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| 1 /* gps.h -- interface of the libgps library */ |
| 2 /* |
| 3 * This file is Copyright (c) 2010 by the GPSD project |
| 4 * BSD terms apply: see the file COPYING in the distribution root for details. |
| 5 */ |
| 6 #ifndef _GPSD_GPS_H_ |
| 7 #define _GPSD_GPS_H_ |
| 8 |
| 9 #ifdef __cplusplus |
| 10 extern "C" { |
| 11 #endif |
| 12 |
| 13 /* Macro for declaring function arguments unused. */ |
| 14 #if defined(__GNUC__) |
| 15 # define UNUSED __attribute__((unused)) /* Flag variable as unused */ |
| 16 #else /* not __GNUC__ */ |
| 17 # define UNUSED |
| 18 #endif |
| 19 |
| 20 |
| 21 #include <sys/types.h> |
| 22 #include <sys/time.h> |
| 23 #include <stdbool.h> |
| 24 #include <inttypes.h> /* stdint.h would be smaller but not all have it */ |
| 25 #include <limits.h> |
| 26 #include <time.h> |
| 27 #include <signal.h> |
| 28 #include <stdio.h> |
| 29 #ifndef S_SPLINT_S |
| 30 #include <pthread.h> /* pacifies OpenBSD's compiler */ |
| 31 #endif |
| 32 |
| 33 /* |
| 34 * 4.1 - Base version for initial JSON protocol (Dec 2009, release 2.90) |
| 35 * 4.2 - AIS application IDs split into DAC and FID (July 2010, release 2.95) |
| 36 * 5.0 - MAXCHANNELS bumped from 20 to 32 for GLONASS (Mar 2011, release 2.96) |
| 37 * gps_open() becomes reentrant, what gps_open_r() used to be. |
| 38 * gps_poll() removed in favor of gps_read(). The raw hook is gone. |
| 39 */ |
| 40 #define GPSD_API_MAJOR_VERSION 5 /* bump on incompatible changes */ |
| 41 #define GPSD_API_MINOR_VERSION 0 /* bump on compatible changes */ |
| 42 |
| 43 #define MAXTAGLEN 8 /* maximum length of sentence tag name */ |
| 44 #define MAXCHANNELS 72 /* must be > 12 GPS + 12 GLONASS + 2 WAAS */ |
| 45 #define GPS_PRNMAX 32 /* above this number are SBAS satellites */ |
| 46 #define GPS_PATH_MAX 64 /* dev files usually have short names */ |
| 47 #define MAXUSERDEVS 4 /* max devices per user */ |
| 48 |
| 49 /* |
| 50 * The structure describing an uncertainty volume in kinematic space. |
| 51 * This is what GPSes are meant to produce; all the other info is |
| 52 * technical impedimenta. |
| 53 * |
| 54 * All double values use NAN to indicate data not available. |
| 55 * |
| 56 * Usually all the information in this structure was considered valid |
| 57 * by the GPS at the time of update. This will be so if you are using |
| 58 * a GPS chipset that speaks SiRF binary, Garmin binary, or Zodiac binary. |
| 59 * This covers over 80% of GPS products in early 2005. |
| 60 * |
| 61 * If you are using a chipset that speaks NMEA, this structure is updated |
| 62 * in bits by GPRMC (lat/lon, track, speed), GPGGA (alt, climb), GPGLL |
| 63 * (lat/lon), and GPGSA (eph, epv). Most NMEA GPSes take a single fix |
| 64 * at the beginning of a 1-second cycle and report the same timestamp in |
| 65 * GPRMC, GPGGA, and GPGLL; for these, all info is guaranteed correctly |
| 66 * synced to the time member, but you'll get different stages of the same |
| 67 * update depending on where in the cycle you poll. A very few GPSes, |
| 68 * like the Garmin 48, take a new fix before more than one of of |
| 69 * GPRMC/GPGGA/GPGLL during a single cycle; thus, they may have different |
| 70 * timestamps and some data in this structure can be up to 1 cycle (usually |
| 71 * 1 second) older than the fix time. |
| 72 * |
| 73 * Error estimates are at 95% confidence. |
| 74 */ |
| 75 typedef double timestamp_t; /* Unix time in seconds with fractional part */ |
| 76 |
| 77 struct gps_fix_t { |
| 78 timestamp_t time; /* Time of update */ |
| 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 */ |
| 97 }; |
| 98 |
| 99 /* |
| 100 * The structure describing the pseudorange errors (GPGST) |
| 101 */ |
| 102 struct gst_t { |
| 103 double utctime; |
| 104 double rms_deviation; |
| 105 double smajor_deviation; |
| 106 double sminor_deviation; |
| 107 double smajor_orientation; |
| 108 double lat_err_deviation; |
| 109 double lon_err_deviation; |
| 110 double alt_err_deviation; |
| 111 }; |
| 112 |
| 113 /* |
| 114 * From the RCTM104 2.x standard: |
| 115 * |
| 116 * "The 30 bit words (as opposed to 32 bit words) coupled with a 50 Hz |
| 117 * transmission rate provides a convenient timing capability where the |
| 118 * times of word boundaries are a rational multiple of 0.6 seconds." |
| 119 * |
| 120 * "Each frame is N+2 words long, where N is the number of message data |
| 121 * words. For example, a filler message (type 6 or 34) with no message |
| 122 * data will have N=0, and will consist only of two header words. The |
| 123 * maximum number of data words allowed by the format is 31, so that |
| 124 * the longest possible message will have a total of 33 words." |
| 125 */ |
| 126 #define RTCM2_WORDS_MAX 33 |
| 127 #define MAXCORRECTIONS 18 /* max correction count in type 1 or 9 */ |
| 128 #define MAXSTATIONS 10 /* maximum stations in almanac, type 5 */ |
| 129 /* RTCM104 doesn't specify this, so give it the largest reasonable value */ |
| 130 #define MAXHEALTH (RTCM2_WORDS_MAX-2) |
| 131 |
| 132 #ifndef S_SPLINT_S |
| 133 /* |
| 134 * A nominally 30-bit word (24 bits of data, 6 bits of parity) |
| 135 * used both in the GPS downlink protocol described in IS-GPS-200 |
| 136 * and in the format for DGPS corrections used in RTCM-104v2. |
| 137 */ |
| 138 typedef /*@unsignedintegraltype@*/ uint32_t isgps30bits_t; |
| 139 #endif /* S_SPLINT_S */ |
| 140 |
| 141 /* |
| 142 * Values for "system" fields. Note, the encoding logic is senstive to the |
| 143 * actual values of these; it's not sufficient that they're distinct. |
| 144 */ |
| 145 #define NAVSYSTEM_GPS 0 |
| 146 #define NAVSYSTEM_GLONASS 1 |
| 147 #define NAVSYSTEM_GALILEO 2 |
| 148 #define NAVSYSTEM_UNKNOWN 3 |
| 149 |
| 150 struct rtcm2_t { |
| 151 /* header contents */ |
| 152 unsigned type; /* RTCM message type */ |
| 153 unsigned length; /* length (words) */ |
| 154 double zcount; /* time within hour: GPS time, no leap secs */ |
| 155 unsigned refstaid; /* reference station ID */ |
| 156 unsigned seqnum; /* message sequence number (modulo 8) */ |
| 157 unsigned stathlth; /* station health */ |
| 158 |
| 159 /* message data in decoded form */ |
| 160 union { |
| 161 struct { |
| 162 unsigned int nentries; |
| 163 struct gps_rangesat_t { /* data from messages 1 & 9 */ |
| 164 unsigned ident; /* satellite ID */ |
| 165 unsigned udre; /* user diff. range error */ |
| 166 unsigned iod; /* issue of data */ |
| 167 double prc; /* range error */ |
| 168 double rrc; /* range error rate */ |
| 169 } sat[MAXCORRECTIONS]; |
| 170 } gps_ranges; |
| 171 struct { /* data for type 3 messages */ |
| 172 bool valid; /* is message well-formed? */ |
| 173 double x, y, z; |
| 174 } ecef; |
| 175 struct { /* data from type 4 messages */ |
| 176 bool valid; /* is message well-formed? */ |
| 177 int system; |
| 178 int sense; |
| 179 #define SENSE_INVALID 0 |
| 180 #define SENSE_GLOBAL 1 |
| 181 #define SENSE_LOCAL 2 |
| 182 char datum[6]; |
| 183 double dx, dy, dz; |
| 184 } reference; |
| 185 struct { /* data from type 5 messages */ |
| 186 unsigned int nentries; |
| 187 struct consat_t { |
| 188 unsigned ident; /* satellite ID */ |
| 189 bool iodl; /* issue of data */ |
| 190 unsigned int health; /* is satellite healthy? */ |
| 191 #define HEALTH_NORMAL (0) /* Radiobeacon operation normal */ |
| 192 #define HEALTH_UNMONITORED (1) /* No integrity monitor operating */ |
| 193 #define HEALTH_NOINFO (2) /* No information available */ |
| 194 #define HEALTH_DONOTUSE (3) /* Do not use this radiobeacon */ |
| 195 int snr; /* signal-to-noise ratio, dB */ |
| 196 #define SNR_BAD -1 /* not reported */ |
| 197 bool health_en; /* health enabled */ |
| 198 bool new_data; /* new data? */ |
| 199 bool los_warning; /* line-of-sight warning */ |
| 200 unsigned int tou; /* time to unhealth, seconds */ |
| 201 } sat[MAXHEALTH]; |
| 202 } conhealth; |
| 203 struct { /* data from type 7 messages */ |
| 204 unsigned int nentries; |
| 205 struct station_t { |
| 206 double latitude, longitude; /* location */ |
| 207 unsigned int range; /* range in km */ |
| 208 double frequency; /* broadcast freq */ |
| 209 unsigned int health; /* station health */ |
| 210 unsigned int station_id; /* of the transmitter */ |
| 211 unsigned int bitrate; /* of station transmissions */ |
| 212 } station[MAXSTATIONS]; |
| 213 } almanac; |
| 214 struct { /* data for type 13 messages */ |
| 215 bool status; /* expect a text message */ |
| 216 bool rangeflag; /* station range altered? */ |
| 217 double lat, lon; /* station longitude/latitude */ |
| 218 unsigned int range; /* transmission range in km */ |
| 219 } xmitter; |
| 220 struct { /* data from type 14 messages */ |
| 221 unsigned int week; /* GPS week (0-1023) */ |
| 222 unsigned int hour; /* Hour in week (0-167) */ |
| 223 unsigned int leapsecs; /* Leap seconds (0-63) */ |
| 224 } gpstime; |
| 225 struct { |
| 226 unsigned int nentries; |
| 227 struct glonass_rangesat_t { /* data from message type 31 */ |
| 228 unsigned ident; /* satellite ID */ |
| 229 unsigned udre; /* user diff. range error */ |
| 230 unsigned tod; /* issue of data */ |
| 231 bool change; /* ephemeris change bit */ |
| 232 double prc; /* range error */ |
| 233 double rrc; /* range error rate */ |
| 234 } sat[MAXCORRECTIONS]; |
| 235 } glonass_ranges; |
| 236 /* data from type 16 messages */ |
| 237 char message[(RTCM2_WORDS_MAX-2) * sizeof(isgps30bits_t)]; |
| 238 /* data from messages of unknown type */ |
| 239 isgps30bits_t words[RTCM2_WORDS_MAX-2]; |
| 240 }; |
| 241 }; |
| 242 |
| 243 /* RTCM3 report structures begin here */ |
| 244 |
| 245 #define RTCM3_MAX_SATELLITES 64 |
| 246 #define RTCM3_MAX_DESCRIPTOR 31 |
| 247 #define RTCM3_MAX_ANNOUNCEMENTS 32 |
| 248 |
| 249 struct rtcm3_rtk_hdr { /* header data from 1001, 1002, 1003, 1004 */ |
| 250 /* Used for both GPS and GLONASS, but their timebases differ */ |
| 251 unsigned int station_id; /* Reference Station ID */ |
| 252 time_t tow; /* GPS Epoch Time (TOW) in ms, |
| 253 or GLONASS Epoch Time in ms */ |
| 254 bool sync; /* Synchronous GNSS Message Flag */ |
| 255 unsigned short satcount; /* # Satellite Signals Processed */ |
| 256 bool smoothing; /* Divergence-free Smoothing Indicator */ |
| 257 unsigned short interval; /* Smoothing Interval */ |
| 258 }; |
| 259 |
| 260 struct rtcm3_basic_rtk { |
| 261 unsigned char indicator; /* Indicator */ |
| 262 short channel; /* Satellite Frequency Channel Number |
| 263 (GLONASS only) */ |
| 264 double pseudorange; /* Pseudorange */ |
| 265 double rangediff; /* PhaseRange – Pseudorange in meters */ |
| 266 unsigned char locktime; /* Lock time Indicator */ |
| 267 }; |
| 268 |
| 269 struct rtcm3_extended_rtk { |
| 270 unsigned char indicator; /* Indicator */ |
| 271 short channel; /* Satellite Frequency Channel Number |
| 272 (GLONASS only) */ |
| 273 double pseudorange; /* Pseudorange */ |
| 274 double rangediff; /* PhaseRange – L1 Pseudorange */ |
| 275 unsigned char locktime; /* Lock time Indicator */ |
| 276 unsigned char ambiguity; /* Integer Pseudorange |
| 277 Modulus Ambiguity */ |
| 278 double CNR; /* Carrier-to-Noise Ratio */ |
| 279 }; |
| 280 |
| 281 struct rtcm3_network_rtk_header { |
| 282 unsigned int network_id; /* Network ID */ |
| 283 unsigned int subnetwork_id; /* Subnetwork ID */ |
| 284 time_t time; /* GPS Epoch Time (TOW) in ms */ |
| 285 bool multimesg; /* GPS Multiple Message Indicator */ |
| 286 unsigned master_id; /* Master Reference Station ID */ |
| 287 unsigned aux_id; /* Auxilary Reference Station ID */ |
| 288 unsigned char satcount; /* count of GPS satellites */ |
| 289 }; |
| 290 |
| 291 struct rtcm3_correction_diff { |
| 292 unsigned char ident; /* satellite ID */ |
| 293 enum {reserved, correct, widelane, uncertain} ambiguity; |
| 294 unsigned char nonsync; |
| 295 double geometric_diff; /* Geometric Carrier Phase |
| 296 Correction Difference (1016, 1017) */ |
| 297 unsigned char iode; /* GPS IODE (1016, 1017) */ |
| 298 double ionospheric_diff; /* Ionospheric Carrier Phase |
| 299 Correction Difference (1015, 1017) */ |
| 300 }; |
| 301 |
| 302 struct rtcm3_t { |
| 303 /* header contents */ |
| 304 unsigned type; /* RTCM 3.x message type */ |
| 305 unsigned length; /* payload length, inclusive of checksum */ |
| 306 |
| 307 union { |
| 308 /* 1001-1013 were present in the 3.0 version */ |
| 309 struct { |
| 310 struct rtcm3_rtk_hdr header; |
| 311 struct rtcm3_1001_t { |
| 312 unsigned ident; /* Satellite ID */ |
| 313 struct rtcm3_basic_rtk L1; |
| 314 } rtk_data[RTCM3_MAX_SATELLITES]; |
| 315 } rtcm3_1001; |
| 316 struct rtcm3_1002_t { |
| 317 struct rtcm3_rtk_hdr header; |
| 318 struct { |
| 319 unsigned ident; /* Satellite ID */ |
| 320 struct rtcm3_extended_rtk L1; |
| 321 } rtk_data[RTCM3_MAX_SATELLITES]; |
| 322 } rtcm3_1002; |
| 323 struct rtcm3_1003_t { |
| 324 struct rtcm3_rtk_hdr header; |
| 325 struct { |
| 326 unsigned ident; /* Satellite ID */ |
| 327 struct rtcm3_basic_rtk L1; |
| 328 struct rtcm3_basic_rtk L2; |
| 329 } rtk_data[RTCM3_MAX_SATELLITES]; |
| 330 } rtcm3_1003; |
| 331 struct rtcm3_1004_t { |
| 332 struct rtcm3_rtk_hdr header; |
| 333 struct { |
| 334 unsigned ident; /* Satellite ID */ |
| 335 struct rtcm3_extended_rtk L1; |
| 336 struct rtcm3_extended_rtk L2; |
| 337 } rtk_data[RTCM3_MAX_SATELLITES]; |
| 338 } rtcm3_1004; |
| 339 struct rtcm3_1005_t { |
| 340 unsigned int station_id; /* Reference Station ID */ |
| 341 int system; /* Which system is it? */ |
| 342 bool reference_station; /* Reference-station indicator *
/ |
| 343 bool single_receiver; /* Single Receiver Oscillator */ |
| 344 double ecef_x, ecef_y, ecef_z; /* ECEF antenna location */ |
| 345 } rtcm3_1005; |
| 346 struct rtcm3_1006_t { |
| 347 unsigned int station_id; /* Reference Station ID */ |
| 348 int system; /* Which system is it? */ |
| 349 bool reference_station; /* Reference-station indicator *
/ |
| 350 bool single_receiver; /* Single Receiver Oscillator */ |
| 351 double ecef_x, ecef_y, ecef_z; /* ECEF antenna location */ |
| 352 double height; /* Antenna height */ |
| 353 } rtcm3_1006; |
| 354 struct rtcm3_1007_t { |
| 355 unsigned int station_id; /* Reference Station ID
*/ |
| 356 char descriptor[RTCM3_MAX_DESCRIPTOR+1]; /* Description string */ |
| 357 unsigned char setup_id; |
| 358 } rtcm3_1007; |
| 359 struct rtcm3_1008_t { |
| 360 unsigned int station_id; /* Reference Station ID
*/ |
| 361 char descriptor[RTCM3_MAX_DESCRIPTOR+1]; /* Description string */ |
| 362 unsigned char setup_id; |
| 363 char serial[RTCM3_MAX_DESCRIPTOR+1]; /* Serial # string */ |
| 364 } rtcm3_1008; |
| 365 struct rtcm3_1009_t { |
| 366 struct rtcm3_rtk_hdr header; |
| 367 struct { |
| 368 unsigned ident; /* Satellite ID */ |
| 369 struct rtcm3_basic_rtk L1; |
| 370 } rtk_data[RTCM3_MAX_SATELLITES]; |
| 371 } rtcm3_1009; |
| 372 struct rtcm3_1010_t { |
| 373 struct rtcm3_rtk_hdr header; |
| 374 struct { |
| 375 unsigned ident; /* Satellite ID */ |
| 376 struct rtcm3_extended_rtk L1; |
| 377 } rtk_data[RTCM3_MAX_SATELLITES]; |
| 378 } rtcm3_1010; |
| 379 struct rtcm3_1011_t { |
| 380 struct rtcm3_rtk_hdr header; |
| 381 struct { |
| 382 unsigned ident; /* Satellite ID */ |
| 383 struct rtcm3_extended_rtk L1; |
| 384 struct rtcm3_extended_rtk L2; |
| 385 } rtk_data[RTCM3_MAX_SATELLITES]; |
| 386 } rtcm3_1011; |
| 387 struct rtcm3_1012_t { |
| 388 struct rtcm3_rtk_hdr header; |
| 389 struct { |
| 390 unsigned ident; /* Satellite ID */ |
| 391 struct rtcm3_extended_rtk L1; |
| 392 struct rtcm3_extended_rtk L2; |
| 393 } rtk_data[RTCM3_MAX_SATELLITES]; |
| 394 } rtcm3_1012; |
| 395 struct rtcm3_1013_t { |
| 396 unsigned int station_id; /* Reference Station ID */ |
| 397 unsigned short mjd; /* Modified Julian Day (MJD) Number */ |
| 398 unsigned int sod; /* Seconds of Day (UTC) */ |
| 399 unsigned char leapsecs; /* Leap Seconds, GPS-UTC */ |
| 400 unsigned char ncount; /* Count of announcements to follow */ |
| 401 struct { |
| 402 unsigned short id; /* message type ID */ |
| 403 bool sync; |
| 404 unsigned short interval; /* interval in 0.1sec units */ |
| 405 } announcements[RTCM3_MAX_ANNOUNCEMENTS]; |
| 406 } rtcm3_1013; |
| 407 /* 1014-1017 were added in the 3.1 version */ |
| 408 struct rtcm3_1014_t { |
| 409 unsigned int network_id; /* Network ID */ |
| 410 unsigned int subnetwork_id; /* Subnetwork ID */ |
| 411 unsigned char stationcount; /* # auxiliary stations transmitted */ |
| 412 unsigned int master_id; /* Master Reference Station ID */ |
| 413 unsigned int aux_id; /* Auxilary Reference Station ID */ |
| 414 double d_lat, d_lon, d_alt; /* Aux-master location delta */ |
| 415 } rtcm3_1014; |
| 416 struct rtcm3_1015_t { |
| 417 struct rtcm3_network_rtk_header header; |
| 418 struct rtcm3_correction_diff corrections[RTCM3_MAX_SATELLITES]; |
| 419 } rtcm3_1015; |
| 420 struct rtcm3_1016_t { |
| 421 struct rtcm3_network_rtk_header header; |
| 422 struct rtcm3_correction_diff corrections[RTCM3_MAX_SATELLITES]; |
| 423 } rtcm3_1016; |
| 424 struct rtcm3_1017_t { |
| 425 struct rtcm3_network_rtk_header header; |
| 426 struct rtcm3_correction_diff corrections[RTCM3_MAX_SATELLITES]; |
| 427 } rtcm3_1017; |
| 428 /* 1018-1029 were in the 3.0 version */ |
| 429 struct rtcm3_1019_t { |
| 430 unsigned int ident; /* Satellite ID */ |
| 431 unsigned int week; /* GPS Week Number */ |
| 432 unsigned char sv_accuracy; /* GPS SV ACCURACY */ |
| 433 enum {reserved_code, p, ca, l2c} code; |
| 434 double idot; |
| 435 unsigned char iode; |
| 436 /* ephemeris fields, not scaled */ |
| 437 unsigned int t_sub_oc; |
| 438 signed int a_sub_f2; |
| 439 signed int a_sub_f1; |
| 440 signed int a_sub_f0; |
| 441 unsigned int iodc; |
| 442 signed int C_sub_rs; |
| 443 signed int delta_sub_n; |
| 444 signed int M_sub_0; |
| 445 signed int C_sub_uc; |
| 446 unsigned int e; |
| 447 signed int C_sub_us; |
| 448 unsigned int sqrt_sub_A; |
| 449 unsigned int t_sub_oe; |
| 450 signed int C_sub_ic; |
| 451 signed int OMEGA_sub_0; |
| 452 signed int C_sub_is; |
| 453 signed int i_sub_0; |
| 454 signed int C_sub_rc; |
| 455 signed int argument_of_perigee; |
| 456 signed int omegadot; |
| 457 signed int t_sub_GD; |
| 458 unsigned char sv_health; |
| 459 bool p_data; |
| 460 bool fit_interval; |
| 461 } rtcm3_1019; |
| 462 struct rtcm3_1020_t { |
| 463 unsigned int ident; /* Satellite ID */ |
| 464 unsigned short channel; /* Satellite Frequency Channel Number */ |
| 465 /* ephemeris fields, not scaled */ |
| 466 bool C_sub_n; |
| 467 bool health_avAilability_indicator; |
| 468 unsigned char P1; |
| 469 unsigned short t_sub_k; |
| 470 bool msb_of_B_sub_n; |
| 471 bool P2; |
| 472 bool t_sub_b; |
| 473 signed int x_sub_n_t_of_t_sub_b_prime; |
| 474 signed int x_sub_n_t_of_t_sub_b; |
| 475 signed int x_sub_n_t_of_t_sub_b_prime_prime; |
| 476 signed int y_sub_n_t_of_t_sub_b_prime; |
| 477 signed int y_sub_n_t_of_t_sub_b; |
| 478 signed int y_sub_n_t_of_t_sub_b_prime_prime; |
| 479 signed int z_sub_n_t_of_t_sub_b_prime; |
| 480 signed int z_sub_n_t_of_t_sub_b; |
| 481 signed int z_sub_n_t_of_t_sub_b_prime_prime; |
| 482 bool P3; |
| 483 signed int gamma_sub_n_of_t_sub_b; |
| 484 unsigned char MP; |
| 485 bool Ml_n; |
| 486 signed int tau_n_of_t_sub_b; |
| 487 signed int M_delta_tau_sub_n; |
| 488 unsigned int E_sub_n; |
| 489 bool MP4; |
| 490 unsigned char MF_sub_T; |
| 491 unsigned char MN_sub_T; |
| 492 unsigned char MM; |
| 493 bool additioinal_data_availability; |
| 494 unsigned int N_sup_A; |
| 495 unsigned int tau_sub_c; |
| 496 unsigned int M_N_sub_4; |
| 497 signed int M_tau_sub_GPS; |
| 498 bool M_l_sub_n; |
| 499 } rtcm3_1020; |
| 500 struct rtcm3_1029_t { |
| 501 unsigned int station_id; /* Reference Station ID */ |
| 502 unsigned short mjd; /* Modified Julian Day (MJD) Number */ |
| 503 unsigned int sod; /* Seconds of Day (UTC) */ |
| 504 size_t len; /* # chars to follow */ |
| 505 size_t unicode_units; /* # Unicode units in text */ |
| 506 unsigned char text[128]; |
| 507 } rtcm3_1029; |
| 508 struct rtcm3_1033_t { |
| 509 unsigned int station_id; /* Reference Station ID
*/ |
| 510 char descriptor[RTCM3_MAX_DESCRIPTOR+1]; /* Description string */ |
| 511 unsigned char setup_id; |
| 512 char serial[RTCM3_MAX_DESCRIPTOR+1]; /* Serial # string */ |
| 513 char receiver[RTCM3_MAX_DESCRIPTOR+1]; /* Receiver string */ |
| 514 char firmware[RTCM3_MAX_DESCRIPTOR+1]; /* Firmware string */ |
| 515 } rtcm3_1033; |
| 516 char data[1024]; /* Max RTCM3 msg length is 1023 bytes */ |
| 517 } rtcmtypes; |
| 518 }; |
| 519 |
| 520 /* RTCM3 scaling constants */ |
| 521 #define GPS_AMBIGUITY_MODULUS 299792.458 /* 1004, DF014*/ |
| 522 #define GLONASS_AMBIGUITY_MODULUS 599584.916 /* 1012, DF044 */ |
| 523 #define MESSAGE_INTERVAL_UNITS 0.1 /* 1013, DF047 */ |
| 524 |
| 525 /* |
| 526 * Raw IS_GPS subframe data |
| 527 */ |
| 528 |
| 529 /* The almanac is a subset of the clock and ephemeris data, with reduced |
| 530 * precision. See IS-GPS-200E, Table 20-VI */ |
| 531 struct almanac_t |
| 532 { |
| 533 uint8_t sv; /* The satellite this refers to */ |
| 534 /* toa, almanac reference time, 8 bits unsigned, seconds */ |
| 535 uint8_t toa; |
| 536 long l_toa; |
| 537 /* SV health data, 8 bit unsigned bit map */ |
| 538 uint8_t svh; |
| 539 /* deltai, correction to inclination, 16 bits signed, semi-circles */ |
| 540 int16_t deltai; |
| 541 double d_deltai; |
| 542 /* M0, Mean Anomaly at Reference Time, 24 bits signed, semi-circles */ |
| 543 int32_t M0; |
| 544 double d_M0; |
| 545 /* Omega0, Longitude of Ascending Node of Orbit Plane at Weekly Epoch, |
| 546 * 24 bits signed, semi-circles */ |
| 547 int32_t Omega0; |
| 548 double d_Omega0; |
| 549 /* omega, Argument of Perigee, 24 bits signed, semi-circles */ |
| 550 int32_t omega; |
| 551 double d_omega; |
| 552 /* af0, SV clock correction constant term |
| 553 * 11 bits signed, seconds */ |
| 554 int16_t af0; |
| 555 double d_af0; |
| 556 /* af1, SV clock correction first order term |
| 557 * 11 bits signed, seconds/second */ |
| 558 int16_t af1; |
| 559 double d_af1; |
| 560 /* eccentricity, 16 bits, unsigned, dimensionless */ |
| 561 uint16_t e; |
| 562 double d_eccentricity; |
| 563 /* sqrt A, Square Root of the Semi-Major Axis |
| 564 * 24 bits unsigned, square_root(meters) */ |
| 565 uint32_t sqrtA; |
| 566 double d_sqrtA; |
| 567 /* Omega dot, Rate of Right Ascension, 16 bits signed, semi-circles/sec */ |
| 568 int16_t Omegad; |
| 569 double d_Omegad; |
| 570 }; |
| 571 |
| 572 struct subframe_t { |
| 573 /* subframe number, 3 bits, unsigned, 1 to 5 */ |
| 574 uint8_t subframe_num; |
| 575 /* data_id, denotes the NAV data structure of D(t), 2 bits, in |
| 576 * IS-GPS-200E always == 0x1 */ |
| 577 uint8_t data_id; |
| 578 /* SV/page id used for subframes 4 & 5, 6 bits */ |
| 579 uint8_t pageid; |
| 580 /* tSVID, SV ID of the sat that transmitted this frame, 6 bits unsigned */ |
| 581 uint8_t tSVID; |
| 582 /* TOW, Time of Week of NEXT message, 17 bits unsigned, scale 6, seconds */ |
| 583 uint32_t TOW17; |
| 584 long l_TOW17; |
| 585 /* integrity, URA bounds flag, 1 bit */ |
| 586 bool integrity; |
| 587 /* alert, alert flag, SV URA and/or the SV User Differential Range |
| 588 * Accuracy (UDRA) may be worse than indicated, 1 bit */ |
| 589 bool alert; |
| 590 /* antispoof, A-S mode is ON in that SV, 1 bit */ |
| 591 bool antispoof; |
| 592 int is_almanac; |
| 593 union { |
| 594 /* subframe 1, part of ephemeris, see IS-GPS-200E, Table 20-II |
| 595 * and Table 20-I */ |
| 596 struct { |
| 597 /* WN, Week Number, 10 bits unsigned, scale 1, weeks */ |
| 598 uint16_t WN; |
| 599 /* IODC, Issue of Data, Clock, 10 bits, unsigned, |
| 600 * issued in 8 data ranges at the same time */ |
| 601 uint16_t IODC; |
| 602 /* toc, clock data reference time, 16 bits, unsigned, seconds |
| 603 * scale 2**4, issued in 8 data ranges at the same time */ |
| 604 uint16_t toc; |
| 605 long l_toc; |
| 606 /* l2, code on L2, 2 bits, bit map */ |
| 607 uint8_t l2; |
| 608 /* l2p, L2 P data flag, 1 bit */ |
| 609 uint8_t l2p; |
| 610 /* ura, SV accuracy, 4 bits unsigned index */ |
| 611 unsigned int ura; |
| 612 /* hlth, SV health, 6 bits unsigned bitmap */ |
| 613 unsigned int hlth; |
| 614 /* af0, SV clock correction constant term |
| 615 * 22 bits signed, scale 2**-31, seconds */ |
| 616 int32_t af0; |
| 617 double d_af0; |
| 618 /* af1, SV clock correction first order term |
| 619 * 22 bits signed, scale 2**-43, seconds/second */ |
| 620 int16_t af1; |
| 621 double d_af1; |
| 622 /* af2, SV clock correction second order term |
| 623 * 8 bits signed, scale 2**-55, seconds/second**2 */ |
| 624 int8_t af2; |
| 625 double d_af2; |
| 626 /* Tgd, L1-L2 correction term, 8 bits signed, scale 2**-31, |
| 627 * seconds */ |
| 628 int8_t Tgd; |
| 629 double d_Tgd; |
| 630 } sub1; |
| 631 /* subframe 2, part of ephemeris, see IS-GPS-200E, Table 20-II |
| 632 * and Table 20-III */ |
| 633 struct { |
| 634 /* Issue of Data (Ephemeris), |
| 635 * equal to the 8 LSBs of the 10 bit IODC of the same data set */ |
| 636 uint8_t IODE; |
| 637 /* Age of Data Offset for the NMCT, 6 bits, scale 900, |
| 638 * ignore if all ones, seconds */ |
| 639 uint8_t AODO; |
| 640 uint16_t u_AODO; |
| 641 /* fit, FIT interval flag, indicates a fit interval greater than |
| 642 * 4 hour, 1 bit */ |
| 643 uint8_t fit; |
| 644 /* toe, Reference Time Ephemeris, 16 bits unsigned, scale 2**4, |
| 645 * seconds */ |
| 646 uint16_t toe; |
| 647 long l_toe; |
| 648 /* Crs, Amplitude of the Sine Harmonic Correction Term to the |
| 649 * Orbit Radius, 16 bits, scale 2**-5, signed, meters */ |
| 650 int16_t Crs; |
| 651 double d_Crs; |
| 652 /* Cus, Amplitude of the Sine Harmonic Correction Term to the |
| 653 * Argument of Latitude, 16 bits, signed, scale 2**-29, radians */ |
| 654 int16_t Cus; |
| 655 double d_Cus; |
| 656 /* Cuc, Amplitude of the Cosine Harmonic Correction Term to the |
| 657 * Argument of Latitude, 16 bits, signed, scale 2**-29, radians */ |
| 658 int16_t Cuc; |
| 659 double d_Cuc; |
| 660 /* deltan, Mean Motion Difference From Computed Value |
| 661 * Mean Motion Difference From Computed Value |
| 662 * 16 bits, signed, scale 2**-43, semi-circles/sec */ |
| 663 int16_t deltan; |
| 664 double d_deltan; |
| 665 /* M0, Mean Anomaly at Reference Time, 32 bits signed, |
| 666 * scale 2**-31, semi-circles */ |
| 667 int32_t M0; |
| 668 double d_M0; |
| 669 /* eccentricity, 32 bits, unsigned, scale 2**-33, dimensionless */ |
| 670 uint32_t e; |
| 671 double d_eccentricity; |
| 672 /* sqrt A, Square Root of the Semi-Major Axis |
| 673 * 32 bits unsigned, scale 2**-19, square_root(meters) */ |
| 674 uint32_t sqrtA; |
| 675 double d_sqrtA; |
| 676 } sub2; |
| 677 /* subframe 3, part of ephemeris, see IS-GPS-200E, Table 20-II, |
| 678 * Table 20-III */ |
| 679 struct { |
| 680 /* Issue of Data (Ephemeris), 8 bits, unsigned |
| 681 * equal to the 8 LSBs of the 10 bit IODC of the same data set */ |
| 682 uint8_t IODE; |
| 683 /* Rate of Inclination Angle, 14 bits signed, scale2**-43, |
| 684 * semi-circles/sec */ |
| 685 uint16_t IDOT; |
| 686 double d_IDOT; |
| 687 /* Cic, Amplitude of the Cosine Harmonic Correction Term to the |
| 688 * Angle of Inclination, 16 bits signed, scale 2**-29, radians*/ |
| 689 uint16_t Cic; |
| 690 double d_Cic; |
| 691 /* Cis, Amplitude of the Sine Harmonic Correction Term to the |
| 692 * Angle of Inclination, 16 bits, unsigned, scale 2**-29, radians */ |
| 693 int16_t Cis; |
| 694 double d_Cis; |
| 695 /* Crc, Amplitude of the Cosine Harmonic Correction Term to the |
| 696 * Orbit Radius, 16 bits signed, scale 2**-5, meters */ |
| 697 int16_t Crc; |
| 698 double d_Crc; |
| 699 /* i0, Inclination Angle at Reference Time, 32 bits, signed, |
| 700 * scale 2**-31, semi-circles */ |
| 701 int32_t i0; |
| 702 double d_i0; |
| 703 /* Omega0, Longitude of Ascending Node of Orbit Plane at Weekly |
| 704 * Epoch, 32 bits signed, semi-circles */ |
| 705 int32_t Omega0; |
| 706 double d_Omega0; |
| 707 /* omega, Argument of Perigee, 32 bits signed, scale 2**-31, |
| 708 * semi-circles */ |
| 709 int32_t omega; |
| 710 double d_omega; |
| 711 /* Omega dot, Rate of Right Ascension, 24 bits signed, |
| 712 * scale 2**-43, semi-circles/sec */ |
| 713 int32_t Omegad; |
| 714 double d_Omegad; |
| 715 } sub3; |
| 716 struct { |
| 717 struct almanac_t almanac; |
| 718 } sub4; |
| 719 /* subframe 4, page 13 */ |
| 720 struct { |
| 721 /* mapping ord ERD# to SV # is non trivial |
| 722 * leave it alone. See IS-GPS-200E Section 20.3.3.5.1.9 */ |
| 723 /* Estimated Range Deviation, 6 bits signed, meters */ |
| 724 char ERD[33]; |
| 725 /* ai, Availability Indicator, 2bits, bit map */ |
| 726 unsigned char ai; |
| 727 } sub4_13; |
| 728 /* subframe 4, page 17, system message, 23 chars, plus nul */ |
| 729 struct { |
| 730 char str[24]; |
| 731 } sub4_17; |
| 732 /* subframe 4, page 18 */ |
| 733 struct { |
| 734 /* ionospheric and UTC data */ |
| 735 /* A0, Bias coefficient of GPS time scale relative to UTC time |
| 736 * scale, 32 bits signed, scale 2**-30, seconds */ |
| 737 int32_t A0; |
| 738 double d_A0; |
| 739 /* A1, Drift coefficient of GPS time scale relative to UTC time |
| 740 * scale, 24 bits signed, scale 2**-50, seconds/second */ |
| 741 int32_t A1; |
| 742 double d_A1; |
| 743 |
| 744 /* alphaX, the four coefficients of a cubic equation representing |
| 745 * the amplitude of the vertical delay */ |
| 746 |
| 747 /* alpha0, 8 bits signed, scale w**-30, seconds */ |
| 748 int8_t alpha0; |
| 749 double d_alpha0; |
| 750 /* alpha1, 8 bits signed, scale w**-27, seconds/semi-circle */ |
| 751 int8_t alpha1; |
| 752 double d_alpha1; |
| 753 /* alpha2, 8 bits signed, scale w**-24, seconds/semi-circle**2 */ |
| 754 int8_t alpha2; |
| 755 double d_alpha2; |
| 756 /* alpha3, 8 bits signed, scale w**-24, seconds/semi-circle**3 */ |
| 757 int8_t alpha3; |
| 758 double d_alpha3; |
| 759 |
| 760 /* betaX, the four coefficients of a cubic equation representing |
| 761 * the period of the model */ |
| 762 |
| 763 /* beta0, 8 bits signed, scale w**11, seconds */ |
| 764 int8_t beta0; |
| 765 double d_beta0; |
| 766 /* beta1, 8 bits signed, scale w**14, seconds/semi-circle */ |
| 767 int8_t beta1; |
| 768 double d_beta1; |
| 769 /* beta2, 8 bits signed, scale w**16, seconds/semi-circle**2 */ |
| 770 int8_t beta2; |
| 771 double d_beta2; |
| 772 /* beta3, 8 bits signed, scale w**16, seconds/semi-circle**3 */ |
| 773 int8_t beta3; |
| 774 double d_beta3; |
| 775 |
| 776 /* leap (delta t ls), current leap second, 8 bits signed, |
| 777 * scale 1, seconds */ |
| 778 int8_t leap; |
| 779 /* lsf (delta t lsf), future leap second, 8 bits signed, |
| 780 * scale 1, seconds */ |
| 781 int8_t lsf; |
| 782 |
| 783 /* tot, reference time for UTC data, |
| 784 * 8 bits unsigned, scale 2**12, seconds */ |
| 785 uint8_t tot; |
| 786 double d_tot; |
| 787 |
| 788 /* WNt, UTC reference week number, 8 bits unsigned, scale 1, |
| 789 * weeks */ |
| 790 uint8_t WNt; |
| 791 /* WNlsf, Leap second reference Week Number, |
| 792 * 8 bits unsigned, scale 1, weeks */ |
| 793 uint8_t WNlsf; |
| 794 /* DN, Leap second reference Day Number , 8 bits unsigned, |
| 795 * scale 1, days */ |
| 796 uint8_t DN; |
| 797 } sub4_18; |
| 798 /* subframe 4, page 25 */ |
| 799 struct { |
| 800 /* svf, A-S status and the configuration code of each SV |
| 801 * 4 bits unsigned, bitmap */ |
| 802 unsigned char svf[33]; |
| 803 /* svh, SV health data for SV 25 through 32 |
| 804 * 6 bits unsigned bitmap */ |
| 805 uint8_t svhx[8]; |
| 806 } sub4_25; |
| 807 struct { |
| 808 struct almanac_t almanac; |
| 809 } sub5; |
| 810 struct { |
| 811 /* toa, Almanac reference Time, 8 bits unsigned, scale 2**12, |
| 812 * seconds */ |
| 813 uint8_t toa; |
| 814 long l_toa; |
| 815 /* WNa, Week Number almanac, 8 bits, scale 2, GPS Week |
| 816 * Number % 256 */ |
| 817 uint8_t WNa; |
| 818 /* sv, SV health status, 6 bits, bitmap */ |
| 819 uint8_t sv[25]; |
| 820 } sub5_25; |
| 821 }; |
| 822 }; |
| 823 |
| 824 #ifndef S_SPLINT_S |
| 825 typedef uint64_t gps_mask_t; |
| 826 #else |
| 827 typedef /*@unsignedintegraltype@*/ unsigned long long gps_mask_t; |
| 828 #endif /* S_SPLINT_S */ |
| 829 |
| 830 /* |
| 831 * Is an MMSI number that of an auxiliary associated with a mother ship? |
| 832 * We need to be able to test this for decoding AIS Type 24 messages. |
| 833 * According to <http://www.navcen.uscg.gov/marcomms/gmdss/mmsi.htm#format>, |
| 834 * auxiliary-craft MMSIs have the form 98MIDXXXX, where MID is a country |
| 835 * code and XXXX the vessel ID. |
| 836 */ |
| 837 #define AIS_AUXILIARY_MMSI(n) ((n) / 10000000 == 98) |
| 838 |
| 839 /* N/A values and scaling constant for 25/24 bit lon/lat pairs */ |
| 840 #define AIS_LON3_NOT_AVAILABLE 181000 |
| 841 #define AIS_LAT3_NOT_AVAILABLE 91000 |
| 842 #define AIS_LATLON3_SCALE 60000.0 |
| 843 |
| 844 /* N/A values and scaling constant for 28/27 bit lon/lat pairs */ |
| 845 #define AIS_LON4_NOT_AVAILABLE 1810000 |
| 846 #define AIS_LAT4_NOT_AVAILABLE 910000 |
| 847 #define AIS_LATLON4_SCALE 600000.0 |
| 848 |
| 849 struct route_info { |
| 850 unsigned int linkage; /* Message Linkage ID */ |
| 851 unsigned int sender; /* Sender Class */ |
| 852 unsigned int rtype; /* Route Type */ |
| 853 unsigned int month; /* Start month */ |
| 854 unsigned int day; /* Start day */ |
| 855 unsigned int hour; /* Start hour */ |
| 856 unsigned int minute; /* Start minute */ |
| 857 unsigned int duration; /* Duration */ |
| 858 int waycount; /* Waypoint count */ |
| 859 struct waypoint_t { |
| 860 signed int lon; /* Longitude */ |
| 861 signed int lat; /* Latitude */ |
| 862 } waypoints[16]; |
| 863 }; |
| 864 |
| 865 struct ais_t |
| 866 { |
| 867 unsigned int type; /* message type */ |
| 868 unsigned int repeat; /* Repeat indicator */ |
| 869 unsigned int mmsi; /* MMSI */ |
| 870 union { |
| 871 /* Types 1-3 Common navigation info */ |
| 872 struct { |
| 873 unsigned int status; /* navigation status */ |
| 874 signed turn; /* rate of turn */ |
| 875 #define AIS_TURN_HARD_LEFT -127 |
| 876 #define AIS_TURN_HARD_RIGHT 127 |
| 877 #define AIS_TURN_NOT_AVAILABLE 128 |
| 878 unsigned int speed; /* speed over ground in deciknot
s */ |
| 879 #define AIS_SPEED_NOT_AVAILABLE 1023 |
| 880 #define AIS_SPEED_FAST_MOVER 1022 /* >= 102.2 knots */ |
| 881 bool accuracy; /* position accuracy */ |
| 882 #define AIS_LATLON_SCALE 600000.0 |
| 883 int lon; /* longitude */ |
| 884 #define AIS_LON_NOT_AVAILABLE 0x6791AC0 |
| 885 int lat; /* latitude */ |
| 886 #define AIS_LAT_NOT_AVAILABLE 0x3412140 |
| 887 unsigned int course; /* course over ground */ |
| 888 #define AIS_COURSE_NOT_AVAILABLE 3600 |
| 889 unsigned int heading; /* true heading */ |
| 890 #define AIS_HEADING_NOT_AVAILABLE 511 |
| 891 unsigned int second; /* seconds of UTC timestamp */ |
| 892 #define AIS_SEC_NOT_AVAILABLE 60 |
| 893 #define AIS_SEC_MANUAL 61 |
| 894 #define AIS_SEC_ESTIMATED 62 |
| 895 #define AIS_SEC_INOPERATIVE 63 |
| 896 unsigned int maneuver; /* maneuver indicator */ |
| 897 //unsigned int spare; spare bits */ |
| 898 bool raim; /* RAIM flag */ |
| 899 unsigned int radio; /* radio status bits */ |
| 900 } type1; |
| 901 /* Type 4 - Base Station Report & Type 11 - UTC and Date Response */ |
| 902 struct { |
| 903 unsigned int year; /* UTC year */ |
| 904 #define AIS_YEAR_NOT_AVAILABLE 0 |
| 905 unsigned int month; /* UTC month */ |
| 906 #define AIS_MONTH_NOT_AVAILABLE 0 |
| 907 unsigned int day; /* UTC day */ |
| 908 #define AIS_DAY_NOT_AVAILABLE 0 |
| 909 unsigned int hour; /* UTC hour */ |
| 910 #define AIS_HOUR_NOT_AVAILABLE 24 |
| 911 unsigned int minute; /* UTC minute */ |
| 912 #define AIS_MINUTE_NOT_AVAILABLE 60 |
| 913 unsigned int second; /* UTC second */ |
| 914 #define AIS_SECOND_NOT_AVAILABLE 60 |
| 915 bool accuracy; /* fix quality */ |
| 916 int lon; /* longitude */ |
| 917 int lat; /* latitude */ |
| 918 unsigned int epfd; /* type of position fix device */ |
| 919 //unsigned int spare; spare bits */ |
| 920 bool raim; /* RAIM flag */ |
| 921 unsigned int radio; /* radio status bits */ |
| 922 } type4; |
| 923 /* Type 5 - Ship static and voyage related data */ |
| 924 struct { |
| 925 unsigned int ais_version; /* AIS version level */ |
| 926 unsigned int imo; /* IMO identification */ |
| 927 char callsign[7+1]; /* callsign */ |
| 928 #define AIS_SHIPNAME_MAXLEN 20 |
| 929 char shipname[AIS_SHIPNAME_MAXLEN+1]; /* vessel name */ |
| 930 unsigned int shiptype; /* ship type code */ |
| 931 unsigned int to_bow; /* dimension to bow */ |
| 932 unsigned int to_stern; /* dimension to stern */ |
| 933 unsigned int to_port; /* dimension to port */ |
| 934 unsigned int to_starboard; /* dimension to starboard */ |
| 935 unsigned int epfd; /* type of position fix deviuce */ |
| 936 unsigned int month; /* UTC month */ |
| 937 unsigned int day; /* UTC day */ |
| 938 unsigned int hour; /* UTC hour */ |
| 939 unsigned int minute; /* UTC minute */ |
| 940 unsigned int draught; /* draft in meters */ |
| 941 char destination[20+1]; /* ship destination */ |
| 942 unsigned int dte; /* data terminal enable */ |
| 943 //unsigned int spare; spare bits */ |
| 944 } type5; |
| 945 /* Type 6 - Addressed Binary Message */ |
| 946 struct { |
| 947 unsigned int seqno; /* sequence number */ |
| 948 unsigned int dest_mmsi; /* destination MMSI */ |
| 949 bool retransmit; /* retransmit flag */ |
| 950 //unsigned int spare; spare bit(s) */ |
| 951 unsigned int dac; /* Application ID */ |
| 952 unsigned int fid; /* Functional ID */ |
| 953 #define AIS_TYPE6_BINARY_MAX 920 /* 920 bits */ |
| 954 size_t bitcount; /* bit count of the data */ |
| 955 union { |
| 956 char bitdata[(AIS_TYPE6_BINARY_MAX + 7) / 8]; |
| 957 /* IMO236 - Dangerous Cargo Indication */ |
| 958 struct { |
| 959 char lastport[5+1]; /* Last Port Of Call */ |
| 960 unsigned int lmonth; /* ETA month */ |
| 961 unsigned int lday; /* ETA day */ |
| 962 unsigned int lhour; /* ETA hour */ |
| 963 unsigned int lminute; /* ETA minute */ |
| 964 char nextport[5+1]; /* Next Port Of Call */ |
| 965 unsigned int nmonth; /* ETA month */ |
| 966 unsigned int nday; /* ETA day */ |
| 967 unsigned int nhour; /* ETA hour */ |
| 968 unsigned int nminute; /* ETA minute */ |
| 969 char dangerous[20+1]; /* Main Dangerous Good */ |
| 970 char imdcat[4+1]; /* IMD Category */ |
| 971 unsigned int unid; /* UN Number */ |
| 972 unsigned int amount; /* Amount of Cargo */ |
| 973 unsigned int unit; /* Unit of Quantity */ |
| 974 } dac1fid12; |
| 975 /* IMO236 - Extended Ship Static and Voyage Related Data */ |
| 976 struct { |
| 977 unsigned int airdraught; /* Air Draught */ |
| 978 } dac1fid15; |
| 979 /* IMO236 - Number of Persons on board */ |
| 980 struct { |
| 981 unsigned persons; /* number of persons */ |
| 982 } dac1fid16; |
| 983 /* IMO289 - Clearance Time To Enter Port */ |
| 984 struct { |
| 985 unsigned int linkage; /* Message Linkage ID */ |
| 986 unsigned int month; /* Month (UTC) */ |
| 987 unsigned int day; /* Day (UTC) */ |
| 988 unsigned int hour; /* Hour (UTC) */ |
| 989 unsigned int minute; /* Minute (UTC) */ |
| 990 char portname[20+1]; /* Name of Port & Berth */ |
| 991 char destination[5+1]; /* Destination */ |
| 992 signed int lon; /* Longitude */ |
| 993 signed int lat; /* Latitude */ |
| 994 } dac1fid18; |
| 995 /* IMO289 - Berthing Data (addressed) */ |
| 996 struct { |
| 997 unsigned int linkage; /* Message Linkage ID */ |
| 998 unsigned int berth_length; /* Berth length */ |
| 999 unsigned int berth_depth; /* Berth Water Depth */ |
| 1000 unsigned int position; /* Mooring Position */ |
| 1001 unsigned int month; /* Month (UTC) */ |
| 1002 unsigned int day; /* Day (UTC) */ |
| 1003 unsigned int hour; /* Hour (UTC) */ |
| 1004 unsigned int minute; /* Minute (UTC) */ |
| 1005 unsigned int availability; /* Services Availability */ |
| 1006 unsigned int agent; /* Agent */ |
| 1007 unsigned int fuel; /* Bunker/fuel */ |
| 1008 unsigned int chandler; /* Chandler */ |
| 1009 unsigned int stevedore; /* Stevedore */ |
| 1010 unsigned int electrical; /* Electrical */ |
| 1011 unsigned int water; /* Potable water */ |
| 1012 unsigned int customs; /* Customs house */ |
| 1013 unsigned int cartage; /* Cartage */ |
| 1014 unsigned int crane; /* Crane(s) */ |
| 1015 unsigned int lift; /* Lift(s) */ |
| 1016 unsigned int medical; /* Medical facilities */ |
| 1017 unsigned int navrepair; /* Navigation repair */ |
| 1018 unsigned int provisions; /* Provisions */ |
| 1019 unsigned int shiprepair; /* Ship repair */ |
| 1020 unsigned int surveyor; /* Surveyor */ |
| 1021 unsigned int steam; /* Steam */ |
| 1022 unsigned int tugs; /* Tugs */ |
| 1023 unsigned int solidwaste; /* Waste disposal (solid) */ |
| 1024 unsigned int liquidwaste; /* Waste disposal (liquid) */ |
| 1025 unsigned int hazardouswaste; /* Waste disposal (hazar
dous) */ |
| 1026 unsigned int ballast; /* Reserved ballast exchange */ |
| 1027 unsigned int additional; /* Additional services */ |
| 1028 unsigned int regional1; /* Regional reserved 1 */ |
| 1029 unsigned int regional2; /* Regional reserved 2 */ |
| 1030 unsigned int future1; /* Reserved for future */ |
| 1031 unsigned int future2; /* Reserved for future */ |
| 1032 char berth_name[20+1]; /* Name of Berth */ |
| 1033 signed int berth_lon; /* Longitude */ |
| 1034 signed int berth_lat; /* Latitude */ |
| 1035 } dac1fid20; |
| 1036 /* IMO289 - Dangerous Cargo Indication */ |
| 1037 struct { |
| 1038 unsigned int unit; /* Unit of Quantity */ |
| 1039 unsigned int amount; /* Amount of Cargo */ |
| 1040 int ncargos; |
| 1041 struct cargo_t { |
| 1042 unsigned int code; /* Cargo code */ |
| 1043 unsigned int subtype; /* Cargo subtype */ |
| 1044 } cargos[28]; |
| 1045 } dac1fid25; |
| 1046 /* IMO289 - Route info (addressed) */ |
| 1047 struct route_info dac1fid28; |
| 1048 /* IMO289 - Text message (addressed) */ |
| 1049 struct { |
| 1050 unsigned int linkage; |
| 1051 #define AIS_DAC1FID30_TEXT_MAX 154 /* 920 bits of six-bit, plus NUL */ |
| 1052 char text[AIS_DAC1FID30_TEXT_MAX]; |
| 1053 } dac1fid30; |
| 1054 /* IMO289 & IMO236 - Tidal Window */ |
| 1055 struct { |
| 1056 unsigned int type; /* Message Type */ |
| 1057 unsigned int repeat; /* Repeat Indicator */ |
| 1058 unsigned int mmsi; /* Source MMSI */ |
| 1059 unsigned int seqno; /* Sequence Number */ |
| 1060 unsigned int dest_mmsi; /* Destination MMSI */ |
| 1061 signed int retransmit; /* Retransmit flag */ |
| 1062 unsigned int dac; /* DAC */ |
| 1063 unsigned int fid; /* FID */ |
| 1064 unsigned int month; /* Month */ |
| 1065 unsigned int day; /* Day */ |
| 1066 signed int ntidals; |
| 1067 struct tidal_t { |
| 1068 signed int lon; /* Longitude */ |
| 1069 signed int lat; /* Latitude */ |
| 1070 unsigned int from_hour; /* From UTC Hour */ |
| 1071 unsigned int from_min; /* From UTC Minute */ |
| 1072 unsigned int to_hour; /* To UTC Hour */ |
| 1073 unsigned int to_min; /* To UTC Minute */ |
| 1074 #define DAC1FID32_CDIR_NOT_AVAILABLE 360 |
| 1075 unsigned int cdir; /* Current Dir. Predicted */ |
| 1076 #define DAC1FID32_CSPEED_NOT_AVAILABLE 127 |
| 1077 unsigned int cspeed; /* Current Speed Predicted */ |
| 1078 } tidals[3]; |
| 1079 } dac1fid32; |
| 1080 }; |
| 1081 } type6; |
| 1082 /* Type 7 - Binary Acknowledge */ |
| 1083 struct { |
| 1084 unsigned int mmsi1; |
| 1085 unsigned int mmsi2; |
| 1086 unsigned int mmsi3; |
| 1087 unsigned int mmsi4; |
| 1088 /* spares ignored, they're only padding here */ |
| 1089 } type7; |
| 1090 /* Type 8 - Broadcast Binary Message */ |
| 1091 struct { |
| 1092 //unsigned int spare; spare bit(s) */ |
| 1093 unsigned int dac; /* Designated Area Code */ |
| 1094 unsigned int fid; /* Functional ID */ |
| 1095 #define AIS_TYPE8_BINARY_MAX 952 /* 952 bits */ |
| 1096 size_t bitcount; /* bit count of the data */ |
| 1097 union { |
| 1098 char bitdata[(AIS_TYPE8_BINARY_MAX + 7) / 8]; |
| 1099 /* IMO236 - Fairway Closed */ |
| 1100 struct { |
| 1101 char reason[20+1]; /* Reason For Closing */ |
| 1102 char closefrom[20+1]; /* Location Of Closing From */ |
| 1103 char closeto[20+1]; /* Location of Closing To */ |
| 1104 unsigned int radius; /* Radius extension */ |
| 1105 #define AIS_DAC1FID13_RADIUS_NOT_AVAILABLE 10001 |
| 1106 unsigned int extunit; /* Unit of extension */ |
| 1107 #define AIS_DAC1FID13_EXTUNIT_NOT_AVAILABLE 0 |
| 1108 unsigned int fday; /* From day (UTC) */ |
| 1109 unsigned int fmonth; /* From month (UTC) */ |
| 1110 unsigned int fhour; /* From hour (UTC) */ |
| 1111 unsigned int fminute; /* From minute (UTC) */ |
| 1112 unsigned int tday; /* To day (UTC) */ |
| 1113 unsigned int tmonth; /* To month (UTC) */ |
| 1114 unsigned int thour; /* To hour (UTC) */ |
| 1115 unsigned int tminute; /* To minute (UTC) */ |
| 1116 } dac1fid13; |
| 1117 /* IMO236 - Extended ship and voyage data */ |
| 1118 struct { |
| 1119 unsigned int airdraught; /* Air Draught */ |
| 1120 } dac1fid15; |
| 1121 /* IMO289 - VTS-generated/Synthetic Targets */ |
| 1122 struct { |
| 1123 signed int ntargets; |
| 1124 struct target_t { |
| 1125 #define DAC1FID17_IDTYPE_MMSI 0 |
| 1126 #define DAC1FID17_IDTYPE_IMO 1 |
| 1127 #define DAC1FID17_IDTYPE_CALLSIGN 2 |
| 1128 #define DAC1FID17_IDTYPE_OTHER 3 |
| 1129 unsigned int idtype; /* Identifier type */ |
| 1130 union target_id { /* Target identifier */ |
| 1131 unsigned int mmsi; |
| 1132 unsigned int imo; |
| 1133 #define DAC1FID17_ID_LENGTH 7 |
| 1134 char callsign[DAC1FID17_ID_LENGTH+1]; |
| 1135 char other[DAC1FID17_ID_LENGTH+1]; |
| 1136 } id; |
| 1137 signed int lat; /* Latitude */ |
| 1138 signed int lon; /* Longitude */ |
| 1139 #define DAC1FID17_COURSE_NOT_AVAILABLE 360 |
| 1140 unsigned int course; /* Course Over Ground */ |
| 1141 unsigned int second; /* Time Stamp */ |
| 1142 #define DAC1FID17_SPEED_NOT_AVAILABLE 255 |
| 1143 unsigned int speed; /* Speed Over Ground */ |
| 1144 } targets[4]; |
| 1145 } dac1fid17; |
| 1146 /* IMO 289 - Marine Traffic Signal */ |
| 1147 struct { |
| 1148 unsigned int linkage; /* Message Linkage ID */ |
| 1149 char station[20+1]; /* Name of Signal Station */ |
| 1150 signed int lon; /* Longitude */ |
| 1151 signed int lat; /* Latitude */ |
| 1152 unsigned int status; /* Status of Signal */ |
| 1153 unsigned int signal; /* Signal In Service */ |
| 1154 unsigned int hour; /* UTC hour */ |
| 1155 unsigned int minute; /* UTC minute */ |
| 1156 unsigned int nextsignal; /* Expected Next Signal */ |
| 1157 } dac1fid19; |
| 1158 /* IMO289 - Route info (broadcast) */ |
| 1159 struct route_info dac1fid27; |
| 1160 /* IMO289 - Text message (broadcast) */ |
| 1161 struct { |
| 1162 unsigned int linkage; |
| 1163 #define AIS_DAC1FID29_TEXT_MAX 162 /* 920 bits of six-bit, plus NUL */ |
| 1164 char text[AIS_DAC1FID29_TEXT_MAX]; |
| 1165 } dac1fid29; |
| 1166 /* IMO236 & IMO289 - Meteorological-Hydrological data */ |
| 1167 struct { |
| 1168 bool accuracy; /* position accuracy, <10m if true */ |
| 1169 #define DAC1FID31_LATLON_SCALE 1000 |
| 1170 int lon; /* longitude in minutes * .001 */ |
| 1171 #define DAC1FID31_LON_NOT_AVAILABLE (181*60*DAC1FID31_LATLON_SCALE) |
| 1172 int lat; /* longitude in minutes * .001 */ |
| 1173 #define DAC1FID31_LAT_NOT_AVAILABLE (91*60*DAC1FID31_LATLON_SCALE) |
| 1174 unsigned int day; /* UTC day */ |
| 1175 unsigned int hour; /* UTC hour */ |
| 1176 unsigned int minute; /* UTC minute */ |
| 1177 unsigned int wspeed; /* average wind speed */ |
| 1178 unsigned int wgust; /* wind gust */ |
| 1179 #define DAC1FID31_WIND_HIGH 126 |
| 1180 #define DAC1FID31_WIND_NOT_AVAILABLE 127 |
| 1181 unsigned int wdir; /* wind direction */ |
| 1182 unsigned int wgustdir; /* wind gust direction */ |
| 1183 #define DAC1FID31_DIR_NOT_AVAILABLE 360 |
| 1184 int airtemp; /* temperature, units 0.1C */ |
| 1185 #define DAC1FID31_AIRTEMP_NOT_AVAILABLE -1084 |
| 1186 unsigned int humidity; /* relative humidity, % */ |
| 1187 #define DAC1FID31_HUMIDITY_NOT_AVAILABLE 101 |
| 1188 int dewpoint; /* dew point, units 0.1C */ |
| 1189 #define DAC1FID31_DEWPOINT_NOT_AVAILABLE 501 |
| 1190 unsigned int pressure; /* air pressure, hpa */ |
| 1191 #define DAC1FID31_PRESSURE_NOT_AVAILABLE 511 |
| 1192 #define DAC1FID31_PRESSURE_HIGH 402 |
| 1193 unsigned int pressuretend; /* tendency */ |
| 1194 #define DAC1FID31_PRESSURETREND_NOT_AVAILABLE 3 |
| 1195 bool visgreater; /* visibility greater than */ |
| 1196 unsigned int visibility; /* units 0.1 nautical miles */ |
| 1197 #define DAC1FID31_VISIBILITY_NOT_AVAILABLE 127 |
| 1198 int waterlevel; /* decimeters or cm */ |
| 1199 #define DAC1FID11_WATERLEVEL_NOT_AVAILABLE 4001 |
| 1200 #define DAC1FID31_WATERLEVEL_NOT_AVAILABLE 40001 |
| 1201 unsigned int leveltrend; /* water level trend code */ |
| 1202 #define DAC1FID31_LEVELTREND_NOT_AVAILABLE 3 |
| 1203 unsigned int cspeed; /* current speed in deciknots */ |
| 1204 #define DAC1FID31_CSPEED_NOT_AVAILABLE 255 |
| 1205 unsigned int cdir; /* current dir., degrees */ |
| 1206 unsigned int cspeed2; /* current speed in deciknots */ |
| 1207 unsigned int cdir2; /* current dir., degrees */ |
| 1208 unsigned int cdepth2; /* measurement depth, 0.1m */ |
| 1209 #define DAC1FID31_CDEPTH_NOT_AVAILABLE 301 |
| 1210 unsigned int cspeed3; /* current speed in deciknots */ |
| 1211 unsigned int cdir3; /* current dir., degrees */ |
| 1212 unsigned int cdepth3; /* measurement depth, 0.1m */ |
| 1213 unsigned int waveheight; /* in decimeters */ |
| 1214 #define DAC1FID31_HEIGHT_NOT_AVAILABLE 31 |
| 1215 unsigned int waveperiod; /* in seconds */ |
| 1216 #define DAC1FID31_PERIOD_NOT_AVAILABLE 63 |
| 1217 unsigned int wavedir; /* direction in degrees */ |
| 1218 unsigned int swellheight; /* in decimeters */ |
| 1219 unsigned int swellperiod; /* in seconds */ |
| 1220 unsigned int swelldir; /* direction in degrees */ |
| 1221 unsigned int seastate; /* Beaufort scale, 0-12 */ |
| 1222 #define DAC1FID31_SEASTATE_NOT_AVAILABLE 15 |
| 1223 int watertemp; /* units 0.1deg Celsius */ |
| 1224 #define DAC1FID31_PRECIPTYPE_NOT_AVAILABLE 7 |
| 1225 unsigned int preciptype; /* 0-7, enumerated */ |
| 1226 unsigned int salinity; /* units of 0.1% */ |
| 1227 #define DAC1FID31_SALINITY_NOT_AVAILABLE 510 |
| 1228 bool ice; /* is there sea ice? */ |
| 1229 } dac1fid31; |
| 1230 }; |
| 1231 } type8; |
| 1232 /* Type 9 - Standard SAR Aircraft Position Report */ |
| 1233 struct { |
| 1234 unsigned int alt; /* altitude in meters */ |
| 1235 #define AIS_ALT_NOT_AVAILABLE 4095 |
| 1236 #define AIS_ALT_HIGH 4094 /* 4094 meters or higher */ |
| 1237 unsigned int speed; /* speed over ground in deciknots */ |
| 1238 #define AIS_SAR_SPEED_NOT_AVAILABLE 1023 |
| 1239 #define AIS_SAR_FAST_MOVER 1022 |
| 1240 bool accuracy; /* position accuracy */ |
| 1241 int lon; /* longitude */ |
| 1242 int lat; /* latitude */ |
| 1243 unsigned int course; /* course over ground */ |
| 1244 unsigned int second; /* seconds of UTC timestamp */ |
| 1245 unsigned int regional; /* regional reserved */ |
| 1246 unsigned int dte; /* data terminal enable */ |
| 1247 //unsigned int spare; spare bits */ |
| 1248 bool assigned; /* assigned-mode flag */ |
| 1249 bool raim; /* RAIM flag */ |
| 1250 unsigned int radio; /* radio status bits */ |
| 1251 } type9; |
| 1252 /* Type 10 - UTC/Date Inquiry */ |
| 1253 struct { |
| 1254 //unsigned int spare; |
| 1255 unsigned int dest_mmsi; /* destination MMSI */ |
| 1256 //unsigned int spare2; |
| 1257 } type10; |
| 1258 /* Type 12 - Safety-Related Message */ |
| 1259 struct { |
| 1260 unsigned int seqno; /* sequence number */ |
| 1261 unsigned int dest_mmsi; /* destination MMSI */ |
| 1262 bool retransmit; /* retransmit flag */ |
| 1263 //unsigned int spare; spare bit(s) */ |
| 1264 #define AIS_TYPE12_TEXT_MAX 157 /* 936 bits of six-bit, plus NUL */ |
| 1265 char text[AIS_TYPE12_TEXT_MAX]; |
| 1266 } type12; |
| 1267 /* Type 14 - Safety-Related Broadcast Message */ |
| 1268 struct { |
| 1269 //unsigned int spare; spare bit(s) */ |
| 1270 #define AIS_TYPE14_TEXT_MAX 161 /* 952 bits of six-bit, plus NUL */ |
| 1271 char text[AIS_TYPE14_TEXT_MAX]; |
| 1272 } type14; |
| 1273 /* Type 15 - Interrogation */ |
| 1274 struct { |
| 1275 //unsigned int spare; spare bit(s) */ |
| 1276 unsigned int mmsi1; |
| 1277 unsigned int type1_1; |
| 1278 unsigned int offset1_1; |
| 1279 //unsigned int spare2; spare bit(s) */ |
| 1280 unsigned int type1_2; |
| 1281 unsigned int offset1_2; |
| 1282 //unsigned int spare3; spare bit(s) */ |
| 1283 unsigned int mmsi2; |
| 1284 unsigned int type2_1; |
| 1285 unsigned int offset2_1; |
| 1286 //unsigned int spare4; spare bit(s) */ |
| 1287 } type15; |
| 1288 /* Type 16 - Assigned Mode Command */ |
| 1289 struct { |
| 1290 //unsigned int spare; spare bit(s) */ |
| 1291 unsigned int mmsi1; |
| 1292 unsigned int offset1; |
| 1293 unsigned int increment1; |
| 1294 unsigned int mmsi2; |
| 1295 unsigned int offset2; |
| 1296 unsigned int increment2; |
| 1297 } type16; |
| 1298 /* Type 17 - GNSS Broadcast Binary Message */ |
| 1299 struct { |
| 1300 //unsigned int spare; spare bit(s) */ |
| 1301 #define AIS_GNSS_LATLON_SCALE 600.0 |
| 1302 int lon; /* longitude */ |
| 1303 int lat; /* latitude */ |
| 1304 //unsigned int spare2; spare bit(s) */ |
| 1305 #define AIS_TYPE17_BINARY_MAX 736 /* 920 bits */ |
| 1306 size_t bitcount; /* bit count of the data */ |
| 1307 char bitdata[(AIS_TYPE17_BINARY_MAX + 7) / 8]; |
| 1308 } type17; |
| 1309 /* Type 18 - Standard Class B CS Position Report */ |
| 1310 struct { |
| 1311 unsigned int reserved; /* altitude in meters */ |
| 1312 unsigned int speed; /* speed over ground in deciknots */ |
| 1313 bool accuracy; /* position accuracy */ |
| 1314 int lon; /* longitude */ |
| 1315 #define AIS_GNS_LON_NOT_AVAILABLE 0x1a838 |
| 1316 int lat; /* latitude */ |
| 1317 #define AIS_GNS_LAT_NOT_AVAILABLE 0xd548 |
| 1318 unsigned int course; /* course over ground */ |
| 1319 unsigned int heading; /* true heading */ |
| 1320 unsigned int second; /* seconds of UTC timestamp */ |
| 1321 unsigned int regional; /* regional reserved */ |
| 1322 bool cs; /* carrier sense unit flag */ |
| 1323 bool display; /* unit has attached display? */ |
| 1324 bool dsc; /* unit attached to radio with DSC? */ |
| 1325 bool band; /* unit can switch frequency bands? */ |
| 1326 bool msg22; /* can accept Message 22 management? */ |
| 1327 bool assigned; /* assigned-mode flag */ |
| 1328 bool raim; /* RAIM flag */ |
| 1329 unsigned int radio; /* radio status bits */ |
| 1330 } type18; |
| 1331 /* Type 19 - Extended Class B CS Position Report */ |
| 1332 struct { |
| 1333 unsigned int reserved; /* altitude in meters */ |
| 1334 unsigned int speed; /* speed over ground in deciknots */ |
| 1335 bool accuracy; /* position accuracy */ |
| 1336 int lon; /* longitude */ |
| 1337 int lat; /* latitude */ |
| 1338 unsigned int course; /* course over ground */ |
| 1339 unsigned int heading; /* true heading */ |
| 1340 unsigned int second; /* seconds of UTC timestamp */ |
| 1341 unsigned int regional; /* regional reserved */ |
| 1342 char shipname[AIS_SHIPNAME_MAXLEN+1]; /* ship name */ |
| 1343 unsigned int shiptype; /* ship type code */ |
| 1344 unsigned int to_bow; /* dimension to bow */ |
| 1345 unsigned int to_stern; /* dimension to stern */ |
| 1346 unsigned int to_port; /* dimension to port */ |
| 1347 unsigned int to_starboard; /* dimension to starboard */ |
| 1348 unsigned int epfd; /* type of position fix deviuce */ |
| 1349 bool raim; /* RAIM flag */ |
| 1350 unsigned int dte; /* date terminal enable */ |
| 1351 bool assigned; /* assigned-mode flag */ |
| 1352 //unsigned int spare; spare bits */ |
| 1353 } type19; |
| 1354 /* Type 20 - Data Link Management Message */ |
| 1355 struct { |
| 1356 //unsigned int spare; spare bit(s) */ |
| 1357 unsigned int offset1; /* TDMA slot offset */ |
| 1358 unsigned int number1; /* number of xlots to allocate */ |
| 1359 unsigned int timeout1; /* allocation timeout */ |
| 1360 unsigned int increment1; /* repeat increment */ |
| 1361 unsigned int offset2; /* TDMA slot offset */ |
| 1362 unsigned int number2; /* number of xlots to allocate */ |
| 1363 unsigned int timeout2; /* allocation timeout */ |
| 1364 unsigned int increment2; /* repeat increment */ |
| 1365 unsigned int offset3; /* TDMA slot offset */ |
| 1366 unsigned int number3; /* number of xlots to allocate */ |
| 1367 unsigned int timeout3; /* allocation timeout */ |
| 1368 unsigned int increment3; /* repeat increment */ |
| 1369 unsigned int offset4; /* TDMA slot offset */ |
| 1370 unsigned int number4; /* number of xlots to allocate */ |
| 1371 unsigned int timeout4; /* allocation timeout */ |
| 1372 unsigned int increment4; /* repeat increment */ |
| 1373 } type20; |
| 1374 /* Type 21 - Aids to Navigation Report */ |
| 1375 struct { |
| 1376 unsigned int aid_type; /* aid type */ |
| 1377 char name[35]; /* name of aid to navigation */ |
| 1378 bool accuracy; /* position accuracy */ |
| 1379 int lon; /* longitude */ |
| 1380 int lat; /* latitude */ |
| 1381 unsigned int to_bow; /* dimension to bow */ |
| 1382 unsigned int to_stern; /* dimension to stern */ |
| 1383 unsigned int to_port; /* dimension to port */ |
| 1384 unsigned int to_starboard; /* dimension to starboard */ |
| 1385 unsigned int epfd; /* type of EPFD */ |
| 1386 unsigned int second; /* second of UTC timestamp */ |
| 1387 bool off_position; /* off-position indicator */ |
| 1388 unsigned int regional; /* regional reserved field */ |
| 1389 bool raim; /* RAIM flag */ |
| 1390 bool virtual_aid; /* is virtual station? */ |
| 1391 bool assigned; /* assigned-mode flag */ |
| 1392 //unsigned int spare; unused */ |
| 1393 } type21; |
| 1394 /* Type 22 - Channel Management */ |
| 1395 struct { |
| 1396 //unsigned int spare; spare bit(s) */ |
| 1397 unsigned int channel_a; /* Channel A number */ |
| 1398 unsigned int channel_b; /* Channel B number */ |
| 1399 unsigned int txrx; /* transmit/receive mode */ |
| 1400 bool power; /* high-power flag */ |
| 1401 #define AIS_CHANNEL_LATLON_SCALE 600.0 |
| 1402 union { |
| 1403 struct { |
| 1404 int ne_lon; /* NE corner longitude */ |
| 1405 int ne_lat; /* NE corner latitude */ |
| 1406 int sw_lon; /* SW corner longitude */ |
| 1407 int sw_lat; /* SW corner latitude */ |
| 1408 } area; |
| 1409 struct { |
| 1410 unsigned int dest1; /* addressed station MMSI 1 */ |
| 1411 unsigned int dest2; /* addressed station MMSI 2 */ |
| 1412 } mmsi; |
| 1413 }; |
| 1414 bool addressed; /* addressed vs. broadast flag */ |
| 1415 bool band_a; /* fix 1.5kHz band for channel A */ |
| 1416 bool band_b; /* fix 1.5kHz band for channel B */ |
| 1417 unsigned int zonesize; /* size of transitional zone */ |
| 1418 } type22; |
| 1419 /* Type 23 - Group Assignment Command */ |
| 1420 struct { |
| 1421 int ne_lon; /* NE corner longitude */ |
| 1422 int ne_lat; /* NE corner latitude */ |
| 1423 int sw_lon; /* SW corner longitude */ |
| 1424 int sw_lat; /* SW corner latitude */ |
| 1425 //unsigned int spare; spare bit(s) */ |
| 1426 unsigned int stationtype; /* station type code */ |
| 1427 unsigned int shiptype; /* ship type code */ |
| 1428 //unsigned int spare2; spare bit(s) */ |
| 1429 unsigned int txrx; /* transmit-enable code */ |
| 1430 unsigned int interval; /* report interval */ |
| 1431 unsigned int quiet; /* quiet time */ |
| 1432 //unsigned int spare3; spare bit(s) */ |
| 1433 } type23; |
| 1434 /* Type 24 - Class B CS Static Data Report */ |
| 1435 struct { |
| 1436 char shipname[AIS_SHIPNAME_MAXLEN+1]; /* vessel name */ |
| 1437 unsigned int shiptype; /* ship type code */ |
| 1438 char vendorid[8]; /* vendor ID */ |
| 1439 char callsign[8]; /* callsign */ |
| 1440 union { |
| 1441 unsigned int mothership_mmsi; /* MMSI of main vessel */ |
| 1442 struct { |
| 1443 unsigned int to_bow; /* dimension to bow */ |
| 1444 unsigned int to_stern; /* dimension to stern */ |
| 1445 unsigned int to_port; /* dimension to port */ |
| 1446 unsigned int to_starboard; /* dimension to starboard */ |
| 1447 } dim; |
| 1448 }; |
| 1449 } type24; |
| 1450 /* Type 25 - Addressed Binary Message */ |
| 1451 struct { |
| 1452 bool addressed; /* addressed-vs.broadcast flag */ |
| 1453 bool structured; /* structured-binary flag */ |
| 1454 unsigned int dest_mmsi; /* destination MMSI */ |
| 1455 unsigned int app_id; /* Application ID */ |
| 1456 #define AIS_TYPE25_BINARY_MAX 128 /* Up to 128 bits */ |
| 1457 size_t bitcount; /* bit count of the data */ |
| 1458 char bitdata[(AIS_TYPE25_BINARY_MAX + 7) / 8]; |
| 1459 } type25; |
| 1460 /* Type 26 - Addressed Binary Message */ |
| 1461 struct { |
| 1462 bool addressed; /* addressed-vs.broadcast flag */ |
| 1463 bool structured; /* structured-binary flag */ |
| 1464 unsigned int dest_mmsi; /* destination MMSI */ |
| 1465 unsigned int app_id; /* Application ID */ |
| 1466 #define AIS_TYPE26_BINARY_MAX 1004 /* Up to 128 bits */ |
| 1467 size_t bitcount; /* bit count of the data */ |
| 1468 char bitdata[(AIS_TYPE26_BINARY_MAX + 7) / 8]; |
| 1469 unsigned int radio; /* radio status bits */ |
| 1470 } type26; |
| 1471 /* Type 27 - Long Range AIS Broadcast message */ |
| 1472 struct { |
| 1473 bool accuracy; /* position accuracy */ |
| 1474 bool raim; /* RAIM flag */ |
| 1475 unsigned int status; /* navigation status */ |
| 1476 #define AIS_LONGRANGE_LATLON_SCALE 600.0 |
| 1477 int lon; /* longitude */ |
| 1478 #define AIS_LONGRANGE_LON_NOT_AVAILABLE 0x1a838 |
| 1479 int lat; /* latitude */ |
| 1480 #define AIS_LONGRANGE_LAT_NOT_AVAILABLE 0xd548 |
| 1481 unsigned int speed; /* speed over ground in deciknots */ |
| 1482 #define AIS_LONGRANGE_SPEED_NOT_AVAILABLE 63 |
| 1483 unsigned int course; /* course over ground */ |
| 1484 #define AIS_LONGRANGE_COURSE_NOT_AVAILABLE 511 |
| 1485 bool gnss; /* are we reporting GNSS position? */ |
| 1486 } type27; |
| 1487 }; |
| 1488 }; |
| 1489 |
| 1490 struct attitude_t { |
| 1491 double heading; |
| 1492 double pitch; |
| 1493 double roll; |
| 1494 double yaw; |
| 1495 double dip; |
| 1496 double mag_len; /* unitvector sqrt(x^2 + y^2 +z^2) */ |
| 1497 double mag_x; |
| 1498 double mag_y; |
| 1499 double mag_z; |
| 1500 double acc_len; /* unitvector sqrt(x^2 + y^2 +z^2) */ |
| 1501 double acc_x; |
| 1502 double acc_y; |
| 1503 double acc_z; |
| 1504 double gyro_x; |
| 1505 double gyro_y; |
| 1506 double temp; |
| 1507 double depth; |
| 1508 /* compass status -- TrueNorth (and any similar) devices only */ |
| 1509 char mag_st; |
| 1510 char pitch_st; |
| 1511 char roll_st; |
| 1512 char yaw_st; |
| 1513 }; |
| 1514 |
| 1515 struct dop_t { |
| 1516 /* Dilution of precision factors */ |
| 1517 double xdop, ydop, pdop, hdop, vdop, tdop, gdop; |
| 1518 }; |
| 1519 |
| 1520 struct rawdata_t { |
| 1521 /* raw measurement data */ |
| 1522 double codephase[MAXCHANNELS]; /* meters */ |
| 1523 double carrierphase[MAXCHANNELS]; /* meters */ |
| 1524 double pseudorange[MAXCHANNELS]; /* meters */ |
| 1525 double deltarange[MAXCHANNELS]; /* meters/sec */ |
| 1526 double doppler[MAXCHANNELS]; /* Hz */ |
| 1527 double mtime[MAXCHANNELS]; /* sec */ |
| 1528 unsigned satstat[MAXCHANNELS]; /* tracking status */ |
| 1529 #define SAT_ACQUIRED 0x01 /* satellite acquired */ |
| 1530 #define SAT_CODE_TRACK 0x02 /* code-tracking loop acquired */ |
| 1531 #define SAT_CARR_TRACK 0x04 /* carrier-tracking loop acquired */ |
| 1532 #define SAT_DATA_SYNC 0x08 /* data-bit synchronization done */ |
| 1533 #define SAT_FRAME_SYNC 0x10 /* frame synchronization done */ |
| 1534 #define SAT_EPHEMERIS 0x20 /* ephemeris collected */ |
| 1535 #define SAT_FIX_USED 0x40 /* used for position fix */ |
| 1536 }; |
| 1537 |
| 1538 struct version_t { |
| 1539 char release[64]; /* external version */ |
| 1540 char rev[64]; /* internal revision ID */ |
| 1541 int proto_major, proto_minor; /* API major and minor versions */ |
| 1542 char remote[GPS_PATH_MAX]; /* could be from a remote device */ |
| 1543 }; |
| 1544 |
| 1545 struct devconfig_t { |
| 1546 char path[GPS_PATH_MAX]; |
| 1547 int flags; |
| 1548 #define SEEN_GPS 0x01 |
| 1549 #define SEEN_RTCM2 0x02 |
| 1550 #define SEEN_RTCM3 0x04 |
| 1551 #define SEEN_AIS 0x08 |
| 1552 char driver[64]; |
| 1553 char subtype[64]; |
| 1554 double activated; |
| 1555 unsigned int baudrate, stopbits; /* RS232 link parameters */ |
| 1556 char parity; /* 'N', 'O', or 'E' */ |
| 1557 double cycle, mincycle; /* refresh cycle time in seconds */ |
| 1558 int driver_mode; /* is driver in native mode or not? */ |
| 1559 }; |
| 1560 |
| 1561 struct policy_t { |
| 1562 bool watcher; /* is watcher mode on? */ |
| 1563 bool json; /* requesting JSON? */ |
| 1564 bool nmea; /* requesting dumping as NMEA? */ |
| 1565 int raw; /* requesting raw data? */ |
| 1566 bool scaled; /* requesting report scaling? */ |
| 1567 bool timing; /* requesting timing info */ |
| 1568 int loglevel; /* requested log level of messages */ |
| 1569 char devpath[GPS_PATH_MAX]; /* specific device to watch */ |
| 1570 char remote[GPS_PATH_MAX]; /* ...if this was passthrough */ |
| 1571 }; |
| 1572 |
| 1573 /* |
| 1574 * Someday we may support Windows, under which socket_t is a separate type. |
| 1575 * In the meantime, having a typedef for this semantic kind is no bad thing, |
| 1576 * as it makes clearer what some declarations are doing without breaking |
| 1577 * binary compatibility. |
| 1578 */ |
| 1579 typedef int socket_t; |
| 1580 |
| 1581 /* mode flags for setting streaming policy */ |
| 1582 #define WATCH_ENABLE 0x000001u /* enable streaming */ |
| 1583 #define WATCH_DISABLE 0x000002u /* disable watching */ |
| 1584 #define WATCH_JSON 0x000010u /* JSON output */ |
| 1585 #define WATCH_NMEA 0x000020u /* output in NMEA */ |
| 1586 #define WATCH_RARE 0x000040u /* output of packets in hex */ |
| 1587 #define WATCH_RAW 0x000080u /* output of raw packets */ |
| 1588 #define WATCH_SCALED 0x000100u /* scale output to floats */ |
| 1589 #define WATCH_TIMING 0x000200u /* timing information */ |
| 1590 #define WATCH_DEVICE 0x000800u /* watch specific device */ |
| 1591 #define WATCH_NEWSTYLE 0x010000u /* force JSON streaming */ |
| 1592 #define WATCH_OLDSTYLE 0x020000u /* force old-style streaming */ |
| 1593 |
| 1594 /* |
| 1595 * Main structure that includes all previous substructures |
| 1596 */ |
| 1597 |
| 1598 struct gps_data_t { |
| 1599 gps_mask_t set; /* has field been set since this was last cleared? */ |
| 1600 #define ONLINE_SET (1llu<<1) |
| 1601 #define TIME_SET (1llu<<2) |
| 1602 #define TIMERR_SET (1llu<<3) |
| 1603 #define LATLON_SET (1llu<<4) |
| 1604 #define ALTITUDE_SET (1llu<<5) |
| 1605 #define SPEED_SET (1llu<<6) |
| 1606 #define TRACK_SET (1llu<<7) |
| 1607 #define CLIMB_SET (1llu<<8) |
| 1608 #define STATUS_SET (1llu<<9) |
| 1609 #define MODE_SET (1llu<<10) |
| 1610 #define DOP_SET (1llu<<11) |
| 1611 #define HERR_SET (1llu<<12) |
| 1612 #define VERR_SET (1llu<<13) |
| 1613 #define ATTITUDE_SET (1llu<<14) |
| 1614 #define SATELLITE_SET (1llu<<15) |
| 1615 #define SPEEDERR_SET (1llu<<16) |
| 1616 #define TRACKERR_SET (1llu<<17) |
| 1617 #define CLIMBERR_SET (1llu<<18) |
| 1618 #define DEVICE_SET (1llu<<19) |
| 1619 #define DEVICELIST_SET (1llu<<20) |
| 1620 #define DEVICEID_SET (1llu<<21) |
| 1621 #define RTCM2_SET (1llu<<22) |
| 1622 #define RTCM3_SET (1llu<<23) |
| 1623 #define AIS_SET (1llu<<24) |
| 1624 #define PACKET_SET (1llu<<25) |
| 1625 #define SUBFRAME_SET (1llu<<26) |
| 1626 #define GST_SET (1llu<<27) |
| 1627 #define VERSION_SET (1llu<<28) |
| 1628 #define POLICY_SET (1llu<<29) |
| 1629 #define LOGMESSAGE_SET (1llu<<30) |
| 1630 #define ERROR_SET (1llu<<31) |
| 1631 #define SET_HIGH_BIT 31 |
| 1632 timestamp_t online; /* NZ if GPS is on line, 0 if not. |
| 1633 * |
| 1634 * Note: gpsd clears this time when sentences |
| 1635 * fail to show up within the GPS's normal |
| 1636 * send cycle time. If the host-to-GPS |
| 1637 * link is lossy enough to drop entire |
| 1638 * sentences, this field will be |
| 1639 * prone to false zero values. |
| 1640 */ |
| 1641 |
| 1642 #ifndef USE_QT |
| 1643 socket_t gps_fd; /* socket or file descriptor to GPS */ |
| 1644 #else |
| 1645 void* gps_fd; |
| 1646 #endif |
| 1647 struct gps_fix_t fix; /* accumulated PVT data */ |
| 1648 |
| 1649 double separation; /* Geoidal separation, MSL - WGS84 (Meters) */ |
| 1650 |
| 1651 /* GPS status -- always valid */ |
| 1652 int status; /* Do we have a fix? */ |
| 1653 #define STATUS_NO_FIX 0 /* no */ |
| 1654 #define STATUS_FIX 1 /* yes, without DGPS */ |
| 1655 #define STATUS_DGPS_FIX 2 /* yes, with DGPS */ |
| 1656 |
| 1657 /* precision of fix -- valid if satellites_used > 0 */ |
| 1658 int satellites_used; /* Number of satellites used in solution */ |
| 1659 int used[MAXCHANNELS]; /* PRNs of satellites used in solution */ |
| 1660 struct dop_t dop; |
| 1661 |
| 1662 /* redundant with the estimate elements in the fix structure */ |
| 1663 double epe; /* spherical position error, 95% confidence (meters) */ |
| 1664 |
| 1665 /* satellite status -- valid when satellites_visible > 0 */ |
| 1666 timestamp_t skyview_time; /* skyview timestamp */ |
| 1667 int satellites_visible; /* # of satellites in view */ |
| 1668 int PRN[MAXCHANNELS]; /* PRNs of satellite */ |
| 1669 int elevation[MAXCHANNELS]; /* elevation of satellite */ |
| 1670 int azimuth[MAXCHANNELS]; /* azimuth */ |
| 1671 double ss[MAXCHANNELS]; /* signal-to-noise ratio (dB) */ |
| 1672 |
| 1673 struct devconfig_t dev; /* device that shipped last update */ |
| 1674 |
| 1675 struct policy_t policy; /* our listening policy */ |
| 1676 |
| 1677 /* should be moved to privdata sometday */ |
| 1678 char tag[MAXTAGLEN+1]; /* tag of last sentence processed */ |
| 1679 |
| 1680 /* pack things never reported together to reduce structure size */ |
| 1681 #define UNION_SET (RTCM2_SET|RTCM3_SET|SUBFRAME_SET|AIS_SET|ATTITUDE_SET|V
ERSION_SET|DEVICELIST_SET|LOGMESSAGE_SET|ERROR_SET|GST_SET|VERSION_SET) |
| 1682 union { |
| 1683 /* unusual forms of sensor data that might come up the pipe */ |
| 1684 struct rtcm2_t rtcm2; |
| 1685 struct rtcm3_t rtcm3; |
| 1686 struct subframe_t subframe; |
| 1687 struct ais_t ais; |
| 1688 struct attitude_t attitude; |
| 1689 struct rawdata_t raw; |
| 1690 struct gst_t gst; |
| 1691 /* "artificial" structures for various protocol responses */ |
| 1692 struct version_t version; |
| 1693 struct { |
| 1694 timestamp_t time; |
| 1695 int ndevices; |
| 1696 struct devconfig_t list[MAXUSERDEVS]; |
| 1697 } devices; |
| 1698 char error[256]; |
| 1699 }; |
| 1700 |
| 1701 /* Private data - client code must not set this */ |
| 1702 void *privdata; |
| 1703 }; |
| 1704 |
| 1705 extern int gps_open(/*@null@*/const char *, /*@null@*/const char *, |
| 1706 /*@out@*/struct gps_data_t *); |
| 1707 extern int gps_close(struct gps_data_t *); |
| 1708 extern int gps_send(struct gps_data_t *, const char *, ... ); |
| 1709 extern int gps_read(/*@out@*/struct gps_data_t *); |
| 1710 extern int gps_unpack(char *, struct gps_data_t *); |
| 1711 extern bool gps_waiting(const struct gps_data_t *, int); |
| 1712 extern int gps_stream(struct gps_data_t *, unsigned int, /*@null@*/void *); |
| 1713 extern const char /*@observer@*/ *gps_data(const struct gps_data_t *); |
| 1714 extern const char /*@observer@*/ *gps_errstr(const int); |
| 1715 |
| 1716 extern int gps_sock_open(/*@null@*/const char *, /*@null@*/const char *, |
| 1717 /*@out@*/struct gps_data_t *); |
| 1718 extern int gps_sock_read(/*@out@*/struct gps_data_t *); |
| 1719 extern int gps_sock_close(struct gps_data_t *); |
| 1720 extern int gps_sock_send(struct gps_data_t *, const char *); |
| 1721 extern int gps_shm_open(/*@out@*/struct gps_data_t *); |
| 1722 extern int gps_shm_read(struct gps_data_t *); |
| 1723 extern bool gps_sock_waiting(const struct gps_data_t *, int); |
| 1724 extern int gps_sock_stream(struct gps_data_t *, unsigned int, /*@null@*/void *); |
| 1725 extern const char /*@observer@*/ *gps_sock_data(const struct gps_data_t *); |
| 1726 extern void gps_shm_close(struct gps_data_t *); |
| 1727 |
| 1728 extern void libgps_trace(int errlevel, const char *, ...); |
| 1729 |
| 1730 /* dependencies on struct gpsdata_t end hrere */ |
| 1731 |
| 1732 extern void gps_clear_fix(/*@ out @*/struct gps_fix_t *); |
| 1733 extern void gps_clear_dop( /*@out@*/ struct dop_t *); |
| 1734 extern void gps_merge_fix(/*@ out @*/struct gps_fix_t *, |
| 1735 gps_mask_t, |
| 1736 /*@ in @*/struct gps_fix_t *); |
| 1737 extern void gps_enable_debug(int, FILE *); |
| 1738 extern /*@observer@*/const char *gps_maskdump(gps_mask_t); |
| 1739 |
| 1740 extern double safe_atof(const char *); |
| 1741 extern time_t mkgmtime(register struct tm *); |
| 1742 extern timestamp_t timestamp(void); |
| 1743 extern timestamp_t iso8601_to_unix(char *); |
| 1744 extern /*@observer@*/char *unix_to_iso8601(timestamp_t t, /*@ out @*/char[], siz
e_t len); |
| 1745 extern double earth_distance(double, double, double, double); |
| 1746 extern double earth_distance_and_bearings(double, double, double, double, |
| 1747 /*@null@*//*@out@*/double *, |
| 1748 /*@null@*//*@out@*/double *); |
| 1749 extern double wgs84_separation(double, double); |
| 1750 |
| 1751 /* some multipliers for interpreting GPS output */ |
| 1752 #define METERS_TO_FEET 3.2808399 /* Meters to U.S./British feet */ |
| 1753 #define METERS_TO_MILES 0.00062137119 /* Meters to miles */ |
| 1754 #define KNOTS_TO_MPH 1.1507794 /* Knots to miles per hour */ |
| 1755 #define KNOTS_TO_KPH 1.852 /* Knots to kilometers per hour */ |
| 1756 #define KNOTS_TO_MPS 0.51444444 /* Knots to meters per second */ |
| 1757 #define MPS_TO_KPH 3.6 /* Meters per second to klicks/hr */ |
| 1758 #define MPS_TO_MPH 2.2369363 /* Meters/second to miles per hour */ |
| 1759 #define MPS_TO_KNOTS 1.9438445 /* Meters per second to knots */ |
| 1760 /* miles and knots are both the international standard versions of the units */ |
| 1761 |
| 1762 /* angle conversion multipliers */ |
| 1763 #define GPS_PI 3.1415926535897932384626433832795029 |
| 1764 #define RAD_2_DEG 57.2957795130823208767981548141051703 |
| 1765 #define DEG_2_RAD 0.0174532925199432957692369076848861271 |
| 1766 |
| 1767 /* geodetic constants */ |
| 1768 #define WGS84A 6378137 /* equatorial radius */ |
| 1769 #define WGS84F 298.257223563 /* flattening */ |
| 1770 #define WGS84B 6356752.3142 /* polar radius */ |
| 1771 |
| 1772 /* netlib_connectsock() errno return values */ |
| 1773 #define NL_NOSERVICE -1 /* can't get service entry */ |
| 1774 #define NL_NOHOST -2 /* can't get host entry */ |
| 1775 #define NL_NOPROTO -3 /* can't get protocol entry */ |
| 1776 #define NL_NOSOCK -4 /* can't create socket */ |
| 1777 #define NL_NOSOCKOPT -5 /* error SETSOCKOPT SO_REUSEADDR */ |
| 1778 #define NL_NOCONNECT -6 /* can't connect to host/socket pair */ |
| 1779 #define SHM_NOSHARED -7 /* shared-memory segment not available */ |
| 1780 #define SHM_NOATTACH -8 /* shared-memory attach failed */ |
| 1781 |
| 1782 #define DEFAULT_GPSD_PORT "2947" /* IANA assignment */ |
| 1783 #define DEFAULT_RTCM_PORT "2101" /* IANA assignment */ |
| 1784 |
| 1785 /* special host values for non-socket exports */ |
| 1786 #define GPSD_SHARED_MEMORY "shared memory" |
| 1787 |
| 1788 /* |
| 1789 * Platform-specific declarations |
| 1790 */ |
| 1791 |
| 1792 #ifdef _WIN32 |
| 1793 #define strtok_r(s,d,p) strtok_s(s,d,p) |
| 1794 #endif |
| 1795 |
| 1796 /* Some libc's don't have strlcat/strlcpy. Local copies are provided */ |
| 1797 #ifndef HAVE_STRLCAT |
| 1798 size_t strlcat(/*@out@*/char *dst, /*@in@*/const char *src, size_t size); |
| 1799 #endif |
| 1800 #ifndef HAVE_STRLCPY |
| 1801 size_t strlcpy(/*@out@*/char *dst, /*@in@*/const char *src, size_t size); |
| 1802 #endif |
| 1803 |
| 1804 #ifdef __cplusplus |
| 1805 } /* End of the 'extern "C"' block */ |
| 1806 #endif |
| 1807 |
| 1808 /* gps.h ends here */ |
| 1809 #endif /* _GPSD_GPS_H_ */ |
| OLD | NEW |
|---|
Chromium Code Reviews
Issue 8463022:
Make chrome communicate with gpsd through libgps/shared memory (Closed)
Base URL: http://git.chromium.org/git/chromium.git@trunk