/* packet-ubx.c

 * u-blox UBX protocol dissection.

 *

 * By Timo Warns <timo.warns@gmail.com>

 * Copyright 2023 Timo Warns

 *

 * Wireshark - Network traffic analyzer

 * By Gerald Combs <gerald@unicom.net>

 * Copyright 1998 Gerald Combs

 *

 * SPDX-License-Identifier: GPL-2.0-or-later

 */

#include "config.h"

#include <epan/expert.h>

#include <epan/packet.h>

#include <epan/unit_strings.h>

#include <wsutil/array.h>

#include <wsutil/utf8_entities.h>

#include <wsutil/pint.h>

#include "packet-ubx.h"

#include "packet-sbas_l1.h"

/*

 * Dissects the UBX protocol of u-blox GNSS receivers as defined by the

 * u-blox 8 / u-blox M8 receiver description.

 */

/* mapping from UBX message class / id to mnemonics */

static const value_string UBX_MSG_CLASS_ID[] = {

    {UBX_ACK_ACK, "UBX-ACK-ACK"},

    {UBX_ACK_NAK, "UBX-ACK-NAK"},

    {UBX_AID_ALM, "UBX-AID-ALM"},

    {UBX_AID_AOP, "UBX-AID-AOP"},

    {UBX_AID_EPH, "UBX-AID-EPH"},

    {UBX_AID_HUI, "UBX-AID-HUI"},

    {UBX_AID_INI, "UBX-AID-INI"},

    {UBX_CFG_ANT, "UBX-CFG-ANT"},

    {UBX_CFG_BATCH, "UBX-CFG-BATCH"},

    {UBX_CFG_CFG, "UBX-CFG-CFG"},

    {UBX_CFG_DAT, "UBX-CFG-DAT"},

    {UBX_CFG_DGNSS, "UBX-CFG-DGNSS"},

    {UBX_CFG_DOSC, "UBX-CFG-DOSC"},

    {UBX_CFG_ESFALG, "UBX-CFG-ESFALG"},

    {UBX_CFG_ESFA, "UBX-CFG-ESFA"},

    {UBX_CFG_ESFG, "UBX-CFG-ESFG"},

    {UBX_CFG_ESFWT, "UBX-CFG-ESFWT"},

    {UBX_CFG_ESRC, "UBX-CFG-ESRC"},

    {UBX_CFG_GEOFENCE, "UBX-CFG-GEOFENCE"},

    {UBX_CFG_GNSS, "UBX-CFG-GNSS"},

    {UBX_CFG_HNR, "UBX-CFG-HNR"},

    {UBX_CFG_INF, "UBX-CFG-INF"},

    {UBX_CFG_ITFM, "UBX-CFG-ITFM"},

    {UBX_CFG_LOGFILTER, "UBX-CFG-LOGFILTER"},

    {UBX_CFG_MSG, "UBX-CFG-MSG"},

    {UBX_CFG_NAV5, "UBX-CFG-NAV5"},

    {UBX_CFG_NAVX5, "UBX-CFG-NAVX5"},

    {UBX_CFG_NMEA, "UBX-CFG-NMEA"},

    {UBX_CFG_ODO, "UBX-CFG-ODO"},

    {UBX_CFG_PM2, "UBX-CFG-PM2"},

    {UBX_CFG_PMS, "UBX-CFG-PMS"},

    {UBX_CFG_PRT, "UBX-CFG-PRT"},

    {UBX_CFG_PWR, "UBX-CFG-PWR"},

    {UBX_CFG_RATE, "UBX-CFG-RATE"},

    {UBX_CFG_RINV, "UBX-CFG-RINV"},

    {UBX_CFG_RST, "UBX-CFG-RST"},

    {UBX_CFG_RXM, "UBX-CFG-RXM"},

    {UBX_CFG_SBAS, "UBX-CFG-SBAS"},

    {UBX_CFG_SENIF, "UBX-CFG-SENIF"},

    {UBX_CFG_SLAS, "UBX-CFG-SLAS"},

    {UBX_CFG_SMGR, "UBX-CFG-SMGR"},

    {UBX_CFG_SPT, "UBX-CFG-SPT"},

    {UBX_CFG_TMODE2, "UBX-CFG-TMODE2"},

    {UBX_CFG_TMODE3, "UBX-CFG-TMODE3"},

    {UBX_CFG_TP5, "UBX-CFG-TP5"},

    {UBX_CFG_TXSLOT, "UBX-CFG-TXSLOT"},

    {UBX_CFG_USB, "UBX-CFG-USB"},

    {UBX_ESF_ALG, "UBX-ESF-ALG"},

    {UBX_ESF_INS, "UBX-ESF-INS"},

    {UBX_ESF_MEAS, "UBX-ESF-MEAS"},

    {UBX_ESF_RAW, "UBX-ESF-RAW"},

    {UBX_ESF_STATUS, "UBX-ESF-STATUS"},

    {UBX_HNR_ATT, "UBX-HNR-ATT"},

    {UBX_HNR_INS, "UBX-HNR-INS"},

    {UBX_HNR_PVT, "UBX-HNR-PVT"},

    {UBX_INF_DEBUG, "UBX-INF-DEBUG"},

    {UBX_INF_ERROR, "UBX-INF-ERROR"},

    {UBX_INF_NOTICE, "UBX-INF-NOTICE"},

    {UBX_INF_TEST, "UBX-INF-TEST"},

    {UBX_INF_WARNING, "UBX-INF-WARNING"},

    {UBX_LOG_BATCH, "UBX-LOG-BATCH"},

    {UBX_LOG_CREATE, "UBX-LOG-CREATE"},

    {UBX_LOG_ERASE, "UBX-LOG-ERASE"},

    {UBX_LOG_FINDTIME, "UBX-LOG-FINDTIME"},

    {UBX_LOG_INFO, "UBX-LOG-INFO"},

    {UBX_LOG_RETRIEVEBATCH, "UBX-LOG-RETRIEVEBATCH"},

    {UBX_LOG_RETRIEVEPOSEXTRA, "UBX-LOG-RETRIEVEPOSEXTRA"},

    {UBX_LOG_RETRIEVEPOS, "UBX-LOG-RETRIEVEPOS"},

    {UBX_LOG_RETRIEVESTRING, "UBX-LOG-RETRIEVESTRING"},

    {UBX_LOG_RETRIEVE, "UBX-LOG-RETRIEVE"},

    {UBX_LOG_STRING, "UBX-LOG-STRING"},

    {UBX_MGA_ACK_DATA0, "UBX-MGA-ACK-DATA0"},

    {UBX_MGA_ANO, "UBX-MGA-ANO"},

    {UBX_MGA_BDS, "UBX-MGA-BDS"},

    {UBX_MGA_DBD, "UBX-MGA-DBD"},

    {UBX_MGA_FLASH, "UBX-MGA-FLASH"},

    {UBX_MGA_GAL, "UBX-MGA-GAL"},

    {UBX_MGA_GLO, "UBX-MGA-GLO"},

    {UBX_MGA_GPS, "UBX-MGA-GPS"},

    {UBX_MGA_INI, "UBX-MGA-INI"},

    {UBX_MGA_QZSS, "UBX-MGA-QZSS"},

    {UBX_MON_BATCH, "UBX-MON-BATCH"},

    {UBX_MON_GNSS, "UBX-MON-GNSS"},

    {UBX_MON_HW2, "UBX-MON-HW2"},

    {UBX_MON_HW, "UBX-MON-HW"},

    {UBX_MON_IO, "UBX-MON-IO"},

    {UBX_MON_MSGPP, "UBX-MON-MSGPP"},

    {UBX_MON_PATCH, "UBX-MON-PATCH"},

    {UBX_MON_RF, "UBX-MON-RF"},

    {UBX_MON_RXBUF, "UBX-MON-RXBUF"},

    {UBX_MON_RXR, "UBX-MON-RXR"},

    {UBX_MON_SMGR, "UBX-MON-SMGR"},

    {UBX_MON_SPT, "UBX-MON-SPT"},

    {UBX_MON_TXBUF, "UBX-MON-TXBUF"},

    {UBX_MON_VER, "UBX-MON-VER"},

    {UBX_NAV_AOPSTATUS, "UBX-NAV-AOPSTATUS"},

    {UBX_NAV_ATT, "UBX-NAV-ATT"},

    {UBX_NAV_CLOCK, "UBX-NAV-CLOCK"},

    {UBX_NAV_COV, "UBX-NAV-COV"},

    {UBX_NAV_DGPS, "UBX-NAV-DGPS"},

    {UBX_NAV_DOP, "UBX-NAV-DOP"},

    {UBX_NAV_EELL, "UBX-NAV-EELL"},

    {UBX_NAV_EOE, "UBX-NAV-EOE"},

    {UBX_NAV_GEOFENCE, "UBX-NAV-GEOFENCE"},

    {UBX_NAV_HPPOSECEF, "UBX-NAV-HPPOSECEF"},

    {UBX_NAV_HPPOSLLH, "UBX-NAV-HPPOSLLH"},

    {UBX_NAV_NMI, "UBX-NAV-NMI"},

    {UBX_NAV_ODO, "UBX-NAV-ODO"},

    {UBX_NAV_ORB, "UBX-NAV-ORB"},

    {UBX_NAV_POSECEF, "UBX-NAV-POSECEF"},

    {UBX_NAV_POSLLH, "UBX-NAV-POSLLH"},

    {UBX_NAV_PVT, "UBX-NAV-PVT"},

    {UBX_NAV_RELPOSNED, "UBX-NAV-RELPOSNED"},

    {UBX_NAV_RESETODO, "UBX-NAV-RESETODO"},

    {UBX_NAV_SAT, "UBX-NAV-SAT"},

    {UBX_NAV_SBAS, "UBX-NAV-SBAS"},

    {UBX_NAV_SLAS, "UBX-NAV-SLAS"},

    {UBX_NAV_SOL, "UBX-NAV-SOL"},

    {UBX_NAV_STATUS, "UBX-NAV-STATUS"},

    {UBX_NAV_SVINFO, "UBX-NAV-SVINFO"},

    {UBX_NAV_SVIN, "UBX-NAV-SVIN"},

    {UBX_NAV_TIMEBDS, "UBX-NAV-TIMEBDS"},

    {UBX_NAV_TIMEGAL, "UBX-NAV-TIMEGAL"},

    {UBX_NAV_TIMEGLO, "UBX-NAV-TIMEGLO"},

    {UBX_NAV_TIMEGPS, "UBX-NAV-TIMEGPS"},

    {UBX_NAV_TIMELS, "UBX-NAV-TIMELS"},

    {UBX_NAV_TIMEUTC, "UBX-NAV-TIMEUTC"},

    {UBX_NAV_VELECEF, "UBX-NAV-VELECEF"},

    {UBX_NAV_VELNED, "UBX-NAV-VELNED"},

    {UBX_RXM_IMES, "UBX-RXM-IMES"},

    {UBX_RXM_MEASX, "UBX-RXM-MEASX"},

    {UBX_RXM_PMREQ, "UBX-RXM-PMREQ"},

    {UBX_RXM_RAWX, "UBX-RXM-RAWX"},

    {UBX_RXM_RLM, "UBX-RXM-RLM"},

    {UBX_RXM_RTCM, "UBX-RXM-RTCM"},

    {UBX_RXM_SFRBX, "UBX-RXM-SFRBX"},

    {UBX_RXM_SVSI, "UBX-RXM-SVSI"},

    {UBX_SEC_UNIQID, "UBX-SEC-UNIQID"},

    {UBX_TIM_DOSC, "UBX-TIM-DOSC"},

    {UBX_TIM_FCHG, "UBX-TIM-FCHG"},

    {UBX_TIM_HOC, "UBX-TIM-HOC"},

    {UBX_TIM_SMEAS, "UBX-TIM-SMEAS"},

    {UBX_TIM_SVIN, "UBX-TIM-SVIN"},

    {UBX_TIM_TM2, "UBX-TIM-TM2"},

    {UBX_TIM_TOS, "UBX-TIM-TOS"},

    {UBX_TIM_TP, "UBX-TIM-TP"},

    {UBX_TIM_VCOCAL, "UBX-TIM-VCOCAL"},

    {UBX_TIM_VRFY, "UBX-TIM-VRFY"},

    {UBX_UPD_SOS, "UBX-UPD-SOS"},

    {0, NULL},

};

static const value_string UBX_GNSS_ID[] = {

    {GNSS_ID_GPS,     "GPS"},

    {GNSS_ID_SBAS,    "SBAS"},

    {GNSS_ID_GALILEO, "Galileo"},

    {GNSS_ID_BEIDOU,  "Beidou"},

    {GNSS_ID_IMES,    "IMES"},

    {GNSS_ID_QZSS,    "QZSS"},

    {GNSS_ID_GLONASS, "Glonass"},

    {0, NULL},

};

/* mapping from correction age id to description */

static const value_string UBX_LAST_CORRECTION_AGE[] = {

    {0, "not available"},

    {1, "age between 0 and 1 second"},

    {2, "age between 1 (inclusive) and 2 seconds"},

    {3, "age between 2 (inclusive) and 5 seconds"},

    {4, "age between 5 (inclusive) and 10 seconds"},

    {5, "age between 10 (inclusive) and 15 seconds"},

    {6, "age between 15 (inclusive) and 20 seconds"},

    {7, "age between 20 (inclusive) and 30 seconds"},

    {8, "age between 30 (inclusive) and 45 seconds"},

    {9, "age between 45 (inclusive) and 60 seconds"},

    {10, "age between 60 (inclusive) and 90 seconds"},

    {11, "age between 90 (inclusive) and 120 seconds"},

    {12, "age greater or equal than 120 seconds"},

    {13, "age greater or equal than 120 seconds"},

    {14, "age greater or equal than 120 seconds"},

    {15, "age greater or equal than 120 seconds"},

    {0, NULL}

};

/* mapping from GNSS fix type id to description */

static const value_string UBX_GNSS_FIX_TYPE[] = {

    {0, "no fix"},

    {1, "dead reckoning only"},

    {2, "2D-fix"},

    {3, "3D-fix"},

    {4, "GNSS + dead reckoning combined"},

    {5, "time only fix"},

    {0, NULL}

};

/* signal quality indicator description */

static const value_string UBX_SIGNAL_QUALITY_INDICATOR[] = {

    {0, "no signal"},

    {1, "searching signal"},

    {2, "signal acquired"},

    {3, "signal detected but unusable"},

    {4, "code locked and time synchronized"},

    {5, "code and carrier locked and time synchronized"},

    {6, "code and carrier locked and time synchronized"},

    {7, "code and carrier locked and time synchronized"},

    {0, NULL}

};

/* signal health description */

static const value_string UBX_SIGNAL_HEALTH[] = {

    {0, "unknown"},

    {1, "healthy"},

    {2, "unhealthy"},

    {0, NULL}

};

/* orbit source description */

static const value_string UBX_ORBIT_SOURCE[] = {

    {0, "no orbit information available"},

    {1, "ephemeris is used"},

    {2, "almanac is used"},

    {3, "AssistNow Offline orbit is used"},

    {4, "AssistNow Autonomous orbit is used"},

    {5, "other orbit information is used"},

    {6, "other orbit information is used"},

    {7, "other orbit information is used"},

    {0, NULL}

};

/* CFG-GNSS GPS sigCfgMsk */

static const value_string UBX_CFG_GNSS_GPS_SIGCFGMASK[] = {

    {0x01, "GPS L1C/A"},

    {0x10, "GPS L2C"},

    {0, NULL}

};

/* CFG-GNSS SBAS sigCfgMsk */

static const value_string UBX_CFG_GNSS_SBAS_SIGCFGMASK[] = {

    {0x01, "SBAS L1C/A"},

    {0, NULL}

};

/* CFG-GNSS Galileo sigCfgMsk */

static const value_string UBX_CFG_GNSS_GAL_SIGCFGMASK[] = {

    {0x01, "Galileo E1"},

    {0x20, "Galileo E5b"},

    {0, NULL}

};

/* CFG-GNSS BeiDou sigCfgMsk */

static const value_string UBX_CFG_GNSS_BDS_SIGCFGMASK[] = {

    {0x01, "BeiDou B1I"},

    {0x10, "BeiDou B2I"},

    {0, NULL}

};

/* CFG-GNSS IMES sigCfgMsk */

static const value_string UBX_CFG_GNSS_IMES_SIGCFGMASK[] = {

    {0x01, "IMES L1"},

    {0, NULL}

};

/* CFG-GNSS QZSS sigCfgMsk */

static const value_string UBX_CFG_GNSS_QZSS_SIGCFGMASK[] = {

    {0x01, "QZSS L1C/A"},

    {0x04, "QZSS L1S"},

    {0x10, "QZSS L2C"},

    {0, NULL}

};

/* CFG-GNSS Glonass sigCfgMsk */

static const value_string UBX_CFG_GNSS_GLO_SIGCFGMASK[] = {

    {0x01, "Glonass L1"},

    {0x10, "Glonass L2"},

    {0, NULL}

};

/* UBX-RXM-MEASX Multipath index */

static const value_string UBX_RXM_MEASX_MULTIPATH_INDEX[] = {

    {0x0, "not measured"},

    {0x1, "low"},

    {0x2, "medium"},

    {0x3, "high"},

    {0, NULL}

};

/* SBAS mode */

static const value_string UBX_SBAS_MODE[] = {

    {0, "Disabled"},

    {1, "Enabled integrity"},

    {3, "Enabled test mode"},

    {0, NULL}

};

/* SBAS system */

static const value_string UBX_SBAS_SYSTEM[] = {

    {-1, "Unknown"},

    {0, "WAAS"},

    {1, "EGNOS"},

    {2, "MSAS"},

    {3, "GAGAN"},

    {16, "GPS"},

    {0, NULL}

};

/* SBAS testbed description */

static const value_string UBX_SBAS_TESTBED[] = {

    {0, "Ignore data when in test mode (SBAS msg 0)"},

    {1, "Use data anyhow"},

    {0, NULL}

};

/* UTC standard identifier */

static const value_string UBX_UTC_STD_ID[] = {

    {0, "Information not available"},

    {1, "Communications Research Laboratory (CRL), Tokyo, Japan"},

    {2, "National Institute of Standards and Technology (NIST)"},

    {3, "U.S. Naval Observatory (USNO)"},

    {4, "International Bureau of Weights and Measures (BIPM)"},

    {5, "European laboratories"},

    {6, "Former Soviet Union (SU)"},

    {7, "National Time Service Center (NTSC), China"},

    {15, "Unknown"},

    {0, NULL}

};

/* Carrier Phase Solution Status */

static const value_string UBX_CARRSOLN[] = {

    {0, "No Carrier Phase Range Solution"},

    {1, "Carrier Phase Range Solution with Floating Ambiguities"},

    {2, "Carrier Phase Range Solution with Fixed Ambiguities"},

    {0, NULL}

};

/* RF Block ID */

static const value_string UBX_RF_BLOCK_ID[] = {

    {0, "L1 band"},

    {1, "L2 or L5 band"},

    {0, NULL}

};

/* Jamming State */

static const value_string UBX_JAMMING_STATE[] = {

    {0, "Unknown or Feature Disabled"},

    {1, "Ok - no significant jamming"},

    {2, "Warning - interference visible but fix OK"},

    {3, "Critical - interference visible and no fix"},

    {0, NULL}

};

/* Antenna Status */

static const value_string UBX_ANTENNA_STATUS[] = {

    {0, "Init"},

    {1, "Don't Know"},

    {2, "Ok"},

    {3, "Short"},

    {4, "Open"},

    {0, NULL}

};

/* Antenna Power */

static const value_string UBX_ANTENNA_POWER[] = {

    {0, "Off"},

    {1, "On"},

    {2, "Don't Know"},

    {0, NULL}

};

/* Initialize the protocol and registered fields */

static int proto_ubx;

static int hf_ubx_preamble;

static int hf_ubx_msg_class_id;

static int hf_ubx_payload_len;

static int hf_ubx_chksum;

static int hf_ubx_ack_ack;

static int hf_ubx_ack_ack_msg_class_id;

static int hf_ubx_ack_nak;

static int hf_ubx_ack_nak_msg_class_id;

static int hf_ubx_cfg_gnss;

static int hf_ubx_cfg_gnss_version;

static int hf_ubx_cfg_gnss_numtrkchhw;

static int hf_ubx_cfg_gnss_numtrkchuse;

static int hf_ubx_cfg_gnss_numconfigblocks;

static int hf_ubx_cfg_gnss_blk_gnssid;

static int hf_ubx_cfg_gnss_blk_restrkch;

static int hf_ubx_cfg_gnss_blk_maxtrkch;

static int hf_ubx_cfg_gnss_blk_reserved1;

static int hf_ubx_cfg_gnss_blk_enable;

static int hf_ubx_cfg_gnss_blk_sigcfgmask;

static int hf_ubx_cfg_gnss_blk_gps_sigcfgmask;

static int hf_ubx_cfg_gnss_blk_sbas_sigcfgmask;

static int hf_ubx_cfg_gnss_blk_gal_sigcfgmask;

static int hf_ubx_cfg_gnss_blk_bds_sigcfgmask;

static int hf_ubx_cfg_gnss_blk_imes_sigcfgmask;

static int hf_ubx_cfg_gnss_blk_qzss_sigcfgmask;

static int hf_ubx_cfg_gnss_blk_glo_sigcfgmask;

static int hf_ubx_cfg_sbas;

static int hf_ubx_cfg_sbas_mode;

static int hf_ubx_cfg_sbas_mode_enabled;

static int hf_ubx_cfg_sbas_mode_test;

static int hf_ubx_cfg_sbas_usage_range;

static int hf_ubx_cfg_sbas_usage_diffcorr;

static int hf_ubx_cfg_sbas_usage_integrity;

static int hf_ubx_cfg_sbas_max_sbas;

static int hf_ubx_cfg_sbas_scanmode_prn158;

static int hf_ubx_cfg_sbas_scanmode_prn157;

static int hf_ubx_cfg_sbas_scanmode_prn156;

static int hf_ubx_cfg_sbas_scanmode_prn155;

static int hf_ubx_cfg_sbas_scanmode_prn154;

static int hf_ubx_cfg_sbas_scanmode_prn153;

static int hf_ubx_cfg_sbas_scanmode_prn152;

static int hf_ubx_cfg_sbas_scanmode_prn151;

static int hf_ubx_cfg_sbas_scanmode_prn150;

static int hf_ubx_cfg_sbas_scanmode_prn149;

static int hf_ubx_cfg_sbas_scanmode_prn148;

static int hf_ubx_cfg_sbas_scanmode_prn147;

static int hf_ubx_cfg_sbas_scanmode_prn146;

static int hf_ubx_cfg_sbas_scanmode_prn145;

static int hf_ubx_cfg_sbas_scanmode_prn144;

static int hf_ubx_cfg_sbas_scanmode_prn143;

static int hf_ubx_cfg_sbas_scanmode_prn142;

static int hf_ubx_cfg_sbas_scanmode_prn141;

static int hf_ubx_cfg_sbas_scanmode_prn140;

static int hf_ubx_cfg_sbas_scanmode_prn139;

static int hf_ubx_cfg_sbas_scanmode_prn138;

static int hf_ubx_cfg_sbas_scanmode_prn137;

static int hf_ubx_cfg_sbas_scanmode_prn136;

static int hf_ubx_cfg_sbas_scanmode_prn135;

static int hf_ubx_cfg_sbas_scanmode_prn134;

static int hf_ubx_cfg_sbas_scanmode_prn133;

static int hf_ubx_cfg_sbas_scanmode_prn132;

static int hf_ubx_cfg_sbas_scanmode_prn131;

static int hf_ubx_cfg_sbas_scanmode_prn130;

static int hf_ubx_cfg_sbas_scanmode_prn129;

static int hf_ubx_cfg_sbas_scanmode_prn128;

static int hf_ubx_cfg_sbas_scanmode_prn127;

static int hf_ubx_cfg_sbas_scanmode_prn126;

static int hf_ubx_cfg_sbas_scanmode_prn125;

static int hf_ubx_cfg_sbas_scanmode_prn124;

static int hf_ubx_cfg_sbas_scanmode_prn123;

static int hf_ubx_cfg_sbas_scanmode_prn122;

static int hf_ubx_cfg_sbas_scanmode_prn121;

static int hf_ubx_cfg_sbas_scanmode_prn120;

static int * const ubx_cfg_sbas_mode_fields[] = {

    &hf_ubx_cfg_sbas_mode_enabled,

    &hf_ubx_cfg_sbas_mode_test,

    NULL

};

static int hf_ubx_mon_rf;

static int hf_ubx_mon_rf_version;

static int hf_ubx_mon_rf_nblocks;

static int hf_ubx_mon_rf_reserved0;

static int hf_ubx_mon_rf_blockid;

static int hf_ubx_mon_rf_flags;

static int hf_ubx_mon_rf_jammingstate;

static int hf_ubx_mon_rf_antstatus;

static int hf_ubx_mon_rf_antpower;

static int hf_ubx_mon_rf_poststatus;

static int hf_ubx_mon_rf_reserved1;

static int hf_ubx_mon_rf_noiseperms;

static int hf_ubx_mon_rf_agccnt;

static int hf_ubx_mon_rf_cwsuppression;

static int hf_ubx_mon_rf_ofsi;

static int hf_ubx_mon_rf_magi;

static int hf_ubx_mon_rf_ofsq;

static int hf_ubx_mon_rf_magq;

static int hf_ubx_mon_rf_reserved2;

static int * const ubx_mon_rf_flags_fields[] = {

    &hf_ubx_mon_rf_jammingstate,

    NULL

};

static int hf_ubx_nav_dop;

static int hf_ubx_nav_dop_itow;

static int hf_ubx_nav_dop_gdop;

static int hf_ubx_nav_dop_pdop;

static int hf_ubx_nav_dop_tdop;

static int hf_ubx_nav_dop_vdop;

static int hf_ubx_nav_dop_hdop;

static int hf_ubx_nav_dop_ndop;

static int hf_ubx_nav_dop_edop;

static int hf_ubx_nav_eoe;

static int hf_ubx_nav_eoe_itow;

static int hf_ubx_nav_odo;

static int hf_ubx_nav_odo_version;

static int hf_ubx_nav_odo_reserved1;

static int hf_ubx_nav_odo_itow;

static int hf_ubx_nav_odo_distance;

static int hf_ubx_nav_odo_totaldistance;

static int hf_ubx_nav_odo_distancestd;

static int hf_ubx_nav_posecef;

static int hf_ubx_nav_posecef_itow;

static int hf_ubx_nav_posecef_ecefx;

static int hf_ubx_nav_posecef_ecefy;

static int hf_ubx_nav_posecef_ecefz;

static int hf_ubx_nav_posecef_pacc;

static int hf_ubx_nav_pvt;

static int hf_ubx_nav_pvt_itow;

static int hf_ubx_nav_pvt_year;

static int hf_ubx_nav_pvt_month;

static int hf_ubx_nav_pvt_day;

static int hf_ubx_nav_pvt_hour;

static int hf_ubx_nav_pvt_min;

static int hf_ubx_nav_pvt_sec;

static int hf_ubx_nav_pvt_valid;

static int hf_ubx_nav_pvt_validmag;

static int hf_ubx_nav_pvt_fullyresolved;

static int hf_ubx_nav_pvt_validtime;

static int hf_ubx_nav_pvt_validdate;

static int hf_ubx_nav_pvt_tacc;

static int hf_ubx_nav_pvt_nano;

static int hf_ubx_nav_pvt_fixtype;

static int hf_ubx_nav_pvt_flags;

static int hf_ubx_nav_pvt_headvehvalid;

static int hf_ubx_nav_pvt_psmstate;

static int hf_ubx_nav_pvt_diffsoln;

static int hf_ubx_nav_pvt_gnssfixok;

static int hf_ubx_nav_pvt_flags2;

static int hf_ubx_nav_pvt_confirmedtime;

static int hf_ubx_nav_pvt_confirmeddate;

static int hf_ubx_nav_pvt_confirmedavai;

static int hf_ubx_nav_pvt_numsv;

static int hf_ubx_nav_pvt_lon;

static int hf_ubx_nav_pvt_lat;

static int hf_ubx_nav_pvt_height;

static int hf_ubx_nav_pvt_hmsl;

static int hf_ubx_nav_pvt_hacc;

static int hf_ubx_nav_pvt_vacc;

static int hf_ubx_nav_pvt_veln;

static int hf_ubx_nav_pvt_vele;

static int hf_ubx_nav_pvt_veld;

static int hf_ubx_nav_pvt_gspeed;

static int hf_ubx_nav_pvt_headmot;

static int hf_ubx_nav_pvt_sacc;

static int hf_ubx_nav_pvt_headacc;

static int hf_ubx_nav_pvt_pdop;

static int hf_ubx_nav_pvt_lastcorrectionage;

static int hf_ubx_nav_pvt_invalidllh;

static int hf_ubx_nav_pvt_reserved1;

static int hf_ubx_nav_pvt_headveh;

static int hf_ubx_nav_pvt_magdec;

static int hf_ubx_nav_pvt_magacc;

static int * const ubx_nav_pvt_valid_fields[] = {

    &hf_ubx_nav_pvt_validdate,

    &hf_ubx_nav_pvt_validtime,

    &hf_ubx_nav_pvt_fullyresolved,

    &hf_ubx_nav_pvt_validmag,

    NULL

};

static int * const ubx_nav_pvt_flags_fields[] = {

    &hf_ubx_nav_pvt_gnssfixok,

    &hf_ubx_nav_pvt_diffsoln,

    &hf_ubx_nav_pvt_psmstate,

    &hf_ubx_nav_pvt_headvehvalid,

    NULL

};

static int * const ubx_nav_pvt_flags2_fields[] = {

    &hf_ubx_nav_pvt_confirmedavai,

    &hf_ubx_nav_pvt_confirmeddate,

    &hf_ubx_nav_pvt_confirmedtime,

    NULL

};

static int hf_ubx_nav_relposned;

static int hf_ubx_nav_relposned_version;

static int hf_ubx_nav_relposned_reserved0;

static int hf_ubx_nav_relposned_refstationid;

static int hf_ubx_nav_relposned_itow;

static int hf_ubx_nav_relposned_relposn;

static int hf_ubx_nav_relposned_relpose;

static int hf_ubx_nav_relposned_relposd;

static int hf_ubx_nav_relposned_relposlength;

static int hf_ubx_nav_relposned_relposheading;

static int hf_ubx_nav_relposned_reserved1;

static int hf_ubx_nav_relposned_relposhpn;

static int hf_ubx_nav_relposned_relposhpe;

static int hf_ubx_nav_relposned_relposhpd;

static int hf_ubx_nav_relposned_relposhplength;

static int hf_ubx_nav_relposned_accn;

static int hf_ubx_nav_relposned_acce;

static int hf_ubx_nav_relposned_accd;

static int hf_ubx_nav_relposned_acclength;

static int hf_ubx_nav_relposned_accheading;

static int hf_ubx_nav_relposned_reserved2;

static int hf_ubx_nav_relposned_flags;

static int hf_ubx_nav_relposned_gnssfixok;

static int hf_ubx_nav_relposned_diffsoln;

static int hf_ubx_nav_relposned_relposvalid;

static int hf_ubx_nav_relposned_carrsoln;

static int hf_ubx_nav_relposned_ismoving;

static int hf_ubx_nav_relposned_refposmiss;

static int hf_ubx_nav_relposned_refobsmiss;

static int hf_ubx_nav_relposned_relposheadingvalid;

static int hf_ubx_nav_relposned_relposnormalized;

static int hf_ubx_nav_relposned_relposn_full;

static int hf_ubx_nav_relposned_relpose_full;

static int hf_ubx_nav_relposned_relposd_full;

static int hf_ubx_nav_relposned_relposlength_full;

static int * const ubx_nav_relposned_flags_fields[] = {

    &hf_ubx_nav_relposned_gnssfixok,

    &hf_ubx_nav_relposned_diffsoln,

    &hf_ubx_nav_relposned_relposvalid,

    &hf_ubx_nav_relposned_carrsoln,

    &hf_ubx_nav_relposned_ismoving,

    &hf_ubx_nav_relposned_refposmiss,

    &hf_ubx_nav_relposned_refobsmiss,

    &hf_ubx_nav_relposned_relposheadingvalid,

    &hf_ubx_nav_relposned_relposnormalized,

    NULL

};

static int hf_ubx_nav_sat;

static int hf_ubx_nav_sat_itow;

static int hf_ubx_nav_sat_version;

static int hf_ubx_nav_sat_num_svs;

static int hf_ubx_nav_sat_reserved1;

static int hf_ubx_nav_sat_gnss_id;

static int hf_ubx_nav_sat_sv_id;

static int hf_ubx_nav_sat_cn0;

static int hf_ubx_nav_sat_elev;

static int hf_ubx_nav_sat_azim;

static int hf_ubx_nav_sat_pr_res;

static int hf_ubx_nav_sat_flags;

static int hf_ubx_nav_sat_quality_ind;

static int hf_ubx_nav_sat_sv_used;

static int hf_ubx_nav_sat_health;

static int hf_ubx_nav_sat_diff_corr;

static int hf_ubx_nav_sat_smoothed;

static int hf_ubx_nav_sat_orbit_src;

static int hf_ubx_nav_sat_eph_avail;

static int hf_ubx_nav_sat_alm_avail;

static int hf_ubx_nav_sat_ano_avail;

static int hf_ubx_nav_sat_aop_avail;

static int hf_ubx_nav_sat_sbas_corr_used;

static int hf_ubx_nav_sat_rtcm_corr_used;

static int hf_ubx_nav_sat_slas_corr_used;

static int hf_ubx_nav_sat_spartn_corr_used;

static int hf_ubx_nav_sat_pr_corr_used;

static int hf_ubx_nav_sat_cr_corr_used;

static int hf_ubx_nav_sat_do_corr_used;

static int * const ubx_nav_sat_flags_fields[] = {

    &hf_ubx_nav_sat_quality_ind,

    &hf_ubx_nav_sat_sv_used,

    &hf_ubx_nav_sat_health,

    &hf_ubx_nav_sat_diff_corr,

    &hf_ubx_nav_sat_smoothed,

    &hf_ubx_nav_sat_orbit_src,

    &hf_ubx_nav_sat_eph_avail,

    &hf_ubx_nav_sat_alm_avail,

    &hf_ubx_nav_sat_ano_avail,

    &hf_ubx_nav_sat_aop_avail,

    &hf_ubx_nav_sat_sbas_corr_used,

    &hf_ubx_nav_sat_rtcm_corr_used,

    &hf_ubx_nav_sat_slas_corr_used,

    &hf_ubx_nav_sat_spartn_corr_used,

    &hf_ubx_nav_sat_pr_corr_used,

    &hf_ubx_nav_sat_cr_corr_used,

    &hf_ubx_nav_sat_do_corr_used,

    NULL

};

static int hf_ubx_nav_sbas;

static int hf_ubx_nav_sbas_itow;

static int hf_ubx_nav_sbas_geo;

static int hf_ubx_nav_sbas_mode;

static int hf_ubx_nav_sbas_sys;

static int hf_ubx_nav_sbas_service;

static int hf_ubx_nav_sbas_service_ranging;

static int hf_ubx_nav_sbas_service_corrections;

static int hf_ubx_nav_sbas_service_integrity;

static int hf_ubx_nav_sbas_service_testmode;

static int hf_ubx_nav_sbas_service_bad;

static int hf_ubx_nav_sbas_cnt;

static int hf_ubx_nav_sbas_reserved1;

static int hf_ubx_nav_sbas_sv_id;

static int hf_ubx_nav_sbas_flags;

static int hf_ubx_nav_sbas_udre;

static int hf_ubx_nav_sbas_sv_sys;

static int hf_ubx_nav_sbas_sv_service;

static int hf_ubx_nav_sbas_reserved2;

static int hf_ubx_nav_sbas_prc;

static int hf_ubx_nav_sbas_reserved3;

static int hf_ubx_nav_sbas_ic;

static int * const ubx_nav_sbas_service_fields[] = {

    &hf_ubx_nav_sbas_service_ranging,

    &hf_ubx_nav_sbas_service_corrections,

    &hf_ubx_nav_sbas_service_integrity,

    &hf_ubx_nav_sbas_service_testmode,

    &hf_ubx_nav_sbas_service_bad,

    NULL

};

static int hf_ubx_nav_timegps;

static int hf_ubx_nav_timegps_itow;

static int hf_ubx_nav_timegps_ftow;

static int hf_ubx_nav_timegps_week;

static int hf_ubx_nav_timegps_leaps;

static int hf_ubx_nav_timegps_valid;

static int hf_ubx_nav_timegps_leapsvalid;

static int hf_ubx_nav_timegps_weekvalid;

static int hf_ubx_nav_timegps_towvalid;

static int hf_ubx_nav_timegps_tacc;

static int * const ubx_nav_timegps_valid_fields[] = {

    &hf_ubx_nav_timegps_towvalid,

    &hf_ubx_nav_timegps_weekvalid,

    &hf_ubx_nav_timegps_leapsvalid,

    NULL

};

static int hf_ubx_nav_timeutc;

static int hf_ubx_nav_timeutc_itow;

static int hf_ubx_nav_timeutc_tacc;

static int hf_ubx_nav_timeutc_nano;

static int hf_ubx_nav_timeutc_year;

static int hf_ubx_nav_timeutc_month;

static int hf_ubx_nav_timeutc_day;

static int hf_ubx_nav_timeutc_hour;

static int hf_ubx_nav_timeutc_min;

static int hf_ubx_nav_timeutc_sec;

static int hf_ubx_nav_timeutc_valid;

static int hf_ubx_nav_timeutc_validtow;

static int hf_ubx_nav_timeutc_validwkn;

static int hf_ubx_nav_timeutc_validutc;

static int hf_ubx_nav_timeutc_utcstandard;

static int * const ubx_nav_timeutc_valid_fields[] = {

    &hf_ubx_nav_timeutc_validtow,

    &hf_ubx_nav_timeutc_validwkn,

    &hf_ubx_nav_timeutc_validutc,

    &hf_ubx_nav_timeutc_utcstandard,

    NULL

};

static int hf_ubx_nav_velecef;

static int hf_ubx_nav_velecef_itow;

static int hf_ubx_nav_velecef_ecefvx;

static int hf_ubx_nav_velecef_ecefvy;

static int hf_ubx_nav_velecef_ecefvz;

static int hf_ubx_nav_velecef_sacc;

static int hf_ubx_rxm_measx;

static int hf_ubx_rxm_measx_version;

static int hf_ubx_rxm_measx_reserved1;

static int hf_ubx_rxm_measx_gpstow;

static int hf_ubx_rxm_measx_glotow;

static int hf_ubx_rxm_measx_bdstow;

static int hf_ubx_rxm_measx_reserved2;

static int hf_ubx_rxm_measx_qzsstow;

static int hf_ubx_rxm_measx_gpstowacc;

static int hf_ubx_rxm_measx_glotowacc;

static int hf_ubx_rxm_measx_bdstowacc;

static int hf_ubx_rxm_measx_reserved3;

static int hf_ubx_rxm_measx_qzsstowacc;

static int hf_ubx_rxm_measx_numsv;

static int hf_ubx_rxm_measx_flags_towset;

static int hf_ubx_rxm_measx_reserved4;

static int hf_ubx_rxm_measx_gnssid;

static int hf_ubx_rxm_measx_svid;

static int hf_ubx_rxm_measx_cn0;

static int hf_ubx_rxm_measx_mpathindic;

static int hf_ubx_rxm_measx_dopplerms;

static int hf_ubx_rxm_measx_dopplerhz;

static int hf_ubx_rxm_measx_wholechips;

static int hf_ubx_rxm_measx_fracchips;

static int hf_ubx_rxm_measx_codephase;

static int hf_ubx_rxm_measx_intcodephase;

static int hf_ubx_rxm_measx_pseurangermserr;

static int hf_ubx_rxm_measx_reserved5;

static int hf_ubx_rxm_rawx;

static int hf_ubx_rxm_rawx_rcvtow;

static int hf_ubx_rxm_rawx_week;

static int hf_ubx_rxm_rawx_leaps;

static int hf_ubx_rxm_rawx_nummeas;

static int hf_ubx_rxm_rawx_recstat;

static int hf_ubx_rxm_rawx_recstat_leapsec;

static int hf_ubx_rxm_rawx_recstat_clkreset;

static int hf_ubx_rxm_rawx_version;

static int hf_ubx_rxm_rawx_reserved1;

static int hf_ubx_rxm_rawx_prmes;

static int hf_ubx_rxm_rawx_cpmes;

static int hf_ubx_rxm_rawx_domes;

static int hf_ubx_rxm_rawx_gnssid;

static int hf_ubx_rxm_rawx_svid;

static int hf_ubx_rxm_rawx_sigid;

static int hf_ubx_rxm_rawx_freqid;

static int hf_ubx_rxm_rawx_locktime;

static int hf_ubx_rxm_rawx_cn0;

static int hf_ubx_rxm_rawx_prstdev;

static int hf_ubx_rxm_rawx_cpstdev;

static int hf_ubx_rxm_rawx_dostdev;

static int hf_ubx_rxm_rawx_trkstat;

static int hf_ubx_rxm_rawx_trkstat_prvalid;

static int hf_ubx_rxm_rawx_trkstat_cpvalid;

static int hf_ubx_rxm_rawx_trkstat_halfcyc;

static int hf_ubx_rxm_rawx_trkstat_subhalfcyc;

static int hf_ubx_rxm_rawx_reserved2;

static int * const ubx_rxm_rawx_recstat_fields[] = {

    &hf_ubx_rxm_rawx_recstat_leapsec,

    &hf_ubx_rxm_rawx_recstat_clkreset,

    NULL

};

static int * const ubx_rxm_rawx_trkstat_fields[] = {

    &hf_ubx_rxm_rawx_trkstat_prvalid,

    &hf_ubx_rxm_rawx_trkstat_cpvalid,

    &hf_ubx_rxm_rawx_trkstat_halfcyc,

    &hf_ubx_rxm_rawx_trkstat_subhalfcyc,

    NULL

};

static int hf_ubx_rxm_sfrbx;

static int hf_ubx_rxm_sfrbx_gnssid;

static int hf_ubx_rxm_sfrbx_svid;

static int hf_ubx_rxm_sfrbx_sigid;

static int hf_ubx_rxm_sfrbx_freqid;

static int hf_ubx_rxm_sfrbx_numwords;

static int hf_ubx_rxm_sfrbx_chn;

static int hf_ubx_rxm_sfrbx_version;

static int hf_ubx_rxm_sfrbx_dwrd;

static int hf_ubx_rxm_sfrbx_reserved1;

static int hf_ubx_rxm_sfrbx_reserved2;

static int hf_ubx_rxm_sfrbx_reserved3;

static dissector_table_t ubx_class_id_dissector_table;

static dissector_table_t ubx_gnssid_dissector_table;

static expert_field ei_ubx_chksum;

static int ett_ubx;

static int ett_ubx_ack_ack;

static int ett_ubx_ack_nak;

static int ett_ubx_cfg_gnss;

static int ett_ubx_cfg_gnss_block[255];

static int ett_ubx_cfg_sbas;

static int ett_ubx_cfg_sbas_mode;

static int ett_ubx_cfg_sbas_scanmode;

static int ett_ubx_mon_rf;

static int ett_ubx_mon_rf_rf_info[255];

static int ett_ubx_mon_rf_flags;

static int ett_ubx_nav_dop;

static int ett_ubx_nav_eoe;

static int ett_ubx_nav_odo;

static int ett_ubx_nav_posecef;

static int ett_ubx_nav_pvt;

static int ett_ubx_nav_pvt_datetime;

static int ett_ubx_nav_pvt_valid;

static int ett_ubx_nav_pvt_flags;

static int ett_ubx_nav_pvt_flags2;

static int ett_ubx_nav_relposned;

static int ett_ubx_nav_relposned_flags;

static int ett_ubx_nav_sat;

static int ett_ubx_nav_sat_sv_info[255];

static int ett_ubx_nav_sat_flags;

static int ett_ubx_nav_sbas;

static int ett_ubx_nav_sbas_service;

static int ett_ubx_nav_sbas_sv_info[255];

static int ett_ubx_nav_timegps;

static int ett_ubx_nav_timegps_tow;

static int ett_ubx_nav_timegps_valid;

static int ett_ubx_nav_timeutc;

static int ett_ubx_nav_timeutc_valid;

static int ett_ubx_nav_velecef;

static int ett_ubx_rxm_measx;

static int ett_ubx_rxm_measx_meas[255];

static int ett_ubx_rxm_rawx;

static int ett_ubx_rxm_rawx_recstat;

static int ett_ubx_rxm_rawx_trkstat;

static int ett_ubx_rxm_rawx_meas[255];

static int ett_ubx_rxm_sfrbx;

static dissector_handle_t ubx_handle;

/* compute the checksum for a UBX message (Fletcher 8-bit by RFC 1145 */

static uint16_t chksum_fletcher_8(const uint8_t *data, const int len) {

    uint8_t ck_a = 0, ck_b = 0;

    int i;

    for (i = 0; i < len; i++) {

        ck_a += data[i];

        ck_b += ck_a;

    }

    return (ck_b << 8) | ck_a;

}

/* Format code phase */

static void fmt_codephase(char *label, uint32_t p) {

    snprintf(label, ITEM_LABEL_LENGTH, "%d * 2^-21 ms", p);

}

/* Format carrier phase standard deviation */

static void fmt_cpstdev(char *label, uint32_t p) {

    snprintf(label, ITEM_LABEL_LENGTH, "%d.%03d cycles", (p * 4) / 1000, (p * 4) % 1000);

}

/* Format magnetic declination */

static void fmt_decl(char *label, int32_t d) {

    if (d >= 0) {

        snprintf(label, ITEM_LABEL_LENGTH, "%d.%02d%s", d / 100, d % 100,

                UTF8_DEGREE_SIGN);

    }

    else {

        snprintf(label, ITEM_LABEL_LENGTH, "-%d.%02d%s", -d / 100, -d % 100,

                UTF8_DEGREE_SIGN);

    }

}

/* Format magnetic declination accuracy */

static void fmt_decl_acc(char *label, uint32_t a) {

    snprintf(label, ITEM_LABEL_LENGTH, "%d.%02d%s", a / 100,

            a % 100, UTF8_DEGREE_SIGN);

}

/* Format Dilution of Precision */

static void fmt_dop(char *label, uint32_t dop) {

    snprintf(label, ITEM_LABEL_LENGTH, "%i.%02i", dop / 100, dop % 100);

}

/* Format Doppler measurement in m/s */

static void fmt_dopplerms(char *label, int32_t d) {

    if (d >= 0) {

        snprintf(label, ITEM_LABEL_LENGTH, "%d.%02d m/s", d * 4 / 100, (d * 4) % 100);

    }

    else {

        snprintf(label, ITEM_LABEL_LENGTH, "-%d.%02d m/s", -d * 4 / 100, (-d * 4) % 100);

    }

}

/* Format Doppler measurement in Hz */

static void fmt_dopplerhz(char *label, int32_t d) {

    if (d >= 0) {

        snprintf(label, ITEM_LABEL_LENGTH, "%d.%01d Hz", d * 2 / 10, (d * 2) % 10);

    }

    else {

        snprintf(label, ITEM_LABEL_LENGTH, "-%d.%01d Hz", -d * 2 / 10, (-d * 2) % 10);

    }

}

/* Format Doppler standard deviation */

static void fmt_dostdev(char *label, uint32_t p) {

    snprintf(label, ITEM_LABEL_LENGTH, "%d.%03d Hz", (1 << p) * 2 / 1000, ((1 << p) * 2) % 1000);

}

/* Format heading */

static void fmt_heading(char *label, int32_t h) {

    if (h >= 0) {

        snprintf(label, ITEM_LABEL_LENGTH, "%d.%05d%s", h / 100000, h % 100000,

                UTF8_DEGREE_SIGN);

    }

    else {

        snprintf(label, ITEM_LABEL_LENGTH, "-%d.%05d%s", -h / 100000,

                -h % 100000, UTF8_DEGREE_SIGN);

    }

}

/* Format heading accuracy */

static void fmt_heading_acc(char *label, uint32_t a) {

    snprintf(label, ITEM_LABEL_LENGTH, "%d.%05d%s", a / 100000,

            a % 100000, UTF8_DEGREE_SIGN);

}

/* Format latitude or longitude */

static void fmt_lat_lon(char *label, int32_t l) {

    if (l >= 0) {

        snprintf(label, ITEM_LABEL_LENGTH, "%d.%07d%s", l / 10000000,

                l % 10000000, UTF8_DEGREE_SIGN);

    }

    else {

        snprintf(label, ITEM_LABEL_LENGTH, "-%d.%07d%s", -l / 10000000,

                -l % 10000000, UTF8_DEGREE_SIGN);

    }

}

/* Format pseudo-range residuals */

static void fmt_pr_res(char *label, int32_t p) {

    if (p >= 0) {

        snprintf(label, ITEM_LABEL_LENGTH, "%d.%01dm", p / 10, p % 10);

    }

    else {

        snprintf(label, ITEM_LABEL_LENGTH, "-%d.%01dm", -p / 10, -p % 10);

    }

}

/* Format pseudo-range standard deviation */

static void fmt_prstdev(char *label, uint32_t p) {

    snprintf(label, ITEM_LABEL_LENGTH, "%d.%02dm", (1 << p) / 100, (1 << p) % 100);

}

/* Format measurement reference time accuracy */

static void fmt_towacc(char *label, uint32_t p) {

    snprintf(label, ITEM_LABEL_LENGTH, "%d.%04dms", p / 16, (p * 10000 / 16) % 10000);

}

/* Format high-precision components of relative position vectors in cm between -0.99cm and 0.99cm */

static void fmt_relpos_hp(char *label, int8_t p) {

    if (p >= 0) {

        snprintf(label, ITEM_LABEL_LENGTH, "%d.%02dcm", p / 100, p % 100);

    }

    else {

        snprintf(label, ITEM_LABEL_LENGTH, "-%d.%02dcm", -p / 100, -p % 100);

    }

}

static void fmt_relpos_acc(char *label, uint32_t p) {

    snprintf(label, ITEM_LABEL_LENGTH, "%d.%02dcm", p / 100, p % 100);

}

static void fmt_relpos_full(char *label, int64_t p) {

    if (p >= 0) {

        snprintf(label, ITEM_LABEL_LENGTH, "%"PRId64".%02"PRId64"cm", p / 100, p % 100);

    }

    else {

        snprintf(label, ITEM_LABEL_LENGTH, "-%"PRId64".%02"PRId64"cm", -p / 100, -p % 100);

    }

}

/* Dissect UBX message */

static int dissect_ubx(tvbuff_t *tvb, packet_info *pinfo, proto_tree *tree, void *data _U_) {

    tvbuff_t *next_tvb;

    uint32_t msg_class_id, payload_len, cmp_chksum;

    col_set_str(pinfo->cinfo, COL_PROTOCOL, "UBX");

    col_clear(pinfo->cinfo, COL_INFO);

    payload_len = tvb_get_uint16(tvb, 4, ENC_LITTLE_ENDIAN);

    proto_item *ti = proto_tree_add_item(tree, proto_ubx, tvb, 0,

            UBX_HEADER_SIZE + payload_len + UBX_CHKSUM_SIZE, ENC_NA);

    proto_tree *ubx_tree = proto_item_add_subtree(ti, ett_ubx);

    // dissect the registered fields

    proto_tree_add_item(ubx_tree, hf_ubx_preamble,

            tvb, 0, 2, ENC_BIG_ENDIAN);

    proto_tree_add_item_ret_uint(ubx_tree, hf_ubx_msg_class_id,

            tvb, 2, 2, ENC_BIG_ENDIAN, &msg_class_id);

    proto_tree_add_item(ubx_tree, hf_ubx_payload_len,

            tvb, 4, 2, ENC_LITTLE_ENDIAN);

    // checksum