/* gps.h -- interface of the libgps library */ /* * This file is Copyright (c) 2010 by the GPSD project * BSD terms apply: see the file COPYING in the distribution root for details. */ #ifndef _GPSD_GPS_H_ #define _GPSD_GPS_H_ #ifdef __cplusplus extern "C" { #endif /* Macro for declaring function arguments unused. */ #if defined(__GNUC__) # define UNUSED __attribute__((unused)) /* Flag variable as unused */ #else /* not __GNUC__ */ # define UNUSED #endif #include #include #include #include /* stdint.h would be smaller but not all have it */ #include #include #include #include #ifndef S_SPLINT_S #include /* pacifies OpenBSD's compiler */ #endif /* * 4.1 - Base version for initial JSON protocol (Dec 2009, release 2.90) * 4.2 - AIS application IDs split into DAC and FID (July 2010, release 2.95) * 5.0 - MAXCHANNELS bumped from 20 to 32 for GLONASS (Mar 2011, release 2.96) * gps_open() becomes reentrant, what gps_open_r() used to be. * gps_poll() removed in favor of gps_read(). The raw hook is gone. */ #define GPSD_API_MAJOR_VERSION 5 /* bump on incompatible changes */ #define GPSD_API_MINOR_VERSION 0 /* bump on compatible changes */ #define MAXTAGLEN 8 /* maximum length of sentence tag name */ #define MAXCHANNELS 72 /* must be > 12 GPS + 12 GLONASS + 2 WAAS */ #define GPS_PRNMAX 32 /* above this number are SBAS satellites */ #define GPS_PATH_MAX 64 /* dev files usually have short names */ #define MAXUSERDEVS 4 /* max devices per user */ /* * The structure describing an uncertainty volume in kinematic space. * This is what GPSes are meant to produce; all the other info is * technical impedimenta. * * All double values use NAN to indicate data not available. * * Usually all the information in this structure was considered valid * by the GPS at the time of update. This will be so if you are using * a GPS chipset that speaks SiRF binary, Garmin binary, or Zodiac binary. * This covers over 80% of GPS products in early 2005. * * If you are using a chipset that speaks NMEA, this structure is updated * in bits by GPRMC (lat/lon, track, speed), GPGGA (alt, climb), GPGLL * (lat/lon), and GPGSA (eph, epv). Most NMEA GPSes take a single fix * at the beginning of a 1-second cycle and report the same timestamp in * GPRMC, GPGGA, and GPGLL; for these, all info is guaranteed correctly * synced to the time member, but you'll get different stages of the same * update depending on where in the cycle you poll. A very few GPSes, * like the Garmin 48, take a new fix before more than one of of * GPRMC/GPGGA/GPGLL during a single cycle; thus, they may have different * timestamps and some data in this structure can be up to 1 cycle (usually * 1 second) older than the fix time. * * Error estimates are at 95% confidence. */ typedef double timestamp_t; /* Unix time in seconds with fractional part */ struct gps_fix_t { timestamp_t time; /* Time of update */ int mode; /* Mode of fix */ #define MODE_NOT_SEEN 0 /* mode update not seen yet */ #define MODE_NO_FIX 1 /* none */ #define MODE_2D 2 /* good for latitude/longitude */ #define MODE_3D 3 /* good for altitude/climb too */ double ept; /* Expected time uncertainty */ double latitude; /* Latitude in degrees (valid if mode >= 2) */ double epy; /* Latitude position uncertainty, meters */ double longitude; /* Longitude in degrees (valid if mode >= 2) */ double epx; /* Longitude position uncertainty, meters */ double altitude; /* Altitude in meters (valid if mode == 3) */ double epv; /* Vertical position uncertainty, meters */ double track; /* Course made good (relative to true north) */ double epd; /* Track uncertainty, degrees */ double speed; /* Speed over ground, meters/sec */ double eps; /* Speed uncertainty, meters/sec */ double climb; /* Vertical speed, meters/sec */ double epc; /* Vertical speed uncertainty */ }; /* * The structure describing the pseudorange errors (GPGST) */ struct gst_t { double utctime; double rms_deviation; double smajor_deviation; double sminor_deviation; double smajor_orientation; double lat_err_deviation; double lon_err_deviation; double alt_err_deviation; }; /* * From the RCTM104 2.x standard: * * "The 30 bit words (as opposed to 32 bit words) coupled with a 50 Hz * transmission rate provides a convenient timing capability where the * times of word boundaries are a rational multiple of 0.6 seconds." * * "Each frame is N+2 words long, where N is the number of message data * words. For example, a filler message (type 6 or 34) with no message * data will have N=0, and will consist only of two header words. The * maximum number of data words allowed by the format is 31, so that * the longest possible message will have a total of 33 words." */ #define RTCM2_WORDS_MAX 33 #define MAXCORRECTIONS 18 /* max correction count in type 1 or 9 */ #define MAXSTATIONS 10 /* maximum stations in almanac, type 5 */ /* RTCM104 doesn't specify this, so give it the largest reasonable value */ #define MAXHEALTH (RTCM2_WORDS_MAX-2) #ifndef S_SPLINT_S /* * A nominally 30-bit word (24 bits of data, 6 bits of parity) * used both in the GPS downlink protocol described in IS-GPS-200 * and in the format for DGPS corrections used in RTCM-104v2. */ typedef /*@unsignedintegraltype@*/ uint32_t isgps30bits_t; #endif /* S_SPLINT_S */ /* * Values for "system" fields. Note, the encoding logic is senstive to the * actual values of these; it's not sufficient that they're distinct. */ #define NAVSYSTEM_GPS 0 #define NAVSYSTEM_GLONASS 1 #define NAVSYSTEM_GALILEO 2 #define NAVSYSTEM_UNKNOWN 3 struct rtcm2_t { /* header contents */ unsigned type; /* RTCM message type */ unsigned length; /* length (words) */ double zcount; /* time within hour: GPS time, no leap secs */ unsigned refstaid; /* reference station ID */ unsigned seqnum; /* message sequence number (modulo 8) */ unsigned stathlth; /* station health */ /* message data in decoded form */ union { struct { unsigned int nentries; struct gps_rangesat_t { /* data from messages 1 & 9 */ unsigned ident; /* satellite ID */ unsigned udre; /* user diff. range error */ unsigned iod; /* issue of data */ double prc; /* range error */ double rrc; /* range error rate */ } sat[MAXCORRECTIONS]; } gps_ranges; struct { /* data for type 3 messages */ bool valid; /* is message well-formed? */ double x, y, z; } ecef; struct { /* data from type 4 messages */ bool valid; /* is message well-formed? */ int system; int sense; #define SENSE_INVALID 0 #define SENSE_GLOBAL 1 #define SENSE_LOCAL 2 char datum[6]; double dx, dy, dz; } reference; struct { /* data from type 5 messages */ unsigned int nentries; struct consat_t { unsigned ident; /* satellite ID */ bool iodl; /* issue of data */ unsigned int health; /* is satellite healthy? */ #define HEALTH_NORMAL (0) /* Radiobeacon operation normal */ #define HEALTH_UNMONITORED (1) /* No integrity monitor operating */ #define HEALTH_NOINFO (2) /* No information available */ #define HEALTH_DONOTUSE (3) /* Do not use this radiobeacon */ int snr; /* signal-to-noise ratio, dB */ #define SNR_BAD -1 /* not reported */ bool health_en; /* health enabled */ bool new_data; /* new data? */ bool los_warning; /* line-of-sight warning */ unsigned int tou; /* time to unhealth, seconds */ } sat[MAXHEALTH]; } conhealth; struct { /* data from type 7 messages */ unsigned int nentries; struct station_t { double latitude, longitude; /* location */ unsigned int range; /* range in km */ double frequency; /* broadcast freq */ unsigned int health; /* station health */ unsigned int station_id; /* of the transmitter */ unsigned int bitrate; /* of station transmissions */ } station[MAXSTATIONS]; } almanac; struct { /* data for type 13 messages */ bool status; /* expect a text message */ bool rangeflag; /* station range altered? */ double lat, lon; /* station longitude/latitude */ unsigned int range; /* transmission range in km */ } xmitter; struct { /* data from type 14 messages */ unsigned int week; /* GPS week (0-1023) */ unsigned int hour; /* Hour in week (0-167) */ unsigned int leapsecs; /* Leap seconds (0-63) */ } gpstime; struct { unsigned int nentries; struct glonass_rangesat_t { /* data from message type 31 */ unsigned ident; /* satellite ID */ unsigned udre; /* user diff. range error */ unsigned tod; /* issue of data */ bool change; /* ephemeris change bit */ double prc; /* range error */ double rrc; /* range error rate */ } sat[MAXCORRECTIONS]; } glonass_ranges; /* data from type 16 messages */ char message[(RTCM2_WORDS_MAX-2) * sizeof(isgps30bits_t)]; /* data from messages of unknown type */ isgps30bits_t words[RTCM2_WORDS_MAX-2]; }; }; /* RTCM3 report structures begin here */ #define RTCM3_MAX_SATELLITES 64 #define RTCM3_MAX_DESCRIPTOR 31 #define RTCM3_MAX_ANNOUNCEMENTS 32 struct rtcm3_rtk_hdr { /* header data from 1001, 1002, 1003, 1004 */ /* Used for both GPS and GLONASS, but their timebases differ */ unsigned int station_id; /* Reference Station ID */ time_t tow; /* GPS Epoch Time (TOW) in ms, or GLONASS Epoch Time in ms */ bool sync; /* Synchronous GNSS Message Flag */ unsigned short satcount; /* # Satellite Signals Processed */ bool smoothing; /* Divergence-free Smoothing Indicator */ unsigned short interval; /* Smoothing Interval */ }; struct rtcm3_basic_rtk { unsigned char indicator; /* Indicator */ short channel; /* Satellite Frequency Channel Number (GLONASS only) */ double pseudorange; /* Pseudorange */ double rangediff; /* PhaseRange – Pseudorange in meters */ unsigned char locktime; /* Lock time Indicator */ }; struct rtcm3_extended_rtk { unsigned char indicator; /* Indicator */ short channel; /* Satellite Frequency Channel Number (GLONASS only) */ double pseudorange; /* Pseudorange */ double rangediff; /* PhaseRange – L1 Pseudorange */ unsigned char locktime; /* Lock time Indicator */ unsigned char ambiguity; /* Integer Pseudorange Modulus Ambiguity */ double CNR; /* Carrier-to-Noise Ratio */ }; struct rtcm3_network_rtk_header { unsigned int network_id; /* Network ID */ unsigned int subnetwork_id; /* Subnetwork ID */ time_t time; /* GPS Epoch Time (TOW) in ms */ bool multimesg; /* GPS Multiple Message Indicator */ unsigned master_id; /* Master Reference Station ID */ unsigned aux_id; /* Auxilary Reference Station ID */ unsigned char satcount; /* count of GPS satellites */ }; struct rtcm3_correction_diff { unsigned char ident; /* satellite ID */ enum {reserved, correct, widelane, uncertain} ambiguity; unsigned char nonsync; double geometric_diff; /* Geometric Carrier Phase Correction Difference (1016, 1017) */ unsigned char iode; /* GPS IODE (1016, 1017) */ double ionospheric_diff; /* Ionospheric Carrier Phase Correction Difference (1015, 1017) */ }; struct rtcm3_t { /* header contents */ unsigned type; /* RTCM 3.x message type */ unsigned length; /* payload length, inclusive of checksum */ union { /* 1001-1013 were present in the 3.0 version */ struct { struct rtcm3_rtk_hdr header; struct rtcm3_1001_t { unsigned ident; /* Satellite ID */ struct rtcm3_basic_rtk L1; } rtk_data[RTCM3_MAX_SATELLITES]; } rtcm3_1001; struct rtcm3_1002_t { struct rtcm3_rtk_hdr header; struct { unsigned ident; /* Satellite ID */ struct rtcm3_extended_rtk L1; } rtk_data[RTCM3_MAX_SATELLITES]; } rtcm3_1002; struct rtcm3_1003_t { struct rtcm3_rtk_hdr header; struct { unsigned ident; /* Satellite ID */ struct rtcm3_basic_rtk L1; struct rtcm3_basic_rtk L2; } rtk_data[RTCM3_MAX_SATELLITES]; } rtcm3_1003; struct rtcm3_1004_t { struct rtcm3_rtk_hdr header; struct { unsigned ident; /* Satellite ID */ struct rtcm3_extended_rtk L1; struct rtcm3_extended_rtk L2; } rtk_data[RTCM3_MAX_SATELLITES]; } rtcm3_1004; struct rtcm3_1005_t { unsigned int station_id; /* Reference Station ID */ int system; /* Which system is it? */ bool reference_station; /* Reference-station indicator */ bool single_receiver; /* Single Receiver Oscillator */ double ecef_x, ecef_y, ecef_z; /* ECEF antenna location */ } rtcm3_1005; struct rtcm3_1006_t { unsigned int station_id; /* Reference Station ID */ int system; /* Which system is it? */ bool reference_station; /* Reference-station indicator */ bool single_receiver; /* Single Receiver Oscillator */ double ecef_x, ecef_y, ecef_z; /* ECEF antenna location */ double height; /* Antenna height */ } rtcm3_1006; struct rtcm3_1007_t { unsigned int station_id; /* Reference Station ID */ char descriptor[RTCM3_MAX_DESCRIPTOR+1]; /* Description string */ unsigned char setup_id; } rtcm3_1007; struct rtcm3_1008_t { unsigned int station_id; /* Reference Station ID */ char descriptor[RTCM3_MAX_DESCRIPTOR+1]; /* Description string */ unsigned char setup_id; char serial[RTCM3_MAX_DESCRIPTOR+1]; /* Serial # string */ } rtcm3_1008; struct rtcm3_1009_t { struct rtcm3_rtk_hdr header; struct { unsigned ident; /* Satellite ID */ struct rtcm3_basic_rtk L1; } rtk_data[RTCM3_MAX_SATELLITES]; } rtcm3_1009; struct rtcm3_1010_t { struct rtcm3_rtk_hdr header; struct { unsigned ident; /* Satellite ID */ struct rtcm3_extended_rtk L1; } rtk_data[RTCM3_MAX_SATELLITES]; } rtcm3_1010; struct rtcm3_1011_t { struct rtcm3_rtk_hdr header; struct { unsigned ident; /* Satellite ID */ struct rtcm3_extended_rtk L1; struct rtcm3_extended_rtk L2; } rtk_data[RTCM3_MAX_SATELLITES]; } rtcm3_1011; struct rtcm3_1012_t { struct rtcm3_rtk_hdr header; struct { unsigned ident; /* Satellite ID */ struct rtcm3_extended_rtk L1; struct rtcm3_extended_rtk L2; } rtk_data[RTCM3_MAX_SATELLITES]; } rtcm3_1012; struct rtcm3_1013_t { unsigned int station_id; /* Reference Station ID */ unsigned short mjd; /* Modified Julian Day (MJD) Number */ unsigned int sod; /* Seconds of Day (UTC) */ unsigned char leapsecs; /* Leap Seconds, GPS-UTC */ unsigned char ncount; /* Count of announcements to follow */ struct { unsigned short id; /* message type ID */ bool sync; unsigned short interval; /* interval in 0.1sec units */ } announcements[RTCM3_MAX_ANNOUNCEMENTS]; } rtcm3_1013; /* 1014-1017 were added in the 3.1 version */ struct rtcm3_1014_t { unsigned int network_id; /* Network ID */ unsigned int subnetwork_id; /* Subnetwork ID */ unsigned char stationcount; /* # auxiliary stations transmitted */ unsigned int master_id; /* Master Reference Station ID */ unsigned int aux_id; /* Auxilary Reference Station ID */ double d_lat, d_lon, d_alt; /* Aux-master location delta */ } rtcm3_1014; struct rtcm3_1015_t { struct rtcm3_network_rtk_header header; struct rtcm3_correction_diff corrections[RTCM3_MAX_SATELLITES]; } rtcm3_1015; struct rtcm3_1016_t { struct rtcm3_network_rtk_header header; struct rtcm3_correction_diff corrections[RTCM3_MAX_SATELLITES]; } rtcm3_1016; struct rtcm3_1017_t { struct rtcm3_network_rtk_header header; struct rtcm3_correction_diff corrections[RTCM3_MAX_SATELLITES]; } rtcm3_1017; /* 1018-1029 were in the 3.0 version */ struct rtcm3_1019_t { unsigned int ident; /* Satellite ID */ unsigned int week; /* GPS Week Number */ unsigned char sv_accuracy; /* GPS SV ACCURACY */ enum {reserved_code, p, ca, l2c} code; double idot; unsigned char iode; /* ephemeris fields, not scaled */ unsigned int t_sub_oc; signed int a_sub_f2; signed int a_sub_f1; signed int a_sub_f0; unsigned int iodc; signed int C_sub_rs; signed int delta_sub_n; signed int M_sub_0; signed int C_sub_uc; unsigned int e; signed int C_sub_us; unsigned int sqrt_sub_A; unsigned int t_sub_oe; signed int C_sub_ic; signed int OMEGA_sub_0; signed int C_sub_is; signed int i_sub_0; signed int C_sub_rc; signed int argument_of_perigee; signed int omegadot; signed int t_sub_GD; unsigned char sv_health; bool p_data; bool fit_interval; } rtcm3_1019; struct rtcm3_1020_t { unsigned int ident; /* Satellite ID */ unsigned short channel; /* Satellite Frequency Channel Number */ /* ephemeris fields, not scaled */ bool C_sub_n; bool health_avAilability_indicator; unsigned char P1; unsigned short t_sub_k; bool msb_of_B_sub_n; bool P2; bool t_sub_b; signed int x_sub_n_t_of_t_sub_b_prime; signed int x_sub_n_t_of_t_sub_b; signed int x_sub_n_t_of_t_sub_b_prime_prime; signed int y_sub_n_t_of_t_sub_b_prime; signed int y_sub_n_t_of_t_sub_b; signed int y_sub_n_t_of_t_sub_b_prime_prime; signed int z_sub_n_t_of_t_sub_b_prime; signed int z_sub_n_t_of_t_sub_b; signed int z_sub_n_t_of_t_sub_b_prime_prime; bool P3; signed int gamma_sub_n_of_t_sub_b; unsigned char MP; bool Ml_n; signed int tau_n_of_t_sub_b; signed int M_delta_tau_sub_n; unsigned int E_sub_n; bool MP4; unsigned char MF_sub_T; unsigned char MN_sub_T; unsigned char MM; bool additioinal_data_availability; unsigned int N_sup_A; unsigned int tau_sub_c; unsigned int M_N_sub_4; signed int M_tau_sub_GPS; bool M_l_sub_n; } rtcm3_1020; struct rtcm3_1029_t { unsigned int station_id; /* Reference Station ID */ unsigned short mjd; /* Modified Julian Day (MJD) Number */ unsigned int sod; /* Seconds of Day (UTC) */ size_t len; /* # chars to follow */ size_t unicode_units; /* # Unicode units in text */ unsigned char text[128]; } rtcm3_1029; struct rtcm3_1033_t { unsigned int station_id; /* Reference Station ID */ char descriptor[RTCM3_MAX_DESCRIPTOR+1]; /* Description string */ unsigned char setup_id; char serial[RTCM3_MAX_DESCRIPTOR+1]; /* Serial # string */ char receiver[RTCM3_MAX_DESCRIPTOR+1]; /* Receiver string */ char firmware[RTCM3_MAX_DESCRIPTOR+1]; /* Firmware string */ } rtcm3_1033; char data[1024]; /* Max RTCM3 msg length is 1023 bytes */ } rtcmtypes; }; /* RTCM3 scaling constants */ #define GPS_AMBIGUITY_MODULUS 299792.458 /* 1004, DF014*/ #define GLONASS_AMBIGUITY_MODULUS 599584.916 /* 1012, DF044 */ #define MESSAGE_INTERVAL_UNITS 0.1 /* 1013, DF047 */ /* * Raw IS_GPS subframe data */ /* The almanac is a subset of the clock and ephemeris data, with reduced * precision. See IS-GPS-200E, Table 20-VI */ struct almanac_t { uint8_t sv; /* The satellite this refers to */ /* toa, almanac reference time, 8 bits unsigned, seconds */ uint8_t toa; long l_toa; /* SV health data, 8 bit unsigned bit map */ uint8_t svh; /* deltai, correction to inclination, 16 bits signed, semi-circles */ int16_t deltai; double d_deltai; /* M0, Mean Anomaly at Reference Time, 24 bits signed, semi-circles */ int32_t M0; double d_M0; /* Omega0, Longitude of Ascending Node of Orbit Plane at Weekly Epoch, * 24 bits signed, semi-circles */ int32_t Omega0; double d_Omega0; /* omega, Argument of Perigee, 24 bits signed, semi-circles */ int32_t omega; double d_omega; /* af0, SV clock correction constant term * 11 bits signed, seconds */ int16_t af0; double d_af0; /* af1, SV clock correction first order term * 11 bits signed, seconds/second */ int16_t af1; double d_af1; /* eccentricity, 16 bits, unsigned, dimensionless */ uint16_t e; double d_eccentricity; /* sqrt A, Square Root of the Semi-Major Axis * 24 bits unsigned, square_root(meters) */ uint32_t sqrtA; double d_sqrtA; /* Omega dot, Rate of Right Ascension, 16 bits signed, semi-circles/sec */ int16_t Omegad; double d_Omegad; }; struct subframe_t { /* subframe number, 3 bits, unsigned, 1 to 5 */ uint8_t subframe_num; /* data_id, denotes the NAV data structure of D(t), 2 bits, in * IS-GPS-200E always == 0x1 */ uint8_t data_id; /* SV/page id used for subframes 4 & 5, 6 bits */ uint8_t pageid; /* tSVID, SV ID of the sat that transmitted this frame, 6 bits unsigned */ uint8_t tSVID; /* TOW, Time of Week of NEXT message, 17 bits unsigned, scale 6, seconds */ uint32_t TOW17; long l_TOW17; /* integrity, URA bounds flag, 1 bit */ bool integrity; /* alert, alert flag, SV URA and/or the SV User Differential Range * Accuracy (UDRA) may be worse than indicated, 1 bit */ bool alert; /* antispoof, A-S mode is ON in that SV, 1 bit */ bool antispoof; int is_almanac; union { /* subframe 1, part of ephemeris, see IS-GPS-200E, Table 20-II * and Table 20-I */ struct { /* WN, Week Number, 10 bits unsigned, scale 1, weeks */ uint16_t WN; /* IODC, Issue of Data, Clock, 10 bits, unsigned, * issued in 8 data ranges at the same time */ uint16_t IODC; /* toc, clock data reference time, 16 bits, unsigned, seconds * scale 2**4, issued in 8 data ranges at the same time */ uint16_t toc; long l_toc; /* l2, code on L2, 2 bits, bit map */ uint8_t l2; /* l2p, L2 P data flag, 1 bit */ uint8_t l2p; /* ura, SV accuracy, 4 bits unsigned index */ unsigned int ura; /* hlth, SV health, 6 bits unsigned bitmap */ unsigned int hlth; /* af0, SV clock correction constant term * 22 bits signed, scale 2**-31, seconds */ int32_t af0; double d_af0; /* af1, SV clock correction first order term * 22 bits signed, scale 2**-43, seconds/second */ int16_t af1; double d_af1; /* af2, SV clock correction second order term * 8 bits signed, scale 2**-55, seconds/second**2 */ int8_t af2; double d_af2; /* Tgd, L1-L2 correction term, 8 bits signed, scale 2**-31, * seconds */ int8_t Tgd; double d_Tgd; } sub1; /* subframe 2, part of ephemeris, see IS-GPS-200E, Table 20-II * and Table 20-III */ struct { /* Issue of Data (Ephemeris), * equal to the 8 LSBs of the 10 bit IODC of the same data set */ uint8_t IODE; /* Age of Data Offset for the NMCT, 6 bits, scale 900, * ignore if all ones, seconds */ uint8_t AODO; uint16_t u_AODO; /* fit, FIT interval flag, indicates a fit interval greater than * 4 hour, 1 bit */ uint8_t fit; /* toe, Reference Time Ephemeris, 16 bits unsigned, scale 2**4, * seconds */ uint16_t toe; long l_toe; /* Crs, Amplitude of the Sine Harmonic Correction Term to the * Orbit Radius, 16 bits, scale 2**-5, signed, meters */ int16_t Crs; double d_Crs; /* Cus, Amplitude of the Sine Harmonic Correction Term to the * Argument of Latitude, 16 bits, signed, scale 2**-29, radians */ int16_t Cus; double d_Cus; /* Cuc, Amplitude of the Cosine Harmonic Correction Term to the * Argument of Latitude, 16 bits, signed, scale 2**-29, radians */ int16_t Cuc; double d_Cuc; /* deltan, Mean Motion Difference From Computed Value * Mean Motion Difference From Computed Value * 16 bits, signed, scale 2**-43, semi-circles/sec */ int16_t deltan; double d_deltan; /* M0, Mean Anomaly at Reference Time, 32 bits signed, * scale 2**-31, semi-circles */ int32_t M0; double d_M0; /* eccentricity, 32 bits, unsigned, scale 2**-33, dimensionless */ uint32_t e; double d_eccentricity; /* sqrt A, Square Root of the Semi-Major Axis * 32 bits unsigned, scale 2**-19, square_root(meters) */ uint32_t sqrtA; double d_sqrtA; } sub2; /* subframe 3, part of ephemeris, see IS-GPS-200E, Table 20-II, * Table 20-III */ struct { /* Issue of Data (Ephemeris), 8 bits, unsigned * equal to the 8 LSBs of the 10 bit IODC of the same data set */ uint8_t IODE; /* Rate of Inclination Angle, 14 bits signed, scale2**-43, * semi-circles/sec */ uint16_t IDOT; double d_IDOT; /* Cic, Amplitude of the Cosine Harmonic Correction Term to the * Angle of Inclination, 16 bits signed, scale 2**-29, radians*/ uint16_t Cic; double d_Cic; /* Cis, Amplitude of the Sine Harmonic Correction Term to the * Angle of Inclination, 16 bits, unsigned, scale 2**-29, radians */ int16_t Cis; double d_Cis; /* Crc, Amplitude of the Cosine Harmonic Correction Term to the * Orbit Radius, 16 bits signed, scale 2**-5, meters */ int16_t Crc; double d_Crc; /* i0, Inclination Angle at Reference Time, 32 bits, signed, * scale 2**-31, semi-circles */ int32_t i0; double d_i0; /* Omega0, Longitude of Ascending Node of Orbit Plane at Weekly * Epoch, 32 bits signed, semi-circles */ int32_t Omega0; double d_Omega0; /* omega, Argument of Perigee, 32 bits signed, scale 2**-31, * semi-circles */ int32_t omega; double d_omega; /* Omega dot, Rate of Right Ascension, 24 bits signed, * scale 2**-43, semi-circles/sec */ int32_t Omegad; double d_Omegad; } sub3; struct { struct almanac_t almanac; } sub4; /* subframe 4, page 13 */ struct { /* mapping ord ERD# to SV # is non trivial * leave it alone. See IS-GPS-200E Section 20.3.3.5.1.9 */ /* Estimated Range Deviation, 6 bits signed, meters */ char ERD[33]; /* ai, Availability Indicator, 2bits, bit map */ unsigned char ai; } sub4_13; /* subframe 4, page 17, system message, 23 chars, plus nul */ struct { char str[24]; } sub4_17; /* subframe 4, page 18 */ struct { /* ionospheric and UTC data */ /* A0, Bias coefficient of GPS time scale relative to UTC time * scale, 32 bits signed, scale 2**-30, seconds */ int32_t A0; double d_A0; /* A1, Drift coefficient of GPS time scale relative to UTC time * scale, 24 bits signed, scale 2**-50, seconds/second */ int32_t A1; double d_A1; /* alphaX, the four coefficients of a cubic equation representing * the amplitude of the vertical delay */ /* alpha0, 8 bits signed, scale w**-30, seconds */ int8_t alpha0; double d_alpha0; /* alpha1, 8 bits signed, scale w**-27, seconds/semi-circle */ int8_t alpha1; double d_alpha1; /* alpha2, 8 bits signed, scale w**-24, seconds/semi-circle**2 */ int8_t alpha2; double d_alpha2; /* alpha3, 8 bits signed, scale w**-24, seconds/semi-circle**3 */ int8_t alpha3; double d_alpha3; /* betaX, the four coefficients of a cubic equation representing * the period of the model */ /* beta0, 8 bits signed, scale w**11, seconds */ int8_t beta0; double d_beta0; /* beta1, 8 bits signed, scale w**14, seconds/semi-circle */ int8_t beta1; double d_beta1; /* beta2, 8 bits signed, scale w**16, seconds/semi-circle**2 */ int8_t beta2; double d_beta2; /* beta3, 8 bits signed, scale w**16, seconds/semi-circle**3 */ int8_t beta3; double d_beta3; /* leap (delta t ls), current leap second, 8 bits signed, * scale 1, seconds */ int8_t leap; /* lsf (delta t lsf), future leap second, 8 bits signed, * scale 1, seconds */ int8_t lsf; /* tot, reference time for UTC data, * 8 bits unsigned, scale 2**12, seconds */ uint8_t tot; double d_tot; /* WNt, UTC reference week number, 8 bits unsigned, scale 1, * weeks */ uint8_t WNt; /* WNlsf, Leap second reference Week Number, * 8 bits unsigned, scale 1, weeks */ uint8_t WNlsf; /* DN, Leap second reference Day Number , 8 bits unsigned, * scale 1, days */ uint8_t DN; } sub4_18; /* subframe 4, page 25 */ struct { /* svf, A-S status and the configuration code of each SV * 4 bits unsigned, bitmap */ unsigned char svf[33]; /* svh, SV health data for SV 25 through 32 * 6 bits unsigned bitmap */ uint8_t svhx[8]; } sub4_25; struct { struct almanac_t almanac; } sub5; struct { /* toa, Almanac reference Time, 8 bits unsigned, scale 2**12, * seconds */ uint8_t toa; long l_toa; /* WNa, Week Number almanac, 8 bits, scale 2, GPS Week * Number % 256 */ uint8_t WNa; /* sv, SV health status, 6 bits, bitmap */ uint8_t sv[25]; } sub5_25; }; }; #ifndef S_SPLINT_S typedef uint64_t gps_mask_t; #else typedef /*@unsignedintegraltype@*/ unsigned long long gps_mask_t; #endif /* S_SPLINT_S */ /* * Is an MMSI number that of an auxiliary associated with a mother ship? * We need to be able to test this for decoding AIS Type 24 messages. * According to , * auxiliary-craft MMSIs have the form 98MIDXXXX, where MID is a country * code and XXXX the vessel ID. */ #define AIS_AUXILIARY_MMSI(n) ((n) / 10000000 == 98) /* N/A values and scaling constant for 25/24 bit lon/lat pairs */ #define AIS_LON3_NOT_AVAILABLE 181000 #define AIS_LAT3_NOT_AVAILABLE 91000 #define AIS_LATLON3_SCALE 60000.0 /* N/A values and scaling constant for 28/27 bit lon/lat pairs */ #define AIS_LON4_NOT_AVAILABLE 1810000 #define AIS_LAT4_NOT_AVAILABLE 910000 #define AIS_LATLON4_SCALE 600000.0 struct route_info { unsigned int linkage; /* Message Linkage ID */ unsigned int sender; /* Sender Class */ unsigned int rtype; /* Route Type */ unsigned int month; /* Start month */ unsigned int day; /* Start day */ unsigned int hour; /* Start hour */ unsigned int minute; /* Start minute */ unsigned int duration; /* Duration */ int waycount; /* Waypoint count */ struct waypoint_t { signed int lon; /* Longitude */ signed int lat; /* Latitude */ } waypoints[16]; }; struct ais_t { unsigned int type; /* message type */ unsigned int repeat; /* Repeat indicator */ unsigned int mmsi; /* MMSI */ union { /* Types 1-3 Common navigation info */ struct { unsigned int status; /* navigation status */ signed turn; /* rate of turn */ #define AIS_TURN_HARD_LEFT -127 #define AIS_TURN_HARD_RIGHT 127 #define AIS_TURN_NOT_AVAILABLE 128 unsigned int speed; /* speed over ground in deciknots */ #define AIS_SPEED_NOT_AVAILABLE 1023 #define AIS_SPEED_FAST_MOVER 1022 /* >= 102.2 knots */ bool accuracy; /* position accuracy */ #define AIS_LATLON_SCALE 600000.0 int lon; /* longitude */ #define AIS_LON_NOT_AVAILABLE 0x6791AC0 int lat; /* latitude */ #define AIS_LAT_NOT_AVAILABLE 0x3412140 unsigned int course; /* course over ground */ #define AIS_COURSE_NOT_AVAILABLE 3600 unsigned int heading; /* true heading */ #define AIS_HEADING_NOT_AVAILABLE 511 unsigned int second; /* seconds of UTC timestamp */ #define AIS_SEC_NOT_AVAILABLE 60 #define AIS_SEC_MANUAL 61 #define AIS_SEC_ESTIMATED 62 #define AIS_SEC_INOPERATIVE 63 unsigned int maneuver; /* maneuver indicator */ //unsigned int spare; spare bits */ bool raim; /* RAIM flag */ unsigned int radio; /* radio status bits */ } type1; /* Type 4 - Base Station Report & Type 11 - UTC and Date Response */ struct { unsigned int year; /* UTC year */ #define AIS_YEAR_NOT_AVAILABLE 0 unsigned int month; /* UTC month */ #define AIS_MONTH_NOT_AVAILABLE 0 unsigned int day; /* UTC day */ #define AIS_DAY_NOT_AVAILABLE 0 unsigned int hour; /* UTC hour */ #define AIS_HOUR_NOT_AVAILABLE 24 unsigned int minute; /* UTC minute */ #define AIS_MINUTE_NOT_AVAILABLE 60 unsigned int second; /* UTC second */ #define AIS_SECOND_NOT_AVAILABLE 60 bool accuracy; /* fix quality */ int lon; /* longitude */ int lat; /* latitude */ unsigned int epfd; /* type of position fix device */ //unsigned int spare; spare bits */ bool raim; /* RAIM flag */ unsigned int radio; /* radio status bits */ } type4; /* Type 5 - Ship static and voyage related data */ struct { unsigned int ais_version; /* AIS version level */ unsigned int imo; /* IMO identification */ char callsign[7+1]; /* callsign */ #define AIS_SHIPNAME_MAXLEN 20 char shipname[AIS_SHIPNAME_MAXLEN+1]; /* vessel name */ unsigned int shiptype; /* ship type code */ unsigned int to_bow; /* dimension to bow */ unsigned int to_stern; /* dimension to stern */ unsigned int to_port; /* dimension to port */ unsigned int to_starboard; /* dimension to starboard */ unsigned int epfd; /* type of position fix deviuce */ unsigned int month; /* UTC month */ unsigned int day; /* UTC day */ unsigned int hour; /* UTC hour */ unsigned int minute; /* UTC minute */ unsigned int draught; /* draft in meters */ char destination[20+1]; /* ship destination */ unsigned int dte; /* data terminal enable */ //unsigned int spare; spare bits */ } type5; /* Type 6 - Addressed Binary Message */ struct { unsigned int seqno; /* sequence number */ unsigned int dest_mmsi; /* destination MMSI */ bool retransmit; /* retransmit flag */ //unsigned int spare; spare bit(s) */ unsigned int dac; /* Application ID */ unsigned int fid; /* Functional ID */ #define AIS_TYPE6_BINARY_MAX 920 /* 920 bits */ size_t bitcount; /* bit count of the data */ union { char bitdata[(AIS_TYPE6_BINARY_MAX + 7) / 8]; /* IMO236 - Dangerous Cargo Indication */ struct { char lastport[5+1]; /* Last Port Of Call */ unsigned int lmonth; /* ETA month */ unsigned int lday; /* ETA day */ unsigned int lhour; /* ETA hour */ unsigned int lminute; /* ETA minute */ char nextport[5+1]; /* Next Port Of Call */ unsigned int nmonth; /* ETA month */ unsigned int nday; /* ETA day */ unsigned int nhour; /* ETA hour */ unsigned int nminute; /* ETA minute */ char dangerous[20+1]; /* Main Dangerous Good */ char imdcat[4+1]; /* IMD Category */ unsigned int unid; /* UN Number */ unsigned int amount; /* Amount of Cargo */ unsigned int unit; /* Unit of Quantity */ } dac1fid12; /* IMO236 - Extended Ship Static and Voyage Related Data */ struct { unsigned int airdraught; /* Air Draught */ } dac1fid15; /* IMO236 - Number of Persons on board */ struct { unsigned persons; /* number of persons */ } dac1fid16; /* IMO289 - Clearance Time To Enter Port */ struct { unsigned int linkage; /* Message Linkage ID */ unsigned int month; /* Month (UTC) */ unsigned int day; /* Day (UTC) */ unsigned int hour; /* Hour (UTC) */ unsigned int minute; /* Minute (UTC) */ char portname[20+1]; /* Name of Port & Berth */ char destination[5+1]; /* Destination */ signed int lon; /* Longitude */ signed int lat; /* Latitude */ } dac1fid18; /* IMO289 - Berthing Data (addressed) */ struct { unsigned int linkage; /* Message Linkage ID */ unsigned int berth_length; /* Berth length */ unsigned int berth_depth; /* Berth Water Depth */ unsigned int position; /* Mooring Position */ unsigned int month; /* Month (UTC) */ unsigned int day; /* Day (UTC) */ unsigned int hour; /* Hour (UTC) */ unsigned int minute; /* Minute (UTC) */ unsigned int availability; /* Services Availability */ unsigned int agent; /* Agent */ unsigned int fuel; /* Bunker/fuel */ unsigned int chandler; /* Chandler */ unsigned int stevedore; /* Stevedore */ unsigned int electrical; /* Electrical */ unsigned int water; /* Potable water */ unsigned int customs; /* Customs house */ unsigned int cartage; /* Cartage */ unsigned int crane; /* Crane(s) */ unsigned int lift; /* Lift(s) */ unsigned int medical; /* Medical facilities */ unsigned int navrepair; /* Navigation repair */ unsigned int provisions; /* Provisions */ unsigned int shiprepair; /* Ship repair */ unsigned int surveyor; /* Surveyor */ unsigned int steam; /* Steam */ unsigned int tugs; /* Tugs */ unsigned int solidwaste; /* Waste disposal (solid) */ unsigned int liquidwaste; /* Waste disposal (liquid) */ unsigned int hazardouswaste; /* Waste disposal (hazardous) */ unsigned int ballast; /* Reserved ballast exchange */ unsigned int additional; /* Additional services */ unsigned int regional1; /* Regional reserved 1 */ unsigned int regional2; /* Regional reserved 2 */ unsigned int future1; /* Reserved for future */ unsigned int future2; /* Reserved for future */ char berth_name[20+1]; /* Name of Berth */ signed int berth_lon; /* Longitude */ signed int berth_lat; /* Latitude */ } dac1fid20; /* IMO289 - Dangerous Cargo Indication */ struct { unsigned int unit; /* Unit of Quantity */ unsigned int amount; /* Amount of Cargo */ int ncargos; struct cargo_t { unsigned int code; /* Cargo code */ unsigned int subtype; /* Cargo subtype */ } cargos[28]; } dac1fid25; /* IMO289 - Route info (addressed) */ struct route_info dac1fid28; /* IMO289 - Text message (addressed) */ struct { unsigned int linkage; #define AIS_DAC1FID30_TEXT_MAX 154 /* 920 bits of six-bit, plus NUL */ char text[AIS_DAC1FID30_TEXT_MAX]; } dac1fid30; /* IMO289 & IMO236 - Tidal Window */ struct { unsigned int type; /* Message Type */ unsigned int repeat; /* Repeat Indicator */ unsigned int mmsi; /* Source MMSI */ unsigned int seqno; /* Sequence Number */ unsigned int dest_mmsi; /* Destination MMSI */ signed int retransmit; /* Retransmit flag */ unsigned int dac; /* DAC */ unsigned int fid; /* FID */ unsigned int month; /* Month */ unsigned int day; /* Day */ signed int ntidals; struct tidal_t { signed int lon; /* Longitude */ signed int lat; /* Latitude */ unsigned int from_hour; /* From UTC Hour */ unsigned int from_min; /* From UTC Minute */ unsigned int to_hour; /* To UTC Hour */ unsigned int to_min; /* To UTC Minute */ #define DAC1FID32_CDIR_NOT_AVAILABLE 360 unsigned int cdir; /* Current Dir. Predicted */ #define DAC1FID32_CSPEED_NOT_AVAILABLE 127 unsigned int cspeed; /* Current Speed Predicted */ } tidals[3]; } dac1fid32; }; } type6; /* Type 7 - Binary Acknowledge */ struct { unsigned int mmsi1; unsigned int mmsi2; unsigned int mmsi3; unsigned int mmsi4; /* spares ignored, they're only padding here */ } type7; /* Type 8 - Broadcast Binary Message */ struct { //unsigned int spare; spare bit(s) */ unsigned int dac; /* Designated Area Code */ unsigned int fid; /* Functional ID */ #define AIS_TYPE8_BINARY_MAX 952 /* 952 bits */ size_t bitcount; /* bit count of the data */ union { char bitdata[(AIS_TYPE8_BINARY_MAX + 7) / 8]; /* IMO236 - Fairway Closed */ struct { char reason[20+1]; /* Reason For Closing */ char closefrom[20+1]; /* Location Of Closing From */ char closeto[20+1]; /* Location of Closing To */ unsigned int radius; /* Radius extension */ #define AIS_DAC1FID13_RADIUS_NOT_AVAILABLE 10001 unsigned int extunit; /* Unit of extension */ #define AIS_DAC1FID13_EXTUNIT_NOT_AVAILABLE 0 unsigned int fday; /* From day (UTC) */ unsigned int fmonth; /* From month (UTC) */ unsigned int fhour; /* From hour (UTC) */ unsigned int fminute; /* From minute (UTC) */ unsigned int tday; /* To day (UTC) */ unsigned int tmonth; /* To month (UTC) */ unsigned int thour; /* To hour (UTC) */ unsigned int tminute; /* To minute (UTC) */ } dac1fid13; /* IMO236 - Extended ship and voyage data */ struct { unsigned int airdraught; /* Air Draught */ } dac1fid15; /* IMO289 - VTS-generated/Synthetic Targets */ struct { signed int ntargets; struct target_t { #define DAC1FID17_IDTYPE_MMSI 0 #define DAC1FID17_IDTYPE_IMO 1 #define DAC1FID17_IDTYPE_CALLSIGN 2 #define DAC1FID17_IDTYPE_OTHER 3 unsigned int idtype; /* Identifier type */ union target_id { /* Target identifier */ unsigned int mmsi; unsigned int imo; #define DAC1FID17_ID_LENGTH 7 char callsign[DAC1FID17_ID_LENGTH+1]; char other[DAC1FID17_ID_LENGTH+1]; } id; signed int lat; /* Latitude */ signed int lon; /* Longitude */ #define DAC1FID17_COURSE_NOT_AVAILABLE 360 unsigned int course; /* Course Over Ground */ unsigned int second; /* Time Stamp */ #define DAC1FID17_SPEED_NOT_AVAILABLE 255 unsigned int speed; /* Speed Over Ground */ } targets[4]; } dac1fid17; /* IMO 289 - Marine Traffic Signal */ struct { unsigned int linkage; /* Message Linkage ID */ char station[20+1]; /* Name of Signal Station */ signed int lon; /* Longitude */ signed int lat; /* Latitude */ unsigned int status; /* Status of Signal */ unsigned int signal; /* Signal In Service */ unsigned int hour; /* UTC hour */ unsigned int minute; /* UTC minute */ unsigned int nextsignal; /* Expected Next Signal */ } dac1fid19; /* IMO289 - Route info (broadcast) */ struct route_info dac1fid27; /* IMO289 - Text message (broadcast) */ struct { unsigned int linkage; #define AIS_DAC1FID29_TEXT_MAX 162 /* 920 bits of six-bit, plus NUL */ char text[AIS_DAC1FID29_TEXT_MAX]; } dac1fid29; /* IMO236 & IMO289 - Meteorological-Hydrological data */ struct { bool accuracy; /* position accuracy, <10m if true */ #define DAC1FID31_LATLON_SCALE 1000 int lon; /* longitude in minutes * .001 */ #define DAC1FID31_LON_NOT_AVAILABLE (181*60*DAC1FID31_LATLON_SCALE) int lat; /* longitude in minutes * .001 */ #define DAC1FID31_LAT_NOT_AVAILABLE (91*60*DAC1FID31_LATLON_SCALE) unsigned int day; /* UTC day */ unsigned int hour; /* UTC hour */ unsigned int minute; /* UTC minute */ unsigned int wspeed; /* average wind speed */ unsigned int wgust; /* wind gust */ #define DAC1FID31_WIND_HIGH 126 #define DAC1FID31_WIND_NOT_AVAILABLE 127 unsigned int wdir; /* wind direction */ unsigned int wgustdir; /* wind gust direction */ #define DAC1FID31_DIR_NOT_AVAILABLE 360 int airtemp; /* temperature, units 0.1C */ #define DAC1FID31_AIRTEMP_NOT_AVAILABLE -1084 unsigned int humidity; /* relative humidity, % */ #define DAC1FID31_HUMIDITY_NOT_AVAILABLE 101 int dewpoint; /* dew point, units 0.1C */ #define DAC1FID31_DEWPOINT_NOT_AVAILABLE 501 unsigned int pressure; /* air pressure, hpa */ #define DAC1FID31_PRESSURE_NOT_AVAILABLE 511 #define DAC1FID31_PRESSURE_HIGH 402 unsigned int pressuretend; /* tendency */ #define DAC1FID31_PRESSURETREND_NOT_AVAILABLE 3 bool visgreater; /* visibility greater than */ unsigned int visibility; /* units 0.1 nautical miles */ #define DAC1FID31_VISIBILITY_NOT_AVAILABLE 127 int waterlevel; /* decimeters or cm */ #define DAC1FID11_WATERLEVEL_NOT_AVAILABLE 4001 #define DAC1FID31_WATERLEVEL_NOT_AVAILABLE 40001 unsigned int leveltrend; /* water level trend code */ #define DAC1FID31_LEVELTREND_NOT_AVAILABLE 3 unsigned int cspeed; /* current speed in deciknots */ #define DAC1FID31_CSPEED_NOT_AVAILABLE 255 unsigned int cdir; /* current dir., degrees */ unsigned int cspeed2; /* current speed in deciknots */ unsigned int cdir2; /* current dir., degrees */ unsigned int cdepth2; /* measurement depth, 0.1m */ #define DAC1FID31_CDEPTH_NOT_AVAILABLE 301 unsigned int cspeed3; /* current speed in deciknots */ unsigned int cdir3; /* current dir., degrees */ unsigned int cdepth3; /* measurement depth, 0.1m */ unsigned int waveheight; /* in decimeters */ #define DAC1FID31_HEIGHT_NOT_AVAILABLE 31 unsigned int waveperiod; /* in seconds */ #define DAC1FID31_PERIOD_NOT_AVAILABLE 63 unsigned int wavedir; /* direction in degrees */ unsigned int swellheight; /* in decimeters */ unsigned int swellperiod; /* in seconds */ unsigned int swelldir; /* direction in degrees */ unsigned int seastate; /* Beaufort scale, 0-12 */ #define DAC1FID31_SEASTATE_NOT_AVAILABLE 15 int watertemp; /* units 0.1deg Celsius */ #define DAC1FID31_PRECIPTYPE_NOT_AVAILABLE 7 unsigned int preciptype; /* 0-7, enumerated */ unsigned int salinity; /* units of 0.1% */ #define DAC1FID31_SALINITY_NOT_AVAILABLE 510 bool ice; /* is there sea ice? */ } dac1fid31; }; } type8; /* Type 9 - Standard SAR Aircraft Position Report */ struct { unsigned int alt; /* altitude in meters */ #define AIS_ALT_NOT_AVAILABLE 4095 #define AIS_ALT_HIGH 4094 /* 4094 meters or higher */ unsigned int speed; /* speed over ground in deciknots */ #define AIS_SAR_SPEED_NOT_AVAILABLE 1023 #define AIS_SAR_FAST_MOVER 1022 bool accuracy; /* position accuracy */ int lon; /* longitude */ int lat; /* latitude */ unsigned int course; /* course over ground */ unsigned int second; /* seconds of UTC timestamp */ unsigned int regional; /* regional reserved */ unsigned int dte; /* data terminal enable */ //unsigned int spare; spare bits */ bool assigned; /* assigned-mode flag */ bool raim; /* RAIM flag */ unsigned int radio; /* radio status bits */ } type9; /* Type 10 - UTC/Date Inquiry */ struct { //unsigned int spare; unsigned int dest_mmsi; /* destination MMSI */ //unsigned int spare2; } type10; /* Type 12 - Safety-Related Message */ struct { unsigned int seqno; /* sequence number */ unsigned int dest_mmsi; /* destination MMSI */ bool retransmit; /* retransmit flag */ //unsigned int spare; spare bit(s) */ #define AIS_TYPE12_TEXT_MAX 157 /* 936 bits of six-bit, plus NUL */ char text[AIS_TYPE12_TEXT_MAX]; } type12; /* Type 14 - Safety-Related Broadcast Message */ struct { //unsigned int spare; spare bit(s) */ #define AIS_TYPE14_TEXT_MAX 161 /* 952 bits of six-bit, plus NUL */ char text[AIS_TYPE14_TEXT_MAX]; } type14; /* Type 15 - Interrogation */ struct { //unsigned int spare; spare bit(s) */ unsigned int mmsi1; unsigned int type1_1; unsigned int offset1_1; //unsigned int spare2; spare bit(s) */ unsigned int type1_2; unsigned int offset1_2; //unsigned int spare3; spare bit(s) */ unsigned int mmsi2; unsigned int type2_1; unsigned int offset2_1; //unsigned int spare4; spare bit(s) */ } type15; /* Type 16 - Assigned Mode Command */ struct { //unsigned int spare; spare bit(s) */ unsigned int mmsi1; unsigned int offset1; unsigned int increment1; unsigned int mmsi2; unsigned int offset2; unsigned int increment2; } type16; /* Type 17 - GNSS Broadcast Binary Message */ struct { //unsigned int spare; spare bit(s) */ #define AIS_GNSS_LATLON_SCALE 600.0 int lon; /* longitude */ int lat; /* latitude */ //unsigned int spare2; spare bit(s) */ #define AIS_TYPE17_BINARY_MAX 736 /* 920 bits */ size_t bitcount; /* bit count of the data */ char bitdata[(AIS_TYPE17_BINARY_MAX + 7) / 8]; } type17; /* Type 18 - Standard Class B CS Position Report */ struct { unsigned int reserved; /* altitude in meters */ unsigned int speed; /* speed over ground in deciknots */ bool accuracy; /* position accuracy */ int lon; /* longitude */ #define AIS_GNS_LON_NOT_AVAILABLE 0x1a838 int lat; /* latitude */ #define AIS_GNS_LAT_NOT_AVAILABLE 0xd548 unsigned int course; /* course over ground */ unsigned int heading; /* true heading */ unsigned int second; /* seconds of UTC timestamp */ unsigned int regional; /* regional reserved */ bool cs; /* carrier sense unit flag */ bool display; /* unit has attached display? */ bool dsc; /* unit attached to radio with DSC? */ bool band; /* unit can switch frequency bands? */ bool msg22; /* can accept Message 22 management? */ bool assigned; /* assigned-mode flag */ bool raim; /* RAIM flag */ unsigned int radio; /* radio status bits */ } type18; /* Type 19 - Extended Class B CS Position Report */ struct { unsigned int reserved; /* altitude in meters */ unsigned int speed; /* speed over ground in deciknots */ bool accuracy; /* position accuracy */ int lon; /* longitude */ int lat; /* latitude */ unsigned int course; /* course over ground */ unsigned int heading; /* true heading */ unsigned int second; /* seconds of UTC timestamp */ unsigned int regional; /* regional reserved */ char shipname[AIS_SHIPNAME_MAXLEN+1]; /* ship name */ unsigned int shiptype; /* ship type code */ unsigned int to_bow; /* dimension to bow */ unsigned int to_stern; /* dimension to stern */ unsigned int to_port; /* dimension to port */ unsigned int to_starboard; /* dimension to starboard */ unsigned int epfd; /* type of position fix deviuce */ bool raim; /* RAIM flag */ unsigned int dte; /* date terminal enable */ bool assigned; /* assigned-mode flag */ //unsigned int spare; spare bits */ } type19; /* Type 20 - Data Link Management Message */ struct { //unsigned int spare; spare bit(s) */ unsigned int offset1; /* TDMA slot offset */ unsigned int number1; /* number of xlots to allocate */ unsigned int timeout1; /* allocation timeout */ unsigned int increment1; /* repeat increment */ unsigned int offset2; /* TDMA slot offset */ unsigned int number2; /* number of xlots to allocate */ unsigned int timeout2; /* allocation timeout */ unsigned int increment2; /* repeat increment */ unsigned int offset3; /* TDMA slot offset */ unsigned int number3; /* number of xlots to allocate */ unsigned int timeout3; /* allocation timeout */ unsigned int increment3; /* repeat increment */ unsigned int offset4; /* TDMA slot offset */ unsigned int number4; /* number of xlots to allocate */ unsigned int timeout4; /* allocation timeout */ unsigned int increment4; /* repeat increment */ } type20; /* Type 21 - Aids to Navigation Report */ struct { unsigned int aid_type; /* aid type */ char name[35]; /* name of aid to navigation */ bool accuracy; /* position accuracy */ int lon; /* longitude */ int lat; /* latitude */ unsigned int to_bow; /* dimension to bow */ unsigned int to_stern; /* dimension to stern */ unsigned int to_port; /* dimension to port */ unsigned int to_starboard; /* dimension to starboard */ unsigned int epfd; /* type of EPFD */ unsigned int second; /* second of UTC timestamp */ bool off_position; /* off-position indicator */ unsigned int regional; /* regional reserved field */ bool raim; /* RAIM flag */ bool virtual_aid; /* is virtual station? */ bool assigned; /* assigned-mode flag */ //unsigned int spare; unused */ } type21; /* Type 22 - Channel Management */ struct { //unsigned int spare; spare bit(s) */ unsigned int channel_a; /* Channel A number */ unsigned int channel_b; /* Channel B number */ unsigned int txrx; /* transmit/receive mode */ bool power; /* high-power flag */ #define AIS_CHANNEL_LATLON_SCALE 600.0 union { struct { int ne_lon; /* NE corner longitude */ int ne_lat; /* NE corner latitude */ int sw_lon; /* SW corner longitude */ int sw_lat; /* SW corner latitude */ } area; struct { unsigned int dest1; /* addressed station MMSI 1 */ unsigned int dest2; /* addressed station MMSI 2 */ } mmsi; }; bool addressed; /* addressed vs. broadast flag */ bool band_a; /* fix 1.5kHz band for channel A */ bool band_b; /* fix 1.5kHz band for channel B */ unsigned int zonesize; /* size of transitional zone */ } type22; /* Type 23 - Group Assignment Command */ struct { int ne_lon; /* NE corner longitude */ int ne_lat; /* NE corner latitude */ int sw_lon; /* SW corner longitude */ int sw_lat; /* SW corner latitude */ //unsigned int spare; spare bit(s) */ unsigned int stationtype; /* station type code */ unsigned int shiptype; /* ship type code */ //unsigned int spare2; spare bit(s) */ unsigned int txrx; /* transmit-enable code */ unsigned int interval; /* report interval */ unsigned int quiet; /* quiet time */ //unsigned int spare3; spare bit(s) */ } type23; /* Type 24 - Class B CS Static Data Report */ struct { char shipname[AIS_SHIPNAME_MAXLEN+1]; /* vessel name */ unsigned int shiptype; /* ship type code */ char vendorid[8]; /* vendor ID */ char callsign[8]; /* callsign */ union { unsigned int mothership_mmsi; /* MMSI of main vessel */ struct { unsigned int to_bow; /* dimension to bow */ unsigned int to_stern; /* dimension to stern */ unsigned int to_port; /* dimension to port */ unsigned int to_starboard; /* dimension to starboard */ } dim; }; } type24; /* Type 25 - Addressed Binary Message */ struct { bool addressed; /* addressed-vs.broadcast flag */ bool structured; /* structured-binary flag */ unsigned int dest_mmsi; /* destination MMSI */ unsigned int app_id; /* Application ID */ #define AIS_TYPE25_BINARY_MAX 128 /* Up to 128 bits */ size_t bitcount; /* bit count of the data */ char bitdata[(AIS_TYPE25_BINARY_MAX + 7) / 8]; } type25; /* Type 26 - Addressed Binary Message */ struct { bool addressed; /* addressed-vs.broadcast flag */ bool structured; /* structured-binary flag */ unsigned int dest_mmsi; /* destination MMSI */ unsigned int app_id; /* Application ID */ #define AIS_TYPE26_BINARY_MAX 1004 /* Up to 128 bits */ size_t bitcount; /* bit count of the data */ char bitdata[(AIS_TYPE26_BINARY_MAX + 7) / 8]; unsigned int radio; /* radio status bits */ } type26; /* Type 27 - Long Range AIS Broadcast message */ struct { bool accuracy; /* position accuracy */ bool raim; /* RAIM flag */ unsigned int status; /* navigation status */ #define AIS_LONGRANGE_LATLON_SCALE 600.0 int lon; /* longitude */ #define AIS_LONGRANGE_LON_NOT_AVAILABLE 0x1a838 int lat; /* latitude */ #define AIS_LONGRANGE_LAT_NOT_AVAILABLE 0xd548 unsigned int speed; /* speed over ground in deciknots */ #define AIS_LONGRANGE_SPEED_NOT_AVAILABLE 63 unsigned int course; /* course over ground */ #define AIS_LONGRANGE_COURSE_NOT_AVAILABLE 511 bool gnss; /* are we reporting GNSS position? */ } type27; }; }; struct attitude_t { double heading; double pitch; double roll; double yaw; double dip; double mag_len; /* unitvector sqrt(x^2 + y^2 +z^2) */ double mag_x; double mag_y; double mag_z; double acc_len; /* unitvector sqrt(x^2 + y^2 +z^2) */ double acc_x; double acc_y; double acc_z; double gyro_x; double gyro_y; double temp; double depth; /* compass status -- TrueNorth (and any similar) devices only */ char mag_st; char pitch_st; char roll_st; char yaw_st; }; struct dop_t { /* Dilution of precision factors */ double xdop, ydop, pdop, hdop, vdop, tdop, gdop; }; struct rawdata_t { /* raw measurement data */ double codephase[MAXCHANNELS]; /* meters */ double carrierphase[MAXCHANNELS]; /* meters */ double pseudorange[MAXCHANNELS]; /* meters */ double deltarange[MAXCHANNELS]; /* meters/sec */ double doppler[MAXCHANNELS]; /* Hz */ double mtime[MAXCHANNELS]; /* sec */ unsigned satstat[MAXCHANNELS]; /* tracking status */ #define SAT_ACQUIRED 0x01 /* satellite acquired */ #define SAT_CODE_TRACK 0x02 /* code-tracking loop acquired */ #define SAT_CARR_TRACK 0x04 /* carrier-tracking loop acquired */ #define SAT_DATA_SYNC 0x08 /* data-bit synchronization done */ #define SAT_FRAME_SYNC 0x10 /* frame synchronization done */ #define SAT_EPHEMERIS 0x20 /* ephemeris collected */ #define SAT_FIX_USED 0x40 /* used for position fix */ }; struct version_t { char release[64]; /* external version */ char rev[64]; /* internal revision ID */ int proto_major, proto_minor; /* API major and minor versions */ char remote[GPS_PATH_MAX]; /* could be from a remote device */ }; struct devconfig_t { char path[GPS_PATH_MAX]; int flags; #define SEEN_GPS 0x01 #define SEEN_RTCM2 0x02 #define SEEN_RTCM3 0x04 #define SEEN_AIS 0x08 char driver[64]; char subtype[64]; double activated; unsigned int baudrate, stopbits; /* RS232 link parameters */ char parity; /* 'N', 'O', or 'E' */ double cycle, mincycle; /* refresh cycle time in seconds */ int driver_mode; /* is driver in native mode or not? */ }; struct policy_t { bool watcher; /* is watcher mode on? */ bool json; /* requesting JSON? */ bool nmea; /* requesting dumping as NMEA? */ int raw; /* requesting raw data? */ bool scaled; /* requesting report scaling? */ bool timing; /* requesting timing info */ int loglevel; /* requested log level of messages */ char devpath[GPS_PATH_MAX]; /* specific device to watch */ char remote[GPS_PATH_MAX]; /* ...if this was passthrough */ }; /* * Someday we may support Windows, under which socket_t is a separate type. * In the meantime, having a typedef for this semantic kind is no bad thing, * as it makes clearer what some declarations are doing without breaking * binary compatibility. */ typedef int socket_t; /* mode flags for setting streaming policy */ #define WATCH_ENABLE 0x000001u /* enable streaming */ #define WATCH_DISABLE 0x000002u /* disable watching */ #define WATCH_JSON 0x000010u /* JSON output */ #define WATCH_NMEA 0x000020u /* output in NMEA */ #define WATCH_RARE 0x000040u /* output of packets in hex */ #define WATCH_RAW 0x000080u /* output of raw packets */ #define WATCH_SCALED 0x000100u /* scale output to floats */ #define WATCH_TIMING 0x000200u /* timing information */ #define WATCH_DEVICE 0x000800u /* watch specific device */ #define WATCH_NEWSTYLE 0x010000u /* force JSON streaming */ #define WATCH_OLDSTYLE 0x020000u /* force old-style streaming */ /* * Main structure that includes all previous substructures */ struct gps_data_t { gps_mask_t set; /* has field been set since this was last cleared? */ #define ONLINE_SET (1llu<<1) #define TIME_SET (1llu<<2) #define TIMERR_SET (1llu<<3) #define LATLON_SET (1llu<<4) #define ALTITUDE_SET (1llu<<5) #define SPEED_SET (1llu<<6) #define TRACK_SET (1llu<<7) #define CLIMB_SET (1llu<<8) #define STATUS_SET (1llu<<9) #define MODE_SET (1llu<<10) #define DOP_SET (1llu<<11) #define HERR_SET (1llu<<12) #define VERR_SET (1llu<<13) #define ATTITUDE_SET (1llu<<14) #define SATELLITE_SET (1llu<<15) #define SPEEDERR_SET (1llu<<16) #define TRACKERR_SET (1llu<<17) #define CLIMBERR_SET (1llu<<18) #define DEVICE_SET (1llu<<19) #define DEVICELIST_SET (1llu<<20) #define DEVICEID_SET (1llu<<21) #define RTCM2_SET (1llu<<22) #define RTCM3_SET (1llu<<23) #define AIS_SET (1llu<<24) #define PACKET_SET (1llu<<25) #define SUBFRAME_SET (1llu<<26) #define GST_SET (1llu<<27) #define VERSION_SET (1llu<<28) #define POLICY_SET (1llu<<29) #define LOGMESSAGE_SET (1llu<<30) #define ERROR_SET (1llu<<31) #define SET_HIGH_BIT 31 timestamp_t online; /* NZ if GPS is on line, 0 if not. * * Note: gpsd clears this time when sentences * fail to show up within the GPS's normal * send cycle time. If the host-to-GPS * link is lossy enough to drop entire * sentences, this field will be * prone to false zero values. */ #ifndef USE_QT socket_t gps_fd; /* socket or file descriptor to GPS */ #else void* gps_fd; #endif struct gps_fix_t fix; /* accumulated PVT data */ double separation; /* Geoidal separation, MSL - WGS84 (Meters) */ /* GPS status -- always valid */ int status; /* Do we have a fix? */ #define STATUS_NO_FIX 0 /* no */ #define STATUS_FIX 1 /* yes, without DGPS */ #define STATUS_DGPS_FIX 2 /* yes, with DGPS */ /* precision of fix -- valid if satellites_used > 0 */ int satellites_used; /* Number of satellites used in solution */ int used[MAXCHANNELS]; /* PRNs of satellites used in solution */ struct dop_t dop; /* redundant with the estimate elements in the fix structure */ double epe; /* spherical position error, 95% confidence (meters) */ /* satellite status -- valid when satellites_visible > 0 */ timestamp_t skyview_time; /* skyview timestamp */ int satellites_visible; /* # of satellites in view */ int PRN[MAXCHANNELS]; /* PRNs of satellite */ int elevation[MAXCHANNELS]; /* elevation of satellite */ int azimuth[MAXCHANNELS]; /* azimuth */ double ss[MAXCHANNELS]; /* signal-to-noise ratio (dB) */ struct devconfig_t dev; /* device that shipped last update */ struct policy_t policy; /* our listening policy */ /* should be moved to privdata sometday */ char tag[MAXTAGLEN+1]; /* tag of last sentence processed */ /* pack things never reported together to reduce structure size */ #define UNION_SET (RTCM2_SET|RTCM3_SET|SUBFRAME_SET|AIS_SET|ATTITUDE_SET|VERSION_SET|DEVICELIST_SET|LOGMESSAGE_SET|ERROR_SET|GST_SET|VERSION_SET) union { /* unusual forms of sensor data that might come up the pipe */ struct rtcm2_t rtcm2; struct rtcm3_t rtcm3; struct subframe_t subframe; struct ais_t ais; struct attitude_t attitude; struct rawdata_t raw; struct gst_t gst; /* "artificial" structures for various protocol responses */ struct version_t version; struct { timestamp_t time; int ndevices; struct devconfig_t list[MAXUSERDEVS]; } devices; char error[256]; }; /* Private data - client code must not set this */ void *privdata; }; extern int gps_open(/*@null@*/const char *, /*@null@*/const char *, /*@out@*/struct gps_data_t *); extern int gps_close(struct gps_data_t *); extern int gps_send(struct gps_data_t *, const char *, ... ); extern int gps_read(/*@out@*/struct gps_data_t *); extern int gps_unpack(char *, struct gps_data_t *); extern bool gps_waiting(const struct gps_data_t *, int); extern int gps_stream(struct gps_data_t *, unsigned int, /*@null@*/void *); extern const char /*@observer@*/ *gps_data(const struct gps_data_t *); extern const char /*@observer@*/ *gps_errstr(const int); extern int gps_sock_open(/*@null@*/const char *, /*@null@*/const char *, /*@out@*/struct gps_data_t *); extern int gps_sock_read(/*@out@*/struct gps_data_t *); extern int gps_sock_close(struct gps_data_t *); extern int gps_sock_send(struct gps_data_t *, const char *); extern int gps_shm_open(/*@out@*/struct gps_data_t *); extern int gps_shm_read(struct gps_data_t *); extern bool gps_sock_waiting(const struct gps_data_t *, int); extern int gps_sock_stream(struct gps_data_t *, unsigned int, /*@null@*/void *); extern const char /*@observer@*/ *gps_sock_data(const struct gps_data_t *); extern void gps_shm_close(struct gps_data_t *); extern void libgps_trace(int errlevel, const char *, ...); /* dependencies on struct gpsdata_t end hrere */ extern void gps_clear_fix(/*@ out @*/struct gps_fix_t *); extern void gps_clear_dop( /*@out@*/ struct dop_t *); extern void gps_merge_fix(/*@ out @*/struct gps_fix_t *, gps_mask_t, /*@ in @*/struct gps_fix_t *); extern void gps_enable_debug(int, FILE *); extern /*@observer@*/const char *gps_maskdump(gps_mask_t); extern double safe_atof(const char *); extern time_t mkgmtime(register struct tm *); extern timestamp_t timestamp(void); extern timestamp_t iso8601_to_unix(char *); extern /*@observer@*/char *unix_to_iso8601(timestamp_t t, /*@ out @*/char[], size_t len); extern double earth_distance(double, double, double, double); extern double earth_distance_and_bearings(double, double, double, double, /*@null@*//*@out@*/double *, /*@null@*//*@out@*/double *); extern double wgs84_separation(double, double); /* some multipliers for interpreting GPS output */ #define METERS_TO_FEET 3.2808399 /* Meters to U.S./British feet */ #define METERS_TO_MILES 0.00062137119 /* Meters to miles */ #define KNOTS_TO_MPH 1.1507794 /* Knots to miles per hour */ #define KNOTS_TO_KPH 1.852 /* Knots to kilometers per hour */ #define KNOTS_TO_MPS 0.51444444 /* Knots to meters per second */ #define MPS_TO_KPH 3.6 /* Meters per second to klicks/hr */ #define MPS_TO_MPH 2.2369363 /* Meters/second to miles per hour */ #define MPS_TO_KNOTS 1.9438445 /* Meters per second to knots */ /* miles and knots are both the international standard versions of the units */ /* angle conversion multipliers */ #define GPS_PI 3.1415926535897932384626433832795029 #define RAD_2_DEG 57.2957795130823208767981548141051703 #define DEG_2_RAD 0.0174532925199432957692369076848861271 /* geodetic constants */ #define WGS84A 6378137 /* equatorial radius */ #define WGS84F 298.257223563 /* flattening */ #define WGS84B 6356752.3142 /* polar radius */ /* netlib_connectsock() errno return values */ #define NL_NOSERVICE -1 /* can't get service entry */ #define NL_NOHOST -2 /* can't get host entry */ #define NL_NOPROTO -3 /* can't get protocol entry */ #define NL_NOSOCK -4 /* can't create socket */ #define NL_NOSOCKOPT -5 /* error SETSOCKOPT SO_REUSEADDR */ #define NL_NOCONNECT -6 /* can't connect to host/socket pair */ #define SHM_NOSHARED -7 /* shared-memory segment not available */ #define SHM_NOATTACH -8 /* shared-memory attach failed */ #define DEFAULT_GPSD_PORT "2947" /* IANA assignment */ #define DEFAULT_RTCM_PORT "2101" /* IANA assignment */ /* special host values for non-socket exports */ #define GPSD_SHARED_MEMORY "shared memory" /* * Platform-specific declarations */ #ifdef _WIN32 #define strtok_r(s,d,p) strtok_s(s,d,p) #endif /* Some libc's don't have strlcat/strlcpy. Local copies are provided */ #ifndef HAVE_STRLCAT size_t strlcat(/*@out@*/char *dst, /*@in@*/const char *src, size_t size); #endif #ifndef HAVE_STRLCPY size_t strlcpy(/*@out@*/char *dst, /*@in@*/const char *src, size_t size); #endif #ifdef __cplusplus } /* End of the 'extern "C"' block */ #endif /* gps.h ends here */ #endif /* _GPSD_GPS_H_ */