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-rw-r--r--driver_rtcm3.c16
-rw-r--r--drivers.c14
-rw-r--r--gps.h4
-rw-r--r--gpsd_json.c6
-rw-r--r--test/packet.test.chk4
-rw-r--r--test_packet.c18
6 files changed, 37 insertions, 25 deletions
diff --git a/driver_rtcm3.c b/driver_rtcm3.c
index 3ea85689..382539d1 100644
--- a/driver_rtcm3.c
+++ b/driver_rtcm3.c
@@ -89,8 +89,9 @@ void rtcm3_unpack( /*@out@*/ struct rtcm3_t *rtcm, char *buf)
rtcm->length = (uint)ugrab(10);
rtcm->type = (uint)ugrab(12);
- gpsd_report(LOG_RAW, "RTCM3: Raw packet type 0x%02x length %d: %s\n",
- rtcm->type, rtcm->length, gpsd_hexdump_wrapper(buf, rtcm->length, LOG_RAW));
+ gpsd_report(LOG_RAW, "RTCM3: type %d payload length %d: %s\n",
+ rtcm->type, rtcm->length,
+ gpsd_hexdump_wrapper(buf+3, rtcm->length, LOG_RAW));
switch (rtcm->type) {
case 1001: /* GPS Basic RTK, L1 Only */
@@ -211,12 +212,12 @@ void rtcm3_unpack( /*@out@*/ struct rtcm3_t *rtcm, char *buf)
ugrab(2);
R1005.ecef_z = sgrab(38) * ANTENNA_POSITION_RESOLUTION;
#undef R1005
- assert(bitcount == 152);
break;
case 1006: /* Stationary Antenna Reference Point, with Height Information */
#define R1006 rtcm->rtcmtypes.rtcm3_1006
R1006.station_id = (unsigned short)ugrab(12);
+ ugrab(6); /* reserved */
temp = ugrab(3);
if ((temp & 0x04)!=0)
R1006.system = NAVSYSTEM_GPS;
@@ -224,7 +225,6 @@ void rtcm3_unpack( /*@out@*/ struct rtcm3_t *rtcm, char *buf)
R1006.system = NAVSYSTEM_GLONASS;
if ((temp & 0x01)!=0)
R1006.system = NAVSYSTEM_GALILEO;
- ugrab(6); /* reserved */
R1006.reference_station = (bool)ugrab(1);
R1006.ecef_x = sgrab(38) * ANTENNA_POSITION_RESOLUTION;
R1006.single_receiver = ugrab(1);
@@ -418,11 +418,9 @@ void rtcm3_unpack( /*@out@*/ struct rtcm3_t *rtcm, char *buf)
rtcm->rtcmtypes.rtcm3_1029.mjd = (unsigned short)ugrab(16);
rtcm->rtcmtypes.rtcm3_1029.sod = (unsigned short)ugrab(17);
rtcm->rtcmtypes.rtcm3_1029.len = (unsigned long)ugrab(7);
- n = rtcm->rtcmtypes.rtcm3_1029.unicode_units =
- (unsigned long)ugrab(8);
- (void)memcpy(rtcm->rtcmtypes.rtcm3_1029.text, buf + 9, n);
- bitcount += 8 * n;
- assert(bitcount == (int)(72 + 8 * n));
+ n = 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);
break;
default:
diff --git a/drivers.c b/drivers.c
index 80380d4a..e05e7915 100644
--- a/drivers.c
+++ b/drivers.c
@@ -934,15 +934,15 @@ static const struct gps_type_t rtcm104v2 = {
static gps_mask_t rtcm104v3_analyze(struct gps_device_t *session)
{
- uint16_t length = getbeu16(session->packet.inbuffer, 1);
uint16_t type = getbeu16(session->packet.inbuffer, 3) >> 4;
- /* *INDENT-OFF* */
- gpsd_report(LOG_RAW, "RTCM 3.x packet type %d length %d words: %s\n",
- type, length, gpsd_hexdump_wrapper(session->packet.inbuffer,
- (size_t) (session->gpsdata.rtcm3.length),
- LOG_RAW));
- /* *INDENT-ON* */
+ gpsd_report(LOG_RAW, "RTCM 3.x packet %d type length %zd bytes: %s\n",
+ type,
+ session->packet.outbuflen,
+ gpsd_hexdump_wrapper(session->packet.outbuffer,
+ session->packet.outbuflen,
+ LOG_RAW));
+ rtcm3_unpack(&session->gpsdata.rtcm3, (char *)session->packet.outbuffer);
session->cycle_end_reliable = true;
return RTCM3_IS;
}
diff --git a/gps.h b/gps.h
index 736a35a7..d9773d37 100644
--- a/gps.h
+++ b/gps.h
@@ -494,8 +494,8 @@ struct rtcm3_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 len; /* # Chars to follow */
- unsigned char unicode_units;
+ size_t len; /* # chars to follow */
+ size_t unicode_units; /* # Unicode units in text */
unsigned char text[128];
} rtcm3_1029;
char data[1024]; /* Max RTCM3 msg length is 1023 bytes */
diff --git a/gpsd_json.c b/gpsd_json.c
index cd686f64..a4de2021 100644
--- a/gpsd_json.c
+++ b/gpsd_json.c
@@ -1257,12 +1257,12 @@ void json_rtcm3_dump(const struct rtcm3_t *rtcm,
case 1029:
(void)snprintf(buf + strlen(buf), buflen - strlen(buf),
"\"station_id\":%u,\"mjd\":%u,\"sec\":%u,"
- "\"len\":%u,\"units\":%u,\"msg\"=\"%s\",",
+ "\"len\":%zd,\"units\":%zd,\"msg\"=\"%s\",",
rtcm->rtcmtypes.rtcm3_1029.station_id,
rtcm->rtcmtypes.rtcm3_1029.mjd,
rtcm->rtcmtypes.rtcm3_1029.sod,
- INT(rtcm->rtcmtypes.rtcm3_1029.len),
- INT(rtcm->rtcmtypes.rtcm3_1029.unicode_units),
+ rtcm->rtcmtypes.rtcm3_1029.len,
+ rtcm->rtcmtypes.rtcm3_1029.unicode_units,
json_stringify(buf1, sizeof(buf1),
(char *)rtcm->rtcmtypes.rtcm3_1029.text));
break;
diff --git a/test/packet.test.chk b/test/packet.test.chk
index c487ce7c..e615ca4b 100644
--- a/test/packet.test.chk
+++ b/test/packet.test.chk
@@ -16,9 +16,7 @@
15: EverMore packet 0x04, 0x10 three times at the beginning test succeeded.
16: RTCM104V3 type 1005 packet test succeeded.
17: RTCM104V3 type 1005 packet with 4th byte garbled test succeeded.
+18: RTCM104V3 type 1029 packet test succeeded.
=== EOF with buffer nonempty test ===
$GPVTG,308.74,T,,M,0.00,N,0.0,K*68
$GPGGA,110534.994,4002.1425,N,07531.2585,W,0,00,50.0,172.7,M,-33.8,M,0.0,0000*7A
-packet_parse() returned 36
-packet_parse() returned 82
-packet_parse() returned 0
diff --git a/test_packet.c b/test_packet.c
index b2e98197..274ecc33 100644
--- a/test_packet.c
+++ b/test_packet.c
@@ -205,6 +205,7 @@ static struct map singletests[] = {
.type = EVERMORE_PACKET,
},
{
+ /* from page 4-3 of the RTCM3.0 standard */
.legend = "RTCM104V3 type 1005 packet",
/*
* Reference Station Id = 2003
@@ -235,6 +236,21 @@ static struct map singletests[] = {
.garbage_offset = 0,
.type = BAD_PACKET,
},
+ {
+ /* from page 3-71 of the RTCM3.0 standard */
+ .legend = "RTCM104V3 type 1029 packet",
+ .test = {
+ 0xD3, 0x00, 0x27, 0x40, 0x50, 0x17, 0x00, 0x84,
+ 0x73, 0x6E, 0x15, 0x1E, 0x55, 0x54, 0x46, 0x2D,
+ 0x38, 0x20, 0xD0, 0xBF, 0xD1, 0x80, 0xD0, 0xBE,
+ 0xD0, 0xB2, 0xD0, 0xB5, 0xD1, 0x80, 0xD0, 0xBA,
+ 0xD0, 0xB0, 0x20, 0x77, 0xC3, 0xB6, 0x72, 0x74,
+ 0x65, 0x72, 0xED, 0xA3, 0x3B
+ },
+ .testlen = 45,
+ .garbage_offset = 0,
+ .type = RTCM3_PACKET,
+ },
};
/*@ +initallelements -charint +usedef @*/
/* *INDENT-ON* */
@@ -310,7 +326,7 @@ static void runon_test(struct map *mp)
(void)fputs(mp->test, stdout);
do {
st = packet_get(nullfd, &packet);
- printf("packet_parse() returned %zd\n", st);
+ //printf("packet_parse() returned %zd\n", st);
} while (st > 0);
/*@ +compdef +uniondef +usedef +formatcode @*/
}
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