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improve UBX-TIM-TM2 stringification #177

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flipflip8952 merged 1 commit into from
Dec 29, 2025
Merged

improve UBX-TIM-TM2 stringification #177

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97 changes: 65 additions & 32 deletions fpsdk_common/src/parser/ubx.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -1097,35 +1097,62 @@ static std::size_t StrUbxTimTm2(char* info, const std::size_t size, const uint8_

const uint8_t timeBase = UBX_TIM_TM2_V0_FLAGS_TIMEBASE(tm.flags);
constexpr std::array<const char*, 3> timeBaseStr = { { "RX", "GNSS", "UTC" } };
const double towR =
((double)tm.towMsR * UBX_TIM_TM2_V0_TOW_SCALE) + ((double)tm.towSubMsR * UBX_TIM_TM2_V0_SUBMS_SCALE);
const double towF =
((double)tm.towMsF * UBX_TIM_TM2_V0_TOW_SCALE) + ((double)tm.towSubMsF * UBX_TIM_TM2_V0_SUBMS_SCALE);

return std::snprintf(info, size, "%04u:%013.6f %04u:%013.6f INT%u %c %c %s %s %s %s %s %u %.6g", tm.wnR, towR,
tm.wnF, towF, tm.ch, UBX_TIM_TM2_V0_FLAGS_NEWRISINGEDGE(tm.flags) ? 'R' : '-',
UBX_TIM_TM2_V0_FLAGS_NEWFALLINGEDGE(tm.flags) ? 'F' : '-',

std::size_t len = 0;

len += std::snprintf(&info[len], size - len, "INT%" PRIu8 " %s %s %s %s %s", tm.ch,
UBX_TIM_TM2_V0_FLAGS_MODE(tm.flags) == UBX_TIM_TM2_V0_FLAGS_MODE_SINGLE ? "single" : "running",
UBX_TIM_TM2_V0_FLAGS_RUN(tm.flags) == UBX_TIM_TM2_V0_FLAGS_RUN_ARMED ? "armed" : "stopped",
timeBase < timeBaseStr.size() ? timeBaseStr[timeBase] : "?",
UBX_TIM_TM2_V0_FLAGS_UTCACAVAIL(tm.flags) ? "UTC" : "n/a",
UBX_TIM_TM2_V0_FLAGS_TIMEVALID(tm.flags) ? "valid" : "invalid", tm.count,
(double)tm.accEst * UBX_TIM_TM2_V0_ACCEST_SCALE);
UBX_TIM_TM2_V0_FLAGS_UTCACAVAIL(tm.flags) ? "avail" : "n/a",
UBX_TIM_TM2_V0_FLAGS_TIMEVALID(tm.flags) ? "valid" : "invalid");

char sR[64] = "-";
if (UBX_TIM_TM2_V0_FLAGS_NEWRISINGEDGE(tm.flags)) {
const double towR =
((double)tm.towMsR * UBX_TIM_TM2_V0_TOW_SCALE) + ((double)tm.towSubMsR * UBX_TIM_TM2_V0_SUBMS_SCALE);
std::snprintf(sR, sizeof(sR), "%04" PRIu16 ":%016.9f", tm.wnR, towR);
}
char sF[64] = "-";
if (UBX_TIM_TM2_V0_FLAGS_NEWFALLINGEDGE(tm.flags)) {
const double towF =
((double)tm.towMsF * UBX_TIM_TM2_V0_TOW_SCALE) + ((double)tm.towSubMsF * UBX_TIM_TM2_V0_SUBMS_SCALE);
std::snprintf(sF, sizeof(sF), "%04" PRIu16 ":%016.9f", tm.wnF, towF);
}

if (len < size) {
len += std::snprintf(&info[len], size - len, " %5" PRIu16 " R %-21s F %-21s %g", tm.count, sR, sF,
(double)tm.accEst * UBX_TIM_TM2_V0_ACCEST_SCALE);
}

// Examples:
//
// INT0 running armed UTC avail valid 6725 R 2399:150006.452263174 F 2399:150006.552263195 2.9e-08
// INT0 running armed UTC avail valid 6726 R 2399:150007.452263519 F 2399:150007.552263547 2.9e-08
// INT0 running armed UTC avail valid 6727 R 2399:150008.452263872 F 2399:150008.552263892 2.9e-08
// INT0 running armed UTC avail valid 6728 R 2399:150009.452264216 F 2399:150009.552264237 2.9e-08
// INT0 running armed UTC avail valid 6729 R 2399:150010.452264561 F 2399:150010.552264589 2.9e-08
// INT0 running armed UTC avail valid 6730 R 2399:150011.452264914 F 2399:150011.552264934 2.9e-08
// INT0 running armed UTC avail valid 6731 R 2399:150012.452265258 F 2399:150012.552265286 2.9e-08
// INT0 running armed UTC avail valid 6732 R 2399:150013.452265611 F 2399:150013.552265631 2.9e-08
// INT0 running armed UTC avail valid 6733 R 2399:150014.452265956 F 2399:150014.552265984 2.9e-08
//
// INT0 running armed UTC avail valid 7767 R 2399:150910.485040602 F - 2.9e-08
// INT0 running armed UTC avail valid 0 R - F 2399:150910.585040630 2.9e-08
// INT0 running armed UTC avail valid 7768 R 2399:150911.485040954 F - 2.9e-08
// INT0 running armed UTC avail valid 0 R - F 2399:150911.585040975 2.9e-08
// INT0 running armed UTC avail valid 7769 R 2399:150912.485041299 F - 2.9e-08
// INT0 running armed UTC avail valid 0 R - F 2399:150912.585041327 2.9e-08
// INT0 running armed UTC avail valid 7770 R 2399:150913.485041651 F - 2.9e-08
// INT0 running armed UTC avail valid 0 R - F 2399:150913.585041672 2.9e-08
// INT0 running armed UTC avail valid 7771 R 2399:150914.485042004 F - 2.9e-08
//

return len;
}

static std::size_t StrUbxTimTp(char* info, const std::size_t size, const uint8_t* msg, const std::size_t msg_size)
{
// clang-format off
// message 11, dt 63, size 36, UBX UBX-TIM-TM2 2253:061563.388047 2253:061563.588086 INT0 - F running armed GNSS n/a valid 46887 1.3e-08
// message 43, dt 558, size 36, UBX UBX-TIM-TM2 2253:061564.387529 2253:061563.588086 INT0 R - running armed GNSS n/a valid 46888 1.3e-08
// message 67, dt 64, size 36, UBX UBX-TIM-TM2 2253:061564.387529 2253:061564.588060 INT0 - F running armed GNSS n/a valid 46888 1.3e-08
// message 91, dt 556, size 36, UBX UBX-TIM-TM2 2253:061565.387023 2253:061564.588060 INT0 R - running armed GNSS n/a valid 46889 1.3e-08
// message 115, dt 67, size 36, UBX UBX-TIM-TM2 2253:061565.387023 2253:061565.587034 INT0 - F running armed GNSS n/a valid 46889 1.3e-08
// message 154, dt 558, size 36, UBX UBX-TIM-TM2 2253:061566.386456 2253:061565.587034 INT0 R - running armed GNSS n/a valid 46890 1.3e-08
// message 173, dt 66, size 36, UBX UBX-TIM-TM2 2253:061566.386456 2253:061566.587008 INT0 - F running armed GNSS n/a valid 46890 1.3e-08
// message 202, dt 569, size 36, UBX UBX-TIM-TM2 2253:061567.385907 2253:061566.587008 INT0 R - running armed GNSS n/a valid 46891 1.3e-08
// message 226, dt 59, size 36, UBX UBX-TIM-TM2 2253:061567.385907 2253:061567.585982 INT0 - F running armed GNSS n/a valid 46891 1.3e-08
// message 263, dt 566, size 36, UBX UBX-TIM-TM2 2253:061568.385365 2253:061567.585982 INT0 R - running armed GNSS n/a valid 46892 1.3e-08
// clang-format on
if (msg_size != UBX_TIM_TP_V0_SIZE) {
return 0;
}
Expand All @@ -1141,29 +1168,35 @@ static std::size_t StrUbxTimTp(char* info, const std::size_t size, const uint8_t
constexpr std::array<const char*, 9> utcStandardStr = { { "NA", "CRL", "NIST", "USNO", "BIPM", "EU", "SU", "NTSC",
"NPLI" } };

std::size_t ret = 0;
std::size_t len = 0;
switch (timeBase) {
case UBX_TIM_TP_V0_FLAGS_TIMEBASE_GNSS:
ret = std::snprintf(info, size, "%019.12f GNSS %s", tow,
len = std::snprintf(info, size, "%019.12f GNSS %s", tow,
timeRefGnss < timeRefGnssStr.size() ? timeRefGnssStr[timeRefGnss] : "?");
break;
case UBX_TIM_TP_V0_FLAGS_TIMEBASE_UTC:
ret = std::snprintf(info, size, "%019.12f UTC %s %s", tow,
len = std::snprintf(info, size, "%019.12f UTC %s %s", tow,
UBX_TIM_TP_V0_FLAGS_UTC(tp.flags) ? "avail" : "n/a",
utcStandard < utcStandardStr.size() ? utcStandardStr[utcStandard] : "?");
break;
default:
ret = std::snprintf(info, size, "%019.12f", tow);
len = std::snprintf(info, size, "%019.12f", tow);
break;
}

if (ret < size) {
ret += std::snprintf(&info[ret], size - ret, " %d %c %c", tp.qErr,
UBX_TIM_TP_V0_FLAGS_QERRINVALID(tp.flags) ? 'Y' : 'N',
UBX_TIM_TP_V0_FLAGS_TPNOTLOCKED(tp.flags) ? 'U' : 'L');
if (len < size) {
len += std::snprintf(&info[len], size - len, " %s", UBX_TIM_TP_V0_FLAGS_TPNOTLOCKED(tp.flags) ? "-" : "locked");
}

if (len < size) {
if (!UBX_TIM_TP_V0_FLAGS_QERRINVALID(tp.flags)) {
len += std::snprintf(&info[len], size - len, " %d", tp.qErr);
} else {
len += std::snprintf(&info[len], size - len, " -");
}
}

return ret;
return len;
}

static std::size_t StrUbxRxmRawx(char* info, const std::size_t size, const uint8_t* msg, const std::size_t msg_size)
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