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

Include dependency graph for rtcm3.h:

Data Structures
struct	rtcm3_msg_callbacks_node
	RTCM3 callback node. More...

struct	msg_state_t

Macros
#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

#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

#define	UBX_PREAMBLE2 0x62

#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)

#define	RTCM_OK 0
	Return value indicating success. More...

#define	RTCM_OK_CALLBACK_EXECUTED 1
	Return value indicating message decoded and callback executed by rtcm3_process. More...

#define	RTCM_OK_CALLBACK_UNDEFINED 2
	Return value indicating message decoded with no associated callback in rtcm3_process. More...

#define	RTCM_CALLBACK_ERROR -1
	Return value indicating an error with the callback (function defined). More...

#define	RTCM_CRC_ERROR -2
	Return value indicating a CRC error. More...

#define	RTCM_SEND_ERROR -3
	Return value indicating an error occured whilst sending an RTCM3 message. More...

#define	RTCM_NULL_ERROR -4
	Return value indicating an error occured because an argument was NULL. More...

Typedefs
typedef void(*	rtcm3_msg_callback_t )(u8 len, u8 msg[])
	RTCM3 callback function prototype definition. More...

typedef struct rtcm3_msg_callbacks_node	rtcm3_msg_callbacks_node_t
	RTCM3 callback node. More...

Functions
s8	rtcm3_register_callback (msg_state_t s, u16 msg_type, rtcm3_msg_callback_t cb, rtcm3_msg_callbacks_node_t node)
	Register a callback for a message type. More...

void	rtcm3_clear_callbacks (msg_state_t *s)
	Clear all registered callbacks. More...

rtcm3_msg_callbacks_node_t *	rtcm3_find_callback (msg_state_t *s, u16 msg_type)
	Find the callback function associated with a message type. More...

void	msg_state_init (msg_state_t *s)
	Initialize an msg_state_t struct before use. More...

s8	rtcm3_process (msg_state_t *s, unsigned char buff)
	Read and process RTCM3 messages. More...

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)

Variables
int	rd_msg_len = 0

int	rd_msg_len1 = 0

int	byteIndex = 0

int	checksumCounter = 0

int	rawIndex = 0

Data Structure Documentation

struct rtcm3_msg_callbacks_node

RTCM3 callback node.

Forms a linked list of callbacks.

Note: Must be statically allocated for use with rtcm3_register_callback().

Definition at line 99 of file rtcm3.h.

Collaboration diagram for rtcm3_msg_callbacks_node:

Data Fields
rtcm3_msg_callback_t	cb	Pointer to callback function.
u16	msg_type	Message ID associated with callback.
struct rtcm3_msg_callbacks_node *	next	Pointer to next node in list.

struct msg_state_t

Definition at line 107 of file rtcm3.h.

Collaboration diagram for msg_state_t:

Data Fields
u8	ck_a
u8	ck_b
u16	crc
u8	error_cnt
u8	error_last
u8	msg_buff[1024+6+1]
u8	msg_class
u16	msg_len
u16	msg_type
u8	n_read
rtcm3_msg_callbacks_node_t *	rtcm3_msg_callbacks_head
u8	state
u8	status

Macro Definition Documentation

#define GOT_CHECKSUM1 8

Definition at line 34 of file rtcm3.h.

Referenced by ubx_process().

#define GOT_CLASS 3

Definition at line 29 of file rtcm3.h.

Referenced by ubx_process().

#define GOT_ID 4

Definition at line 30 of file rtcm3.h.

Referenced by ubx_process().

#define GOT_LEN1 5

Definition at line 31 of file rtcm3.h.

Referenced by ubx_process().

#define GOT_LEN2 6

Definition at line 32 of file rtcm3.h.

Referenced by ubx_process().

#define GOT_PAYLOAD 7

Definition at line 33 of file rtcm3.h.

Referenced by ubx_process().

#define GOT_SYNC1 1

Definition at line 27 of file rtcm3.h.

Referenced by ubx_process().

#define GOT_SYNC2 2

Definition at line 28 of file rtcm3.h.

Referenced by ubx_process().

#define GPS_UBX_ERR_CHECKSUM 3

Definition at line 44 of file rtcm3.h.

Referenced by ubx_process().

#define GPS_UBX_ERR_MSG_TOO_LONG 2

Definition at line 43 of file rtcm3.h.

Referenced by ubx_process().

#define GPS_UBX_ERR_NONE 0

Definition at line 41 of file rtcm3.h.

#define GPS_UBX_ERR_OUT_OF_SYNC 5

Definition at line 46 of file rtcm3.h.

Referenced by ubx_process().

#define GPS_UBX_ERR_OVERRUN 1

Definition at line 42 of file rtcm3.h.

#define GPS_UBX_ERR_UNEXPECTED 4

Definition at line 45 of file rtcm3.h.

Referenced by ubx_process().

#define GPS_UBX_MAX_PAYLOAD 255

Definition at line 39 of file rtcm3.h.

Referenced by ubx_process().

#define NO_CLASS 0

Definition at line 48 of file rtcm3.h.

Referenced by msg_state_init(), rtcm3_process(), and ubx_process().

#define READ_CHECKSUM 4

Definition at line 17 of file rtcm3.h.

Referenced by rtcm3_process().

#define READ_LENGTH 2

Definition at line 15 of file rtcm3.h.

Referenced by rtcm3_process().

#define READ_MESSAGE 3

Definition at line 16 of file rtcm3.h.

Referenced by rtcm3_process().

#define READ_RESERVED 1

Definition at line 14 of file rtcm3.h.

Referenced by rtcm3_process().

#define RTCM3_MSG_1005 0x69

Definition at line 20 of file rtcm3.h.

Referenced by rtcm3_process().

#define RTCM3_MSG_1077 0xB1

Definition at line 21 of file rtcm3.h.

Referenced by rtcm3_process().

#define RTCM3_MSG_1087 0xBB

Definition at line 22 of file rtcm3.h.

Referenced by rtcm3_process().

#define RTCM3_PREAMBLE 0xD3

Definition at line 19 of file rtcm3.h.

Referenced by rtcm3_process().

#define RTCM_CALLBACK_ERROR -1

Return value indicating an error with the callback (function defined).

Definition at line 83 of file rtcm3.h.

Referenced by rtcm3_register_callback().

#define RTCM_CLASS 1

Definition at line 49 of file rtcm3.h.

Referenced by rtcm3_process().

#define RTCM_CRC_ERROR -2

Return value indicating a CRC error.

Definition at line 85 of file rtcm3.h.

#define RTCM_NULL_ERROR -4

Return value indicating an error occured because an argument was NULL.

Definition at line 89 of file rtcm3.h.

Referenced by rtcm3_register_callback().

#define RTCM_OK 0

Return value indicating success.

Definition at line 77 of file rtcm3.h.

Referenced by rtcm3_process(), rtcm3_register_callback(), and ubx_process().

#define RTCM_OK_CALLBACK_EXECUTED 1

Return value indicating message decoded and callback executed by rtcm3_process.

Definition at line 79 of file rtcm3.h.

Referenced by rtcm3_process(), and ubx_process().

#define RTCM_OK_CALLBACK_UNDEFINED 2

Return value indicating message decoded with no associated callback in rtcm3_process.

Definition at line 81 of file rtcm3.h.

Referenced by rtcm3_process(), and ubx_process().

#define RTCM_SEND_ERROR -3

Return value indicating an error occured whilst sending an RTCM3 message.

Definition at line 87 of file rtcm3.h.

#define UBX_CLASS 2

Definition at line 50 of file rtcm3.h.

Referenced by ubx_process().

#define UBX_NAV_SVIN 0x3B

Definition at line 38 of file rtcm3.h.

#define UBX_NAV_SVIN_Active ( _ubx_payload ) (uint8_t)(*((uint8_t*)_ubx_payload+37))

Definition at line 68 of file rtcm3.h.

#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)

Definition at line 57 of file rtcm3.h.

#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)

Definition at line 56 of file rtcm3.h.

#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)

Definition at line 65 of file rtcm3.h.

#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)

Definition at line 58 of file rtcm3.h.

#define UBX_NAV_SVIN_meanXHP ( _ubx_payload ) (int8_t)(*((uint8_t*)_ubx_payload+24))

Definition at line 61 of file rtcm3.h.

#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)

Definition at line 59 of file rtcm3.h.

#define UBX_NAV_SVIN_meanYHP ( _ubx_payload ) (int8_t)(*((uint8_t*)_ubx_payload+25))

Definition at line 62 of file rtcm3.h.

#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)

Definition at line 60 of file rtcm3.h.

#define UBX_NAV_SVIN_meanZHP ( _ubx_payload ) (int8_t)(*((uint8_t*)_ubx_payload+26))

Definition at line 63 of file rtcm3.h.

#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)

Definition at line 66 of file rtcm3.h.

#define UBX_NAV_SVIN_RES1 ( _ubx_payload ) (uint8_t)(*((uint8_t*)_ubx_payload+1))

Definition at line 54 of file rtcm3.h.

#define UBX_NAV_SVIN_RES2 ( _ubx_payload ) (uint16_t)(*((uint8_t*)_ubx_payload+2)|*((uint8_t*)_ubx_payload+1+2)<<8)

Definition at line 55 of file rtcm3.h.

#define UBX_NAV_SVIN_RES3 ( _ubx_payload ) (uint8_t)(*((uint8_t*)_ubx_payload+27))

Definition at line 64 of file rtcm3.h.

#define UBX_NAV_SVIN_RES4 ( _ubx_payload ) (uint16_t)(*((uint8_t*)_ubx_payload+38)|*((uint8_t*)_ubx_payload+1+38)<<8)

Definition at line 69 of file rtcm3.h.

#define UBX_NAV_SVIN_Valid ( _ubx_payload ) (uint8_t)(*((uint8_t*)_ubx_payload+36))

Definition at line 67 of file rtcm3.h.

#define UBX_NAV_SVIN_VERSION ( _ubx_payload ) (uint8_t)(*((uint8_t*)_ubx_payload+0))

Definition at line 53 of file rtcm3.h.

#define UBX_PREAMBLE1 0xB5

Definition at line 36 of file rtcm3.h.

Referenced by ubx_process().

#define UBX_PREAMBLE2 0x62

Definition at line 37 of file rtcm3.h.

Referenced by ubx_process().

#define UNINIT 0

Definition at line 26 of file rtcm3.h.

Referenced by msg_state_init(), rtcm3_process(), and ubx_process().

Typedef Documentation

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

RTCM3 callback function prototype definition.

Definition at line 93 of file rtcm3.h.

typedef struct rtcm3_msg_callbacks_node rtcm3_msg_callbacks_node_t

RTCM3 callback node.

Forms a linked list of callbacks.

Note: Must be statically allocated for use with rtcm3_register_callback().

Function Documentation

void msg_state_init ( msg_state_t * s )

Initialize an msg_state_t struct before use.

This resets the entire state, including all callbacks. Remember to use this function to initialize the state before calling rtcm3_process() for the first time.

Parameters

s	State structure

Definition at line 252 of file rtcm3.h.

References msg_state_t::msg_class, NO_CLASS, rtcm3_clear_callbacks(), msg_state_t::state, and UNINIT.

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void rtcm3_clear_callbacks ( msg_state_t * s )

Clear all registered callbacks.

This is probably only useful for testing but who knows!

Definition at line 208 of file rtcm3.h.

References msg_state_t::rtcm3_msg_callbacks_head.

Referenced by msg_state_init().

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rtcm3_msg_callbacks_node_t * rtcm3_find_callback	(	msg_state_t *	s,
		u16	msg_type
	)

Find the callback function associated with a message type.

Searches through the list of registered callbacks to find the callback associated with the passed message type.

Parameters

msg_type Message type to find callback for

Returns: Pointer to callback node (rtcm3_msg_callbacks_node_t) or NULL if callback not found for that message type.

Definition at line 222 of file rtcm3.h.

References rtcm3_msg_callbacks_node::msg_type, rtcm3_msg_callbacks_node::next, p, and msg_state_t::rtcm3_msg_callbacks_head.

Referenced by rtcm3_process(), rtcm3_register_callback(), and ubx_process().

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s8 rtcm3_process	(	msg_state_t *	s,
		unsigned char	buff
	)

Read and process RTCM3 messages.

Reads bytes from an input source using the provided read function, decodes the RTCM3.

When an RTCM3 message is successfully received then the list of callbacks is searched for a callback corresponding to the received message type. If a callback is found then it is called with the ID of the sender, the message length and the message payload data buffer as arguments.

Note: rtcm3_process will always call read with n > 0 (aka it will attempt to always read something)

The supplied read function must have the prototype:

1 u32 read(u8 *buff, u32 n, void* context)

where n is the number of bytes requested and buff is the buffer into which to write the received data, and context is the arbitrary pointer set by rtcm3_state_set_io_context. The function should return the number of bytes successfully written into buff which may be between 0 and n inclusive, but must never be greater than n.

Note that rtcm3_process may not read all available bytes from the read function so the caller should loop until all bytes available from the input source have been consumed.

Parameters

s	State structure
read	Function pointer to a function that reads `n` bytes from the input source into `buff` and returns the number of bytes successfully read.

Returns: RTCM_OK (0) if successful but no complete message yet, RTCM_OK_CALLBACK_EXECUTED (1) if message decoded and callback executed, RTCM_OK_CALLBACK_UNDEFINED (2) if message decoded with no associated callback, and RTCM_CRC_ERROR (-2) if a CRC error has occurred. Thus can check for >0 to ensure good processing.

Definition at line 306 of file rtcm3.h.

References buff, byteIndex, rtcm3_msg_callbacks_node::cb, checksumCounter, msg_state_t::msg_buff, msg_state_t::msg_class, msg_state_t::msg_len, msg_state_t::msg_type, msg_state_t::n_read, NO_CLASS, rawIndex, rd_msg_len, rd_msg_len1, READ_CHECKSUM, READ_LENGTH, READ_MESSAGE, READ_RESERVED, rtcm3_find_callback(), RTCM3_MSG_1005, RTCM3_MSG_1077, RTCM3_MSG_1087, RTCM3_PREAMBLE, RTCM_CLASS, RTCM_OK, RTCM_OK_CALLBACK_EXECUTED, RTCM_OK_CALLBACK_UNDEFINED, RTCMgetbitu(), msg_state_t::state, and UNINIT.

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s8 rtcm3_register_callback	(	msg_state_t *	s,
		u16	msg_type,
		rtcm3_msg_callback_t	cb,
		rtcm3_msg_callbacks_node_t *	node
	)

Register a callback for a message type.

Register a callback that is called when a message with type msg_type is received.

Parameters

msg_type	Message type associated with callback
cb	Pointer to message callback function
context	Pointer to context for callback function
node	Statically allocated rtcm3_msg_callbacks_node_t struct