/* gps.h -- interface of the libgps library */ /* * This file is Copyright (c) 2010 by the GPSD project * SPDX-License-Identifier: BSD-2-clause */ #ifndef _GPSD_GPS_H_ #define _GPSD_GPS_H_ #ifdef __cplusplus extern "C" { #endif #include #include #include #include /* stdint.h would be smaller but not all have it */ #include #include #include #include #include /* pacifies OpenBSD's compiler */ /* * 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. * (Aug 2011, release 3.0) * 5.1 - GPS_PATH_MAX uses system PATH_MAX; split24 flag added. New * model and serial members in part B of AIS type 24, conforming * with ITU-R 1371-4. New timedrift structure (Nov 2013, release 3.10). * 6.0 - AIS type 6 and 8 get 'structured' flag; GPS_PATH_MAX * shortened because devices has moved out of the tail union. Sentence * tag fields dropped from emitted JSON. The shape of the skyview * structure has changed to make working with the satellites-used * bits less confusing. (January 2015, release 3.12). * 6.1 - Add navdata_t for more (nmea2000) info. * 7.0 - add gps_fix_t.ecef (February 2018) * changed prototype of gps_read() to add buffer parameters * increased length of devconfig_t.subtype * add gnssid:svid:sigid to satellite_t * add mtime to attitude_t * changed MAXCHANNELS * 8.0 - Change shape of rawdata_t. * Added values for gps_data_t->status * Remove epe from gps_data_t, it duplicates gps_fix_t eph * Added sep (estimated spherical error, 3D) * Note: Some GPS call eph as epe, others call sep as epe * Add gps_fix_t datum string, and qErr * enlarge subtype to hold ZED-F9 string */ #define GPSD_API_MAJOR_VERSION 8 /* bump on incompatible changes */ #define GPSD_API_MINOR_VERSION 0 /* bump on compatible changes */ #define MAXCHANNELS 120 /* u-blox 9 tracks 140 signals */ #define MAXUSERDEVS 4 /* max devices per user */ #define GPS_PATH_MAX 128 /* for names like /dev/serial/by-id/... */ /* * 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. * * All the information in this structure was considered valid * by the GPS at the time of update. * * Error estimates are at 95% confidence. */ /* WARNING! potential loss of precision in timestamp_t * a double is 53 significant bits. * UNIX time to nanoSec precision is 62 significant bits * UNIX time to nanoSec precision after 2038 is 63 bits * timestamp_t is only microSec precision * timestamp_t and PPS do not play well together */ /* we want cm accuracy and 0.0000001 degrees is 1.11 cm at the equator * the equator is best case for longitude. At 45lat cut that in half. * at 85lat make it 0.00000001 * * this easily fits in a C double which has 15.95 digits of precision * printf() format %f defaults to %.6f, which will truncate the result. * so print with %.7f if you have a survey grade GPS. * * ref: https://en.wikipedia.org/wiki/Decimal_degrees */ typedef double timestamp_t; /* Unix time in seconds with fractional part */ typedef struct timespec timespec_t; /* Unix time as sec, nsec */ /* GPS error estimates are all over the map, and often unspecified. * try for 1-sigma if we can... */ 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, seconds */ 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 */ /* estimated postion error horizontal (2D) . meters, maybe 50%, maybe 95% */ /* aka estimated position error (epe) */ double eph; /* estimated postion error horizontal (2D) */ /* sperical error probability, 3D. meters, maybe 50%, maybe 95% */ /* Garmin, not gpsd, calls this estimated position error (epe) */ double sep; double magnetic_track; /* Course (relative to Magnetic North) */ /* ECEF data, all data in meters, and meters/second, or NaN */ struct { double x, y, z; /* ECEF x, y, z */ double pAcc; /* 3D Position Accuracy Estimate, likely SEP */ double vx, vy, vz; /* ECEF x, y, z velocity */ double vAcc; /* Velocity Accuracy Estimate, probably SEP */ } ecef; char datum[40]; /* map datum */ /* quantization error adjustment to PPS. aka "sawtooth" correction */ long qErr; /* offset in picoseconds (ps) */ }; /* * Other GNSS birds reuse GPS PRNs. * It is an NMEA0183 convention to map them to pseudo-PRNs 65..437. * Very dependent on NMEA version. * (some other GPS receivers push them to 33 and above). */ #define GLONASS_PRN_OFFSET 64 /* * 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) /* * 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 uint32_t isgps30bits_t; /* * 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 int interval; /* Smoothing Interval */ }; struct rtcm3_basic_rtk { unsigned char indicator; /* Indicator */ unsigned int 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 */ unsigned int 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 { struct rtcm3_rtk_hdr header; struct rtcm3_1002_t { 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 { unsigned int station_id; /* Reference Station ID */ char descriptor[RTCM3_MAX_DESCRIPTOR+1]; /* Description string */ unsigned int setup_id; } rtcm3_1007; struct { unsigned int station_id; /* Reference Station ID */ char descriptor[RTCM3_MAX_DESCRIPTOR+1]; /* Description string */ unsigned int setup_id; char serial[RTCM3_MAX_DESCRIPTOR+1]; /* Serial # string */ } rtcm3_1008; struct { struct rtcm3_rtk_hdr header; struct rtcm3_1009_t { unsigned ident; /* Satellite ID */ struct rtcm3_basic_rtk L1; } rtk_data[RTCM3_MAX_SATELLITES]; } rtcm3_1009; struct { struct rtcm3_rtk_hdr header; struct rtcm3_1010_t { unsigned ident; /* Satellite ID */ struct rtcm3_extended_rtk L1; } rtk_data[RTCM3_MAX_SATELLITES]; } rtcm3_1010; struct { struct rtcm3_rtk_hdr header; struct rtcm3_1011_t { unsigned ident; /* Satellite ID */ struct rtcm3_extended_rtk L1; struct rtcm3_extended_rtk L2; } rtk_data[RTCM3_MAX_SATELLITES]; } rtcm3_1011; struct { struct rtcm3_rtk_hdr header; struct rtcm3_1012_t { unsigned ident; /* Satellite ID */ struct rtcm3_extended_rtk L1; struct rtcm3_extended_rtk L2; } rtk_data[RTCM3_MAX_SATELLITES]; } rtcm3_1012; struct { 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 rtcm3_1013_t { 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 int 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 int 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; unsigned 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 */ int16_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*/ int16_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; }; }; typedef uint64_t gps_mask_t; /* * 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_DIV 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_DIV 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_DIV 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 */ // cppcheck-suppress arrayIndexOutOfBounds char callsign[7+1]; /* callsign */ #define AIS_SHIPNAME_MAXLEN 20 // cppcheck-suppress arrayIndexOutOfBounds 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 */ bool structured; /* True match for DAC/FID? */ #define AIS_TYPE6_BINARY_MAX 920 /* 920 bits */ size_t bitcount; /* bit count of the data */ union { // cppcheck-suppress arrayIndexOutOfBounds char bitdata[(AIS_TYPE6_BINARY_MAX + 7) / 8]; /* Inland AIS - ETA at lock/bridge/terminal */ struct { char country[2+1]; /* UN Country Code */ char locode[3+1]; /* UN/LOCODE */ char section[5+1]; /* Fairway section */ char terminal[5+1]; /* Terminal code */ char hectometre[5+1]; /* Fairway hectometre */ unsigned int month; /* ETA month */ unsigned int day; /* ETA day */ unsigned int hour; /* ETA hour */ unsigned int minute; /* ETA minute */ unsigned int tugs; /* Assisting Tugs */ unsigned int airdraught; /* Air Draught */ } dac200fid21; /* Inland AIS - ETA at lock/bridge/terminal */ struct { char country[2+1]; /* UN Country Code */ char locode[3+1]; /* UN/LOCODE */ char section[5+1]; /* Fairway section */ char terminal[5+1]; /* Terminal code */ char hectometre[5+1]; /* Fairway hectometre */ unsigned int month; /* RTA month */ unsigned int day; /* RTA day */ unsigned int hour; /* RTA hour */ unsigned int minute; /* RTA minute */ unsigned int status; /* Status */ #define DAC200FID22_STATUS_OPERATIONAL 0 #define DAC200FID22_STATUS_LIMITED 1 #define DAC200FID22_STATUS_OUT_OF_ORDER 2 #define DAC200FID22_STATUS_NOT_AVAILABLE 0 } dac200fid22; /* Inland AIS - Number of persons on board */ struct { unsigned int crew; /* # crew on board */ unsigned int passengers; /* # passengers on board */ unsigned int personnel; /* # personnel on board */ #define DAC200FID55_COUNT_NOT_AVAILABLE 255 } dac200fid55; /* GLA - AtoN monitoring data (UK/ROI) */ struct { unsigned int ana_int; /* Analogue (internal) */ unsigned int ana_ext1; /* Analogue (external #1) */ unsigned int ana_ext2; /* Analogue (external #2) */ unsigned int racon; /* RACON status */ unsigned int light; /* Light status */ bool alarm; /* Health alarm*/ unsigned int stat_ext; /* Status bits (external) */ bool off_pos; /* Off position status */ } dac235fid10; /* 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 - Weather observation report from ship */ /*** WORK IN PROGRESS - NOT YET DECODED ***/ struct { bool wmo; /* true if WMO variant */ union { struct { char location[20+1]; /* Location */ signed int lon; /* Longitude */ signed int lat; /* Latitude */ unsigned int day; /* Report day */ unsigned int hour; /* Report hour */ unsigned int minute; /* Report minute */ bool vislimit; /* Max range? */ unsigned int visibility; /* Units of 0.1 nm */ #define DAC1FID21_VISIBILITY_NOT_AVAILABLE 127 #define DAC1FID21_VISIBILITY_SCALE 10.0 unsigned humidity; /* units of 1% */ unsigned int wspeed; /* average wind speed */ unsigned int wgust; /* wind gust */ #define DAC1FID21_WSPEED_NOT_AVAILABLE 127 unsigned int wdir; /* wind direction */ #define DAC1FID21_WDIR_NOT_AVAILABLE 360 unsigned int pressure; /* air pressure, hpa */ #define DAC1FID21_NONWMO_PRESSURE_NOT_AVAILABLE 403 #define DAC1FID21_NONWMO_PRESSURE_HIGH 402 /* > 1200hPa */ #define DAC1FID21_NONWMO_PRESSURE_OFFSET 400 /* N/A */ unsigned int pressuretend; /* tendency */ int airtemp; /* temp, units 0.1C */ #define DAC1FID21_AIRTEMP_NOT_AVAILABLE -1024 #define DAC1FID21_AIRTEMP_SCALE 10.0 unsigned int watertemp; /* units 0.1degC */ #define DAC1FID21_WATERTEMP_NOT_AVAILABLE 501 #define DAC1FID21_WATERTEMP_SCALE 10.0 unsigned int waveperiod; /* in seconds */ #define DAC1FID21_WAVEPERIOD_NOT_AVAILABLE 63 unsigned int wavedir; /* direction in deg */ #define DAC1FID21_WAVEDIR_NOT_AVAILABLE 360 unsigned int swellheight; /* in decimeters */ unsigned int swellperiod; /* in seconds */ unsigned int swelldir; /* direction in deg */ } nonwmo_obs; struct { signed int lon; /* Longitude */ signed int lat; /* Latitude */ unsigned int month; /* UTC month */ unsigned int day; /* Report day */ unsigned int hour; /* Report hour */ unsigned int minute; /* Report minute */ unsigned int course; /* course over ground */ unsigned int speed; /* speed, m/s */ #define DAC1FID21_SOG_NOT_AVAILABLE 31 #define DAC1FID21_SOG_HIGH_SPEED 30 #define DAC1FID21_SOG_SCALE 2.0 unsigned int heading; /* true heading */ #define DAC1FID21_HDG_NOT_AVAILABLE 127 #define DAC1FID21_HDG_SCALE 5.0 unsigned int pressure; /* units of hPa * 0.1 */ #define DAC1FID21_WMO_PRESSURE_SCALE 10 #define DAC1FID21_WMO_PRESSURE_OFFSET 90.0 unsigned int pdelta; /* units of hPa * 0.1 */ #define DAC1FID21_PDELTA_SCALE 10 #define DAC1FID21_PDELTA_OFFSET 50.0 unsigned int ptend; /* enumerated */ unsigned int twinddir; /* in 5 degree steps */ #define DAC1FID21_TWINDDIR_NOT_AVAILABLE 127 unsigned int twindspeed; /* meters per second */ #define DAC1FID21_TWINDSPEED_SCALE 2 #define DAC1FID21_RWINDSPEED_NOT_AVAILABLE 255 unsigned int rwinddir; /* in 5 degree steps */ #define DAC1FID21_RWINDDIR_NOT_AVAILABLE 127 unsigned int rwindspeed; /* meters per second */ #define DAC1FID21_RWINDSPEED_SCALE 2 #define DAC1FID21_RWINDSPEED_NOT_AVAILABLE 255 unsigned int mgustspeed; /* meters per second */ #define DAC1FID21_MGUSTSPEED_SCALE 2 #define DAC1FID21_MGUSTSPEED_NOT_AVAILABLE 255 unsigned int mgustdir; /* in 5 degree steps */ #define DAC1FID21_MGUSTDIR_NOT_AVAILABLE 127 unsigned int airtemp; /* degress K */ #define DAC1FID21_AIRTEMP_OFFSET 223 unsigned humidity; /* units of 1% */ #define DAC1FID21_HUMIDITY_NOT_VAILABLE 127 /* some trailing fields are missing */ } wmo_obs; }; } dac1fid21; /*** WORK IN PROGRESS ENDS HERE ***/ /* 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 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 seqno1; unsigned int mmsi2; unsigned int seqno2; unsigned int mmsi3; unsigned int seqno3; unsigned int mmsi4; unsigned int seqno4; /* spares ignored, they're only padding here */ } type7; /* Type 8 - Broadcast Binary Message */ struct { 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 */ bool structured; /* True match for DAC/FID? */ union { // cppcheck-suppress arrayIndexOutOfBounds char bitdata[(AIS_TYPE8_BINARY_MAX + 7) / 8]; /* Inland static ship and voyage-related data */ struct { char vin[8+1]; /* European Vessel ID */ unsigned int length; /* Length of ship */ unsigned int beam; /* Beam of ship */ unsigned int shiptype; /* Ship/combination type */ unsigned int hazard; /* Hazardous cargo */ #define DAC200FID10_HAZARD_MAX 5 unsigned int draught; /* Draught */ unsigned int loaded; /* Loaded/Unloaded */ bool speed_q; /* Speed inf. quality */ bool course_q; /* Course inf. quality */ bool heading_q; /* Heading inf. quality */ } dac200fid10; /* Inland AIS EMMA Warning */ struct { unsigned int start_year; /* Start Year */ unsigned int start_month; /* Start Month */ unsigned int start_day; /* Start Day */ unsigned int end_year; /* End Year */ unsigned int end_month; /* End Month */ unsigned int end_day; /* End Day */ unsigned int start_hour; /* Start Hour */ unsigned int start_minute; /* Start Minute */ unsigned int end_hour; /* End Hour */ unsigned int end_minute; /* End Minute */ signed int start_lon; /* Start Longitude */ signed int start_lat; /* Start Latitude */ signed int end_lon; /* End Longitude */ signed int end_lat; /* End Latitude */ unsigned int type; /* Type */ #define DAC200FID23_TYPE_UNKNOWN 0 signed int min; /* Min value */ #define DAC200FID23_MIN_UNKNOWN 255 signed int max; /* Max value */ #define DAC200FID23_MAX_UNKNOWN 255 unsigned int intensity; /* Classification */ #define DAC200FID23_CLASS_UNKNOWN 0 unsigned int wind; /* Wind Direction */ #define DAC200FID23_WIND_UNKNOWN 0 } dac200fid23; struct { char country[2+1]; /* UN Country Code */ signed int ngauges; struct gauge_t { unsigned int id; /* Gauge ID */ #define DAC200FID24_GAUGE_ID_UNKNOWN 0 signed int level; /* Water Level */ #define DAC200FID24_GAUGE_LEVEL_UNKNOWN 0 } gauges[4]; } dac200fid24; struct { signed int lon; /* Signal Longitude */ signed int lat; /* Signal Latitude */ unsigned int form; /* Signal form */ #define DAC200FID40_FORM_UNKNOWN 0 unsigned int facing; /* Signal orientation */ #define DAC200FID40_FACING_UNKNOWN 0 unsigned int direction; /* Direction of impact */ #define DAC200FID40_DIRECTION_UNKNOWN 0 unsigned int status; /* Light Status */ #define DAC200FID40_STATUS_UNKNOWN 0 } dac200fid40; /* IMO236 - Meteorological-Hydrological data * Trial message, not to be used after January 2013 * Replaced by IMO289 (DAC 1, FID 31) */ struct { #define DAC1FID11_LATLON_SCALE 1000 int lon; /* longitude in minutes * .001 */ #define DAC1FID11_LON_NOT_AVAILABLE 0xFFFFFF int lat; /* latitude in minutes * .001 */ #define DAC1FID11_LAT_NOT_AVAILABLE 0x7FFFFF 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 DAC1FID11_WSPEED_NOT_AVAILABLE 127 unsigned int wdir; /* wind direction */ unsigned int wgustdir; /* wind gust direction */ #define DAC1FID11_WDIR_NOT_AVAILABLE 511 unsigned int airtemp; /* temperature, units 0.1C */ #define DAC1FID11_AIRTEMP_NOT_AVAILABLE 2047 #define DAC1FID11_AIRTEMP_OFFSET 600 #define DAC1FID11_AIRTEMP_DIV 10.0 unsigned int humidity; /* relative humidity, % */ #define DAC1FID11_HUMIDITY_NOT_AVAILABLE 127 unsigned int dewpoint; /* dew point, units 0.1C */ #define DAC1FID11_DEWPOINT_NOT_AVAILABLE 1023 #define DAC1FID11_DEWPOINT_OFFSET 200 #define DAC1FID11_DEWPOINT_DIV 10.0 unsigned int pressure; /* air pressure, hpa */ #define DAC1FID11_PRESSURE_NOT_AVAILABLE 511 #define DAC1FID11_PRESSURE_OFFSET -800 unsigned int pressuretend; /* tendency */ #define DAC1FID11_PRESSURETREND_NOT_AVAILABLE 3 unsigned int visibility; /* units 0.1 nautical miles */ #define DAC1FID11_VISIBILITY_NOT_AVAILABLE 255 #define DAC1FID11_VISIBILITY_DIV 10.0 int waterlevel; /* decimeters */ #define DAC1FID11_WATERLEVEL_NOT_AVAILABLE 511 #define DAC1FID11_WATERLEVEL_OFFSET 100 #define DAC1FID11_WATERLEVEL_DIV 10.0 unsigned int leveltrend; /* water level trend code */ #define DAC1FID11_WATERLEVELTREND_NOT_AVAILABLE 3 unsigned int cspeed; /* surface current speed in deciknots */ #define DAC1FID11_CSPEED_NOT_AVAILABLE 255 #define DAC1FID11_CSPEED_DIV 10.0 unsigned int cdir; /* surface current dir., degrees */ #define DAC1FID11_CDIR_NOT_AVAILABLE 511 unsigned int cspeed2; /* current speed in deciknots */ unsigned int cdir2; /* current dir., degrees */ unsigned int cdepth2; /* measurement depth, m */ #define DAC1FID11_CDEPTH_NOT_AVAILABLE 31 unsigned int cspeed3; /* current speed in deciknots */ unsigned int cdir3; /* current dir., degrees */ unsigned int cdepth3; /* measurement depth, m */ unsigned int waveheight; /* in decimeters */ #define DAC1FID11_WAVEHEIGHT_NOT_AVAILABLE 255 #define DAC1FID11_WAVEHEIGHT_DIV 10.0 unsigned int waveperiod; /* in seconds */ #define DAC1FID11_WAVEPERIOD_NOT_AVAILABLE 63 unsigned int wavedir; /* direction in degrees */ #define DAC1FID11_WAVEDIR_NOT_AVAILABLE 511 unsigned int swellheight; /* in decimeters */ unsigned int swellperiod; /* in seconds */ unsigned int swelldir; /* direction in degrees */ unsigned int seastate; /* Beaufort scale, 0-12 */ #define DAC1FID11_SEASTATE_NOT_AVAILABLE 15 unsigned int watertemp; /* units 0.1deg Celsius */ #define DAC1FID11_WATERTEMP_NOT_AVAILABLE 1023 #define DAC1FID11_WATERTEMP_OFFSET 100 #define DAC1FID11_WATERTEMP_DIV 10.0 unsigned int preciptype; /* 0-7, enumerated */ #define DAC1FID11_PRECIPTYPE_NOT_AVAILABLE 7 unsigned int salinity; /* units of 0.1ppt */ #define DAC1FID11_SALINITY_NOT_AVAILABLE 511 #define DAC1FID11_SALINITY_DIV 10.0 unsigned int ice; /* is there sea ice? */ #define DAC1FID11_ICE_NOT_AVAILABLE 3 } dac1fid11; /* 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; /* IMO286 - Number of Persons on board */ struct { unsigned persons; /* number of persons */ } dac1fid16; /* 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 // cppcheck-suppress arrayIndexOutOfBounds 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; /* 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 -1024 #define DAC1FID31_AIRTEMP_DIV 10.0 unsigned int humidity; /* relative humidity, % */ #define DAC1FID31_HUMIDITY_NOT_AVAILABLE 101 int dewpoint; /* dew point, units 0.1C */ #define DAC1FID31_DEWPOINT_NOT_AVAILABLE 501 #define DAC1FID31_DEWPOINT_DIV 10.0 unsigned int pressure; /* air pressure, hpa */ #define DAC1FID31_PRESSURE_NOT_AVAILABLE 511 #define DAC1FID31_PRESSURE_HIGH 402 #define DAC1FID31_PRESSURE_OFFSET -799 unsigned int pressuretend; /* tendency */ #define DAC1FID31_PRESSURETEND_NOT_AVAILABLE 3 bool visgreater; /* visibility greater than */ unsigned int visibility; /* units 0.1 nautical miles */ #define DAC1FID31_VISIBILITY_NOT_AVAILABLE 127 #define DAC1FID31_VISIBILITY_DIV 10.0 int waterlevel; /* cm */ #define DAC1FID31_WATERLEVEL_NOT_AVAILABLE 4001 #define DAC1FID31_WATERLEVEL_OFFSET 1000 #define DAC1FID31_WATERLEVEL_DIV 100.0 unsigned int leveltrend; /* water level trend code */ #define DAC1FID31_WATERLEVELTREND_NOT_AVAILABLE 3 unsigned int cspeed; /* current speed in deciknots */ #define DAC1FID31_CSPEED_NOT_AVAILABLE 255 #define DAC1FID31_CSPEED_DIV 10.0 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 #define DAC1FID31_CDEPTH_SCALE 10.0 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 #define DAC1FID31_HEIGHT_DIV 10.0 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_WATERTEMP_NOT_AVAILABLE 601 #define DAC1FID31_WATERTEMP_DIV 10.0 unsigned int preciptype; /* 0-7, enumerated */ #define DAC1FID31_PRECIPTYPE_NOT_AVAILABLE 7 unsigned int salinity; /* units of 0.1 permil (ca. PSU) */ #define DAC1FID31_SALINITY_NOT_AVAILABLE 510 #define DAC1FID31_SALINITY_DIV 10.0 unsigned int ice; /* is there sea ice? */ #define DAC1FID31_ICE_NOT_AVAILABLE 3 } 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_DIV 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 */ // cppcheck-suppress arrayIndexOutOfBounds 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_DIV 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 */ enum { both, part_a, part_b, } part; unsigned int shiptype; /* ship type code */ char vendorid[8]; /* vendor ID */ unsigned int model; /* unit model code */ unsigned int serial; /* serial number */ 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_DIV 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; }; }; /* basic data, per PRN, from GPGSA and GPGSV, or GPS binary messages */ /* FIXME: u-blox 9 no longer uses PRN */ struct satellite_t { double ss; /* signal-to-noise ratio, 0 to 254 dB, -1 for n/a */ bool used; /* this satellite used in solution */ /* PRN of this satellite, 1 to 437, 0 for n/a * sadly there is no standard, but many different implementations of * how to code PRN */ short PRN; short elevation; /* elevation of satellite, -90 to 90 deg, -91 for n/a */ short azimuth; /* azimuth, 0 to 359 deg, -1 for n/a */ /* gnssid:svid:sigid, as defined by u-blox 8/9: * gnssid svid (native PRN) * 0 = GPS 1-32 * 1 = SBAS 120-158 * 2 = Galileo 1-36 * 3 - BeiDou 1-37 * 4 = IMES 1-10 * 5 = QZSS 1-5 * 6 = GLONASS 1-32, 22255 * * Not defined by u-blox: * 20 = IRNSS 1-11 * * Note: other GNSS receivers use different mappings! */ unsigned char gnssid; /* ignore gnssid and sigid if svid is zero */ unsigned char svid; /* sigid as defined by u-blox 9 * GPS: 0 = L1C/A, 3 = L2 CL, 4 = L2 CM * Galileo: 0 = E1 C, 1 = E1 B, 5 = E5 bl, 6 = E5 bQ * BeiDou: 0 = B1|D1, 1 = B1|D2, 2 = B2|D1, 3 = B2|D2 * QZSS: 0 = L1C/A * GLONASS: 0 = L1 OF, 2 = L2 OF * * sigid as defined by NMEA 4.1 * GPS: 1 = L1C/A, 6 = L2 CL, 5 = L2 CM * Galileo: 7 = E1 C, 7 = E1 B, 2 = E5 bl, 2 = E5 bQ * BeiDou: 1 = B1|D1, 1 = B1|D2, 3 = B2|D1, 3 = B2|D2 * QZSS: not defined * GLONASS: 1 = L1 OF, 3 = L2 OF */ unsigned char sigid; unsigned char freqid; /* The GLONASS (Only) frequency, 0 - 13 */ }; struct attitude_t { struct timespec mtime; /* time of measurement */ double acc_len; /* unitvector sqrt(x^2 + y^2 +z^2) */ double acc_x; double acc_y; double acc_z; double depth; double dip; double gyro_x; double gyro_y; double heading; double mag_len; /* unitvector sqrt(x^2 + y^2 +z^2) */ double mag_x; double mag_y; double mag_z; double pitch; double roll; double temp; double yaw; /* compass status -- TrueNorth (and any similar) devices only */ char mag_st; char pitch_st; char roll_st; char yaw_st; }; struct navdata_t { unsigned int version; double compass_heading; double compass_deviation; double compass_variation; double air_temp; double air_pressure; double water_temp; double depth; double depth_offset; double wind_speed; double wind_dir; double crosstrack_error; unsigned int compass_status; unsigned int log_cumulative; unsigned int log_trip; unsigned int crosstrack_status; }; struct dop_t { /* Dilution of precision factors */ double xdop, ydop, pdop, hdop, vdop, tdop, gdop; }; struct rawdata_t { /* raw measurement data, suitable for RINEX 3 */ timespec_t mtime; /* time of measurement: sec, nsec * Note: GPS time, not UTC time */ struct meas_t { /* gnssid see satellite_t for decode */ unsigned char gnssid; /* svid see RINEX 3 for decode, not satellite_t */ unsigned char svid; /* sigid see satellite_t for decode */ unsigned char sigid; unsigned char snr; /* SNR. 0 to 100 dB-Hz. */ unsigned char freqid; /* The GLONASS (Only) frequency, 0 - 13 */ unsigned char lli; /* RINEX Loss of Lock Indicator * bit 0 - Lost Lock * bit 1 - half-cycle ambiguity/slip possible * bit 2 - GALILEO BOC-tracking of MBOC signal */ char obs_code[4]; /* 3 char RINEX observation code */ /* see RINEX documenetation * GPS: L1: L1C, L1S, L1L, L1X, L1P, L1W, L1N * L2: L2C, L2D, L2S, L2L, L2X, L2P, L2W, L2N * L5: L5I, L5Q * GLONASS: G1: L1C, L1P * G2: L2C, L2P * G3: L3I, L3Q, L3X * GALILEO: E1: L1B, L1C, L1X * E5A: L5I, L5Ql L5X * E5B: L7I, L7Q, L7X * E5(A+B): L8I, L8Q, L8X * E6: L6B, L6C, L6X * QZSS: L1: L1C, L1S, L1L, L1X, L1Z * L2: L2S, L2L, L2X * L5: L5I, L5Q, L5X * LEX(6): L6S, L6L, L6X * BeiDou: B1: L2I, L2Q, L2X * B2: L7I, L7Q, L7X * B3: L6I, L6Q, L6X * IRNSS: L5: L5A, L5B, L5C, L5X * S: L9A, L9B, L9C, L9X */ double codephase; /* meters */ double carrierphase; /* L1 C/A meters, RINEX L1C */ double pseudorange; /* L1 C/A meters, RINEX C1C */ double deltarange; /* L1 C/A meters/sec, RINEX D1C */ double doppler; /* Hz */ #define LOCKMAX 64500 /* locktime capped at 64500 */ unsigned locktime; /* Carrier Phase Locktime in ms. * max 64,500 ms */ double l2c; /* L2 C/A carrier phase meters, RINEX L2C */ double c2c; /* L2 C/A pseudo-range meters, RINEX C2C */ unsigned satstat; /* 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 */ } meas[MAXCHANNELS]; }; 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 */ }; #define HEXDATA_MAX 512 /* hex encoded command buffer, max */ 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[128]; /* 96 too small for ZED-F9 */ /* a buffer to hold data to output to GPS */ char hexdata[HEXDATA_MAX]; 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 gps_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 */ bool split24; /* requesting split AIS Type 24s */ bool pps; /* requesting PPS in NMEA/raw modes */ 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 */ }; #ifndef TIMEDELTA_DEFINED #define TIMEDELTA_DEFINED struct timedelta_t { struct timespec real; struct timespec clock; }; #endif /* TIMEDELTA_DEFINED */ struct oscillator_t { bool running; /* oscillator is running */ bool reference; /* PPS reference is available */ bool disciplined; /* oscillator is GPS-disciplined */ int delta; /* last observed PPS delta */ }; /* * 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; #define BAD_SOCKET(s) ((s) == -1) #define INVALIDATE_SOCKET(s) do { s = -1; } while (0) /* 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_SPLIT24 0x001000u /* split AIS Type 24s */ #define WATCH_PPS 0x002000u /* enable PPS JSON */ #define WATCH_NEWSTYLE 0x010000u /* force JSON 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 TOFF_SET (1llu<<32) /* not yet used */ #define PPS_SET (1llu<<33) #define NAVDATA_SET (1llu<<34) #define OSCILLATOR_SET (1llu<<35) #define ECEF_SET (1llu<<36) #define VECEF_SET (1llu<<37) #define MAGNETIC_TRACK_SET (1llu<<38) #define RAW_SET (1llu<<39) #define SET_HIGH_BIT 40 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 */ /* this should move to the per-driver structure */ 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, GPS, without DGPS */ #define STATUS_DGPS_FIX 2 /* yes, with DGPS */ #define STATUS_RTK_FIX 3 /* yes, with RTK Fixed */ #define STATUS_RTK_FLT 4 /* yes, with RTK Float */ #define STATUS_DR 5 /* yes, with dead reckoning */ #define STATUS_GNSSDR 6 /* yes, with GNSS + dead reckoning */ #define STATUS_TIME 7 /* yes, time only (surveyed in, manual) */ #define STATUS_SIM 8 /* yes, simulated */ /* precision of fix -- valid if satellites_used > 0 */ int satellites_used; /* Number of satellites used in solution */ struct dop_t dop; /* satellite status -- valid when satellites_visible > 0 */ timestamp_t skyview_time; /* skyview timestamp */ int satellites_visible; /* # of satellites in view */ struct satellite_t skyview[MAXCHANNELS]; struct devconfig_t dev; /* device that shipped last update */ struct gps_policy_t policy; /* our listening policy */ struct { timestamp_t time; int ndevices; struct devconfig_t list[MAXUSERDEVS]; } devices; /* pack things never reported together to reduce structure size */ #define UNION_SET (AIS_SET|ATTITUDE_SET|ERROR_SET|GST_SET| \ LOGMESSAGE_SET|OSCILLATOR_SET|PPS_SET|RAW_SET| \ RTCM2_SET|RTCM3_SET|SUBFRAME_SET|TOFF_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 navdata_t navdata; struct rawdata_t raw; struct gst_t gst; struct oscillator_t osc; /* "artificial" structures for various protocol responses */ struct version_t version; char error[256]; struct timedelta_t toff; struct timedelta_t pps; }; /* FIXME! next lib rev need to add a place to put PPS precision */ /* Private data - client code must not set this */ void *privdata; }; extern int gps_open(const char *, const char *, 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(struct gps_data_t *, char *message, int message_len); 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, void *); extern int gps_mainloop(struct gps_data_t *, int, void (*)(struct gps_data_t *)); extern const char *gps_data(const struct gps_data_t *); extern const char *gps_errstr(const int); int json_toff_read(const char *buf, struct gps_data_t *, const char **); int json_pps_read(const char *buf, struct gps_data_t *, const char **); int json_oscillator_read(const char *buf, struct gps_data_t *, const char **); /* dependencies on struct gpsdata_t end here */ extern void libgps_trace(int errlevel, const char *, ...); extern void gps_clear_att(struct attitude_t *); extern void gps_clear_dop( struct dop_t *); extern void gps_clear_fix(struct gps_fix_t *); extern void gps_merge_fix(struct gps_fix_t *, gps_mask_t, struct gps_fix_t *); extern void gps_enable_debug(int, FILE *); extern 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 char *unix_to_iso8601(timestamp_t t, char[], size_t len); extern double earth_distance(double, double, double, double); extern double earth_distance_and_bearings(double, double, double, double, double *, double *); extern double wgs84_separation(double, double); extern void datum_code_string(int code, char *buffer, size_t len); /* 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 METERS_TO_FATHOMS 0.54680665 /* Meters to fathoms */ #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 /* other mathematical constants */ #define GPS_LN2 0.693147180559945309417232121458176568 /* geodetic constants */ #define WGS84A 6378137 /* equatorial radius */ #define WGS84F 298.257223563 /* flattening */ #define WGS84B 6356752.3142 /* polar radius */ #define CLIGHT 299792458.0 /* speed of light (m/s) */ /* 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 DBUS_FAILURE -9 /* DBUS initialization failure */ #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" #define GPSD_DBUS_EXPORT "DBUS export" #ifdef __cplusplus } /* End of the 'extern "C"' block */ #endif #endif /* _GPSD_GPS_H_ */ /* gps.h ends here */