From 2afae53633806d13c9fc6847388bfd56b5900b11 Mon Sep 17 00:00:00 2001 From: "Gary E. Miller" Date: Tue, 25 Sep 2018 17:14:52 -0700 Subject: driver_ubx: Fix decode of UBX-NAV-TIMEGPS and cppcheck nits. --- driver_ubx.c | 34 +++++++++++++++++++++------------- 1 file changed, 21 insertions(+), 13 deletions(-) (limited to 'driver_ubx.c') diff --git a/driver_ubx.c b/driver_ubx.c index eeb62fc7..e140bf15 100644 --- a/driver_ubx.c +++ b/driver_ubx.c @@ -437,33 +437,41 @@ ubx_msg_nav_dop(struct gps_device_t *session, unsigned char *buf, } /** - * GPS Leap Seconds + * GPS Leap Seconds - UBX-NAV-TIMEGPS */ 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; + uint8_t valid; /* Validity Flags */ gps_mask_t mask = 0; if (data_len != 16) return 0; - flags = (unsigned int)getub(buf, 11); - // Valid leap seconds - if ((flags & UBX_TIMEGPS_VALID_LEAP_SECOND) == UBX_TIMEGPS_VALID_LEAP_SECOND) + valid = getub(buf, 11); + // Valid leap seconds ? + if ((valid & UBX_TIMEGPS_VALID_LEAP_SECOND) == + UBX_TIMEGPS_VALID_LEAP_SECOND) { 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) + if ((valid & VALID_TIME) == VALID_TIME) { #undef VALID_TIME - { - iTOW = (unsigned int)getleu32(buf, 0); - gw = (unsigned int)getles16(buf, 8); - session->newdata.time = - gpsd_gpstime_resolve(session, - (unsigned short int)gw, - ((double)iTOW * 1e-3)); + uint16_t week; + double iTOW; /* integer part of TOW in ms */ + double fTOW; /* fractional part of TOW in ns */ + double TOW; /* complete TOW in seconds */ + double tAcc; /* Time Accuracy Estimate in ns */ + + iTOW = (double)getleu32(buf, 0); /* GPS TOW in ms */ + fTOW = (double)getles32(buf, 4); /* Fractional part of TOW */ + week = getles16(buf, 8); + tAcc = (double)getleu32(buf, 12); /* tAcc in ms */ + TOW = (iTOW * 1e-3) + (fTOW * 1e-9); + session->newdata.time = gpsd_gpstime_resolve(session, week, TOW); + session->newdata.ept = tAcc * 1e-9; mask |= (TIME_SET | NTPTIME_IS); } -- cgit v1.2.1