/src/gpsd/gpsd-3.26.2~dev/drivers/driver_ubx.c

Source
/*
 * UBX driver.  For u-blox binary, also includes Antaris4 binary
 * Reference manuals are at
 * http://www.u-blox.com/en/download/documents-a-resources/u-blox-6-gps-modules-resources.html
 *
 * updated for u-blox 8
 * http://www.ublox.com/images/downloads/Product_Docs/u-bloxM8_ReceiverDescriptionProtocolSpec_%28UBX-13003221%29_Public.pdf
 *
 * Week counters are not limited to 10 bits. It's unknown what
 * the firmware is doing to disambiguate them, if anything; it might just
 * be adding a fixed offset based on a hidden epoch value, in which case
 * unhappy things will occur on the next rollover.
 *
 * For the Antaris 4, the default leap-second offset (before getting one from
 * the sats, one presumes) is 0sec; for the u-blox 6 it's 15sec.
 *
 * This file is Copyright by the GPSD project
 * SPDX-License-Identifier: BSD-2-clause
 *
 */

#include "../include/gpsd_config.h"  // must be before all includes

#include <math.h>
#include <stdbool.h>
#include <stdio.h>
#include <stdlib.h>                // for abs()
#include <string.h>
#include <unistd.h>


#include "../include/compiler.h"   // for FALLTHROUGH
#include "../include/gpsd.h"
#include "../include/driver_ubx.h"

#include "../include/bits.h"       // For UINT2INT()
#include "../include/timespec.h"

// UBX-NAV-PVT, UBX-NAV-PVAT flag bits
#define UBX_NAV_PVT_FLAG_GPS_FIX_OK 0x01
#define UBX_NAV_PVT_FLAG_DGPS       0x02
#define UBX_NAV_PVT_FLAG_ROLL_OK    0x08
#define UBX_NAV_PVT_FLAG_PITCH_OK   0x10
#define UBX_NAV_PVT_FLAG_HDG_OK     0x20
#define UBX_NAV_PVT_FLAG_RTK_FLT    0x40
#define UBX_NAV_PVT_FLAG_RTK_FIX    0x80

/*
 * Some high-precision messages provide data where the main part is a
 * signed 32-bit integer (same as the standard-precision versions),
 * and there's an 8-bit signed field providing an addend scaled to
 * 1/100th of the main value.  This macro provides a fetch for such
 * values, scaled to match the extension (i.e., 100X the main-value scale).
 * Since the fields are nonconsective, the offsets are provided separately.
 * The result is a signed 64-bit integer.
 *
 * The second macro incorporates scaling the result by a specified double.
 */
#define getles32x100s8(buf, off, offx) \
    ((int64_t)(getles32((buf), (off)) * 100LL + getsb((buf), (offx))))
#define getles32x100s8d(buf, off, offx, scale) \
    (getles32x100s8((buf), (off), (offx)) * (double)(scale))

/*
 * A ubx packet looks like this:
 * leader: 0xb5 0x62
 * message class: 1 byte
 * message type: 1 byte
 * length of payload: 2 bytes
 * payload: variable length
 * checksum: 2 bytes
 *
 * see also the FV25 and UBX documents on reference.html
 */
#define UBX_PREFIX_LEN          6
#define UBX_CLASS_OFFSET        2
#define UBX_TYPE_OFFSET         3

// because we hates magic numbers forever
#define USART1_ID               1
#define USART2_ID               2
#define USB_ID                  3
#define UBX_PROTOCOL_MASK       0x01
#define NMEA_PROTOCOL_MASK      0x02
#define RTCM_PROTOCOL_MASK      0x04
#define RTCM3_PROTOCOL_MASK     0x20    // protVer 20+
#define UBX_CFG_LEN             20
#define outProtoMask            14

// UBX Satellite/Dignal Numbering
static const struct vlist_t vgnss_sig_ids[] = {
    {0x0000, "GPS L1 C/A"},
    {0x0003, "GPS L2 CL"},
    {0x0004, "GPS L2 CM"},
    {0x0006, "GPS L5 I"},
    {0x0007, "GPS L5 Q"},
    {0x0100, "SBAS L1 C/A"},
    {0x0200, "GAL E1 C"},
    {0x0201, "GAL E1 B"},
    {0x0203, "GAL E5 aI"},
    {0x0204, "GAL E5 aQ"},
    {0x0205, "GAL E5 bI"},
    {0x0206, "GAL E5 bQ"},
    {0x0300, "BDS B1I D1"},
    {0x0301, "BDS B1I D2"},
    {0x0302, "BDS B2I D1"},
    {0x0303, "BDS B2I D2"},
    {0x0305, "BDS B1 Cp"},
    {0x0306, "BDS B1 Cd"},
    {0x0307, "BDS B2 ap"},
    {0x0308, "BDS B2 ad"},
    {0x0508, "QZSS L1 C/A"},
    {0x0501, "QZSS L1 S"},
    {0x0504, "QZSS L2 CM"},
    {0x0505, "QZSS L2 CL"},
    {0x0508, "QZSS L5 I"},
    {0x0509, "QZSS L5 Q"},
    {0x0600, "GLO L1 OF"},
    {0x0602, "GLO L2 OF"},
    {0x0700, "NavIc L5 A"},
    {0, NULL},
};

// UBX-ACK-* ids
static const struct vlist_t vack_ids[] = {
    {UBX_ACK_ACK, "ACK-ACK"},
    {UBX_ACK_NAK, "ACK-NAK"},
    {0, NULL},
};

// UBX-INF-* inf_ids
static const struct vlist_t vinf_ids[] = {
    {UBX_INF_DEBUG, "INF-DEBUG"},
    {UBX_INF_TEST, "INF-TEST"},
    {UBX_INF_NOTICE, "INF-NOTICE"},
    {UBX_INF_WARNING, "INF-WARNING"},
    {UBX_INF_ERROR, " INF-ERROR"},
    {0, NULL},
};

// UBX-MON-COMMS protIds
static const struct vlist_t vprotIds[] = {
    {0, "UBX"},
    {1, "NMEA"},
    {2, "RTCM2"},
    {5, "RTCM3"},
    {255, "None"},
    {0, NULL},
};

// UBX-MON-COMMS txErrors
static const struct flist_t vmon_comms_txerrors[] = {
    {1, 1, "mem"},
    {2, 2, "alloc"},
    {0, 0, NULL},
};

// UBX-MON-TXBUF errors
static const struct flist_t vmon_txbuf_errors[] = {
    {0x40, 0x40, "mem"},
    {0x80, 0x80, "alloc"},
    {0, 0, NULL},
};

// UBX-MON-HW flags
static const struct flist_t vmon_hw_flags[] = {
    {1, 1, "RTC Calibrated"},
    {2, 2, "Safeboot Active"},
    {0x04, 0x0c, "Jam OK"},
    {0x08, 0x0c, "Jam Warn"},
    {0x0c, 0x0c, "Jam Critical"},
    {0x10, 0x10, "xtal Absent"},
    {0, 0, NULL},
};

// UBX-MON-HW aPower
static const struct vlist_t vaPower[] = {
    {0, "Off"},
    {1, "On"},
    {2, "Unk"},
    {0, NULL},
};

// UBX-MON-HW aStatus
static const struct vlist_t vaStatus[] = {
    {0, "Init"},
    {1, "Unk"},
    {2, "OK"},
    {3, "Short"},
    {4, "Open"},
    {0, NULL},
};

// UBX-MON-RF blockId
static const struct vlist_t vmon_rf_blockId[] = {
    {0, "L1 Unk"},
    {1, "L2 or L5"},
    {0, NULL},
};

// UBX-MON-RF flags
static const struct vlist_t vmon_rf_flags[] = {
    {0, "Jam Unk"},
    {1, "Jam OK"},
    {2, "Jam Warn"},
    {3, "Jam Crit"},
    {0, NULL},
};

// Names for portID values in:
//  UBX-CFG-PRT, UBX-MON-IO, UBX-MON-RXBUF, UBX-MON-TXBUF, target
static const struct vlist_t vtarget[] = {
    {0, "DDC"},             // The license free name for I2C
    {1, "UART1"},
    {2, "UART2"},
    {3, "USB"},
    {4, "SPI"},
    {0x100, "UART1"},       // MON-COMMS
    {0x200, "UART2"},       // MON-COMMS
    {0x300, "USB"},         // MON-COMMS
    {0x400, "SPI"},         // MON-COMMS
    {0, NULL},
};

// UBX-HNR-PVT, UBX-NAV-SOL gpsFix, UBX-NAV-PVT fixType
static const struct vlist_t vpvt_fixType[] = {
    {0, "None"},
    {1, "DR"},
    {2, "2D"},
    {3, "3D"},
    {4, "GNSSDR"},
    {5, "Time"},
    {0, NULL},
};

// UBX-HNR-PVT flags
static const struct flist_t fhnr_pvt_flags[] = {
    {1, 1, "gnssFixOK"},
    {2, 2, "diffSoln"},
    {4, 4, "WKNSET"},
    {8, 8, "TOWSET"},
    {0x20, 0x20, "headVehValid"},
    {0, 0, NULL},
};

// UBX-NAV-PVT flags
static const struct flist_t fnav_pvt_flags[] = {
    {1, 1, "gnssFixOK"},
    {2, 2, "diffSoln"},
    {8, 8, "vehRollValid"},
    // {0, 0x10, "psmState"},      // ??
    {0x10, 0x10, "vehPitchValid"},
    {0x10, 0x10, "vehHeadingValid"},  // aka headVelValid
    {0x40, 0xc0, "CarrSolnFLT"},
    {0x80, 0xc0, "CarrSolnFIX"},
    {0, 0, NULL},
};

// UBX-NAV-PVT flags2
static const struct flist_t fpvt_flags2[] = {
    {0x20, 0x20, "confirmedAvai"},   // protver 19+
    {0x40, 0x40, "confirmedDate"},
    {0x80, 0x80, "confirmedTime"},
    {0, 0, NULL},
};

// UBX-NAV-PVT flags3
static const struct flist_t fpvt_flags3[] = {
    {0x20, 0x20, "invalLlh"},
    {0, 0, NULL},
};

// UBX-HNR-PVT, UBX-NAV-PVT valid
static const struct flist_t fpvt_valid[] = {
    {1, 1, "validDate"},
    {2, 2, "validTime"},
    {4, 4, "fullyResolved"},
    {8, 8, "validMag"},
    {0, 0, NULL},
};

// UBX-NAV-PVT, dgps_age
static const int pvt_dgps_age[] = {
    -1, 1, 2, 5, 10,
    15, 20, 30, 45, 60,
    90, 120, 240};

// UBX-NAV-SAT flags
static const struct flist_t fsat_flags[] = {
    // bits 0, 1, and 2 == qualityInd
    {8, 8, "Used"},
    {0x10, 0x30, "healthy"},
    {0x20, 0x30, "unhealthy"},
    {0x40, 0x40, "diffCorr"},
    {0x800, 0x800, "ephAvail"},
    {0x1000, 0x1000, "almAvail"},
    {0x2000, 0x2000, "anoAvail"},
    {0x4000, 0x4000, "aopAvail"},
    {0x10000, 0x10000, "sbasCorrUsed"},
    {0x20000, 0x20000, "rtcmCorrUsed"},
    {0x40000, 0x40000, "slasCorrUsed"},
    {0x80000, 0x80000, "spartnCorrUsed"},
    {0x100000L, 0x100000L, "prCorrUsed"},
    {0x200000L, 0x200000L, "crCorrUsed"},
    {0x400000L, 0x400000L, "doCorrUsed"},
    {0x800000L, 0x800000L, "cbasCorrUsed"},
    {0, 0, NULL},
};

// UBX-NAV-SIG corrSource
static const struct vlist_t vsig_corrsource[] = {
    {0, "None"},
    {1, "SBAS"},
    {2, "rBDS"},
    {3, "RTCM2"},
    {4, "RTCM3 OSR"},
    {5, "RTCM3 SSR"},
    {6, "QZSS SLAS"},
    {7, "SPARTN"},
    {8, "CLAS"},
    {0, NULL},
};

// UBX-NAV-SIG ionoModel
static const struct vlist_t vsig_ionomodel[] = {
    {0, "None"},
    {1, "Klobuchar GPS"},
    {2, "SBAS"},
    {8, "Dual F Delay"},
    {0, NULL},
};

// UBX-NAV-SIG sigFlags
static const struct flist_t fsig_sigFlags[] = {
    {1, 3, "healthy"},
    {2, 3, "unhealthy"},
    {4, 4, "prSmoothed"},
    {8, 8, "prUsed"},
    {0x10, 0x10, "crUsed"},
    {0x20, 0x20, "doUsed"},
    {0x40, 0x40, "prCorrUsed"},
    {0x80, 0x80, "crCorrUsed"},
    {0x100, 0x100, "doCorrUsed"},
    {0x200, 0x200, "Authenticated"},  // u-blox M9 SPG, GALILEO
    {0, 0, NULL},
};

// UBX-NAV-SVIN active
// UBX-TIM-SVIN active
static const struct vlist_t vsvin_active[] = {
    {0, "Inactive"},
    {1, "Active"},
    {0, NULL},
};

// UBX-NAV-SVIN valid
// UBX-TIM-SVIN valid
static const struct vlist_t vsvin_valid[] = {
    {0, "Invalid"},
    {1, "Valid"},
    {0, NULL},
};

// UBX-NAV-SVINFO flags
static const struct flist_t fsvinfo_flags[] = {
    {1, 1, "svUsed"},
    {2, 2, "diffCorr"},
    {4, 4, "orbitAvail"},
    {8, 8, "orbitEph"},
    {0x10, 0x10, "unhealthy"},
    {0x20, 0x20, "orbitAlm"},
    {0x40, 0x40, "orbitAop"},
    {0x80, 0x80, "smoothed"},
    {0, 0, NULL},
};

// UBX-NAV-SVINFO globalFlags
static const struct vlist_t vglobalFlags[] = {
    {0, "Antaris 4"},
    {1, "u-blox 5"},
    {2, "u-blox 6"},
    {3, "u-blox 7"},
    {4, "u-blox 8"},
    {0, NULL},
};

// UBX-NAV-SAT, UBX-NAV-SVINFO qualtyiInd
static const struct vlist_t vquality[] = {
    {0, "None"},
    {1, "Searching"},
    {2, "Acquired"},
    {3, "Unusable"},
    {4, "Code locked"},
    {5, "Carrier locked"},
    {6, "Carrier locked"},
    {7, "Carrier locked"},
    {0, NULL},
};

// UBX-NAV-TIMEGPS valid
static const struct flist_t vtimegps_valid[] = {
    {1, 1, "towValid"},
    {2, 2, "weekValid"},
    {4, 4, "leapSValid"},
    {0, 0, NULL},
};

// UBX-NAV-TIMELS srcOfCurrLs
static const struct vlist_t vsrcOfCurrLs[] = {
    {0, "firmware"},
    {1, "GPS GLONASS difference"},
    {2, "GPS"},
    {3, "SBAS"},
    {4, "BeiDou"},
    {5, "Galileo"},
    {6, "Aided data"},
    {7, "Configured"},
    {0, NULL},
};

// UBX-NAV-TIMELS srcOfLsChange
static const struct vlist_t vsrcOfLsChange[] = {
    {0, "No Source"},
    {1, "Undefined"},
    {2, "GPS"},
    {3, "SBAS"},
    {4, "BeiDou"},
    {5, "Galileo"},
    {6, "GLONASS"},
    {0, NULL},
};

// UBX-NAV-TIMELS valid
static const struct flist_t vtimels_valid[] = {
    {1, 1, "validCurrLs"},
    {2, 2, "validTimeToLsEvent"},
    {0, 0, NULL},
};

// start ubx message configuration stuff

/* UBX-NAV-SOL deprecated in u-blox 6, gone in u-blox 9.
 * Use UBX-NAV-PVT after u-blox 7 (protver 15+)
 * u-blox 6 w/ GLONASS, protver 14 have NAV-PVT
 * UBX-NAV-SOL has same data from NAV-POSECEF and NAV-VELECEF.
 * Need NAV-SOL for fix type and fix flags.
 * skip NAV-POSLLH as we compute lat/lon/alt/geoid from ECEF.
 *
 * UBX-NAV-SVINFO deprecated in u-blox 8, gone in u-blox 9.
 * Use UBX-NAV-SAT after u-blox 7
 *
 * UBX-NAV-EOE makes a good cycle ender */

// nmea to turn off
static const unsigned char nmea_off[] = {
    0x00,          // msg id  = GGA
    0x01,          // msg id  = GLL
    0x02,          // msg id  = GSA
    0x03,          // msg id  = GSV
    0x04,          // msg id  = RMC
    0x05,          // msg id  = VTG
    0x07,          // msg id  = GST
    0x08,          // msg id  = ZDA
    0x09,          // msg id  = GBS
};

// UBX-NAV that ww want on, for all protver
static const unsigned char ubx_nav_on[] = {
    0x04,          // UBX-NAV-DOP
    0x20,          // UBX-NAV-TIMEGPS
    // UBX-NAV-CLOCK, nice cycle ender if no NAV-EOE (protVer 18)
    0x22,
};

// UBX-NAV for protver < 15, not present in protVer >= 27
static const unsigned char ubx_14_nav_on[] = {
    0x06,              // msg id = NAV-SOL
    0x30,              // msg id = NAV-SVINFO
};

// UBX for protver >= 15
static const unsigned char ubx_15_nav_on[] = {
    // Need NAV-POSECEF, NAV-VELECEF and NAV-PVT to replace NAV-SOL
    0x01,              // msg id = NAV-POSECEF
    0x07,              // msg id = NAV-PVT
    0x11,              // msg id = NAV-VELECEF
    0x35,              // msg id = NAV-SAT
    0x43,              // msg id = NAV-SIG
};

// end ubx message configuration stuff

static gps_mask_t ubx_msg_inf(struct gps_device_t *session, unsigned char *buf,
                              size_t data_len);
static gps_mask_t ubx_msg_log_batch(struct gps_device_t *session,
                                    unsigned char *buf, size_t data_len);
static gps_mask_t ubx_msg_log_info(struct gps_device_t *session,
                                   unsigned char *buf, size_t data_len);
static gps_mask_t ubx_msg_log_retrievepos(struct gps_device_t *session,
                                          unsigned char *buf, size_t data_len);
static gps_mask_t ubx_msg_log_retrieveposextra(struct gps_device_t *session,
                                               unsigned char *buf,
                                               size_t data_len);
static gps_mask_t ubx_msg_log_retrievestring(struct gps_device_t *session,
                                             unsigned char *buf,
                                             size_t data_len);
static gps_mask_t ubx_msg_nav_dop(struct gps_device_t *session,
                                  unsigned char *buf, size_t data_len);
static gps_mask_t ubx_msg_nav_eoe(struct gps_device_t *session,
                                  unsigned char *buf, size_t data_len);
static gps_mask_t ubx_msg_nav_posecef(struct gps_device_t *session,
                                      unsigned char *buf, size_t data_len);
static gps_mask_t ubx_msg_nav_pvt(struct gps_device_t *session,
                                  unsigned char *buf, size_t data_len);
static gps_mask_t ubx_msg_nav_sat(struct gps_device_t *session,
                                  unsigned char *buf, size_t data_len);
static gps_mask_t ubx_msg_nav_sbas(struct gps_device_t *session,
                                   unsigned char *buf, size_t data_len);
static gps_mask_t ubx_msg_nav_sol(struct gps_device_t *session,
                                  unsigned char *buf, size_t data_len);
static gps_mask_t ubx_msg_nav_svinfo(struct gps_device_t *session,
                                     unsigned char *buf, size_t data_len);
static gps_mask_t ubx_msg_nav_timegps(struct gps_device_t *session,
                                      unsigned char *buf, size_t data_len);
static gps_mask_t ubx_msg_sec_uniqid(struct gps_device_t *session,
                                  unsigned char *buf, size_t data_len);
static gps_mask_t ubx_msg_nav_velecef(struct gps_device_t *session,
                                      unsigned char *buf, size_t data_len);
static gps_mask_t ubx_msg_tim_tp(struct gps_device_t *session,
                                 unsigned char *buf, size_t data_len);
static void ubx_mode(struct gps_device_t *session, int mode);

typedef struct {
    const char *fw_string;
    const float protver;
} fw_protver_map_entry_t;

/* based on u-blox document no. GPS.G7-SW-12001-B1 (15 June 2018)
 * capture decimal parts of protVer info even when session->protver currently
 * is integer (which _might_ change in the future, so avoid having to revisit
 * the info at that time).
 * This list is substantially incomplete and over specific. */
static const fw_protver_map_entry_t fw_protver_map[] = {
    {"2.10", 8.10},           // antaris 4, version 8 is a guess
    {"2.11", 8.11},           // antaris 4, version 8 is a guess
    {"3.04", 9.00},           // antaris 4, version 9 is a guess
    {"4.00", 10.00},          // antaris 4, and u-blox 5
    {"4.01", 10.01},          // antaris 4, and u-blox 5
    {"5.00", 11.00},          // u-blox 5 and antaris 4
    {"6.00", 12.00},          // u-blox 5 and 6
    {"6.02", 12.02},          // u-blox 5 and 6
    {"6.02", 12.03},          // u-blox 5 and 6
    {"7.01", 13.01},          // u-blox 7
    {"7.03", 13.03},          // u-blox 6 and 7
    {"1.00", 14.00},          // u-blox 6 w/ GLONASS, and 7
    // protVer >14 should carry explicit protVer in MON-VER extension
    {NULL, 0.0},
};

/*
 * Model  Fw          Protver
 * M8     2,01        15.00
 * M9     HPG 1.13    27.12
 * M10    SPG 5.00    34.00
 * F20P   HPG 2.02    50.10
 */

/* send a ubx message.
 * calculate checksums, etc.
 */
bool ubx_write(struct gps_device_t * session,
               unsigned int msg_class, unsigned int msg_id,
               const unsigned char *msg, size_t data_len)
{
    unsigned char CK_A, CK_B;
    ssize_t count;
    size_t i;
    bool ok;

    // do not write if -b (readonly) option set
    // "passive" handled earlier
    if (session->context->readonly) {
        return true;
    }

    session->msgbuf[0] = 0xb5;
    session->msgbuf[1] = 0x62;

    CK_A = CK_B = 0;
    session->msgbuf[2] = msg_class;
    session->msgbuf[3] = msg_id;
    session->msgbuf[4] = data_len & 0xff;
    session->msgbuf[5] = (data_len >> 8) & 0xff;

    if ((sizeof(session->msgbuf) - 8) <= data_len) {
        GPSD_LOG(LOG_ERROR, &session->context->errout,
                 "=> GPS: UBX class: %02x, id: %02x, len: %zd TOO LONG!\n",
                 msg_class, msg_id, data_len);
    }
    if (NULL != msg &&
        0 < data_len) {
        (void)memcpy(&session->msgbuf[6], msg, data_len);
    }

    // calculate CRC
    for (i = 2; i < (6 + data_len); i++) {
        CK_A += session->msgbuf[i];
        CK_B += CK_A;
    }

    session->msgbuf[6 + data_len] = CK_A;
    session->msgbuf[7 + data_len] = CK_B;
    session->msgbuflen = data_len + 8;

    GPSD_LOG(LOG_PROG, &session->context->errout,
             "=> GPS: UBX class: %02x, id: %02x, len: %zd, crc: %02x%02x\n",
             msg_class, msg_id, data_len,
             CK_A, CK_B);
    count = gpsd_write(session, session->msgbuf, session->msgbuflen);
    ok = (count == (ssize_t) session->msgbuflen);
    return (ok);
}

/* aPower2ant_power()
 * convert UBX antenna power flag to gpsd ant_power flag.
 * Used by UBX-MON-HW, and UBX-MON-RF.
 *
 */
static int aPower2ant_power(unsigned aPower)
{
    int ant_power;

    switch(aPower) {
    case 0:
        // Power off
        ant_power = ANT_PWR_OFF;
        break;
    case 1:
        // Power on
        ant_power = ANT_PWR_ON;
        break;
    case 2:
        // Power state unknown
        FALLTHROUGH
    default:
        // Unknown values
        ant_power = ANT_PWR_UNK;
       break;
    }
    return ant_power;
}

/* antStat2ant_stat()
 * convert UBX antenna status flag to gpsd ant_stat flag.
 * Used by UBX-MON-HW, and UBX-MON-RF.
 *
 */
static int antStat2ant_status(unsigned antStat)
{
    int ant_stat;

    switch (antStat) {
    case 2:
        ant_stat = ANT_OK;
        break;
    case 3:
        ant_stat = ANT_SHORT;
        break;
    case 4:
        ant_stat = ANT_OPEN;
        break;
    case 0:
        // Init
        FALLTHROUGH
    case 1:
        // Unknown
        FALLTHROUGH
    default:
        // Dunno...
        ant_stat = ANT_UNK;
        break;
    }
    return ant_stat;
}

/* Convert a ubx PRN (single svid) to an NMEA 4.0 (extended)
 * PRN and ubx gnssid, svid
 *
 * This does NOT match NMEA 4.10 and 4.11 where all PRN are 1-99,
 * except IMES, QZSS, and some SBAS.
 *
 * return 0 on fail
 */
static short ubx_to_prn(int ubx_PRN, unsigned char *gnssId,
                        unsigned char *svId)
{
    *gnssId = 0;
    *svId = 0;

    // IRNSS??
    if (1 > ubx_PRN) {
        // skip 0 PRN
        return 0;
    } else if (32 >= ubx_PRN) {
        // GPS 1..32 -> 1..32
        *gnssId = 0;
        *svId = ubx_PRN;
    } else if (64 >= ubx_PRN) {
        /* BeiDou, 159..163,33..64 -> 1..5,6..37
         * Wikipedia, March 2025, says BDS PRNs go up to 62
         * Where/how do they map??
         * https://en.wikipedia.org/wiki/List_of_BeiDou_satellites */
        *gnssId = 3;
        *svId = ubx_PRN - 27;
    } else if (96 >= ubx_PRN) {
        // GLONASS 65..96 -> 1..32
        *gnssId = 6;
        *svId = ubx_PRN - 64;
    } else if (120 > ubx_PRN) {
        // Huh?
        return 0;
    } else if (158 >= ubx_PRN) {
        // SBAS 120..158 -> 120..158
        *gnssId = 1;
        *svId = ubx_PRN;
    } else if (163 >= ubx_PRN) {
        // BeiDou, 159..163 -> 1..5
        *gnssId = 3;
        *svId = ubx_PRN - 158;
    } else if (173 > ubx_PRN) {
        // Huh?
        return 0;
    } else if (182 >= ubx_PRN) {
        // IMES 173..182 -> 1..5, in u-blox 8, bot u-blox 9
        *gnssId = 4;
        *svId = ubx_PRN - 172;
    } else if (193 > ubx_PRN) {
        // Huh?
        return 0;
    } else if (199 >= ubx_PRN) {
        // QZSS 193..197 -> 1..5
        // ZED-F9T also see 198 and 199
        *gnssId = 5;
        *svId = ubx_PRN - 192;
    } else if (211 > ubx_PRN) {
        // Huh?
        return 0;
    } else if (246 >= ubx_PRN) {
        // Galileo 211..246 -> 1..36
        *gnssId = 2;
        *svId = ubx_PRN - 210;
    } else {
        // greater than 246, GLONASS (255), unused, or other unknown
        return 0;
    }
    return ubx2_to_prn(*gnssId, *svId);
}

// UBX-ACK-ACK, UBX-ACK-NAK
static gps_mask_t ubx_msg_ack(struct gps_device_t *session,
                              unsigned char *buf, size_t data_len)
{
    unsigned msgid = getbes16(buf, 2);

    if (2 > data_len) {
        GPSD_LOG(LOG_WARN, &session->context->errout,
                 "UBX: %s-: runt payload len %zd",
                 val2str(msgid, vack_ids), data_len);
        return 0;
    }
    GPSD_LOG(LOG_PROG, &session->context->errout,
             "UBX: %s: class: %02x, id: %02x\n",
             val2str(msgid, vack_ids),
             buf[UBX_PREFIX_LEN],
             buf[UBX_PREFIX_LEN + 1]);
    return 0;
}

// UBX-CFG-DOSC
static gps_mask_t ubx_msg_cfg_dosc(struct gps_device_t *session,
                                   unsigned char *buf, size_t data_len)
{
    unsigned version, numOsc, reserved1;

    if (4 > data_len) {
        GPSD_LOG(LOG_WARN, &session->context->errout,
                 "UBX: CFG-DOSC, runt payload len %zd", data_len);
        return 0;
    }
    version = getub(buf, 0);

    if (0 != version) {
        GPSD_LOG(LOG_WARN, &session->context->errout,
                 "UBX: CFG-DOSC, unknown version %u\n", version);
        return 0;
    }

    numOsc = getub(buf, 1);
    if (2 < numOsc) {
        GPSD_LOG(LOG_WARN, &session->context->errout,
                 "UBX: CFG-DOSC, invalid numOsc %u\n", numOsc);
        return 0;
    }
    reserved1 = getleu16(buf, 2);

    GPSD_LOG(LOG_PROG, &session->context->errout,
             "UBX: CFG-DOSC: version %u numOsc %u reserved1 x%x \n",
             version, numOsc, reserved1);

    return 0;
}

// UBX-CFG-ESRC
static gps_mask_t ubx_msg_cfg_esrc(struct gps_device_t *session,
                                   unsigned char *buf, size_t data_len)
{
    unsigned version, numSources, reserved1;

    if (4 > data_len) {
        GPSD_LOG(LOG_WARN, &session->context->errout,
                 "UBX: CFG-ESRC, runt payload len %zd", data_len);
        return 0;
    }
    version = getub(buf, 0);

    if (0 != version) {
        GPSD_LOG(LOG_WARN, &session->context->errout,
                 "UBX: CFG-DOSC, unknown version %u\n", version);
        return 0;
    }

    numSources = getub(buf, 1);
    if (2 < numSources) {
        GPSD_LOG(LOG_WARN, &session->context->errout,
                 "UBX: CFG-ESRC, invalid numSources %u\n", numSources);
        return 0;
    }
    reserved1 = getleu16(buf, 2);

    GPSD_LOG(LOG_PROG, &session->context->errout,
             "UBX: CFG-ESRC: version %u numSources %u reserved1 x%x \n",
             version, numSources, reserved1);

    return 0;
}

// UBX-CFG-RATE
// Deprecated in u-blox 10
static gps_mask_t ubx_msg_cfg_rate(struct gps_device_t *session,
                                   unsigned char *buf, size_t data_len)
{
    uint16_t measRate, navRate, timeRef;

    if (6 > data_len) {
        GPSD_LOG(LOG_WARN, &session->context->errout,
                 "UBX: CFG-RATE, runt payload len %zd", data_len);
        return 0;
    }

    measRate = getleu16(buf, 0);  // Measurement rate (ms)
    navRate = getleu16(buf, 2);   // Navigation rate (cycles)
    timeRef = getleu16(buf, 4);   // Time system, e.g. UTC, GPS, ...

    GPSD_LOG(LOG_PROG, &session->context->errout,
             "UBX: CFG-RATE: measRate %ums, navRate %u cycle(s), timeRef %u\n",
             (unsigned)measRate, (unsigned)navRate,
             (unsigned)timeRef);

    // Update our notion of what the device's measurement rate is
    MSTOTS(&session->gpsdata.dev.cycle, measRate);

    return 0;
}

/* UBX-CFG-VALGET
 * Present in protVer 24 and up
 */
static gps_mask_t ubx_msg_cfg_valget(struct gps_device_t *session,
                                   unsigned char *buf, size_t data_len)
{
    unsigned version, layer, position;

    if (4 > data_len) {
        GPSD_LOG(LOG_WARN, &session->context->errout,
                 "UBX: CFG-VALGET, runt payload len %zd", data_len);
        return 0;
    }

    version = getub(buf, 0);        // version

    if (1 != version) {
        GPSD_LOG(LOG_WARN, &session->context->errout,
                 "UBX: CFG-VALGET, unknown version %u\n", version);
        return 0;
    }

    layer = getub(buf, 1);           // layer
    position = getleu16(buf, 2);     // position

    GPSD_LOG(LOG_PROG, &session->context->errout,
             "UBX: CFG-VALGET: version %u layer %u position %u\n",
             version, layer, position);

    // FIXME: get the key/value pairs.

    return 0;
}

/* UBX-ESF-ALG
 *
 * UBX-ESF-ALG, and UBX-ESF-INS are synchronous to the GNSS epoch.
 * They need to be combined and reported together with the rest of
 * the epoch.
 */
static gps_mask_t ubx_msg_esf_alg(struct gps_device_t *session,
                                  unsigned char *buf, size_t data_len)
{
    unsigned version, flags, error, reserved1;
    unsigned long yaw;
    int pitch, roll;
    static gps_mask_t mask = 0;

    if (16 > data_len) {
        GPSD_LOG(LOG_WARN, &session->context->errout,
                 "UBX: ESF-ALG: runt payload len %zd", data_len);
        return mask;
    }

    // UBX-ESF-ALG is aligned with the GNSS epoch.
    session->driver.ubx.iTOW = getleu32(buf, 0);

    version = getub(buf, 4);
    flags = getub(buf, 5);
    error = getub(buf, 6);
    reserved1 = getub(buf, 7);
    yaw = getleu32(buf, 8);
    pitch = getles16(buf, 12);
    roll = getles16(buf, 14);

    if (0 == (2 & error)) {
        // no yawAlgError
        session->gpsdata.attitude.yaw = 0.01 * yaw;
        mask |= ATTITUDE_SET;
    }
    if (0 == (5 & error)) {
        // no tiltAlgError or angleError
        session->gpsdata.attitude.roll = 0.01 * roll;
        session->gpsdata.attitude.pitch = 0.01 * pitch;
        mask |= ATTITUDE_SET;
    }

    if (0 != mask) {
        timespec_t ts_tow;
        // got good data, set the measurement time
        MSTOTS(&ts_tow, session->driver.ubx.iTOW);
        session->gpsdata.attitude.mtime =
            gpsd_gpstime_resolv(session, session->context->gps_week, ts_tow);
    }
    GPSD_LOG(LOG_PROG, &session->context->errout,
             "UBX: ESF-ALG: iTOW %lld version %u flags x%x error x%x"
             " reserved1 x%x yaw %ld pitch %u roll %u\n",
            (long long)session->driver.ubx.iTOW, version, flags, error,
            reserved1, yaw, pitch, roll);

    return mask;
}

/* UBX-ESF-INS
 *
 * protVer 19 and up.  ADR and UDR only
 *
 * UBX-ESF-ALG, and UBX-ESF-INS are synchronous to the GNSS epoch.
 * They need to be combined and reported together with the rest of
 * the epoch.
 */
static gps_mask_t ubx_msg_esf_ins(struct gps_device_t *session,
                                  unsigned char *buf, size_t data_len)
{
    unsigned long long bitfield0, reserved1;
    long xAngRate, yAngRate, zAngRate;
    long xAccel, yAccel, zAccel;
    static gps_mask_t mask = 0;

    if (16 > data_len) {
        GPSD_LOG(LOG_WARN, &session->context->errout,
                 "UBX: ESF-INS: runt payload len %zd", data_len);
        return mask;
    }

    bitfield0 = getleu32(buf, 0);
    reserved1 = getleu32(buf, 4);
    // UBX-ESF-INS is aligned with the GNSS epoch.
    session->driver.ubx.iTOW = getleu32(buf, 8);
    xAngRate = getles32(buf, 12);
    yAngRate = getles32(buf, 16);
    zAngRate = getles32(buf, 20);
    xAccel = getles32(buf, 24);
    yAccel = getles32(buf, 28);
    zAccel = getles32(buf, 32);

    if (0x100 == (0x100 & bitfield0)) {
        // xAngRateValid
        session->gpsdata.attitude.gyro_x = 0.001 * xAngRate;  // deg/s
        mask |= ATTITUDE_SET;
    }
    if (0x200 == (0x200 & bitfield0)) {
        // yAngRateValid
        session->gpsdata.attitude.gyro_y = 0.001 * yAngRate;  // deg/s
        mask |= ATTITUDE_SET;
    }
    if (0x400 == (0x400 & bitfield0)) {
        // zAngRateValid
        session->gpsdata.attitude.gyro_z = 0.001 * zAngRate;  // deg/s
        mask |= ATTITUDE_SET;
    }
    if (0x800 == (0x800 & bitfield0)) {
        // xAccelValid
        session->gpsdata.attitude.acc_x = 0.01 * xAccel;  // m/s^2
        mask |= ATTITUDE_SET;
    }
    if (0x1000 == (0x1000 & bitfield0)) {
        // yAccelValid
        session->gpsdata.attitude.acc_y = 0.01 * yAccel;  // m/s^2
        mask |= ATTITUDE_SET;
    }
    if (0x2000 == (0x2000 & bitfield0)) {
        // zAccelValid
        session->gpsdata.attitude.acc_z = 0.01 * zAccel;  // m/s^2
        mask |= ATTITUDE_SET;
    }

    if (0 != mask) {
        timespec_t ts_tow;
        // got good data, set the measurement time
        MSTOTS(&ts_tow, session->driver.ubx.iTOW);
        session->gpsdata.attitude.mtime =
            gpsd_gpstime_resolv(session, session->context->gps_week, ts_tow);
    }
    GPSD_LOG(LOG_PROG, &session->context->errout,
             "UBX: ESF-INS: bitfield0 %llu, reserved1 %llu iTOW %lld"
             " xAngRate %ld yAngRate %ld zAngRate %ld"
             " xAccel %ld yAccel %ld zAccel %ld\n",
            bitfield0, reserved1,
            (long long)session->driver.ubx.iTOW,
            xAngRate, yAngRate, zAngRate, xAccel, yAccel, zAccel);

    return mask;
}

/* UBX-ESF-MEAS
 *
 * protVer 15 and up.  ADR only
 * protVer 19 and up.  ADR and UDR only
 *
 * asynchronous to the GNSS epoch, and at a higher rate.
 * Needs to be reported immediately.
 *
 */
static gps_mask_t ubx_msg_esf_meas(struct gps_device_t *session,
                                   unsigned char *buf, size_t data_len)
{
    unsigned flags, id, numMeas, expected_len;
    gps_mask_t mask = 0;
    unsigned i;
    // where to store the IMU data.
    struct attitude_t *datap = &session->gpsdata.imu[0];

    if (8 > data_len) {
        GPSD_LOG(LOG_WARN, &session->context->errout,
                 "UBX: ESF-MEAS: runt payload len %zd", data_len);
        return mask;
    }
    // do not accumulate IMU data
    gps_clear_att(datap);
    (void)strlcpy(datap->msg, "UBX-ESF-MEAS", sizeof(datap->msg));

    datap->timeTag = getleu32(buf, 0);
    flags = getleu16(buf, 4);
    numMeas = (flags >> 11) & 0x01f;
    id = getleu16(buf, 6);
    expected_len = 8 + (4 * numMeas);
    if (0x08 & flags) {
        expected_len += 4;
    }
    if (expected_len != data_len) {
        GPSD_LOG(LOG_WARN, &session->context->errout,
                 "UBX: ESF-MEAS: bad length.  Got %zd, expected %u",
                 data_len, expected_len);
        return 0;
    }

    GPSD_LOG(LOG_PROG, &session->context->errout,
             "UBX: ESF-MEAS: timeTag %lu flags x%x (numMeas %u) id %u\n",
             datap->timeTag, flags, numMeas, id);

    for (i = 0; i < numMeas; i++) {
        unsigned long data, dataField;
        long dataF;
        unsigned char dataType;

        data = getleu32(buf, 8 + (i * 4));
        dataType = (unsigned char)(data >> 24) & 0x3f;
        dataField = data & BITMASK(24);
        switch (dataType) {
        case 5:            // gyro z angular rate, deg/s^2
            dataF = UINT2INT(dataField, 24);
            datap->gyro_z = dataF / 4096.0;
            mask |= IMU_SET;
            break;
        case 12:           // gyro temp, deg C
            dataF = UINT2INT(dataField, 24);
            datap->gyro_temp = dataF / 100.0;
            mask |= IMU_SET;
            break;
        case 13:           // gyro y angular rate, deg/s^2
            dataF = UINT2INT(dataField, 24);
            datap->gyro_y = dataF / 4096.0;
            mask |= IMU_SET;
            break;
        case 14:           // gyro x angular rate, deg/s^2
            dataF = UINT2INT(dataField, 24);
            datap->gyro_x = dataF / 4096.0;
            mask |= IMU_SET;
            break;
        case 16:            // accel x, m/s^2
            dataF = UINT2INT(dataField, 24);
            datap->acc_x = dataF / 1024.0;
            mask |= IMU_SET;
            break;
        case 17:           // accel y, m/s^2
            dataF = UINT2INT(dataField, 24);
            datap->acc_y = dataF / 1024.0;
            mask |= IMU_SET;
            break;
        case 18:           // accel z, m/s^2
            dataF = UINT2INT(dataField, 24);
            datap->acc_z = dataF / 1024.0;
            mask |= IMU_SET;
            break;
        // case 6:            // front-left wheel ticks
        // case 7:            // front-right wheel ticks
        // case 8:            // rear-left wheel ticks
        // case 9:            // rear-right wheel ticks
        // case 10:           // speed tick
        // case 11:           // speed, m/s
        default:
            // ignore all else
            dataF = dataField;
            break;
        }

        GPSD_LOG(LOG_PROG + 1, &session->context->errout,
                 "UBX: ESF-MEAS: dataType %2u dataField %9ld\n",
                 dataType, dataF);
    }

    return mask;
}

/* UBX-ESF-RAW
 *
 * protVer 15 and up.  ADR only
 * protVer 19 and up.  ADR and UDR only
 *
 * asynchronous to the GNSS epoch, and a a higher rate.
 * Needs to be reported immediately.
 *
 */
static gps_mask_t ubx_msg_esf_raw(struct gps_device_t *session,
                                  unsigned char *buf, size_t data_len)
{
    unsigned long reserved1, last_sTtag = 0;
    unsigned i;
    uint16_t blocks;
    gps_mask_t mask = 0;
    struct attitude_t *datap = NULL;
    int max_imu, cur_imu = -1;
    max_imu = sizeof(session->gpsdata.imu) / sizeof(struct attitude_t);

    if (4 > data_len) {
        GPSD_LOG(LOG_WARN, &session->context->errout,
                 "UBX: ESF-RAW:runt payload len %zd", data_len);
        return mask;
    }

    reserved1 = getleu32(buf, 0);  // reserved1
    if (0 != ((data_len - 4) % 8)) {
        GPSD_LOG(LOG_WARN, &session->context->errout,
                 "UBX: ESF-RAW: weird payload len %zd", data_len);
        return mask;
    }
    blocks = (data_len - 4) / 8;

    GPSD_LOG(LOG_PROG, &session->context->errout,
             "UBX: ESF-RAW: reserved1 x%lx, blocks %u\n",
             reserved1, blocks);

    // loop over all blocks, use the next imu[] when time changes.
    for (i = 0; i < blocks; i++) {
        unsigned long data, dataField, sTtag;
        long dataF;
        unsigned char dataType;

        sTtag = getleu32(buf, 8 + (i * 8));
        if ((-1 == cur_imu) ||
            (last_sTtag != sTtag)) {
            cur_imu++;
            if (max_imu <= cur_imu) {
                GPSD_LOG(LOG_WARN, &session->context->errout,
                         "UBX: ESF-RAW: too many imu max %d block %u\n",
                         max_imu, i);
                break;
            }
            last_sTtag = sTtag;
            datap = &session->gpsdata.imu[cur_imu];
            // do not accumulate IMU data
            gps_clear_att(datap);
            (void)strlcpy(datap->msg, "UBX-ESF-RAW", sizeof(datap->msg));
        }
        if (NULL == datap) {
            // paranoia
            continue;
        }

        data = getleu32(buf, 4 + (i * 8));
        dataType = (unsigned char)(data >> 24) & 0x3f;
        dataField = data & BITMASK(24);
        datap->timeTag = sTtag;
        switch (dataType) {
        case 5:            // gyro z angular rate, deg/s^2
            dataF = UINT2INT(dataField, 24);
            datap->gyro_z = dataF / 4096.0;
            mask |= IMU_SET;
            break;
        case 12:           // gyro temp, deg C
            dataF = UINT2INT(dataField, 24);
            datap->gyro_temp = dataF / 100.0;
            mask |= IMU_SET;
            break;
        case 13:           // gyro y angular rate, deg/s^2
            dataF = UINT2INT(dataField, 24);
            datap->gyro_y = dataF / 4096.0;
            mask |= IMU_SET;
            break;
        case 14:           // gyro x angular rate, deg/s^2
            dataF = UINT2INT(dataField, 24);
            datap->gyro_x = dataF / 4096.0;
            mask |= IMU_SET;
            break;
        case 16:            // accel x, m/s^2
            dataF = UINT2INT(dataField, 24);
            datap->acc_x = dataF / 1024.0;
            mask |= IMU_SET;
            break;
        case 17:           // accel y, m/s^2
            dataF = UINT2INT(dataField, 24);
            datap->acc_y = dataF / 1024.0;
            mask |= IMU_SET;
            break;
        case 18:           // accel z, m/s^2
            dataF = UINT2INT(dataField, 24);
            datap->acc_z = dataF / 1024.0;
            mask |= IMU_SET;
            break;
        // case 6:            // front-left wheel ticks
        // case 7:            // front-right wheel ticks
        // case 8:            // rear-left wheel ticks
        // case 9:            // rear-right wheel ticks
        // case 10:           // speed tick
        // case 11:           // speed, m/s
        default:
            // ignore all else
            dataF = dataField;
            break;
        }

        GPSD_LOG(LOG_PROG + 1, &session->context->errout,
                 "UBX: ESF-RAW: dataType %2u dataField %9ld sTtag %lu\n",
                 dataType, dataF, datap->timeTag);
    }
    return mask;
}

// UBX-ESF-STATUS
static gps_mask_t ubx_msg_esf_status(struct gps_device_t *session,
                                     unsigned char *buf, size_t data_len)
{
    unsigned version, fusionMode, numSens, expected_len;
    static gps_mask_t mask = 0;

    if (16 > data_len) {
        GPSD_LOG(LOG_WARN, &session->context->errout,
                 "UBX: ESF-STATUS:runt payload len %zd", data_len);
        return mask;
    }

    session->driver.ubx.iTOW = getleu32(buf, 0);
    version = getub(buf, 4);
    fusionMode = getub(buf, 12);
    numSens = getub(buf, 15);
    expected_len = 16 + (4 * numSens);

    if (expected_len != data_len) {
        GPSD_LOG(LOG_WARN, &session->context->errout,
                 "UBX: ESF-STATUS: bad length.  Expected %u got %zd",
                 expected_len, data_len);
        return mask;
    }

    GPSD_LOG(LOG_PROG, &session->context->errout,
             "UBX: ESF-STATUS: iTOW %lld version %u fusionMode %u numSens %u\n",
            (long long)session->driver.ubx.iTOW, version, fusionMode, numSens);

    return mask;
}

/**
 * HNR Attitude solution
 * UBX-HNR-ATT Class x28, ID 1
 *
 * Not before u-blox 8, protVer 19.2 and up.
 * only on ADR, and UDR
 */
static gps_mask_t ubx_msg_hnr_att(struct gps_device_t *session,
                                  unsigned char *buf, size_t data_len)
{
    uint8_t version;
    int64_t iTOW;
    timespec_t ts_tow;
    gps_mask_t mask = 0;

    if (32 > data_len) {
        GPSD_LOG(LOG_WARN, &session->context->errout,
                 "UBX: HNR-ATT: runt payload len %zd", data_len);
        return 0;
    }

    // don't set session->driver.ubx.iTOW, HNR is off-cycle
    iTOW = getleu32(buf, 0);
    MSTOTS(&ts_tow, iTOW);
    session->gpsdata.attitude.mtime =
        gpsd_gpstime_resolv(session, session->context->gps_week, ts_tow);

    version  = (unsigned int)getub(buf, 4);

    session->gpsdata.attitude.roll = 1e-5 * getles32(buf, 8);
    session->gpsdata.attitude.pitch = 1e-5 * getles32(buf, 12);
    // seems to be true heading
    session->gpsdata.attitude.heading = 1e-5 * getles32(buf, 16);
    mask |= ATTITUDE_SET;

    GPSD_LOG(LOG_PROG, &session->context->errout,
         "UBX: HNR-ATT: iTOW %lld version %u roll %.5f pitch %.5f "
         "heading %.5f\n",
         (long long)iTOW,
         version,
         session->gpsdata.attitude.roll,
         session->gpsdata.attitude.pitch,
         session->gpsdata.attitude.heading);

    return mask;
}

/**
 * HNR Vehicle dynamics information
 * UBX-HNR-INS Class x28, ID 2
 *
 * Not before u-blox 8, protVer 19.1 and up.
 * only on ADR, and UDR
 */
static gps_mask_t ubx_msg_hnr_ins(struct gps_device_t *session,
                                  unsigned char *buf, size_t data_len)
{
    uint8_t version;
    uint32_t bitfield0;
    gps_mask_t mask = 0;
    int64_t iTOW;

    if (36 > data_len) {
        GPSD_LOG(LOG_WARN, &session->context->errout,
                 "UBX: HNR-INS: runt payload len %zd", data_len);
        return 0;
    }

    version  = (unsigned int)getub(buf, 0);

    bitfield0 = getleu32(buf, 0);
    // don't set session->driver.ubx.iTOW, HNR is off-cycle
    iTOW = getleu32(buf, 8);

    if (0x100 == (0x100 & bitfield0)) {
        // xAngRateValid
        session->gpsdata.attitude.gyro_x = 0.001 * getles32(buf, 12);  // deg/s
        mask |= ATTITUDE_SET;
    }
    if (0x200 == (0x200 & bitfield0)) {
        // yAngRateValid
        session->gpsdata.attitude.gyro_y = 0.001 * getles32(buf, 16);  // deg/s
        mask |= ATTITUDE_SET;
    }
    if (0x400 == (0x400 & bitfield0)) {
        // zAngRateValid
        session->gpsdata.attitude.gyro_z = 0.001 * getles32(buf, 20);  // deg/s
        mask |= ATTITUDE_SET;
    }
    if (0x800 == (0x800 & bitfield0)) {
        // xAccelValid
        session->gpsdata.attitude.acc_x = 0.01 * getles32(buf, 24);  // m/s^2
        mask |= ATTITUDE_SET;
    }
    if (0x1000 == (0x1000 & bitfield0)) {
        // yAccelValid
        session->gpsdata.attitude.acc_y = 0.01 * getles32(buf, 28);  // m/s^2
        mask |= ATTITUDE_SET;
    }
    if (0x2000 == (0x2000 & bitfield0)) {
        // zAccelValid
        session->gpsdata.attitude.acc_z = 0.01 * getles32(buf, 32);  // m/s^2
        mask |= ATTITUDE_SET;
    }

    if (0 != mask) {
        timespec_t ts_tow;
        // got good data, set the measurement time
        MSTOTS(&ts_tow, iTOW);
        session->gpsdata.attitude.mtime =
            gpsd_gpstime_resolv(session, session->context->gps_week, ts_tow);
    }

    GPSD_LOG(LOG_PROG, &session->context->errout,
         "UBX: HNR-INS: iTOW %lld version %u bitfield0 x%x "
         "gyro_x %.3f gyro_y %.3f gyro_z %.3f "
         "acc_x %.3f acc_y %.3f acc_z %.3f\n",
         (long long)iTOW,
         version, bitfield0,
         session->gpsdata.attitude.gyro_x,
         session->gpsdata.attitude.gyro_y,
         session->gpsdata.attitude.gyro_z,
         session->gpsdata.attitude.acc_x,
         session->gpsdata.attitude.acc_y,
         session->gpsdata.attitude.acc_z);

    return mask;
}

/**
 * High rate output of PVT solution
 * UBX-HNR-PVT Class x28, ID 2
 *
 * Present in:
 *    protVer 19 and up
 *    only on ADR, and UDR
 */
static gps_mask_t ubx_msg_hnr_pvt(struct gps_device_t *session,
                                  unsigned char *buf, size_t data_len)
{
    char buf2[80];
    char buf3[80];
    char ts_buf[TIMESPEC_LEN];
    gps_mask_t mask = 0;
    int64_t iTOW;
    int *mode = &session->newdata.mode;
    int *status = &session->newdata.status;
    struct tm unpacked_date = {0};
    unsigned flags;
    unsigned gpsFix;    // same as NAV-PVT typeFix
    unsigned valid;

    if (72 > data_len) {
        GPSD_LOG(LOG_WARN, &session->context->errout,
                 "UBX: HNR-PVT: runt payload len %zd", data_len);
        return 0;
    }

    // don't set session->driver.ubx.iTOW, HNR is off-cycle
    iTOW = getleu32(buf, 0);
    // valid same as UBX-NAV-PVT valid
    valid = (unsigned int)getub(buf, 11);
    // gpsFix same as UBX-NAV-PVT fixType
    gpsFix = (unsigned char)getub(buf, 16);
    // flags NOT same as UBX-NAV-PVT flags
    flags = (unsigned int)getub(buf, 17);

    switch (gpsFix) {
    case UBX_MODE_TMONLY:
        // 5 - Surveyed-in, so a precise 3D.
        *mode = MODE_3D;
        *status = STATUS_TIME;
        mask |= LATLON_SET | SPEED_SET | MODE_SET | STATUS_SET;
        break;

    case UBX_MODE_3D:
        // 3
        *mode = MODE_3D;
        *status = STATUS_GPS;
        mask |= LATLON_SET | SPEED_SET | MODE_SET | STATUS_SET;
        break;

    case UBX_MODE_GPSDR:
        // 4
        *mode = MODE_3D;
        *status = STATUS_GNSSDR;
        mask |= LATLON_SET | SPEED_SET | MODE_SET | STATUS_SET;
        break;

    case UBX_MODE_2D:
        // 2
        *mode = MODE_2D;
        *status = STATUS_GPS;
        mask |= LATLON_SET | SPEED_SET | MODE_SET | STATUS_SET;
        break;

    case UBX_MODE_DR:           // consider this too as 2D
        // 1
        // should be 3D?
        *mode = MODE_2D;
        *status = STATUS_DR;
        mask |= LATLON_SET | SPEED_SET | MODE_SET | STATUS_SET;
        break;

    case UBX_MODE_NOFIX:
        // 0
        FALLTHROUGH
    default:
        // huh?
        *mode = MODE_NO_FIX;
        *status = STATUS_UNK;
        mask |= MODE_SET | STATUS_SET;
        break;
    }

    if (UBX_NAV_PVT_FLAG_DGPS == (flags & UBX_NAV_PVT_FLAG_DGPS)) {
        // RTK flags not in u-blox 8
        if (STATUS_TIME == *status) {
            // leave it
        } else if (UBX_NAV_PVT_FLAG_RTK_FIX ==
                   (flags & UBX_NAV_PVT_FLAG_RTK_FIX)) {
            *status = STATUS_RTK_FIX;
        } else if (UBX_NAV_PVT_FLAG_RTK_FLT ==
                   (flags & UBX_NAV_PVT_FLAG_RTK_FLT)) {
            *status = STATUS_RTK_FLT;
        } else {
            *status = STATUS_DGPS;
        }
        mask |= STATUS_SET;
    }

    if (UBX_NAV_PVT_VALID_DATE_TIME == (valid & UBX_NAV_PVT_VALID_DATE_TIME)) {
        unpacked_date.tm_year = (uint16_t)getleu16(buf, 4) - 1900;
        unpacked_date.tm_mon = (uint8_t)getub(buf, 6) - 1;
        unpacked_date.tm_mday = (uint8_t)getub(buf, 7);
        unpacked_date.tm_hour = (uint8_t)getub(buf, 8);
        unpacked_date.tm_min = (uint8_t)getub(buf, 9);
        unpacked_date.tm_sec = (uint8_t)getub(buf, 10);
        unpacked_date.tm_isdst = 0;
        unpacked_date.tm_wday = 0;
        unpacked_date.tm_yday = 0;
        session->newdata.time.tv_sec = mkgmtime(&unpacked_date);
        // field 9, nano, can be negative! So normalize
        session->newdata.time.tv_nsec = getles32(buf, 12);
        TS_NORM(&session->newdata.time);
        mask |= TIME_SET | NTPTIME_IS | GOODTIME_IS;
    }

    session->newdata.longitude = 1e-7 * getles32(buf, 20);
    session->newdata.latitude = 1e-7 * getles32(buf, 24);
    // altitude WGS84
    session->newdata.altHAE = (double)1e-3 * getles32(buf, 28);
    // altitude MSL, double to prevent promotion to (long double)
    session->newdata.altMSL = (double)1e-3 * getles32(buf, 32);
    // Let gpsd_error_model() deal with geoid_sep

    // gSpeed (2D)
    session->newdata.speed = 1e-3 * (int32_t)getles32(buf, 36);
    // offset 40,  Speed (3D) do what with it?
    // u-blox calls this headMot (Heading of motion 2-D)
    session->newdata.track = 1e-5 * (int32_t)getles32(buf, 44);
    // offset 48, headVeh (Heading of Vehicle 2-D)
    mask |= LATLON_SET | ALTITUDE_SET | SPEED_SET | TRACK_SET;

    /* u-blox does not document the basis for the following "accuracy"
     * estimates.  Maybe CEP(50), one sigma, two sigma, CEP(99), etc. */

    // Horizontal Accuracy estimate, in mm
    session->newdata.eph = (double)(getles32(buf, 52) / 1000.0);
    // Vertical Accuracy estimate, in mm
    session->newdata.epv = (double)(getles32(buf, 56) / 1000.0);
    // Speed Accuracy estimate, in mm/s
    session->newdata.eps = (double)(getles32(buf, 60) / 1000.0);
    // headAcc (Heading Accuracy)
    session->newdata.epd = (double)getles32(buf, 64) * 1e-5;
    // let gpsd_error_model() do the rest

    // 4 final bytes reserved

    mask |= HERR_SET | SPEEDERR_SET | VERR_SET;
    // HNR-PVT interleaves with the normal cycle, so cycle end is a mess
    mask |= REPORT_IS;

    GPSD_LOG(LOG_PROG, &session->context->errout,
         "UBX: HNR-PVT: iTOW %lld flags %02x time %s lat %.2f lon %.2f "
         "altHAE %.2f track %.2f speed %.2f climb %.2f mode %d status %d "
         "used %d\n",
         (long long)iTOW, flags,
         timespec_str(&session->newdata.time, ts_buf, sizeof(ts_buf)),
         session->newdata.latitude,
         session->newdata.longitude,
         session->newdata.altHAE,
         session->newdata.track,
         session->newdata.speed,
         session->newdata.climb,
         session->newdata.mode,
         session->newdata.status,
         session->gpsdata.satellites_used);
    GPSD_LOG(LOG_IO, &session->context->errout,
             "UBX: HNR-PVT: gpsFix:%s flags:%s valid:%s\n",
             val2str(gpsFix, vpvt_fixType),
             flags2str(flags, fhnr_pvt_flags, buf2, sizeof(buf2)),
             flags2str(valid, fpvt_valid, buf3, sizeof(buf3)));

    return mask;
}

/* UBX-INF-*
 *
 * Present in:
 *   protVer 13 (6-series)
 *   to
 *   protVer 34 (10-series)
 */
static gps_mask_t ubx_msg_inf(struct gps_device_t *session,
                              unsigned char *buf, size_t data_len)
{
    unsigned msgid = getbes16(buf, 2);

    // No minimum payload length

    if (data_len > MAX_PACKET_LENGTH - 1) {
        data_len = MAX_PACKET_LENGTH - 1;
    }

    GPSD_LOG(LOG_PROG, &session->context->errout, "UBX: %s: %.*s\n",
             val2str(msgid, vinf_ids),
             (int)data_len, (char *)buf + UBX_PREFIX_LEN);
    return 0;
}

/**
 * UBX-LOG-BATCH entry only part of UBX protocol
 * Used for GPS standalone operation (internal batch retrieval)
 */
static gps_mask_t ubx_msg_log_batch(struct gps_device_t *session,
                                    unsigned char *buf UNUSED, size_t data_len)
{
    struct tm unpacked_date = {0};
    unsigned char contentValid, timeValid, flags, psmState;
    bool gnssFixOK, diffSoln;
    char ts_buf[TIMESPEC_LEN];
    gps_mask_t mask = 0;

    gps_clear_log(&session->gpsdata.log);
    // u-blox 8 100 bytes payload
    if (100 > data_len) {
        GPSD_LOG(LOG_WARN, &session->context->errout,
                 "UBX: LOG-BATCH: runt len %zd", data_len);
        return 0;
    }
    timeValid = getub(buf, 15);
    if (3 != (timeValid & 3)) {
        // No time, pointless...
        return 0;
    }

    unpacked_date.tm_year = getleu16(buf, 8) - 1900;
    unpacked_date.tm_mon = getub(buf, 10) - 1;
    unpacked_date.tm_mday = getub(buf, 11);
    unpacked_date.tm_hour = getub(buf, 12);
    unpacked_date.tm_min = getub(buf, 13);
    unpacked_date.tm_sec = getub(buf, 14);

    contentValid = getub(buf, 1);
    session->gpsdata.log.index_cnt = getleu16(buf, 2);

    session->gpsdata.log.then.tv_sec = mkgmtime(&unpacked_date);
    session->gpsdata.log.then.tv_nsec = getles32(buf, 20);
    TS_NORM(&session->gpsdata.log.then);

    session->gpsdata.log.fixType = getub(buf, 24);
    flags = getub(   buf, 25);
    gnssFixOK = flags & 1;
    diffSoln = flags & 2;
    psmState = ((flags >> 2) & 7);

    // flags2 undocumented
    // flags2 = getub(   buf, 26);

    if ((gnssFixOK &&
         2 <= session->gpsdata.log.fixType)) {
        // good 2D fix
        session->gpsdata.log.lon = 1.0e-7 * getles32(buf, 28);
        session->gpsdata.log.lat = 1.0e-7 * getles32(buf, 32);
        session->gpsdata.log.gSpeed = 1.0e-3 * getles32(buf, 64);
        // seems to be true heading
        session->gpsdata.log.heading = 1.0e-5 * getles32(buf, 68);
        if (diffSoln) {
            session->gpsdata.log.status = STATUS_DGPS;
        } else {
            session->gpsdata.log.status = STATUS_GPS;
        }
        if (3 <= session->gpsdata.log.fixType) {
            // good 3D fix
            session->gpsdata.log.altHAE = 1.0e-3 * getles32(buf, 36);
        }
    }
    session->gpsdata.log.hAcc = 1.0e-3 * getleu32(buf, 44);

    GPSD_LOG(LOG_INF, &session->context->errout,
            "UBX: LOG-BATCH: time=%s index_cnt=%u fixType=%u lon=%.7f lat=%.7f"
             " gSpeed=%.3f heading=%.5f altHae=%.3f psmState=%u hAcc=%.3f\n",
             timespec_str(&session->gpsdata.log.then, ts_buf, sizeof(ts_buf)),
             session->gpsdata.log.index_cnt, session->gpsdata.log.fixType,
             session->gpsdata.log.lon, session->gpsdata.log.lat,
             session->gpsdata.log.gSpeed, session->gpsdata.log.heading,
             session->gpsdata.log.altHAE, psmState,
             session->gpsdata.log.hAcc);


    if (1 == (contentValid & 1)) {
        // extraPVT valid
        //  iTOW = getleu32(buf, 4);
        session->gpsdata.log.tAcc = (double)getleu32(buf, 16);
        session->gpsdata.log.numSV = getub(buf, 27);
        session->gpsdata.log.altMSL = 1.0e-3 * getles32(buf, 40);
        session->gpsdata.log.vAcc = 1.0e-3 * getleu32(buf, 48);
        session->gpsdata.log.velN = 1.0e-3 * getles32(buf, 52);
        session->gpsdata.log.velE = 1.0e-3 * getles32(buf, 56);
        session->gpsdata.log.velD = 1.0e-3 * getles32(buf, 60);
        session->gpsdata.log.sAcc = 1.0e-3 * getleu32(buf, 72);
        session->gpsdata.log.headAcc = 1.0e-5 * getleu32(buf, 76);
        session->gpsdata.log.pDOP = 1.0e-2 * getleu32(buf, 80);
        GPSD_LOG(LOG_INF, &session->context->errout,
                "UBX: LOG-BATCH extraPVT: time=%s index_cnt=%d"
                 " tAcc=%.2f numSV=%d altMSL=%.3f hAcc=%.2f vAcc=%.3f"
                 " velN=%.3f velE=%.3f velD=%.3f sAcc=%.3f headAcc=%.5f"
                 " pDOP=%.5f\n",
                 timespec_str(&session->gpsdata.log.then, ts_buf,
                              sizeof(ts_buf)),
                 session->gpsdata.log.index_cnt,
                 session->gpsdata.log.tAcc, session->gpsdata.log.numSV,
                 session->gpsdata.log.altMSL, session->gpsdata.log.hAcc,
                 session->gpsdata.log.vAcc, session->gpsdata.log.velN,
                 session->gpsdata.log.velE, session->gpsdata.log.velD,
                 session->gpsdata.log.sAcc, session->gpsdata.log.headAcc,
                 session->gpsdata.log.pDOP);
    }

    if (2 == (contentValid & 2)) {
        session->gpsdata.log.distance = getleu32(buf, 84);
        session->gpsdata.log.totalDistance = getleu32(buf, 88);
        session->gpsdata.log.distanceStd = getleu32(buf, 92);
        GPSD_LOG(LOG_INF, &session->context->errout,
                 "UBX: LOG-BATCH extraOdo: time=%s index_cnt=%d distance=%.0f"
                 " totalDistance=%.0f distanceStd=%.0f\n",
                 timespec_str(&session->gpsdata.log.then, ts_buf,
                              sizeof(ts_buf)),
                 session->gpsdata.log.index_cnt, session->gpsdata.log.distance,
                 session->gpsdata.log.totalDistance,
                 session->gpsdata.log.distanceStd);
    }

    mask |= LOG_SET;
    return mask;
}

/**
 * UBX-LOG-INFO info of log status
 * u-blox 7,8,9.  protVer 14 to 29
 * WIP: Initial decode, log only.
 *
 */
static gps_mask_t ubx_msg_log_info(struct gps_device_t *session,
                                   unsigned char *buf UNUSED, size_t data_len)
{
    struct tm oldest_date = {0}, newest_date = {0};
    timespec_t oldest = {0, 0};
    timespec_t newest = {0, 0};
    unsigned char version, status;
    unsigned long filestoreCapacity;
    unsigned long currentMaxLogSize;
    unsigned long currentLogSize;
    unsigned long entryCount;
    char ts_buf[TIMESPEC_LEN];
    char ts_buf1[TIMESPEC_LEN];
    gps_mask_t mask = 0;

    gps_clear_log(&session->gpsdata.log);
    // u-blox 7/8/9 48 bytes payload
    if (48 > data_len) {
        GPSD_LOG(LOG_WARN, &session->context->errout,
                 "UBX: LOG-INFO: runt len %zd", data_len);
        return 0;
    }
    // u-blox 7/8/9 version 1
    version = getub(buf, 0);
    filestoreCapacity = getleu32(buf, 4);
    currentMaxLogSize = getleu32(buf, 16);
    currentLogSize = getleu32(buf, 20);
    entryCount = getleu32(buf, 24);
    status = getub(buf, 44);

    oldest_date.tm_year = getleu16(buf, 28);
    if (0 != oldest_date.tm_year) {
        oldest_date.tm_year -= 1900;
        oldest_date.tm_mon = getub(buf, 30) - 1;
        oldest_date.tm_mday = getub(buf, 31);
        oldest_date.tm_hour = getub(buf, 32);
        oldest_date.tm_min = getub(buf, 33);
        oldest_date.tm_sec = getub(buf, 34);
        oldest.tv_sec = mkgmtime(&oldest_date);
        oldest.tv_nsec = 0;
        TS_NORM(&oldest);
    }

    newest_date.tm_year = getleu16(buf, 36);
    if (0 != newest_date.tm_year) {
        newest_date.tm_year -= 1900;
        newest_date.tm_mon = getub(buf, 38) - 1;
        newest_date.tm_mday = getub(buf, 39);
        newest_date.tm_hour = getub(buf, 40);
        newest_date.tm_min = getub(buf, 41);
        newest_date.tm_sec = getub(buf, 42);
        newest.tv_sec = mkgmtime(&newest_date);
        newest.tv_nsec = 0;
        TS_NORM(&newest);
    }

    GPSD_LOG(LOG_INF, &session->context->errout,
             "UBX: LOG-INFO: version=%u status=x%x Cap=%lu MaxSize=%lu "
             "Size=%lu cnt=%lu oldest=%s newest=%s\n",
             version, status,
             filestoreCapacity,
             currentMaxLogSize,
             currentLogSize,
             entryCount,
             timespec_str(&oldest, ts_buf, sizeof(ts_buf)),
             timespec_str(&newest, ts_buf1, sizeof(ts_buf1)));

    // mask |= LOG_SET;
    return mask;
}

/*
 * UBX-LOG-RETRIEVEPOS (Indexed PVT entry)
 * Used for GPS standalone operation and host saved logs
 * u-blox 7,8,9.  protVer 14 to 29
 */
static gps_mask_t ubx_msg_log_retrievepos(struct gps_device_t *session,
                                          unsigned char *buf UNUSED,
                                          size_t data_len)
{
    struct tm unpacked_date = {0};
    unsigned char fixType;
    gps_mask_t mask = 0;

    gps_clear_log(&session->gpsdata.log);
    // u-blox 40 bytes payload
    if (40 > data_len) {
        GPSD_LOG(LOG_WARN, &session->context->errout,
                 "UBX: LOG-RETRIEVEPOS: runt len %zd", data_len);
        return 0;
    }
    unpacked_date.tm_year = getleu16(buf, 30);
    if (1900 > unpacked_date.tm_year) {
        // useless, no date
        return 0;
    }
    unpacked_date.tm_year -= 1900;
    unpacked_date.tm_mon = getub(buf, 32) - 1;
    unpacked_date.tm_mday = getub(buf, 33);
    unpacked_date.tm_hour = getub(buf, 34);
    unpacked_date.tm_min = getub(buf, 35);
    unpacked_date.tm_sec = getub(buf, 36);
    session->gpsdata.log.then.tv_sec = mkgmtime(&unpacked_date);

    session->gpsdata.log.index_cnt = getleu32(buf, 0);
    session->gpsdata.log.lon = getleu32(buf, 4) * 1.0e-7;
    session->gpsdata.log.lat = getleu32(buf, 8) * 1.0e-7;
    session->gpsdata.log.altMSL = getleu32(buf, 12) * 1.0e-3;
    // hAcc CEP() unspecified...
    session->gpsdata.log.hAcc = getleu32(buf, 16) * 1.0e-3;
    session->gpsdata.log.gSpeed = getleu32(buf, 20) * 1.0e-3;
    // seems to be true heading
    session->gpsdata.log.heading = getleu32(buf, 24) * 1.0e-5;
    fixType = getub(buf, 29);
    session->gpsdata.log.numSV = getub(buf, 38);

    switch (fixType) {
    case 1:
        // doc is unclear: 2D or 3D?
        session->gpsdata.log.fixType = MODE_3D;
        session->gpsdata.log.status = STATUS_DR;
        break;
    case 2:
        session->gpsdata.log.fixType = MODE_2D;
        session->gpsdata.log.status = STATUS_GPS;
        break;
    case 3:
        session->gpsdata.log.fixType = MODE_3D;
        session->gpsdata.log.status = STATUS_GPS;
        break;
    case 4:
        // doc is unclear: 2D or 3D?
        session->gpsdata.log.fixType = MODE_3D;
        session->gpsdata.log.status = STATUS_GNSSDR;
        break;

    case 0:
        FALLTHROUGH
    default:
        // huh?
        session->gpsdata.log.fixType = MODE_NO_FIX;
        session->gpsdata.log.status = STATUS_UNK;
        break;
    }

    // (long long) because of time_t
    GPSD_LOG(LOG_INF, &session->context->errout,
             "UBX: LOG-RETRIEVEPOS: time=%lld entryIndex=%d"
             " lon=%.7f lat=%.7f altMSL=%.3f hAcc=%.3f"
             " gspeed=%.3f heading=%.5f fixType=%d numSV=%d\n",
             (long long)session->gpsdata.log.then.tv_sec,
             session->gpsdata.log.index_cnt, session->gpsdata.log.lon,
             session->gpsdata.log.lat, session->gpsdata.log.altMSL,
             session->gpsdata.log.hAcc, session->gpsdata.log.gSpeed,
             session->gpsdata.log.heading, session->gpsdata.log.fixType,
             session->gpsdata.log.numSV);


    mask |= LOG_SET;
    return mask;
}

/*
 * UBX-LOG-RETRIEVEPOSEXTRA (Indexed Odometry entry)
 * Used for GPS standalone operation and host saved logs
 * u-blox 7,8,9.  protVer 14 to 29
 */
static gps_mask_t ubx_msg_log_retrieveposextra(struct gps_device_t *session,
                                               unsigned char *buf UNUSED,
                                               size_t data_len)
{
    struct tm unpacked_date = {0};
    gps_mask_t mask = 0;

    gps_clear_log(&session->gpsdata.log);
    // u-blox 32 bytes payload
    if (32 > data_len) {
        GPSD_LOG(LOG_WARN, &session->context->errout,
                 "UBX: LOG-RETRIEVEPOSEXTRA: runt len %zd", data_len);
        return 0;
    }

    unpacked_date.tm_year = getleu16(buf, 6);
    if (1900 > unpacked_date.tm_year) {
        // useless, no date
        return 0;
    }
    unpacked_date.tm_year -= 1900;
    unpacked_date.tm_mon = getub(buf, 8) - 1;
    unpacked_date.tm_mday = getub(buf, 9);
    unpacked_date.tm_hour = getub(buf, 10);
    unpacked_date.tm_min = getub(buf, 11);
    unpacked_date.tm_sec = getub(buf, 12);

    session->gpsdata.log.then.tv_sec = mkgmtime(&unpacked_date);
    session->gpsdata.log.index_cnt = getleu32(buf, 0);
    // distance units undocumented!  Assume meters, as in UBX-LOG-BATCH
    session->gpsdata.log.distance = (double)getleu32(buf, 16);

    // (long long) because of time_t
    GPSD_LOG(LOG_INF, &session->context->errout,
             "UBX: LOG-RETRIEVEPOSEXTRA:"
             " time=%lld entryindex=%u distance=%.0f\n",
             (long long)session->gpsdata.log.then.tv_sec,
             session->gpsdata.log.index_cnt, session->gpsdata.log.distance);

    mask |= LOG_SET;
    return mask;
}

/*
 * UBX-LOG-RETRIEVESTRING
 * Used for GPS standalone operation and host saved logs
 * u-blox 7,8,9.  protVer 14 to 29
 */
static gps_mask_t ubx_msg_log_retrievestring(struct gps_device_t *session,
                                             unsigned char *buf UNUSED,
                                             size_t data_len)
{
    struct tm unpacked_date = {0};
    unsigned int byteCount;
    gps_mask_t mask = 0;

    gps_clear_log(&session->gpsdata.log);
    // u-blox 16+ bytes payload
    if (16 > data_len) {
        GPSD_LOG(LOG_WARN, &session->context->errout,
                 "UBX: LOG-RETRIEVESTRING: runt len %zd", data_len);
        return 0;
    }

    unpacked_date.tm_year = getleu16(buf, 6);
    if (1900 > unpacked_date.tm_year) {
        // useless, no date
        return 0;
    }
    unpacked_date.tm_year -= 1900;
    unpacked_date.tm_mon = getub(buf, 8) - 1;
    unpacked_date.tm_mday = getub(buf, 9);
    unpacked_date.tm_hour = getub(buf, 10);
    unpacked_date.tm_min = getub(buf, 11);
    unpacked_date.tm_sec = getub(buf, 12);

    session->gpsdata.log.then.tv_sec = mkgmtime(&unpacked_date);
    session->gpsdata.log.index_cnt = getleu32(buf, 0);
    byteCount = getleu16(buf, 14);

    // string could be 0 to 256 bytes, plus NUL
    (void)strlcpy(session->gpsdata.log.string, (const char*)&buf[16],
                  sizeof(session->gpsdata.log.string));
    // (long long) because of time_t
    GPSD_LOG(LOG_INF, &session->context->errout,
             "UBX: LOG-RETRIEVESTRING:"
             " time=%lld entryindex=%u byteCount=%u string=%s\n",
             (long long)session->gpsdata.log.then.tv_sec,
             session->gpsdata.log.index_cnt,
             byteCount, session->gpsdata.log.string);

    mask |= LOG_SET;
    return mask;
}

/* UBX-MON-COMMS
 * Replacement for MON-RXBUF and MON-TXBUF
 */
static gps_mask_t ubx_msg_mon_comms(struct gps_device_t *session,
                                    unsigned char *buf, size_t data_len)
{
    gps_mask_t mask = 0;
    char buf2[80];
    unsigned i;
    unsigned version;
    unsigned nPorts;
    unsigned txErrors;
    unsigned protIds[4];

    if (8 > data_len) {
        // 8 + (nPorts * 40)
        GPSD_LOG(LOG_WARN, &session->context->errout,
                 "UBX: MON-COMMS: runt payload len %zd\n", data_len);
        return 0;
    }
    version = getub(buf, 0);
    if (0 != version) {
        GPSD_LOG(LOG_WARN, &session->context->errout,
                 "UBX: MON-COMMS unkwnown version %u\n", version);
        return 0;
    }
    nPorts = getub(buf, 1);
    if ((8 + (nPorts * 40)) > data_len) {
        // 8 + (nPorts * 40)
        GPSD_LOG(LOG_WARN, &session->context->errout,
                 "UBX: MON-COMMS unkwnown runt %zd\n", data_len);
        return 0;
    }
    txErrors = getub(buf, 2);
    for (i = 0; i < 4; i++) {
        protIds[i] = getub(buf, 3 + i);
    }

    GPSD_LOG(LOG_PROG, &session->context->errout,
             "UBX: MON-COMMS: version %u, nPorts %u txErrors x%x  "
             "protIds %u %u %u %u\n",
             version, nPorts, txErrors, protIds[0], protIds[1], protIds[2],
             protIds[3]);
    GPSD_LOG(LOG_IO, &session->context->errout,
             "UBX: MON-COMMS: txErrors:%s protIds %s %s %s %s\n",
             flags2str(txErrors, vmon_comms_txerrors, buf2, sizeof(buf2)),
             val2str(protIds[0], vprotIds),
             val2str(protIds[1], vprotIds),
             val2str(protIds[2], vprotIds),
             val2str(protIds[3], vprotIds));

    for (i = 0; i < nPorts; i++) {
        unsigned portId = getleu16(buf, 8 + (i * 40));
        unsigned txPending = getleu16(buf, 10 + (i * 40));
        unsigned long txBytes = getleu32(buf, 12 + (i * 40));
        unsigned txUsage = getub(buf, 16 + (i * 40));
        unsigned txPeakUsage = getub(buf, 17 + (i * 40));
        unsigned rxPending = getleu16(buf, 18 + (i * 40));
        unsigned long rxBytes = getleu32(buf, 20 + (i * 40));
        unsigned rxUsage = getub(buf, 24 + (i * 40));
        unsigned rxPeakUsage = getub(buf, 25 + (i * 40));
        unsigned overrunErrs = getleu16(buf, 26 + (i * 40));
        unsigned long msgs = getleu32(buf, 28 + (i * 40));
        unsigned long skipped = getleu32(buf, 44 + (i * 40));

        GPSD_LOG(LOG_IO, &session->context->errout,
                 "UBX: MON-COMMS: portId:%s\n",
                 val2str(portId, vtarget));
        GPSD_LOG(LOG_PROG, &session->context->errout,
                 "UBX: MON-COMMS: portId x%x, "
                 "txPending %u txBytes %lu txUsage %u%% txPeakUsage %u%% "
                 "rxPending %u rxBytes %lu rxUsage %u%% rxPeakUsage %u%% "
                 "overrunErrs %u msgs %lu skipped %lu\n",
                 portId,
                 txPending, txBytes, txUsage, txPeakUsage,
                 rxPending, rxBytes, rxUsage, rxPeakUsage,
                 overrunErrs, msgs, skipped);
    }
    return mask;
}

/* UBX-MON-HW
 * 68 bytes in protVer 12 ( 6-series)
 *    Present from Antaris (4-series)
 * 60 bytes in 8-series and 9-series
 *    Deprecated in protVer 32. M9 and 10-series, use MON-HW and MON-RF
 * 56 bytes in protVer 34 (10-series)
 *    Deprecated. and undocumented,  on M10, use MON-HW and MON-RF
 *
 * Oddly, UBX-MON-HW is output after NAV-EOE.  So too lare for the one
 * TPV for that epoch, and too early for the next epoch.
 */
static gps_mask_t ubx_msg_mon_hw(struct gps_device_t *session,
                                 unsigned char *buf, size_t data_len)
{
    char buf2[80];
    unsigned int noisePerMs;
    unsigned int agcCnt;
    unsigned int aStatus;
    unsigned int aPower;
    unsigned int flags;
    unsigned int jamInd;
    gps_mask_t mask = 0;

    if (60 > data_len) {
        // Doc says 68, but 8-series can have 60
        GPSD_LOG(LOG_WARN, &session->context->errout,
                 "UBX: MON-HW: runt payload len %zd\n", data_len);
        return 0;
    }

    noisePerMs = getleu16(buf, 16);
    agcCnt = getleu16(buf, 18);         // 0 to 8191
    aStatus = getub(buf, 20);
    aPower = getub(buf, 21);
    /* flags:
     * 5 only has rtcCalib
     * 6 (6.03) adds safeBoot
     * 6 (7.03) adds jammingState
     * 9 adds xtalAbsent
     */
    flags = getub(buf, 22);
    // VP, 17 bytes on protVer 15+
    // VP, 25 bytes on u-blox 6
    // jamInd, on 5 this is reserved
    if (68 == data_len) {
        jamInd = getub(buf, 53);
    } else if (60 == data_len) {
        jamInd = getub(buf, 45);
    } else {
        // probably 56 == data_len, undocuemted in M10
        jamInd = 0;   // WTF?
    }
    session->newdata.jam = jamInd;
    session->newdata.ant_stat = antStat2ant_status(aStatus);
    session->newdata.ant_power = aPower2ant_power(aPower);

    if (0 < jamInd ||
        ANT_OK <= session->newdata.ant_stat ||
        ANT_PWR_UNK != session->newdata.ant_power) {
        mask |= REPORT_IS;           // force a new, extra, TPV.
    }

    GPSD_LOG(LOG_PROG, &session->context->errout,
             "UBX: MON-HW: noisePerMs %u, agcCmt %u aStatus %u aPower %u "
             "flags x%x jamInd %u\n",
             noisePerMs, agcCnt, aStatus, aPower, flags, jamInd);
    GPSD_LOG(LOG_IO, &session->context->errout,
             "UBX: MON-HW:aStatus:%s aPower:%s flags:%s\n",
             val2str(aStatus, vaStatus),
             val2str(aPower, vaPower),
             flags2str(flags, vmon_hw_flags, buf2, sizeof(buf2)));
    return mask;
}

/* UBX-MON-RF
 * Present in protVer 27+ (9-series)
 * Partially replaces MON-HW
 *
 * Oddly, UBX-MON-RF is output after NAV-EOE.  So too lare for the one
 * TPV for that epoch, and too early for the next epoch.
 */
static gps_mask_t ubx_msg_mon_rf(struct gps_device_t *session,
                                 unsigned char *buf, size_t data_len)
{
    unsigned i;
    gps_mask_t mask = 0;
    unsigned version;
    unsigned nBlocks;
    unsigned blockSize = 0;
    bool compact;

    if (4 > data_len) {
        // 4 + (nBlocks * 24)
        GPSD_LOG(LOG_WARN, &session->context->errout,
                 "UBX: MON-RF: runt payload len %zd\n", data_len);
        return 0;
    }
    version = getub(buf, 0);
    nBlocks = getub(buf, 1);

    if (0 != version) {
        GPSD_LOG(LOG_WARN, &session->context->errout,
                 "UBX: MON-RF unkwnown version %u\n", version);
        return 0;
    }
    if (0 == nBlocks) {
        // avoid divide by zero
        GPSD_LOG(LOG_WARN, &session->context->errout,
                 "UBX: MON-RF bBlocks is zero\n");
        return 0;
    }
    blockSize = (data_len - 4) / nBlocks;

    GPSD_LOG(LOG_PROG, &session->context->errout,
             "UBX: MON-RF: version %u, nblocks %u blockSize %u\n",
             version, nBlocks, blockSize);

    if (4 != (data_len - blockSize * nBlocks)) {
        GPSD_LOG(LOG_WARN, &session->context->errout,
                 "UBX-MON-RF:  Bad length %zu s/b %u, nBlocks %u]n",
                 data_len, 4 + blockSize * nBlocks, nBlocks);
        return 0;
    }

    if (20 == blockSize) {
        // ZED-F9R HPS 1.30 firmware
        compact = true;
    } else if (24 == blockSize) {
        compact = false;
    } else {
        GPSD_LOG(LOG_WARN, &session->context->errout,
                 "UBX: MON-RF: bad blockSize%u\n", blockSize);
        return 0;
    }
    for (i = 0; i < nBlocks; i++){
        if (false == compact) {
            /* ZED-F9N 1 == nBlock
             * ZED-F9P 2 == nBlock
             * what to do with with two jamInd and two antStatus? */
            unsigned off = i * 24;
            unsigned blockId = getub(buf, 4 + off);
            unsigned flags =  getub(buf, 5 + off);
            unsigned jammingState = flags & 3;
            unsigned antStatus = getub(buf, 6 + off);
            unsigned antPower = getub(buf, 7 + off);
            unsigned long postStatus = getleu32(buf, 8 + off);
            unsigned long reserved1 = getleu32(buf, 12 + off);
            unsigned agcCnt = getleu16(buf, 18 + off);         // 0 to 8191
            unsigned jamInd = getub(buf, 20 + off);   // aka cwsuppression
            int ofsI = getsb(buf, 21 + off);
            unsigned magI = getub(buf, 22 + off);
            int ofsQ = getsb(buf, 23 + off);
            unsigned magQ = getub(buf, 24 + off);
            unsigned reserved2 = getleu16(buf, 25 + off);
            unsigned ant_stat;

            ant_stat = antStat2ant_status(antStatus);

            // use the highest ant_stat and jamInd
            if ((unsigned)session->newdata.ant_stat < ant_stat) {
                session->newdata.ant_stat = ant_stat;
            }

            session->newdata.ant_power = aPower2ant_power(antPower);

            if ((unsigned)session->newdata.jam < jamInd) {
                session->newdata.jam = jamInd;
            }

            GPSD_LOG(LOG_PROG, &session->context->errout,
                     "UBX: MON-RF: blk %u flags x%x jammingState %u "
                     "antStatus %u antPower %u postStatus %lu reserved1 x%lx "
                     "ageCnt %u "
                     "jamInd %u ofsI %d magI %u ofsI %d magQ %u "
                     "reserved2 x%x\n",
                     blockId, flags, jammingState, antStatus, antPower,
                     postStatus, reserved1, agcCnt, jamInd,
                     ofsI, magI, ofsQ, magQ, reserved2);
            GPSD_LOG(LOG_IO, &session->context->errout,
                     "UBX: MON-RF:    blockId (%s) flags (%s) antStatus (%s) "
                     "antPower (%s) agc %.1f%%\n",
                     val2str(blockId, vmon_rf_blockId),
                     val2str(flags, vmon_rf_flags),
                     val2str(antStatus, vaStatus),
                     val2str(antPower, vaPower), agcCnt / 81.91);
        } else {
            // compact, 20 bytes, HPS 1.30
            /* ZED-F9R 2 == nBlock
             * what to do with with two jamInd and two antStatus? */
            unsigned off = i * 20;
            unsigned blockId = getub(buf, 4 + off);
            unsigned antStatus = getub(buf, 5 + off);
            unsigned antPower = getub(buf, 6 + off);
            unsigned cwSuppression = getub(buf, 7 + off);
            unsigned long postStatus = getleu32(buf, 8 + off);
            // reserved1 4 bytes
            unsigned noisePerMS = getleu16(buf, 16 + off);
            unsigned agcCnt = getleu16(buf, 18 + off);         // 0 to 8191
            int ofsI = getsb(buf, 20 + off);
            unsigned magI = getub(buf, 21 + off);
            int ofsQ = getsb(buf, 22 + off);
            unsigned magQ = getub(buf, 23 + off);
            unsigned ant_stat;

            ant_stat = antStat2ant_status(antStatus);

            // use the highest ant_stat and jamInd
            if ((unsigned)session->newdata.ant_stat < ant_stat) {
                session->newdata.ant_stat = ant_stat;
            }
            session->newdata.ant_power = aPower2ant_power(antPower);

            GPSD_LOG(LOG_PROG, &session->context->errout,
                     "UBX: MON-RF: blk %u antStatus %u antPower %u "
                     "cwSuppression %u postStatus %lu ageCnt %u jamInd %u "
                     "ofsI %d magI %u ofsI %d magQ %u\n",
                     blockId, antStatus, antPower, cwSuppression,
                     postStatus, noisePerMS,  agcCnt,
                     ofsI, magI, ofsQ, magQ);
            GPSD_LOG(LOG_IO, &session->context->errout,
                     "UBX: MON-RF:    blockId (%s) antStatus (%s) "
                     "antPower (%s) agc %.1f%%\n",
                     val2str(blockId, vmon_rf_blockId),
                     val2str(antStatus, vaStatus),
                     val2str(antPower, vaPower),
                     agcCnt / 81.91);
        }
    }
    if (0 < session->newdata.jam ||
        ANT_OK <= session->newdata.ant_stat ||
        ANT_PWR_UNK != session->newdata.ant_power) {
        mask |= REPORT_IS;           // force a new, extra, TPV.
    }
    return mask;
}

/* UBX-MON-RXBUF
 * Present in u-blox 5+ through at least protVer 23.01
 * Supported but deprecated in M9P protVer 27.11, use MON-COMMS
 * Supported but deprecated in M9N protVer 32.00 */
static gps_mask_t ubx_msg_mon_rxbuf(struct gps_device_t *session,
                                    unsigned char *buf, size_t data_len)
{
    int i;

    if (24 != data_len) {
        GPSD_LOG(LOG_WARN, &session->context->errout,
                 "UBX: MON-RXBUF: runt payload len %zd\n", data_len);
        return 0;
    }

    for (i = 0; i < 6; i++) {
        unsigned int pending = getleu16(buf, i * 2);
        unsigned int usage =  getub(buf, 12 + i);
        unsigned int peakUsage = getub(buf, 18 + i);

        GPSD_LOG(LOG_IO, &session->context->errout,
                 "UBX: MON-RXBUF: tgt:%s\n",
                 val2str(i, vtarget));
        GPSD_LOG(LOG_INF, &session->context->errout,
                 "UBX: MON-RXBUF: tgt%d pending %4u usage %3u%% peakUsage %3d%%\n",
                 i, pending, usage, peakUsage);
    }
    return 0;
}

/* UBX-MON-TXBUF
 * Present in u-blox 5+ through at least protVer 23.01
 * Supported but deprecated in M9P protVer 27.11
 * Supported but deprecated in M9N protVer 32.00 */
static gps_mask_t ubx_msg_mon_txbuf(struct gps_device_t *session,
                                    unsigned char *buf, size_t data_len)
{
    char buf2[80];
    unsigned tUsage, tPeakusage;
    unsigned errors, limit, reserved1;
    int i;

    if (28 != data_len) {
        GPSD_LOG(LOG_WARN, &session->context->errout,
                 "UBX: MON-TXBUF: runt payload len %zd\n", data_len);
        return 0;
    }

    errors = limit = getub(buf, 26);

    for (i = 0; i < 6; i++) {
        unsigned int pending = getleu16(buf, i * 2);
        unsigned int usage =  getub(buf, 12 + i);
        unsigned int peakUsage = getub(buf, 18 + i);

        GPSD_LOG(LOG_IO, &session->context->errout,
                 "UBX: MON-TXBUF: tgt:%s\n",
                 val2str(i, vtarget));
        GPSD_LOG(LOG_INF, &session->context->errout,
                 "UBX: MON-TXBUF: tgt %d limit %u pending %4u "
                 "usage %3u%% peakUsage %3d%%\n",
                 i, limit & 1, pending, usage, peakUsage);
        limit = limit >> 1;
    }
    tUsage = getub(buf, 24);
    tPeakusage = getub(buf, 25);
    reserved1 = getub(buf, 27);

    GPSD_LOG(LOG_INF, &session->context->errout,
             "UBX: MON-TXBUF: tUsage %3u%%, tPeakusage %3u%%, errors 0x%02x, "
             "reserved1 0x%02x\n",
             tUsage, tPeakusage, errors, reserved1);

    GPSD_LOG(LOG_IO, &session->context->errout,
             "UBX: MON-TXBUF: errors:%s\n",
             flags2str(errors, vmon_txbuf_errors, buf2, sizeof(buf2)));
    return 0;
}

/**
 * Receiver/Software Version
 * UBX-MON-VER
 *
 * sadly more info than fits in session->swtype for now.
 * so squish the data hard.
 */
static gps_mask_t ubx_msg_mon_ver(struct gps_device_t *session,
                                  unsigned char *buf,
                                  size_t data_len)
{
    int n = 0;                           // extended info counter
    int num_ext = (data_len - 40) / 30;  // number of extensions
    char obuf[128];                      // temp version string buffer
    char *cptr;

    if (40 > data_len) {
        GPSD_LOG(LOG_WARN, &session->context->errout,
                 "UBX: MON-VER: runt payload len %zd", data_len);
        return 0;
    }

    // save SW and HW Version as subtype
    (void)snprintf(obuf, sizeof(obuf),
                   "SW %.30s,HW %.10s",
                   (char *)buf,
                   (char *)(buf + 30));

    // save what we can
    (void)strlcpy(session->subtype, obuf, sizeof(session->subtype));

    obuf[0] = '\0';
    // extract Extended info strings.
    for (n = 0; n < num_ext; n++) {
        int start_of_str = 40 + (30 * n);

        if (0 < n) {
            // commas between elements
            (void)strlcat(obuf, ",", sizeof(obuf));
        }
        (void)strlcat(obuf, (char *)&buf[start_of_str], sizeof(obuf));
    }

    // save what we can in subtype1
    (void)strlcpy(session->subtype1, obuf, sizeof(session->subtype1));

    // find PROTVER literal, followed by single separator character
    cptr = strstr(obuf, "PROTVER=");     // protVer 18 and above
    if (NULL == cptr) {
        cptr = strstr(obuf, "PROTVER "); // protVer 17 and below
    }
    if (NULL != cptr) {
        int protver = atoi(cptr + 8);
        if (7 < protver) {
            /* protver 8, u-blox Antaris, is the oldest we know, but never
             * used explicitly.  protver 15, u-blox 8, is oldest seen. */
            session->driver.ubx.protver = protver;
        }
    }

    /* MON-VER did not contain PROTVER in any extension field (typical for
     * protVer < 15), so use mapping table to try to derive protVer from
     * firmware revision number carried in swVersion field */
    if (0 == session->driver.ubx.protver) {
        for (n = 0; NULL != fw_protver_map[n].fw_string; n++) {
            // skip "SW " prefix in session->subtype
            cptr = strstr(session->subtype + 3, fw_protver_map[n].fw_string);
            // use only when swVersion field starts with fw_string
            if (cptr == (session->subtype + 3)) {
                session->driver.ubx.protver =
                    (unsigned char)fw_protver_map[n].protver;
                break;
            }
        }
        if (0 == session->driver.ubx.protver) {
            // Still not found, old chip.  Set to one so we know we tried.
            session->driver.ubx.protver = 1;
        }
    }

    // output SW and HW Version at LOG_INF
    GPSD_LOG(LOG_INF, &session->context->errout,
             "UBX: MON-VER: %s %s PROTVER %u\n",
             session->subtype, session->subtype1,
             session->driver.ubx.protver);


    return 0;
}

/**
 * Clock Solution UBX-NAV-CLOCK
 *
 * Present in:
 *     protVer 8 to 34 (Antaris 4 to M10)
 */
static gps_mask_t ubx_msg_nav_clock(struct gps_device_t *session,
                                    unsigned char *buf, size_t data_len)
{
    unsigned long tAcc, fAcc;

    if (20 > data_len) {
        GPSD_LOG(LOG_WARN, &session->context->errout,
                 "UBX: NAV-CLOCK: runt payload len %zd", data_len);
        return 0;
    }

    session->driver.ubx.iTOW = getleu32(buf, 0);
    // u-bloc 6 sets clockbias and clockdrift to 0
    session->gpsdata.fix.clockbias = getles32(buf, 4);
    session->gpsdata.fix.clockdrift = getles32(buf, 8);
    tAcc = getleu32(buf, 12);
    fAcc = getleu32(buf, 16);
    GPSD_LOG(LOG_PROG, &session->context->errout,
             "UBX: NAV-CLOCK: iTOW=%lld clkB %ld clkD %ld tAcc %lu fAcc %lu\n",
             (long long)session->driver.ubx.iTOW,
             session->gpsdata.fix.clockbias,
             session->gpsdata.fix.clockdrift,
             tAcc, fAcc);
    return 0;
}

/**
 * DGPS Data Used for NAV
 *
 * May be good cycle ender
 *
 * Present in u-blox 7
 */
static gps_mask_t ubx_msg_nav_dgps(struct gps_device_t *session,
                                   unsigned char *buf, size_t data_len)
{
    long age;

    if (16 > data_len) {
        GPSD_LOG(LOG_WARN, &session->context->errout,
                 "UBX: NAV-DGPS: runt payload len %zd", data_len);
        return 0;
    }

    session->driver.ubx.iTOW = getleu32(buf, 0);
    age = getleu32(buf, 4);
    GPSD_LOG(LOG_PROG, &session->context->errout,
             "NAV-DGPS: iTOW=%lld age %ld\n",
             (long long)session->driver.ubx.iTOW, age);
    return 0;
}

/**
 * UBX-NAV-DOP, Dilution of precision message
 *
 * Present in all u-blox (4 to 10)
 */
static gps_mask_t ubx_msg_nav_dop(struct gps_device_t *session,
                                  unsigned char *buf, size_t data_len)
{
    unsigned u;
    gps_mask_t mask = 0;

    if (18 > data_len) {
        GPSD_LOG(LOG_WARN, &session->context->errout,
                 "UBX: NAV-DOP: runt payload len %zd", data_len);
        return 0;
    }

    session->driver.ubx.iTOW = getleu32(buf, 0);
    /*
     * We make a deliberate choice not to clear DOPs from the
     * last skyview here, but rather to treat this as a supplement
     * to our calculations from the visibility matrix, trusting
     * the firmware algorithms over ours.
     */
    u = getleu16(buf, 4);
    if (9999 > u) {
        session->gpsdata.dop.gdop = (double)(u / 100.0);
        mask |= DOP_SET;
    }
    u = getleu16(buf, 6);
    if (9999 > u) {
        session->gpsdata.dop.pdop = (double)(u / 100.0);
        mask |= DOP_SET;
    }
    u = getleu16(buf, 8);
    if (9999 > u) {
        session->gpsdata.dop.tdop = (double)(u / 100.0);
        mask |= DOP_SET;
    }
    u = getleu16(buf, 10);
    if (9999 > u) {
        session->gpsdata.dop.vdop = (double)(u / 100.0);
        mask |= DOP_SET;
    }
    u = getleu16(buf, 12);
    if (9999 > u) {
        session->gpsdata.dop.hdop = (double)(u / 100.0);
        mask |= DOP_SET;
    }
    // Northing DOP
    u = getleu16(buf, 14);
    if (9999 > u) {
        session->gpsdata.dop.ydop = (double)(u / 100.0);
        mask |= DOP_SET;
    }
    // Easting DOP
    u = getleu16(buf, 16);
    if (9999 > u) {
        session->gpsdata.dop.xdop = (double)(u / 100.0);
        mask |= DOP_SET;
    }
    GPSD_LOG(LOG_PROG, &session->context->errout,
             "UBX: NAV-DOP: gdop=%.2f pdop=%.2f "
             "hdop=%.2f vdop=%.2f tdop=%.2f ydop=%.2f xdop=%.2f\n",
             session->gpsdata.dop.gdop,
             session->gpsdata.dop.pdop,
             session->gpsdata.dop.hdop,
             session->gpsdata.dop.vdop,
             session->gpsdata.dop.tdop,
             session->gpsdata.dop.ydop,
             session->gpsdata.dop.xdop);
    return mask;
}

/**
 * Position error ellipse parameters
 * protVer 19.1 and up
 * Not in u-blox 5, 6 or 7
 * Present in some u-blox 8, 9 and 10 (ADR, HPS)
 */
static gps_mask_t ubx_msg_nav_eell(struct gps_device_t *session,
                                   unsigned char *buf, size_t data_len)
{
    unsigned version;
    unsigned errEllipseOrient;
    unsigned long errEllipseMajor, errEllipseMinor;

    if (16 > data_len) {
        GPSD_LOG(LOG_WARN, &session->context->errout,
                 "UBX: NAV-EELL: runt payload len %zd", data_len);
        return 0;
    }

    session->driver.ubx.iTOW = getleu32(buf, 0);
    version = getub(buf, 4);
    if (0 != version) {
        GPSD_LOG(LOG_WARN, &session->context->errout,
                 "UBX: NAV-EELL unknown version %u s/b 0", version);
        return 0;
    }
    session->newdata.errEllipseOrient = (double)(getleu16(buf, 6) * 1e-2);
    session->newdata.errEllipseMajor = (double)(getleu32(buf, 8) * 1e-3);
    session->newdata.errEllipseMinor = (double)(getleu32(buf, 12) * 1e-3);
    errEllipseOrient = getleu16(buf, 6);
    errEllipseMajor = getleu32(buf, 8);
    errEllipseMinor = getleu32(buf, 12);
    GPSD_LOG(LOG_PROG, &session->context->errout,
             "UBX: NAV-EELL: iTOW %lld version %u errEllipseOrient %u "
             "errEllipseMajor %lu errEllipseMinor %lu\n",
             (long long)session->driver.ubx.iTOW, version,
             errEllipseOrient,
             errEllipseMajor,
             errEllipseMinor);
    return 0;
}

/**
 * End of Epoch
 * Not in u-blox 5, 6 or 7
 * Present in:
 *    protVer 18 (8-series, 9)
 */
static gps_mask_t ubx_msg_nav_eoe(struct gps_device_t *session,
                                  unsigned char *buf, size_t data_len)
{
    if (4 > data_len) {
        GPSD_LOG(LOG_WARN, &session->context->errout,
                 "UBX: NAV-EOE: runt payload len %zd", data_len);
        return 0;
    }

    session->driver.ubx.iTOW = getleu32(buf, 0);
    GPSD_LOG(LOG_PROG, &session->context->errout, "UBX: NAV-EOE: iTOW=%lld\n",
             (long long)session->driver.ubx.iTOW);
    // nothing to report, but the iTOW for cycle ender is good
    return 0;
}

/*
 * UBX-NAV-HPPOSECEF - High Precision Position Solution in ECEF
 *
 * Present in u-blox 8 and above, protVwer 20.00 and up.
 * Only with High Precision firmware.
 */
static gps_mask_t ubx_msg_nav_hpposecef(struct gps_device_t *session,
                                        unsigned char *buf,
                                        size_t data_len UNUSED)
{
    gps_mask_t mask = ECEF_SET;

    unsigned version = getub(buf, 0);
    if (0 != version) {
        GPSD_LOG(LOG_WARN, &session->context->errout,
                 "UBX: NAV-HPPOSECEF unknown version %u s/b 0", version);
        return 0;
    }
    session->driver.ubx.iTOW = getleu32(buf, 4);
    session->newdata.ecef.x = getles32x100s8d(buf, 8, 20, 1e-4);
    session->newdata.ecef.y = getles32x100s8d(buf, 12, 21, 1e-4);
    session->newdata.ecef.z = getles32x100s8d(buf, 16, 22, 1e-4);

    session->newdata.ecef.pAcc = getleu32(buf, 24) / (double)10000.0;
    // (long long) cast for 32-bit compat
    GPSD_LOG(LOG_PROG, &session->context->errout,
        "UBX: NAV-HPPOSECEF: version %d iTOW %lld ecef X %.4f Y %.4f Z %.4f "
        "pAcc %.4f\n",
        version,
        (long long)session->driver.ubx.iTOW,
        session->newdata.ecef.x,
        session->newdata.ecef.y,
        session->newdata.ecef.z,
        session->newdata.ecef.pAcc);
    return mask;
}

 /**
 * High Precision Geodetic Position Solution
 * UBX-NAV-HPPOSLLH, Class 1, ID x14
 *
 * No mode, so limited usefulness.
 *
 * Present in u-blox 8 and above, protVwer 20.00 and up.
 * Only with High Precision firmware.
 */
static gps_mask_t ubx_msg_nav_hpposllh(struct gps_device_t *session,
                                       unsigned char *buf, size_t data_len)
{
    int version;
    gps_mask_t mask = 0;

    if (36 > data_len) {
        GPSD_LOG(LOG_WARN, &session->context->errout,
                 "UBX: NAV-HPPOSLLH: runt payload len %zd", data_len);
        return mask;
    }

    mask = ONLINE_SET | HERR_SET | VERR_SET | LATLON_SET | ALTITUDE_SET;

    version = getub(buf, 0);
    session->driver.ubx.iTOW = getles32(buf, 4);
    session->newdata.longitude = getles32x100s8d(buf, 8, 24, 1e-9);
    session->newdata.latitude = getles32x100s8d(buf, 12, 25, 1e-9);
    // altitude WGS84
    session->newdata.altHAE = getles32x100s8d(buf, 16, 26, 1e-5);
    // altitude MSL
    session->newdata.altMSL = getles32x100s8d(buf, 20, 27, 1e-5);
    // Let gpsd_error_model() deal with geoid_sep

    // Horizontal accuracy estimate in .1 mm, unknown est type
    session->newdata.eph = getleu32(buf, 28) * (double)1e-4;
    // Vertical accuracy estimate in .1 mm, unknown est type
    session->newdata.epv = getleu32(buf, 32) * (double)1e-4;

    GPSD_LOG(LOG_PROG, &session->context->errout,
        "UBX: NAV-HPPOSLLH: version %d iTOW=%lld lat=%.4f lon=%.4f "
        "altHAE=%.4f\n",
        version,
        (long long)session->driver.ubx.iTOW,
        session->newdata.latitude,
        session->newdata.longitude,
        session->newdata.altHAE);
    return mask;
}

/*
 * Navigation Position ECEF message
 *
 * This message does not bother to tell us if it is valid.
 */
static gps_mask_t ubx_msg_nav_posecef(struct gps_device_t *session,
                                      unsigned char *buf, size_t data_len)
{
    gps_mask_t mask = ECEF_SET;

    if (20 > data_len) {
        GPSD_LOG(LOG_WARN, &session->context->errout,
                 "UBX: NAV-POSECEF: runt payload len %zd", data_len);
        return 0;
    }

    session->driver.ubx.iTOW = getleu32(buf, 0);
    // all in cm
    session->newdata.ecef.x = getles32(buf, 4) * 1e-2;
    session->newdata.ecef.y = getles32(buf, 8) * 1e-2;
    session->newdata.ecef.z = getles32(buf, 12) * 1e-2;
    session->newdata.ecef.pAcc = getleu32(buf, 16) * 1e-2;

    // (long long) cast for 32-bit compat
    GPSD_LOG(LOG_PROG, &session->context->errout,
        "UBX: NAV-POSECEF: iTOW=%lld ECEF x=%.2f y=%.2f z=%.2f pAcc=%.2f\n",
        (long long)session->driver.ubx.iTOW,
        session->newdata.ecef.x,
        session->newdata.ecef.y,
        session->newdata.ecef.z,
        session->newdata.ecef.pAcc);
    return mask;
}

 /**
 * Geodetic position solution message
 * UBX-NAV-POSLLH, Class 1, ID 2
 *
 * This message does not bother to tell us if it is valid.
 * No mode, so limited usefulness
 */
static gps_mask_t ubx_msg_nav_posllh(struct gps_device_t *session,
                                     unsigned char *buf,
                                     size_t data_len UNUSED)
{
    gps_mask_t mask = 0;

    if (28 > data_len) {
        GPSD_LOG(LOG_WARN, &session->context->errout,
                 "UBX: NAV-POSLLH: runt payload len %zd", data_len);
        return 0;
    }

    session->driver.ubx.iTOW = getleu32(buf, 0);
    session->newdata.longitude = 1e-7 * getles32(buf, 4);
    session->newdata.latitude = 1e-7 * getles32(buf, 8);
    // altitude WGS84
    session->newdata.altHAE = 1e-3 * getles32(buf, 12);
    // altitude MSL
    session->newdata.altMSL = 1e-3 * getles32(buf, 16);
    // Let gpsd_error_model() deal with geoid_sep

    // Horizontal accuracy estimate in mm, unknown type
    session->newdata.eph = getleu32(buf, 20) * 1e-3;
    // Vertical accuracy estimate in mm, unknown type
    session->newdata.epv = getleu32(buf, 24) * 1e-3;

    GPSD_LOG(LOG_PROG, &session->context->errout,
        "UBX: NAV-POSLLH: iTOW=%lld lat=%.3f lon=%.3f altHAE=%.3f "
        "eph %.3f epv %.3f\n",
        (long long)session->driver.ubx.iTOW,
        session->newdata.latitude,
        session->newdata.longitude,
        session->newdata.altHAE,
        session->newdata.eph,
        session->newdata.epv);

    mask = ONLINE_SET | HERR_SET | VERR_SET | LATLON_SET | ALTITUDE_SET;
    return mask;
}

/**
 * Navigation Position Attitude Velocity Time solution message
 * UBX-NAV-PVAT Class 1, ID 17
 *
 * Like UBX-NAV-PVT, plus parts of UBX-HNR-ATT, UBX-NAV-EELL, and NAV-TIMEUTC
 *
 * Present in:
 *   protver 30  (ADR/DBD/HPS/LAP/MDR 9-series firmware)
 *
 * Not present in:
 *    u-blox 5, 6, 7 or 8
 */
static gps_mask_t ubx_msg_nav_pvat(struct gps_device_t *session,
                                  unsigned char *buf, size_t data_len UNUSED)
{
    char buf2[80];
    char buf3[80];
    char buf4[80];
    unsigned version;
    unsigned year, month, day, hour, min, sec;
    double tAcc, hAcc, vAcc, sAcc;
    double velN, velE, velD;
    double vehRoll, vehPitch, vehHeading, motHeading;
    double accRoll, accPitch, accHeading;
    double magDec = NAN;
    double magAcc = NAN;
    long nano;
    unsigned fixType;
    unsigned flags;
    unsigned flags2;
    unsigned numSV;
    unsigned valid;
    int *status = &session->newdata.status;
    int *mode = &session->newdata.mode;
    gps_mask_t mask = 0;

    version = getub(buf, 4);
    if (0 != version) {
        GPSD_LOG(LOG_WARN, &session->context->errout,
                 "UBX: NAV-PVAT unknown version %u s/b 0", version);
        return 0;
    }
    session->driver.ubx.iTOW = getleu32(buf, 0);
    valid = getub(buf, 5);
    year = getleu16(buf, 6);
    month = getub(buf, 8);
    day = getub(buf, 9);
    hour = getub(buf, 10);
    min = getub(buf, 11);
    sec = getub(buf, 12);
    // 13, 14, 15 reserved
    tAcc = 1e-3 * getleu32(buf, 16);
    nano = getles32(buf, 20);
    fixType = getub(buf, 24);
    flags = getub(buf, 25);
    flags2 = getub(buf, 26);
    numSV = getub(buf, 27);

    // u-blox doc admits this may differ from skyview data.
    session->gpsdata.satellites_used = numSV;

    switch (fixType) {
    case UBX_MODE_TMONLY:
        // 5 - Surveyed-in, so a precise 3D.
        *mode = MODE_3D;
        *status = STATUS_TIME;
        mask |= STATUS_SET | LATLON_SET | ALTITUDE_SET | MODE_SET | SPEED_SET;
        break;

    case UBX_MODE_3D:
        // 3
        *mode = MODE_3D;
        *status = STATUS_GPS;
        mask |= STATUS_SET | LATLON_SET | ALTITUDE_SET | MODE_SET | SPEED_SET;
        break;

    case UBX_MODE_GPSDR:
        // 4
        *mode = MODE_3D;
        *status = STATUS_GNSSDR;
        mask |= STATUS_SET | LATLON_SET | ALTITUDE_SET | MODE_SET | SPEED_SET;
        break;

    case UBX_MODE_2D:
        // 2
        *mode = MODE_2D;
        *status = STATUS_GPS;
        mask |= LATLON_SET | SPEED_SET | MODE_SET | STATUS_SET;
        break;

    case UBX_MODE_DR:           // consider this too as 2D
        // 1
        *mode = MODE_2D;
        *status = STATUS_DR;
        mask |= LATLON_SET | SPEED_SET | MODE_SET | STATUS_SET;
        break;

    case UBX_MODE_NOFIX:
        // 0
        FALLTHROUGH
    default:
        // huh?
        *mode = MODE_NO_FIX;
        *status = STATUS_UNK;
        mask |= MODE_SET | STATUS_SET;
        break;
    }

    if (UBX_NAV_PVT_FLAG_DGPS == (flags & UBX_NAV_PVT_FLAG_DGPS)) {
        if (STATUS_TIME == *status) {
            // leave it
        } else if (UBX_NAV_PVT_FLAG_RTK_FIX ==
                   (flags & UBX_NAV_PVT_FLAG_RTK_FIX)) {
            *status = STATUS_RTK_FIX;
        } else if (UBX_NAV_PVT_FLAG_RTK_FLT ==
                   (flags & UBX_NAV_PVT_FLAG_RTK_FLT)) {
            *status = STATUS_RTK_FLT;
        } else {
            *status = STATUS_DGPS;
        }
        mask |= STATUS_SET;
    }

    if ((valid & UBX_NAV_PVT_VALID_DATE_TIME) == UBX_NAV_PVT_VALID_DATE_TIME) {
        struct tm unpacked_date = {0};

        unpacked_date.tm_year = year - 1900;
        unpacked_date.tm_mon = month - 1;
        unpacked_date.tm_mday = day;
        unpacked_date.tm_hour = hour;
        unpacked_date.tm_min = min;
        unpacked_date.tm_sec = sec;
        session->newdata.time.tv_sec = mkgmtime(&unpacked_date);
        // nano, can be negative! So normalize
        session->newdata.time.tv_nsec = nano;
        TS_NORM(&session->newdata.time);
        mask |= TIME_SET | NTPTIME_IS | GOODTIME_IS;
    }

    if (LATLON_SET == (mask & LATLON_SET)) {
        session->newdata.longitude = 1e-7 * getles32(buf, 28);
        session->newdata.latitude = 1e-7 * getles32(buf, 32);
        if (ALTITUDE_SET == (mask & ALTITUDE_SET)) {
            // altitude WGS84
            session->newdata.altHAE = 1e-3 * getles32(buf, 36);
            // altitude MSL
            session->newdata.altMSL = 1e-3 * getles32(buf, 40);
            // Let gpsd_error_model() deal with geoid_sep
        }
    }
    hAcc = 1e-3 * getleu32(buf, 44);
    vAcc = 1e-3 * getleu32(buf, 48);
    velN = 1e-3 * getles32(buf, 52);
    velE = 1e-3 * getles32(buf, 56);
    velD = 1e-3 * getles32(buf, 60);

    // Seems to be always valid.
    session->newdata.eph = hAcc;
    session->newdata.epv = vAcc;
    session->newdata.NED.velN = velN;
    session->newdata.NED.velE = velE;
    session->newdata.NED.velD = velD;
    mask |= VNED_SET;

    // gSpeed, seems to be always valid.
    session->newdata.speed = 1e-3 * getles32(buf, 64);
    sAcc = 1e-3 * getleu32(buf, 68);
    session->newdata.eps = sAcc;
    mask |= SPEED_SET;

    vehRoll = 1e-5 * getles32(buf, 72);
    vehPitch = 1e-5 * getles32(buf, 76);
    vehHeading = 1e-5 * getles32(buf, 80);

    // accuracies
    accRoll = 1e-3 * getles32(buf, 88);
    accPitch = 1e-3 * getles32(buf, 90);
    accHeading = 1e-3 * getles32(buf, 92);

    if (0.0 != accRoll) {
        session->gpsdata.attitude.roll = vehRoll;
        mask |= ATTITUDE_SET;
    }
    if (0.0 != accPitch) {
        session->gpsdata.attitude.pitch = vehPitch;
        mask |= ATTITUDE_SET;
    }
    if (0.0 != accHeading) {
        // seems to be true heading
        session->gpsdata.attitude.heading = vehHeading;
        mask |= ATTITUDE_SET;
    }

    motHeading = 1e-5 * getles32(buf, 84);
    if (flags & UBX_NAV_PVT_FLAG_HDG_OK) {
        // u-blox calls this Heading of motion (2-D)
        session->newdata.track = motHeading;
        mask |= TRACK_SET;
    }

    if (ATTITUDE_SET == (mask & ATTITUDE_SET)) {
        session->gpsdata.attitude.mtime = session->newdata.time;
    }

    if (valid & UBX_NAV_PVT_VALID_MAG) {
        magDec = (double)(getles16(buf, 94) * 1e-2);
        magAcc = (double)(getleu16(buf, 96) * 1e-2);
    }
    session->newdata.errEllipseOrient = (double)(getleu16(buf, 98) * 1e-2);
    session->newdata.errEllipseMajor = (double)(getleu32(buf, 100) * 1e-3);
    session->newdata.errEllipseMinor = (double)(getleu32(buf, 104) * 1e-3);

    // if cycle ender worked, could get rid of this REPORT_IS.
    // mask |= REPORT_IS;

    GPSD_LOG(LOG_PROG, &session->context->errout,
         "UBX: NAV-PVAT: iTOW %lld version %d valid x%02x "
         "time %u/%02u/%02u %02u:%02u:%02u tAcc %.3f nano %lu fixType %u "
         "flags x%x flags2 x%x numSV %u lat %.2f lon %.2f "
         "altHAE %.2f altMSL %.2f "
         "hAcc %.3f vAcc %.3f valNED %.3f %.3f %.3f speed %.3f sAcc %.3f "
         "vehRPH %.5f %.5f %.5f "
         "track %.2f accRPH %.3f %.3f %.3f "
         "mode %d status %d used %d magDec %.2f magAcc %.2f "
         "errEllipse %.2f %.3f %.3f\n",
         (long long)session->driver.ubx.iTOW, version,
         // timespec_str(&session->newdata.time, ts_buf, sizeof(ts_buf)),
         valid, year, month, day, hour, min, sec, tAcc, nano, fixType,
         flags, flags2, numSV,
         session->newdata.latitude,
         session->newdata.longitude,
         session->newdata.altHAE,
         session->newdata.altMSL,
         hAcc, vAcc, velN, velE, velD, session->newdata.speed, sAcc,
         vehRoll, vehPitch, vehHeading,
         motHeading,
         //session->newdata.track,
         accRoll, accPitch, accHeading,
         session->newdata.mode,
         session->newdata.status,
         session->gpsdata.satellites_used,
         magDec, magAcc,
         session->newdata.errEllipseOrient,
         session->newdata.errEllipseMajor,
         session->newdata.errEllipseMinor);
    GPSD_LOG(LOG_IO, &session->context->errout,
             "UBX: NAV-PVAT: fixType(%s) flags(%s) flags2(%s) valid(%s)\n",
             val2str(fixType, vpvt_fixType),
             flags2str(flags, fnav_pvt_flags, buf2, sizeof(buf2)),
             flags2str(flags2, fpvt_flags2, buf3, sizeof(buf3)),
             flags2str(valid, fpvt_valid, buf4, sizeof(buf4)));
    return mask;
}

/**
 * Navigation Position Velocity Time solution message
 * UBX-NAV-PVT Class 1, ID 7
 *
 * Includes part of UBX-NAV-TIMEUTC
 *
 * Present in:
 *   protver 14  (6-series w/ GLONASS, 7-series)
 *
 * Not present in:
 *    u-blox 5 or 6
 */
static gps_mask_t ubx_msg_nav_pvt(struct gps_device_t *session,
                                  unsigned char *buf, size_t data_len UNUSED)
{
    char buf2[80];
    char buf3[80];
    char buf4[80];
    char buf5[80];
    unsigned dgps_age;
    struct tm unpacked_date = {0};
    int *status = &session->newdata.status;
    int *mode = &session->newdata.mode;
    gps_mask_t mask = 0;
    char ts_buf[TIMESPEC_LEN];

    session->driver.ubx.iTOW = getleu32(buf, 0);
    unsigned valid = getub(buf, 11);
    unsigned fixType = getub(buf, 20);
    unsigned flags = getub(buf, 21);
    unsigned flags2 = getub(buf, 22);
    unsigned numSV = getub(buf, 23);
    unsigned flags3 = getleu16(buf, 78);

    // session->gpsdata.satellites_used = numSV;

    switch (fixType) {
    case UBX_MODE_TMONLY:
        // 5 - Surveyed-in, so a precise 3D.
        *mode = MODE_3D;
        *status = STATUS_TIME;
        mask |= STATUS_SET | MODE_SET;
        break;

    case UBX_MODE_3D:
        // 3
        *mode = MODE_3D;
        *status = STATUS_GPS;
        mask |= STATUS_SET | LATLON_SET | MODE_SET;
        break;

    case UBX_MODE_GPSDR:
        // 4
        *mode = MODE_3D;
        *status = STATUS_GNSSDR;
        mask |= STATUS_SET | LATLON_SET | MODE_SET;
        break;

    case UBX_MODE_2D:
        // 2
        *mode = MODE_2D;
        *status = STATUS_GPS;
        mask |= LATLON_SET | SPEED_SET | MODE_SET | STATUS_SET;
        break;

    case UBX_MODE_DR:           // consider this too as 2D
        // 1
        *mode = MODE_2D;
        *status = STATUS_DR;
        mask |= LATLON_SET | SPEED_SET | MODE_SET | STATUS_SET;
        break;

    case UBX_MODE_NOFIX:
        // 0
        FALLTHROUGH
    default:
        // huh?
        *mode = MODE_NO_FIX;
        *status = STATUS_UNK;
        mask |= MODE_SET | STATUS_SET;
        break;
    }

    if (UBX_NAV_PVT_FLAG_DGPS == (flags & UBX_NAV_PVT_FLAG_DGPS)) {
        // RTK flags not before protoVer 20.
        if (STATUS_TIME == *status) {
            // leave it
        } else if (UBX_NAV_PVT_FLAG_RTK_FIX ==
                   (flags & UBX_NAV_PVT_FLAG_RTK_FIX)) {
            *status = STATUS_RTK_FIX;
        } else if (UBX_NAV_PVT_FLAG_RTK_FLT ==
                   (flags & UBX_NAV_PVT_FLAG_RTK_FLT)) {
            *status = STATUS_RTK_FLT;
        } else {
            *status = STATUS_DGPS;
        }

        dgps_age = (flags3 >> 1) & 0x0f;
        if (0 < dgps_age) {
            if (ROWS(pvt_dgps_age) <= dgps_age) {
                dgps_age = ROWS(pvt_dgps_age) - 1;
            }
            session->newdata.dgps_age = pvt_dgps_age[dgps_age];
        }
        mask |= STATUS_SET;
    }

    if ((valid & UBX_NAV_PVT_VALID_DATE_TIME) == UBX_NAV_PVT_VALID_DATE_TIME) {
        unpacked_date.tm_year = (uint16_t)getleu16(buf, 4) - 1900;
        unpacked_date.tm_mon = (uint8_t)getub(buf, 6) - 1;
        unpacked_date.tm_mday = (uint8_t)getub(buf, 7);
        unpacked_date.tm_hour = (uint8_t)getub(buf, 8);
        unpacked_date.tm_min = (uint8_t)getub(buf, 9);
        unpacked_date.tm_sec = (uint8_t)getub(buf, 10);
        unpacked_date.tm_isdst = 0;
        unpacked_date.tm_wday = 0;
        unpacked_date.tm_yday = 0;
        session->newdata.time.tv_sec = mkgmtime(&unpacked_date);
        // field 16, nano, can be negative! So normalize
        session->newdata.time.tv_nsec = getles32(buf, 16);
        TS_NORM(&session->newdata.time);
        mask |= TIME_SET | NTPTIME_IS | GOODTIME_IS;
    }

    session->newdata.longitude = 1e-7 * getles32(buf, 24);
    session->newdata.latitude = 1e-7 * getles32(buf, 28);
    // altitude WGS84
    session->newdata.altHAE = 1e-3 * getles32(buf, 32);
    // altitude MSL
    session->newdata.altMSL = 1e-3 * getles32(buf, 36);
    // Let gpsd_error_model() deal with geoid_sep

    session->newdata.speed = 1e-3 * (int32_t)getles32(buf, 60);
    // u-blox calls this Heading of motion (2-D)
    session->newdata.track = 1e-5 * (int32_t)getles32(buf, 64);
    // FIXME!!!!!
    mask |= LATLON_SET | ALTITUDE_SET | SPEED_SET | TRACK_SET;

    /* u-blox does not document the basis for the following "accuracy"
     * estimates.  Maybe CEP(50), one sigma, two sigma, CEP(99), etc. */

    // Horizontal Accuracy estimate, in mm
    session->newdata.eph = (double)(getles32(buf, 40) / 1000.0);
    // Vertical Accuracy estimate, in mm
    session->newdata.epv = (double)(getles32(buf, 44) / 1000.0);
    // Speed Accuracy estimate, in mm/s
    session->newdata.eps = (double)(getles32(buf, 68) / 1000.0);
    // let gpsd_error_model() do the rest

    mask |= HERR_SET | SPEEDERR_SET | VERR_SET;
    // if cycle ender worked, could get rid of this REPORT_IS.
    // mask |= REPORT_IS;

    GPSD_LOG(LOG_PROG, &session->context->errout,
         "UBX: NAV-PVT: flags %02x time %s valid x%x lat %.2f lon %.2f "
         "altHAE %.2f "
         "track %.2f speed %.2f mode %d status %d used %d dgps_age %.0f\n",
         flags,
         timespec_str(&session->newdata.time, ts_buf, sizeof(ts_buf)),
         valid,
         session->newdata.latitude,
         session->newdata.longitude,
         session->newdata.altHAE,
         session->newdata.track,
         session->newdata.speed,
         session->newdata.mode,
         session->newdata.status,
         numSV,   // session->gpsdata.satellites_used,
         session->newdata.dgps_age);
    GPSD_LOG(LOG_IO, &session->context->errout,
             "UBX: NAV-PVT: fixType %s flags(%s_ flags2(%s) flags3(%s) "
             "valid(%s)\n",
             val2str(fixType, vpvt_fixType),
             flags2str(flags, fnav_pvt_flags, buf2, sizeof(buf2)),
             flags2str(flags2, fpvt_flags2, buf3, sizeof(buf3)),
             flags2str(flags3, fpvt_flags3, buf4, sizeof(buf4)),
             flags2str(valid, fpvt_valid, buf5, sizeof(buf5)));
    if (92 <= data_len) {
        // u-blox 8 and 9 extended
        double magDec = NAN;
        double magAcc = NAN;
#ifdef __UNUSED
        if (flags & UBX_NAV_PVT_FLAG_HDG_OK) {
            /* u-blox calls this Heading of vehicle (2-D)
             * why is it different than earlier track? */
            session->newdata.track = (double)(getles32(buf, 84) * 1e-5);
        }
#endif  // __UNUSED
        if (valid & UBX_NAV_PVT_VALID_MAG) {
            magDec = (double)(getles16(buf, 88) * 1e-2);
            magAcc = (double)(getleu16(buf, 90) * 1e-2);
        }
        GPSD_LOG(LOG_PROG, &session->context->errout,
             " UBX: NAV-PVT: headVeh %.5f magDec %.2f magAcc %.2f\n",
             session->newdata.track, magDec, magAcc);
    }
    return mask;
}

 /**
 * High Precision Relative Positioning Information in NED frame
 * UBX-NAV-RELPOSNED, Class 1, ID x3c
 * HP GNSS only, protver 20+
 */
static gps_mask_t ubx_msg_nav_relposned(struct gps_device_t *session,
                                        unsigned char *buf, size_t data_len)
{
    int version;
    unsigned flags;
    double accN = NAN, accE = NAN, accD = NAN, accL = NAN, accH = NAN;
    gps_mask_t mask = 0;

    if (40 > data_len) {
        GPSD_LOG(LOG_WARN, &session->context->errout,
                 "UBX: NAV-RELPOSNED:0: runt payload len %zd",
                 data_len);
        return mask;
    }
    version = getub(buf, 0);
    /* WTF?  u-blox did not make this sentence upward compatible
     * 40 bytes in Version 0, protVer 20 to 27
     * 64 bytes in Version 1, protVer 27.11+ */

    session->newdata.dgps_station = getleu16(buf, 2);          // 0 to 4095
    session->driver.ubx.iTOW = getleu32(buf, 4);
    if (1 > version) {
        // version 0
        flags = getleu32(buf, 36);
        if (1 != (1 & flags)) {
            // not gnssFixOK
            GPSD_LOG(LOG_PROG, &session->context->errout,
                     "UBX: NAV-RELPOSNED:0 no fix");
            return mask;
        }
        if (4 & flags) {
            // rePosValid
            session->newdata.NED.relPosN = getles32x100s8d(buf, 8, 20, 1e-4);
            session->newdata.NED.relPosE = getles32x100s8d(buf, 12, 21, 1e-4);
            session->newdata.NED.relPosD = getles32x100s8d(buf, 16, 22, 1e-4);

            accN = 1e-4 * getles32(buf, 24);
            accE = 1e-4 * getles32(buf, 28);
            accD = 1e-4 * getles32(buf, 32);
            mask |= NED_SET;
        }
    } else {
        // assume version 1
        if (64 > data_len) {
            GPSD_LOG(LOG_WARN, &session->context->errout,
                     "UBX: NAV-RELPOSNED:1: runt payload len %zd",
                     data_len);
            return mask;
        }
        flags = getleu32(buf, 60);
        if (1 != (1 & flags)) {
            // not gnssFixOK
            GPSD_LOG(LOG_PROG, &session->context->errout,
                     "UBX: NAV-RELPOSNED:1 no fix");
            return mask;
        }
        if (4 & flags) {
            // rePosValid
            session->newdata.NED.relPosN = getles32x100s8d(buf, 8, 32, 1e-4);
            session->newdata.NED.relPosE = getles32x100s8d(buf, 12, 33, 1e-4);
            session->newdata.NED.relPosD = getles32x100s8d(buf, 16, 34, 1e-4);
            session->newdata.NED.relPosL = getles32x100s8d(buf, 20, 35, 1e-4);

            accN = 1e-4 * getles32(buf, 36);
            accE = 1e-4 * getles32(buf, 40);
            accD = 1e-4 * getles32(buf, 44);
            accL = 1e-4 * getles32(buf, 48);
            accH = 1e-4 * getles32(buf, 52);
            if (0x100 & flags) {
                // relPosHeadingValid
                session->newdata.NED.relPosH = 1e-5 * getles32(buf, 24);
            }
            mask |= NED_SET;
            // FIXME: RTK flags?
        }
    }

    GPSD_LOG(LOG_PROG, &session->context->errout,
        "UBX: NAV-RELPOSNED: version %d iTOW=%lld refStationId %u flags x%x\n"
        "UBX: NAV-RELPOSNED: relPos N=%.4f E=%.4f D=%.4f\n"
        "UBX: NAV-RELPOSNED: acc N=%.4f E=%.4f D=%.4f L=%.4f H=%.4f\n",
        version,
        (long long)session->driver.ubx.iTOW,
        session->newdata.dgps_station,
        flags,
        session->newdata.NED.relPosN,
        session->newdata.NED.relPosE,
        session->newdata.NED.relPosD,
        accN, accE, accD, accL, accH);

    if (5 != (flags & 5)) {
        // gnssFixOK or relPosValid are false, no fix
        return 0;
    }
    return mask;
}

/**
 * GPS Satellite Info -- new style UBX-NAV-SAT
 * Not present in:
 *     u-blox 5
 *     protVer 12  5 and 6-series
 * Present in:
 *    protVer 15_  8-series
 *    protVer 27   (ZED-F9P)
 */
static gps_mask_t ubx_msg_nav_sat(struct gps_device_t *session,
                                  unsigned char *buf, size_t data_len)
{
    char buf2[80];
    unsigned int i, nchan, ver;
    int seen = 0, used_tot = 0;
    timespec_t ts_tow;

    if (8 > data_len) {
        GPSD_LOG(LOG_PROG, &session->context->errout,
                 "UBX: NAV-SAT runt datalen %zd\n", data_len);
        return 0;
    }

    session->driver.ubx.iTOW = getleu32(buf, 0);
    MSTOTS(&ts_tow, session->driver.ubx.iTOW);
    session->gpsdata.skyview_time =
        gpsd_gpstime_resolv(session, session->context->gps_week, ts_tow);

    ver = (unsigned int)getub(buf, 4);
    if (1 != ver) {
        GPSD_LOG(LOG_WARN, &session->context->errout,
                 "UBX: NAV-SAT unknown version %d", ver);
        return 0;
    }
    nchan = (unsigned int)getub(buf, 5);
    if (nchan > MAXCHANNELS) {
        GPSD_LOG(LOG_WARN, &session->context->errout,
                 "UBX: NAV-SAT: runt >%d reported visible",
                 MAXCHANNELS);
        return 0;
    }

#ifdef __UNUSED__    // debug
    GPSD_LOG(LOG_SHOUT, &session->context->errout,
             "UBX: NAV-SAT: gpsd_zero_satellites()\n");
#endif
    gpsd_zero_satellites(&session->gpsdata);

    for (i = 0; i < nchan; i++) {
        unsigned int off = 8 + 12 * i;
        short nmea_PRN = 0;
        uint8_t gnssId = getub(buf, off + 0);
        uint8_t svId = getub(buf, off + 1);
        uint8_t cno = getub(buf, off + 2);
        int elev = getsb(buf, off + 3);
        int azim = getles16(buf, off + 4);
        int prRes = getles16(buf, off + 6);
        // health data in flags
        unsigned long flags = getleu32(buf, off + 8);
        bool used = (bool)(flags  & 0x08);
        // Notice NO sigid!

        nmea_PRN = ubx2_to_prn(gnssId, svId);
        if (0 >= nmea_PRN) {
            // bad PRN??
            GPSD_LOG(LOG_WARN, &session->context->errout,
                     "UBX: NAV-SAT(%d) Bad PRN: gnssid %u, svid %u PRN %d\n",
                     seen, gnssId, svId, nmea_PRN);
            continue;
        }
        session->gpsdata.skyview[seen].gnssid = gnssId;
        session->gpsdata.skyview[seen].svid = svId;
        session->gpsdata.skyview[seen].PRN = nmea_PRN;

        session->gpsdata.skyview[seen].ss = (double)cno;
        if (90 >= abs(elev)) {
            session->gpsdata.skyview[seen].elevation = (double)elev;
        }
        /* For some reason UBX allows 360 == azim here, but gpsd json does not
         * so fix that.  Other UBX specifies 0-359. */
        if (360 == azim) {
            azim = 0;
        }
        if (360 > azim &&
            0 <= azim) {
            session->gpsdata.skyview[seen].azimuth = (double)azim;
        }
        session->gpsdata.skyview[seen].used = used;
        // sbas_in_use is not same as used
        if (used) {
            used_tot++;
        }
        session->gpsdata.skyview[seen].prRes = prRes / 10.0;
        // by some coincidence, our health flags matches u-blox's
        session->gpsdata.skyview[seen].health = (flags >> 4) & 3;
        session->gpsdata.skyview[seen].qualityInd = flags & 7;
        // FIXME: sigid?
        GPSD_LOG(LOG_PROG, &session->context->errout,
                 "UBX: NAV-SAT(%d) gnssid %u, svid %u PRN %d "
                 "prRes %d cno %u el %.1f az %.1f qual %d flags x%lx\n",
                 seen, gnssId, svId, nmea_PRN, prRes, cno,
                 session->gpsdata.skyview[seen].elevation,
                 session->gpsdata.skyview[seen].azimuth,
                 session->gpsdata.skyview[seen].qualityInd,
                 flags);
        GPSD_LOG(LOG_IO, &session->context->errout,
                 "UBX: NAV-SAT: gnssId:%s flags:%s quality:%s\n",
                 val2str(gnssId, vgnssId),
                 flags2str(flags, fsat_flags, buf2, sizeof(buf2)),
                 val2str(flags & 7, vquality));

        seen++;
    }

    session->gpsdata.satellites_visible = seen;
    session->gpsdata.satellites_used = used_tot;
    GPSD_LOG(LOG_PROG, &session->context->errout,
             "UBX: NAV-SAT: visible=%d used=%d mask={SATELLITE|USED}\n",
             session->gpsdata.satellites_visible,
             session->gpsdata.satellites_used);
    return SATELLITE_SET | USED_IS;
}

/*
 * SBAS Info UBX-NAV-SBAS
 * in u-blox 4_
 * in NEO-M9N
 * Not in some u-blox 9
 * Decode looks good, but data only goes to log.
 */
static gps_mask_t ubx_msg_nav_sbas(struct gps_device_t *session,
                                   unsigned char *buf, size_t data_len)
{
    unsigned i, cnt;
    unsigned ubx_PRN;
    short nmea_PRN;
    unsigned char gnssid = 0;
    unsigned char svid = 0;

    if (12 > data_len) {
        GPSD_LOG(LOG_WARN, &session->context->errout,
                 "UBX: NAV-SBAS: runt payload len %zd", data_len);
        return 0;
    }

    session->driver.ubx.iTOW = getleu32(buf, 0);
    ubx_PRN = getub(buf, 4);
    cnt = getub(buf, 8);
    GPSD_LOG(LOG_PROG, &session->context->errout,
             "UBX: NAV-SBAS iTOW %lu geo %u mode %u sys %u service x%x "
             "cnt %u\n",
             (unsigned long)session->driver.ubx.iTOW,
             ubx_PRN, (unsigned)getub(buf, 5),
             (unsigned)getub(buf, 6), (unsigned)getub(buf, 7),
             cnt);

    if (MAXCHANNELS < cnt) {
        // too many sats for us, pacify coverity
        cnt = MAXCHANNELS;
    }
    if (data_len < (12 + (12 * cnt))) {
        // length check, pacify coverity
        GPSD_LOG(LOG_WARN, &session->context->errout,
                 "UBX: NAV-SBAS: bad length %zd", data_len);
    }
    for (i = 0; i < cnt; i++) {
        int off = 12 + (12 * i);
        unsigned svID = getub(buf, off);
        unsigned flags = getub(buf, off + 1);
        // User Differential Range Error (udre)
        unsigned udre = getub(buf, off + 2);
        int svSys = getsb(buf, off + 3);
        unsigned svService = getub(buf, off + 4);
        int prc = getles16(buf, off + 6);
        int ic = getles16(buf, off + 10);
        GPSD_LOG(LOG_PROG, &session->context->errout,
                 "UBX: NAV-SBAS SV%3u flags x%02x udre %u svSys %2d "
                 "svService x%x prc %d ic %d\n",
                 svID, flags, udre, svSys, svService, prc, ic);
    }
    /* really 'in_use' depends on the sats info, EGNOS is still
     * in test.  In WAAS areas one might also check for the type of
     * corrections indicated
     */

    nmea_PRN = ubx_to_prn(ubx_PRN, &gnssid, &svid);
#ifdef __UNUSED
    // debug
    GPSD_LOG(LOG_ERROR, &session->context->errout,
             "UBX: NAV-SBAS ubx_prn %d gnssid %d, svid %d nmea_PRN %d\n",
             ubx_PRN, gnssid, svid, nmea_PRN);
#endif  // __UNUSED
    session->driver.ubx.sbas_in_use = nmea_PRN;
    return 0;
}

/**
 * Satellite Info -- UBX-NAV-SIG
 *
 * Like NAV-SAT, but NAV-SIG has no elevation and azimuth!  So we need both.
 * Assume NAV-SAT was sent in this epoch before NAV-SIG.
 * Seems like NAV-SAT always sent just before NAV-SIG.
 *
 * Present in:
 *    protVer 27 (9-series and 10)
 * Not present in:
 *    protVer 12 6-eries
 *    before protVer 27
 */
static gps_mask_t ubx_msg_nav_sig(struct gps_device_t *session,
                                  unsigned char *buf, size_t data_len)
{
    unsigned int i, nchan, ver;
    int seen = 0, used_tot = 0;
    timespec_t ts_tow;
    // saved skyview, hopefully from NAV-SAT
    struct satellite_t skyview_old[MAXCHANNELS];

    if (8 > data_len) {
        GPSD_LOG(LOG_PROG, &session->context->errout,
                 "UBX: NAV-SIG runt datalen %zd\n", data_len);
        return 0;
    }

    session->driver.ubx.iTOW = getleu32(buf, 0);
    MSTOTS(&ts_tow, session->driver.ubx.iTOW);
    session->gpsdata.skyview_time =
        gpsd_gpstime_resolv(session, session->context->gps_week, ts_tow);

    ver = getub(buf, 4);
    if (0 != ver) {
        GPSD_LOG(LOG_WARN, &session->context->errout,
                 "UBX: NAV-SIG unknown version %d s/b 0", ver);
        return 0;
    }
    nchan = getub(buf, 5);
    if (nchan > MAXCHANNELS) {
        GPSD_LOG(LOG_WARN, &session->context->errout,
                 "UBX: NAV-SIG: nchan %u > MAXCHANNELS %d",
                 nchan, MAXCHANNELS);
        return 0;
    }
    // two "unused" bytes at buf[6:7]

    /* elevation and azimuth are in NAV-SAT, make a copy of any NAV-SAT
     * data before initializiing it. */
    memcpy(skyview_old, session->gpsdata.skyview, sizeof(skyview_old));

#ifdef __UNUSED__    // debug
    GPSD_LOG(LOG_SHOUT, &session->context->errout,
             "UBX: NAV-SIG: gpsd_zero_satellites()\n");
#endif
    gpsd_zero_satellites(&session->gpsdata);

    for (i = 0; i < nchan; i++) {
        // like NAV-SAT, but 16 bytes instead of 12, no elevation or azimuth
        char buf2[80];
        int sat_old;
        unsigned off = 8 + 16 * i;
        short nmea_PRN = 0;
        uint8_t gnssId = getub(buf, off + 0);
        uint8_t svId = getub(buf, off + 1);
        uint8_t sigId = getub(buf, off + 2);
        uint8_t freqid = getub(buf, off + 3);
        int16_t prRes = getles16(buf, off + 4);     // 0.1 m
        uint8_t cno = getub(buf, off + 6);          // dBHz
        uint8_t qualityInd = getub(buf, off + 7);   // quality indicator
        // not exactly right?
        bool used = (4 <= qualityInd) ? true : false;
        uint8_t corrSource = getub(buf, off + 8);   // correlation source
        uint8_t ionoModel = getub(buf, off + 9);    // Ionospheric model used:
        unsigned sigFlags = getleu16(buf, off + 10);

        // last 4 bytes, reserved
        uint32_t reserved = getleu32(buf, 12);

        nmea_PRN = ubx2_to_prn(gnssId, svId);
        if (0 >= nmea_PRN) {
            if (-1 == nmea_PRN) {
                // ignore GLONASS 255
                continue;
            }
            // bad PRN??
            GPSD_LOG(LOG_PROG, &session->context->errout,
                     "UBX: NAV-SIG(%d) Bad PRN: gnssid %u, svid %u PRN %d\n",
                     seen, gnssId, svId, nmea_PRN);
            continue;
        }

        session->gpsdata.skyview[seen].gnssid = gnssId;
        session->gpsdata.skyview[seen].svid = svId;
        session->gpsdata.skyview[seen].sigid = sigId;
        session->gpsdata.skyview[seen].freqid = freqid;
        session->gpsdata.skyview[seen].PRN = nmea_PRN;
        session->gpsdata.skyview[seen].prRes = prRes / 10.0;
        session->gpsdata.skyview[seen].qualityInd = qualityInd;

        session->gpsdata.skyview[seen].ss = (double)cno;
        session->gpsdata.skyview[seen].used = used;
        // sbas_in_use is not same as used
        if (used) {
            used_tot++;
        }
        // by some coincidence, our health flags matches u-blox's
        session->gpsdata.skyview[seen].health = sigFlags & 3;
        // try to keep elevation and azimuth from NAV-SAT
        for (sat_old = 0; sat_old < MAXCHANNELS; sat_old++) {
            if (0 >= skyview_old[sat_old].PRN) {
                // end of list, not found
                break;
            }
            if (nmea_PRN != skyview_old[sat_old].PRN) {
                // not this one
                continue;
            }
            // found it, grab the data
            session->gpsdata.skyview[seen].azimuth =
                skyview_old[sat_old].azimuth;
            session->gpsdata.skyview[seen].elevation =
                skyview_old[sat_old].elevation;
            break;
        }
        GPSD_LOG(LOG_PROG, &session->context->errout,
                 "UBX: NAV-SIG gnssid %u, svid %u sigid %u PRN %d freqid %u "
                 "prRes %d cno %u qual %u corr %u, iono %u flags x%x res x%x "
                 "az %.1f el %.1f\n",
                 gnssId, svId, sigId, nmea_PRN, freqid, prRes, cno,
                 qualityInd, corrSource, ionoModel, sigFlags, reserved,
                 session->gpsdata.skyview[seen].azimuth,
                 session->gpsdata.skyview[seen].elevation);
        GPSD_LOG(LOG_IO, &session->context->errout,
                 "UBX: NAV-SIG(%d): gnssId:%s flags:%s quality:%s "
                 "courrSource:%s ionoModel:%s\n",
                 seen, val2str(gnssId, vgnssId),
                 flags2str(sigFlags, fsig_sigFlags, buf2, sizeof(buf2)),
                 val2str(qualityInd, vquality),
                 val2str(corrSource, vsig_corrsource),
                 val2str(ionoModel, vsig_ionomodel));

        seen++;
    }

    session->gpsdata.satellites_visible = seen;
    session->gpsdata.satellites_used = used_tot;
    GPSD_LOG(LOG_PROG, &session->context->errout,
             "UBX: NAV-SIG: visible=%d used=%d mask={SATELLITE|USED}\n",
             session->gpsdata.satellites_visible,
             session->gpsdata.satellites_used);
    return SATELLITE_SET | USED_IS;
}

/**
 * Navigation solution message: UBX-NAV-SOL
 *
 * Present in:
 *    protVer 7 ( Antaris)
 *    protVer up to 23,01
 *
 * Deprecated in:
 *    protVer 13 (6-series)
 *
 * Not present in:
 *    protVer 27 (9-series)
 *    Use UBX-NAV-PVT instead
 *
 * UBX-NAV-SOL has ECEF and VECEF, so no need for UBX-NAV-POSECEF and
 * UBX-NAV-VELECEF
 */
static gps_mask_t ubx_msg_nav_sol(struct gps_device_t *session,
                                  unsigned char *buf, size_t data_len)
{
    char buf2[80];
    unsigned flags, pdop;
    unsigned gpsFix;
    gps_mask_t mask = 0;
    char ts_buf[TIMESPEC_LEN];

    if (52 > data_len) {
        GPSD_LOG(LOG_WARN, &session->context->errout,
                 "UBX: NAV-SOL: runt payload len %zd", data_len);
        return 0;
    }

    session->driver.ubx.iTOW = getleu32(buf, 0);
    gpsFix = getub(buf, 10);
    flags = getub(buf, 11);
    mask = 0;
#define DATE_VALID      (UBX_SOL_VALID_WEEK | UBX_SOL_VALID_TIME)
    if ((flags & DATE_VALID) == DATE_VALID) {
        unsigned short week;
        timespec_t ts_tow;

        MSTOTS(&ts_tow, session->driver.ubx.iTOW);
        ts_tow.tv_nsec += (long)getles32(buf, 4);
        TS_NORM(&ts_tow);
        week = (unsigned short)getles16(buf, 8);
        session->newdata.time = gpsd_gpstime_resolv(session, week, ts_tow);
        mask |= TIME_SET | NTPTIME_IS | GOODTIME_IS;
    }
#undef DATE_VALID

    session->newdata.ecef.x = getles32(buf, 12) / 100.0;
    session->newdata.ecef.y = getles32(buf, 16) / 100.0;
    session->newdata.ecef.z = getles32(buf, 20) / 100.0;
    session->newdata.ecef.pAcc = getleu32(buf, 24) / 100.0;
    session->newdata.ecef.vx = getles32(buf, 28) / 100.0;
    session->newdata.ecef.vy = getles32(buf, 32) / 100.0;
    session->newdata.ecef.vz = getles32(buf, 36) / 100.0;
    session->newdata.ecef.vAcc = getleu32(buf, 40) / 100.0;
    mask |= ECEF_SET | VECEF_SET;

    session->newdata.eps = (double)(getles32(buf, 40) / 100.0);
    mask |= SPEEDERR_SET;

    pdop = getleu16(buf, 44);
    if (9999 > pdop) {
        session->gpsdata.dop.pdop = (double)(pdop / 100.0);
        mask |= DOP_SET;
    }
    session->gpsdata.satellites_used = (int)getub(buf, 47);

    switch (gpsFix) {
    case UBX_MODE_TMONLY:
        // Surveyed-in, better not have moved
        session->newdata.mode = MODE_3D;
        session->newdata.status = STATUS_TIME;
        break;
    case UBX_MODE_3D:
        session->newdata.mode = MODE_3D;
        session->newdata.status = STATUS_GPS;
        break;
    case UBX_MODE_2D:
        session->newdata.mode = MODE_2D;
        session->newdata.status = STATUS_GPS;
        break;
    case UBX_MODE_DR:           // consider this too as 2D
        session->newdata.mode = MODE_2D;
        session->newdata.status = STATUS_DR;
        break;
    case UBX_MODE_GPSDR:        // DR-aided GPS is valid 3D
        session->newdata.mode = MODE_3D;
        session->newdata.status = STATUS_GNSSDR;
        break;
    default:
        session->newdata.mode = MODE_NO_FIX;
        session->newdata.status = STATUS_UNK;
        break;
    }

    if (0 != (flags & UBX_SOL_FLAG_DGPS))
        session->newdata.status = STATUS_DGPS;

    mask |= MODE_SET | STATUS_SET;
    // older u-blox, cycle ender may be iffy
    // so err o nthe side of over-reporting TPV
    mask |= REPORT_IS;

    GPSD_LOG(LOG_PROG, &session->context->errout,
             "UBX: NAV-SOL: time=%s ecef x:%.2f y:%.2f z:%.2f track=%.2f "
             "speed=%.2f mode=%d status=%d used=%d\n",
             timespec_str(&session->newdata.time, ts_buf, sizeof(ts_buf)),
             session->newdata.ecef.x,
             session->newdata.ecef.y,
             session->newdata.ecef.z,
             session->newdata.track,
             session->newdata.speed,
             session->newdata.mode,
             session->newdata.status,
             session->gpsdata.satellites_used);
    GPSD_LOG(LOG_IO, &session->context->errout,
             "UBX: NAV-SOL-PVT: gpsFix:%s flags:%s\n",
             val2str(gpsFix, vpvt_fixType),
             flags2str(flags, fhnr_pvt_flags, buf2, sizeof(buf2)));
    return mask;
}


/**
 * Receiver navigation status
 * UBX-NAV-STATUS Class 1, ID 3
 *
 * Present in Antaris to 9-series
 */
static gps_mask_t
ubx_msg_nav_status(struct gps_device_t *session, unsigned char *buf,
                   size_t data_len)
{
    uint8_t gpsFix;
    uint8_t flags;
    uint8_t fixStat;
    uint8_t flags2;
    uint32_t ttff;
    uint32_t msss;
    int *status = &session->newdata.status;
    int *mode = &session->newdata.mode;
    gps_mask_t mask = 0;

    if (16 > data_len) {
        GPSD_LOG(LOG_WARN, &session->context->errout,
                 "UBX: NAV-STATUS: runt payload len %zd", data_len);
        return 0;
    }

    session->driver.ubx.iTOW = getleu32(buf, 0);
    gpsFix = getub(buf, 4);
    flags = getub(buf, 5);
    fixStat = getub(buf, 6);
    flags2 = getub(buf, 7);
    ttff = getleu32(buf, 8);
    msss = getleu32(buf, 12);

    // FIXME: how does this compare with other places ubx sets mode/status?
    if (0 == (1 & flags)) {
        // gpsFix not OK
        *mode = MODE_NO_FIX;
        *status = STATUS_UNK;
    } else {
        switch (gpsFix) {
        case UBX_MODE_TMONLY:
            // 5 - Surveyed-in, so a precise 3D.
            *mode = MODE_3D;
            *status = STATUS_TIME;
            break;

        case UBX_MODE_3D:
            // 3
            *mode = MODE_3D;
            *status = STATUS_GPS;
            break;

        case UBX_MODE_GPSDR:
            // 4
            *mode = MODE_3D;
            *status = STATUS_GNSSDR;
            break;

        case UBX_MODE_2D:
            // 2
            *mode = MODE_2D;
            if (2 == (2 & fixStat)) {
                *status = STATUS_DGPS;
            } else {
                *status = STATUS_GPS;
            }
            break;

        case UBX_MODE_DR:           // consider this too as 2D
            // 1
            *mode = MODE_2D;
            *status = STATUS_DR;
            break;

        case UBX_MODE_NOFIX:
            // 0
            FALLTHROUGH
        default:
            // > 5, huh??
            *mode = MODE_NO_FIX;
            *status = STATUS_UNK;
            break;
        }
        if (2 == (2 & fixStat)) {
            if (0x40 == (0x40 & flags2)) {
                *status = STATUS_RTK_FLT;
            } else if (0x80 == (0x80 & flags2)) {
                *status = STATUS_RTK_FIX;
            }
            // else ??
        } else if (1 == (1 & fixStat)) {
            *status = STATUS_DGPS;
        }
    }
    mask |= STATUS_SET | MODE_SET;

    GPSD_LOG(LOG_PROG, &session->context->errout,
         "UBX: NAV-STATUS: iTOW %lld gpsFix %u flags %02x fixStat %02x "
         "flags2=%02x ttff=%llu msss=%llu mode=%u status=%u\n",
         (long long)session->driver.ubx.iTOW,
         gpsFix,
         flags,
         fixStat,
         flags2,
         (long long unsigned)ttff,
         (long long unsigned)msss,
         session->newdata.mode,
         session->newdata.status);
    return mask;
}

/**
 * Survey-in data - UBX-NAV-SVIN
 * Time Sync products only
 */
static gps_mask_t ubx_msg_nav_svin(struct gps_device_t *session,
                                   unsigned char *buf, size_t data_len UNUSED)
{
    gps_mask_t mask = ONLINE_SET;
    unsigned version = getub(buf, 0);
    // 3 reserved bytes
    unsigned long iTOW = getleu32(buf, 4);
    unsigned long dur = getleu32(buf, 0);
    long long meanX = getles32(buf, 12);             // cm
    long long meanY = getles32(buf, 16);             // cm
    long long meanZ = getles32(buf, 20);             // cm
    int meanXHP = getsb(buf, 24);                    // 0.1 mm
    int meanYHP = getsb(buf, 25);                    // 0.1 mm
    int meanZHP = getsb(buf, 26);                    // 0.1 mm
    // 1 reserved byte
    unsigned long meanAcc = getleu32(buf, 28);  // 0.1 mm
    unsigned long obs = getleu32(buf, 32);
    unsigned valid = getub(buf, 36);
    unsigned active = getub(buf, 37);
    // 2 reserved

    // Only version 0 is defined up to ub-blox 9
    if (0 != version) {
        GPSD_LOG(LOG_WARN, &session->context->errout,
                 "UBX: NAV-SVIN: unknown version $u %u", version);
        return 0;
    }

    session->driver.ubx.iTOW = iTOW;
    meanX = (meanX * 10) + meanXHP;
    meanY = (meanY * 10) + meanYHP;
    meanZ = (meanZ * 10) + meanZHP;

    // casts for 32 bit compatibility
    GPSD_LOG(LOG_PROG, &session->context->errout,
             "UBX: NAV-SVIN: iTOW %llu dur=%lu meanX=%lld meanY=%lld "
             "meanZ=%lld meanAcc=%lu "
             "obs=%lu valid=%u(%s) active=%u(%s)\n",
             (long long)iTOW, dur, meanX, meanY, meanZ,
             meanAcc, obs, valid, val2str(valid, vsvin_valid),
             active, val2str(active, vsvin_active));
    return mask;
}

/**
 * GPS Satellite Info -- deprecated - UBX-NAV-SVINFO
 * Present in:
 *    protver < 27
 * Not present in:
      protver >= 27 (9-series), use UBX-NAV-SAT instead
 */
static gps_mask_t ubx_msg_nav_svinfo(struct gps_device_t *session,
                                     unsigned char *buf, size_t data_len)
{
    char buf2[80];
    unsigned i, nchan;
    int seen = 0, used_tot = 0;
    unsigned chipGen;
    unsigned globalFlags;
    timespec_t ts_tow;
    // chipGen to protVer, Antaris 4, u-blox 4, 5, 6, 7 and 8
    static unsigned gen2ver[] = {8, 10, 12, 13, 15};

    if (8 > data_len) {
        GPSD_LOG(LOG_PROG, &session->context->errout,
                 "UBX: NAV-SVINFO runt datalen %zd\n", data_len);
        return 0;
    }

    session->driver.ubx.iTOW = getleu32(buf, 0);
    MSTOTS(&ts_tow, session->driver.ubx.iTOW);
    session->gpsdata.skyview_time =
        gpsd_gpstime_resolv(session, session->context->gps_week, ts_tow);

    nchan = getub(buf, 4);
    if (nchan > MAXCHANNELS) {
        GPSD_LOG(LOG_WARN, &session->context->errout,
                 "UBX: NAV SVINFO: runt >%d reported visible",
                 MAXCHANNELS);
        return 0;
    }
    globalFlags = getub(buf, 5);
    chipGen = globalFlags & 0x07;
    if (ROWS(gen2ver) > chipGen &&
        // put a floor under protVer
        gen2ver[chipGen] > session->driver.ubx.protver) {
        session->driver.ubx.protver = gen2ver[chipGen];
    }

#ifdef __UNUSED__    // debug
    GPSD_LOG(LOG_SHOUT, &session->context->errout,
             "UBX: NAV-SVINFO: gpsd_zero_satellites()\n");
#endif
    gpsd_zero_satellites(&session->gpsdata);

    for (i = 0; i < nchan; i++) {
        unsigned off = 8 + 12 * i;
        short nmea_PRN;
        unsigned chan = getub(buf, off);
        unsigned ubx_PRN = getub(buf, off + 1);
        unsigned flags = getub(buf, off + 2);
        unsigned quality = getub(buf, off + 3);
        unsigned cno = getub(buf, off + 4);
        bool used = (bool)(flags & 0x01);
        int el = getsb(buf, off + 5);
        int az = getles16(buf, off + 6);
        int prRes = getles16(buf, off + 7);

        nmea_PRN = ubx_to_prn(ubx_PRN,
                              &session->gpsdata.skyview[seen].gnssid,
                              &session->gpsdata.skyview[seen].svid);

        if (1 > nmea_PRN) {
            // skip bad PRN
            GPSD_LOG(LOG_PROG, &session->context->errout,
                     "UBX: NAV-SVINFO bad NMEA PRN %d\n", nmea_PRN);
            continue;
        }
        session->gpsdata.skyview[seen].PRN = nmea_PRN;

        session->gpsdata.skyview[seen].ss = (double)cno;
        if (90 >= abs(el)) {
            session->gpsdata.skyview[seen].elevation = (double)el;
        }
        if (360 > az &&
            0 <= az) {
            session->gpsdata.skyview[seen].azimuth = (double)az;
        }
        session->gpsdata.skyview[seen].prRes = prRes / 100.0;
        session->gpsdata.skyview[seen].qualityInd = quality;
        session->gpsdata.skyview[seen].used = used;
        // sbas_in_use is not same as used
        if (used) {
            // not really 'used', just integrity data from there
            used_tot++;
        }
        if (0x10 == (0x10 & flags)) {
           session->gpsdata.skyview[seen].health = SAT_HEALTH_BAD;
        } else {
           session->gpsdata.skyview[seen].health = SAT_HEALTH_OK;
        }

        GPSD_LOG(LOG_PROG, &session->context->errout,
                 "UBX: NAV-SVINFO chan %u ubx_prn %d gnssid %d svid %d "
                 "nmea_PRN %d flags x%x az %.0f el %.0f cno %.0f prRes %.2f "
                 "quality %u\n",
                 chan, ubx_PRN,
                 session->gpsdata.skyview[seen].gnssid,
                 session->gpsdata.skyview[seen].svid, nmea_PRN, flags,
                 session->gpsdata.skyview[seen].azimuth,
                 session->gpsdata.skyview[seen].elevation,
                 session->gpsdata.skyview[seen].ss,
                 session->gpsdata.skyview[seen].prRes,
                 session->gpsdata.skyview[seen].qualityInd);
        GPSD_LOG(LOG_IO, &session->context->errout,
                 "UBX: NAV-SVINFO: flags (%s) quality %s\n",
                 flags2str(flags, fsvinfo_flags, buf2, sizeof(buf2)),
                 val2str(quality, vquality));

        seen++;
    }

    session->gpsdata.satellites_visible = seen;
    session->gpsdata.satellites_used = used_tot;
    GPSD_LOG(LOG_PROG, &session->context->errout,
             "UBX: NAV-SVINFO: visible %d used %d mask {SATELLITE|USED} "
             "gFlags x%x\n",
             session->gpsdata.satellites_visible,
             session->gpsdata.satellites_used,
             globalFlags);
    GPSD_LOG(LOG_IO, &session->context->errout,
             "UBX: NAV-SVINFO: chipGen %s\n",
             val2str(chipGen, vglobalFlags));
    return SATELLITE_SET | USED_IS;
}

/**
 * GPS Leap Seconds - UBX-NAV-TIMEGPS
 * Present in:
 *     protVer 8 (Antaris 4)
 *     protVer 27 (F9P)
 *     protVer 34 (M10)
 *
 * Not in:
 *     protVer 24 (NEO-D9S)
 */
static gps_mask_t ubx_msg_nav_timegps(struct gps_device_t *session,
                                      unsigned char *buf, size_t data_len)
{
    char buf2[80];
    uint8_t valid;         // Validity Flags
    gps_mask_t mask = 0;
    char ts_buf[TIMESPEC_LEN];

    if (16 > data_len) {
        GPSD_LOG(LOG_WARN, &session->context->errout,
                 "UBX: NAV-TIMEGPS: runt payload len %zd", data_len);
        return 0;
    }

    session->driver.ubx.iTOW = getleu32(buf, 0);
    valid = getub(buf, 11);
    // Valid leap seconds ?
    if ((valid & UBX_TIMEGPS_VALID_LEAP_SECOND) ==
        UBX_TIMEGPS_VALID_LEAP_SECOND) {
        session->context->leap_seconds = (int)getub(buf, 10);
        session->context->valid |= LEAP_SECOND_VALID;
    }
    // Valid GPS time of week and week number
#define VALID_TIME (UBX_TIMEGPS_VALID_TIME | UBX_TIMEGPS_VALID_WEEK)
    if ((valid & VALID_TIME) == VALID_TIME) {
#undef VALID_TIME
        uint16_t week;
        double tAcc;      // Time Accuracy Estimate in ns
        timespec_t ts_tow;

        week = getles16(buf, 8);
        MSTOTS(&ts_tow, session->driver.ubx.iTOW);
        ts_tow.tv_nsec += (long)getles32(buf, 4);
        TS_NORM(&ts_tow);
        session->newdata.time = gpsd_gpstime_resolv(session, week, ts_tow);

        tAcc = (double)getleu32(buf, 12);     // tAcc in ns
        session->newdata.ept = tAcc / 1e9;
        mask |= (TIME_SET | NTPTIME_IS);
    }

    GPSD_LOG(LOG_PROG, &session->context->errout,
             "UBX: NAV-TIMEGPS: time=%s mask={TIME} valid x%x\n",
             timespec_str(&session->newdata.time, ts_buf, sizeof(ts_buf)),
             valid);
    GPSD_LOG(LOG_IO, &session->context->errout,
             "UBX: NAV-TIMEGPS: valid %s\n",
             flags2str(valid, vtimegps_valid, buf2, sizeof(buf2)));
    return mask;
}

/**
 * Navigation time to leap second: UBX-NAV-TIMELS
 *
 * Sets leap_notify if leap second is < 23 hours away.
 * Present in:
 *     protVer 15 (8-series)
 * Not in:
 *     protVer 12 (5-series)
 *     protVer 13 (6-series)
 *     protVer 14 (6-series / GLONASS, 6-series)
 */
static gps_mask_t ubx_msg_nav_timels(struct gps_device_t *session,
                                     unsigned char *buf, size_t data_len)
{
    char buf2[80];
    unsigned version;
    unsigned valid;
    int valid_curr_ls;
    int valid_time_to_ls_event;

#define UBX_TIMELS_VALID_CURR_LS 0x01
#define UBX_TIMELS_VALID_TIME_LS_EVT 0x01

    if (24 > data_len) {
        GPSD_LOG(LOG_WARN, &session->context->errout,
                 "UBX: NAV-TIMELS: runt %zd, expecting 24\n",
                 data_len);
        return 0;
    }

    session->driver.ubx.iTOW = getleu32(buf, 0);
    version = getub(buf, 4);
    // Only version 0 is defined up to ub-blox 9
    if (0 != version) {
        GPSD_LOG(LOG_WARN, &session->context->errout,
                 "UBX: NAV-TIMELS: unknown version $u %u", version);
        return 0;
    }
    valid = getub(buf, 23);
    GPSD_LOG(LOG_PROG, &session->context->errout,
             "UBX: NAV-TIMELS: valid x%x version %d\n", valid, version);
    GPSD_LOG(LOG_INF, &session->context->errout,
             "UBX: NAV-TIMELS: valid %s\n",
             flags2str(valid, vtimels_valid, buf2, sizeof(buf2)));

    valid_curr_ls = valid & UBX_TIMELS_VALID_CURR_LS;
    valid_time_to_ls_event = valid & UBX_TIMELS_VALID_TIME_LS_EVT;
    if (valid_curr_ls) {
        unsigned int src_of_curr_ls = getub(buf,8);
        int curr_ls = getsb(buf,9);

        GPSD_LOG(LOG_PROG, &session->context->errout,
                 "UBX: NAV-TIMELS: srcOfCurrLs %u(%s) curr_ls %d\n",
                 src_of_curr_ls,
                 val2str(src_of_curr_ls, vsrcOfCurrLs),
                 curr_ls);
        session->context->leap_seconds = curr_ls;
        session->context->valid |= LEAP_SECOND_VALID;
    }  // Valid current leap second

    if (valid_time_to_ls_event) {
        unsigned int src_of_ls_change;
        unsigned short dateOfLSGpsWn, dateOfLSGpsDn;
        int lsChange = getsb(buf, 11);
        int timeToLsEvent = getles32(buf, 12);

        src_of_ls_change = getub(buf,10);

        dateOfLSGpsWn = getles16(buf,16);
        dateOfLSGpsDn = getles16(buf,18);
        GPSD_LOG(LOG_PROG, &session->context->errout,
                 "UBX: NAV-TIMELS: srcOfCurLsChange %u(%s) lsChange %d "
                 "timeToLsEvent %d dateOfLSGpsWn %d dateOfLSGpsDn %d\n",
                 src_of_ls_change,
                 val2str(src_of_ls_change, vsrcOfLsChange),
                 lsChange, timeToLsEvent,
                 dateOfLSGpsWn,dateOfLSGpsDn);

        if ((0 != lsChange) && (0 < timeToLsEvent) &&
            ((60 * 60 * 23) > timeToLsEvent)) {
            if (1 == lsChange) {
                session->context->leap_notify = LEAP_ADDSECOND;
                GPSD_LOG(LOG_WARN, &session->context->errout,
                         "UBX: NAV-TIMELS: leap_notify %d "
                         "Positive leap second today\n",
                         session->context->leap_notify);
            } else if (-1 == lsChange) {
                session->context->leap_notify = LEAP_DELSECOND;
                GPSD_LOG(LOG_WARN, &session->context->errout,
                         "UBX: NAV-TIMELS:leap_notify %d "
                         " Negative leap second today\n",
                         session->context->leap_notify);
            }
        } else {
            session->context->leap_notify = LEAP_NOWARNING;
            GPSD_LOG(LOG_PROG, &session->context->errout,
                     "UBX: NAV-TIMELS: leap_notify %d, none today\n",
                     session->context->leap_notify);
        }
    }
    return 0;
}

/**
 * UBX-NAV-TIMEUTC
 */
static gps_mask_t ubx_msg_nav_timeutc(struct gps_device_t *session,
                                      unsigned char *buf, size_t data_len)
{
    uint8_t valid;         // Validity Flags
    gps_mask_t mask = 0;

    if (20 > data_len) {
        GPSD_LOG(LOG_WARN, &session->context->errout,
                 "UBX: NAV-TIMEUTC: runt payload len %zd", data_len);
        return 0;
    }

    session->driver.ubx.iTOW = getleu32(buf, 0);
    valid = getub(buf, 19);
    if (4 == (4 & valid)) {
        // UTC is valid
        struct tm date = {0};
        // mask |= (TIME_SET | NTPTIME_IS);
        uint32_t tAcc = getleu32(buf, 4);          // tAcc in ns
        // nano can be negative, so this is not normalized UTC.
        int32_t nano = getles32(buf, 8);           // fract sec in ns
        date.tm_year = getleu16(buf, 12) - 1900;   // year, 1999..2099
        date.tm_mon = getub(buf, 14) - 1;          // month 1..12
        date.tm_mday = getub(buf, 15);             // day 1..31
        date.tm_hour = getub(buf, 16);             // hour 0..23
        date.tm_min = getub(buf, 17);              // min 0..59
        date.tm_sec = getub(buf, 18);              // sec 0..60
        session->newdata.time.tv_sec = mkgmtime(&date);
        session->newdata.time.tv_nsec = nano;
        // nano, can be negative! So normalize
        TS_NORM(&session->newdata.time);
        // other timestamped messages lack nano, so time will jump around...
        mask |= TIME_SET | NTPTIME_IS | GOODTIME_IS;

        GPSD_LOG(LOG_PROG, &session->context->errout,
                 "UBX: NAV-TIMEUTC: iTOW=%lld valid=%02x %04d-%02d-%02d "
                 "%02d:%02d:%02d.%09d tAcc=%llu time %lld.%09lld\n",
                 (long long)session->driver.ubx.iTOW,
                 valid, date.tm_year + 1900, date.tm_mon + 1, date.tm_mday,
                 date.tm_hour, date.tm_min, date.tm_sec, nano,
                 (long long unsigned)tAcc,
                 (long long)session->newdata.time.tv_sec,
                 (long long)session->newdata.time.tv_nsec);
    } else {
        GPSD_LOG(LOG_PROG, &session->context->errout,
                 "UBX: NAV-TIMEUTC: iTOW=%lld valid=%02x\n",
                 (long long)session->driver.ubx.iTOW,
                 valid);
    }
    return mask;
}

/*
 * Velocity Position ECEF message, UBX-NAV-VELECEF
 */
static gps_mask_t ubx_msg_nav_velecef(struct gps_device_t *session,
                                      unsigned char *buf, size_t data_len)
{
    gps_mask_t mask = VECEF_SET;

    if (20 > data_len) {
        GPSD_LOG(LOG_WARN, &session->context->errout,
                 "UBX: NAV-VELECEF: runt payload len %zd", data_len);
        return 0;
    }

    session->driver.ubx.iTOW = getleu32(buf, 0);
    session->newdata.ecef.vx = getles32(buf, 4) / 100.0;
    session->newdata.ecef.vy = getles32(buf, 8) / 100.0;
    session->newdata.ecef.vz = getles32(buf, 12) / 100.0;
    session->newdata.ecef.vAcc = getleu32(buf, 16) / 100.0;
    GPSD_LOG(LOG_PROG, &session->context->errout,
        "UBX: NAV-VELECEF: iTOW=%lld ECEF vx=%.2f vy=%.2f vz=%.2f vAcc=%.2f\n",
        (long long)session->driver.ubx.iTOW,
        session->newdata.ecef.vx,
        session->newdata.ecef.vy,
        session->newdata.ecef.vz,
        session->newdata.ecef.vAcc);
    return mask;
}

/*
 * Velocity NED message, UBX-NAV-VELNED
 * protocol versions 15+
 */
static gps_mask_t ubx_msg_nav_velned(struct gps_device_t *session,
                                     unsigned char *buf, size_t data_len)
{
    gps_mask_t mask = VNED_SET;

    if (36 > data_len) {
        GPSD_LOG(LOG_WARN, &session->context->errout,
                 "UBX: NAV-VELNED: runt payload len %zd", data_len);
        return 0;
    }

    session->driver.ubx.iTOW = getleu32(buf, 0);
    session->newdata.NED.velN = getles32(buf, 4) / 100.0;
    session->newdata.NED.velE = getles32(buf, 8) / 100.0;
    session->newdata.NED.velD = getles32(buf, 12) / 100.0;
    // ignore speed for now
    GPSD_LOG(LOG_PROG, &session->context->errout,
        "UBX: NAV-VELNED: iTOW=%lld NED velN=%.2f velE=%.2f velD=%.2f\n",
         (long long)session->driver.ubx.iTOW,
        session->newdata.NED.velN,
        session->newdata.NED.velE,
        session->newdata.NED.velD);
    return mask;
}

// UBX-MON-COMMS txErrors
static const struct flist_t rxm_cor_statusInfo[] = {
    {0, 0x1f, "UNk proto,"},
    {1, 0x1f, "RTCM3,"},
    {2, 0x1f, "SPARTN,"},
    {29, 0x1f, "RXM-PMP,"},
    {30, 0x1f, "RXM-QZSSL6,"},
    {0, 0x60, "Err Unk,"},
    {0x20, 0x60, "No Err,"},
    {0x40, 0x60, "Error,"},
    {0x80, 0x180, "Unused,"},
    {0x100, 0x180, "Used,"},
    // bits 9 to 24, correction Id
    {0x200000, 0x200000, "msgTypeValid"},
};

static const struct vlist_t rxm_spart_flags[] = {
    {0, "Unknown"},
    {1, "Not Used"},
    {2, "Used"},
    {3, "Reserved"},
};

static const struct vlist_t spartn_mtypes[] = {
    {0, "Orbit"},
    {1, "HPAC"},
    {2, "GAD"},
    {3, "BDS"},
};

static const struct vlist_t spartn_mstypes[] = {
    {0, "GPS"},
    {1, "GLO"},
    {2, "GAL"},
    {3, "BDS"},
};

/**
 * UBX-RXM-COR -- Differential Correction Input Messages
 *
 * Present in ZED-F9P, HPG 1.50, protVer 27.50
 */
static gps_mask_t ubx_msg_rxm_cor(struct gps_device_t *session,
                                  unsigned char *buf, size_t data_len UNUSED)
{
    unsigned version = getub(buf, 0);
    unsigned ebno = getub(buf, 1);
    unsigned long statusInfo = getleu32(buf, 4);
    unsigned msgType = getleu16(buf, 8);
    unsigned msgsubType = getleu16(buf, 10);
    char buf2[80];

    if (1 != version) {
        GPSD_LOG(LOG_WARN, &session->context->errout,
                 "UBX: RXM-COR, unknown version %u\n", version);
        return 0;
    }
    GPSD_LOG(LOG_PROG, &session->context->errout,
             "UBX: RXM-COR, version %u ebno %u statusInfo x%lx "
             "msgtype %u msgsubType %u\n", version, ebno, statusInfo,
             msgType, msgsubType);
    GPSD_LOG(LOG_IO, &session->context->errout,
            "UBX: RXM-COR: statusInfo (%s)  msgType (%s) msgsubType (%s)\n",
            flags2str(statusInfo, rxm_cor_statusInfo, buf2, sizeof(buf2)),
            val2str(msgType, spartn_mtypes),
            val2str(msgsubType, spartn_mstypes));
    return 0;
}

/*
 * Multi-GNSS Raw measurement Data -- UBX-RXM-RAWX
 * Not in u-blox 5, 6 or 7
 * u-blox 9, message version 0 (but no version byte!)
 * u-blox 9, message version 1
 */
static gps_mask_t ubx_msg_rxm_rawx(struct gps_device_t *session,
                                   const unsigned char *buf,
                                   size_t data_len)
{
    double rcvTow;
    uint16_t week;
    int8_t leapS;
    uint8_t numMeas;
    uint8_t recStat;
    uint8_t version;
    int i;
    const char * obs_code;
    timespec_t ts_tow;

    if (16 > data_len) {
        GPSD_LOG(LOG_WARN, &session->context->errout,
                 "UBX: RXM-RAWX: runt payload len %zd", data_len);
        return 0;
    }

    // Note: this is "approximately" GPS TOW, this is not iTOW
    rcvTow = getled64((const char *)buf, 0);   // time of week in seconds
    week = getleu16(buf, 8);
    leapS = getsb(buf, 10);
    numMeas = getub(buf, 11);
    recStat = getub(buf, 12);
    /* byte 13 is version on u-blox 9, reserved on u-blox 8
     * how is that supposed to work?? */
    version = getub(buf, 13);

    GPSD_LOG(LOG_PROG, &session->context->errout,
             "UBX: RXM-RAWX: rcvTow %f week %u leapS %d numMeas %u recStat %d"
             " version %u\n",
             rcvTow, week, leapS, numMeas, recStat, version);

    if (recStat & 1) {
        // Valid leap seconds
        session->context->leap_seconds = leapS;
        session->context->valid |= LEAP_SECOND_VALID;
    }
    // RINEX 3 wants GPS time, not UTC time, do not add leap seconds.
    DTOTS(&ts_tow, rcvTow);
    // Do not set newdata.time.  set gpsdata.raw.mtime
    // RINEX 3 "GPS time", not UTC, no leap seconds
    session->gpsdata.raw.mtime = gpsd_gpstime(session, week, ts_tow);

    /* zero the measurement data
     * so we can tell which meas never got set */
    memset(session->gpsdata.raw.meas, 0, sizeof(session->gpsdata.raw.meas));

    if (numMeas > MAXCHANNELS) {
        GPSD_LOG(LOG_WARN, &session->context->errout,
                 "UBX: RXM-RAWX: too many measurements (%u)",
                 numMeas);
        return 0;
    }
    for (i = 0; i < numMeas; i++) {
        int off = 32 * i;
        // pseudorange in meters
        double prMes = getled64((const char *)buf, off + 16);
        // carrier phase in cycles
        double cpMes = getled64((const char *)buf, off + 24);
        // doppler in Hz, positive towards sat
        double doMes = getlef32((const char *)buf, off + 32);
        uint8_t gnssId = getub(buf, off + 36);
        uint8_t svId = getub(buf, off + 37);
        // reserved in u-blox 8, sigId in u-blox 9 (version 1)
        uint8_t sigId = getub(buf, off + 38);
        // GLONASS frequency slot
        uint8_t freqId = getub(buf, off + 39);
        // carrier phase locktime in ms, max 64500ms
        uint16_t locktime = getleu16(buf, off + 40);
        // carrier-to-noise density ratio dB-Hz
        uint8_t cno = getub(buf, off + 42);
        uint8_t prStdev = getub(buf, off + 43) & 0x0f;
        uint8_t cpStdev = getub(buf, off + 44) & 0x0f;
        uint8_t doStdev = getub(buf, off + 45) & 0x0f;
        /* tracking stat
         * bit 0 - prMes valid
         * bit 1 - cpMes valid
         * bit 2 - halfCycle valid
         * bit 3 - halfCycle subtracted from phase
         */
        uint8_t trkStat = getub(buf, off + 46);
        GPSD_LOG(LOG_PROG, &session->context->errout,
                 "UBX: RXM-RAWX: %u:%u:%u freqId %u prMes %f cpMes %f "
                 "doMes %f locktime %u\n"
                 "cno %u prStdev %u cpStdev %u doStdev %u rtkStat %u\n",
                 gnssId, svId, sigId, freqId, prMes, cpMes, doMes, locktime,
                 cno, prStdev, cpStdev, doStdev, trkStat);

        session->gpsdata.raw.meas[i].gnssid = gnssId;
        session->gpsdata.raw.meas[i].sigid = sigId;

        /* some of these are GUESSES as the u-blox codes do not
         * match RINEX codes */
        obs_code = sigid2obs(gnssId, sigId);

        (void)strlcpy(session->gpsdata.raw.meas[i].obs_code, obs_code,
                      sizeof(session->gpsdata.raw.meas[i].obs_code));

        session->gpsdata.raw.meas[i].svid = svId;
        session->gpsdata.raw.meas[i].freqid = freqId;
        session->gpsdata.raw.meas[i].snr = cno;
        session->gpsdata.raw.meas[i].satstat = trkStat;
        if (trkStat & 1) {
            // prMes valid
            session->gpsdata.raw.meas[i].pseudorange = prMes;
        } else {
            session->gpsdata.raw.meas[i].pseudorange = NAN;
        }
        if ((trkStat & 2) && (5 >= cpStdev)) {
            // cpMes valid, RTKLIB uses 5 < cpStdev
            session->gpsdata.raw.meas[i].carrierphase = cpMes;
        } else {
            session->gpsdata.raw.meas[i].carrierphase = NAN;
        }
        session->gpsdata.raw.meas[i].doppler = doMes;
        session->gpsdata.raw.meas[i].codephase = NAN;
        session->gpsdata.raw.meas[i].deltarange = NAN;
        session->gpsdata.raw.meas[i].locktime = locktime;
        if (0 == locktime) {
            // possible slip
            session->gpsdata.raw.meas[i].lli = 2;
        }
    }

    return RAW_IS;
}

/*
 * Raw Subframes - UBX-RXM-SFRB
 * In u-blox 7, only in raw firmware option
 * Not in u-blox 8 or 9
 */
static gps_mask_t ubx_msg_rxm_sfrb(struct gps_device_t *session,
                                   unsigned char *buf, size_t data_len)
{
    unsigned int i, chan, svid;
    uint32_t words[10];

    if (42 > data_len) {
        GPSD_LOG(LOG_WARN, &session->context->errout,
                 "UBX: RXM-SFRB: runt payload len %zd", data_len);
        return 0;
    }

    chan = (unsigned int)getub(buf, 0);
    svid = (unsigned int)getub(buf, 1);
    GPSD_LOG(LOG_PROG, &session->context->errout,
             "UBX: RXM-SFRB: %u %u\n", chan, svid);

    // UBX does all the parity checking, but still bad data gets through
    for (i = 0; i < 10; i++) {
        // bits 24 to 31 undefined, remove them.
        words[i] = (uint32_t)getleu32(buf, 4 * i + 2) & 0x00ffffff;
    }

    // probably GPS, could be SBAS
    return gpsd_interpret_subframe(session, GNSSID_GPS, svid, words);
}

/*
 * Raw Subframes - UBX-RXM-SFRBX
 * in u-blox 8, protver 17 and up, time sync firmware only
 * in u-blox F9P and HPG only
 * in u-blox F10N, protVer 27 and up
 * not present  before u-blox8
 */
static gps_mask_t ubx_msg_rxm_sfrbx(struct gps_device_t *session,
                                    unsigned char *buf, size_t data_len)
{
    unsigned i;
    uint32_t words[17];
    char *chn_s;

    unsigned gnssId = getub(buf, 0);
    unsigned svId = getub(buf, 1);
    // reserved in Version 1, and some Version2.  Valid in protVer 27.31 and up
    unsigned sigId = getub(buf, 2);
    unsigned freqId = getub(buf, 3);
    unsigned numWords = getub(buf, 4);
    unsigned chn = getub(buf, 5);
    unsigned version = getub(buf, 6);

    if (1 < version) {
        // receiver channel in version 2 and up.
        // valid range 0 to 13?
        chn_s = "chn";
    } else {
        chn_s = "reserved";
    }

    GPSD_LOG(LOG_PROG, &session->context->errout,
             "UBX: RXM-SFRBX: version %u gnssId %u %s %u svId %u "
             "sigId %u freqId %u words %u\n",
             version, gnssId, chn_s, chn, svId, sigId, freqId, numWords);
    GPSD_LOG(LOG_IO, &session->context->errout,
             "UBX: RXM-SFRBX:   %s\n",
             val2str((gnssId << 8) | sigId, vgnss_sig_ids));

    if (!IN(1, version, 2)) {
        // unknown ersion
        GPSD_LOG(LOG_WARN, &session->context->errout,
                 "UBX: RXM-SFRBX: unknown version %u", version);
        return 0;
    }
    if (data_len != (size_t)(8 + (4 * numWords)) ||
        16 < numWords) {
        // test numwords directly to shut up Coverity
        GPSD_LOG(LOG_WARN, &session->context->errout,
                 "UBX: RXM-SFRBX: wrong payload len %zd, numwords %u "
                 "s/b %u",
                 data_len, 8 + (4 * numWords), numWords);
        return 0;
    }

    memset(words, 0, sizeof(words));
    for (i = 0; i < numWords; i++) {
        // grab the words, don't mangle them
        words[i] = (uint32_t)getleu32(buf, 4 * i + 8);
    }

    // do we need freqId or chn?
    return gpsd_interpret_subframe_raw(session, gnssId, sigId,
                                       svId, words, numWords);
}

/**
 * UBX-RXM-SPARTN -- Differential Correction Input Messages
 *
 * Present in ZED-F9P, HPG 1.50, protVer 27.50
 */
static gps_mask_t ubx_msg_rxm_spartn(struct gps_device_t *session,
                                     unsigned char *buf,
                                     size_t data_len UNUSED)
{
    unsigned version = getub(buf, 0);
    unsigned flags = getub(buf, 1);
    unsigned msgsubType = getleu16(buf, 2);
    unsigned msgType = getleu16(buf, 6);

    if (1 != version) {
        GPSD_LOG(LOG_WARN, &session->context->errout,
                 "UBX: RXM-SPARTN, unknown version %u\n", version);
        return 0;
    }
    GPSD_LOG(LOG_PROG, &session->context->errout,
             "UBX: RXM-SPARTN: version %u flags x%x msgType %u msgsubType %u\n",
             version, flags, msgType, msgsubType);
    GPSD_LOG(LOG_IO, &session->context->errout,
            "UBX: RXM-SPARTN: flags (%s) msgType (%s) msgsubType (%s)\n",
            val2str((flags >> 1) & 3, rxm_spart_flags),
            val2str(msgType, spartn_mtypes),
            val2str(msgsubType, spartn_mstypes));
    return 0;
}

/**
 * SV Status Info
 *
 * May be good cycle ender
 *
 * Present in u-blox 7
 */
static gps_mask_t ubx_msg_rxm_svsi(struct gps_device_t *session,
                                   unsigned char *buf, size_t data_len)
{
    unsigned numVis, numSV;

    if (8 > data_len) {
        GPSD_LOG(LOG_WARN, &session->context->errout,
                 "UBX: RXM-SVSI: runt payload len %zd", data_len);
        return 0;
    }

    session->driver.ubx.iTOW = getleu32(buf, 0);
    session->context->gps_week = getleu16(buf, 4);
    numVis = getub(buf, 6);
    numSV = getub(buf, 7);
    GPSD_LOG(LOG_PROG, &session->context->errout,
             "UBX: RXM-SVSI: iTOW=%lld week %d numVis %u numSV %u\n",
             (long long)session->driver.ubx.iTOW,
            session->context->gps_week, numVis, numSV);
    return 0;
}

/**
 * Unique chip ID
 * UBX-SEC-UNIQID
 *
 * grab the 5 byte serial number / chip id
 */
static gps_mask_t ubx_msg_sec_uniqid(struct gps_device_t *session,
                                     unsigned char *buf,
                                     size_t data_len)
{
    unsigned version;

    if (9 > data_len) {
        GPSD_LOG(LOG_WARN, &session->context->errout,
                 "UBX: SEC-UNIQID: runt payload len %zd\n", data_len);
        return 0;
    }

    version = getub(buf, 0);
    switch (version) {
    case 1:
        /* string of length 10 bytes
         * PROTVER 18 -> 23 has five bytes of unique id.
         * F10 is PROTVER 34, still has 5 bytes */
        (void)snprintf(session->gpsdata.dev.sernum,
                       sizeof(session->gpsdata.dev.sernum),
                       "%02x%02x%02x%02x%02x",
                       getub(buf, 4),
                       getub(buf, 5),
                       getub(buf, 6),
                       getub(buf, 7),
                       getub(buf, 8));
        break;
    case 2:
        /* string of length 12 bytes
         * some PROTVER 34 and beyond (for now) have six bytes of unique id.
         * Such as MAX-M10S. */
        (void)snprintf(session->gpsdata.dev.sernum,
                       sizeof(session->gpsdata.dev.sernum),
                       "%02x%02x%02x%02x%02x%02x",
                       getub(buf, 4),
                       getub(buf, 5),
                       getub(buf, 6),
                       getub(buf, 7),
                       getub(buf, 8),
                       getub(buf, 9));
        break;
    default:
        // unknown version
        GPSD_LOG(LOG_WARN, &session->context->errout,
                 "UBX: SEC-UNIQID bad version\n");
        return 0;
    }

    // output chip id at LOG_INF
    GPSD_LOG(LOG_INF, &session->context->errout,
             "UBX: SEC-UNIQID: %s\n",
             session->gpsdata.dev.sernum);
    return 0;
}

/**
 * Survey-in data - UBX-TIM-SVIN
 * Time Sync products only
 */
static gps_mask_t ubx_msg_tim_svin(struct gps_device_t *session,
                                   unsigned char *buf, size_t data_len UNUSED)
{
    gps_mask_t mask = ONLINE_SET;
    unsigned long dur = getleu32(buf, 0);
    long meanX = getles32(buf, 4);
    long meanY = getles32(buf, 8);
    long meanZ = getles32(buf, 12);
    unsigned long meanV = getleu32(buf, 16);
    unsigned long obs = getleu32(buf, 20);
    unsigned valid = getub(buf, 24);
    unsigned active = getub(buf, 25);
    // two reserved bytes

    // casts for 32 bit compatibility
    GPSD_LOG(LOG_PROG, &session->context->errout,
             "UBX: TIM-SVIN: dur=%lu meanX=%ld meanY=%ld meanZ=%ld meanV=%lu "
             "obs=%lu valid=%u(%s) active=%u(%s)\n",
             dur, meanX, meanY, meanZ, meanV, obs,
             valid, val2str(valid, vsvin_valid),
             active, val2str(active, vsvin_active));
    return mask;
}

/**
 * Time Pulse Timedata - UBX-TIM-TP
 */
static gps_mask_t ubx_msg_tim_tp(struct gps_device_t *session,
                                 unsigned char *buf, size_t data_len)
{
    gps_mask_t mask = ONLINE_SET;
    uint32_t towMS;
    uint32_t towSubMS;
    uint64_t tow_tmp;    // temp to convert towSubMS to nano seconds.
    int32_t qErr;
    uint16_t week;
    uint8_t flags;
    uint8_t refInfo;
    timespec_t ts_tow;
    char buf2[80];
    char buf3[80];
    const char *warn_msg = "";

    static const struct flist_t tim_tp_flags[] = {
        {0, 1, "timebase:GNSS"},
        {1, 1, "timebase:UTC"},
        {0, 2, "UTC:NA"},
        {2, 2, "UTC:OK"},
        {0, 0x0c, "RAIM:NA"},
        {4, 0x0c, "RAIM:inactive"},
        {8, 0x0c, "RAIM:active"},
        {0x0c, 0x0c, "RAIM:Unk"},
        // qErrValid  9-series, protVer 32 and up.
        {0, 0x10, "qErr:Valid"},
        {0x10, 0x10, "qErr:Invalid"},
        // TpNotLocked, 9-series, protVer 32 and up.
        {0, 0x20, "TP:Locked"},
        {0x20, 0x20, "TP:Unlocked"},
        {0, 0, NULL},
    };

    static const struct flist_t tim_tp_refInfo[] = {
        {0, 0x0f, "GNSS:GPS"},
        {1, 0x0f, "GNSS:GLONASS"},
        {2, 0x0f, "GNSS:BeiDou"},
        {3, 0x0f, "GNSS:Galileo"},
        {4, 0x0f, "GNSS:NavIc"},
        {5, 0x0f, "GNSS:Unk5"},
        {6, 0x0f, "GNSS:Unk6"},
        {7, 0x0f, "GNSS:Unk7"},
        {8, 0x0f, "GNSS:Unk8"},
        {9, 0x0f, "GNSS:Unk9"},
        {10, 0x0f, "GNSS:Unk10"},
        {11, 0x0f, "GNSS:Unk11"},
        {12, 0x0f, "GNSS:Unk12"},
        {13, 0x0f, "GNSS:Unk13"},
        {14, 0x0f, "GNSS:Unk14"},
        {15, 0x0f, "GNSS:Unk"},
        {0x00, 0xf0, "UTC:Unk"},
        {0x10, 0xf0, "UTC:CRL"},
        {0x20, 0xf0, "UTC:NIST"},
        {0x30, 0xf0, "UTC:USNO"},
        {0x40, 0xf0, "UTC:BIPM"},
        {0x50, 0xf0, "UTC:EL"},
        {0x60, 0xf0, "UTC:SU"},
        {0x70, 0xf0, "UTC:NTSC"},
        {0x80, 0xf0, "UTC:NPLI"},
        {0x90, 0xf0, "UTC:Unk9"},
        {0xa0, 0xf0, "UTC:Unk10"},
        {0xb0, 0xf0, "UTC:Unk11"},
        {0xc0, 0xf0, "UTC:Unk12"},
        {0xd0, 0xf0, "UTC:Unk13"},
        {0xe0, 0xf0, "UTC:Unk14"},
        {0xf0, 0xf0, "UTC:Unk"},
        {0, 0, NULL},
    };

    if (16 > data_len) {
        GPSD_LOG(LOG_WARN, &session->context->errout,
                 "UBX: TIM-TP: runt payload len %zd", data_len);
        return 0;
    }

    towMS = getleu32(buf, 0);
    /* towSubMS is usually zero, but have seen 128, and 4294967168.
     * towSubMs == 1 is 233 femto seconds!
     * towSubMS == 128 is 29.802 pico seconds!
     * towSubMS == 4294967168 is 0.9999999701976775 milli seconds
     */
    towSubMS = getleu32(buf, 4);
    qErr = getles32(buf, 8);
    week = getleu16(buf, 12);
    flags = buf[14];
    refInfo = buf[15];

    MSTOTS(&ts_tow, towMS);
    /* scale towSubMS to nano seconds, add in 500 pico seconds for rounding
     * then remove the u-blox scaling. */
    tow_tmp = (((uint64_t)towSubMS * 1000000UL) + 500000UL) >> 32;
    ts_tow.tv_nsec += tow_tmp;
    TS_NORM(&ts_tow);       // can happen on rounding 0.999999999 to 1.0

    // check that it is close to top of second??
    if (3 != (flags & 0x03)) {
        warn_msg = " Not locked to UTC";
    } else {
        // are we UTC, and towSubMs is zer

        // leap already added!?!?
        int saved_leap = session->context->leap_seconds;
        // remove it!
        session->context->leap_seconds = 0;

        // good, save qErr and qErr_time
        session->gpsdata.qErr = qErr;
        // FIXME?  save as ftow??
        session->gpsdata.qErr_time = gpsd_gpstime_resolv(session, week, ts_tow);

        // restore leap
        session->context->leap_seconds = saved_leap;
    }

    // casts for 32 bit compatibility
    GPSD_LOG(LOG_PROG, &session->context->errout,
             "UBX: TIM-TP: towMS %lu, towSubMS %ld, qErr %ld week %u "
             "flags x%02x, refInfo x%02x\n",
             (unsigned long)towMS, (long)towSubMS, (long)qErr,
              week, flags, refInfo);
    GPSD_LOG(LOG_IO, &session->context->errout,
             "UBX: TIM-TP: flags (%s) refInfo (%s) tos_tmp %llu %s\n",
             flags2str(flags, tim_tp_flags, buf2, sizeof(buf2)),
             flags2str(refInfo, tim_tp_refInfo, buf3, sizeof(buf3)),
             (long long unsigned)tow_tmp, warn_msg);

    return mask;
}

static gps_mask_t ubx_parse(struct gps_device_t * session, unsigned char *buf,
                            size_t len)
{
    size_t data_len;
    unsigned short msgid;
    gps_mask_t mask = 0;
    unsigned char min_protver = 0;

    // the packet at least contains a head long enough for an empty message
    if (UBX_PREFIX_LEN > len) {
        return 0;
    }

    session->cycle_end_reliable = true;
    session->driver.ubx.iTOW = -1;        // set by decoder

    // extract message id and length
    msgid = getbes16(buf, 2);
    data_len = (size_t) getles16(buf, 4);

    /* FIXME: make each case just call one function.
     / then this switch can be turned into a table. */
    switch (msgid) {
    case UBX_ACK_ACK:
        FALLTHROUGH
    case UBX_ACK_NAK:
        mask = ubx_msg_ack(session, buf, data_len);
        break;

    /* UBX-AID-*
     * removed in protVer 32 */
    case UBX_CFG_DOSC:
        mask = ubx_msg_cfg_dosc(session, &buf[UBX_PREFIX_LEN], data_len);
        break;
    case UBX_CFG_ESRC:
        mask = ubx_msg_cfg_esrc(session, &buf[UBX_PREFIX_LEN], data_len);
        break;
    case UBX_CFG_NAV5:
        // deprecated in u-blox 10
        GPSD_LOG(LOG_PROG, &session->context->errout, "UBX: CFG-NAV5\n");
        break;
    case UBX_CFG_NAVX5:
        // deprecated in u-blox 10
        GPSD_LOG(LOG_PROG, &session->context->errout, "UBX: CFG-NAVX5\n");
        break;
    case UBX_CFG_PRT:
        // deprecated in u-blox 10
        if (session->driver.ubx.port_id != buf[UBX_PREFIX_LEN + 0] ) {
            session->driver.ubx.port_id = buf[UBX_PREFIX_LEN + 0];
            GPSD_LOG(LOG_INF, &session->context->errout,
                     "UBX: CFG-PRT: port %d\n", session->driver.ubx.port_id);
        }
        break;
    case UBX_CFG_RATE:
        // deprecated in u-blox 10
        mask = ubx_msg_cfg_rate(session, &buf[UBX_PREFIX_LEN], data_len);
        break;
    case UBX_CFG_VALGET:
        min_protver = 24;
        mask = ubx_msg_cfg_valget(session, &buf[UBX_PREFIX_LEN], data_len);
        break;

    case UBX_ESF_ALG:
        mask = ubx_msg_esf_alg(session, &buf[UBX_PREFIX_LEN], data_len);
        break;
    case UBX_ESF_INS:
        mask = ubx_msg_esf_ins(session, &buf[UBX_PREFIX_LEN], data_len);
        break;
    case UBX_ESF_MEAS:
        mask = ubx_msg_esf_meas(session, &buf[UBX_PREFIX_LEN], data_len);
        break;
    case UBX_ESF_RAW:
        mask = ubx_msg_esf_raw(session, &buf[UBX_PREFIX_LEN], data_len);
        break;
    case UBX_ESF_STATUS:
        mask = ubx_msg_esf_status(session, &buf[UBX_PREFIX_LEN], data_len);
        break;

    case UBX_HNR_ATT:
        min_protver = 19;       // actually 19.2
        mask = ubx_msg_hnr_att(session, &buf[UBX_PREFIX_LEN], data_len);
        break;
    case UBX_HNR_INS:
        min_protver = 19;       // actually 19.1
        mask = ubx_msg_hnr_ins(session, &buf[UBX_PREFIX_LEN], data_len);
        break;
    case UBX_HNR_PVT:
        min_protver = 19;
        mask = ubx_msg_hnr_pvt(session, &buf[UBX_PREFIX_LEN], data_len);
        break;

    case UBX_INF_DEBUG:
        FALLTHROUGH
    case UBX_INF_ERROR:
        FALLTHROUGH
    case UBX_INF_NOTICE:
        FALLTHROUGH
    case UBX_INF_TEST:
        FALLTHROUGH
    case UBX_INF_USER:
        FALLTHROUGH
    case UBX_INF_WARNING:
        min_protver = 13;
        mask = ubx_msg_inf(session, buf, data_len);
        break;

    case UBX_LOG_BATCH:
        GPSD_LOG(LOG_PROG, &session->context->errout, "UBX: LOG-BATCH\n");
        mask = ubx_msg_log_batch(session, &buf[UBX_PREFIX_LEN], data_len);
        break;
    case UBX_LOG_INFO:
        GPSD_LOG(LOG_PROG, &session->context->errout, "UBX: LOG-INFO\n");
        mask = ubx_msg_log_info(session, &buf[UBX_PREFIX_LEN], data_len);
        break;
    case UBX_LOG_RETRIEVEPOS:
        GPSD_LOG(LOG_PROG, &session->context->errout, "UBX: LOG-RETRIEVEPOS\n");
        mask = ubx_msg_log_retrievepos(session, &buf[UBX_PREFIX_LEN], data_len);
        break;
    case UBX_LOG_RETRIEVEPOSEXTRA:
        GPSD_LOG(LOG_PROG, &session->context->errout,
                 "UBX: LOG-RETRIEVEPOSEXTRA\n");
        mask = ubx_msg_log_retrieveposextra(session, &buf[UBX_PREFIX_LEN],
                                            data_len);
        break;
    case UBX_LOG_RETRIEVESTRING:
        GPSD_LOG(LOG_PROG, &session->context->errout,
                 "UBX: LOG-RETRIEVESTRING\n");
        mask = ubx_msg_log_retrievestring(session, &buf[UBX_PREFIX_LEN],
                                          data_len);
        break;

    case UBX_MON_BATCH:
        GPSD_LOG(LOG_PROG, &session->context->errout, "UBX: MON-BATCH\n");
        break;
    case UBX_MON_COMMS:
        mask = ubx_msg_mon_comms(session, &buf[UBX_PREFIX_LEN], data_len);
        break;
    case UBX_MON_EXCEPT:
        GPSD_LOG(LOG_PROG, &session->context->errout, "UBX: MON-EXCEPT\n");
        break;
    case UBX_MON_GNSS:
        GPSD_LOG(LOG_PROG, &session->context->errout, "UBX: MON-GNSS\n");
        break;
    case UBX_MON_HW:
        min_protver = 12;
        mask = ubx_msg_mon_hw(session, &buf[UBX_PREFIX_LEN], data_len);
        break;
    case UBX_MON_HW2:
         // Deprecated in protVer 32 (9-series, 10-series)
        GPSD_LOG(LOG_PROG, &session->context->errout, "UBX: MON-HW2\n");
        break;
    case UBX_MON_HW3:
        GPSD_LOG(LOG_PROG, &session->context->errout, "UBX: MON-HW3\n");
        break;
    case UBX_MON_IO:
        GPSD_LOG(LOG_PROG, &session->context->errout, "UBX: MON-IO\n");
        break;
    case UBX_MON_IPC:
        GPSD_LOG(LOG_PROG, &session->context->errout, "UBX: MON-IPC\n");
        break;
    case UBX_MON_MSGPP:
        GPSD_LOG(LOG_PROG, &session->context->errout, "UBX: MON-MSGPP\n");
        break;
    case UBX_MON_PATCH:
        GPSD_LOG(LOG_PROG, &session->context->errout, "UBX: MON-PATCH\n");
        break;
    case UBX_MON_RF:
        mask = ubx_msg_mon_rf(session, &buf[UBX_PREFIX_LEN], data_len);
        break;
    case UBX_MON_RXBUF:
        GPSD_LOG(LOG_PROG, &session->context->errout, "UBX: MON-RXBUF\n");
        mask = ubx_msg_mon_rxbuf(session, &buf[UBX_PREFIX_LEN], data_len);
        break;
    case UBX_MON_RXR:
        GPSD_LOG(LOG_PROG, &session->context->errout, "UBX: MON-RXR\n");
        break;
    case UBX_MON_SCHED:
        GPSD_LOG(LOG_PROG, &session->context->errout, "UBX: MON-SCHED\n");
        break;
    case UBX_MON_SMGR:
        GPSD_LOG(LOG_PROG, &session->context->errout, "UBX: MON-SMGR\n");
        break;
    case UBX_MON_SPAN:
        GPSD_LOG(LOG_PROG, &session->context->errout, "UBX: MON-SPAN\n");
        break;
    case UBX_MON_TXBUF:
        GPSD_LOG(LOG_PROG, &session->context->errout, "UBX: MON-TXBUF\n");
        mask = ubx_msg_mon_txbuf(session, &buf[UBX_PREFIX_LEN], data_len);
        break;
    case UBX_MON_USB:
        GPSD_LOG(LOG_PROG, &session->context->errout, "UBX: MON-USB\n");
        break;
    case UBX_MON_VER:
        mask = ubx_msg_mon_ver(session, &buf[UBX_PREFIX_LEN], data_len);
        break;

    case UBX_NAV_AOPSTATUS:
        GPSD_LOG(LOG_PROG, &session->context->errout, "UBX: NAV-AOPSTATUS\n");
        break;
    case UBX_NAV_ATT:
        GPSD_LOG(LOG_PROG, &session->context->errout, "UBX: NAV-ATT\n");
        break;
    case UBX_NAV_CLOCK:
        mask = ubx_msg_nav_clock(session, &buf[UBX_PREFIX_LEN], data_len);
        break;
    case UBX_NAV_DGPS:
        mask = ubx_msg_nav_dgps(session, &buf[UBX_PREFIX_LEN], data_len);
        break;
    case UBX_NAV_DOP:
        // DOP seems to be the last NAV sent in a cycle, unless NAV-EOE
        mask = ubx_msg_nav_dop(session, &buf[UBX_PREFIX_LEN], data_len);
        break;
    case UBX_NAV_EELL:
        min_protver = 18;
        mask = ubx_msg_nav_eell(session, &buf[UBX_PREFIX_LEN], data_len);
        break;
    case UBX_NAV_EKFSTATUS:
        GPSD_LOG(LOG_PROG, &session->context->errout, "UBX: NAV-EKFSTATUS\n");
        break;
    case UBX_NAV_EOE:
        min_protver = 18;
        mask = ubx_msg_nav_eoe(session, &buf[UBX_PREFIX_LEN], data_len);
        break;
    case UBX_NAV_GEOFENCE:
        GPSD_LOG(LOG_PROG, &session->context->errout, "UBX: NAV-GEOFENCE\n");
        break;
    case UBX_NAV_HPPOSECEF:
        GPSD_LOG(LOG_PROG, &session->context->errout, "UBX: NAV-HPPOSECEF\n");
        if (28 > data_len) {
            GPSD_LOG(LOG_WARN, &session->context->errout,
                     "UBX: NAV-HPPOSECEF: runt payload len %zd", data_len);
        } else {
            mask = ubx_msg_nav_hpposecef(session, &buf[UBX_PREFIX_LEN],
                                         data_len);
        }
        break;
    case UBX_NAV_HPPOSLLH:
        GPSD_LOG(LOG_PROG, &session->context->errout, "UBX: NAV-HPPOSLLH\n");
        mask = ubx_msg_nav_hpposllh(session, &buf[UBX_PREFIX_LEN], data_len);
        break;
    case UBX_NAV_ODO:
        GPSD_LOG(LOG_PROG, &session->context->errout, "UBX: NAV-ODO\n");
        break;
    case UBX_NAV_ORB:
        GPSD_LOG(LOG_PROG, &session->context->errout, "UBX: NAV-ORB\n");
        break;
    case UBX_NAV_POSECEF:
        mask = ubx_msg_nav_posecef(session, &buf[UBX_PREFIX_LEN], data_len);
        break;
    case UBX_NAV_POSLLH:
        GPSD_LOG(LOG_PROG, &session->context->errout, "UBX: NAV-POSLLH\n");
        mask = ubx_msg_nav_posllh(session, &buf[UBX_PREFIX_LEN], data_len);
        break;
    case UBX_NAV_POSUTM:
        GPSD_LOG(LOG_PROG, &session->context->errout, "UBX: NAV-POSUTM\n");
        break;
    case UBX_NAV_PVAT:
        min_protver = 30;
        if (116 > data_len) {
            GPSD_LOG(LOG_WARN, &session->context->errout,
                     "UBX: NAV-PVAT: runt payload len %zd", data_len);
        } else {
            mask = ubx_msg_nav_pvat(session, &buf[UBX_PREFIX_LEN], data_len);
        }
        break;
    case UBX_NAV_PVT:
        min_protver = 14;
        // u-blox 6 and 7 are 84 bytes, u-blox 8 and 9 are 92 bytes
        if (84 > data_len) {
            GPSD_LOG(LOG_WARN, &session->context->errout,
                     "UBX: NAV-PVT: runt payload len %zd", data_len);
        } else {
            mask = ubx_msg_nav_pvt(session, &buf[UBX_PREFIX_LEN], data_len);
        }
        break;
    case UBX_NAV_RELPOSNED:
        min_protver = 20;
        GPSD_LOG(LOG_PROG, &session->context->errout, "UBX: NAV-RELPOSNED\n");
        mask = ubx_msg_nav_relposned(session, &buf[UBX_PREFIX_LEN], data_len);
        break;
    case UBX_NAV_RESETODO:
        GPSD_LOG(LOG_PROG, &session->context->errout, "UBX: NAV-RESETODO\n");
        break;
    case UBX_NAV_SAT:
        min_protver = 15;
        mask = ubx_msg_nav_sat(session, &buf[UBX_PREFIX_LEN], data_len);
        break;
    case UBX_NAV_SBAS:
        GPSD_LOG(LOG_PROG, &session->context->errout, "UBX: NAV-SBAS\n");
        mask = ubx_msg_nav_sbas(session, &buf[UBX_PREFIX_LEN], data_len);
        break;
    case UBX_NAV_SIG:
        min_protver = 27;
        mask = ubx_msg_nav_sig(session, &buf[UBX_PREFIX_LEN], data_len);
        break;
    case UBX_NAV_SOL:
        /* UBX-NAV-SOL deprecated in u-blox 6,
         * removed in protVer 32 (9 and 10 series).
         * Use UBX-NAV-PVT instead */
        GPSD_LOG(LOG_PROG, &session->context->errout, "UBX: NAV-SOL\n");
        mask = ubx_msg_nav_sol(session, &buf[UBX_PREFIX_LEN], data_len);
        break;
    case UBX_NAV_STATUS:
        mask = ubx_msg_nav_status(session, &buf[UBX_PREFIX_LEN], data_len);
        break;
    case UBX_NAV_SVIN:
        if (40 > data_len) {
            GPSD_LOG(LOG_WARN, &session->context->errout,
                     "UBX: NAV-SVIN: runt payload len %zd", data_len);
            break;
        }
        mask = ubx_msg_nav_svin(session, &buf[UBX_PREFIX_LEN], data_len);
        break;
    case UBX_NAV_SVINFO:
        mask = ubx_msg_nav_svinfo(session, &buf[UBX_PREFIX_LEN], data_len);
        break;
    case UBX_NAV_TIMEBDS:
        GPSD_LOG(LOG_PROG, &session->context->errout, "UBX: NAV-TIMEBDS\n");
        break;
    case UBX_NAV_TIMEGAL:
        GPSD_LOG(LOG_PROG, &session->context->errout, "UBX: NAV-TIMEGAL\n");
        break;
    case UBX_NAV_TIMEGLO:
        GPSD_LOG(LOG_PROG, &session->context->errout, "UBX: NAV-TIMEGLO\n");
        break;
    case UBX_NAV_TIMEGPS:
        mask = ubx_msg_nav_timegps(session, &buf[UBX_PREFIX_LEN], data_len);
        break;
    case UBX_NAV_TIMELS:
        mask = ubx_msg_nav_timels(session, &buf[UBX_PREFIX_LEN], data_len);
        break;
    case UBX_NAV_TIMEQZSS:
        GPSD_LOG(LOG_PROG, &session->context->errout, "UBX: NAV-TIMEQZSS\n");
        break;
    case UBX_NAV_TIMEUTC:
        mask = ubx_msg_nav_timeutc(session, &buf[UBX_PREFIX_LEN], data_len);
        break;
    case UBX_NAV_VELECEF:
        GPSD_LOG(LOG_PROG, &session->context->errout, "UBX: NAV-VELECEF\n");
        mask = ubx_msg_nav_velecef(session, &buf[UBX_PREFIX_LEN], data_len);
        break;
    case UBX_NAV_VELNED:
        GPSD_LOG(LOG_PROG, &session->context->errout, "UBX: NAV-VELNED\n");
        mask = ubx_msg_nav_velned(session, &buf[UBX_PREFIX_LEN], data_len);
        break;

    case UBX_MGA_ACK:
        GPSD_LOG(LOG_PROG, &session->context->errout, "UBX: MGA-ACK\n");
        break;
    case UBX_MGA_DBD:
        GPSD_LOG(LOG_PROG, &session->context->errout, "UBX: MGA-DBD\n");
        break;

    case UBX_RXM_ALM:
        GPSD_LOG(LOG_PROG, &session->context->errout, "UBX: RXM-ALM\n");
        break;
    case UBX_RXM_COR:
        min_protver = 27;
        if (12 > data_len) {
            GPSD_LOG(LOG_WARN, &session->context->errout,
                     "UBX: RXM-COR: runt payload len %zd", data_len);
            return 0;
        }
        mask = ubx_msg_rxm_cor(session, &buf[UBX_PREFIX_LEN], data_len);
        break;
    case UBX_RXM_EPH:
        GPSD_LOG(LOG_PROG, &session->context->errout, "UBX: RXM-EPH\n");
        break;
    case UBX_RXM_IMES:
        // Removed in protVer 32 (9-series)
        GPSD_LOG(LOG_PROG, &session->context->errout, "UBX: RXM-IMES\n");
        break;
    case UBX_RXM_MEASX:
        GPSD_LOG(LOG_PROG, &session->context->errout, "UBX: RXM-MEASX\n");
        break;
    case UBX_RXM_PMREQ:
        GPSD_LOG(LOG_PROG, &session->context->errout, "UBX: RXM-PMREQ\n");
        break;
    case UBX_RXM_POSREQ:
        GPSD_LOG(LOG_PROG, &session->context->errout, "UBX: RXM-POSREQ\n");
        break;
    case UBX_RXM_RAW:
        GPSD_LOG(LOG_PROG, &session->context->errout, "UBX: RXM-RAW\n");
        break;
    case UBX_RXM_RAWX:
        mask = ubx_msg_rxm_rawx(session, &buf[UBX_PREFIX_LEN], data_len);
        break;
    case UBX_RXM_RLM:
        GPSD_LOG(LOG_PROG, &session->context->errout, "UBX: RXM-RLM\n");
        break;
    case UBX_RXM_RTCM:
        GPSD_LOG(LOG_PROG, &session->context->errout, "UBX: RXM-RTCM\n");
        break;
    case UBX_RXM_SFRB:
        mask = ubx_msg_rxm_sfrb(session, &buf[UBX_PREFIX_LEN], data_len);
        break;
    case UBX_RXM_SFRBX:
        min_protver = 17;
        if (8 > data_len) {
            GPSD_LOG(LOG_WARN, &session->context->errout,
                     "UBX: RXM-SFRBX: runt payload len %zd", data_len);
            break;
        }
        mask = ubx_msg_rxm_sfrbx(session, &buf[UBX_PREFIX_LEN], data_len);
        break;
    case UBX_RXM_SPARTN:
        min_protver = 27;
        if (8 > data_len) {
            GPSD_LOG(LOG_WARN, &session->context->errout,
                     "UBX: RXM-SPARTN: runt payload len %zd", data_len);
            return 0;
        }
        mask = ubx_msg_rxm_spartn(session, &buf[UBX_PREFIX_LEN], data_len);
        break;
    case UBX_RXM_SVSI:
        // Removed in protVer 32 (9-series)
        // Use UBX-NAV-ORB instead
        mask = ubx_msg_rxm_svsi(session, &buf[UBX_PREFIX_LEN], data_len);
        break;

    // undocumented
    // case UBX_SEC_SESSID:
    //     GPSD_LOG(LOG_PROG, &session->context->errout, "UBX-SEC-SESSID\n");
    //     break;
    case UBX_SEC_SIGN:
        GPSD_LOG(LOG_PROG, &session->context->errout, "UBX: SEC_SIGN\n");
        break;
    case UBX_SEC_UNIQID:
        mask = ubx_msg_sec_uniqid(session, &buf[UBX_PREFIX_LEN], data_len);
        break;
    case UBX_TIM_DOSC:
        GPSD_LOG(LOG_PROG, &session->context->errout, "UBX: TIM-DOSC\n");
        break;
    case UBX_TIM_FCHG:
        GPSD_LOG(LOG_PROG, &session->context->errout, "UBX: TIM-FCHG\n");
        break;
    case UBX_TIM_HOC:
        GPSD_LOG(LOG_PROG, &session->context->errout, "UBX: TIM-HOC\n");
        break;
    case UBX_TIM_SMEAS:
        GPSD_LOG(LOG_PROG, &session->context->errout, "UBX: TIM-SMEAS\n");
        break;
    case UBX_TIM_SVIN:
        if (28 > data_len) {
            GPSD_LOG(LOG_WARN, &session->context->errout,
                     "UBX: TIM-SVIN: runt payload len %zd", data_len);
            break;
        }
        mask = ubx_msg_tim_svin(session, &buf[UBX_PREFIX_LEN], data_len);
        break;
    case UBX_TIM_TM:
        GPSD_LOG(LOG_PROG, &session->context->errout, "UBX: TIM-TM\n");
        break;
    case UBX_TIM_TM2:
        GPSD_LOG(LOG_PROG, &session->context->errout, "UBX: TIM-TM2\n");
        break;
    case UBX_TIM_TP:
        mask = ubx_msg_tim_tp(session, &buf[UBX_PREFIX_LEN], data_len);
        break;
    case UBX_TIM_TOS:
        GPSD_LOG(LOG_PROG, &session->context->errout, "UBX: TIM-TOS\n");
        break;
    case UBX_TIM_VCOCAL:
        GPSD_LOG(LOG_PROG, &session->context->errout, "UBX: TIM-VCOCAL\n");
        break;
    case UBX_TIM_VRFY:
        GPSD_LOG(LOG_PROG, &session->context->errout, "UBX: TIM-VRFY\n");
        break;

    default:
        GPSD_LOG(LOG_WARN, &session->context->errout,
                 "UBX: unknown packet id x%04hx (length %zd)\n",
                 msgid, len);
    }
#ifdef __UNUSED
    // debug
    GPSD_LOG(LOG_PROG, &session->context->errout,
             "UBX: msgid x%04x end x%04x last x%04x iTOW %lld last %lld\n",
             msgid,
             session->driver.ubx.end_msgid,
             session->driver.ubx.last_msgid,
             (long long)session->driver.ubx.iTOW,
             (long long)session->driver.ubx.last_iTOW);
#endif

    // iTOW drives the cycle start/end detection
    // iTOW is in ms, can go forward or backward
    if (-1 < session->driver.ubx.iTOW) {
        int64_t iTOW_diff;

        // this sentence has a (maybe good) time
        // end of cycle ?
        if (session->driver.ubx.end_msgid == msgid) {
            // got known cycle ender.  Assume end of cycle, report it
            GPSD_LOG(LOG_PROG, &session->context->errout,
                     "UBX: cycle end x%04x iTOW %lld\n",
                     msgid, (long long)session->driver.ubx.iTOW);
            mask |= REPORT_IS;
        }

        // start of cycle?  Start can equal end if only one message per epoch
        // u-blox iTOW can have ms jitter in the same epoch!
        iTOW_diff = session->driver.ubx.last_iTOW - session->driver.ubx.iTOW;
        if (10 < llabs(iTOW_diff)) {
            // time changed more than 10 ms (100 Hz), cycle start

            if (session->driver.ubx.end_msgid !=
                session->driver.ubx.last_msgid) {
                // new cycle ender
                GPSD_LOG(LOG_PROG, &session->context->errout,
                         "UBX: new ender x%04x was x%04x iTOW %lld was %lld\n",
                         session->driver.ubx.last_msgid,
                         session->driver.ubx.end_msgid,
                         (long long)session->driver.ubx.iTOW,
                         (long long)session->driver.ubx.last_iTOW);
                session->driver.ubx.end_msgid = session->driver.ubx.last_msgid;
            }
            session->driver.ubx.last_iTOW = session->driver.ubx.iTOW;
            mask |= CLEAR_IS;
        }

        session->driver.ubx.last_msgid = msgid;
        // FIXME: last_time never used...
        session->driver.ubx.last_time = session->newdata.time;
    } else {
        // no time
        /* debug
        GPSD_LOG(LOG_ERROR, &session->context->errout,
                 "UBX: No time, msgid %x\n", msgid);
         */
    }

    // Did protver change?
    if (min_protver > session->driver.ubx.protver) {
        // this GPS is at least min_protver
        session->driver.ubx.protver = min_protver;
    }
    if (session->driver.ubx.last_protver != session->driver.ubx.protver) {
        /* Assumption: we just did init, but did not have
         * protver then, so init is not complete.  Finish now.
         * unless user requested passive mode */
        if (session->mode == O_OPTIMIZE &&
            !session->context->passive) {
            ubx_mode(session, MODE_BINARY);
        }
        GPSD_LOG(LOG_PROG, &session->context->errout,
                 "UBX: new PROTVER %u was %u\n",
                 session->driver.ubx.protver,
                 session->driver.ubx.last_protver);
        session->driver.ubx.last_protver = session->driver.ubx.protver;
        // restart init queue
        session->queue = 0;
    }

    if (!session->context->readonly &&
        0 <= session->queue &&
        100 > session->queue &&
        0 < session->driver.ubx.protver) {
        unsigned char msg[4] = {0};

        GPSD_LOG(LOG_DATA, &session->context->errout,
                 "UBX: queue %d\n", session->queue);

        /* handle the init queue.  Some u-blox parts get cranky when they
         * get too many configuration changes at once.
         */

        if (50 <= session->queue &&
            !session->context->passive) {
            // turn off common NMEA, every 3rd queue turn.
            int i = session->queue - 50;
            if (0 == (i % 3)) {
                int j = i / 3;
                if (j < (int)sizeof(nmea_off)) {
                    msg[0] = 0xf0;          // class, NMEA
                    msg[2] = 0x00;          // rate, off
                    msg[1] = nmea_off[j];    // msg id to turn off
                    (void)ubx_write(session, UBX_CLASS_CFG, 0x01, msg, 3);
                }
            }
        }

        switch (session->queue) {
        case 0:
            /* need to doi this right away, so there are UBX message
            * to push this queue forward */
            if (!session->context->passive) {
                // turn on common UBX-NAV
                unsigned i;

                msg[0] = 0x01;          // class, UBX-NAV
                msg[2] = 0x01;          // rate, one
                for (i = 0; i < ROWS(ubx_nav_on); i++) {
                    msg[1] = ubx_nav_on[i];          // msg id to turn on
                    (void)ubx_write(session, UBX_CLASS_CFG, 0x01, msg, 3);
                }
            }
            break;
        case 10:
            /* Older u-blox (6-series) may have ignored earlier requests
             * for UBX-MON-VER.  Try again if needed. */
            if ('\0' == session->subtype[0]) {
                // request UBX-MON-VER, for  SW and HW Versions
                (void)ubx_write(session, UBX_CLASS_MON, 0x04, NULL, 0);
            }
            break;
        case 20:
            if (!session->context->passive) {
                unsigned i;

                msg[0] = 0x01;          // class, UBX-NAV
                msg[2] = 0x01;          // rate, one
                if (15 > session->driver.ubx.protver) {
                    /* protver 14 or less, or unknown version,
                     * We should have a version now.
                     * Turn on pre-15 UBX-NAV stuff */

                    for (i = 0; i < ROWS(ubx_14_nav_on); i++) {
                        // msg id to turn on
                        msg[1] = ubx_14_nav_on[i];
                        (void)ubx_write(session, UBX_CLASS_CFG, 0x01, msg, 3);
                    }
                } else {
                    /* must be 15 <= session->driver.ubx.protver
                     * turn on 15+ UBX-NAV */
                    for (i = 0; i < ROWS(ubx_15_nav_on); i++) {
                        // msg id to turn on
                        msg[1] = ubx_15_nav_on[i];
                        (void)ubx_write(session, UBX_CLASS_CFG, 0x01, msg, 3);
                    }
                }
            }
            break;
        case 71:
            if (!session->context->passive &&
                15 <= session->driver.ubx.protver) {
                // good cycle ender, except when it is not the ender...
                msg[0] = 0x01;          // class
                msg[1] = 0x61;          // msg id  = UBX-NAV-EOE
                msg[2] = 0x01;          // every cycle
                (void)ubx_write(session, UBX_CLASS_CFG, 0x01, msg, 3);
            }
            break;
        case 75:
            if (!session->context->passive &&
                15 <= session->driver.ubx.protver) {
                msg[0] = 0x01;          // class
                msg[1] = 0x26;          // msg id  = UBX-NAV-TIMELS
                msg[2] = 0xff;          // about every 4 mins if nav rate is 1Hz
                (void)ubx_write(session, UBX_CLASS_CFG, 0x01, msg, 3);
            }
            break;
        case 80:
            if (18 <= session->driver.ubx.protver) {
                // No UNIQ-ID before PROTVER 18
                // UBX-SEC-UNIQID: query for uniq id
                (void)ubx_write(session, UBX_CLASS_SEC, 0x03, NULL, 0);
            }
            break;
        case 83:
            if (session->context->passive) {
                // do nothing
            } else if (27 > session->driver.ubx.protver) {
                msg[0] = 0x0a;          // class, UBX-MON
                msg[1] = 0x09;          // MON-HW
                msg[2] = 0x04;          // every 4
                (void)ubx_write(session, UBX_CLASS_CFG, 0x01, msg, 3);
            } else {
                msg[0] = 0x0a;          // class, UBX-MON
                msg[1] = 0x38;          // MON-RF
                msg[2] = 0x04;          // every 4
                (void)ubx_write(session, UBX_CLASS_CFG, 0x01, msg, 3);
            }
            break;
        case 87:
            if (!session->context->passive &&
                15 > session->driver.ubx.protver) {
                unsigned i;

                /* protver 14 or less
                 * turn off 15 and above UBX-NAV.  Do we need to? */
                msg[0] = 0x01;          // class, UBX-NAV
                msg[2] = 0x00;          // rate, off
                for (i = 0; i < ROWS(ubx_15_nav_on); i++) {
                    msg[1] = ubx_15_nav_on[i];          // msg id to turn off
                    (void)ubx_write(session, UBX_CLASS_CFG, 0x01, msg, 3);
                }
            }
            break;
        case 90:
            // Turn off some clutter, no need to do it early
            if (!session->context->passive &&
                15 <= session->driver.ubx.protver &&
                27 > session->driver.ubx.protver) {
                /* protver 15 or more, and less than 27
                 * Soturn off 14 and below UBX-NAV */
                unsigned i;

                msg[0] = 0x01;          // class, UBX-NAV
                msg[2] = 0x00;          // rate, off
                for (i = 0; i < ROWS(ubx_14_nav_on); i++) {
                    msg[1] = ubx_14_nav_on[i];          // msg id to turn off
                    (void)ubx_write(session, UBX_CLASS_CFG, 0x01, msg, 3);
                }
            }
            break;
        case 93:
            /* finish up by checking if we overflowed the input buffer
             * request MON-RXBUF/TXBUFF, or MON-COMMS */
            if (27 > session->driver.ubx.protver) {
                // MON-RXBUF and MON-TXBUF
                (void)ubx_write(session, UBX_CLASS_MON, 0x08, NULL, 0);
                (void)ubx_write(session, UBX_CLASS_MON, 0x07, NULL, 0);
            } else {
                // MON-COMMS
                (void)ubx_write(session, UBX_CLASS_MON, 0x36, NULL, 0);
            }
            break;
        default:
            break;
        }
        session->queue++;
    }
    return mask | ONLINE_SET;
}

static gps_mask_t parse_input(struct gps_device_t *session)
{
    if (UBX_PACKET == session->lexer.type) {
        return ubx_parse(session, session->lexer.outbuffer,
                         session->lexer.outbuflen);
    }
    return generic_parse_input(session);
}

// not used by gpsd, it's for gpsctl and friends
static ssize_t ubx_control_send(struct gps_device_t *session, char *msg,
                                size_t data_len)
{
    return ubx_write(session, (unsigned int)msg[0], (unsigned int)msg[1],
                     (unsigned char *)msg + 2,
                     (size_t)(data_len - 2)) ? ((ssize_t) (data_len + 7)) : -1;
}

static void ubx_init_query(struct gps_device_t *session)
{
    // UBX-MON-VER: query for version information
    (void)ubx_write(session, UBX_CLASS_MON, 0x04, NULL, 0);

    /* We can't get query for UBX-SEC-UNIQID as we need the protver first.
     * Plus, we want to chain requests so as not to  overflow the receiver
     * inbuffers. */
}

static void ubx_event_hook(struct gps_device_t *session, event_t event)
{
    if (session->context->readonly) {
        return;
    }
    if (event == EVENT_IDENTIFIED) {
        GPSD_LOG(LOG_PROG, &session->context->errout, "UBX identified\n");

        // no longer set UBX-CFG-SBAS here, u-blox 9 and 10 do not have it

        if (session->context->passive) {
            /* passive mode, do no autoconfig
             * but we really want MON-VER. */
            (void)ubx_write(session, UBX_CLASS_MON, 0x04, NULL, 0);
        } else if (O_OPTIMIZE == session->mode) {
            // Turn off UBX output, turn on NMEA on this port.
            ubx_mode(session, MODE_BINARY);
        } else {
            //* Turn off NMEA output, turn on UBX on this port.
            ubx_mode(session, MODE_NMEA);
        }
    } else if (event == EVENT_DEACTIVATE) {
        /* There used to be a hotstart/reset here.
         * That caused u-blox USB to re-enumerate.
         * Sometimes to a new device name.
         * Bad.  Don't do that anymore...
         */
    }
}

// generate and send a configuration block
static gps_mask_t ubx_cfg_prt(struct gps_device_t *session, speed_t speed,
                              const char parity,
                              const int stopbits, const int mode)
{
    unsigned long usart_mode = 0;
    unsigned char buf[UBX_CFG_LEN];
    unsigned long i;

    memset(buf, '\0', UBX_CFG_LEN);

    /*
     * When this is called from gpsd, the initial probe for UBX should
     * have picked up the device's port number from the CFG_PRT response.
     */
    // FIXME!  Bad test, port_id == 0 is valid too.  DDC (I2X) = port 0
    if (session->driver.ubx.port_id != 0) {
        buf[0] = session->driver.ubx.port_id;
    }
    /*
     * This default can be hit if we haven't sent a CFG_PRT query yet,
     * which can happen in gpsmon because it doesn't autoprobe.
     *
     * What we'd like to do here is dispatch to USART1_ID or
     * USB_ID intelligently based on whether this is a USB or RS232
     * source.  Unfortunately the GR601-W screws that up by being
     * a USB device with port_id 1.  So we bite the bullet and
     * default to port 1.
     *
     * Without further logic, this means gpsmon wouldn't be able to
     * change the speed on the EVK 6H's USB port.  But! To pick off
     * the EVK 6H on Linux as a special case, we notice that its
     * USB device name is /dev/ttyACMx - it presents as a USB modem.
     *
     * This logic will fail on any USB u-blox device that presents
     * as an ordinary USB serial device (/dev/ttyUSB*) and actually
     * has port ID 3 the way it "ought" to.
     */
    else if (strstr(session->gpsdata.dev.path, "/ttyACM") != NULL) {
        // using the built in USB port
        // FIXME!!  USB port has no speed!
        // FIXME!!  maybe we know the portid already?
        session->driver.ubx.port_id = buf[0] = USB_ID;
    } else {
        // A guess.  Could be UART2, or SPI, or DDC port
        session->driver.ubx.port_id = buf[0] = USART1_ID;
    }

    putle32(buf, 8, speed);

    /*
     * u-blox tech support explains the default contents of the mode
     * field as follows:
     *
     * D0 08 00 00     mode (LSB first)
     *
     * re-ordering bytes: 000008D0
     * dividing into fields: 000000000000000000 00 100 0 11 0 1 0000
     * nStopbits = 00 = 1
     * parity = 100 = none
     * charLen = 11 = 8-bit
     * reserved1 = 1
     *
     * The protocol reference further gives the following subfield values:
     * 01 = 1.5 stop bits (?)
     * 10 = 2 stopbits
     * 000 = even parity
     * 001 = odd parity
     * 10x = no parity
     * 10 = 7 bits
     *
     * Some UBX reference code amplifies this with:
     *
     *   prtcfg.mode = (1<<4) | // compatibility with ANTARIS 4
     *                 (1<<7) | // charLen = 11 = 8 bit
     *                 (1<<6) | // charLen = 11 = 8 bit
     *                 (1<<11); // parity = 10x = none
     */
    usart_mode |= (1<<4);       // reserved1 Antaris 4 compatibility bit
    usart_mode |= (1<<7);       // high bit of charLen

    // u-blox 5+ binary only supports 8N1
    switch (parity) {
    case (int)'E':
    case 2:
        usart_mode |= (1<<7);           // 7E
        break;
    case (int)'O':
    case 1:
        usart_mode |= (1<<9) | (1<<7);  // 7O
        break;
    case (int)'N':
    case 0:
    default:
        usart_mode |= (1<<11) | (3<<6); // 8N
        break;
    }

    if (2 == stopbits) {
        usart_mode |= (1<<13);
    }

    putle32(buf, 4, usart_mode);

    // enable all input protocols by default
    // RTCM3 is protver 20+
    buf[12] = NMEA_PROTOCOL_MASK | UBX_PROTOCOL_MASK | RTCM_PROTOCOL_MASK |
              RTCM3_PROTOCOL_MASK;

    /* enable all input protocols by default
     * no u-blox has RTCM2 out
     * RTCM3 is protver 20+ */
    buf[outProtoMask] = NMEA_PROTOCOL_MASK | UBX_PROTOCOL_MASK |
                        RTCM3_PROTOCOL_MASK;
    // FIXME: use VALGET if protver  24+
    (void)ubx_write(session, UBX_CLASS_CFG, 0x00, buf, sizeof(buf));

    GPSD_LOG(LOG_PROG, &session->context->errout,
             "UBX ubx_cfg_prt mode %d port %d PROTVER %d\n", mode, buf[0],
             session->driver.ubx.protver);

    // selectively enable output protocols
    if (mode == MODE_NMEA) {
        /*
         * We have to club the GR601-W over the head to make it stop emitting
         * UBX after we've told it to start.  But do not mung the
         * protocol out mask, that breaks things.
         */

        unsigned char msg[3];
        /* nmea to turn on at rate one (multiplier on measurement rate)
         * u-blox 8 default: RMC, VTG, GGA, GSA GSV, GLL
         * who wanted GST? */
        const unsigned char nmea_on[] = {
            0x00,          // msg id  = GGA
            // 0x01,          // msg id  = GLL, only need RMC
            0x02,          // msg id  = GSA
            0x03,          // msg id  = GSV
            0x04,          // msg id  = RMC
            0x05,          // msg id  = VTG
            0x07,          // msg id  = GST, GNSS pseudorange error statistics
            0x08,          // msg id  = ZDA, for UTC year
            0x09,          // msg id  = GBS, for RAIM errors
        };

        const unsigned char ubx_nav_off[] = {
            0x01,          // msg id = NAV-POSECEF
            0x04,          // msg id = UBX-NAV-DOP
            0x06,          // msg id = NAV-SOL, deprecated in 6, gone in 9
            0x07,          // msg id = NAV-PVT, in u-blox 6 and on
            0x11,          // msg id = NAV-VELECEF
            0x20,          // msg id = UBX-NAV-TIMEGPS
            // 0x26;       // msg id  = UBX-NAV-TIMELS, allow as low rate
            0x30,          // msg id = NAV-SVINFO, in 4 to 8, not 9
            0x32,          // msg id = NAV-SBAS, in u-blox 4 to 8, not all 9
            0x35,          // msg id = NAV-SAT, in u-blox 8 and up
            0x43,          // msg id = NAV-SIG, in u-blox 9 and up
            0x61,          // msg id = NAV-EOE
        };

        // turn off init queue
        session->queue = 0;

        // enable NMEA first, in case we over-run receiver input buffer.

        // turn on rate one NMEA
        msg[0] = 0xf0;          // class, NMEA
        msg[2] = 0x01;          // rate, one
        for (i = 0; i < sizeof(nmea_on); i++) {
            msg[1] = nmea_on[i];          // msg id to turn on
            (void)ubx_write(session, UBX_CLASS_CFG, 0x01, msg, 3);
        }

        // Now turn off UBX-NAV, one at a time.
        msg[0] = 0x01;          // class, UBX-NAV
        msg[2] = 0x00;          // rate off
        for (i = 0; i < sizeof(ubx_nav_off); i++) {
            msg[1] = ubx_nav_off[i];          // msg id to turn on
            (void)ubx_write(session, UBX_CLASS_CFG, 0x01, msg, 3);
        }

    } else {    // MODE_BINARY

        /*
         * Just enabling the UBX protocol for output is not enough to
         * actually get UBX output; the sentence mix is initially empty.
         * Fix that...
         */

        /* Beware sending too many messages without waiting
         * for u-blox ACK, over running its input buffer.
         *
         * For example, the UBX-MON-VER may fail here, but works in other
         * contexts.
         *
         * Need UBX-MON-VER for protver.  Need protver to properly configure
         * the message set.
         */
        unsigned char msg[3] = {0, 0, 0};
        // request SW and HW Versions, prolly already requested at detection
        // ask again as older u-blox are hard of hearing
        (void)ubx_write(session, UBX_CLASS_MON, 0x04, msg, 0);

        GPSD_LOG(LOG_IO, &session->context->errout, "UBX: init protVer %u\n",
                 session->driver.ubx.protver);

        // turn on init queue
        session->queue = 1;
    }
    return 0;
}

static void ubx_mode(struct gps_device_t *session, int mode)
{
    ubx_cfg_prt(session,
                gpsd_get_speed(session),
                gpsd_get_parity(session),
                gpsd_get_stopbits(session),
                mode);
}

static bool ubx_speed(struct gps_device_t *session,
                      speed_t speed, char parity, int stopbits)
{
    ubx_cfg_prt(session,
                speed,
                parity,
                stopbits,
                (session->lexer.type == UBX_PACKET) ? MODE_BINARY : MODE_NMEA);
    return true;
}

/* change the sample rate of the GPS */
static bool ubx_rate(struct gps_device_t *session, double cycletime)
{
    /* Minimum measurement cycle time currently known from documentation
     * for fastest devices, here in milli seconds. Maintained in
     * struct gps_type_t driver_ubx.
     */
    const int64_t min_cycle = TSTOMS(&session->device_type->min_cycle);
    // cycletime in milli seconds
    int64_t measRate = (int64_t)(cycletime * MS_IN_SEC);
    // Message to be sent to device
    unsigned char msg[6] = {
        0x00, 0x00,     // U2: Measurement rate (ms), will be set below
        0x01, 0x00,     // U2: Navigation rate (cycles), set to 1
        0x00, 0x00,     // U2: Alignment to reference time: 0 = UTC
    };

    // check max
    if (65535 < measRate) {
        measRate = 65535;   // milli seconds
    } else if (min_cycle > measRate) {
        /* Clamp cycle time to lowest bound given in documentation.
         * protVer >= 24 has 25 ms min.
         * protVer < 24 has min of 50ms or more.
         */
        measRate = min_cycle;
    }
    // we now know measRate fits in a U2

    GPSD_LOG(LOG_PROG, &session->context->errout,
             "UBX rate change, measRate %lld millisecs\n",
             (long long) measRate);
    msg[0] = (unsigned char)(measRate & 0xff);
    msg[1] = (unsigned char)(measRate >> 8);

    // UBX-CFG-RATE deprecated in u-blox 10
    return ubx_write(session, UBX_CLASS_CFG, 0x08, msg, 6); // CFG-RATE
}

// This is everything we export
// *INDENT-OFF*
const struct gps_type_t driver_ubx = {
    .type_name         = "u-blox",       // Full name of type
    .packet_type       = UBX_PACKET,     // associated lexer packet type
    .flags             = DRIVER_STICKY,  // remember this
    .trigger           = NULL,
    // Number of satellite channels supported by the device
    // ZED-F0T supports 60, ZED-F0P supports 184
    .channels          = 184,
    .probe_detect      = NULL,           // Startup-time device detector
    // Packet getter (using default routine)
    .get_packet        = packet_get1,
    .parse_packet      = parse_input,    // Parse message packets
    // RTCM handler (using default routine)
    .rtcm_writer       = gpsd_write,
    .init_query        = ubx_init_query, // non-perturbing initial query
    .event_hook        = ubx_event_hook, // Fire on various lifetime events
    .speed_switcher    = ubx_speed,      // Speed (baudrate) switch
    .mode_switcher     = ubx_mode,       // Mode switcher
    .rate_switcher     = ubx_rate,       // Message delivery rate switcher
    /* Minimum measurement cycle time currently known from documentation
     * for fastest devices.
     */
    .min_cycle.tv_sec  = 0,
    .min_cycle.tv_nsec = 25000000,          // Maximum 40Hz sample rate
    .control_send      = ubx_control_send,  // how to send a control string
    .time_offset       = NULL,              // no method for NTP fudge factor
};
// *INDENT-ON*

// vim: set expandtab shiftwidth=4

Coverage Report

Created: 2025-11-11 06:08