/* subframe.c -- interpret satellite subframe data. * * This file is Copyright (c) 2010 by the GPSD project * BSD terms apply: see the file COPYING in the distribution root for details. */ #include #include "gpsd.h" /* convert unsigned to signed */ #define uint2int( u, bit) ( u & (1<<(bit-1)) ? u - (1<subframe_count++ == 0) { speed_t speed = gpsd_get_speed(session); if (speed < 38400) gpsd_report(session->context->debug, LOG_WARN, "speed less than 38,400 may cause data lag and loss of functionality\n"); } /* * This function assumes an array of 10 ints, each of which carries * a raw 30-bit GPS word use your favorite search engine to find the * latest version of the specification: IS-GPS-200. * * Each raw 30-bit word is made of 24 data bits and 6 parity bits. The * raw word and transport word are emitted from the GPS MSB-first and * right justified. In other words, masking the raw word against 0x3f * will return just the parity bits. Masking with 0x3fffffff and shifting * 6 bits to the right returns just the 24 data bits. The top two bits * (b31 and b30) are undefined; chipset designers may store copies of * the bits D29* and D30* here to aid parity checking. * * Since bits D29* and D30* are not available in word 0, it is tested for * a known preamble to help check its validity and determine whether the * word is inverted. * */ gpsd_report(session->context->debug, LOG_IO, "50B: gpsd_interpret_subframe_raw: " "%08x %08x %08x %08x %08x %08x %08x %08x %08x %08x\n", words[0], words[1], words[2], words[3], words[4], words[5], words[6], words[7], words[8], words[9]); preamble = (uint8_t)((words[0] >> 22) & 0xFF); if (preamble == 0x8b) { /* preamble is inverted */ words[0] ^= 0x3fffffc0; /* invert */ } else if (preamble != 0x74) { /* strangely this is very common, so don't log it */ gpsd_report(session->context->debug, LOG_IO, "50B: gpsd_interpret_subframe_raw: bad preamble 0x%x\n", preamble); return 0; } words[0] = (words[0] >> 6) & 0xffffff; for (i = 1; i < 10; i++) { int invert; /* D30* says invert */ invert = (words[i] & 0x40000000) ? 1 : 0; /* inverted data, invert it back */ if (invert) { words[i] ^= 0x3fffffc0; } parity = (uint32_t)isgps_parity((isgps30bits_t)words[i]); if (parity != (words[i] & 0x3f)) { gpsd_report(session->context->debug, LOG_IO, "50B: gpsd_interpret_subframe_raw parity fail words[%d] 0x%x != 0x%x\n", i, parity, (words[i] & 0x1)); return 0; } words[i] = (words[i] >> 6) & 0xffffff; } return gpsd_interpret_subframe(session, tSVID, words); } /* you can find up to date almanac data for comparision here: * https://gps.afspc.af.mil/gps/Current/current.alm */ static void subframe_almanac(uint8_t tSVID, uint32_t words[], uint8_t subframe, uint8_t sv, uint8_t data_id, /*@out@*/struct almanac_t *almp, const int debug) { /*@+matchanyintegral -shiftimplementation@*/ almp->sv = sv; /* ignore the 0 sv problem for now */ almp->e = ( words[2] & 0x00FFFF); almp->d_eccentricity = pow(2.0,-21) * almp->e; /* carefull, each SV can have more than 2 toa's active at the same time * you can not just store one or two almanacs for each sat */ almp->toa = ((words[3] >> 16) & 0x0000FF); almp->l_toa = almp->toa << 12; almp->deltai = ( words[3] & 0x00FFFF); almp->d_deltai = pow(2.0, -19) * almp->deltai; almp->Omegad = ((words[4] >> 8) & 0x00FFFF); almp->d_Omegad = pow(2.0, -38) * almp->Omegad; almp->svh = ( words[4] & 0x0000FF); almp->sqrtA = ( words[5] & 0xFFFFFF); almp->d_sqrtA = pow(2.0,-11) * almp->sqrtA; almp->Omega0 = ( words[6] & 0xFFFFFF); almp->Omega0 = uint2int(almp->Omega0, 24); almp->d_Omega0 = pow(2.0, -23) * almp->Omega0; almp->omega = ( words[7] & 0xFFFFFF); almp->omega = uint2int(almp->omega, 24); almp->d_omega = pow(2.0, -23) * almp->omega; almp->M0 = ( words[8] & 0x00FFFFFF); almp->M0 = uint2int(almp->M0, 24); /* if you want radians, multiply by GPS_PI, but we do semi-circles * to match IS-GPS-200E */ almp->d_M0 = pow(2.0,-23) * almp->M0; almp->af1 = ((words[9] >> 5) & 0x0007FF); almp->af1 = (short)uint2int(almp->af1, 11); almp->d_af1 = pow(2.0,-38) * almp->af1; almp->af0 = ((words[9] >> 16) & 0x0000FF); almp->af0 <<= 3; almp->af0 |= ((words[9] >> 2) & 0x000007); almp->af0 = (short)uint2int(almp->af0, 11); almp->d_af0 = pow(2.0,-20) * almp->af0; gpsd_report(debug, LOG_PROG, "50B: SF:%d SV:%2u TSV:%2u data_id %d e:%g toa:%lu " "deltai:%.10e Omegad:%.5e svh:%u sqrtA:%.10g Omega0:%.10e " "omega:%.10e M0:%.11e af0:%.5e af1:%.5e\n", subframe, almp->sv, tSVID, data_id, almp->d_eccentricity, almp->l_toa, almp->d_deltai, almp->d_Omegad, almp->svh, almp->d_sqrtA, almp->d_Omega0, almp->d_omega, almp->d_M0, almp->d_af0, almp->d_af1); /*@-matchanyintegral -shiftimplementation@*/ } gps_mask_t gpsd_interpret_subframe(struct gps_device_t *session, unsigned int tSVID, uint32_t words[]) { /* * Heavy black magic begins here! * * A description of how to decode these bits is at * * * We're mostly looking for subframe 4 page 18 word 9, the leap second * correction. This functions assumes an array of words without parity * or inversion (inverted word 0 is OK). It may be called directly by a * driver if the chipset emits acceptable data. * * To date this code has been tested on iTrax, SiRF and ublox. */ /* FIXME!! I really doubt this is Big Endian compatible */ uint8_t preamble; int i = 0; /* handy loop counter */ struct subframe_t *subp = &session->gpsdata.subframe; gpsd_report(session->context->debug, LOG_IO, "50B: gpsd_interpret_subframe: (%d) " "%06x %06x %06x %06x %06x %06x %06x %06x %06x %06x\n", tSVID, words[0], words[1], words[2], words[3], words[4], words[5], words[6], words[7], words[8], words[9]); preamble = (uint8_t)((words[0] >> 16) & 0x0FF); if (preamble == 0x8b) { /* somehow missed an inversion */ preamble ^= 0xff; words[0] ^= 0xffffff; } if (preamble != 0x74) { gpsd_report(session->context->debug, LOG_WARN, "50B: gpsd_interpret_subframe bad preamble: 0x%x header 0x%x\n", preamble, words[0]); return 0; } subp->integrity = (bool)((words[0] >> 1) & 0x01); /* The subframe ID is in the Hand Over Word (page 80) */ subp->TOW17 = ((words[1] >> 7) & 0x01FFFF); subp->l_TOW17 = (long)(subp->TOW17 * 6); subp->tSVID = (uint8_t)tSVID; subp->subframe_num = ((words[1] >> 2) & 0x07); subp->alert = (bool)((words[1] >> 6) & 0x01); subp->antispoof = (bool)((words[1] >> 6) & 0x01); gpsd_report(session->context->debug, LOG_PROG, "50B: SF:%d SV:%2u TOW17:%7lu Alert:%u AS:%u IF:%d\n", subp->subframe_num, subp->tSVID, subp->l_TOW17, (unsigned)subp->alert, (unsigned)subp->antispoof, (unsigned)subp->integrity); /* * Consult the latest revision of IS-GPS-200 for the mapping * between magic SVIDs and pages. */ subp->pageid = (words[2] >> 16) & 0x00003F; /* only in frames 4 & 5 */ subp->data_id = (words[2] >> 22) & 0x3; /* only in frames 4 & 5 */ subp->is_almanac = 0; switch (subp->subframe_num) { case 1: /* subframe 1: clock parameters for transmitting SV */ /* get Week Number (WN) from subframe 1 */ /* * This only extracts 10 bits of GPS week. * 13 bits are available in the extension CNAV message, * which we don't decode yet because we don't know * of any receiver that reports it. */ session->context->gps_week = (unsigned short)((words[2] >> 14) & 0x03ff); subp->sub1.WN = (uint16_t)session->context->gps_week; subp->sub1.l2 = (uint8_t)((words[2] >> 12) & 0x000003); /* L2 Code */ subp->sub1.ura = (unsigned int)((words[2] >> 8) & 0x00000F); /* URA Index */ subp->sub1.hlth = (unsigned int)((words[2] >> 2) & 0x00003F); /* SV health */ subp->sub1.IODC = (words[2] & 0x000003); /* IODC 2 MSB */ subp->sub1.l2p = ((words[3] >> 23) & 0x000001); /* L2 P flag */ subp->sub1.Tgd = (int8_t)( words[6] & 0x0000FF); subp->sub1.d_Tgd = pow(2.0, -31) * (int)subp->sub1.Tgd; subp->sub1.toc = ( words[7] & 0x00FFFF); subp->sub1.l_toc = (long)subp->sub1.toc << 4; subp->sub1.af2 = (int8_t)((words[8] >> 16) & 0x0FF); subp->sub1.d_af2 = pow(2.0, -55) * (int)subp->sub1.af2; subp->sub1.af1 = (int16_t)( words[8] & 0x00FFFF); subp->sub1.d_af1 = pow(2.0, -43) * subp->sub1.af1; subp->sub1.af0 = (int32_t)((words[9] >> 2) & 0x03FFFFF); subp->sub1.af0 = uint2int(subp->sub1.af0, 22); subp->sub1.d_af0 = pow(2.0, -31) * subp->sub1.af0; subp->sub1.IODC <<= 8; subp->sub1.IODC |= ((words[7] >> 16) & 0x00FF); gpsd_report(session->context->debug, LOG_PROG, "50B: SF:1 SV:%2u WN:%4u IODC:%4u" " L2:%u ura:%u hlth:%u L2P:%u Tgd:%g toc:%lu af2:%.4g" " af1:%.6e af0:%.7e\n", subp->tSVID, subp->sub1.WN, subp->sub1.IODC, subp->sub1.l2, subp->sub1.ura, subp->sub1.hlth, subp->sub1.l2p, subp->sub1.d_Tgd, subp->sub1.l_toc, subp->sub1.d_af2, subp->sub1.d_af1, subp->sub1.d_af0); break; case 2: /* subframe 2: ephemeris for transmitting SV */ subp->sub2.IODE = ((words[2] >> 16) & 0x00FF); subp->sub2.Crs = (int16_t)( words[2] & 0x00FFFF); subp->sub2.d_Crs = pow(2.0,-5) * subp->sub2.Crs; subp->sub2.deltan = (int16_t)((words[3] >> 8) & 0x00FFFF); subp->sub2.d_deltan = pow(2.0,-43) * subp->sub2.deltan; subp->sub2.M0 = (int32_t)( words[3] & 0x0000FF); subp->sub2.M0 <<= 24; subp->sub2.M0 |= ( words[4] & 0x00FFFFFF); subp->sub2.d_M0 = pow(2.0,-31) * subp->sub2.M0 * GPS_PI; subp->sub2.Cuc = (int16_t)((words[5] >> 8) & 0x00FFFF); subp->sub2.d_Cuc = pow(2.0,-29) * subp->sub2.Cuc; subp->sub2.e = ( words[5] & 0x0000FF); subp->sub2.e <<= 24; subp->sub2.e |= ( words[6] & 0x00FFFFFF); subp->sub2.d_eccentricity = pow(2.0,-33) * subp->sub2.e; subp->sub2.Cus = (int16_t)((words[7] >> 8) & 0x00FFFF); subp->sub2.d_Cus = pow(2.0,-29) * subp->sub2.Cus; subp->sub2.sqrtA = ( words[7] & 0x0000FF); subp->sub2.sqrtA <<= 24; subp->sub2.sqrtA |= ( words[8] & 0x00FFFFFF); subp->sub2.d_sqrtA = pow(2.0, -19) * subp->sub2.sqrtA; subp->sub2.toe = ((words[9] >> 8) & 0x00FFFF); subp->sub2.l_toe = (long)(subp->sub2.toe << 4); subp->sub2.fit = ((words[9] >> 7) & 0x000001); subp->sub2.AODO = ((words[9] >> 2) & 0x00001F); subp->sub2.u_AODO = subp->sub2.AODO * 900; gpsd_report(session->context->debug, LOG_PROG, "50B: SF:2 SV:%2u IODE:%3u Crs:%.6e deltan:%.6e " "M0:%.11e Cuc:%.6e e:%f Cus:%.6e sqrtA:%.11g " "toe:%lu FIT:%u AODO:%5u\n", subp->tSVID, subp->sub2.IODE, subp->sub2.d_Crs, subp->sub2.d_deltan, subp->sub2.d_M0, subp->sub2.d_Cuc, subp->sub2.d_eccentricity, subp->sub2.d_Cus, subp->sub2.d_sqrtA, subp->sub2.l_toe, subp->sub2.fit, subp->sub2.u_AODO); break; case 3: /* subframe 3: ephemeris for transmitting SV */ subp->sub3.Cic = (int16_t)((words[2] >> 8) & 0x00FFFF); subp->sub3.d_Cic = pow(2.0, -29) * subp->sub3.Cic; subp->sub3.Omega0 = (int32_t)(words[2] & 0x0000FF); subp->sub3.Omega0 <<= 24; subp->sub3.Omega0 |= ( words[3] & 0x00FFFFFF); subp->sub3.d_Omega0 = pow(2.0, -31) * subp->sub3.Omega0; subp->sub3.Cis = (int16_t)((words[4] >> 8) & 0x00FFFF); subp->sub3.d_Cis = pow(2.0, -29) * subp->sub3.Cis; subp->sub3.i0 = (int32_t)(words[4] & 0x0000FF); subp->sub3.i0 <<= 24; subp->sub3.i0 |= ( words[5] & 0x00FFFFFF); subp->sub3.d_i0 = pow(2.0, -31) * subp->sub3.i0; subp->sub3.Crc = (int16_t)((words[6] >> 8) & 0x00FFFF); subp->sub3.d_Crc = pow(2.0, -5) * subp->sub3.Crc; subp->sub3.omega = (int32_t)(words[6] & 0x0000FF); subp->sub3.omega <<= 24; subp->sub3.omega |= ( words[7] & 0x00FFFFFF); subp->sub3.d_omega = pow(2.0, -31) * subp->sub3.omega; subp->sub3.Omegad = (int32_t)(words[8] & 0x00FFFFFF); subp->sub3.Omegad = uint2int(subp->sub3.Omegad, 24); subp->sub3.d_Omegad = pow(2.0, -43) * subp->sub3.Omegad; subp->sub3.IODE = ((words[9] >> 16) & 0x0000FF); subp->sub3.IDOT = (int16_t)((words[9] >> 2) & 0x003FFF); subp->sub3.IDOT = uint2int(subp->sub3.IDOT, 14); subp->sub3.d_IDOT = pow(2.0, -43) * subp->sub3.IDOT; gpsd_report(session->context->debug, LOG_PROG, "50B: SF:3 SV:%2u IODE:%3u I IDOT:%.6g Cic:%.6e Omega0:%.11e " " Cis:%.7g i0:%.11e Crc:%.7g omega:%.11e Omegad:%.6e\n", subp->tSVID, subp->sub3.IODE, subp->sub3.d_IDOT, subp->sub3.d_Cic, subp->sub3.d_Omega0, subp->sub3.d_Cis, subp->sub3.d_i0, subp->sub3.d_Crc, subp->sub3.d_omega, subp->sub3.d_Omegad ); break; case 4: { int sv = -2; switch (subp->pageid) { case 0: /* almanac for dummy sat 0, which is same as transmitting sat */ sv = 0; break; case 1: case 6: case 11: case 16: case 21: case 57: /* for some inscutable reason these pages are all sent * as page 57, IS-GPS-200E Table 20-V */ break; case 12: case 24: case 62: /* for some inscrutable reason these pages are all sent * as page 62, IS-GPS-200E Table 20-V */ break; case 14: case 53: /* for some inscrutable reason page 14 is sent * as page 53, IS-GPS-200E Table 20-V */ break; case 15: case 54: /* for some inscrutable reason page 15 is sent * as page 54, IS-GPS-200E Table 20-V */ break; case 19: /* for some inscrutable reason page 20 is sent * as page 58, IS-GPS-200E Table 20-V */ /* reserved page */ break; case 20: /* for some inscrutable reason page 20 is sent * as page 59, IS-GPS-200E Table 20-V */ /* reserved page */ break; case 22: case 60: /* for some inscrutable reason page 22 is sent * as page 60, IS-GPS-200E Table 20-V */ /* reserved page */ break; case 23: case 61: /* for some inscrutable reason page 23 is sent * as page 61, IS-GPS-200E Table 20-V */ /* reserved page */ break; /* almanac data for SV 25 through 32 respectively; */ case 2: sv = 25; break; case 3: sv = 26; break; case 4: sv = 27; break; case 5: sv = 28; break; case 7: sv = 29; break; case 8: sv = 30; break; case 9: sv = 31; break; case 10: sv = 32; break; case 13: case 52: /* NMCT */ sv = -1; subp->sub4_13.ai = (unsigned char)((words[2] >> 22) & 0x000003); /*@+charint@*/ subp->sub4_13.ERD[1] = (char)((words[2] >> 8) & 0x00003F); subp->sub4_13.ERD[2] = (char)((words[2] >> 2) & 0x00003F); subp->sub4_13.ERD[3] = (char)((words[2] >> 0) & 0x000003); subp->sub4_13.ERD[3] <<= 2; subp->sub4_13.ERD[3] |= (char)((words[3] >> 20) & 0x00000F); subp->sub4_13.ERD[4] = (char)((words[3] >> 14) & 0x00003F); subp->sub4_13.ERD[5] = (char)((words[3] >> 8) & 0x00003F); subp->sub4_13.ERD[6] = (char)((words[3] >> 2) & 0x00003F); subp->sub4_13.ERD[7] = (char)((words[3] >> 0) & 0x000003); subp->sub4_13.ERD[7] <<= 2; subp->sub4_13.ERD[7] |= (char)((words[4] >> 20) & 0x00000F); subp->sub4_13.ERD[8] = (char)((words[4] >> 14) & 0x00003F); subp->sub4_13.ERD[9] = (char)((words[4] >> 8) & 0x00003F); subp->sub4_13.ERD[10] = (char)((words[4] >> 2) & 0x00003F); subp->sub4_13.ERD[11] = (char)((words[4] >> 0) & 0x00000F); subp->sub4_13.ERD[11] <<= 2; subp->sub4_13.ERD[11] |= (char)((words[5] >> 20) & 0x00000F); subp->sub4_13.ERD[12] = (char)((words[5] >> 14) & 0x00003F); subp->sub4_13.ERD[13] = (char)((words[5] >> 8) & 0x00003F); subp->sub4_13.ERD[14] = (char)((words[5] >> 2) & 0x00003F); subp->sub4_13.ERD[15] = (char)((words[5] >> 0) & 0x000003); subp->sub4_13.ERD[15] <<= 2; subp->sub4_13.ERD[15] |= (char)((words[6] >> 20) & 0x00000F); subp->sub4_13.ERD[16] = (char)((words[6] >> 14) & 0x00003F); subp->sub4_13.ERD[17] = (char)((words[6] >> 8) & 0x00003F); subp->sub4_13.ERD[18] = (char)((words[6] >> 2) & 0x00003F); subp->sub4_13.ERD[19] = (char)((words[6] >> 0) & 0x000003); subp->sub4_13.ERD[19] <<= 2; subp->sub4_13.ERD[19] |= (char)((words[7] >> 20) & 0x00000F); subp->sub4_13.ERD[20] = (char)((words[7] >> 14) & 0x00003F); subp->sub4_13.ERD[21] = (char)((words[7] >> 8) & 0x00003F); subp->sub4_13.ERD[22] = (char)((words[7] >> 2) & 0x00003F); subp->sub4_13.ERD[23] = (char)((words[7] >> 0) & 0x000003); subp->sub4_13.ERD[23] <<= 2; subp->sub4_13.ERD[23] |= (char)((words[8] >> 20) & 0x00000F); subp->sub4_13.ERD[24] = (char)((words[8] >> 14) & 0x00003F); subp->sub4_13.ERD[25] = (char)((words[8] >> 8) & 0x00003F); subp->sub4_13.ERD[26] = (char)((words[8] >> 2) & 0x00003F); subp->sub4_13.ERD[27] = (char)((words[8] >> 0) & 0x000003); subp->sub4_13.ERD[27] <<= 2; subp->sub4_13.ERD[27] |= (char)((words[9] >> 20) & 0x00000F); subp->sub4_13.ERD[28] = (char)((words[9] >> 14) & 0x00003F); subp->sub4_13.ERD[29] = (char)((words[9] >> 8) & 0x00003F); subp->sub4_13.ERD[30] = (char)((words[9] >> 2) & 0x00003F); for ( i = 1; i < 31; i++ ) { subp->sub4_13.ERD[i] = uint2int(subp->sub4_13.ERD[i], 6); } /*@-charint@*/ gpsd_report(session->context->debug, LOG_PROG, "50B: SF:4-13 data_id %d ai:%u " "ERD1:%d ERD2:%d ERD3:%d ERD4:%d " "ERD5:%d ERD6:%d ERD7:%d ERD8:%d " "ERD9:%d ERD10:%d ERD11:%d ERD12:%d " "ERD13:%d ERD14:%d ERD15:%d ERD16:%d " "ERD17:%d ERD18:%d ERD19:%d ERD20:%d " "ERD21:%d ERD22:%d ERD23:%d ERD24:%d " "ERD25:%d ERD26:%d ERD27:%d ERD28:%d " "ERD29:%d ERD30:%d\n", subp->data_id, subp->sub4_13.ai, subp->sub4_13.ERD[1], subp->sub4_13.ERD[2], subp->sub4_13.ERD[3], subp->sub4_13.ERD[4], subp->sub4_13.ERD[5], subp->sub4_13.ERD[6], subp->sub4_13.ERD[7], subp->sub4_13.ERD[8], subp->sub4_13.ERD[9], subp->sub4_13.ERD[10], subp->sub4_13.ERD[11], subp->sub4_13.ERD[12], subp->sub4_13.ERD[13], subp->sub4_13.ERD[14], subp->sub4_13.ERD[15], subp->sub4_13.ERD[16], subp->sub4_13.ERD[17], subp->sub4_13.ERD[18], subp->sub4_13.ERD[19], subp->sub4_13.ERD[20], subp->sub4_13.ERD[21], subp->sub4_13.ERD[22], subp->sub4_13.ERD[23], subp->sub4_13.ERD[24], subp->sub4_13.ERD[25], subp->sub4_13.ERD[26], subp->sub4_13.ERD[27], subp->sub4_13.ERD[28], subp->sub4_13.ERD[29], subp->sub4_13.ERD[30]); break; case 25: case 63: /* for some inscrutable reason page 25 is sent * as page 63, IS-GPS-200E Table 20-V */ /* A-S flags/SV configurations for 32 SVs, * plus SV health for SV 25 through 32 */ sv = -1; subp->sub4_25.svf[1] = (unsigned char)((words[2] >> 12) & 0x0F); subp->sub4_25.svf[2] = (unsigned char)((words[2] >> 8) & 0x0F); subp->sub4_25.svf[3] = (unsigned char)((words[2] >> 4) & 0x0F); subp->sub4_25.svf[4] = (unsigned char)((words[2] >> 0) & 0x0F); subp->sub4_25.svf[5] = (unsigned char)((words[3] >> 20) & 0x0F); subp->sub4_25.svf[6] = (unsigned char)((words[3] >> 16) & 0x0F); subp->sub4_25.svf[7] = (unsigned char)((words[3] >> 12) & 0x0F); subp->sub4_25.svf[8] = (unsigned char)((words[3] >> 8) & 0x0F); subp->sub4_25.svf[9] = (unsigned char)((words[3] >> 4) & 0x0F); subp->sub4_25.svf[10] = (unsigned char)((words[3] >> 0) & 0x0F); subp->sub4_25.svf[11] = (unsigned char)((words[4] >> 20) & 0x0F); subp->sub4_25.svf[12] = (unsigned char)((words[4] >> 16) & 0x0F); subp->sub4_25.svf[13] = (unsigned char)((words[4] >> 12) & 0x0F); subp->sub4_25.svf[14] = (unsigned char)((words[4] >> 8) & 0x0F); subp->sub4_25.svf[15] = (unsigned char)((words[4] >> 4) & 0x0F); subp->sub4_25.svf[16] = (unsigned char)((words[4] >> 0) & 0x0F); subp->sub4_25.svf[17] = (unsigned char)((words[5] >> 20) & 0x0F); subp->sub4_25.svf[18] = (unsigned char)((words[5] >> 16) & 0x0F); subp->sub4_25.svf[19] = (unsigned char)((words[5] >> 12) & 0x0F); subp->sub4_25.svf[20] = (unsigned char)((words[5] >> 8) & 0x0F); subp->sub4_25.svf[21] = (unsigned char)((words[5] >> 4) & 0x0F); subp->sub4_25.svf[22] = (unsigned char)((words[5] >> 0) & 0x0F); subp->sub4_25.svf[23] = (unsigned char)((words[6] >> 20) & 0x0F); subp->sub4_25.svf[24] = (unsigned char)((words[6] >> 16) & 0x0F); subp->sub4_25.svf[25] = (unsigned char)((words[6] >> 12) & 0x0F); subp->sub4_25.svf[26] = (unsigned char)((words[6] >> 8) & 0x0F); subp->sub4_25.svf[27] = (unsigned char)((words[6] >> 4) & 0x0F); subp->sub4_25.svf[28] = (unsigned char)((words[6] >> 0) & 0x0F); subp->sub4_25.svf[29] = (unsigned char)((words[7] >> 20) & 0x0F); subp->sub4_25.svf[30] = (unsigned char)((words[7] >> 16) & 0x0F); subp->sub4_25.svf[31] = (unsigned char)((words[7] >> 12) & 0x0F); subp->sub4_25.svf[32] = (unsigned char)((words[7] >> 8) & 0x0F); subp->sub4_25.svhx[0] = ((words[7] >> 0) & 0x00003F); subp->sub4_25.svhx[1] = ((words[8] >> 18) & 0x00003F); subp->sub4_25.svhx[2] = ((words[8] >> 12) & 0x00003F); subp->sub4_25.svhx[3] = ((words[8] >> 6) & 0x00003F); subp->sub4_25.svhx[4] = ((words[8] >> 0) & 0x00003F); subp->sub4_25.svhx[5] = ((words[9] >> 18) & 0x00003F); subp->sub4_25.svhx[6] = ((words[9] >> 12) & 0x00003F); subp->sub4_25.svhx[7] = ((words[9] >> 6) & 0x00003F); gpsd_report(session->context->debug, LOG_PROG, "50B: SF:4-25 data_id %d " "SV1:%u SV2:%u SV3:%u SV4:%u " "SV5:%u SV6:%u SV7:%u SV8:%u " "SV9:%u SV10:%u SV11:%u SV12:%u " "SV13:%u SV14:%u SV15:%u SV16:%u " "SV17:%u SV18:%u SV19:%u SV20:%u " "SV21:%u SV22:%u SV23:%u SV24:%u " "SV25:%u SV26:%u SV27:%u SV28:%u " "SV29:%u SV30:%u SV31:%u SV32:%u " "SVH25:%u SVH26:%u SVH27:%u SVH28:%u " "SVH29:%u SVH30:%u SVH31:%u SVH32:%u\n", subp->data_id, subp->sub4_25.svf[1], subp->sub4_25.svf[2], subp->sub4_25.svf[3], subp->sub4_25.svf[4], subp->sub4_25.svf[5], subp->sub4_25.svf[6], subp->sub4_25.svf[7], subp->sub4_25.svf[8], subp->sub4_25.svf[9], subp->sub4_25.svf[10], subp->sub4_25.svf[11], subp->sub4_25.svf[12], subp->sub4_25.svf[13], subp->sub4_25.svf[14], subp->sub4_25.svf[15], subp->sub4_25.svf[16], subp->sub4_25.svf[17], subp->sub4_25.svf[18], subp->sub4_25.svf[19], subp->sub4_25.svf[20], subp->sub4_25.svf[21], subp->sub4_25.svf[22], subp->sub4_25.svf[23], subp->sub4_25.svf[24], subp->sub4_25.svf[25], subp->sub4_25.svf[26], subp->sub4_25.svf[27], subp->sub4_25.svf[28], subp->sub4_25.svf[29], subp->sub4_25.svf[30], subp->sub4_25.svf[31], subp->sub4_25.svf[32], subp->sub4_25.svhx[0], subp->sub4_25.svhx[1], subp->sub4_25.svhx[2], subp->sub4_25.svhx[3], subp->sub4_25.svhx[4], subp->sub4_25.svhx[5], subp->sub4_25.svhx[6], subp->sub4_25.svhx[7]); break; case 33: case 34: case 35: case 36: case 37: case 38: case 39: case 40: case 41: case 42: case 43: case 44: case 45: case 46: case 47: case 48: case 49: case 50: /* unassigned */ break; case 51: /* unknown */ break; case 17: case 55: /* for some inscrutable reason page 17 is sent * as page 55, IS-GPS-200E Table 20-V */ sv = -1; /* * "The requisite 176 bits shall occupy bits 9 through 24 * of word TWO, the 24 MSBs of words THREE through EIGHT, * plus the 16 MSBs of word NINE." (word numbers changed * to account for zero-indexing) * Since we've already stripped the low six parity bits, * and shifted the data to a byte boundary, we can just * copy it out. */ /*@ -type @*/ i = 0; subp->sub4_17.str[i++] = (words[2] >> 8) & 0xff; subp->sub4_17.str[i++] = (words[2]) & 0xff; subp->sub4_17.str[i++] = (words[3] >> 16) & 0xff; subp->sub4_17.str[i++] = (words[3] >> 8) & 0xff; subp->sub4_17.str[i++] = (words[3]) & 0xff; subp->sub4_17.str[i++] = (words[4] >> 16) & 0xff; subp->sub4_17.str[i++] = (words[4] >> 8) & 0xff; subp->sub4_17.str[i++] = (words[4]) & 0xff; subp->sub4_17.str[i++] = (words[5] >> 16) & 0xff; subp->sub4_17.str[i++] = (words[5] >> 8) & 0xff; subp->sub4_17.str[i++] = (words[5]) & 0xff; subp->sub4_17.str[i++] = (words[6] >> 16) & 0xff; subp->sub4_17.str[i++] = (words[6] >> 8) & 0xff; subp->sub4_17.str[i++] = (words[6]) & 0xff; subp->sub4_17.str[i++] = (words[7] >> 16) & 0xff; subp->sub4_17.str[i++] = (words[7] >> 8) & 0xff; subp->sub4_17.str[i++] = (words[7]) & 0xff; subp->sub4_17.str[i++] = (words[8] >> 16) & 0xff; subp->sub4_17.str[i++] = (words[8] >> 8) & 0xff; subp->sub4_17.str[i++] = (words[8]) & 0xff; subp->sub4_17.str[i++] = (words[9] >> 16) & 0xff; subp->sub4_17.str[i++] = (words[9] >> 8) & 0xff; subp->sub4_17.str[i] = '\0'; /*@ +type @*/ gpsd_report(session->context->debug, LOG_PROG, "50B: SF:4-17 system message: %.24s\n", subp->sub4_17.str); break; case 18: case 56: /* for some inscrutable reason page 18 is sent * as page 56, IS-GPS-200E Table 20-V */ /* ionospheric and UTC data */ sv = -1; /* current leap seconds */ subp->sub4_18.alpha0 = (int8_t)((words[2] >> 8) & 0x0000FF); subp->sub4_18.d_alpha0 = pow(2.0, -30) * (int)subp->sub4_18.alpha0; subp->sub4_18.alpha1 = (int8_t)((words[2] >> 0) & 0x0000FF); subp->sub4_18.d_alpha1 = pow(2.0, -27) * (int)subp->sub4_18.alpha1; subp->sub4_18.alpha2 = (int8_t)((words[3] >> 16) & 0x0000FF); subp->sub4_18.d_alpha2 = pow(2.0, -24) * (int)subp->sub4_18.alpha2; subp->sub4_18.alpha3 = (int8_t)((words[3] >> 8) & 0x0000FF); subp->sub4_18.d_alpha3 = pow(2.0, -24) * (int)subp->sub4_18.alpha3; subp->sub4_18.beta0 = (int8_t)((words[3] >> 0) & 0x0000FF); subp->sub4_18.d_beta0 = pow(2.0, 11) * (int)subp->sub4_18.beta0; subp->sub4_18.beta1 = (int8_t)((words[4] >> 16) & 0x0000FF); subp->sub4_18.d_beta1 = pow(2.0, 14) * (int)subp->sub4_18.beta1; subp->sub4_18.beta2 = (int8_t)((words[4] >> 8) & 0x0000FF); subp->sub4_18.d_beta2 = pow(2.0, 16) * (int)subp->sub4_18.beta2; subp->sub4_18.beta3 = (int8_t)((words[4] >> 0) & 0x0000FF); subp->sub4_18.d_beta3 = pow(2.0, 16) * (int)subp->sub4_18.beta3; subp->sub4_18.A1 = (int32_t)((words[5] >> 0) & 0xFFFFFF); subp->sub4_18.A1 = uint2int(subp->sub4_18.A1, 24); subp->sub4_18.d_A1 = pow(2.0,-50) * subp->sub4_18.A1; subp->sub4_18.A0 = (int32_t)((words[6] >> 0) & 0xFFFFFF); subp->sub4_18.A0 <<= 8; subp->sub4_18.A0 |= ((words[7] >> 16) & 0x0000FF); subp->sub4_18.d_A0 = pow(2.0,-30) * subp->sub4_18.A0; /* careful WN is 10 bits, but WNt is 8 bits! */ /* WNt (Week Number of LSF) */ subp->sub4_18.tot = ((words[7] >> 8) & 0x0000FF); subp->sub4_18.d_tot = pow(2.0,12) * subp->sub4_18.tot; subp->sub4_18.WNt = ((words[7] >> 0) & 0x0000FF); subp->sub4_18.leap = (int8_t)((words[8] >> 16) & 0x0000FF); subp->sub4_18.WNlsf = ((words[8] >> 8) & 0x0000FF); /* DN (Day Number of LSF) */ subp->sub4_18.DN = (words[8] & 0x0000FF); /* leap second future */ subp->sub4_18.lsf = (int8_t)((words[9] >> 16) & 0x0000FF); gpsd_report(session->context->debug, LOG_PROG, "50B: SF:4-18 a0:%.5g a1:%.5g a2:%.5g a3:%.5g " "b0:%.5g b1:%.5g b2:%.5g b3:%.5g " "A1:%.11e A0:%.11e tot:%.5g WNt:%u " "ls: %d WNlsf:%u DN:%u, lsf:%d\n", subp->sub4_18.d_alpha0, subp->sub4_18.d_alpha1, subp->sub4_18.d_alpha2, subp->sub4_18.d_alpha3, subp->sub4_18.d_beta0, subp->sub4_18.d_beta1, subp->sub4_18.d_beta2, subp->sub4_18.d_beta3, subp->sub4_18.d_A1, subp->sub4_18.d_A0, subp->sub4_18.d_tot, subp->sub4_18.WNt, subp->sub4_18.leap, subp->sub4_18.WNlsf, subp->sub4_18.DN, subp->sub4_18.lsf); #ifdef NTPSHM_ENABLE /* IS-GPS-200 Revision E, paragraph 20.3.3.5.2.4 */ if (((session->context->gps_week % 256) == (unsigned short)subp->sub4_18.WNlsf) && /* notify the leap seconds correction in the end of current day */ ((double)((subp->sub4_18.DN - 1) * SECS_PER_DAY) < session->context->gps_tow) && ((double)(subp->sub4_18.DN * SECS_PER_DAY) > session->context->gps_tow)) { if ( subp->sub4_18.leap < subp->sub4_18.lsf ) session->context->leap_notify = LEAP_ADDSECOND; else if ( subp->sub4_18.leap > subp->sub4_18.lsf ) session->context->leap_notify = LEAP_DELSECOND; else session->context->leap_notify = LEAP_NOWARNING; } else session->context->leap_notify = LEAP_NOWARNING; #endif /* NTPSHM_ENABLE */ session->context->leap_seconds = (int)subp->sub4_18.leap; session->context->valid |= LEAP_SECOND_VALID; break; default: ; /* no op */ } if ( -1 < sv ) { subp->is_almanac = 1; subframe_almanac(subp->tSVID, words, subp->subframe_num, (uint8_t)sv, subp->data_id, &subp->sub4.almanac, session->context->debug); } else if ( -2 == sv ) { /* unknown or secret page */ gpsd_report(session->context->debug, LOG_PROG, "50B: SF:4-%d data_id %d\n", subp->pageid, subp->data_id); return 0; } /* else, already handled */ } break; case 5: /* Pages 0, dummy almanac for dummy SV 0 * Pages 1 through 24: almanac data for SV 1 through 24 * Page 25: SV health data for SV 1 through 24, the almanac * reference time, the almanac reference week number. */ if ( 25 > subp->pageid ) { subp->is_almanac = 1; subframe_almanac(subp->tSVID, words, subp->subframe_num, subp->pageid, subp->data_id, &subp->sub5.almanac, session->context->debug); } else if ( 51 == subp->pageid ) { /* for some inscrutable reason page 25 is sent as page 51 * IS-GPS-200E Table 20-V */ subp->sub5_25.toa = ((words[2] >> 8) & 0x0000FF); subp->sub5_25.l_toa <<= 12; subp->sub5_25.WNa = ( words[2] & 0x0000FF); subp->sub5_25.sv[1] = ((words[2] >> 18) & 0x00003F); subp->sub5_25.sv[2] = ((words[2] >> 12) & 0x00003F); subp->sub5_25.sv[3] = ((words[2] >> 6) & 0x00003F); subp->sub5_25.sv[4] = ((words[2] >> 0) & 0x00003F); subp->sub5_25.sv[5] = ((words[3] >> 18) & 0x00003F); subp->sub5_25.sv[6] = ((words[3] >> 12) & 0x00003F); subp->sub5_25.sv[7] = ((words[3] >> 6) & 0x00003F); subp->sub5_25.sv[8] = ((words[3] >> 0) & 0x00003F); subp->sub5_25.sv[9] = ((words[4] >> 18) & 0x00003F); subp->sub5_25.sv[10] = ((words[4] >> 12) & 0x00003F); subp->sub5_25.sv[11] = ((words[4] >> 6) & 0x00003F); subp->sub5_25.sv[12] = ((words[4] >> 0) & 0x00003F); subp->sub5_25.sv[13] = ((words[5] >> 18) & 0x00003F); subp->sub5_25.sv[14] = ((words[5] >> 12) & 0x00003F); subp->sub5_25.sv[15] = ((words[5] >> 6) & 0x00003F); subp->sub5_25.sv[16] = ((words[5] >> 0) & 0x00003F); subp->sub5_25.sv[17] = ((words[6] >> 18) & 0x00003F); subp->sub5_25.sv[18] = ((words[6] >> 12) & 0x00003F); subp->sub5_25.sv[19] = ((words[6] >> 6) & 0x00003F); subp->sub5_25.sv[20] = ((words[6] >> 0) & 0x00003F); subp->sub5_25.sv[21] = ((words[7] >> 18) & 0x00003F); subp->sub5_25.sv[22] = ((words[7] >> 12) & 0x00003F); subp->sub5_25.sv[23] = ((words[7] >> 6) & 0x00003F); subp->sub5_25.sv[24] = ((words[7] >> 0) & 0x00003F); gpsd_report(session->context->debug, LOG_PROG, "50B: SF:5-25 SV:%2u ID:%u toa:%lu WNa:%u " "SV1:%u SV2:%u SV3:%u SV4:%u " "SV5:%u SV6:%u SV7:%u SV8:%u " "SV9:%u SV10:%u SV11:%u SV12:%u " "SV13:%u SV14:%u SV15:%u SV16:%u " "SV17:%u SV18:%u SV19:%u SV20:%u " "SV21:%u SV22:%u SV23:%u SV24:%u\n", subp->tSVID, subp->data_id, subp->sub5_25.l_toa, subp->sub5_25.WNa, subp->sub5_25.sv[1], subp->sub5_25.sv[2], subp->sub5_25.sv[3], subp->sub5_25.sv[4], subp->sub5_25.sv[5], subp->sub5_25.sv[6], subp->sub5_25.sv[7], subp->sub5_25.sv[8], subp->sub5_25.sv[9], subp->sub5_25.sv[10], subp->sub5_25.sv[11], subp->sub5_25.sv[12], subp->sub5_25.sv[13], subp->sub5_25.sv[14], subp->sub5_25.sv[15], subp->sub5_25.sv[16], subp->sub5_25.sv[17], subp->sub5_25.sv[18], subp->sub5_25.sv[19], subp->sub5_25.sv[20], subp->sub5_25.sv[21], subp->sub5_25.sv[22], subp->sub5_25.sv[23], subp->sub5_25.sv[24]); } else { /* unknown page */ gpsd_report(session->context->debug, LOG_PROG, "50B: SF:5-%d data_id %d uknown page\n", subp->pageid, subp->data_id); return 0; } break; default: /* unknown/illegal subframe */ return 0; } return SUBFRAME_SET; } /*@ +usedef @*/