/usr/include/gps.h is in libgps-dev 3.16-4.
This file is owned by root:root, with mode 0o644.
The actual contents of the file can be viewed below.
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2022 2023 2024 2025 2026 2027 2028 2029 2030 2031 2032 2033 2034 2035 2036 2037 2038 2039 2040 2041 2042 2043 2044 2045 2046 2047 2048 2049 2050 2051 2052 2053 2054 2055 2056 2057 2058 2059 2060 2061 2062 2063 2064 2065 2066 2067 2068 2069 2070 2071 2072 2073 2074 2075 2076 2077 2078 2079 2080 2081 2082 2083 2084 2085 2086 2087 2088 2089 2090 2091 2092 2093 2094 2095 2096 2097 2098 2099 2100 2101 2102 2103 2104 2105 2106 2107 2108 2109 2110 2111 2112 2113 2114 2115 2116 2117 2118 2119 2120 2121 2122 2123 2124 2125 2126 2127 2128 2129 2130 | /* gps.h -- interface of the libgps library */
/*
* This file is Copyright (c) 2010 by the GPSD project
* BSD terms apply: see the file COPYING in the distribution root for details.
*/
#ifndef _GPSD_GPS_H_
#define _GPSD_GPS_H_
#ifdef __cplusplus
extern "C" {
#endif
#include <sys/types.h>
#include <sys/time.h>
#include <stdbool.h>
#include <inttypes.h> /* stdint.h would be smaller but not all have it */
#include <limits.h>
#include <time.h>
#include <signal.h>
#include <stdio.h>
#include <pthread.h> /* pacifies OpenBSD's compiler */
/*
* 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.
*/
#define GPSD_API_MAJOR_VERSION 6 /* bump on incompatible changes */
#define GPSD_API_MINOR_VERSION 1 /* bump on compatible changes */
#define MAXCHANNELS 72 /* must be > 12 GPS + 12 GLONASS + 2 WAAS */
#define MAXUSERDEVS 4 /* max devices per user */
#define GPS_PATH_MAX 128 /* for names like /dev/serial/by-id/... */
/*
* 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! potential loss of precision in timestamp_t
* 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
* timestamp_t is only microSec precision
* timestamp_t and PPS do not play well together
*/
typedef double timestamp_t; /* Unix time in seconds with fractional part */
struct gps_fix_t {
timestamp_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 */
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; /* Altitude in meters (valid if mode == 3) */
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 */
};
/*
* Satellite ID classes.
* According to IS-GPS-200 Revision H paragraph 6.3.6, and earlier revisions
* at least back to E, the upper bound of U.S. GPS PRNs is actually 64. However,
* NMEA0183 only allocates 1-32 for U.S. GPS IDs; it uses 33-64 for IDs ub the
* SBAS range.
*/
#define GPS_PRN(n) (((n) >= 1) && ((n) <= 32)) /* U.S. GPS satellite */
#define GBAS_PRN(n) ((n) >= 64 && ((n) <= 119)) /* Other GNSS (GLONASS) and Ground Based Augmentation System (eg WAAS)*/
#define SBAS_PRN(n) ((n) >= 120 && ((n) <= 158)) /* Satellite Based Augmentation System (eg GAGAN)*/
#define GNSS_PRN(n) ((n) >= 159 && ((n) <= 210)) /* other GNSS (eg BeiDou) */
/*
* GLONASS birds reuse GPS PRNs.
* It is an NMEA0183 convention to map them to pseudo-PRNs 65..96.
* (some other programs push them to 33 and above).
* The US GPS constellation plans to use the 33-63 range.
*/
#define GLONASS_PRN_OFFSET 64
/*
* The structure describing the pseudorange errors (GPGST)
*/
struct gst_t {
double 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 senstive 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; /* length (words) */
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 */
union {
struct {
unsigned int nentries;
struct gps_rangesat_t { /* data from messages 1 & 9 */
unsigned ident; /* satellite ID */
unsigned udre; /* user diff. range error */
unsigned iod; /* issue of data */
double prc; /* range error */
double rrc; /* range error rate */
} sat[MAXCORRECTIONS];
} gps_ranges;
struct { /* data for type 3 messages */
bool valid; /* is message well-formed? */
double x, y, z;
} ecef;
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 {
unsigned int nentries;
struct glonass_rangesat_t { /* data from message type 31 */
unsigned ident; /* satellite ID */
unsigned udre; /* user diff. 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 */
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; /* Auxilary 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; /* Auxilary 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 in text */
unsigned char text[128];
} 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;
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;
double d_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;
/*
* Is an MMSI number that of an auxiliary associated with a mother ship?
* We need to be able to test this for decoding AIS Type 24 messages.
* According to <http://www.navcen.uscg.gov/marcomms/gmdss/mmsi.htm#format>,
* auxiliary-craft MMSIs have the form 98MIDXXXX, where MID is a country
* code and XXXX the vessel ID.
*/
#define AIS_AUXILIARY_MMSI(n) ((n) / 10000000 == 98)
/* N/A values and scaling constant for 25/24 bit lon/lat pairs */
#define AIS_LON3_NOT_AVAILABLE 181000
#define AIS_LAT3_NOT_AVAILABLE 91000
#define AIS_LATLON3_DIV 60000.0
/* N/A values and scaling constant for 28/27 bit lon/lat pairs */
#define AIS_LON4_NOT_AVAILABLE 1810000
#define AIS_LAT4_NOT_AVAILABLE 910000
#define AIS_LATLON4_DIV 600000.0
struct route_info {
unsigned int linkage; /* Message Linkage ID */
unsigned int sender; /* Sender Class */
unsigned int rtype; /* Route Type */
unsigned int month; /* Start month */
unsigned int day; /* Start day */
unsigned int hour; /* Start hour */
unsigned int minute; /* Start minute */
unsigned int duration; /* Duration */
int waycount; /* Waypoint count */
struct waypoint_t {
signed int lon; /* Longitude */
signed int lat; /* Latitude */
} waypoints[16];
};
struct ais_t
{
unsigned int type; /* message type */
unsigned int repeat; /* Repeat indicator */
unsigned int mmsi; /* MMSI */
union {
/* Types 1-3 Common navigation info */
struct {
unsigned int status; /* navigation status */
signed turn; /* rate of turn */
#define AIS_TURN_HARD_LEFT -127
#define AIS_TURN_HARD_RIGHT 127
#define AIS_TURN_NOT_AVAILABLE 128
unsigned int speed; /* speed over ground in deciknots */
#define AIS_SPEED_NOT_AVAILABLE 1023
#define AIS_SPEED_FAST_MOVER 1022 /* >= 102.2 knots */
bool accuracy; /* position accuracy */
#define AIS_LATLON_DIV 600000.0
int lon; /* longitude */
#define AIS_LON_NOT_AVAILABLE 0x6791AC0
int lat; /* latitude */
#define AIS_LAT_NOT_AVAILABLE 0x3412140
unsigned int course; /* course over ground */
#define AIS_COURSE_NOT_AVAILABLE 3600
unsigned int heading; /* true heading */
#define AIS_HEADING_NOT_AVAILABLE 511
unsigned int second; /* seconds of UTC timestamp */
#define AIS_SEC_NOT_AVAILABLE 60
#define AIS_SEC_MANUAL 61
#define AIS_SEC_ESTIMATED 62
#define AIS_SEC_INOPERATIVE 63
unsigned int maneuver; /* maneuver indicator */
//unsigned int spare; spare bits */
bool raim; /* RAIM flag */
unsigned int radio; /* radio status bits */
} type1;
/* Type 4 - Base Station Report & Type 11 - UTC and Date Response */
struct {
unsigned int year; /* UTC year */
#define AIS_YEAR_NOT_AVAILABLE 0
unsigned int month; /* UTC month */
#define AIS_MONTH_NOT_AVAILABLE 0
unsigned int day; /* UTC day */
#define AIS_DAY_NOT_AVAILABLE 0
unsigned int hour; /* UTC hour */
#define AIS_HOUR_NOT_AVAILABLE 24
unsigned int minute; /* UTC minute */
#define AIS_MINUTE_NOT_AVAILABLE 60
unsigned int second; /* UTC second */
#define AIS_SECOND_NOT_AVAILABLE 60
bool accuracy; /* fix quality */
int lon; /* longitude */
int lat; /* latitude */
unsigned int epfd; /* type of position fix device */
//unsigned int spare; spare bits */
bool raim; /* RAIM flag */
unsigned int radio; /* radio status bits */
} type4;
/* Type 5 - Ship static and voyage related data */
struct {
unsigned int ais_version; /* AIS version level */
unsigned int imo; /* IMO identification */
char callsign[7+1]; /* callsign */
#define AIS_SHIPNAME_MAXLEN 20
char shipname[AIS_SHIPNAME_MAXLEN+1]; /* vessel name */
unsigned int shiptype; /* ship type code */
unsigned int to_bow; /* dimension to bow */
unsigned int to_stern; /* dimension to stern */
unsigned int to_port; /* dimension to port */
unsigned int to_starboard; /* dimension to starboard */
unsigned int epfd; /* type of position fix deviuce */
unsigned int month; /* UTC month */
unsigned int day; /* UTC day */
unsigned int hour; /* UTC hour */
unsigned int minute; /* UTC minute */
unsigned int draught; /* draft in meters */
char destination[20+1]; /* ship destination */
unsigned int dte; /* data terminal enable */
//unsigned int spare; spare bits */
} type5;
/* Type 6 - Addressed Binary Message */
struct {
unsigned int seqno; /* sequence number */
unsigned int dest_mmsi; /* destination MMSI */
bool retransmit; /* retransmit flag */
//unsigned int spare; spare bit(s) */
unsigned int dac; /* Application ID */
unsigned int fid; /* Functional ID */
bool structured; /* True match for DAC/FID? */
#define AIS_TYPE6_BINARY_MAX 920 /* 920 bits */
size_t bitcount; /* bit count of the data */
union {
char bitdata[(AIS_TYPE6_BINARY_MAX + 7) / 8];
/* Inland AIS - ETA at lock/bridge/terminal */
struct {
char country[2+1]; /* UN Country Code */
char locode[3+1]; /* UN/LOCODE */
char section[5+1]; /* Fairway section */
char terminal[5+1]; /* Terminal code */
char hectometre[5+1]; /* Fairway hectometre */
unsigned int month; /* ETA month */
unsigned int day; /* ETA day */
unsigned int hour; /* ETA hour */
unsigned int minute; /* ETA minute */
unsigned int tugs; /* Assisting Tugs */
unsigned int airdraught; /* Air Draught */
} dac200fid21;
/* Inland AIS - ETA at lock/bridge/terminal */
struct {
char country[2+1]; /* UN Country Code */
char locode[3+1]; /* UN/LOCODE */
char section[5+1]; /* Fairway section */
char terminal[5+1]; /* Terminal code */
char hectometre[5+1]; /* Fairway hectometre */
unsigned int month; /* RTA month */
unsigned int day; /* RTA day */
unsigned int hour; /* RTA hour */
unsigned int minute; /* RTA minute */
unsigned int status; /* Status */
#define DAC200FID22_STATUS_OPERATIONAL 0
#define DAC200FID22_STATUS_LIMITED 1
#define DAC200FID22_STATUS_OUT_OF_ORDER 2
#define DAC200FID22_STATUS_NOT_AVAILABLE 0
} dac200fid22;
/* Inland AIS - Number of persons on board */
struct {
unsigned int crew; /* # crew on board */
unsigned int passengers; /* # passengers on board */
unsigned int personnel; /* # personnel on board */
#define DAC200FID55_COUNT_NOT_AVAILABLE 255
} dac200fid55;
/* GLA - AtoN monitoring data (UK/ROI) */
struct {
unsigned int ana_int; /* Analogue (internal) */
unsigned int ana_ext1; /* Analogue (external #1) */
unsigned int ana_ext2; /* Analogue (external #2) */
unsigned int racon; /* RACON status */
unsigned int light; /* Light status */
bool alarm; /* Health alarm*/
unsigned int stat_ext; /* Status bits (external) */
bool off_pos; /* Off position status */
} dac235fid10;
/* IMO236 - Dangerous Cargo Indication */
struct {
char lastport[5+1]; /* Last Port Of Call */
unsigned int lmonth; /* ETA month */
unsigned int lday; /* ETA day */
unsigned int lhour; /* ETA hour */
unsigned int lminute; /* ETA minute */
char nextport[5+1]; /* Next Port Of Call */
unsigned int nmonth; /* ETA month */
unsigned int nday; /* ETA day */
unsigned int nhour; /* ETA hour */
unsigned int nminute; /* ETA minute */
char dangerous[20+1]; /* Main Dangerous Good */
char imdcat[4+1]; /* IMD Category */
unsigned int unid; /* UN Number */
unsigned int amount; /* Amount of Cargo */
unsigned int unit; /* Unit of Quantity */
} dac1fid12;
/* IMO236 - Extended Ship Static and Voyage Related Data */
struct {
unsigned int airdraught; /* Air Draught */
} dac1fid15;
/* IMO236 - Number of Persons on board */
struct {
unsigned persons; /* number of persons */
} dac1fid16;
/* IMO289 - Clearance Time To Enter Port */
struct {
unsigned int linkage; /* Message Linkage ID */
unsigned int month; /* Month (UTC) */
unsigned int day; /* Day (UTC) */
unsigned int hour; /* Hour (UTC) */
unsigned int minute; /* Minute (UTC) */
char portname[20+1]; /* Name of Port & Berth */
char destination[5+1]; /* Destination */
signed int lon; /* Longitude */
signed int lat; /* Latitude */
} dac1fid18;
/* IMO289 - Berthing Data (addressed) */
struct {
unsigned int linkage; /* Message Linkage ID */
unsigned int berth_length; /* Berth length */
unsigned int berth_depth; /* Berth Water Depth */
unsigned int position; /* Mooring Position */
unsigned int month; /* Month (UTC) */
unsigned int day; /* Day (UTC) */
unsigned int hour; /* Hour (UTC) */
unsigned int minute; /* Minute (UTC) */
unsigned int availability; /* Services Availability */
unsigned int agent; /* Agent */
unsigned int fuel; /* Bunker/fuel */
unsigned int chandler; /* Chandler */
unsigned int stevedore; /* Stevedore */
unsigned int electrical; /* Electrical */
unsigned int water; /* Potable water */
unsigned int customs; /* Customs house */
unsigned int cartage; /* Cartage */
unsigned int crane; /* Crane(s) */
unsigned int lift; /* Lift(s) */
unsigned int medical; /* Medical facilities */
unsigned int navrepair; /* Navigation repair */
unsigned int provisions; /* Provisions */
unsigned int shiprepair; /* Ship repair */
unsigned int surveyor; /* Surveyor */
unsigned int steam; /* Steam */
unsigned int tugs; /* Tugs */
unsigned int solidwaste; /* Waste disposal (solid) */
unsigned int liquidwaste; /* Waste disposal (liquid) */
unsigned int hazardouswaste; /* Waste disposal (hazardous) */
unsigned int ballast; /* Reserved ballast exchange */
unsigned int additional; /* Additional services */
unsigned int regional1; /* Regional reserved 1 */
unsigned int regional2; /* Regional reserved 2 */
unsigned int future1; /* Reserved for future */
unsigned int future2; /* Reserved for future */
char berth_name[20+1]; /* Name of Berth */
signed int berth_lon; /* Longitude */
signed int berth_lat; /* Latitude */
} dac1fid20;
/* IMO289 - Weather observation report from ship */
/*** WORK IN PROGRESS - NOT YET DECODED ***/
struct {
bool wmo; /* true if WMO variant */
union {
struct {
char location[20+1]; /* Location */
signed int lon; /* Longitude */
signed int lat; /* Latitude */
unsigned int day; /* Report day */
unsigned int hour; /* Report hour */
unsigned int minute; /* Report minute */
bool vislimit; /* Max range? */
unsigned int visibility; /* Units of 0.1 nm */
#define DAC1FID21_VISIBILITY_NOT_AVAILABLE 127
#define DAC1FID21_VISIBILITY_SCALE 10.0
unsigned humidity; /* units of 1% */
unsigned int wspeed; /* average wind speed */
unsigned int wgust; /* wind gust */
#define DAC1FID21_WSPEED_NOT_AVAILABLE 127
unsigned int wdir; /* wind direction */
#define DAC1FID21_WDIR_NOT_AVAILABLE 360
unsigned int pressure; /* air pressure, hpa */
#define DAC1FID21_NONWMO_PRESSURE_NOT_AVAILABLE 403
#define DAC1FID21_NONWMO_PRESSURE_HIGH 402 /* > 1200hPa */
#define DAC1FID21_NONWMO_PRESSURE_OFFSET 400 /* N/A */
unsigned int pressuretend; /* tendency */
int airtemp; /* temp, units 0.1C */
#define DAC1FID21_AIRTEMP_NOT_AVAILABLE -1024
#define DAC1FID21_AIRTEMP_SCALE 10.0
unsigned int watertemp; /* units 0.1degC */
#define DAC1FID21_WATERTEMP_NOT_AVAILABLE 501
#define DAC1FID21_WATERTEMP_SCALE 10.0
unsigned int waveperiod; /* in seconds */
#define DAC1FID21_WAVEPERIOD_NOT_AVAILABLE 63
unsigned int wavedir; /* direction in deg */
#define DAC1FID21_WAVEDIR_NOT_AVAILABLE 360
unsigned int swellheight; /* in decimeters */
unsigned int swellperiod; /* in seconds */
unsigned int swelldir; /* direction in deg */
} nonwmo_obs;
struct {
signed int lon; /* Longitude */
signed int lat; /* Latitude */
unsigned int month; /* UTC month */
unsigned int day; /* Report day */
unsigned int hour; /* Report hour */
unsigned int minute; /* Report minute */
unsigned int course; /* course over ground */
unsigned int speed; /* speed, m/s */
#define DAC1FID21_SOG_NOT_AVAILABLE 31
#define DAC1FID21_SOG_HIGH_SPEED 30
#define DAC1FID21_SOG_SCALE 2.0
unsigned int heading; /* true heading */
#define DAC1FID21_HDG_NOT_AVAILABLE 127
#define DAC1FID21_HDG_SCALE 5.0
unsigned int pressure; /* units of hPa * 0.1 */
#define DAC1FID21_WMO_PRESSURE_SCALE 10
#define DAC1FID21_WMO_PRESSURE_OFFSET 90.0
unsigned int pdelta; /* units of hPa * 0.1 */
#define DAC1FID21_PDELTA_SCALE 10
#define DAC1FID21_PDELTA_OFFSET 50.0
unsigned int ptend; /* enumerated */
unsigned int twinddir; /* in 5 degree steps */
#define DAC1FID21_TWINDDIR_NOT_AVAILABLE 127
unsigned int twindspeed; /* meters per second */
#define DAC1FID21_TWINDSPEED_SCALE 2
#define DAC1FID21_RWINDSPEED_NOT_AVAILABLE 255
unsigned int rwinddir; /* in 5 degree steps */
#define DAC1FID21_RWINDDIR_NOT_AVAILABLE 127
unsigned int rwindspeed; /* meters per second */
#define DAC1FID21_RWINDSPEED_SCALE 2
#define DAC1FID21_RWINDSPEED_NOT_AVAILABLE 255
unsigned int mgustspeed; /* meters per second */
#define DAC1FID21_MGUSTSPEED_SCALE 2
#define DAC1FID21_MGUSTSPEED_NOT_AVAILABLE 255
unsigned int mgustdir; /* in 5 degree steps */
#define DAC1FID21_MGUSTDIR_NOT_AVAILABLE 127
unsigned int airtemp; /* degress K */
#define DAC1FID21_AIRTEMP_OFFSET 223
unsigned humidity; /* units of 1% */
#define DAC1FID21_HUMIDITY_NOT_VAILABLE 127
/* some trailing fields are missing */
} wmo_obs;
};
} dac1fid21;
/*** WORK IN PROGRESS ENDS HERE ***/
/* IMO289 - Dangerous Cargo Indication */
struct {
unsigned int unit; /* Unit of Quantity */
unsigned int amount; /* Amount of Cargo */
int ncargos;
struct cargo_t {
unsigned int code; /* Cargo code */
unsigned int subtype; /* Cargo subtype */
} cargos[28];
} dac1fid25;
/* IMO289 - Route info (addressed) */
struct route_info dac1fid28;
/* IMO289 - Text message (addressed) */
struct {
unsigned int linkage;
#define AIS_DAC1FID30_TEXT_MAX 154 /* 920 bits of six-bit, plus NUL */
char text[AIS_DAC1FID30_TEXT_MAX];
} dac1fid30;
/* IMO289 & IMO236 - Tidal Window */
struct {
unsigned int month; /* Month */
unsigned int day; /* Day */
signed int ntidals;
struct tidal_t {
signed int lon; /* Longitude */
signed int lat; /* Latitude */
unsigned int from_hour; /* From UTC Hour */
unsigned int from_min; /* From UTC Minute */
unsigned int to_hour; /* To UTC Hour */
unsigned int to_min; /* To UTC Minute */
#define DAC1FID32_CDIR_NOT_AVAILABLE 360
unsigned int cdir; /* Current Dir. Predicted */
#define DAC1FID32_CSPEED_NOT_AVAILABLE 127
unsigned int cspeed; /* Current Speed Predicted */
} tidals[3];
} dac1fid32;
};
} type6;
/* Type 7 - Binary Acknowledge */
struct {
unsigned int mmsi1;
unsigned int mmsi2;
unsigned int mmsi3;
unsigned int mmsi4;
/* spares ignored, they're only padding here */
} type7;
/* Type 8 - Broadcast Binary Message */
struct {
unsigned int dac; /* Designated Area Code */
unsigned int fid; /* Functional ID */
#define AIS_TYPE8_BINARY_MAX 952 /* 952 bits */
size_t bitcount; /* bit count of the data */
bool structured; /* True match for DAC/FID? */
union {
char bitdata[(AIS_TYPE8_BINARY_MAX + 7) / 8];
/* Inland static ship and voyage-related data */
struct {
char vin[8+1]; /* European Vessel ID */
unsigned int length; /* Length of ship */
unsigned int beam; /* Beam of ship */
unsigned int shiptype; /* Ship/combination type */
unsigned int hazard; /* Hazardous cargo */
#define DAC200FID10_HAZARD_MAX 5
unsigned int draught; /* Draught */
unsigned int loaded; /* Loaded/Unloaded */
bool speed_q; /* Speed inf. quality */
bool course_q; /* Course inf. quality */
bool heading_q; /* Heading inf. quality */
} dac200fid10;
/* Inland AIS EMMA Warning */
struct {
unsigned int start_year; /* Start Year */
unsigned int start_month; /* Start Month */
unsigned int start_day; /* Start Day */
unsigned int end_year; /* End Year */
unsigned int end_month; /* End Month */
unsigned int end_day; /* End Day */
unsigned int start_hour; /* Start Hour */
unsigned int start_minute; /* Start Minute */
unsigned int end_hour; /* End Hour */
unsigned int end_minute; /* End Minute */
signed int start_lon; /* Start Longitude */
signed int start_lat; /* Start Latitude */
signed int end_lon; /* End Longitude */
signed int end_lat; /* End Latitude */
unsigned int type; /* Type */
#define DAC200FID23_TYPE_UNKNOWN 0
signed int min; /* Min value */
#define DAC200FID23_MIN_UNKNOWN 255
signed int max; /* Max value */
#define DAC200FID23_MAX_UNKNOWN 255
unsigned int intensity; /* Classification */
#define DAC200FID23_CLASS_UNKNOWN 0
unsigned int wind; /* Wind Direction */
#define DAC200FID23_WIND_UNKNOWN 0
} dac200fid23;
struct {
char country[2+1]; /* UN Country Code */
signed int ngauges;
struct gauge_t {
unsigned int id; /* Gauge ID */
#define DAC200FID24_GAUGE_ID_UNKNOWN 0
signed int level; /* Water Level */
#define DAC200FID24_GAUGE_LEVEL_UNKNOWN 0
} gauges[4];
} dac200fid24;
struct {
signed int lon; /* Signal Longitude */
signed int lat; /* Signal Latitude */
unsigned int form; /* Signal form */
#define DAC200FID40_FORM_UNKNOWN 0
unsigned int facing; /* Signal orientation */
#define DAC200FID40_FACING_UNKNOWN 0
unsigned int direction; /* Direction of impact */
#define DAC200FID40_DIRECTION_UNKNOWN 0
unsigned int status; /* Light Status */
#define DAC200FID40_STATUS_UNKNOWN 0
} dac200fid40;
/* IMO236 - Meteorological-Hydrological data
* Trial message, not to be used after January 2013
* Replaced by IMO289 (DAC 1, FID 31)
*/
struct {
#define DAC1FID11_LATLON_SCALE 1000
int lon; /* longitude in minutes * .001 */
#define DAC1FID11_LON_NOT_AVAILABLE 0xFFFFFF
int lat; /* latitude in minutes * .001 */
#define DAC1FID11_LAT_NOT_AVAILABLE 0x7FFFFF
unsigned int day; /* UTC day */
unsigned int hour; /* UTC hour */
unsigned int minute; /* UTC minute */
unsigned int wspeed; /* average wind speed */
unsigned int wgust; /* wind gust */
#define DAC1FID11_WSPEED_NOT_AVAILABLE 127
unsigned int wdir; /* wind direction */
unsigned int wgustdir; /* wind gust direction */
#define DAC1FID11_WDIR_NOT_AVAILABLE 511
unsigned int airtemp; /* temperature, units 0.1C */
#define DAC1FID11_AIRTEMP_NOT_AVAILABLE 2047
#define DAC1FID11_AIRTEMP_OFFSET 600
#define DAC1FID11_AIRTEMP_DIV 10.0
unsigned int humidity; /* relative humidity, % */
#define DAC1FID11_HUMIDITY_NOT_AVAILABLE 127
unsigned int dewpoint; /* dew point, units 0.1C */
#define DAC1FID11_DEWPOINT_NOT_AVAILABLE 1023
#define DAC1FID11_DEWPOINT_OFFSET 200
#define DAC1FID11_DEWPOINT_DIV 10.0
unsigned int pressure; /* air pressure, hpa */
#define DAC1FID11_PRESSURE_NOT_AVAILABLE 511
#define DAC1FID11_PRESSURE_OFFSET -800
unsigned int pressuretend; /* tendency */
#define DAC1FID11_PRESSURETREND_NOT_AVAILABLE 3
unsigned int visibility; /* units 0.1 nautical miles */
#define DAC1FID11_VISIBILITY_NOT_AVAILABLE 255
#define DAC1FID11_VISIBILITY_DIV 10.0
int waterlevel; /* decimeters */
#define DAC1FID11_WATERLEVEL_NOT_AVAILABLE 511
#define DAC1FID11_WATERLEVEL_OFFSET 100
#define DAC1FID11_WATERLEVEL_DIV 10.0
unsigned int leveltrend; /* water level trend code */
#define DAC1FID11_WATERLEVELTREND_NOT_AVAILABLE 3
unsigned int cspeed; /* surface current speed in deciknots */
#define DAC1FID11_CSPEED_NOT_AVAILABLE 255
#define DAC1FID11_CSPEED_DIV 10.0
unsigned int cdir; /* surface current dir., degrees */
#define DAC1FID11_CDIR_NOT_AVAILABLE 511
unsigned int cspeed2; /* current speed in deciknots */
unsigned int cdir2; /* current dir., degrees */
unsigned int cdepth2; /* measurement depth, m */
#define DAC1FID11_CDEPTH_NOT_AVAILABLE 31
unsigned int cspeed3; /* current speed in deciknots */
unsigned int cdir3; /* current dir., degrees */
unsigned int cdepth3; /* measurement depth, m */
unsigned int waveheight; /* in decimeters */
#define DAC1FID11_WAVEHEIGHT_NOT_AVAILABLE 255
#define DAC1FID11_WAVEHEIGHT_DIV 10.0
unsigned int waveperiod; /* in seconds */
#define DAC1FID11_WAVEPERIOD_NOT_AVAILABLE 63
unsigned int wavedir; /* direction in degrees */
#define DAC1FID11_WAVEDIR_NOT_AVAILABLE 511
unsigned int swellheight; /* in decimeters */
unsigned int swellperiod; /* in seconds */
unsigned int swelldir; /* direction in degrees */
unsigned int seastate; /* Beaufort scale, 0-12 */
#define DAC1FID11_SEASTATE_NOT_AVAILABLE 15
unsigned int watertemp; /* units 0.1deg Celsius */
#define DAC1FID11_WATERTEMP_NOT_AVAILABLE 1023
#define DAC1FID11_WATERTEMP_OFFSET 100
#define DAC1FID11_WATERTEMP_DIV 10.0
unsigned int preciptype; /* 0-7, enumerated */
#define DAC1FID11_PRECIPTYPE_NOT_AVAILABLE 7
unsigned int salinity; /* units of 0.1ppt */
#define DAC1FID11_SALINITY_NOT_AVAILABLE 511
#define DAC1FID11_SALINITY_DIV 10.0
unsigned int ice; /* is there sea ice? */
#define DAC1FID11_ICE_NOT_AVAILABLE 3
} dac1fid11;
/* IMO236 - Fairway Closed */
struct {
char reason[20+1]; /* Reason For Closing */
char closefrom[20+1]; /* Location Of Closing From */
char closeto[20+1]; /* Location of Closing To */
unsigned int radius; /* Radius extension */
#define AIS_DAC1FID13_RADIUS_NOT_AVAILABLE 10001
unsigned int extunit; /* Unit of extension */
#define AIS_DAC1FID13_EXTUNIT_NOT_AVAILABLE 0
unsigned int fday; /* From day (UTC) */
unsigned int fmonth; /* From month (UTC) */
unsigned int fhour; /* From hour (UTC) */
unsigned int fminute; /* From minute (UTC) */
unsigned int tday; /* To day (UTC) */
unsigned int tmonth; /* To month (UTC) */
unsigned int thour; /* To hour (UTC) */
unsigned int tminute; /* To minute (UTC) */
} dac1fid13;
/* IMO236 - Extended ship and voyage data */
struct {
unsigned int airdraught; /* Air Draught */
} dac1fid15;
/* IMO286 - Number of Persons on board */
struct {
unsigned persons; /* number of persons */
} dac1fid16;
/* IMO289 - VTS-generated/Synthetic Targets */
struct {
signed int ntargets;
struct target_t {
#define DAC1FID17_IDTYPE_MMSI 0
#define DAC1FID17_IDTYPE_IMO 1
#define DAC1FID17_IDTYPE_CALLSIGN 2
#define DAC1FID17_IDTYPE_OTHER 3
unsigned int idtype; /* Identifier type */
union target_id { /* Target identifier */
unsigned int mmsi;
unsigned int imo;
#define DAC1FID17_ID_LENGTH 7
char callsign[DAC1FID17_ID_LENGTH+1];
char other[DAC1FID17_ID_LENGTH+1];
} id;
signed int lat; /* Latitude */
signed int lon; /* Longitude */
#define DAC1FID17_COURSE_NOT_AVAILABLE 360
unsigned int course; /* Course Over Ground */
unsigned int second; /* Time Stamp */
#define DAC1FID17_SPEED_NOT_AVAILABLE 255
unsigned int speed; /* Speed Over Ground */
} targets[4];
} dac1fid17;
/* IMO 289 - Marine Traffic Signal */
struct {
unsigned int linkage; /* Message Linkage ID */
char station[20+1]; /* Name of Signal Station */
signed int lon; /* Longitude */
signed int lat; /* Latitude */
unsigned int status; /* Status of Signal */
unsigned int signal; /* Signal In Service */
unsigned int hour; /* UTC hour */
unsigned int minute; /* UTC minute */
unsigned int nextsignal; /* Expected Next Signal */
} dac1fid19;
/* IMO289 - Route info (broadcast) */
struct route_info dac1fid27;
/* IMO289 - Text message (broadcast) */
struct {
unsigned int linkage;
#define AIS_DAC1FID29_TEXT_MAX 162 /* 920 bits of six-bit, plus NUL */
char text[AIS_DAC1FID29_TEXT_MAX];
} dac1fid29;
/* IMO289 - Meteorological-Hydrological data */
struct {
bool accuracy; /* position accuracy, <10m if true */
#define DAC1FID31_LATLON_SCALE 1000
int lon; /* longitude in minutes * .001 */
#define DAC1FID31_LON_NOT_AVAILABLE (181*60*DAC1FID31_LATLON_SCALE)
int lat; /* longitude in minutes * .001 */
#define DAC1FID31_LAT_NOT_AVAILABLE (91*60*DAC1FID31_LATLON_SCALE)
unsigned int day; /* UTC day */
unsigned int hour; /* UTC hour */
unsigned int minute; /* UTC minute */
unsigned int wspeed; /* average wind speed */
unsigned int wgust; /* wind gust */
#define DAC1FID31_WIND_HIGH 126
#define DAC1FID31_WIND_NOT_AVAILABLE 127
unsigned int wdir; /* wind direction */
unsigned int wgustdir; /* wind gust direction */
#define DAC1FID31_DIR_NOT_AVAILABLE 360
int airtemp; /* temperature, units 0.1C */
#define DAC1FID31_AIRTEMP_NOT_AVAILABLE -1024
#define DAC1FID31_AIRTEMP_DIV 10.0
unsigned int humidity; /* relative humidity, % */
#define DAC1FID31_HUMIDITY_NOT_AVAILABLE 101
int dewpoint; /* dew point, units 0.1C */
#define DAC1FID31_DEWPOINT_NOT_AVAILABLE 501
#define DAC1FID31_DEWPOINT_DIV 10.0
unsigned int pressure; /* air pressure, hpa */
#define DAC1FID31_PRESSURE_NOT_AVAILABLE 511
#define DAC1FID31_PRESSURE_HIGH 402
#define DAC1FID31_PRESSURE_OFFSET -799
unsigned int pressuretend; /* tendency */
#define DAC1FID31_PRESSURETEND_NOT_AVAILABLE 3
bool visgreater; /* visibility greater than */
unsigned int visibility; /* units 0.1 nautical miles */
#define DAC1FID31_VISIBILITY_NOT_AVAILABLE 127
#define DAC1FID31_VISIBILITY_DIV 10.0
int waterlevel; /* cm */
#define DAC1FID31_WATERLEVEL_NOT_AVAILABLE 4001
#define DAC1FID31_WATERLEVEL_OFFSET 1000
#define DAC1FID31_WATERLEVEL_DIV 100.0
unsigned int leveltrend; /* water level trend code */
#define DAC1FID31_WATERLEVELTREND_NOT_AVAILABLE 3
unsigned int cspeed; /* current speed in deciknots */
#define DAC1FID31_CSPEED_NOT_AVAILABLE 255
#define DAC1FID31_CSPEED_DIV 10.0
unsigned int cdir; /* current dir., degrees */
unsigned int cspeed2; /* current speed in deciknots */
unsigned int cdir2; /* current dir., degrees */
unsigned int cdepth2; /* measurement depth, 0.1m */
#define DAC1FID31_CDEPTH_NOT_AVAILABLE 301
#define DAC1FID31_CDEPTH_SCALE 10.0
unsigned int cspeed3; /* current speed in deciknots */
unsigned int cdir3; /* current dir., degrees */
unsigned int cdepth3; /* measurement depth, 0.1m */
unsigned int waveheight; /* in decimeters */
#define DAC1FID31_HEIGHT_NOT_AVAILABLE 31
#define DAC1FID31_HEIGHT_DIV 10.0
unsigned int waveperiod; /* in seconds */
#define DAC1FID31_PERIOD_NOT_AVAILABLE 63
unsigned int wavedir; /* direction in degrees */
unsigned int swellheight; /* in decimeters */
unsigned int swellperiod; /* in seconds */
unsigned int swelldir; /* direction in degrees */
unsigned int seastate; /* Beaufort scale, 0-12 */
#define DAC1FID31_SEASTATE_NOT_AVAILABLE 15
int watertemp; /* units 0.1deg Celsius */
#define DAC1FID31_WATERTEMP_NOT_AVAILABLE 601
#define DAC1FID31_WATERTEMP_DIV 10.0
unsigned int preciptype; /* 0-7, enumerated */
#define DAC1FID31_PRECIPTYPE_NOT_AVAILABLE 7
unsigned int salinity; /* units of 0.1 permil (ca. PSU) */
#define DAC1FID31_SALINITY_NOT_AVAILABLE 510
#define DAC1FID31_SALINITY_DIV 10.0
unsigned int ice; /* is there sea ice? */
#define DAC1FID31_ICE_NOT_AVAILABLE 3
} dac1fid31;
};
} type8;
/* Type 9 - Standard SAR Aircraft Position Report */
struct {
unsigned int alt; /* altitude in meters */
#define AIS_ALT_NOT_AVAILABLE 4095
#define AIS_ALT_HIGH 4094 /* 4094 meters or higher */
unsigned int speed; /* speed over ground in deciknots */
#define AIS_SAR_SPEED_NOT_AVAILABLE 1023
#define AIS_SAR_FAST_MOVER 1022
bool accuracy; /* position accuracy */
int lon; /* longitude */
int lat; /* latitude */
unsigned int course; /* course over ground */
unsigned int second; /* seconds of UTC timestamp */
unsigned int regional; /* regional reserved */
unsigned int dte; /* data terminal enable */
//unsigned int spare; spare bits */
bool assigned; /* assigned-mode flag */
bool raim; /* RAIM flag */
unsigned int radio; /* radio status bits */
} type9;
/* Type 10 - UTC/Date Inquiry */
struct {
//unsigned int spare;
unsigned int dest_mmsi; /* destination MMSI */
//unsigned int spare2;
} type10;
/* Type 12 - Safety-Related Message */
struct {
unsigned int seqno; /* sequence number */
unsigned int dest_mmsi; /* destination MMSI */
bool retransmit; /* retransmit flag */
//unsigned int spare; spare bit(s) */
#define AIS_TYPE12_TEXT_MAX 157 /* 936 bits of six-bit, plus NUL */
char text[AIS_TYPE12_TEXT_MAX];
} type12;
/* Type 14 - Safety-Related Broadcast Message */
struct {
//unsigned int spare; spare bit(s) */
#define AIS_TYPE14_TEXT_MAX 161 /* 952 bits of six-bit, plus NUL */
char text[AIS_TYPE14_TEXT_MAX];
} type14;
/* Type 15 - Interrogation */
struct {
//unsigned int spare; spare bit(s) */
unsigned int mmsi1;
unsigned int type1_1;
unsigned int offset1_1;
//unsigned int spare2; spare bit(s) */
unsigned int type1_2;
unsigned int offset1_2;
//unsigned int spare3; spare bit(s) */
unsigned int mmsi2;
unsigned int type2_1;
unsigned int offset2_1;
//unsigned int spare4; spare bit(s) */
} type15;
/* Type 16 - Assigned Mode Command */
struct {
//unsigned int spare; spare bit(s) */
unsigned int mmsi1;
unsigned int offset1;
unsigned int increment1;
unsigned int mmsi2;
unsigned int offset2;
unsigned int increment2;
} type16;
/* Type 17 - GNSS Broadcast Binary Message */
struct {
//unsigned int spare; spare bit(s) */
#define AIS_GNSS_LATLON_DIV 600.0
int lon; /* longitude */
int lat; /* latitude */
//unsigned int spare2; spare bit(s) */
#define AIS_TYPE17_BINARY_MAX 736 /* 920 bits */
size_t bitcount; /* bit count of the data */
char bitdata[(AIS_TYPE17_BINARY_MAX + 7) / 8];
} type17;
/* Type 18 - Standard Class B CS Position Report */
struct {
unsigned int reserved; /* altitude in meters */
unsigned int speed; /* speed over ground in deciknots */
bool accuracy; /* position accuracy */
int lon; /* longitude */
#define AIS_GNS_LON_NOT_AVAILABLE 0x1a838
int lat; /* latitude */
#define AIS_GNS_LAT_NOT_AVAILABLE 0xd548
unsigned int course; /* course over ground */
unsigned int heading; /* true heading */
unsigned int second; /* seconds of UTC timestamp */
unsigned int regional; /* regional reserved */
bool cs; /* carrier sense unit flag */
bool display; /* unit has attached display? */
bool dsc; /* unit attached to radio with DSC? */
bool band; /* unit can switch frequency bands? */
bool msg22; /* can accept Message 22 management? */
bool assigned; /* assigned-mode flag */
bool raim; /* RAIM flag */
unsigned int radio; /* radio status bits */
} type18;
/* Type 19 - Extended Class B CS Position Report */
struct {
unsigned int reserved; /* altitude in meters */
unsigned int speed; /* speed over ground in deciknots */
bool accuracy; /* position accuracy */
int lon; /* longitude */
int lat; /* latitude */
unsigned int course; /* course over ground */
unsigned int heading; /* true heading */
unsigned int second; /* seconds of UTC timestamp */
unsigned int regional; /* regional reserved */
char shipname[AIS_SHIPNAME_MAXLEN+1]; /* ship name */
unsigned int shiptype; /* ship type code */
unsigned int to_bow; /* dimension to bow */
unsigned int to_stern; /* dimension to stern */
unsigned int to_port; /* dimension to port */
unsigned int to_starboard; /* dimension to starboard */
unsigned int epfd; /* type of position fix deviuce */
bool raim; /* RAIM flag */
unsigned int dte; /* date terminal enable */
bool assigned; /* assigned-mode flag */
//unsigned int spare; spare bits */
} type19;
/* Type 20 - Data Link Management Message */
struct {
//unsigned int spare; spare bit(s) */
unsigned int offset1; /* TDMA slot offset */
unsigned int number1; /* number of xlots to allocate */
unsigned int timeout1; /* allocation timeout */
unsigned int increment1; /* repeat increment */
unsigned int offset2; /* TDMA slot offset */
unsigned int number2; /* number of xlots to allocate */
unsigned int timeout2; /* allocation timeout */
unsigned int increment2; /* repeat increment */
unsigned int offset3; /* TDMA slot offset */
unsigned int number3; /* number of xlots to allocate */
unsigned int timeout3; /* allocation timeout */
unsigned int increment3; /* repeat increment */
unsigned int offset4; /* TDMA slot offset */
unsigned int number4; /* number of xlots to allocate */
unsigned int timeout4; /* allocation timeout */
unsigned int increment4; /* repeat increment */
} type20;
/* Type 21 - Aids to Navigation Report */
struct {
unsigned int aid_type; /* aid type */
char name[35]; /* name of aid to navigation */
bool accuracy; /* position accuracy */
int lon; /* longitude */
int lat; /* latitude */
unsigned int to_bow; /* dimension to bow */
unsigned int to_stern; /* dimension to stern */
unsigned int to_port; /* dimension to port */
unsigned int to_starboard; /* dimension to starboard */
unsigned int epfd; /* type of EPFD */
unsigned int second; /* second of UTC timestamp */
bool off_position; /* off-position indicator */
unsigned int regional; /* regional reserved field */
bool raim; /* RAIM flag */
bool virtual_aid; /* is virtual station? */
bool assigned; /* assigned-mode flag */
//unsigned int spare; unused */
} type21;
/* Type 22 - Channel Management */
struct {
//unsigned int spare; spare bit(s) */
unsigned int channel_a; /* Channel A number */
unsigned int channel_b; /* Channel B number */
unsigned int txrx; /* transmit/receive mode */
bool power; /* high-power flag */
#define AIS_CHANNEL_LATLON_DIV 600.0
union {
struct {
int ne_lon; /* NE corner longitude */
int ne_lat; /* NE corner latitude */
int sw_lon; /* SW corner longitude */
int sw_lat; /* SW corner latitude */
} area;
struct {
unsigned int dest1; /* addressed station MMSI 1 */
unsigned int dest2; /* addressed station MMSI 2 */
} mmsi;
};
bool addressed; /* addressed vs. broadast flag */
bool band_a; /* fix 1.5kHz band for channel A */
bool band_b; /* fix 1.5kHz band for channel B */
unsigned int zonesize; /* size of transitional zone */
} type22;
/* Type 23 - Group Assignment Command */
struct {
int ne_lon; /* NE corner longitude */
int ne_lat; /* NE corner latitude */
int sw_lon; /* SW corner longitude */
int sw_lat; /* SW corner latitude */
//unsigned int spare; spare bit(s) */
unsigned int stationtype; /* station type code */
unsigned int shiptype; /* ship type code */
//unsigned int spare2; spare bit(s) */
unsigned int txrx; /* transmit-enable code */
unsigned int interval; /* report interval */
unsigned int quiet; /* quiet time */
//unsigned int spare3; spare bit(s) */
} type23;
/* Type 24 - Class B CS Static Data Report */
struct {
char shipname[AIS_SHIPNAME_MAXLEN+1]; /* vessel name */
enum {
both,
part_a,
part_b,
} part;
unsigned int shiptype; /* ship type code */
char vendorid[8]; /* vendor ID */
unsigned int model; /* unit model code */
unsigned int serial; /* serial number */
char callsign[8]; /* callsign */
union {
unsigned int mothership_mmsi; /* MMSI of main vessel */
struct {
unsigned int to_bow; /* dimension to bow */
unsigned int to_stern; /* dimension to stern */
unsigned int to_port; /* dimension to port */
unsigned int to_starboard; /* dimension to starboard */
} dim;
};
} type24;
/* Type 25 - Addressed Binary Message */
struct {
bool addressed; /* addressed-vs.broadcast flag */
bool structured; /* structured-binary flag */
unsigned int dest_mmsi; /* destination MMSI */
unsigned int app_id; /* Application ID */
#define AIS_TYPE25_BINARY_MAX 128 /* Up to 128 bits */
size_t bitcount; /* bit count of the data */
char bitdata[(AIS_TYPE25_BINARY_MAX + 7) / 8];
} type25;
/* Type 26 - Addressed Binary Message */
struct {
bool addressed; /* addressed-vs.broadcast flag */
bool structured; /* structured-binary flag */
unsigned int dest_mmsi; /* destination MMSI */
unsigned int app_id; /* Application ID */
#define AIS_TYPE26_BINARY_MAX 1004 /* Up to 128 bits */
size_t bitcount; /* bit count of the data */
char bitdata[(AIS_TYPE26_BINARY_MAX + 7) / 8];
unsigned int radio; /* radio status bits */
} type26;
/* Type 27 - Long Range AIS Broadcast message */
struct {
bool accuracy; /* position accuracy */
bool raim; /* RAIM flag */
unsigned int status; /* navigation status */
#define AIS_LONGRANGE_LATLON_DIV 600.0
int lon; /* longitude */
#define AIS_LONGRANGE_LON_NOT_AVAILABLE 0x1a838
int lat; /* latitude */
#define AIS_LONGRANGE_LAT_NOT_AVAILABLE 0xd548
unsigned int speed; /* speed over ground in deciknots */
#define AIS_LONGRANGE_SPEED_NOT_AVAILABLE 63
unsigned int course; /* course over ground */
#define AIS_LONGRANGE_COURSE_NOT_AVAILABLE 511
bool gnss; /* are we reporting GNSS position? */
} type27;
};
};
struct satellite_t {
double ss; /* signal-to-noise ratio (dB) */
bool used; /* PRNs of satellites used in solution */
short PRN; /* PRNs of satellite */
short elevation; /* elevation of satellite */
short azimuth; /* azimuth */
};
struct attitude_t {
double heading;
double pitch;
double roll;
double yaw;
double dip;
double mag_len; /* unitvector sqrt(x^2 + y^2 +z^2) */
double mag_x;
double mag_y;
double mag_z;
double acc_len; /* unitvector sqrt(x^2 + y^2 +z^2) */
double acc_x;
double acc_y;
double acc_z;
double gyro_x;
double gyro_y;
double temp;
double depth;
/* compass status -- TrueNorth (and any similar) devices only */
char mag_st;
char pitch_st;
char roll_st;
char yaw_st;
};
struct navdata_t {
unsigned int version;
double compass_heading;
double compass_deviation;
double compass_variation;
double air_temp;
double air_pressure;
double water_temp;
double depth;
double depth_offset;
double wind_speed;
double wind_dir;
double crosstrack_error;
unsigned int compass_status;
unsigned int log_cumulative;
unsigned int log_trip;
unsigned int crosstrack_status;
};
struct dop_t {
/* Dilution of precision factors */
double xdop, ydop, pdop, hdop, vdop, tdop, gdop;
};
struct rawdata_t {
/* raw measurement data */
double codephase[MAXCHANNELS]; /* meters */
double carrierphase[MAXCHANNELS]; /* meters */
double pseudorange[MAXCHANNELS]; /* meters */
double deltarange[MAXCHANNELS]; /* meters/sec */
double doppler[MAXCHANNELS]; /* Hz */
double mtime[MAXCHANNELS]; /* sec */
unsigned satstat[MAXCHANNELS]; /* tracking status */
#define SAT_ACQUIRED 0x01 /* satellite acquired */
#define SAT_CODE_TRACK 0x02 /* code-tracking loop acquired */
#define SAT_CARR_TRACK 0x04 /* carrier-tracking loop acquired */
#define SAT_DATA_SYNC 0x08 /* data-bit synchronization done */
#define SAT_FRAME_SYNC 0x10 /* frame synchronization done */
#define SAT_EPHEMERIS 0x20 /* ephemeris collected */
#define SAT_FIX_USED 0x40 /* used for position fix */
};
struct version_t {
char release[64]; /* external version */
char rev[64]; /* internal revision ID */
int proto_major, proto_minor; /* API major and minor versions */
char remote[GPS_PATH_MAX]; /* could be from a remote device */
};
struct devconfig_t {
char path[GPS_PATH_MAX];
int flags;
#define SEEN_GPS 0x01
#define SEEN_RTCM2 0x02
#define SEEN_RTCM3 0x04
#define SEEN_AIS 0x08
char driver[64];
char subtype[64];
double activated;
unsigned int baudrate, stopbits; /* RS232 link parameters */
char parity; /* 'N', 'O', or 'E' */
double cycle, mincycle; /* refresh cycle time in seconds */
int driver_mode; /* is driver in native mode or not? */
};
struct policy_t {
bool watcher; /* is watcher mode on? */
bool json; /* requesting JSON? */
bool nmea; /* requesting dumping as NMEA? */
int raw; /* requesting raw data? */
bool scaled; /* requesting report scaling? */
bool timing; /* requesting timing info */
bool split24; /* requesting split AIS Type 24s */
bool pps; /* requesting PPS in NMEA/raw modes */
int loglevel; /* requested log level of messages */
char devpath[GPS_PATH_MAX]; /* specific device to watch */
char remote[GPS_PATH_MAX]; /* ...if this was passthrough */
};
#ifndef TIMEDELTA_DEFINED
#define TIMEDELTA_DEFINED
struct timedelta_t {
struct timespec real;
struct timespec clock;
};
#endif /* TIMEDELTA_DEFINED */
/*
* Someday we may support Windows, under which socket_t is a separate type.
* In the meantime, having a typedef for this semantic kind is no bad thing,
* as it makes clearer what some declarations are doing without breaking
* binary compatibility.
*/
typedef int socket_t;
#define BAD_SOCKET(s) ((s) == -1)
#define INVALIDATE_SOCKET(s) do { s = -1; } while (0)
/* mode flags for setting streaming policy */
#define WATCH_ENABLE 0x000001u /* enable streaming */
#define WATCH_DISABLE 0x000002u /* disable watching */
#define WATCH_JSON 0x000010u /* JSON output */
#define WATCH_NMEA 0x000020u /* output in NMEA */
#define WATCH_RARE 0x000040u /* output of packets in hex */
#define WATCH_RAW 0x000080u /* output of raw packets */
#define WATCH_SCALED 0x000100u /* scale output to floats */
#define WATCH_TIMING 0x000200u /* timing information */
#define WATCH_DEVICE 0x000800u /* watch specific device */
#define WATCH_SPLIT24 0x001000u /* split AIS Type 24s */
#define WATCH_PPS 0x002000u /* enable PPS JSON */
#define WATCH_NEWSTYLE 0x010000u /* force JSON streaming */
/*
* Main structure that includes all previous substructures
*/
struct gps_data_t {
gps_mask_t set; /* has field been set since this was last cleared? */
#define ONLINE_SET (1llu<<1)
#define TIME_SET (1llu<<2)
#define TIMERR_SET (1llu<<3)
#define LATLON_SET (1llu<<4)
#define ALTITUDE_SET (1llu<<5)
#define SPEED_SET (1llu<<6)
#define TRACK_SET (1llu<<7)
#define CLIMB_SET (1llu<<8)
#define STATUS_SET (1llu<<9)
#define MODE_SET (1llu<<10)
#define DOP_SET (1llu<<11)
#define HERR_SET (1llu<<12)
#define VERR_SET (1llu<<13)
#define ATTITUDE_SET (1llu<<14)
#define SATELLITE_SET (1llu<<15)
#define SPEEDERR_SET (1llu<<16)
#define TRACKERR_SET (1llu<<17)
#define CLIMBERR_SET (1llu<<18)
#define DEVICE_SET (1llu<<19)
#define DEVICELIST_SET (1llu<<20)
#define DEVICEID_SET (1llu<<21)
#define RTCM2_SET (1llu<<22)
#define RTCM3_SET (1llu<<23)
#define AIS_SET (1llu<<24)
#define PACKET_SET (1llu<<25)
#define SUBFRAME_SET (1llu<<26)
#define GST_SET (1llu<<27)
#define VERSION_SET (1llu<<28)
#define POLICY_SET (1llu<<29)
#define LOGMESSAGE_SET (1llu<<30)
#define ERROR_SET (1llu<<31)
#define TOFF_SET (1llu<<32) /* not yet used */
#define PPS_SET (1llu<<33)
#define NAVDATA_SET (1llu<<34)
#define SET_HIGH_BIT 35
timestamp_t online; /* NZ if GPS is on line, 0 if not.
*
* Note: gpsd clears this time when sentences
* fail to show up within the GPS's normal
* send cycle time. If the host-to-GPS
* link is lossy enough to drop entire
* sentences, this field will be
* prone to false zero values.
*/
#ifndef USE_QT
socket_t gps_fd; /* socket or file descriptor to GPS */
#else
void* gps_fd;
#endif
struct gps_fix_t fix; /* accumulated PVT data */
/* this should move to the per-driver structure */
double separation; /* Geoidal separation, MSL - WGS84 (Meters) */
/* GPS status -- always valid */
int status; /* Do we have a fix? */
#define STATUS_NO_FIX 0 /* no */
#define STATUS_FIX 1 /* yes */
/* precision of fix -- valid if satellites_used > 0 */
int satellites_used; /* Number of satellites used in solution */
struct dop_t dop;
/* redundant with the estimate elements in the fix structure */
double epe; /* spherical position error, 95% confidence (meters) */
/* satellite status -- valid when satellites_visible > 0 */
timestamp_t skyview_time; /* skyview timestamp */
int satellites_visible; /* # of satellites in view */
struct satellite_t skyview[MAXCHANNELS];
struct devconfig_t dev; /* device that shipped last update */
struct policy_t policy; /* our listening policy */
struct {
timestamp_t time;
int ndevices;
struct devconfig_t list[MAXUSERDEVS];
} devices;
/* pack things never reported together to reduce structure size */
#define UNION_SET (RTCM2_SET|RTCM3_SET|SUBFRAME_SET|AIS_SET|ATTITUDE_SET|GST_SET|VERSION_SET|LOGMESSAGE_SET|ERROR_SET|TOFF_SET|PPS_SET)
union {
/* unusual forms of sensor data that might come up the pipe */
struct rtcm2_t rtcm2;
struct rtcm3_t rtcm3;
struct subframe_t subframe;
struct ais_t ais;
struct attitude_t attitude;
struct navdata_t navdata;
struct rawdata_t raw;
struct gst_t gst;
/* "artificial" structures for various protocol responses */
struct version_t version;
char error[256];
struct timedelta_t toff;
struct timedelta_t pps;
};
/* FIXME! next lib rev need to add a place to put PPS precision */
/* Private data - client code must not set this */
void *privdata;
};
extern int gps_open(const char *, const char *,
struct gps_data_t *);
extern int gps_close(struct gps_data_t *);
extern int gps_send(struct gps_data_t *, const char *, ... );
extern int gps_read(struct gps_data_t *);
extern int gps_unpack(char *, struct gps_data_t *);
extern bool gps_waiting(const struct gps_data_t *, int);
extern int gps_stream(struct gps_data_t *, unsigned int, void *);
extern int gps_mainloop(struct gps_data_t *, int,
void (*)(struct gps_data_t *));
extern const char *gps_data(const struct gps_data_t *);
extern const char *gps_errstr(const int);
int json_toff_read(const char *buf, struct gps_data_t *,
const char **);
int json_pps_read(const char *buf, struct gps_data_t *,
const char **);
/* dependencies on struct gpsdata_t end here */
extern void libgps_trace(int errlevel, const char *, ...);
extern void gps_clear_fix(struct gps_fix_t *);
extern void gps_clear_dop( struct dop_t *);
extern void gps_merge_fix(struct gps_fix_t *, gps_mask_t, struct gps_fix_t *);
extern void gps_enable_debug(int, FILE *);
extern const char *gps_maskdump(gps_mask_t);
extern double safe_atof(const char *);
extern time_t mkgmtime(register struct tm *);
extern timestamp_t timestamp(void);
extern timestamp_t iso8601_to_unix(char *);
extern char *unix_to_iso8601(timestamp_t t, char[], size_t len);
extern double earth_distance(double, double, double, double);
extern double earth_distance_and_bearings(double, double, double, double,
double *,
double *);
extern double wgs84_separation(double, double);
/* some multipliers for interpreting GPS output */
#define METERS_TO_FEET 3.2808399 /* Meters to U.S./British feet */
#define METERS_TO_MILES 0.00062137119 /* Meters to miles */
#define METERS_TO_FATHOMS 0.54680665 /* Meters to fathoms */
#define KNOTS_TO_MPH 1.1507794 /* Knots to miles per hour */
#define KNOTS_TO_KPH 1.852 /* Knots to kilometers per hour */
#define KNOTS_TO_MPS 0.51444444 /* Knots to meters per second */
#define MPS_TO_KPH 3.6 /* Meters per second to klicks/hr */
#define MPS_TO_MPH 2.2369363 /* Meters/second to miles per hour */
#define MPS_TO_KNOTS 1.9438445 /* Meters per second to knots */
/* miles and knots are both the international standard versions of the units */
/* angle conversion multipliers */
#define GPS_PI 3.1415926535897932384626433832795029
#define RAD_2_DEG 57.2957795130823208767981548141051703
#define DEG_2_RAD 0.0174532925199432957692369076848861271
/* geodetic constants */
#define WGS84A 6378137 /* equatorial radius */
#define WGS84F 298.257223563 /* flattening */
#define WGS84B 6356752.3142 /* polar radius */
/* netlib_connectsock() errno return values */
#define NL_NOSERVICE -1 /* can't get service entry */
#define NL_NOHOST -2 /* can't get host entry */
#define NL_NOPROTO -3 /* can't get protocol entry */
#define NL_NOSOCK -4 /* can't create socket */
#define NL_NOSOCKOPT -5 /* error SETSOCKOPT SO_REUSEADDR */
#define NL_NOCONNECT -6 /* can't connect to host/socket pair */
#define SHM_NOSHARED -7 /* shared-memory segment not available */
#define SHM_NOATTACH -8 /* shared-memory attach failed */
#define DBUS_FAILURE -9 /* DBUS initialization failure */
#define DEFAULT_GPSD_PORT "2947" /* IANA assignment */
#define DEFAULT_RTCM_PORT "2101" /* IANA assignment */
/* special host values for non-socket exports */
#define GPSD_SHARED_MEMORY "shared memory"
#define GPSD_DBUS_EXPORT "DBUS export"
#ifdef __cplusplus
} /* End of the 'extern "C"' block */
#endif
#endif /* _GPSD_GPS_H_ */
/* gps.h ends here */
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