/* 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);
}
/* input ublox raw message from stream -----------------------------------------
* fetch next ublox raw data and input a mesasge from stream
* args : raw_t *raw IO receiver raw data control struct
* raw->opt : u-blox raw options
* "-invcp" : inversed polarity of carrier-phase
* "-EPHALL" : output all ephemerides
* 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)
*-----------------------------------------------------------------------------*/
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);
}
/*!
* @brief This function is decode ubxRawData
* @param : null
* @return : 0: succed;others:error
*/
int Decode_UbxData(void)
{
int rtn;
int type;
// if(ubxRawDataWrPt == ubxRawDataRdPt)
// return -1;
rtn = 0;
if(ubxRawData.frameReady!=TRUE)
return -1;
if(decode_ubx(&readyRawUbx)==0)
{
type = readyRawUbx.buff[2];
type = (type<<8) + readyRawUbx.buff[3];
switch(type)
{
case ID_NAVPVT:
ubxRawDataRcvStatus |= UBX_ID_NAVPVT;
break;
case ID_NAVCLK:
ubxRawDataRcvStatus |= UBX_ID_NAVCLK;
break;
case ID_NAVCOV:
ubxRawDataRcvStatus |= UBX_ID_NAVCOV;
break;
case ID_NAVSAT:
ubxRawDataRcvStatus |= UBX_ID_NAVSAT;
break;
case ID_NAVGPSTIME :
ubxRawDataRcvStatus |= UBX_ID_NAVGPSTIME;
break;
case ID_RXMRAWX :
ubxRawDataRcvStatus |= UBX_ID_RXMRAWX;
break;
case ID_TRKD5 :
ubxRawDataRcvStatus |= UBX_ID_TRKD5;
break;
default:
break;
}
if((ubxRawDataRcvStatus&DECODE_UBX_MASK)==DECODE_UBX_MASK)
{
ubxRawDataReadyflag = TRUE;
}
}
ubxRawDataRdPt = (ubxRawDataRdPt+1)%UBX_TYPE_MAX;
return(rtn);
}
