop, session->gpsdata.satellites_used); return mask; @@ -1962,7 +1981,7 @@ gps_mask_t sirf_parse(struct gps_device_t * session, unsigned char *buf, buf += 4; len -= 8; gpsd_log(&session->context->errout, LOG_RAW, - "SiRF: Raw packet type %#02x\n", buf[0]); + "SiRF: Raw packet type %#02x len %lu\n", buf[0], len); session->driver.sirf.lastid = buf[0]; /* could change if the set of messages we enable does */ diff --git a/test/daemon/bu303-climbing.log.chk b/test/daemon/bu303-climbing.log.chk index 9a52abcc..b4da1f1d 100644 --- a/test/daemon/bu303-climbing.log.chk +++ b/test/daemon/bu303-climbing.log.chk @@ -3,70 +3,70 @@ $GPGSV,2,2,07,08,44,058,43,27,16,066,37,21,10,301,00*4A 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