/src/gpsd/gpsd-3.27.6~dev/drivers/driver_rtcm3.c
Line | Count | Source |
1 | | /***************************************************************************** |
2 | | |
3 | | This is a decoder for RTCM-104 3.x, a serial protocol used for |
4 | | broadcasting pseudorange corrections from differential-GPS reference |
5 | | stations. The applicable specification is RTCM 10403.1: RTCM Paper |
6 | | 177-2006-SC104-STD. This obsolesces the earlier RTCM-104 2.x |
7 | | specifications. The specification document is proprietary; ordering |
8 | | instructions are accessible from <http://www.rtcm.org/> |
9 | | under "Publications". |
10 | | |
11 | | Unike the RTCM 2.x protocol, RTCM3.x does not use the strange |
12 | | sliding-bit-window IS-GPS-200 protocol as a transport layer, but is a |
13 | | self-contained byte-oriented packet protocol. Packet recognition is |
14 | | handled in the GPSD packet-getter state machine; this code is |
15 | | concerned with unpacking the packets into well-behaved C structures, |
16 | | coping with odd field lengths and fields that may overlap byte |
17 | | boundaries. These report structures live in gps.h. |
18 | | |
19 | | Note that the unpacking this module does is probably useful only for |
20 | | RTCM reporting and diagnostic tools. It is not necessary when |
21 | | passing RTCM corrections to a GPS, which normally should just be |
22 | | passed an entire correction packet for processing by their internal |
23 | | firmware. |
24 | | |
25 | | Decodes of the following types have been verified: 1004, 1005, 1006, |
26 | | 1008, 1012, 1013, 1029. There is good reason to believe the 1007 code |
27 | | is correct, as it's identical to 1008 up to where it ends. |
28 | | |
29 | | The 1033 decode was arrived at by looking at an rtcminspect dump and noting |
30 | | that it carries an information superset of the 1008. There are additional |
31 | | Receiver and Firmware fields we're not certain to decode without access |
32 | | to an RTCM3 standard at revision 4 or later, but the guess in the code |
33 | | has been observed to correctly analyze a message with a nonempty Receiver |
34 | | field. |
35 | | |
36 | | This file is Copyright 2010 by the GPSD project |
37 | | SPDX-License-Identifier: BSD-2-clause |
38 | | |
39 | | *****************************************************************************/ |
40 | | |
41 | | #include "../include/gpsd_config.h" // must be before all includes |
42 | | |
43 | | #include <string.h> |
44 | | |
45 | | #include "../include/gpsd.h" |
46 | | #include "../include/bits.h" |
47 | | |
48 | | // scaling constants for RTCM3 real number types |
49 | 0 | #define GPS_PSEUDORANGE_RESOLUTION 0.02 // DF011 |
50 | 0 | #define PSEUDORANGE_DIFF_RESOLUTION 0.0005 // DF012, DF042 |
51 | 0 | #define CARRIER_NOISE_RATIO_UNITS 0.25 // DF015, DF045, DF050 |
52 | 0 | #define ANTENNA_POSITION_RESOLUTION 0.0001 // DF025, DF026, DF027 |
53 | 0 | #define GLONASS_PSEUDORANGE_RESOLUTION 0.02 // DF041 |
54 | 0 | #define ANTENNA_DEGREE_RESOLUTION 25e-6 // DF062 |
55 | | #define GPS_EPOCH_TIME_RESOLUTION 0.1 // DF065 |
56 | | // DF069, DF070, DF192, DF193, DF194, DF195 |
57 | 0 | #define PHASE_CORRECTION_RESOLUTION 0.5 |
58 | | // DF156, DF157, DF158, DF166, DF167, DF168, DF169, DF196, DF197 |
59 | 0 | #define TRANSLATION_MM_RESOLUTION 0.001 |
60 | 0 | #define VALIDITY_RESOLUTION 2.0 // DF152, DF153, DF154, DF155 |
61 | 0 | #define SCALE_PPM_RESOLUTION 1e-5 // DF162 |
62 | 0 | #define ROTATION_ARCSEC_RESOLUTION 2e-5 // DF159, DF160, DF161 |
63 | | // DF171, DF172, DF176, DF177, DF178, DF179, DF183, DF184, DF185, DF186 |
64 | 0 | #define PROJ_ORIGIN_RESOLUTION 11e-9 |
65 | 0 | #define DEG_ARCSEC_RESOLUTION 3600 |
66 | 0 | #define CM_RESOLUTION 0.01 // DF198 |
67 | 0 | #define RES_ARCSEC_RESOLUTION 3e-5 // DF199, DF200 |
68 | | |
69 | | // Other magic values |
70 | 0 | #define GPS_INVALID_PSEUDORANGE 0x80000 // DF012, DF018 |
71 | 0 | #define GLONASS_INVALID_RANGEINCR 0x2000 // DF047 |
72 | 0 | #define GLONASS_CHANNEL_BASE 7 // DF040 |
73 | | |
74 | | // Large case statements make GNU indent very confused |
75 | | // *INDENT-OFF* |
76 | | |
77 | | /* good source on message types: |
78 | | * https://software.rtcm-ntrip.org/export/HEAD/ntrip/trunk/BNC/src/bnchelp.html |
79 | | * Also look in the BNC source |
80 | | * and look at the tklib source: http://www.rtklib.com/ |
81 | | */ |
82 | | |
83 | 32.2k | #define ugrab(width) (bitcount += width, ubits(buf, \ |
84 | 32.2k | bitcount - width, width, false)) |
85 | 0 | #define sgrab(width) (bitcount += width, sbits(buf, \ |
86 | 0 | bitcount - width, width, false)) |
87 | | |
88 | | /* copy strings safely. |
89 | | * RTCM 3.3 says most strings are 31 chars, or less, of ISO 8859-1 |
90 | | * but 1007 says DF030 is 20 chars, or less, of ASCII |
91 | | * and 1029 DF140 is 255 bytes, or less, of UTF-8 |
92 | | */ |
93 | | static void rtcm3_copy_string_field(char *dst, size_t dstlen, |
94 | | const unsigned char *src, size_t srclen) |
95 | 560 | { |
96 | 560 | if (0 == dstlen) { |
97 | 0 | return; |
98 | 0 | } |
99 | 560 | if (srclen >= dstlen) { |
100 | 0 | srclen = dstlen - 1; |
101 | 0 | } |
102 | 560 | (void)memcpy(dst, src, srclen); |
103 | 560 | dst[srclen] = '\0'; |
104 | 560 | } |
105 | | |
106 | | /* decode 1015/1016/1017 header |
107 | | * they share a common header |
108 | | * TODO: rtklib has C code for these. |
109 | | * |
110 | | * Return: false if decoded |
111 | | * true if runt |
112 | | */ |
113 | | static bool rtcm3_101567(const struct gps_context_t *context, |
114 | | struct rtcm3_t *rtcm, const unsigned char *buf) |
115 | 0 | { |
116 | 0 | int bitcount = 36; // 8 preamble, 6 zero, 10 length, 12 type |
117 | | |
118 | | // 1015, 1016, and 1017 all use the 1015 struct |
119 | 0 | rtcm->rtcmtypes.rtcm3_1015.header.network_id = ugrab(12); |
120 | 0 | rtcm->rtcmtypes.rtcm3_1015.header.subnetwork_id = ugrab(4); |
121 | 0 | rtcm->rtcmtypes.rtcm3_1015.header.tow = ugrab(23); |
122 | 0 | rtcm->rtcmtypes.rtcm3_1015.header.multimesg = (bool)ugrab(1); |
123 | 0 | rtcm->rtcmtypes.rtcm3_1015.header.master_id = ugrab(12); |
124 | 0 | rtcm->rtcmtypes.rtcm3_1015.header.aux_id = ugrab(12); |
125 | 0 | rtcm->rtcmtypes.rtcm3_1015.header.satcount = ugrab(4); |
126 | |
|
127 | 0 | GPSD_LOG(LOG_PROG, &context->errout, "RTCM3: rtcm3_10567(%u) " |
128 | 0 | "network_id %u subnetwork_id %u tow %lu multimesg %u " |
129 | 0 | "master_id %u aux_id %u satcount %u", |
130 | 0 | rtcm->type, |
131 | 0 | rtcm->rtcmtypes.rtcm3_1015.header.network_id, |
132 | 0 | rtcm->rtcmtypes.rtcm3_1015.header.subnetwork_id, |
133 | 0 | rtcm->rtcmtypes.rtcm3_1015.header.tow, |
134 | 0 | rtcm->rtcmtypes.rtcm3_1015.header.multimesg, |
135 | 0 | rtcm->rtcmtypes.rtcm3_1015.header.master_id, |
136 | 0 | rtcm->rtcmtypes.rtcm3_1015.header.aux_id, |
137 | 0 | rtcm->rtcmtypes.rtcm3_1015.header.satcount); |
138 | 0 | return false; |
139 | 0 | } |
140 | | |
141 | | /* decode 4076 header |
142 | | * IGS State Space Representation (SSR) Format |
143 | | * www.igs.org |
144 | | * https://files.igs.org/pub/data/format/igs_ssr_v1.pdf |
145 | | * |
146 | | * Return: false if decoded |
147 | | * true if runt or undecoded |
148 | | */ |
149 | | static bool rtcm3_4076(const struct gps_context_t *context, |
150 | | struct rtcm3_t *rtcm, const unsigned char *buf) |
151 | 0 | { |
152 | 0 | int bitcount = 36; // 8 preamble, 6 zero, 10 length, 12 type |
153 | |
|
154 | 0 | rtcm->rtcmtypes.rtcm3_4076.ssr_vers = ugrab(3); |
155 | 0 | rtcm->rtcmtypes.rtcm3_4076.igs_num = ugrab(8); |
156 | 0 | rtcm->rtcmtypes.rtcm3_4076.ssr_epoch = ugrab(20); |
157 | 0 | rtcm->rtcmtypes.rtcm3_4076.ssr_update = ugrab(4); |
158 | 0 | rtcm->rtcmtypes.rtcm3_4076.ssr_mmi = ugrab(1); |
159 | 0 | rtcm->rtcmtypes.rtcm3_4076.ssr_iod = ugrab(4); |
160 | 0 | rtcm->rtcmtypes.rtcm3_4076.ssr_provider = ugrab(16); |
161 | 0 | rtcm->rtcmtypes.rtcm3_4076.ssr_solution = ugrab(4); |
162 | |
|
163 | 0 | GPSD_LOG(LOG_PROG, &context->errout, |
164 | 0 | "RTCM3: rtcm3_4076 ver %u igs_num %u Epoch %u update %u mmi %u " |
165 | 0 | "IOD %u Provider %u Solution %u\n", |
166 | 0 | rtcm->rtcmtypes.rtcm3_4076.ssr_vers, |
167 | 0 | rtcm->rtcmtypes.rtcm3_4076.igs_num, |
168 | 0 | rtcm->rtcmtypes.rtcm3_4076.ssr_epoch, |
169 | 0 | rtcm->rtcmtypes.rtcm3_4076.ssr_update, |
170 | 0 | rtcm->rtcmtypes.rtcm3_4076.ssr_mmi, |
171 | 0 | rtcm->rtcmtypes.rtcm3_4076.ssr_iod, |
172 | 0 | rtcm->rtcmtypes.rtcm3_4076.ssr_provider, |
173 | 0 | rtcm->rtcmtypes.rtcm3_4076.ssr_solution); |
174 | 0 | return true; |
175 | 0 | } |
176 | | |
177 | | /* decode MSM header |
178 | | * MSM1 to MSM7 share a common header |
179 | | * TODO: rtklib has C code for these. |
180 | | * |
181 | | * Return: false if decoded |
182 | | * true if runt, or error |
183 | | */ |
184 | | static bool rtcm3_decode_msm(const struct gps_context_t *context, |
185 | | struct rtcm3_t *rtcm, const unsigned char *buf) |
186 | 0 | { |
187 | 0 | int bitcount = 36; // 8 preamble, 6 zero, 10 length, 12 type |
188 | 0 | unsigned n_sig = 0, n_sat = 0, n_cell = 0; |
189 | 0 | uint64_t sat_mask; |
190 | 0 | uint32_t sig_mask; |
191 | 0 | unsigned i; |
192 | |
|
193 | 0 | if (22 > rtcm->length) { |
194 | | // need 169 bits, 21.125 bytes |
195 | 0 | rtcm->length = 0; // set to zero to prevent JSON decode |
196 | 0 | GPSD_LOG(LOG_WARN, &context->errout, |
197 | 0 | "RTCM3: rtcm3_decode_msm() type %d runt length %u ", |
198 | 0 | rtcm->type, rtcm->length); |
199 | 0 | return true; |
200 | 0 | } |
201 | | |
202 | 0 | rtcm->rtcmtypes.rtcm3_msm.station_id = ugrab(12); |
203 | 0 | rtcm->rtcmtypes.rtcm3_msm.tow = ugrab(30); |
204 | 0 | rtcm->rtcmtypes.rtcm3_msm.sync = ugrab(1); |
205 | 0 | rtcm->rtcmtypes.rtcm3_msm.IODS = ugrab(3); |
206 | 0 | bitcount += 7; // skip 7 reserved bits, DF001 |
207 | 0 | rtcm->rtcmtypes.rtcm3_msm.steering = ugrab(2); |
208 | 0 | rtcm->rtcmtypes.rtcm3_msm.ext_clk = ugrab(2); |
209 | 0 | rtcm->rtcmtypes.rtcm3_msm.smoothing = ugrab(1); |
210 | 0 | rtcm->rtcmtypes.rtcm3_msm.interval = ugrab(3); |
211 | | // FIXME: rtcm->rtcmtypes.rtcm3_msm.sat_mask = ugrab(64); |
212 | | // ugrab(56) is max, can't do 64, so stack it |
213 | 0 | rtcm->rtcmtypes.rtcm3_msm.sat_mask = ugrab(32) << 32; |
214 | 0 | rtcm->rtcmtypes.rtcm3_msm.sat_mask |= ugrab(32); |
215 | 0 | rtcm->rtcmtypes.rtcm3_msm.sig_mask = ugrab(32); |
216 | | |
217 | | // count satellites |
218 | 0 | sat_mask = rtcm->rtcmtypes.rtcm3_msm.sat_mask; |
219 | 0 | while (sat_mask) { |
220 | 0 | n_sat += sat_mask & 1; |
221 | 0 | sat_mask >>= 1; |
222 | 0 | } |
223 | | // count signals |
224 | 0 | sig_mask = rtcm->rtcmtypes.rtcm3_msm.sig_mask; |
225 | 0 | while (sig_mask) { |
226 | 0 | n_sig += sig_mask & 1; |
227 | 0 | sig_mask >>= 1; |
228 | 0 | } |
229 | | // determine cells |
230 | 0 | n_cell = n_sat * n_sig; |
231 | 0 | rtcm->rtcmtypes.rtcm3_msm.n_sat = n_sat; |
232 | 0 | rtcm->rtcmtypes.rtcm3_msm.n_sig = n_sig; |
233 | 0 | rtcm->rtcmtypes.rtcm3_msm.n_cell = n_cell; |
234 | |
|
235 | 0 | if (0 == n_sat || |
236 | 0 | RTCM3_MAX_SATELLITES < n_sat || |
237 | 0 | RTCM3_MAX_SATELLITES < n_cell) { |
238 | 0 | GPSD_LOG(LOG_WARN, &context->errout, |
239 | 0 | "RTCM3: rtcm3_decode_msm(%u) interval %u sat_mask x%llx " |
240 | 0 | "sig_mask x%x invalid n_cell %u\n", |
241 | 0 | rtcm->type, |
242 | 0 | rtcm->rtcmtypes.rtcm3_msm.interval, |
243 | 0 | (unsigned long long)rtcm->rtcmtypes.rtcm3_msm.sat_mask, |
244 | 0 | rtcm->rtcmtypes.rtcm3_msm.sig_mask, |
245 | 0 | n_cell); |
246 | 0 | return false; |
247 | 0 | } |
248 | | |
249 | | // cell_mask is variable length! ugrab() width max is 56 |
250 | 0 | if (56 >= n_cell) { |
251 | 0 | rtcm->rtcmtypes.rtcm3_msm.cell_mask = ugrab(n_cell); |
252 | 0 | } else { |
253 | | // 57 to 64, breaks ugrab(), workaround it... |
254 | 0 | rtcm->rtcmtypes.rtcm3_msm.cell_mask = ugrab(56); |
255 | 0 | rtcm->rtcmtypes.rtcm3_msm.cell_mask <<= n_cell - 56; |
256 | 0 | rtcm->rtcmtypes.rtcm3_msm.cell_mask |= ugrab(n_cell - 56); |
257 | 0 | } |
258 | | |
259 | | // Decode Satellite Data |
260 | | |
261 | | // Decode DF397 (MSM 4-7) |
262 | 0 | if (4 == rtcm->rtcmtypes.rtcm3_msm.msm || |
263 | 0 | 5 == rtcm->rtcmtypes.rtcm3_msm.msm || |
264 | 0 | 6 == rtcm->rtcmtypes.rtcm3_msm.msm || |
265 | 0 | 7 == rtcm->rtcmtypes.rtcm3_msm.msm) { |
266 | 0 | for (i = 0; i < rtcm->rtcmtypes.rtcm3_msm.n_sat; i++) { |
267 | 0 | rtcm->rtcmtypes.rtcm3_msm.sat[i].rr_ms = ugrab(8); |
268 | 0 | } |
269 | 0 | } |
270 | | |
271 | | // Decode Extended Info (MSM 5+7) |
272 | 0 | if (5 == rtcm->rtcmtypes.rtcm3_msm.msm || |
273 | 0 | 7 == rtcm->rtcmtypes.rtcm3_msm.msm) { |
274 | 0 | for (i = 0; i < rtcm->rtcmtypes.rtcm3_msm.n_sat; i++) { |
275 | 0 | rtcm->rtcmtypes.rtcm3_msm.sat[i].ext_info = ugrab(4); |
276 | 0 | } |
277 | 0 | } |
278 | | |
279 | | // Decode DF398 (MSM 1-7) |
280 | 0 | for (i = 0; i < rtcm->rtcmtypes.rtcm3_msm.n_sat; i++) { |
281 | 0 | rtcm->rtcmtypes.rtcm3_msm.sat[i].rr_m1 = ugrab(10); |
282 | 0 | }; |
283 | | |
284 | | // Decode DF399 (MSM 5+7) |
285 | 0 | if (5 == rtcm->rtcmtypes.rtcm3_msm.msm || |
286 | 0 | 7 == rtcm->rtcmtypes.rtcm3_msm.msm) { |
287 | 0 | for (i = 0; i < rtcm->rtcmtypes.rtcm3_msm.n_sat; i++) { |
288 | 0 | rtcm->rtcmtypes.rtcm3_msm.sat[i].rates_rphr = ugrab(14); |
289 | 0 | } |
290 | 0 | } |
291 | | |
292 | | // Decode Signal Data |
293 | | |
294 | | // Decode DF400 (MSM 1,3,4,5) resp. DF405 (MSM 6+7) |
295 | 0 | if (1 == rtcm->rtcmtypes.rtcm3_msm.msm || |
296 | 0 | 3 == rtcm->rtcmtypes.rtcm3_msm.msm || |
297 | 0 | 4 == rtcm->rtcmtypes.rtcm3_msm.msm || |
298 | 0 | 5 == rtcm->rtcmtypes.rtcm3_msm.msm) { |
299 | 0 | for (i = 0; i < rtcm->rtcmtypes.rtcm3_msm.n_cell; i++) { |
300 | 0 | rtcm->rtcmtypes.rtcm3_msm.sig[i].pseudo_r = sgrab(15); |
301 | 0 | } |
302 | 0 | } else if (6 == rtcm->rtcmtypes.rtcm3_msm.msm || |
303 | 0 | 7 == rtcm->rtcmtypes.rtcm3_msm.msm) { |
304 | 0 | for (i = 0; i < rtcm->rtcmtypes.rtcm3_msm.n_cell; i++) { |
305 | 0 | rtcm->rtcmtypes.rtcm3_msm.sig[i].pseudo_r = sgrab(20); |
306 | 0 | } |
307 | 0 | } |
308 | | |
309 | | // Decode DF401 (MSM 2,3,4,5) resp. DF406 (MSM 6+7) |
310 | 0 | if (2 == rtcm->rtcmtypes.rtcm3_msm.msm || |
311 | 0 | 3 == rtcm->rtcmtypes.rtcm3_msm.msm || |
312 | 0 | 4 == rtcm->rtcmtypes.rtcm3_msm.msm || |
313 | 0 | 5 == rtcm->rtcmtypes.rtcm3_msm.msm) { |
314 | 0 | for (i = 0; i < rtcm->rtcmtypes.rtcm3_msm.n_cell; i++) { |
315 | 0 | rtcm->rtcmtypes.rtcm3_msm.sig[i].phase_r = sgrab(22); |
316 | 0 | } |
317 | 0 | } else if (6 == rtcm->rtcmtypes.rtcm3_msm.msm || |
318 | 0 | 7 == rtcm->rtcmtypes.rtcm3_msm.msm) { |
319 | 0 | for (i = 0; i < rtcm->rtcmtypes.rtcm3_msm.n_cell; i++) { |
320 | 0 | rtcm->rtcmtypes.rtcm3_msm.sig[i].phase_r = sgrab(24); |
321 | 0 | } |
322 | 0 | } |
323 | | |
324 | | // Decode DF402 (MSM 2,3,4,5) resp. DF407 (MSM 6+7) |
325 | 0 | if (2 == rtcm->rtcmtypes.rtcm3_msm.msm || |
326 | 0 | 3 == rtcm->rtcmtypes.rtcm3_msm.msm || |
327 | 0 | 4 == rtcm->rtcmtypes.rtcm3_msm.msm || |
328 | 0 | 5 == rtcm->rtcmtypes.rtcm3_msm.msm) { |
329 | 0 | for (i = 0; i < rtcm->rtcmtypes.rtcm3_msm.n_cell; i++) { |
330 | 0 | rtcm->rtcmtypes.rtcm3_msm.sig[i].lti = ugrab(4); |
331 | 0 | } |
332 | 0 | } else if (6 == rtcm->rtcmtypes.rtcm3_msm.msm || |
333 | 0 | 7 == rtcm->rtcmtypes.rtcm3_msm.msm) { |
334 | 0 | for (i = 0; i < rtcm->rtcmtypes.rtcm3_msm.n_cell; i++) { |
335 | 0 | rtcm->rtcmtypes.rtcm3_msm.sig[i].lti = ugrab(10); |
336 | 0 | } |
337 | 0 | } |
338 | | |
339 | | // Decode DF420 (MSM 2-7) |
340 | 0 | if (2 == rtcm->rtcmtypes.rtcm3_msm.msm || |
341 | 0 | 3 == rtcm->rtcmtypes.rtcm3_msm.msm || |
342 | 0 | 4 == rtcm->rtcmtypes.rtcm3_msm.msm || |
343 | 0 | 5 == rtcm->rtcmtypes.rtcm3_msm.msm || |
344 | 0 | 6 == rtcm->rtcmtypes.rtcm3_msm.msm || |
345 | 0 | 7 == rtcm->rtcmtypes.rtcm3_msm.msm) { |
346 | 0 | for (i = 0; i < rtcm->rtcmtypes.rtcm3_msm.n_cell; i++) { |
347 | 0 | rtcm->rtcmtypes.rtcm3_msm.sig[i].half_amb = ugrab(1); |
348 | 0 | } |
349 | 0 | } |
350 | | |
351 | | // Decode DF403 (MSM 4+5) resp. DF408 (MSM 6+7) |
352 | 0 | if (4 == rtcm->rtcmtypes.rtcm3_msm.msm || |
353 | 0 | 5 == rtcm->rtcmtypes.rtcm3_msm.msm) { |
354 | 0 | for (i = 0; i < rtcm->rtcmtypes.rtcm3_msm.n_cell; i++) { |
355 | 0 | rtcm->rtcmtypes.rtcm3_msm.sig[i].cnr = ugrab(6); |
356 | 0 | } |
357 | 0 | } else if (6 == rtcm->rtcmtypes.rtcm3_msm.msm || |
358 | 0 | 7 == rtcm->rtcmtypes.rtcm3_msm.msm) { |
359 | 0 | for (i = 0; i < rtcm->rtcmtypes.rtcm3_msm.n_cell; i++) { |
360 | 0 | rtcm->rtcmtypes.rtcm3_msm.sig[i].cnr = ugrab(10); |
361 | 0 | } |
362 | 0 | } |
363 | | |
364 | | // Decode DF404 (MSM 5+7) |
365 | 0 | if (5 == rtcm->rtcmtypes.rtcm3_msm.msm || |
366 | 0 | 7 == rtcm->rtcmtypes.rtcm3_msm.msm) { |
367 | 0 | for (i = 0; i < rtcm->rtcmtypes.rtcm3_msm.n_cell; i++) { |
368 | 0 | rtcm->rtcmtypes.rtcm3_msm.sig[i].cnr = sgrab(15); |
369 | 0 | } |
370 | 0 | } |
371 | | |
372 | | // tow is %llu for 32-bit compatibility |
373 | 0 | GPSD_LOG(LOG_PROG, &context->errout, "RTCM3: rtcm3_decode_msm(%u) " |
374 | 0 | "gnssid %u MSM%u id %u tow %llu sync %u IODS %u " |
375 | 0 | "steering %u ext_clk %u smoothing %u interval %u " |
376 | 0 | "sat_mask x%llx sig_mask x%lx cell_mask %llx\n", |
377 | 0 | rtcm->type, |
378 | 0 | rtcm->rtcmtypes.rtcm3_msm.gnssid, |
379 | 0 | rtcm->rtcmtypes.rtcm3_msm.msm, |
380 | 0 | rtcm->rtcmtypes.rtcm3_msm.station_id, |
381 | 0 | (unsigned long long)rtcm->rtcmtypes.rtcm3_msm.tow, |
382 | 0 | rtcm->rtcmtypes.rtcm3_msm.sync, |
383 | 0 | rtcm->rtcmtypes.rtcm3_msm.IODS, |
384 | 0 | rtcm->rtcmtypes.rtcm3_msm.steering, |
385 | 0 | rtcm->rtcmtypes.rtcm3_msm.ext_clk, |
386 | 0 | rtcm->rtcmtypes.rtcm3_msm.smoothing, |
387 | 0 | rtcm->rtcmtypes.rtcm3_msm.interval, |
388 | 0 | (long long unsigned)rtcm->rtcmtypes.rtcm3_msm.sat_mask, |
389 | 0 | (long unsigned)rtcm->rtcmtypes.rtcm3_msm.sig_mask, |
390 | 0 | (long long unsigned)rtcm->rtcmtypes.rtcm3_msm.cell_mask); |
391 | 0 | return false; |
392 | 0 | } |
393 | | |
394 | | /* break out the raw bits into the scaled report-structure fields |
395 | | * |
396 | | * Return: void |
397 | | */ |
398 | | void rtcm3_unpack(const struct gps_context_t *context, |
399 | | struct rtcm3_t *rtcm, const unsigned char *buf) |
400 | 15.5k | { |
401 | 15.5k | unsigned n, n2, n3, n4; |
402 | 15.5k | int bitcount = 0; |
403 | 15.5k | unsigned i; |
404 | 15.5k | long temp; |
405 | 15.5k | bool unknown = true; // we don't know how to decode |
406 | 15.5k | const char *msg_name = "Unknown"; // we know the name |
407 | 15.5k | unsigned preamble, mbz; // preamble 0xd3, and must be zero |
408 | 15.5k | unsigned bad_len = 0; |
409 | | |
410 | 15.5k | #define GPS_PSEUDORANGE(fld, len) \ |
411 | 15.5k | {temp = ugrab(len); \ |
412 | 0 | if (temp == GPS_INVALID_PSEUDORANGE) { \ |
413 | 0 | fld.pseudorange = 0; \ |
414 | 0 | } else { \ |
415 | 0 | fld.pseudorange = temp * GPS_PSEUDORANGE_RESOLUTION;} \ |
416 | 0 | } |
417 | 15.5k | #define RANGEDIFF(fld, len) \ |
418 | 15.5k | temp = (long)sgrab(len); \ |
419 | 0 | if (temp == GPS_INVALID_PSEUDORANGE) { \ |
420 | 0 | fld.rangediff = 0; \ |
421 | 0 | } else { \ |
422 | 0 | fld.rangediff = temp * PSEUDORANGE_DIFF_RESOLUTION; \ |
423 | 0 | } |
424 | | |
425 | 15.5k | memset(rtcm, 0, sizeof(struct rtcm3_t)); |
426 | | |
427 | | // check preamble and zero bits |
428 | 15.5k | preamble = ugrab(8); |
429 | 15.5k | mbz = ugrab(6); |
430 | 15.5k | if (0xD3 != preamble || |
431 | 14.9k | 0 != mbz) { |
432 | | // The mbz may eventually used for RTCM version. |
433 | 14.9k | GPSD_LOG(LOG_WARN, &context->errout, |
434 | 14.9k | "RTCM3: invalid preamble x%2x or mbz x%x\n", |
435 | 14.9k | preamble, mbz); |
436 | 14.9k | return; |
437 | 14.9k | } |
438 | | |
439 | 560 | rtcm->length = ugrab(10); |
440 | 560 | if (2 > rtcm->length) { |
441 | | // ignore zero payload messages, they do not evan have type |
442 | | // need 2 bytes just to read 10 bit type. |
443 | 0 | GPSD_LOG(LOG_PROG, &context->errout, |
444 | 0 | "RTCM3: bad payload length %u bitcount %d\n", |
445 | 0 | rtcm->length, bitcount); |
446 | 0 | return; |
447 | 0 | } |
448 | 560 | rtcm->type = ugrab(12); |
449 | | |
450 | 560 | GPSD_LOG(LOG_IO, &context->errout, |
451 | 560 | "RTCM3: type %d payload length %u bitcount %d\n", |
452 | 560 | rtcm->type, rtcm->length, bitcount); |
453 | | |
454 | | // RTCM3 message type numbers start at 1001 |
455 | 560 | switch (rtcm->type) { |
456 | 0 | case 1001: |
457 | 0 | msg_name = "GPS Basic RTK, L1 Only"; |
458 | 0 | rtcm->rtcmtypes.rtcm3_1001.header.station_id = ugrab(12); |
459 | 0 | rtcm->rtcmtypes.rtcm3_1001.header.tow = ugrab(30); |
460 | 0 | rtcm->rtcmtypes.rtcm3_1001.header.sync = (bool)ugrab(1); |
461 | 0 | n = ugrab(5); |
462 | 0 | if ((8 + (7 * n)) > rtcm->length) { |
463 | | // not exactly: 8 + (7.25 * n) |
464 | 0 | bad_len = 8 + (7 * n); |
465 | 0 | break; |
466 | 0 | } |
467 | 0 | rtcm->rtcmtypes.rtcm3_1001.header.satcount = n; |
468 | 0 | rtcm->rtcmtypes.rtcm3_1001.header.smoothing = (bool)ugrab(1); |
469 | 0 | rtcm->rtcmtypes.rtcm3_1001.header.interval = ugrab(3); |
470 | 0 | #define R1001 rtcm->rtcmtypes.rtcm3_1001.rtk_data[i] |
471 | 0 | for (i = 0; i < rtcm->rtcmtypes.rtcm3_1001.header.satcount; i++) { |
472 | 0 | R1001.ident = ugrab(6); |
473 | 0 | R1001.L1.indicator = ugrab(1); |
474 | 0 | GPS_PSEUDORANGE(R1001.L1, 24); |
475 | 0 | RANGEDIFF(R1001.L1, 20); |
476 | 0 | R1001.L1.locktime = (unsigned char)sgrab(7); |
477 | 0 | } |
478 | 0 | #undef R1001 |
479 | 0 | unknown = false; |
480 | 0 | break; |
481 | | |
482 | 0 | case 1002: |
483 | 0 | msg_name = "GPS Extended RTK, L1 Only"; |
484 | 0 | rtcm->rtcmtypes.rtcm3_1002.header.station_id = ugrab(12); |
485 | 0 | rtcm->rtcmtypes.rtcm3_1002.header.tow = ugrab(30); |
486 | 0 | rtcm->rtcmtypes.rtcm3_1002.header.sync = (bool)ugrab(1); |
487 | 0 | n = ugrab(5); |
488 | 0 | if ((8 + (9 * n)) > rtcm->length) { |
489 | | // not exactly: 8 + (9.25 * n) |
490 | 0 | bad_len = 8 + (9 * n); |
491 | 0 | break; |
492 | 0 | } |
493 | 0 | rtcm->rtcmtypes.rtcm3_1002.header.satcount = n; |
494 | 0 | rtcm->rtcmtypes.rtcm3_1002.header.smoothing = (bool)ugrab(1); |
495 | 0 | rtcm->rtcmtypes.rtcm3_1002.header.interval = ugrab(3); |
496 | 0 | #define R1002 rtcm->rtcmtypes.rtcm3_1002.rtk_data[i] |
497 | 0 | for (i = 0; i < rtcm->rtcmtypes.rtcm3_1002.header.satcount; i++) { |
498 | 0 | R1002.ident = ugrab(6); |
499 | 0 | R1002.L1.indicator = ugrab(1); |
500 | 0 | GPS_PSEUDORANGE(R1002.L1, 24); |
501 | 0 | RANGEDIFF(R1002.L1, 20); |
502 | 0 | R1002.L1.locktime = (unsigned char)sgrab(7); |
503 | 0 | R1002.L1.ambiguity = ugrab(8); |
504 | 0 | R1002.L1.CNR = (ugrab(8)) * CARRIER_NOISE_RATIO_UNITS; |
505 | 0 | } |
506 | 0 | #undef R1002 |
507 | 0 | unknown = false; |
508 | 0 | break; |
509 | | |
510 | 0 | case 1003: |
511 | 0 | msg_name = "GPS Basic RTK, L1 & L2"; |
512 | 0 | rtcm->rtcmtypes.rtcm3_1003.header.station_id = ugrab(12); |
513 | 0 | rtcm->rtcmtypes.rtcm3_1003.header.tow = ugrab(30); |
514 | 0 | rtcm->rtcmtypes.rtcm3_1003.header.sync = (bool)ugrab(1); |
515 | 0 | n = ugrab(5); |
516 | 0 | if ((8 + (12 * n)) > rtcm->length) { |
517 | | // not exactly: 8 + (12.625 * n) |
518 | 0 | bad_len = 8 + (12 * n); |
519 | 0 | break; |
520 | 0 | } |
521 | 0 | rtcm->rtcmtypes.rtcm3_1003.header.satcount = n; |
522 | 0 | rtcm->rtcmtypes.rtcm3_1003.header.smoothing = (bool)ugrab(1); |
523 | 0 | rtcm->rtcmtypes.rtcm3_1003.header.interval = ugrab(3); |
524 | 0 | #define R1003 rtcm->rtcmtypes.rtcm3_1003.rtk_data[i] |
525 | 0 | for (i = 0; i < rtcm->rtcmtypes.rtcm3_1003.header.satcount; i++) { |
526 | 0 | R1003.ident = ugrab(6); |
527 | 0 | R1003.L1.indicator = ugrab(1); |
528 | 0 | GPS_PSEUDORANGE(R1003.L1, 24); |
529 | 0 | RANGEDIFF(R1003.L1, 20); |
530 | 0 | R1003.L1.locktime = (unsigned char)sgrab(7); |
531 | 0 | R1003.L2.indicator = ugrab(2); |
532 | 0 | GPS_PSEUDORANGE(R1003.L2, 24); |
533 | 0 | temp = (long)sgrab(20); |
534 | 0 | if (temp == GPS_INVALID_PSEUDORANGE) { |
535 | 0 | R1003.L2.rangediff = 0; |
536 | 0 | } else { |
537 | 0 | R1003.L2.rangediff = temp * PSEUDORANGE_DIFF_RESOLUTION; |
538 | 0 | } |
539 | 0 | R1003.L2.locktime = (unsigned char)sgrab(7); |
540 | 0 | } |
541 | 0 | #undef R1003 |
542 | 0 | unknown = false; |
543 | 0 | break; |
544 | | |
545 | 0 | case 1004: |
546 | 0 | msg_name = "GPS Extended RTK, L1 & L2"; |
547 | 0 | rtcm->rtcmtypes.rtcm3_1004.header.station_id = ugrab(12); |
548 | 0 | rtcm->rtcmtypes.rtcm3_1004.header.tow = ugrab(30); |
549 | 0 | rtcm->rtcmtypes.rtcm3_1004.header.sync = (bool)ugrab(1); |
550 | 0 | n = ugrab(5); |
551 | 0 | bad_len = ceil(8.0 + (15.625* n)); |
552 | 0 | if (bad_len != rtcm->length) { |
553 | | // exactly: 8 + (15.625 * n) |
554 | 0 | break; |
555 | 0 | } |
556 | 0 | bad_len = 0; |
557 | 0 | rtcm->rtcmtypes.rtcm3_1004.header.satcount = n; |
558 | 0 | rtcm->rtcmtypes.rtcm3_1004.header.smoothing = (bool)ugrab(1); |
559 | 0 | rtcm->rtcmtypes.rtcm3_1004.header.interval = ugrab(3); |
560 | 0 | #define R1004 rtcm->rtcmtypes.rtcm3_1004.rtk_data[i] |
561 | 0 | for (i = 0; i < rtcm->rtcmtypes.rtcm3_1004.header.satcount; i++) { |
562 | 0 | R1004.ident = ugrab(6); |
563 | 0 | R1004.L1.indicator = (bool)ugrab(1); |
564 | 0 | GPS_PSEUDORANGE(R1004.L1, 24); |
565 | 0 | RANGEDIFF(R1004.L1, 20); |
566 | 0 | R1004.L1.locktime = (unsigned char)sgrab(7); |
567 | 0 | R1004.L1.ambiguity = ugrab(8); |
568 | 0 | R1004.L1.CNR = ugrab(8) * CARRIER_NOISE_RATIO_UNITS; |
569 | 0 | R1004.L2.indicator = ugrab(2); |
570 | 0 | GPS_PSEUDORANGE(R1004.L2, 14); |
571 | 0 | RANGEDIFF(R1004.L2, 20); |
572 | 0 | R1004.L2.locktime = (unsigned char)sgrab(7); |
573 | 0 | R1004.L2.CNR = ugrab(8) * CARRIER_NOISE_RATIO_UNITS; |
574 | 0 | } |
575 | 0 | #undef R1004 |
576 | 0 | unknown = false; |
577 | 0 | break; |
578 | | |
579 | 0 | case 1005: |
580 | 0 | msg_name = "Stationary Antenna Reference Point, No Height Information"; |
581 | | // 19 bytes |
582 | 0 | if (19 != rtcm->length) { |
583 | 0 | bad_len = 19; |
584 | 0 | break; |
585 | 0 | } |
586 | 0 | #define R1005 rtcm->rtcmtypes.rtcm3_1005 |
587 | 0 | R1005.station_id = ugrab(12); |
588 | 0 | ugrab(6); // reserved |
589 | 0 | R1005.system = ugrab(3); |
590 | 0 | R1005.reference_station = (bool)ugrab(1); |
591 | 0 | R1005.ecef_x = sgrab(38) * ANTENNA_POSITION_RESOLUTION; |
592 | 0 | R1005.single_receiver = ugrab(1); |
593 | 0 | ugrab(1); |
594 | 0 | R1005.ecef_y = sgrab(38) * ANTENNA_POSITION_RESOLUTION; |
595 | 0 | ugrab(2); |
596 | 0 | R1005.ecef_z = sgrab(38) * ANTENNA_POSITION_RESOLUTION; |
597 | 0 | #undef R1005 |
598 | 0 | unknown = false; |
599 | 0 | break; |
600 | | |
601 | 0 | case 1006: |
602 | 0 | msg_name = "Stationary Antenna Reference Point, w/ Height Info"; |
603 | | // 21 bytes |
604 | 0 | if (21 != rtcm->length) { |
605 | 0 | bad_len = 21; |
606 | 0 | break; |
607 | 0 | } |
608 | 0 | #define R1006 rtcm->rtcmtypes.rtcm3_1006 |
609 | 0 | R1006.station_id = ugrab(12); |
610 | 0 | (void)ugrab(6); // reserved |
611 | 0 | R1006.system = ugrab(3); |
612 | 0 | R1006.reference_station = (bool)ugrab(1); |
613 | 0 | R1006.ecef_x = sgrab(38) * ANTENNA_POSITION_RESOLUTION; |
614 | 0 | R1006.single_receiver = ugrab(1); |
615 | 0 | ugrab(1); |
616 | 0 | R1006.ecef_y = sgrab(38) * ANTENNA_POSITION_RESOLUTION; |
617 | 0 | ugrab(2); |
618 | 0 | R1006.ecef_z = sgrab(38) * ANTENNA_POSITION_RESOLUTION; |
619 | 0 | R1006.height = ugrab(16) * ANTENNA_POSITION_RESOLUTION; |
620 | 0 | #undef R1006 |
621 | 0 | unknown = false; |
622 | 0 | break; |
623 | | |
624 | 0 | case 1007: |
625 | 0 | msg_name = "Antenna Description"; |
626 | | // 5 to 36 bytes |
627 | 0 | rtcm->rtcmtypes.rtcm3_1007.station_id = ugrab(12); |
628 | 0 | n = ugrab(8); |
629 | 0 | if ((5 + n) != rtcm->length) { |
630 | 0 | bad_len = 5 + n; |
631 | 0 | break; |
632 | 0 | } |
633 | | // 1007 says DF030 is 20 chars, or less, of ASCII |
634 | 0 | rtcm3_copy_string_field(rtcm->rtcmtypes.rtcm3_1007.descriptor, |
635 | 0 | sizeof(rtcm->rtcmtypes.rtcm3_1007.descriptor), |
636 | 0 | buf + 7, n); |
637 | 0 | bitcount += 8 * n; |
638 | 0 | rtcm->rtcmtypes.rtcm3_1007.setup_id = ugrab(8); |
639 | 0 | unknown = false; |
640 | 0 | break; |
641 | | |
642 | 0 | case 1008: |
643 | 0 | msg_name = "Antenna Description & Serial Number"; |
644 | | // 6 to 68 bytes |
645 | 0 | rtcm->rtcmtypes.rtcm3_1008.station_id = ugrab(12); |
646 | 0 | n = ugrab(8); |
647 | 0 | if ((6 + n) != rtcm->length) { |
648 | 0 | bad_len = 6 + n; |
649 | 0 | break; |
650 | 0 | } |
651 | 0 | rtcm3_copy_string_field(rtcm->rtcmtypes.rtcm3_1008.descriptor, |
652 | 0 | sizeof(rtcm->rtcmtypes.rtcm3_1008.descriptor), |
653 | 0 | buf + 7, n); |
654 | 0 | bitcount += 8 * n; |
655 | 0 | rtcm->rtcmtypes.rtcm3_1008.setup_id = ugrab(8); |
656 | 0 | n2 = ugrab(8); |
657 | 0 | rtcm3_copy_string_field(rtcm->rtcmtypes.rtcm3_1008.serial, |
658 | 0 | sizeof(rtcm->rtcmtypes.rtcm3_1008.serial), |
659 | 0 | buf + 9 + n, n2); |
660 | | // bitcount += 8 * n2; |
661 | 0 | unknown = false; |
662 | 0 | break; |
663 | | |
664 | 0 | case 1009: |
665 | 0 | msg_name = "GLONASS Basic RTK, L1 Only"; |
666 | 0 | rtcm->rtcmtypes.rtcm3_1009.header.station_id = ugrab(12); |
667 | 0 | rtcm->rtcmtypes.rtcm3_1009.header.tow = ugrab(27); |
668 | 0 | rtcm->rtcmtypes.rtcm3_1009.header.sync = (bool)ugrab(1); |
669 | 0 | n = ugrab(5); |
670 | 0 | if ((7 + (8 * n)) > rtcm->length) { |
671 | | // not exactly: 7.625 + (8 * n) |
672 | 0 | bad_len = 7 + (8 * n); |
673 | 0 | break; |
674 | 0 | } |
675 | 0 | rtcm->rtcmtypes.rtcm3_1009.header.satcount = n; |
676 | 0 | rtcm->rtcmtypes.rtcm3_1009.header.smoothing = (bool)ugrab(1); |
677 | 0 | rtcm->rtcmtypes.rtcm3_1009.header.interval = ugrab(3); |
678 | 0 | #define R1009 rtcm->rtcmtypes.rtcm3_1009.rtk_data[i] |
679 | 0 | for (i = 0; i < rtcm->rtcmtypes.rtcm3_1009.header.satcount; i++) { |
680 | 0 | R1009.ident = ugrab(6); |
681 | 0 | R1009.L1.indicator = (bool)ugrab(1); |
682 | 0 | R1009.L1.channel = (short)ugrab(5) - GLONASS_CHANNEL_BASE; |
683 | 0 | R1009.L1.pseudorange = ugrab(25) * GLONASS_PSEUDORANGE_RESOLUTION; |
684 | 0 | RANGEDIFF(R1009.L1, 20); |
685 | 0 | R1009.L1.locktime = (unsigned char)sgrab(7); |
686 | 0 | } |
687 | 0 | #undef R1009 |
688 | 0 | unknown = false; |
689 | 0 | break; |
690 | | |
691 | 0 | case 1010: |
692 | 0 | msg_name = "GLONASS Extended RTK, L1 Only"; |
693 | 0 | rtcm->rtcmtypes.rtcm3_1010.header.station_id = |
694 | 0 | (unsigned short)ugrab(12); |
695 | 0 | rtcm->rtcmtypes.rtcm3_1010.header.tow = ugrab(27); |
696 | 0 | rtcm->rtcmtypes.rtcm3_1010.header.sync = (bool)ugrab(1); |
697 | 0 | n = ugrab(5); |
698 | 0 | bad_len = ceil(7.625 + (9.875 * n)); |
699 | 0 | if (bad_len != rtcm->length) { |
700 | | // exactly: 7.625 + (9.875 * n) |
701 | 0 | break; |
702 | 0 | } |
703 | 0 | bad_len = 0; |
704 | 0 | rtcm->rtcmtypes.rtcm3_1010.header.satcount = n; |
705 | 0 | rtcm->rtcmtypes.rtcm3_1010.header.smoothing = (bool)ugrab(1); |
706 | 0 | rtcm->rtcmtypes.rtcm3_1010.header.interval = ugrab(3); |
707 | 0 | #define R1010 rtcm->rtcmtypes.rtcm3_1010.rtk_data[i] |
708 | 0 | for (i = 0; i < rtcm->rtcmtypes.rtcm3_1010.header.satcount; i++) { |
709 | 0 | R1010.ident = (unsigned short)ugrab(6); |
710 | 0 | R1010.L1.indicator = (bool)ugrab(1); |
711 | 0 | R1010.L1.channel = (short)ugrab(5) - GLONASS_CHANNEL_BASE; |
712 | 0 | R1010.L1.pseudorange = ugrab(25) * GLONASS_PSEUDORANGE_RESOLUTION; |
713 | 0 | RANGEDIFF(R1010.L1, 20); |
714 | 0 | R1010.L1.locktime = (unsigned char)sgrab(7); |
715 | 0 | R1010.L1.ambiguity = (unsigned char)ugrab(7); |
716 | 0 | R1010.L1.CNR = ugrab(8) * CARRIER_NOISE_RATIO_UNITS; |
717 | 0 | } |
718 | 0 | #undef R1010 |
719 | 0 | unknown = false; |
720 | 0 | break; |
721 | | |
722 | 0 | case 1011: |
723 | 0 | msg_name = "GLONASS Basic RTK, L1 & L2"; |
724 | 0 | rtcm->rtcmtypes.rtcm3_1011.header.station_id = |
725 | 0 | (unsigned short)ugrab(12); |
726 | 0 | rtcm->rtcmtypes.rtcm3_1011.header.tow = ugrab(27); |
727 | 0 | rtcm->rtcmtypes.rtcm3_1011.header.sync = (bool)ugrab(1); |
728 | 0 | n = ugrab(5); |
729 | 0 | bad_len = ceil(7.625 + (13.325 * n)); |
730 | 0 | if (bad_len != rtcm->length) { |
731 | | // exactly: 7.625 + (13.325 * n) |
732 | 0 | break; |
733 | 0 | } |
734 | 0 | bad_len = 0; |
735 | 0 | rtcm->rtcmtypes.rtcm3_1011.header.satcount = n; |
736 | 0 | rtcm->rtcmtypes.rtcm3_1011.header.smoothing = (bool)ugrab(1); |
737 | 0 | rtcm->rtcmtypes.rtcm3_1011.header.interval = ugrab(3); |
738 | 0 | #define R1011 rtcm->rtcmtypes.rtcm3_1011.rtk_data[i] |
739 | 0 | for (i = 0; i < rtcm->rtcmtypes.rtcm3_1011.header.satcount; i++) { |
740 | 0 | R1011.ident = (unsigned short)ugrab(6); |
741 | 0 | R1011.L1.indicator = (bool)ugrab(1); |
742 | 0 | R1011.L1.channel = (short)ugrab(5) - GLONASS_CHANNEL_BASE; |
743 | 0 | R1011.L1.pseudorange = ugrab(25) * GLONASS_PSEUDORANGE_RESOLUTION; |
744 | 0 | RANGEDIFF(R1011.L1, 20); |
745 | 0 | R1011.L1.locktime = (unsigned char)sgrab(7); |
746 | 0 | R1011.L1.ambiguity = (unsigned char)ugrab(7); |
747 | 0 | R1011.L1.CNR = ugrab(8) * CARRIER_NOISE_RATIO_UNITS; |
748 | 0 | R1011.L2.indicator = (bool)ugrab(1); |
749 | 0 | R1011.L2.channel = (short)ugrab(5) - GLONASS_CHANNEL_BASE; |
750 | 0 | R1011.L2.pseudorange = ugrab(25) * GLONASS_PSEUDORANGE_RESOLUTION; |
751 | 0 | RANGEDIFF(R1011.L2, 20); |
752 | 0 | R1011.L2.locktime = (unsigned char)sgrab(7); |
753 | 0 | R1011.L2.ambiguity = (unsigned char)ugrab(7); |
754 | 0 | R1011.L2.CNR = ugrab(8) * CARRIER_NOISE_RATIO_UNITS; |
755 | 0 | } |
756 | 0 | #undef R1011 |
757 | 0 | unknown = false; |
758 | 0 | break; |
759 | | |
760 | 0 | case 1012: |
761 | 0 | msg_name = "GLONASS Extended RTK, L1 & L2"; |
762 | 0 | rtcm->rtcmtypes.rtcm3_1012.header.station_id = ugrab(12); |
763 | 0 | rtcm->rtcmtypes.rtcm3_1012.header.tow = ugrab(27); |
764 | 0 | rtcm->rtcmtypes.rtcm3_1012.header.sync = (bool)ugrab(1); |
765 | 0 | n = ugrab(5); |
766 | 0 | bad_len = ceil(7.625 + (16.25 * n)); |
767 | 0 | if (bad_len != rtcm->length) { |
768 | | // exactly: 7.625 + (16.25 * n) |
769 | 0 | break; |
770 | 0 | } |
771 | 0 | bad_len = 0; |
772 | 0 | rtcm->rtcmtypes.rtcm3_1012.header.satcount = n; |
773 | 0 | rtcm->rtcmtypes.rtcm3_1012.header.smoothing = (bool)ugrab(1); |
774 | 0 | rtcm->rtcmtypes.rtcm3_1012.header.interval = ugrab(3); |
775 | 0 | #define R1012 rtcm->rtcmtypes.rtcm3_1012.rtk_data[i] |
776 | 0 | for (i = 0; i < rtcm->rtcmtypes.rtcm3_1012.header.satcount; i++) { |
777 | 0 | unsigned rangeincr; |
778 | |
|
779 | 0 | R1012.ident = ugrab(6); |
780 | 0 | R1012.L1.indicator = (bool)ugrab(1); |
781 | 0 | R1012.L1.channel = (short)ugrab(5) - GLONASS_CHANNEL_BASE; |
782 | 0 | R1012.L1.pseudorange = ugrab(25) * GLONASS_PSEUDORANGE_RESOLUTION; |
783 | 0 | RANGEDIFF(R1012.L1, 20); |
784 | 0 | R1012.L1.locktime = ugrab(7); |
785 | 0 | R1012.L1.ambiguity = ugrab(7); |
786 | 0 | R1012.L1.CNR = ugrab(8) * CARRIER_NOISE_RATIO_UNITS; |
787 | 0 | R1012.L2.indicator = (bool)ugrab(2); |
788 | 0 | rangeincr = ugrab(14); |
789 | 0 | if (rangeincr == GLONASS_INVALID_RANGEINCR) { |
790 | 0 | R1012.L2.pseudorange = 0; |
791 | 0 | } else { |
792 | 0 | R1012.L2.pseudorange = (rangeincr * |
793 | 0 | GLONASS_PSEUDORANGE_RESOLUTION); |
794 | 0 | } |
795 | 0 | RANGEDIFF(R1012.L2, 20); |
796 | 0 | R1012.L2.locktime = (unsigned char)sgrab(7); |
797 | 0 | R1012.L2.CNR = ugrab(8) * CARRIER_NOISE_RATIO_UNITS; |
798 | 0 | } |
799 | 0 | #undef R1012 |
800 | 0 | unknown = false; |
801 | 0 | break; |
802 | | |
803 | 0 | case 1013: |
804 | 0 | msg_name = "System Parameters"; |
805 | 0 | rtcm->rtcmtypes.rtcm3_1013.station_id = ugrab(12); |
806 | 0 | rtcm->rtcmtypes.rtcm3_1013.mjd = ugrab(16); |
807 | 0 | rtcm->rtcmtypes.rtcm3_1013.sod = ugrab(17); |
808 | 0 | n = ugrab(5); |
809 | 0 | bad_len = ceil(8.75 + (3.625 * n)); |
810 | 0 | if (bad_len != rtcm->length) { |
811 | | // exactly: 8.75 + (3.625 * n) |
812 | 0 | break; |
813 | 0 | } |
814 | 0 | bad_len = 0; |
815 | 0 | rtcm->rtcmtypes.rtcm3_1013.ncount = n; |
816 | 0 | rtcm->rtcmtypes.rtcm3_1013.leapsecs = ugrab(8); |
817 | 0 | #define R1013 rtcm->rtcmtypes.rtcm3_1013.announcements[i] |
818 | 0 | for (i = 0; i < rtcm->rtcmtypes.rtcm3_1013.ncount; i++) { |
819 | 0 | R1013.id = ugrab(12); |
820 | 0 | R1013.sync = (bool)ugrab(1); |
821 | 0 | R1013.interval = ugrab(16); |
822 | 0 | } |
823 | 0 | #undef R1013 |
824 | 0 | unknown = false; |
825 | 0 | break; |
826 | | |
827 | 0 | case 1014: |
828 | 0 | msg_name = "Network Auxiliary Station Data"; |
829 | | // coordinate difference between one Aux station and master station |
830 | 0 | if (15 != rtcm->length) { |
831 | 0 | bad_len = 15; |
832 | 0 | break; |
833 | 0 | } |
834 | 0 | rtcm->rtcmtypes.rtcm3_1014.network_id = (int)ugrab(8); |
835 | 0 | rtcm->rtcmtypes.rtcm3_1014.subnetwork_id = (int)ugrab(4); |
836 | 0 | rtcm->rtcmtypes.rtcm3_1014.stationcount = (char)ugrab(5); |
837 | 0 | rtcm->rtcmtypes.rtcm3_1014.master_id = (int)ugrab(12); |
838 | 0 | rtcm->rtcmtypes.rtcm3_1014.aux_id = (int)ugrab(12); |
839 | 0 | rtcm->rtcmtypes.rtcm3_1014.d_lat = |
840 | 0 | ugrab(20) * ANTENNA_DEGREE_RESOLUTION; |
841 | 0 | rtcm->rtcmtypes.rtcm3_1014.d_lon = |
842 | 0 | ugrab(21) * ANTENNA_DEGREE_RESOLUTION; |
843 | 0 | rtcm->rtcmtypes.rtcm3_1014.d_alt = ugrab(23) / 1000; |
844 | 0 | unknown = false; |
845 | 0 | break; |
846 | | |
847 | 0 | case 1015: |
848 | | /* RTCM 3.1 |
849 | | * GPS Ionospheric Correction Differences for all satellites |
850 | | * between the master station and one auxiliary station |
851 | | * 9 bytes minimum |
852 | | */ |
853 | 0 | if (9 > rtcm->length) { |
854 | | // need 76 bits, 9.5 bytes |
855 | 0 | bad_len = 9; |
856 | 0 | break; |
857 | 0 | } |
858 | | |
859 | 0 | unknown = rtcm3_101567(context, rtcm, buf); |
860 | 0 | msg_name = "GPS Ionospheric Correction Differences"; |
861 | 0 | break; |
862 | | |
863 | 0 | case 1016: |
864 | | /* RTCM 3.1 |
865 | | * GPS Geometric Correction Differences for all satellites between |
866 | | * the master station and one auxiliary station. |
867 | | * 9 bytes minimum |
868 | | */ |
869 | 0 | if (9 > rtcm->length) { |
870 | | // need 76 bits, 9.5 bytes |
871 | 0 | bad_len = 9; |
872 | 0 | break; |
873 | 0 | } |
874 | 0 | unknown = rtcm3_101567(context, rtcm, buf); |
875 | 0 | msg_name = "GPS Geometric Correction Differences"; |
876 | 0 | break; |
877 | | |
878 | 0 | case 1017: |
879 | | /* RTCM 3.1 |
880 | | * GPS Combined Geometric and Ionospheric Correction Differences |
881 | | * for all satellites between one Aux station and the master station |
882 | | * (same content as both types 1015 and 1016 together, but less size) |
883 | | * 9 bytes minimum |
884 | | */ |
885 | 0 | if (9 > rtcm->length) { |
886 | | // need 76 bits, 9.5 bytes |
887 | 0 | bad_len = 9; |
888 | 0 | break; |
889 | 0 | } |
890 | 0 | unknown = rtcm3_101567(context, rtcm, buf); |
891 | 0 | unknown = rtcm3_101567(context, rtcm, buf); |
892 | 0 | msg_name = "GPS Combined Geometric and Ionospheric " |
893 | 0 | "Correction Differences"; |
894 | 0 | break; |
895 | | |
896 | 0 | case 1018: |
897 | | /* RTCM 3.1 |
898 | | * Reserved for alternative Ionospheric Correction Difference Message |
899 | | */ |
900 | 0 | msg_name = "Reserved for alternative Ionospheric Correction " |
901 | 0 | "Differences"; |
902 | 0 | break; |
903 | | |
904 | 0 | case 1019: |
905 | | /* RTCM 3.1 - 1020 |
906 | | * GPS Ephemeris |
907 | | * 62 bytes |
908 | | */ |
909 | 0 | if (61 != rtcm->length) { |
910 | 0 | bad_len = 61; |
911 | 0 | break; |
912 | 0 | } |
913 | | // TODO: rtklib has C code for this one. |
914 | 0 | msg_name = "GPS Ephemeris"; |
915 | 0 | break; |
916 | | |
917 | 0 | case 1020: |
918 | | /* RTCM 3.1 - 1020 |
919 | | * GLONASS Ephemeris |
920 | | * 45 bytes |
921 | | */ |
922 | 0 | if (45 != rtcm->length) { |
923 | 0 | bad_len = 45; |
924 | 0 | break; |
925 | 0 | } |
926 | | // TODO: rtklib has C code for this one. |
927 | 0 | msg_name = "GLO Ephemeris"; |
928 | 0 | break; |
929 | | |
930 | 0 | case 1021: |
931 | | /* RTCM 3.1 |
932 | | * Helmert / Abridged Molodenski Transformation parameters |
933 | | */ |
934 | 0 | msg_name = "Helmert / Abridged Molodenski Transformation " |
935 | 0 | "parameters"; |
936 | 0 | if (51 > rtcm->length) { |
937 | | // actually 51.5 + n + m |
938 | 0 | bad_len = 51; |
939 | 0 | break; |
940 | 0 | } |
941 | | // Set Source-Name |
942 | 0 | n = ugrab(5); |
943 | 0 | if ((sizeof(rtcm->rtcmtypes.rtcm3_1021.src_name) - 1) <= n) { |
944 | | // paranoia |
945 | 0 | n = sizeof(rtcm->rtcmtypes.rtcm3_1021.src_name) - 1; |
946 | 0 | } |
947 | 0 | for (i = 0; i < n; i++) { |
948 | | // Grrr. Not byte aligned |
949 | 0 | rtcm->rtcmtypes.rtcm3_1021.src_name[i] = (char)ugrab(8); |
950 | 0 | } |
951 | 0 | rtcm->rtcmtypes.rtcm3_1021.src_name[n] = '\0'; |
952 | | // Set Target-Name |
953 | 0 | n2 = (unsigned)ugrab(5); |
954 | 0 | if ((sizeof(rtcm->rtcmtypes.rtcm3_1021.tar_name) - 1) <= n2) { |
955 | | // paranoia |
956 | 0 | n2 = sizeof(rtcm->rtcmtypes.rtcm3_1021.tar_name) - 1; |
957 | 0 | } |
958 | 0 | for (i = 0; i < n2; i++) { |
959 | 0 | rtcm->rtcmtypes.rtcm3_1021.tar_name[i] = (char)ugrab(8); |
960 | 0 | } |
961 | 0 | rtcm->rtcmtypes.rtcm3_1021.tar_name[n2] = '\0'; |
962 | 0 | rtcm->rtcmtypes.rtcm3_1021.sys_id_num = ugrab(8); |
963 | 0 | #define R1021 rtcm->rtcmtypes.rtcm3_1021.ut_tr_msg_id[i] |
964 | 0 | for (i = 0; i < RTCM3_DF148_SIZE; i++) { |
965 | 0 | R1021 = (bool)ugrab(1); |
966 | 0 | } |
967 | 0 | #undef R1021 |
968 | 0 | rtcm->rtcmtypes.rtcm3_1021.plate_number = ugrab(5); |
969 | 0 | rtcm->rtcmtypes.rtcm3_1021.computation_id = ugrab(4); |
970 | 0 | rtcm->rtcmtypes.rtcm3_1021.height_id = ugrab(2); |
971 | 0 | rtcm->rtcmtypes.rtcm3_1021.lat_origin = sgrab(19) * |
972 | 0 | VALIDITY_RESOLUTION / DEG_ARCSEC_RESOLUTION; |
973 | 0 | rtcm->rtcmtypes.rtcm3_1021.lon_origin = sgrab(20) * |
974 | 0 | VALIDITY_RESOLUTION / DEG_ARCSEC_RESOLUTION; |
975 | 0 | rtcm->rtcmtypes.rtcm3_1021.lat_extension = sgrab(14) * |
976 | 0 | VALIDITY_RESOLUTION / DEG_ARCSEC_RESOLUTION; |
977 | 0 | rtcm->rtcmtypes.rtcm3_1021.lon_extension = sgrab(14) * |
978 | 0 | VALIDITY_RESOLUTION / DEG_ARCSEC_RESOLUTION; |
979 | 0 | rtcm->rtcmtypes.rtcm3_1021.x_trans = sgrab(23) * |
980 | 0 | TRANSLATION_MM_RESOLUTION; |
981 | 0 | rtcm->rtcmtypes.rtcm3_1021.y_trans = sgrab(23) * |
982 | 0 | TRANSLATION_MM_RESOLUTION; |
983 | 0 | rtcm->rtcmtypes.rtcm3_1021.z_trans = sgrab(23) * |
984 | 0 | TRANSLATION_MM_RESOLUTION; |
985 | 0 | rtcm->rtcmtypes.rtcm3_1021.x_rot = sgrab(32) * |
986 | 0 | ROTATION_ARCSEC_RESOLUTION / DEG_ARCSEC_RESOLUTION; |
987 | 0 | rtcm->rtcmtypes.rtcm3_1021.y_rot = sgrab(32) * |
988 | 0 | ROTATION_ARCSEC_RESOLUTION / DEG_ARCSEC_RESOLUTION; |
989 | 0 | rtcm->rtcmtypes.rtcm3_1021.z_rot = sgrab(32) * |
990 | 0 | ROTATION_ARCSEC_RESOLUTION / DEG_ARCSEC_RESOLUTION; |
991 | 0 | rtcm->rtcmtypes.rtcm3_1021.ds = sgrab(25) * SCALE_PPM_RESOLUTION; |
992 | 0 | rtcm->rtcmtypes.rtcm3_1021.add_as = sgrab(24) * |
993 | 0 | TRANSLATION_MM_RESOLUTION; |
994 | 0 | rtcm->rtcmtypes.rtcm3_1021.add_bs = sgrab(25) * |
995 | 0 | TRANSLATION_MM_RESOLUTION; |
996 | 0 | rtcm->rtcmtypes.rtcm3_1021.add_at = sgrab(24) * |
997 | 0 | TRANSLATION_MM_RESOLUTION; |
998 | 0 | rtcm->rtcmtypes.rtcm3_1021.add_bt = sgrab(25) * |
999 | 0 | TRANSLATION_MM_RESOLUTION; |
1000 | 0 | rtcm->rtcmtypes.rtcm3_1021.quality_hori = ugrab(3); |
1001 | 0 | rtcm->rtcmtypes.rtcm3_1021.quality_vert = ugrab(3); |
1002 | |
|
1003 | 0 | unknown = false; |
1004 | 0 | break; |
1005 | | |
1006 | 0 | case 1022: |
1007 | | /* RTCM 3.1 |
1008 | | * Molodenski-Badekas transformation parameters |
1009 | | */ |
1010 | 0 | msg_name = "Molodenski-Badekas transformation parameters"; |
1011 | 0 | if (64 > rtcm->length) { |
1012 | | // actually 64,625 + n + m |
1013 | 0 | bad_len = 64; |
1014 | 0 | break; |
1015 | 0 | } |
1016 | 0 | break; |
1017 | | |
1018 | 0 | case 1023: |
1019 | | /* RTCM 3.1 |
1020 | | * Residuals Ellipsoidal Grid Representation |
1021 | | */ |
1022 | 0 | msg_name = "Residuals Ellipsoidal Grid Representation"; |
1023 | 0 | if (72 > rtcm->length) { |
1024 | | // actually 72,25 |
1025 | 0 | bad_len = 72; |
1026 | 0 | break; |
1027 | 0 | } |
1028 | 0 | rtcm->rtcmtypes.rtcm3_1023.sys_id_num = ugrab(8); |
1029 | 0 | rtcm->rtcmtypes.rtcm3_1023.shift_id_hori = (bool)ugrab(1); |
1030 | 0 | rtcm->rtcmtypes.rtcm3_1023.shift_id_vert = (bool)ugrab(1); |
1031 | 0 | rtcm->rtcmtypes.rtcm3_1023.lat_origin = sgrab(21) * |
1032 | 0 | PHASE_CORRECTION_RESOLUTION / DEG_ARCSEC_RESOLUTION; |
1033 | 0 | rtcm->rtcmtypes.rtcm3_1023.lon_origin = sgrab(22) * |
1034 | 0 | PHASE_CORRECTION_RESOLUTION / DEG_ARCSEC_RESOLUTION; |
1035 | 0 | rtcm->rtcmtypes.rtcm3_1023.lat_extension = ugrab(12) * |
1036 | 0 | PHASE_CORRECTION_RESOLUTION / DEG_ARCSEC_RESOLUTION; |
1037 | 0 | rtcm->rtcmtypes.rtcm3_1023.lon_extension = ugrab(12) * |
1038 | 0 | PHASE_CORRECTION_RESOLUTION / DEG_ARCSEC_RESOLUTION; |
1039 | 0 | rtcm->rtcmtypes.rtcm3_1023.lat_mean = sgrab(8) * |
1040 | 0 | TRANSLATION_MM_RESOLUTION; |
1041 | 0 | rtcm->rtcmtypes.rtcm3_1023.lon_mean = sgrab(8) * |
1042 | 0 | TRANSLATION_MM_RESOLUTION; |
1043 | 0 | rtcm->rtcmtypes.rtcm3_1023.hgt_mean = sgrab(15) * CM_RESOLUTION; |
1044 | 0 | #define R1023 rtcm->rtcmtypes.rtcm3_1023.residuals[i] |
1045 | 0 | for (i = 0; i < RTCM3_GRID_SIZE; i++) { |
1046 | 0 | R1023.lat_res = sgrab(9) * RES_ARCSEC_RESOLUTION; |
1047 | 0 | R1023.lon_res = sgrab(9) * RES_ARCSEC_RESOLUTION; |
1048 | 0 | R1023.hgt_res = sgrab(9) * TRANSLATION_MM_RESOLUTION; |
1049 | 0 | } |
1050 | 0 | #undef R1023 |
1051 | 0 | rtcm->rtcmtypes.rtcm3_1023.interp_meth_id_hori = ugrab(2); |
1052 | 0 | rtcm->rtcmtypes.rtcm3_1023.interp_meth_id_vert = ugrab(2); |
1053 | 0 | rtcm->rtcmtypes.rtcm3_1023.grd_qual_id_hori = ugrab(3); |
1054 | 0 | rtcm->rtcmtypes.rtcm3_1023.grd_qual_id_vert = ugrab(3); |
1055 | 0 | rtcm->rtcmtypes.rtcm3_1023.mjd = ugrab(16); |
1056 | 0 | unknown = false; |
1057 | 0 | break; |
1058 | | |
1059 | 0 | case 1024: |
1060 | | /* RTCM 3.1 |
1061 | | * Residuals Plane Grid Representation |
1062 | | */ |
1063 | 0 | msg_name = "Residuals Plane Grid Representation"; |
1064 | 0 | if (72 > rtcm->length) { |
1065 | | // actually 72,75 |
1066 | 0 | bad_len = 72; |
1067 | 0 | break; |
1068 | 0 | } |
1069 | 0 | break; |
1070 | | |
1071 | 0 | case 1025: |
1072 | | /* RTCM 3.1 |
1073 | | * Projection Parameters, Projection Types other than LCC2SP |
1074 | | */ |
1075 | 0 | msg_name = "Projection Parameters, Projection Types other " |
1076 | 0 | "than LCC2SP"; |
1077 | 0 | if (24 > rtcm->length) { |
1078 | | // actually 24.5 |
1079 | 0 | bad_len = 24; |
1080 | 0 | break; |
1081 | 0 | } |
1082 | 0 | rtcm->rtcmtypes.rtcm3_1025.sys_id_num = ugrab(8); |
1083 | 0 | rtcm->rtcmtypes.rtcm3_1025.projection_type = ugrab(6); |
1084 | 0 | rtcm->rtcmtypes.rtcm3_1025.lat_origin = sgrab(34) * |
1085 | 0 | PROJ_ORIGIN_RESOLUTION; |
1086 | 0 | rtcm->rtcmtypes.rtcm3_1025.lon_origin = sgrab(35) * |
1087 | 0 | PROJ_ORIGIN_RESOLUTION; |
1088 | 0 | rtcm->rtcmtypes.rtcm3_1025.add_sno = ugrab(30) * |
1089 | 0 | SCALE_PPM_RESOLUTION; |
1090 | 0 | rtcm->rtcmtypes.rtcm3_1025.false_east = ugrab(36) * |
1091 | 0 | TRANSLATION_MM_RESOLUTION; |
1092 | 0 | rtcm->rtcmtypes.rtcm3_1025.false_north = ugrab(35) * |
1093 | 0 | TRANSLATION_MM_RESOLUTION; |
1094 | 0 | unknown = false; |
1095 | 0 | break; |
1096 | | |
1097 | 0 | case 1026: |
1098 | | /* RTCM 3.1 |
1099 | | * Projection Parameters, Projection Type LCC2SP |
1100 | | * (Lambert Conic Conformal) |
1101 | | */ |
1102 | 0 | msg_name = "Projection Parameters, Projection Type LCC2SP"; |
1103 | 0 | if (29 > rtcm->length) { |
1104 | | // actually 29.25 |
1105 | 0 | bad_len = 29; |
1106 | 0 | break; |
1107 | 0 | } |
1108 | 0 | break; |
1109 | | |
1110 | 0 | case 1027: |
1111 | | /* RTCM 3.1 |
1112 | | * Projection Parameters, Projection Type OM (Oblique Mercator) |
1113 | | */ |
1114 | 0 | msg_name = "Projection Parameters, Projection Type OM"; |
1115 | 0 | if (32 > rtcm->length) { |
1116 | | // actually 32.25 |
1117 | 0 | bad_len = 32; |
1118 | 0 | break; |
1119 | 0 | } |
1120 | 0 | break; |
1121 | | |
1122 | 0 | case 1028: |
1123 | | /* RTCM 3.1 |
1124 | | * Reserved for global to plate fixed transformation |
1125 | | */ |
1126 | 0 | msg_name = "Reserved, Global to Plate Transformation"; |
1127 | 0 | break; |
1128 | | |
1129 | 0 | case 1029: |
1130 | 0 | msg_name = "Text in UTF8 format"; |
1131 | | /* 9 bytes minimum |
1132 | | * (max. 127 multibyte characters and max. 255 bytes) |
1133 | | */ |
1134 | 0 | rtcm->rtcmtypes.rtcm3_1029.station_id = ugrab(12); |
1135 | 0 | rtcm->rtcmtypes.rtcm3_1029.mjd = ugrab(16); |
1136 | 0 | rtcm->rtcmtypes.rtcm3_1029.sod = ugrab(17); |
1137 | 0 | rtcm->rtcmtypes.rtcm3_1029.len = ugrab(7); |
1138 | 0 | n = ugrab(8); |
1139 | 0 | if ((9 + n) != rtcm->length) { |
1140 | 0 | bad_len = 9 + n; |
1141 | 0 | break; |
1142 | 0 | } |
1143 | 0 | rtcm->rtcmtypes.rtcm3_1029.unicode_units = n; |
1144 | 0 | rtcm3_copy_string_field((char *)rtcm->rtcmtypes.rtcm3_1029.text, |
1145 | 0 | sizeof(rtcm->rtcmtypes.rtcm3_1029.text), |
1146 | 0 | buf + 12, |
1147 | 0 | rtcm->rtcmtypes.rtcm3_1029.unicode_units); |
1148 | 0 | unknown = false; |
1149 | 0 | break; |
1150 | | |
1151 | 0 | case 1030: |
1152 | | /* RTCM 3.1 |
1153 | | * GPS Network RTK Residual Message |
1154 | | */ |
1155 | 0 | msg_name = "GPS Network RTK Residual"; |
1156 | 0 | if (7 > rtcm->length) { |
1157 | | // actually 7 + (6.125 * n) |
1158 | 0 | bad_len = 7; |
1159 | 0 | break; |
1160 | 0 | } |
1161 | 0 | break; |
1162 | | |
1163 | 0 | case 1031: |
1164 | | /* RTCM 3.1 |
1165 | | * GLONASS Network RTK Residual Message |
1166 | | */ |
1167 | 0 | msg_name = "GLONASS Network RTK Residual"; |
1168 | 0 | if (6 > rtcm->length) { |
1169 | | // actually 6.625 + (6.125 ( n) |
1170 | 0 | bad_len = 6; |
1171 | 0 | break; |
1172 | 0 | } |
1173 | 0 | break; |
1174 | | |
1175 | 0 | case 1032: |
1176 | | /* RTCM 3.1 |
1177 | | * Physical Reference Station Position message |
1178 | | */ |
1179 | 0 | msg_name = "Physical Reference Station Position"; |
1180 | 0 | if (19 > rtcm->length) { |
1181 | | // actually 19.5 |
1182 | 0 | bad_len = 19; |
1183 | 0 | break; |
1184 | 0 | } |
1185 | 0 | break; |
1186 | | |
1187 | 0 | case 1033: // see note in header |
1188 | 0 | msg_name ="Receiver and Antenna Descriptor"; |
1189 | | /* Type1033 is a combined Message Types 1007 and 1008 |
1190 | | * and hence contains antenna descriptor and serial number |
1191 | | * as well as receiver descriptor and serial number. |
1192 | | */ |
1193 | | // TODO: rtklib has C code for this one. |
1194 | 0 | rtcm->rtcmtypes.rtcm3_1033.station_id = ugrab(12); |
1195 | 0 | n = ugrab(8); |
1196 | 0 | if ((29 + n) > rtcm->length) { |
1197 | 0 | bad_len = 29 + n; |
1198 | 0 | break; |
1199 | 0 | } |
1200 | 0 | rtcm3_copy_string_field(rtcm->rtcmtypes.rtcm3_1033.descriptor, |
1201 | 0 | sizeof(rtcm->rtcmtypes.rtcm3_1033.descriptor), |
1202 | 0 | buf + 7, n); |
1203 | 0 | bitcount += 8 * n; |
1204 | 0 | rtcm->rtcmtypes.rtcm3_1033.setup_id = ugrab(8); |
1205 | 0 | n2 = (unsigned long)ugrab(8); |
1206 | 0 | rtcm3_copy_string_field(rtcm->rtcmtypes.rtcm3_1033.serial, |
1207 | 0 | sizeof(rtcm->rtcmtypes.rtcm3_1033.serial), |
1208 | 0 | buf + 9 + n, n2); |
1209 | 0 | bitcount += 8 * n2; |
1210 | 0 | n3 = (unsigned long)ugrab(8); |
1211 | 0 | rtcm3_copy_string_field(rtcm->rtcmtypes.rtcm3_1033.receiver, |
1212 | 0 | sizeof(rtcm->rtcmtypes.rtcm3_1033.receiver), |
1213 | 0 | buf + 10 + n + n2, n3); |
1214 | 0 | bitcount += 8 * n3; |
1215 | 0 | n4 = (unsigned long)ugrab(8); |
1216 | 0 | rtcm3_copy_string_field(rtcm->rtcmtypes.rtcm3_1033.firmware, |
1217 | 0 | sizeof(rtcm->rtcmtypes.rtcm3_1033.firmware), |
1218 | 0 | buf + 11 + n + n2 + n3, n4); |
1219 | | // bitcount += 8 * n4; |
1220 | | // TODO: next is receiver serial number |
1221 | 0 | unknown = false; |
1222 | 0 | break; |
1223 | | |
1224 | 0 | case 1034: |
1225 | | /* RTCM 3.2 |
1226 | | * GPS Network FKP Gradient Message |
1227 | | */ |
1228 | 0 | msg_name = "GPS Network FKP Gradient"; |
1229 | 0 | if (6 > rtcm->length) { |
1230 | | // not exactly: 6.125 + (8.25 * n) |
1231 | 0 | bad_len = 6; |
1232 | 0 | break; |
1233 | 0 | } |
1234 | 0 | break; |
1235 | | |
1236 | 0 | case 1035: |
1237 | | /* RTCM 3.2 |
1238 | | * GLONASS Network FKP Gradient Message |
1239 | | */ |
1240 | 0 | msg_name = "GLO Network FKP Gradient"; |
1241 | 0 | if (5 > rtcm->length) { |
1242 | | // not exactly: 5.75 + (8.25 * n) |
1243 | 0 | bad_len = 5; |
1244 | 0 | break; |
1245 | 0 | } |
1246 | 0 | break; |
1247 | | |
1248 | 0 | case 1037: |
1249 | | /* RTCM 3.2 |
1250 | | * GLONASS Ionospheric Correction Differences |
1251 | | */ |
1252 | 0 | msg_name = "GLO Ionospheric Correction Differences"; |
1253 | 0 | if (9 > rtcm->length) { |
1254 | | // not exactly: 9.125 + (3,5 * n) |
1255 | 0 | bad_len = 9; |
1256 | 0 | break; |
1257 | 0 | } |
1258 | 0 | break; |
1259 | | |
1260 | 0 | case 1038: |
1261 | | /* RTCM 3.2 |
1262 | | * GLONASS Geometric Correction Differences |
1263 | | */ |
1264 | 0 | msg_name = "GLO Geometric Correction Differences"; |
1265 | 0 | if (9 > rtcm->length) { |
1266 | | // not exactly: 9.125 + (4,5 * n) |
1267 | 0 | bad_len = 9; |
1268 | 0 | break; |
1269 | 0 | } |
1270 | 0 | break; |
1271 | | |
1272 | 0 | case 1039: |
1273 | | /* RTCM 3.2 |
1274 | | * GLONASS Combined Geometric and Ionospheric Correction Differences |
1275 | | */ |
1276 | 0 | msg_name = "GLONASS Combined Geometric and Ionospheric " |
1277 | 0 | "Correction Differences"; |
1278 | 0 | if (9 > rtcm->length) { |
1279 | | // not exactly: 9.125 + (6.625 * n) |
1280 | 0 | bad_len = 9; |
1281 | 0 | break; |
1282 | 0 | } |
1283 | 0 | break; |
1284 | | |
1285 | 0 | case 1042: |
1286 | | /* RTCM 3.x - 1043 |
1287 | | * BeiDou Ephemeris |
1288 | | * length 64 |
1289 | | */ |
1290 | 0 | msg_name = "BD Ephemeris"; |
1291 | 0 | if (64 != rtcm->length) { |
1292 | 0 | bad_len = 64; |
1293 | 0 | break; |
1294 | 0 | } |
1295 | 0 | break; |
1296 | | |
1297 | 0 | case 1043: |
1298 | | /* RTCM 3.x - 1043 |
1299 | | * SBAS Ephemeris |
1300 | | * length 29 |
1301 | | */ |
1302 | 0 | msg_name = "SBAS Ephemeris"; |
1303 | 0 | if (29 != rtcm->length) { |
1304 | 0 | bad_len = 29; |
1305 | 0 | break; |
1306 | 0 | } |
1307 | 0 | break; |
1308 | | |
1309 | 0 | case 1044: |
1310 | | /* RTCM 3.x - 1044 |
1311 | | * QZSS ephemeris |
1312 | | * length 61 |
1313 | | */ |
1314 | | // TODO: rtklib has C code for this one. |
1315 | 0 | msg_name = "QZSS Ephemeris"; |
1316 | 0 | if (61 != rtcm->length) { |
1317 | 0 | bad_len = 61; |
1318 | 0 | break; |
1319 | 0 | } |
1320 | 0 | break; |
1321 | | |
1322 | 0 | case 1045: |
1323 | | /* RTCM 3.2 - 1045 |
1324 | | * Galileo F/NAV Ephemeris Data |
1325 | | * 62 bytes |
1326 | | */ |
1327 | | // TODO: rtklib has C code for this one. |
1328 | 0 | msg_name = "GAL F/NAV Ephemeris Data"; |
1329 | 0 | if (62 != rtcm->length) { |
1330 | 0 | bad_len = 62; |
1331 | 0 | break; |
1332 | 0 | } |
1333 | 0 | break; |
1334 | | |
1335 | 0 | case 1046: |
1336 | | /* RTCM 3.x - 1046 |
1337 | | * Galileo I/NAV Ephemeris Data |
1338 | | * length 63 |
1339 | | */ |
1340 | | // TODO: rtklib has C code for this one. |
1341 | 0 | msg_name = "GAL I/NAV Ephemeris Data"; |
1342 | 0 | if (63 != rtcm->length) { |
1343 | 0 | bad_len = 63; |
1344 | 0 | break; |
1345 | 0 | } |
1346 | 0 | break; |
1347 | | |
1348 | 0 | case 1057: |
1349 | | /* RTCM 3.2 |
1350 | | * SSR GPS Orbit Correction |
1351 | | */ |
1352 | 0 | msg_name = "SSR GPS Orbit Correction"; |
1353 | 0 | if (8 > rtcm->length) { |
1354 | | // not exactly: 8.5 + (6.875 * n) |
1355 | 0 | bad_len = 8; |
1356 | 0 | break; |
1357 | 0 | } |
1358 | 0 | break; |
1359 | | |
1360 | 0 | case 1058: |
1361 | | /* RTCM 3.2 |
1362 | | * SSR GPS Clock Correction |
1363 | | */ |
1364 | 0 | msg_name = "SSR GPS Clock Correction"; |
1365 | 0 | if (8 > rtcm->length) { |
1366 | | // not exactly: 8.375 + (9.5 * n) |
1367 | 0 | bad_len = 8; |
1368 | 0 | break; |
1369 | 0 | } |
1370 | 0 | break; |
1371 | | |
1372 | 0 | case 1059: |
1373 | | /* RTCM 3.2 |
1374 | | * SSR GPS Code Bias |
1375 | | */ |
1376 | 0 | msg_name = "SSR GPS Code Bias"; |
1377 | 0 | if (8 > rtcm->length) { |
1378 | | // not exactly: 8.375 + (1.375 * n) + (2.375 * ??) |
1379 | 0 | bad_len = 8; |
1380 | 0 | break; |
1381 | 0 | } |
1382 | 0 | break; |
1383 | | |
1384 | 0 | case 1060: |
1385 | | /* RTCM 3.2 |
1386 | | * SSR GPS Combined Orbit and Clock Correction |
1387 | | */ |
1388 | 0 | msg_name = "SSR GPS Combined Orbit and Clock Correction"; |
1389 | 0 | if (8 > rtcm->length) { |
1390 | | // not exactly: 8.5 + (25.625 * n) |
1391 | 0 | bad_len = 8; |
1392 | 0 | break; |
1393 | 0 | } |
1394 | 0 | break; |
1395 | | |
1396 | 0 | case 1061: |
1397 | | /* RTCM 3.2 |
1398 | | * SSR GPS URA |
1399 | | */ |
1400 | 0 | msg_name = "SSR GPS URA"; |
1401 | 0 | if (8 > rtcm->length) { |
1402 | | // not exactly: 8.375 + (1.5 * n) |
1403 | 0 | bad_len = 8; |
1404 | 0 | break; |
1405 | 0 | } |
1406 | 0 | break; |
1407 | | |
1408 | 0 | case 1062: |
1409 | | /* RTCM 3.2 |
1410 | | * SSR GPS High Rate Clock Correction |
1411 | | */ |
1412 | 0 | msg_name = "SSR GPS High Rate Clock Correction"; |
1413 | 0 | if (8 > rtcm->length) { |
1414 | | // not exactly: 8.375 + (3.5 * n) |
1415 | 0 | bad_len = 8; |
1416 | 0 | break; |
1417 | 0 | } |
1418 | 0 | break; |
1419 | | |
1420 | 0 | case 1063: |
1421 | | /* RTCM 3.2 |
1422 | | * SSR GLO Orbit Correction |
1423 | | */ |
1424 | 0 | msg_name = "SSR GLO Orbit Correction"; |
1425 | 0 | if (8 > rtcm->length) { |
1426 | | // not exactly: 8.125 + (16.75 * n) |
1427 | 0 | bad_len = 8; |
1428 | 0 | break; |
1429 | 0 | } |
1430 | 0 | break; |
1431 | | |
1432 | 0 | case 1064: |
1433 | | /* RTCM 3.2 |
1434 | | * SSR GLO Clock Correction |
1435 | | */ |
1436 | 0 | msg_name = "SSR GLO Clock Correction"; |
1437 | 0 | if (8 > rtcm->length) { |
1438 | | // not exactly: 8.125 + (9.37 * n) |
1439 | 0 | bad_len = 8; |
1440 | 0 | break; |
1441 | 0 | } |
1442 | 0 | break; |
1443 | | |
1444 | 0 | case 1065: |
1445 | | /* RTCM 3.2 |
1446 | | * SSR GLO Code Correction |
1447 | | */ |
1448 | 0 | msg_name = "SSR GLO ode Correction"; |
1449 | 0 | if (8 > rtcm->length) { |
1450 | | // not exactly: 8 + (1.25 * n) + (2.375 * ??) |
1451 | 0 | bad_len = 8; |
1452 | 0 | break; |
1453 | 0 | } |
1454 | 0 | break; |
1455 | | |
1456 | 0 | case 1066: |
1457 | | /* RTCM 3.2 |
1458 | | * SSR GLO Combined Orbit and Clock Correction |
1459 | | */ |
1460 | 0 | msg_name = "SSR GLO Combined Orbit and Clock Correction"; |
1461 | 0 | if (8 > rtcm->length) { |
1462 | | // not exactly: 8.125 + (25.5 * n) |
1463 | 0 | bad_len = 8; |
1464 | 0 | break; |
1465 | 0 | } |
1466 | 0 | break; |
1467 | | |
1468 | 0 | case 1067: |
1469 | | /* RTCM 3.2 |
1470 | | * SSR GLO URA |
1471 | | */ |
1472 | 0 | msg_name = "SSR GLO URA"; |
1473 | 0 | if (8 > rtcm->length) { |
1474 | | // not exactly: 8 + (1.375 * n) |
1475 | 0 | bad_len = 8; |
1476 | 0 | break; |
1477 | 0 | } |
1478 | 0 | break; |
1479 | | |
1480 | 0 | case 1068: |
1481 | | /* RTCM 3.2 |
1482 | | * SSR GPS High Rate Clock Correction |
1483 | | */ |
1484 | 0 | msg_name = "SSR GLO High Rate Clock Correction"; |
1485 | 0 | if (8 > rtcm->length) { |
1486 | | // not exactly: 8 + (3.375 * n) |
1487 | 0 | bad_len = 8; |
1488 | 0 | break; |
1489 | 0 | } |
1490 | 0 | break; |
1491 | | |
1492 | 0 | case 1070: |
1493 | | /* RTCM 3.x |
1494 | | * Reserved for MSM |
1495 | | */ |
1496 | 0 | msg_name = "Reserved for MSM"; |
1497 | 0 | break; |
1498 | | |
1499 | 0 | case 1071: |
1500 | | // RTCM 3.2 |
1501 | 0 | rtcm->rtcmtypes.rtcm3_msm.gnssid = GNSSID_GPS; |
1502 | 0 | rtcm->rtcmtypes.rtcm3_msm.msm = 1; |
1503 | 0 | unknown = rtcm3_decode_msm(context, rtcm, buf); |
1504 | 0 | msg_name = "GPS MSM 1"; |
1505 | 0 | break; |
1506 | | |
1507 | 0 | case 1072: |
1508 | | // RTCM 3.2 |
1509 | 0 | rtcm->rtcmtypes.rtcm3_msm.gnssid = GNSSID_GPS; |
1510 | 0 | rtcm->rtcmtypes.rtcm3_msm.msm = 2; |
1511 | 0 | unknown = rtcm3_decode_msm(context, rtcm, buf); |
1512 | 0 | msg_name = "GPS MSM 2"; |
1513 | 0 | break; |
1514 | | |
1515 | 0 | case 1073: |
1516 | | /* RTCM 3.2 |
1517 | | * GPS Multi Signal Message 3 |
1518 | | */ |
1519 | 0 | rtcm->rtcmtypes.rtcm3_msm.gnssid = GNSSID_GPS; |
1520 | 0 | rtcm->rtcmtypes.rtcm3_msm.msm = 3; |
1521 | 0 | unknown = rtcm3_decode_msm(context, rtcm, buf); |
1522 | 0 | msg_name = "GPS MSM 3"; |
1523 | 0 | break; |
1524 | | |
1525 | 0 | case 1074: |
1526 | | /* RTCM 3.2 |
1527 | | * GPS Multi Signal Message 4 |
1528 | | */ |
1529 | 0 | rtcm->rtcmtypes.rtcm3_msm.gnssid = GNSSID_GPS; |
1530 | 0 | rtcm->rtcmtypes.rtcm3_msm.msm = 4; |
1531 | 0 | unknown = rtcm3_decode_msm(context, rtcm, buf); |
1532 | 0 | msg_name = "GPS MSM 4"; |
1533 | 0 | break; |
1534 | | |
1535 | 0 | case 1075: |
1536 | | /* RTCM 3.2 |
1537 | | * GPS Multi Signal Message 5 |
1538 | | */ |
1539 | 0 | rtcm->rtcmtypes.rtcm3_msm.gnssid = GNSSID_GPS; |
1540 | 0 | rtcm->rtcmtypes.rtcm3_msm.msm = 5; |
1541 | 0 | unknown = rtcm3_decode_msm(context, rtcm, buf); |
1542 | 0 | msg_name = "GPS MSM 5"; |
1543 | 0 | break; |
1544 | | |
1545 | 0 | case 1076: |
1546 | | /* RTCM 3.2 |
1547 | | * GPS Multi Signal Message 6 |
1548 | | */ |
1549 | 0 | rtcm->rtcmtypes.rtcm3_msm.gnssid = GNSSID_GPS; |
1550 | 0 | rtcm->rtcmtypes.rtcm3_msm.msm = 6; |
1551 | 0 | unknown = rtcm3_decode_msm(context, rtcm, buf); |
1552 | 0 | msg_name = "GPS MSM 6"; |
1553 | 0 | break; |
1554 | | |
1555 | 0 | case 1077: |
1556 | | /* RTCM 3.2 - 1077 |
1557 | | * GPS Multi Signal Message 7 |
1558 | | * Full GPS pseudo-ranges, carrier phases, Doppler and |
1559 | | * signal strength (high resolution) |
1560 | | * min length 438 |
1561 | | */ |
1562 | 0 | rtcm->rtcmtypes.rtcm3_msm.gnssid = GNSSID_GPS; |
1563 | 0 | rtcm->rtcmtypes.rtcm3_msm.msm = 7; |
1564 | 0 | unknown = rtcm3_decode_msm(context, rtcm, buf); |
1565 | 0 | msg_name = "GPS MSM7"; |
1566 | 0 | break; |
1567 | | |
1568 | 0 | case 1078: |
1569 | | /* RTCM 3.x |
1570 | | * Reserved for MSM |
1571 | | */ |
1572 | 0 | msg_name = "Reserved for MSM"; |
1573 | 0 | break; |
1574 | | |
1575 | 0 | case 1079: |
1576 | | /* RTCM 3.x |
1577 | | * Reserved for MSM |
1578 | | */ |
1579 | 0 | msg_name = "Reserved for MSM"; |
1580 | 0 | break; |
1581 | | |
1582 | 0 | case 1080: |
1583 | | /* RTCM 3.x |
1584 | | * Reserved for MSM |
1585 | | */ |
1586 | 0 | msg_name = "Reserved for MSM"; |
1587 | 0 | break; |
1588 | | |
1589 | 0 | case 1081: |
1590 | | /* RTCM 3.2 |
1591 | | * GLONASS Multi Signal Message 1 |
1592 | | */ |
1593 | 0 | rtcm->rtcmtypes.rtcm3_msm.gnssid = GNSSID_GLO; |
1594 | 0 | rtcm->rtcmtypes.rtcm3_msm.msm = 1; |
1595 | 0 | unknown = rtcm3_decode_msm(context, rtcm, buf); |
1596 | 0 | msg_name = "GLO MSM 1"; |
1597 | 0 | break; |
1598 | | |
1599 | 0 | case 1082: |
1600 | | /* RTCM 3.2 |
1601 | | * GLONASS Multi Signal Message 2 |
1602 | | */ |
1603 | 0 | rtcm->rtcmtypes.rtcm3_msm.gnssid = GNSSID_GLO; |
1604 | 0 | rtcm->rtcmtypes.rtcm3_msm.msm = 2; |
1605 | 0 | unknown = rtcm3_decode_msm(context, rtcm, buf); |
1606 | 0 | msg_name = "GLO MSM 2"; |
1607 | 0 | break; |
1608 | | |
1609 | 0 | case 1083: |
1610 | | /* RTCM 3.2 |
1611 | | * GLONASS Multi Signal Message 4 |
1612 | | */ |
1613 | 0 | rtcm->rtcmtypes.rtcm3_msm.gnssid = GNSSID_GLO; |
1614 | 0 | rtcm->rtcmtypes.rtcm3_msm.msm = 3; |
1615 | 0 | unknown = rtcm3_decode_msm(context, rtcm, buf); |
1616 | 0 | msg_name = "GLO MSM 3"; |
1617 | 0 | break; |
1618 | | |
1619 | 0 | case 1084: |
1620 | | /* RTCM 3.2 |
1621 | | * GLONASS Multi Signal Message 4 |
1622 | | */ |
1623 | 0 | rtcm->rtcmtypes.rtcm3_msm.gnssid = GNSSID_GLO; |
1624 | 0 | rtcm->rtcmtypes.rtcm3_msm.msm = 4; |
1625 | 0 | unknown = rtcm3_decode_msm(context, rtcm, buf); |
1626 | 0 | msg_name = "GLO MSM 4"; |
1627 | 0 | break; |
1628 | | |
1629 | 0 | case 1085: |
1630 | | /* RTCM 3.2 |
1631 | | * GLONASS Multi Signal Message 5 |
1632 | | */ |
1633 | 0 | rtcm->rtcmtypes.rtcm3_msm.gnssid = GNSSID_GLO; |
1634 | 0 | rtcm->rtcmtypes.rtcm3_msm.msm = 5; |
1635 | 0 | unknown = rtcm3_decode_msm(context, rtcm, buf); |
1636 | 0 | msg_name = "GLO MSM 5"; |
1637 | 0 | break; |
1638 | | |
1639 | 0 | case 1086: |
1640 | | /* RTCM 3.2 |
1641 | | * GLONASS Multi Signal Message 6 |
1642 | | */ |
1643 | 0 | rtcm->rtcmtypes.rtcm3_msm.gnssid = GNSSID_GLO; |
1644 | 0 | rtcm->rtcmtypes.rtcm3_msm.msm = 6; |
1645 | 0 | unknown = rtcm3_decode_msm(context, rtcm, buf); |
1646 | 0 | msg_name = "GLO MSM 6"; |
1647 | 0 | break; |
1648 | | |
1649 | 0 | case 1087: |
1650 | | /* RTCM 3.2 - 1087 |
1651 | | * GLONASS Multi Signal Message 7 |
1652 | | * Full GLONASS pseudo-ranges, carrier phases, Doppler and |
1653 | | * signal strength (high resolution) |
1654 | | * length 417 or 427 |
1655 | | */ |
1656 | 0 | rtcm->rtcmtypes.rtcm3_msm.gnssid = GNSSID_GLO; |
1657 | 0 | rtcm->rtcmtypes.rtcm3_msm.msm = 7; |
1658 | 0 | unknown = rtcm3_decode_msm(context, rtcm, buf); |
1659 | 0 | msg_name = "GLO MSM 7"; |
1660 | 0 | break; |
1661 | | |
1662 | 0 | case 1088: |
1663 | | /* RTCM 3.x |
1664 | | * Reserved for MSM |
1665 | | */ |
1666 | 0 | msg_name = "Reserved for MSM"; |
1667 | 0 | break; |
1668 | | |
1669 | 0 | case 1089: |
1670 | | /* RTCM 3.x |
1671 | | * Reserved for MSM |
1672 | | */ |
1673 | 0 | msg_name = "Reserved for MSM"; |
1674 | 0 | break; |
1675 | | |
1676 | 0 | case 1090: |
1677 | | /* RTCM 3.x |
1678 | | * Reserved for MSM |
1679 | | */ |
1680 | 0 | msg_name = "Reserved for MSM"; |
1681 | 0 | break; |
1682 | | |
1683 | 0 | case 1091: |
1684 | | /* RTCM 3.2 |
1685 | | * Galileo Multi Signal Message 1 |
1686 | | */ |
1687 | 0 | rtcm->rtcmtypes.rtcm3_msm.gnssid = GNSSID_GAL; |
1688 | 0 | rtcm->rtcmtypes.rtcm3_msm.msm = 1; |
1689 | 0 | unknown = rtcm3_decode_msm(context, rtcm, buf); |
1690 | 0 | msg_name = "GAL MSM 1"; |
1691 | 0 | break; |
1692 | | |
1693 | 0 | case 1092: |
1694 | | /* RTCM 3.2 |
1695 | | * Galileo Multi Signal Message 2 |
1696 | | */ |
1697 | 0 | rtcm->rtcmtypes.rtcm3_msm.gnssid = GNSSID_GAL; |
1698 | 0 | rtcm->rtcmtypes.rtcm3_msm.msm = 2; |
1699 | 0 | unknown = rtcm3_decode_msm(context, rtcm, buf); |
1700 | 0 | msg_name = "GAL MSM 2"; |
1701 | 0 | break; |
1702 | | |
1703 | 0 | case 1093: |
1704 | | /* RTCM 3.2 |
1705 | | * Galileo Multi Signal Message 3 |
1706 | | */ |
1707 | 0 | rtcm->rtcmtypes.rtcm3_msm.gnssid = GNSSID_GAL; |
1708 | 0 | rtcm->rtcmtypes.rtcm3_msm.msm = 3; |
1709 | 0 | unknown = rtcm3_decode_msm(context, rtcm, buf); |
1710 | 0 | msg_name = "GAL MSM 3"; |
1711 | 0 | break; |
1712 | | |
1713 | 0 | case 1094: |
1714 | | /* RTCM 3.2 |
1715 | | * Galileo Multi Signal Message 4 |
1716 | | */ |
1717 | 0 | rtcm->rtcmtypes.rtcm3_msm.gnssid = GNSSID_GAL; |
1718 | 0 | rtcm->rtcmtypes.rtcm3_msm.msm = 4; |
1719 | 0 | unknown = rtcm3_decode_msm(context, rtcm, buf); |
1720 | 0 | msg_name = "GAL MSM 4"; |
1721 | 0 | break; |
1722 | | |
1723 | 0 | case 1095: |
1724 | | /* RTCM 3.2 |
1725 | | * Galileo Multi Signal Message 5 |
1726 | | */ |
1727 | 0 | rtcm->rtcmtypes.rtcm3_msm.gnssid = GNSSID_GAL; |
1728 | 0 | rtcm->rtcmtypes.rtcm3_msm.msm = 5; |
1729 | 0 | unknown = rtcm3_decode_msm(context, rtcm, buf); |
1730 | 0 | msg_name = "GAL MSM 5"; |
1731 | 0 | break; |
1732 | | |
1733 | 0 | case 1096: |
1734 | | /* RTCM 3.2 |
1735 | | * Galileo Multi Signal Message 6 |
1736 | | */ |
1737 | 0 | rtcm->rtcmtypes.rtcm3_msm.gnssid = GNSSID_GAL; |
1738 | 0 | rtcm->rtcmtypes.rtcm3_msm.msm = 6; |
1739 | 0 | unknown = rtcm3_decode_msm(context, rtcm, buf); |
1740 | 0 | msg_name = "GAL MSM 6"; |
1741 | 0 | break; |
1742 | | |
1743 | 0 | case 1097: |
1744 | | /* RTCM 3.2 - 1097 |
1745 | | * Galileo Multi Signal Message 7 |
1746 | | * Full Galileo pseudo-ranges, carrier phases, Doppler and |
1747 | | * signal strength (high resolution) |
1748 | | * length 96 |
1749 | | */ |
1750 | 0 | rtcm->rtcmtypes.rtcm3_msm.gnssid = GNSSID_GAL; |
1751 | 0 | rtcm->rtcmtypes.rtcm3_msm.msm = 7; |
1752 | 0 | unknown = rtcm3_decode_msm(context, rtcm, buf); |
1753 | 0 | msg_name = "GAL MSM 7"; |
1754 | 0 | break; |
1755 | | |
1756 | 0 | case 1098: |
1757 | | /* RTCM 3.x |
1758 | | * Reserved for MSM |
1759 | | */ |
1760 | 0 | msg_name = "Reserved for MSM"; |
1761 | 0 | break; |
1762 | | |
1763 | 0 | case 1099: |
1764 | | /* RTCM 3.x |
1765 | | * Reserved for MSM |
1766 | | */ |
1767 | 0 | msg_name = "Reserved for MSM"; |
1768 | 0 | break; |
1769 | | |
1770 | 0 | case 1100: |
1771 | | /* RTCM 3.x |
1772 | | * Reserved for MSM |
1773 | | */ |
1774 | 0 | msg_name = "Reserved for MSM"; |
1775 | 0 | break; |
1776 | | |
1777 | 0 | case 1101: |
1778 | | /* RTCM 3.3 |
1779 | | * SBAS Multi Signal Message 1 |
1780 | | */ |
1781 | 0 | rtcm->rtcmtypes.rtcm3_msm.gnssid = GNSSID_SBAS; |
1782 | 0 | rtcm->rtcmtypes.rtcm3_msm.msm = 1; |
1783 | 0 | unknown = rtcm3_decode_msm(context, rtcm, buf); |
1784 | 0 | msg_name = "SBAS MSM 1"; |
1785 | 0 | break; |
1786 | | |
1787 | 0 | case 1102: |
1788 | | /* RTCM 3.3 |
1789 | | * SBAS Multi Signal Message 2 |
1790 | | */ |
1791 | 0 | rtcm->rtcmtypes.rtcm3_msm.gnssid = GNSSID_SBAS; |
1792 | 0 | rtcm->rtcmtypes.rtcm3_msm.msm = 2; |
1793 | 0 | unknown = rtcm3_decode_msm(context, rtcm, buf); |
1794 | 0 | msg_name = "SBAS MSM 2"; |
1795 | 0 | break; |
1796 | | |
1797 | 0 | case 1103: |
1798 | | /* RTCM 3.3 |
1799 | | * SBAS Multi Signal Message 3 |
1800 | | */ |
1801 | 0 | rtcm->rtcmtypes.rtcm3_msm.gnssid = GNSSID_SBAS; |
1802 | 0 | rtcm->rtcmtypes.rtcm3_msm.msm = 3; |
1803 | 0 | unknown = rtcm3_decode_msm(context, rtcm, buf); |
1804 | 0 | msg_name = "SBAS MSM 3"; |
1805 | 0 | break; |
1806 | | |
1807 | 0 | case 1104: |
1808 | | /* RTCM 3.3 |
1809 | | * SBAS Multi Signal Message 4 |
1810 | | */ |
1811 | 0 | rtcm->rtcmtypes.rtcm3_msm.gnssid = GNSSID_SBAS; |
1812 | 0 | rtcm->rtcmtypes.rtcm3_msm.msm = 4; |
1813 | 0 | unknown = rtcm3_decode_msm(context, rtcm, buf); |
1814 | 0 | msg_name = "SBAS MSM 4"; |
1815 | 0 | break; |
1816 | | |
1817 | 0 | case 1105: |
1818 | | /* RTCM 3.3 |
1819 | | * SBAS Multi Signal Message 5 |
1820 | | */ |
1821 | 0 | rtcm->rtcmtypes.rtcm3_msm.gnssid = GNSSID_SBAS; |
1822 | 0 | rtcm->rtcmtypes.rtcm3_msm.msm = 5; |
1823 | 0 | unknown = rtcm3_decode_msm(context, rtcm, buf); |
1824 | 0 | msg_name = "SBAS MSM 5"; |
1825 | 0 | break; |
1826 | | |
1827 | 0 | case 1106: |
1828 | | /* RTCM 3.3 |
1829 | | * SBAS Multi Signal Message 6 |
1830 | | */ |
1831 | 0 | rtcm->rtcmtypes.rtcm3_msm.gnssid = GNSSID_SBAS; |
1832 | 0 | rtcm->rtcmtypes.rtcm3_msm.msm = 6; |
1833 | 0 | unknown = rtcm3_decode_msm(context, rtcm, buf); |
1834 | 0 | msg_name = "SBAS MSM 6"; |
1835 | 0 | break; |
1836 | | |
1837 | 0 | case 1107: |
1838 | | /* RTCM 3.3 - 1107 |
1839 | | * 'Multiple Signal Message |
1840 | | * Full SBAS pseudo-ranges, carrier phases, Doppler and |
1841 | | * signal strength (high resolution) |
1842 | | * length 96 |
1843 | | */ |
1844 | 0 | rtcm->rtcmtypes.rtcm3_msm.gnssid = GNSSID_SBAS; |
1845 | 0 | rtcm->rtcmtypes.rtcm3_msm.msm = 7; |
1846 | 0 | unknown = rtcm3_decode_msm(context, rtcm, buf); |
1847 | 0 | msg_name = "SBAS MSM 7"; |
1848 | 0 | break; |
1849 | | |
1850 | 0 | case 1108: |
1851 | | /* RTCM 3.x |
1852 | | * Reserved for MSM |
1853 | | */ |
1854 | 0 | msg_name = "Reserved for MSM"; |
1855 | 0 | break; |
1856 | | |
1857 | 0 | case 1109: |
1858 | | /* RTCM 3.x |
1859 | | * Reserved for MSM |
1860 | | */ |
1861 | 0 | msg_name = "Reserved for MSM"; |
1862 | 0 | break; |
1863 | | |
1864 | 0 | case 1110: |
1865 | | /* RTCM 3.x |
1866 | | * Reserved for MSM |
1867 | | */ |
1868 | 0 | msg_name = "Reserved for MSM"; |
1869 | 0 | break; |
1870 | | |
1871 | 0 | case 1111: |
1872 | | /* RTCM 3.3 |
1873 | | * QZSS Multi Signal Message 1 |
1874 | | */ |
1875 | 0 | rtcm->rtcmtypes.rtcm3_msm.gnssid = GNSSID_QZSS; |
1876 | 0 | rtcm->rtcmtypes.rtcm3_msm.msm = 1; |
1877 | 0 | unknown = rtcm3_decode_msm(context, rtcm, buf); |
1878 | 0 | msg_name = "QZSS MSM 1"; |
1879 | 0 | break; |
1880 | | |
1881 | 0 | case 1112: |
1882 | | /* RTCM 3.3 |
1883 | | * QZSS Multi Signal Message 2 |
1884 | | */ |
1885 | 0 | rtcm->rtcmtypes.rtcm3_msm.gnssid = GNSSID_QZSS; |
1886 | 0 | rtcm->rtcmtypes.rtcm3_msm.msm = 2; |
1887 | 0 | unknown = rtcm3_decode_msm(context, rtcm, buf); |
1888 | 0 | msg_name = "QZSS MSM 2"; |
1889 | 0 | break; |
1890 | | |
1891 | 0 | case 1113: |
1892 | | /* RTCM 3.3 |
1893 | | * QZSS Multi Signal Message 3 |
1894 | | */ |
1895 | 0 | rtcm->rtcmtypes.rtcm3_msm.gnssid = GNSSID_QZSS; |
1896 | 0 | rtcm->rtcmtypes.rtcm3_msm.msm = 3; |
1897 | 0 | unknown = rtcm3_decode_msm(context, rtcm, buf); |
1898 | 0 | msg_name = "QZSS MSM 3"; |
1899 | 0 | break; |
1900 | | |
1901 | 0 | case 1114: |
1902 | | /* RTCM 3.3 |
1903 | | * QZSS Multi Signal Message 4 |
1904 | | */ |
1905 | 0 | rtcm->rtcmtypes.rtcm3_msm.gnssid = GNSSID_QZSS; |
1906 | 0 | rtcm->rtcmtypes.rtcm3_msm.msm = 4; |
1907 | 0 | unknown = rtcm3_decode_msm(context, rtcm, buf); |
1908 | 0 | msg_name = "QZSS MSM 4"; |
1909 | 0 | break; |
1910 | | |
1911 | 0 | case 1115: |
1912 | | /* RTCM 3.3 |
1913 | | * QZSS Multi Signal Message 5 |
1914 | | */ |
1915 | 0 | rtcm->rtcmtypes.rtcm3_msm.gnssid = GNSSID_QZSS; |
1916 | 0 | rtcm->rtcmtypes.rtcm3_msm.msm = 5; |
1917 | 0 | unknown = rtcm3_decode_msm(context, rtcm, buf); |
1918 | 0 | msg_name = "QZSS MSM 5"; |
1919 | 0 | break; |
1920 | | |
1921 | 0 | case 1116: |
1922 | | /* RTCM 3.3 |
1923 | | * QZSS Multi Signal Message 6 |
1924 | | */ |
1925 | 0 | rtcm->rtcmtypes.rtcm3_msm.gnssid = GNSSID_QZSS; |
1926 | 0 | rtcm->rtcmtypes.rtcm3_msm.msm = 6; |
1927 | 0 | unknown = rtcm3_decode_msm(context, rtcm, buf); |
1928 | 0 | msg_name = "QZSS MSM 6"; |
1929 | 0 | break; |
1930 | | |
1931 | 0 | case 1117: |
1932 | | /* RTCM 3.3 |
1933 | | * QZSS Multi Signal Message 7 |
1934 | | */ |
1935 | 0 | rtcm->rtcmtypes.rtcm3_msm.gnssid = GNSSID_QZSS; |
1936 | 0 | rtcm->rtcmtypes.rtcm3_msm.msm = 7; |
1937 | 0 | unknown = rtcm3_decode_msm(context, rtcm, buf); |
1938 | 0 | msg_name = "QZSS MSM 7"; |
1939 | 0 | break; |
1940 | | |
1941 | 0 | case 1118: |
1942 | | /* RTCM 3.x |
1943 | | * Reserved for MSM |
1944 | | */ |
1945 | 0 | msg_name = "Reserved for MSM"; |
1946 | 0 | break; |
1947 | | |
1948 | 0 | case 1119: |
1949 | | /* RTCM 3.x |
1950 | | * Reserved for MSM |
1951 | | */ |
1952 | 0 | msg_name = "Reserved for MSM"; |
1953 | 0 | break; |
1954 | | |
1955 | 0 | case 1120: |
1956 | | /* RTCM 3.x |
1957 | | * Reserved for MSM |
1958 | | */ |
1959 | 0 | msg_name = "Reserved for MSM"; |
1960 | 0 | break; |
1961 | | |
1962 | 0 | case 1121: |
1963 | | /* RTCM 3.2 A.1 |
1964 | | * BD Multi Signal Message 1 |
1965 | | */ |
1966 | 0 | rtcm->rtcmtypes.rtcm3_msm.gnssid = GNSSID_BD; |
1967 | 0 | rtcm->rtcmtypes.rtcm3_msm.msm = 1; |
1968 | 0 | unknown = rtcm3_decode_msm(context, rtcm, buf); |
1969 | 0 | msg_name = "BD MSM 1"; |
1970 | 0 | break; |
1971 | | |
1972 | 0 | case 1122: |
1973 | | /* RTCM 3.2 A.1 |
1974 | | * BD Multi Signal Message 2 |
1975 | | */ |
1976 | 0 | rtcm->rtcmtypes.rtcm3_msm.gnssid = GNSSID_BD; |
1977 | 0 | rtcm->rtcmtypes.rtcm3_msm.msm = 2; |
1978 | 0 | unknown = rtcm3_decode_msm(context, rtcm, buf); |
1979 | 0 | msg_name = "BD MSM 2"; |
1980 | 0 | break; |
1981 | | |
1982 | 0 | case 1123: |
1983 | | /* RTCM 3.2 A.1 |
1984 | | * BD Multi Signal Message 3 |
1985 | | */ |
1986 | 0 | rtcm->rtcmtypes.rtcm3_msm.gnssid = GNSSID_BD; |
1987 | 0 | rtcm->rtcmtypes.rtcm3_msm.msm = 3; |
1988 | 0 | unknown = rtcm3_decode_msm(context, rtcm, buf); |
1989 | 0 | msg_name = "BD MSM 3"; |
1990 | 0 | break; |
1991 | | |
1992 | 0 | case 1124: |
1993 | | /* RTCM 3.2 A.1 |
1994 | | * BD Multi Signal Message 4 |
1995 | | */ |
1996 | 0 | rtcm->rtcmtypes.rtcm3_msm.gnssid = GNSSID_BD; |
1997 | 0 | rtcm->rtcmtypes.rtcm3_msm.msm = 4; |
1998 | 0 | unknown = rtcm3_decode_msm(context, rtcm, buf); |
1999 | 0 | msg_name = "BD MSM 4"; |
2000 | 0 | break; |
2001 | | |
2002 | 0 | case 1125: |
2003 | | /* RTCM 3.2 A.1 |
2004 | | * BeiDou Multi Signal Message 5 |
2005 | | */ |
2006 | 0 | rtcm->rtcmtypes.rtcm3_msm.gnssid = GNSSID_BD; |
2007 | 0 | rtcm->rtcmtypes.rtcm3_msm.msm = 5; |
2008 | 0 | unknown = rtcm3_decode_msm(context, rtcm, buf); |
2009 | 0 | msg_name = "BD MSM 5"; |
2010 | 0 | break; |
2011 | | |
2012 | 0 | case 1126: |
2013 | | /* RTCM 3.2 A.1 |
2014 | | * BeiDou Multi Signal Message 6 |
2015 | | */ |
2016 | 0 | rtcm->rtcmtypes.rtcm3_msm.gnssid = GNSSID_BD; |
2017 | 0 | rtcm->rtcmtypes.rtcm3_msm.msm = 6; |
2018 | 0 | unknown = rtcm3_decode_msm(context, rtcm, buf); |
2019 | 0 | msg_name = "BD MSM 6"; |
2020 | 0 | break; |
2021 | | |
2022 | 0 | case 1127: |
2023 | | /* RTCM 3.2 A.1 |
2024 | | * BeiDou Multi Signal Message 7 |
2025 | | */ |
2026 | 0 | rtcm->rtcmtypes.rtcm3_msm.gnssid = GNSSID_BD; |
2027 | 0 | rtcm->rtcmtypes.rtcm3_msm.msm = 7; |
2028 | 0 | unknown = rtcm3_decode_msm(context, rtcm, buf); |
2029 | 0 | msg_name = "BD MSM 7"; |
2030 | 0 | break; |
2031 | | |
2032 | 0 | case 1128: |
2033 | | /* RTCM 3.x |
2034 | | * Reserved for MSM |
2035 | | */ |
2036 | 0 | msg_name = "Reserved for MSM"; |
2037 | 0 | break; |
2038 | | |
2039 | 0 | case 1229: |
2040 | | /* RTCM 3.x |
2041 | | * Reserved for MSM |
2042 | | */ |
2043 | 0 | msg_name = "Reserved for MSM"; |
2044 | 0 | break; |
2045 | | |
2046 | 0 | case 1230: |
2047 | | /* RTCM 3.2 |
2048 | | * GLONASS L1 and L2, C/A and P, Code-Phase Biases. |
2049 | | */ |
2050 | 0 | msg_name = "GLO L1 and L2 Code-Phase Biases"; |
2051 | 0 | unknown = false; |
2052 | 0 | if (4 > rtcm->length) { |
2053 | | // not exactly: 32 + (16 * n), n <= 4 |
2054 | | // but we see 12 and even 4?? |
2055 | 0 | bad_len = 4; |
2056 | 0 | break; |
2057 | 0 | } |
2058 | 0 | rtcm->rtcmtypes.rtcm3_1230.station_id = ugrab(12); |
2059 | 0 | rtcm->rtcmtypes.rtcm3_1230.bias_indicator = ugrab(1); |
2060 | 0 | (void)ugrab(1); // reserved |
2061 | 0 | rtcm->rtcmtypes.rtcm3_1230.signals_mask = ugrab(3); |
2062 | | // actual mask order is undocumented... |
2063 | 0 | if (1 & rtcm->rtcmtypes.rtcm3_1230.signals_mask) { |
2064 | 0 | rtcm->rtcmtypes.rtcm3_1230.l1_ca_bias = ugrab(16); |
2065 | 0 | } |
2066 | 0 | if (2 & rtcm->rtcmtypes.rtcm3_1230.signals_mask) { |
2067 | 0 | rtcm->rtcmtypes.rtcm3_1230.l1_p_bias = ugrab(16); |
2068 | 0 | } |
2069 | 0 | if (4 & rtcm->rtcmtypes.rtcm3_1230.signals_mask) { |
2070 | 0 | rtcm->rtcmtypes.rtcm3_1230.l2_ca_bias = ugrab(16); |
2071 | 0 | } |
2072 | 0 | if (8 & rtcm->rtcmtypes.rtcm3_1230.signals_mask) { |
2073 | 0 | rtcm->rtcmtypes.rtcm3_1230.l2_p_bias = ugrab(16); |
2074 | 0 | } |
2075 | 0 | break; |
2076 | | |
2077 | | // Message Types 4001 — 4060 Are Reserved |
2078 | | |
2079 | 0 | case 4062: |
2080 | | /* RTCM 3.3 |
2081 | | * Geely Proprietary |
2082 | | */ |
2083 | 0 | msg_name = "Geely Proprietary"; |
2084 | 0 | break; |
2085 | | |
2086 | 0 | case 4063: |
2087 | | /* RTCM 3.3 |
2088 | | * CHC Navigation (CHCNAV) Proprietary |
2089 | | */ |
2090 | 0 | msg_name = "CHC Navigation (CHCNAV) Proprietary"; |
2091 | 0 | break; |
2092 | | |
2093 | 0 | case 4064: |
2094 | | /* RTCM 3.3 |
2095 | | * NTLab Proprietary |
2096 | | */ |
2097 | 0 | msg_name = "NTLab Proprietary"; |
2098 | 0 | break; |
2099 | | |
2100 | 0 | case 4065: |
2101 | | /* RTCM 3.3 |
2102 | | * Allystar Technology (Shenzhen) Co. Ltd. Proprietary |
2103 | | * |
2104 | | * sub-id: |
2105 | | * 0 Reference stations PVT, requires MSM7. |
2106 | | * 1 Navigation PVT Solyution |
2107 | | * 2 Attitude Determination (multi antenna) |
2108 | | * 0x0a Raw Sensor measurements. |
2109 | | */ |
2110 | 0 | msg_name = "Allystar Technology (Shenzhen) Co. Ltd. Proprietary"; |
2111 | 0 | break; |
2112 | | |
2113 | 0 | case 4066: |
2114 | | /* RTCM 3.3 |
2115 | | * Lantmateriet Proprietary |
2116 | | */ |
2117 | 0 | msg_name = "Lantmateriet Proprietary"; |
2118 | 0 | break; |
2119 | | |
2120 | 0 | case 4067: |
2121 | | /* RTCM 3.x |
2122 | | * China Transport telecommunications & Information Center Proprietary |
2123 | | */ |
2124 | 0 | msg_name = "China Transport telecommunications & Information " |
2125 | 0 | "Center Proprietary"; |
2126 | 0 | break; |
2127 | | |
2128 | 0 | case 4068: |
2129 | | /* RTCM 3.3 |
2130 | | * Qianxun Location Networks Co. Ltd Proprietary |
2131 | | */ |
2132 | 0 | msg_name = "Qianxun Location Networks Co. Ltd Proprietary"; |
2133 | 0 | break; |
2134 | | |
2135 | 0 | case 4069: |
2136 | | /* RTCM 3.3 |
2137 | | * VERIPOS Ltd Proprietary |
2138 | | */ |
2139 | 0 | msg_name = "VERIPOS Ltd Proprietary"; |
2140 | 0 | break; |
2141 | | |
2142 | 0 | case 4070: |
2143 | | /* RTCM 3.3 |
2144 | | * Wuhan MengXin Technology |
2145 | | */ |
2146 | 0 | msg_name = "Wuhan MengXin Technology Proprietary"; |
2147 | 0 | break; |
2148 | | |
2149 | 0 | case 4071: |
2150 | | /* RTCM 3.3 |
2151 | | * Wuhan Navigation and LBS |
2152 | | */ |
2153 | 0 | msg_name = "Wuhan Navigation and LBS Proprietary"; |
2154 | 0 | break; |
2155 | | |
2156 | 0 | case 4072: |
2157 | | /* RTCM 3.x |
2158 | | * u-blox Proprietary |
2159 | | * Mitsubishi Electric Corp Proprietary |
2160 | | * 4072.0 Reference station PVT (u-blox proprietary) |
2161 | | * 4072.1 Additional reference station information (u-blox proprietary) |
2162 | | */ |
2163 | 0 | msg_name = "u-blox Proprietary"; |
2164 | 0 | break; |
2165 | | |
2166 | 0 | case 4073: |
2167 | | /* RTCM 3.x |
2168 | | * Unicore Communications Proprietary |
2169 | | */ |
2170 | 0 | msg_name = "Alberding GmbH Proprietary"; |
2171 | 0 | break; |
2172 | | |
2173 | 0 | case 4075: |
2174 | | /* RTCM 3.x |
2175 | | * Alberding GmbH Proprietary |
2176 | | */ |
2177 | 0 | msg_name = "Alberding GmbH Proprietary"; |
2178 | 0 | break; |
2179 | | |
2180 | 0 | case 4076: |
2181 | | /* RTCM 3.x |
2182 | | * International GNSS Service Proprietary, www.igs.org |
2183 | | */ |
2184 | 0 | if (22 > rtcm->length) { |
2185 | | // need 76 bits, 9.5 bytes |
2186 | 0 | bad_len = 22; |
2187 | 0 | break; |
2188 | 0 | } |
2189 | | |
2190 | 0 | msg_name = "International GNSS Service Proprietary"; |
2191 | 0 | unknown = rtcm3_4076(context, rtcm, buf); |
2192 | 0 | break; |
2193 | | |
2194 | 0 | case 4077: |
2195 | | /* RTCM 3.x |
2196 | | * Hemisphere GNSS Proprietary |
2197 | | */ |
2198 | 0 | msg_name = "Hemisphere GNSS Proprietary"; |
2199 | 0 | break; |
2200 | | |
2201 | 0 | case 4078: |
2202 | | /* RTCM 3.x |
2203 | | * ComNav Technology Proprietary |
2204 | | */ |
2205 | 0 | msg_name = "ComNav Technology Proprietary"; |
2206 | 0 | break; |
2207 | | |
2208 | 0 | case 4079: |
2209 | | /* RTCM 3.x |
2210 | | * SubCarrier Systems Corp Proprietary |
2211 | | */ |
2212 | 0 | msg_name = "SubCarrier Systems Corp Proprietary"; |
2213 | 0 | break; |
2214 | | |
2215 | 0 | case 4080: |
2216 | | /* RTCM 3.x |
2217 | | * NavCom Technology, Inc. |
2218 | | */ |
2219 | 0 | msg_name = "NavCom Technology, Inc."; |
2220 | 0 | break; |
2221 | | |
2222 | 0 | case 4081: |
2223 | | /* RTCM 3.x |
2224 | | * Seoul National Universtiry GNSS Lab Proprietary |
2225 | | */ |
2226 | 0 | msg_name = "Seoul National Universtiry GNSS Lab Proprietery"; |
2227 | 0 | break; |
2228 | | |
2229 | 0 | case 4082: |
2230 | | /* RTCM 3.x |
2231 | | * Cooperative Research Centre for Spatial Information Proprietary |
2232 | | */ |
2233 | 0 | msg_name = "Cooperative Research Centre for Spatial Information " |
2234 | 0 | "Proprietary"; |
2235 | 0 | break; |
2236 | | |
2237 | 0 | case 4083: |
2238 | | /* RTCM 3.x |
2239 | | * German Aerospace Center Proprietary |
2240 | | */ |
2241 | 0 | msg_name = "German Aerospace Center Proprietary"; |
2242 | 0 | break; |
2243 | | |
2244 | 0 | case 4084: |
2245 | | /* RTCM 3.x |
2246 | | * Geodetics Inc Proprietary |
2247 | | */ |
2248 | 0 | msg_name = "Geodetics Inc Proprietary"; |
2249 | 0 | break; |
2250 | | |
2251 | 0 | case 4085: |
2252 | | /* RTCM 3.x |
2253 | | * European GNSS Supervisory Authority Proprietary |
2254 | | */ |
2255 | 0 | msg_name = "European GNSS Supervisory Authority Proprietary"; |
2256 | 0 | break; |
2257 | | |
2258 | 0 | case 4086: |
2259 | | /* RTCM 3.x |
2260 | | * InPosition GmbH Proprietary |
2261 | | */ |
2262 | 0 | msg_name = "InPosition GmbH Proprietary"; |
2263 | 0 | break; |
2264 | | |
2265 | 0 | case 4087: |
2266 | | /* RTCM 3.x |
2267 | | * Fugro Proprietary |
2268 | | */ |
2269 | 0 | msg_name = "Fugro Proprietary"; |
2270 | 0 | break; |
2271 | | |
2272 | 0 | case 4088: |
2273 | | /* RTCM 3.x |
2274 | | * IfEN GmbH Proprietary |
2275 | | */ |
2276 | 0 | msg_name = "IfEN GmbH Proprietary"; |
2277 | 0 | break; |
2278 | | |
2279 | 0 | case 4089: |
2280 | | /* RTCM 3.x |
2281 | | * Septentrio Satellite Navigation Proprietary |
2282 | | */ |
2283 | 0 | msg_name = "Septentrio Satellite Navigation Proprietary"; |
2284 | 0 | break; |
2285 | | |
2286 | 0 | case 4090: |
2287 | | /* RTCM 3.x |
2288 | | * Geo++ Proprietary |
2289 | | */ |
2290 | 0 | msg_name = "Geo++ Proprietary"; |
2291 | 0 | break; |
2292 | | |
2293 | 0 | case 4091: |
2294 | | /* RTCM 3.x |
2295 | | * Topcon Positioning Systems Proprietary |
2296 | | */ |
2297 | 0 | msg_name = "Topcon Positioning Systems Proprietary"; |
2298 | 0 | break; |
2299 | | |
2300 | 0 | case 4092: |
2301 | | /* RTCM 3.x |
2302 | | * Leica Geosystems Proprietary |
2303 | | */ |
2304 | 0 | msg_name = "Leica Geosystems Proprietary"; |
2305 | 0 | break; |
2306 | | |
2307 | 0 | case 4093: |
2308 | | /* RTCM 3.x |
2309 | | * NovAtel Proprietary |
2310 | | */ |
2311 | 0 | msg_name = "NovAtel Pr.orietary"; |
2312 | 0 | break; |
2313 | | |
2314 | 0 | case 4094: |
2315 | | /* RTCM 3.x |
2316 | | * Trimble Proprietary |
2317 | | */ |
2318 | 0 | msg_name = "Trimble Proprietary"; |
2319 | 0 | break; |
2320 | | |
2321 | 0 | case 4095: |
2322 | | /* RTCM 3.x |
2323 | | * Ashtech/Magellan Proprietary |
2324 | | */ |
2325 | 0 | msg_name = "Ashtech/Magellan Proprietary"; |
2326 | 0 | break; |
2327 | | |
2328 | 0 | case 63: |
2329 | | // dunno what this is. Length 64 |
2330 | 0 | FALLTHROUGH |
2331 | 560 | default: |
2332 | 560 | break; |
2333 | 560 | } |
2334 | 560 | #undef RANGEDIFF |
2335 | 560 | #undef GPS_PSEUDORANGE |
2336 | 560 | #undef sgrab |
2337 | 560 | #undef ugrab |
2338 | 560 | if (0 != bad_len) { |
2339 | 0 | GPSD_LOG(LOG_WARN, &context->errout, |
2340 | 0 | "RTCM3: type %d (%s) bad n %u length %u s/b %u\n", |
2341 | 0 | rtcm->type, msg_name, n, rtcm->length, bad_len); |
2342 | 0 | rtcm->length = 0; // set to zero to prevent JSON decode |
2343 | 0 | return; |
2344 | 0 | } |
2345 | 560 | if (unknown) { |
2346 | | /* |
2347 | | * Leader bytes, message length, and checksum won't be copied. |
2348 | | * The first 12 bits of the copied payload will be the type field. |
2349 | | */ |
2350 | 560 | rtcm3_copy_string_field((char *)rtcm->rtcmtypes.data, |
2351 | 560 | sizeof(rtcm->rtcmtypes.data), |
2352 | 560 | buf + 3, rtcm->length); |
2353 | 560 | GPSD_LOG(LOG_PROG, &context->errout, |
2354 | 560 | "RTCM3: %d (%s) Undecoded, length %u\n", |
2355 | 560 | rtcm->type, msg_name, rtcm->length); |
2356 | 560 | } else { |
2357 | 0 | GPSD_LOG(LOG_PROG, &context->errout, |
2358 | 0 | "RTCM3: %d (%s) length %u\n", |
2359 | 0 | rtcm->type, msg_name, rtcm->length); |
2360 | 0 | } |
2361 | 560 | } |
2362 | | |
2363 | | // *INDENT-ON* |
2364 | | |
2365 | | // vim: set expandtab shiftwidth=4 |