WIP: More Comm-B & ADS-B decoding.
This commit is contained in:
Oliver Jowett
parent
2e0aba4f1f
commit
98d64483d6
10 changed files with 1446 additions and 438 deletions
376
mode_s.c
376
mode_s.c
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@ -53,8 +53,6 @@
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/* for PRIX64 */
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#include <inttypes.h>
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#include <assert.h>
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//
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// ===================== Mode S detection and decoding ===================
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//
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@ -220,67 +218,6 @@ static int correct_aa_field(uint32_t *addr, struct errorinfo *ei)
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return addr_errors;
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}
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// The first bit (MSB of the first byte) is numbered 1, for consistency
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// with how the specs number them.
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// Extract one bit from a message.
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static inline __attribute__((always_inline)) unsigned getbit(unsigned char *data, unsigned bitnum)
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{
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unsigned bi = bitnum - 1;
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unsigned by = bi >> 3;
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unsigned mask = 1 << (7 - (bi & 7));
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return (data[by] & mask) != 0;
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}
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// Extract some bits (firstbit .. lastbit inclusive) from a message.
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static inline __attribute__((always_inline)) unsigned getbits(unsigned char *data, unsigned firstbit, unsigned lastbit)
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{
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unsigned fbi = firstbit - 1;
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unsigned lbi = lastbit - 1;
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unsigned nbi = (lastbit - firstbit + 1);
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unsigned fby = fbi >> 3;
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unsigned lby = lbi >> 3;
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unsigned nby = (lby - fby) + 1;
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unsigned shift = 7 - (lbi & 7);
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unsigned topmask = 0xFF >> (fbi & 7);
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assert (fbi <= lbi);
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assert (nbi <= 32);
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assert (nby <= 5);
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if (nby == 5) {
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return
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((data[fby] & topmask) << (32 - shift)) |
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(data[fby + 1] << (24 - shift)) |
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(data[fby + 2] << (16 - shift)) |
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(data[fby + 3] << (8 - shift)) |
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(data[fby + 4] >> shift);
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} else if (nby == 4) {
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return
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((data[fby] & topmask) << (24 - shift)) |
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(data[fby + 1] << (16 - shift)) |
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(data[fby + 2] << (8 - shift)) |
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(data[fby + 3] >> shift);
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} else if (nby == 3) {
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return
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((data[fby] & topmask) << (16 - shift)) |
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(data[fby + 1] << (8 - shift)) |
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(data[fby + 2] >> shift);
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} else if (nby == 2) {
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return
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((data[fby] & topmask) << (8 - shift)) |
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(data[fby + 1] >> shift);
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} else if (nby == 1) {
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return
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(data[fby] & topmask) >> shift;
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} else {
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return 0;
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}
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}
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// Score how plausible this ModeS message looks.
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// The more positive, the more reliable the message is
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@ -417,8 +354,8 @@ int scoreModesMessage(unsigned char *msg, int validbits)
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//
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static void decodeExtendedSquitter(struct modesMessage *mm);
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static void decodeCommB(struct modesMessage *mm);
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static char *ais_charset = "@ABCDEFGHIJKLMNOPQRSTUVWXYZ[\\]^_ !\"#$%&'()*+,-./0123456789:;<=>?";
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char ais_charset[64] = "@ABCDEFGHIJKLMNOPQRSTUVWXYZ[\\]^_ !\"#$%&'()*+,-./0123456789:;<=>?";
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// return 0 if all OK
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// -1: message might be valid, but we couldn't validate the CRC against a known ICAO
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@ -737,33 +674,6 @@ int decodeModesMessage(struct modesMessage *mm, unsigned char *msg)
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return 0;
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}
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// Decode BDS2,0 carried in Comm-B or ES
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static void decodeBDS20(struct modesMessage *mm)
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{
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unsigned char *msg = mm->msg;
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mm->callsign[0] = ais_charset[getbits(msg, 41, 46)];
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mm->callsign[1] = ais_charset[getbits(msg, 47, 52)];
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mm->callsign[2] = ais_charset[getbits(msg, 53, 58)];
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mm->callsign[3] = ais_charset[getbits(msg, 59, 64)];
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mm->callsign[4] = ais_charset[getbits(msg, 65, 70)];
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mm->callsign[5] = ais_charset[getbits(msg, 71, 76)];
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mm->callsign[6] = ais_charset[getbits(msg, 77, 82)];
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mm->callsign[7] = ais_charset[getbits(msg, 83, 88)];
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mm->callsign[8] = 0;
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// Catch possible bad decodings since BDS2,0 is not
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// 100% reliable: accept only alphanumeric data
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mm->callsign_valid = 1;
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for (int i = 0; i < 8; ++i) {
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if (! ((mm->callsign[i] >= 'A' && mm->callsign[i] <= 'Z') ||
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(mm->callsign[i] >= '0' && mm->callsign[i] <= '9') ||
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mm->callsign[i] == ' ') ) {
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mm->callsign_valid = 0;
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break;
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}
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}
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}
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static void decodeESIdentAndCategory(struct modesMessage *mm)
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{
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@ -828,13 +738,18 @@ static void decodeESAirborneVelocity(struct modesMessage *mm, int check_imf)
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return;
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unsigned vert_rate = getbits(me, 38, 46);
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unsigned vert_rate_is_geom = getbit(me, 36);
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if (vert_rate) {
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mm->vert_rate = (vert_rate - 1) * (getbit(me, 37) ? -64 : 64);
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mm->vert_rate_valid = 1;
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int rate = (vert_rate - 1) * (getbit(me, 37) ? -64 : 64);
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if (vert_rate_is_geom) {
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mm->geom_rate = rate;
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mm->geom_rate_valid = 1;
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} else {
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mm->baro_rate = rate;
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mm->baro_rate_valid = 1;
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}
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}
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mm->vert_rate_source = (getbit(me, 36) ? ALTITUDE_GNSS : ALTITUDE_BARO);
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switch (mm->mesub) {
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case 1: case 2:
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{
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@ -846,20 +761,17 @@ static void decodeESAirborneVelocity(struct modesMessage *mm, int check_imf)
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int ns_vel = (ns_raw - 1) * (getbit(me, 25) ? -1 : 1) * ((mm->mesub == 2) ? 4 : 1);
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// Compute velocity and angle from the two speed components
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mm->speed = (unsigned) sqrt((ns_vel * ns_vel) + (ew_vel * ew_vel) + 0.5);
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mm->speed_valid = 1;
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mm->gs = (unsigned) sqrt((ns_vel * ns_vel) + (ew_vel * ew_vel) + 0.5);
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mm->gs_valid = 1;
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if (mm->speed) {
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int heading = (int) (atan2(ew_vel, ns_vel) * 180.0 / M_PI + 0.5);
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if (mm->gs) {
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float heading = atan2(ew_vel, ns_vel) * 180.0 / M_PI;
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// We don't want negative values but a 0-360 scale
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if (heading < 0)
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heading += 360;
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mm->heading = (unsigned) heading;
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mm->heading_source = HEADING_TRUE;
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mm->heading_valid = 1;
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mm->track = heading;
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mm->track_valid = 1;
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}
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mm->speed_source = SPEED_GROUNDSPEED;
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}
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break;
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}
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@ -868,15 +780,19 @@ static void decodeESAirborneVelocity(struct modesMessage *mm, int check_imf)
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{
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unsigned airspeed = getbits(me, 26, 35);
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if (airspeed) {
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mm->speed = (airspeed - 1) * (mm->mesub == 4 ? 4 : 1);
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mm->speed_source = getbit(me, 25) ? SPEED_TAS : SPEED_IAS;
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mm->speed_valid = 1;
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unsigned speed = (airspeed - 1) * (mm->mesub == 4 ? 4 : 1);
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if (getbit(me, 25)) {
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mm->tas_valid = 1;
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mm->tas = speed;
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} else {
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mm->ias_valid = 1;
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mm->ias = speed;
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}
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}
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if (getbit(me, 14)) {
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mm->heading = getbits(me, 15, 24);
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mm->heading_source = HEADING_MAGNETIC;
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mm->heading_valid = 1;
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mm->mag_heading_valid = 1;
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mm->mag_heading = getbits(me, 15, 24) * 360.0 / 1024.0;
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}
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break;
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}
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@ -884,8 +800,8 @@ static void decodeESAirborneVelocity(struct modesMessage *mm, int check_imf)
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unsigned raw_delta = getbits(me, 50, 56);
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if (raw_delta) {
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mm->gnss_delta_valid = 1;
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mm->gnss_delta = (raw_delta - 1) * (getbit(me, 49) ? -25 : 25);
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mm->geom_delta_valid = 1;
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mm->geom_delta = (raw_delta - 1) * (getbit(me, 49) ? -25 : 25);
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}
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}
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@ -907,15 +823,13 @@ static void decodeESSurfacePosition(struct modesMessage *mm, int check_imf)
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unsigned movement = getbits(me, 6, 12);
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if (movement > 0 && movement < 125) {
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mm->speed_valid = 1;
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mm->speed = decodeMovementField(movement);
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mm->speed_source = SPEED_GROUNDSPEED;
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mm->gs_valid = 1;
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mm->gs = decodeMovementField(movement);
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}
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if (getbit(me, 13)) {
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mm->heading_valid = 1;
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mm->heading_source = HEADING_TRUE;
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mm->heading = getbits(me, 14, 20) * 360 / 128;
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mm->track_valid = 1;
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mm->track = getbits(me, 14, 20) * 360.0 / 128.0;
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}
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}
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@ -967,7 +881,7 @@ static void decodeESAirbornePosition(struct modesMessage *mm, int check_imf)
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mm->altitude_valid = 1;
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}
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mm->altitude_source = (mm->metype == 20 || mm->metype == 21 || mm->metype == 22) ? ALTITUDE_GNSS : ALTITUDE_BARO;
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mm->altitude_source = (mm->metype == 20 || mm->metype == 21 || mm->metype == 22) ? ALTITUDE_GEOM : ALTITUDE_BARO;
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}
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}
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@ -1017,45 +931,50 @@ static void decodeESTargetStatus(struct modesMessage *mm, int check_imf)
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if (mm->mesub == 0) { // Target state and status, V1
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// TODO: need RTCA/DO-260A
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} else if (mm->mesub == 1) { // Target state and status, V2
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mm->tss.valid = 1;
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mm->tss.sil_type = getbit(me, 8) ? SIL_PER_SAMPLE : SIL_PER_HOUR;
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mm->tss.altitude_type = getbit(me, 9) ? TSS_ALTITUDE_FMS : TSS_ALTITUDE_MCP;
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mm->intent.valid = 1;
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// 8: SIL
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unsigned is_fms = getbit(me, 9);
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unsigned alt_bits = getbits(me, 10, 20);
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if (alt_bits == 0) {
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mm->tss.altitude_valid = 0;
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} else {
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mm->tss.altitude_valid = 1;
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mm->tss.altitude = (alt_bits - 1) * 32;
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if (alt_bits != 0) {
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if (is_fms) {
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mm->intent.fms_altitude_valid = 1;
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mm->intent.fms_altitude = (alt_bits - 1) * 32;
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} else {
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mm->intent.mcp_altitude_valid = 1;
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mm->intent.mcp_altitude = (alt_bits - 1) * 32;
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}
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}
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unsigned baro_bits = getbits(me, 21, 29);
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if (baro_bits == 0) {
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mm->tss.baro_valid = 0;
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} else {
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mm->tss.baro_valid = 1;
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mm->tss.baro = 800.0 + (baro_bits - 1) * 0.8;
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if (baro_bits != 0) {
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mm->intent.alt_setting_valid = 1;
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mm->intent.alt_setting = 800.0 + (baro_bits - 1) * 0.8;
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}
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mm->tss.heading_valid = getbit(me, 30);
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if (mm->tss.heading_valid) {
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if (getbit(me, 30)) {
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mm->intent.heading_valid = 1;
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// two's complement -180..+180, which is conveniently
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// also the same as unsigned 0..360
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mm->tss.heading = getbits(me, 31, 39) * 180 / 256;
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mm->intent.heading = getbits(me, 31, 39) * 180.0 / 256.0;
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}
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mm->tss.nac_p = getbits(me, 40, 43);
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mm->tss.nic_baro = getbit(me, 44);
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mm->tss.sil = getbits(me, 45, 46);
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mm->tss.mode_valid = getbit(me, 47);
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if (mm->tss.mode_valid) {
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mm->tss.mode_autopilot = getbit(me, 48);
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mm->tss.mode_vnav = getbit(me, 49);
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mm->tss.mode_alt_hold = getbit(me, 50);
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mm->tss.mode_approach = getbit(me, 52);
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// 40-43: NACp
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// 44: NICbaro
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// 45-46: SIL
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if (getbit(me, 47)) {
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mm->intent.mode_autopilot = getbit(me, 48);
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mm->intent.mode_vnav = getbit(me, 49);
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mm->intent.mode_alt_hold = getbit(me, 50);
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// 51: IMF
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mm->intent.mode_approach = getbit(me, 52);
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// 53: TCAS operational
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mm->intent.mode_lnav = getbit(me, 54);
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}
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mm->tss.acas_operational = getbit(me, 53);
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// 55-56 reserved
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}
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}
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@ -1230,7 +1149,7 @@ static void decodeExtendedSquitter(struct modesMessage *mm)
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case 0: // Airborne position, baro altitude only
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case 9: case 10: case 11: case 12: case 13: case 14: case 15: case 16: case 17: case 18: // Airborne position, baro
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case 20: case 21: case 22: // Airborne position, GNSS altitude (HAE or MSL)
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case 20: case 21: case 22: // Airborne position, geometric altitude (HAE or MSL)
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decodeESAirbornePosition(mm, check_imf);
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break;
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@ -1261,16 +1180,6 @@ static void decodeExtendedSquitter(struct modesMessage *mm)
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}
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}
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static void decodeCommB(struct modesMessage *mm)
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{
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unsigned char *msg = mm->msg;
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// This is a bit hairy as we don't know what the requested register was
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if (getbits(msg, 33, 40) == 0x20) { // BDS 2,0 Aircraft Identification
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decodeBDS20(mm);
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}
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}
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static const char *df_names[33] = {
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/* 0 */ "Short Air-Air Surveillance",
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/* 1 */ NULL,
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@ -1330,8 +1239,8 @@ static const char *altitude_source_to_string(altitude_source_t source) {
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switch (source) {
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case ALTITUDE_BARO:
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return "barometric";
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case ALTITUDE_GNSS:
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return "GNSS";
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case ALTITUDE_GEOM:
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return "geometric";
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default:
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return "(unknown altitude source)";
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}
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@ -1352,19 +1261,6 @@ static const char *airground_to_string(airground_t airground) {
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}
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}
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static const char *speed_source_to_string(speed_source_t speed) {
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switch (speed) {
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case SPEED_GROUNDSPEED:
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return "groundspeed";
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case SPEED_IAS:
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return "IAS";
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case SPEED_TAS:
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return "TAS";
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default:
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return "(unknown speed type)";
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}
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}
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static const char *addrtype_to_string(addrtype_t type) {
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switch (type) {
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case ADDR_ADSB_ICAO:
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@ -1403,6 +1299,29 @@ static const char *cpr_type_to_string(cpr_type_t type) {
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}
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}
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static const char *commb_format_to_string(commb_format_t format) {
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switch (format) {
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case COMMB_EMPTY_RESPONSE:
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return "empty response";
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case COMMB_DATALINK_CAPS:
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return "BDS1,0 Datalink capabilities";
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case COMMB_GICB_CAPS:
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return "BDS1,7 Common usage GICB capabilities";
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case COMMB_AIRCRAFT_IDENT:
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return "BDS2,0 Aircraft identification";
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case COMMB_ACAS_RA:
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return "BDS3,0 ACAS resolution advisory";
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case COMMB_VERTICAL_INTENT:
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return "BDS4,0 Selected vertical intention";
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case COMMB_TRACK_TURN:
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return "BDS5,0 Track and turn report";
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case COMMB_HEADING_SPEED:
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return "BDS6,0 Heading and speed report";
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default:
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return "unknown format";
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}
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}
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static void print_hex_bytes(unsigned char *data, size_t len) {
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size_t i;
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for (i = 0; i < len; ++i) {
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@ -1455,7 +1374,7 @@ static const char *esTypeName(unsigned metype, unsigned mesub)
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}
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case 20: case 21: case 22:
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return "Airborne position (GNSS altitude)";
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return "Airborne position (geometric altitude)";
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case 23:
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switch (mesub) {
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@ -1639,6 +1558,10 @@ void displayModesMessage(struct modesMessage *mm) {
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}
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printf("\n");
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if (mm->msgtype == 20 || mm->msgtype == 21) {
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printf(" Comm-B format: %s\n", commb_format_to_string(mm->commb_format));
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}
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if (mm->addr & MODES_NON_ICAO_ADDRESS) {
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printf(" Other Address: %06X (%s)\n", mm->addr & 0xFFFFFF, addrtype_to_string(mm->addrtype));
|
||||
} else {
|
||||
|
|
@ -1657,25 +1580,49 @@ void displayModesMessage(struct modesMessage *mm) {
|
|||
altitude_source_to_string(mm->altitude_source));
|
||||
}
|
||||
|
||||
if (mm->gnss_delta_valid) {
|
||||
printf(" GNSS delta: %d ft\n",
|
||||
mm->gnss_delta);
|
||||
if (mm->geom_delta_valid) {
|
||||
printf(" Geom - baro: %d ft\n",
|
||||
mm->geom_delta);
|
||||
}
|
||||
|
||||
if (mm->heading_valid) {
|
||||
printf(" Heading: %u\n", mm->heading);
|
||||
if (mm->track_valid) {
|
||||
printf(" Track: %.1f\n", mm->track);
|
||||
}
|
||||
|
||||
if (mm->speed_valid) {
|
||||
printf(" Speed: %u kt %s\n",
|
||||
mm->speed,
|
||||
speed_source_to_string(mm->speed_source));
|
||||
if (mm->mag_heading_valid) {
|
||||
printf(" Mag heading: %.1f\n", mm->mag_heading);
|
||||
}
|
||||
|
||||
if (mm->vert_rate_valid) {
|
||||
printf(" Vertical rate: %d ft/min %s\n",
|
||||
mm->vert_rate,
|
||||
altitude_source_to_string(mm->vert_rate_source));
|
||||
if (mm->track_rate_valid) {
|
||||
printf(" Track rate: %.2f deg/sec %s\n", mm->track_rate, mm->track_rate < 0 ? "left" : mm->track_rate > 0 ? "right" : "");
|
||||
}
|
||||
|
||||
if (mm->roll_valid) {
|
||||
printf(" Roll: %.1f degrees %s\n", mm->roll, mm->roll < -0.05 ? "left" : mm->roll > 0.05 ? "right" : "");
|
||||
}
|
||||
|
||||
if (mm->gs_valid) {
|
||||
printf(" Groundspeed: %u kt\n", mm->gs);
|
||||
}
|
||||
|
||||
if (mm->ias_valid) {
|
||||
printf(" IAS: %u kt\n", mm->ias);
|
||||
}
|
||||
|
||||
if (mm->tas_valid) {
|
||||
printf(" TAS: %u kt\n", mm->tas);
|
||||
}
|
||||
|
||||
if (mm->mach_valid) {
|
||||
printf(" Mach number: %.3f\n", mm->mach);
|
||||
}
|
||||
|
||||
if (mm->baro_rate_valid) {
|
||||
printf(" Baro rate: %d ft/min\n", mm->baro_rate);
|
||||
}
|
||||
|
||||
if (mm->geom_rate_valid) {
|
||||
printf(" Geom rate: %d ft/min\n", mm->geom_rate);
|
||||
}
|
||||
|
||||
if (mm->squawk_valid) {
|
||||
|
|
@ -1758,26 +1705,47 @@ void displayModesMessage(struct modesMessage *mm) {
|
|||
printf(" Heading reference: %s\n", (mm->opstatus.hrd == HEADING_TRUE ? "true north" : "magnetic north"));
|
||||
}
|
||||
|
||||
if (mm->tss.valid) {
|
||||
printf(" Target State and Status:\n");
|
||||
if (mm->tss.altitude_valid)
|
||||
printf(" Target altitude: %s, %d ft\n", (mm->tss.altitude_type == TSS_ALTITUDE_MCP ? "MCP" : "FMS"), mm->tss.altitude);
|
||||
if (mm->tss.baro_valid)
|
||||
printf(" Altimeter setting: %.1f millibars\n", mm->tss.baro);
|
||||
if (mm->tss.heading_valid)
|
||||
printf(" Target heading: %d\n", mm->tss.heading);
|
||||
if (mm->tss.mode_valid) {
|
||||
printf(" Active modes: ");
|
||||
if (mm->tss.mode_autopilot) printf("autopilot ");
|
||||
if (mm->tss.mode_vnav) printf("VNAV ");
|
||||
if (mm->tss.mode_alt_hold) printf("altitude-hold ");
|
||||
if (mm->tss.mode_approach) printf("approach ");
|
||||
if (mm->intent.valid) {
|
||||
printf(" Intent:\n");
|
||||
if (mm->intent.heading_valid)
|
||||
printf(" Selected heading: %.1f\n", mm->intent.heading);
|
||||
if (mm->intent.fms_altitude_valid)
|
||||
printf(" FMS selected altitude: %u ft\n", mm->intent.fms_altitude);
|
||||
if (mm->intent.mcp_altitude_valid)
|
||||
printf(" MCP selected altitude: %u ft\n", mm->intent.mcp_altitude);
|
||||
if (mm->intent.alt_setting_valid)
|
||||
printf(" Altimeter setting: %.1f millibars\n", mm->intent.alt_setting);
|
||||
|
||||
if (mm->intent.altitude_source != TARGET_INVALID) {
|
||||
printf(" Target altitude source: ");
|
||||
switch (mm->intent.altitude_source) {
|
||||
case TARGET_AIRCRAFT:
|
||||
printf("aircraft altitude\n");
|
||||
break;
|
||||
case TARGET_MCP:
|
||||
printf("MCP selected altitude\n");
|
||||
break;
|
||||
case TARGET_FMS:
|
||||
printf("FMS selected altitude\n");
|
||||
break;
|
||||
default:
|
||||
printf("unknown\n");
|
||||
}
|
||||
}
|
||||
|
||||
if (mm->intent.mode_autopilot ||
|
||||
mm->intent.mode_vnav ||
|
||||
mm->intent.mode_alt_hold ||
|
||||
mm->intent.mode_approach ||
|
||||
mm->intent.mode_lnav) {
|
||||
printf(" Active modes: ");
|
||||
if (mm->intent.mode_autopilot) printf("autopilot ");
|
||||
if (mm->intent.mode_vnav) printf("VNAV ");
|
||||
if (mm->intent.mode_alt_hold) printf("altitude-hold ");
|
||||
if (mm->intent.mode_approach) printf("approach ");
|
||||
if (mm->intent.mode_lnav) printf("LNAV ");
|
||||
printf("\n");
|
||||
}
|
||||
printf(" ACAS: %s\n", mm->tss.acas_operational ? "operational" : "NOT operational");
|
||||
printf(" NACp: %d\n", mm->tss.nac_p);
|
||||
printf(" NICbaro: %d\n", mm->tss.nic_baro);
|
||||
printf(" SIL: %d (%s)\n", mm->tss.sil, (mm->opstatus.sil_type == SIL_PER_HOUR ? "per hour" : "per sample"));
|
||||
}
|
||||
|
||||
printf("\n");
|
||||
|
|
|
|||
Loading…
Add table
Add a link
Reference in a new issue