1 /* gps.h -- interface of the libgps library */ 2 /* 3 * This file is Copyright (c) 2010 by the GPSD project 4 * BSD terms apply: see the file COPYING in the distribution root for details. 5 */ 6 #ifndef _GPSD_GPS_H_ 7 #define _GPSD_GPS_H_ 8 9 #ifdef __cplusplus 10 extern "C" { 11 #endif 12 13 /* Macro for declaring function arguments unused. */ 14 #if defined(__GNUC__) 15 # define UNUSED __attribute__((unused)) /* Flag variable as unused */ 16 #else /* not __GNUC__ */ 17 # define UNUSED 18 #endif 19 20 21 #include <sys/types.h> 22 #include <sys/time.h> 23 #include <stdbool.h> 24 #include <inttypes.h> /* stdint.h would be smaller but not all have it */ 25 #include <limits.h> 26 #include <time.h> 27 #include <signal.h> 28 #include <stdio.h> 29 #ifndef S_SPLINT_S 30 #include <pthread.h> /* pacifies OpenBSD's compiler */ 31 #endif 32 33 /* 34 * 4.1 - Base version for initial JSON protocol (Dec 2009, release 2.90) 35 * 4.2 - AIS application IDs split into DAC and FID (July 2010, release 2.95) 36 * 5.0 - MAXCHANNELS bumped from 20 to 32 for GLONASS (Mar 2011, release 2.96) 37 * gps_open() becomes reentrant, what gps_open_r() used to be. 38 * gps_poll() removed in favor of gps_read(). The raw hook is gone. 39 */ 40 #define GPSD_API_MAJOR_VERSION 5 /* bump on incompatible changes */ 41 #define GPSD_API_MINOR_VERSION 0 /* bump on compatible changes */ 42 43 #define MAXTAGLEN 8 /* maximum length of sentence tag name */ 44 #define MAXCHANNELS 72 /* must be > 12 GPS + 12 GLONASS + 2 WAAS */ 45 #define GPS_PRNMAX 32 /* above this number are SBAS satellites */ 46 #define GPS_PATH_MAX 64 /* dev files usually have short names */ 47 #define MAXUSERDEVS 4 /* max devices per user */ 48 49 /* 50 * The structure describing an uncertainty volume in kinematic space. 51 * This is what GPSes are meant to produce; all the other info is 52 * technical impedimenta. 53 * 54 * All double values use NAN to indicate data not available. 55 * 56 * Usually all the information in this structure was considered valid 57 * by the GPS at the time of update. This will be so if you are using 58 * a GPS chipset that speaks SiRF binary, Garmin binary, or Zodiac binary. 59 * This covers over 80% of GPS products in early 2005. 60 * 61 * If you are using a chipset that speaks NMEA, this structure is updated 62 * in bits by GPRMC (lat/lon, track, speed), GPGGA (alt, climb), GPGLL 63 * (lat/lon), and GPGSA (eph, epv). Most NMEA GPSes take a single fix 64 * at the beginning of a 1-second cycle and report the same timestamp in 65 * GPRMC, GPGGA, and GPGLL; for these, all info is guaranteed correctly 66 * synced to the time member, but you'll get different stages of the same 67 * update depending on where in the cycle you poll. A very few GPSes, 68 * like the Garmin 48, take a new fix before more than one of of 69 * GPRMC/GPGGA/GPGLL during a single cycle; thus, they may have different 70 * timestamps and some data in this structure can be up to 1 cycle (usually 71 * 1 second) older than the fix time. 72 * 73 * Error estimates are at 95% confidence. 74 */ 75 typedef double timestamp_t; /* Unix time in seconds with fractional part */ 76 77 struct gps_fix_t { 78 timestamp_t time; /* Time of update */ 79 int mode; /* Mode of fix */ 80 #define MODE_NOT_SEEN 0 /* mode update not seen yet */ 81 #define MODE_NO_FIX 1 /* none */ 82 #define MODE_2D 2 /* good for latitude/longitude */ 83 #define MODE_3D 3 /* good for altitude/climb too */ 84 double ept; /* Expected time uncertainty */ 85 double latitude; /* Latitude in degrees (valid if mode >= 2) */ 86 double epy; /* Latitude position uncertainty, meters */ 87 double longitude; /* Longitude in degrees (valid if mode >= 2) */ 88 double epx; /* Longitude position uncertainty, meters */ 89 double altitude; /* Altitude in meters (valid if mode == 3) */ 90 double epv; /* Vertical position uncertainty, meters */ 91 double track; /* Course made good (relative to true north) */ 92 double epd; /* Track uncertainty, degrees */ 93 double speed; /* Speed over ground, meters/sec */ 94 double eps; /* Speed uncertainty, meters/sec */ 95 double climb; /* Vertical speed, meters/sec */ 96 double epc; /* Vertical speed uncertainty */ 97 }; 98 99 /* 100 * The structure describing the pseudorange errors (GPGST) 101 */ 102 struct gst_t { 103 double utctime; 104 double rms_deviation; 105 double smajor_deviation; 106 double sminor_deviation; 107 double smajor_orientation; 108 double lat_err_deviation; 109 double lon_err_deviation; 110 double alt_err_deviation; 111 }; 112 113 /* 114 * From the RCTM104 2.x standard: 115 * 116 * "The 30 bit words (as opposed to 32 bit words) coupled with a 50 Hz 117 * transmission rate provides a convenient timing capability where the 118 * times of word boundaries are a rational multiple of 0.6 seconds." 119 * 120 * "Each frame is N+2 words long, where N is the number of message data 121 * words. For example, a filler message (type 6 or 34) with no message 122 * data will have N=0, and will consist only of two header words. The 123 * maximum number of data words allowed by the format is 31, so that 124 * the longest possible message will have a total of 33 words." 125 */ 126 #define RTCM2_WORDS_MAX 33 127 #define MAXCORRECTIONS 18 /* max correction count in type 1 or 9 */ 128 #define MAXSTATIONS 10 /* maximum stations in almanac, type 5 */ 129 /* RTCM104 doesn't specify this, so give it the largest reasonable value */ 130 #define MAXHEALTH (RTCM2_WORDS_MAX-2) 131 132 #ifndef S_SPLINT_S 133 /* 134 * A nominally 30-bit word (24 bits of data, 6 bits of parity) 135 * used both in the GPS downlink protocol described in IS-GPS-200 136 * and in the format for DGPS corrections used in RTCM-104v2. 137 */ 138 typedef /*@unsignedintegraltype@*/ uint32_t isgps30bits_t; 139 #endif /* S_SPLINT_S */ 140 141 /* 142 * Values for "system" fields. Note, the encoding logic is senstive to the 143 * actual values of these; it's not sufficient that they're distinct. 144 */ 145 #define NAVSYSTEM_GPS 0 146 #define NAVSYSTEM_GLONASS 1 147 #define NAVSYSTEM_GALILEO 2 148 #define NAVSYSTEM_UNKNOWN 3 149 150 struct rtcm2_t { 151 /* header contents */ 152 unsigned type; /* RTCM message type */ 153 unsigned length; /* length (words) */ 154 double zcount; /* time within hour: GPS time, no leap secs */ 155 unsigned refstaid; /* reference station ID */ 156 unsigned seqnum; /* message sequence number (modulo 8) */ 157 unsigned stathlth; /* station health */ 158 159 /* message data in decoded form */ 160 union { 161 struct { 162 unsigned int nentries; 163 struct gps_rangesat_t { /* data from messages 1 & 9 */ 164 unsigned ident; /* satellite ID */ 165 unsigned udre; /* user diff. range error */ 166 unsigned iod; /* issue of data */ 167 double prc; /* range error */ 168 double rrc; /* range error rate */ 169 } sat[MAXCORRECTIONS]; 170 } gps_ranges; 171 struct { /* data for type 3 messages */ 172 bool valid; /* is message well-formed? */ 173 double x, y, z; 174 } ecef; 175 struct { /* data from type 4 messages */ 176 bool valid; /* is message well-formed? */ 177 int system; 178 int sense; 179 #define SENSE_INVALID 0 180 #define SENSE_GLOBAL 1 181 #define SENSE_LOCAL 2 182 char datum[6]; 183 double dx, dy, dz; 184 } reference; 185 struct { /* data from type 5 messages */ 186 unsigned int nentries; 187 struct consat_t { 188 unsigned ident; /* satellite ID */ 189 bool iodl; /* issue of data */ 190 unsigned int health; /* is satellite healthy? */ 191 #define HEALTH_NORMAL (0) /* Radiobeacon operation normal */ 192 #define HEALTH_UNMONITORED (1) /* No integrity monitor operating */ 193 #define HEALTH_NOINFO (2) /* No information available */ 194 #define HEALTH_DONOTUSE (3) /* Do not use this radiobeacon */ 195 int snr; /* signal-to-noise ratio, dB */ 196 #define SNR_BAD -1 /* not reported */ 197 bool health_en; /* health enabled */ 198 bool new_data; /* new data? */ 199 bool los_warning; /* line-of-sight warning */ 200 unsigned int tou; /* time to unhealth, seconds */ 201 } sat[MAXHEALTH]; 202 } conhealth; 203 struct { /* data from type 7 messages */ 204 unsigned int nentries; 205 struct station_t { 206 double latitude, longitude; /* location */ 207 unsigned int range; /* range in km */ 208 double frequency; /* broadcast freq */ 209 unsigned int health; /* station health */ 210 unsigned int station_id; /* of the transmitter */ 211 unsigned int bitrate; /* of station transmissions */ 212 } station[MAXSTATIONS]; 213 } almanac; 214 struct { /* data for type 13 messages */ 215 bool status; /* expect a text message */ 216 bool rangeflag; /* station range altered? */ 217 double lat, lon; /* station longitude/latitude */ 218 unsigned int range; /* transmission range in km */ 219 } xmitter; 220 struct { /* data from type 14 messages */ 221 unsigned int week; /* GPS week (0-1023) */ 222 unsigned int hour; /* Hour in week (0-167) */ 223 unsigned int leapsecs; /* Leap seconds (0-63) */ 224 } gpstime; 225 struct { 226 unsigned int nentries; 227 struct glonass_rangesat_t { /* data from message type 31 */ 228 unsigned ident; /* satellite ID */ 229 unsigned udre; /* user diff. range error */ 230 unsigned tod; /* issue of data */ 231 bool change; /* ephemeris change bit */ 232 double prc; /* range error */ 233 double rrc; /* range error rate */ 234 } sat[MAXCORRECTIONS]; 235 } glonass_ranges; 236 /* data from type 16 messages */ 237 char message[(RTCM2_WORDS_MAX-2) * sizeof(isgps30bits_t)]; 238 /* data from messages of unknown type */ 239 isgps30bits_t words[RTCM2_WORDS_MAX-2]; 240 }; 241 }; 242 243 /* RTCM3 report structures begin here */ 244 245 #define RTCM3_MAX_SATELLITES 64 246 #define RTCM3_MAX_DESCRIPTOR 31 247 #define RTCM3_MAX_ANNOUNCEMENTS 32 248 249 struct rtcm3_rtk_hdr { /* header data from 1001, 1002, 1003, 1004 */ 250 /* Used for both GPS and GLONASS, but their timebases differ */ 251 unsigned int station_id; /* Reference Station ID */ 252 time_t tow; /* GPS Epoch Time (TOW) in ms, 253 or GLONASS Epoch Time in ms */ 254 bool sync; /* Synchronous GNSS Message Flag */ 255 unsigned short satcount; /* # Satellite Signals Processed */ 256 bool smoothing; /* Divergence-free Smoothing Indicator */ 257 unsigned short interval; /* Smoothing Interval */ 258 }; 259 260 struct rtcm3_basic_rtk { 261 unsigned char indicator; /* Indicator */ 262 short channel; /* Satellite Frequency Channel Number 263 (GLONASS only) */ 264 double pseudorange; /* Pseudorange */ 265 double rangediff; /* PhaseRange Pseudorange in meters */ 266 unsigned char locktime; /* Lock time Indicator */ 267 }; 268 269 struct rtcm3_extended_rtk { 270 unsigned char indicator; /* Indicator */ 271 short channel; /* Satellite Frequency Channel Number 272 (GLONASS only) */ 273 double pseudorange; /* Pseudorange */ 274 double rangediff; /* PhaseRange L1 Pseudorange */ 275 unsigned char locktime; /* Lock time Indicator */ 276 unsigned char ambiguity; /* Integer Pseudorange 277 Modulus Ambiguity */ 278 double CNR; /* Carrier-to-Noise Ratio */ 279 }; 280 281 struct rtcm3_network_rtk_header { 282 unsigned int network_id; /* Network ID */ 283 unsigned int subnetwork_id; /* Subnetwork ID */ 284 time_t time; /* GPS Epoch Time (TOW) in ms */ 285 bool multimesg; /* GPS Multiple Message Indicator */ 286 unsigned master_id; /* Master Reference Station ID */ 287 unsigned aux_id; /* Auxilary Reference Station ID */ 288 unsigned char satcount; /* count of GPS satellites */ 289 }; 290 291 struct rtcm3_correction_diff { 292 unsigned char ident; /* satellite ID */ 293 enum {reserved, correct, widelane, uncertain} ambiguity; 294 unsigned char nonsync; 295 double geometric_diff; /* Geometric Carrier Phase 296 Correction Difference (1016, 1017) */ 297 unsigned char iode; /* GPS IODE (1016, 1017) */ 298 double ionospheric_diff; /* Ionospheric Carrier Phase 299 Correction Difference (1015, 1017) */ 300 }; 301 302 struct rtcm3_t { 303 /* header contents */ 304 unsigned type; /* RTCM 3.x message type */ 305 unsigned length; /* payload length, inclusive of checksum */ 306 307 union { 308 /* 1001-1013 were present in the 3.0 version */ 309 struct { 310 struct rtcm3_rtk_hdr header; 311 struct rtcm3_1001_t { 312 unsigned ident; /* Satellite ID */ 313 struct rtcm3_basic_rtk L1; 314 } rtk_data[RTCM3_MAX_SATELLITES]; 315 } rtcm3_1001; 316 struct rtcm3_1002_t { 317 struct rtcm3_rtk_hdr header; 318 struct { 319 unsigned ident; /* Satellite ID */ 320 struct rtcm3_extended_rtk L1; 321 } rtk_data[RTCM3_MAX_SATELLITES]; 322 } rtcm3_1002; 323 struct rtcm3_1003_t { 324 struct rtcm3_rtk_hdr header; 325 struct { 326 unsigned ident; /* Satellite ID */ 327 struct rtcm3_basic_rtk L1; 328 struct rtcm3_basic_rtk L2; 329 } rtk_data[RTCM3_MAX_SATELLITES]; 330 } rtcm3_1003; 331 struct rtcm3_1004_t { 332 struct rtcm3_rtk_hdr header; 333 struct { 334 unsigned ident; /* Satellite ID */ 335 struct rtcm3_extended_rtk L1; 336 struct rtcm3_extended_rtk L2; 337 } rtk_data[RTCM3_MAX_SATELLITES]; 338 } rtcm3_1004; 339 struct rtcm3_1005_t { 340 unsigned int station_id; /* Reference Station ID */ 341 int system; /* Which system is it? */ 342 bool reference_station; /* Reference-station indicator */ 343 bool single_receiver; /* Single Receiver Oscillator */ 344 double ecef_x, ecef_y, ecef_z; /* ECEF antenna location */ 345 } rtcm3_1005; 346 struct rtcm3_1006_t { 347 unsigned int station_id; /* Reference Station ID */ 348 int system; /* Which system is it? */ 349 bool reference_station; /* Reference-station indicator */ 350 bool single_receiver; /* Single Receiver Oscillator */ 351 double ecef_x, ecef_y, ecef_z; /* ECEF antenna location */ 352 double height; /* Antenna height */ 353 } rtcm3_1006; 354 struct rtcm3_1007_t { 355 unsigned int station_id; /* Reference Station ID */ 356 char descriptor[RTCM3_MAX_DESCRIPTOR+1]; /* Description string */ 357 unsigned char setup_id; 358 } rtcm3_1007; 359 struct rtcm3_1008_t { 360 unsigned int station_id; /* Reference Station ID */ 361 char descriptor[RTCM3_MAX_DESCRIPTOR+1]; /* Description string */ 362 unsigned char setup_id; 363 char serial[RTCM3_MAX_DESCRIPTOR+1]; /* Serial # string */ 364 } rtcm3_1008; 365 struct rtcm3_1009_t { 366 struct rtcm3_rtk_hdr header; 367 struct { 368 unsigned ident; /* Satellite ID */ 369 struct rtcm3_basic_rtk L1; 370 } rtk_data[RTCM3_MAX_SATELLITES]; 371 } rtcm3_1009; 372 struct rtcm3_1010_t { 373 struct rtcm3_rtk_hdr header; 374 struct { 375 unsigned ident; /* Satellite ID */ 376 struct rtcm3_extended_rtk L1; 377 } rtk_data[RTCM3_MAX_SATELLITES]; 378 } rtcm3_1010; 379 struct rtcm3_1011_t { 380 struct rtcm3_rtk_hdr header; 381 struct { 382 unsigned ident; /* Satellite ID */ 383 struct rtcm3_extended_rtk L1; 384 struct rtcm3_extended_rtk L2; 385 } rtk_data[RTCM3_MAX_SATELLITES]; 386 } rtcm3_1011; 387 struct rtcm3_1012_t { 388 struct rtcm3_rtk_hdr header; 389 struct { 390 unsigned ident; /* Satellite ID */ 391 struct rtcm3_extended_rtk L1; 392 struct rtcm3_extended_rtk L2; 393 } rtk_data[RTCM3_MAX_SATELLITES]; 394 } rtcm3_1012; 395 struct rtcm3_1013_t { 396 unsigned int station_id; /* Reference Station ID */ 397 unsigned short mjd; /* Modified Julian Day (MJD) Number */ 398 unsigned int sod; /* Seconds of Day (UTC) */ 399 unsigned char leapsecs; /* Leap Seconds, GPS-UTC */ 400 unsigned char ncount; /* Count of announcements to follow */ 401 struct { 402 unsigned short id; /* message type ID */ 403 bool sync; 404 unsigned short interval; /* interval in 0.1sec units */ 405 } announcements[RTCM3_MAX_ANNOUNCEMENTS]; 406 } rtcm3_1013; 407 /* 1014-1017 were added in the 3.1 version */ 408 struct rtcm3_1014_t { 409 unsigned int network_id; /* Network ID */ 410 unsigned int subnetwork_id; /* Subnetwork ID */ 411 unsigned char stationcount; /* # auxiliary stations transmitted */ 412 unsigned int master_id; /* Master Reference Station ID */ 413 unsigned int aux_id; /* Auxilary Reference Station ID */ 414 double d_lat, d_lon, d_alt; /* Aux-master location delta */ 415 } rtcm3_1014; 416 struct rtcm3_1015_t { 417 struct rtcm3_network_rtk_header header; 418 struct rtcm3_correction_diff corrections[RTCM3_MAX_SATELLITES]; 419 } rtcm3_1015; 420 struct rtcm3_1016_t { 421 struct rtcm3_network_rtk_header header; 422 struct rtcm3_correction_diff corrections[RTCM3_MAX_SATELLITES]; 423 } rtcm3_1016; 424 struct rtcm3_1017_t { 425 struct rtcm3_network_rtk_header header; 426 struct rtcm3_correction_diff corrections[RTCM3_MAX_SATELLITES]; 427 } rtcm3_1017; 428 /* 1018-1029 were in the 3.0 version */ 429 struct rtcm3_1019_t { 430 unsigned int ident; /* Satellite ID */ 431 unsigned int week; /* GPS Week Number */ 432 unsigned char sv_accuracy; /* GPS SV ACCURACY */ 433 enum {reserved_code, p, ca, l2c} code; 434 double idot; 435 unsigned char iode; 436 /* ephemeris fields, not scaled */ 437 unsigned int t_sub_oc; 438 signed int a_sub_f2; 439 signed int a_sub_f1; 440 signed int a_sub_f0; 441 unsigned int iodc; 442 signed int C_sub_rs; 443 signed int delta_sub_n; 444 signed int M_sub_0; 445 signed int C_sub_uc; 446 unsigned int e; 447 signed int C_sub_us; 448 unsigned int sqrt_sub_A; 449 unsigned int t_sub_oe; 450 signed int C_sub_ic; 451 signed int OMEGA_sub_0; 452 signed int C_sub_is; 453 signed int i_sub_0; 454 signed int C_sub_rc; 455 signed int argument_of_perigee; 456 signed int omegadot; 457 signed int t_sub_GD; 458 unsigned char sv_health; 459 bool p_data; 460 bool fit_interval; 461 } rtcm3_1019; 462 struct rtcm3_1020_t { 463 unsigned int ident; /* Satellite ID */ 464 unsigned short channel; /* Satellite Frequency Channel Number */ 465 /* ephemeris fields, not scaled */ 466 bool C_sub_n; 467 bool health_avAilability_indicator; 468 unsigned char P1; 469 unsigned short t_sub_k; 470 bool msb_of_B_sub_n; 471 bool P2; 472 bool t_sub_b; 473 signed int x_sub_n_t_of_t_sub_b_prime; 474 signed int x_sub_n_t_of_t_sub_b; 475 signed int x_sub_n_t_of_t_sub_b_prime_prime; 476 signed int y_sub_n_t_of_t_sub_b_prime; 477 signed int y_sub_n_t_of_t_sub_b; 478 signed int y_sub_n_t_of_t_sub_b_prime_prime; 479 signed int z_sub_n_t_of_t_sub_b_prime; 480 signed int z_sub_n_t_of_t_sub_b; 481 signed int z_sub_n_t_of_t_sub_b_prime_prime; 482 bool P3; 483 signed int gamma_sub_n_of_t_sub_b; 484 unsigned char MP; 485 bool Ml_n; 486 signed int tau_n_of_t_sub_b; 487 signed int M_delta_tau_sub_n; 488 unsigned int E_sub_n; 489 bool MP4; 490 unsigned char MF_sub_T; 491 unsigned char MN_sub_T; 492 unsigned char MM; 493 bool additioinal_data_availability; 494 unsigned int N_sup_A; 495 unsigned int tau_sub_c; 496 unsigned int M_N_sub_4; 497 signed int M_tau_sub_GPS; 498 bool M_l_sub_n; 499 } rtcm3_1020; 500 struct rtcm3_1029_t { 501 unsigned int station_id; /* Reference Station ID */ 502 unsigned short mjd; /* Modified Julian Day (MJD) Number */ 503 unsigned int sod; /* Seconds of Day (UTC) */ 504 size_t len; /* # chars to follow */ 505 size_t unicode_units; /* # Unicode units in text */ 506 unsigned char text[128]; 507 } rtcm3_1029; 508 struct rtcm3_1033_t { 509 unsigned int station_id; /* Reference Station ID */ 510 char descriptor[RTCM3_MAX_DESCRIPTOR+1]; /* Description string */ 511 unsigned char setup_id; 512 char serial[RTCM3_MAX_DESCRIPTOR+1]; /* Serial # string */ 513 char receiver[RTCM3_MAX_DESCRIPTOR+1]; /* Receiver string */ 514 char firmware[RTCM3_MAX_DESCRIPTOR+1]; /* Firmware string */ 515 } rtcm3_1033; 516 char data[1024]; /* Max RTCM3 msg length is 1023 bytes */ 517 } rtcmtypes; 518 }; 519 520 /* RTCM3 scaling constants */ 521 #define GPS_AMBIGUITY_MODULUS 299792.458 /* 1004, DF014*/ 522 #define GLONASS_AMBIGUITY_MODULUS 599584.916 /* 1012, DF044 */ 523 #define MESSAGE_INTERVAL_UNITS 0.1 /* 1013, DF047 */ 524 525 /* 526 * Raw IS_GPS subframe data 527 */ 528 529 /* The almanac is a subset of the clock and ephemeris data, with reduced 530 * precision. See IS-GPS-200E, Table 20-VI */ 531 struct almanac_t 532 { 533 uint8_t sv; /* The satellite this refers to */ 534 /* toa, almanac reference time, 8 bits unsigned, seconds */ 535 uint8_t toa; 536 long l_toa; 537 /* SV health data, 8 bit unsigned bit map */ 538 uint8_t svh; 539 /* deltai, correction to inclination, 16 bits signed, semi-circles */ 540 int16_t deltai; 541 double d_deltai; 542 /* M0, Mean Anomaly at Reference Time, 24 bits signed, semi-circles */ 543 int32_t M0; 544 double d_M0; 545 /* Omega0, Longitude of Ascending Node of Orbit Plane at Weekly Epoch, 546 * 24 bits signed, semi-circles */ 547 int32_t Omega0; 548 double d_Omega0; 549 /* omega, Argument of Perigee, 24 bits signed, semi-circles */ 550 int32_t omega; 551 double d_omega; 552 /* af0, SV clock correction constant term 553 * 11 bits signed, seconds */ 554 int16_t af0; 555 double d_af0; 556 /* af1, SV clock correction first order term 557 * 11 bits signed, seconds/second */ 558 int16_t af1; 559 double d_af1; 560 /* eccentricity, 16 bits, unsigned, dimensionless */ 561 uint16_t e; 562 double d_eccentricity; 563 /* sqrt A, Square Root of the Semi-Major Axis 564 * 24 bits unsigned, square_root(meters) */ 565 uint32_t sqrtA; 566 double d_sqrtA; 567 /* Omega dot, Rate of Right Ascension, 16 bits signed, semi-circles/sec */ 568 int16_t Omegad; 569 double d_Omegad; 570 }; 571 572 struct subframe_t { 573 /* subframe number, 3 bits, unsigned, 1 to 5 */ 574 uint8_t subframe_num; 575 /* data_id, denotes the NAV data structure of D(t), 2 bits, in 576 * IS-GPS-200E always == 0x1 */ 577 uint8_t data_id; 578 /* SV/page id used for subframes 4 & 5, 6 bits */ 579 uint8_t pageid; 580 /* tSVID, SV ID of the sat that transmitted this frame, 6 bits unsigned */ 581 uint8_t tSVID; 582 /* TOW, Time of Week of NEXT message, 17 bits unsigned, scale 6, seconds */ 583 uint32_t TOW17; 584 long l_TOW17; 585 /* integrity, URA bounds flag, 1 bit */ 586 bool integrity; 587 /* alert, alert flag, SV URA and/or the SV User Differential Range 588 * Accuracy (UDRA) may be worse than indicated, 1 bit */ 589 bool alert; 590 /* antispoof, A-S mode is ON in that SV, 1 bit */ 591 bool antispoof; 592 int is_almanac; 593 union { 594 /* subframe 1, part of ephemeris, see IS-GPS-200E, Table 20-II 595 * and Table 20-I */ 596 struct { 597 /* WN, Week Number, 10 bits unsigned, scale 1, weeks */ 598 uint16_t WN; 599 /* IODC, Issue of Data, Clock, 10 bits, unsigned, 600 * issued in 8 data ranges at the same time */ 601 uint16_t IODC; 602 /* toc, clock data reference time, 16 bits, unsigned, seconds 603 * scale 2**4, issued in 8 data ranges at the same time */ 604 uint16_t toc; 605 long l_toc; 606 /* l2, code on L2, 2 bits, bit map */ 607 uint8_t l2; 608 /* l2p, L2 P data flag, 1 bit */ 609 uint8_t l2p; 610 /* ura, SV accuracy, 4 bits unsigned index */ 611 unsigned int ura; 612 /* hlth, SV health, 6 bits unsigned bitmap */ 613 unsigned int hlth; 614 /* af0, SV clock correction constant term 615 * 22 bits signed, scale 2**-31, seconds */ 616 int32_t af0; 617 double d_af0; 618 /* af1, SV clock correction first order term 619 * 22 bits signed, scale 2**-43, seconds/second */ 620 int16_t af1; 621 double d_af1; 622 /* af2, SV clock correction second order term 623 * 8 bits signed, scale 2**-55, seconds/second**2 */ 624 int8_t af2; 625 double d_af2; 626 /* Tgd, L1-L2 correction term, 8 bits signed, scale 2**-31, 627 * seconds */ 628 int8_t Tgd; 629 double d_Tgd; 630 } sub1; 631 /* subframe 2, part of ephemeris, see IS-GPS-200E, Table 20-II 632 * and Table 20-III */ 633 struct { 634 /* Issue of Data (Ephemeris), 635 * equal to the 8 LSBs of the 10 bit IODC of the same data set */ 636 uint8_t IODE; 637 /* Age of Data Offset for the NMCT, 6 bits, scale 900, 638 * ignore if all ones, seconds */ 639 uint8_t AODO; 640 uint16_t u_AODO; 641 /* fit, FIT interval flag, indicates a fit interval greater than 642 * 4 hour, 1 bit */ 643 uint8_t fit; 644 /* toe, Reference Time Ephemeris, 16 bits unsigned, scale 2**4, 645 * seconds */ 646 uint16_t toe; 647 long l_toe; 648 /* Crs, Amplitude of the Sine Harmonic Correction Term to the 649 * Orbit Radius, 16 bits, scale 2**-5, signed, meters */ 650 int16_t Crs; 651 double d_Crs; 652 /* Cus, Amplitude of the Sine Harmonic Correction Term to the 653 * Argument of Latitude, 16 bits, signed, scale 2**-29, radians */ 654 int16_t Cus; 655 double d_Cus; 656 /* Cuc, Amplitude of the Cosine Harmonic Correction Term to the 657 * Argument of Latitude, 16 bits, signed, scale 2**-29, radians */ 658 int16_t Cuc; 659 double d_Cuc; 660 /* deltan, Mean Motion Difference From Computed Value 661 * Mean Motion Difference From Computed Value 662 * 16 bits, signed, scale 2**-43, semi-circles/sec */ 663 int16_t deltan; 664 double d_deltan; 665 /* M0, Mean Anomaly at Reference Time, 32 bits signed, 666 * scale 2**-31, semi-circles */ 667 int32_t M0; 668 double d_M0; 669 /* eccentricity, 32 bits, unsigned, scale 2**-33, dimensionless */ 670 uint32_t e; 671 double d_eccentricity; 672 /* sqrt A, Square Root of the Semi-Major Axis 673 * 32 bits unsigned, scale 2**-19, square_root(meters) */ 674 uint32_t sqrtA; 675 double d_sqrtA; 676 } sub2; 677 /* subframe 3, part of ephemeris, see IS-GPS-200E, Table 20-II, 678 * Table 20-III */ 679 struct { 680 /* Issue of Data (Ephemeris), 8 bits, unsigned 681 * equal to the 8 LSBs of the 10 bit IODC of the same data set */ 682 uint8_t IODE; 683 /* Rate of Inclination Angle, 14 bits signed, scale2**-43, 684 * semi-circles/sec */ 685 uint16_t IDOT; 686 double d_IDOT; 687 /* Cic, Amplitude of the Cosine Harmonic Correction Term to the 688 * Angle of Inclination, 16 bits signed, scale 2**-29, radians*/ 689 uint16_t Cic; 690 double d_Cic; 691 /* Cis, Amplitude of the Sine Harmonic Correction Term to the 692 * Angle of Inclination, 16 bits, unsigned, scale 2**-29, radians */ 693 int16_t Cis; 694 double d_Cis; 695 /* Crc, Amplitude of the Cosine Harmonic Correction Term to the 696 * Orbit Radius, 16 bits signed, scale 2**-5, meters */ 697 int16_t Crc; 698 double d_Crc; 699 /* i0, Inclination Angle at Reference Time, 32 bits, signed, 700 * scale 2**-31, semi-circles */ 701 int32_t i0; 702 double d_i0; 703 /* Omega0, Longitude of Ascending Node of Orbit Plane at Weekly 704 * Epoch, 32 bits signed, semi-circles */ 705 int32_t Omega0; 706 double d_Omega0; 707 /* omega, Argument of Perigee, 32 bits signed, scale 2**-31, 708 * semi-circles */ 709 int32_t omega; 710 double d_omega; 711 /* Omega dot, Rate of Right Ascension, 24 bits signed, 712 * scale 2**-43, semi-circles/sec */ 713 int32_t Omegad; 714 double d_Omegad; 715 } sub3; 716 struct { 717 struct almanac_t almanac; 718 } sub4; 719 /* subframe 4, page 13 */ 720 struct { 721 /* mapping ord ERD# to SV # is non trivial 722 * leave it alone. See IS-GPS-200E Section 20.3.3.5.1.9 */ 723 /* Estimated Range Deviation, 6 bits signed, meters */ 724 char ERD[33]; 725 /* ai, Availability Indicator, 2bits, bit map */ 726 unsigned char ai; 727 } sub4_13; 728 /* subframe 4, page 17, system message, 23 chars, plus nul */ 729 struct { 730 char str[24]; 731 } sub4_17; 732 /* subframe 4, page 18 */ 733 struct { 734 /* ionospheric and UTC data */ 735 /* A0, Bias coefficient of GPS time scale relative to UTC time 736 * scale, 32 bits signed, scale 2**-30, seconds */ 737 int32_t A0; 738 double d_A0; 739 /* A1, Drift coefficient of GPS time scale relative to UTC time 740 * scale, 24 bits signed, scale 2**-50, seconds/second */ 741 int32_t A1; 742 double d_A1; 743 744 /* alphaX, the four coefficients of a cubic equation representing 745 * the amplitude of the vertical delay */ 746 747 /* alpha0, 8 bits signed, scale w**-30, seconds */ 748 int8_t alpha0; 749 double d_alpha0; 750 /* alpha1, 8 bits signed, scale w**-27, seconds/semi-circle */ 751 int8_t alpha1; 752 double d_alpha1; 753 /* alpha2, 8 bits signed, scale w**-24, seconds/semi-circle**2 */ 754 int8_t alpha2; 755 double d_alpha2; 756 /* alpha3, 8 bits signed, scale w**-24, seconds/semi-circle**3 */ 757 int8_t alpha3; 758 double d_alpha3; 759 760 /* betaX, the four coefficients of a cubic equation representing 761 * the period of the model */ 762 763 /* beta0, 8 bits signed, scale w**11, seconds */ 764 int8_t beta0; 765 double d_beta0; 766 /* beta1, 8 bits signed, scale w**14, seconds/semi-circle */ 767 int8_t beta1; 768 double d_beta1; 769 /* beta2, 8 bits signed, scale w**16, seconds/semi-circle**2 */ 770 int8_t beta2; 771 double d_beta2; 772 /* beta3, 8 bits signed, scale w**16, seconds/semi-circle**3 */ 773 int8_t beta3; 774 double d_beta3; 775 776 /* leap (delta t ls), current leap second, 8 bits signed, 777 * scale 1, seconds */ 778 int8_t leap; 779 /* lsf (delta t lsf), future leap second, 8 bits signed, 780 * scale 1, seconds */ 781 int8_t lsf; 782 783 /* tot, reference time for UTC data, 784 * 8 bits unsigned, scale 2**12, seconds */ 785 uint8_t tot; 786 double d_tot; 787 788 /* WNt, UTC reference week number, 8 bits unsigned, scale 1, 789 * weeks */ 790 uint8_t WNt; 791 /* WNlsf, Leap second reference Week Number, 792 * 8 bits unsigned, scale 1, weeks */ 793 uint8_t WNlsf; 794 /* DN, Leap second reference Day Number , 8 bits unsigned, 795 * scale 1, days */ 796 uint8_t DN; 797 } sub4_18; 798 /* subframe 4, page 25 */ 799 struct { 800 /* svf, A-S status and the configuration code of each SV 801 * 4 bits unsigned, bitmap */ 802 unsigned char svf[33]; 803 /* svh, SV health data for SV 25 through 32 804 * 6 bits unsigned bitmap */ 805 uint8_t svhx[8]; 806 } sub4_25; 807 struct { 808 struct almanac_t almanac; 809 } sub5; 810 struct { 811 /* toa, Almanac reference Time, 8 bits unsigned, scale 2**12, 812 * seconds */ 813 uint8_t toa; 814 long l_toa; 815 /* WNa, Week Number almanac, 8 bits, scale 2, GPS Week 816 * Number % 256 */ 817 uint8_t WNa; 818 /* sv, SV health status, 6 bits, bitmap */ 819 uint8_t sv[25]; 820 } sub5_25; 821 }; 822 }; 823 824 #ifndef S_SPLINT_S 825 typedef uint64_t gps_mask_t; 826 #else 827 typedef /*@unsignedintegraltype@*/ unsigned long long gps_mask_t; 828 #endif /* S_SPLINT_S */ 829 830 /* 831 * Is an MMSI number that of an auxiliary associated with a mother ship? 832 * We need to be able to test this for decoding AIS Type 24 messages. 833 * According to <http://www.navcen.uscg.gov/marcomms/gmdss/mmsi.htm#format>, 834 * auxiliary-craft MMSIs have the form 98MIDXXXX, where MID is a country 835 * code and XXXX the vessel ID. 836 */ 837 #define AIS_AUXILIARY_MMSI(n) ((n) / 10000000 == 98) 838 839 /* N/A values and scaling constant for 25/24 bit lon/lat pairs */ 840 #define AIS_LON3_NOT_AVAILABLE 181000 841 #define AIS_LAT3_NOT_AVAILABLE 91000 842 #define AIS_LATLON3_SCALE 60000.0 843 844 /* N/A values and scaling constant for 28/27 bit lon/lat pairs */ 845 #define AIS_LON4_NOT_AVAILABLE 1810000 846 #define AIS_LAT4_NOT_AVAILABLE 910000 847 #define AIS_LATLON4_SCALE 600000.0 848 849 struct route_info { 850 unsigned int linkage; /* Message Linkage ID */ 851 unsigned int sender; /* Sender Class */ 852 unsigned int rtype; /* Route Type */ 853 unsigned int month; /* Start month */ 854 unsigned int day; /* Start day */ 855 unsigned int hour; /* Start hour */ 856 unsigned int minute; /* Start minute */ 857 unsigned int duration; /* Duration */ 858 int waycount; /* Waypoint count */ 859 struct waypoint_t { 860 signed int lon; /* Longitude */ 861 signed int lat; /* Latitude */ 862 } waypoints[16]; 863 }; 864 865 struct ais_t 866 { 867 unsigned int type; /* message type */ 868 unsigned int repeat; /* Repeat indicator */ 869 unsigned int mmsi; /* MMSI */ 870 union { 871 /* Types 1-3 Common navigation info */ 872 struct { 873 unsigned int status; /* navigation status */ 874 signed turn; /* rate of turn */ 875 #define AIS_TURN_HARD_LEFT -127 876 #define AIS_TURN_HARD_RIGHT 127 877 #define AIS_TURN_NOT_AVAILABLE 128 878 unsigned int speed; /* speed over ground in deciknots */ 879 #define AIS_SPEED_NOT_AVAILABLE 1023 880 #define AIS_SPEED_FAST_MOVER 1022 /* >= 102.2 knots */ 881 bool accuracy; /* position accuracy */ 882 #define AIS_LATLON_SCALE 600000.0 883 int lon; /* longitude */ 884 #define AIS_LON_NOT_AVAILABLE 0x6791AC0 885 int lat; /* latitude */ 886 #define AIS_LAT_NOT_AVAILABLE 0x3412140 887 unsigned int course; /* course over ground */ 888 #define AIS_COURSE_NOT_AVAILABLE 3600 889 unsigned int heading; /* true heading */ 890 #define AIS_HEADING_NOT_AVAILABLE 511 891 unsigned int second; /* seconds of UTC timestamp */ 892 #define AIS_SEC_NOT_AVAILABLE 60 893 #define AIS_SEC_MANUAL 61 894 #define AIS_SEC_ESTIMATED 62 895 #define AIS_SEC_INOPERATIVE 63 896 unsigned int maneuver; /* maneuver indicator */ 897 //unsigned int spare; spare bits */ 898 bool raim; /* RAIM flag */ 899 unsigned int radio; /* radio status bits */ 900 } type1; 901 /* Type 4 - Base Station Report & Type 11 - UTC and Date Response */ 902 struct { 903 unsigned int year; /* UTC year */ 904 #define AIS_YEAR_NOT_AVAILABLE 0 905 unsigned int month; /* UTC month */ 906 #define AIS_MONTH_NOT_AVAILABLE 0 907 unsigned int day; /* UTC day */ 908 #define AIS_DAY_NOT_AVAILABLE 0 909 unsigned int hour; /* UTC hour */ 910 #define AIS_HOUR_NOT_AVAILABLE 24 911 unsigned int minute; /* UTC minute */ 912 #define AIS_MINUTE_NOT_AVAILABLE 60 913 unsigned int second; /* UTC second */ 914 #define AIS_SECOND_NOT_AVAILABLE 60 915 bool accuracy; /* fix quality */ 916 int lon; /* longitude */ 917 int lat; /* latitude */ 918 unsigned int epfd; /* type of position fix device */ 919 //unsigned int spare; spare bits */ 920 bool raim; /* RAIM flag */ 921 unsigned int radio; /* radio status bits */ 922 } type4; 923 /* Type 5 - Ship static and voyage related data */ 924 struct { 925 unsigned int ais_version; /* AIS version level */ 926 unsigned int imo; /* IMO identification */ 927 char callsign[7+1]; /* callsign */ 928 #define AIS_SHIPNAME_MAXLEN 20 929 char shipname[AIS_SHIPNAME_MAXLEN+1]; /* vessel name */ 930 unsigned int shiptype; /* ship type code */ 931 unsigned int to_bow; /* dimension to bow */ 932 unsigned int to_stern; /* dimension to stern */ 933 unsigned int to_port; /* dimension to port */ 934 unsigned int to_starboard; /* dimension to starboard */ 935 unsigned int epfd; /* type of position fix deviuce */ 936 unsigned int month; /* UTC month */ 937 unsigned int day; /* UTC day */ 938 unsigned int hour; /* UTC hour */ 939 unsigned int minute; /* UTC minute */ 940 unsigned int draught; /* draft in meters */ 941 char destination[20+1]; /* ship destination */ 942 unsigned int dte; /* data terminal enable */ 943 //unsigned int spare; spare bits */ 944 } type5; 945 /* Type 6 - Addressed Binary Message */ 946 struct { 947 unsigned int seqno; /* sequence number */ 948 unsigned int dest_mmsi; /* destination MMSI */ 949 bool retransmit; /* retransmit flag */ 950 //unsigned int spare; spare bit(s) */ 951 unsigned int dac; /* Application ID */ 952 unsigned int fid; /* Functional ID */ 953 #define AIS_TYPE6_BINARY_MAX 920 /* 920 bits */ 954 size_t bitcount; /* bit count of the data */ 955 union { 956 char bitdata[(AIS_TYPE6_BINARY_MAX + 7) / 8]; 957 /* IMO236 - Dangerous Cargo Indication */ 958 struct { 959 char lastport[5+1]; /* Last Port Of Call */ 960 unsigned int lmonth; /* ETA month */ 961 unsigned int lday; /* ETA day */ 962 unsigned int lhour; /* ETA hour */ 963 unsigned int lminute; /* ETA minute */ 964 char nextport[5+1]; /* Next Port Of Call */ 965 unsigned int nmonth; /* ETA month */ 966 unsigned int nday; /* ETA day */ 967 unsigned int nhour; /* ETA hour */ 968 unsigned int nminute; /* ETA minute */ 969 char dangerous[20+1]; /* Main Dangerous Good */ 970 char imdcat[4+1]; /* IMD Category */ 971 unsigned int unid; /* UN Number */ 972 unsigned int amount; /* Amount of Cargo */ 973 unsigned int unit; /* Unit of Quantity */ 974 } dac1fid12; 975 /* IMO236 - Extended Ship Static and Voyage Related Data */ 976 struct { 977 unsigned int airdraught; /* Air Draught */ 978 } dac1fid15; 979 /* IMO236 - Number of Persons on board */ 980 struct { 981 unsigned persons; /* number of persons */ 982 } dac1fid16; 983 /* IMO289 - Clearance Time To Enter Port */ 984 struct { 985 unsigned int linkage; /* Message Linkage ID */ 986 unsigned int month; /* Month (UTC) */ 987 unsigned int day; /* Day (UTC) */ 988 unsigned int hour; /* Hour (UTC) */ 989 unsigned int minute; /* Minute (UTC) */ 990 char portname[20+1]; /* Name of Port & Berth */ 991 char destination[5+1]; /* Destination */ 992 signed int lon; /* Longitude */ 993 signed int lat; /* Latitude */ 994 } dac1fid18; 995 /* IMO289 - Berthing Data (addressed) */ 996 struct { 997 unsigned int linkage; /* Message Linkage ID */ 998 unsigned int berth_length; /* Berth length */ 999 unsigned int berth_depth; /* Berth Water Depth */ 1000 unsigned int position; /* Mooring Position */ 1001 unsigned int month; /* Month (UTC) */ 1002 unsigned int day; /* Day (UTC) */ 1003 unsigned int hour; /* Hour (UTC) */ 1004 unsigned int minute; /* Minute (UTC) */ 1005 unsigned int availability; /* Services Availability */ 1006 unsigned int agent; /* Agent */ 1007 unsigned int fuel; /* Bunker/fuel */ 1008 unsigned int chandler; /* Chandler */ 1009 unsigned int stevedore; /* Stevedore */ 1010 unsigned int electrical; /* Electrical */ 1011 unsigned int water; /* Potable water */ 1012 unsigned int customs; /* Customs house */ 1013 unsigned int cartage; /* Cartage */ 1014 unsigned int crane; /* Crane(s) */ 1015 unsigned int lift; /* Lift(s) */ 1016 unsigned int medical; /* Medical facilities */ 1017 unsigned int navrepair; /* Navigation repair */ 1018 unsigned int provisions; /* Provisions */ 1019 unsigned int shiprepair; /* Ship repair */ 1020 unsigned int surveyor; /* Surveyor */ 1021 unsigned int steam; /* Steam */ 1022 unsigned int tugs; /* Tugs */ 1023 unsigned int solidwaste; /* Waste disposal (solid) */ 1024 unsigned int liquidwaste; /* Waste disposal (liquid) */ 1025 unsigned int hazardouswaste; /* Waste disposal (hazardous) */ 1026 unsigned int ballast; /* Reserved ballast exchange */ 1027 unsigned int additional; /* Additional services */ 1028 unsigned int regional1; /* Regional reserved 1 */ 1029 unsigned int regional2; /* Regional reserved 2 */ 1030 unsigned int future1; /* Reserved for future */ 1031 unsigned int future2; /* Reserved for future */ 1032 char berth_name[20+1]; /* Name of Berth */ 1033 signed int berth_lon; /* Longitude */ 1034 signed int berth_lat; /* Latitude */ 1035 } dac1fid20; 1036 /* IMO289 - Dangerous Cargo Indication */ 1037 struct { 1038 unsigned int unit; /* Unit of Quantity */ 1039 unsigned int amount; /* Amount of Cargo */ 1040 int ncargos; 1041 struct cargo_t { 1042 unsigned int code; /* Cargo code */ 1043 unsigned int subtype; /* Cargo subtype */ 1044 } cargos[28]; 1045 } dac1fid25; 1046 /* IMO289 - Route info (addressed) */ 1047 struct route_info dac1fid28; 1048 /* IMO289 - Text message (addressed) */ 1049 struct { 1050 unsigned int linkage; 1051 #define AIS_DAC1FID30_TEXT_MAX 154 /* 920 bits of six-bit, plus NUL */ 1052 char text[AIS_DAC1FID30_TEXT_MAX]; 1053 } dac1fid30; 1054 /* IMO289 & IMO236 - Tidal Window */ 1055 struct { 1056 unsigned int type; /* Message Type */ 1057 unsigned int repeat; /* Repeat Indicator */ 1058 unsigned int mmsi; /* Source MMSI */ 1059 unsigned int seqno; /* Sequence Number */ 1060 unsigned int dest_mmsi; /* Destination MMSI */ 1061 signed int retransmit; /* Retransmit flag */ 1062 unsigned int dac; /* DAC */ 1063 unsigned int fid; /* FID */ 1064 unsigned int month; /* Month */ 1065 unsigned int day; /* Day */ 1066 signed int ntidals; 1067 struct tidal_t { 1068 signed int lon; /* Longitude */ 1069 signed int lat; /* Latitude */ 1070 unsigned int from_hour; /* From UTC Hour */ 1071 unsigned int from_min; /* From UTC Minute */ 1072 unsigned int to_hour; /* To UTC Hour */ 1073 unsigned int to_min; /* To UTC Minute */ 1074 #define DAC1FID32_CDIR_NOT_AVAILABLE 360 1075 unsigned int cdir; /* Current Dir. Predicted */ 1076 #define DAC1FID32_CSPEED_NOT_AVAILABLE 127 1077 unsigned int cspeed; /* Current Speed Predicted */ 1078 } tidals[3]; 1079 } dac1fid32; 1080 }; 1081 } type6; 1082 /* Type 7 - Binary Acknowledge */ 1083 struct { 1084 unsigned int mmsi1; 1085 unsigned int mmsi2; 1086 unsigned int mmsi3; 1087 unsigned int mmsi4; 1088 /* spares ignored, they're only padding here */ 1089 } type7; 1090 /* Type 8 - Broadcast Binary Message */ 1091 struct { 1092 //unsigned int spare; spare bit(s) */ 1093 unsigned int dac; /* Designated Area Code */ 1094 unsigned int fid; /* Functional ID */ 1095 #define AIS_TYPE8_BINARY_MAX 952 /* 952 bits */ 1096 size_t bitcount; /* bit count of the data */ 1097 union { 1098 char bitdata[(AIS_TYPE8_BINARY_MAX + 7) / 8]; 1099 /* IMO236 - Fairway Closed */ 1100 struct { 1101 char reason[20+1]; /* Reason For Closing */ 1102 char closefrom[20+1]; /* Location Of Closing From */ 1103 char closeto[20+1]; /* Location of Closing To */ 1104 unsigned int radius; /* Radius extension */ 1105 #define AIS_DAC1FID13_RADIUS_NOT_AVAILABLE 10001 1106 unsigned int extunit; /* Unit of extension */ 1107 #define AIS_DAC1FID13_EXTUNIT_NOT_AVAILABLE 0 1108 unsigned int fday; /* From day (UTC) */ 1109 unsigned int fmonth; /* From month (UTC) */ 1110 unsigned int fhour; /* From hour (UTC) */ 1111 unsigned int fminute; /* From minute (UTC) */ 1112 unsigned int tday; /* To day (UTC) */ 1113 unsigned int tmonth; /* To month (UTC) */ 1114 unsigned int thour; /* To hour (UTC) */ 1115 unsigned int tminute; /* To minute (UTC) */ 1116 } dac1fid13; 1117 /* IMO236 - Extended ship and voyage data */ 1118 struct { 1119 unsigned int airdraught; /* Air Draught */ 1120 } dac1fid15; 1121 /* IMO289 - VTS-generated/Synthetic Targets */ 1122 struct { 1123 signed int ntargets; 1124 struct target_t { 1125 #define DAC1FID17_IDTYPE_MMSI 0 1126 #define DAC1FID17_IDTYPE_IMO 1 1127 #define DAC1FID17_IDTYPE_CALLSIGN 2 1128 #define DAC1FID17_IDTYPE_OTHER 3 1129 unsigned int idtype; /* Identifier type */ 1130 union target_id { /* Target identifier */ 1131 unsigned int mmsi; 1132 unsigned int imo; 1133 #define DAC1FID17_ID_LENGTH 7 1134 char callsign[DAC1FID17_ID_LENGTH+1]; 1135 char other[DAC1FID17_ID_LENGTH+1]; 1136 } id; 1137 signed int lat; /* Latitude */ 1138 signed int lon; /* Longitude */ 1139 #define DAC1FID17_COURSE_NOT_AVAILABLE 360 1140 unsigned int course; /* Course Over Ground */ 1141 unsigned int second; /* Time Stamp */ 1142 #define DAC1FID17_SPEED_NOT_AVAILABLE 255 1143 unsigned int speed; /* Speed Over Ground */ 1144 } targets[4]; 1145 } dac1fid17; 1146 /* IMO 289 - Marine Traffic Signal */ 1147 struct { 1148 unsigned int linkage; /* Message Linkage ID */ 1149 char station[20+1]; /* Name of Signal Station */ 1150 signed int lon; /* Longitude */ 1151 signed int lat; /* Latitude */ 1152 unsigned int status; /* Status of Signal */ 1153 unsigned int signal; /* Signal In Service */ 1154 unsigned int hour; /* UTC hour */ 1155 unsigned int minute; /* UTC minute */ 1156 unsigned int nextsignal; /* Expected Next Signal */ 1157 } dac1fid19; 1158 /* IMO289 - Route info (broadcast) */ 1159 struct route_info dac1fid27; 1160 /* IMO289 - Text message (broadcast) */ 1161 struct { 1162 unsigned int linkage; 1163 #define AIS_DAC1FID29_TEXT_MAX 162 /* 920 bits of six-bit, plus NUL */ 1164 char text[AIS_DAC1FID29_TEXT_MAX]; 1165 } dac1fid29; 1166 /* IMO236 & IMO289 - Meteorological-Hydrological data */ 1167 struct { 1168 bool accuracy; /* position accuracy, <10m if true */ 1169 #define DAC1FID31_LATLON_SCALE 1000 1170 int lon; /* longitude in minutes * .001 */ 1171 #define DAC1FID31_LON_NOT_AVAILABLE (181*60*DAC1FID31_LATLON_SCALE) 1172 int lat; /* longitude in minutes * .001 */ 1173 #define DAC1FID31_LAT_NOT_AVAILABLE (91*60*DAC1FID31_LATLON_SCALE) 1174 unsigned int day; /* UTC day */ 1175 unsigned int hour; /* UTC hour */ 1176 unsigned int minute; /* UTC minute */ 1177 unsigned int wspeed; /* average wind speed */ 1178 unsigned int wgust; /* wind gust */ 1179 #define DAC1FID31_WIND_HIGH 126 1180 #define DAC1FID31_WIND_NOT_AVAILABLE 127 1181 unsigned int wdir; /* wind direction */ 1182 unsigned int wgustdir; /* wind gust direction */ 1183 #define DAC1FID31_DIR_NOT_AVAILABLE 360 1184 int airtemp; /* temperature, units 0.1C */ 1185 #define DAC1FID31_AIRTEMP_NOT_AVAILABLE -1084 1186 unsigned int humidity; /* relative humidity, % */ 1187 #define DAC1FID31_HUMIDITY_NOT_AVAILABLE 101 1188 int dewpoint; /* dew point, units 0.1C */ 1189 #define DAC1FID31_DEWPOINT_NOT_AVAILABLE 501 1190 unsigned int pressure; /* air pressure, hpa */ 1191 #define DAC1FID31_PRESSURE_NOT_AVAILABLE 511 1192 #define DAC1FID31_PRESSURE_HIGH 402 1193 unsigned int pressuretend; /* tendency */ 1194 #define DAC1FID31_PRESSURETREND_NOT_AVAILABLE 3 1195 bool visgreater; /* visibility greater than */ 1196 unsigned int visibility; /* units 0.1 nautical miles */ 1197 #define DAC1FID31_VISIBILITY_NOT_AVAILABLE 127 1198 int waterlevel; /* decimeters or cm */ 1199 #define DAC1FID11_WATERLEVEL_NOT_AVAILABLE 4001 1200 #define DAC1FID31_WATERLEVEL_NOT_AVAILABLE 40001 1201 unsigned int leveltrend; /* water level trend code */ 1202 #define DAC1FID31_LEVELTREND_NOT_AVAILABLE 3 1203 unsigned int cspeed; /* current speed in deciknots */ 1204 #define DAC1FID31_CSPEED_NOT_AVAILABLE 255 1205 unsigned int cdir; /* current dir., degrees */ 1206 unsigned int cspeed2; /* current speed in deciknots */ 1207 unsigned int cdir2; /* current dir., degrees */ 1208 unsigned int cdepth2; /* measurement depth, 0.1m */ 1209 #define DAC1FID31_CDEPTH_NOT_AVAILABLE 301 1210 unsigned int cspeed3; /* current speed in deciknots */ 1211 unsigned int cdir3; /* current dir., degrees */ 1212 unsigned int cdepth3; /* measurement depth, 0.1m */ 1213 unsigned int waveheight; /* in decimeters */ 1214 #define DAC1FID31_HEIGHT_NOT_AVAILABLE 31 1215 unsigned int waveperiod; /* in seconds */ 1216 #define DAC1FID31_PERIOD_NOT_AVAILABLE 63 1217 unsigned int wavedir; /* direction in degrees */ 1218 unsigned int swellheight; /* in decimeters */ 1219 unsigned int swellperiod; /* in seconds */ 1220 unsigned int swelldir; /* direction in degrees */ 1221 unsigned int seastate; /* Beaufort scale, 0-12 */ 1222 #define DAC1FID31_SEASTATE_NOT_AVAILABLE 15 1223 int watertemp; /* units 0.1deg Celsius */ 1224 #define DAC1FID31_PRECIPTYPE_NOT_AVAILABLE 7 1225 unsigned int preciptype; /* 0-7, enumerated */ 1226 unsigned int salinity; /* units of 0.1% */ 1227 #define DAC1FID31_SALINITY_NOT_AVAILABLE 510 1228 bool ice; /* is there sea ice? */ 1229 } dac1fid31; 1230 }; 1231 } type8; 1232 /* Type 9 - Standard SAR Aircraft Position Report */ 1233 struct { 1234 unsigned int alt; /* altitude in meters */ 1235 #define AIS_ALT_NOT_AVAILABLE 4095 1236 #define AIS_ALT_HIGH 4094 /* 4094 meters or higher */ 1237 unsigned int speed; /* speed over ground in deciknots */ 1238 #define AIS_SAR_SPEED_NOT_AVAILABLE 1023 1239 #define AIS_SAR_FAST_MOVER 1022 1240 bool accuracy; /* position accuracy */ 1241 int lon; /* longitude */ 1242 int lat; /* latitude */ 1243 unsigned int course; /* course over ground */ 1244 unsigned int second; /* seconds of UTC timestamp */ 1245 unsigned int regional; /* regional reserved */ 1246 unsigned int dte; /* data terminal enable */ 1247 //unsigned int spare; spare bits */ 1248 bool assigned; /* assigned-mode flag */ 1249 bool raim; /* RAIM flag */ 1250 unsigned int radio; /* radio status bits */ 1251 } type9; 1252 /* Type 10 - UTC/Date Inquiry */ 1253 struct { 1254 //unsigned int spare; 1255 unsigned int dest_mmsi; /* destination MMSI */ 1256 //unsigned int spare2; 1257 } type10; 1258 /* Type 12 - Safety-Related Message */ 1259 struct { 1260 unsigned int seqno; /* sequence number */ 1261 unsigned int dest_mmsi; /* destination MMSI */ 1262 bool retransmit; /* retransmit flag */ 1263 //unsigned int spare; spare bit(s) */ 1264 #define AIS_TYPE12_TEXT_MAX 157 /* 936 bits of six-bit, plus NUL */ 1265 char text[AIS_TYPE12_TEXT_MAX]; 1266 } type12; 1267 /* Type 14 - Safety-Related Broadcast Message */ 1268 struct { 1269 //unsigned int spare; spare bit(s) */ 1270 #define AIS_TYPE14_TEXT_MAX 161 /* 952 bits of six-bit, plus NUL */ 1271 char text[AIS_TYPE14_TEXT_MAX]; 1272 } type14; 1273 /* Type 15 - Interrogation */ 1274 struct { 1275 //unsigned int spare; spare bit(s) */ 1276 unsigned int mmsi1; 1277 unsigned int type1_1; 1278 unsigned int offset1_1; 1279 //unsigned int spare2; spare bit(s) */ 1280 unsigned int type1_2; 1281 unsigned int offset1_2; 1282 //unsigned int spare3; spare bit(s) */ 1283 unsigned int mmsi2; 1284 unsigned int type2_1; 1285 unsigned int offset2_1; 1286 //unsigned int spare4; spare bit(s) */ 1287 } type15; 1288 /* Type 16 - Assigned Mode Command */ 1289 struct { 1290 //unsigned int spare; spare bit(s) */ 1291 unsigned int mmsi1; 1292 unsigned int offset1; 1293 unsigned int increment1; 1294 unsigned int mmsi2; 1295 unsigned int offset2; 1296 unsigned int increment2; 1297 } type16; 1298 /* Type 17 - GNSS Broadcast Binary Message */ 1299 struct { 1300 //unsigned int spare; spare bit(s) */ 1301 #define AIS_GNSS_LATLON_SCALE 600.0 1302 int lon; /* longitude */ 1303 int lat; /* latitude */ 1304 //unsigned int spare2; spare bit(s) */ 1305 #define AIS_TYPE17_BINARY_MAX 736 /* 920 bits */ 1306 size_t bitcount; /* bit count of the data */ 1307 char bitdata[(AIS_TYPE17_BINARY_MAX + 7) / 8]; 1308 } type17; 1309 /* Type 18 - Standard Class B CS Position Report */ 1310 struct { 1311 unsigned int reserved; /* altitude in meters */ 1312 unsigned int speed; /* speed over ground in deciknots */ 1313 bool accuracy; /* position accuracy */ 1314 int lon; /* longitude */ 1315 #define AIS_GNS_LON_NOT_AVAILABLE 0x1a838 1316 int lat; /* latitude */ 1317 #define AIS_GNS_LAT_NOT_AVAILABLE 0xd548 1318 unsigned int course; /* course over ground */ 1319 unsigned int heading; /* true heading */ 1320 unsigned int second; /* seconds of UTC timestamp */ 1321 unsigned int regional; /* regional reserved */ 1322 bool cs; /* carrier sense unit flag */ 1323 bool display; /* unit has attached display? */ 1324 bool dsc; /* unit attached to radio with DSC? */ 1325 bool band; /* unit can switch frequency bands? */ 1326 bool msg22; /* can accept Message 22 management? */ 1327 bool assigned; /* assigned-mode flag */ 1328 bool raim; /* RAIM flag */ 1329 unsigned int radio; /* radio status bits */ 1330 } type18; 1331 /* Type 19 - Extended Class B CS Position Report */ 1332 struct { 1333 unsigned int reserved; /* altitude in meters */ 1334 unsigned int speed; /* speed over ground in deciknots */ 1335 bool accuracy; /* position accuracy */ 1336 int lon; /* longitude */ 1337 int lat; /* latitude */ 1338 unsigned int course; /* course over ground */ 1339 unsigned int heading; /* true heading */ 1340 unsigned int second; /* seconds of UTC timestamp */ 1341 unsigned int regional; /* regional reserved */ 1342 char shipname[AIS_SHIPNAME_MAXLEN+1]; /* ship name */ 1343 unsigned int shiptype; /* ship type code */ 1344 unsigned int to_bow; /* dimension to bow */ 1345 unsigned int to_stern; /* dimension to stern */ 1346 unsigned int to_port; /* dimension to port */ 1347 unsigned int to_starboard; /* dimension to starboard */ 1348 unsigned int epfd; /* type of position fix deviuce */ 1349 bool raim; /* RAIM flag */ 1350 unsigned int dte; /* date terminal enable */ 1351 bool assigned; /* assigned-mode flag */ 1352 //unsigned int spare; spare bits */ 1353 } type19; 1354 /* Type 20 - Data Link Management Message */ 1355 struct { 1356 //unsigned int spare; spare bit(s) */ 1357 unsigned int offset1; /* TDMA slot offset */ 1358 unsigned int number1; /* number of xlots to allocate */ 1359 unsigned int timeout1; /* allocation timeout */ 1360 unsigned int increment1; /* repeat increment */ 1361 unsigned int offset2; /* TDMA slot offset */ 1362 unsigned int number2; /* number of xlots to allocate */ 1363 unsigned int timeout2; /* allocation timeout */ 1364 unsigned int increment2; /* repeat increment */ 1365 unsigned int offset3; /* TDMA slot offset */ 1366 unsigned int number3; /* number of xlots to allocate */ 1367 unsigned int timeout3; /* allocation timeout */ 1368 unsigned int increment3; /* repeat increment */ 1369 unsigned int offset4; /* TDMA slot offset */ 1370 unsigned int number4; /* number of xlots to allocate */ 1371 unsigned int timeout4; /* allocation timeout */ 1372 unsigned int increment4; /* repeat increment */ 1373 } type20; 1374 /* Type 21 - Aids to Navigation Report */ 1375 struct { 1376 unsigned int aid_type; /* aid type */ 1377 char name[35]; /* name of aid to navigation */ 1378 bool accuracy; /* position accuracy */ 1379 int lon; /* longitude */ 1380 int lat; /* latitude */ 1381 unsigned int to_bow; /* dimension to bow */ 1382 unsigned int to_stern; /* dimension to stern */ 1383 unsigned int to_port; /* dimension to port */ 1384 unsigned int to_starboard; /* dimension to starboard */ 1385 unsigned int epfd; /* type of EPFD */ 1386 unsigned int second; /* second of UTC timestamp */ 1387 bool off_position; /* off-position indicator */ 1388 unsigned int regional; /* regional reserved field */ 1389 bool raim; /* RAIM flag */ 1390 bool virtual_aid; /* is virtual station? */ 1391 bool assigned; /* assigned-mode flag */ 1392 //unsigned int spare; unused */ 1393 } type21; 1394 /* Type 22 - Channel Management */ 1395 struct { 1396 //unsigned int spare; spare bit(s) */ 1397 unsigned int channel_a; /* Channel A number */ 1398 unsigned int channel_b; /* Channel B number */ 1399 unsigned int txrx; /* transmit/receive mode */ 1400 bool power; /* high-power flag */ 1401 #define AIS_CHANNEL_LATLON_SCALE 600.0 1402 union { 1403 struct { 1404 int ne_lon; /* NE corner longitude */ 1405 int ne_lat; /* NE corner latitude */ 1406 int sw_lon; /* SW corner longitude */ 1407 int sw_lat; /* SW corner latitude */ 1408 } area; 1409 struct { 1410 unsigned int dest1; /* addressed station MMSI 1 */ 1411 unsigned int dest2; /* addressed station MMSI 2 */ 1412 } mmsi; 1413 }; 1414 bool addressed; /* addressed vs. broadast flag */ 1415 bool band_a; /* fix 1.5kHz band for channel A */ 1416 bool band_b; /* fix 1.5kHz band for channel B */ 1417 unsigned int zonesize; /* size of transitional zone */ 1418 } type22; 1419 /* Type 23 - Group Assignment Command */ 1420 struct { 1421 int ne_lon; /* NE corner longitude */ 1422 int ne_lat; /* NE corner latitude */ 1423 int sw_lon; /* SW corner longitude */ 1424 int sw_lat; /* SW corner latitude */ 1425 //unsigned int spare; spare bit(s) */ 1426 unsigned int stationtype; /* station type code */ 1427 unsigned int shiptype; /* ship type code */ 1428 //unsigned int spare2; spare bit(s) */ 1429 unsigned int txrx; /* transmit-enable code */ 1430 unsigned int interval; /* report interval */ 1431 unsigned int quiet; /* quiet time */ 1432 //unsigned int spare3; spare bit(s) */ 1433 } type23; 1434 /* Type 24 - Class B CS Static Data Report */ 1435 struct { 1436 char shipname[AIS_SHIPNAME_MAXLEN+1]; /* vessel name */ 1437 unsigned int shiptype; /* ship type code */ 1438 char vendorid[8]; /* vendor ID */ 1439 char callsign[8]; /* callsign */ 1440 union { 1441 unsigned int mothership_mmsi; /* MMSI of main vessel */ 1442 struct { 1443 unsigned int to_bow; /* dimension to bow */ 1444 unsigned int to_stern; /* dimension to stern */ 1445 unsigned int to_port; /* dimension to port */ 1446 unsigned int to_starboard; /* dimension to starboard */ 1447 } dim; 1448 }; 1449 } type24; 1450 /* Type 25 - Addressed Binary Message */ 1451 struct { 1452 bool addressed; /* addressed-vs.broadcast flag */ 1453 bool structured; /* structured-binary flag */ 1454 unsigned int dest_mmsi; /* destination MMSI */ 1455 unsigned int app_id; /* Application ID */ 1456 #define AIS_TYPE25_BINARY_MAX 128 /* Up to 128 bits */ 1457 size_t bitcount; /* bit count of the data */ 1458 char bitdata[(AIS_TYPE25_BINARY_MAX + 7) / 8]; 1459 } type25; 1460 /* Type 26 - Addressed Binary Message */ 1461 struct { 1462 bool addressed; /* addressed-vs.broadcast flag */ 1463 bool structured; /* structured-binary flag */ 1464 unsigned int dest_mmsi; /* destination MMSI */ 1465 unsigned int app_id; /* Application ID */ 1466 #define AIS_TYPE26_BINARY_MAX 1004 /* Up to 128 bits */ 1467 size_t bitcount; /* bit count of the data */ 1468 char bitdata[(AIS_TYPE26_BINARY_MAX + 7) / 8]; 1469 unsigned int radio; /* radio status bits */ 1470 } type26; 1471 /* Type 27 - Long Range AIS Broadcast message */ 1472 struct { 1473 bool accuracy; /* position accuracy */ 1474 bool raim; /* RAIM flag */ 1475 unsigned int status; /* navigation status */ 1476 #define AIS_LONGRANGE_LATLON_SCALE 600.0 1477 int lon; /* longitude */ 1478 #define AIS_LONGRANGE_LON_NOT_AVAILABLE 0x1a838 1479 int lat; /* latitude */ 1480 #define AIS_LONGRANGE_LAT_NOT_AVAILABLE 0xd548 1481 unsigned int speed; /* speed over ground in deciknots */ 1482 #define AIS_LONGRANGE_SPEED_NOT_AVAILABLE 63 1483 unsigned int course; /* course over ground */ 1484 #define AIS_LONGRANGE_COURSE_NOT_AVAILABLE 511 1485 bool gnss; /* are we reporting GNSS position? */ 1486 } type27; 1487 }; 1488 }; 1489 1490 struct attitude_t { 1491 double heading; 1492 double pitch; 1493 double roll; 1494 double yaw; 1495 double dip; 1496 double mag_len; /* unitvector sqrt(x^2 + y^2 +z^2) */ 1497 double mag_x; 1498 double mag_y; 1499 double mag_z; 1500 double acc_len; /* unitvector sqrt(x^2 + y^2 +z^2) */ 1501 double acc_x; 1502 double acc_y; 1503 double acc_z; 1504 double gyro_x; 1505 double gyro_y; 1506 double temp; 1507 double depth; 1508 /* compass status -- TrueNorth (and any similar) devices only */ 1509 char mag_st; 1510 char pitch_st; 1511 char roll_st; 1512 char yaw_st; 1513 }; 1514 1515 struct dop_t { 1516 /* Dilution of precision factors */ 1517 double xdop, ydop, pdop, hdop, vdop, tdop, gdop; 1518 }; 1519 1520 struct rawdata_t { 1521 /* raw measurement data */ 1522 double codephase[MAXCHANNELS]; /* meters */ 1523 double carrierphase[MAXCHANNELS]; /* meters */ 1524 double pseudorange[MAXCHANNELS]; /* meters */ 1525 double deltarange[MAXCHANNELS]; /* meters/sec */ 1526 double doppler[MAXCHANNELS]; /* Hz */ 1527 double mtime[MAXCHANNELS]; /* sec */ 1528 unsigned satstat[MAXCHANNELS]; /* tracking status */ 1529 #define SAT_ACQUIRED 0x01 /* satellite acquired */ 1530 #define SAT_CODE_TRACK 0x02 /* code-tracking loop acquired */ 1531 #define SAT_CARR_TRACK 0x04 /* carrier-tracking loop acquired */ 1532 #define SAT_DATA_SYNC 0x08 /* data-bit synchronization done */ 1533 #define SAT_FRAME_SYNC 0x10 /* frame synchronization done */ 1534 #define SAT_EPHEMERIS 0x20 /* ephemeris collected */ 1535 #define SAT_FIX_USED 0x40 /* used for position fix */ 1536 }; 1537 1538 struct version_t { 1539 char release[64]; /* external version */ 1540 char rev[64]; /* internal revision ID */ 1541 int proto_major, proto_minor; /* API major and minor versions */ 1542 char remote[GPS_PATH_MAX]; /* could be from a remote device */ 1543 }; 1544 1545 struct devconfig_t { 1546 char path[GPS_PATH_MAX]; 1547 int flags; 1548 #define SEEN_GPS 0x01 1549 #define SEEN_RTCM2 0x02 1550 #define SEEN_RTCM3 0x04 1551 #define SEEN_AIS 0x08 1552 char driver[64]; 1553 char subtype[64]; 1554 double activated; 1555 unsigned int baudrate, stopbits; /* RS232 link parameters */ 1556 char parity; /* 'N', 'O', or 'E' */ 1557 double cycle, mincycle; /* refresh cycle time in seconds */ 1558 int driver_mode; /* is driver in native mode or not? */ 1559 }; 1560 1561 struct policy_t { 1562 bool watcher; /* is watcher mode on? */ 1563 bool json; /* requesting JSON? */ 1564 bool nmea; /* requesting dumping as NMEA? */ 1565 int raw; /* requesting raw data? */ 1566 bool scaled; /* requesting report scaling? */ 1567 bool timing; /* requesting timing info */ 1568 int loglevel; /* requested log level of messages */ 1569 char devpath[GPS_PATH_MAX]; /* specific device to watch */ 1570 char remote[GPS_PATH_MAX]; /* ...if this was passthrough */ 1571 }; 1572 1573 /* 1574 * Someday we may support Windows, under which socket_t is a separate type. 1575 * In the meantime, having a typedef for this semantic kind is no bad thing, 1576 * as it makes clearer what some declarations are doing without breaking 1577 * binary compatibility. 1578 */ 1579 typedef int socket_t; 1580 1581 /* mode flags for setting streaming policy */ 1582 #define WATCH_ENABLE 0x000001u /* enable streaming */ 1583 #define WATCH_DISABLE 0x000002u /* disable watching */ 1584 #define WATCH_JSON 0x000010u /* JSON output */ 1585 #define WATCH_NMEA 0x000020u /* output in NMEA */ 1586 #define WATCH_RARE 0x000040u /* output of packets in hex */ 1587 #define WATCH_RAW 0x000080u /* output of raw packets */ 1588 #define WATCH_SCALED 0x000100u /* scale output to floats */ 1589 #define WATCH_TIMING 0x000200u /* timing information */ 1590 #define WATCH_DEVICE 0x000800u /* watch specific device */ 1591 #define WATCH_NEWSTYLE 0x010000u /* force JSON streaming */ 1592 #define WATCH_OLDSTYLE 0x020000u /* force old-style streaming */ 1593 1594 /* 1595 * Main structure that includes all previous substructures 1596 */ 1597 1598 struct gps_data_t { 1599 gps_mask_t set; /* has field been set since this was last cleared? */ 1600 #define ONLINE_SET (1llu<<1) 1601 #define TIME_SET (1llu<<2) 1602 #define TIMERR_SET (1llu<<3) 1603 #define LATLON_SET (1llu<<4) 1604 #define ALTITUDE_SET (1llu<<5) 1605 #define SPEED_SET (1llu<<6) 1606 #define TRACK_SET (1llu<<7) 1607 #define CLIMB_SET (1llu<<8) 1608 #define STATUS_SET (1llu<<9) 1609 #define MODE_SET (1llu<<10) 1610 #define DOP_SET (1llu<<11) 1611 #define HERR_SET (1llu<<12) 1612 #define VERR_SET (1llu<<13) 1613 #define ATTITUDE_SET (1llu<<14) 1614 #define SATELLITE_SET (1llu<<15) 1615 #define SPEEDERR_SET (1llu<<16) 1616 #define TRACKERR_SET (1llu<<17) 1617 #define CLIMBERR_SET (1llu<<18) 1618 #define DEVICE_SET (1llu<<19) 1619 #define DEVICELIST_SET (1llu<<20) 1620 #define DEVICEID_SET (1llu<<21) 1621 #define RTCM2_SET (1llu<<22) 1622 #define RTCM3_SET (1llu<<23) 1623 #define AIS_SET (1llu<<24) 1624 #define PACKET_SET (1llu<<25) 1625 #define SUBFRAME_SET (1llu<<26) 1626 #define GST_SET (1llu<<27) 1627 #define VERSION_SET (1llu<<28) 1628 #define POLICY_SET (1llu<<29) 1629 #define LOGMESSAGE_SET (1llu<<30) 1630 #define ERROR_SET (1llu<<31) 1631 #define SET_HIGH_BIT 31 1632 timestamp_t online; /* NZ if GPS is on line, 0 if not. 1633 * 1634 * Note: gpsd clears this time when sentences 1635 * fail to show up within the GPS's normal 1636 * send cycle time. If the host-to-GPS 1637 * link is lossy enough to drop entire 1638 * sentences, this field will be 1639 * prone to false zero values. 1640 */ 1641 1642 #ifndef USE_QT 1643 socket_t gps_fd; /* socket or file descriptor to GPS */ 1644 #else 1645 void* gps_fd; 1646 #endif 1647 struct gps_fix_t fix; /* accumulated PVT data */ 1648 1649 double separation; /* Geoidal separation, MSL - WGS84 (Meters) */ 1650 1651 /* GPS status -- always valid */ 1652 int status; /* Do we have a fix? */ 1653 #define STATUS_NO_FIX 0 /* no */ 1654 #define STATUS_FIX 1 /* yes, without DGPS */ 1655 #define STATUS_DGPS_FIX 2 /* yes, with DGPS */ 1656 1657 /* precision of fix -- valid if satellites_used > 0 */ 1658 int satellites_used; /* Number of satellites used in solution */ 1659 int used[MAXCHANNELS]; /* PRNs of satellites used in solution */ 1660 struct dop_t dop; 1661 1662 /* redundant with the estimate elements in the fix structure */ 1663 double epe; /* spherical position error, 95% confidence (meters) */ 1664 1665 /* satellite status -- valid when satellites_visible > 0 */ 1666 timestamp_t skyview_time; /* skyview timestamp */ 1667 int satellites_visible; /* # of satellites in view */ 1668 int PRN[MAXCHANNELS]; /* PRNs of satellite */ 1669 int elevation[MAXCHANNELS]; /* elevation of satellite */ 1670 int azimuth[MAXCHANNELS]; /* azimuth */ 1671 double ss[MAXCHANNELS]; /* signal-to-noise ratio (dB) */ 1672 1673 struct devconfig_t dev; /* device that shipped last update */ 1674 1675 struct policy_t policy; /* our listening policy */ 1676 1677 /* should be moved to privdata sometday */ 1678 char tag[MAXTAGLEN+1]; /* tag of last sentence processed */ 1679 1680 /* pack things never reported together to reduce structure size */ 1681 #define UNION_SET (RTCM2_SET|RTCM3_SET|SUBFRAME_SET|AIS_SET|ATTITUDE_SET|VERSION_SET|DEVICELIST_SET|LOGMESSAGE_SET|ERROR_SET|GST_SET|VERSION_SET) 1682 union { 1683 /* unusual forms of sensor data that might come up the pipe */ 1684 struct rtcm2_t rtcm2; 1685 struct rtcm3_t rtcm3; 1686 struct subframe_t subframe; 1687 struct ais_t ais; 1688 struct attitude_t attitude; 1689 struct rawdata_t raw; 1690 struct gst_t gst; 1691 /* "artificial" structures for various protocol responses */ 1692 struct version_t version; 1693 struct { 1694 timestamp_t time; 1695 int ndevices; 1696 struct devconfig_t list[MAXUSERDEVS]; 1697 } devices; 1698 char error[256]; 1699 }; 1700 1701 /* Private data - client code must not set this */ 1702 void *privdata; 1703 }; 1704 1705 extern int gps_open(/*@null@*/const char *, /*@null@*/const char *, 1706 /*@out@*/struct gps_data_t *); 1707 extern int gps_close(struct gps_data_t *); 1708 extern int gps_send(struct gps_data_t *, const char *, ... ); 1709 extern int gps_read(/*@out@*/struct gps_data_t *); 1710 extern int gps_unpack(char *, struct gps_data_t *); 1711 extern bool gps_waiting(const struct gps_data_t *, int); 1712 extern int gps_stream(struct gps_data_t *, unsigned int, /*@null@*/void *); 1713 extern const char /*@observer@*/ *gps_data(const struct gps_data_t *); 1714 extern const char /*@observer@*/ *gps_errstr(const int); 1715 1716 extern int gps_sock_open(/*@null@*/const char *, /*@null@*/const char *, 1717 /*@out@*/struct gps_data_t *); 1718 extern int gps_sock_read(/*@out@*/struct gps_data_t *); 1719 extern int gps_sock_close(struct gps_data_t *); 1720 extern int gps_sock_send(struct gps_data_t *, const char *); 1721 extern int gps_shm_open(/*@out@*/struct gps_data_t *); 1722 extern int gps_shm_read(struct gps_data_t *); 1723 extern bool gps_sock_waiting(const struct gps_data_t *, int); 1724 extern int gps_sock_stream(struct gps_data_t *, unsigned int, /*@null@*/void *); 1725 extern const char /*@observer@*/ *gps_sock_data(const struct gps_data_t *); 1726 extern void gps_shm_close(struct gps_data_t *); 1727 1728 extern void libgps_trace(int errlevel, const char *, ...); 1729 1730 /* dependencies on struct gpsdata_t end hrere */ 1731 1732 extern void gps_clear_fix(/*@ out @*/struct gps_fix_t *); 1733 extern void gps_clear_dop( /*@out@*/ struct dop_t *); 1734 extern void gps_merge_fix(/*@ out @*/struct gps_fix_t *, 1735 gps_mask_t, 1736 /*@ in @*/struct gps_fix_t *); 1737 extern void gps_enable_debug(int, FILE *); 1738 extern /*@observer@*/const char *gps_maskdump(gps_mask_t); 1739 1740 extern double safe_atof(const char *); 1741 extern time_t mkgmtime(register struct tm *); 1742 extern timestamp_t timestamp(void); 1743 extern timestamp_t iso8601_to_unix(char *); 1744 extern /*@observer@*/char *unix_to_iso8601(timestamp_t t, /*@ out @*/char[], size_t len); 1745 extern double earth_distance(double, double, double, double); 1746 extern double earth_distance_and_bearings(double, double, double, double, 1747 /*@null@*//*@out@*/double *, 1748 /*@null@*//*@out@*/double *); 1749 extern double wgs84_separation(double, double); 1750 1751 /* some multipliers for interpreting GPS output */ 1752 #define METERS_TO_FEET 3.2808399 /* Meters to U.S./British feet */ 1753 #define METERS_TO_MILES 0.00062137119 /* Meters to miles */ 1754 #define KNOTS_TO_MPH 1.1507794 /* Knots to miles per hour */ 1755 #define KNOTS_TO_KPH 1.852 /* Knots to kilometers per hour */ 1756 #define KNOTS_TO_MPS 0.51444444 /* Knots to meters per second */ 1757 #define MPS_TO_KPH 3.6 /* Meters per second to klicks/hr */ 1758 #define MPS_TO_MPH 2.2369363 /* Meters/second to miles per hour */ 1759 #define MPS_TO_KNOTS 1.9438445 /* Meters per second to knots */ 1760 /* miles and knots are both the international standard versions of the units */ 1761 1762 /* angle conversion multipliers */ 1763 #define GPS_PI 3.1415926535897932384626433832795029 1764 #define RAD_2_DEG 57.2957795130823208767981548141051703 1765 #define DEG_2_RAD 0.0174532925199432957692369076848861271 1766 1767 /* geodetic constants */ 1768 #define WGS84A 6378137 /* equatorial radius */ 1769 #define WGS84F 298.257223563 /* flattening */ 1770 #define WGS84B 6356752.3142 /* polar radius */ 1771 1772 /* netlib_connectsock() errno return values */ 1773 #define NL_NOSERVICE -1 /* can't get service entry */ 1774 #define NL_NOHOST -2 /* can't get host entry */ 1775 #define NL_NOPROTO -3 /* can't get protocol entry */ 1776 #define NL_NOSOCK -4 /* can't create socket */ 1777 #define NL_NOSOCKOPT -5 /* error SETSOCKOPT SO_REUSEADDR */ 1778 #define NL_NOCONNECT -6 /* can't connect to host/socket pair */ 1779 #define SHM_NOSHARED -7 /* shared-memory segment not available */ 1780 #define SHM_NOATTACH -8 /* shared-memory attach failed */ 1781 1782 #define DEFAULT_GPSD_PORT "2947" /* IANA assignment */ 1783 #define DEFAULT_RTCM_PORT "2101" /* IANA assignment */ 1784 1785 /* special host values for non-socket exports */ 1786 #define GPSD_SHARED_MEMORY "shared memory" 1787 1788 /* 1789 * Platform-specific declarations 1790 */ 1791 1792 #ifdef _WIN32 1793 #define strtok_r(s,d,p) strtok_s(s,d,p) 1794 #endif 1795 1796 /* Some libc's don't have strlcat/strlcpy. Local copies are provided */ 1797 #ifndef HAVE_STRLCAT 1798 size_t strlcat(/*@out@*/char *dst, /*@in@*/const char *src, size_t size); 1799 #endif 1800 #ifndef HAVE_STRLCPY 1801 size_t strlcpy(/*@out@*/char *dst, /*@in@*/const char *src, size_t size); 1802 #endif 1803 1804 #ifdef __cplusplus 1805 } /* End of the 'extern "C"' block */ 1806 #endif 1807 1808 /* gps.h ends here */ 1809 #endif /* _GPSD_GPS_H_ */ 1810
