diff options
| author | Eric S. Raymond <esr@thyrsus.com> | 2008-07-21 17:28:19 +0000 |
|---|---|---|
| committer | Eric S. Raymond <esr@thyrsus.com> | 2008-07-21 17:28:19 +0000 |
| commit | 8fe9919500bf73b8234d63eb6c9a5787fa67d0bd (patch) | |
| tree | ff2b6dea062f72912d6d7278c26702f2830b5636 /rtcm3.c | |
| parent | fd208be4d01ac748783288a50da966d5dc09ddc1 (diff) | |
| download | gpsd-8fe9919500bf73b8234d63eb6c9a5787fa67d0bd.tar.gz | |
Unpack and dump two more RTCM3 messages.
Diffstat (limited to 'rtcm3.c')
| -rw-r--r-- | rtcm3.c | 54 |
1 files changed, 53 insertions, 1 deletions
@@ -43,7 +43,7 @@ firmware. #define PSEUDORANGE_RESOLUTION 0.2 /* DF011 */ #define PSEUDORANGE_DIFF_RESOLUTION 0.0005 /* DF012 */ #define CARRIER_NOISE_RATIO_UNITS 0.25 /* DF015 */ -#define ANTENNA_HEIGHT_RESOLUTION 0.0001 /* DF025-027 */ +#define ANTENNA_POSITION_RESOLUTION 0.0001 /* DF025-027 */ #define ANTENNA_DEGREE_RESOLUTION 25e-6 /* DF062 */ #define GPS_EPOCH_TIME_RESOLUTION 0.1 /* DF065 */ #define PHASE_CORRECTION_RESOLUTION 0.5 /* DF069-070 */ @@ -193,9 +193,40 @@ void rtcm3_unpack(/*@out@*/struct rtcm3_t *rtcm, char *buf) break; case 1005: + rtcm->rtcm3_1005.station_id = (unsigned short)ugrab(12); + ugrab(6); /* reserved */ + if ((bool)ugrab(1)) + rtcm->rtcm3_1005.system = gps; + else if ((bool)ugrab(1)) + rtcm->rtcm3_1005.system = glonass; + else if ((bool)ugrab(1)) + rtcm->rtcm3_1005.system = galileo; + rtcm->rtcm3_1005.reference_station = (bool)ugrab(1); + rtcm->rtcm3_1005.ecef_x = sgrab(38) * ANTENNA_POSITION_RESOLUTION; + rtcm->rtcm3_1005.single_receiver = ugrab(1); + ugrab(1); + rtcm->rtcm3_1005.ecef_y = sgrab(38) * ANTENNA_POSITION_RESOLUTION; + ugrab(2); + rtcm->rtcm3_1005.ecef_z = sgrab(38) * ANTENNA_POSITION_RESOLUTION; break; case 1006: + rtcm->rtcm3_1006.station_id = (unsigned short)ugrab(12); + ugrab(6); /* reserved */ + if ((bool)ugrab(1)) + rtcm->rtcm3_1006.system = gps; + else if ((bool)ugrab(1)) + rtcm->rtcm3_1006.system = glonass; + else if ((bool)ugrab(1)) + rtcm->rtcm3_1006.system = galileo; + rtcm->rtcm3_1006.reference_station = (bool)ugrab(1); + rtcm->rtcm3_1006.ecef_x = sgrab(38) * ANTENNA_POSITION_RESOLUTION; + rtcm->rtcm3_1006.single_receiver = ugrab(1); + ugrab(1); + rtcm->rtcm3_1006.ecef_y = sgrab(38) * ANTENNA_POSITION_RESOLUTION; + ugrab(2); + rtcm->rtcm3_1006.ecef_z = sgrab(38) * ANTENNA_POSITION_RESOLUTION; + rtcm->rtcm3_1006.height = ugrab(16) * ANTENNA_POSITION_RESOLUTION; break; case 1007: @@ -253,6 +284,8 @@ void rtcm3_dump(struct rtcm3_t *rtcm, FILE *fp) { int i; + char *systems[] = {"GPS", "Glonass", "Galileo", "unknown"}; + (void)fprintf(fp, "%u (%u):\n", rtcm->type, rtcm->length); #define BOOL(c) (c!=0 ? 't' : 'f') @@ -357,9 +390,28 @@ void rtcm3_dump(struct rtcm3_t *rtcm, FILE *fp) break; case 1005: + (void)fprintf(fp, + " station_id=%d, %s refstation=%c sro=%c x=%f y=%f z=%f\n", + rtcm->rtcm3_1005.station_id, + systems[rtcm->rtcm3_1005.system], + BOOL(rtcm->rtcm3_1005.reference_station), + BOOL(rtcm->rtcm3_1005.single_receiver), + rtcm->rtcm3_1005.ecef_x, + rtcm->rtcm3_1005.ecef_y, + rtcm->rtcm3_1005.ecef_z); break; case 1006: + (void)fprintf(fp, + " station_id=%d, %s refstation=%c sro=%c x=%f y=%f z=%f a=%f\n", + rtcm->rtcm3_1006.station_id, + systems[rtcm->rtcm3_1006.system], + BOOL(rtcm->rtcm3_1006.reference_station), + BOOL(rtcm->rtcm3_1006.single_receiver), + rtcm->rtcm3_1006.ecef_x, + rtcm->rtcm3_1006.ecef_y, + rtcm->rtcm3_1006.ecef_z, + rtcm->rtcm3_1006.height); break; case 1007: |