diff options
| -rw-r--r-- | host/lib/usrp/gps_ctrl.cpp | 23 |
1 files changed, 12 insertions, 11 deletions
diff --git a/host/lib/usrp/gps_ctrl.cpp b/host/lib/usrp/gps_ctrl.cpp index cf4153337..92c7f21e1 100644 --- a/host/lib/usrp/gps_ctrl.cpp +++ b/host/lib/usrp/gps_ctrl.cpp @@ -251,7 +251,7 @@ private: std::map<std::string,std::string> msgs; if (_gps_type == GPS_TYPE_LEA_M8F) { - keys = {"GNGGA", "GNRMC", "TIMELOCK"}; + keys = {"GNGGA", "GNRMC", "TIMELOCK", "DISCSRC"}; // Concatenate all incoming data into the deque for (std::string msg = _recv(); msg.length() > 0; msg = _recv()) @@ -308,6 +308,7 @@ private: bool lockedPulse = (flags & (1 << 13)); bool timeInLimit = (flags & (1 << 3)); bool intOscInLimit = (flags & (1 << 4)); + uint8_t discSrc = (flags >> 8) & 0x07; if (lockedPulse and timeInLimit and intOscInLimit) { msgs["TIMELOCK"] = "TIME LOCKED"; @@ -318,9 +319,14 @@ private: (lockedPulse ? "" : "no" ) << "lockedPulse " << (timeInLimit ? "" : "no" ) << "timeInLimit " << (intOscInLimit ? "" : "no" ) << "intOscInLimit "; - msgs["TIMELOCK"] = ss.str(); } + + switch (discSrc) { + case 0: msgs["DISCSRC"] = "internal"; break; + case 1: msgs["DISCSRC"] = "gnss"; break; + default: msgs["DISCSRC"] = "other"; break; + } } else if (msg[0] == '\xb5' and msg[1] == '\x62') { /* Ignore unsupported UBX message */ } else { @@ -482,7 +488,8 @@ public: "gps_time", "gps_locked", "gps_servo", - "gps_timelock" + "gps_timelock", + "gps_discsrc" }; return ret; } @@ -492,7 +499,8 @@ public: or key == "gps_gprmc" or key == "gps_gngga" or key == "gps_gnrmc" - or key == "gps_timelock") { + or key == "gps_timelock" + or key == "gps_discsrc") { return sensor_value_t( boost::to_upper_copy(key), get_sentence(boost::to_upper_copy(key.substr(4,8)), GPS_NMEA_NORMAL_FRESHNESS, GPS_TIMEOUT_DELAY_MS), @@ -538,13 +546,6 @@ private: } void init_lea_m8f(void) { - // Send a GNSS-only hotstart to make sure we're not in holdover right now - const uint8_t cfg_rst_hotstart[12] = {0xb5, 0x62, 0x06, 0x04, 0x04, 0x00, 0x00, 0x00, 0x02, 0x00, 0x10, 0x68}; - _send(std::string(reinterpret_cast<const char *>(cfg_rst_hotstart), sizeof(cfg_rst_hotstart))); - - // Give time to module to reboot - std::this_thread::sleep_for(std::chrono::milliseconds(2000)); - // Enable the UBX-TIM-TOS and the $GNRMC messages const uint8_t en_tim_tos[11] = {0xb5, 0x62, 0x06, 0x01, 0x03, 0x00, 0x0d, 0x12, 0x01, 0x2a, 0x8b}; _send(std::string(reinterpret_cast<const char *>(en_tim_tos), sizeof(en_tim_tos))); |