/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 | 1.31k | #define GPS_PSEUDORANGE_RESOLUTION 0.02 // DF011 |
50 | 2.15k | #define PSEUDORANGE_DIFF_RESOLUTION 0.0005 // DF012, DF042 |
51 | 1.22k | #define CARRIER_NOISE_RATIO_UNITS 0.25 // DF015, DF045, DF050 |
52 | 16 | #define ANTENNA_POSITION_RESOLUTION 0.0001 // DF025, DF026, DF027 |
53 | 756 | #define GLONASS_PSEUDORANGE_RESOLUTION 0.02 // DF041 |
54 | 2 | #define ANTENNA_DEGREE_RESOLUTION 25e-6 // DF062 |
55 | | #define GPS_EPOCH_TIME_RESOLUTION 0.1 // DF065 |
56 | | // DF069, DF070, DF192, DF193, DF194, DF195 |
57 | 8 | #define PHASE_CORRECTION_RESOLUTION 0.5 |
58 | | // DF156, DF157, DF158, DF166, DF167, DF168, DF169, DF196, DF197 |
59 | 115 | #define TRANSLATION_MM_RESOLUTION 0.001 |
60 | 44 | #define VALIDITY_RESOLUTION 2.0 // DF152, DF153, DF154, DF155 |
61 | 12 | #define SCALE_PPM_RESOLUTION 1e-5 // DF162 |
62 | 33 | #define ROTATION_ARCSEC_RESOLUTION 2e-5 // DF159, DF160, DF161 |
63 | | // DF171, DF172, DF176, DF177, DF178, DF179, DF183, DF184, DF185, DF186 |
64 | 2 | #define PROJ_ORIGIN_RESOLUTION 11e-9 |
65 | 85 | #define DEG_ARCSEC_RESOLUTION 3600 |
66 | 2 | #define CM_RESOLUTION 0.01 // DF198 |
67 | 64 | #define RES_ARCSEC_RESOLUTION 3e-5 // DF199, DF200 |
68 | | |
69 | | // Other magic values |
70 | 3.53k | #define GPS_INVALID_PSEUDORANGE 0x80000 // DF012, DF018 |
71 | 143 | #define GLONASS_INVALID_RANGEINCR 0x2000 // DF047 |
72 | 626 | #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 | 27.3k | #define ugrab(width) (bitcount += width, ubits(buf, \ |
84 | 27.3k | bitcount - width, width, false)) |
85 | 8.32k | #define sgrab(width) (bitcount += width, sbits(buf, \ |
86 | 8.32k | 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 | 298 | { |
96 | 298 | if (0 == dstlen) { |
97 | 0 | return; |
98 | 0 | } |
99 | 298 | if (srclen >= dstlen) { |
100 | 17 | srclen = dstlen - 1; |
101 | 17 | } |
102 | 298 | (void)memcpy(dst, src, srclen); |
103 | 298 | dst[srclen] = '\0'; |
104 | 298 | } |
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 | 16 | { |
116 | 16 | int bitcount = 36; // 8 preamble, 6 zero, 10 length, 12 type |
117 | | |
118 | | // 1015, 1016, and 1017 all use the 1015 struct |
119 | 16 | rtcm->rtcmtypes.rtcm3_1015.header.network_id = ugrab(12); |
120 | 16 | rtcm->rtcmtypes.rtcm3_1015.header.subnetwork_id = ugrab(4); |
121 | 16 | rtcm->rtcmtypes.rtcm3_1015.header.tow = ugrab(23); |
122 | 16 | rtcm->rtcmtypes.rtcm3_1015.header.multimesg = (bool)ugrab(1); |
123 | 16 | rtcm->rtcmtypes.rtcm3_1015.header.master_id = ugrab(12); |
124 | 16 | rtcm->rtcmtypes.rtcm3_1015.header.aux_id = ugrab(12); |
125 | 16 | rtcm->rtcmtypes.rtcm3_1015.header.satcount = ugrab(4); |
126 | | |
127 | 16 | GPSD_LOG(LOG_PROG, &context->errout, "RTCM3: rtcm3_10567(%u) " |
128 | 16 | "network_id %u subnetwork_id %u tow %lu multimesg %u " |
129 | 16 | "master_id %u aux_id %u satcount %u", |
130 | 16 | rtcm->type, |
131 | 16 | rtcm->rtcmtypes.rtcm3_1015.header.network_id, |
132 | 16 | rtcm->rtcmtypes.rtcm3_1015.header.subnetwork_id, |
133 | 16 | rtcm->rtcmtypes.rtcm3_1015.header.tow, |
134 | 16 | rtcm->rtcmtypes.rtcm3_1015.header.multimesg, |
135 | 16 | rtcm->rtcmtypes.rtcm3_1015.header.master_id, |
136 | 16 | rtcm->rtcmtypes.rtcm3_1015.header.aux_id, |
137 | 16 | rtcm->rtcmtypes.rtcm3_1015.header.satcount); |
138 | 16 | return false; |
139 | 16 | } |
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 | 5 | { |
152 | 5 | int bitcount = 36; // 8 preamble, 6 zero, 10 length, 12 type |
153 | | |
154 | 5 | rtcm->rtcmtypes.rtcm3_4076.ssr_vers = ugrab(3); |
155 | 5 | rtcm->rtcmtypes.rtcm3_4076.igs_num = ugrab(8); |
156 | 5 | rtcm->rtcmtypes.rtcm3_4076.ssr_epoch = ugrab(20); |
157 | 5 | rtcm->rtcmtypes.rtcm3_4076.ssr_update = ugrab(4); |
158 | 5 | rtcm->rtcmtypes.rtcm3_4076.ssr_mmi = ugrab(1); |
159 | 5 | rtcm->rtcmtypes.rtcm3_4076.ssr_iod = ugrab(4); |
160 | 5 | rtcm->rtcmtypes.rtcm3_4076.ssr_provider = ugrab(16); |
161 | 5 | rtcm->rtcmtypes.rtcm3_4076.ssr_solution = ugrab(4); |
162 | | |
163 | 5 | GPSD_LOG(LOG_PROG, &context->errout, |
164 | 5 | "RTCM3: rtcm3_4076 ver %u igs_num %u Epoch %u update %u mmi %u " |
165 | 5 | "IOD %u Provider %u Solution %u\n", |
166 | 5 | rtcm->rtcmtypes.rtcm3_4076.ssr_vers, |
167 | 5 | rtcm->rtcmtypes.rtcm3_4076.igs_num, |
168 | 5 | rtcm->rtcmtypes.rtcm3_4076.ssr_epoch, |
169 | 5 | rtcm->rtcmtypes.rtcm3_4076.ssr_update, |
170 | 5 | rtcm->rtcmtypes.rtcm3_4076.ssr_mmi, |
171 | 5 | rtcm->rtcmtypes.rtcm3_4076.ssr_iod, |
172 | 5 | rtcm->rtcmtypes.rtcm3_4076.ssr_provider, |
173 | 5 | rtcm->rtcmtypes.rtcm3_4076.ssr_solution); |
174 | 5 | return true; |
175 | 5 | } |
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 | 210 | { |
187 | 210 | int bitcount = 36; // 8 preamble, 6 zero, 10 length, 12 type |
188 | 210 | unsigned n_sig = 0, n_sat = 0, n_cell = 0; |
189 | 210 | uint64_t sat_mask; |
190 | 210 | uint32_t sig_mask; |
191 | 210 | unsigned i; |
192 | | |
193 | 210 | if (22 > rtcm->length) { |
194 | | // need 169 bits, 21.125 bytes |
195 | 45 | rtcm->length = 0; // set to zero to prevent JSON decode |
196 | 45 | GPSD_LOG(LOG_WARN, &context->errout, |
197 | 45 | "RTCM3: rtcm3_decode_msm() type %d runt length %u ", |
198 | 45 | rtcm->type, rtcm->length); |
199 | 45 | return true; |
200 | 45 | } |
201 | | |
202 | 165 | rtcm->rtcmtypes.rtcm3_msm.station_id = ugrab(12); |
203 | 165 | rtcm->rtcmtypes.rtcm3_msm.tow = ugrab(30); |
204 | 165 | rtcm->rtcmtypes.rtcm3_msm.sync = ugrab(1); |
205 | 165 | rtcm->rtcmtypes.rtcm3_msm.IODS = ugrab(3); |
206 | 165 | bitcount += 7; // skip 7 reserved bits, DF001 |
207 | 165 | rtcm->rtcmtypes.rtcm3_msm.steering = ugrab(2); |
208 | 165 | rtcm->rtcmtypes.rtcm3_msm.ext_clk = ugrab(2); |
209 | 165 | rtcm->rtcmtypes.rtcm3_msm.smoothing = ugrab(1); |
210 | 165 | 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 | 165 | rtcm->rtcmtypes.rtcm3_msm.sat_mask = ugrab(32) << 32; |
214 | 165 | rtcm->rtcmtypes.rtcm3_msm.sat_mask |= ugrab(32); |
215 | 165 | rtcm->rtcmtypes.rtcm3_msm.sig_mask = ugrab(32); |
216 | | |
217 | | // count satellites |
218 | 165 | sat_mask = rtcm->rtcmtypes.rtcm3_msm.sat_mask; |
219 | 9.23k | while (sat_mask) { |
220 | 9.07k | n_sat += sat_mask & 1; |
221 | 9.07k | sat_mask >>= 1; |
222 | 9.07k | } |
223 | | // count signals |
224 | 165 | sig_mask = rtcm->rtcmtypes.rtcm3_msm.sig_mask; |
225 | 4.26k | while (sig_mask) { |
226 | 4.09k | n_sig += sig_mask & 1; |
227 | 4.09k | sig_mask >>= 1; |
228 | 4.09k | } |
229 | | // determine cells |
230 | 165 | n_cell = n_sat * n_sig; |
231 | 165 | rtcm->rtcmtypes.rtcm3_msm.n_sat = n_sat; |
232 | 165 | rtcm->rtcmtypes.rtcm3_msm.n_sig = n_sig; |
233 | 165 | rtcm->rtcmtypes.rtcm3_msm.n_cell = n_cell; |
234 | | |
235 | 165 | if (0 == n_sat || |
236 | 163 | RTCM3_MAX_SATELLITES < n_sat || |
237 | 163 | RTCM3_MAX_SATELLITES < n_cell) { |
238 | 99 | GPSD_LOG(LOG_WARN, &context->errout, |
239 | 99 | "RTCM3: rtcm3_decode_msm(%u) interval %u sat_mask x%llx " |
240 | 99 | "sig_mask x%x invalid n_cell %u\n", |
241 | 99 | rtcm->type, |
242 | 99 | rtcm->rtcmtypes.rtcm3_msm.interval, |
243 | 99 | (unsigned long long)rtcm->rtcmtypes.rtcm3_msm.sat_mask, |
244 | 99 | rtcm->rtcmtypes.rtcm3_msm.sig_mask, |
245 | 99 | n_cell); |
246 | 99 | return false; |
247 | 99 | } |
248 | | |
249 | | // cell_mask is variable length! ugrab() width max is 56 |
250 | 66 | if (56 >= n_cell) { |
251 | 57 | rtcm->rtcmtypes.rtcm3_msm.cell_mask = ugrab(n_cell); |
252 | 57 | } else { |
253 | | // 57 to 64, breaks ugrab(), workaround it... |
254 | 9 | rtcm->rtcmtypes.rtcm3_msm.cell_mask = ugrab(56); |
255 | 9 | rtcm->rtcmtypes.rtcm3_msm.cell_mask <<= n_cell - 56; |
256 | 9 | rtcm->rtcmtypes.rtcm3_msm.cell_mask |= ugrab(n_cell - 56); |
257 | 9 | } |
258 | | |
259 | | // Decode Satellite Data |
260 | | |
261 | | // Decode DF397 (MSM 4-7) |
262 | 66 | if (4 == rtcm->rtcmtypes.rtcm3_msm.msm || |
263 | 56 | 5 == rtcm->rtcmtypes.rtcm3_msm.msm || |
264 | 44 | 6 == rtcm->rtcmtypes.rtcm3_msm.msm || |
265 | 49 | 7 == rtcm->rtcmtypes.rtcm3_msm.msm) { |
266 | 688 | for (i = 0; i < rtcm->rtcmtypes.rtcm3_msm.n_sat; i++) { |
267 | 639 | rtcm->rtcmtypes.rtcm3_msm.sat[i].rr_ms = ugrab(8); |
268 | 639 | } |
269 | 49 | } |
270 | | |
271 | | // Decode Extended Info (MSM 5+7) |
272 | 66 | if (5 == rtcm->rtcmtypes.rtcm3_msm.msm || |
273 | 54 | 7 == rtcm->rtcmtypes.rtcm3_msm.msm) { |
274 | 449 | for (i = 0; i < rtcm->rtcmtypes.rtcm3_msm.n_sat; i++) { |
275 | 420 | rtcm->rtcmtypes.rtcm3_msm.sat[i].ext_info = ugrab(4); |
276 | 420 | } |
277 | 29 | } |
278 | | |
279 | | // Decode DF398 (MSM 1-7) |
280 | 884 | for (i = 0; i < rtcm->rtcmtypes.rtcm3_msm.n_sat; i++) { |
281 | 818 | rtcm->rtcmtypes.rtcm3_msm.sat[i].rr_m1 = ugrab(10); |
282 | 818 | }; |
283 | | |
284 | | // Decode DF399 (MSM 5+7) |
285 | 66 | if (5 == rtcm->rtcmtypes.rtcm3_msm.msm || |
286 | 54 | 7 == rtcm->rtcmtypes.rtcm3_msm.msm) { |
287 | 449 | for (i = 0; i < rtcm->rtcmtypes.rtcm3_msm.n_sat; i++) { |
288 | 420 | rtcm->rtcmtypes.rtcm3_msm.sat[i].rates_rphr = ugrab(14); |
289 | 420 | } |
290 | 29 | } |
291 | | |
292 | | // Decode Signal Data |
293 | | |
294 | | // Decode DF400 (MSM 1,3,4,5) resp. DF405 (MSM 6+7) |
295 | 66 | if (1 == rtcm->rtcmtypes.rtcm3_msm.msm || |
296 | 59 | 3 == rtcm->rtcmtypes.rtcm3_msm.msm || |
297 | 54 | 4 == rtcm->rtcmtypes.rtcm3_msm.msm || |
298 | 44 | 5 == rtcm->rtcmtypes.rtcm3_msm.msm) { |
299 | 1.00k | for (i = 0; i < rtcm->rtcmtypes.rtcm3_msm.n_cell; i++) { |
300 | 966 | rtcm->rtcmtypes.rtcm3_msm.sig[i].pseudo_r = sgrab(15); |
301 | 966 | } |
302 | 34 | } else if (6 == rtcm->rtcmtypes.rtcm3_msm.msm || |
303 | 27 | 7 == rtcm->rtcmtypes.rtcm3_msm.msm) { |
304 | 628 | for (i = 0; i < rtcm->rtcmtypes.rtcm3_msm.n_cell; i++) { |
305 | 601 | rtcm->rtcmtypes.rtcm3_msm.sig[i].pseudo_r = sgrab(20); |
306 | 601 | } |
307 | 27 | } |
308 | | |
309 | | // Decode DF401 (MSM 2,3,4,5) resp. DF406 (MSM 6+7) |
310 | 66 | if (2 == rtcm->rtcmtypes.rtcm3_msm.msm || |
311 | 61 | 3 == rtcm->rtcmtypes.rtcm3_msm.msm || |
312 | 56 | 4 == rtcm->rtcmtypes.rtcm3_msm.msm || |
313 | 46 | 5 == rtcm->rtcmtypes.rtcm3_msm.msm) { |
314 | 1.00k | for (i = 0; i < rtcm->rtcmtypes.rtcm3_msm.n_cell; i++) { |
315 | 971 | rtcm->rtcmtypes.rtcm3_msm.sig[i].phase_r = sgrab(22); |
316 | 971 | } |
317 | 34 | } else if (6 == rtcm->rtcmtypes.rtcm3_msm.msm || |
318 | 27 | 7 == rtcm->rtcmtypes.rtcm3_msm.msm) { |
319 | 628 | for (i = 0; i < rtcm->rtcmtypes.rtcm3_msm.n_cell; i++) { |
320 | 601 | rtcm->rtcmtypes.rtcm3_msm.sig[i].phase_r = sgrab(24); |
321 | 601 | } |
322 | 27 | } |
323 | | |
324 | | // Decode DF402 (MSM 2,3,4,5) resp. DF407 (MSM 6+7) |
325 | 66 | if (2 == rtcm->rtcmtypes.rtcm3_msm.msm || |
326 | 61 | 3 == rtcm->rtcmtypes.rtcm3_msm.msm || |
327 | 56 | 4 == rtcm->rtcmtypes.rtcm3_msm.msm || |
328 | 46 | 5 == rtcm->rtcmtypes.rtcm3_msm.msm) { |
329 | 1.00k | for (i = 0; i < rtcm->rtcmtypes.rtcm3_msm.n_cell; i++) { |
330 | 971 | rtcm->rtcmtypes.rtcm3_msm.sig[i].lti = ugrab(4); |
331 | 971 | } |
332 | 34 | } else if (6 == rtcm->rtcmtypes.rtcm3_msm.msm || |
333 | 27 | 7 == rtcm->rtcmtypes.rtcm3_msm.msm) { |
334 | 628 | for (i = 0; i < rtcm->rtcmtypes.rtcm3_msm.n_cell; i++) { |
335 | 601 | rtcm->rtcmtypes.rtcm3_msm.sig[i].lti = ugrab(10); |
336 | 601 | } |
337 | 27 | } |
338 | | |
339 | | // Decode DF420 (MSM 2-7) |
340 | 66 | if (2 == rtcm->rtcmtypes.rtcm3_msm.msm || |
341 | 61 | 3 == rtcm->rtcmtypes.rtcm3_msm.msm || |
342 | 56 | 4 == rtcm->rtcmtypes.rtcm3_msm.msm || |
343 | 46 | 5 == rtcm->rtcmtypes.rtcm3_msm.msm || |
344 | 34 | 6 == rtcm->rtcmtypes.rtcm3_msm.msm || |
345 | 59 | 7 == rtcm->rtcmtypes.rtcm3_msm.msm) { |
346 | 1.63k | for (i = 0; i < rtcm->rtcmtypes.rtcm3_msm.n_cell; i++) { |
347 | 1.57k | rtcm->rtcmtypes.rtcm3_msm.sig[i].half_amb = ugrab(1); |
348 | 1.57k | } |
349 | 59 | } |
350 | | |
351 | | // Decode DF403 (MSM 4+5) resp. DF408 (MSM 6+7) |
352 | 66 | if (4 == rtcm->rtcmtypes.rtcm3_msm.msm || |
353 | 56 | 5 == rtcm->rtcmtypes.rtcm3_msm.msm) { |
354 | 678 | for (i = 0; i < rtcm->rtcmtypes.rtcm3_msm.n_cell; i++) { |
355 | 656 | rtcm->rtcmtypes.rtcm3_msm.sig[i].cnr = ugrab(6); |
356 | 656 | } |
357 | 44 | } else if (6 == rtcm->rtcmtypes.rtcm3_msm.msm || |
358 | 34 | 7 == rtcm->rtcmtypes.rtcm3_msm.msm) { |
359 | 628 | for (i = 0; i < rtcm->rtcmtypes.rtcm3_msm.n_cell; i++) { |
360 | 601 | rtcm->rtcmtypes.rtcm3_msm.sig[i].cnr = ugrab(10); |
361 | 601 | } |
362 | 27 | } |
363 | | |
364 | | // Decode DF404 (MSM 5+7) |
365 | 66 | if (5 == rtcm->rtcmtypes.rtcm3_msm.msm || |
366 | 54 | 7 == rtcm->rtcmtypes.rtcm3_msm.msm) { |
367 | 763 | for (i = 0; i < rtcm->rtcmtypes.rtcm3_msm.n_cell; i++) { |
368 | 734 | rtcm->rtcmtypes.rtcm3_msm.sig[i].cnr = sgrab(15); |
369 | 734 | } |
370 | 29 | } |
371 | | |
372 | | // tow is %llu for 32-bit compatibility |
373 | 66 | GPSD_LOG(LOG_PROG, &context->errout, "RTCM3: rtcm3_decode_msm(%u) " |
374 | 66 | "gnssid %u MSM%u id %u tow %llu sync %u IODS %u " |
375 | 66 | "steering %u ext_clk %u smoothing %u interval %u " |
376 | 66 | "sat_mask x%llx sig_mask x%lx cell_mask %llx\n", |
377 | 66 | rtcm->type, |
378 | 66 | rtcm->rtcmtypes.rtcm3_msm.gnssid, |
379 | 66 | rtcm->rtcmtypes.rtcm3_msm.msm, |
380 | 66 | rtcm->rtcmtypes.rtcm3_msm.station_id, |
381 | 66 | (unsigned long long)rtcm->rtcmtypes.rtcm3_msm.tow, |
382 | 66 | rtcm->rtcmtypes.rtcm3_msm.sync, |
383 | 66 | rtcm->rtcmtypes.rtcm3_msm.IODS, |
384 | 66 | rtcm->rtcmtypes.rtcm3_msm.steering, |
385 | 66 | rtcm->rtcmtypes.rtcm3_msm.ext_clk, |
386 | 66 | rtcm->rtcmtypes.rtcm3_msm.smoothing, |
387 | 66 | rtcm->rtcmtypes.rtcm3_msm.interval, |
388 | 66 | (long long unsigned)rtcm->rtcmtypes.rtcm3_msm.sat_mask, |
389 | 66 | (long unsigned)rtcm->rtcmtypes.rtcm3_msm.sig_mask, |
390 | 66 | (long long unsigned)rtcm->rtcmtypes.rtcm3_msm.cell_mask); |
391 | 66 | return false; |
392 | 165 | } |
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 | 1.52k | { |
401 | 1.52k | unsigned n, n2, n3, n4; |
402 | 1.52k | int bitcount = 0; |
403 | 1.52k | unsigned i; |
404 | 1.52k | long temp; |
405 | 1.52k | bool unknown = true; // we don't know how to decode |
406 | 1.52k | const char *msg_name = "Unknown"; // we know the name |
407 | 1.52k | unsigned preamble, mbz; // preamble 0xd3, and must be zero |
408 | 1.52k | unsigned bad_len = 0; |
409 | | |
410 | 1.52k | #define GPS_PSEUDORANGE(fld, len) \ |
411 | 1.52k | {temp = ugrab(len); \ |
412 | 1.38k | if (temp == GPS_INVALID_PSEUDORANGE) { \ |
413 | 73 | fld.pseudorange = 0; \ |
414 | 1.31k | } else { \ |
415 | 1.31k | fld.pseudorange = temp * GPS_PSEUDORANGE_RESOLUTION;} \ |
416 | 1.38k | } |
417 | 1.52k | #define RANGEDIFF(fld, len) \ |
418 | 1.85k | temp = (long)sgrab(len); \ |
419 | 1.85k | if (temp == GPS_INVALID_PSEUDORANGE) { \ |
420 | 0 | fld.rangediff = 0; \ |
421 | 1.85k | } else { \ |
422 | 1.85k | fld.rangediff = temp * PSEUDORANGE_DIFF_RESOLUTION; \ |
423 | 1.85k | } |
424 | | |
425 | 1.52k | memset(rtcm, 0, sizeof(struct rtcm3_t)); |
426 | | |
427 | | // check preamble and zero bits |
428 | 1.52k | preamble = ugrab(8); |
429 | 1.52k | mbz = ugrab(6); |
430 | 1.52k | if (0xD3 != preamble || |
431 | 1.40k | 0 != mbz) { |
432 | | // The mbz may eventually used for RTCM version. |
433 | 114 | GPSD_LOG(LOG_WARN, &context->errout, |
434 | 114 | "RTCM3: invalid preamble x%2x or mbz x%x\n", |
435 | 114 | preamble, mbz); |
436 | 114 | return; |
437 | 114 | } |
438 | | |
439 | 1.40k | rtcm->length = ugrab(10); |
440 | 1.40k | 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 | 177 | GPSD_LOG(LOG_PROG, &context->errout, |
444 | 177 | "RTCM3: bad payload length %u bitcount %d\n", |
445 | 177 | rtcm->length, bitcount); |
446 | 177 | return; |
447 | 177 | } |
448 | 1.22k | rtcm->type = ugrab(12); |
449 | | |
450 | 1.22k | GPSD_LOG(LOG_IO, &context->errout, |
451 | 1.22k | "RTCM3: type %d payload length %u bitcount %d\n", |
452 | 1.22k | rtcm->type, rtcm->length, bitcount); |
453 | | |
454 | | // RTCM3 message type numbers start at 1001 |
455 | 1.22k | switch (rtcm->type) { |
456 | 71 | case 1001: |
457 | 71 | msg_name = "GPS Basic RTK, L1 Only"; |
458 | 71 | rtcm->rtcmtypes.rtcm3_1001.header.station_id = ugrab(12); |
459 | 71 | rtcm->rtcmtypes.rtcm3_1001.header.tow = ugrab(30); |
460 | 71 | rtcm->rtcmtypes.rtcm3_1001.header.sync = (bool)ugrab(1); |
461 | 71 | n = ugrab(5); |
462 | 71 | if ((8 + (7 * n)) > rtcm->length) { |
463 | | // not exactly: 8 + (7.25 * n) |
464 | 8 | bad_len = 8 + (7 * n); |
465 | 8 | break; |
466 | 8 | } |
467 | 63 | rtcm->rtcmtypes.rtcm3_1001.header.satcount = n; |
468 | 63 | rtcm->rtcmtypes.rtcm3_1001.header.smoothing = (bool)ugrab(1); |
469 | 63 | rtcm->rtcmtypes.rtcm3_1001.header.interval = ugrab(3); |
470 | 696 | #define R1001 rtcm->rtcmtypes.rtcm3_1001.rtk_data[i] |
471 | 295 | for (i = 0; i < rtcm->rtcmtypes.rtcm3_1001.header.satcount; i++) { |
472 | 232 | R1001.ident = ugrab(6); |
473 | 232 | R1001.L1.indicator = ugrab(1); |
474 | 232 | GPS_PSEUDORANGE(R1001.L1, 24); |
475 | 232 | RANGEDIFF(R1001.L1, 20); |
476 | 232 | R1001.L1.locktime = (unsigned char)sgrab(7); |
477 | 232 | } |
478 | 63 | #undef R1001 |
479 | 63 | unknown = false; |
480 | 63 | break; |
481 | | |
482 | 74 | case 1002: |
483 | 74 | msg_name = "GPS Extended RTK, L1 Only"; |
484 | 74 | rtcm->rtcmtypes.rtcm3_1002.header.station_id = ugrab(12); |
485 | 74 | rtcm->rtcmtypes.rtcm3_1002.header.tow = ugrab(30); |
486 | 74 | rtcm->rtcmtypes.rtcm3_1002.header.sync = (bool)ugrab(1); |
487 | 74 | n = ugrab(5); |
488 | 74 | if ((8 + (9 * n)) > rtcm->length) { |
489 | | // not exactly: 8 + (9.25 * n) |
490 | 9 | bad_len = 8 + (9 * n); |
491 | 9 | break; |
492 | 9 | } |
493 | 65 | rtcm->rtcmtypes.rtcm3_1002.header.satcount = n; |
494 | 65 | rtcm->rtcmtypes.rtcm3_1002.header.smoothing = (bool)ugrab(1); |
495 | 65 | rtcm->rtcmtypes.rtcm3_1002.header.interval = ugrab(3); |
496 | 880 | #define R1002 rtcm->rtcmtypes.rtcm3_1002.rtk_data[i] |
497 | 241 | for (i = 0; i < rtcm->rtcmtypes.rtcm3_1002.header.satcount; i++) { |
498 | 176 | R1002.ident = ugrab(6); |
499 | 176 | R1002.L1.indicator = ugrab(1); |
500 | 176 | GPS_PSEUDORANGE(R1002.L1, 24); |
501 | 176 | RANGEDIFF(R1002.L1, 20); |
502 | 176 | R1002.L1.locktime = (unsigned char)sgrab(7); |
503 | 176 | R1002.L1.ambiguity = ugrab(8); |
504 | 176 | R1002.L1.CNR = (ugrab(8)) * CARRIER_NOISE_RATIO_UNITS; |
505 | 176 | } |
506 | 65 | #undef R1002 |
507 | 65 | unknown = false; |
508 | 65 | break; |
509 | | |
510 | 110 | case 1003: |
511 | 110 | msg_name = "GPS Basic RTK, L1 & L2"; |
512 | 110 | rtcm->rtcmtypes.rtcm3_1003.header.station_id = ugrab(12); |
513 | 110 | rtcm->rtcmtypes.rtcm3_1003.header.tow = ugrab(30); |
514 | 110 | rtcm->rtcmtypes.rtcm3_1003.header.sync = (bool)ugrab(1); |
515 | 110 | n = ugrab(5); |
516 | 110 | if ((8 + (12 * n)) > rtcm->length) { |
517 | | // not exactly: 8 + (12.625 * n) |
518 | 9 | bad_len = 8 + (12 * n); |
519 | 9 | break; |
520 | 9 | } |
521 | 101 | rtcm->rtcmtypes.rtcm3_1003.header.satcount = n; |
522 | 101 | rtcm->rtcmtypes.rtcm3_1003.header.smoothing = (bool)ugrab(1); |
523 | 101 | rtcm->rtcmtypes.rtcm3_1003.header.interval = ugrab(3); |
524 | 1.78k | #define R1003 rtcm->rtcmtypes.rtcm3_1003.rtk_data[i] |
525 | 399 | for (i = 0; i < rtcm->rtcmtypes.rtcm3_1003.header.satcount; i++) { |
526 | 298 | R1003.ident = ugrab(6); |
527 | 298 | R1003.L1.indicator = ugrab(1); |
528 | 298 | GPS_PSEUDORANGE(R1003.L1, 24); |
529 | 298 | RANGEDIFF(R1003.L1, 20); |
530 | 298 | R1003.L1.locktime = (unsigned char)sgrab(7); |
531 | 298 | R1003.L2.indicator = ugrab(2); |
532 | 298 | GPS_PSEUDORANGE(R1003.L2, 24); |
533 | 298 | temp = (long)sgrab(20); |
534 | 298 | if (temp == GPS_INVALID_PSEUDORANGE) { |
535 | 0 | R1003.L2.rangediff = 0; |
536 | 298 | } else { |
537 | 298 | R1003.L2.rangediff = temp * PSEUDORANGE_DIFF_RESOLUTION; |
538 | 298 | } |
539 | 298 | R1003.L2.locktime = (unsigned char)sgrab(7); |
540 | 298 | } |
541 | 101 | #undef R1003 |
542 | 101 | unknown = false; |
543 | 101 | break; |
544 | | |
545 | 85 | case 1004: |
546 | 85 | msg_name = "GPS Extended RTK, L1 & L2"; |
547 | 85 | rtcm->rtcmtypes.rtcm3_1004.header.station_id = ugrab(12); |
548 | 85 | rtcm->rtcmtypes.rtcm3_1004.header.tow = ugrab(30); |
549 | 85 | rtcm->rtcmtypes.rtcm3_1004.header.sync = (bool)ugrab(1); |
550 | 85 | n = ugrab(5); |
551 | 85 | bad_len = ceil(8.0 + (15.625* n)); |
552 | 85 | if (bad_len != rtcm->length) { |
553 | | // exactly: 8 + (15.625 * n) |
554 | 17 | break; |
555 | 17 | } |
556 | 68 | bad_len = 0; |
557 | 68 | rtcm->rtcmtypes.rtcm3_1004.header.satcount = n; |
558 | 68 | rtcm->rtcmtypes.rtcm3_1004.header.smoothing = (bool)ugrab(1); |
559 | 68 | rtcm->rtcmtypes.rtcm3_1004.header.interval = ugrab(3); |
560 | 1.52k | #define R1004 rtcm->rtcmtypes.rtcm3_1004.rtk_data[i] |
561 | 258 | for (i = 0; i < rtcm->rtcmtypes.rtcm3_1004.header.satcount; i++) { |
562 | 190 | R1004.ident = ugrab(6); |
563 | 190 | R1004.L1.indicator = (bool)ugrab(1); |
564 | 190 | GPS_PSEUDORANGE(R1004.L1, 24); |
565 | 190 | RANGEDIFF(R1004.L1, 20); |
566 | 190 | R1004.L1.locktime = (unsigned char)sgrab(7); |
567 | 190 | R1004.L1.ambiguity = ugrab(8); |
568 | 190 | R1004.L1.CNR = ugrab(8) * CARRIER_NOISE_RATIO_UNITS; |
569 | 190 | R1004.L2.indicator = ugrab(2); |
570 | 190 | GPS_PSEUDORANGE(R1004.L2, 14); |
571 | 190 | RANGEDIFF(R1004.L2, 20); |
572 | 190 | R1004.L2.locktime = (unsigned char)sgrab(7); |
573 | 190 | R1004.L2.CNR = ugrab(8) * CARRIER_NOISE_RATIO_UNITS; |
574 | 190 | } |
575 | 68 | #undef R1004 |
576 | 68 | unknown = false; |
577 | 68 | break; |
578 | | |
579 | 13 | case 1005: |
580 | 13 | msg_name = "Stationary Antenna Reference Point, No Height Information"; |
581 | | // 19 bytes |
582 | 13 | if (19 != rtcm->length) { |
583 | 9 | bad_len = 19; |
584 | 9 | break; |
585 | 9 | } |
586 | 28 | #define R1005 rtcm->rtcmtypes.rtcm3_1005 |
587 | 4 | R1005.station_id = ugrab(12); |
588 | 4 | ugrab(6); // reserved |
589 | 4 | R1005.system = ugrab(3); |
590 | 4 | R1005.reference_station = (bool)ugrab(1); |
591 | 4 | R1005.ecef_x = sgrab(38) * ANTENNA_POSITION_RESOLUTION; |
592 | 4 | R1005.single_receiver = ugrab(1); |
593 | 4 | ugrab(1); |
594 | 4 | R1005.ecef_y = sgrab(38) * ANTENNA_POSITION_RESOLUTION; |
595 | 4 | ugrab(2); |
596 | 4 | R1005.ecef_z = sgrab(38) * ANTENNA_POSITION_RESOLUTION; |
597 | 4 | #undef R1005 |
598 | 4 | unknown = false; |
599 | 4 | break; |
600 | | |
601 | 5 | case 1006: |
602 | 5 | msg_name = "Stationary Antenna Reference Point, w/ Height Info"; |
603 | | // 21 bytes |
604 | 5 | if (21 != rtcm->length) { |
605 | 4 | bad_len = 21; |
606 | 4 | break; |
607 | 4 | } |
608 | 8 | #define R1006 rtcm->rtcmtypes.rtcm3_1006 |
609 | 1 | R1006.station_id = ugrab(12); |
610 | 1 | (void)ugrab(6); // reserved |
611 | 1 | R1006.system = ugrab(3); |
612 | 1 | R1006.reference_station = (bool)ugrab(1); |
613 | 1 | R1006.ecef_x = sgrab(38) * ANTENNA_POSITION_RESOLUTION; |
614 | 1 | R1006.single_receiver = ugrab(1); |
615 | 1 | ugrab(1); |
616 | 1 | R1006.ecef_y = sgrab(38) * ANTENNA_POSITION_RESOLUTION; |
617 | 1 | ugrab(2); |
618 | 1 | R1006.ecef_z = sgrab(38) * ANTENNA_POSITION_RESOLUTION; |
619 | 1 | R1006.height = ugrab(16) * ANTENNA_POSITION_RESOLUTION; |
620 | 1 | #undef R1006 |
621 | 1 | unknown = false; |
622 | 1 | break; |
623 | | |
624 | 9 | case 1007: |
625 | 9 | msg_name = "Antenna Description"; |
626 | | // 5 to 36 bytes |
627 | 9 | rtcm->rtcmtypes.rtcm3_1007.station_id = ugrab(12); |
628 | 9 | n = ugrab(8); |
629 | 9 | if ((5 + n) != rtcm->length) { |
630 | 7 | bad_len = 5 + n; |
631 | 7 | break; |
632 | 7 | } |
633 | | // 1007 says DF030 is 20 chars, or less, of ASCII |
634 | 2 | rtcm3_copy_string_field(rtcm->rtcmtypes.rtcm3_1007.descriptor, |
635 | 2 | sizeof(rtcm->rtcmtypes.rtcm3_1007.descriptor), |
636 | 2 | buf + 7, n); |
637 | 2 | bitcount += 8 * n; |
638 | 2 | rtcm->rtcmtypes.rtcm3_1007.setup_id = ugrab(8); |
639 | 2 | unknown = false; |
640 | 2 | break; |
641 | | |
642 | 25 | case 1008: |
643 | 25 | msg_name = "Antenna Description & Serial Number"; |
644 | | // 6 to 68 bytes |
645 | 25 | rtcm->rtcmtypes.rtcm3_1008.station_id = ugrab(12); |
646 | 25 | n = ugrab(8); |
647 | 25 | if ((6 + n) > rtcm->length) { |
648 | 8 | bad_len = 6 + n; |
649 | 8 | break; |
650 | 8 | } |
651 | 17 | rtcm3_copy_string_field(rtcm->rtcmtypes.rtcm3_1008.descriptor, |
652 | 17 | sizeof(rtcm->rtcmtypes.rtcm3_1008.descriptor), |
653 | 17 | buf + 7, n); |
654 | 17 | bitcount += 8 * n; |
655 | 17 | rtcm->rtcmtypes.rtcm3_1008.setup_id = ugrab(8); |
656 | 17 | n2 = ugrab(8); |
657 | 17 | if ((6 + n + n2) != rtcm->length) { |
658 | 10 | bad_len = 6 + n + n2; |
659 | 10 | break; |
660 | 10 | } |
661 | 7 | rtcm3_copy_string_field(rtcm->rtcmtypes.rtcm3_1008.serial, |
662 | 7 | sizeof(rtcm->rtcmtypes.rtcm3_1008.serial), |
663 | 7 | buf + 9 + n, n2); |
664 | | // bitcount += 8 * n2; |
665 | 7 | unknown = false; |
666 | 7 | break; |
667 | | |
668 | 48 | case 1009: |
669 | 48 | msg_name = "GLONASS Basic RTK, L1 Only"; |
670 | 48 | rtcm->rtcmtypes.rtcm3_1009.header.station_id = ugrab(12); |
671 | 48 | rtcm->rtcmtypes.rtcm3_1009.header.tow = ugrab(27); |
672 | 48 | rtcm->rtcmtypes.rtcm3_1009.header.sync = (bool)ugrab(1); |
673 | 48 | n = ugrab(5); |
674 | 48 | if ((7 + (8 * n)) > rtcm->length) { |
675 | | // not exactly: 7.625 + (8 * n) |
676 | 7 | bad_len = 7 + (8 * n); |
677 | 7 | break; |
678 | 7 | } |
679 | 41 | rtcm->rtcmtypes.rtcm3_1009.header.satcount = n; |
680 | 41 | rtcm->rtcmtypes.rtcm3_1009.header.smoothing = (bool)ugrab(1); |
681 | 41 | rtcm->rtcmtypes.rtcm3_1009.header.interval = ugrab(3); |
682 | 515 | #define R1009 rtcm->rtcmtypes.rtcm3_1009.rtk_data[i] |
683 | 144 | for (i = 0; i < rtcm->rtcmtypes.rtcm3_1009.header.satcount; i++) { |
684 | 103 | R1009.ident = ugrab(6); |
685 | 103 | R1009.L1.indicator = (bool)ugrab(1); |
686 | 103 | R1009.L1.channel = (short)ugrab(5) - GLONASS_CHANNEL_BASE; |
687 | 103 | R1009.L1.pseudorange = ugrab(25) * GLONASS_PSEUDORANGE_RESOLUTION; |
688 | 103 | RANGEDIFF(R1009.L1, 20); |
689 | 103 | R1009.L1.locktime = (unsigned char)sgrab(7); |
690 | 103 | } |
691 | 41 | #undef R1009 |
692 | 41 | unknown = false; |
693 | 41 | break; |
694 | | |
695 | 56 | case 1010: |
696 | 56 | msg_name = "GLONASS Extended RTK, L1 Only"; |
697 | 56 | rtcm->rtcmtypes.rtcm3_1010.header.station_id = |
698 | 56 | (unsigned short)ugrab(12); |
699 | 56 | rtcm->rtcmtypes.rtcm3_1010.header.tow = ugrab(27); |
700 | 56 | rtcm->rtcmtypes.rtcm3_1010.header.sync = (bool)ugrab(1); |
701 | 56 | n = ugrab(5); |
702 | 56 | bad_len = ceil(7.625 + (9.875 * n)); |
703 | 56 | if (bad_len != rtcm->length) { |
704 | | // exactly: 7.625 + (9.875 * n) |
705 | 13 | break; |
706 | 13 | } |
707 | 43 | bad_len = 0; |
708 | 43 | rtcm->rtcmtypes.rtcm3_1010.header.satcount = n; |
709 | 43 | rtcm->rtcmtypes.rtcm3_1010.header.smoothing = (bool)ugrab(1); |
710 | 43 | rtcm->rtcmtypes.rtcm3_1010.header.interval = ugrab(3); |
711 | 1.00k | #define R1010 rtcm->rtcmtypes.rtcm3_1010.rtk_data[i] |
712 | 187 | for (i = 0; i < rtcm->rtcmtypes.rtcm3_1010.header.satcount; i++) { |
713 | 144 | R1010.ident = (unsigned short)ugrab(6); |
714 | 144 | R1010.L1.indicator = (bool)ugrab(1); |
715 | 144 | R1010.L1.channel = (short)ugrab(5) - GLONASS_CHANNEL_BASE; |
716 | 144 | R1010.L1.pseudorange = ugrab(25) * GLONASS_PSEUDORANGE_RESOLUTION; |
717 | 144 | RANGEDIFF(R1010.L1, 20); |
718 | 144 | R1010.L1.locktime = (unsigned char)sgrab(7); |
719 | 144 | R1010.L1.ambiguity = (unsigned char)ugrab(7); |
720 | 144 | R1010.L1.CNR = ugrab(8) * CARRIER_NOISE_RATIO_UNITS; |
721 | 144 | } |
722 | 43 | #undef R1010 |
723 | 43 | unknown = false; |
724 | 43 | break; |
725 | | |
726 | 74 | case 1011: |
727 | 74 | msg_name = "GLONASS Basic RTK, L1 & L2"; |
728 | 74 | rtcm->rtcmtypes.rtcm3_1011.header.station_id = |
729 | 74 | (unsigned short)ugrab(12); |
730 | 74 | rtcm->rtcmtypes.rtcm3_1011.header.tow = ugrab(27); |
731 | 74 | rtcm->rtcmtypes.rtcm3_1011.header.sync = (bool)ugrab(1); |
732 | 74 | n = ugrab(5); |
733 | 74 | bad_len = ceil(7.625 + (13.325 * n)); |
734 | 74 | if (bad_len != rtcm->length) { |
735 | | // exactly: 7.625 + (13.325 * n) |
736 | 13 | break; |
737 | 13 | } |
738 | 61 | bad_len = 0; |
739 | 61 | rtcm->rtcmtypes.rtcm3_1011.header.satcount = n; |
740 | 61 | rtcm->rtcmtypes.rtcm3_1011.header.smoothing = (bool)ugrab(1); |
741 | 61 | rtcm->rtcmtypes.rtcm3_1011.header.interval = ugrab(3); |
742 | 1.53k | #define R1011 rtcm->rtcmtypes.rtcm3_1011.rtk_data[i] |
743 | 179 | for (i = 0; i < rtcm->rtcmtypes.rtcm3_1011.header.satcount; i++) { |
744 | 118 | R1011.ident = (unsigned short)ugrab(6); |
745 | 118 | R1011.L1.indicator = (bool)ugrab(1); |
746 | 118 | R1011.L1.channel = (short)ugrab(5) - GLONASS_CHANNEL_BASE; |
747 | 118 | R1011.L1.pseudorange = ugrab(25) * GLONASS_PSEUDORANGE_RESOLUTION; |
748 | 118 | RANGEDIFF(R1011.L1, 20); |
749 | 118 | R1011.L1.locktime = (unsigned char)sgrab(7); |
750 | 118 | R1011.L1.ambiguity = (unsigned char)ugrab(7); |
751 | 118 | R1011.L1.CNR = ugrab(8) * CARRIER_NOISE_RATIO_UNITS; |
752 | 118 | R1011.L2.indicator = (bool)ugrab(1); |
753 | 118 | R1011.L2.channel = (short)ugrab(5) - GLONASS_CHANNEL_BASE; |
754 | 118 | R1011.L2.pseudorange = ugrab(25) * GLONASS_PSEUDORANGE_RESOLUTION; |
755 | 118 | RANGEDIFF(R1011.L2, 20); |
756 | 118 | R1011.L2.locktime = (unsigned char)sgrab(7); |
757 | 118 | R1011.L2.ambiguity = (unsigned char)ugrab(7); |
758 | 118 | R1011.L2.CNR = ugrab(8) * CARRIER_NOISE_RATIO_UNITS; |
759 | 118 | } |
760 | 61 | #undef R1011 |
761 | 61 | unknown = false; |
762 | 61 | break; |
763 | | |
764 | 74 | case 1012: |
765 | 74 | msg_name = "GLONASS Extended RTK, L1 & L2"; |
766 | 74 | rtcm->rtcmtypes.rtcm3_1012.header.station_id = ugrab(12); |
767 | 74 | rtcm->rtcmtypes.rtcm3_1012.header.tow = ugrab(27); |
768 | 74 | rtcm->rtcmtypes.rtcm3_1012.header.sync = (bool)ugrab(1); |
769 | 74 | n = ugrab(5); |
770 | 74 | bad_len = ceil(7.625 + (16.25 * n)); |
771 | 74 | if (bad_len != rtcm->length) { |
772 | | // exactly: 7.625 + (16.25 * n) |
773 | 7 | break; |
774 | 7 | } |
775 | 67 | bad_len = 0; |
776 | 67 | rtcm->rtcmtypes.rtcm3_1012.header.satcount = n; |
777 | 67 | rtcm->rtcmtypes.rtcm3_1012.header.smoothing = (bool)ugrab(1); |
778 | 67 | rtcm->rtcmtypes.rtcm3_1012.header.interval = ugrab(3); |
779 | 1.57k | #define R1012 rtcm->rtcmtypes.rtcm3_1012.rtk_data[i] |
780 | 210 | for (i = 0; i < rtcm->rtcmtypes.rtcm3_1012.header.satcount; i++) { |
781 | 143 | unsigned rangeincr; |
782 | | |
783 | 143 | R1012.ident = ugrab(6); |
784 | 143 | R1012.L1.indicator = (bool)ugrab(1); |
785 | 143 | R1012.L1.channel = (short)ugrab(5) - GLONASS_CHANNEL_BASE; |
786 | 143 | R1012.L1.pseudorange = ugrab(25) * GLONASS_PSEUDORANGE_RESOLUTION; |
787 | 143 | RANGEDIFF(R1012.L1, 20); |
788 | 143 | R1012.L1.locktime = ugrab(7); |
789 | 143 | R1012.L1.ambiguity = ugrab(7); |
790 | 143 | R1012.L1.CNR = ugrab(8) * CARRIER_NOISE_RATIO_UNITS; |
791 | 143 | R1012.L2.indicator = (bool)ugrab(2); |
792 | 143 | rangeincr = ugrab(14); |
793 | 143 | if (rangeincr == GLONASS_INVALID_RANGEINCR) { |
794 | 13 | R1012.L2.pseudorange = 0; |
795 | 130 | } else { |
796 | 130 | R1012.L2.pseudorange = (rangeincr * |
797 | 130 | GLONASS_PSEUDORANGE_RESOLUTION); |
798 | 130 | } |
799 | 143 | RANGEDIFF(R1012.L2, 20); |
800 | 143 | R1012.L2.locktime = (unsigned char)sgrab(7); |
801 | 143 | R1012.L2.CNR = ugrab(8) * CARRIER_NOISE_RATIO_UNITS; |
802 | 143 | } |
803 | 67 | #undef R1012 |
804 | 67 | unknown = false; |
805 | 67 | break; |
806 | | |
807 | 16 | case 1013: |
808 | 16 | msg_name = "System Parameters"; |
809 | 16 | rtcm->rtcmtypes.rtcm3_1013.station_id = ugrab(12); |
810 | 16 | rtcm->rtcmtypes.rtcm3_1013.mjd = ugrab(16); |
811 | 16 | rtcm->rtcmtypes.rtcm3_1013.sod = ugrab(17); |
812 | 16 | n = ugrab(5); |
813 | 16 | bad_len = ceil(8.75 + (3.625 * n)); |
814 | 16 | if (bad_len != rtcm->length) { |
815 | | // exactly: 8.75 + (3.625 * n) |
816 | 8 | break; |
817 | 8 | } |
818 | 8 | bad_len = 0; |
819 | 8 | rtcm->rtcmtypes.rtcm3_1013.ncount = n; |
820 | 8 | rtcm->rtcmtypes.rtcm3_1013.leapsecs = ugrab(8); |
821 | 123 | #define R1013 rtcm->rtcmtypes.rtcm3_1013.announcements[i] |
822 | 49 | for (i = 0; i < rtcm->rtcmtypes.rtcm3_1013.ncount; i++) { |
823 | 41 | R1013.id = ugrab(12); |
824 | 41 | R1013.sync = (bool)ugrab(1); |
825 | 41 | R1013.interval = ugrab(16); |
826 | 41 | } |
827 | 8 | #undef R1013 |
828 | 8 | unknown = false; |
829 | 8 | break; |
830 | | |
831 | 3 | case 1014: |
832 | 3 | msg_name = "Network Auxiliary Station Data"; |
833 | | // coordinate difference between one Aux station and master station |
834 | 3 | if (15 != rtcm->length) { |
835 | 2 | bad_len = 15; |
836 | 2 | break; |
837 | 2 | } |
838 | 1 | rtcm->rtcmtypes.rtcm3_1014.network_id = (int)ugrab(8); |
839 | 1 | rtcm->rtcmtypes.rtcm3_1014.subnetwork_id = (int)ugrab(4); |
840 | 1 | rtcm->rtcmtypes.rtcm3_1014.stationcount = (char)ugrab(5); |
841 | 1 | rtcm->rtcmtypes.rtcm3_1014.master_id = (int)ugrab(12); |
842 | 1 | rtcm->rtcmtypes.rtcm3_1014.aux_id = (int)ugrab(12); |
843 | 1 | rtcm->rtcmtypes.rtcm3_1014.d_lat = |
844 | 1 | ugrab(20) * ANTENNA_DEGREE_RESOLUTION; |
845 | 1 | rtcm->rtcmtypes.rtcm3_1014.d_lon = |
846 | 1 | ugrab(21) * ANTENNA_DEGREE_RESOLUTION; |
847 | 1 | rtcm->rtcmtypes.rtcm3_1014.d_alt = ugrab(23) / 1000; |
848 | 1 | unknown = false; |
849 | 1 | break; |
850 | | |
851 | 5 | case 1015: |
852 | | /* RTCM 3.1 |
853 | | * GPS Ionospheric Correction Differences for all satellites |
854 | | * between the master station and one auxiliary station |
855 | | * 9 bytes minimum |
856 | | */ |
857 | 5 | if (9 > rtcm->length) { |
858 | | // need 76 bits, 9.5 bytes |
859 | 3 | bad_len = 9; |
860 | 3 | break; |
861 | 3 | } |
862 | | |
863 | 2 | unknown = rtcm3_101567(context, rtcm, buf); |
864 | 2 | msg_name = "GPS Ionospheric Correction Differences"; |
865 | 2 | break; |
866 | | |
867 | 10 | case 1016: |
868 | | /* RTCM 3.1 |
869 | | * GPS Geometric Correction Differences for all satellites between |
870 | | * the master station and one auxiliary station. |
871 | | * 9 bytes minimum |
872 | | */ |
873 | 10 | if (9 > rtcm->length) { |
874 | | // need 76 bits, 9.5 bytes |
875 | 2 | bad_len = 9; |
876 | 2 | break; |
877 | 2 | } |
878 | 8 | unknown = rtcm3_101567(context, rtcm, buf); |
879 | 8 | msg_name = "GPS Geometric Correction Differences"; |
880 | 8 | break; |
881 | | |
882 | 5 | case 1017: |
883 | | /* RTCM 3.1 |
884 | | * GPS Combined Geometric and Ionospheric Correction Differences |
885 | | * for all satellites between one Aux station and the master station |
886 | | * (same content as both types 1015 and 1016 together, but less size) |
887 | | * 9 bytes minimum |
888 | | */ |
889 | 5 | if (9 > rtcm->length) { |
890 | | // need 76 bits, 9.5 bytes |
891 | 2 | bad_len = 9; |
892 | 2 | break; |
893 | 2 | } |
894 | 3 | unknown = rtcm3_101567(context, rtcm, buf); |
895 | 3 | unknown = rtcm3_101567(context, rtcm, buf); |
896 | 3 | msg_name = "GPS Combined Geometric and Ionospheric " |
897 | 3 | "Correction Differences"; |
898 | 3 | break; |
899 | | |
900 | 1 | case 1018: |
901 | | /* RTCM 3.1 |
902 | | * Reserved for alternative Ionospheric Correction Difference Message |
903 | | */ |
904 | 1 | msg_name = "Reserved for alternative Ionospheric Correction " |
905 | 1 | "Differences"; |
906 | 1 | break; |
907 | | |
908 | 5 | case 1019: |
909 | | /* RTCM 3.1 - 1020 |
910 | | * GPS Ephemeris |
911 | | * 62 bytes |
912 | | */ |
913 | 5 | if (61 != rtcm->length) { |
914 | 4 | bad_len = 61; |
915 | 4 | break; |
916 | 4 | } |
917 | | // TODO: rtklib has C code for this one. |
918 | 1 | msg_name = "GPS Ephemeris"; |
919 | 1 | break; |
920 | | |
921 | 8 | case 1020: |
922 | | /* RTCM 3.1 - 1020 |
923 | | * GLONASS Ephemeris |
924 | | * 45 bytes |
925 | | */ |
926 | 8 | if (45 != rtcm->length) { |
927 | 7 | bad_len = 45; |
928 | 7 | break; |
929 | 7 | } |
930 | | // TODO: rtklib has C code for this one. |
931 | 1 | msg_name = "GLO Ephemeris"; |
932 | 1 | break; |
933 | | |
934 | 15 | case 1021: |
935 | | /* RTCM 3.1 |
936 | | * Helmert / Abridged Molodenski Transformation parameters |
937 | | */ |
938 | 15 | msg_name = "Helmert / Abridged Molodenski Transformation " |
939 | 15 | "parameters"; |
940 | 15 | if (51 > rtcm->length) { |
941 | | // actually 51.5 + n + m |
942 | 4 | bad_len = 51; |
943 | 4 | break; |
944 | 4 | } |
945 | | // Set Source-Name |
946 | 11 | n = ugrab(5); |
947 | 11 | if ((sizeof(rtcm->rtcmtypes.rtcm3_1021.src_name) - 1) <= n) { |
948 | | // paranoia |
949 | 1 | n = sizeof(rtcm->rtcmtypes.rtcm3_1021.src_name) - 1; |
950 | 1 | } |
951 | 135 | for (i = 0; i < n; i++) { |
952 | | // Grrr. Not byte aligned |
953 | 124 | rtcm->rtcmtypes.rtcm3_1021.src_name[i] = (char)ugrab(8); |
954 | 124 | } |
955 | 11 | rtcm->rtcmtypes.rtcm3_1021.src_name[n] = '\0'; |
956 | | // Set Target-Name |
957 | 11 | n2 = (unsigned)ugrab(5); |
958 | 11 | if ((sizeof(rtcm->rtcmtypes.rtcm3_1021.tar_name) - 1) <= n2) { |
959 | | // paranoia |
960 | 1 | n2 = sizeof(rtcm->rtcmtypes.rtcm3_1021.tar_name) - 1; |
961 | 1 | } |
962 | 113 | for (i = 0; i < n2; i++) { |
963 | 102 | rtcm->rtcmtypes.rtcm3_1021.tar_name[i] = (char)ugrab(8); |
964 | 102 | } |
965 | 11 | rtcm->rtcmtypes.rtcm3_1021.tar_name[n2] = '\0'; |
966 | 11 | rtcm->rtcmtypes.rtcm3_1021.sys_id_num = ugrab(8); |
967 | 110 | #define R1021 rtcm->rtcmtypes.rtcm3_1021.ut_tr_msg_id[i] |
968 | 121 | for (i = 0; i < RTCM3_DF148_SIZE; i++) { |
969 | 110 | R1021 = (bool)ugrab(1); |
970 | 110 | } |
971 | 11 | #undef R1021 |
972 | 11 | rtcm->rtcmtypes.rtcm3_1021.plate_number = ugrab(5); |
973 | 11 | rtcm->rtcmtypes.rtcm3_1021.computation_id = ugrab(4); |
974 | 11 | rtcm->rtcmtypes.rtcm3_1021.height_id = ugrab(2); |
975 | 11 | rtcm->rtcmtypes.rtcm3_1021.lat_origin = sgrab(19) * |
976 | 11 | VALIDITY_RESOLUTION / DEG_ARCSEC_RESOLUTION; |
977 | 11 | rtcm->rtcmtypes.rtcm3_1021.lon_origin = sgrab(20) * |
978 | 11 | VALIDITY_RESOLUTION / DEG_ARCSEC_RESOLUTION; |
979 | 11 | rtcm->rtcmtypes.rtcm3_1021.lat_extension = sgrab(14) * |
980 | 11 | VALIDITY_RESOLUTION / DEG_ARCSEC_RESOLUTION; |
981 | 11 | rtcm->rtcmtypes.rtcm3_1021.lon_extension = sgrab(14) * |
982 | 11 | VALIDITY_RESOLUTION / DEG_ARCSEC_RESOLUTION; |
983 | 11 | rtcm->rtcmtypes.rtcm3_1021.x_trans = sgrab(23) * |
984 | 11 | TRANSLATION_MM_RESOLUTION; |
985 | 11 | rtcm->rtcmtypes.rtcm3_1021.y_trans = sgrab(23) * |
986 | 11 | TRANSLATION_MM_RESOLUTION; |
987 | 11 | rtcm->rtcmtypes.rtcm3_1021.z_trans = sgrab(23) * |
988 | 11 | TRANSLATION_MM_RESOLUTION; |
989 | 11 | rtcm->rtcmtypes.rtcm3_1021.x_rot = sgrab(32) * |
990 | 11 | ROTATION_ARCSEC_RESOLUTION / DEG_ARCSEC_RESOLUTION; |
991 | 11 | rtcm->rtcmtypes.rtcm3_1021.y_rot = sgrab(32) * |
992 | 11 | ROTATION_ARCSEC_RESOLUTION / DEG_ARCSEC_RESOLUTION; |
993 | 11 | rtcm->rtcmtypes.rtcm3_1021.z_rot = sgrab(32) * |
994 | 11 | ROTATION_ARCSEC_RESOLUTION / DEG_ARCSEC_RESOLUTION; |
995 | 11 | rtcm->rtcmtypes.rtcm3_1021.ds = sgrab(25) * SCALE_PPM_RESOLUTION; |
996 | 11 | rtcm->rtcmtypes.rtcm3_1021.add_as = sgrab(24) * |
997 | 11 | TRANSLATION_MM_RESOLUTION; |
998 | 11 | rtcm->rtcmtypes.rtcm3_1021.add_bs = sgrab(25) * |
999 | 11 | TRANSLATION_MM_RESOLUTION; |
1000 | 11 | rtcm->rtcmtypes.rtcm3_1021.add_at = sgrab(24) * |
1001 | 11 | TRANSLATION_MM_RESOLUTION; |
1002 | 11 | rtcm->rtcmtypes.rtcm3_1021.add_bt = sgrab(25) * |
1003 | 11 | TRANSLATION_MM_RESOLUTION; |
1004 | 11 | rtcm->rtcmtypes.rtcm3_1021.quality_hori = ugrab(3); |
1005 | 11 | rtcm->rtcmtypes.rtcm3_1021.quality_vert = ugrab(3); |
1006 | | |
1007 | 11 | unknown = false; |
1008 | 11 | break; |
1009 | | |
1010 | 3 | case 1022: |
1011 | | /* RTCM 3.1 |
1012 | | * Molodenski-Badekas transformation parameters |
1013 | | */ |
1014 | 3 | msg_name = "Molodenski-Badekas transformation parameters"; |
1015 | 3 | if (64 > rtcm->length) { |
1016 | | // actually 64,625 + n + m |
1017 | 2 | bad_len = 64; |
1018 | 2 | break; |
1019 | 2 | } |
1020 | 1 | break; |
1021 | | |
1022 | 9 | case 1023: |
1023 | | /* RTCM 3.1 |
1024 | | * Residuals Ellipsoidal Grid Representation |
1025 | | */ |
1026 | 9 | msg_name = "Residuals Ellipsoidal Grid Representation"; |
1027 | 9 | if (72 > rtcm->length) { |
1028 | | // actually 72,25 |
1029 | 7 | bad_len = 72; |
1030 | 7 | break; |
1031 | 7 | } |
1032 | 2 | rtcm->rtcmtypes.rtcm3_1023.sys_id_num = ugrab(8); |
1033 | 2 | rtcm->rtcmtypes.rtcm3_1023.shift_id_hori = (bool)ugrab(1); |
1034 | 2 | rtcm->rtcmtypes.rtcm3_1023.shift_id_vert = (bool)ugrab(1); |
1035 | 2 | rtcm->rtcmtypes.rtcm3_1023.lat_origin = sgrab(21) * |
1036 | 2 | PHASE_CORRECTION_RESOLUTION / DEG_ARCSEC_RESOLUTION; |
1037 | 2 | rtcm->rtcmtypes.rtcm3_1023.lon_origin = sgrab(22) * |
1038 | 2 | PHASE_CORRECTION_RESOLUTION / DEG_ARCSEC_RESOLUTION; |
1039 | 2 | rtcm->rtcmtypes.rtcm3_1023.lat_extension = ugrab(12) * |
1040 | 2 | PHASE_CORRECTION_RESOLUTION / DEG_ARCSEC_RESOLUTION; |
1041 | 2 | rtcm->rtcmtypes.rtcm3_1023.lon_extension = ugrab(12) * |
1042 | 2 | PHASE_CORRECTION_RESOLUTION / DEG_ARCSEC_RESOLUTION; |
1043 | 2 | rtcm->rtcmtypes.rtcm3_1023.lat_mean = sgrab(8) * |
1044 | 2 | TRANSLATION_MM_RESOLUTION; |
1045 | 2 | rtcm->rtcmtypes.rtcm3_1023.lon_mean = sgrab(8) * |
1046 | 2 | TRANSLATION_MM_RESOLUTION; |
1047 | 2 | rtcm->rtcmtypes.rtcm3_1023.hgt_mean = sgrab(15) * CM_RESOLUTION; |
1048 | 96 | #define R1023 rtcm->rtcmtypes.rtcm3_1023.residuals[i] |
1049 | 34 | for (i = 0; i < RTCM3_GRID_SIZE; i++) { |
1050 | 32 | R1023.lat_res = sgrab(9) * RES_ARCSEC_RESOLUTION; |
1051 | 32 | R1023.lon_res = sgrab(9) * RES_ARCSEC_RESOLUTION; |
1052 | 32 | R1023.hgt_res = sgrab(9) * TRANSLATION_MM_RESOLUTION; |
1053 | 32 | } |
1054 | 2 | #undef R1023 |
1055 | 2 | rtcm->rtcmtypes.rtcm3_1023.interp_meth_id_hori = ugrab(2); |
1056 | 2 | rtcm->rtcmtypes.rtcm3_1023.interp_meth_id_vert = ugrab(2); |
1057 | 2 | rtcm->rtcmtypes.rtcm3_1023.grd_qual_id_hori = ugrab(3); |
1058 | 2 | rtcm->rtcmtypes.rtcm3_1023.grd_qual_id_vert = ugrab(3); |
1059 | 2 | rtcm->rtcmtypes.rtcm3_1023.mjd = ugrab(16); |
1060 | 2 | unknown = false; |
1061 | 2 | break; |
1062 | | |
1063 | 2 | case 1024: |
1064 | | /* RTCM 3.1 |
1065 | | * Residuals Plane Grid Representation |
1066 | | */ |
1067 | 2 | msg_name = "Residuals Plane Grid Representation"; |
1068 | 2 | if (72 > rtcm->length) { |
1069 | | // actually 72,75 |
1070 | 1 | bad_len = 72; |
1071 | 1 | break; |
1072 | 1 | } |
1073 | 1 | break; |
1074 | | |
1075 | 5 | case 1025: |
1076 | | /* RTCM 3.1 |
1077 | | * Projection Parameters, Projection Types other than LCC2SP |
1078 | | */ |
1079 | 5 | msg_name = "Projection Parameters, Projection Types other " |
1080 | 5 | "than LCC2SP"; |
1081 | 5 | if (24 > rtcm->length) { |
1082 | | // actually 24.5 |
1083 | 4 | bad_len = 24; |
1084 | 4 | break; |
1085 | 4 | } |
1086 | 1 | rtcm->rtcmtypes.rtcm3_1025.sys_id_num = ugrab(8); |
1087 | 1 | rtcm->rtcmtypes.rtcm3_1025.projection_type = ugrab(6); |
1088 | 1 | rtcm->rtcmtypes.rtcm3_1025.lat_origin = sgrab(34) * |
1089 | 1 | PROJ_ORIGIN_RESOLUTION; |
1090 | 1 | rtcm->rtcmtypes.rtcm3_1025.lon_origin = sgrab(35) * |
1091 | 1 | PROJ_ORIGIN_RESOLUTION; |
1092 | 1 | rtcm->rtcmtypes.rtcm3_1025.add_sno = ugrab(30) * |
1093 | 1 | SCALE_PPM_RESOLUTION; |
1094 | 1 | rtcm->rtcmtypes.rtcm3_1025.false_east = ugrab(36) * |
1095 | 1 | TRANSLATION_MM_RESOLUTION; |
1096 | 1 | rtcm->rtcmtypes.rtcm3_1025.false_north = ugrab(35) * |
1097 | 1 | TRANSLATION_MM_RESOLUTION; |
1098 | 1 | unknown = false; |
1099 | 1 | break; |
1100 | | |
1101 | 8 | case 1026: |
1102 | | /* RTCM 3.1 |
1103 | | * Projection Parameters, Projection Type LCC2SP |
1104 | | * (Lambert Conic Conformal) |
1105 | | */ |
1106 | 8 | msg_name = "Projection Parameters, Projection Type LCC2SP"; |
1107 | 8 | if (29 > rtcm->length) { |
1108 | | // actually 29.25 |
1109 | 5 | bad_len = 29; |
1110 | 5 | break; |
1111 | 5 | } |
1112 | 3 | break; |
1113 | | |
1114 | 3 | case 1027: |
1115 | | /* RTCM 3.1 |
1116 | | * Projection Parameters, Projection Type OM (Oblique Mercator) |
1117 | | */ |
1118 | 3 | msg_name = "Projection Parameters, Projection Type OM"; |
1119 | 3 | if (32 > rtcm->length) { |
1120 | | // actually 32.25 |
1121 | 2 | bad_len = 32; |
1122 | 2 | break; |
1123 | 2 | } |
1124 | 1 | break; |
1125 | | |
1126 | 1 | case 1028: |
1127 | | /* RTCM 3.1 |
1128 | | * Reserved for global to plate fixed transformation |
1129 | | */ |
1130 | 1 | msg_name = "Reserved, Global to Plate Transformation"; |
1131 | 1 | break; |
1132 | | |
1133 | 9 | case 1029: |
1134 | 9 | msg_name = "Text in UTF8 format"; |
1135 | | /* 9 bytes minimum |
1136 | | * (max. 127 multibyte characters and max. 255 bytes) |
1137 | | */ |
1138 | 9 | rtcm->rtcmtypes.rtcm3_1029.station_id = ugrab(12); |
1139 | 9 | rtcm->rtcmtypes.rtcm3_1029.mjd = ugrab(16); |
1140 | 9 | rtcm->rtcmtypes.rtcm3_1029.sod = ugrab(17); |
1141 | 9 | rtcm->rtcmtypes.rtcm3_1029.len = ugrab(7); |
1142 | 9 | n = ugrab(8); |
1143 | 9 | if ((9 + n) != rtcm->length) { |
1144 | 7 | bad_len = 9 + n; |
1145 | 7 | break; |
1146 | 7 | } |
1147 | 2 | rtcm->rtcmtypes.rtcm3_1029.unicode_units = n; |
1148 | 2 | rtcm3_copy_string_field((char *)rtcm->rtcmtypes.rtcm3_1029.text, |
1149 | 2 | sizeof(rtcm->rtcmtypes.rtcm3_1029.text), |
1150 | 2 | buf + 12, |
1151 | 2 | rtcm->rtcmtypes.rtcm3_1029.unicode_units); |
1152 | 2 | unknown = false; |
1153 | 2 | break; |
1154 | | |
1155 | 7 | case 1030: |
1156 | | /* RTCM 3.1 |
1157 | | * GPS Network RTK Residual Message |
1158 | | */ |
1159 | 7 | msg_name = "GPS Network RTK Residual"; |
1160 | 7 | if (7 > rtcm->length) { |
1161 | | // actually 7 + (6.125 * n) |
1162 | 2 | bad_len = 7; |
1163 | 2 | break; |
1164 | 2 | } |
1165 | 5 | break; |
1166 | | |
1167 | 5 | case 1031: |
1168 | | /* RTCM 3.1 |
1169 | | * GLONASS Network RTK Residual Message |
1170 | | */ |
1171 | 4 | msg_name = "GLONASS Network RTK Residual"; |
1172 | 4 | if (6 > rtcm->length) { |
1173 | | // actually 6.625 + (6.125 ( n) |
1174 | 2 | bad_len = 6; |
1175 | 2 | break; |
1176 | 2 | } |
1177 | 2 | break; |
1178 | | |
1179 | 6 | case 1032: |
1180 | | /* RTCM 3.1 |
1181 | | * Physical Reference Station Position message |
1182 | | */ |
1183 | 6 | msg_name = "Physical Reference Station Position"; |
1184 | 6 | if (19 > rtcm->length) { |
1185 | | // actually 19.5 |
1186 | 5 | bad_len = 19; |
1187 | 5 | break; |
1188 | 5 | } |
1189 | 1 | break; |
1190 | | |
1191 | 24 | case 1033: // see note in header |
1192 | 24 | msg_name ="Receiver and Antenna Descriptor"; |
1193 | | /* Type1033 is a combined Message Types 1007 and 1008 |
1194 | | * and hence contains antenna descriptor and serial number |
1195 | | * as well as receiver descriptor and serial number. |
1196 | | */ |
1197 | | // TODO: rtklib has C code for this one. |
1198 | 24 | rtcm->rtcmtypes.rtcm3_1033.station_id = ugrab(12); |
1199 | 24 | n = ugrab(8); |
1200 | 24 | if ((28 + n) > rtcm->length) { |
1201 | 5 | bad_len = 28 + n; |
1202 | 5 | break; |
1203 | 5 | } |
1204 | 19 | rtcm3_copy_string_field(rtcm->rtcmtypes.rtcm3_1033.descriptor, |
1205 | 19 | sizeof(rtcm->rtcmtypes.rtcm3_1033.descriptor), |
1206 | 19 | buf + 7, n); |
1207 | 19 | bitcount += 8 * n; |
1208 | 19 | rtcm->rtcmtypes.rtcm3_1033.setup_id = ugrab(8); |
1209 | 19 | n2 = ugrab(8); |
1210 | | |
1211 | 19 | if ((8 + n + n2) > rtcm->length) { |
1212 | 2 | bad_len = 8 + n + n2; |
1213 | 2 | break; |
1214 | 2 | } |
1215 | 17 | rtcm3_copy_string_field(rtcm->rtcmtypes.rtcm3_1033.serial, |
1216 | 17 | sizeof(rtcm->rtcmtypes.rtcm3_1033.serial), |
1217 | 17 | buf + 9 + n, n2); |
1218 | 17 | bitcount += 8 * n2; |
1219 | 17 | n3 = ugrab(8); |
1220 | 17 | if ((8 + n + n2 + n3) > rtcm->length) { |
1221 | 8 | bad_len = 9 + n + n2 + n3; |
1222 | 8 | break; |
1223 | 8 | } |
1224 | 9 | rtcm3_copy_string_field(rtcm->rtcmtypes.rtcm3_1033.receiver, |
1225 | 9 | sizeof(rtcm->rtcmtypes.rtcm3_1033.receiver), |
1226 | 9 | buf + 10 + n + n2, n3); |
1227 | 9 | bitcount += 8 * n3; |
1228 | 9 | n4 = ugrab(8); |
1229 | | |
1230 | 9 | if ((9 + n + n2 + n3 + n4) > rtcm->length) { |
1231 | 5 | bad_len = 9 + n + n2 + n3 + n4; |
1232 | 5 | break; |
1233 | 5 | } |
1234 | 4 | rtcm3_copy_string_field(rtcm->rtcmtypes.rtcm3_1033.firmware, |
1235 | 4 | sizeof(rtcm->rtcmtypes.rtcm3_1033.firmware), |
1236 | 4 | buf + 11 + n + n2 + n3, n4); |
1237 | | // bitcount += 8 * n4; |
1238 | | // TODO: next is receiver serial number |
1239 | 4 | unknown = false; |
1240 | 4 | break; |
1241 | | |
1242 | 6 | case 1034: |
1243 | | /* RTCM 3.2 |
1244 | | * GPS Network FKP Gradient Message |
1245 | | */ |
1246 | 6 | msg_name = "GPS Network FKP Gradient"; |
1247 | 6 | if (6 > rtcm->length) { |
1248 | | // not exactly: 6.125 + (8.25 * n) |
1249 | 2 | bad_len = 6; |
1250 | 2 | break; |
1251 | 2 | } |
1252 | 4 | break; |
1253 | | |
1254 | 4 | case 1035: |
1255 | | /* RTCM 3.2 |
1256 | | * GLONASS Network FKP Gradient Message |
1257 | | */ |
1258 | 3 | msg_name = "GLO Network FKP Gradient"; |
1259 | 3 | if (5 > rtcm->length) { |
1260 | | // not exactly: 5.75 + (8.25 * n) |
1261 | 2 | bad_len = 5; |
1262 | 2 | break; |
1263 | 2 | } |
1264 | 1 | break; |
1265 | | |
1266 | 6 | case 1037: |
1267 | | /* RTCM 3.2 |
1268 | | * GLONASS Ionospheric Correction Differences |
1269 | | */ |
1270 | 6 | msg_name = "GLO Ionospheric Correction Differences"; |
1271 | 6 | if (9 > rtcm->length) { |
1272 | | // not exactly: 9.125 + (3,5 * n) |
1273 | 2 | bad_len = 9; |
1274 | 2 | break; |
1275 | 2 | } |
1276 | 4 | break; |
1277 | | |
1278 | 4 | case 1038: |
1279 | | /* RTCM 3.2 |
1280 | | * GLONASS Geometric Correction Differences |
1281 | | */ |
1282 | 3 | msg_name = "GLO Geometric Correction Differences"; |
1283 | 3 | if (9 > rtcm->length) { |
1284 | | // not exactly: 9.125 + (4,5 * n) |
1285 | 2 | bad_len = 9; |
1286 | 2 | break; |
1287 | 2 | } |
1288 | 1 | break; |
1289 | | |
1290 | 4 | case 1039: |
1291 | | /* RTCM 3.2 |
1292 | | * GLONASS Combined Geometric and Ionospheric Correction Differences |
1293 | | */ |
1294 | 4 | msg_name = "GLONASS Combined Geometric and Ionospheric " |
1295 | 4 | "Correction Differences"; |
1296 | 4 | if (9 > rtcm->length) { |
1297 | | // not exactly: 9.125 + (6.625 * n) |
1298 | 2 | bad_len = 9; |
1299 | 2 | break; |
1300 | 2 | } |
1301 | 2 | break; |
1302 | | |
1303 | 3 | case 1042: |
1304 | | /* RTCM 3.x - 1043 |
1305 | | * BeiDou Ephemeris |
1306 | | * length 64 |
1307 | | */ |
1308 | 3 | msg_name = "BD Ephemeris"; |
1309 | 3 | if (64 != rtcm->length) { |
1310 | 2 | bad_len = 64; |
1311 | 2 | break; |
1312 | 2 | } |
1313 | 1 | break; |
1314 | | |
1315 | 2 | case 1043: |
1316 | | /* RTCM 3.x - 1043 |
1317 | | * SBAS Ephemeris |
1318 | | * length 29 |
1319 | | */ |
1320 | 2 | msg_name = "SBAS Ephemeris"; |
1321 | 2 | if (29 != rtcm->length) { |
1322 | 1 | bad_len = 29; |
1323 | 1 | break; |
1324 | 1 | } |
1325 | 1 | break; |
1326 | | |
1327 | 7 | case 1044: |
1328 | | /* RTCM 3.x - 1044 |
1329 | | * QZSS ephemeris |
1330 | | * length 61 |
1331 | | */ |
1332 | | // TODO: rtklib has C code for this one. |
1333 | 7 | msg_name = "QZSS Ephemeris"; |
1334 | 7 | if (61 != rtcm->length) { |
1335 | 6 | bad_len = 61; |
1336 | 6 | break; |
1337 | 6 | } |
1338 | 1 | break; |
1339 | | |
1340 | 5 | case 1045: |
1341 | | /* RTCM 3.2 - 1045 |
1342 | | * Galileo F/NAV Ephemeris Data |
1343 | | * 62 bytes |
1344 | | */ |
1345 | | // TODO: rtklib has C code for this one. |
1346 | 5 | msg_name = "GAL F/NAV Ephemeris Data"; |
1347 | 5 | if (62 != rtcm->length) { |
1348 | 4 | bad_len = 62; |
1349 | 4 | break; |
1350 | 4 | } |
1351 | 1 | break; |
1352 | | |
1353 | 10 | case 1046: |
1354 | | /* RTCM 3.x - 1046 |
1355 | | * Galileo I/NAV Ephemeris Data |
1356 | | * length 63 |
1357 | | */ |
1358 | | // TODO: rtklib has C code for this one. |
1359 | 10 | msg_name = "GAL I/NAV Ephemeris Data"; |
1360 | 10 | if (63 != rtcm->length) { |
1361 | 9 | bad_len = 63; |
1362 | 9 | break; |
1363 | 9 | } |
1364 | 1 | break; |
1365 | | |
1366 | 3 | case 1057: |
1367 | | /* RTCM 3.2 |
1368 | | * SSR GPS Orbit Correction |
1369 | | */ |
1370 | 3 | msg_name = "SSR GPS Orbit Correction"; |
1371 | 3 | if (8 > rtcm->length) { |
1372 | | // not exactly: 8.5 + (6.875 * n) |
1373 | 2 | bad_len = 8; |
1374 | 2 | break; |
1375 | 2 | } |
1376 | 1 | break; |
1377 | | |
1378 | 7 | case 1058: |
1379 | | /* RTCM 3.2 |
1380 | | * SSR GPS Clock Correction |
1381 | | */ |
1382 | 7 | msg_name = "SSR GPS Clock Correction"; |
1383 | 7 | if (8 > rtcm->length) { |
1384 | | // not exactly: 8.375 + (9.5 * n) |
1385 | 3 | bad_len = 8; |
1386 | 3 | break; |
1387 | 3 | } |
1388 | 4 | break; |
1389 | | |
1390 | 4 | case 1059: |
1391 | | /* RTCM 3.2 |
1392 | | * SSR GPS Code Bias |
1393 | | */ |
1394 | 4 | msg_name = "SSR GPS Code Bias"; |
1395 | 4 | if (8 > rtcm->length) { |
1396 | | // not exactly: 8.375 + (1.375 * n) + (2.375 * ??) |
1397 | 2 | bad_len = 8; |
1398 | 2 | break; |
1399 | 2 | } |
1400 | 2 | break; |
1401 | | |
1402 | 8 | case 1060: |
1403 | | /* RTCM 3.2 |
1404 | | * SSR GPS Combined Orbit and Clock Correction |
1405 | | */ |
1406 | 8 | msg_name = "SSR GPS Combined Orbit and Clock Correction"; |
1407 | 8 | if (8 > rtcm->length) { |
1408 | | // not exactly: 8.5 + (25.625 * n) |
1409 | 4 | bad_len = 8; |
1410 | 4 | break; |
1411 | 4 | } |
1412 | 4 | break; |
1413 | | |
1414 | 6 | case 1061: |
1415 | | /* RTCM 3.2 |
1416 | | * SSR GPS URA |
1417 | | */ |
1418 | 6 | msg_name = "SSR GPS URA"; |
1419 | 6 | if (8 > rtcm->length) { |
1420 | | // not exactly: 8.375 + (1.5 * n) |
1421 | 4 | bad_len = 8; |
1422 | 4 | break; |
1423 | 4 | } |
1424 | 2 | break; |
1425 | | |
1426 | 4 | case 1062: |
1427 | | /* RTCM 3.2 |
1428 | | * SSR GPS High Rate Clock Correction |
1429 | | */ |
1430 | 4 | msg_name = "SSR GPS High Rate Clock Correction"; |
1431 | 4 | if (8 > rtcm->length) { |
1432 | | // not exactly: 8.375 + (3.5 * n) |
1433 | 1 | bad_len = 8; |
1434 | 1 | break; |
1435 | 1 | } |
1436 | 3 | break; |
1437 | | |
1438 | 3 | case 1063: |
1439 | | /* RTCM 3.2 |
1440 | | * SSR GLO Orbit Correction |
1441 | | */ |
1442 | 2 | msg_name = "SSR GLO Orbit Correction"; |
1443 | 2 | if (8 > rtcm->length) { |
1444 | | // not exactly: 8.125 + (16.75 * n) |
1445 | 1 | bad_len = 8; |
1446 | 1 | break; |
1447 | 1 | } |
1448 | 1 | break; |
1449 | | |
1450 | 4 | case 1064: |
1451 | | /* RTCM 3.2 |
1452 | | * SSR GLO Clock Correction |
1453 | | */ |
1454 | 4 | msg_name = "SSR GLO Clock Correction"; |
1455 | 4 | if (8 > rtcm->length) { |
1456 | | // not exactly: 8.125 + (9.37 * n) |
1457 | 1 | bad_len = 8; |
1458 | 1 | break; |
1459 | 1 | } |
1460 | 3 | break; |
1461 | | |
1462 | 4 | case 1065: |
1463 | | /* RTCM 3.2 |
1464 | | * SSR GLO Code Correction |
1465 | | */ |
1466 | 4 | msg_name = "SSR GLO ode Correction"; |
1467 | 4 | if (8 > rtcm->length) { |
1468 | | // not exactly: 8 + (1.25 * n) + (2.375 * ??) |
1469 | 2 | bad_len = 8; |
1470 | 2 | break; |
1471 | 2 | } |
1472 | 2 | break; |
1473 | | |
1474 | 7 | case 1066: |
1475 | | /* RTCM 3.2 |
1476 | | * SSR GLO Combined Orbit and Clock Correction |
1477 | | */ |
1478 | 7 | msg_name = "SSR GLO Combined Orbit and Clock Correction"; |
1479 | 7 | if (8 > rtcm->length) { |
1480 | | // not exactly: 8.125 + (25.5 * n) |
1481 | 4 | bad_len = 8; |
1482 | 4 | break; |
1483 | 4 | } |
1484 | 3 | break; |
1485 | | |
1486 | 4 | case 1067: |
1487 | | /* RTCM 3.2 |
1488 | | * SSR GLO URA |
1489 | | */ |
1490 | 4 | msg_name = "SSR GLO URA"; |
1491 | 4 | if (8 > rtcm->length) { |
1492 | | // not exactly: 8 + (1.375 * n) |
1493 | 1 | bad_len = 8; |
1494 | 1 | break; |
1495 | 1 | } |
1496 | 3 | break; |
1497 | | |
1498 | 3 | case 1068: |
1499 | | /* RTCM 3.2 |
1500 | | * SSR GPS High Rate Clock Correction |
1501 | | */ |
1502 | 3 | msg_name = "SSR GLO High Rate Clock Correction"; |
1503 | 3 | if (8 > rtcm->length) { |
1504 | | // not exactly: 8 + (3.375 * n) |
1505 | 2 | bad_len = 8; |
1506 | 2 | break; |
1507 | 2 | } |
1508 | 1 | break; |
1509 | | |
1510 | 1 | case 1070: |
1511 | | /* RTCM 3.x |
1512 | | * Reserved for MSM |
1513 | | */ |
1514 | 1 | msg_name = "Reserved for MSM"; |
1515 | 1 | break; |
1516 | | |
1517 | 6 | case 1071: |
1518 | | // RTCM 3.2 |
1519 | 6 | rtcm->rtcmtypes.rtcm3_msm.gnssid = GNSSID_GPS; |
1520 | 6 | rtcm->rtcmtypes.rtcm3_msm.msm = 1; |
1521 | 6 | unknown = rtcm3_decode_msm(context, rtcm, buf); |
1522 | 6 | msg_name = "GPS MSM 1"; |
1523 | 6 | break; |
1524 | | |
1525 | 5 | case 1072: |
1526 | | // RTCM 3.2 |
1527 | 5 | rtcm->rtcmtypes.rtcm3_msm.gnssid = GNSSID_GPS; |
1528 | 5 | rtcm->rtcmtypes.rtcm3_msm.msm = 2; |
1529 | 5 | unknown = rtcm3_decode_msm(context, rtcm, buf); |
1530 | 5 | msg_name = "GPS MSM 2"; |
1531 | 5 | break; |
1532 | | |
1533 | 5 | case 1073: |
1534 | | /* RTCM 3.2 |
1535 | | * GPS Multi Signal Message 3 |
1536 | | */ |
1537 | 5 | rtcm->rtcmtypes.rtcm3_msm.gnssid = GNSSID_GPS; |
1538 | 5 | rtcm->rtcmtypes.rtcm3_msm.msm = 3; |
1539 | 5 | unknown = rtcm3_decode_msm(context, rtcm, buf); |
1540 | 5 | msg_name = "GPS MSM 3"; |
1541 | 5 | break; |
1542 | | |
1543 | 7 | case 1074: |
1544 | | /* RTCM 3.2 |
1545 | | * GPS Multi Signal Message 4 |
1546 | | */ |
1547 | 7 | rtcm->rtcmtypes.rtcm3_msm.gnssid = GNSSID_GPS; |
1548 | 7 | rtcm->rtcmtypes.rtcm3_msm.msm = 4; |
1549 | 7 | unknown = rtcm3_decode_msm(context, rtcm, buf); |
1550 | 7 | msg_name = "GPS MSM 4"; |
1551 | 7 | break; |
1552 | | |
1553 | 6 | case 1075: |
1554 | | /* RTCM 3.2 |
1555 | | * GPS Multi Signal Message 5 |
1556 | | */ |
1557 | 6 | rtcm->rtcmtypes.rtcm3_msm.gnssid = GNSSID_GPS; |
1558 | 6 | rtcm->rtcmtypes.rtcm3_msm.msm = 5; |
1559 | 6 | unknown = rtcm3_decode_msm(context, rtcm, buf); |
1560 | 6 | msg_name = "GPS MSM 5"; |
1561 | 6 | break; |
1562 | | |
1563 | 11 | case 1076: |
1564 | | /* RTCM 3.2 |
1565 | | * GPS Multi Signal Message 6 |
1566 | | */ |
1567 | 11 | rtcm->rtcmtypes.rtcm3_msm.gnssid = GNSSID_GPS; |
1568 | 11 | rtcm->rtcmtypes.rtcm3_msm.msm = 6; |
1569 | 11 | unknown = rtcm3_decode_msm(context, rtcm, buf); |
1570 | 11 | msg_name = "GPS MSM 6"; |
1571 | 11 | break; |
1572 | | |
1573 | 12 | case 1077: |
1574 | | /* RTCM 3.2 - 1077 |
1575 | | * GPS Multi Signal Message 7 |
1576 | | * Full GPS pseudo-ranges, carrier phases, Doppler and |
1577 | | * signal strength (high resolution) |
1578 | | * min length 438 |
1579 | | */ |
1580 | 12 | rtcm->rtcmtypes.rtcm3_msm.gnssid = GNSSID_GPS; |
1581 | 12 | rtcm->rtcmtypes.rtcm3_msm.msm = 7; |
1582 | 12 | unknown = rtcm3_decode_msm(context, rtcm, buf); |
1583 | 12 | msg_name = "GPS MSM7"; |
1584 | 12 | break; |
1585 | | |
1586 | 1 | case 1078: |
1587 | | /* RTCM 3.x |
1588 | | * Reserved for MSM |
1589 | | */ |
1590 | 1 | msg_name = "Reserved for MSM"; |
1591 | 1 | break; |
1592 | | |
1593 | 2 | case 1079: |
1594 | | /* RTCM 3.x |
1595 | | * Reserved for MSM |
1596 | | */ |
1597 | 2 | msg_name = "Reserved for MSM"; |
1598 | 2 | break; |
1599 | | |
1600 | 1 | case 1080: |
1601 | | /* RTCM 3.x |
1602 | | * Reserved for MSM |
1603 | | */ |
1604 | 1 | msg_name = "Reserved for MSM"; |
1605 | 1 | break; |
1606 | | |
1607 | 3 | case 1081: |
1608 | | /* RTCM 3.2 |
1609 | | * GLONASS Multi Signal Message 1 |
1610 | | */ |
1611 | 3 | rtcm->rtcmtypes.rtcm3_msm.gnssid = GNSSID_GLO; |
1612 | 3 | rtcm->rtcmtypes.rtcm3_msm.msm = 1; |
1613 | 3 | unknown = rtcm3_decode_msm(context, rtcm, buf); |
1614 | 3 | msg_name = "GLO MSM 1"; |
1615 | 3 | break; |
1616 | | |
1617 | 3 | case 1082: |
1618 | | /* RTCM 3.2 |
1619 | | * GLONASS Multi Signal Message 2 |
1620 | | */ |
1621 | 3 | rtcm->rtcmtypes.rtcm3_msm.gnssid = GNSSID_GLO; |
1622 | 3 | rtcm->rtcmtypes.rtcm3_msm.msm = 2; |
1623 | 3 | unknown = rtcm3_decode_msm(context, rtcm, buf); |
1624 | 3 | msg_name = "GLO MSM 2"; |
1625 | 3 | break; |
1626 | | |
1627 | 4 | case 1083: |
1628 | | /* RTCM 3.2 |
1629 | | * GLONASS Multi Signal Message 4 |
1630 | | */ |
1631 | 4 | rtcm->rtcmtypes.rtcm3_msm.gnssid = GNSSID_GLO; |
1632 | 4 | rtcm->rtcmtypes.rtcm3_msm.msm = 3; |
1633 | 4 | unknown = rtcm3_decode_msm(context, rtcm, buf); |
1634 | 4 | msg_name = "GLO MSM 3"; |
1635 | 4 | break; |
1636 | | |
1637 | 4 | case 1084: |
1638 | | /* RTCM 3.2 |
1639 | | * GLONASS Multi Signal Message 4 |
1640 | | */ |
1641 | 4 | rtcm->rtcmtypes.rtcm3_msm.gnssid = GNSSID_GLO; |
1642 | 4 | rtcm->rtcmtypes.rtcm3_msm.msm = 4; |
1643 | 4 | unknown = rtcm3_decode_msm(context, rtcm, buf); |
1644 | 4 | msg_name = "GLO MSM 4"; |
1645 | 4 | break; |
1646 | | |
1647 | 3 | case 1085: |
1648 | | /* RTCM 3.2 |
1649 | | * GLONASS Multi Signal Message 5 |
1650 | | */ |
1651 | 3 | rtcm->rtcmtypes.rtcm3_msm.gnssid = GNSSID_GLO; |
1652 | 3 | rtcm->rtcmtypes.rtcm3_msm.msm = 5; |
1653 | 3 | unknown = rtcm3_decode_msm(context, rtcm, buf); |
1654 | 3 | msg_name = "GLO MSM 5"; |
1655 | 3 | break; |
1656 | | |
1657 | 5 | case 1086: |
1658 | | /* RTCM 3.2 |
1659 | | * GLONASS Multi Signal Message 6 |
1660 | | */ |
1661 | 5 | rtcm->rtcmtypes.rtcm3_msm.gnssid = GNSSID_GLO; |
1662 | 5 | rtcm->rtcmtypes.rtcm3_msm.msm = 6; |
1663 | 5 | unknown = rtcm3_decode_msm(context, rtcm, buf); |
1664 | 5 | msg_name = "GLO MSM 6"; |
1665 | 5 | break; |
1666 | | |
1667 | 10 | case 1087: |
1668 | | /* RTCM 3.2 - 1087 |
1669 | | * GLONASS Multi Signal Message 7 |
1670 | | * Full GLONASS pseudo-ranges, carrier phases, Doppler and |
1671 | | * signal strength (high resolution) |
1672 | | * length 417 or 427 |
1673 | | */ |
1674 | 10 | rtcm->rtcmtypes.rtcm3_msm.gnssid = GNSSID_GLO; |
1675 | 10 | rtcm->rtcmtypes.rtcm3_msm.msm = 7; |
1676 | 10 | unknown = rtcm3_decode_msm(context, rtcm, buf); |
1677 | 10 | msg_name = "GLO MSM 7"; |
1678 | 10 | break; |
1679 | | |
1680 | 1 | case 1088: |
1681 | | /* RTCM 3.x |
1682 | | * Reserved for MSM |
1683 | | */ |
1684 | 1 | msg_name = "Reserved for MSM"; |
1685 | 1 | break; |
1686 | | |
1687 | 1 | case 1089: |
1688 | | /* RTCM 3.x |
1689 | | * Reserved for MSM |
1690 | | */ |
1691 | 1 | msg_name = "Reserved for MSM"; |
1692 | 1 | break; |
1693 | | |
1694 | 1 | case 1090: |
1695 | | /* RTCM 3.x |
1696 | | * Reserved for MSM |
1697 | | */ |
1698 | 1 | msg_name = "Reserved for MSM"; |
1699 | 1 | break; |
1700 | | |
1701 | 5 | case 1091: |
1702 | | /* RTCM 3.2 |
1703 | | * Galileo Multi Signal Message 1 |
1704 | | */ |
1705 | 5 | rtcm->rtcmtypes.rtcm3_msm.gnssid = GNSSID_GAL; |
1706 | 5 | rtcm->rtcmtypes.rtcm3_msm.msm = 1; |
1707 | 5 | unknown = rtcm3_decode_msm(context, rtcm, buf); |
1708 | 5 | msg_name = "GAL MSM 1"; |
1709 | 5 | break; |
1710 | | |
1711 | 5 | case 1092: |
1712 | | /* RTCM 3.2 |
1713 | | * Galileo Multi Signal Message 2 |
1714 | | */ |
1715 | 5 | rtcm->rtcmtypes.rtcm3_msm.gnssid = GNSSID_GAL; |
1716 | 5 | rtcm->rtcmtypes.rtcm3_msm.msm = 2; |
1717 | 5 | unknown = rtcm3_decode_msm(context, rtcm, buf); |
1718 | 5 | msg_name = "GAL MSM 2"; |
1719 | 5 | break; |
1720 | | |
1721 | 3 | case 1093: |
1722 | | /* RTCM 3.2 |
1723 | | * Galileo Multi Signal Message 3 |
1724 | | */ |
1725 | 3 | rtcm->rtcmtypes.rtcm3_msm.gnssid = GNSSID_GAL; |
1726 | 3 | rtcm->rtcmtypes.rtcm3_msm.msm = 3; |
1727 | 3 | unknown = rtcm3_decode_msm(context, rtcm, buf); |
1728 | 3 | msg_name = "GAL MSM 3"; |
1729 | 3 | break; |
1730 | | |
1731 | 6 | case 1094: |
1732 | | /* RTCM 3.2 |
1733 | | * Galileo Multi Signal Message 4 |
1734 | | */ |
1735 | 6 | rtcm->rtcmtypes.rtcm3_msm.gnssid = GNSSID_GAL; |
1736 | 6 | rtcm->rtcmtypes.rtcm3_msm.msm = 4; |
1737 | 6 | unknown = rtcm3_decode_msm(context, rtcm, buf); |
1738 | 6 | msg_name = "GAL MSM 4"; |
1739 | 6 | break; |
1740 | | |
1741 | 8 | case 1095: |
1742 | | /* RTCM 3.2 |
1743 | | * Galileo Multi Signal Message 5 |
1744 | | */ |
1745 | 8 | rtcm->rtcmtypes.rtcm3_msm.gnssid = GNSSID_GAL; |
1746 | 8 | rtcm->rtcmtypes.rtcm3_msm.msm = 5; |
1747 | 8 | unknown = rtcm3_decode_msm(context, rtcm, buf); |
1748 | 8 | msg_name = "GAL MSM 5"; |
1749 | 8 | break; |
1750 | | |
1751 | 3 | case 1096: |
1752 | | /* RTCM 3.2 |
1753 | | * Galileo Multi Signal Message 6 |
1754 | | */ |
1755 | 3 | rtcm->rtcmtypes.rtcm3_msm.gnssid = GNSSID_GAL; |
1756 | 3 | rtcm->rtcmtypes.rtcm3_msm.msm = 6; |
1757 | 3 | unknown = rtcm3_decode_msm(context, rtcm, buf); |
1758 | 3 | msg_name = "GAL MSM 6"; |
1759 | 3 | break; |
1760 | | |
1761 | 3 | case 1097: |
1762 | | /* RTCM 3.2 - 1097 |
1763 | | * Galileo Multi Signal Message 7 |
1764 | | * Full Galileo pseudo-ranges, carrier phases, Doppler and |
1765 | | * signal strength (high resolution) |
1766 | | * length 96 |
1767 | | */ |
1768 | 3 | rtcm->rtcmtypes.rtcm3_msm.gnssid = GNSSID_GAL; |
1769 | 3 | rtcm->rtcmtypes.rtcm3_msm.msm = 7; |
1770 | 3 | unknown = rtcm3_decode_msm(context, rtcm, buf); |
1771 | 3 | msg_name = "GAL MSM 7"; |
1772 | 3 | break; |
1773 | | |
1774 | 1 | case 1098: |
1775 | | /* RTCM 3.x |
1776 | | * Reserved for MSM |
1777 | | */ |
1778 | 1 | msg_name = "Reserved for MSM"; |
1779 | 1 | break; |
1780 | | |
1781 | 1 | case 1099: |
1782 | | /* RTCM 3.x |
1783 | | * Reserved for MSM |
1784 | | */ |
1785 | 1 | msg_name = "Reserved for MSM"; |
1786 | 1 | break; |
1787 | | |
1788 | 1 | case 1100: |
1789 | | /* RTCM 3.x |
1790 | | * Reserved for MSM |
1791 | | */ |
1792 | 1 | msg_name = "Reserved for MSM"; |
1793 | 1 | break; |
1794 | | |
1795 | 3 | case 1101: |
1796 | | /* RTCM 3.3 |
1797 | | * SBAS Multi Signal Message 1 |
1798 | | */ |
1799 | 3 | rtcm->rtcmtypes.rtcm3_msm.gnssid = GNSSID_SBAS; |
1800 | 3 | rtcm->rtcmtypes.rtcm3_msm.msm = 1; |
1801 | 3 | unknown = rtcm3_decode_msm(context, rtcm, buf); |
1802 | 3 | msg_name = "SBAS MSM 1"; |
1803 | 3 | break; |
1804 | | |
1805 | 4 | case 1102: |
1806 | | /* RTCM 3.3 |
1807 | | * SBAS Multi Signal Message 2 |
1808 | | */ |
1809 | 4 | rtcm->rtcmtypes.rtcm3_msm.gnssid = GNSSID_SBAS; |
1810 | 4 | rtcm->rtcmtypes.rtcm3_msm.msm = 2; |
1811 | 4 | unknown = rtcm3_decode_msm(context, rtcm, buf); |
1812 | 4 | msg_name = "SBAS MSM 2"; |
1813 | 4 | break; |
1814 | | |
1815 | 8 | case 1103: |
1816 | | /* RTCM 3.3 |
1817 | | * SBAS Multi Signal Message 3 |
1818 | | */ |
1819 | 8 | rtcm->rtcmtypes.rtcm3_msm.gnssid = GNSSID_SBAS; |
1820 | 8 | rtcm->rtcmtypes.rtcm3_msm.msm = 3; |
1821 | 8 | unknown = rtcm3_decode_msm(context, rtcm, buf); |
1822 | 8 | msg_name = "SBAS MSM 3"; |
1823 | 8 | break; |
1824 | | |
1825 | 3 | case 1104: |
1826 | | /* RTCM 3.3 |
1827 | | * SBAS Multi Signal Message 4 |
1828 | | */ |
1829 | 3 | rtcm->rtcmtypes.rtcm3_msm.gnssid = GNSSID_SBAS; |
1830 | 3 | rtcm->rtcmtypes.rtcm3_msm.msm = 4; |
1831 | 3 | unknown = rtcm3_decode_msm(context, rtcm, buf); |
1832 | 3 | msg_name = "SBAS MSM 4"; |
1833 | 3 | break; |
1834 | | |
1835 | 6 | case 1105: |
1836 | | /* RTCM 3.3 |
1837 | | * SBAS Multi Signal Message 5 |
1838 | | */ |
1839 | 6 | rtcm->rtcmtypes.rtcm3_msm.gnssid = GNSSID_SBAS; |
1840 | 6 | rtcm->rtcmtypes.rtcm3_msm.msm = 5; |
1841 | 6 | unknown = rtcm3_decode_msm(context, rtcm, buf); |
1842 | 6 | msg_name = "SBAS MSM 5"; |
1843 | 6 | break; |
1844 | | |
1845 | 4 | case 1106: |
1846 | | /* RTCM 3.3 |
1847 | | * SBAS Multi Signal Message 6 |
1848 | | */ |
1849 | 4 | rtcm->rtcmtypes.rtcm3_msm.gnssid = GNSSID_SBAS; |
1850 | 4 | rtcm->rtcmtypes.rtcm3_msm.msm = 6; |
1851 | 4 | unknown = rtcm3_decode_msm(context, rtcm, buf); |
1852 | 4 | msg_name = "SBAS MSM 6"; |
1853 | 4 | break; |
1854 | | |
1855 | 3 | case 1107: |
1856 | | /* RTCM 3.3 - 1107 |
1857 | | * 'Multiple Signal Message |
1858 | | * Full SBAS pseudo-ranges, carrier phases, Doppler and |
1859 | | * signal strength (high resolution) |
1860 | | * length 96 |
1861 | | */ |
1862 | 3 | rtcm->rtcmtypes.rtcm3_msm.gnssid = GNSSID_SBAS; |
1863 | 3 | rtcm->rtcmtypes.rtcm3_msm.msm = 7; |
1864 | 3 | unknown = rtcm3_decode_msm(context, rtcm, buf); |
1865 | 3 | msg_name = "SBAS MSM 7"; |
1866 | 3 | break; |
1867 | | |
1868 | 2 | case 1108: |
1869 | | /* RTCM 3.x |
1870 | | * Reserved for MSM |
1871 | | */ |
1872 | 2 | msg_name = "Reserved for MSM"; |
1873 | 2 | break; |
1874 | | |
1875 | 1 | case 1109: |
1876 | | /* RTCM 3.x |
1877 | | * Reserved for MSM |
1878 | | */ |
1879 | 1 | msg_name = "Reserved for MSM"; |
1880 | 1 | break; |
1881 | | |
1882 | 1 | case 1110: |
1883 | | /* RTCM 3.x |
1884 | | * Reserved for MSM |
1885 | | */ |
1886 | 1 | msg_name = "Reserved for MSM"; |
1887 | 1 | break; |
1888 | | |
1889 | 3 | case 1111: |
1890 | | /* RTCM 3.3 |
1891 | | * QZSS Multi Signal Message 1 |
1892 | | */ |
1893 | 3 | rtcm->rtcmtypes.rtcm3_msm.gnssid = GNSSID_QZSS; |
1894 | 3 | rtcm->rtcmtypes.rtcm3_msm.msm = 1; |
1895 | 3 | unknown = rtcm3_decode_msm(context, rtcm, buf); |
1896 | 3 | msg_name = "QZSS MSM 1"; |
1897 | 3 | break; |
1898 | | |
1899 | 3 | case 1112: |
1900 | | /* RTCM 3.3 |
1901 | | * QZSS Multi Signal Message 2 |
1902 | | */ |
1903 | 3 | rtcm->rtcmtypes.rtcm3_msm.gnssid = GNSSID_QZSS; |
1904 | 3 | rtcm->rtcmtypes.rtcm3_msm.msm = 2; |
1905 | 3 | unknown = rtcm3_decode_msm(context, rtcm, buf); |
1906 | 3 | msg_name = "QZSS MSM 2"; |
1907 | 3 | break; |
1908 | | |
1909 | 2 | case 1113: |
1910 | | /* RTCM 3.3 |
1911 | | * QZSS Multi Signal Message 3 |
1912 | | */ |
1913 | 2 | rtcm->rtcmtypes.rtcm3_msm.gnssid = GNSSID_QZSS; |
1914 | 2 | rtcm->rtcmtypes.rtcm3_msm.msm = 3; |
1915 | 2 | unknown = rtcm3_decode_msm(context, rtcm, buf); |
1916 | 2 | msg_name = "QZSS MSM 3"; |
1917 | 2 | break; |
1918 | | |
1919 | 4 | case 1114: |
1920 | | /* RTCM 3.3 |
1921 | | * QZSS Multi Signal Message 4 |
1922 | | */ |
1923 | 4 | rtcm->rtcmtypes.rtcm3_msm.gnssid = GNSSID_QZSS; |
1924 | 4 | rtcm->rtcmtypes.rtcm3_msm.msm = 4; |
1925 | 4 | unknown = rtcm3_decode_msm(context, rtcm, buf); |
1926 | 4 | msg_name = "QZSS MSM 4"; |
1927 | 4 | break; |
1928 | | |
1929 | 4 | case 1115: |
1930 | | /* RTCM 3.3 |
1931 | | * QZSS Multi Signal Message 5 |
1932 | | */ |
1933 | 4 | rtcm->rtcmtypes.rtcm3_msm.gnssid = GNSSID_QZSS; |
1934 | 4 | rtcm->rtcmtypes.rtcm3_msm.msm = 5; |
1935 | 4 | unknown = rtcm3_decode_msm(context, rtcm, buf); |
1936 | 4 | msg_name = "QZSS MSM 5"; |
1937 | 4 | break; |
1938 | | |
1939 | 4 | case 1116: |
1940 | | /* RTCM 3.3 |
1941 | | * QZSS Multi Signal Message 6 |
1942 | | */ |
1943 | 4 | rtcm->rtcmtypes.rtcm3_msm.gnssid = GNSSID_QZSS; |
1944 | 4 | rtcm->rtcmtypes.rtcm3_msm.msm = 6; |
1945 | 4 | unknown = rtcm3_decode_msm(context, rtcm, buf); |
1946 | 4 | msg_name = "QZSS MSM 6"; |
1947 | 4 | break; |
1948 | | |
1949 | 3 | case 1117: |
1950 | | /* RTCM 3.3 |
1951 | | * QZSS Multi Signal Message 7 |
1952 | | */ |
1953 | 3 | rtcm->rtcmtypes.rtcm3_msm.gnssid = GNSSID_QZSS; |
1954 | 3 | rtcm->rtcmtypes.rtcm3_msm.msm = 7; |
1955 | 3 | unknown = rtcm3_decode_msm(context, rtcm, buf); |
1956 | 3 | msg_name = "QZSS MSM 7"; |
1957 | 3 | break; |
1958 | | |
1959 | 1 | case 1118: |
1960 | | /* RTCM 3.x |
1961 | | * Reserved for MSM |
1962 | | */ |
1963 | 1 | msg_name = "Reserved for MSM"; |
1964 | 1 | break; |
1965 | | |
1966 | 1 | case 1119: |
1967 | | /* RTCM 3.x |
1968 | | * Reserved for MSM |
1969 | | */ |
1970 | 1 | msg_name = "Reserved for MSM"; |
1971 | 1 | break; |
1972 | | |
1973 | 1 | case 1120: |
1974 | | /* RTCM 3.x |
1975 | | * Reserved for MSM |
1976 | | */ |
1977 | 1 | msg_name = "Reserved for MSM"; |
1978 | 1 | break; |
1979 | | |
1980 | 8 | case 1121: |
1981 | | /* RTCM 3.2 A.1 |
1982 | | * BD Multi Signal Message 1 |
1983 | | */ |
1984 | 8 | rtcm->rtcmtypes.rtcm3_msm.gnssid = GNSSID_BD; |
1985 | 8 | rtcm->rtcmtypes.rtcm3_msm.msm = 1; |
1986 | 8 | unknown = rtcm3_decode_msm(context, rtcm, buf); |
1987 | 8 | msg_name = "BD MSM 1"; |
1988 | 8 | break; |
1989 | | |
1990 | 5 | case 1122: |
1991 | | /* RTCM 3.2 A.1 |
1992 | | * BD Multi Signal Message 2 |
1993 | | */ |
1994 | 5 | rtcm->rtcmtypes.rtcm3_msm.gnssid = GNSSID_BD; |
1995 | 5 | rtcm->rtcmtypes.rtcm3_msm.msm = 2; |
1996 | 5 | unknown = rtcm3_decode_msm(context, rtcm, buf); |
1997 | 5 | msg_name = "BD MSM 2"; |
1998 | 5 | break; |
1999 | | |
2000 | 2 | case 1123: |
2001 | | /* RTCM 3.2 A.1 |
2002 | | * BD Multi Signal Message 3 |
2003 | | */ |
2004 | 2 | rtcm->rtcmtypes.rtcm3_msm.gnssid = GNSSID_BD; |
2005 | 2 | rtcm->rtcmtypes.rtcm3_msm.msm = 3; |
2006 | 2 | unknown = rtcm3_decode_msm(context, rtcm, buf); |
2007 | 2 | msg_name = "BD MSM 3"; |
2008 | 2 | break; |
2009 | | |
2010 | 8 | case 1124: |
2011 | | /* RTCM 3.2 A.1 |
2012 | | * BD Multi Signal Message 4 |
2013 | | */ |
2014 | 8 | rtcm->rtcmtypes.rtcm3_msm.gnssid = GNSSID_BD; |
2015 | 8 | rtcm->rtcmtypes.rtcm3_msm.msm = 4; |
2016 | 8 | unknown = rtcm3_decode_msm(context, rtcm, buf); |
2017 | 8 | msg_name = "BD MSM 4"; |
2018 | 8 | break; |
2019 | | |
2020 | 6 | case 1125: |
2021 | | /* RTCM 3.2 A.1 |
2022 | | * BeiDou Multi Signal Message 5 |
2023 | | */ |
2024 | 6 | rtcm->rtcmtypes.rtcm3_msm.gnssid = GNSSID_BD; |
2025 | 6 | rtcm->rtcmtypes.rtcm3_msm.msm = 5; |
2026 | 6 | unknown = rtcm3_decode_msm(context, rtcm, buf); |
2027 | 6 | msg_name = "BD MSM 5"; |
2028 | 6 | break; |
2029 | | |
2030 | 2 | case 1126: |
2031 | | /* RTCM 3.2 A.1 |
2032 | | * BeiDou Multi Signal Message 6 |
2033 | | */ |
2034 | 2 | rtcm->rtcmtypes.rtcm3_msm.gnssid = GNSSID_BD; |
2035 | 2 | rtcm->rtcmtypes.rtcm3_msm.msm = 6; |
2036 | 2 | unknown = rtcm3_decode_msm(context, rtcm, buf); |
2037 | 2 | msg_name = "BD MSM 6"; |
2038 | 2 | break; |
2039 | | |
2040 | 8 | case 1127: |
2041 | | /* RTCM 3.2 A.1 |
2042 | | * BeiDou Multi Signal Message 7 |
2043 | | */ |
2044 | 8 | rtcm->rtcmtypes.rtcm3_msm.gnssid = GNSSID_BD; |
2045 | 8 | rtcm->rtcmtypes.rtcm3_msm.msm = 7; |
2046 | 8 | unknown = rtcm3_decode_msm(context, rtcm, buf); |
2047 | 8 | msg_name = "BD MSM 7"; |
2048 | 8 | break; |
2049 | | |
2050 | 2 | case 1128: |
2051 | | /* RTCM 3.x |
2052 | | * Reserved for MSM |
2053 | | */ |
2054 | 2 | msg_name = "Reserved for MSM"; |
2055 | 2 | break; |
2056 | | |
2057 | 2 | case 1229: |
2058 | | /* RTCM 3.x |
2059 | | * Reserved for MSM |
2060 | | */ |
2061 | 2 | msg_name = "Reserved for MSM"; |
2062 | 2 | break; |
2063 | | |
2064 | 8 | case 1230: |
2065 | | /* RTCM 3.2 |
2066 | | * GLONASS L1 and L2, C/A and P, Code-Phase Biases. |
2067 | | */ |
2068 | 8 | msg_name = "GLO L1 and L2 Code-Phase Biases"; |
2069 | 8 | unknown = false; |
2070 | 8 | if (4 > rtcm->length) { |
2071 | | // not exactly: 32 + (16 * n), n <= 4 |
2072 | | // but we see 12 and even 4?? |
2073 | 1 | bad_len = 4; |
2074 | 1 | break; |
2075 | 1 | } |
2076 | 7 | rtcm->rtcmtypes.rtcm3_1230.station_id = ugrab(12); |
2077 | 7 | rtcm->rtcmtypes.rtcm3_1230.bias_indicator = ugrab(1); |
2078 | 7 | (void)ugrab(1); // reserved |
2079 | 7 | rtcm->rtcmtypes.rtcm3_1230.signals_mask = ugrab(3); |
2080 | | // actual mask order is undocumented... |
2081 | 7 | if (1 & rtcm->rtcmtypes.rtcm3_1230.signals_mask) { |
2082 | 3 | rtcm->rtcmtypes.rtcm3_1230.l1_ca_bias = ugrab(16); |
2083 | 3 | } |
2084 | 7 | if (2 & rtcm->rtcmtypes.rtcm3_1230.signals_mask) { |
2085 | 2 | rtcm->rtcmtypes.rtcm3_1230.l1_p_bias = ugrab(16); |
2086 | 2 | } |
2087 | 7 | if (4 & rtcm->rtcmtypes.rtcm3_1230.signals_mask) { |
2088 | 2 | rtcm->rtcmtypes.rtcm3_1230.l2_ca_bias = ugrab(16); |
2089 | 2 | } |
2090 | 7 | if (8 & rtcm->rtcmtypes.rtcm3_1230.signals_mask) { |
2091 | 0 | rtcm->rtcmtypes.rtcm3_1230.l2_p_bias = ugrab(16); |
2092 | 0 | } |
2093 | 7 | break; |
2094 | | |
2095 | | // Message Types 4001 — 4060 Are Reserved |
2096 | | |
2097 | 1 | case 4062: |
2098 | | /* RTCM 3.3 |
2099 | | * Geely Proprietary |
2100 | | */ |
2101 | 1 | msg_name = "Geely Proprietary"; |
2102 | 1 | break; |
2103 | | |
2104 | 1 | case 4063: |
2105 | | /* RTCM 3.3 |
2106 | | * CHC Navigation (CHCNAV) Proprietary |
2107 | | */ |
2108 | 1 | msg_name = "CHC Navigation (CHCNAV) Proprietary"; |
2109 | 1 | break; |
2110 | | |
2111 | 1 | case 4064: |
2112 | | /* RTCM 3.3 |
2113 | | * NTLab Proprietary |
2114 | | */ |
2115 | 1 | msg_name = "NTLab Proprietary"; |
2116 | 1 | break; |
2117 | | |
2118 | 1 | case 4065: |
2119 | | /* RTCM 3.3 |
2120 | | * Allystar Technology (Shenzhen) Co. Ltd. Proprietary |
2121 | | * |
2122 | | * sub-id: |
2123 | | * 0 Reference stations PVT, requires MSM7. |
2124 | | * 1 Navigation PVT Solyution |
2125 | | * 2 Attitude Determination (multi antenna) |
2126 | | * 0x0a Raw Sensor measurements. |
2127 | | */ |
2128 | 1 | msg_name = "Allystar Technology (Shenzhen) Co. Ltd. Proprietary"; |
2129 | 1 | break; |
2130 | | |
2131 | 1 | case 4066: |
2132 | | /* RTCM 3.3 |
2133 | | * Lantmateriet Proprietary |
2134 | | */ |
2135 | 1 | msg_name = "Lantmateriet Proprietary"; |
2136 | 1 | break; |
2137 | | |
2138 | 2 | case 4067: |
2139 | | /* RTCM 3.x |
2140 | | * China Transport telecommunications & Information Center Proprietary |
2141 | | */ |
2142 | 2 | msg_name = "China Transport telecommunications & Information " |
2143 | 2 | "Center Proprietary"; |
2144 | 2 | break; |
2145 | | |
2146 | 1 | case 4068: |
2147 | | /* RTCM 3.3 |
2148 | | * Qianxun Location Networks Co. Ltd Proprietary |
2149 | | */ |
2150 | 1 | msg_name = "Qianxun Location Networks Co. Ltd Proprietary"; |
2151 | 1 | break; |
2152 | | |
2153 | 1 | case 4069: |
2154 | | /* RTCM 3.3 |
2155 | | * VERIPOS Ltd Proprietary |
2156 | | */ |
2157 | 1 | msg_name = "VERIPOS Ltd Proprietary"; |
2158 | 1 | break; |
2159 | | |
2160 | 1 | case 4070: |
2161 | | /* RTCM 3.3 |
2162 | | * Wuhan MengXin Technology |
2163 | | */ |
2164 | 1 | msg_name = "Wuhan MengXin Technology Proprietary"; |
2165 | 1 | break; |
2166 | | |
2167 | 1 | case 4071: |
2168 | | /* RTCM 3.3 |
2169 | | * Wuhan Navigation and LBS |
2170 | | */ |
2171 | 1 | msg_name = "Wuhan Navigation and LBS Proprietary"; |
2172 | 1 | break; |
2173 | | |
2174 | 1 | case 4072: |
2175 | | /* RTCM 3.x |
2176 | | * u-blox Proprietary |
2177 | | * Mitsubishi Electric Corp Proprietary |
2178 | | * 4072.0 Reference station PVT (u-blox proprietary) |
2179 | | * 4072.1 Additional reference station information (u-blox proprietary) |
2180 | | */ |
2181 | 1 | msg_name = "u-blox Proprietary"; |
2182 | 1 | break; |
2183 | | |
2184 | 1 | case 4073: |
2185 | | /* RTCM 3.x |
2186 | | * Unicore Communications Proprietary |
2187 | | */ |
2188 | 1 | msg_name = "Alberding GmbH Proprietary"; |
2189 | 1 | break; |
2190 | | |
2191 | 1 | case 4075: |
2192 | | /* RTCM 3.x |
2193 | | * Alberding GmbH Proprietary |
2194 | | */ |
2195 | 1 | msg_name = "Alberding GmbH Proprietary"; |
2196 | 1 | break; |
2197 | | |
2198 | 6 | case 4076: |
2199 | | /* RTCM 3.x |
2200 | | * International GNSS Service Proprietary, www.igs.org |
2201 | | */ |
2202 | 6 | if (22 > rtcm->length) { |
2203 | | // need 76 bits, 9.5 bytes |
2204 | 1 | bad_len = 22; |
2205 | 1 | break; |
2206 | 1 | } |
2207 | | |
2208 | 5 | msg_name = "International GNSS Service Proprietary"; |
2209 | 5 | unknown = rtcm3_4076(context, rtcm, buf); |
2210 | 5 | break; |
2211 | | |
2212 | 1 | case 4077: |
2213 | | /* RTCM 3.x |
2214 | | * Hemisphere GNSS Proprietary |
2215 | | */ |
2216 | 1 | msg_name = "Hemisphere GNSS Proprietary"; |
2217 | 1 | break; |
2218 | | |
2219 | 1 | case 4078: |
2220 | | /* RTCM 3.x |
2221 | | * ComNav Technology Proprietary |
2222 | | */ |
2223 | 1 | msg_name = "ComNav Technology Proprietary"; |
2224 | 1 | break; |
2225 | | |
2226 | 1 | case 4079: |
2227 | | /* RTCM 3.x |
2228 | | * SubCarrier Systems Corp Proprietary |
2229 | | */ |
2230 | 1 | msg_name = "SubCarrier Systems Corp Proprietary"; |
2231 | 1 | break; |
2232 | | |
2233 | 1 | case 4080: |
2234 | | /* RTCM 3.x |
2235 | | * NavCom Technology, Inc. |
2236 | | */ |
2237 | 1 | msg_name = "NavCom Technology, Inc."; |
2238 | 1 | break; |
2239 | | |
2240 | 3 | case 4081: |
2241 | | /* RTCM 3.x |
2242 | | * Seoul National Universtiry GNSS Lab Proprietary |
2243 | | */ |
2244 | 3 | msg_name = "Seoul National Universtiry GNSS Lab Proprietery"; |
2245 | 3 | break; |
2246 | | |
2247 | 1 | case 4082: |
2248 | | /* RTCM 3.x |
2249 | | * Cooperative Research Centre for Spatial Information Proprietary |
2250 | | */ |
2251 | 1 | msg_name = "Cooperative Research Centre for Spatial Information " |
2252 | 1 | "Proprietary"; |
2253 | 1 | break; |
2254 | | |
2255 | 1 | case 4083: |
2256 | | /* RTCM 3.x |
2257 | | * German Aerospace Center Proprietary |
2258 | | */ |
2259 | 1 | msg_name = "German Aerospace Center Proprietary"; |
2260 | 1 | break; |
2261 | | |
2262 | 1 | case 4084: |
2263 | | /* RTCM 3.x |
2264 | | * Geodetics Inc Proprietary |
2265 | | */ |
2266 | 1 | msg_name = "Geodetics Inc Proprietary"; |
2267 | 1 | break; |
2268 | | |
2269 | 1 | case 4085: |
2270 | | /* RTCM 3.x |
2271 | | * European GNSS Supervisory Authority Proprietary |
2272 | | */ |
2273 | 1 | msg_name = "European GNSS Supervisory Authority Proprietary"; |
2274 | 1 | break; |
2275 | | |
2276 | 1 | case 4086: |
2277 | | /* RTCM 3.x |
2278 | | * InPosition GmbH Proprietary |
2279 | | */ |
2280 | 1 | msg_name = "InPosition GmbH Proprietary"; |
2281 | 1 | break; |
2282 | | |
2283 | 1 | case 4087: |
2284 | | /* RTCM 3.x |
2285 | | * Fugro Proprietary |
2286 | | */ |
2287 | 1 | msg_name = "Fugro Proprietary"; |
2288 | 1 | break; |
2289 | | |
2290 | 1 | case 4088: |
2291 | | /* RTCM 3.x |
2292 | | * IfEN GmbH Proprietary |
2293 | | */ |
2294 | 1 | msg_name = "IfEN GmbH Proprietary"; |
2295 | 1 | break; |
2296 | | |
2297 | 1 | case 4089: |
2298 | | /* RTCM 3.x |
2299 | | * Septentrio Satellite Navigation Proprietary |
2300 | | */ |
2301 | 1 | msg_name = "Septentrio Satellite Navigation Proprietary"; |
2302 | 1 | break; |
2303 | | |
2304 | 1 | case 4090: |
2305 | | /* RTCM 3.x |
2306 | | * Geo++ Proprietary |
2307 | | */ |
2308 | 1 | msg_name = "Geo++ Proprietary"; |
2309 | 1 | break; |
2310 | | |
2311 | 1 | case 4091: |
2312 | | /* RTCM 3.x |
2313 | | * Topcon Positioning Systems Proprietary |
2314 | | */ |
2315 | 1 | msg_name = "Topcon Positioning Systems Proprietary"; |
2316 | 1 | break; |
2317 | | |
2318 | 1 | case 4092: |
2319 | | /* RTCM 3.x |
2320 | | * Leica Geosystems Proprietary |
2321 | | */ |
2322 | 1 | msg_name = "Leica Geosystems Proprietary"; |
2323 | 1 | break; |
2324 | | |
2325 | 1 | case 4093: |
2326 | | /* RTCM 3.x |
2327 | | * NovAtel Proprietary |
2328 | | */ |
2329 | 1 | msg_name = "NovAtel Pr.orietary"; |
2330 | 1 | break; |
2331 | | |
2332 | 1 | case 4094: |
2333 | | /* RTCM 3.x |
2334 | | * Trimble Proprietary |
2335 | | */ |
2336 | 1 | msg_name = "Trimble Proprietary"; |
2337 | 1 | break; |
2338 | | |
2339 | 1 | case 4095: |
2340 | | /* RTCM 3.x |
2341 | | * Ashtech/Magellan Proprietary |
2342 | | */ |
2343 | 1 | msg_name = "Ashtech/Magellan Proprietary"; |
2344 | 1 | break; |
2345 | | |
2346 | 0 | case 63: |
2347 | | // dunno what this is. Length 64 |
2348 | 0 | FALLTHROUGH |
2349 | 50 | default: |
2350 | 50 | break; |
2351 | 1.22k | } |
2352 | 1.22k | #undef RANGEDIFF |
2353 | 1.22k | #undef GPS_PSEUDORANGE |
2354 | 1.22k | #undef sgrab |
2355 | 1.22k | #undef ugrab |
2356 | 1.22k | if (0 != bad_len) { |
2357 | 271 | GPSD_LOG(LOG_WARN, &context->errout, |
2358 | 271 | "RTCM3: type %d (%s) bad n %u length %u s/b %u\n", |
2359 | 271 | rtcm->type, msg_name, n, rtcm->length, bad_len); |
2360 | 271 | rtcm->length = 0; // set to zero to prevent JSON decode |
2361 | 271 | return; |
2362 | 271 | } |
2363 | 958 | if (unknown) { |
2364 | | /* |
2365 | | * Leader bytes, message length, and checksum won't be copied. |
2366 | | * The first 12 bits of the copied payload will be the type field. |
2367 | | */ |
2368 | 221 | rtcm3_copy_string_field((char *)rtcm->rtcmtypes.data, |
2369 | 221 | sizeof(rtcm->rtcmtypes.data), |
2370 | 221 | buf + 3, rtcm->length); |
2371 | 221 | GPSD_LOG(LOG_PROG, &context->errout, |
2372 | 221 | "RTCM3: %d (%s) Undecoded, length %u\n", |
2373 | 221 | rtcm->type, msg_name, rtcm->length); |
2374 | 737 | } else { |
2375 | 737 | GPSD_LOG(LOG_PROG, &context->errout, |
2376 | 737 | "RTCM3: %d (%s) length %u\n", |
2377 | 737 | rtcm->type, msg_name, rtcm->length); |
2378 | 737 | } |
2379 | 958 | } |
2380 | | |
2381 | | // *INDENT-ON* |
2382 | | |
2383 | | // vim: set expandtab shiftwidth=4 |