rtcm3.h

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/*
 * Copyright (C) 2016 Wilco Vlenterie, Anand Sundaresan.
 * Contact: Anand Sundaresan <nomail@donotmailme.com>
 *
 * THIS CODE AND INFORMATION IS PROVIDED "AS IS" WITHOUT WARRANTY OF ANY KIND,
 * EITHER EXPRESSED OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE IMPLIED
 * WARRANTIES OF MERCHANTABILITY AND/OR FITNESS FOR A PARTICULAR PURPOSE.
 */

#ifndef LIBRTCM3_RTCM3_H
#define LIBRTCM3_RTCM3_H

/* Macros for RTCM message processing */
#define READ_RESERVED   1
#define READ_LENGTH     2
#define READ_MESSAGE    3
#define READ_CHECKSUM   4

#define RTCM3_PREAMBLE 0xD3
#define RTCM3_MSG_1005 0x69
#define RTCM3_MSG_1077 0xB1
#define RTCM3_MSG_1087 0xBB

/* Macros for UBX message processing */

#define UNINIT          0
#define GOT_SYNC1       1
#define GOT_SYNC2       2
#define GOT_CLASS       3
#define GOT_ID          4
#define GOT_LEN1        5
#define GOT_LEN2        6
#define GOT_PAYLOAD     7
#define GOT_CHECKSUM1   8

#define UBX_PREAMBLE1       0xB5                // Sync 1
#define UBX_PREAMBLE2       0x62                // Sync 2
#define UBX_NAV_SVIN        0x3B
#define GPS_UBX_MAX_PAYLOAD 255

#define GPS_UBX_ERR_NONE         0
#define GPS_UBX_ERR_OVERRUN      1
#define GPS_UBX_ERR_MSG_TOO_LONG 2
#define GPS_UBX_ERR_CHECKSUM     3
#define GPS_UBX_ERR_UNEXPECTED   4
#define GPS_UBX_ERR_OUT_OF_SYNC  5

#define NO_CLASS   0
#define RTCM_CLASS 1
#define UBX_CLASS  2


#define UBX_NAV_SVIN_VERSION(_ubx_payload) (uint8_t)(*((uint8_t*)_ubx_payload+0))
#define UBX_NAV_SVIN_RES1(_ubx_payload) (uint8_t)(*((uint8_t*)_ubx_payload+1))
#define UBX_NAV_SVIN_RES2(_ubx_payload) (uint16_t)(*((uint8_t*)_ubx_payload+2)|*((uint8_t*)_ubx_payload+1+2)<<8)
#define UBX_NAV_SVIN_ITOW(_ubx_payload) (uint32_t)(*((uint8_t*)_ubx_payload+4)|*((uint8_t*)_ubx_payload+1+4)<<8|((uint32_t)*((uint8_t*)_ubx_payload+2+4))<<16|((uint32_t)*((uint8_t*)_ubx_payload+3+4))<<24)
#define UBX_NAV_SVIN_dur(_ubx_payload) (uint32_t)(*((uint8_t*)_ubx_payload+8)|*((uint8_t*)_ubx_payload+1+8)<<8|((uint32_t)*((uint8_t*)_ubx_payload+2+8))<<16|((uint32_t)*((uint8_t*)_ubx_payload+3+8))<<24)
#define UBX_NAV_SVIN_meanX(_ubx_payload) (int32_t)(*((uint8_t*)_ubx_payload+12)|*((uint8_t*)_ubx_payload+1+12)<<8|((int32_t)*((uint8_t*)_ubx_payload+2+12))<<16|((int32_t)*((uint8_t*)_ubx_payload+3+12))<<24)
#define UBX_NAV_SVIN_meanY(_ubx_payload) (int32_t)(*((uint8_t*)_ubx_payload+16)|*((uint8_t*)_ubx_payload+1+16)<<8|((int32_t)*((uint8_t*)_ubx_payload+2+16))<<16|((int32_t)*((uint8_t*)_ubx_payload+3+16))<<24)
#define UBX_NAV_SVIN_meanZ(_ubx_payload) (int32_t)(*((uint8_t*)_ubx_payload+20)|*((uint8_t*)_ubx_payload+1+20)<<8|((int32_t)*((uint8_t*)_ubx_payload+2+20))<<16|((int32_t)*((uint8_t*)_ubx_payload+3+20))<<24)
#define UBX_NAV_SVIN_meanXHP(_ubx_payload) (int8_t)(*((uint8_t*)_ubx_payload+24))
#define UBX_NAV_SVIN_meanYHP(_ubx_payload) (int8_t)(*((uint8_t*)_ubx_payload+25))
#define UBX_NAV_SVIN_meanZHP(_ubx_payload) (int8_t)(*((uint8_t*)_ubx_payload+26))
#define UBX_NAV_SVIN_RES3(_ubx_payload) (uint8_t)(*((uint8_t*)_ubx_payload+27))
#define UBX_NAV_SVIN_meanACC(_ubx_payload) (uint32_t)(*((uint8_t*)_ubx_payload+28)|*((uint8_t*)_ubx_payload+1+28)<<8|((uint32_t)*((uint8_t*)_ubx_payload+2+28))<<16|((uint32_t)*((uint8_t*)_ubx_payload+3+28))<<24)
#define UBX_NAV_SVIN_OBS(_ubx_payload) (uint32_t)(*((uint8_t*)_ubx_payload+32)|*((uint8_t*)_ubx_payload+1+32)<<8|((uint32_t)*((uint8_t*)_ubx_payload+2+32))<<16|((uint32_t)*((uint8_t*)_ubx_payload+3+32))<<24)
#define UBX_NAV_SVIN_Valid(_ubx_payload) (uint8_t)(*((uint8_t*)_ubx_payload+36))
#define UBX_NAV_SVIN_Active(_ubx_payload) (uint8_t)(*((uint8_t*)_ubx_payload+37))
#define UBX_NAV_SVIN_RES4(_ubx_payload) (uint16_t)(*((uint8_t*)_ubx_payload+38)|*((uint8_t*)_ubx_payload+1+38)<<8)


#include <errno.h>
#include "common.h"
//#include "ubx_protocol.h"

#define RTCM_OK              0

#define RTCM_OK_CALLBACK_EXECUTED 1

#define RTCM_OK_CALLBACK_UNDEFINED 2

#define RTCM_CALLBACK_ERROR -1

#define RTCM_CRC_ERROR      -2

#define RTCM_SEND_ERROR     -3

#define RTCM_NULL_ERROR     -4

typedef void (*rtcm3_msg_callback_t)(u8 len, u8 msg[]);

typedef struct rtcm3_msg_callbacks_node {
  u16 msg_type;                        
  rtcm3_msg_callback_t cb;               
  //void *context;                       /**< Pointer to a context */
  struct rtcm3_msg_callbacks_node *next; 
} rtcm3_msg_callbacks_node_t;

/* structure for processing RTCM and UBX messages */
typedef struct {
  // For RTCM processing
  u8 state;
  u16 msg_type;
  u8 msg_class;
  u16 crc;
  u16 msg_len;
  u8 n_read;
  u8 msg_buff[1024 + 6 + 1];
  rtcm3_msg_callbacks_node_t *rtcm3_msg_callbacks_head;
  u8 status;
  u8 ck_a, ck_b;
  u8 error_cnt;
  u8 error_last;
} msg_state_t;


/* Function prototypes */

s8                          rtcm3_register_callback(msg_state_t *s, u16 msg_type, rtcm3_msg_callback_t cb,
    rtcm3_msg_callbacks_node_t *node);
void                        rtcm3_clear_callbacks(msg_state_t *s);
rtcm3_msg_callbacks_node_t *rtcm3_find_callback(msg_state_t *s, u16 msg_type);
void                        msg_state_init(msg_state_t *s);

s8                          rtcm3_process(msg_state_t *s, unsigned char buff);
s8              ubx_process(msg_state_t *s, unsigned char buff);
unsigned int                RTCMgetbitu(unsigned char *, int, int);
int                         RTCMgetbits(unsigned char *, int , int);
static double               RTCMgetbits_38(unsigned char *, int);


/* Global variables used for RTCM processing */
int rd_msg_len      = 0;
int rd_msg_len1     = 0;
int byteIndex       = 0;
int checksumCounter = 0;
int rawIndex        = 0;

s8 rtcm3_register_callback(msg_state_t *s, u16 msg_type, rtcm3_msg_callback_t cb,
                           rtcm3_msg_callbacks_node_t *node)
{
  /* Check our callback function pointer isn't NULL. */
  if (cb == 0) {
    return RTCM_NULL_ERROR;
  }

  /* Check our callback node pointer isn't NULL. */
  if (node == 0) {
    return RTCM_NULL_ERROR;
  }

  /* Check if callback was already registered for this type. */
  if (rtcm3_find_callback(s, msg_type) != 0) {
    return RTCM_CALLBACK_ERROR;
  }

  /* Fill in our new rtcm3_msg_callback_node_t. */
  node->msg_type = msg_type;
  node->cb = cb;
  //node->context = context;
  /* The next pointer is set to NULL, i.e. this
   * will be the new end of the linked list.
   */
  node->next = 0;

  /* If our linked list is empty then just
   * add the new node to the start.
   */
  if (s->rtcm3_msg_callbacks_head == 0) {
    s->rtcm3_msg_callbacks_head = node;
    return RTCM_OK;
  }

  /* Find the tail of our linked list and
   * add our new node to the end.
   */
  rtcm3_msg_callbacks_node_t *p = s->rtcm3_msg_callbacks_head;
  while (p->next) {
    p = p->next;
  }

  p->next = node;

  return RTCM_OK;
}

void rtcm3_clear_callbacks(msg_state_t *s)
{
  /* Reset the head of the callbacks list to NULL. */
  s->rtcm3_msg_callbacks_head = 0;
}

rtcm3_msg_callbacks_node_t *rtcm3_find_callback(msg_state_t *s, u16 msg_type)
{
  /* If our list is empty, return NULL. */
  if (!s->rtcm3_msg_callbacks_head) {
    return 0;
  }

  /* Traverse the linked list and return the callback
   * function pointer if we find a node with a matching
   * message id.
   */
  rtcm3_msg_callbacks_node_t *p = s->rtcm3_msg_callbacks_head;
  do
    if (p->msg_type == msg_type) {
      return p;
    }

  while ((p = p->next));

  /* Didn't find a matching callback, return NULL. */
  return 0;
}

void msg_state_init(msg_state_t *s)
{
  s->state = UNINIT;
  s->msg_class = NO_CLASS;

  /* Set the IO context pointer, passed to read and write functions, to NULL. */
  // s->io_context = 0;

  /* Clear the callbacks, if any, currently in s */
  rtcm3_clear_callbacks(s);
}




s8 rtcm3_process(msg_state_t *s, unsigned char buff)
{
  /*  FAKE MESSAGE
    buff[s->n_read] = s->n_read;
    s->n_read++;
    int fakeMsgLen = 200;
    if(s->n_read == fakeMsgLen)
    {
      s->n_read = 0;
      rtcm3_msg_callbacks_node_t* node = rtcm3_find_callback(s, RTCM3_MSG_1077);
      (*node->cb)(s->sender_id, fakeMsgLen, buff, node->context);
      return RTCM_OK_CALLBACK_EXECUTED;
    }else{
      return RTCM_OK;
    }
   */
  if (s->n_read == (1024 + 6) && s->state != UNINIT) {
    // We have exceeded the maximum message length (10bit) + 3 opening and 3 closing bytes. And we are not at UNINIT, this is not a proper message, reset!
    s->state = UNINIT;
    s->msg_class = NO_CLASS;
  }
  // Suppose we get more bytes than requested, lets still process them all
#ifdef DEBUG_PRINT_PACKAGE
  printf("0x%x ", buff);
#endif
  if (s->state != UNINIT && s->msg_class == RTCM_CLASS) { s->msg_buff[s->n_read] = buff; }
  switch (s->state) {
    case UNINIT:
      s->n_read = 0;
      if (((int) buff) == RTCM3_PREAMBLE) {
        s->msg_class = RTCM_CLASS;
        s->state = READ_RESERVED;
        rawIndex        = 0;
        checksumCounter = 0;
        byteIndex       = 0;
        s->msg_buff[s->n_read] = buff;
      }
      break;
    case READ_RESERVED:
      rd_msg_len1 = ((int) buff) & 0b00000011;
      s->state    = READ_LENGTH;
      break;
    case READ_LENGTH:
      rd_msg_len  = (rd_msg_len1 << 8) + ((int) buff) ;
      s->state    = READ_MESSAGE;
      break;
    case READ_MESSAGE:
      if (byteIndex == (rd_msg_len - 1)) { s->state = READ_CHECKSUM; }
      byteIndex++;
      break;
    case READ_CHECKSUM:
      checksumCounter++;
      if (checksumCounter == 3) {
#ifdef DEBUG_PRINT_PACKAGE
        printf("\n\n");
#endif
        s->state = UNINIT;
        // Check what message type it is
        switch (RTCMgetbitu(s->msg_buff, 24 + 0, 12)) {
          case 1005: s->msg_type = RTCM3_MSG_1005; break;
          case 1077: s->msg_type = RTCM3_MSG_1077; break;
          case 1087: s->msg_type = RTCM3_MSG_1087; break;
          default  : printf("Unknown message type\n"); return RTCM_OK_CALLBACK_UNDEFINED;
        }
        s->n_read++;
        s->msg_len   = s->n_read;
        s->msg_class = NO_CLASS;
#ifdef NO_CALLBACK
        return RTCM_OK_CALLBACK_EXECUTED;
#else
        /* Message complete, process its callback. */
        rtcm3_msg_callbacks_node_t *node = rtcm3_find_callback(s, s->msg_type);
        if (node) {
          (*node->cb)(s->msg_len, s->msg_buff);
          return RTCM_OK_CALLBACK_EXECUTED;
        } else {
          return RTCM_OK_CALLBACK_UNDEFINED;
        }
#endif
      }
      break;
  }
  s->n_read++;
  return RTCM_OK;
}


// UBX message decoding

s8 ubx_process(msg_state_t *s, unsigned char buff)
{
  if (s->state < GOT_PAYLOAD && s->msg_class == UBX_CLASS) {
    s->ck_a += buff;
    s->ck_b += s->ck_a;
  }
  switch (s->state) {
    case UNINIT:
      if (buff == UBX_PREAMBLE1) {
        s->state++;
        s->msg_class = UBX_CLASS;
      } else {
        s->n_read = 0;
      }
      break;
    case GOT_SYNC1:
      if (buff != UBX_PREAMBLE2 && s->msg_class == UBX_CLASS) {
        s->error_last = GPS_UBX_ERR_OUT_OF_SYNC;
        goto error;
      }
      s->ck_a = 0;
      s->ck_b = 0;
      s->state ++;
      break;
    case GOT_SYNC2:
      //s->msg_class = buff;
      s->state++;
      break;
    case GOT_CLASS:
      s->msg_type = buff;
      s->state++;
      break;
    case GOT_ID:
      s->msg_len = buff;
      s->state++;
      break;
    case GOT_LEN1:
      s->msg_len |= (buff << 8);
      if (s->msg_len > GPS_UBX_MAX_PAYLOAD) {
        s->error_last = GPS_UBX_ERR_MSG_TOO_LONG;
        goto error;
      }
      s->n_read = 0;
      s->state++;
      break;
    case GOT_LEN2:
      s->msg_buff[s->n_read] = buff;
      s->n_read++;
      if (s->n_read >= s->msg_len) {
        s->state++;
      }
      break;
    case GOT_PAYLOAD:
      if (buff != s->ck_a) {
        s->error_last = GPS_UBX_ERR_CHECKSUM;
        goto error;
      }
      s->state++;
      break;
    case GOT_CHECKSUM1:
      if (buff != s->ck_b) {
        s->error_last = GPS_UBX_ERR_CHECKSUM;
        goto error;
      }
      s->msg_class = NO_CLASS;
      s->n_read = 0;
      s->state = UNINIT;
#ifdef NO_CALLBACK
      return RTCM_OK_CALLBACK_EXECUTED;
#else
      /* Message complete, process its callback. */
      rtcm3_msg_callbacks_node_t *node = rtcm3_find_callback(s, s->msg_type);
      if (node) {
        (*node->cb)(s->msg_len, s->msg_buff);
        return RTCM_OK_CALLBACK_EXECUTED;
      } else {
        return RTCM_OK_CALLBACK_UNDEFINED;
      }
#endif
      break;
    default:
      s->error_last = GPS_UBX_ERR_UNEXPECTED;
      goto error;
  }
  return RTCM_OK;
error:
  s->error_cnt++;
  s->state = UNINIT;
  s->msg_class = NO_CLASS;
  return s->error_last;
}

unsigned int RTCMgetbitu(unsigned char *buff, int pos, int lenb)
{
  unsigned int bits = 0;
  int i;
  for (i = pos; i < pos + lenb; i++) { bits = (bits << 1) + ((buff[i / 8] >> (7 - i % 8)) & 1u); }
  return bits;
}

int RTCMgetbits(unsigned char *buff, int pos, int lenb)
{
  unsigned int bits = RTCMgetbitu(buff, pos, lenb);
  if (lenb <= 0 || 32 <= lenb || !(bits & (1u << (lenb - 1)))) { return (int)bits; }
  return (int)(bits | (~0u << lenb)); /* extend sign */
}

static double RTCMgetbits_38(unsigned char *buff, int pos)
{
  return (double)RTCMgetbits(buff, pos, 32) * 64.0 + RTCMgetbitu(buff, pos + 32, 6);
}

#endif /* LIBRTCM3_RTCM3_H */