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driver_rtcm2.c: Log message names.
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@garyemiller
garyemiller committed Jan 13, 2020
1 parent bb9e54e commit 3b26e6d
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Showing 3 changed files with 195 additions and 17 deletions.
195 changes: 192 additions & 3 deletions driver_rtcm2.c
View file
Original file line number Diff line number Diff line change
Expand Up @@ -116,7 +116,8 @@ SPDX-License-Identifier: BSD-2-clause
#define __LITTLE_ENDIAN _LITTLE_ENDIAN
#endif

#if !defined(__BYTE_ORDER) || !defined(__BIG_ENDIAN) || !defined(__LITTLE_ENDIAN)
#if !defined(__BYTE_ORDER) || !defined(__BIG_ENDIAN) || \
!defined(__LITTLE_ENDIAN)
#error endianness macros are not defined
#endif

Expand Down Expand Up @@ -851,12 +852,14 @@ static unsigned int tx_speed[] = { 25, 50, 100, 110, 150, 200, 250, 300 };

#define DIMENSION(a) (unsigned)(sizeof(a)/sizeof(a[0]))

void rtcm2_unpack(struct rtcm2_t *tp, char *buf)
/* break out the raw bits into the content fields */
void rtcm2_unpack(struct gps_device_t *session, struct rtcm2_t *tp, char *buf)
{
int len;
unsigned int n, w;
struct rtcm2_msg_t *msg = (struct rtcm2_msg_t *)buf;
bool unknown = true; // we don't know how to decode
const char *msg_name = NULL; // no decode, but maybe we know the name

tp->type = msg->w1.msgtype;
tp->length = msg->w2.frmlen;
Expand All @@ -869,9 +872,12 @@ void rtcm2_unpack(struct rtcm2_t *tp, char *buf)
n = 0;
switch (tp->type) {
case 1:
// FALLTHROUGH
case 9:
{
struct gps_correction_t *m = &msg->msg_type.type1.corrections[0];
msg_name = "Differential GPS Corrections";
unknown = false;

while (len >= 0) {
if (len >= 2) {
Expand Down Expand Up @@ -911,9 +917,17 @@ void rtcm2_unpack(struct rtcm2_t *tp, char *buf)
tp->gps_ranges.nentries = n;
}
break;

case 2:
msg_name = "Delta Differential GPS Corrections";
unknown = false;
break;

case 3:
{
struct rtcm2_msg3 *m = &msg->msg_type.type3;
msg_name = "Reference Station Parameters (GPS)";
unknown = false;

if ((tp->ecef.valid = len >= 4)) {
tp->ecef.x = ((m->w3.x_h << 8) | (m->w4.x_l)) * XYZ_SCALE;
Expand All @@ -922,7 +936,10 @@ void rtcm2_unpack(struct rtcm2_t *tp, char *buf)
}
}
break;

case 4:
msg_name = "Reference Station Datum";
unknown = false;
if ((tp->reference.valid = len >= 2)) {
struct rtcm2_msg4 *m = &msg->msg_type.type4;

Expand Down Expand Up @@ -957,7 +974,10 @@ void rtcm2_unpack(struct rtcm2_t *tp, char *buf)
tp->reference.sense = SENSE_INVALID;
}
break;

case 5:
msg_name = "Constellation health (GPS)";
unknown = false;
for (n = 0; n < (unsigned)len; n++) {
struct consat_t *csp = &tp->conhealth.sat[n];
struct b_health_t *m = &msg->msg_type.type5.health[n];
Expand All @@ -973,7 +993,15 @@ void rtcm2_unpack(struct rtcm2_t *tp, char *buf)
}
tp->conhealth.nentries = n;
break;

case 6:
msg_name = "Null frame (GPS)";
unknown = false;
break;

case 7:
msg_name = "Beacon Almanac (GPS)";
unknown = false;
for (w = 0; w < (unsigned)len; w++) {
struct station_t *np = &tp->almanac.station[n];
struct b_station_t *mp = &msg->msg_type.type7.almanac[w];
Expand All @@ -991,7 +1019,32 @@ void rtcm2_unpack(struct rtcm2_t *tp, char *buf)
}
tp->almanac.nentries = (unsigned)(len / 3);
break;

case 8:
msg_name = "Pseudolite Almanac";
unknown = false;
break;

// case 9 is handled above with case 1

case 10:
msg_name = "P-Code Differential Corrections";
unknown = false;
break;

case 11:
msg_name = "C/A Code L2 Corrections";
unknown = false;
break;

case 12:
msg_name = "Pseudolite Station Parameters";
unknown = false;
break;

case 13:
msg_name = "";
unknown = false;
tp->xmitter.status = (bool)msg->msg_type.type13.w1.status;
tp->xmitter.rangeflag = (bool)msg->msg_type.type13.w1.rangeflag;
tp->xmitter.lat = msg->msg_type.type13.w1.lat * LATLON_SCALE;
Expand All @@ -1000,12 +1053,23 @@ void rtcm2_unpack(struct rtcm2_t *tp, char *buf)
if (tp->xmitter.range == 0)
tp->xmitter.range = 1024;
break;

case 14:
msg_name = "GPS Time Of Week";
unknown = false;
tp->gpstime.week = msg->msg_type.type14.w1.week;
tp->gpstime.hour = msg->msg_type.type14.w1.hour;
tp->gpstime.leapsecs = msg->msg_type.type14.w1.leapsecs;
break;

case 15:
msg_name = "Ionospheric Delay Message";
unknown = false;
break;

case 16:
msg_name = "Special Message (GPS)";
unknown = false;
for (w = 0; w < (unsigned)len; w++) {
if (!msg->msg_type.type16.txt[w].byte1) {
break;
Expand All @@ -1023,9 +1087,75 @@ void rtcm2_unpack(struct rtcm2_t *tp, char *buf)
tp->message[n] = '\0';
break;

case 17:
msg_name = "GPS Ephemeris";
unknown = false;
break;

case 18:
msg_name = "RTK Uncorrected Carrier-phase";
unknown = false;
break;

case 19:
msg_name = "RTK Corrected Pseudorange";
unknown = false;
break;

case 20:
msg_name = "RTK Carrier Phase Corrections";
unknown = false;
break;

case 21:
msg_name = "High-Accuracy Pseudorange Corrections";
unknown = false;
break;

case 22:
msg_name = "Extended Reference Station Parameters";
unknown = false;
break;

case 23:
msg_name = "Antenna Type Definition";
unknown = false;
break;

case 24:
msg_name = "Antenna Reference Point (arp)";
unknown = false;
break;

case 25:
// FALLTHROUGH
case 26:
msg_name = "Undefined";
unknown = false;
break;

case 27:
msg_name = "Radio Beacon Almanac";
unknown = false;
break;

case 28:
// FALLTHROUGH
case 29:
// FALLTHROUGH
case 30:
msg_name = "Undefined";
unknown = false;
break;

case 31:
// FALLTHROUGH
case 34:
{
// 32 and 34 are the same, except 31 is all sats, 34 is some sats
struct glonass_correction_t *m = &msg->msg_type.type31.corrections[0];
msg_name = "Differential GLONASS corrections";
unknown = false;

while (len >= 0) {
if (len >= 2) {
Expand Down Expand Up @@ -1069,11 +1199,70 @@ void rtcm2_unpack(struct rtcm2_t *tp, char *buf)
}
break;

case 32:
msg_name = "Reference Station Parameters (GLONASS)";
unknown = false;
break;

case 33:
msg_name = "Constellation health (GLONASS)";
unknown = false;
break;

// case 34 is above with 31

case 35:
msg_name = "Beacon Almanac (GLONASS)";
unknown = false;
break;

case 36:
msg_name = "Special Message (GLONASS)";
unknown = false;
break;

case 37:
msg_name = "GNSS System Time Offset";
unknown = false;
break;

case 59:
msg_name = "Proprietary Message";
unknown = false;
break;

default:
unknown = true;
break;
}

if (unknown) {
memcpy(tp->words, msg->msg_type.rtcm2_msgunk,
(RTCM2_WORDS_MAX - 2) * sizeof(isgps30bits_t));
break;
if (NULL == msg_name) {
GPSD_LOG(LOG_PROG, &session->context->errout,
"RTCM2: unknown type %d, length %d\n",
tp->type, len);
} else {
GPSD_LOG(LOG_PROG, &session->context->errout,
"RTCM2: %s (type %d), length %d\n",
msg_name, tp->type, len);
}
} else {
GPSD_LOG(LOG_PROG, &session->context->errout,
"RTCM2: type %d, length %d\n",
tp->type, len);
}
GPSD_LOG(LOG_RAW, &session->context->errout,
"RTCM 2.x packet type 0x%02x length %d words "
"from %zd bytes: %s\n",
session->gpsdata.rtcm2.type,
session->gpsdata.rtcm2.length + 2,
session->lexer.isgps.buflen,
gpsd_hexdump(session->msgbuf, sizeof(session->msgbuf),
(char *)session->lexer.isgps.buf,
(session->gpsdata.rtcm2.length +
2) * sizeof(isgps30bits_t)));
}

static bool preamble_match(isgps30bits_t * w)
Expand Down
15 changes: 2 additions & 13 deletions drivers.c
View file
Original file line number Diff line number Diff line change
Expand Up @@ -935,19 +935,8 @@ static const struct gps_type_t driver_fury = {

static gps_mask_t rtcm104v2_analyze(struct gps_device_t *session)
{
rtcm2_unpack(&session->gpsdata.rtcm2, (char *)session->lexer.isgps.buf);
/* extra guard prevents expensive hexdump calls */
if (session->context->errout.debug >= LOG_RAW)
GPSD_LOG(LOG_RAW, &session->context->errout,
"RTCM 2.x packet type 0x%02x length %d words "
"from %zd bytes: %s\n",
session->gpsdata.rtcm2.type,
session->gpsdata.rtcm2.length + 2,
session->lexer.isgps.buflen,
gpsd_hexdump(session->msgbuf, sizeof(session->msgbuf),
(char *)session->lexer.isgps.buf,
(session->gpsdata.rtcm2.length +
2) * sizeof(isgps30bits_t)));
rtcm2_unpack(session, &session->gpsdata.rtcm2,
(char *)session->lexer.isgps.buf);
session->cycle_end_reliable = true;
return RTCM2_SET;
}
Expand Down
2 changes: 1 addition & 1 deletion gpsd.h
View file
Original file line number Diff line number Diff line change
Expand Up @@ -837,7 +837,7 @@ extern void isgps_output_magnavox(const isgps30bits_t *, unsigned int, FILE *);
extern enum isgpsstat_t rtcm2_decode(struct gps_lexer_t *, unsigned int);
extern void json_rtcm2_dump(const struct rtcm2_t *,
const char *, char[], size_t);
extern void rtcm2_unpack(struct rtcm2_t *, char *);
extern void rtcm2_unpack(struct gps_device_t *, struct rtcm2_t *, char *);
extern void json_rtcm3_dump(const struct rtcm3_t *,
const char *, char[], size_t);
extern void rtcm3_unpack(const struct gps_context_t *,
Expand Down

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