Merge branch 'mid64' of github.com:littlesavage/sirfdump into mid64

Conflicts: output_rinex.c
illarionov · Mar 21, 2012 · 9850648 · 9850648
2 parents 175e0d4 + a5e5c44
commit 9850648
Showing 1 changed file with 52 additions and 1 deletion.
diff --git a/output_rinex.c b/output_rinex.c
@@ -4,6 +4,7 @@
 #include <stdlib.h>
 #include <time.h>
 #include <math.h>
+#include <string.h>
 
 #include "sirfdump.h"
 #include "sirf_msg.h"
@@ -24,8 +25,8 @@ struct epoch_t {
       unsigned clock_drift; /*  Clock bias change rate, Hz */
       unsigned clock_bias; /* ns */
 
-      /* mid-28 */
       struct {
+	 /* mid-28 */
          unsigned valid;
 	 unsigned sat_id;
          double gps_soft_time;
@@ -36,6 +37,11 @@ struct epoch_t {
 	 double min_cno;
          unsigned phase_err_cnt;
          unsigned low_power_cnt;
+
+	 /* mid64  */
+	 unsigned mid64_valid;
+	 tSIRF_MSG_SSB_NL_AUX_MEAS_DATA mid64;
+
       } ch[SIRF_NUM_CHANNELS];
 
 };
@@ -78,6 +84,9 @@ struct rinex_ctx_t {
 
 static int handle_nl_meas_data_msg(struct rinex_ctx_t *ctx,
       tSIRF_MSG_SSB_NL_MEAS_DATA *msg);
+static int handle_nl_aux_meas_data_msg(struct rinex_ctx_t *ctx,
+      tSIRF_MSG_SSB_NL_AUX_MEAS_DATA *msg);
+
 static int handle_meas_nav_msg(struct rinex_ctx_t *ctx,
       tSIRF_MSG_SSB_MEASURED_NAVIGATION *msg);
 static int handle_clock_status_msg(struct rinex_ctx_t *ctx,
@@ -152,6 +161,7 @@ int output_rinex(struct transport_msg_t *msg, FILE *out_f, void *user_ctx)
    tSIRF_UINT32 msg_id, msg_length;
    union {
       tSIRF_MSG_SSB_NL_MEAS_DATA nld;
+      tSIRF_MSG_SSB_NL_AUX_MEAS_DATA aux_nld;
       uint8_t u8[SIRF_MSG_SSB_MAX_MESSAGE_LEN];
    } m;
    char str[1024];
@@ -178,6 +188,9 @@ int output_rinex(struct transport_msg_t *msg, FILE *out_f, void *user_ctx)
       case SIRF_MSG_SSB_NL_MEAS_DATA:
 	 handle_nl_meas_data_msg(ctx, &m.nld);
 	 break;
+      case SIRF_MSG_SSB_NL_AUX_MEAS_DATA:
+	 handle_nl_aux_meas_data_msg(ctx, &m.aux_nld);
+	 break;
       case SIRF_MSG_SSB_MEASURED_NAVIGATION:
 	 handle_meas_nav_msg(ctx, (tSIRF_MSG_SSB_MEASURED_NAVIGATION *)&m);
 	 break;
@@ -232,6 +245,34 @@ static int handle_nl_meas_data_msg(struct rinex_ctx_t *ctx,
    return 1;
 }
 
+static int handle_nl_aux_meas_data_msg(struct rinex_ctx_t *ctx,
+      tSIRF_MSG_SSB_NL_AUX_MEAS_DATA *msg)
+{
+   unsigned chan_id;
+   unsigned i;
+
+   chan_id=SIRF_NUM_CHANNELS;
+
+
+   /* XXX: mid64 must follow mid28  */
+   for(i=0; i<SIRF_NUM_CHANNELS; ++i) {
+      if (ctx->epoch.ch[i].valid
+	    && (ctx->epoch.ch[i].sat_id == msg->sv_prn)) {
+	 chan_id = i;
+	 break;
+      }
+   }
+   if (chan_id == SIRF_NUM_CHANNELS) {
+      fprintf(stderr, "skipped mid64 record: channel not found prn:%hhu \n",
+	    (unsigned char)msg->sv_prn);
+      return -1;
+   }
+
+   ctx->epoch.ch[chan_id].mid64_valid = 1;
+   memcpy(&ctx->epoch.ch[chan_id].mid64, msg, sizeof(*msg));
+   return 1;
+}
+
 static int handle_meas_nav_msg(struct rinex_ctx_t *ctx,
       tSIRF_MSG_SSB_MEASURED_NAVIGATION *msg)
 {
@@ -369,6 +410,7 @@ static void epoch_clear (struct epoch_t *e)
 
    for (ch=0; ch < SIRF_NUM_CHANNELS; ch++) {
       e->ch[ch].valid = 0;
+      e->ch[ch].mid64_valid = 0;
    }
 
 }
@@ -514,6 +556,15 @@ static int epoch_printf(FILE *out_f, struct epoch_t *e)
 
       sig_strength = itoa [ snr_project_to_1x9(s1) ];
 
+      /* mid64 */
+      if (e->ch[chan_id].mid64_valid) {
+	 double old_d1;
+	 l1 = e->ch[chan_id].mid64.carrier_phase;
+	 old_d1 = d1;
+	 d1 = (double)e->ch[chan_id].mid64.carrier_freq * 0.000476 - e->clock_drift;
+	 fprintf(stderr, "doppler diff: %f code corr: %i\n", d1 - old_d1, e->ch[chan_id].mid64.code_correction);
+      }
+
       if ((l1 > 9999999999.999) || (l1 < -999999999.999))
 	 l1 = 0;
       else if (e->ch[chan_id].phase_err_cnt == 50)