/* $Id$ */ #ifndef _GPSD_GPS_H_ #define _GPSD_GPS_H_ /* gps.h -- interface of the libgps library */ #ifdef __cplusplus extern "C" { #endif /* Macro for declaring function arguments unused. */ #if defined(__GNUC__) # define UNUSED __attribute__((unused)) /* Flag variable as unused */ #else /* not __GNUC__ */ # define UNUSED #endif #include #include #include #include /* stdint.h would be smaller but not all have it */ #include #include #include #ifndef S_SPLINT_S #include /* pacifies OpenBSD's compiler */ #endif /* * Unless otherwise noted, all function signatures and types and * constants and structure layouts exposed here are correct for all * versions up to and including this one. */ #define GPSD_API_MAJOR_VERSION 3 /* bump on incompatible changes */ #define GPSD_API_MINOR_VERSION 1 /* bump on compatible changes */ #define MAXTAGLEN 8 /* maximum length of sentence tag name */ #define MAXCHANNELS 20 /* maximum GPS channels (*not* satellites!) */ #define GPS_PRNMAX 32 /* above this number are SBAS satellites */ /* * The structure describing an uncertainty volume in kinematic space. * This is what GPSes are meant to produce; all the other info is * technical impedimenta. * * All double values use NAN to indicate data not available. * * Usually all the information in this structure was considered valid * by the GPS at the time of update. This will be so if you are using * a GPS chipset that speaks SiRF binary, Garmin binary, or Zodiac binary. * This covers over 80% of GPS products in early 2005. * * If you are using a chipset that speaks NMEA, this structure is updated * in bits by GPRMC (lat/lon, track, speed), GPGGA (alt, climb), GPGLL * (lat/lon), and GPGSA (eph, epv). Most NMEA GPSes take a single fix * at the beginning of a 1-second cycle and report the same timestamp in * GPRMC, GPGGA, and GPGLL; for these, all info is guaranteed correctly * synced to the time member, but you'll get different stages of the same * update depending on where in the cycle you poll. A very few GPSes, * like the Garmin 48, take a new fix before more than one of of * GPRMC/GPGGA/GPGLL during a single cycle; thus, they may have different * timestamps and some data in this structure can be up to 1 cycle (usually * 1 second) older than the fix time. * * Error estimates are at 95% confidence. */ struct gps_fix_t { double time; /* Time of update, seconds since Unix epoch */ int mode; /* Mode of fix */ #define MODE_NOT_SEEN 0 /* mode update not seen yet */ #define MODE_NO_FIX 1 /* none */ #define MODE_2D 2 /* good for latitude/longitude */ #define MODE_3D 3 /* good for altitude/climb too */ double ept; /* Expected time uncertainty */ double latitude; /* Latitude in degrees (valid if mode >= 2) */ double longitude; /* Longitude in degrees (valid if mode >= 2) */ double eph; /* Horizontal 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 */ }; /* * From the RCTM104 2.x standard: * * "The 30 bit words (as opposed to 32 bit words) coupled with a 50 Hz * transmission rate provides a convenient timing capability where the * times of word boundaries are a rational multiple of 0.6 seconds." * * "Each frame is N+2 words long, where N is the number of message data * words. For example, a filler message (type 6 or 34) with no message * data will have N=0, and will consist only of two header words. The * maximum number of data words allowed by the format is 31, so that * the longest possible message will have a total of 33 words." */ #define RTCM2_WORDS_MAX 33 #define MAXCORRECTIONS 18 /* max correction count in type 1 or 9 */ #define MAXSTATIONS 10 /* maximum stations in almanac, type 5 */ /* RTCM104 doesn't specify this, so give it the largest reasonable value */ #define MAXHEALTH (RTCM2_WORDS_MAX-2) #ifndef S_SPLINT_S /* * A nominally 30-bit word (24 bits of data, 6 bits of parity) * used both in the GPS downlink protocol described in IS-GPS-200 * and in the format for DGPS corrections used in RTCM-104v2. */ typedef /*@unsignedintegraltype@*/ uint32_t isgps30bits_t; #endif /* S_SPLINT_S */ typedef enum {gps, glonass, galileo, unknown} navsystem; 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 rangesat_t { /* data from messages 1 & 9 */ unsigned ident; /* satellite ID */ unsigned udre; /* user diff. range error */ unsigned issuedata; /* issue of data */ double rangerr; /* range error */ double rangerate; /* range error rate */ } sat[MAXCORRECTIONS]; } 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? */ navsystem system; enum {local, global, invalid} sense; 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 */ unsigned int 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; /* 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]; } msg_data; }; /* 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 */ ushort satcount; /* # Satellite Signals Processed */ bool smoothing; /* Divergence-free Smoothing Indicator */ ushort interval; /* Smoothing Interval */ }; struct rtcm3_basic_rtk { unsigned char indicator; /* Indicator */ unsigned char 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 char 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 { unsigned ident; /* Satellite ID */ struct rtcm3_basic_rtk L1; } rtk_data[RTCM3_MAX_SATELLITES]; } rtcm3_1001; struct { struct rtcm3_rtk_hdr header; struct { unsigned ident; /* Satellite ID */ struct rtcm3_extended_rtk L1; } rtk_data[RTCM3_MAX_SATELLITES]; } rtcm3_1002; struct { 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 { 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 { unsigned int station_id; /* Reference Station ID */ navsystem 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 { unsigned int station_id; /* Reference Station ID */ navsystem 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 char setup_id; } rtcm3_1007; struct { unsigned int station_id; /* Reference Station ID */ char descriptor[RTCM3_MAX_DESCRIPTOR+1]; /* Description string */ unsigned char setup_id; char serial[RTCM3_MAX_DESCRIPTOR+1]; /* Serial # string */ } rtcm3_1008; struct { struct rtcm3_rtk_hdr header; struct { unsigned ident; /* Satellite ID */ struct rtcm3_basic_rtk L1; } rtk_data[RTCM3_MAX_SATELLITES]; } rtcm3_1009; struct { struct rtcm3_rtk_hdr header; struct { unsigned ident; /* Satellite ID */ struct rtcm3_extended_rtk L1; } rtk_data[RTCM3_MAX_SATELLITES]; } rtcm3_1010; struct { struct rtcm3_rtk_hdr header; struct { unsigned ident; /* Satellite ID */ struct rtcm3_extended_rtk L1; struct rtcm3_extended_rtk L2; } rtk_data[RTCM3_MAX_SATELLITES]; } rtcm3_1011; struct { struct rtcm3_rtk_hdr header; struct { unsigned ident; /* Satellite ID */ struct rtcm3_extended_rtk L1; struct rtcm3_extended_rtk L2; } rtk_data[RTCM3_MAX_SATELLITES]; } rtcm3_1012; struct { unsigned int station_id; /* Reference Station ID */ unsigned short mjd; /* Modified Julian Day (MJD) Number */ unsigned int sod; /* Seconds of Day (UTC) */ unsigned char leapsecs; /* Leap Seconds, GPS-UTC */ unsigned char ncount; /* Count of announcements to follow */ struct { unsigned short id; bool sync; unsigned short interval; } announcements[RTCM3_MAX_ANNOUNCEMENTS]; } rtcm3_1013; /* 1014-1017 were added in the 3.1 version */ struct { unsigned int network_id; /* Network ID */ unsigned int subnetwork_id; /* Subnetwork ID */ unsigned char stationcount; /* # auxiliary stations transmitted */ unsigned int master_id; /* Master Reference Station ID */ unsigned int aux_id; /* Auxilary Reference Station ID */ double d_lat, d_lon, d_alt; /* Aux-master location delta */ } rtcm3_1014; struct { struct rtcm3_network_rtk_header header; struct rtcm3_correction_diff corrections[RTCM3_MAX_SATELLITES]; } rtcm3_1015; struct { struct rtcm3_network_rtk_header header; struct rtcm3_correction_diff corrections[RTCM3_MAX_SATELLITES]; } rtcm3_1016; struct { 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 { 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 { 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 { 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; unsigned char text[128]; } rtcm3_1029; } rtcmtypes; }; typedef /*@unsignedintegraltype@*/ unsigned int 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) struct ais_t { uint msgtype; /* message type */ uint repeat; /* Repeat indicator */ uint mmsi; /* MMSI */ union { /* Types 1-3 Common navigation info */ struct { uint 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 uint speed; /* speed over ground in deciknots */ #define AIS_SPEED_NOT_AVAILABLE 1023 #define AIS_SPEED_FAST_MOVER 1022 /* >= 102.2 knots */ bool accuracy; /* position accuracy */ #define AIS_LATLON_SCALE 600000.0 int lon; /* longitude */ #define AIS_LON_NOT_AVAILABLE 0x6791AC0 int lat; /* latitude */ #define AIS_LAT_NOT_AVAILABLE 0x3412140 uint course; /* course over ground */ #define AIS_COURSE_NOT_AVAILABLE 3600 uint heading; /* true heading */ #define AIS_NO_HEADING 511 uint 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 uint maneuver; /* maneuver indicator */ //uint spare; spare bits */ bool raim; /* RAIM flag */ uint radio; /* radio status bits */ } type123; /* Type 4 - Base Station Report & Type 11 - UTC and Date Response */ struct { uint year; /* UTC year */ #define AIS_YEAR_NOT_AVAILABLE 0 uint month; /* UTC month */ #define AIS_MONTH_NOT_AVAILABLE 0 uint day; /* UTC day */ #define AIS_DAY_NOT_AVAILABLE 0 uint hour; /* UTC hour */ #define AIS_HOUR_NOT_AVAILABLE 0 uint minute; /* UTC minute */ #define AIS_MINUTE_NOT_AVAILABLE 0 uint second; /* UTC second */ #define AIS_SECOND_NOT_AVAILABLE 0 bool accuracy; /* fix quality */ int lon; /* longitude */ int lat; /* latitude */ uint epfd; /* type of position fix device */ //uint spare; spare bits */ bool raim; /* RAIM flag */ uint radio; /* radio status bits */ } type4; /* Type 5 - Ship static and voyage related data */ struct { uint ais_version; /* AIS version level */ uint imo; /* IMO identification */ char callsign[8]; /* callsign */ char shipname[21]; /* vessel name */ uint shiptype; /* ship type code */ uint to_bow; /* dimension to bow */ uint to_stern; /* dimension to stern */ uint to_port; /* dimension to port */ uint to_starboard; /* dimension to starboard */ uint epfd; /* type of position fix deviuce */ uint month; /* UTC month */ uint day; /* UTC day */ uint hour; /* UTC hour */ uint minute; /* UTC minute */ uint draught; /* draft in meters */ char destination[21]; /* ship destination */ uint dte; /* data terminal enable */ //uint spare; spare bits */ } type5; /* Type 6 - Addressed Binary Message */ struct { uint seqno; /* sequence number */ uint dest_mmsi; /* destination MMSI */ bool retransmit; /* retransmit flag */ //uint spare; spare bit(s) */ uint application_id; /* Application ID */ #define AIS_TYPE6_BINARY_MAX 920 /* 920 bits */ uint bitcount; /* bit count of the data */ char bitdata[(AIS_TYPE6_BINARY_MAX + 7) / 8]; } type6; /* Type 7 - Binary Acknowledge */ struct { uint mmsi[4]; /* spares ignored, they're only padding here */ } type7; /* Type 8 - Broadcast Binary Message */ struct { //uint spare; spare bit(s) */ uint application_id; /* Application ID */ #define AIS_TYPE8_BINARY_MAX 952 /* 952 bits */ uint bitcount; /* bit count of the data */ char bitdata[(AIS_TYPE8_BINARY_MAX + 7) / 8]; } type8; /* Type 9 - Standard SAR Aircraft Position Report */ struct { uint alt; /* altitude in meters */ #define AIS_ALT_NOT_AVAILABLE 4095 #define AIS_ALT_FAST_MOVER 4094 /* 4094 meters or higher */ uint speed; /* speed over ground in deciknots */ bool accuracy; /* position accuracy */ int lon; /* longitude */ int lat; /* latitude */ uint course; /* course over ground */ uint second; /* seconds of UTC timestamp */ uint regional; /* regional reserved */ uint dte; /* data terminal enable */ //uint spare; spare bits */ bool assigned; /* assigned-mode flag */ bool raim; /* RAIM flag */ uint radio; /* radio status bits */ } type9; /* Type 10 - UTC/Date Inquiry */ struct { //uint spare; uint dest_mmsi; /* destination MMSI */ //uint spare2; } type10; /* Type 12 - Safety-Related Message */ struct { uint seqno; /* sequence number */ uint dest_mmsi; /* destination MMSI */ bool retransmit; /* retransmit flag */ //uint 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 7 - Safety-Related Acknowledge */ struct { uint mmsi[4]; /* spares ignored, they're only padding here */ } type13; /* Type 14 - Safety-Related Broadcast Message */ struct { //uint 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 { //uint spare; spare bit(s) */ uint mmsi1; uint type1_1; uint offset1_1; //uint spare2; spare bit(s) */ uint type1_2; uint offset1_2; //uint spare3; spare bit(s) */ uint mmsi2; uint type2_1; uint offset2_1; //uint spare4; spare bit(s) */ } type15; /* Type 16 - Assigned Mode Command */ struct { //uint spare; spare bit(s) */ uint mmsi1; uint offset1; uint increment1; uint mmsi2; uint offset2; uint increment2; } type16; /* Type 17 - GNSS Broadcast Binary Message */ struct { //uint spare; spare bit(s) */ #define AIS_GNSS_LATLON_SCALE 600.0 int lon; /* longitude */ int lat; /* latitude */ //uint spare2; spare bit(s) */ #define AIS_TYPE17_BINARY_MAX 736 /* 920 bits */ uint bitcount; /* bit count of the data */ char bitdata[(AIS_TYPE17_BINARY_MAX + 7) / 8]; } type17; /* Type 18 - Standard Class B CS Position Report */ struct { uint reserved; /* altitude in meters */ uint speed; /* speed over ground in deciknots */ bool accuracy; /* position accuracy */ int lon; /* longitude */ int lat; /* latitude */ uint course; /* course over ground */ uint heading; /* true heading */ uint second; /* seconds of UTC timestamp */ uint regional; /* regional reserved */ bool cs_flag; /* carrier sense unit flag */ bool display_flag; /* unit has attached display? */ bool dsc_flag; /* unit attached to radio with DSC? */ bool band_flag; /* unit can switch frequency bands? */ bool msg22_flag; /* can accept Message 22 management? */ bool assigned; /* assigned-mode flag */ bool raim; /* RAIM flag */ uint radio; /* radio status bits */ } type18; /* Type 19 - Extended Class B CS Position Report */ struct { uint reserved; /* altitude in meters */ uint speed; /* speed over ground in deciknots */ bool accuracy; /* position accuracy */ int lon; /* longitude */ int lat; /* latitude */ uint course; /* course over ground */ uint heading; /* true heading */ uint second; /* seconds of UTC timestamp */ uint regional; /* regional reserved */ char shipname[21]; /* ship name */ uint shiptype; /* ship type code */ uint to_bow; /* dimension to bow */ uint to_stern; /* dimension to stern */ uint to_port; /* dimension to port */ uint to_starboard; /* dimension to starboard */ uint epfd; /* type of position fix deviuce */ bool raim; /* RAIM flag */ bool dte; /* date terminal enable */ bool assigned; /* assigned-mode flag */ //uint spare; spare bits */ } type19; /* Type 20 - Data Link Management Message */ struct { //uint spare; spare bit(s) */ uint offset1; /* TDMA slot offset */ uint number1; /* number of xlots to allocate */ uint timeout1; /* allocation timeout */ uint increment1; /* repeat increment */ uint offset2; /* TDMA slot offset */ uint number2; /* number of xlots to allocate */ uint timeout2; /* allocation timeout */ uint increment2; /* repeat increment */ uint offset3; /* TDMA slot offset */ uint number3; /* number of xlots to allocate */ uint timeout3; /* allocation timeout */ uint increment3; /* repeat increment */ uint offset4; /* TDMA slot offset */ uint number4; /* number of xlots to allocate */ uint timeout4; /* allocation timeout */ uint increment4; /* repeat increment */ } type20; /* Type 21 - Aids to Navigation Report */ struct { uint type; /* aid type */ char name[35]; /* name of aid to navigation */ bool accuracy; /* position accuracy */ int lon; /* longitude */ int lat; /* latitude */ uint to_bow; /* dimension to bow */ uint to_stern; /* dimension to stern */ uint to_port; /* dimension to port */ uint to_starboard; /* dimension to starboard */ uint epfd; /* type of EPFD */ uint second; /* second of UTC timestamp */ bool off_position; /* off-position indicator */ uint regional; /* regional reserved field */ bool raim; /* RAIM flag */ bool virtual_aid; /* is virtual station? */ bool assigned; /* assigned-mode flag */ //uint spare; unused */ } type21; /* Type 22 - Channel Management */ struct { //uint spare; spare bit(s) */ uint channel_a; /* Channel A number */ uint channel_b; /* Channel B number */ uint mode; /* transmit/receive mode */ bool power; /* high-power flag */ #define AIS_CHANNEL_LATLON_SCALE 600.0 int ne_lon; /* NE corner longitude */ int ne_lat; /* NE corner latitude */ int sw_lon; /* SW corner longitude */ int sw_lat; /* SW corner latitude */ 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 */ uint zonesize; /* size of transitional zone */ } type22; /* Type 24 - Class B CS Static Data Report */ struct { uint part; /* part number */ union { struct { char shipname[21]; /* vessel name */ //uint spare; unused spare bits */ } a; struct { uint shiptype; /* ship type code */ char vendorid[8]; /* vendor ID */ char callsign[8]; /* callsign */ union { uint mothership_mmsi; /* MMSI of main vessel */ struct { uint to_bow; /* dimension to bow */ uint to_stern; /* dimension to stern */ uint to_port; /* dimension to port */ uint to_starboard; /* dimension to starboard */ } dim; }; //uint spare; unused spare bits */ } b; }; } type24; }; }; struct gps_data_t { gps_mask_t set; /* has field been set since this was last cleared? */ #define ONLINE_SET 0x00000001u #define TIME_SET 0x00000002u #define TIMERR_SET 0x00000004u #define LATLON_SET 0x00000008u #define ALTITUDE_SET 0x00000010u #define SPEED_SET 0x00000020u #define TRACK_SET 0x00000040u #define CLIMB_SET 0x00000080u #define STATUS_SET 0x00000100u #define MODE_SET 0x00000200u #define HDOP_SET 0x00000400u #define VDOP_SET 0x00000800u #define PDOP_SET 0x00001000u #define TDOP_SET 0x00002000u #define GDOP_SET 0x00004000u #define DOP_SET (HDOP_SET|VDOP_SET|PDOP_SET|TDOP_SET|GDOP_SET) #define HERR_SET 0x00008000u #define VERR_SET 0x00010000u #define PERR_SET 0x00020000u #define ERR_SET (HERR_SET | VERR_SET | PERR_SET) #define SATELLITE_SET 0x00040000u #define RAW_SET 0x00080000u #define USED_SET 0x00100000u #define SPEEDERR_SET 0x00200000u #define TRACKERR_SET 0x00400000u #define CLIMBERR_SET 0x00800000u #define DEVICE_SET 0x01000000u #define DEVICELIST_SET 0x02000000u #define DEVICEID_SET 0x04000000u #define ERROR_SET 0x08000000u #define CYCLE_START_SET 0x10000000u #define RTCM2_SET 0x20000000u #define RTCM3_SET 0x40000000u #define AIS_SET 0x80000000u #define FIX_SET (TIME_SET|MODE_SET|TIMERR_SET|LATLON_SET|HERR_SET|ALTITUDE_SET|VERR_SET|TRACK_SET|TRACKERR_SET|SPEED_SET|SPEEDERR_SET|CLIMB_SET|CLIMBERR_SET) double online; /* NZ if GPS is on line, 0 if not. * * Note: gpsd clears this flag 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 flag will be * prone to false negatives. */ struct gps_fix_t fix; /* accumulated PVT data */ double separation; /* Geoidal separation, MSL - WGS84 (Meters) */ /* GPS status -- always valid */ int status; /* Do we have a fix? */ #define STATUS_NO_FIX 0 /* no */ #define STATUS_FIX 1 /* yes, without DGPS */ #define STATUS_DGPS_FIX 2 /* yes, with DGPS */ /* precision of fix -- valid if satellites_used > 0 */ int satellites_used; /* Number of satellites used in solution */ int used[MAXCHANNELS]; /* PRNs of satellites used in solution */ double pdop, hdop, vdop, tdop, gdop; /* Dilution of precision */ /* redundant with the estimate elments in the fix structure */ double epe; /* spherical position error, 95% confidence (meters) */ /* satellite status -- valid when satellites > 0 */ int satellites; /* # of satellites in view */ int PRN[MAXCHANNELS]; /* PRNs of satellite */ int elevation[MAXCHANNELS]; /* elevation of satellite */ int azimuth[MAXCHANNELS]; /* azimuth */ double ss[MAXCHANNELS]; /* signal-to-noise ratio (dB) */ /* where and what gpsd thinks the device is */ char gps_device[PATH_MAX]; /* only valid if non-null. */ char *gps_id; /* only valid if non-null. */ unsigned int baudrate, parity, stopbits; /* RS232 link parameters */ unsigned int driver_mode; /* whether driver is in native mode or not */ /* RTCM-104 data */ struct rtcm2_t rtcm2; struct rtcm3_t rtcm3; /* device list */ int ndevices; /* count of available devices */ char **devicelist; /* list of pathnames */ /* profiling data for last sentence */ bool profiling; /* profiling enabled? */ char tag[MAXTAGLEN+1]; /* tag of last sentence processed */ size_t sentence_length; /* character count of last sentence */ double sentence_time; /* sentence timestamp */ double d_xmit_time; /* beginning of sentence transmission */ double d_recv_time; /* daemon receipt time (-> E1+T1) */ double d_decode_time; /* daemon end-of-decode time (-> D1) */ double poll_time; /* daemon poll time (-> W) */ double emit_time; /* emission time (-> E2) */ double c_recv_time; /* client receipt time (-> T2) */ double c_decode_time; /* client end-of-decode time (-> D2) */ /* reporting cycle time and minimum */ double cycle, mincycle; /* refresh cycle time in seconds */ /* these members are private */ int gps_fd; /* socket or file descriptor to GPS */ void (*raw_hook)(struct gps_data_t *, char *, size_t len, int level);/* Raw-mode hook for GPS data. */ void (*thread_hook)(struct gps_data_t *, char *, size_t len, int level);/* Thread-callback hook for GPS data. */ /* * Do not put any configuration-symbol-dependent members * above this point, as we need things to be at stable * offsets. */ #ifdef OCEANSERVER_ENABLE double magnetic_length; /* unitvector sqrt(x^2 + y^2 +z^2) */ double magnetic_field_x; double magnetic_field_y; double magnetic_field_z; double acceleration_length; /* unitvector sqrt(x^2 + y^2 +z^2) */ double acceleration_field_x; double acceleration_field_y; double acceleration_field_z; double gyro_output_x; double gyro_output_y; double temperature; #endif #if defined(TNT_ENABLE) || defined(OCEANSERVER_ENABLE) /* compass status -- TrueNorth (and any similar) devices only */ char headingStatus; char pitchStatus; char rollStatus; double horzField; /* Magnitude of horizontal magnetic field */ #endif #ifdef RAW_ENABLE /* raw measurement data */ double codephase[MAXCHANNELS]; /* meters */ double carrierphase[MAXCHANNELS]; /* meters */ double pseudorange[MAXCHANNELS]; /* meters */ double deltarange[MAXCHANNELS]; /* meters/sec */ double doppler[MAXCHANNELS]; /* Hz */ double mtime[MAXCHANNELS]; /* sec */ unsigned satstat[MAXCHANNELS]; /* tracking status */ #define SAT_ACQUIRED 0x01 /* satellite acquired */ #define SAT_CODE_TRACK 0x02 /* code-tracking loop acquired */ #define SAT_CARR_TRACK 0x04 /* carrier-tracking loop acquired */ #define SAT_DATA_SYNC 0x08 /* data-bit synchronization done */ #define SAT_FRAME_SYNC 0x10 /* frame synchronization done */ #define SAT_EPHEMERIS 0x20 /* ephemeris collected */ #define SAT_FIX_USED 0x40 /* used for position fix */ #endif /* RAW_ENABLE */ }; extern /*@null@*/ struct gps_data_t *gps_open(const char *host, const char *port); int gps_close(struct gps_data_t *); int gps_query(struct gps_data_t *gpsdata, const char *fmt, ... ); int gps_poll(struct gps_data_t *gpsdata); void gps_set_raw_hook(struct gps_data_t *gpsdata, void (*hook)(struct gps_data_t *sentence, char *buf, size_t len, int level)); int gps_set_callback(struct gps_data_t *gpsdata, void (*callback)(struct gps_data_t *sentence, char *buf, size_t len, int level), pthread_t *handler); int gps_del_callback(struct gps_data_t *gpsdata, pthread_t *handler); extern void gps_clear_fix(/*@ out @*/struct gps_fix_t *); extern void gps_merge_fix(/*@ out @*/struct gps_fix_t *, gps_mask_t, /*@ in @*/struct gps_fix_t *); extern unsigned int gps_valid_fields(/*@ in @*/struct gps_fix_t *); extern char *gps_show_transfer(int); extern time_t mkgmtime(register struct tm *); extern double timestamp(void); extern double iso8601_to_unix(char *); extern /*@observer@*/char *unix_to_iso8601(double t, /*@ out @*/char[], size_t len); extern double gpstime_to_unix(int, double); extern void unix_to_gpstime(double, /*@out@*/int *, /*@out@*/double *); extern double earth_distance(double, double, double, double); extern double wgs84_separation(double, double); /* some multipliers for interpreting GPS output */ #define METERS_TO_FEET 3.2808399 /* Meters to U.S./British feet */ #define METERS_TO_MILES 0.00062137119 /* Meters to miles */ #define KNOTS_TO_MPH 1.1507794 /* Knots to miles per hour */ #define KNOTS_TO_KPH 1.852 /* Knots to kilometers per hour */ #define KNOTS_TO_MPS 0.51444444 /* Knots to meters per second */ #define MPS_TO_KPH 3.6 /* Meters per second to klicks/hr */ #define MPS_TO_MPH 2.2369363 /* Meters/second to miles per hour */ #define MPS_TO_KNOTS 1.9438445 /* Meters per second to knots */ /* miles and knots are both the international standard versions of the units */ /* angle conversion multipliers */ #define GPS_PI 3.1415926535897932384626433832795029 #define RAD_2_DEG 57.2957795130823208767981548141051703 #define DEG_2_RAD 0.0174532925199432957692369076848861271 /* gps_open() 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 */ #define DEFAULT_GPSD_PORT "2947" /* IANA assignment */ #define DEFAULT_RTCM_PORT "2101" /* IANA assignment */ #ifdef __cplusplus } /* End of the 'extern "C"' block */ #endif /* gps.h ends here */ #endif /* _GPSD_GPS_H_ */