Add comments to some known, and unknown but seen, RTCM 3.2

1 files changed, 154 insertions, 18 deletions

diff --git a/driver_rtcm3.c b/driver_rtcm3.c
index a9e05903..b5722828 100644
--- a/driver_rtcm3.c
+++ b/driver_rtcm3.c
@@ -64,6 +64,10 @@ BSD terms apply: see the file COPYING in the distribution root for details.
 /* Large case statements make GNU indent very confused */
 /* *INDENT-OFF* */
 
+/* good srouce on message types:
+ * https://software.rtcm-ntrip.org/export/HEAD/ntrip/trunk/BNC/src/bnchelp.html
+ * Also look in the BNC source
+ */
 void rtcm3_unpack(const struct gps_context_t *context,
 		  struct rtcm3_t *rtcm, char *buf)
 /* break out the raw bits into the scaled report-structure fields */
@@ -72,6 +76,7 @@ void rtcm3_unpack(const struct gps_context_t *context,
     int bitcount = 0;
     unsigned int i;
     signed long temp;
+    bool unknown = true;;
 
 #define ugrab(width)	(bitcount += width, ubits((unsigned char *)buf, bitcount-width, width, false))
 #define sgrab(width)	(bitcount += width, sbits((signed char *)buf, bitcount-width, width, false))
@@ -99,7 +104,15 @@ void rtcm3_unpack(const struct gps_context_t *context,
 	     rtcm->type, rtcm->length);
 
     switch (rtcm->type) {
-    case 1001:			/* GPS Basic RTK, L1 Only */
+    case 63:
+        /* RTCM - 63
+         * BDS/BeiDou Ephemeris
+         * length 64
+	 */
+	break;
+
+    case 1001:
+	/* GPS Basic RTK, L1 Only */
 	rtcm->rtcmtypes.rtcm3_1001.header.station_id = (uint)ugrab(12);
 	rtcm->rtcmtypes.rtcm3_1001.header.tow = (time_t)ugrab(30);
 	rtcm->rtcmtypes.rtcm3_1001.header.sync = (bool)ugrab(1);
@@ -115,9 +128,11 @@ void rtcm3_unpack(const struct gps_context_t *context,
 	    R1001.L1.locktime =	(unsigned char)sgrab(7);
 	}
 #undef R1001
+	unknown = false;
 	break;
 
-    case 1002:			/* GPS Extended RTK, L1 Only */
+    case 1002:
+	/* GPS Extended RTK, L1 Only */
 	rtcm->rtcmtypes.rtcm3_1002.header.station_id = (uint)ugrab(12);
 	rtcm->rtcmtypes.rtcm3_1002.header.tow = (time_t)ugrab(30);
 	rtcm->rtcmtypes.rtcm3_1002.header.sync = (bool)ugrab(1);
@@ -135,9 +150,11 @@ void rtcm3_unpack(const struct gps_context_t *context,
 	    R1002.L1.CNR = (ugrab(8)) * CARRIER_NOISE_RATIO_UNITS;
 	}
 #undef R1002
+	unknown = false;
 	break;
 
-    case 1003:			/* GPS Basic RTK, L1 & L2 */
+    case 1003:
+	/* GPS Basic RTK, L1 & L2 */
 	rtcm->rtcmtypes.rtcm3_1003.header.station_id = (uint)ugrab(12);
 	rtcm->rtcmtypes.rtcm3_1003.header.tow = (time_t)ugrab(30);
 	rtcm->rtcmtypes.rtcm3_1003.header.sync = (bool)ugrab(1);
@@ -162,9 +179,11 @@ void rtcm3_unpack(const struct gps_context_t *context,
 	    R1003.L2.locktime =	(unsigned char)sgrab(7);
 	}
 #undef R1003
+	unknown = false;
 	break;
 
-    case 1004:			/* GPS Extended RTK, L1 & L2 */
+    case 1004:
+	/* GPS Extended RTK, L1 & L2 */
 	rtcm->rtcmtypes.rtcm3_1004.header.station_id = (uint)ugrab(12);
 	rtcm->rtcmtypes.rtcm3_1004.header.tow = (time_t)ugrab(30);
 	rtcm->rtcmtypes.rtcm3_1004.header.sync = (bool)ugrab(1);
@@ -187,9 +206,11 @@ void rtcm3_unpack(const struct gps_context_t *context,
 	    R1004.L2.CNR = ugrab(8) * CARRIER_NOISE_RATIO_UNITS;
 	}
 #undef R1004
+	unknown = false;
 	break;
 
-    case 1005:			/* Stationary Antenna Reference Point, No Height Information */
+    case 1005:
+	/* Stationary Antenna Reference Point, No Height Information */
 #define R1005 rtcm->rtcmtypes.rtcm3_1005
 	R1005.station_id = (unsigned short)ugrab(12);
 	ugrab(6);		/* reserved */
@@ -202,9 +223,11 @@ void rtcm3_unpack(const struct gps_context_t *context,
 	ugrab(2);
 	R1005.ecef_z = sgrab(38) * ANTENNA_POSITION_RESOLUTION;
 #undef R1005
+	unknown = false;
 	break;
 
-    case 1006:			/* Stationary Antenna Reference Point, with Height Information */
+    case 1006:
+	/* Stationary Antenna Reference Point, with Height Information */
 #define R1006 rtcm->rtcmtypes.rtcm3_1006
 	R1006.station_id = (unsigned short)ugrab(12);
 	(void)ugrab(6);		/* reserved */
@@ -218,18 +241,22 @@ void rtcm3_unpack(const struct gps_context_t *context,
 	R1006.ecef_z = sgrab(38) * ANTENNA_POSITION_RESOLUTION;
 	R1006.height = ugrab(16) * ANTENNA_POSITION_RESOLUTION;
 #undef R1006
+	unknown = false;
 	break;
 
-    case 1007:			/* Antenna Descriptor */
+    case 1007:
+	/* Antenna Descriptor */
 	rtcm->rtcmtypes.rtcm3_1007.station_id = (unsigned short)ugrab(12);
 	n = (unsigned long)ugrab(8);
 	(void)memcpy(rtcm->rtcmtypes.rtcm3_1007.descriptor, buf + 7, n);
 	rtcm->rtcmtypes.rtcm3_1007.descriptor[n] = '\0';
 	bitcount += 8 * n;
 	rtcm->rtcmtypes.rtcm3_1007.setup_id = ugrab(8);
+	unknown = false;
 	break;
 
-    case 1008:			/* Antenna Descriptor & Serial Number */
+    case 1008:
+	/* Antenna Descriptor & Serial Number */
 	rtcm->rtcmtypes.rtcm3_1008.station_id = (unsigned short)ugrab(12);
 	n = (unsigned long)ugrab(8);
 	(void)memcpy(rtcm->rtcmtypes.rtcm3_1008.descriptor, buf + 7, n);
@@ -240,9 +267,11 @@ void rtcm3_unpack(const struct gps_context_t *context,
 	(void)memcpy(rtcm->rtcmtypes.rtcm3_1008.serial, buf + 9 + n, n2);
 	rtcm->rtcmtypes.rtcm3_1008.serial[n2] = '\0';
 	//bitcount += 8 * n2;
+	unknown = false;
 	break;
 
-    case 1009:			/* GLONASS Basic RTK, L1 Only */
+    case 1009:
+	/* GLONASS Basic RTK, L1 Only */
 	rtcm->rtcmtypes.rtcm3_1009.header.station_id =
 	    (unsigned short)ugrab(12);
 	rtcm->rtcmtypes.rtcm3_1009.header.tow = (time_t)ugrab(27);
@@ -260,9 +289,11 @@ void rtcm3_unpack(const struct gps_context_t *context,
 	    R1009.L1.locktime =	(unsigned char)sgrab(7);
 	}
 #undef R1009
+	unknown = false;
 	break;
 
-    case 1010:			/* GLONASS Extended RTK, L1 Only */
+    case 1010:
+	/* GLONASS Extended RTK, L1 Only */
 	rtcm->rtcmtypes.rtcm3_1010.header.station_id =
 	    (unsigned short)ugrab(12);
 	rtcm->rtcmtypes.rtcm3_1010.header.tow = (time_t)ugrab(27);
@@ -282,9 +313,11 @@ void rtcm3_unpack(const struct gps_context_t *context,
 	    R1010.L1.CNR = ugrab(8) * CARRIER_NOISE_RATIO_UNITS;
 	}
 #undef R1010
+	unknown = false;
 	break;
 
-    case 1011:			/* GLONASS Basic RTK, L1 & L2 */
+    case 1011:
+	/* GLONASS Basic RTK, L1 & L2 */
 	rtcm->rtcmtypes.rtcm3_1011.header.station_id =
 	    (unsigned short)ugrab(12);
 	rtcm->rtcmtypes.rtcm3_1011.header.tow = (time_t)ugrab(27);
@@ -311,9 +344,11 @@ void rtcm3_unpack(const struct gps_context_t *context,
 	    R1011.L2.CNR = ugrab(8) * CARRIER_NOISE_RATIO_UNITS;
 	}
 #undef R1011
+	unknown = false;
 	break;
 
-    case 1012:			/* GLONASS Extended RTK, L1 & L2 */
+    case 1012:
+	/* GLONASS Extended RTK, L1 & L2 */
 	rtcm->rtcmtypes.rtcm3_1012.header.station_id =
 	    (unsigned short)ugrab(12);
 	rtcm->rtcmtypes.rtcm3_1012.header.tow = (time_t)ugrab(27);
@@ -343,9 +378,11 @@ void rtcm3_unpack(const struct gps_context_t *context,
 	    R1012.L2.CNR = (unsigned char)ugrab(8) * CARRIER_NOISE_RATIO_UNITS;
 	}
 #undef R1012
+	unknown = false;
 	break;
 
-    case 1013:			/* System Parameters */
+    case 1013:
+	/* System Parameters */
 	rtcm->rtcmtypes.rtcm3_1013.station_id = (unsigned short)ugrab(12);
 	rtcm->rtcmtypes.rtcm3_1013.mjd = (unsigned short)ugrab(16);
 	rtcm->rtcmtypes.rtcm3_1013.sod = (unsigned short)ugrab(17);
@@ -358,9 +395,13 @@ void rtcm3_unpack(const struct gps_context_t *context,
 	    R1013.interval = (unsigned short)ugrab(16);
 	}
 #undef R1013
+	unknown = false;
 	break;
 
     case 1014:
+	/* Network Auxiliary Station Data
+	 * coordinate difference between one Aux station and the master station
+	 */
 	rtcm->rtcmtypes.rtcm3_1014.network_id = (int)ugrab(8);
 	rtcm->rtcmtypes.rtcm3_1014.subnetwork_id = (int)ugrab(4);
 	rtcm->rtcmtypes.rtcm3_1014.stationcount = (char)ugrab(5);
@@ -371,9 +412,35 @@ void rtcm3_unpack(const struct gps_context_t *context,
 	rtcm->rtcmtypes.rtcm3_1014.d_lon =
 	    (unsigned short)ugrab(21) * ANTENNA_DEGREE_RESOLUTION;
 	rtcm->rtcmtypes.rtcm3_1014.d_alt = (unsigned short)ugrab(23) / 1000;
+	unknown = false;
+	break;
+
+    case 1017:
+        /* RTCM 3.1 - 1017
+         * GPS Combined Geometric and Ionospheric Correction Differences
+         * for all satellites between one Aux station and the master station
+         * (same content as both types 1015 and 1016 together, but less size)
+	 */
+	break;
+
+    case 1019:
+        /* RTCM 3.1 - 1020
+         * GPS Ephemeris
+	 * length 19
+	 */
+	break;
+
+    case 1020:
+        /* RTCM 3.1 - 1020
+         * GLONASS Ephemeris
+	 * length 45
+	 */
 	break;
 
     case 1029:
+	/* Text in UTF8 format
+         *(max. 127 multibyte characters and max. 255 bytes)
+	 */
 	rtcm->rtcmtypes.rtcm3_1029.station_id = (unsigned short)ugrab(12);
 	rtcm->rtcmtypes.rtcm3_1029.mjd = (unsigned short)ugrab(16);
 	rtcm->rtcmtypes.rtcm3_1029.sod = (unsigned short)ugrab(17);
@@ -381,9 +448,11 @@ void rtcm3_unpack(const struct gps_context_t *context,
 	rtcm->rtcmtypes.rtcm3_1029.unicode_units = (size_t)ugrab(8);
 	(void)memcpy(rtcm->rtcmtypes.rtcm3_1029.text,
 		     buf + 12, rtcm->rtcmtypes.rtcm3_1029.unicode_units);
+	unknown = false;
 	break;
 
     case 1033:			/* see note in header */
+	/* Receiver and Antenna Descriptor */
 	rtcm->rtcmtypes.rtcm3_1033.station_id = (unsigned short)ugrab(12);
 	n = (unsigned long)ugrab(8);
 	(void)memcpy(rtcm->rtcmtypes.rtcm3_1033.descriptor, buf + 7, n);
@@ -402,20 +471,87 @@ void rtcm3_unpack(const struct gps_context_t *context,
 	(void)memcpy(rtcm->rtcmtypes.rtcm3_1033.firmware, buf + 11+n+n2+n3, n3);
 	rtcm->rtcmtypes.rtcm3_1033.firmware[n4] = '\0';
 	//bitcount += 8 * n4;
+	unknown = false;
 	break;
 
-    default:
-	/*
-	 * Leader bytes, message length, and checksum won't be copied.
-	 * The first 12 bits of the copied payload will be the type field.
+    case 1043:
+        /* RTCM 3.x - 1043
+         * SBAS Ephemeris
+	 * length 29
 	 */
-	memcpy(rtcm->rtcmtypes.data, buf+3, rtcm->length);
+	break;
+
+    case 1044:
+        /* RTCM 3.x - 1044
+         * QZSS ephemeris
+         * length 61
+	 */
+	break;
+
+    case 1045:
+        /* RTCM 3.x - 1045
+         * Galileo Ephemeris FNAV data
+	 * length 62
+	 */
+	break;
+
+    case 1046:
+        /* RTCM 3.x - 1046
+         * Galileo Ephemeris INAV data
+	 * length 63
+	 */
+	break;
+
+    case 1077:
+        /* RTCM 3.x - 1077
+	 * Full GPS pseudo-ranges, carrier phases, Doppler and
+	 * signal strength (high resolution)
+         * length 438
+	 */
+	break;
+
+    case 1087:
+        /* RTCM 3.x - 1087
+	 * Full GLONASS pseudo-ranges, carrier phases, Doppler and
+	 * signal strength (high resolution)
+         * length 417 or 427
+	 */
+	break;
+
+    case 1097:
+        /* RTCM 3.x - 1097
+         * Full Galileo pseudo-ranges, carrier phases, Doppler and
+	 * signal strength (high resolution)
+         * length 96
+	 */
+	break;
+
+    case 1107:
+        /* RTCM 3.x - 1107
+	 * 'Multiple Signal Message
+         * Full SBAS pseudo-ranges, carrier phases, Doppler and
+	 * signal strength (high resolution)
+         * length 96
+	 */
+	break;
+
+    default:
 	break;
     }
 #undef RANGEDIFF
 #undef GPS_PSEUDORANGE
 #undef sgrab
 #undef ugrab
+    if ( unknown ) {
+	/*
+	 * Leader bytes, message length, and checksum won't be copied.
+	 * The first 12 bits of the copied payload will be the type field.
+	 */
+	memcpy(rtcm->rtcmtypes.data, buf+3, rtcm->length);
+	gpsd_log(&context->errout, LOG_PROG, "RTCM3: unknown type %d, length %d\n",
+	     rtcm->type, rtcm->length);
+    }
+
 }
 
 /* *INDENT-ON* */