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375 lines
15 KiB
375 lines
15 KiB
#include <stdio.h>
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#include <stdlib.h>
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#include <string.h>
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#include <signal.h>
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#include <unistd.h>
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#include <sched.h>
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#include <sys/time.h>
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#include <sys/cdefs.h>
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#include <sys/types.h>
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#include <sys/time.h>
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#include <assert.h>
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#include <math.h>
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#include <ctime>
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#include <chrono>
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#include <map>
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#include <vector>
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#include <algorithm>
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#include <zmq.h>
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#include <capnp/serialize.h>
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#include "cereal/gen/cpp/log.capnp.h"
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#include "common/params.h"
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#include "common/swaglog.h"
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#include "common/timing.h"
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#include "ublox_msg.h"
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#define UBLOX_MSG_SIZE(hdr) (*(uint16_t *)&hdr[4])
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#define GET_FIELD_U(w, nb, pos) (((w) >> (pos)) & ((1<<(nb))-1))
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namespace ublox {
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inline int twos_complement(uint32_t v, uint32_t nb) {
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int sign = v >> (nb - 1);
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int value = v;
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if(sign != 0)
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value = value - (1 << nb);
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return value;
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}
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inline int GET_FIELD_S(uint32_t w, uint32_t nb, uint32_t pos) {
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int v = GET_FIELD_U(w, nb, pos);
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return twos_complement(v, nb);
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}
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class EphemerisData {
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public:
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EphemerisData(uint8_t svId, subframes_map subframes) {
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this->svId = svId;
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int week_no = GET_FIELD_U(subframes[1][2+0], 10, 20);
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int t_gd = GET_FIELD_S(subframes[1][2+4], 8, 6);
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int iodc = (GET_FIELD_U(subframes[1][2+0], 2, 6) << 8) | GET_FIELD_U(
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subframes[1][2+5], 8, 22);
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int t_oc = GET_FIELD_U(subframes[1][2+5], 16, 6);
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int a_f2 = GET_FIELD_S(subframes[1][2+6], 8, 22);
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int a_f1 = GET_FIELD_S(subframes[1][2+6], 16, 6);
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int a_f0 = GET_FIELD_S(subframes[1][2+7], 22, 8);
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int c_rs = GET_FIELD_S(subframes[2][2+0], 16, 6);
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int delta_n = GET_FIELD_S(subframes[2][2+1], 16, 14);
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int m_0 = (GET_FIELD_S(subframes[2][2+1], 8, 6) << 24) | GET_FIELD_U(
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subframes[2][2+2], 24, 6);
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int c_uc = GET_FIELD_S(subframes[2][2+3], 16, 14);
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int e = (GET_FIELD_U(subframes[2][2+3], 8, 6) << 24) | GET_FIELD_U(subframes[2][2+4], 24, 6);
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int c_us = GET_FIELD_S(subframes[2][2+5], 16, 14);
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uint32_t a_powhalf = (GET_FIELD_U(subframes[2][2+5], 8, 6) << 24) | GET_FIELD_U(
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subframes[2][2+6], 24, 6);
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int t_oe = GET_FIELD_U(subframes[2][2+7], 16, 14);
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int c_ic = GET_FIELD_S(subframes[3][2+0], 16, 14);
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int omega_0 = (GET_FIELD_S(subframes[3][2+0], 8, 6) << 24) | GET_FIELD_U(
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subframes[3][2+1], 24, 6);
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int c_is = GET_FIELD_S(subframes[3][2+2], 16, 14);
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int i_0 = (GET_FIELD_S(subframes[3][2+2], 8, 6) << 24) | GET_FIELD_U(
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subframes[3][2+3], 24, 6);
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int c_rc = GET_FIELD_S(subframes[3][2+4], 16, 14);
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int w = (GET_FIELD_S(subframes[3][2+4], 8, 6) << 24) | GET_FIELD_U(subframes[3][5], 24, 6);
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int omega_dot = GET_FIELD_S(subframes[3][2+6], 24, 6);
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int idot = GET_FIELD_S(subframes[3][2+7], 14, 8);
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this->_rsvd1 = GET_FIELD_U(subframes[1][2+1], 23, 6);
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this->_rsvd2 = GET_FIELD_U(subframes[1][2+2], 24, 6);
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this->_rsvd3 = GET_FIELD_U(subframes[1][2+3], 24, 6);
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this->_rsvd4 = GET_FIELD_U(subframes[1][2+4], 16, 14);
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this->aodo = GET_FIELD_U(subframes[2][2+7], 5, 8);
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double gpsPi = 3.1415926535898;
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// now form variables in radians, meters and seconds etc
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this->Tgd = t_gd * pow(2, -31);
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this->A = pow(a_powhalf * pow(2, -19), 2.0);
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this->cic = c_ic * pow(2, -29);
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this->cis = c_is * pow(2, -29);
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this->crc = c_rc * pow(2, -5);
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this->crs = c_rs * pow(2, -5);
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this->cuc = c_uc * pow(2, -29);
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this->cus = c_us * pow(2, -29);
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this->deltaN = delta_n * pow(2, -43) * gpsPi;
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this->ecc = e * pow(2, -33);
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this->i0 = i_0 * pow(2, -31) * gpsPi;
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this->idot = idot * pow(2, -43) * gpsPi;
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this->M0 = m_0 * pow(2, -31) * gpsPi;
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this->omega = w * pow(2, -31) * gpsPi;
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this->omega_dot = omega_dot * pow(2, -43) * gpsPi;
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this->omega0 = omega_0 * pow(2, -31) * gpsPi;
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this->toe = t_oe * pow(2, 4);
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this->toc = t_oc * pow(2, 4);
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this->gpsWeek = week_no;
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this->af0 = a_f0 * pow(2, -31);
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this->af1 = a_f1 * pow(2, -43);
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this->af2 = a_f2 * pow(2, -55);
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uint32_t iode1 = GET_FIELD_U(subframes[2][2+0], 8, 22);
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uint32_t iode2 = GET_FIELD_U(subframes[3][2+7], 8, 22);
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this->valid = (iode1 == iode2) && (iode1 == (iodc & 0xff));
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this->iode = iode1;
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if (GET_FIELD_U(subframes[4][2+0], 6, 22) == 56 &&
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GET_FIELD_U(subframes[4][2+0], 2, 28) == 1 &&
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GET_FIELD_U(subframes[5][2+0], 2, 28) == 1) {
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double a0 = GET_FIELD_S(subframes[4][2], 8, 14) * pow(2, -30);
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double a1 = GET_FIELD_S(subframes[4][2], 8, 6) * pow(2, -27);
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double a2 = GET_FIELD_S(subframes[4][3], 8, 22) * pow(2, -24);
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double a3 = GET_FIELD_S(subframes[4][3], 8, 14) * pow(2, -24);
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double b0 = GET_FIELD_S(subframes[4][3], 8, 6) * pow(2, 11);
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double b1 = GET_FIELD_S(subframes[4][4], 8, 22) * pow(2, 14);
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double b2 = GET_FIELD_S(subframes[4][4], 8, 14) * pow(2, 16);
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double b3 = GET_FIELD_S(subframes[4][4], 8, 6) * pow(2, 16);
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this->ionoAlpha[0] = a0;this->ionoAlpha[1] = a1;this->ionoAlpha[2] = a2;this->ionoAlpha[3] = a3;
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this->ionoBeta[0] = b0;this->ionoBeta[1] = b1;this->ionoBeta[2] = b2;this->ionoBeta[3] = b3;
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this->ionoCoeffsValid = true;
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} else {
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this->ionoCoeffsValid = false;
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}
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}
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uint16_t svId;
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double Tgd, A, cic, cis, crc, crs, cuc, cus, deltaN, ecc, i0, idot, M0, omega, omega_dot, omega0, toe, toc;
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uint32_t gpsWeek, iode, _rsvd1, _rsvd2, _rsvd3, _rsvd4, aodo;
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double af0, af1, af2;
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bool valid;
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double ionoAlpha[4], ionoBeta[4];
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bool ionoCoeffsValid;
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};
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UbloxMsgParser::UbloxMsgParser() :bytes_in_parse_buf(0) {
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nav_frame_buffer[0U] = std::map<uint8_t, subframes_map>();
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for(int i = 1;i < 33;i++)
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nav_frame_buffer[0U][i] = subframes_map();
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}
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inline int UbloxMsgParser::needed_bytes() {
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// Msg header incomplete?
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if(bytes_in_parse_buf < UBLOX_HEADER_SIZE)
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return UBLOX_HEADER_SIZE + UBLOX_CHECKSUM_SIZE - bytes_in_parse_buf;
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uint16_t needed = UBLOX_MSG_SIZE(msg_parse_buf) + UBLOX_HEADER_SIZE + UBLOX_CHECKSUM_SIZE;
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// too much data
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if(needed < (uint16_t)bytes_in_parse_buf)
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return -1;
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return needed - (uint16_t)bytes_in_parse_buf;
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}
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inline bool UbloxMsgParser::valid_cheksum() {
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uint8_t ck_a = 0, ck_b = 0;
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for(int i = 2; i < bytes_in_parse_buf - UBLOX_CHECKSUM_SIZE;i++) {
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ck_a = (ck_a + msg_parse_buf[i]) & 0xFF;
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ck_b = (ck_b + ck_a) & 0xFF;
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}
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if(ck_a != msg_parse_buf[bytes_in_parse_buf - 2]) {
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LOGD("Checksum a mismtach: %02X, %02X", ck_a, msg_parse_buf[6]);
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return false;
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}
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if(ck_b != msg_parse_buf[bytes_in_parse_buf - 1]) {
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LOGD("Checksum b mismtach: %02X, %02X", ck_b, msg_parse_buf[7]);
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return false;
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}
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return true;
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}
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inline bool UbloxMsgParser::valid() {
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return bytes_in_parse_buf >= UBLOX_HEADER_SIZE + UBLOX_CHECKSUM_SIZE &&
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needed_bytes() == 0 &&
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valid_cheksum();
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}
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inline bool UbloxMsgParser::valid_so_far() {
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if(bytes_in_parse_buf > 0 && msg_parse_buf[0] != PREAMBLE1) {
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//LOGD("PREAMBLE1 invalid, %02X.", msg_parse_buf[0]);
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return false;
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}
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if(bytes_in_parse_buf > 1 && msg_parse_buf[1] != PREAMBLE2) {
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//LOGD("PREAMBLE2 invalid, %02X.", msg_parse_buf[1]);
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return false;
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}
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if(needed_bytes() == 0 && !valid())
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return false;
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return true;
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}
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kj::Array<capnp::word> UbloxMsgParser::gen_solution() {
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nav_pvt_msg *msg = (nav_pvt_msg *)&msg_parse_buf[UBLOX_HEADER_SIZE];
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capnp::MallocMessageBuilder msg_builder;
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cereal::Event::Builder event = msg_builder.initRoot<cereal::Event>();
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event.setLogMonoTime(nanos_since_boot());
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auto gpsLoc = event.initGpsLocationExternal();
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gpsLoc.setSource(cereal::GpsLocationData::SensorSource::UBLOX);
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gpsLoc.setFlags(msg->flags);
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gpsLoc.setLatitude(msg->lat * 1e-07);
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gpsLoc.setLongitude(msg->lon * 1e-07);
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gpsLoc.setAltitude(msg->height * 1e-03);
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gpsLoc.setSpeed(msg->gSpeed * 1e-03);
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gpsLoc.setBearing(msg->headMot * 1e-5);
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gpsLoc.setAccuracy(msg->hAcc * 1e-03);
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std::tm timeinfo = std::tm();
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timeinfo.tm_year = msg->year - 1900;
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timeinfo.tm_mon = msg->month - 1;
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timeinfo.tm_mday = msg->day;
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timeinfo.tm_hour = msg->hour;
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timeinfo.tm_min = msg->min;
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timeinfo.tm_sec = msg->sec;
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std::time_t utc_tt = timegm(&timeinfo);
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gpsLoc.setTimestamp(utc_tt * 1e+03 + msg->nano * 1e-06);
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float f[] = { msg->velN * 1e-03f, msg->velE * 1e-03f, msg->velD * 1e-03f };
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kj::ArrayPtr<const float> ap(&f[0], sizeof(f) / sizeof(f[0]));
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gpsLoc.setVNED(ap);
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gpsLoc.setVerticalAccuracy(msg->vAcc * 1e-03);
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gpsLoc.setSpeedAccuracy(msg->sAcc * 1e-03);
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gpsLoc.setBearingAccuracy(msg->headAcc * 1e-05);
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return capnp::messageToFlatArray(msg_builder);
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}
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inline bool bit_to_bool(uint8_t val, int shifts) {
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return (val & (1 << shifts)) ? true : false;
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}
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kj::Array<capnp::word> UbloxMsgParser::gen_raw() {
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rxm_raw_msg *msg = (rxm_raw_msg *)&msg_parse_buf[UBLOX_HEADER_SIZE];
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if(bytes_in_parse_buf != (
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UBLOX_HEADER_SIZE + sizeof(rxm_raw_msg) + msg->numMeas * sizeof(rxm_raw_msg_extra) + UBLOX_CHECKSUM_SIZE
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)) {
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LOGD("Invalid measurement size %u, %u, %u, %u", msg->numMeas, bytes_in_parse_buf, sizeof(rxm_raw_msg_extra), sizeof(rxm_raw_msg));
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return kj::Array<capnp::word>();
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}
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rxm_raw_msg_extra *measurements = (rxm_raw_msg_extra *)&msg_parse_buf[UBLOX_HEADER_SIZE + sizeof(rxm_raw_msg)];
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capnp::MallocMessageBuilder msg_builder;
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cereal::Event::Builder event = msg_builder.initRoot<cereal::Event>();
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event.setLogMonoTime(nanos_since_boot());
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auto gnss = event.initUbloxGnss();
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auto mr = gnss.initMeasurementReport();
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mr.setRcvTow(msg->rcvTow);
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mr.setGpsWeek(msg->week);
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mr.setLeapSeconds(msg->leapS);
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mr.setGpsWeek(msg->week);
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auto mb = mr.initMeasurements(msg->numMeas);
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for(int8_t i = 0; i < msg->numMeas; i++) {
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mb[i].setSvId(measurements[i].svId);
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mb[i].setSigId(measurements[i].sigId);
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mb[i].setPseudorange(measurements[i].prMes);
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mb[i].setCarrierCycles(measurements[i].cpMes);
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mb[i].setDoppler(measurements[i].doMes);
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mb[i].setGnssId(measurements[i].gnssId);
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mb[i].setGlonassFrequencyIndex(measurements[i].freqId);
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mb[i].setLocktime(measurements[i].locktime);
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mb[i].setCno(measurements[i].cno);
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mb[i].setPseudorangeStdev(0.01*(pow(2, (measurements[i].prStdev & 15)))); // weird scaling, might be wrong
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mb[i].setCarrierPhaseStdev(0.004*(measurements[i].cpStdev & 15));
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mb[i].setDopplerStdev(0.002*(pow(2, (measurements[i].doStdev & 15)))); // weird scaling, might be wrong
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auto ts = mb[i].initTrackingStatus();
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ts.setPseudorangeValid(bit_to_bool(measurements[i].trkStat, 0));
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ts.setCarrierPhaseValid(bit_to_bool(measurements[i].trkStat, 1));
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ts.setHalfCycleValid(bit_to_bool(measurements[i].trkStat, 2));
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ts.setHalfCycleSubtracted(bit_to_bool(measurements[i].trkStat, 3));
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}
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mr.setNumMeas(msg->numMeas);
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auto rs = mr.initReceiverStatus();
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rs.setLeapSecValid(bit_to_bool(msg->recStat, 0));
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rs.setClkReset(bit_to_bool(msg->recStat, 2));
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return capnp::messageToFlatArray(msg_builder);
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}
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kj::Array<capnp::word> UbloxMsgParser::gen_nav_data() {
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rxm_sfrbx_msg *msg = (rxm_sfrbx_msg *)&msg_parse_buf[UBLOX_HEADER_SIZE];
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if(bytes_in_parse_buf != (
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UBLOX_HEADER_SIZE + sizeof(rxm_sfrbx_msg) + msg->numWords * sizeof(rxm_sfrbx_msg_extra) + UBLOX_CHECKSUM_SIZE
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)) {
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LOGD("Invalid sfrbx words size %u, %u, %u, %u", msg->numWords, bytes_in_parse_buf, sizeof(rxm_raw_msg_extra), sizeof(rxm_raw_msg));
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return kj::Array<capnp::word>();
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}
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rxm_sfrbx_msg_extra *measurements = (rxm_sfrbx_msg_extra *)&msg_parse_buf[UBLOX_HEADER_SIZE + sizeof(rxm_sfrbx_msg)];
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if(msg->gnssId == 0) {
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uint8_t subframeId = GET_FIELD_U(measurements[1].dwrd, 3, 8);
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std::vector<uint32_t> words;
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for(int i = 0; i < msg->numWords;i++)
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words.push_back(measurements[i].dwrd);
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if(subframeId == 1) {
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nav_frame_buffer[msg->gnssId][msg->svid] = subframes_map();
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nav_frame_buffer[msg->gnssId][msg->svid][subframeId] = words;
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} else if(nav_frame_buffer[msg->gnssId][msg->svid].find(subframeId-1) != nav_frame_buffer[msg->gnssId][msg->svid].end())
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nav_frame_buffer[msg->gnssId][msg->svid][subframeId] = words;
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if(nav_frame_buffer[msg->gnssId][msg->svid].size() == 5) {
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EphemerisData ephem_data(msg->svid, nav_frame_buffer[msg->gnssId][msg->svid]);
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capnp::MallocMessageBuilder msg_builder;
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cereal::Event::Builder event = msg_builder.initRoot<cereal::Event>();
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event.setLogMonoTime(nanos_since_boot());
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auto gnss = event.initUbloxGnss();
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auto eph = gnss.initEphemeris();
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eph.setSvId(ephem_data.svId);
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eph.setToc(ephem_data.toc);
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eph.setGpsWeek(ephem_data.gpsWeek);
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eph.setAf0(ephem_data.af0);
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eph.setAf1(ephem_data.af1);
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eph.setAf2(ephem_data.af2);
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eph.setIode(ephem_data.iode);
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eph.setCrs(ephem_data.crs);
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eph.setDeltaN(ephem_data.deltaN);
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eph.setM0(ephem_data.M0);
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eph.setCuc(ephem_data.cuc);
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eph.setEcc(ephem_data.ecc);
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eph.setCus(ephem_data.cus);
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eph.setA(ephem_data.A);
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eph.setToe(ephem_data.toe);
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eph.setCic(ephem_data.cic);
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eph.setOmega0(ephem_data.omega0);
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eph.setCis(ephem_data.cis);
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eph.setI0(ephem_data.i0);
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eph.setCrc(ephem_data.crc);
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eph.setOmega(ephem_data.omega);
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eph.setOmegaDot(ephem_data.omega_dot);
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eph.setIDot(ephem_data.idot);
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eph.setTgd(ephem_data.Tgd);
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eph.setIonoCoeffsValid(ephem_data.ionoCoeffsValid);
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if(ephem_data.ionoCoeffsValid) {
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kj::ArrayPtr<const double> apa(&ephem_data.ionoAlpha[0], sizeof(ephem_data.ionoAlpha) / sizeof(ephem_data.ionoAlpha[0]));
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eph.setIonoAlpha(apa);
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kj::ArrayPtr<const double> apb(&ephem_data.ionoBeta[0], sizeof(ephem_data.ionoBeta) / sizeof(ephem_data.ionoBeta[0]));
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eph.setIonoBeta(apb);
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} else {
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eph.setIonoAlpha(kj::ArrayPtr<const double>());
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eph.setIonoBeta(kj::ArrayPtr<const double>());
|
|
}
|
|
return capnp::messageToFlatArray(msg_builder);
|
|
}
|
|
}
|
|
return kj::Array<capnp::word>();
|
|
}
|
|
|
|
bool UbloxMsgParser::add_data(const uint8_t *incoming_data, uint32_t incoming_data_len, size_t &bytes_consumed) {
|
|
int needed = needed_bytes();
|
|
if(needed > 0) {
|
|
bytes_consumed = min((size_t)needed, incoming_data_len );
|
|
// Add data to buffer
|
|
memcpy(msg_parse_buf + bytes_in_parse_buf, incoming_data, bytes_consumed);
|
|
bytes_in_parse_buf += bytes_consumed;
|
|
} else {
|
|
bytes_consumed = incoming_data_len;
|
|
}
|
|
// Validate msg format, detect invalid header and invalid checksum.
|
|
while(!valid_so_far() && bytes_in_parse_buf != 0) {
|
|
//LOGD("Drop corrupt data, remained in buf: %u", bytes_in_parse_buf);
|
|
// Corrupted msg, drop a byte.
|
|
bytes_in_parse_buf -= 1;
|
|
if(bytes_in_parse_buf > 0)
|
|
memmove(&msg_parse_buf[0], &msg_parse_buf[1], bytes_in_parse_buf);
|
|
}
|
|
// There is redundant data at the end of buffer, reset the buffer.
|
|
if(needed_bytes() == -1)
|
|
bytes_in_parse_buf = 0;
|
|
return valid();
|
|
}
|
|
|
|
}
|
|
|