// dump1090, a Mode S messages decoder for RTLSDR devices. // // Copyright (C) 2012 by Salvatore Sanfilippo // // All rights reserved. // // Redistribution and use in source and binary forms, with or without // modification, are permitted provided that the following conditions are // met: // // * Redistributions of source code must retain the above copyright // notice, this list of conditions and the following disclaimer. // // * Redistributions in binary form must reproduce the above copyright // notice, this list of conditions and the following disclaimer in the // documentation and/or other materials provided with the distribution. // // THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS // "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT // LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR // A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT // HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, // SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT // LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, // DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY // THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT // (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE // OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. // #ifndef __DUMP1090_H #define __DUMP1090_H // File Version number // ==================== // Format is : MajorVer.MinorVer.DayMonth.Year" // MajorVer changes only with significant changes // MinorVer changes when additional features are added, but not for bug fixes (range 00-99) // DayDate & Year changes for all changes, including for bug fixes. It represent the release date of the update // #define MODES_DUMP1090_VERSION "1.09.0608.14" // ============================= Include files ========================== #ifndef _WIN32 #include #include #include #include #include #include #include #include #include #include #include #include #include #include #include #include "rtl-sdr.h" #include "anet.h" #else #include "winstubs.h" //Put everything Windows specific in here #include "rtl-sdr.h" #include "anet.h" #endif // ============================= #defines =============================== // // If you have a valid coaa.h, these values will come from it. If not, // then you can enter your own values in the #else section here // #ifdef USER_LATITUDE #define MODES_USER_LATITUDE_DFLT (USER_LATITUDE) #define MODES_USER_LONGITUDE_DFLT (USER_LONGITUDE) #else #define MODES_USER_LATITUDE_DFLT (0.0) #define MODES_USER_LONGITUDE_DFLT (0.0) #endif #define MODES_DEFAULT_PPM 52 #define MODES_DEFAULT_RATE 2000000 #define MODES_DEFAULT_FREQ 1090000000 #define MODES_DEFAULT_WIDTH 1000 #define MODES_DEFAULT_HEIGHT 700 #define MODES_ASYNC_BUF_NUMBER 16 #define MODES_ASYNC_BUF_SIZE (16*16384) // 256k #define MODES_ASYNC_BUF_SAMPLES (MODES_ASYNC_BUF_SIZE / 2) // Each sample is 2 bytes #define MODES_AUTO_GAIN -100 // Use automatic gain #define MODES_MAX_GAIN 999999 // Use max available gain #define MODES_MSG_SQUELCH_LEVEL 0x02FF // Average signal strength limit #define MODES_MSG_ENCODER_ERRS 3 // Maximum number of encoding errors // When changing, change also fixBitErrors() and modesInitErrorTable() !! #define MODES_MAX_BITERRORS 2 // Global max for fixable bit erros #define MODEAC_MSG_SAMPLES (25 * 2) // include up to the SPI bit #define MODEAC_MSG_BYTES 2 #define MODEAC_MSG_SQUELCH_LEVEL 0x07FF // Average signal strength limit #define MODEAC_MSG_FLAG (1<<0) #define MODEAC_MSG_MODES_HIT (1<<1) #define MODEAC_MSG_MODEA_HIT (1<<2) #define MODEAC_MSG_MODEC_HIT (1<<3) #define MODEAC_MSG_MODEA_ONLY (1<<4) #define MODEAC_MSG_MODEC_OLD (1<<5) #define MODES_PREAMBLE_US 8 // microseconds = bits #define MODES_PREAMBLE_SAMPLES (MODES_PREAMBLE_US * 2) #define MODES_PREAMBLE_SIZE (MODES_PREAMBLE_SAMPLES * sizeof(uint16_t)) #define MODES_LONG_MSG_BYTES 14 #define MODES_SHORT_MSG_BYTES 7 #define MODES_LONG_MSG_BITS (MODES_LONG_MSG_BYTES * 8) #define MODES_SHORT_MSG_BITS (MODES_SHORT_MSG_BYTES * 8) #define MODES_LONG_MSG_SAMPLES (MODES_LONG_MSG_BITS * 2) #define MODES_SHORT_MSG_SAMPLES (MODES_SHORT_MSG_BITS * 2) #define MODES_LONG_MSG_SIZE (MODES_LONG_MSG_SAMPLES * sizeof(uint16_t)) #define MODES_SHORT_MSG_SIZE (MODES_SHORT_MSG_SAMPLES * sizeof(uint16_t)) #define MODES_RAWOUT_BUF_SIZE (1500) #define MODES_RAWOUT_BUF_FLUSH (MODES_RAWOUT_BUF_SIZE - 200) #define MODES_RAWOUT_BUF_RATE (1000) // 1000 * 64mS = 1 Min approx #define MODES_ICAO_CACHE_LEN 1024 // Power of two required #define MODES_ICAO_CACHE_TTL 60 // Time to live of cached addresses #define MODES_UNIT_FEET 0 #define MODES_UNIT_METERS 1 #define MODES_USER_LATLON_VALID (1<<0) #define MODES_ACFLAGS_LATLON_VALID (1<<0) // Aircraft Lat/Lon is decoded #define MODES_ACFLAGS_ALTITUDE_VALID (1<<1) // Aircraft altitude is known #define MODES_ACFLAGS_HEADING_VALID (1<<2) // Aircraft heading is known #define MODES_ACFLAGS_SPEED_VALID (1<<3) // Aircraft speed is known #define MODES_ACFLAGS_VERTRATE_VALID (1<<4) // Aircraft vertical rate is known #define MODES_ACFLAGS_SQUAWK_VALID (1<<5) // Aircraft Mode A Squawk is known #define MODES_ACFLAGS_CALLSIGN_VALID (1<<6) // Aircraft Callsign Identity #define MODES_ACFLAGS_EWSPEED_VALID (1<<7) // Aircraft East West Speed is known #define MODES_ACFLAGS_NSSPEED_VALID (1<<8) // Aircraft North South Speed is known #define MODES_ACFLAGS_AOG (1<<9) // Aircraft is On the Ground #define MODES_ACFLAGS_LLEVEN_VALID (1<<10) // Aircraft Even Lot/Lon is known #define MODES_ACFLAGS_LLODD_VALID (1<<11) // Aircraft Odd Lot/Lon is known #define MODES_ACFLAGS_AOG_VALID (1<<12) // MODES_ACFLAGS_AOG is valid #define MODES_ACFLAGS_FS_VALID (1<<13) // Aircraft Flight Status is known #define MODES_ACFLAGS_NSEWSPD_VALID (1<<14) // Aircraft EW and NS Speed is known #define MODES_ACFLAGS_LATLON_REL_OK (1<<15) // Indicates it's OK to do a relative CPR #define MODES_ACFLAGS_LLEITHER_VALID (MODES_ACFLAGS_LLEVEN_VALID | MODES_ACFLAGS_LLODD_VALID) #define MODES_ACFLAGS_LLBOTH_VALID (MODES_ACFLAGS_LLEVEN_VALID | MODES_ACFLAGS_LLODD_VALID) #define MODES_ACFLAGS_AOG_GROUND (MODES_ACFLAGS_AOG_VALID | MODES_ACFLAGS_AOG) #define MODES_DEBUG_DEMOD (1<<0) #define MODES_DEBUG_DEMODERR (1<<1) #define MODES_DEBUG_BADCRC (1<<2) #define MODES_DEBUG_GOODCRC (1<<3) #define MODES_DEBUG_NOPREAMBLE (1<<4) #define MODES_DEBUG_NET (1<<5) #define MODES_DEBUG_JS (1<<6) // When debug is set to MODES_DEBUG_NOPREAMBLE, the first sample must be // at least greater than a given level for us to dump the signal. #define MODES_DEBUG_NOPREAMBLE_LEVEL 25 #define MODES_INTERACTIVE_REFRESH_TIME 250 // Milliseconds #define MODES_INTERACTIVE_ROWS 22 // Rows on screen #define MODES_INTERACTIVE_DELETE_TTL 300 // Delete from the list after 300 seconds #define MODES_INTERACTIVE_DISPLAY_TTL 60 // Delete from display after 60 seconds #define MODES_NET_HEARTBEAT_RATE 900 // Each block is approx 65mS - default is > 1 min #define MODES_NET_SERVICES_NUM 6 #define MODES_NET_INPUT_RAW_PORT 30001 #define MODES_NET_OUTPUT_RAW_PORT 30002 #define MODES_NET_OUTPUT_SBS_PORT 30003 #define MODES_NET_INPUT_BEAST_PORT 30004 #define MODES_NET_OUTPUT_BEAST_PORT 30005 #define MODES_NET_HTTP_PORT 8080 #define MODES_CLIENT_BUF_SIZE 1024 #define MODES_NET_SNDBUF_SIZE (1024*64) #define MODES_NET_SNDBUF_MAX (7) #ifndef HTMLPATH #define HTMLPATH "./public_html" // default path for gmap.html etc #endif #define MODES_NOTUSED(V) ((void) V) //======================== structure declarations ========================= // Structure used to describe a networking client struct client { struct client* next; // Pointer to next client int fd; // File descriptor int service; // TCP port the client is connected to int buflen; // Amount of data on buffer char buf[MODES_CLIENT_BUF_SIZE+1]; // Read buffer }; // Structure used to describe an aircraft in iteractive mode struct aircraft { uint32_t addr; // ICAO address char flight[16]; // Flight number unsigned char signalLevel[8]; // Last 8 Signal Amplitudes int altitude; // Altitude int speed; // Velocity int track; // Angle of flight int vert_rate; // Vertical rate. time_t seen; // Time at which the last packet was received time_t seenLatLon; // Time at which the last lat long was calculated uint64_t timestamp; // Timestamp at which the last packet was received uint64_t timestampLatLon;// Timestamp at which the last lat long was calculated long messages; // Number of Mode S messages received int modeA; // Squawk int modeC; // Altitude long modeAcount; // Mode A Squawk hit Count long modeCcount; // Mode C Altitude hit Count int modeACflags; // Flags for mode A/C recognition // Encoded latitude and longitude as extracted by odd and even CPR encoded messages int odd_cprlat; int odd_cprlon; int even_cprlat; int even_cprlon; uint64_t odd_cprtime; uint64_t even_cprtime; double lat, lon; // Coordinated obtained from CPR encoded data int bFlags; // Flags related to valid fields in this structure struct aircraft *next; // Next aircraft in our linked list }; struct stDF { struct stDF *pNext; // Pointer to next item in the linked list struct stDF *pPrev; // Pointer to previous item in the linked list struct aircraft *pAircraft; // Pointer to the Aircraft structure for this DF time_t seen; // Dos/UNIX Time at which the this packet was received uint64_t llTimestamp; // Timestamp at which the this packet was received uint32_t addr; // Timestamp at which the this packet was received unsigned char msg[MODES_LONG_MSG_BYTES]; // the binary } tDF; // Program global state struct { // Internal state pthread_t reader_thread; pthread_mutex_t data_mutex; // Mutex to synchronize buffer access pthread_cond_t data_cond; // Conditional variable associated uint16_t *pData [MODES_ASYNC_BUF_NUMBER]; // Raw IQ sample buffers from RTL struct timeb stSystemTimeRTL[MODES_ASYNC_BUF_NUMBER]; // System time when RTL passed us this block int iDataIn; // Fifo input pointer int iDataOut; // Fifo output pointer int iDataReady; // Fifo content count int iDataLost; // Count of missed buffers uint16_t *pFileData; // Raw IQ samples buffer (from a File) uint16_t *magnitude; // Magnitude vector uint64_t timestampBlk; // Timestamp of the start of the current block struct timeb stSystemTimeBlk; // System time when RTL passed us currently processing this block int fd; // --ifile option file descriptor uint32_t *icao_cache; // Recently seen ICAO addresses cache uint16_t *maglut; // I/Q -> Magnitude lookup table int exit; // Exit from the main loop when true // RTLSDR int dev_index; int gain; int enable_agc; rtlsdr_dev_t *dev; int freq; int ppm_error; // Networking char aneterr[ANET_ERR_LEN]; struct client *clients; // Our clients int sbsos; // SBS output listening socket int ros; // Raw output listening socket int ris; // Raw input listening socket int bos; // Beast output listening socket int bis; // Beast input listening socket int https; // HTTP listening socket char *rawOut; // Buffer for building raw output data int rawOutUsed; // How much of the buffer is currently used char *beastOut; // Buffer for building beast output data int beastOutUsed; // How much if the buffer is currently used #ifdef _WIN32 WSADATA wsaData; // Windows socket initialisation #endif // Configuration char *filename; // Input form file, --ifile option int phase_enhance; // Enable phase enhancement if true int nfix_crc; // Number of crc bit error(s) to correct int check_crc; // Only display messages with good CRC int raw; // Raw output format int beast; // Beast binary format output int mode_ac; // Enable decoding of SSR Modes A & C int debug; // Debugging mode int net; // Enable networking int net_only; // Enable just networking int net_heartbeat_count; // TCP heartbeat counter int net_heartbeat_rate; // TCP heartbeat rate int net_output_sbs_port; // SBS output TCP port int net_output_raw_size; // Minimum Size of the output raw data int net_output_raw_rate; // Rate (in 64mS increments) of output raw data int net_output_raw_rate_count; // Rate (in 64mS increments) of output raw data int net_output_raw_port; // Raw output TCP port int net_input_raw_port; // Raw input TCP port int net_output_beast_port; // Beast output TCP port int net_input_beast_port; // Beast input TCP port int net_http_port; // HTTP port int net_sndbuf_size; // TCP output buffer size (64Kb * 2^n) int quiet; // Suppress stdout int interactive; // Interactive mode int interactive_rows; // Interactive mode: max number of rows int interactive_display_ttl; // Interactive mode: TTL display int interactive_delete_ttl; // Interactive mode: TTL before deletion int stats; // Print stats at exit in --ifile mode int onlyaddr; // Print only ICAO addresses int metric; // Use metric units int mlat; // Use Beast ascii format for raw data output, i.e. @...; iso *...; int interactive_rtl1090; // flight table in interactive mode is formatted like RTL1090 // User details double fUserLat; // Users receiver/antenna lat/lon needed for initial surface location double fUserLon; // Users receiver/antenna lat/lon needed for initial surface location int bUserFlags; // Flags relating to the user details // Interactive mode struct aircraft *aircrafts; uint64_t interactive_last_update; // Last screen update in milliseconds time_t last_cleanup_time; // Last cleanup time in seconds // DF List mode int bEnableDFLogging; // Set to enable DF Logging pthread_mutex_t pDF_mutex; // Mutex to synchronize pDF access struct stDF *pDF; // Pointer to DF list // Statistics unsigned int stat_valid_preamble; unsigned int stat_demodulated0; unsigned int stat_demodulated1; unsigned int stat_demodulated2; unsigned int stat_demodulated3; unsigned int stat_goodcrc; unsigned int stat_badcrc; unsigned int stat_fixed; // Histogram of fixed bit errors: index 0 for single bit erros, // index 1 for double bit errors etc. unsigned int stat_bit_fix[MODES_MAX_BITERRORS]; unsigned int stat_http_requests; unsigned int stat_sbs_connections; unsigned int stat_raw_connections; unsigned int stat_beast_connections; unsigned int stat_out_of_phase; unsigned int stat_ph_demodulated0; unsigned int stat_ph_demodulated1; unsigned int stat_ph_demodulated2; unsigned int stat_ph_demodulated3; unsigned int stat_ph_goodcrc; unsigned int stat_ph_badcrc; unsigned int stat_ph_fixed; // Histogram of fixed bit errors: index 0 for single bit erros, // index 1 for double bit errors etc. unsigned int stat_ph_bit_fix[MODES_MAX_BITERRORS]; unsigned int stat_DF_Len_Corrected; unsigned int stat_DF_Type_Corrected; unsigned int stat_ModeAC; unsigned int stat_blocks_processed; unsigned int stat_blocks_dropped; } Modes; // The struct we use to store information about a decoded message. struct modesMessage { // Generic fields unsigned char msg[MODES_LONG_MSG_BYTES]; // Binary message. int msgbits; // Number of bits in message int msgtype; // Downlink format # int crcok; // True if CRC was valid uint32_t crc; // Message CRC int correctedbits; // No. of bits corrected char corrected[MODES_MAX_BITERRORS]; // corrected bit positions uint32_t addr; // ICAO Address from bytes 1 2 and 3 int phase_corrected; // True if phase correction was applied uint64_t timestampMsg; // Timestamp of the message int remote; // If set this message is from a remote station unsigned char signalLevel; // Signal Amplitude // DF 11 int ca; // Responder capabilities int iid; // DF 17, DF 18 int metype; // Extended squitter message type. int mesub; // Extended squitter message subtype. int heading; // Reported by aircraft, or computed from from EW and NS velocity int raw_latitude; // Non decoded latitude. int raw_longitude; // Non decoded longitude. double fLat; // Coordinates obtained from CPR encoded data if/when decoded double fLon; // Coordinates obtained from CPR encoded data if/when decoded char flight[16]; // 8 chars flight number. int ew_velocity; // E/W velocity. int ns_velocity; // N/S velocity. int vert_rate; // Vertical rate. int velocity; // Reported by aircraft, or computed from from EW and NS velocity // DF4, DF5, DF20, DF21 int fs; // Flight status for DF4,5,20,21 int modeA; // 13 bits identity (Squawk). // Fields used by multiple message types. int altitude; int unit; int bFlags; // Flags related to fields in this structure }; // ======================== function declarations ========================= #ifdef __cplusplus extern "C" { #endif // // Functions exported from mode_ac.c // int detectModeA (uint16_t *m, struct modesMessage *mm); void decodeModeAMessage(struct modesMessage *mm, int ModeA); int ModeAToModeC (unsigned int ModeA); // // Functions exported from mode_s.c // void detectModeS (uint16_t *m, uint32_t mlen); void decodeModesMessage (struct modesMessage *mm, unsigned char *msg); void displayModesMessage(struct modesMessage *mm); void useModesMessage (struct modesMessage *mm); void computeMagnitudeVector(uint16_t *pData); void decodeCPR (struct aircraft *a, int fflag, int surface); int decodeCPRrelative (struct aircraft *a, int fflag, int surface); void modesInitErrorInfo (); // // Functions exported from interactive.c // struct aircraft* interactiveReceiveData(struct modesMessage *mm); void interactiveShowData(void); void interactiveRemoveStaleAircrafts(void); int decodeBinMessage (struct client *c, char *p); struct aircraft *interactiveFindAircraft(uint32_t addr); struct stDF *interactiveFindDF (uint32_t addr); // // Functions exported from net_io.c // void modesInitNet (void); void modesReadFromClients (void); void modesSendAllClients (int service, void *msg, int len); void modesQueueOutput (struct modesMessage *mm); void modesReadFromClient(struct client *c, char *sep, int(*handler)(struct client *, char *)); #ifdef __cplusplus } #endif #endif // __DUMP1090_H