2 * This file is Copyright (c) 2010 by the GPSD project
3 * BSD terms apply: see the file COPYING in the distribution root for details.
8 /* gps.h -- interface of the libgps library */
11 #define strtok_r(s,d,p) strtok_s(s,d,p)
18 /* Macro for declaring function arguments unused. */
20 # define UNUSED __attribute__((unused)) /* Flag variable as unused */
21 #else /* not __GNUC__ */
26 #include <sys/types.h>
29 #include <inttypes.h> /* stdint.h would be smaller but not all have it */
35 #include <pthread.h> /* pacifies OpenBSD's compiler */
39 * 4.1 - Base version for initial JSON protocol (Dec 2009)
40 * 4.2 - AIS application IDs split into DAC and FID (May 2010)
42 #define GPSD_API_MAJOR_VERSION 4 /* bump on incompatible changes */
43 #define GPSD_API_MINOR_VERSION 2 /* bump on compatible changes */
45 #define MAXTAGLEN 8 /* maximum length of sentence tag name */
46 #define MAXCHANNELS 20 /* maximum GPS channels (*not* satellites!) */
47 #define GPS_PRNMAX 32 /* above this number are SBAS satellites */
48 #define GPS_PATH_MAX 64 /* dev files usually have short names */
49 #define MAXUSERDEVS 4 /* max devices per user */
52 * The structure describing an uncertainty volume in kinematic space.
53 * This is what GPSes are meant to produce; all the other info is
54 * technical impedimenta.
56 * All double values use NAN to indicate data not available.
58 * Usually all the information in this structure was considered valid
59 * by the GPS at the time of update. This will be so if you are using
60 * a GPS chipset that speaks SiRF binary, Garmin binary, or Zodiac binary.
61 * This covers over 80% of GPS products in early 2005.
63 * If you are using a chipset that speaks NMEA, this structure is updated
64 * in bits by GPRMC (lat/lon, track, speed), GPGGA (alt, climb), GPGLL
65 * (lat/lon), and GPGSA (eph, epv). Most NMEA GPSes take a single fix
66 * at the beginning of a 1-second cycle and report the same timestamp in
67 * GPRMC, GPGGA, and GPGLL; for these, all info is guaranteed correctly
68 * synced to the time member, but you'll get different stages of the same
69 * update depending on where in the cycle you poll. A very few GPSes,
70 * like the Garmin 48, take a new fix before more than one of of
71 * GPRMC/GPGGA/GPGLL during a single cycle; thus, they may have different
72 * timestamps and some data in this structure can be up to 1 cycle (usually
73 * 1 second) older than the fix time.
75 * Error estimates are at 95% confidence.
78 double time; /* Time of update, seconds since Unix epoch */
79 int mode; /* Mode of fix */
80 #define MODE_NOT_SEEN 0 /* mode update not seen yet */
81 #define MODE_NO_FIX 1 /* none */
82 #define MODE_2D 2 /* good for latitude/longitude */
83 #define MODE_3D 3 /* good for altitude/climb too */
84 double ept; /* Expected time uncertainty */
85 double latitude; /* Latitude in degrees (valid if mode >= 2) */
86 double epy; /* Latitude position uncertainty, meters */
87 double longitude; /* Longitude in degrees (valid if mode >= 2) */
88 double epx; /* Longitude position uncertainty, meters */
89 double altitude; /* Altitude in meters (valid if mode == 3) */
90 double epv; /* Vertical position uncertainty, meters */
91 double track; /* Course made good (relative to true north) */
92 double epd; /* Track uncertainty, degrees */
93 double speed; /* Speed over ground, meters/sec */
94 double eps; /* Speed uncertainty, meters/sec */
95 double climb; /* Vertical speed, meters/sec */
96 double epc; /* Vertical speed uncertainty */
100 * From the RCTM104 2.x standard:
102 * "The 30 bit words (as opposed to 32 bit words) coupled with a 50 Hz
103 * transmission rate provides a convenient timing capability where the
104 * times of word boundaries are a rational multiple of 0.6 seconds."
106 * "Each frame is N+2 words long, where N is the number of message data
107 * words. For example, a filler message (type 6 or 34) with no message
108 * data will have N=0, and will consist only of two header words. The
109 * maximum number of data words allowed by the format is 31, so that
110 * the longest possible message will have a total of 33 words."
112 #define RTCM2_WORDS_MAX 33
113 #define MAXCORRECTIONS 18 /* max correction count in type 1 or 9 */
114 #define MAXSTATIONS 10 /* maximum stations in almanac, type 5 */
115 /* RTCM104 doesn't specify this, so give it the largest reasonable value */
116 #define MAXHEALTH (RTCM2_WORDS_MAX-2)
120 * A nominally 30-bit word (24 bits of data, 6 bits of parity)
121 * used both in the GPS downlink protocol described in IS-GPS-200
122 * and in the format for DGPS corrections used in RTCM-104v2.
124 typedef /*@unsignedintegraltype@*/ uint32_t isgps30bits_t;
125 #endif /* S_SPLINT_S */
128 * Values for "system" fields. Note, the encoding logic is senstive to the
129 * actual values of these; it's not sufficient that they're distinct.
131 #define NAVSYSTEM_GPS 0
132 #define NAVSYSTEM_GLONASS 1
133 #define NAVSYSTEM_GALILEO 2
134 #define NAVSYSTEM_UNKNOWN 3
137 /* header contents */
138 unsigned type; /* RTCM message type */
139 unsigned length; /* length (words) */
140 double zcount; /* time within hour: GPS time, no leap secs */
141 unsigned refstaid; /* reference station ID */
142 unsigned seqnum; /* message sequence number (modulo 8) */
143 unsigned stathlth; /* station health */
145 /* message data in decoded form */
148 unsigned int nentries;
149 struct rangesat_t { /* data from messages 1 & 9 */
150 unsigned ident; /* satellite ID */
151 unsigned udre; /* user diff. range error */
152 unsigned issuedata; /* issue of data */
153 double rangerr; /* range error */
154 double rangerate; /* range error rate */
155 } sat[MAXCORRECTIONS];
157 struct { /* data for type 3 messages */
158 bool valid; /* is message well-formed? */
161 struct { /* data from type 4 messages */
162 bool valid; /* is message well-formed? */
165 #define SENSE_INVALID 0
166 #define SENSE_GLOBAL 1
167 #define SENSE_LOCAL 2
171 struct { /* data from type 5 messages */
172 unsigned int nentries;
174 unsigned ident; /* satellite ID */
175 bool iodl; /* issue of data */
176 unsigned int health; /* is satellite healthy? */
177 #define HEALTH_NORMAL (0) /* Radiobeacon operation normal */
178 #define HEALTH_UNMONITORED (1) /* No integrity monitor operating */
179 #define HEALTH_NOINFO (2) /* No information available */
180 #define HEALTH_DONOTUSE (3) /* Do not use this radiobeacon */
181 int snr; /* signal-to-noise ratio, dB */
182 #define SNR_BAD -1 /* not reported */
183 bool health_en; /* health enabled */
184 bool new_data; /* new data? */
185 bool los_warning; /* line-of-sight warning */
186 unsigned int tou; /* time to unhealth, seconds */
189 struct { /* data from type 7 messages */
190 unsigned int nentries;
192 double latitude, longitude; /* location */
193 unsigned int range; /* range in km */
194 double frequency; /* broadcast freq */
195 unsigned int health; /* station health */
196 unsigned int station_id; /* of the transmitter */
197 unsigned int bitrate; /* of station transmissions */
198 } station[MAXSTATIONS];
200 /* data from type 16 messages */
201 char message[(RTCM2_WORDS_MAX-2) * sizeof(isgps30bits_t)];
202 /* data from messages of unknown type */
203 isgps30bits_t words[RTCM2_WORDS_MAX-2];
207 /* RTCM3 report structures begin here */
209 #define RTCM3_MAX_SATELLITES 64
210 #define RTCM3_MAX_DESCRIPTOR 31
211 #define RTCM3_MAX_ANNOUNCEMENTS 32
213 struct rtcm3_rtk_hdr { /* header data from 1001, 1002, 1003, 1004 */
214 /* Used for both GPS and GLONASS, but their timebases differ */
215 unsigned int station_id; /* Reference Station ID */
216 time_t tow; /* GPS Epoch Time (TOW) in ms,
217 or GLONASS Epoch Time in ms */
218 bool sync; /* Synchronous GNSS Message Flag */
219 unsigned short satcount; /* # Satellite Signals Processed */
220 bool smoothing; /* Divergence-free Smoothing Indicator */
221 unsigned short interval; /* Smoothing Interval */
224 struct rtcm3_basic_rtk {
225 unsigned char indicator; /* Indicator */
226 unsigned char channel; /* Satellite Frequency Channel Number
228 double pseudorange; /* Pseudorange */
229 double rangediff; /* PhaseRange – Pseudorange in meters */
230 unsigned char locktime; /* Lock time Indicator */
233 struct rtcm3_extended_rtk {
234 unsigned char indicator; /* Indicator */
235 unsigned char channel; /* Satellite Frequency Channel Number
237 double pseudorange; /* Pseudorange */
238 double rangediff; /* PhaseRange – L1 Pseudorange */
239 unsigned char locktime; /* Lock time Indicator */
240 unsigned char ambiguity; /* Integer Pseudorange
242 double CNR; /* Carrier-to-Noise Ratio */
245 struct rtcm3_network_rtk_header {
246 unsigned int network_id; /* Network ID */
247 unsigned int subnetwork_id; /* Subnetwork ID */
248 time_t time; /* GPS Epoch Time (TOW) in ms */
249 bool multimesg; /* GPS Multiple Message Indicator */
250 unsigned master_id; /* Master Reference Station ID */
251 unsigned aux_id; /* Auxilary Reference Station ID */
252 unsigned char satcount; /* count of GPS satellites */
255 struct rtcm3_correction_diff {
256 unsigned char ident; /* satellite ID */
257 enum {reserved, correct, widelane, uncertain} ambiguity;
258 unsigned char nonsync;
259 double geometric_diff; /* Geometric Carrier Phase
260 Correction Difference (1016, 1017) */
261 unsigned char iode; /* GPS IODE (1016, 1017) */
262 double ionospheric_diff; /* Ionospheric Carrier Phase
263 Correction Difference (1015, 1017) */
267 /* header contents */
268 unsigned type; /* RTCM 3.x message type */
269 unsigned length; /* payload length, inclusive of checksum */
272 /* 1001-1013 were present in the 3.0 version */
274 struct rtcm3_rtk_hdr header;
276 unsigned ident; /* Satellite ID */
277 struct rtcm3_basic_rtk L1;
278 } rtk_data[RTCM3_MAX_SATELLITES];
281 struct rtcm3_rtk_hdr header;
283 unsigned ident; /* Satellite ID */
284 struct rtcm3_extended_rtk L1;
285 } rtk_data[RTCM3_MAX_SATELLITES];
288 struct rtcm3_rtk_hdr header;
290 unsigned ident; /* Satellite ID */
291 struct rtcm3_basic_rtk L1;
292 struct rtcm3_basic_rtk L2;
293 } rtk_data[RTCM3_MAX_SATELLITES];
296 struct rtcm3_rtk_hdr header;
298 unsigned ident; /* Satellite ID */
299 struct rtcm3_extended_rtk L1;
300 struct rtcm3_extended_rtk L2;
301 } rtk_data[RTCM3_MAX_SATELLITES];
304 unsigned int station_id; /* Reference Station ID */
305 int system; /* Which system is it? */
306 bool reference_station; /* Reference-station indicator */
307 bool single_receiver; /* Single Receiver Oscillator */
308 double ecef_x, ecef_y, ecef_z; /* ECEF antenna location */
311 unsigned int station_id; /* Reference Station ID */
312 int system; /* Which system is it? */
313 bool reference_station; /* Reference-station indicator */
314 bool single_receiver; /* Single Receiver Oscillator */
315 double ecef_x, ecef_y, ecef_z; /* ECEF antenna location */
316 double height; /* Antenna height */
319 unsigned int station_id; /* Reference Station ID */
320 char descriptor[RTCM3_MAX_DESCRIPTOR+1]; /* Description string */
321 unsigned char setup_id;
324 unsigned int station_id; /* Reference Station ID */
325 char descriptor[RTCM3_MAX_DESCRIPTOR+1]; /* Description string */
326 unsigned char setup_id;
327 char serial[RTCM3_MAX_DESCRIPTOR+1]; /* Serial # string */
330 struct rtcm3_rtk_hdr header;
332 unsigned ident; /* Satellite ID */
333 struct rtcm3_basic_rtk L1;
334 } rtk_data[RTCM3_MAX_SATELLITES];
337 struct rtcm3_rtk_hdr header;
339 unsigned ident; /* Satellite ID */
340 struct rtcm3_extended_rtk L1;
341 } rtk_data[RTCM3_MAX_SATELLITES];
344 struct rtcm3_rtk_hdr header;
346 unsigned ident; /* Satellite ID */
347 struct rtcm3_extended_rtk L1;
348 struct rtcm3_extended_rtk L2;
349 } rtk_data[RTCM3_MAX_SATELLITES];
352 struct rtcm3_rtk_hdr header;
354 unsigned ident; /* Satellite ID */
355 struct rtcm3_extended_rtk L1;
356 struct rtcm3_extended_rtk L2;
357 } rtk_data[RTCM3_MAX_SATELLITES];
360 unsigned int station_id; /* Reference Station ID */
361 unsigned short mjd; /* Modified Julian Day (MJD) Number */
362 unsigned int sod; /* Seconds of Day (UTC) */
363 unsigned char leapsecs; /* Leap Seconds, GPS-UTC */
364 unsigned char ncount; /* Count of announcements to follow */
368 unsigned short interval;
369 } announcements[RTCM3_MAX_ANNOUNCEMENTS];
371 /* 1014-1017 were added in the 3.1 version */
373 unsigned int network_id; /* Network ID */
374 unsigned int subnetwork_id; /* Subnetwork ID */
375 unsigned char stationcount; /* # auxiliary stations transmitted */
376 unsigned int master_id; /* Master Reference Station ID */
377 unsigned int aux_id; /* Auxilary Reference Station ID */
378 double d_lat, d_lon, d_alt; /* Aux-master location delta */
381 struct rtcm3_network_rtk_header header;
382 struct rtcm3_correction_diff corrections[RTCM3_MAX_SATELLITES];
385 struct rtcm3_network_rtk_header header;
386 struct rtcm3_correction_diff corrections[RTCM3_MAX_SATELLITES];
389 struct rtcm3_network_rtk_header header;
390 struct rtcm3_correction_diff corrections[RTCM3_MAX_SATELLITES];
392 /* 1018-1029 were in the 3.0 version */
394 unsigned int ident; /* Satellite ID */
395 unsigned int week; /* GPS Week Number */
396 unsigned char sv_accuracy; /* GPS SV ACCURACY */
397 enum {reserved_code, p, ca, l2c} code;
400 /* ephemeris fields, not scaled */
401 unsigned int t_sub_oc;
407 signed int delta_sub_n;
412 unsigned int sqrt_sub_A;
413 unsigned int t_sub_oe;
415 signed int OMEGA_sub_0;
419 signed int argument_of_perigee;
422 unsigned char sv_health;
427 unsigned int ident; /* Satellite ID */
428 unsigned short channel; /* Satellite Frequency Channel Number */
429 /* ephemeris fields, not scaled */
431 bool health_avAilability_indicator;
433 unsigned short t_sub_k;
437 signed int x_sub_n_t_of_t_sub_b_prime;
438 signed int x_sub_n_t_of_t_sub_b;
439 signed int x_sub_n_t_of_t_sub_b_prime_prime;
440 signed int y_sub_n_t_of_t_sub_b_prime;
441 signed int y_sub_n_t_of_t_sub_b;
442 signed int y_sub_n_t_of_t_sub_b_prime_prime;
443 signed int z_sub_n_t_of_t_sub_b_prime;
444 signed int z_sub_n_t_of_t_sub_b;
445 signed int z_sub_n_t_of_t_sub_b_prime_prime;
447 signed int gamma_sub_n_of_t_sub_b;
450 signed int tau_n_of_t_sub_b;
451 signed int M_delta_tau_sub_n;
452 unsigned int E_sub_n;
454 unsigned char MF_sub_T;
455 unsigned char MN_sub_T;
457 bool additioinal_data_availability;
458 unsigned int N_sup_A;
459 unsigned int tau_sub_c;
460 unsigned int M_N_sub_4;
461 signed int M_tau_sub_GPS;
465 unsigned int station_id; /* Reference Station ID */
466 unsigned short mjd; /* Modified Julian Day (MJD) Number */
467 unsigned int sod; /* Seconds of Day (UTC) */
468 unsigned char len; /* # Chars to follow */
469 unsigned char unicode_units;
470 unsigned char text[128];
475 typedef /*@unsignedintegraltype@*/ unsigned int gps_mask_t;
478 * Is an MMSI number that of an auxiliary associated with a mother ship?
479 * We need to be able to test this for decoding AIS Type 24 messages.
480 * According to <http://www.navcen.uscg.gov/marcomms/gmdss/mmsi.htm#format>,
481 * auxiliary-craft MMSIs have the form 98MIDXXXX, where MID is a country
482 * code and XXXX the vessel ID.
484 #define AIS_AUXILIARY_MMSI(n) ((n) / 10000000 == 98)
488 unsigned int type; /* message type */
489 unsigned int repeat; /* Repeat indicator */
490 unsigned int mmsi; /* MMSI */
492 /* Types 1-3 Common navigation info */
494 unsigned int status; /* navigation status */
495 signed turn; /* rate of turn */
496 #define AIS_TURN_HARD_LEFT -127
497 #define AIS_TURN_HARD_RIGHT 127
498 #define AIS_TURN_NOT_AVAILABLE 128
499 unsigned int speed; /* speed over ground in deciknots */
500 #define AIS_SPEED_NOT_AVAILABLE 1023
501 #define AIS_SPEED_FAST_MOVER 1022 /* >= 102.2 knots */
502 bool accuracy; /* position accuracy */
503 #define AIS_LATLON_SCALE 600000.0
504 int lon; /* longitude */
505 #define AIS_LON_NOT_AVAILABLE 0x6791AC0
506 int lat; /* latitude */
507 #define AIS_LAT_NOT_AVAILABLE 0x3412140
508 unsigned int course; /* course over ground */
509 #define AIS_COURSE_NOT_AVAILABLE 3600
510 unsigned int heading; /* true heading */
511 #define AIS_HEADING_NOT_AVAILABLE 511
512 unsigned int second; /* seconds of UTC timestamp */
513 #define AIS_SEC_NOT_AVAILABLE 60
514 #define AIS_SEC_MANUAL 61
515 #define AIS_SEC_ESTIMATED 62
516 #define AIS_SEC_INOPERATIVE 63
517 unsigned int maneuver; /* maneuver indicator */
518 //unsigned int spare; spare bits */
519 bool raim; /* RAIM flag */
520 unsigned int radio; /* radio status bits */
522 /* Type 4 - Base Station Report & Type 11 - UTC and Date Response */
524 unsigned int year; /* UTC year */
525 #define AIS_YEAR_NOT_AVAILABLE 0
526 unsigned int month; /* UTC month */
527 #define AIS_MONTH_NOT_AVAILABLE 0
528 unsigned int day; /* UTC day */
529 #define AIS_DAY_NOT_AVAILABLE 0
530 unsigned int hour; /* UTC hour */
531 #define AIS_HOUR_NOT_AVAILABLE 24
532 unsigned int minute; /* UTC minute */
533 #define AIS_MINUTE_NOT_AVAILABLE 60
534 unsigned int second; /* UTC second */
535 #define AIS_SECOND_NOT_AVAILABLE 60
536 bool accuracy; /* fix quality */
537 int lon; /* longitude */
538 int lat; /* latitude */
539 unsigned int epfd; /* type of position fix device */
540 //unsigned int spare; spare bits */
541 bool raim; /* RAIM flag */
542 unsigned int radio; /* radio status bits */
544 /* Type 5 - Ship static and voyage related data */
546 unsigned int ais_version; /* AIS version level */
547 unsigned int imo; /* IMO identification */
548 char callsign[8]; /* callsign */
549 #define AIS_SHIPNAME_MAXLEN 20
550 char shipname[AIS_SHIPNAME_MAXLEN+1]; /* vessel name */
551 unsigned int shiptype; /* ship type code */
552 unsigned int to_bow; /* dimension to bow */
553 unsigned int to_stern; /* dimension to stern */
554 unsigned int to_port; /* dimension to port */
555 unsigned int to_starboard; /* dimension to starboard */
556 unsigned int epfd; /* type of position fix deviuce */
557 unsigned int month; /* UTC month */
558 unsigned int day; /* UTC day */
559 unsigned int hour; /* UTC hour */
560 unsigned int minute; /* UTC minute */
561 unsigned int draught; /* draft in meters */
562 char destination[21]; /* ship destination */
563 unsigned int dte; /* data terminal enable */
564 //unsigned int spare; spare bits */
566 /* Type 6 - Addressed Binary Message */
568 unsigned int seqno; /* sequence number */
569 unsigned int dest_mmsi; /* destination MMSI */
570 bool retransmit; /* retransmit flag */
571 //unsigned int spare; spare bit(s) */
572 unsigned int dac; /* Application ID */
573 unsigned int fid; /* Functional ID */
574 #define AIS_TYPE6_BINARY_MAX 920 /* 920 bits */
575 size_t bitcount; /* bit count of the data */
576 char bitdata[(AIS_TYPE6_BINARY_MAX + 7) / 8];
578 /* Type 7 - Binary Acknowledge */
584 /* spares ignored, they're only padding here */
586 /* Type 8 - Broadcast Binary Message */
588 //unsigned int spare; spare bit(s) */
589 unsigned int dac; /* Designated Area Code */
590 unsigned int fid; /* Functional ID */
591 #define AIS_TYPE8_BINARY_MAX 952 /* 952 bits */
592 size_t bitcount; /* bit count of the data */
593 char bitdata[(AIS_TYPE8_BINARY_MAX + 7) / 8];
595 /* Type 9 - Standard SAR Aircraft Position Report */
597 unsigned int alt; /* altitude in meters */
598 #define AIS_ALT_NOT_AVAILABLE 4095
599 #define AIS_ALT_HIGH 4094 /* 4094 meters or higher */
600 unsigned int speed; /* speed over ground in deciknots */
601 #define AIS_SAR_SPEED_NOT_AVAILABLE 1023
602 #define AIS_SAR_FAST_MOVER 1022
603 bool accuracy; /* position accuracy */
604 int lon; /* longitude */
605 int lat; /* latitude */
606 unsigned int course; /* course over ground */
607 unsigned int second; /* seconds of UTC timestamp */
608 unsigned int regional; /* regional reserved */
609 unsigned int dte; /* data terminal enable */
610 //unsigned int spare; spare bits */
611 bool assigned; /* assigned-mode flag */
612 bool raim; /* RAIM flag */
613 unsigned int radio; /* radio status bits */
615 /* Type 10 - UTC/Date Inquiry */
617 //unsigned int spare;
618 unsigned int dest_mmsi; /* destination MMSI */
619 //unsigned int spare2;
621 /* Type 12 - Safety-Related Message */
623 unsigned int seqno; /* sequence number */
624 unsigned int dest_mmsi; /* destination MMSI */
625 bool retransmit; /* retransmit flag */
626 //unsigned int spare; spare bit(s) */
627 #define AIS_TYPE12_TEXT_MAX 157 /* 936 bits of six-bit, plus NUL */
628 char text[AIS_TYPE12_TEXT_MAX];
630 /* Type 14 - Safety-Related Broadcast Message */
632 //unsigned int spare; spare bit(s) */
633 #define AIS_TYPE14_TEXT_MAX 161 /* 952 bits of six-bit, plus NUL */
634 char text[AIS_TYPE14_TEXT_MAX];
636 /* Type 15 - Interrogation */
638 //unsigned int spare; spare bit(s) */
640 unsigned int type1_1;
641 unsigned int offset1_1;
642 //unsigned int spare2; spare bit(s) */
643 unsigned int type1_2;
644 unsigned int offset1_2;
645 //unsigned int spare3; spare bit(s) */
647 unsigned int type2_1;
648 unsigned int offset2_1;
649 //unsigned int spare4; spare bit(s) */
651 /* Type 16 - Assigned Mode Command */
653 //unsigned int spare; spare bit(s) */
655 unsigned int offset1;
656 unsigned int increment1;
658 unsigned int offset2;
659 unsigned int increment2;
661 /* Type 17 - GNSS Broadcast Binary Message */
663 //unsigned int spare; spare bit(s) */
664 #define AIS_GNSS_LATLON_SCALE 600.0
665 int lon; /* longitude */
666 int lat; /* latitude */
667 //unsigned int spare2; spare bit(s) */
668 #define AIS_TYPE17_BINARY_MAX 736 /* 920 bits */
669 size_t bitcount; /* bit count of the data */
670 char bitdata[(AIS_TYPE17_BINARY_MAX + 7) / 8];
672 /* Type 18 - Standard Class B CS Position Report */
674 unsigned int reserved; /* altitude in meters */
675 unsigned int speed; /* speed over ground in deciknots */
676 bool accuracy; /* position accuracy */
677 int lon; /* longitude */
678 #define AIS_GNS_LON_NOT_AVAILABLE 0x1a838
679 int lat; /* latitude */
680 #define AIS_GNS_LAT_NOT_AVAILABLE 0xd548
681 unsigned int course; /* course over ground */
682 unsigned int heading; /* true heading */
683 unsigned int second; /* seconds of UTC timestamp */
684 unsigned int regional; /* regional reserved */
685 bool cs; /* carrier sense unit flag */
686 bool display; /* unit has attached display? */
687 bool dsc; /* unit attached to radio with DSC? */
688 bool band; /* unit can switch frequency bands? */
689 bool msg22; /* can accept Message 22 management? */
690 bool assigned; /* assigned-mode flag */
691 bool raim; /* RAIM flag */
692 unsigned int radio; /* radio status bits */
694 /* Type 19 - Extended Class B CS Position Report */
696 unsigned int reserved; /* altitude in meters */
697 unsigned int speed; /* speed over ground in deciknots */
698 bool accuracy; /* position accuracy */
699 int lon; /* longitude */
700 int lat; /* latitude */
701 unsigned int course; /* course over ground */
702 unsigned int heading; /* true heading */
703 unsigned int second; /* seconds of UTC timestamp */
704 unsigned int regional; /* regional reserved */
705 char shipname[AIS_SHIPNAME_MAXLEN+1]; /* ship name */
706 unsigned int shiptype; /* ship type code */
707 unsigned int to_bow; /* dimension to bow */
708 unsigned int to_stern; /* dimension to stern */
709 unsigned int to_port; /* dimension to port */
710 unsigned int to_starboard; /* dimension to starboard */
711 unsigned int epfd; /* type of position fix deviuce */
712 bool raim; /* RAIM flag */
713 unsigned int dte; /* date terminal enable */
714 bool assigned; /* assigned-mode flag */
715 //unsigned int spare; spare bits */
717 /* Type 20 - Data Link Management Message */
719 //unsigned int spare; spare bit(s) */
720 unsigned int offset1; /* TDMA slot offset */
721 unsigned int number1; /* number of xlots to allocate */
722 unsigned int timeout1; /* allocation timeout */
723 unsigned int increment1; /* repeat increment */
724 unsigned int offset2; /* TDMA slot offset */
725 unsigned int number2; /* number of xlots to allocate */
726 unsigned int timeout2; /* allocation timeout */
727 unsigned int increment2; /* repeat increment */
728 unsigned int offset3; /* TDMA slot offset */
729 unsigned int number3; /* number of xlots to allocate */
730 unsigned int timeout3; /* allocation timeout */
731 unsigned int increment3; /* repeat increment */
732 unsigned int offset4; /* TDMA slot offset */
733 unsigned int number4; /* number of xlots to allocate */
734 unsigned int timeout4; /* allocation timeout */
735 unsigned int increment4; /* repeat increment */
737 /* Type 21 - Aids to Navigation Report */
739 unsigned int aid_type; /* aid type */
740 char name[35]; /* name of aid to navigation */
741 bool accuracy; /* position accuracy */
742 int lon; /* longitude */
743 int lat; /* latitude */
744 unsigned int to_bow; /* dimension to bow */
745 unsigned int to_stern; /* dimension to stern */
746 unsigned int to_port; /* dimension to port */
747 unsigned int to_starboard; /* dimension to starboard */
748 unsigned int epfd; /* type of EPFD */
749 unsigned int second; /* second of UTC timestamp */
750 bool off_position; /* off-position indicator */
751 unsigned int regional; /* regional reserved field */
752 bool raim; /* RAIM flag */
753 bool virtual_aid; /* is virtual station? */
754 bool assigned; /* assigned-mode flag */
755 //unsigned int spare; unused */
757 /* Type 22 - Channel Management */
759 //unsigned int spare; spare bit(s) */
760 unsigned int channel_a; /* Channel A number */
761 unsigned int channel_b; /* Channel B number */
762 unsigned int txrx; /* transmit/receive mode */
763 bool power; /* high-power flag */
764 #define AIS_CHANNEL_LATLON_SCALE 600.0
767 int ne_lon; /* NE corner longitude */
768 int ne_lat; /* NE corner latitude */
769 int sw_lon; /* SW corner longitude */
770 int sw_lat; /* SW corner latitude */
773 unsigned int dest1; /* addressed station MMSI 1 */
774 unsigned int dest2; /* addressed station MMSI 2 */
777 bool addressed; /* addressed vs. broadast flag */
778 bool band_a; /* fix 1.5kHz band for channel A */
779 bool band_b; /* fix 1.5kHz band for channel B */
780 unsigned int zonesize; /* size of transitional zone */
782 /* Type 23 - Group Assignment Command */
784 int ne_lon; /* NE corner longitude */
785 int ne_lat; /* NE corner latitude */
786 int sw_lon; /* SW corner longitude */
787 int sw_lat; /* SW corner latitude */
788 //unsigned int spare; spare bit(s) */
789 unsigned int stationtype; /* station type code */
790 unsigned int shiptype; /* ship type code */
791 //unsigned int spare2; spare bit(s) */
792 unsigned int txrx; /* transmit-enable code */
793 unsigned int interval; /* report interval */
794 unsigned int quiet; /* quiet time */
795 //unsigned int spare3; spare bit(s) */
797 /* Type 24 - Class B CS Static Data Report */
799 char shipname[AIS_SHIPNAME_MAXLEN+1]; /* vessel name */
800 unsigned int shiptype; /* ship type code */
801 char vendorid[8]; /* vendor ID */
802 char callsign[8]; /* callsign */
804 unsigned int mothership_mmsi; /* MMSI of main vessel */
806 unsigned int to_bow; /* dimension to bow */
807 unsigned int to_stern; /* dimension to stern */
808 unsigned int to_port; /* dimension to port */
809 unsigned int to_starboard; /* dimension to starboard */
813 /* Type 25 - Addressed Binary Message */
815 bool addressed; /* addressed-vs.broadcast flag */
816 bool structured; /* structured-binary flag */
817 unsigned int dest_mmsi; /* destination MMSI */
818 unsigned int app_id; /* Application ID */
819 #define AIS_TYPE25_BINARY_MAX 128 /* Up to 128 bits */
820 size_t bitcount; /* bit count of the data */
821 char bitdata[(AIS_TYPE25_BINARY_MAX + 7) / 8];
823 /* Type 26 - Addressed Binary Message */
825 bool addressed; /* addressed-vs.broadcast flag */
826 bool structured; /* structured-binary flag */
827 unsigned int dest_mmsi; /* destination MMSI */
828 unsigned int app_id; /* Application ID */
829 #define AIS_TYPE26_BINARY_MAX 1004 /* Up to 128 bits */
830 size_t bitcount; /* bit count of the data */
831 char bitdata[(AIS_TYPE26_BINARY_MAX + 7) / 8];
832 unsigned int radio; /* radio status bits */
843 double mag_len; /* unitvector sqrt(x^2 + y^2 +z^2) */
847 double acc_len; /* unitvector sqrt(x^2 + y^2 +z^2) */
855 /* compass status -- TrueNorth (and any similar) devices only */
863 /* Dilution of precision factors */
864 double xdop, ydop, pdop, hdop, vdop, tdop, gdop;
868 /* raw measurement data */
869 double codephase[MAXCHANNELS]; /* meters */
870 double carrierphase[MAXCHANNELS]; /* meters */
871 double pseudorange[MAXCHANNELS]; /* meters */
872 double deltarange[MAXCHANNELS]; /* meters/sec */
873 double doppler[MAXCHANNELS]; /* Hz */
874 double mtime[MAXCHANNELS]; /* sec */
875 unsigned satstat[MAXCHANNELS]; /* tracking status */
876 #define SAT_ACQUIRED 0x01 /* satellite acquired */
877 #define SAT_CODE_TRACK 0x02 /* code-tracking loop acquired */
878 #define SAT_CARR_TRACK 0x04 /* carrier-tracking loop acquired */
879 #define SAT_DATA_SYNC 0x08 /* data-bit synchronization done */
880 #define SAT_FRAME_SYNC 0x10 /* frame synchronization done */
881 #define SAT_EPHEMERIS 0x20 /* ephemeris collected */
882 #define SAT_FIX_USED 0x40 /* used for position fix */
886 char release[64]; /* external version */
887 char rev[64]; /* internal revision ID */
888 int proto_major, proto_minor; /* API major and minor versions */
892 char path[GPS_PATH_MAX];
894 #define SEEN_GPS 0x01
895 #define SEEN_RTCM2 0x02
896 #define SEEN_RTCM3 0x04
897 #define SEEN_AIS 0x08
901 unsigned int baudrate, stopbits; /* RS232 link parameters */
902 char parity; /* 'N', 'O', or 'E' */
903 double cycle, mincycle; /* refresh cycle time in seconds */
904 int driver_mode; /* is driver in native mode or not? */
908 bool watcher; /* is watcher mode on? */
909 bool json; /* requesting JSON? */
910 bool nmea; /* requesting dumping as NMEA? */
911 int raw; /* requesting raw data? */
912 bool scaled; /* requesting report scaling? */
913 bool timing; /* requesting timing info */
914 char devpath[GPS_PATH_MAX]; /* specific device to watch */
918 * Someday we may support Windows, under which socket_t is a separate type.
919 * In the meantime, having a typedef for this semantic kind is no bad thing,
920 * as it makes clearer what some declarations are doing without breaking
921 * binary compatibility.
923 typedef int socket_t;
925 /* mode flags for setting streaming policy */
926 #define WATCH_ENABLE 0x0001u /* enable streaming */
927 #define WATCH_JSON 0x0002u /* enable JSON output */
928 #define WATCH_NMEA 0x0004u /* enable output in NMEA */
929 #define WATCH_RARE 0x0008u /* enable output of packets in hex */
930 #define WATCH_RAW 0x0010u /* enable output of raw packets */
931 #define WATCH_SCALED 0x0020u /* scale output to floats, when applicable */
932 #define WATCH_NEWSTYLE 0x0040u /* force JSON streaming */
933 #define WATCH_OLDSTYLE 0x0080u /* force old-style streaming */
934 #define WATCH_DEVICE 0x0100u /* watch specific device */
935 #define WATCH_DISABLE 0x0200u /* disable watching */
936 #define POLL_NONBLOCK 0x1000u /* set non-blocking poll (experimental!) */
939 * Main structure that includes all previous substructures
943 gps_mask_t set; /* has field been set since this was last cleared? */
944 #define ONLINE_SET 0x00000001u
945 #define TIME_SET 0x00000002u
946 #define TIMERR_SET 0x00000004u
947 #define LATLON_SET 0x00000008u
948 #define ALTITUDE_SET 0x00000010u
949 #define SPEED_SET 0x00000020u
950 #define TRACK_SET 0x00000040u
951 #define CLIMB_SET 0x00000080u
952 #define STATUS_SET 0x00000100u
953 #define MODE_SET 0x00000200u
954 #define DOP_SET 0x00000400u
955 #define VERSION_SET 0x00000800u
956 #define HERR_SET 0x00001000u
957 #define VERR_SET 0x00002000u
958 #define ATTITUDE_SET 0x00004000u
959 #define POLICY_SET 0x00008000u
960 #define SATELLITE_SET 0x00010000u
961 #define RAW_SET 0x00020000u
962 #define USED_SET 0x00040000u
963 #define SPEEDERR_SET 0x00080000u
964 #define TRACKERR_SET 0x00100000u
965 #define CLIMBERR_SET 0x00200000u
966 #define DEVICE_SET 0x00400000u
967 #define DEVICELIST_SET 0x00800000u
968 #define DEVICEID_SET 0x01000000u
969 #define ERROR_SET 0x02000000u
970 #define RTCM2_SET 0x04000000u
971 #define RTCM3_SET 0x08000000u
972 #define AIS_SET 0x10000000u
973 #define PACKET_SET 0x20000000u
974 #define AUXDATA_SET 0x80000000u /* reserved */
975 double online; /* NZ if GPS is on line, 0 if not.
977 * Note: gpsd clears this time when sentences
978 * fail to show up within the GPS's normal
979 * send cycle time. If the host-to-GPS
980 * link is lossy enough to drop entire
981 * sentences, this field will be
982 * prone to false zero values.
986 socket_t gps_fd; /* socket or file descriptor to GPS */
990 struct gps_fix_t fix; /* accumulated PVT data */
992 double separation; /* Geoidal separation, MSL - WGS84 (Meters) */
994 /* GPS status -- always valid */
995 int status; /* Do we have a fix? */
996 #define STATUS_NO_FIX 0 /* no */
997 #define STATUS_FIX 1 /* yes, without DGPS */
998 #define STATUS_DGPS_FIX 2 /* yes, with DGPS */
1000 /* precision of fix -- valid if satellites_used > 0 */
1001 int satellites_used; /* Number of satellites used in solution */
1002 int used[MAXCHANNELS]; /* PRNs of satellites used in solution */
1005 /* redundant with the estimate elements in the fix structure */
1006 double epe; /* spherical position error, 95% confidence (meters) */
1008 /* satellite status -- valid when satellites_visible > 0 */
1009 double skyview_time; /* skyview timestamp */
1010 int satellites_visible; /* # of satellites in view */
1011 int PRN[MAXCHANNELS]; /* PRNs of satellite */
1012 int elevation[MAXCHANNELS]; /* elevation of satellite */
1013 int azimuth[MAXCHANNELS]; /* azimuth */
1014 double ss[MAXCHANNELS]; /* signal-to-noise ratio (dB) */
1016 struct devconfig_t dev; /* device that shipped last update */
1018 struct policy_t policy; /* our listening policy */
1020 char tag[MAXTAGLEN+1]; /* tag of last sentence processed */
1022 void (*raw_hook)(struct gps_data_t *, char *, size_t len); /* Raw-mode hook for GPS data. */
1024 /* pack things never reported together to reduce structure size */
1025 #define UNION_SET (RTCM2_SET|RTCM3_SET|AIS_SET|VERSION_SET|DEVICELIST_SET|ERROR_SET)
1027 /* unusual forms of sensor data that might come up the pipe */
1028 struct rtcm2_t rtcm2;
1029 struct rtcm3_t rtcm3;
1031 struct attitude_t attitude;
1032 struct rawdata_t raw;
1033 /* "artificial" structures for various protocol responses */
1034 struct version_t version;
1038 struct devconfig_t list[MAXUSERDEVS];
1043 /* Private data - client code must not set this */
1047 extern int gps_open_r(/*@null@*/const char *, /*@null@*/const char *,
1048 /*@out@*/struct gps_data_t *);
1049 extern /*@null@*/struct gps_data_t *gps_open(const char *, const char *);
1050 extern int gps_close(struct gps_data_t *);
1051 extern int gps_send(struct gps_data_t *, const char *, ... );
1052 extern int gps_read(/*@out@*/struct gps_data_t *);
1053 extern int gps_poll(/*@out@*/struct gps_data_t *);
1054 extern bool gps_waiting(struct gps_data_t *);
1055 extern int gps_stream(struct gps_data_t *, unsigned int, /*@null@*/void *);
1056 extern void gps_set_raw_hook(struct gps_data_t *,
1057 void (*)(struct gps_data_t *, char *, size_t));
1058 extern char /*@observer@*/ *gps_errstr(const int);
1060 /* this only needs to be visible for the unit tests */
1061 extern int gps_unpack(char *, struct gps_data_t *);
1063 /* dependencies on struct gpsdata_t end hrere */
1065 extern void gps_clear_fix(/*@ out @*/struct gps_fix_t *);
1066 extern void gps_merge_fix(/*@ out @*/struct gps_fix_t *,
1068 /*@ in @*/struct gps_fix_t *);
1069 extern void gps_enable_debug(int, FILE *);
1070 extern /*@observer@*/const char *gps_maskdump(gps_mask_t);
1072 extern time_t mkgmtime(register struct tm *);
1073 extern double timestamp(void);
1074 extern double iso8601_to_unix(char *);
1075 extern /*@observer@*/char *unix_to_iso8601(double t, /*@ out @*/char[], size_t len);
1076 extern double gpstime_to_unix(int, double);
1077 extern void unix_to_gpstime(double, /*@out@*/int *, /*@out@*/double *);
1078 extern double earth_distance(double, double, double, double);
1079 extern double wgs84_separation(double, double);
1081 /* some multipliers for interpreting GPS output */
1082 #define METERS_TO_FEET 3.2808399 /* Meters to U.S./British feet */
1083 #define METERS_TO_MILES 0.00062137119 /* Meters to miles */
1084 #define KNOTS_TO_MPH 1.1507794 /* Knots to miles per hour */
1085 #define KNOTS_TO_KPH 1.852 /* Knots to kilometers per hour */
1086 #define KNOTS_TO_MPS 0.51444444 /* Knots to meters per second */
1087 #define MPS_TO_KPH 3.6 /* Meters per second to klicks/hr */
1088 #define MPS_TO_MPH 2.2369363 /* Meters/second to miles per hour */
1089 #define MPS_TO_KNOTS 1.9438445 /* Meters per second to knots */
1090 /* miles and knots are both the international standard versions of the units */
1092 /* angle conversion multipliers */
1093 #define GPS_PI 3.1415926535897932384626433832795029
1094 #define RAD_2_DEG 57.2957795130823208767981548141051703
1095 #define DEG_2_RAD 0.0174532925199432957692369076848861271
1097 /* geodetic constants */
1098 #define WGS84A 6378137 /* equatorial radius */
1099 #define WGS84F 298.257223563 /* flattening */
1100 #define WGS84B 6356752.3142 /* polar radius */
1102 /* netlib_connectsock() errno return values */
1103 #define NL_NOSERVICE -1 /* can't get service entry */
1104 #define NL_NOHOST -2 /* can't get host entry */
1105 #define NL_NOPROTO -3 /* can't get protocol entry */
1106 #define NL_NOSOCK -4 /* can't create socket */
1107 #define NL_NOSOCKOPT -5 /* error SETSOCKOPT SO_REUSEADDR */
1108 #define NL_NOCONNECT -6 /* can't connect to host/socket pair */
1110 #define DEFAULT_GPSD_PORT "2947" /* IANA assignment */
1111 #define DEFAULT_RTCM_PORT "2101" /* IANA assignment */
1114 } /* End of the 'extern "C"' block */
1117 /* gps.h ends here */
1118 #endif /* _GPSD_GPS_H_ */