//not available on ThunderBolt-E
/// <summary>
/// This broadcast packet provides individual satellite solutions as well as the combined
/// timing solutions. Two formats of this packet are supported: a floating-point form and an
/// integer form. This packet is broadcast once per second if enabled with the 0x8E-A5 packet
/// mask command. Packet 0x8E-A5 allows the user to select which format will be broadcast.
///
/// notes:
/// If both formats are selected the ThunderBolt will send format 0 (floating point) only.
///
/// For clock bias numbers, a positive sign indicates that the ThunderBolt PPS occurs after the
/// GPS PPS.
///
/// For clock bias rate numbers, a positive sign indicates that the ThunderBolt
/// 10MHz frequency output is running slow relative to GPS.
///
/// 8 sets of satellite ID and data are sent with n=1, 2, . . . 8
/// </summary>
private void sat_solutions(TsipPacket tp)
{
Debug.Print(":0x8F.A7 (Satellite Solutions)");
byte format = tp.GetNextByte();
UInt32 time_of_week = tp.GetNextDWord();
Single clock_bias;
Single clock_bias_rate;
if (format == 0)
{ // floating point
clock_bias = tp.GetNextSingle();
clock_bias_rate = tp.GetNextSingle();
}
else if (format == 1)
{ // integer values
clock_bias = (float)(int)tp.GetNextWord();
clock_bias *= 100.0e-12F;
clock_bias_rate = (float)(int)tp.GetNextWord();
clock_bias_rate *= 1.0e-12F;
}
else
{
unknown_msg(tp);
return;
}
for (int i = 0; i < 32; i++) // reset current bias flags
Satellites[i].HasBiasInfo = false;
for (int i = 0; i < 8; i++) // get bias info from all visible satellites
{
byte prn = tp.GetNextByte();
prn--;
if (prn > 31) // ignore bogus data
continue;
if (format == 0)
Satellites[prn].SatBias = tp.GetNextSingle();
else
{
Satellites[prn].SatBias = (float)(int)tp.GetNextWord();
Satellites[prn].SatBias *= 100.0e-12F;
}
Satellites[prn].TimeOfFix = (float)time_of_week;
Satellites[prn].HasBiasInfo = true;
}
}
private void m_port_DataReceived(object sender, SerialDataReceivedEventArgs e)
{
_activityLed.Write(true); // turn on the LED
while (m_port.BytesToRead > 0)
{
current_packet.AddByte((ushort)m_port.ReadByte());
if (current_packet.IsComplete) // received complete packet?
{
loopsSinceDataReceived = 0; // reset the no data being received loop counter
lock (((ICollection)PacketQueue).SyncRoot) // use lock for thread sync
{
PacketQueue.Enqueue(current_packet); // queue up the packet for the worker thread
}
current_packet = new TsipPacket(); // allocate a new packet
}
}
_activityLed.Write(false); // turn off the LED
}
private void packet_58(TsipPacket tp)
{
Debug.Print("Packet 58 (GPS system data):");
byte op = tp.GetNextByte();
byte type = tp.GetNextByte();
byte prn = tp.GetNextByte();
byte len = tp.GetNextByte();
}
private void io_options(TsipPacket tp)
{
Debug.Print("Packet 55 (I/O options):");
byte posn = tp.GetNextByte();
byte vel = tp.GetNextByte();
byte timing = tp.GetNextByte();
byte aux = tp.GetNextByte();
level_type = ((aux & 0x08) == 0x08) ? "dB" : "AMU";
}
private void lla_fix(TsipPacket tp)
{
Debug.Print("Packet 84 (LLA fix):");
position.Latitude = tp.GetNextDouble();
position.Longitude = tp.GetNextDouble();
position.Altitude = tp.GetNextDouble();
Double clock_bias = tp.GetNextDouble();
Single time_of_fix = tp.GetNextSingle();
raise_position_change();
}
private void eph_status(TsipPacket tp)
{
Debug.Print("Packet 5B (Sat ephemeris status):");
byte prn = tp.GetNextByte();
prn--;
if (prn > 31)
{
unknown_msg(tp);
return;
}
Satellites[prn].CollectionTime = tp.GetNextSingle();
Satellites[prn].EphemerisHealth = tp.GetNextByte();
Satellites[prn].IODE = tp.GetNextByte();
Satellites[prn].Toe = tp.GetNextSingle();
Satellites[prn].FitIntervalFlag = tp.GetNextByte();
Satellites[prn].UserRangeAccuracy = tp.GetNextSingle();
}
private void get_alm_health(TsipPacket tp)
{
Debug.Print(":0x49 (Almanac Health Page Report)");
for (int i = 0; i < 32; i++)
Satellites[i].IsHealthy = (tp.GetNextByte() == 0);
}
private void unknown_msg(TsipPacket tp)
{
Debug.Print("Unknown TSIP msg: " + tp.ToString());
unparseable_packet_count++;
}
private void version_info(TsipPacket tp)
{
Debug.Print(":0x45 (Software Version Info Received)");
byte ap_major = tp.GetNextByte(); // Application firmware
byte ap_minor = tp.GetNextByte();
byte ap_month = tp.GetNextByte();
byte ap_day = tp.GetNextByte();
UInt16 ap_year = (ushort)(tp.GetNextByte() + 2000); // docs say 1900 based!
byte core_major = tp.GetNextByte(); // GPS firmware
byte core_minor = tp.GetNextByte();
byte core_month = tp.GetNextByte();
byte core_day = tp.GetNextByte();
UInt16 core_year = (ushort)(tp.GetNextByte() + 2000); // docs say 1900 based!
try
{
unit_firmware.Major = ap_month;
unit_firmware.Minor = ap_minor;
unit_firmware.Date = new DateTime(ap_year, ap_month, ap_day);
unit_hardware.Major = core_major;
unit_hardware.Minor = core_minor;
unit_hardware.Date = new DateTime(core_year, core_month, core_day);
if (SoftwareVersionInfoReceived != null)
SoftwareVersionInfoReceived(this, new VersionInfoEventArgs(unit_firmware));
if (HardwareVersionInfoReceived != null)
HardwareVersionInfoReceived(this, new VersionInfoEventArgs(unit_hardware));
}
catch (Exception e)
{
Debug.Print("Exception:" + e.Message);
}
}
private void survey_params(TsipPacket tp)
{
Debug.Print("Packet 8F.A9 (Survey params):");
byte survey_flag = tp.GetNextByte();
unit_survey_save = tp.GetNextByte();
unit_survey_length = tp.GetNextDWord();
UInt32 rsvd = tp.GetNextDWord();
}
private void timing_msg(TsipPacket tp)
{
byte subcode = tp.GetNextByte();
if (subcode == 0x15)
datums(tp);
else if (subcode == 0x41)
manuf_params(tp);
else if (subcode == 0x42)
prodn_params(tp);
else if (subcode == 0x4A)
pps_settings(tp);
else if (subcode == 0xA0)
dac_values(tp);
else if (subcode == 0xA1)
osc_sense(tp);
else if (subcode == 0xA2)
pps_timing_mode(tp);
else if (subcode == 0xA5)
packet_mask(tp);
else if (subcode == 0xA7)
sat_solutions(tp); // not on ThunderBolt-E
else if (subcode == 0xA8)
discipline_params(tp);
else if (subcode == 0xA9)
survey_params(tp);
else if (subcode == 0xAB)
primary_timing(tp);
else if (subcode == 0xAC)
secondary_timing(tp);
else
unknown_msg(tp);
}
private void single_ecef_fix(TsipPacket tp)
{
Debug.Print("Packet 42 (XYZ ECEF):");
Single x = tp.GetNextSingle();
Single y = tp.GetNextSingle();
Single z = tp.GetNextSingle();
Single time_of_fix = tp.GetNextSingle();
}
private void secondary_timing(TsipPacket tp)
{
Debug.Print(":0x8F.AC (Secondary Timing)");
byte spare;
try
{
receiver_mode = (ReceiverMode)tp.GetNextByte();
}
catch
{
receiver_mode = ReceiverMode.Unknown;
}
try
{
discipline_mode = (DiscipliningMode)tp.GetNextByte();
}
catch
{
discipline_mode = DiscipliningMode.Unknown;
}
survey_progress = tp.GetNextByte(); // 0-100%
holdover = tp.GetNextDWord(); // seconds
critical_alarms = tp.GetNextWord();
minor_alarms = tp.GetNextWord();
try
{
gps_status = (ReceiverStatus)tp.GetNextByte();
}
catch
{
gps_status = ReceiverStatus.Unknown;
}
try
{
discipline = (DiscipliningActivity)tp.GetNextByte();
}
catch
{
discipline = DiscipliningActivity.Unknown;
}
spare = tp.GetNextByte();
spare = tp.GetNextByte();
pps_offset = tp.GetNextSingle(); // in nano seconds (ns)
osc_offset = tp.GetNextSingle(); // in parts per billion (ppb)
dac_value = tp.GetNextDWord();
dac_voltage = tp.GetNextSingle(); // in V
temperature = tp.GetNextSingle(); // in C
position.Latitude = tp.GetNextDouble();
position.Longitude = tp.GetNextDouble();
position.Altitude = tp.GetNextDouble();
if (SecondaryTimingChanged != null)
SecondaryTimingChanged(this, null);
raise_position_change();
clear_sat_tracking(); //??
}
private void sat_tracking(TsipPacket tp)
{
Debug.Print(":0x5C (Satellite Tracking)");
byte prn = tp.GetNextByte();
prn--;
if (prn > 31)
{
unknown_msg(tp);
return;
}
Satellites[prn].Slot = Satellites[prn].Channel = tp.GetNextByte();
Satellites[prn].Slot &= 0x07;
Satellites[prn].Channel >>= 3;
Satellites[prn].AcquisitionFlag = tp.GetNextByte();
Satellites[prn].EphemerisFlag = tp.GetNextByte();
Satellites[prn].SignalLevel = tp.GetNextSingle();
Satellites[prn].TimeOfWeek = tp.GetNextSingle();
Satellites[prn].Elevation = tp.GetNextSingle();
Satellites[prn].Azimuth = tp.GetNextSingle();
Satellites[prn].Age = tp.GetNextByte();
Satellites[prn].MsecStatus = tp.GetNextByte();
Satellites[prn].BadDataFlag = tp.GetNextByte();
Satellites[prn].CollectingData = tp.GetNextByte();
}
private void eeprom_status(TsipPacket tp)
{
Debug.Print("Packet 5F (EEPROM status):");
byte flag = tp.GetNextByte();
if (flag == 0x11)
{
UInt16 ee_status = tp.GetNextWord();
}
}
private void dac_values(TsipPacket tp)
{
Debug.Print("Packet 8F.A0 (DAC values):");
UInt32 dac_value = tp.GetNextDWord();
Single dac_voltage = tp.GetNextSingle();
Byte dac_res = tp.GetNextByte();
Byte dac_format = tp.GetNextByte();
Single dac_min = tp.GetNextSingle();
Single dac_max = tp.GetNextSingle();
}
private void enu_velocity_fix(TsipPacket tp)
{
Debug.Print("Packet 56 (ENU velocity):");
Single x_vel = tp.GetNextSingle();
Single y_vel = tp.GetNextSingle();
Single z_vel = tp.GetNextSingle();
Single bias_rate = tp.GetNextSingle();
Single time_of_fix = tp.GetNextSingle();
}
private void datums(TsipPacket tp)
{
Debug.Print("Packet 8F.15 (Datums)");
int index = tp.GetNextWord();
double dx = tp.GetNextDouble();
double dy = tp.GetNextDouble();
double dz = tp.GetNextDouble();
double a_axis = tp.GetNextDouble();
double ecc = tp.GetNextDouble();
}
private void filter_config(TsipPacket tp)
{
Debug.Print("Packet 70 (Filter config):");
pv_filter = tp.GetNextByte();
static_filter = tp.GetNextByte();
altitude_filter = tp.GetNextByte();
kalman_filter = tp.GetNextByte();
}
private void discipline_params(TsipPacket tp)
{
Debug.Print("Packet 8F.A8 (Discipline params):");
byte type = tp.GetNextByte();
if (type == 0)
{
unit_time_constant = tp.GetNextSingle();
unit_damping_factor = tp.GetNextSingle();
}
else if (type == 1)
{
unit_osc_gain = tp.GetNextSingle();
unit_min_volts = tp.GetNextSingle();
unit_max_volts = tp.GetNextSingle();
}
else if (type == 2)
{
unit_jam_sync = tp.GetNextSingle();
unit_max_freq_offset = tp.GetNextSingle();
}
else if (type == 3)
{
unit_initial_voltage = tp.GetNextSingle();
}
}
private void gps_time_received(TsipPacket tp)
{
Debug.Print(":0x41 GPS Time Received");
Single s_time = tp.GetNextSingle();
Int16 s_week = (short)tp.GetNextWord();
Single s_offset = tp.GetNextSingle();
if (GPSTimeReceived != null)
GPSTimeReceived(this, new GPSTimeInfoEventArgs(s_time, s_week, s_offset));
}
private void ebolt_health1(TsipPacket tp)
{
Debug.Print(":0x46 (E Receiver Health 1st Packet):");
receiver_status = (ReceiverStatus)tp.GetNextByte();
//byte sv_fix = tsip_byte();
byte antenna_fault = tp.GetNextByte();
}
private void last_fix_info(TsipPacket tp)
{
Debug.Print("Packet 57 (last fix info):");
byte source_of_fix = tp.GetNextByte();
byte tracking_mode = tp.GetNextByte();
Single time_of_fix = tp.GetNextSingle();
UInt16 week_of_fix = tp.GetNextWord();
}
private void ebolt_health2(TsipPacket tp)
{
Debug.Print(":0x4B (E Receiver Health 2nd Packet):");
byte id = tp.GetNextByte();
byte rtc = tp.GetNextByte();
byte superpackets = tp.GetNextByte();
}
private void manuf_params(TsipPacket tp)
{
Debug.Print("Packet 8F.41 (Manufacturing Params):");
UInt16 sn_prefix = tp.GetNextWord();
UInt32 serial_num = tp.GetNextDWord();
byte build_year = tp.GetNextByte();
byte build_month = tp.GetNextByte();
byte build_day = tp.GetNextByte();
byte build_hour = tp.GetNextByte();
Single osc_offset = tp.GetNextSingle();
UInt16 test_code = tp.GetNextWord();
unit_build.Date = new DateTime(build_year + 2000, build_month, build_day, build_hour, 0, 0);
unit_build.SerialNumber = sn_prefix.ToString() + "-" + serial_num.ToString();
}
// Thunderbolt E Version Information
private void ebolt_version(TsipPacket tp)
{
byte rev_month;
byte rev_day;
UInt16 rev_year;
byte subcode = tp.GetNextByte();
if (subcode == 0x81) // firmware version
{
Debug.Print(":0x1C.0x81 (Firmware Version)");
byte reserved8 = tp.GetNextByte();
byte major = tp.GetNextByte(); // major version number
byte minor = tp.GetNextByte(); // minor version number
byte build = tp.GetNextByte(); // build number
rev_month = tp.GetNextByte(); // build month
rev_day = tp.GetNextByte(); // build day
rev_year = tp.GetNextWord(); // build year
unit_firmware.VersionString = tp.GetNextString(); // product name string
try
{
unit_firmware.Date = new DateTime(rev_year, rev_month, rev_day, 0, 0, 0);
}
catch (Exception e)
{
unit_firmware.Date = new DateTime(0L); // bad date
Debug.Print("Date Conversion Exception: " + e.Message);
}
unit_firmware.Code = 0;
if (FirmwareVersionInfoReceived != null)
FirmwareVersionInfoReceived(this, new VersionInfoEventArgs(unit_firmware));
}
else if (subcode == 0x83) // hardware version
{
Debug.Print(":0x1C.0x83 (Hardware Version)");
UInt32 serno = tp.GetNextDWord(); // board serial number
rev_day = tp.GetNextByte(); // board build day
rev_month = tp.GetNextByte(); // board build month
rev_year = tp.GetNextWord(); // board build year
byte rev_hour = tp.GetNextByte(); // board build hour
unit_hardware.Code = tp.GetNextWord(); // hardware code associated with hardware ID
unit_hardware.VersionString = tp.GetNextString(); // Hardware ID
unit_hardware.SerialNumber = "SN:" + serno.ToString();
try
{
unit_hardware.Date = new DateTime(rev_year, rev_month, rev_day, rev_hour, 0, 0);
}
catch (Exception e)
{
unit_hardware.Date = new DateTime(0L); // bad date
Debug.Print("Date Conversion Exception: " + e.Message);
}
if (HardwareVersionInfoReceived != null)
HardwareVersionInfoReceived(this, new VersionInfoEventArgs(unit_hardware));
}
else
unknown_msg(tp);
}
// not avilable on ThunderBolt-E or early ThunderBolts
private void osc_sense(TsipPacket tp)
{
Debug.Print("Packet 8F.A1 (10 MHz sense):");
unit_osc_polarity = (tp.GetNextByte() != 0);
}
private void ecef_fix(TsipPacket tp)
{
Debug.Print("Packet 83 (XYZ ECEF):");
Double x = tp.GetNextDouble();
Double y = tp.GetNextDouble();
Double z = tp.GetNextDouble();
Double clock_bias = tp.GetNextDouble();
Single time_of_fix = tp.GetNextSingle();
}
private void packet_mask(TsipPacket tp)
{
Debug.Print("Packet 8F.A5 (Packet mask):");
UInt16 mask1 = tp.GetNextWord();
UInt16 mask2 = tp.GetNextWord();
}
/// <summary>
/// This packet provides a list of satellites used for position or time-only fixes by the GPS
/// receiver. The packet also provides the dilution of precision values PDOP, HDOP, VDOP and TDOP
/// of that set and provides the current mode (automatic or manual, 3-D or 2-D, Over-Determined Clock
/// mode, etc.). This packet has variable length equal to (17 + nsvs) where "nsvs" is the
/// number of satellites used in the solution. If an SV is rejected for use by the T-RAIM
/// algorithm then the SV PRN value will be negative.
///
/// PDOP = positional DOP
/// HDOP = horizontal DOP
/// VDOP = vertical DOP
/// TDOP = temporal DOP
///
/// Note: The GPS receiver sends this packet in response to packet 0x24 or automatically.
/// </summary>
private void sat_list(TsipPacket tp)
{
byte mode, count, dimension;
dimension = mode = count = tp.GetNextByte();
dimension &= 0x07; // fix dimension is in first 3 bits
mode &= 0x08; // mode is in bit 3
mode >>= 3;
count >>= 4; // tracked sat count in upper 4 bits
//Debug.Print(":0x6D (Satellite List count = {0})", count);
positional_dop = Helpers.FloatToFixPrecision(tp.GetNextSingle());
horizontal_dop = Helpers.FloatToFixPrecision(tp.GetNextSingle());
vertical_dop = Helpers.FloatToFixPrecision(tp.GetNextSingle());
temporal_dop = Helpers.FloatToFixPrecision(tp.GetNextSingle());
fix_dimension = Helpers.ByteToFixDimension(dimension);
fix_mode = Helpers.ByteToFixMode(mode);
for (int i = 0; i < 32; i++) // clear current tracking flags
Satellites[i].UsedInFix = false;
for (int i = 0; i < count; i++)
{
bool used = true;
byte prn = tp.GetNextByte();
if ((prn & 0x80) == 0x80) // satellite is tracked but is not used in fix
{
used = false;
prn &= 0x7F;
}
prn--;
if (prn > 31)
continue; // disregard bogus data
Satellites[prn].Tracked = true;
Satellites[prn].UsedInFix = used;
}
}
