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driver_nmea2000.c
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driver_nmea2000.c
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/*
* NMEA2000 over CAN.
*
* This file is Copyright (c) 2012 by the GPSD project
* BSD terms apply: see the file COPYING in the distribution root for details.
*/
#include <stdio.h>
#include <stdlib.h>
#include <stdbool.h>
#include <string.h>
#include <stdarg.h>
#include <ctype.h>
#include <time.h>
#include <math.h>
#include <fcntl.h>
#ifndef S_SPLINT_S
#include <unistd.h>
#include <sys/socket.h>
#include <net/if.h>
#include <sys/ioctl.h>
#endif /* S_SPLINT_S */
#include "gpsd.h"
#if defined(NMEA2000_ENABLE)
#include "driver_nmea2000.h"
#include "bits.h"
#ifndef S_SPLINT_S
#include <linux/can.h>
#include <linux/can/raw.h>
#endif /* S_SPLINT_S */
#define LOG_FILE 1
#define NMEA2000_NETS 4
#define NMEA2000_UNITS 256
#define CAN_NAMELEN 32
#define MIN(a,b) ((a < b) ? a : b)
#define NMEA2000_DEBUG_AIS 0
#define NMEA2000_FAST_DEBUG 0
static struct gps_device_t *nmea2000_units[NMEA2000_NETS][NMEA2000_UNITS];
static char can_interface_name[NMEA2000_NETS][CAN_NAMELEN];
typedef struct PGN
{
unsigned int pgn;
unsigned int fast;
unsigned int type;
gps_mask_t (* func)(unsigned char *bu, int len, struct PGN *pgn, struct gps_device_t *session);
const char *name;
} PGN;
/*@-nullassign@*/
#if LOG_FILE
FILE *logFile = NULL;
#endif /* of if LOG_FILE */
extern bool __attribute__ ((weak)) gpsd_add_device(const char *device_name, bool flag_nowait);
static void print_data(struct gps_context_t *context,
unsigned char *buffer, int len, PGN *pgn)
{
#ifdef LIBGPS_DEBUG
/*@-bufferoverflowhigh@*/
if ((libgps_debuglevel >= LOG_IO) != 0) {
int l1, l2, ptr;
char bu[128];
ptr = 0;
l2 = sprintf(&bu[ptr], "got data:%6u:%3d: ", pgn->pgn, len);
ptr += l2;
for (l1=0;l1<len;l1++) {
if (((l1 % 20) == 0) && (l1 != 0)) {
gpsd_report(&context->errout, LOG_IO,"%s\n", bu);
ptr = 0;
l2 = sprintf(&bu[ptr], " : ");
ptr += l2;
}
l2 = sprintf(&bu[ptr], "%02ux ", (unsigned int)buffer[l1]);
ptr += l2;
}
gpsd_report(&context->errout, LOG_IO,"%s\n", bu);
}
/*@+bufferoverflowhigh@*/
#endif
}
static gps_mask_t get_mode(struct gps_device_t *session)
{
if (session->driver.nmea2000.mode_valid & 1) {
session->newdata.mode = session->driver.nmea2000.mode;
} else {
session->newdata.mode = MODE_NOT_SEEN;
}
if (session->driver.nmea2000.mode_valid & 2) {
return MODE_SET | USED_IS;
} else {
return MODE_SET;
}
}
static int decode_ais_header(struct gps_context_t *context,
unsigned char *bu, int len, struct ais_t *ais, unsigned int mask)
{
if (len > 4) {
ais->type = (unsigned int) ( bu[0] & 0x3f);
ais->repeat = (unsigned int) ((bu[0] >> 6) & 0x03);
ais->mmsi = (unsigned int) getleu32(bu, 1);
ais->mmsi &= mask;
gpsd_report(&context->errout, LOG_INF,
"NMEA2000 AIS message type %u, MMSI %09d:\n",
ais->type, ais->mmsi);
printf("NMEA2000 AIS message type %2u, MMSI %09u:\n",
ais->type, ais->mmsi);
return(1);
} else {
ais->type = 0;
ais->repeat = 0;
ais->mmsi = 0;
gpsd_report(&context->errout, LOG_ERROR,
"NMEA2000 AIS message type %u, too short message.\n",
ais->type);
printf("NMEA2000 AIS message type %u, too short message.\n",
ais->type);
}
return(0);
}
static void decode_ais_channel_info(unsigned char *bu,
int len,
unsigned int offset,
struct gps_device_t *session)
{
unsigned int pos, bpos;
uint16_t x;
pos = offset / 8;
bpos = offset % 8;
if (pos >= (unsigned int)len) {
session->driver.aivdm.ais_channel = 'A';
return;
}
x = getleu16(bu, pos);
x = (uint16_t)((x >> bpos) & 0x1f);
switch (x) {
case 1:
case 3:
session->driver.aivdm.ais_channel = 'B';
break;
default:
session->driver.aivdm.ais_channel = 'A';
break;
}
return;
}
static int ais_turn_rate(int rate)
{
if (rate < 0) {
return(-ais_turn_rate(-rate));
}
return((int)(4.733 * sqrt(rate * RAD_2_DEG * .0001 * 60.0)));
}
static double ais_direction(unsigned int val, double scale)
{
if ((val == 0xffff) && (scale == 1.0)) {
return(511.0);
}
return(val * RAD_2_DEG * 0.0001 * scale);
}
/*
* PGN 59392: ISO Acknowledgment
*/
static gps_mask_t hnd_059392(unsigned char *bu, int len, PGN *pgn, struct gps_device_t *session)
{
print_data(session->context, bu, len, pgn);
gpsd_report(&session->context->errout, LOG_DATA,
"pgn %6d(%3d):\n", pgn->pgn, session->driver.nmea2000.unit);
return(0);
}
/*
* PGN 60928: ISO Address Claim
*/
static gps_mask_t hnd_060928(unsigned char *bu, int len, PGN *pgn, struct gps_device_t *session)
{
print_data(session->context, bu, len, pgn);
gpsd_report(&session->context->errout, LOG_DATA,
"pgn %6d(%3d):\n", pgn->pgn, session->driver.nmea2000.unit);
return(0);
}
/*
* PGN 126208: NMEA Command/Request/Acknowledge
*/
static gps_mask_t hnd_126208(unsigned char *bu, int len, PGN *pgn, struct gps_device_t *session)
{
print_data(session->context, bu, len, pgn);
gpsd_report(&session->context->errout, LOG_DATA,
"pgn %6d(%3d):\n", pgn->pgn, session->driver.nmea2000.unit);
return(0);
}
/*
* PGN 126464: ISO Transmit/Receive PGN List
*/
static gps_mask_t hnd_126464(unsigned char *bu, int len, PGN *pgn, struct gps_device_t *session)
{
print_data(session->context, bu, len, pgn);
gpsd_report(&session->context->errout, LOG_DATA,
"pgn %6d(%3d):\n", pgn->pgn, session->driver.nmea2000.unit);
return(0);
}
/*
* PGN 126996: ISO Product Information
*/
static gps_mask_t hnd_126996(unsigned char *bu, int len, PGN *pgn, struct gps_device_t *session)
{
print_data(session->context, bu, len, pgn);
gpsd_report(&session->context->errout, LOG_DATA,
"pgn %6d(%3d):\n", pgn->pgn, session->driver.nmea2000.unit);
return(0);
}
/*
* PGN 127258: GNSS Magnetic Variation
*/
static gps_mask_t hnd_127258(unsigned char *bu, int len, PGN *pgn, struct gps_device_t *session)
{
print_data(session->context, bu, len, pgn);
gpsd_report(&session->context->errout, LOG_DATA,
"pgn %6d(%3d):\n", pgn->pgn, session->driver.nmea2000.unit);
return(0);
}
/*
* PGN 129025: GNSS Position Rapid Update
*/
static gps_mask_t hnd_129025(unsigned char *bu, int len, PGN *pgn, struct gps_device_t *session)
{
print_data(session->context, bu, len, pgn);
gpsd_report(&session->context->errout, LOG_DATA,
"pgn %6d(%3d):\n", pgn->pgn, session->driver.nmea2000.unit);
/*@-type@*//* splint has a bug here */
session->newdata.latitude = getles32(bu, 0) * 1e-7;
session->newdata.longitude = getles32(bu, 4) * 1e-7;
/*@+type@*/
return LATLON_SET | get_mode(session);
}
/*
* PGN 129026: GNSS COG and SOG Rapid Update
*/
static gps_mask_t hnd_129026(unsigned char *bu, int len, PGN *pgn, struct gps_device_t *session)
{
print_data(session->context, bu, len, pgn);
gpsd_report(&session->context->errout, LOG_DATA,
"pgn %6d(%3d):\n", pgn->pgn, session->driver.nmea2000.unit);
session->driver.nmea2000.sid[0] = bu[0];
/*@-type@*//* splint has a bug here */
session->newdata.track = getleu16(bu, 2) * 1e-4 * RAD_2_DEG;
session->newdata.speed = getleu16(bu, 4) * 1e-2;
/*@+type@*/
return SPEED_SET | TRACK_SET | get_mode(session);
}
/*
* PGN 126992: GNSS System Time
*/
static gps_mask_t hnd_126992(unsigned char *bu, int len, PGN *pgn, struct gps_device_t *session)
{
//uint8_t sid;
//uint8_t source;
print_data(session->context, bu, len, pgn);
gpsd_report(&session->context->errout, LOG_DATA,
"pgn %6d(%3d):\n", pgn->pgn, session->driver.nmea2000.unit);
//sid = bu[0];
//source = bu[1] & 0x0f;
/*@-type@*//* splint has a bug here */
session->newdata.time = getleu16(bu, 2)*24*60*60 + getleu32(bu, 4)/1e4;
/*@+type@*/
return TIME_SET | get_mode(session);
}
static const int mode_tab[] = {MODE_NO_FIX, MODE_2D, MODE_3D, MODE_NO_FIX,
MODE_NO_FIX, MODE_NO_FIX, MODE_NO_FIX, MODE_NO_FIX};
/*
* PGN 129539: GNSS DOPs
*/
static gps_mask_t hnd_129539(unsigned char *bu, int len, PGN *pgn, struct gps_device_t *session)
{
gps_mask_t mask;
unsigned int req_mode;
unsigned int act_mode;
print_data(session->context, bu, len, pgn);
gpsd_report(&session->context->errout, LOG_DATA,
"pgn %6d(%3d):\n", pgn->pgn, session->driver.nmea2000.unit);
mask = 0;
session->driver.nmea2000.sid[1] = bu[0];
session->driver.nmea2000.mode_valid |= 1;
req_mode = (unsigned int)((bu[1] >> 0) & 0x07);
act_mode = (unsigned int)((bu[1] >> 3) & 0x07);
/* This is a workaround for some GARMIN plotter, actual mode auto makes no sense for me! */
if ((act_mode == 3) && (req_mode != 3)) {
act_mode = req_mode;
}
session->driver.nmea2000.mode = mode_tab[act_mode];
/*@-type@*//* splint has a bug here */
session->gpsdata.dop.hdop = getleu16(bu, 2) * 1e-2;
session->gpsdata.dop.vdop = getleu16(bu, 4) * 1e-2;
session->gpsdata.dop.tdop = getleu16(bu, 6) * 1e-2;
/*@+type@*/
mask |= DOP_SET;
gpsd_report(&session->context->errout, LOG_DATA,
"pgn %6d(%3d): sid:%02x hdop:%5.2f vdop:%5.2f tdop:%5.2f\n",
pgn->pgn,
session->driver.nmea2000.unit,
session->driver.nmea2000.sid[1],
session->gpsdata.dop.hdop,
session->gpsdata.dop.vdop,
session->gpsdata.dop.tdop);
return mask | get_mode(session);
}
/*
* PGN 129540: GNSS Satellites in View
*/
static gps_mask_t hnd_129540(unsigned char *bu, int len, PGN *pgn, struct gps_device_t *session)
{
int l1, l2;
print_data(session->context, bu, len, pgn);
gpsd_report(&session->context->errout, LOG_DATA,
"pgn %6d(%3d):\n", pgn->pgn, session->driver.nmea2000.unit);
session->driver.nmea2000.sid[2] = bu[0];
session->gpsdata.satellites_visible = (int)bu[2];
memset(session->gpsdata.skyview, '\0', sizeof(session->gpsdata.skyview));
l2 = 0;
for (l1=0;l1<session->gpsdata.satellites_visible;l1++) {
int svt;
double azi, elev, snr;
/*@-type@*//* splint has a bug here */
elev = getles16(bu, 3+12*l1+1) * 1e-4 * RAD_2_DEG;
azi = getleu16(bu, 3+12*l1+3) * 1e-4 * RAD_2_DEG;
snr = getles16(bu, 3+12*l1+5) * 1e-2;
/*@+type@*/
svt = (int)(bu[3+12*l1+11] & 0x0f);
session->gpsdata.skyview[l1].elevation = (int) (round(elev));
session->gpsdata.skyview[l1].azimuth = (int) (round(azi));
session->gpsdata.skyview[l1].ss = snr;
session->gpsdata.skyview[l1].PRN = (int)bu[3+12*l1+0];
session->gpsdata.skyview[l1].used = false;
if ((svt == 2) || (svt == 5)) {
session->gpsdata.skyview[l1].used = true;
l2 += 1;
}
}
session->driver.nmea2000.mode_valid |= 2;
return SATELLITE_SET | USED_IS;
}
/*
* PGN 129029: GNSS Positition Data
*/
static gps_mask_t hnd_129029(unsigned char *bu, int len, PGN *pgn, struct gps_device_t *session)
{
gps_mask_t mask;
print_data(session->context, bu, len, pgn);
gpsd_report(&session->context->errout, LOG_DATA,
"pgn %6d(%3d):\n", pgn->pgn, session->driver.nmea2000.unit);
mask = 0;
session->driver.nmea2000.sid[3] = bu[0];
/*@-type@*//* splint has a bug here */
session->newdata.time = getleu16(bu,1) * 24*60*60 + getleu32(bu, 3)/1e4;
/*@+type@*/
mask |= TIME_SET;
/*@-type@*//* splint has a bug here */
session->newdata.latitude = getles64(bu, 7) * 1e-16;
session->newdata.longitude = getles64(bu, 15) * 1e-16;
/*@+type@*/
mask |= LATLON_SET;
/*@-type@*//* splint has a bug here */
session->newdata.altitude = getles64(bu, 23) * 1e-6;
/*@+type@*/
mask |= ALTITUDE_SET;
// printf("mode %x %x\n", (bu[31] >> 4) & 0x0f, bu[31]);
switch ((bu[31] >> 4) & 0x0f) {
case 0:
session->gpsdata.status = STATUS_NO_FIX;
break;
case 1:
session->gpsdata.status = STATUS_FIX;
break;
case 2:
session->gpsdata.status = STATUS_DGPS_FIX;
break;
case 3:
case 4:
case 5:
session->gpsdata.status = STATUS_FIX; /* Is this correct ? */
break;
default:
session->gpsdata.status = STATUS_NO_FIX;
break;
}
mask |= STATUS_SET;
/*@-type@*//* splint has a bug here */
session->gpsdata.separation = getles32(bu, 38) / 100.0;
/*@+type@*/
session->newdata.altitude -= session->gpsdata.separation;
session->gpsdata.satellites_used = (int)bu[33];
/*@-type@*//* splint has a bug here */
session->gpsdata.dop.hdop = getleu16(bu, 34) * 0.01;
session->gpsdata.dop.pdop = getleu16(bu, 36) * 0.01;
/*@+type@*/
mask |= DOP_SET;
return mask | get_mode(session);
}
/*
* PGN 129038: AIS Class A Position Report
*/
static gps_mask_t hnd_129038(unsigned char *bu, int len, PGN *pgn, struct gps_device_t *session)
{
struct ais_t *ais;
ais = &session->gpsdata.ais;
print_data(session->context, bu, len, pgn);
gpsd_report(&session->context->errout, LOG_DATA,
"pgn %6d(%3d):\n", pgn->pgn, session->driver.nmea2000.unit);
if (decode_ais_header(session->context, bu, len, ais, 0xffffffffU) != 0) {
ais->type1.lon = (int) (getles32(bu, 5) * 0.06);
ais->type1.lat = (int) (getles32(bu, 9) * 0.06);
ais->type1.accuracy = (bool) ((bu[13] >> 0) & 0x01);
ais->type1.raim = (bool) ((bu[13] >> 1) & 0x01);
ais->type1.second = (unsigned int) ((bu[13] >> 2) & 0x3f);
ais->type1.course = (unsigned int) ais_direction((unsigned int)getleu16(bu, 14), 10.0);
ais->type1.speed = (unsigned int) (getleu16(bu, 16) * MPS_TO_KNOTS * 0.01 / 0.1);
ais->type1.radio = (unsigned int) (getleu32(bu, 18) & 0x7ffff);
ais->type1.heading = (unsigned int) ais_direction((unsigned int)getleu16(bu, 21), 1.0);
ais->type1.turn = ais_turn_rate((int)getles16(bu, 23));
ais->type1.status = (unsigned int) ((bu[25] >> 0) & 0xff);
ais->type1.maneuver = 0; /* Not transmitted ???? */
decode_ais_channel_info(bu, len, 163, session);
return(ONLINE_SET | AIS_SET);
}
return(0);
}
/*
* PGN 129039: AIS Class B Position Report
*/
static gps_mask_t hnd_129039(unsigned char *bu, int len, PGN *pgn, struct gps_device_t *session)
{
struct ais_t *ais;
ais = &session->gpsdata.ais;
print_data(session->context, bu, len, pgn);
gpsd_report(&session->context->errout, LOG_DATA,
"pgn %6d(%3d):\n", pgn->pgn, session->driver.nmea2000.unit);
if (decode_ais_header(session->context, bu, len, ais, 0xffffffffU) != 0) {
ais->type18.lon = (int) (getles32(bu, 5) * 0.06);
ais->type18.lat = (int) (getles32(bu, 9) * 0.06);
ais->type18.accuracy = (bool) ((bu[13] >> 0) & 0x01);
ais->type18.raim = (bool) ((bu[13] >> 1) & 0x01);
ais->type18.second = (unsigned int) ((bu[13] >> 2) & 0x3f);
ais->type18.course = (unsigned int) ais_direction((unsigned int) getleu16(bu, 14), 10.0);
ais->type18.speed = (unsigned int) (getleu16(bu, 16) * MPS_TO_KNOTS * 0.01 / 0.1);
ais->type18.radio = (unsigned int) (getleu32(bu, 18) & 0x7ffff);
ais->type18.heading = (unsigned int) ais_direction((unsigned int) getleu16(bu, 21), 1.0);
ais->type18.reserved = 0;
ais->type18.regional = (unsigned int) ((bu[24] >> 0) & 0x03);
ais->type18.cs = (bool) ((bu[24] >> 2) & 0x01);
ais->type18.display = (bool) ((bu[24] >> 3) & 0x01);
ais->type18.dsc = (bool) ((bu[24] >> 4) & 0x01);
ais->type18.band = (bool) ((bu[24] >> 5) & 0x01);
ais->type18.msg22 = (bool) ((bu[24] >> 6) & 0x01);
ais->type18.assigned = (bool) ((bu[24] >> 7) & 0x01);
decode_ais_channel_info(bu, len, 163, session);
return(ONLINE_SET | AIS_SET);
}
return(0);
}
/*
* PGN 129040: AIS Class B Extended Position Report
*/
/* No test case for this message at the moment */
static gps_mask_t hnd_129040(unsigned char *bu, int len, PGN *pgn, struct gps_device_t *session)
{
struct ais_t *ais;
ais = &session->gpsdata.ais;
print_data(session->context, bu, len, pgn);
gpsd_report(&session->context->errout, LOG_DATA,
"pgn %6d(%3d):\n", pgn->pgn, session->driver.nmea2000.unit);
if (decode_ais_header(session->context, bu, len, ais, 0xffffffffU) != 0) {
uint16_t length, beam, to_bow, to_starboard;
int l;
ais->type19.lon = (int) (getles32(bu, 5) * 0.06);
ais->type19.lat = (int) (getles32(bu, 9) * 0.06);
ais->type19.accuracy = (bool) ((bu[13] >> 0) & 0x01);
ais->type19.raim = (bool) ((bu[13] >> 1) & 0x01);
ais->type19.second = (unsigned int) ((bu[13] >> 2) & 0x3f);
ais->type19.course = (unsigned int) ais_direction((unsigned int) getleu16(bu, 14), 10.0);
ais->type19.speed = (unsigned int) (getleu16(bu, 16) * MPS_TO_KNOTS * 0.01 / 0.1);
ais->type19.reserved = (unsigned int) ((bu[18] >> 0) & 0xff);
ais->type19.regional = (unsigned int) ((bu[19] >> 0) & 0x0f);
ais->type19.shiptype = (unsigned int) ((bu[20] >> 0) & 0xff);
ais->type19.heading = (unsigned int) ais_direction((unsigned int) getleu16(bu, 21), 1.0);
length = getleu16(bu, 24);
beam = getleu16(bu, 26);
to_starboard = getleu16(bu, 28);
to_bow = getleu16(bu, 30);
if ((length == 0xffff) || (to_bow == 0xffff)) {
length = 0;
to_bow = 0;
}
if ((beam == 0xffff) || (to_starboard == 0xffff)) {
beam = 0;
to_starboard = 0;
}
ais->type19.to_bow = (unsigned int) (to_bow/10);
ais->type19.to_stern = (unsigned int) ((length-to_bow)/10);
ais->type19.to_port = (unsigned int) ((beam-to_starboard)/10);
ais->type19.to_starboard = (unsigned int) (to_starboard/10);
ais->type19.epfd = (unsigned int) ((bu[23] >> 4) & 0x0f);
ais->type19.dte = (unsigned int) ((bu[52] >> 0) & 0x01);
ais->type19.assigned = (bool) ((bu[52] >> 1) & 0x01);
for (l=0;l<AIS_SHIPNAME_MAXLEN;l++) {
ais->type19.shipname[l] = (char) bu[32+l];
}
ais->type19.shipname[AIS_SHIPNAME_MAXLEN] = (char) 0;
decode_ais_channel_info(bu, len, 422, session);
return(ONLINE_SET | AIS_SET);
}
return(0);
}
/*
* PGN 129794: AIS Class A Static and Voyage Related Data
*/
static gps_mask_t hnd_129794(unsigned char *bu, int len, PGN *pgn, struct gps_device_t *session)
{
struct ais_t *ais;
ais = &session->gpsdata.ais;
print_data(session->context, bu, len, pgn);
gpsd_report(&session->context->errout, LOG_DATA,
"pgn %6d(%3d):\n", pgn->pgn, session->driver.nmea2000.unit);
if (decode_ais_header(session->context, bu, len, ais, 0xffffffffU) != 0) {
uint16_t length, beam, to_bow, to_starboard, date;
int l;
uint32_t time;
time_t date1;
struct tm date2;
ais->type5.ais_version = (unsigned int) ((bu[73] >> 0) & 0x03);
ais->type5.imo = (unsigned int) getleu32(bu, 5);
if (ais->type5.imo == 0xffffffffU) {
ais->type5.imo = 0;
}
ais->type5.shiptype = (unsigned int) ((bu[36] >> 0) & 0xff);
length = getleu16(bu, 37);
beam = getleu16(bu, 39);
to_starboard = getleu16(bu, 41);
to_bow = getleu16(bu, 43);
if ((length == 0xffff) || (to_bow == 0xffff)) {
length = 0;
to_bow = 0;
}
if ((beam == 0xffff) || (to_starboard == 0xffff)) {
beam = 0;
to_starboard = 0;
}
ais->type5.to_bow = (unsigned int) (to_bow/10);
ais->type5.to_stern = (unsigned int) ((length-to_bow)/10);
ais->type5.to_port = (unsigned int) ((beam-to_starboard)/10);
ais->type5.to_starboard = (unsigned int) (to_starboard/10);
ais->type5.epfd = (unsigned int) ((bu[73] >> 2) & 0x0f);
date = getleu16(bu, 45);
time = getleu32(bu, 47);
date1 = (time_t) (date*24*60*60);
(void) gmtime_r(&date1, &date2);
ais->type5.month = (unsigned int) (date2.tm_mon+1);
ais->type5.day = (unsigned int) (date2.tm_mday);
ais->type5.minute = (unsigned int) (time/(10000*60));
ais->type5.hour = (unsigned int) (ais->type5.minute/60);
ais->type5.minute = (unsigned int) (ais->type5.minute-(ais->type5.hour*60));
ais->type5.draught = (unsigned int) (getleu16(bu, 51)/10);
ais->type5.dte = (unsigned int) ((bu[73] >> 6) & 0x01);
for (l=0;l<7;l++) {
ais->type5.callsign[l] = (char) bu[9+l];
}
ais->type5.callsign[7] = (char) 0;
for (l=0;l<AIS_SHIPNAME_MAXLEN;l++) {
ais->type5.shipname[l] = (char) bu[16+l];
}
ais->type5.shipname[AIS_SHIPNAME_MAXLEN] = (char) 0;
for (l=0;l<20;l++) {
ais->type5.destination[l] = (char) bu[53+l];
}
ais->type5.destination[20] = (char) 0;
#if NMEA2000_DEBUG_AIS
printf("AIS: MMSI: %09u\n",
ais->mmsi);
printf("AIS: name: %-20.20s i:%8u c:%-8.8s b:%6u s:%6u p:%6u s:%6u dr:%4.1f\n",
ais->type5.shipname,
ais->type5.imo,
ais->type5.callsign,
ais->type5.to_bow,
ais->type5.to_stern,
ais->type5.to_port,
ais->type5.to_starboard,
ais->type5.draught/10.0);
printf("AIS: arival:%-20.20s at %02u-%02u-%04d %02u:%0u\n",
ais->type5.destination,
ais->type5.day,
ais->type5.month,
date2.tm_year+1900,
ais->type5.hour,
ais->type5.minute);
#endif /* of #if NMEA2000_DEBUG_AIS */
decode_ais_channel_info(bu, len, 592, session);
return(ONLINE_SET | AIS_SET);
}
return(0);
}
/*
* PGN 129798: AIS SAR Aircraft Position Report
*/
/* No test case for this message at the moment */
static gps_mask_t hnd_129798(unsigned char *bu, int len, PGN *pgn, struct gps_device_t *session)
{
struct ais_t *ais;
ais = &session->gpsdata.ais;
print_data(session->context, bu, len, pgn);
gpsd_report(&session->context->errout, LOG_DATA,
"pgn %6d(%3d):\n", pgn->pgn, session->driver.nmea2000.unit);
if (decode_ais_header(session->context, bu, len, ais, 0xffffffffU) != 0) {
ais->type9.lon = (int) (getles32(bu, 5) * 0.06);
ais->type9.lat = (int) (getles32(bu, 9) * 0.06);
ais->type9.accuracy = (bool) ((bu[13] >> 0) & 0x01);
ais->type9.raim = (bool) ((bu[13] >> 1) & 0x01);
ais->type9.second = (unsigned int) ((bu[13] >> 2) & 0x3f);
ais->type9.course = (unsigned int) ais_direction((unsigned int) getleu16(bu, 14), 10.0);
ais->type9.speed = (unsigned int) (getleu16(bu, 16) * MPS_TO_KNOTS * 0.01 / 0.1);
ais->type9.radio = (unsigned int) (getleu32(bu, 18) & 0x7ffff);
ais->type9.alt = (unsigned int) (getleu64(bu, 21)/1000000);
ais->type9.regional = (unsigned int) ((bu[29] >> 0) & 0xff);
ais->type9.dte = (unsigned int) ((bu[30] >> 0) & 0x01);
/* ais->type9.spare = (bu[30] >> 1) & 0x7f; */
ais->type9.assigned = 0; /* Not transmitted ???? */
decode_ais_channel_info(bu, len, 163, session);
return(ONLINE_SET | AIS_SET);
}
return(0);
}
/*
* PGN 129802: AIS Safty Related Broadcast Message
*/
/* No test case for this message at the moment */
static gps_mask_t hnd_129802(unsigned char *bu, int len, PGN *pgn, struct gps_device_t *session)
{
struct ais_t *ais;
ais = &session->gpsdata.ais;
print_data(session->context, bu, len, pgn);
gpsd_report(&session->context->errout, LOG_DATA,
"pgn %6d(%3d):\n", pgn->pgn, session->driver.nmea2000.unit);
if (decode_ais_header(session->context, bu, len, ais, 0x3fffffff) != 0) {
int l;
/* ais->type14.channel = (bu[ 5] >> 0) & 0x1f; */
for (l=0;l<36;l++) {
ais->type14.text[l] = (char) bu[6+l];
}
ais->type14.text[36] = (char) 0;
decode_ais_channel_info(bu, len, 40, session);
return(ONLINE_SET | AIS_SET);
}
return(0);
}
/*
* PGN 129809: AIS Class B CS Static Data Report, Part A
*/
static gps_mask_t hnd_129809(unsigned char *bu, int len, PGN *pgn, struct gps_device_t *session)
{
struct ais_t *ais;
ais = &session->gpsdata.ais;
print_data(session->context, bu, len, pgn);
gpsd_report(&session->context->errout, LOG_DATA,
"pgn %6d(%3d):\n", pgn->pgn, session->driver.nmea2000.unit);
if (decode_ais_header(session->context, bu, len, ais, 0xffffffffU) != 0) {
int l;
int index = session->driver.aivdm.context[0].type24_queue.index;
struct ais_type24a_t *saveptr = &session->driver.aivdm.context[0].type24_queue.ships[index];
gpsd_report(&session->context->errout, LOG_PROG,
"NMEA2000: AIS message 24A from %09u stashed.\n",
ais->mmsi);
for (l=0;l<AIS_SHIPNAME_MAXLEN;l++) {
ais->type24.shipname[l] = (char) bu[ 5+l];
saveptr->shipname[l] = (char) bu[ 5+l];
}
ais->type24.shipname[AIS_SHIPNAME_MAXLEN] = (char) 0;
saveptr->shipname[AIS_SHIPNAME_MAXLEN] = (char) 0;
saveptr->mmsi = ais->mmsi;
index += 1;
index %= MAX_TYPE24_INTERLEAVE;
session->driver.aivdm.context[0].type24_queue.index = index;
decode_ais_channel_info(bu, len, 200, session);
ais->type24.part = part_a;
return(ONLINE_SET | AIS_SET);
}
return(0);
}
/*
* PGN 129810: AIS Class B CS Static Data Report, Part B
*/
static gps_mask_t hnd_129810(unsigned char *bu, int len, PGN *pgn, struct gps_device_t *session)
{
struct ais_t *ais;
ais = &session->gpsdata.ais;
print_data(session->context, bu, len, pgn);
gpsd_report(&session->context->errout, LOG_DATA,
"pgn %6d(%3d):\n", pgn->pgn, session->driver.nmea2000.unit);
if (decode_ais_header(session->context, bu, len, ais, 0xffffffffU) != 0) {
int l, i;
ais->type24.shiptype = (unsigned int) ((bu[ 5] >> 0) & 0xff);
for (l=0;l<7;l++) {
ais->type24.vendorid[l] = (char) bu[ 6+l];
}
ais->type24.vendorid[7] = (char) 0;
for (l=0;l<7;l++) {
ais->type24.callsign[l] = (char) bu[13+l];
}
ais->type24.callsign[7] = (char )0;
if (AIS_AUXILIARY_MMSI(ais->mmsi)) {
ais->type24.mothership_mmsi = (unsigned int) (getleu32(bu, 28));
} else {
uint16_t length, beam, to_bow, to_starboard;
length = getleu16(bu, 20);
beam = getleu16(bu, 22);
to_starboard = getleu16(bu, 24);
to_bow = getleu16(bu, 26);
if ((length == 0xffff) || (to_bow == 0xffff)) {
length = 0;
to_bow = 0;
}
if ((beam == 0xffff) || (to_starboard == 0xffff)) {
beam = 0;
to_starboard = 0;
}
ais->type24.dim.to_bow = (unsigned int) (to_bow/10);
ais->type24.dim.to_stern = (unsigned int) ((length-to_bow)/10);
ais->type24.dim.to_port = (unsigned int) ((beam-to_starboard)/10);
ais->type24.dim.to_starboard = (unsigned int) (to_starboard/10);
}
for (i = 0; i < MAX_TYPE24_INTERLEAVE; i++) {
if (session->driver.aivdm.context[0].type24_queue.ships[i].mmsi == ais->mmsi) {
for (l=0;l<AIS_SHIPNAME_MAXLEN;l++) {
ais->type24.shipname[l] = (char)(session->driver.aivdm.context[0].type24_queue.ships[i].shipname[l]);
}
ais->type24.shipname[AIS_SHIPNAME_MAXLEN] = (char) 0;
gpsd_report(&session->context->errout, LOG_PROG,
"NMEA2000: AIS 24B from %09u matches a 24A.\n",
ais->mmsi);
/* prevent false match if a 24B is repeated */
session->driver.aivdm.context[0].type24_queue.ships[i].mmsi = 0;
#if NMEA2000_DEBUG_AIS
printf("AIS: MMSI: %09u\n", ais->mmsi);
printf("AIS: name: %-20.20s v:%-8.8s c:%-8.8s b:%6u s:%6u p:%6u s:%6u\n",
ais->type24.shipname,
ais->type24.vendorid,
ais->type24.callsign,
ais->type24.dim.to_bow,
ais->type24.dim.to_stern,
ais->type24.dim.to_port,
ais->type24.dim.to_starboard);
#endif /* of #if NMEA2000_DEBUG_AIS */
decode_ais_channel_info(bu, len, 264, session);
ais->type24.part = both;
return(ONLINE_SET | AIS_SET);
}
}
#if NMEA2000_DEBUG_AIS
printf("AIS: MMSI : %09u\n", ais->mmsi);
printf("AIS: vendor: %-8.8s c:%-8.8s b:%6u s:%6u p:%6u s:%6u\n",
ais->type24.vendorid,
ais->type24.callsign,
ais->type24.dim.to_bow,
ais->type24.dim.to_stern,
ais->type24.dim.to_port,
ais->type24.dim.to_starboard);
#endif /* of #if NMEA2000_DEBUG_AIS */
decode_ais_channel_info(bu, len, 264, session);
ais->type24.part = part_b;
return(ONLINE_SET | AIS_SET);
}
return(0);
}
/*
* PGN 127506: PWR DC Detailed Status
*/
static gps_mask_t hnd_127506(unsigned char *bu, int len, PGN *pgn, struct gps_device_t *session)
{
print_data(session->context, bu, len, pgn);
gpsd_report(&session->context->errout, LOG_DATA,
"pgn %6d(%3d):\n", pgn->pgn, session->driver.nmea2000.unit);
return(0);
}
/*
* PGN 127508: PWR Battery Status
*/
static gps_mask_t hnd_127508(unsigned char *bu, int len, PGN *pgn, struct gps_device_t *session)
{
print_data(session->context, bu, len, pgn);
gpsd_report(&session->context->errout, LOG_DATA,
"pgn %6d(%3d):\n", pgn->pgn, session->driver.nmea2000.unit);
return(0);
}
/*
* PGN 127513: PWR Battery Configuration Status
*/
static gps_mask_t hnd_127513(unsigned char *bu, int len, PGN *pgn, struct gps_device_t *session)
{
print_data(session->context, bu, len, pgn);
gpsd_report(&session->context->errout, LOG_DATA,
"pgn %6d(%3d):\n", pgn->pgn, session->driver.nmea2000.unit);
return(0);
}
/*
* PGN 127245: NAV Rudder
*/
static gps_mask_t hnd_127245(unsigned char *bu, int len, PGN *pgn, struct gps_device_t *session)
{
print_data(session->context, bu, len, pgn);
gpsd_report(&session->context->errout, LOG_DATA,
"pgn %6d(%3d):\n", pgn->pgn, session->driver.nmea2000.unit);
return(0);
}
/*
* PGN 127250: NAV Vessel Heading
*/
static gps_mask_t hnd_127250(unsigned char *bu, int len, PGN *pgn, struct gps_device_t *session)
{
int aux;
print_data(session->context, bu, len, pgn);
/*@-type@*/
session->gpsdata.attitude.heading = getleu16(bu, 1) * RAD_2_DEG * 0.0001;
// printf("ATT 0:%8.3f\n",session->gpsdata.attitude.heading);
aux = getles16(bu, 3);
if (aux != 0x07fff) {
session->gpsdata.attitude.heading += aux * RAD_2_DEG * 0.0001;
}
// printf("ATT 1:%8.3f %6x\n",session->gpsdata.attitude.heading, aux);
aux = getles16(bu, 5);
if (aux != 0x07fff) {
session->gpsdata.attitude.heading += aux * RAD_2_DEG * 0.0001;
}
/*@+type@*/
// printf("ATT 2:%8.3f %6x\n",session->gpsdata.attitude.heading, aux);
session->gpsdata.attitude.mag_st = '\0';
session->gpsdata.attitude.pitch = NAN;
session->gpsdata.attitude.pitch_st = '\0';
session->gpsdata.attitude.roll = NAN;
session->gpsdata.attitude.roll_st = '\0';
session->gpsdata.attitude.yaw = NAN;
session->gpsdata.attitude.yaw_st = '\0';
session->gpsdata.attitude.dip = NAN;
session->gpsdata.attitude.mag_len = NAN;
session->gpsdata.attitude.mag_x = NAN;
session->gpsdata.attitude.mag_y = NAN;
session->gpsdata.attitude.mag_z = NAN;
session->gpsdata.attitude.acc_len = NAN;
session->gpsdata.attitude.acc_x = NAN;
session->gpsdata.attitude.acc_y = NAN;
session->gpsdata.attitude.acc_z = NAN;
session->gpsdata.attitude.gyro_x = NAN;
session->gpsdata.attitude.gyro_y = NAN;
session->gpsdata.attitude.temp = NAN;
session->gpsdata.attitude.depth = NAN;
gpsd_report(&session->context->errout, LOG_DATA,
"pgn %6d(%3d):\n", pgn->pgn, session->driver.nmea2000.unit);