ubx-parse.c: Add more debugging code, and make it optional
diff --git a/ubx-parse.c b/ubx-parse.c
index c3d0f70..9389e1f 100644
--- a/ubx-parse.c
+++ b/ubx-parse.c
@@ -27,6 +27,19 @@
#include "ubx.h"
#include "ubx-parse.h"
+#define DEBUG 1
+#if DEBUG
+ #define printd(x, args ...) printf(x, ## args)
+#else
+ #define printd(x, args ...)
+#endif
+
+#define DEBUG1 0
+#if DEBUG1
+ #define printd1(x, args ...) printf(x, ## args)
+#else
+ #define printd1(x, args ...)
+#endif
/* Helpers */
@@ -67,13 +80,18 @@
struct ubx_nav_posllh *nav_posllh = pl;
struct gps_assist_data *gps = ud;
- //printf("[.] NAV_POSLLH\n");
+ printd("[.] NAV_POSLLH\n");
gps->fields |= GPS_FIELD_REFPOS;
gps->ref_pos.latitude = (double)(nav_posllh->lat) * 1e-7;
gps->ref_pos.longitude = (double)(nav_posllh->lon) * 1e-7;
gps->ref_pos.altitude = (double)(nav_posllh->height) * 1e-3;
+
+ printd(" TOW %lu\n", nav_posllh->itow);
+ printd(" latitude %f\n", gps->ref_pos.latitude);
+ printd(" longitude %f\n", gps->ref_pos.longitude);
+ printd(" altitude %f\n", gps->ref_pos.altitude);
}
static void
@@ -82,14 +100,22 @@
struct ubx_aid_ini *aid_ini = pl;
struct gps_assist_data *gps = ud;
- //printf("[.] AID_INI\n");
+ printd("[.] AID_INI\n");
/* Extract info for "Reference Time" */
gps->fields |= GPS_FIELD_REFTIME;
gps->ref_time.wn = aid_ini->wn;
gps->ref_time.tow = (double)aid_ini->tow * 1e-3;
-
+ gps->ref_time.when = time(NULL);
+
+ printd(" WN %d\n", gps->ref_time.wn);
+ printd(" TOW %ld\n", aid_ini->tow);
+
+ if((aid_ini->flags & 0x03) != 0x03) { /* time and pos valid ? */
+ fprintf(stderr, "Postion and/or time not valid (0x%lx)", aid_ini->flags);
+ }
+
// FIXME: We could extract ref position as well but we need it in
// WGS84 geodetic coordinates and it's provided as ecef, so
// we need a lot of math ...
@@ -101,11 +127,13 @@
struct ubx_aid_hui *aid_hui = pl;
struct gps_assist_data *gps = ud;
- //printf("[.] AID_HUI\n");
+ printd("[.] AID_HUI\n");
if (aid_hui->flags & 0x2) { /* UTC parameters valid */
struct gps_utc_model *utc = &gps->utc;
+ printd(" UTC\n");
+
gps->fields |= GPS_FIELD_UTC;
utc->a0 = double_to_fixedpoint(aid_hui->utc_a0, -30);
@@ -121,6 +149,8 @@
if (aid_hui->flags & 0x04) { /* Klobuchar parameters valid */
struct gps_ionosphere_model *iono = &gps->ionosphere;
+ printd(" IONOSPHERE\n");
+
gps->fields |= GPS_FIELD_IONOSPHERE;
iono->alpha_0 = float_to_fixedpoint(aid_hui->klob_a0, -30);
@@ -140,12 +170,23 @@
struct ubx_aid_alm *aid_alm = pl;
struct gps_assist_data *gps = ud;
- //printf("[.] AID_ALM %d - %d\n", aid_alm->sv_id, aid_alm->gps_week);
+ if(pl_len == 8) /* length if not available */
+ return;
+
+ if(pl_len != sizeof(struct ubx_aid_alm)) {
+ fprintf(stderr, "pl_len != sizeof(struct ubx_aid_alm) (%d)\n", pl_len);
+ return;
+ }
+
+ printd("[.] AID_ALM %2ld - %ld (nsv = %d)\n", aid_alm->sv_id, aid_alm->gps_week, gps->almanac.n_sv);
if (aid_alm->gps_week) {
+ int i = gps->almanac.n_sv++;
gps->fields |= GPS_FIELD_ALMANAC;
gps->almanac.wna = aid_alm->gps_week & 0xff;
- gps_unpack_sf45_almanac(aid_alm->alm_words, &gps->almanac.svs[gps->almanac.n_sv++]);
+ gps_unpack_sf45_almanac(aid_alm->alm_words, &gps->almanac.svs[i]);
+ /* set satellite ID this way, otherwise it will be wrong */
+ gps->almanac.svs[i].sv_id = aid_alm->sv_id;
}
}
@@ -155,7 +196,15 @@
struct ubx_aid_eph *aid_eph = pl;
struct gps_assist_data *gps = ud;
- //printf("[.] AID_EPH %d - %s\n", aid_eph->sv_id, aid_eph->present ? "present" : "not present");
+ if(pl_len == 8) /* length if not available */
+ return;
+
+ if(pl_len != sizeof(struct ubx_aid_eph)) {
+ fprintf(stderr, "pl_len != sizeof(struct ubx_aid_eph) (%d)\n", pl_len);
+ return;
+ }
+
+ printd("[.] AID_EPH %2ld - %s (nsv = %d)\n", aid_eph->sv_id, aid_eph->present ? "present" : "", gps->ephemeris.n_sv);
if (aid_eph->present) {
int i = gps->ephemeris.n_sv++;