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gps.h
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/* gps.h -- interface of the libgps library */
/*
* This file is Copyright (c) 2010 by the GPSD project
* SPDX-License-Identifier: BSD-2-clause
*/
#ifndef _GPSD_GPS_H_
#define _GPSD_GPS_H_
#ifdef __cplusplus
extern "C" {
#endif
#include <inttypes.h> /* stdint.h would be smaller but not all have it */
#include <limits.h>
#include <pthread.h> /* pacifies OpenBSD's compiler */
#include <signal.h>
#include <stdbool.h>
#include <stdio.h>
#include <sys/time.h> // for struct timespec
#include <sys/types.h>
#include <time.h>
/*
* 4.1 - Base version for initial JSON protocol (Dec 2009, release 2.90)
* 4.2 - AIS application IDs split into DAC and FID (July 2010, release 2.95)
* 5.0 - MAXCHANNELS bumped from 20 to 32 for GLONASS (Mar 2011, release 2.96)
* gps_open() becomes reentrant, what gps_open_r() used to be.
* gps_poll() removed in favor of gps_read(). The raw hook is gone.
* (Aug 2011, release 3.0)
* 5.1 - GPS_PATH_MAX uses system PATH_MAX; split24 flag added. New
* model and serial members in part B of AIS type 24, conforming
* with ITU-R 1371-4. New timedrift structure (Nov 2013, release 3.10).
* 6.0 - AIS type 6 and 8 get 'structured' flag; GPS_PATH_MAX
* shortened because devices has moved out of the tail union. Sentence
* tag fields dropped from emitted JSON. The shape of the skyview
* structure has changed to make working with the satellites-used
* bits less confusing. (January 2015, release 3.12).
* 6.1 - Add navdata_t for more (nmea2000) info.
* 7.0 - add gps_fix_t.ecef (February 2018)
* changed prototype of gps_read() to add buffer parameters
* increased length of devconfig_t.subtype
* add gnssid:svid:sigid to satellite_t
* add mtime to attitude_t
* changed MAXCHANNELS
* 8.0 - Change shape of rawdata_t.
* Added values for gps_data_t->status
* Remove epe from gps_data_t, it duplicates gps_fix_t eph
* Added sep (estimated spherical error, 3D)
* Note: Some GPS call eph as epe, others call sep as epe
* Add gps_fix_t datum string, and qErr
* enlarge subtype to hold ZED-F9 string
* MAXCHANNELS bumped from 120 to 140
* Try to make PRN be NMEA 2.x-4.0 compliant, not 4.10 or u-blox
* 9.0 add NED and geoid_sep variables to gps_fix_t
* add health variable to satellite_t
* change satellite_t elevation and azimuth to double
* satellite_t elevation, azimuth, and ss use NAN for unknown value.
* add altMSL, and depth, to gps_fix_t
* add altHAE to gps_fix_t
* mark altitude in gps_fix_t as deprecated and undefined
* Move mag_var from gps_device_t to magnetic_var gps_data_t.
* add dgps_age and dgps_station, to gps_fix_t
* Change gps_fix_t.time from timestamp_t to timespec_t
* Change gps_data_t.skyview_time from timestamp_t to timespec_t
* Change gps_data_t.online from timestamp_t to timespec_t
* Change gpst_t.utctime from double to timespec_t
* Change devices.time from timestamp_t to timespec_t
* Change sub4_18.d_tot from timestamp_t to time_t t_tot
* Change devconfig_t.activated, cycle & mincycle to timespec_t
* Remove unused timestamp() and unix_to_iso8601().
* Remove unused iso8601_to_unix().
* Remove unused struct timestamp_t entirely
* Add DEG_NORM()
* Move toff and pps out of gps_data_t.union.
* Move gps_fix_t.qErr to gps_data_t.
* Split devconfig_t.subtype into subtype and subtype1
* 9.1 Add leap_seconds to gps_data_t
* Fix rtcm3_1029_t.text length
* Add/change many rtcm2 structs
* Add/change many rtcm3 structs
*/
#define GPSD_API_MAJOR_VERSION 9 /* bump on incompatible changes */
#define GPSD_API_MINOR_VERSION 1 /* bump on compatible changes */
#define MAXCHANNELS 140 /* u-blox 9 tracks 140 signals */
#define MAXUSERDEVS 4 /* max devices per user */
#define GPS_PATH_MAX 128 /* for names like /dev/serial/by-id/... */
// normalize degrees to 0 to 359
#define DEG_NORM(deg) \
if (0 > (deg)) {(deg) += 360;} else if (360 <= (deg)) {(deg) -= 360;};
/*
* The structure describing an uncertainty volume in kinematic space.
* This is what GPSes are meant to produce; all the other info is
* technical impedimenta.
*
* All double values use NAN to indicate data not available.
*
* All the information in this structure was considered valid
* by the GPS at the time of update.
*
* Error estimates are at 95% confidence.
*/
/* WARNING! loss of precision telling time as a double.
* A double is 53 significant bits.
* UNIX time to nanoSec precision is 62 significant bits
* UNIX time to nanoSec precision after 2038 is 63 bits
* UNIX time as a double is only microSec precision
* UNIX time as a double and PPS do not play well together
*/
/* we want cm accuracy and 0.0000001 degrees is 1.11 cm at the equator
* the equator is best case for longitude. At 45lat cut that in half.
* at 85lat make it 0.00000001
*
* this easily fits in a C double which has 15.95 digits of precision
* printf() format %f defaults to %.6f, which will truncate the result.
* so print with %.7f if you have a survey grade GPS.
*
* ref: https://en.wikipedia.org/wiki/Decimal_degrees
*/
typedef struct timespec timespec_t; /* Unix time as sec, nsec */
/* GPS error estimates are all over the map, and often unspecified.
* try for 1-sigma if we can... */
struct gps_fix_t {
timespec_t time; /* Time of update */
int mode; /* Mode of fix */
#define MODE_NOT_SEEN 0 /* mode update not seen yet */
#define MODE_NO_FIX 1 /* none */
#define MODE_2D 2 /* good for latitude/longitude */
#define MODE_3D 3 /* good for altitude/climb too */
double ept; /* Expected time uncertainty, seconds */
double latitude; /* Latitude in degrees (valid if mode >= 2) */
double epy; /* Latitude position uncertainty, meters */
double longitude; /* Longitude in degrees (valid if mode >= 2) */
double epx; /* Longitude position uncertainty, meters */
double altitude; // DEPRECATED, undefined.
double altHAE; /* Altitude, height above ellipsoid.
* in meters and probably WGS84
* (valid if mode == 3)
* MSL = altHAE - geoid_sep */
double altMSL; /* Altitude MSL (maybe EGM2008) */
double epv; /* Vertical position uncertainty, meters */
double track; /* Course made good (relative to true north) */
double epd; /* Track uncertainty, degrees */
double speed; /* Speed over ground, meters/sec */
double eps; /* Speed uncertainty, meters/sec */
double climb; /* Vertical speed, meters/sec */
double epc; /* Vertical speed uncertainty */
/* estimated position error horizontal (2D). Meters, maybe 50%, maybe 95% */
/* aka estimated position error (epe) */
double eph; /* estimated position error horizontal (2D) */
/* spherical error probability, 3D. Meters, maybe 50%, maybe 95% */
/* Garmin, not gpsd, calls this estimated position error (epe) */
double sep;
/* Geoid separation (ellipsoid separation)
* Height of MSL ellipsoid (geoid) above WGS84 ellipsoid.
* Postive is MSL above WGS84. In meters */
double geoid_sep;
double magnetic_track; /* Course (relative to Magnetic North) */
double magnetic_var; /* magnetic variation in degrees */
double depth; /* depth in meters, probably depth of water
* under the keel */
/* ECEF data, all data in meters, and meters/second, or NaN */
struct {
double x, y, z; /* ECEF x, y, z */
double pAcc; /* 3D Position Accuracy Estimate, likely SEP */
double vx, vy, vz; /* ECEF x, y, z velocity */
double vAcc; /* Velocity Accuracy Estimate, probably SEP */
} ecef;
/* NED data, all data in meters, and meters/second, or NaN */
struct {
double relPosN, relPosE, relPosD; /* NED relative positions */
double velN, velE, velD; /* NED velocities */
} NED;
char datum[40]; /* map datum */
/* DGPS stuff, often from xxGGA, or xxGNS */
double dgps_age; /* age of DGPS data in tenths of seconds,
* -1 invalid */
/* DGPS Station used, max size is a guess
* NMEA 2 says 0000-1023
* RTCM 3, station ID is 0 to 4095.
* u-blox UBX-NAV-DGPS is 16 bit integer */
int dgps_station; /* DGPS station ID, -1 invalid */
};
/*
* Other GNSS birds reuse GPS PRNs.
* It is an NMEA0183 convention to map them to pseudo-PRNs 65..437.
* Very dependent on NMEA version.
* (some other GPS receivers push them to 33 and above).
*/
#define GLONASS_PRN_OFFSET 64
/*
* The structure describing the pseudorange errors (GPGST)
*/
struct gst_t {
timespec_t utctime;
double rms_deviation;
double smajor_deviation;
double sminor_deviation;
double smajor_orientation;
double lat_err_deviation;
double lon_err_deviation;
double alt_err_deviation;
};
/*
* From the RCTM104 2.x standard:
*
* "The 30 bit words (as opposed to 32 bit words) coupled with a 50 Hz
* transmission rate provides a convenient timing capability where the
* times of word boundaries are a rational multiple of 0.6 seconds."
*
* "Each frame is N+2 words long, where N is the number of message data
* words. For example, a filler message (type 6 or 34) with no message
* data will have N=0, and will consist only of two header words. The
* maximum number of data words allowed by the format is 31, so that
* the longest possible message will have a total of 33 words."
*/
#define RTCM2_WORDS_MAX 33
#define MAXCORRECTIONS 18 /* max correction count in type 1 or 9 */
#define MAXSTATIONS 10 /* maximum stations in almanac, type 5 */
/* RTCM104 doesn't specify this, so give it the largest reasonable value */
#define MAXHEALTH (RTCM2_WORDS_MAX-2)
/*
* A nominally 30-bit word (24 bits of data, 6 bits of parity)
* used both in the GPS downlink protocol described in IS-GPS-200
* and in the format for DGPS corrections used in RTCM-104v2.
*/
typedef uint32_t isgps30bits_t;
/*
* Values for "system" fields. Note, the encoding logic is sensitive to the
* actual values of these; it's not sufficient that they're distinct.
*/
#define NAVSYSTEM_GPS 0
#define NAVSYSTEM_GLONASS 1
#define NAVSYSTEM_GALILEO 2
#define NAVSYSTEM_UNKNOWN 3
struct rtcm2_t {
/* header contents */
unsigned type; /* RTCM message type */
unsigned length; // payload length (words) not including 2 word header
double zcount; /* time within hour: GPS time, no leap secs */
unsigned refstaid; /* reference station ID */
unsigned seqnum; /* message sequence number (modulo 8) */
unsigned stathlth; /* station health */
/* message data in decoded form */
// Reference Station data for type 3/4/22/23/24/32 messages
struct {
bool valid; // is message well-formed?
double x, y, z; // reference station position ECEF, meters
double dx, dy, dz; // delta reference station position ECEF, meters
double ah; // antenna height (above RP) meters
double dx2, dy2, dz2; // L2 delta ref station position ECEF, meters
unsigned char gs; // 0 == GPS, 1 == GLONASS
char ant_desc[33]; // antenna descriptor
char ant_serial[33]; // antenna serial number
char ar; // 1 == ARP (Type 24) will follow
unsigned char setup_id; // 0 == use standard IGS model
} ref_sta;
// RTK corrections, type 18/19/20/21
struct {
unsigned tom; // GNSS Time of Measurement, 0-5999999 micro sec
unsigned char f; // 00 = L1, 10 = L2, 01 and 11 reserved
unsigned char sm; // smoothing interval
unsigned int nentries;
struct rtk_sat_t {
unsigned char m; // multiple message indicator
unsigned char pc; // 0 == C/A code, 1 == P-Code
unsigned char g; // 0 == GPS, 1 == GLONASS
// satellite id (1 - 32), GPS PRN, or GLONASS clot number
unsigned char ident;
unsigned char dq; // data qaulity
unsigned char clc; // cumulative loss of continuity
unsigned char iod; // Issue of Data (GPS)/Time of Day (GLO)
unsigned char me; // multipath error
int carrier_phase; // signed 32 bits, 1/256 cycle
int pseudorange; // signed 32 bits, 0.02 m
unsigned char rrc; // range rate correction
} sat[15];
} rtk;
union {
struct {
unsigned int nentries;
struct gps_rangesat_t { /* data from messages 1 & 9 */
unsigned ident; /* satellite ID */
unsigned udre; /* user differential range error */
unsigned iod; /* issue of data */
double prc; /* range error */
double rrc; /* range error rate */
} sat[MAXCORRECTIONS];
} gps_ranges;
struct { /* data from type 4 messages */
bool valid; /* is message well-formed? */
int system;
int sense;
#define SENSE_INVALID 0
#define SENSE_GLOBAL 1
#define SENSE_LOCAL 2
char datum[6];
double dx, dy, dz;
} reference;
struct { /* data from type 5 messages */
unsigned int nentries;
struct consat_t {
unsigned ident; /* satellite ID */
bool iodl; /* issue of data */
unsigned int health; /* is satellite healthy? */
#define HEALTH_NORMAL (0) /* Radiobeacon operation normal */
#define HEALTH_UNMONITORED (1) /* No integrity monitor operating */
#define HEALTH_NOINFO (2) /* No information available */
#define HEALTH_DONOTUSE (3) /* Do not use this radiobeacon */
int snr; /* signal-to-noise ratio, dB */
#define SNR_BAD -1 /* not reported */
bool health_en; /* health enabled */
bool new_data; /* new data? */
bool los_warning; /* line-of-sight warning */
unsigned int tou; /* time to unhealth, seconds */
} sat[MAXHEALTH];
} conhealth;
struct { /* data from type 7 messages */
unsigned int nentries;
struct station_t {
double latitude, longitude; /* location */
unsigned int range; /* range in km */
double frequency; /* broadcast freq */
unsigned int health; /* station health */
unsigned int station_id; /* of the transmitter */
unsigned int bitrate; /* of station transmissions */
} station[MAXSTATIONS];
} almanac;
struct { /* data for type 13 messages */
bool status; /* expect a text message */
bool rangeflag; /* station range altered? */
double lat, lon; /* station longitude/latitude */
unsigned int range; /* transmission range in km */
} xmitter;
struct { /* data from type 14 messages */
unsigned int week; /* GPS week (0-1023) */
unsigned int hour; /* Hour in week (0-167) */
unsigned int leapsecs; /* Leap seconds (0-63) */
} gpstime;
struct { // RTCM2 type 18
int tom; // time of measurement
// FIXME: add in sat words
} rtcm2_18;
struct { // RTCM2 type 19
int tom; // time of measurement
// FIXME: add in sat words
} rtcm2_19;
struct { // RTCM2 type 20
int tom; // time of measurement
// FIXME: add in sat words
} rtcm2_20;
struct { // RTCM2 type 21
int tom; // time of measurement
// FIXME: add in sat words
} rtcm2_21;
struct { // RTCM2 type 22
unsigned char ecef_dx; // L1 ECEF delta-x
unsigned char ecef_dy; // L1 ECEF delta-y
unsigned char ecef_dz; // L1 ECEF delta-z
unsigned char gs; // 0 is GPS, 1 is GLONASS
unsigned char ah_flag; // 1 if ah is valid
int ah; // Ant Height meters
unsigned char l2ecef_dx; // L2 ECEF delta-x
unsigned char l2ecef_dy; // L2 ECEF delta-y
unsigned char l2ecef_dz; // L2 ECEF delta-z
} rtcm2_22;
struct { // RTCM2 type 24
int64_t ecef_x; // ECEF X (m * 10e-4)
int64_t ecef_y; // ECEF Y (m * 10e-4)
int64_t ecef_z; // ECEF Z (m * 10e-4)
unsigned char gs; // 0 is GPS, 1 is GLONASS
unsigned char ah_flag; // 1 if ah is valid
int ah; // Ant Height meters
} rtcm2_24;
struct {
unsigned int nentries;
struct glonass_rangesat_t { /* data from message type 31 */
unsigned ident; /* satellite ID */
unsigned udre; /* user differential range error */
unsigned tod; /* issue of data */
bool change; /* ephemeris change bit */
double prc; /* range error */
double rrc; /* range error rate */
} sat[MAXCORRECTIONS];
} glonass_ranges;
/* data from type 16 messages */
char message[(RTCM2_WORDS_MAX - 2) * sizeof(isgps30bits_t)];
/* data from messages of unknown type, not including header */
isgps30bits_t words[RTCM2_WORDS_MAX - 2];
};
};
/* RTCM3 report structures begin here */
#define RTCM3_MAX_SATELLITES 64
#define RTCM3_MAX_DESCRIPTOR 31
#define RTCM3_MAX_ANNOUNCEMENTS 32
struct rtcm3_rtk_hdr { /* header data from 1001, 1002, 1003, 1004 */
/* Used for both GPS and GLONASS, but their timebases differ */
unsigned int station_id; /* Reference Station ID */
time_t tow; /* GPS Epoch Time (TOW) in ms,
or GLONASS Epoch Time in ms */
bool sync; /* Synchronous GNSS Message Flag */
unsigned short satcount; /* # Satellite Signals Processed */
bool smoothing; /* Divergence-free Smoothing Indicator */
unsigned int interval; /* Smoothing Interval */
};
struct rtcm3_basic_rtk {
unsigned char indicator; /* Indicator */
unsigned int channel; /* Satellite Frequency Channel Number
(GLONASS only) */
double pseudorange; /* Pseudorange */
double rangediff; /* PhaseRange - Pseudorange in meters */
unsigned char locktime; /* Lock time Indicator */
};
struct rtcm3_extended_rtk {
unsigned char indicator; /* Indicator */
unsigned int channel; /* Satellite Frequency Channel Number
(GLONASS only) */
double pseudorange; /* Pseudorange */
double rangediff; /* PhaseRange - L1 Pseudorange */
unsigned char locktime; /* Lock time Indicator */
unsigned char ambiguity; /* Integer Pseudorange
Modulus Ambiguity */
double CNR; /* Carrier-to-Noise Ratio */
};
struct rtcm3_network_rtk_header {
unsigned int network_id; /* Network ID */
unsigned int subnetwork_id; /* Subnetwork ID */
time_t time; /* GPS Epoch Time (TOW) in ms */
bool multimesg; /* GPS Multiple Message Indicator */
unsigned master_id; /* Master Reference Station ID */
unsigned aux_id; /* Auxiliary Reference Station ID */
unsigned char satcount; /* count of GPS satellites */
};
struct rtcm3_correction_diff {
unsigned char ident; /* satellite ID */
enum {reserved, correct, widelane, uncertain} ambiguity;
unsigned char nonsync;
double geometric_diff; /* Geometric Carrier Phase
Correction Difference (1016, 1017) */
unsigned char iode; /* GPS IODE (1016, 1017) */
double ionospheric_diff; /* Ionospheric Carrier Phase
Correction Difference (1015, 1017) */
};
struct rtcm3_t {
/* header contents */
unsigned type; /* RTCM 3.x message type */
unsigned length; /* payload length, inclusive of checksum */
union {
/* 1001-1013 were present in the 3.0 version */
struct {
struct rtcm3_rtk_hdr header;
struct rtcm3_1001_t {
unsigned ident; /* Satellite ID */
struct rtcm3_basic_rtk L1;
} rtk_data[RTCM3_MAX_SATELLITES];
} rtcm3_1001;
struct {
struct rtcm3_rtk_hdr header;
struct rtcm3_1002_t {
unsigned ident; /* Satellite ID */
struct rtcm3_extended_rtk L1;
} rtk_data[RTCM3_MAX_SATELLITES];
} rtcm3_1002;
struct rtcm3_1003_t {
struct rtcm3_rtk_hdr header;
struct {
unsigned ident; /* Satellite ID */
struct rtcm3_basic_rtk L1;
struct rtcm3_basic_rtk L2;
} rtk_data[RTCM3_MAX_SATELLITES];
} rtcm3_1003;
struct rtcm3_1004_t {
struct rtcm3_rtk_hdr header;
struct {
unsigned ident; /* Satellite ID */
struct rtcm3_extended_rtk L1;
struct rtcm3_extended_rtk L2;
} rtk_data[RTCM3_MAX_SATELLITES];
} rtcm3_1004;
struct rtcm3_1005_t {
unsigned int station_id; /* Reference Station ID */
int system; /* Which system is it? */
bool reference_station; /* Reference-station indicator */
bool single_receiver; /* Single Receiver Oscillator */
double ecef_x, ecef_y, ecef_z; /* ECEF antenna location */
} rtcm3_1005;
struct rtcm3_1006_t {
unsigned int station_id; /* Reference Station ID */
int system; /* Which system is it? */
bool reference_station; /* Reference-station indicator */
bool single_receiver; /* Single Receiver Oscillator */
double ecef_x, ecef_y, ecef_z; /* ECEF antenna location */
double height; /* Antenna height */
} rtcm3_1006;
struct {
unsigned int station_id; // Reference Station ID
char descriptor[RTCM3_MAX_DESCRIPTOR+1]; /* Description string */
unsigned int setup_id;
} rtcm3_1007;
struct {
unsigned int station_id; // Reference Station ID
char descriptor[RTCM3_MAX_DESCRIPTOR+1]; /* Description string */
unsigned int setup_id;
char serial[RTCM3_MAX_DESCRIPTOR+1]; /* Serial # string */
} rtcm3_1008;
struct {
struct rtcm3_rtk_hdr header;
struct rtcm3_1009_t {
unsigned ident; /* Satellite ID */
struct rtcm3_basic_rtk L1;
} rtk_data[RTCM3_MAX_SATELLITES];
} rtcm3_1009;
struct {
struct rtcm3_rtk_hdr header;
struct rtcm3_1010_t {
unsigned ident; /* Satellite ID */
struct rtcm3_extended_rtk L1;
} rtk_data[RTCM3_MAX_SATELLITES];
} rtcm3_1010;
struct {
struct rtcm3_rtk_hdr header;
struct rtcm3_1011_t {
unsigned ident; /* Satellite ID */
struct rtcm3_extended_rtk L1;
struct rtcm3_extended_rtk L2;
} rtk_data[RTCM3_MAX_SATELLITES];
} rtcm3_1011;
struct {
struct rtcm3_rtk_hdr header;
struct rtcm3_1012_t {
unsigned ident; /* Satellite ID */
struct rtcm3_extended_rtk L1;
struct rtcm3_extended_rtk L2;
} rtk_data[RTCM3_MAX_SATELLITES];
} rtcm3_1012;
struct {
unsigned int station_id; /* Reference Station ID */
unsigned short mjd; /* Modified Julian Day (MJD) Number */
unsigned int sod; /* Seconds of Day (UTC) */
unsigned char leapsecs; /* Leap Seconds, GPS-UTC */
unsigned char ncount; /* Count of announcements to follow */
struct rtcm3_1013_t {
unsigned short id; /* message type ID */
bool sync;
unsigned short interval; /* interval in 0.1sec units */
} announcements[RTCM3_MAX_ANNOUNCEMENTS];
} rtcm3_1013;
/* 1014-1017 were added in the 3.1 version */
struct rtcm3_1014_t {
unsigned int network_id; /* Network ID */
unsigned int subnetwork_id; /* Subnetwork ID */
unsigned int stationcount; /* # auxiliary stations transmitted */
unsigned int master_id; /* Master Reference Station ID */
unsigned int aux_id; /* Auxiliary Reference Station ID */
double d_lat, d_lon, d_alt; /* Aux-master location delta */
} rtcm3_1014;
struct rtcm3_1015_t {
struct rtcm3_network_rtk_header header;
struct rtcm3_correction_diff corrections[RTCM3_MAX_SATELLITES];
} rtcm3_1015;
struct rtcm3_1016_t {
struct rtcm3_network_rtk_header header;
struct rtcm3_correction_diff corrections[RTCM3_MAX_SATELLITES];
} rtcm3_1016;
struct rtcm3_1017_t {
struct rtcm3_network_rtk_header header;
struct rtcm3_correction_diff corrections[RTCM3_MAX_SATELLITES];
} rtcm3_1017;
/* 1018-1029 were in the 3.0 version */
struct rtcm3_1019_t {
unsigned int ident; /* Satellite ID */
unsigned int week; /* GPS Week Number */
unsigned char sv_accuracy; /* GPS SV ACCURACY */
enum {reserved_code, p, ca, l2c} code;
double idot;
unsigned char iode;
/* ephemeris fields, not scaled */
unsigned int t_sub_oc;
signed int a_sub_f2;
signed int a_sub_f1;
signed int a_sub_f0;
unsigned int iodc;
signed int C_sub_rs;
signed int delta_sub_n;
signed int M_sub_0;
signed int C_sub_uc;
unsigned int e;
signed int C_sub_us;
unsigned int sqrt_sub_A;
unsigned int t_sub_oe;
signed int C_sub_ic;
signed int OMEGA_sub_0;
signed int C_sub_is;
signed int i_sub_0;
signed int C_sub_rc;
signed int argument_of_perigee;
signed int omegadot;
signed int t_sub_GD;
unsigned char sv_health;
bool p_data;
bool fit_interval;
} rtcm3_1019;
struct rtcm3_1020_t {
unsigned int ident; /* Satellite ID */
unsigned short channel; /* Satellite Frequency Channel Number */
/* ephemeris fields, not scaled */
bool C_sub_n;
bool health_avAilability_indicator;
unsigned char P1;
unsigned short t_sub_k;
bool msb_of_B_sub_n;
bool P2;
bool t_sub_b;
signed int x_sub_n_t_of_t_sub_b_prime;
signed int x_sub_n_t_of_t_sub_b;
signed int x_sub_n_t_of_t_sub_b_prime_prime;
signed int y_sub_n_t_of_t_sub_b_prime;
signed int y_sub_n_t_of_t_sub_b;
signed int y_sub_n_t_of_t_sub_b_prime_prime;
signed int z_sub_n_t_of_t_sub_b_prime;
signed int z_sub_n_t_of_t_sub_b;
signed int z_sub_n_t_of_t_sub_b_prime_prime;
bool P3;
signed int gamma_sub_n_of_t_sub_b;
unsigned char MP;
bool Ml_n;
signed int tau_n_of_t_sub_b;
signed int M_delta_tau_sub_n;
unsigned int E_sub_n;
bool MP4;
unsigned char MF_sub_T;
unsigned char MN_sub_T;
unsigned char MM;
bool additioinal_data_availability;
unsigned int N_sup_A;
unsigned int tau_sub_c;
unsigned int M_N_sub_4;
signed int M_tau_sub_GPS;
bool M_l_sub_n;
} rtcm3_1020;
struct rtcm3_1029_t {
unsigned int station_id; /* Reference Station ID */
unsigned short mjd; /* Modified Julian Day (MJD) Number */
unsigned int sod; /* Seconds of Day (UTC) */
size_t len; /* # chars to follow */
size_t unicode_units; /* # Unicode units (bytes) in text */
unsigned char text[255];
} rtcm3_1029;
struct rtcm3_1033_t {
unsigned int station_id; // Reference Station ID
char descriptor[RTCM3_MAX_DESCRIPTOR+1]; /* Description string */
unsigned int setup_id;
char serial[RTCM3_MAX_DESCRIPTOR+1]; /* Serial # string */
char receiver[RTCM3_MAX_DESCRIPTOR+1]; /* Receiver string */
char firmware[RTCM3_MAX_DESCRIPTOR+1]; /* Firmware string */
} rtcm3_1033;
struct {
unsigned int station_id; // Reference Station ID
unsigned char bias_indicator;
unsigned char signals_mask;
int l1_ca_bias; // GLONASS L1 C/A Code-Phase Bias
int l1_p_bias; // GLONASS L1 P Code-Phase Bias
int l2_ca_bias; // GLONASS L2 C/A Code-Phase Bias
int l2_p_bias; // GLONASS L2 P Code-Phase Bias
} rtcm3_1230;
unsigned char data[1024]; /* Max RTCM3 msg length is 1023 bytes */
} rtcmtypes;
};
/* RTCM3 scaling constants */
#define GPS_AMBIGUITY_MODULUS 299792.458 /* 1004, DF014*/
#define GLONASS_AMBIGUITY_MODULUS 599584.916 /* 1012, DF044 */
#define MESSAGE_INTERVAL_UNITS 0.1 /* 1013, DF047 */
/*
* Raw IS_GPS subframe data
*/
/* The almanac is a subset of the clock and ephemeris data, with reduced
* precision. See IS-GPS-200E, Table 20-VI */
struct almanac_t
{
uint8_t sv; /* The satellite this refers to */
/* toa, almanac reference time, 8 bits unsigned, seconds */
uint8_t toa;
long l_toa;
/* SV health data, 8 bit unsigned bit map */
uint8_t svh;
/* deltai, correction to inclination, 16 bits signed, semi-circles */
int16_t deltai;
double d_deltai;
/* M0, Mean Anomaly at Reference Time, 24 bits signed, semi-circles */
int32_t M0;
double d_M0;
/* Omega0, Longitude of Ascending Node of Orbit Plane at Weekly Epoch,
* 24 bits signed, semi-circles */
int32_t Omega0;
double d_Omega0;
/* omega, Argument of Perigee, 24 bits signed, semi-circles */
int32_t omega;
double d_omega;
/* af0, SV clock correction constant term
* 11 bits signed, seconds */
int16_t af0;
double d_af0;
/* af1, SV clock correction first order term
* 11 bits signed, seconds/second */
int16_t af1;
double d_af1;
/* eccentricity, 16 bits, unsigned, dimensionless */
uint16_t e;
double d_eccentricity;
/* sqrt A, Square Root of the Semi-Major Axis
* 24 bits unsigned, square_root(meters) */
uint32_t sqrtA;
double d_sqrtA;
/* Omega dot, Rate of Right Ascension, 16 bits signed, semi-circles/sec */
int16_t Omegad;
double d_Omegad;
};
struct subframe_t {
/* subframe number, 3 bits, unsigned, 1 to 5 */
uint8_t subframe_num;
/* data_id, denotes the NAV data structure of D(t), 2 bits, in
* IS-GPS-200E always == 0x1 */
uint8_t data_id;
/* SV/page id used for subframes 4 & 5, 6 bits */
uint8_t pageid;
/* tSVID, SV ID of the sat that transmitted this frame, 6 bits unsigned */
uint8_t tSVID;
/* TOW, Time of Week of NEXT message, 17 bits unsigned, scale 6, seconds */
uint32_t TOW17;
long l_TOW17;
/* integrity, URA bounds flag, 1 bit */
bool integrity;
/* alert, alert flag, SV URA and/or the SV User Differential Range
* Accuracy (UDRA) may be worse than indicated, 1 bit */
bool alert;
/* antispoof, A-S mode is ON in that SV, 1 bit */
bool antispoof;
int is_almanac;
union {
/* subframe 1, part of ephemeris, see IS-GPS-200E, Table 20-II
* and Table 20-I */
struct {
/* WN, Week Number, 10 bits unsigned, scale 1, weeks */
uint16_t WN;
/* IODC, Issue of Data, Clock, 10 bits, unsigned,
* issued in 8 data ranges at the same time */
uint16_t IODC;
/* toc, clock data reference time, 16 bits, unsigned, seconds
* scale 2**4, issued in 8 data ranges at the same time */
uint16_t toc;
long l_toc;
/* l2, code on L2, 2 bits, bit map */
uint8_t l2;
/* l2p, L2 P data flag, 1 bit */
uint8_t l2p;
/* ura, SV accuracy, 4 bits unsigned index */
unsigned int ura;
/* hlth, SV health, 6 bits unsigned bitmap */
unsigned int hlth;
/* af0, SV clock correction constant term
* 22 bits signed, scale 2**-31, seconds */
int32_t af0;
double d_af0;
/* af1, SV clock correction first order term
* 22 bits signed, scale 2**-43, seconds/second */
int16_t af1;
double d_af1;
/* af2, SV clock correction second order term
* 8 bits signed, scale 2**-55, seconds/second**2 */
int8_t af2;
double d_af2;
/* Tgd, L1-L2 correction term, 8 bits signed, scale 2**-31,
* seconds */
int8_t Tgd;
double d_Tgd;
} sub1;
/* subframe 2, part of ephemeris, see IS-GPS-200E, Table 20-II
* and Table 20-III */
struct {
/* Issue of Data (Ephemeris),
* equal to the 8 LSBs of the 10 bit IODC of the same data set */
uint8_t IODE;
/* Age of Data Offset for the NMCT, 6 bits, scale 900,
* ignore if all ones, seconds */
uint8_t AODO;
uint16_t u_AODO;
/* fit, FIT interval flag, indicates a fit interval greater than
* 4 hour, 1 bit */
uint8_t fit;
/* toe, Reference Time Ephemeris, 16 bits unsigned, scale 2**4,
* seconds */
uint16_t toe;
long l_toe;
/* Crs, Amplitude of the Sine Harmonic Correction Term to the
* Orbit Radius, 16 bits, scale 2**-5, signed, meters */
int16_t Crs;
double d_Crs;
/* Cus, Amplitude of the Sine Harmonic Correction Term to the
* Argument of Latitude, 16 bits, signed, scale 2**-29, radians */
int16_t Cus;
double d_Cus;
/* Cuc, Amplitude of the Cosine Harmonic Correction Term to the
* Argument of Latitude, 16 bits, signed, scale 2**-29, radians */
int16_t Cuc;
double d_Cuc;
/* deltan, Mean Motion Difference From Computed Value
* Mean Motion Difference From Computed Value
* 16 bits, signed, scale 2**-43, semi-circles/sec */
int16_t deltan;
double d_deltan;
/* M0, Mean Anomaly at Reference Time, 32 bits signed,
* scale 2**-31, semi-circles */
int32_t M0;
double d_M0;
/* eccentricity, 32 bits, unsigned, scale 2**-33, dimensionless */
uint32_t e;
double d_eccentricity;
/* sqrt A, Square Root of the Semi-Major Axis
* 32 bits unsigned, scale 2**-19, square_root(meters) */
uint32_t sqrtA;
double d_sqrtA;
} sub2;
/* subframe 3, part of ephemeris, see IS-GPS-200E, Table 20-II,
* Table 20-III */
struct {
/* Issue of Data (Ephemeris), 8 bits, unsigned
* equal to the 8 LSBs of the 10 bit IODC of the same data set */
uint8_t IODE;
/* Rate of Inclination Angle, 14 bits signed, scale2**-43,
* semi-circles/sec */
int16_t IDOT;
double d_IDOT;
/* Cic, Amplitude of the Cosine Harmonic Correction Term to the
* Angle of Inclination, 16 bits signed, scale 2**-29, radians*/
int16_t Cic;
double d_Cic;
/* Cis, Amplitude of the Sine Harmonic Correction Term to the
* Angle of Inclination, 16 bits, unsigned, scale 2**-29, radians */
int16_t Cis;
double d_Cis;
/* Crc, Amplitude of the Cosine Harmonic Correction Term to the
* Orbit Radius, 16 bits signed, scale 2**-5, meters */
int16_t Crc;
double d_Crc;
/* i0, Inclination Angle at Reference Time, 32 bits, signed,
* scale 2**-31, semi-circles */
int32_t i0;
double d_i0;
/* Omega0, Longitude of Ascending Node of Orbit Plane at Weekly
* Epoch, 32 bits signed, semi-circles */
int32_t Omega0;
double d_Omega0;
/* omega, Argument of Perigee, 32 bits signed, scale 2**-31,
* semi-circles */
int32_t omega;
double d_omega;
/* Omega dot, Rate of Right Ascension, 24 bits signed,
* scale 2**-43, semi-circles/sec */
int32_t Omegad;
double d_Omegad;
} sub3;
struct {
struct almanac_t almanac;
} sub4;
/* subframe 4, page 13 */
struct {
/* mapping ord ERD# to SV # is non trivial
* leave it alone. See IS-GPS-200E Section 20.3.3.5.1.9 */
/* Estimated Range Deviation, 6 bits signed, meters */
char ERD[33];
/* ai, Availability Indicator, 2bits, bit map */
unsigned char ai;
} sub4_13;
/* subframe 4, page 17, system message, 23 chars, plus nul */
struct {
char str[24];
} sub4_17;
/* subframe 4, page 18 */
struct {
/* ionospheric and UTC data */
/* A0, Bias coefficient of GPS time scale relative to UTC time
* scale, 32 bits signed, scale 2**-30, seconds */
int32_t A0;
double d_A0;
/* A1, Drift coefficient of GPS time scale relative to UTC time
* scale, 24 bits signed, scale 2**-50, seconds/second */
int32_t A1;
double d_A1;
/* alphaX, the four coefficients of a cubic equation representing
* the amplitude of the vertical delay */
/* alpha0, 8 bits signed, scale w**-30, seconds */
int8_t alpha0;
double d_alpha0;
/* alpha1, 8 bits signed, scale w**-27, seconds/semi-circle */
int8_t alpha1;
double d_alpha1;
/* alpha2, 8 bits signed, scale w**-24, seconds/semi-circle**2 */
int8_t alpha2;
double d_alpha2;
/* alpha3, 8 bits signed, scale w**-24, seconds/semi-circle**3 */
int8_t alpha3;
double d_alpha3;
/* betaX, the four coefficients of a cubic equation representing
* the period of the model */
/* beta0, 8 bits signed, scale w**11, seconds */
int8_t beta0;
double d_beta0;
/* beta1, 8 bits signed, scale w**14, seconds/semi-circle */
int8_t beta1;
double d_beta1;
/* beta2, 8 bits signed, scale w**16, seconds/semi-circle**2 */
int8_t beta2;
double d_beta2;
/* beta3, 8 bits signed, scale w**16, seconds/semi-circle**3 */
int8_t beta3;
double d_beta3;
/* leap (delta t ls), current leap second, 8 bits signed,
* scale 1, seconds */
int8_t leap;
/* lsf (delta t lsf), future leap second, 8 bits signed,
* scale 1, seconds */
int8_t lsf;
/* tot, reference time for UTC data,
* 8 bits unsigned, scale 2**12, seconds */
uint8_t tot;
time_t t_tot;
/* WNt, UTC reference week number, 8 bits unsigned, scale 1,
* weeks */
uint8_t WNt;
/* WNlsf, Leap second reference Week Number,
* 8 bits unsigned, scale 1, weeks */
uint8_t WNlsf;
/* DN, Leap second reference Day Number , 8 bits unsigned,
* scale 1, days */
uint8_t DN;
} sub4_18;
/* subframe 4, page 25 */
struct {
/* svf, A-S status and the configuration code of each SV
* 4 bits unsigned, bitmap */
unsigned char svf[33];
/* svh, SV health data for SV 25 through 32
* 6 bits unsigned bitmap */
uint8_t svhx[8];
} sub4_25;
struct {
struct almanac_t almanac;
} sub5;
struct {
/* toa, Almanac reference Time, 8 bits unsigned, scale 2**12,
* seconds */
uint8_t toa;
long l_toa;
/* WNa, Week Number almanac, 8 bits, scale 2, GPS Week
* Number % 256 */
uint8_t WNa;
/* sv, SV health status, 6 bits, bitmap */
uint8_t sv[25];
} sub5_25;
};
};
typedef uint64_t gps_mask_t;