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Tim Everett authored
- Add support for u-blox VALSET command. This enables configuration of the F9P receiver from the command file. Thanks to Nagarjun Redla for providing this code.
Tim Everett authored- Add support for u-blox VALSET command. This enables configuration of the F9P receiver from the command file. Thanks to Nagarjun Redla for providing this code.
ublox.c 83.89 KiB
/*------------------------------------------------------------------------------
* ublox.c : ublox receiver dependent functions
*
* Copyright (C) 2007-2018 by T.TAKASU, All rights reserved.
* Copyright (C) 2014 by T.SUZUKI, All rights reserved.
*
* reference :
* [1] ublox-AG, GPS.G3-X-03002-D, ANTARIS Positioning Engine NMEA and UBX
* Protocol Specification, Version 5.00, 2003
* [2] ublox-AG, UBX-13003221-R03, u-blox M8 Receiver Description including
* Protocol Specification V5, Dec 20, 2013
* [3] ublox-AG, UBX-13003221-R07, u-blox M8 Receiver Description including
* Protocol Specification V15.00-17.00, Nov 3, 2014
* [4] ublox-AG, UBX-13003221-R09, u-blox 8 /u-blox M8 Receiver Description
* including Protocol Specification V15.00-18.00, January, 2016
* [5] ublox-AG, UBX-18010854-R04, u-blox ZED-F9P Interface Description,
* September, 2018
*
* version : $Revision: 1.2 $ $Date: 2008/07/14 00:05:05 $
* history : 2007/10/08 1.0 new
* 2008/06/16 1.1 separate common functions to rcvcmn.c
* 2009/04/01 1.2 add range check of prn number
* 2009/04/10 1.3 refactored
* 2009/09/25 1.4 add function gen_ubx()
* 2010/01/17 1.5 add time tag adjustment option -tadj sec
* 2010/10/31 1.6 fix bug on playback disabled for raw data (2.4.0_p9)
* 2011/05/27 1.7 add almanac decoding
* add -EPHALL option
* fix problem with ARM compiler
* 2013/02/23 1.8 fix memory access violation problem on arm
* change options -tadj to -TADJ, -invcp to -INVCP
* 2014/05/26 1.9 fix bug on message size of CFG-MSG
* fix bug on return code of decode_alm1()
* 2014/06/21 1.10 support message TRK-MEAS and TRK-SFRBX
* support message NAV-SOL and NAV-TIMEGPS to get time
* support message GFG-GNSS generation
* 2014/06/23 1.11 support message TRK-MEAS for beidou ephemeris
* 2014/08/11 1.12 fix bug on unable to read RXM-RAW
* fix problem on decoding glo ephemeris in TRK-SFRBX
* support message TRK-TRKD5
* 2014/08/31 1.13 suppress warning
* 2014/11/04 1.14 support message RXM-RAWX and RXM-SFRBX
* 2015/03/20 1.15 omit time adjustment for RXM-RAWX
* 2016/01/22 1.16 add time-tag in raw-message-type
* 2016/01/26 1.17 support galileo navigation data in RXM-SFRBX
* enable option -TADJ for RXM-RAWX
* 2016/05/25 1.18 fix bug on crc-buffer-overflow by decoding galileo
* navigation data
* 2016/07/04 1.19 add half-cycle vaild check for ubx-trk-meas
* 2016/07/29 1.20 support RXM-CFG-TMODE3 (0x06 0x71) for M8P
* crc24q() -> rtk_crc24q()
* check week number zero for ubx-rxm-raw and rawx
* 2016/08/20 1.21 add test of std-dev for carrier-phase valid
* 2016/08/26 1.22 add option -STD_SLIP to test slip by std-dev of cp
* fix on half-cyc valid for sbas in trkmeas
* 2017/04/11 1.23 (char *) -> (signed char *)
* fix bug on week handover in decode_trkmeas/trkd5()
* fix bug on prn for geo in decode_cnav()
* 2017/06/10 1.24 output half-cycle-subtracted flag
* 2018/10/09 1.25 support ZED-F9P according to [5]
* beidou C17 is handled as GEO (navigation D2).
* 2018/11/05 1.26 fix problem on missing QZSS L2C signal
* save signal in obs data by signal index
* suppress warning for cnav in ubx-rxm-sfrbx
* 2019/05/10 1.27 disable half-cyc-subtract flag on LLI for RXM-RAWX
* save galileo E5b data to obs index 2
* handle C17 as no-GEO (MEO/IGSO)
*-----------------------------------------------------------------------------*/
#include "rtklib.h"
#define UBXSYNC1 0xB5 /* ubx message sync code 1 */
#define UBXSYNC2 0x62 /* ubx message sync code 2 */
#define UBXCFG 0x06 /* ubx message cfg-??? */
#define PREAMB_CNAV 0x8B /* cnav preamble */
#define ID_NAVSOL 0x0106 /* ubx message id: nav solution info */
#define ID_NAVTIME 0x0120 /* ubx message id: nav time gps */
#define ID_RXMRAW 0x0210 /* ubx message id: raw measurement data */
#define ID_RXMSFRB 0x0211 /* ubx message id: subframe buffer */
#define ID_RXMSFRBX 0x0213 /* ubx message id: raw subframe data */
#define ID_RXMRAWX 0x0215 /* ubx message id: multi-gnss raw meas data */
#define ID_TRKD5 0x030A /* ubx message id: trace mesurement data */
#define ID_TRKMEAS 0x0310 /* ubx message id: trace mesurement data */
#define ID_TRKSFRBX 0x030F /* ubx message id: trace subframe buffer */
#define ID_TIMTM2 0x0D03 /* ubx message id: time mark data */
#define FU1 1 /* ubx message field types */
#define FU2 2
#define FU4 3
#define FU8 4
#define FI1 5
#define FI2 6
#define FI4 7
#define FR4 8
#define FR8 9
#define FS32 10
typedef enum { false, true } bool;
#define P2_10 0.0009765625 /* 2^-10 */
#define CPSTD_VALID 5 /* std-dev threshold of carrier-phase valid */
#define ROUND(x) (int)floor((x)+0.5)
/* get fields (little-endian) ------------------------------------------------*/
#define U1(p) (*((unsigned char *)(p)))
#define I1(p) (*((signed char *)(p)))
static unsigned short U2(unsigned char *p) {unsigned short u; memcpy(&u,p,2); return u;}
static unsigned long U4(unsigned char *p) {unsigned long u; memcpy(&u,p,4); return u;}
static int I4(unsigned char *p) {signed long u; memcpy(&u,p,4); return u;}
static float R4(unsigned char *p) {float r; memcpy(&r,p,4); return r;}
static double R8(unsigned char *p) {double r; memcpy(&r,p,8); return r;}
static double I8(unsigned char *p) {return I4(p+4)*4294967296.0+U4(p);}
/* set fields (little-endian) ------------------------------------------------*/
static void setU1(unsigned char *p, unsigned char u) {*p=u;}
static void setU2(unsigned char *p, unsigned short u) {memcpy(p,&u,2);}
static void setU4(unsigned char *p, unsigned long u) {memcpy(p,&u,4);}
/* static void setU8(unsigned char *p, unsigned long long u) {memcpy(p,&u,8);} */
static void setI1(unsigned char *p, signed char i) {*p=(unsigned char)i;}
static void setI2(unsigned char *p, signed short i) {memcpy(p,&i,2);}
static void setI4(unsigned char *p, signed long i) {memcpy(p,&i,4);}
static void setR4(unsigned char *p, float r) {memcpy(p,&r,4);}
static void setR8(unsigned char *p, double r) {memcpy(p,&r,8);}
/* checksum ------------------------------------------------------------------*/
static int checksum(unsigned char *buff, int len)
{
unsigned char cka=0,ckb=0;
int i;
for (i=2;i<len-2;i++) {
cka+=buff[i]; ckb+=cka;
}
return cka==buff[len-2]&&ckb==buff[len-1];
}
static void setcs(unsigned char *buff, int len){
unsigned char cka=0,ckb=0;
int i;
for (i=2;i<len-2;i++) {
cka+=buff[i]; ckb+=cka;
}
buff[len-2]=cka;
buff[len-1]=ckb;
}
/* ubx gnssid to system (ref [2] 25) -----------------------------------------*/
static int ubx_sys(int gnssid)
{
switch (gnssid) {
case 0: return SYS_GPS;
case 1: return SYS_SBS;
case 2: return SYS_GAL;
case 3: return SYS_CMP;
case 5: return SYS_QZS;
case 6: return SYS_GLO;
}
return 0;
}
/* ubx sigid to signal ([5] Appendix B) --------------------------------------*/
static int ubx_sig(int sys, int sigid)
{
if (sys == SYS_GPS) {
if (sigid == 0) return CODE_L1C; /* L1C/A */
if (sigid == 3) return CODE_L2L; /* L2C(L) */
if (sigid == 4) return CODE_L2S; /* L2C(M) */
}
else if (sys == SYS_GLO) {
if (sigid == 0) return CODE_L1C; /* G1C/A (GLO L1 OF) */
if (sigid == 2) return CODE_L2C; /* G2C/A (GLO L2 OF) */
}
else if (sys == SYS_GAL) {
if (sigid == 0) return CODE_L1C; /* E1C */
if (sigid == 1) return CODE_L1B; /* E1B */
if (sigid == 5) return CODE_L7I; /* E5bI */
if (sigid == 6) return CODE_L7Q; /* E5bQ */
}
else if (sys == SYS_QZS) {
if (sigid == 0) return CODE_L1C; /* L1C/A */
if (sigid == 5) return CODE_L2L; /* L2CL (not specified in [5]) */
}
else if (sys == SYS_CMP) {
if (sigid == 0) return CODE_L2I; /* B1I D1 (rinex 3.03) */
if (sigid == 1) return CODE_L2I; /* B1I D2 (rinex 3.03) */
if (sigid == 2) return CODE_L7I; /* B2I D1 */
if (sigid == 3) return CODE_L7I; /* B2I D2 */
}
else if (sys == SYS_SBS) {
return CODE_L1C; /* L1C/A (not in [5]) */
}
return CODE_NONE;
}
/* signal index in obs data --------------------------------------------------*/
static int sig_idx(int sys, int code)
{
if (sys == SYS_GPS) {
if (code==CODE_L1C) return 1;
if (code==CODE_L2L) return 2;
if (code==CODE_L2S) return 2;
}
else if (sys == SYS_GLO) {
if (code==CODE_L1C) return 1;
if (code==CODE_L2C) return 2;
}
else if (sys == SYS_GAL) {
if (code==CODE_L1C) return 1; if (code==CODE_L1B) return 1;
if (code==CODE_L7I) return 2; /* E5bI */
if (code==CODE_L7Q) return 2; /* E5bQ */
}
else if (sys == SYS_QZS) {
if (code==CODE_L1C) return 1;
if (code==CODE_L2L) return 2;
}
else if (sys == SYS_CMP) {
if (code==CODE_L1I||code==CODE_L2I) return 1;
if (code==CODE_L7I) return 2;
}
else if (sys == SYS_SBS) {
if (code==CODE_L1C) return 1;
}
return 0;
}
/* freq index to frequency ---------------------------------------------------*/
static double sig_freq(int sys, int f, int fcn)
{
static const double freq_glo[8]={FREQ1_GLO,FREQ2_GLO,FREQ3_GLO};
static const double dfrq_glo[8]={DFRQ1_GLO,DFRQ2_GLO};
static const double freq_bds[8]={FREQ1_CMP,FREQ2_CMP,FREQ3_CMP};
if (sys == SYS_GLO) {
return freq_glo[f-1]+dfrq_glo[f-1]*fcn;
}
else if (sys == SYS_CMP) {
return freq_bds[f-1];
}
return CLIGHT/lam_carr[f-1];
}
/* 8-bit week -> full week ---------------------------------------------------*/
static void adj_utcweek(gtime_t time, double *utc)
{
int week;
if (utc[3]>=256.0) return;
time2gpst(time,&week);
utc[3]+=week/256*256;
if (utc[3]<week-128) utc[3]+=256.0;
else if (utc[3]>week+128) utc[3]-=256.0;
}
/* decode ubx-rxm-raw: raw measurement data ----------------------------------*/
static int decode_rxmraw(raw_t *raw)
{
gtime_t time;
double tow,tt,tadj=0.0,toff=0.0,tn;
int i,j,prn,sat,n=0,nsat,week;
unsigned char *p=raw->buff+6;
char *q;
trace(4,"decode_rxmraw: len=%d\n",raw->len);
if (raw->outtype) {
sprintf(raw->msgtype,"UBX RXM-RAW (%4d): nsat=%d",raw->len,U1(p+6));
}
/* time tag adjustment option (-TADJ) */
if ((q=strstr(raw->opt,"-TADJ="))) {
sscanf(q,"-TADJ=%lf",&tadj);
}
nsat=U1(p+6);
if (raw->len<12+24*nsat) {
trace(2,"ubx rxmraw length error: len=%d nsat=%d\n",raw->len,nsat);
return -1;
}
tow =U4(p );
week=U2(p+4);
time=gpst2time(week,tow*0.001);
if (week==0) {
trace(3,"ubx rxmraw week=0 error: len=%d nsat=%d\n",raw->len,nsat);
return 0;
}
/* time tag adjustment */
if (tadj>0.0) {
tn=time2gpst(time,&week)/tadj;
toff=(tn-floor(tn+0.5))*tadj;
time=timeadd(time,-toff);
}
tt=timediff(time,raw->time);
for (i=0,p+=8;i<nsat&&i<MAXOBS;i++,p+=24) {
raw->obs.data[n].time=time;
raw->obs.data[n].L[0] =R8(p )-toff*FREQL1;
raw->obs.data[n].P[0] =R8(p+ 8)-toff*CLIGHT;
raw->obs.data[n].D[0] =R4(p+16);
prn =U1(p+20);
raw->obs.data[n].SNR[0]=(unsigned char)(I1(p+22)*4.0+0.5);
raw->obs.data[n].LLI[0]=U1(p+23);
raw->obs.data[n].code[0]=CODE_L1C;
/* phase polarity flip option (-INVCP) */
if (strstr(raw->opt,"-INVCP")) {
raw->obs.data[n].L[0]=-raw->obs.data[n].L[0];
}
if (!(sat=satno(MINPRNSBS<=prn?SYS_SBS:SYS_GPS,prn))) {
trace(2,"ubx rxmraw sat number error: prn=%d\n",prn);
continue;
}
raw->obs.data[n].sat=sat;
if (raw->obs.data[n].LLI[0]&1) raw->lockt[sat-1][0]=0.0;
else if (tt<1.0||10.0<tt) raw->lockt[sat-1][0]=0.0;
else raw->lockt[sat-1][0]+=tt;
for (j=1;j<NFREQ+NEXOBS;j++) {
raw->obs.data[n].L[j]=raw->obs.data[n].P[j]=0.0;
raw->obs.data[n].D[j]=0.0;
raw->obs.data[n].SNR[j]=raw->obs.data[n].LLI[j]=0;
raw->obs.data[n].qualL[j]=raw->obs.data[n].qualP[j]=0;
raw->obs.data[n].code[j]=CODE_NONE;
}
n++;
}
raw->time=time;
raw->obs.n=n;
return 1;
}
/* decode ubx-rxm-rawx: multi-gnss raw measurement data (ref [3][4][5]) ------*/
static int decode_rxmrawx(raw_t *raw)
{
gtime_t time;
unsigned char *p=raw->buff+6;
char *q,tstr[64];
double tow,P,L,D,tn,tadj=0.0,toff=0.0;
int i,j,k,f,sys,prn,sat,code,slip,halfv,halfc,LLI,n=0,std_slip=0;
int week,nmeas,ver,gnss,svid,sigid,frqid,lockt,cn0,cpstd,prstd,tstat;
trace(4,"decode_rxmrawx: len=%d\n",raw->len);
if (raw->len<24) {
trace(2,"ubx rxmrawx length error: len=%d\n",raw->len);
return -1;
}
tow =R8(p ); /* rcvTow (s) */
week =U2(p+ 8); /* week */
nmeas=U1(p+11); /* numMeas */
ver =U1(p+13); /* version ([5] 5.15.3.1) */
if (raw->len<24+32*nmeas) {
trace(2,"ubx rxmrawx length error: len=%d nmeas=%d\n",raw->len,nmeas);
return -1;
}
if (week==0) {
trace(3,"ubx rxmrawx week=0 error: len=%d nmeas=%d\n",raw->len,nmeas);
return 0;
}
time=gpst2time(week,tow);
if (raw->outtype) {
time2str(time,tstr,2);
sprintf(raw->msgtype,"UBX RXM-RAWX (%4d): time=%s nmeas=%d ver=%d",
raw->len,tstr,nmeas,ver);
}
/* time tag adjustment option (-TADJ) */
if ((q=strstr(raw->opt,"-TADJ="))) {
sscanf(q,"-TADJ=%lf",&tadj);
}
/* slip threshold of std-dev of carrier-phase (-STD_SLIP) */
if ((q=strstr(raw->opt,"-STD_SLIP="))) {
sscanf(q,"-STD_SLIP=%d",&std_slip);
}
/* time tag adjustment */
if (tadj>0.0) {
tn=time2gpst(time,&week)/tadj;
toff=(tn-floor(tn+0.5))*tadj;
time=timeadd(time,-toff);
}
for (i=0,p+=16;i<nmeas&&n<MAXOBS;i++,p+=32) {
P =R8(p ); /* prMes (m) */
L =R8(p+ 8); /* cpMes (cyc) */
D =R4(p+16); /* doMes (hz) */
gnss =U1(p+20); /* gnssId */
svid =U1(p+21); /* svId */
sigid=U1(p+22); /* sigId ([5] 5.15.3.1) */
frqid=U1(p+23); /* freqId (fcn + 7) */
lockt=U2(p+24); /* locktime (ms) */
cn0 =U1(p+26); /* cn0 (dBHz) */
prstd=U1(p+27)&15; /* pseudorange std-dev */
cpstd=U1(p+28)&15; /* cpStdev (m) */
prstd=1<<(prstd>=5?prstd-5:0); /* prstd=2^(x-5) */
prstd=prstd<=9?prstd:9; /* limit to 9 to fit RINEX format */
tstat=U1(p+30); /* trkStat */
if (!(tstat&1)) P=0.0;
if (!(tstat&2)||L==-0.5||cpstd>CPSTD_VALID) L=0.0; /* invalid phase */
if (!(sys=ubx_sys(gnss))) {
trace(2,"ubx rxmrawx: system error gnss=%d\n", gnss);
continue;
}
prn=svid+(sys==SYS_QZS?192:0);
if (!(sat=satno(sys,prn))) {
if (sys==SYS_GLO&&prn==255) {
continue; /* suppress warning for unknown glo satellite */
}
trace(2,"ubx rxmrawx sat number error: sys=%2d prn=%2d\n",sys,prn);
continue;
}
if (ver>=1) {
code=ubx_sig(sys,sigid);
}
else {
code=(sys==SYS_CMP)?CODE_L2I:((sys==SYS_GAL)?CODE_L1X:CODE_L1C);
}
/* signal index in obs data */
f=sig_idx(sys,code);
if (f==0||f>NFREQ+NEXOBS) {
trace(2,"ubx rxmrawx signal error: sat=%2d sigid=%d\n",sat,sigid); continue;
}
/* offset by time tag adjustment */
if (toff!=0.0&&L!=0.0) {
P-=toff*CLIGHT;
L-=toff*sig_freq(sys,f,frqid-7);
}
if (sys==SYS_SBS)
halfv=lockt>8000?1:0; /* half-cycle valid */
else
halfv=tstat&4?1:0; /* half cycle valid */
halfc=tstat&8?1:0; /* half cycle subtracted from phase */
slip=lockt==0||lockt*1E-3<raw->lockt[sat-1][f-1]||
halfc!=raw->halfc[sat-1][f-1];
if (std_slip>0&&cpstd>=std_slip) slip=LLI_SLIP;
if (slip) raw->lockflag[sat-1][f-1]=slip;
raw->lockt[sat-1][f-1]=lockt*1E-3;
raw->halfc[sat-1][f-1]=halfc;
/* LLI: bit1=slip,bit2=half-cycle-invalid */
LLI=!halfv&&L!=0.0?LLI_HALFC:0;
LLI|=halfc!=raw->halfc[sat-1][f-1]?1:0;
if (L!=0.0) LLI|=raw->lockflag[sat-1][f-1]>0.0?LLI_SLIP:0;
for (j=0;j<n;j++) {
if (raw->obs.data[j].sat==sat) break;
}
if (j>=n) {
raw->obs.data[n].time=time;
raw->obs.data[n].sat=sat;
raw->obs.data[n].rcv=0;
for (k=0;k<NFREQ+NEXOBS;k++) {
raw->obs.data[n].L[k]=raw->obs.data[n].P[k]=0.0;
raw->obs.data[n].qualL[k]=raw->obs.data[n].qualP[k]=0.0;
raw->obs.data[n].D[k]=0.0;
raw->obs.data[n].SNR[k]=raw->obs.data[n].LLI[k]=0;
raw->obs.data[n].code[k]=CODE_NONE;
}
n++;
}
raw->obs.data[j].L[f-1]=L;
raw->obs.data[j].P[f-1]=P;
raw->obs.data[j].qualL[f-1]=cpstd<=7?cpstd:0;
raw->obs.data[j].qualP[f-1]=prstd;
raw->obs.data[j].D[f-1]=(float)D;
raw->obs.data[j].SNR[f-1]=(unsigned char)(cn0*4);
raw->obs.data[j].LLI[f-1]=(unsigned char)LLI;
raw->obs.data[j].code[f-1]=(unsigned char)code;
if (L!=0.0) raw->lockflag[sat-1][f-1]=0;
}
raw->time=time;
raw->obs.n=n;
return 1;
}
/* save subframe -------------------------------------------------------------*/
static int save_subfrm(int sat, raw_t *raw)
{
unsigned char *p=raw->buff+6,*q;
int i,j,n,id=(U4(p+6)>>2)&0x7;
trace(4,"save_subfrm: sat=%2d id=%d\n",sat,id);
if (id<1||5<id) return 0;
q=raw->subfrm[sat-1]+(id-1)*30;
for (i=n=0,p+=2;i<10;i++,p+=4) {
for (j=23;j>=0;j--) {
*q=(*q<<1)+((U4(p)>>j)&1); if (++n%8==0) q++;
}
} return id;
}
/* decode ephemeris ----------------------------------------------------------*/
static int decode_ephem(int sat, raw_t *raw)
{
eph_t eph={0};
trace(4,"decode_ephem: sat=%2d\n",sat);
if (decode_frame(raw->subfrm[sat-1] ,&eph,NULL,NULL,NULL,NULL)!=1||
decode_frame(raw->subfrm[sat-1]+30,&eph,NULL,NULL,NULL,NULL)!=2||
decode_frame(raw->subfrm[sat-1]+60,&eph,NULL,NULL,NULL,NULL)!=3) return 0;
if (!strstr(raw->opt,"-EPHALL")) {
if (eph.iode==raw->nav.eph[sat-1].iode&&
eph.iodc==raw->nav.eph[sat-1].iodc) return 0; /* unchanged */
}
eph.sat=sat;
raw->nav.eph[sat-1]=eph;
raw->ephsat=sat;
return 2;
}
/* decode almanac and ion/utc ------------------------------------------------*/
static int decode_alm1(int sat, raw_t *raw)
{
int sys=satsys(sat,NULL);
trace(4,"decode_alm1 : sat=%2d\n",sat);
if (sys==SYS_GPS) {
decode_frame(raw->subfrm[sat-1]+90,NULL,raw->nav.alm,raw->nav.ion_gps,
raw->nav.utc_gps,&raw->nav.leaps);
adj_utcweek(raw->time,raw->nav.utc_gps);
}
else if (sys==SYS_QZS) {
decode_frame(raw->subfrm[sat-1]+90,NULL,raw->nav.alm,raw->nav.ion_qzs,
raw->nav.utc_qzs,&raw->nav.leaps);
adj_utcweek(raw->time,raw->nav.utc_qzs);
}
return 9;
}
/* decode almanac ------------------------------------------------------------*/
static int decode_alm2(int sat, raw_t *raw)
{
int sys=satsys(sat,NULL);
trace(4,"decode_alm2 : sat=%2d\n",sat);
if (sys==SYS_GPS) {
decode_frame(raw->subfrm[sat-1]+120,NULL,raw->nav.alm,NULL,NULL,NULL);
}
else if (sys==SYS_QZS) {
decode_frame(raw->subfrm[sat-1]+120,NULL,raw->nav.alm,raw->nav.ion_qzs,
raw->nav.utc_qzs,&raw->nav.leaps);
adj_utcweek(raw->time,raw->nav.utc_qzs);
}
return 0;
}
/* decode ubx-rxm-sfrb: subframe buffer --------------------------------------*/
static int decode_rxmsfrb(raw_t *raw)
{
unsigned int words[10];
int i,prn,sat,sys,id;
unsigned char *p=raw->buff+6;
trace(4,"decode_rxmsfrb: len=%d\n",raw->len);
if (raw->outtype) {
sprintf(raw->msgtype,"UBX RXM-SFRB (%4d): prn=%2d",raw->len,U1(p+1));
} if (raw->len<42) {
trace(2,"ubx rxmsfrb length error: len=%d\n",raw->len);
return -1;
}
prn=U1(p+1);
if (!(sat=satno(MINPRNSBS<=prn?SYS_SBS:SYS_GPS,prn))) {
trace(2,"ubx rxmsfrb satellite number error: prn=%d\n",prn);
return -1;
}
sys=satsys(sat,&prn);
if (sys==SYS_GPS) {
id=save_subfrm(sat,raw);
if (id==3) return decode_ephem(sat,raw);
if (id==4) return decode_alm1 (sat,raw);
if (id==5) return decode_alm2 (sat,raw);
return 0;
}
else if (sys==SYS_SBS) {
for (i=0,p+=2;i<10;i++,p+=4) words[i]=U4(p);
return sbsdecodemsg(raw->time,prn,words,&raw->sbsmsg)?3:0;
}
return 0;
}
/* decode ubx-nav-sol: navigation solution -----------------------------------*/
static int decode_navsol(raw_t *raw)
{
int itow,ftow,week;
unsigned char *p=raw->buff+6;
trace(4,"decode_navsol: len=%d\n",raw->len);
if (raw->outtype) {
sprintf(raw->msgtype,"UBX NAV-SOL (%4d):",raw->len);
}
itow=U4(p);
ftow=I4(p+4);
week=U2(p+8);
if ((U1(p+11)&0x0C)==0x0C) {
raw->time=gpst2time(week,itow*1E-3+ftow*1E-9);
}
return 0;
}
/* decode ubx-nav-timegps: gps time solution ---------------------------------*/
static int decode_navtime(raw_t *raw)
{
int itow,ftow,week;
unsigned char *p=raw->buff+6;
trace(4,"decode_navtime: len=%d\n",raw->len);
if (raw->outtype) {
sprintf(raw->msgtype,"UBX NAV-TIME (%4d):",raw->len);
}
itow=U4(p);
ftow=I4(p+4);
week=U2(p+8);
if ((U1(p+11)&0x03)==0x03) {
raw->time=gpst2time(week,itow*1E-3+ftow*1E-9);
}
return 0;
}
/* decode ubx-trk-meas: trace measurement data -------------------------------*/
static int decode_trkmeas(raw_t *raw)
{
static double adrs[MAXSAT]={0};
gtime_t time;
double ts,tr=-1.0,t,tau,utc_gpst,snr,adr,dop;
int i,j,n=0,nch,sys,prn,sat,qi,frq,flag,lock1,lock2,week,fw=0;
unsigned char *p=raw->buff+6; char *q;
/* adjustment to code measurement in meters, based on GLONASS freq,
values based on difference between TRK_MEAS values and RXM-RAWX values */
const char P_adj_fw2[]={ 0, 0, 0, 0, 1, 3, 2, 0,-4,-3,-9,-8,-7,-4, 0}; /* fw 2.30 */
const char P_adj_fw3[]={11,13,13,14,14,13,12,10, 8, 6, 5, 5, 5, 7, 0}; /* fw 3.01 */
trace(4,"decode_trkmeas: len=%d\n",raw->len);
if (raw->outtype) {
sprintf(raw->msgtype,"UBX TRK-MEAS (%4d):",raw->len);
}
if (!raw->time.time) return 0;
/* trk meas code adjust (-TRKM_ADJ) */
if ((q=strstr(raw->opt,"-TRKM_ADJ="))) {
sscanf(q,"-TRKM_ADJ=%d",&fw);
}
/* number of channels */
nch=U1(p+2);
if (raw->len<112+nch*56) {
trace(2,"decode_trkmeas: length error len=%d nch=%2d\n",raw->len,nch);
return -1;
}
/* time-tag = max(transmission time + 0.08) rounded by 100 ms */
for (i=0,p=raw->buff+110;i<nch;i++,p+=56) {
if (U1(p+1)<4||ubx_sys(U1(p+4))!=SYS_GPS) continue;
if ((t=I8(p+24)*P2_32/1000.0)>tr) tr=t;
}
if (tr<0.0) return 0;
tr=ROUND((tr+0.08)/0.1)*0.1;
/* adjust week handover */
t=time2gpst(raw->time,&week);
if (tr<t-302400.0) week++;
else if (tr>t+302400.0) week--;
time=gpst2time(week,tr);
utc_gpst=timediff(gpst2utc(time),time);
for (i=0,p=raw->buff+110;i<nch;i++,p+=56) {
/* quality indicator (0:idle,1:search,2:aquired,3:unusable, */
/* 4:code lock,5,6,7:code/carrier lock) */
qi=U1(p+1);
if (qi<4||7<qi) continue;
/* system and satellite number */
if (!(sys=ubx_sys(U1(p+4)))) {
trace(2,"ubx trkmeas: system error\n");
continue;
}
prn=U1(p+5)+(sys==SYS_QZS?192:0);
if (!(sat=satno(sys,prn))) {
trace(2,"ubx trkmeas sat number error: sys=%2d prn=%2d\n",sys,prn);
continue;
}
/* transmission time */
ts=I8(p+24)*P2_32/1000.0;
if (sys==SYS_CMP) ts+=14.0; /* bdt -> gpst */
else if (sys==SYS_GLO) ts-=10800.0+utc_gpst; /* glot -> gpst */
/* signal travel time */
tau=tr-ts;
if (tau<-302400.0) tau+=604800.0;
else if (tau> 302400.0) tau-=604800.0;
frq =U1(p+ 7)-7; /* frequency */ flag =U1(p+ 8); /* tracking status */
lock1=U1(p+16); /* code lock count */
lock2=U1(p+17); /* phase lock count */
snr =U2(p+20)/256.0;
adr =I8(p+32)*P2_32+(flag&0x40?0.5:0.0);
dop =I4(p+40)*P2_10*10.0;
/* set slip flag */
if (lock2==0||lock2<raw->lockt[sat-1][0]) raw->lockt[sat-1][1]=1.0;
raw->lockt[sat-1][0]=lock2;
#if 0 /* for debug */
trace(2,"[%2d] qi=%d sys=%d prn=%3d frq=%2d flag=%02X ?=%02X %02X "
"%02X %02X %02X %02X %02X lock=%3d %3d ts=%10.3f snr=%4.1f "
"dop=%9.3f adr=%13.3f %6.3f\n",U1(p),qi,U1(p+4),prn,frq,flag,
U1(p+9),U1(p+10),U1(p+11),U1(p+12),U1(p+13),U1(p+14),U1(p+15),
lock1,lock2,ts,snr,dop,adr,
adrs[sat-1]==0.0||dop==0.0?0.0:(adr-adrs[sat-1])-dop);
#endif
adrs[sat-1]=adr;
/* check phase lock */
if (!(flag&0x20)) continue;
raw->obs.data[n].time=time;
raw->obs.data[n].sat=sat;
raw->obs.data[n].P[0]=tau*CLIGHT;
raw->obs.data[n].L[0]=-adr;
raw->obs.data[n].D[0]=(float)dop;
raw->obs.data[n].SNR[0]=(unsigned char)(snr*4.0);
raw->obs.data[n].code[0]=sys==SYS_CMP?CODE_L2I:CODE_L1C;
raw->obs.data[n].qualL[0]=8-qi;
raw->obs.data[n].LLI[0]=raw->lockt[sat-1][1]>0.0?1:0;
if (sys==SYS_SBS) { /* half-cycle valid */
raw->obs.data[n].LLI[0]|=lock2>142?0:2;
}
else {
raw->obs.data[n].LLI[0]|=flag&0x80?0:2;
}
raw->lockt[sat-1][1]=0.0;
/* adjust code measurements for GLONASS sats */
if (sys==SYS_GLO&&frq>=-7&&frq<=7) {
if (fw==2) raw->obs.data[n].P[0]+=(double)P_adj_fw2[frq+7];
if (fw==3) raw->obs.data[n].P[0]+=(double)P_adj_fw3[frq+7];
}
for (j=1;j<NFREQ+NEXOBS;j++) {
raw->obs.data[n].L[j]=raw->obs.data[n].P[j]=0.0;
raw->obs.data[n].D[j]=0.0;
raw->obs.data[n].SNR[j]=raw->obs.data[n].LLI[j]=0;
raw->obs.data[n].qualL[j]=raw->obs.data[n].qualP[j]=0;
raw->obs.data[n].code[j]=CODE_NONE;
}
n++;
}
if (n<=0) return 0;
raw->time=time;
raw->obs.n=n;
return 1;
}
/* decode ubx-trkd5: trace measurement data ----------------------------------*/
static int decode_trkd5(raw_t *raw)
{
static double adrs[MAXSAT]={0};
gtime_t time;
double ts,tr=-1.0,t,tau,adr,dop,snr,utc_gpst;
int i,j,n=0,type,off,len,sys,prn,sat,qi,frq,flag,week;
unsigned char *p=raw->buff+6;
trace(4,"decode_trkd5: len=%d\n",raw->len);
if (raw->outtype) {
sprintf(raw->msgtype,"UBX TRK-D5 (%4d):",raw->len);
}
if (!raw->time.time) return 0;
utc_gpst=timediff(gpst2utc(raw->time),raw->time);
switch ((type=U1(p))) {
case 3 : off=86; len=56; break;
case 6 : off=86; len=64; break; /* u-blox 7 */
default: off=78; len=56; break;
}
for (i=0,p=raw->buff+off;p-raw->buff<raw->len-2;i++,p+=len) {
if (U1(p+41)<4) continue;
t=I8(p)*P2_32/1000.0;
if (ubx_sys(U1(p+56))==SYS_GLO) t-=10800.0+utc_gpst;
if (t>tr) tr=t;
}
if (tr<0.0) return 0;
tr=ROUND((tr+0.08)/0.1)*0.1;
/* adjust week handover */
t=time2gpst(raw->time,&week);
if (tr<t-302400.0) week++;
else if (tr>t+302400.0) week--;
time=gpst2time(week,tr);
trace(4,"time=%s\n",time_str(time,0));
for (i=0,p=raw->buff+off;p-raw->buff<raw->len-2;i++,p+=len) {
/* quality indicator */
qi =U1(p+41)&7;
if (qi<4||7<qi) continue;
if (type==6) {
if (!(sys=ubx_sys(U1(p+56)))) {
trace(2,"ubx trkd5: system error\n");
continue;
}
prn=U1(p+57)+(sys==SYS_QZS?192:0);
frq=U1(p+59)-7;
}
else {
prn=U1(p+34);
sys=prn<MINPRNSBS?SYS_GPS:SYS_SBS;
}
if (!(sat=satno(sys,prn))) {
trace(2,"ubx trkd5 sat number error: sys=%2d prn=%2d\n",sys,prn);
continue;
}
/* transmission time */
ts=I8(p)*P2_32/1000.0;
if (sys==SYS_GLO) ts-=10800.0+utc_gpst; /* glot -> gpst */
/* signal travel time */
tau=tr-ts;
if (tau<-302400.0) tau+=604800.0;
else if (tau> 302400.0) tau-=604800.0;
flag=U1(p+54); /* tracking status */
adr=qi<6?0.0:I8(p+8)*P2_32+(flag&0x01?0.5:0.0);
dop=I4(p+16)*P2_10/4.0;
snr=U2(p+32)/256.0;
if (snr<=10.0) raw->lockt[sat-1][1]=1.0;
#if 0 /* for debug */
trace(2,"[%2d] qi=%d sys=%d prn=%3d frq=%2d flag=%02X ts=%1.3f " "snr=%4.1f dop=%9.3f adr=%13.3f %6.3f\n",U1(p+35),qi,U1(p+56),
prn,frq,flag,ts,snr,dop,adr,
adrs[sat-1]==0.0||dop==0.0?0.0:(adr-adrs[sat-1])-dop);
#endif
adrs[sat-1]=adr;
/* check phase lock */
if (!(flag&0x08)) continue;
raw->obs.data[n].time=time;
raw->obs.data[n].sat=sat;
raw->obs.data[n].P[0]=tau*CLIGHT;
raw->obs.data[n].L[0]=-adr;
raw->obs.data[n].D[0]=(float)dop;
raw->obs.data[n].SNR[0]=(unsigned char)(snr*4.0);
raw->obs.data[n].code[0]=sys==SYS_CMP?CODE_L2I:CODE_L1C;
raw->obs.data[n].LLI[0]=raw->lockt[sat-1][1]>0.0?1:0;
raw->lockt[sat-1][1]=0.0;
for (j=1;j<NFREQ+NEXOBS;j++) {
raw->obs.data[n].L[j]=raw->obs.data[n].P[j]=0.0;
raw->obs.data[n].D[j]=0.0;
raw->obs.data[n].SNR[j]=raw->obs.data[n].LLI[j]=0;
raw->obs.data[n].code[j]=CODE_NONE;
}
n++;
}
if (n<=0) return 0;
raw->time=time;
raw->obs.n=n;
return 1;
}
/* decode gps and qzss navigation data ---------------------------------------*/
static int decode_nav(raw_t *raw, int sat, int off)
{
unsigned int words[10];
int i,id;
unsigned char *p=raw->buff+6+off;
if (raw->len<48+off) {
trace(2,"ubx rawsfrbx length error: sat=%d len=%d\n",sat,raw->len);
return -1;
}
if ((U4(p)>>24)==PREAMB_CNAV) {
trace(3,"ubx rawsfrbx cnav not supported sat=%d prn=%d\n",sat,
(U4(p)>>18)&0x3F);
return 0;
}
for (i=0;i<10;i++,p+=4) words[i]=U4(p)>>6; /* 24 bits without parity */
id=(words[1]>>2)&7;
if (id<1||5<id) {
trace(2,"ubx rawsfrbx subfrm id error: sat=%2d id=%d len=%d\n",sat,id,
raw->len);
return -1;
}
for (i=0;i<10;i++) {
setbitu(raw->subfrm[sat-1]+(id-1)*30,i*24,24,words[i]);
}
if (id==3) return decode_ephem(sat,raw);
if (id==4) return decode_alm1 (sat,raw);
if (id==5) return decode_alm2 (sat,raw);
return 0;
}
/* decode galileo navigation data --------------------------------------------*/
static int decode_enav(raw_t *raw, int sat, int off)
{
eph_t eph={0};
unsigned char *p=raw->buff+6+off,buff[32],crc_buff[26]={0};
int i,j,k,part1,page1,part2,page2,type;
if (raw->len<44+off) {
trace(2,"ubx rawsfrbx length error: sat=%d len=%d\n",sat,raw->len);
return -1;
}
for (i=k=0;i<8;i++,p+=4) for (j=0;j<4;j++) {
buff[k++]=p[3-j];
}
part1=getbitu(buff ,0,1);
page1=getbitu(buff ,1,1);
part2=getbitu(buff+16,0,1);
page2=getbitu(buff+16,1,1);
/* skip alert page */
if (page1==1||page2==1) return 0;
/* test even-odd parts */
if (part1!=0||part2!=1) {
trace(2,"ubx rawsfrbx gal page even/odd error: sat=%2d\n",sat);
return -1;
}
/* test crc (4(pad) + 114 + 82 bits) */
for (i=0,j= 4;i<15;i++,j+=8) setbitu(crc_buff,j,8,getbitu(buff ,i*8,8));
for (i=0,j=118;i<11;i++,j+=8) setbitu(crc_buff,j,8,getbitu(buff+16,i*8,8));
if (rtk_crc24q(crc_buff,25)!=getbitu(buff+16,82,24)) {
trace(2,"ubx rawsfrbx gal page crc error: sat=%2d\n",sat);
return -1;
}
type=getbitu(buff,2,6); /* word type */
/* skip word except for ephemeris, iono, utc parameters */
if (type>6) return 0;
/* clear word 0-6 flags */
if (type==2) raw->subfrm[sat-1][112]=0;
/* save page data (112 + 16 bits) to frame buffer */
k=type*16;
for (i=0,j=2;i<14;i++,j+=8) raw->subfrm[sat-1][k++]=getbitu(buff ,j,8);
for (i=0,j=2;i< 2;i++,j+=8) raw->subfrm[sat-1][k++]=getbitu(buff+16,j,8);
/* test word 0-6 flags */
raw->subfrm[sat-1][112]|=(1<<type);
if (raw->subfrm[sat-1][112]!=0x7F) return 0;
if (strstr(raw->opt,"-GALFNAV")) {
return 0;
}
/* decode galileo inav ephemeris */
if (!decode_gal_inav(raw->subfrm[sat-1],&eph)) {
return 0;
}
/* test svid consistency */
if (eph.sat!=sat) {
trace(2,"ubx rawsfrbx gal svid error: sat=%2d %2d\n",sat,eph.sat);
return -1;
}
if (!strstr(raw->opt,"-EPHALL")) {
if (eph.iode==raw->nav.eph[sat-1].iode&& /* unchanged */
timediff(eph.toe,raw->nav.eph[sat-1].toe)==0.0&&
timediff(eph.toc,raw->nav.eph[sat-1].toc)==0.0) return 0;
}
eph.sat=sat;
raw->nav.eph[sat-1]=eph;
raw->ephsat=sat;
return 2;
}
/* decode beidou navigation data ---------------------------------------------*/
static int decode_cnav(raw_t *raw, int sat, int off)
{ eph_t eph={0};
unsigned int words[10];
int i,id,pgn,prn;
unsigned char *p=raw->buff+6+off;
if (raw->len<48+off) {
trace(2,"ubx rawsfrbx length error: sat=%d len=%d\n",sat,raw->len);
return -1;
}
for (i=0;i<10;i++,p+=4) words[i]=U4(p)&0x3FFFFFFF; /* 30 bits */
satsys(sat,&prn);
id=(words[0]>>12)&0x07; /* subframe id (3bit) */
if (id<1||5<id) {
trace(2,"ubx rawsfrbx subfrm id error: sat=%2d\n",sat);
return -1;
}
if (prn>5&&prn<59) { /* IGSO/MEO */
for (i=0;i<10;i++) {
setbitu(raw->subfrm[sat-1]+(id-1)*38,i*30,30,words[i]);
}
if (id!=3) return 0;
/* decode beidou D1 ephemeris */
if (!decode_bds_d1(raw->subfrm[sat-1],&eph)) return 0;
}
else { /* GEO (C01-05, C59-63) */
if (id!=1) return 0;
/* subframe 1 */
pgn=(words[1]>>14)&0x0F; /* page number (4bit) */
if (pgn<1||10<pgn) {
trace(2,"ubx rawsfrbx page number error: sat=%2d\n",sat);
return -1;
}
for (i=0;i<10;i++) {
setbitu(raw->subfrm[sat-1]+(pgn-1)*38,i*30,30,words[i]);
}
if (pgn!=10) return 0;
/* decode beidou D2 ephemeris */
if (!decode_bds_d2(raw->subfrm[sat-1],&eph)) return 0;
}
if (!strstr(raw->opt,"-EPHALL")) {
if (timediff(eph.toe,raw->nav.eph[sat-1].toe)==0.0&&
eph.iode==raw->nav.eph[sat-1].iode&&
eph.iodc==raw->nav.eph[sat-1].iodc) return 0; /* unchanged */
}
eph.sat=sat;
raw->nav.eph[sat-1]=eph;
raw->ephsat=sat;
return 2;
}
/* decode glonass navigation data --------------------------------------------*/
static int decode_gnav(raw_t *raw, int sat, int off, int frq)
{
geph_t geph={0};
int i,j,k,m,prn;
unsigned char *p=raw->buff+6+off,buff[64],*fid;
satsys(sat,&prn);
if (raw->len<24+off) {
trace(2,"ubx rawsfrbx gnav length error: len=%d\n",raw->len);
return -1;
}
for (i=k=0;i<4;i++,p+=4) for (j=0;j<4;j++) {
buff[k++]=p[3-j];
} /* test hamming of glonass string */
if (!test_glostr(buff)) {
trace(2,"ubx rawsfrbx glo string hamming error: sat=%2d\n",sat);
return -1;
}
m=getbitu(buff,1,4);
if (m<1||15<m) {
trace(2,"ubx rawsfrbx glo string no error: sat=%2d\n",sat);
return -1;
}
/* flush frame buffer if frame-id changed */
fid=raw->subfrm[sat-1]+150;
if (fid[0]!=buff[12]||fid[1]!=buff[13]) {
for (i=0;i<4;i++) memset(raw->subfrm[sat-1]+i*10,0,10);
memcpy(fid,buff+12,2); /* save frame-id */
}
memcpy(raw->subfrm[sat-1]+(m-1)*10,buff,10);
if (m!=4) return 0;
/* decode glonass ephemeris strings */
geph.tof=raw->time;
if (!decode_glostr(raw->subfrm[sat-1],&geph)||geph.sat!=sat) return 0;
geph.frq=frq-7;
if (!strstr(raw->opt,"-EPHALL")) {
if (geph.iode==raw->nav.geph[prn-1].iode) return 0; /* unchanged */
}
raw->nav.geph[prn-1]=geph;
raw->ephsat=sat;
return 2;
}
/* decode sbas navigation data -----------------------------------------------*/
static int decode_snav(raw_t *raw, int sat, int off)
{
int i,j,k,prn,tow,week;
unsigned char *p=raw->buff+6+off,buff[64];
if (raw->len<40+off) {
trace(2,"ubx rawsfrbx snav length error: len=%d\n",raw->len);
return -1;
}
tow=(int)time2gpst(timeadd(raw->time,-1.0),&week);
satsys(sat,&prn);
raw->sbsmsg.prn=prn;
raw->sbsmsg.tow=tow;
raw->sbsmsg.week=week;
for (i=k=0;i<8;i++,p+=4) for (j=0;j<4;j++) {
buff[k++]=p[3-j];
}
memcpy(raw->sbsmsg.msg,buff,29);
raw->sbsmsg.msg[28]&=0xC0;
return 3;
}
/* decode ubx-rxm-sfrbx: raw subframe data (ref [3][4][5]) -------------------*/
static int decode_rxmsfrbx(raw_t *raw)
{
int prn,sat,sys;
unsigned char *p=raw->buff+6;
trace(4,"decode_rxmsfrbx: len=%d\n",raw->len);
if (raw->outtype) {
sprintf(raw->msgtype,"UBX RXM-SFRBX (%4d): sys=%d prn=%3d",raw->len,
U1(p),U1(p+1));
}
if (!(sys=ubx_sys(U1(p)))) {
trace(2,"ubx rxmsfrbx sys id error: sys=%d\n",U1(p));
return -1;
} prn=U1(p+1)+(sys==SYS_QZS?192:0);
if (!(sat=satno(sys,prn))) {
if (sys==SYS_GLO&&prn==255) {
return 0; /* suppress error for unknown glo satellite */
}
trace(2,"ubx rxmsfrbx sat number error: sys=%d prn=%d\n",sys,prn);
return -1;
}
switch (sys) {
case SYS_GPS: return decode_nav (raw,sat,8);
case SYS_QZS: return decode_nav (raw,sat,8);
case SYS_GAL: return decode_enav(raw,sat,8);
case SYS_CMP: return decode_cnav(raw,sat,8);
case SYS_GLO: return decode_gnav(raw,sat,8,U1(p+3));
case SYS_SBS: return decode_snav(raw,sat,8);
}
return 0;
}
/* decode ubx-trk-sfrbx: subframe buffer extension ---------------------------*/
static int decode_trksfrbx(raw_t *raw)
{
int prn,sat,sys;
unsigned char *p=raw->buff+6;
trace(4,"decode_trksfrbx: len=%d\n",raw->len);
if (raw->outtype) {
sprintf(raw->msgtype,"UBX TRK-SFRBX (%4d): sys=%d prn=%3d",raw->len,
U1(p+1),U1(p+2));
}
if (!(sys=ubx_sys(U1(p+1)))) {
trace(2,"ubx trksfrbx sys id error: sys=%d\n",U1(p+1));
return -1;
}
prn=U1(p+2)+(sys==SYS_QZS?192:0);
if (!(sat=satno(sys,prn))) {
trace(2,"ubx trksfrbx sat number error: sys=%d prn=%d\n",sys,prn);
return -1;
}
switch (sys) {
case SYS_GPS: return decode_nav (raw,sat,13);
case SYS_QZS: return decode_nav (raw,sat,13);
case SYS_GAL: return decode_enav(raw,sat,13);
case SYS_CMP: return decode_cnav(raw,sat,13);
case SYS_GLO: return decode_gnav(raw,sat,13,U1(p+4));
case SYS_SBS: return decode_snav(raw,sat,13);
}
return 0;
}
/* decode ubx-tim-tm2: time mark data ----------------------------------------*/
static int decode_timtm2(raw_t *raw)
{
gtime_t eventime;
char ch, flags;
unsigned int count, wnR, wnF;
unsigned long towMsR, towSubMsR, towMsF, towSubMsF, accEst;
int time, timeBase, newRisingEdge, newFallingEdge;
unsigned char *p=raw->buff+6;
double tr[6],tf[6];
trace(4, "decode_timtm2: len=%d\n", raw->len);
if (raw->outtype) {
sprintf(raw->msgtype, "UBX TIM-TM2 (%4d)", raw->len);
}
ch = U1(p);
flags = *(p+1);
count = U2(p+2);
wnR = U2(p+4);
wnF = U2(p+6); towMsR = U4(p+8);
towSubMsR = U4(p+12);
towMsF = U4(p+16);
towSubMsF = U4(p+20);
accEst = U4(p+24);
/* extract flags to variables */
newFallingEdge = ((flags >> 2) & 0x01);
timeBase = ((flags >> 3) & 0x03);
time = ((flags >> 6) & 0x01);
newRisingEdge = ((flags >> 7) & 0x01);
if (newFallingEdge)
{
eventime = gpst2time(wnF,towMsF*1E-3+towSubMsF*1E-9);
raw->obs.flag = 5; /* Event flag */
raw->obs.data[0].eventime = eventime;
raw->obs.rcvcount = count;
raw->obs.tmcount++;
raw->obs.data[0].timevalid = time;
} else {
raw->obs.flag = 0;
}
time2epoch(gpst2time(wnR,towMsR*1E-3+towSubMsR*1E-9),tr);
time2epoch(gpst2time(wnF,towMsF*1E-3+towSubMsF*1E-9),tf);
trace(3,"time mark rise: %f:%f:%.3f\n",tr[3],tr[4],tr[5]);
trace(3,"time mark fall: %f:%f:%.3f\n",tf[3],tf[4],tf[5]);
return 0;
}
/* decode ublox raw message --------------------------------------------------*/
static int decode_ubx(raw_t *raw)
{
int type=(U1(raw->buff+2)<<8)+U1(raw->buff+3);
trace(3,"decode_ubx: type=%04x len=%d\n",type,raw->len);
/* checksum */
if (!checksum(raw->buff,raw->len)) {
trace(2,"ubx checksum error: type=%04x len=%d\n",type,raw->len);
return -1;
}
switch (type) {
case ID_RXMRAW : return decode_rxmraw (raw);
case ID_RXMRAWX : return decode_rxmrawx (raw);
case ID_RXMSFRB : return decode_rxmsfrb (raw);
case ID_RXMSFRBX: return decode_rxmsfrbx(raw);
case ID_NAVSOL : return decode_navsol (raw);
case ID_NAVTIME : return decode_navtime (raw);
case ID_TRKMEAS : return decode_trkmeas (raw);
case ID_TRKD5 : return decode_trkd5 (raw);
case ID_TRKSFRBX: return decode_trksfrbx(raw);
case ID_TIMTM2 : return decode_timtm2 (raw);
}
if (raw->outtype) {
sprintf(raw->msgtype,"UBX 0x%02X 0x%02X (%4d)",type>>8,type&0xF,
raw->len);
}
return 0;
}
/* sync code -----------------------------------------------------------------*/
static int sync_ubx(unsigned char *buff, unsigned char data)
{
buff[0]=buff[1]; buff[1]=data;
return buff[0]==UBXSYNC1&&buff[1]==UBXSYNC2;
}
/* input ublox raw message from stream -----------------------------------------
* fetch next ublox raw data and input a message from stream
* args : raw_t *raw IO receiver raw data control struct
* unsigned char data I stream data (1 byte)* return : status (-1: error message, 0: no message, 1: input observation data,
* 2: input ephemeris, 3: input sbas message,
* 9: input ion/utc parameter)
*
* notes : to specify input options, set raw->opt to the following option
* strings separated by spaces.
*
* -EPHALL : input all ephemerides
* -INVCP : invert polarity of carrier-phase
* -TADJ=tint : adjust time tags to multiples of tint (sec)
* -STD_SLIP=std: slip by std-dev of carrier phase under std
* -GALFNAV : input only F/NAV for galileo ephemeris
*
* The supported messages are as follows.
*
* UBX-RXM-RAW : raw measurement data
* UBX-RXM-RAWX : multi-gnss measurement data
* UBX-RXM-SFRB : subframe buffer
* UBX-RXM-SFRBX: subframe buffer extension
*
* UBX-TRK-MEAS and UBX-TRK-SFRBX are based on NEO-M8N (F/W 2.01).
* UBX-TRK-D5 is based on NEO-7N (F/W 1.00). They are not formally
* documented and not supported by u-blox.
* Users can use these messages by their own risk.
*-----------------------------------------------------------------------------*/
extern int input_ubx(raw_t *raw, unsigned char data)
{
trace(5,"input_ubx: data=%02x\n",data);
/* synchronize frame */
if (raw->nbyte==0) {
if (!sync_ubx(raw->buff,data)) return 0;
raw->nbyte=2;
return 0;
}
raw->buff[raw->nbyte++]=data;
if (raw->nbyte==6) {
if ((raw->len=U2(raw->buff+4)+8)>MAXRAWLEN) {
trace(2,"ubx length error: len=%d\n",raw->len);
raw->nbyte=0;
return -1;
}
}
if (raw->nbyte<6||raw->nbyte<raw->len) return 0;
raw->nbyte=0;
/* decode ublox raw message */
return decode_ubx(raw);
}
/* input ublox raw message from file -------------------------------------------
* fetch next ublox raw data and input a message from file
* args : raw_t *raw IO receiver raw data control struct
* FILE *fp I file pointer
* return : status(-2: end of file, -1...9: same as above)
*-----------------------------------------------------------------------------*/
extern int input_ubxf(raw_t *raw, FILE *fp)
{
int i,data;
trace(4,"input_ubxf:\n");
/* synchronize frame */
if (raw->nbyte==0) {
for (i=0;;i++) {
if ((data=fgetc(fp))==EOF) return -2;
if (sync_ubx(raw->buff,(unsigned char)data)) break;
if (i>=4096) return 0;
}
} if (fread(raw->buff+2,1,4,fp)<4) return -2;
raw->nbyte=6;
if ((raw->len=U2(raw->buff+4)+8)>MAXRAWLEN) {
trace(2,"ubx length error: len=%d\n",raw->len);
raw->nbyte=0;
return -1;
}
if (fread(raw->buff+6,1,raw->len-6,fp)<(size_t)(raw->len-6)) return -2;
raw->nbyte=0;
/* decode ubx raw message */
return decode_ubx(raw);
}
/* generate ublox binary message -----------------------------------------------
* generate ublox binary message from message string
* args : char *msg IO message string
* "CFG-PRT portid res0 res1 mode baudrate inmask outmask flags"
* "CFG-USB vendid prodid res1 res2 power flags vstr pstr serino"
* "CFG-MSG msgid rate0 rate1 rate2 rate3 rate4 rate5 rate6"
* "CFG-NMEA filter version numsv flags"
* "CFG-RATE meas nav time"
* "CFG-CFG clear_mask save_mask load_mask [dev_mask]"
* "CFG-TP interval length status time_ref res adelay rdelay udelay"
* "CFG-NAV2 ..."
* "CFG-DAT maja flat dx dy dz rotx roty rotz scale"
* "CFG-INF protocolid res0 res1 res2 mask0 mask1 mask2 ... mask5"
* "CFG-RST navbbr reset res"
* "CFG-RXM gpsmode lpmode"
* "CFG-ANT flags pins"
* "CFG-FXN flags treacq tacq treacqoff tacqoff ton toff res basetow"
* "CFG-SBAS mode usage maxsbas res scanmode"
* "CFG-LIC key0 key1 key2 key3 key4 key5"
* "CFG-TM intid rate flags"
* "CFG-TM2 ch res0 res1 rate flags"
* "CFG-TMODE tmode posx posy posz posvar svinmindur svinvarlimit"
* "CFG-EKF ..."
* "CFG-GNSS ..."
* "CFG-ITFM conf conf2"
* "CFG-LOGFILTER ver flag min_int time_thr speed_thr pos_thr"
* "CFG-NAV5 ..."
* "CFG-NAVX5 ..."
* "CFG-ODO ..."
* "CFG-PM2 ..."
* "CFG-PWR ver rsv1 rsv2 rsv3 state"
* "CFG-RINV flag data ..."
* "CFG-SMGR ..."
* "CFG-TMODE2 ..."
* "CFG-TMODE3 ..."
* "CFG-TPS ..."
* "CFG-TXSLOT ..."
* "CFG-VALSET version layer transaction rsv1 key val"
* unsigned char *buff O binary message
* return : length of binary message (0: error)
* note : see reference [1][3] for details.
* the following messages are not supported:
* CFG-DOSC,CFG-ESRC
*-----------------------------------------------------------------------------*/
extern int gen_ubx(const char *msg, unsigned char *buff)
{
const char *cmd[]={
"PRT","USB","MSG","NMEA","RATE","CFG","TP","NAV2","DAT","INF",
"RST","RXM","ANT","FXN","SBAS","LIC","TM","TM2","TMODE","EKF",
"GNSS","ITFM","LOGFILTER","NAV5","NAVX5","ODO","PM2","PWR","RINV","SMGR",
"TMODE2","TMODE3","TPS","TXSLOT","VALSET",""
};
const unsigned char id[]={
0x00,0x1B,0x01,0x17,0x08,0x09,0x07,0x1A,0x06,0x02,
0x04,0x11,0x13,0x0E,0x16,0x80,0x10,0x19,0x1D,0x12,
0x3E,0x39,0x47,0x24,0x23,0x1E,0x3B,0x57,0x34,0x62, 0x36,0x71,0x31,0x53,0x8A
};
const int prm[][32]={
{FU1,FU1,FU2,FU4,FU4,FU2,FU2,FU2,FU2}, /* PRT */
{FU2,FU2,FU2,FU2,FU2,FU2,FS32,FS32,FS32}, /* USB */
{FU1,FU1,FU1,FU1,FU1,FU1,FU1,FU1}, /* MSG */
{FU1,FU1,FU1,FU1}, /* NMEA */
{FU2,FU2,FU2}, /* RATE */
{FU4,FU4,FU4,FU1}, /* CFG */
{FU4,FU4,FI1,FU1,FU2,FI2,FI2,FI4}, /* TP */
{FU1,FU1,FU2,FU1,FU1,FU1,FU1,FI4,FU1,FU1,FU1,FU1,FU1,FU1,FU2,FU2,FU2,FU2,
FU2,FU1,FU1,FU2,FU4,FU4}, /* NAV2 */
{FR8,FR8,FR4,FR4,FR4,FR4,FR4,FR4,FR4}, /* DAT */
{FU1,FU1,FU1,FU1,FU1,FU1,FU1,FU1,FU1,FU1}, /* INF */
{FU2,FU1,FU1}, /* RST */
{FU1,FU1}, /* RXM */
{FU2,FU2}, /* ANT */
{FU4,FU4,FU4,FU4,FU4,FU4,FU4,FU4}, /* FXN */
{FU1,FU1,FU1,FU1,FU4}, /* SBAS */
{FU2,FU2,FU2,FU2,FU2,FU2}, /* LIC */
{FU4,FU4,FU4}, /* TM */
{FU1,FU1,FU2,FU4,FU4}, /* TM2 */
{FU4,FI4,FI4,FI4,FU4,FU4,FU4}, /* TMODE */
{FU1,FU1,FU1,FU1,FU4,FU2,FU2,FU1,FU1,FU2}, /* EKF */
{FU1,FU1,FU1,FU1,FU1,FU1,FU1,FU1,FU4}, /* GNSS */
{FU4,FU4}, /* ITFM */
{FU1,FU1,FU2,FU2,FU2,FU4}, /* LOGFILTER */
{FU2,FU1,FU1,FI4,FU4,FI1,FU1,FU2,FU2,FU2,FU2,FU1,FU1,FU1,FU1,FU1,FU1,FU2,
FU1,FU1,FU1,FU1,FU1,FU1}, /* NAV5 */
{FU2,FU2,FU4,FU1,FU1,FU1,FU1,FU1,FU1,FU1,FU1,FU1,FU1,FU2,FU1,FU1,FU1,FU1,
FU1,FU1,FU1,FU1,FU1,FU1,FU2}, /* NAVX5 */
{FU1,FU1,FU1,FU1,FU1,FU1,FU1,FU1,FU1}, /* ODO */
{FU1,FU1,FU1,FU1,FU4,FU4,FU4,FU4,FU2,FU2}, /* PM2 */
{FU1,FU1,FU1,FU1,FU4}, /* PWR */
{FU1,FU1}, /* RINV */
{FU1,FU1,FU2,FU2,FU1,FU1,FU2,FU2,FU2,FU2,FU4}, /* SMGR */
{FU1,FU1,FU2,FI4,FI4,FI4,FU4,FU4,FU4}, /* TMODE2 */
{FU1,FU1,FU2,FI4,FI4,FI4,FU4,FU4,FU4}, /* TMODE3 */
{FU1,FU1,FU1,FU1,FI2,FI2,FU4,FU4,FU4,FU4,FI4,FU4}, /* TPS */
{FU1,FU1,FU1,FU1,FU4,FU4,FU4,FU4,FU4}, /* TXSLOT */
{FU1,FU1,FU1,FU1} /* VALSET */ /* Skip configuration for now */
};
unsigned char *q=buff;
char mbuff[1024],*args[32],*p;
int i,j,n,narg=0;
bool isvalset = false;
trace(4,"gen_ubxf: msg=%s\n",msg);
strcpy(mbuff,msg);
for (p=strtok(mbuff," ");p&&narg<32;p=strtok(NULL," ")) {
args[narg++]=p;
}
if (narg<1||strncmp(args[0],"CFG-",4)) return 0;
for (i=0;*cmd[i];i++) {
if (!strcmp(args[0]+4,cmd[i])) break;
}
if (!*cmd[i]) return 0;
*q++=UBXSYNC1;
*q++=UBXSYNC2;
*q++=UBXCFG;
*q++=id[i];
q+=2;
if (i == 34) isvalset = true;
/* VALSET sanity check */ if (isvalset) {
if (narg == 7) narg = narg - 2; /* Adjusting for key value addition */
else return 0;
}
for (j=1;prm[i][j-1]||j<narg;j++) {
switch (prm[i][j-1]) {
case FU1 : setU1(q,j<narg?(unsigned char )atoi(args[j]):0); q+=1; break;
case FU2 : setU2(q,j<narg?(unsigned short)atoi(args[j]):0); q+=2; break;
case FU4 : setU4(q,j<narg?(unsigned long )atoi(args[j]):0); q+=4; break;
/* case FU8 : setU8(q,j<narg?(unsigned long long)atoi(args[j]):0); q+=8; break; */
case FI1 : setI1(q,j<narg?(signed char )atoi(args[j]):0); q+=1; break;
case FI2 : setI2(q,j<narg?(signed short )atoi(args[j]):0); q+=2; break;
case FI4 : setI4(q,j<narg?(signed long )atoi(args[j]):0); q+=4; break;
case FR4 : setR4(q,j<narg?(float )atof(args[j]):0); q+=4; break;
case FR8 : setR8(q,j<narg?(double)atof(args[j]):0); q+=8; break;
case FS32: sprintf((char *)q,"%-32.32s",j<narg?args[j]:""); q+=32; break;
default : setU1(q,j<narg?(unsigned char )atoi(args[j]):0); q+=1; break;
}
}
/* Add VALSET cfgData here */
if (isvalset) {
int k;
/* VALSET commands courtesy of gpsd's ubxtool */
const char *vcmd[]={
"GEOFENCE-CONFLVL", "GEOFENCE-USE_PIO", "GEOFENCE-PINPOL", "GEOFENCE-PIN", "GEOFENCE-USE_FENCE1", "GEOFENCE-FENCE1_LAT", "GEOFENCE-FENCE1_LON", "GEOFENCE-FENCE1_RAD", "GEOFENCE-USE_FENCE2", "GEOFENCE-FENCE2_LAT",
"GEOFENCE-FENCE2_LON", "GEOFENCE-FENCE2_RAD", "GEOFENCE-USE_FENCE3", "GEOFENCE-FENCE3_LAT", "GEOFENCE-FENCE3_LON", "GEOFENCE-FENCE3_RAD", "GEOFENCE-USE_FENCE4", "GEOFENCE-FENCE4_LAT", "GEOFENCE-FENCE4_LON", "GEOFENCE-FENCE4_RAD",
"HW-ANT_CFG_VOLTCTRL", "HW-ANT_CFG_SHORTDET", "HW-ANT_CFG_SHORTDET_POL", "HW-ANT_CFG_OPENDET", "HW-ANT_CFG_OPENDET_POL", "HW-ANT_CFG_PWRDOWN", "HW-ANT_CFG_PWRDOWN_POL", "HW-ANT_CFG_RECOVER", "HW-ANT_SUP_SWITCH_PIN", "HW-ANT_SUP_SHORT_PIN",
"HW-ANT_SUP_OPEN_PIN", "I2C-ADDRESS", "I2C-EXTENDEDTIMEOUT", "I2C-ENABLED", "I2CINPROT-UBX", "I2CINPROT-NMEA", "I2CINPROT-RTCM2X", "I2CINPROT-RTCM3X", "I2COUTPROT-UBX", "I2COUTPROT-NMEA",
"I2COUTPROT-RTCM3X", "INFMSG-UBX_I2C", "INFMSG-UBX_UART1", "INFMSG-UBX_UART2", "INFMSG-UBX_USB", "INFMSG-UBX_SPI", "INFMSG-NMEA_I2C", "INFMSG-NMEA_UART1", "INFMSG-NMEA_UART2", "INFMSG-NMEA_USB",
"INFMSG-NMEA_SPI", "ITFM-BBTHRESHOLD", "ITFM-CWTHRESHOLD", "ITFM-ENABLE", "ITFM-ANTSETTING", "ITFM-ENABLE_AUX", "LOGFILTER-RECORD_ENA", "LOGFILTER-ONCE_PER_WAKE_UP_ENA", "LOGFILTER-APPLY_ALL_FILTERS", "LOGFILTER-MIN_INTERVAL",
"LOGFILTER-TIME_THRS", "LOGFILTER-SPEED_THRS", "LOGFILTER-POSITION_THRS", "MOT-GNSSSPEED_THRS", "MOT-GNSSDIST_THRS", "MSGOUT-NMEA_ID_DTM_I2C", "MSGOUT-NMEA_ID_DTM_SPI", "MSGOUT-NMEA_ID_DTM_UART1", "MSGOUT-NMEA_ID_DTM_UART2", "MSGOUT-NMEA_ID_DTM_USB",
"MSGOUT-NMEA_ID_GBS_I2C", "MSGOUT-NMEA_ID_GBS_SPI", "MSGOUT-NMEA_ID_GBS_UART1", "MSGOUT-NMEA_ID_GBS_UART2", "MSGOUT-NMEA_ID_GBS_USB", "MSGOUT-NMEA_ID_GGA_I2C", "MSGOUT-NMEA_ID_GGA_SPI", "MSGOUT-NMEA_ID_GGA_UART1", "MSGOUT-NMEA_ID_GGA_UART2", "MSGOUT-NMEA_ID_GGA_USB",
"MSGOUT-NMEA_ID_GLL_I2C", "MSGOUT-NMEA_ID_GLL_SPI", "MSGOUT-NMEA_ID_GLL_UART1", "MSGOUT-NMEA_ID_GLL_UART2", "MSGOUT-NMEA_ID_GLL_USB", "MSGOUT-NMEA_ID_GNS_I2C", "MSGOUT-NMEA_ID_GNS_SPI", "MSGOUT-NMEA_ID_GNS_UART1", "MSGOUT-NMEA_ID_GNS_UART2", "MSGOUT-NMEA_ID_GNS_USB",
"MSGOUT-NMEA_ID_GRS_I2C", "MSGOUT-NMEA_ID_GRS_SPI", "MSGOUT-NMEA_ID_GRS_UART1", "MSGOUT-NMEA_ID_GRS_UART2", "MSGOUT-NMEA_ID_GRS_USB", "MSGOUT-NMEA_ID_GSA_I2C", "MSGOUT-NMEA_ID_GSA_SPI", "MSGOUT-NMEA_ID_GSA_UART1", "MSGOUT-NMEA_ID_GSA_UART2", "MSGOUT-NMEA_ID_GSA_USB",
"MSGOUT-NMEA_ID_GST_I2C", "MSGOUT-NMEA_ID_GST_SPI", "MSGOUT-NMEA_ID_GST_UART1", "MSGOUT-NMEA_ID_GST_UART2", "MSGOUT-NMEA_ID_GST_USB", "MSGOUT-NMEA_ID_GSV_I2C", "MSGOUT-NMEA_ID_GSV_SPI", "MSGOUT-NMEA_ID_GSV_UART1", "MSGOUT-NMEA_ID_GSV_UART2", "MSGOUT-NMEA_ID_GSV_USB",
"MSGOUT-NMEA_ID_RMC_I2C", "MSGOUT-NMEA_ID_RMC_SPI", "MSGOUT-NMEA_ID_RMC_UART1", "MSGOUT-NMEA_ID_RMC_UART2", "MSGOUT-NMEA_ID_RMC_USB", "MSGOUT-NMEA_ID_VLW_I2C", "MSGOUT-NMEA_ID_VLW_SPI", "MSGOUT-NMEA_ID_VLW_UART1", "MSGOUT-NMEA_ID_VLW_UART2", "MSGOUT-NMEA_ID_VLW_USB",
"MSGOUT-NMEA_ID_VTG_I2C", "MSGOUT-NMEA_ID_VTG_SPI", "MSGOUT-NMEA_ID_VTG_UART1", "MSGOUT-NMEA_ID_VTG_UART2", "MSGOUT-NMEA_ID_VTG_USB", "MSGOUT-NMEA_ID_ZDA_I2C", "MSGOUT-NMEA_ID_ZDA_SPI", "MSGOUT-NMEA_ID_ZDA_UART1", "MSGOUT-NMEA_ID_ZDA_UART2", "MSGOUT-NMEA_ID_ZDA_USB",
"MSGOUT-PUBX_ID_POLYP_I2C", "MSGOUT-PUBX_ID_POLYP_SPI", "MSGOUT-PUBX_ID_POLYP_UART1", "MSGOUT-PUBX_ID_POLYP_UART2", "MSGOUT-PUBX_ID_POLYP_USB", "MSGOUT-PUBX_ID_POLYS_I2C", "MSGOUT-PUBX_ID_POLYS_SPI", "MSGOUT-PUBX_ID_POLYS_UART1", "MSGOUT-PUBX_ID_POLYS_UART2", "MSGOUT-PUBX_ID_POLYS_USB",
"MSGOUT-PUBX_ID_POLYT_I2C", "MSGOUT-PUBX_ID_POLYT_SPI", "MSGOUT-PUBX_ID_POLYT_UART1", "MSGOUT-PUBX_ID_POLYT_UART2", "MSGOUT-PUBX_ID_POLYT_USB", "MSGOUT-RTCM_3X_TYPE1005_I2C", "MSGOUT-RTCM_3X_TYPE1005_SPI", "MSGOUT-RTCM_3X_TYPE1005_UART1", "MSGOUT-RTCM_3X_TYPE1005_UART2", "MSGOUT-RTCM_3X_TYPE1005_USB",
"MSGOUT-RTCM_3X_TYPE1074_I2C", "MSGOUT-RTCM_3X_TYPE1074_SPI", "MSGOUT-RTCM_3X_TYPE1074_UART1", "MSGOUT-RTCM_3X_TYPE1074_UART2", "MSGOUT-RTCM_3X_TYPE1074_USB", "MSGOUT-RTCM_3X_TYPE1077_I2C", "MSGOUT-RTCM_3X_TYPE1077_SPI", "MSGOUT-RTCM_3X_TYPE1077_UART1", "MSGOUT-RTCM_3X_TYPE1077_UART2", "MSGOUT-RTCM_3X_TYPE1077_USB",
"MSGOUT-RTCM_3X_TYPE1087_I2C", "MSGOUT-RTCM_3X_TYPE1084_SPI", "MSGOUT-RTCM_3X_TYPE1084_UART1", "MSGOUT-RTCM_3X_TYPE1084_UART2", "MSGOUT-RTCM_3X_TYPE1084_USB", "MSGOUT-RTCM_3X_TYPE1087_SPI", "MSGOUT-RTCM_3X_TYPE1087_UART1", "MSGOUT-RTCM_3X_TYPE1087_UART2", "MSGOUT-RTCM_3X_TYPE1087_USB", "MSGOUT-RTCM_3X_TYPE1094_I2C",
"MSGOUT-RTCM_3X_TYPE1094_SPI", "MSGOUT-RTCM_3X_TYPE1094_UART1", "MSGOUT-RTCM_3X_TYPE1094_UART2", "MSGOUT-RTCM_3X_TYPE1094_USB", "MSGOUT-RTCM_3X_TYPE1097_I2C", "MSGOUT-RTCM_3X_TYPE1097_SPI", "MSGOUT-RTCM_3X_TYPE1097_UART1", "MSGOUT-RTCM_3X_TYPE1097_UART2", "MSGOUT-RTCM_3X_TYPE1097_USB", "MSGOUT-RTCM_3X_TYPE1124_I2C",
"MSGOUT-RTCM_3X_TYPE1124_SPI", "MSGOUT-RTCM_3X_TYPE1124_UART1", "MSGOUT-RTCM_3X_TYPE1124_UART2", "MSGOUT-RTCM_3X_TYPE1124_USB", "MSGOUT-RTCM_3X_TYPE1127_I2C", "MSGOUT-RTCM_3X_TYPE1127_SPI", "MSGOUT-RTCM_3X_TYPE1127_UART1", "MSGOUT-RTCM_3X_TYPE1127_UART2", "MSGOUT-RTCM_3X_TYPE1127_USB", "MSGOUT-RTCM_3X_TYPE1230_I2C",
"MSGOUT-RTCM_3X_TYPE1230_SPI", "MSGOUT-RTCM_3X_TYPE1230_UART1", "MSGOUT-RTCM_3X_TYPE1230_UART2", "MSGOUT-RTCM_3X_TYPE1230_USB", "MSGOUT-RTCM_3X_TYPE4072_0_I2C", "MSGOUT-RTCM_3X_TYPE4072_0_SPI", "MSGOUT-RTCM_3X_TYPE4072_0_UART1", "MSGOUT-RTCM_3X_TYPE4072_0_UART2", "MSGOUT-RTCM_3X_TYPE4072_0_USB", "MSGOUT-RTCM_3X_TYPE4072_1_I2C",
"MSGOUT-RTCM_3X_TYPE4072_1_SPI", "MSGOUT-RTCM_3X_TYPE4072_1_UART1", "MSGOUT-RTCM_3X_TYPE4072_1_UART2", "MSGOUT-RTCM_3X_TYPE4072_1_USB", "MSGOUT-UBX_LOG_INFO_I2C", "MSGOUT-UBX_LOG_INFO_SPI", "MSGOUT-UBX_LOG_INFO_UART1", "MSGOUT-UBX_LOG_INFO_UART2", "MSGOUT-UBX_LOG_INFO_USB", "MSGOUT-UBX_MON_COMMS_I2C",
"MSGOUT-UBX_MON_COMMS_SPI", "MSGOUT-UBX_MON_COMMS_UART1", "MSGOUT-UBX_MON_COMMS_UART2", "MSGOUT-UBX_MON_COMMS_USB", "MSGOUT-UBX_MON_HW2_I2C", "MSGOUT-UBX_MON_HW2_SPI", "MSGOUT-UBX_MON_HW2_UART1", "MSGOUT-UBX_MON_HW2_UART2", "MSGOUT-UBX_MON_HW2_USB", "MSGOUT-UBX_MON_HW3_I2C",
"MSGOUT-UBX_MON_HW3_SPI", "MSGOUT-UBX_MON_HW3_UART1", "MSGOUT-UBX_MON_HW3_UART2", "MSGOUT-UBX_MON_HW3_USB", "MSGOUT-UBX_MON_HW_I2C", "MSGOUT-UBX_MON_HW_SPI", "MSGOUT-UBX_MON_HW_UART1", "MSGOUT-UBX_MON_HW_UART2", "MSGOUT-UBX_MON_HW_USB", "MSGOUT-UBX_MON_IO_I2C",
"MSGOUT-UBX_MON_IO_SPI", "MSGOUT-UBX_MON_IO_UART1", "MSGOUT-UBX_MON_IO_UART2", "MSGOUT-UBX_MON_IO_USB", "MSGOUT-UBX_MON_MSGPP_I2C", "MSGOUT-UBX_MON_MSGPP_SPI", "MSGOUT-UBX_MON_MSGPP_UART1", "MSGOUT-UBX_MON_MSGPP_UART2", "MSGOUT-UBX_MON_MSGPP_USB", "MSGOUT-UBX_MON_RF_I2C",
"MSGOUT-UBX_MON_RF_SPI", "MSGOUT-UBX_MON_RF_UART1", "MSGOUT-UBX_MON_RF_UART2", "MSGOUT-UBX_MON_RF_USB", "MSGOUT-UBX_MON_RXBUF_I2C", "MSGOUT-UBX_MON_RXBUF_SPI", "MSGOUT-UBX_MON_RXBUF_UART1", "MSGOUT-UBX_MON_RXBUF_UART2", "MSGOUT-UBX_MON_RXBUF_USB", "MSGOUT-UBX_MON_RXR_I2C",
"MSGOUT-UBX_MON_RXR_SPI", "MSGOUT-UBX_MON_RXR_UART1", "MSGOUT-UBX_MON_RXR_UART2", "MSGOUT-UBX_MON_RXR_USB", "MSGOUT-UBX_MON_TXBUF_I2C", "MSGOUT-UBX_MON_TXBUF_SPI", "MSGOUT-UBX_MON_TXBUF_UART1", "MSGOUT-UBX_MON_TXBUF_UART2", "MSGOUT-UBX_MON_TXBUF_USB", "MSGOUT-UBX_MON_TXBUF_I2C",
"MSGOUT-UBX_MON_TXBUF_SPI", "MSGOUT-UBX_MON_TXBUF_UART1", "MSGOUT-UBX_MON_TXBUF_UART2", "MSGOUT-UBX_MON_TXBUF_USB", "MSGOUT-UBX_NAV_CLOCK_I2C", "MSGOUT-UBX_NAV_CLOCK_SPI", "MSGOUT-UBX_NAV_CLOCK_UART1", "MSGOUT-UBX_NAV_CLOCK_UART2", "MSGOUT-UBX_NAV_CLOCK_USB", "MSGOUT-UBX_NAV_DOP_I2C",
"MSGOUT-UBX_NAV_DOP_SPI", "MSGOUT-UBX_NAV_DOP_UART1", "MSGOUT-UBX_NAV_DOP_UART2", "MSGOUT-UBX_NAV_DOP_USB", "MSGOUT-UBX_NAV_EOE_I2C", "MSGOUT-UBX_NAV_EOE_SPI", "MSGOUT-UBX_NAV_EOE_UART1", "MSGOUT-UBX_NAV_EOE_UART2", "MSGOUT-UBX_NAV_EOE_USB", "MSGOUT-UBX_NAV_GEOFENCE_I2C",
"MSGOUT-UBX_NAV_GEOFENCE_SPI", "MSGOUT-UBX_NAV_GEOFENCE_UART1", "MSGOUT-UBX_NAV_GEOFENCE_UART2", "MSGOUT-UBX_NAV_GEOFENCE_USB", "MSGOUT-UBX_NAV_HPPOSECEF_I2C", "MSGOUT-UBX_NAV_HPPOSECEF_SPI", "MSGOUT-UBX_NAV_HPPOSECEF_UART1", "MSGOUT-UBX_NAV_HPPOSECEF_UART2", "MSGOUT-UBX_NAV_HPPOSECEF_USB", "MSGOUT-UBX_NAV_HPPOSLLH_I2C",
"MSGOUT-UBX_NAV_HPPOSLLH_SPI", "MSGOUT-UBX_NAV_HPPOSLLH_UART1", "MSGOUT-UBX_NAV_HPPOSLLH_UART2", "MSGOUT-UBX_NAV_HPPOSLLH_USB", "MSGOUT-UBX_NAV_ODO_I2C", "MSGOUT-UBX_NAV_ODO_SPI", "MSGOUT-UBX_NAV_ODO_UART1", "MSGOUT-UBX_NAV_ODO_UART2", "MSGOUT-UBX_NAV_ODO_USB", "MSGOUT-UBX_NAV_ORB_I2C",
"MSGOUT-UBX_NAV_ORB_SPI", "MSGOUT-UBX_NAV_ORB_UART1", "MSGOUT-UBX_NAV_ORB_UART2", "MSGOUT-UBX_NAV_ORB_USB", "MSGOUT-UBX_NAV_POSECEF_I2C", "MSGOUT-UBX_NAV_POSECEF_SPI", "MSGOUT-UBX_NAV_POSECEF_UART1", "MSGOUT-UBX_NAV_POSECEF_UART2", "MSGOUT-UBX_NAV_POSECEF_USB", "MSGOUT-UBX_NAV_POSLLH_I2C",
"MSGOUT-UBX_NAV_POSLLH_SPI", "MSGOUT-UBX_NAV_POSLLH_UART1", "MSGOUT-UBX_NAV_POSLLH_UART2", "MSGOUT-UBX_NAV_POSLLH_USB", "MSGOUT-UBX_NAV_PVT_I2C", "MSGOUT-UBX_NAV_PVT_SPI", "MSGOUT-UBX_NAV_PVT_UART1", "MSGOUT-UBX_NAV_PVT_UART2", "MSGOUT-UBX_NAV_PVT_USB", "MSGOUT-UBX_NAV_RELPOSNED_I2C",
"MSGOUT-UBX_NAV_RELPOSNED_SPI", "MSGOUT-UBX_NAV_RELPOSNED_UART1", "MSGOUT-UBX_NAV_RELPOSNED_UART2", "MSGOUT-UBX_NAV_RELPOSNED_USB", "MSGOUT-UBX_NAV_SAT_I2C", "MSGOUT-UBX_NAV_SAT_SPI", "MSGOUT-UBX_NAV_SAT_UART1", "MSGOUT-UBX_NAV_SAT_UART2", "MSGOUT-UBX_NAV_SAT_USB", "MSGOUT-UBX_NAV_SBAS_I2C",
"MSGOUT-UBX_NAV_SBAS_SPI", "MSGOUT-UBX_NAV_SBAS_UART1", "MSGOUT-UBX_NAV_SBAS_UART2", "MSGOUT-UBX_NAV_SBAS_USB", "MSGOUT-UBX_NAV_SIG_I2C", "MSGOUT-UBX_NAV_SIG_SPI", "MSGOUT-UBX_NAV_SIG_UART1", "MSGOUT-UBX_NAV_SIG_UART2", "MSGOUT-UBX_NAV_SIG_USB", "MSGOUT-UBX_NAV_STATUS_I2C",
"MSGOUT-UBX_NAV_STATUS_SPI", "MSGOUT-UBX_NAV_STATUS_UART1", "MSGOUT-UBX_NAV_STATUS_UART2", "MSGOUT-UBX_NAV_STATUS_USB", "MSGOUT-UBX_NAV_SVIN_I2C", "MSGOUT-UBX_NAV_SVIN_SPI", "MSGOUT-UBX_NAV_SVIN_UART1", "MSGOUT-UBX_NAV_SVIN_UART2", "MSGOUT-UBX_NAV_SVIN_USB", "MSGOUT-UBX_NAV_TIMEBDS_I2C",
"MSGOUT-UBX_NAV_TIMEBDS_SPI", "MSGOUT-UBX_NAV_TIMEBDS_UART1", "MSGOUT-UBX_NAV_TIMEBDS_UART2", "MSGOUT-UBX_NAV_TIMEBDS_USB", "MSGOUT-UBX_NAV_TIMEGAL_I2C", "MSGOUT-UBX_NAV_TIMEGAL_SPI", "MSGOUT-UBX_NAV_TIMEGAL_UART1", "MSGOUT-UBX_NAV_TIMEGAL_UART2", "MSGOUT-UBX_NAV_TIMEGAL_USB", "MSGOUT-UBX_NAV_TIMEGLO_I2C",
"MSGOUT-UBX_NAV_TIMEGLO_SPI", "MSGOUT-UBX_NAV_TIMEGLO_UART1", "MSGOUT-UBX_NAV_TIMEGLO_UART2", "MSGOUT-UBX_NAV_TIMEGLO_USB", "MSGOUT-UBX_NAV_TIMEGPS_I2C", "MSGOUT-UBX_NAV_TIMEGPS_SPI", "MSGOUT-UBX_NAV_TIMEGPS_UART1", "MSGOUT-UBX_NAV_TIMEGPS_UART2", "MSGOUT-UBX_NAV_TIMEGPS_USB", "MSGOUT-UBX_NAV_TIMELS_I2C",
"MSGOUT-UBX_NAV_TIMELS_SPI", "MSGOUT-UBX_NAV_TIMELS_UART1", "MSGOUT-UBX_NAV_TIMELS_UART2", "MSGOUT-UBX_NAV_TIMELS_USB", "MSGOUT-UBX_NAV_TIMEUTC_I2C", "MSGOUT-UBX_NAV_TIMEUTC_SPI", "MSGOUT-UBX_NAV_TIMEUTC_UART1", "MSGOUT-UBX_NAV_TIMEUTC_UART2", "MSGOUT-UBX_NAV_TIMEUTC_USB", "MSGOUT-UBX_NAV_VELECEF_I2C",
"MSGOUT-UBX_NAV_VELECEF_SPI", "MSGOUT-UBX_NAV_VELECEF_UART1", "MSGOUT-UBX_NAV_VELECEF_UART2", "MSGOUT-UBX_NAV_VELECEF_USB", "MSGOUT-UBX_NAV_VELNED_I2C", "MSGOUT-UBX_NAV_VELNED_SPI", "MSGOUT-UBX_NAV_VELNED_UART1", "MSGOUT-UBX_NAV_VELNED_UART2", "MSGOUT-UBX_NAV_VELNED_USB", "MSGOUT-UBX_RXM_MEASX_I2C",
"MSGOUT-UBX_RXM_MEASX_SPI", "MSGOUT-UBX_RXM_MEASX_UART1", "MSGOUT-UBX_RXM_MEASX_UART2", "MSGOUT-UBX_RXM_MEASX_USB", "MSGOUT-UBX_RXM_RAWX_I2C", "MSGOUT-UBX_RXM_RAWX_SPI", "MSGOUT-UBX_RXM_RAWX_UART1", "MSGOUT-UBX_RXM_RAWX_UART2", "MSGOUT-UBX_RXM_RAWX_USB", "MSGOUT-UBX_RXM_RLM_I2C",
"MSGOUT-UBX_RXM_RLM_SPI", "MSGOUT-UBX_RXM_RLM_UART1", "MSGOUT-UBX_RXM_RLM_UART2", "MSGOUT-UBX_RXM_RLM_USB", "MSGOUT-UBX_RXM_RTCM_I2C", "MSGOUT-UBX_RXM_RTCM_SPI", "MSGOUT-UBX_RXM_RTCM_UART1", "MSGOUT-UBX_RXM_RTCM_UART2", "MSGOUT-UBX_RXM_RTCM_USB", "MSGOUT-UBX_RXM_SFRBX_I2C",
"MSGOUT-UBX_RXM_SFRBX_SPI", "MSGOUT-UBX_RXM_SFRBX_UART1", "MSGOUT-UBX_RXM_SFRBX_UART2", "MSGOUT-UBX_RXM_SFRBX_USB", "MSGOUT-UBX_TIM_SVIN_I2C", "MSGOUT-UBX_TIM_SVIN_SPI", "MSGOUT-UBX_TIM_SVIN_UART1", "MSGOUT-UBX_TIM_SVIN_UART2", "MSGOUT-UBX_TIM_SVIN_USB", "MSGOUT-UBX_TIM_TM2_I2C",
"MSGOUT-UBX_TIM_TM2_SPI", "MSGOUT-UBX_TIM_TM2_UART1", "MSGOUT-UBX_TIM_TM2_UART2", "MSGOUT-UBX_TIM_TM2_USB", "MSGOUT-UBX_TIM_TP_I2C", "MSGOUT-UBX_TIM_TP_SPI", "MSGOUT-UBX_TIM_TP_UART1", "MSGOUT-UBX_TIM_TP_UART2", "MSGOUT-UBX_TIM_TP_USB", "MSGOUT-UBX_TIM_VRFY_I2C",
"MSGOUT-UBX_TIM_VRFY_SPI", "MSGOUT-UBX_TIM_VRFY_UART1", "MSGOUT-UBX_TIM_VRFY_UART2", "MSGOUT-UBX_TIM_VRFY_USB", "NAVHPG-DGNSSMODE", "NAVSPG-FIXMODE", "NAVSPG-INIFIX3D", "NAVSPG-WKNROLLOVER", "NAVSPG-USE_PPP", "NAVSPG-UTCSTANDARD", "NAVSPG-DYNMODEL", "NAVSPG-ACKAIDING", "NAVSPG-USE_USRDAT", "NAVSPG-USRDAT_MAJA", "NAVSPG-USRDAT_FLAT", "NAVSPG-USRDAT_DX", "NAVSPG-USRDAT_DY", "NAVSPG-USRDAT_DZ", "NAVSPG-USRDAT_ROTX", "NAVSPG-USRDAT_ROTY",
"NAVSPG-USRDAT_ROTZ", "NAVSPG-USRDAT_SCALE", "NAVSPG-INFIL_MINSVS", "NAVSPG-INFIL_MAXSVS", "NAVSPG-INFIL_MINCNO", "NAVSPG-INFIL_MINELEV", "NAVSPG-INFIL_NCNOTHRS", "NAVSPG-INFIL_CNOTHRS", "NAVSPG-OUTFIL_PDOP", "NAVSPG-OUTFIL_TDOP",
"NAVSPG-OUTFIL_PACC", "NAVSPG-OUTFIL_TACC", "NAVSPG-OUTFIL_FACC", "NAVSPG-CONSTR_ALT", "NAVSPG-CONSTR_ALTVAR", "NAVSPG-CONSTR_DGNSSTO", "NMEA-PROTVER", "NMEA-MAXSVS", "NMEA-COMPAT", "NMEA-CONSIDER",
"NMEA-LIMIT82", "NMEA-HIGHPREC", "NMEA-SVNUMBERING", "NMEA-FILT_GPS", "NMEA-FILT_SBAS", "NMEA-FILT_QZSS", "NMEA-FILT_GLO", "NMEA-FILT_BDS", "NMEA-OUT_INVFIX", "NMEA-OUT_MSKFIX",
"NMEA-OUT_INVTIME", "NMEA-OUT_INVDATE", "NMEA-OUT_ONLYGPS", "NMEA-OUT_FROZENCOG", "NMEA-MAINTALKERID", "NMEA-GSVTALKERID", "NMEA-BDSTALKERID", "ODO-USE_ODO", "ODO-USE_COG", "ODO-OUTLPVEL",
"ODO-OUTLPCOG", "ODO-PROFILE", "ODO-COGMAXSPEED", "ODO-COGMAXPOSACC", "ODO-COGLPGAIN", "ODO-VELLPGAIN", "RATE-MEAS", "RATE-NAV", "RATE-TIMEREF", "RINV-DUMP",
"RINV-BINARY", "RINV-DATA_SIZE", "RINV-CHUNK0", "RINV-CHUNK1", "RINV-CHUNK2", "RINV-CHUNK3", "SBAS-USE_TESTMODE", "SBAS-USE_RANGING", "SBAS-USE_DIFFCORR", "SBAS-USE_INTEGRITY",
"SBAS-PRNSCANMASK", "SIGNAL-GPS_ENA", "SIGNAL-GPS_L1CA_ENA", "SIGNAL-GPS_L2C_ENA", "SIGNAL-SBAS_ENA", "SIGNAL-SBAS_L1CA_ENA", "SIGNAL-GAL_ENA", "SIGNAL-GAL_E1_ENA", "SIGNAL-GAL_E5B_ENA", "SIGNAL-BDS_ENA",
"SIGNAL-BDS_B1_ENA", "SIGNAL-BDS_B2_ENA", "SIGNAL-QZSS_ENA", "SIGNAL-QZSS_L1CA_ENA", "SIGNAL-QZSS_L1S_ENA", "SIGNAL-QZSS_L2C_ENA", "SIGNAL-GLO_ENA", "SIGNAL-GLO_L1_ENA", "SIGNAL-GLO_L2_ENA", "SPI-MAXFF",
"SPI-CPOLARITY", "SPI-CPHASE", "SPI-EXTENDEDTIMEOUT", "SPI-ENABLED", "SPIINPROT-UBX", "SPIINPROT-NMEA", "SPIINPROT-RTCM2X", "SPIINPROT-RTCM3X", "SPIOUTPROT-UBX", "SPIOUTPROT-NMEA",
"SPIOUTPROT-RTCM3X", "TMODE-MODE", "TMODE-POS_TYPE", "TMODE-ECEF_X", "TMODE-ECEF_Y", "TMODE-ECEF_Z", "TMODE-ECEF_X_HP", "TMODE-ECEF_Y_HP", "TMODE-ECEF_Z_HP", "TMODE-LAT",
"TMODE-LON", "TMODE-HEIGHT", "TMODE-LAT_HP", "TMODE-LON_HP", "TMODE-HEIGHT_HP", "TMODE-FIXED_POS_ACC", "TMODE-SVIN_MIN_DUR", "TMODE-SVIN_ACC_LIMIT", "TP-PULSE_DEF", "TP-PULSE_LENGTH_DEF",
"TP-ANT_CABLEDELAY", "TP-PERIOD_TP1", "TP-PERIOD_LOCK_TP1", "TP-FREQ_TP1", "TP-FREQ_LOCK_TP1", "TP-LEN_TP1", "TP-LEN_LOCK_TP1", "TP-DUTY_TP1", "TP-DUTY_LOCK_TP1", "TP-USER_DELAY_TP1",
"TP-TP1_ENA", "TP-SYNC_GNSS_TP1", "TP-USE_LOCKED_TP1", "TP-ALIGN_TO_TOW_TP1", "TP-POL_TP1", "TP-TIMEGRID_TP1", "TP-PERIOD_TP2", "TP-PERIOD_LOCK_TP2", "TP-FREQ_TP2", "TP-FREQ_LOCK_TP2",
"TP-LEN_TP2", "TP-LEN_LOCK_TP2", "TP-DUTY_TP2", "TP-DUTY_LOCK_TP2", "TP-USER_DELAY_TP2", "TP-TP2_ENA", "TP-SYNC_GNSS_TP2", "TP-USE_LOCKED_TP2", "TP-ALIGN_TO_TOW_TP2", "TP-POL_TP2",
"TP-TIMEGRID_TP2", "UART1-BAUDRATE", "UART1-STOPBITS", "UART1-DATABITS", "UART1-PARITY", "UART1-ENABLED", "UART1INPROT-UBX", "UART1INPROT-NMEA", "UART1INPROT-RTCM2X", "UART1INPROT-RTCM3X",
"UART1OUTPROT-UBX", "UART1OUTPROT-NMEA", "UART1OUTPROT-RTCM3X", "UART2-BAUDRATE", "UART2-STOPBITS", "UART2-DATABITS", "UART2-PARITY", "UART2-ENABLED", "UART2-REMAP", "UART2INPROT-UBX",
"UART2INPROT-NMEA", "UART2INPROT-RTCM2X", "UART2INPROT-RTCM3X", "UART2OUTPROT-UBX", "UART2OUTPROT-NMEA", "UART2OUTPROT-RTCM3X", "USB-ENABLED", "USB-SELFPOW", "USB-VENDOR_ID", "USB-PRODUCT_ID",
"USB-POWER", "USB-VENDOR_STR0", "USB-VENDOR_STR1", "USB-VENDOR_STR2", "USB-VENDOR_STR3", "USB-PRODUCT_STR0", "USB-PRODUCT_STR1", "USB-PRODUCT_STR2", "USB-PRODUCT_STR3", "USB-SERIAL_NO_STR0",
"USB-SERIAL_NO_STR1", "USB-SERIAL_NO_STR2", "USB-SERIAL_NO_STR3", "USBINPROT-UBX", "USBINPROT-NMEA", "USBINPROT-RTCM2X", "USBINPROT-RTCM3X", "USBOUTPROT-UBX", "USBOUTPROT-NMEA", "USBOUTPROT-RTCM3X",""
};
const unsigned long vid[]={
0x20240011, 0x10240012, 0x20240013, 0x20240014, 0x10240020, 0x40240021, 0x40240022, 0x40240023, 0x10240030, 0x40240031,
0x40240032, 0x40240033, 0x10240040, 0x40240041, 0x40240042, 0x40240043, 0x10240050, 0x40240051, 0x40240052, 0x40240053,
0x10a3002e, 0x10a3002f, 0x10a30030, 0x10a30031, 0x10a30032, 0x10a30033, 0x10a30034, 0x10a30035, 0x20a30036, 0x20a30037,
0x20a30038, 0x20510001, 0x10510002, 0x10510003, 0x10710001, 0x10710002, 0x10710003, 0x10710004, 0x10720001, 0x10720002,
0x10720004, 0x20920001, 0x20920002, 0x20920003, 0x20920004, 0x20920005, 0x20920006, 0x20920007, 0x20920008, 0x20920009,
0x2092000a, 0x20410001, 0x20410002, 0x1041000d, 0x20410010, 0x10410013, 0x10de0002, 0x10de0003, 0x10de0004, 0x30de0005,
0x30de0006, 0x30de0007, 0x40de0008, 0x20250038, 0x3025003b, 0x209100a6, 0x209100aa, 0x209100a7, 0x209100a8, 0x209100a9,
0x209100dd, 0x209100e1, 0x209100de, 0x209100df, 0x209100e0, 0x209100ba, 0x209100be, 0x209100bb, 0x209100bc, 0x209100bd,
0x209100c9, 0x209100cd, 0x209100ca, 0x209100cb, 0x209100cc, 0x209100b5, 0x209100b9, 0x209100b6, 0x209100b7, 0x209100b8,
0x209100ce, 0x209100d2, 0x209100cf, 0x209100d0, 0x209100d1, 0x209100bf, 0x209100c3, 0x209100c0, 0x209100c1, 0x209100c2,
0x209100d3, 0x209100d7, 0x209100d4, 0x209100d5, 0x209100d6, 0x209100c4, 0x209100c8, 0x209100c5, 0x209100c6, 0x209100c7,
0x209100ab, 0x209100af, 0x209100ac, 0x209100ad, 0x209100ae, 0x209100e7, 0x209100eb, 0x209100e8, 0x209100e9, 0x209100ea,
0x209100b0, 0x209100b4, 0x209100b1, 0x209100b2, 0x209100b3, 0x209100d8, 0x209100dc, 0x209100d9, 0x209100da, 0x209100db,
0x209100ec, 0x209100f0, 0x209100ed, 0x209100ee, 0x209100ef, 0x209100f1, 0x209100f5, 0x209100f2, 0x209100f3, 0x209100f4,
0x209100f6, 0x209100fa, 0x209100f7, 0x209100f8, 0x209100f9, 0x209102bd, 0x209102c1, 0x209102be, 0x209102bf, 0x209102c0,
0x2091035e, 0x20910362, 0x2091035f, 0x20910360, 0x20910361, 0x209102cc, 0x209102d0, 0x209102cd, 0x209102ce, 0x209102cf,
0x209102d1, 0x20910367, 0x20910364, 0x20910365, 0x20910366, 0x209102d5, 0x209102d2, 0x209102d3, 0x209102d4, 0x20910368,
0x2091036c, 0x20910369, 0x2091036a, 0x2091036b, 0x20910318, 0x2091031c, 0x20910319, 0x2091031a, 0x2091031b, 0x2091036d,
0x20910371, 0x2091036e, 0x2091036f, 0x20910370, 0x209102d6, 0x209102da, 0x209102d7, 0x209102d8, 0x209102d9, 0x20910303,
0x20910307, 0x20910304, 0x20910305, 0x20910306, 0x209102fe, 0x20910302, 0x209102ff, 0x20910300, 0x20910301, 0x20910381,
0x20910385, 0x20910382, 0x20910383, 0x20910384, 0x20910259, 0x2091025d, 0x2091025a, 0x2091025b, 0x2091025c, 0x2091034f,
0x20910353, 0x20910350, 0x20910351, 0x20910352, 0x209101b9, 0x209101bd, 0x209101ba, 0x209101bb, 0x209101bc, 0x20910354,
0x20910358, 0x20910355, 0x20910356, 0x20910357, 0x209101b4, 0x209101b8, 0x209101b5, 0x209101b6, 0x209101b7, 0x209101a5,
0x209101a9, 0x209101a6, 0x209101a7, 0x209101a8, 0x20910196, 0x2091019a, 0x20910197, 0x20910198, 0x20910199, 0x20910359,
0x2091035d, 0x2091035a, 0x2091035b, 0x2091035c, 0x209101a0, 0x209101a4, 0x209101a1, 0x209101a2, 0x209101a3, 0x20910187,
0x2091018b, 0x20910188, 0x20910189, 0x2091018a, 0x2091019b, 0x2091019f, 0x2091019c, 0x2091019d, 0x2091019e, 0x2091019b,
0x2091019f, 0x2091019c, 0x2091019d, 0x2091019e, 0x20910065, 0x20910069, 0x20910066, 0x20910067, 0x20910068, 0x20910038,
0x2091003c, 0x20910039, 0x2091003a, 0x2091003b, 0x2091015f, 0x20910163, 0x20910160, 0x20910161, 0x20910162, 0x209100a1,
0x209100a5, 0x209100a2, 0x209100a3, 0x209100a4, 0x2091002e, 0x20910032, 0x2091002f, 0x20910030, 0x20910031, 0x20910033,
0x20910037, 0x20910034, 0x20910035, 0x20910036, 0x2091007e, 0x20910082, 0x2091007f, 0x20910080, 0x20910081, 0x20910010,
0x20910014, 0x20910011, 0x20910012, 0x20910013, 0x20910024, 0x20910028, 0x20910025, 0x20910026, 0x20910027, 0x20910029,
0x2091002d, 0x2091002a, 0x2091002b, 0x2091002c, 0x20910006, 0x2091000a, 0x20910007, 0x20910008, 0x20910009, 0x2091008d,
0x20910091, 0x2091008e, 0x2091008f, 0x20910090, 0x20910015, 0x20910019, 0x20910016, 0x20910017, 0x20910018, 0x2091006a,
0x2091006e, 0x2091006b, 0x2091006c, 0x2091006d, 0x20910345, 0x20910349, 0x20910346, 0x20910347, 0x20910348, 0x2091001a,
0x2091001e, 0x2091001b, 0x2091001c, 0x2091001d, 0x20910088, 0x2091008c, 0x20910089, 0x2091008a, 0x2091008b, 0x20910051,
0x20910055, 0x20910052, 0x20910053, 0x20910054, 0x20910056, 0x2091005a, 0x20910057, 0x20910058, 0x20910059, 0x2091004c,
0x20910050, 0x2091004d, 0x2091004e, 0x2091004f, 0x20910047, 0x2091004b, 0x20910048, 0x20910049, 0x2091004a, 0x20910060,
0x20910064, 0x20910061, 0x20910062, 0x20910063, 0x2091005b, 0x2091005f, 0x2091005c, 0x2091005d, 0x2091005e, 0x2091003d,
0x20910041, 0x2091003e, 0x2091003f, 0x20910040, 0x20910042, 0x20910046, 0x20910043, 0x20910044, 0x20910045, 0x20910204,
0x20910208, 0x20910205, 0x20910206, 0x20910207, 0x209102a4, 0x209102a8, 0x209102a5, 0x209102a6, 0x209102a7, 0x2091025e,
0x20910262, 0x2091025f, 0x20910260, 0x20910261, 0x20910268, 0x2091026c, 0x20910269, 0x2091026a, 0x2091026b, 0x20910231,
0x20910235, 0x20910232, 0x20910233, 0x20910234, 0x20910097, 0x2091009b, 0x20910098, 0x20910099, 0x2091009a, 0x20910178,
0x2091017c, 0x20910179, 0x2091017a, 0x2091017b, 0x2091017d, 0x20910181, 0x2091017e, 0x2091017f, 0x20910180, 0x20910092,
0x20910096, 0x20910093, 0x20910094, 0x20910095, 0x20140011, 0x20110011, 0x10110013, 0x30110017, 0x10110019, 0x2011001c,
0x20110021, 0x10110025, 0x10110061, 0x50110062, 0x50110063, 0x40110064, 0x40110065, 0x40110066, 0x40110067, 0x40110068,
0x40110069, 0x4011006a, 0x201100a1, 0x201100a2, 0x201100a3, 0x201100a4, 0x201100aa, 0x201100ab, 0x301100b1, 0x301100b2,
0x301100b3, 0x301100b4, 0x301100b5, 0x401100c1, 0x401100c2, 0x201100c4, 0x20930001, 0x20930002, 0x10930003, 0x10930004,
0x10930005, 0x10930006, 0x20930007, 0x10930011, 0x10930012, 0x10930015, 0x10930016, 0x10930017, 0x10930021, 0x10930022, 0x10930023, 0x10930024, 0x10930025, 0x10930026, 0x20930031, 0x20930032, 0x30930033, 0x10220001, 0x10220002, 0x10220003,
0x10220004, 0x20220005, 0x20220021, 0x20220022, 0x20220032, 0x20220031, 0x30210001, 0x30210002, 0x20210003, 0x10c70001,
0x10c70002, 0x20c70003, 0x50c70004, 0x50c70005, 0x50c70006, 0x50c70007, 0x10360002, 0x10360003, 0x10360004, 0x10360005,
0x50360006, 0x1031001f, 0x10310001, 0x10310003, 0x10310020, 0x10310005, 0x10310021, 0x10310007, 0x1031000a, 0x10310022,
0x1031000d, 0x1031000e, 0x10310024, 0x10310012, 0x10310014, 0x10310015, 0x10310025, 0x10310018, 0x1031001a, 0x20640001,
0x10640002, 0x10640003, 0x10640005, 0x10640006, 0x10790001, 0x10790002, 0x10790003, 0x10790004, 0x107a0001, 0x107a0002,
0x107a0004, 0x20030001, 0x20030002, 0x40030003, 0x40030004, 0x40030005, 0x20030006, 0x20030007, 0x20030008, 0x40030009,
0x4003000a, 0x4003000b, 0x2003000c, 0x2003000d, 0x2003000e, 0x4003000f, 0x40030010, 0x40030011, 0x20050023, 0x20050030,
0x30050001, 0x40050002, 0x40050003, 0x40050024, 0x40050025, 0x40050004, 0x40050005, 0x5005002a, 0x5005002b, 0x40050006,
0x10050007, 0x10050008, 0x10050009, 0x1005000a, 0x1005000b, 0x2005000c, 0x4005000d, 0x4005000e, 0x40050026, 0x40050027,
0x4005000f, 0x40050010, 0x5005002c, 0x5005002d, 0x40050011, 0x10050012, 0x10050013, 0x10050014, 0x10050015, 0x10050016,
0x20050017, 0x40520001, 0x20520002, 0x20520003, 0x20520004, 0x10520005, 0x10730001, 0x10730002, 0x10730003, 0x10730004,
0x10740001, 0x10740002, 0x10740004, 0x40530001, 0x20530002, 0x20530003, 0x20530004, 0x10530005, 0x10530006, 0x10750001,
0x10750002, 0x10750003, 0x10750004, 0x10760001, 0x10760002, 0x10760004, 0x10650001, 0x10650002, 0x3065000a, 0x3065000b,
0x3065000c, 0x5065000d, 0x5065000e, 0x5065000f, 0x50650010, 0x50650011, 0x50650012, 0x50650013, 0x50650014, 0x50650015,
0x50650016, 0x50650017, 0x50650018, 0x10770001, 0x10770002, 0x10770003, 0x10770004, 0x10780001, 0x10780002, 0x10780004
};
const int vprm[]={
FU1, FU1, FU1, FU1, FU1, FI4, FI4, FU4, FU1, FI4,
FI4, FU4, FU1, FI4, FI4, FU4, FU1, FI4, FI4, FU4,
FU1, FU1, FU1, FU1, FU1, FU1, FU1, FU1, FU1, FU1,
FU1, FU1, FU1, FU1, FU1, FU1, FU1, FU1, FU1, FU1,
FU1, FU1, FU1, FU1, FU1, FU1, FU1, FU1, FU1, FU1,
FU1, FU1, FU1, FU1, FU1, FU1, FU1, FU1, FU1, FU2,
FU2, FU2, FU4, FU1, FU2, FU1, FU1, FU1, FU1, FU1,
FU1, FU1, FU1, FU1, FU1, FU1, FU1, FU1, FU1, FU1,
FU1, FU1, FU1, FU1, FU1, FU1, FU1, FU1, FU1, FU1,
FU1, FU1, FU1, FU1, FU1, FU1, FU1, FU1, FU1, FU1,
FU1, FU1, FU1, FU1, FU1, FU1, FU1, FU1, FU1, FU1,
FU1, FU1, FU1, FU1, FU1, FU1, FU1, FU1, FU1, FU1,
FU1, FU1, FU1, FU1, FU1, FU1, FU1, FU1, FU1, FU1,
FU1, FU1, FU1, FU1, FU1, FU1, FU1, FU1, FU1, FU1,
FU1, FU1, FU1, FU1, FU1, FU1, FU1, FU1, FU1, FU1,
FU1, FU1, FU1, FU1, FU1, FU1, FU1, FU1, FU1, FU1,
FU1, FU1, FU1, FU1, FU1, FU1, FU1, FU1, FU1, FU1,
FU1, FU1, FU1, FU1, FU1, FU1, FU1, FU1, FU1, FU1,
FU1, FU1, FU1, FU1, FU1, FU1, FU1, FU1, FU1, FU1,
FU1, FU1, FU1, FU1, FU1, FU1, FU1, FU1, FU1, FU1,
FU1, FU1, FU1, FU1, FU1, FU1, FU1, FU1, FU1, FU1,
FU1, FU1, FU1, FU1, FU1, FU1, FU1, FU1, FU1, FU1,
FU1, FU1, FU1, FU1, FU1, FU1, FU1, FU1, FU1, FU1,
FU1, FU1, FU1, FU1, FU1, FU1, FU1, FU1, FU1, FU1,
FU1, FU1, FU1, FU1, FU1, FU1, FU1, FU1, FU1, FU1,
FU1, FU1, FU1, FU1, FU1, FU1, FU1, FU1, FU1, FU1,
FU1, FU1, FU1, FU1, FU1, FU1, FU1, FU1, FU1, FU1,
FU1, FU1, FU1, FU1, FU1, FU1, FU1, FU1, FU1, FU1,
FU1, FU1, FU1, FU1, FU1, FU1, FU1, FU1, FU1, FU1,
FU1, FU1, FU1, FU1, FU1, FU1, FU1, FU1, FU1, FU1,
FU1, FU1, FU1, FU1, FU1, FU1, FU1, FU1, FU1, FU1,
FU1, FU1, FU1, FU1, FU1, FU1, FU1, FU1, FU1, FU1,
FU1, FU1, FU1, FU1, FU1, FU1, FU1, FU1, FU1, FU1,
FU1, FU1, FU1, FU1, FU1, FU1, FU1, FU1, FU1, FU1,
FU1, FU1, FU1, FU1, FU1, FU1, FU1, FU1, FU1, FU1,
FU1, FU1, FU1, FU1, FU1, FU1, FU1, FU1, FU1, FU1,
FU1, FU1, FU1, FU1, FU1, FU1, FU1, FU1, FU1, FU1,
FU1, FU1, FU1, FU1, FU1, FU1, FU1, FU1, FU1, FU1,
FU1, FU1, FU1, FU1, FU1, FU1, FU1, FU1, FU1, FU1,
FU1, FU1, FU1, FU1, FU1, FU1, FU1, FU1, FU1, FU1,
FU1, FU1, FU1, FU1, FU1, FU1, FU1, FU1, FU1, FU1,
FU1, FU1, FU1, FU1, FU1, FU1, FU1, FU1, FU1, FU1,
FU1, FU1, FU1, FU1, FU1, FU1, FU1, FU1, FU1, FU1,
FU1, FU1, FU1, FU1, FU1, FU1, FU1, FU2, FU1, FU1,
FU1, FU1, FU1, FR8, FR8, FR4, FR4, FR4, FR4, FR4,
FR4, FR4, FU1, FU1, FU1, FI1, FU1, FU1, FU2, FU2,
FU2, FU2, FU2, FI4, FU4, FU1, FU1, FU1, FU1, FU1,
FU1, FU1, FU1, FU1, FU1, FU1, FU1, FU1, FU1, FU1,
FU1, FU1, FU1, FU1, FU1, FU1, FU2, FU1, FU1, FU1,
FU1, FU1, FU1, FU1, FU1, FU1, FU2, FU2, FU1, FU1,
FU1, FU1, FU8, FU8, FU8, FU8, FU1, FU1, FU1, FU1,
FU8, FU1, FU1, FU1, FU1, FU1, FU1, FU1, FU1, FU1, FU1, FU1, FU1, FU1, FU1, FU1, FU1, FU1, FU1, FU1,
FU1, FU1, FU1, FU1, FU1, FU1, FU1, FU1, FU1, FU1,
FU1, FU1, FU1, FI4, FI4, FI4, FI1, FI1, FI1, FI4,
FI4, FI4, FI1, FI1, FI1, FU4, FU4, FU4, FU1, FU1,
FI2, FU4, FU4, FU4, FU4, FU4, FU4, FR8, FR8, FI4,
FU1, FU1, FU1, FU1, FU1, FU1, FU4, FU4, FU4, FU4,
FU4, FU4, FR8, FR8, FI4, FU1, FU1, FU1, FU1, FU1,
FU1, FU4, FU1, FU1, FU1, FU1, FU1, FU1, FU1, FU1,
FU1, FU1, FU1, FU4, FU1, FU1, FU1, FU1, FU1, FU1,
FU1, FU1, FU1, FU1, FU1, FU1, FU1, FU1, FU2, FU2,
FU2, FU8, FU8, FU8, FU8, FU8, FU8, FU8, FU8, FU8,
FU8, FU8, FU8, FU1, FU1, FU1, FU1, FU1, FU1, FU1
};
if (strncmp(args[j],"CFG-",4)) return 0;
for (k=0;*vcmd[k];k++) {
if (!strcmp(args[j]+4,vcmd[k])) break;
}
if (!*vcmd[k]) return 0;
setU4(q,(unsigned long) vid[k]);
q+=4;
/* Set value */
switch (vprm[k]) {
case FU1 : setU1(q,(unsigned char )atoi(args[j+1])); q+=1; break;
case FU2 : setU2(q,(unsigned short)atoi(args[j+1])); q+=2; break;
case FU4 : setU4(q,(unsigned long )atoi(args[j+1])); q+=4; break;
/* case FU8 : setU8(q,(unsigned long long)atoi(args[j+2])); q+=8; break; */
case FI1 : setI1(q,(signed char )atoi(args[j+1])); q+=1; break;
case FI2 : setI2(q,(signed short )atoi(args[j+1])); q+=2; break;
case FI4 : setI4(q,(signed long )atoi(args[j+1])); q+=4; break;
case FR4 : setR4(q,(float )atof(args[j+1])); q+=4; break;
case FR8 : setR8(q,(double )atof(args[j+1])); q+=8; break;
case FS32: sprintf((char *)q,"%-32.32s",args[j+1]); q+=32; break;
default : setU1(q,(unsigned char )atoi(args[j+1])); q+=1; break;
}
}
n=(int)(q-buff)+2;
setU2(buff+4,(unsigned short)(n-8));
setcs(buff,n);
trace(5,"gen_ubx: buff=\n"); traceb(5,buff,n);
return n;
}