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dump1090/dump1090.c
Malcolm Robb cc464b0a34 User Lat/Lon setting 
Based on initial code supplied by VK1ET

Allow the user to specify their receivers (technically their aerials)
physical location. This is required for decoding ground positions, and
also for uploading aircraft data to various sharer sites.

The position can be hardwired by setting the MODES_USER_LATITUDE_DFLT
and MODES_USER_LONGITUDE_DFLT constants before compilation, or entered
at runtime via the new command line switches --lat and --lon.   Either
way, the values are checked for validity before use.
2013-05-09 11:29:18 +01:00

3651 lines
143 KiB
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/* dump1090, a Mode S messages decoder for RTLSDR devices.
*
* Copyright (C) 2012 by Salvatore Sanfilippo <antirez@gmail.com>
*
* 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 _WIN32
#include <stdio.h>
#include <string.h>
#include <stdlib.h>
#include <pthread.h>
#include <stdint.h>
#include <errno.h>
#include <unistd.h>
#include <math.h>
#include <sys/time.h>
#include <sys/timeb.h>
#include <signal.h>
#include <fcntl.h>
#include <ctype.h>
#include <sys/stat.h>
#include "rtl-sdr.h"
#include "anet.h"
#else
#include "dump1090.h" //Put everything Windows specific in here
#include "rtl-sdr.h"
#endif
// 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 "1.04.0905.13"
#define MODES_USER_LATITUDE_DFLT (0.0)
#define MODES_USER_LONGITUDE_DFLT (0.0)
#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 12
#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 */
#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_SBS_LAT_LONG_FRESH (1<<0)
#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 15 /* Rows on screen */
#define MODES_INTERACTIVE_TTL 60 /* TTL before being removed */
#define MODES_NET_MAX_FD 1024
#define MODES_NET_OUTPUT_SBS_PORT 30003
#define MODES_NET_OUTPUT_RAW_PORT 30002
#define MODES_NET_INPUT_RAW_PORT 30001
#define MODES_NET_HTTP_PORT 8080
#define MODES_CLIENT_BUF_SIZE 1024
#define MODES_NET_SNDBUF_SIZE (1024*64)
#define MODES_NOTUSED(V) ((void) V)
/* Structure used to describe a networking client. */
struct client {
int fd; /* File descriptor. */
int service; /* TCP port the client is connected to. */
char buf[MODES_CLIENT_BUF_SIZE+1]; /* Read buffer. */
int buflen; /* Amount of data on 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 computed from EW and NS components
int track; // Angle of flight
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;
double lat, lon; // Coordinated obtained from CPR encoded data
int sbsflags;
uint64_t odd_cprtime, even_cprtime;
struct aircraft *next; // Next aircraft in our linked list
};
/* 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 *data; /* Raw IQ samples buffer */
uint16_t *magnitude; /* Magnitude vector */
struct timeb stSystemTimeRTL; /* System time when RTL passed us the Latest block */
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. */
int data_ready; /* Data ready to be processed. */
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[MODES_NET_MAX_FD]; /* Our clients. */
int maxfd; /* Greatest fd currently active. */
int sbsos; /* SBS output listening socket. */
int ros; /* Raw output listening socket. */
int ris; /* Raw input listening socket. */
int https; /* HTTP listening socket. */
char * rawOut; /* Buffer for building raw output data */
int rawOutUsed; /* How much if the buffer is currently used */
/* Configuration */
char *filename; /* Input form file, --ifile option. */
int fix_errors; /* Single bit error correction if true. */
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_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_http_port; /* HTTP port. */
int quiet; /* Suppress stdout */
int interactive; /* Interactive mode */
int interactive_rows; /* Interactive mode: max number of rows. */
int interactive_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 aggressive; /* Aggressive detection algorithm. */
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 */
/* Statistics */
unsigned int stat_valid_preamble;
unsigned int stat_demodulated;
unsigned int stat_goodcrc;
unsigned int stat_badcrc;
unsigned int stat_fixed;
unsigned int stat_single_bit_fix;
unsigned int stat_two_bits_fix;
unsigned int stat_http_requests;
unsigned int stat_sbs_connections;
unsigned int stat_out_of_phase;
unsigned int stat_DF_Len_Corrected;
unsigned int stat_DF_Type_Corrected;
unsigned int stat_ModeAC;
} 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 errorbit; // Bit corrected. -1 if no bit corrected
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
unsigned char signalLevel; // Signal Amplitude
// DF 11
int ca; // Responder capabilities
int iid;
// DF 17
int metype; // Extended squitter message type.
int mesub; // Extended squitter message subtype.
int heading_is_valid;
int heading; // Reported by aircraft, or computed from from EW and NS velocity
int fflag; // 1 = Odd, 0 = Even CPR message.
int tflag; // UTC synchronized?
int raw_latitude; // Non decoded latitude.
int raw_longitude; // Non decoded longitude.
char flight[16]; // 8 chars flight number.
int ew_dir; // 0 = East, 1 = West.
int ew_velocity; // E/W velocity.
int ns_dir; // 0 = North, 1 = South.
int ns_velocity; // N/S velocity.
int vert_rate_source; // Vertical rate source.
int vert_rate_sign; // Vertical rate sign.
int vert_rate; // Vertical rate.
int velocity; // Reported by aircraft, or computed from from EW and NS velocity
int tasflag; // TAS or IAS
// DF4, DF5, DF20, DF21
int fs; // Flight status for DF4,5,20,21
int dr; // Request extraction of downlink request.
int um; // Request extraction of downlink request.
int modeA; // 13 bits identity (Squawk).
// Fields used by multiple message types.
int altitude, unit;
};
void interactiveShowData(void);
struct aircraft* interactiveReceiveData(struct modesMessage *mm);
void modesSendAllClients(int service, void *msg, int len);
void modesSendRawOutput(struct modesMessage *mm);
void modesSendBeastOutput(struct modesMessage *mm);
void modesSendSBSOutput(struct modesMessage *mm, struct aircraft *a);
void useModesMessage(struct modesMessage *mm);
int fixSingleBitErrors(unsigned char *msg, int bits);
int fixTwoBitsErrors(unsigned char *msg, int bits);
int modesMessageLenByType(int type);
/* ============================= Utility functions ========================== */
static uint64_t mstime(void) {
struct timeval tv;
uint64_t mst;
gettimeofday(&tv, NULL);
mst = ((uint64_t)tv.tv_sec)*1000;
mst += tv.tv_usec/1000;
return mst;
}
void sigintHandler(int dummy) {
MODES_NOTUSED(dummy);
Modes.exit = 1; // Signal to threads that we are done
}
/* =============================== Initialization =========================== */
void modesInitConfig(void) {
// Default everything to zero/NULL
memset(&Modes, 0, sizeof(Modes));
// Now initialise things that should not be 0/NULL to their defaults
Modes.gain = MODES_MAX_GAIN;
Modes.freq = MODES_DEFAULT_FREQ;
Modes.check_crc = 1;
Modes.net_output_sbs_port = MODES_NET_OUTPUT_SBS_PORT;
Modes.net_output_raw_port = MODES_NET_OUTPUT_RAW_PORT;
Modes.net_input_raw_port = MODES_NET_INPUT_RAW_PORT;
Modes.net_http_port = MODES_NET_HTTP_PORT;
Modes.interactive_rows = MODES_INTERACTIVE_ROWS;
Modes.interactive_ttl = MODES_INTERACTIVE_TTL;
Modes.fUserLat = MODES_USER_LATITUDE_DFLT;
Modes.fUserLon = MODES_USER_LONGITUDE_DFLT;
}
void modesInit(void) {
int i, q;
pthread_mutex_init(&Modes.data_mutex,NULL);
pthread_cond_init(&Modes.data_cond,NULL);
// Allocate the various buffers used by Modes
if ( ((Modes.icao_cache = (uint32_t *) malloc(sizeof(uint32_t) * MODES_ICAO_CACHE_LEN * 2) ) == NULL) ||
((Modes.data = (uint16_t *) malloc(MODES_ASYNC_BUF_SIZE) ) == NULL) ||
((Modes.magnitude = (uint16_t *) malloc(MODES_ASYNC_BUF_SIZE+MODES_PREAMBLE_SIZE+MODES_LONG_MSG_SIZE) ) == NULL) ||
((Modes.maglut = (uint16_t *) malloc(sizeof(uint16_t) * 256 * 256) ) == NULL) ||
((Modes.rawOut = (char *) malloc(MODES_RAWOUT_BUF_SIZE) ) == NULL) )
{
fprintf(stderr, "Out of memory allocating data buffer.\n");
exit(1);
}
// Clear the buffers that have just been allocated, just in-case
memset(Modes.icao_cache, 0, sizeof(uint32_t) * MODES_ICAO_CACHE_LEN * 2);
memset(Modes.data, 127, MODES_ASYNC_BUF_SIZE);
memset(Modes.magnitude, 0, MODES_ASYNC_BUF_SIZE+MODES_PREAMBLE_SIZE+MODES_LONG_MSG_SIZE);
// Validate the users Lat/Lon home location inputs
if ( (Modes.fUserLat > 90.0) // Latitude must be -90 to +90
|| (Modes.fUserLat < -90.0) // and
|| (Modes.fUserLon > 360.0) // Longitude must be -180 to +360
|| (Modes.fUserLon < -180.0) ) {
Modes.fUserLat = Modes.fUserLon = 0.0;
} else if (Modes.fUserLon > 180.0) { // If Longitude is +180 to +360, make it -180 to 0
Modes.fUserLon -= 360.0;
}
// If both Lat and Lon are 0.0 then the users location is either invalid/not-set, or (s)he's in the
// Atlantic ocean off the west coast of Africa. This is unlikely to be correct.
// Set the user LatLon valid flag only if either Lat or Lon are non zero. Note the Greenwich meridian
// is at 0.0 Lon,so we must check for either fLat or fLon being non zero not both.
// Testing the flag at runtime will be much quicker than ((fLon != 0.0) || (fLat != 0.0))
Modes.bUserFlags &= ~MODES_USER_LATLON_VALID;
if ((Modes.fUserLat != 0.0) || (Modes.fUserLon != 0.0)) {
Modes.bUserFlags |= MODES_USER_LATLON_VALID;
}
// Limit the maximum requested raw output size to less than one Ethernet Block
if (Modes.net_output_raw_size > (MODES_RAWOUT_BUF_FLUSH))
{Modes.net_output_raw_size = MODES_RAWOUT_BUF_FLUSH;}
if (Modes.net_output_raw_rate > (MODES_RAWOUT_BUF_RATE))
{Modes.net_output_raw_rate = MODES_RAWOUT_BUF_RATE;}
// Initialise the Block Timers to something half sensible
ftime(&Modes.stSystemTimeRTL);
Modes.stSystemTimeBlk = Modes.stSystemTimeRTL;
// Each I and Q value varies from 0 to 255, which represents a range from -1 to +1. To get from the
// unsigned (0-255) range you therefore subtract 127 (or 128 or 127.5) from each I and Q, giving you
// a range from -127 to +128 (or -128 to +127, or -127.5 to +127.5)..
//
// To decode the AM signal, you need the magnitude of the waveform, which is given by sqrt((I^2)+(Q^2))
// The most this could be is if I&Q are both 128 (or 127 or 127.5), so you could end up with a magnitude
// of 181.019 (or 179.605, or 180.312)
//
// However, in reality the magnitude of the signal should never exceed the range -1 to +1, because the
// values are I = rCos(w) and Q = rSin(w). Therefore the integer computed magnitude should (can?) never
// exceed 128 (or 127, or 127.5 or whatever)
//
// If we scale up the results so that they range from 0 to 65535 (16 bits) then we need to multiply
// by 511.99, (or 516.02 or 514). antirez's original code multiplies by 360, presumably because he's
// assuming the maximim calculated amplitude is 181.019, and (181.019 * 360) = 65166.
//
// So lets see if we can improve things by subtracting 127.5, Well in integer arithmatic we can't
// subtract half, so, we'll double everything up and subtract one, and then compensate for the doubling
// in the multiplier at the end.
//
// If we do this we can never have I or Q equal to 0 - they can only be as small as +/- 1.
// This gives us a minimum magnitude of root 2 (0.707), so the dynamic range becomes (1.414-255). This
// also affects our scaling value, which is now 65535/(255 - 1.414), or 258.433254
//
// The sums then become mag = 258.433254 * (sqrt((I*2-255)^2 + (Q*2-255)^2) - 1.414)
// or mag = (258.433254 * sqrt((I*2-255)^2 + (Q*2-255)^2)) - 365.4798
//
// We also need to clip mag just incaes any rogue I/Q values somehow do have a magnitude greater than 255.
//
for (i = 0; i <= 255; i++) {
for (q = 0; q <= 255; q++) {
int mag, mag_i, mag_q;
mag_i = (i * 2) - 255;
mag_q = (q * 2) - 255;
mag = (int) round((sqrt((mag_i*mag_i)+(mag_q*mag_q)) * 258.433254) - 365.4798);
Modes.maglut[(i*256)+q] = (uint16_t) ((mag < 65535) ? mag : 65535);
}
}
}
/* =============================== RTLSDR handling ========================== */
void modesInitRTLSDR(void) {
int j;
int device_count;
char vendor[256], product[256], serial[256];
device_count = rtlsdr_get_device_count();
if (!device_count) {
fprintf(stderr, "No supported RTLSDR devices found.\n");
exit(1);
}
fprintf(stderr, "Found %d device(s):\n", device_count);
for (j = 0; j < device_count; j++) {
rtlsdr_get_device_usb_strings(j, vendor, product, serial);
fprintf(stderr, "%d: %s, %s, SN: %s %s\n", j, vendor, product, serial,
(j == Modes.dev_index) ? "(currently selected)" : "");
}
if (rtlsdr_open(&Modes.dev, Modes.dev_index) < 0) {
fprintf(stderr, "Error opening the RTLSDR device: %s\n",
strerror(errno));
exit(1);
}
/* Set gain, frequency, sample rate, and reset the device. */
rtlsdr_set_tuner_gain_mode(Modes.dev,
(Modes.gain == MODES_AUTO_GAIN) ? 0 : 1);
if (Modes.gain != MODES_AUTO_GAIN) {
if (Modes.gain == MODES_MAX_GAIN) {
/* Find the maximum gain available. */
int numgains;
int gains[100];
numgains = rtlsdr_get_tuner_gains(Modes.dev, gains);
Modes.gain = gains[numgains-1];
fprintf(stderr, "Max available gain is: %.2f\n", Modes.gain/10.0);
}
rtlsdr_set_tuner_gain(Modes.dev, Modes.gain);
fprintf(stderr, "Setting gain to: %.2f\n", Modes.gain/10.0);
} else {
fprintf(stderr, "Using automatic gain control.\n");
}
rtlsdr_set_freq_correction(Modes.dev, Modes.ppm_error);
if (Modes.enable_agc) rtlsdr_set_agc_mode(Modes.dev, 1);
rtlsdr_set_center_freq(Modes.dev, Modes.freq);
rtlsdr_set_sample_rate(Modes.dev, MODES_DEFAULT_RATE);
rtlsdr_reset_buffer(Modes.dev);
fprintf(stderr, "Gain reported by device: %.2f\n",
rtlsdr_get_tuner_gain(Modes.dev)/10.0);
}
/* We use a thread reading data in background, while the main thread
* handles decoding and visualization of data to the user.
*
* The reading thread calls the RTLSDR API to read data asynchronously, and
* uses a callback to populate the data buffer.
* A Mutex is used to avoid races with the decoding thread. */
void rtlsdrCallback(unsigned char *buf, uint32_t len, void *ctx) {
MODES_NOTUSED(ctx);
pthread_mutex_lock(&Modes.data_mutex);
ftime(&Modes.stSystemTimeRTL);
if (len > MODES_ASYNC_BUF_SIZE) len = MODES_ASYNC_BUF_SIZE;
/* Read the new data. */
memcpy(Modes.data, buf, len);
Modes.data_ready = 1;
/* Signal to the other thread that new data is ready */
pthread_cond_signal(&Modes.data_cond);
pthread_mutex_unlock(&Modes.data_mutex);
}
/* This is used when --ifile is specified in order to read data from file
* instead of using an RTLSDR device. */
void readDataFromFile(void) {
pthread_mutex_lock(&Modes.data_mutex);
while(1) {
ssize_t nread, toread;
unsigned char *p;
if (Modes.data_ready) {
pthread_cond_wait(&Modes.data_cond,&Modes.data_mutex);
continue;
}
if (Modes.interactive) {
/* When --ifile and --interactive are used together, slow down
* playing at the natural rate of the RTLSDR received. */
pthread_mutex_unlock(&Modes.data_mutex);
usleep(64000);
pthread_mutex_lock(&Modes.data_mutex);
}
toread = MODES_ASYNC_BUF_SIZE;
p = (unsigned char *) Modes.data;
while(toread) {
nread = read(Modes.fd, p, toread);
if (nread <= 0) {
Modes.exit = 1; /* Signal the other thread to exit. */
break;
}
p += nread;
toread -= nread;
}
if (toread) {
/* Not enough data on file to fill the buffer? Pad with
* no signal. */
memset(p,127,toread);
}
Modes.data_ready = 1;
/* Signal to the other thread that new data is ready */
pthread_cond_signal(&Modes.data_cond);
}
}
/* We read data using a thread, so the main thread only handles decoding
* without caring about data acquisition. */
void *readerThreadEntryPoint(void *arg) {
MODES_NOTUSED(arg);
if (Modes.filename == NULL) {
rtlsdr_read_async(Modes.dev, rtlsdrCallback, NULL,
MODES_ASYNC_BUF_NUMBER,
MODES_ASYNC_BUF_SIZE);
} else {
readDataFromFile();
}
return NULL;
}
/* ============================== Debugging ================================= */
/* Helper function for dumpMagnitudeVector().
* It prints a single bar used to display raw signals.
*
* Since every magnitude sample is between 0-255, the function uses
* up to 63 characters for every bar. Every character represents
* a length of 4, 3, 2, 1, specifically:
*
* "O" is 4
* "o" is 3
* "-" is 2
* "." is 1
*/
void dumpMagnitudeBar(int index, int magnitude) {
char *set = " .-o";
char buf[256];
int div = magnitude / 256 / 4;
int rem = magnitude / 256 % 4;
memset(buf,'O',div);
buf[div] = set[rem];
buf[div+1] = '\0';
if (index >= 0)
printf("[%.3d] |%-66s %d\n", index, buf, magnitude);
else
printf("[%.2d] |%-66s %d\n", index, buf, magnitude);
}
/* Display an ASCII-art alike graphical representation of the undecoded
* message as a magnitude signal.
*
* The message starts at the specified offset in the "m" buffer.
* The function will display enough data to cover a short 56 bit message.
*
* If possible a few samples before the start of the messsage are included
* for context. */
void dumpMagnitudeVector(uint16_t *m, uint32_t offset) {
uint32_t padding = 5; /* Show a few samples before the actual start. */
uint32_t start = (offset < padding) ? 0 : offset-padding;
uint32_t end = offset + (MODES_PREAMBLE_SAMPLES)+(MODES_SHORT_MSG_SAMPLES) - 1;
uint32_t j;
for (j = start; j <= end; j++) {
dumpMagnitudeBar(j-offset, m[j]);
}
}
/* Produce a raw representation of the message as a Javascript file
* loadable by debug.html. */
void dumpRawMessageJS(char *descr, unsigned char *msg,
uint16_t *m, uint32_t offset, int fixable)
{
int padding = 5; /* Show a few samples before the actual start. */
int start = offset - padding;
int end = offset + (MODES_PREAMBLE_SAMPLES)+(MODES_LONG_MSG_SAMPLES) - 1;
FILE *fp;
int j, fix1 = -1, fix2 = -1;
if (fixable != -1) {
fix1 = fixable & 0xff;
if (fixable > 255) fix2 = fixable >> 8;
}
if ((fp = fopen("frames.js","a")) == NULL) {
fprintf(stderr, "Error opening frames.js: %s\n", strerror(errno));
exit(1);
}
fprintf(fp,"frames.push({\"descr\": \"%s\", \"mag\": [", descr);
for (j = start; j <= end; j++) {
fprintf(fp,"%d", j < 0 ? 0 : m[j]);
if (j != end) fprintf(fp,",");
}
fprintf(fp,"], \"fix1\": %d, \"fix2\": %d, \"bits\": %d, \"hex\": \"",
fix1, fix2, modesMessageLenByType(msg[0]>>3));
for (j = 0; j < MODES_LONG_MSG_BYTES; j++)
fprintf(fp,"\\x%02x",msg[j]);
fprintf(fp,"\"});\n");
fclose(fp);
}
/* This is a wrapper for dumpMagnitudeVector() that also show the message
* in hex format with an additional description.
*
* descr is the additional message to show to describe the dump.
* msg points to the decoded message
* m is the original magnitude vector
* offset is the offset where the message starts
*
* The function also produces the Javascript file used by debug.html to
* display packets in a graphical format if the Javascript output was
* enabled.
*/
void dumpRawMessage(char *descr, unsigned char *msg,
uint16_t *m, uint32_t offset)
{
int j;
int msgtype = msg[0] >> 3;
int fixable = -1;
if (msgtype == 17) {
fixable = fixSingleBitErrors(msg, MODES_LONG_MSG_BITS);
if (fixable == -1)
fixable = fixTwoBitsErrors(msg, MODES_LONG_MSG_BITS);
}
if (Modes.debug & MODES_DEBUG_JS) {
dumpRawMessageJS(descr, msg, m, offset, fixable);
return;
}
printf("\n--- %s\n ", descr);
for (j = 0; j < MODES_LONG_MSG_BYTES; j++) {
printf("%02x",msg[j]);
if (j == MODES_SHORT_MSG_BYTES-1) printf(" ... ");
}
printf(" (DF %d, Fixable: %d)\n", msgtype, fixable);
dumpMagnitudeVector(m,offset);
printf("---\n\n");
}
/* ===================== Mode A/C detection and decoding =================== */
//
// This table is used to build the Mode A/C variable called ModeABits.Each
// bit period is inspected, and if it's value exceeds the threshold limit,
// then the value in this table is or-ed into ModeABits.
//
// At the end of message processing, ModeABits will be the decoded ModeA value.
//
// We can also flag noise in bits that should be zeros - the xx bits. Noise in
// these bits cause bits (31-16) in ModeABits to be set. Then at the end of message
// processing we can test for errors by looking at these bits.
//
uint32_t ModeABitTable[24] = {
0x00000000, // F1 = 1
0x00000010, // C1
0x00001000, // A1
0x00000020, // C2
0x00002000, // A2
0x00000040, // C4
0x00004000, // A4
0x40000000, // xx = 0 Set bit 30 if we see this high
0x00000100, // B1
0x00000001, // D1
0x00000200, // B2
0x00000002, // D2
0x00000400, // B4
0x00000004, // D4
0x00000000, // F2 = 1
0x08000000, // xx = 0 Set bit 27 if we see this high
0x04000000, // xx = 0 Set bit 26 if we see this high
0x00000080, // SPI
0x02000000, // xx = 0 Set bit 25 if we see this high
0x01000000, // xx = 0 Set bit 24 if we see this high
0x00800000, // xx = 0 Set bit 23 if we see this high
0x00400000, // xx = 0 Set bit 22 if we see this high
0x00200000, // xx = 0 Set bit 21 if we see this high
0x00100000, // xx = 0 Set bit 20 if we see this high
};
//
// This table is used to produce an error variable called ModeAErrs.Each
// inter-bit period is inspected, and if it's value falls outside of the
// expected range, then the value in this table is or-ed into ModeAErrs.
//
// At the end of message processing, ModeAErrs will indicate if we saw
// any inter-bit anomolies, and the bits that are set will show which
// bits had them.
//
uint32_t ModeAMidTable[24] = {
0x80000000, // F1 = 1 Set bit 31 if we see F1_C1 error
0x00000010, // C1 Set bit 4 if we see C1_A1 error
0x00001000, // A1 Set bit 12 if we see A1_C2 error
0x00000020, // C2 Set bit 5 if we see C2_A2 error
0x00002000, // A2 Set bit 13 if we see A2_C4 error
0x00000040, // C4 Set bit 6 if we see C3_A4 error
0x00004000, // A4 Set bit 14 if we see A4_xx error
0x40000000, // xx = 0 Set bit 30 if we see xx_B1 error
0x00000100, // B1 Set bit 8 if we see B1_D1 error
0x00000001, // D1 Set bit 0 if we see D1_B2 error
0x00000200, // B2 Set bit 9 if we see B2_D2 error
0x00000002, // D2 Set bit 1 if we see D2_B4 error
0x00000400, // B4 Set bit 10 if we see B4_D4 error
0x00000004, // D4 Set bit 2 if we see D4_F2 error
0x20000000, // F2 = 1 Set bit 29 if we see F2_xx error
0x08000000, // xx = 0 Set bit 27 if we see xx_xx error
0x04000000, // xx = 0 Set bit 26 if we see xx_SPI error
0x00000080, // SPI Set bit 15 if we see SPI_xx error
0x02000000, // xx = 0 Set bit 25 if we see xx_xx error
0x01000000, // xx = 0 Set bit 24 if we see xx_xx error
0x00800000, // xx = 0 Set bit 23 if we see xx_xx error
0x00400000, // xx = 0 Set bit 22 if we see xx_xx error
0x00200000, // xx = 0 Set bit 21 if we see xx_xx error
0x00100000, // xx = 0 Set bit 20 if we see xx_xx error
};
//
// The "off air" format is,,
// _F1_C1_A1_C2_A2_C4_A4_xx_B1_D1_B2_D2_B4_D4_F2_xx_xx_SPI_
//
// Bit spacing is 1.45uS, with 0.45uS high, and 1.00us low. This is a problem
// because we ase sampling at 2Mhz (500nS) so we are below Nyquist.
//
// The bit spacings are..
// F1 : 0.00,
// 1.45, 2.90, 4.35, 5.80, 7.25, 8.70,
// X : 10.15,
// : 11.60, 13.05, 14.50, 15.95, 17.40, 18.85,
// F2 : 20.30,
// X : 21.75, 23.20, 24.65
//
// This equates to the following sample point centers at 2Mhz.
// [ 0.0],
// [ 2.9], [ 5.8], [ 8.7], [11.6], [14.5], [17.4],
// [20.3],
// [23.2], [26.1], [29.0], [31.9], [34.8], [37.7]
// [40.6]
// [43.5], [46.4], [49.3]
//
// We know that this is a supposed to be a binary stream, so the signal
// should either be a 1 or a 0. Therefore, any energy above the noise level
// in two adjacent samples must be from the same pulse, so we can simply
// add the values together..
//
int detectModeA(uint16_t *m, struct modesMessage *mm)
{
int j, lastBitWasOne;
int ModeABits = 0;
int ModeAErrs = 0;
int byte, bit;
int thisSample, lastBit, lastSpace = 0;
int m0, m1, m2, m3, mPhase;
int n0, n1, n2 ,n3;
int F1_sig, F1_noise;
int F2_sig, F2_noise;
int fSig, fNoise, fLevel, fLoLo;
// m[0] contains the energy from 0 -> 499 nS
// m[1] contains the energy from 500 -> 999 nS
// m[2] contains the energy from 1000 -> 1499 nS
// m[3] contains the energy from 1500 -> 1999 nS
//
// We are looking for a Frame bit (F1) whose width is 450nS, followed by
// 1000nS of quiet.
//
// The width of the frame bit is 450nS, which is 90% of our sample rate.
// Therefore, in an ideal world, all the energy for the frame bit will be
// in a single sample, preceeded by (at least) one zero, and followed by
// two zeros, Best case we can look for ...
//
// 0 - 1 - 0 - 0
//
// However, our samples are not phase aligned, so some of the energy from
// each bit could be spread over two consecutive samples. Worst case is
// that we sample half in one bit, and half in the next. In that case,
// we're looking for
//
// 0 - 0.5 - 0.5 - 0.
m0 = m[0]; m1 = m[1];
if (m0 >= m1) // m1 *must* be bigger than m0 for this to be F1
{return (0);}
m2 = m[2]; m3 = m[3];
//
// if (m2 <= m0), then assume the sample bob on (Phase == 0), so don't look at m3
if ((m2 <= m0) || (m2 < m3))
{m3 = m2; m2 = m0;}
if ( (m3 >= m1) // m1 must be bigger than m3
|| (m0 > m2) // m2 can be equal to m0 if ( 0,1,0,0 )
|| (m3 > m2) ) // m2 can be equal to m3 if ( 0,1,0,0 )
{return (0);}
// m0 = noise
// m1 = noise + (signal * X))
// m2 = noise + (signal * (1-X))
// m3 = noise
//
// Hence, assuming all 4 samples have similar amounts of noise in them
// signal = (m1 + m2) - ((m0 + m3) * 2)
// noise = (m0 + m3) / 2
//
F1_sig = (m1 + m2) - ((m0 + m3) << 1);
F1_noise = (m0 + m3) >> 1;
if ( (F1_sig < MODEAC_MSG_SQUELCH_LEVEL) // minimum required F1 signal amplitude
|| (F1_sig < (F1_noise << 2)) ) // minimum allowable Sig/Noise ratio 4:1
{return (0);}
// If we get here then we have a potential F1, so look for an equally valid F2 20.3uS later
//
// Our F1 is centered somewhere between samples m[1] and m[2]. We can guestimate where F2 is
// by comparing the ratio of m1 and m2, and adding on 20.3 uS (40.6 samples)
//
mPhase = ((m2 * 20) / (m1 + m2));
byte = (mPhase + 812) / 20;
n0 = m[byte++]; n1 = m[byte++];
if (n0 >= n1) // n1 *must* be bigger than n0 for this to be F2
{return (0);}
n2 = m[byte++];
//
// if the sample bob on (Phase == 0), don't look at n3
//
if ((mPhase + 812) % 20)
{n3 = m[byte++];}
else
{n3 = n2; n2 = n0;}
if ( (n3 >= n1) // n1 must be bigger than n3
|| (n0 > n2) // n2 can be equal to n0 ( 0,1,0,0 )
|| (n3 > n2) ) // n2 can be equal to n3 ( 0,1,0,0 )
{return (0);}
F2_sig = (n1 + n2) - ((n0 + n3) << 1);
F2_noise = (n0 + n3) >> 1;
if ( (F2_sig < MODEAC_MSG_SQUELCH_LEVEL) // minimum required F2 signal amplitude
|| (F2_sig < (F2_noise << 2)) ) // maximum allowable Sig/Noise ratio 4:1
{return (0);}
fSig = (F1_sig + F2_sig) >> 1;
fNoise = (F1_noise + F2_noise) >> 1;
fLoLo = fNoise + (fSig >> 2); // 1/2
fLevel = fNoise + (fSig >> 1);
lastBitWasOne = 1;
lastBit = F1_sig;
//
// Now step by a half ModeA bit, 0.725nS, which is 1.45 samples, which is 29/20
// No need to do bit 0 because we've already selected it as a valid F1
// Do several bits past the SPI to increase error rejection
//
for (j = 1, mPhase += 29; j < 48; mPhase += 29, j ++)
{
byte = 1 + (mPhase / 20);
thisSample = m[byte] - fNoise;
if (mPhase % 20) // If the bit is split over two samples...
{thisSample += (m[byte+1] - fNoise);} // add in the second sample's energy
// If we're calculating a space value
if (j & 1)
{lastSpace = thisSample;}
else
{// We're calculating a new bit value
bit = j >> 1;
if (thisSample >= fLevel)
{// We're calculating a new bit value, and its a one
ModeABits |= ModeABitTable[bit--]; // or in the correct bit
if (lastBitWasOne)
{ // This bit is one, last bit was one, so check the last space is somewhere less than one
if ( (lastSpace >= (thisSample>>1)) || (lastSpace >= lastBit) )
{ModeAErrs |= ModeAMidTable[bit];}
}
else
{// This bit,is one, last bit was zero, so check the last space is somewhere less than one
if (lastSpace >= (thisSample >> 1))
{ModeAErrs |= ModeAMidTable[bit];}
}
lastBitWasOne = 1;
}
else
{// We're calculating a new bit value, and its a zero
if (lastBitWasOne)
{ // This bit is zero, last bit was one, so check the last space is somewhere in between
if (lastSpace >= lastBit)
{ModeAErrs |= ModeAMidTable[bit];}
}
else
{// This bit,is zero, last bit was zero, so check the last space is zero too
if (lastSpace >= fLoLo)
{ModeAErrs |= ModeAMidTable[bit];}
}
lastBitWasOne = 0;
}
lastBit = (thisSample >> 1);
}
}
//
// Output format is : 00:A4:A2:A1:00:B4:B2:B1:00:C4:C2:C1:00:D4:D2:D1
//
if ((ModeABits < 3) || (ModeABits & 0xFFFF8808) || (ModeAErrs) )
{return (ModeABits = 0);}
memset(mm, 0, sizeof(*mm));
fSig = (fSig + 0x7F) >> 8;
mm->signalLevel = ((fSig < 255) ? fSig : 255);
return ModeABits;
}
// Input format is : 00:A4:A2:A1:00:B4:B2:B1:00:C4:C2:C1:00:D4:D2:D1
int ModeAToModeC(unsigned int ModeA)
{
unsigned int FiveHundreds = 0;
unsigned int OneHundreds = 0;
if ( (ModeA & 0xFFFF888B) // D1 set is illegal. D2 set is > 62700ft which is unlikely
|| ((ModeA & 0x000000F0) == 0) ) // C1,,C4 cannot be Zero
{return -9999;}
if (ModeA & 0x0010) {OneHundreds ^= 0x007;} // C1
if (ModeA & 0x0020) {OneHundreds ^= 0x003;} // C2
if (ModeA & 0x0040) {OneHundreds ^= 0x001;} // C4
// Remove 7s from OneHundreds (Make 7->5, snd 5->7).
if ((OneHundreds & 5) == 5) {OneHundreds ^= 2;}
// Check for invalid codes, only 1 to 5 are valid
if (OneHundreds > 5)
{return -9999;}
//if (ModeA & 0x0001) {FiveHundreds ^= 0x1FF;} // D1 never used for altitude
if (ModeA & 0x0002) {FiveHundreds ^= 0x0FF;} // D2
if (ModeA & 0x0004) {FiveHundreds ^= 0x07F;} // D4
if (ModeA & 0x1000) {FiveHundreds ^= 0x03F;} // A1
if (ModeA & 0x2000) {FiveHundreds ^= 0x01F;} // A2
if (ModeA & 0x4000) {FiveHundreds ^= 0x00F;} // A4
if (ModeA & 0x0100) {FiveHundreds ^= 0x007;} // B1
if (ModeA & 0x0200) {FiveHundreds ^= 0x003;} // B2
if (ModeA & 0x0400) {FiveHundreds ^= 0x001;} // B4
// Correct order of OneHundreds.
if (FiveHundreds & 1) {OneHundreds = 6 - OneHundreds;}
return ((FiveHundreds * 5) + OneHundreds - 13);
}
void decodeModeAMessage(struct modesMessage *mm, int ModeA)
{
mm->msgtype = 32; // Valid Mode S DF's are DF-00 to DF-31.
// so use 32 to indicate Mode A/C
mm->msgbits = 16; // Fudge up a Mode S style data stream
mm->msg[0] = (ModeA >> 8);
mm->msg[1] = (ModeA);
// Fudge an ICAO address based on Mode A (remove the Ident bit)
// Use an upper address byte of FF, since this is ICAO unallocated
mm->addr = 0x00FF0000 | (ModeA & 0x0000FF7F);
// Set the Identity field to ModeA
mm->modeA = ModeA & 0x7777;
// Flag ident in flight status
mm->fs = ModeA & 0x0080;
// Not much else we can tell from a Mode A/C reply.
// Just fudge up a few bits to keep other code happy
mm->crcok = 1;
mm->errorbit = -1;
}
/* ===================== Mode S detection and decoding ===================== */
/* Parity table for MODE S Messages.
* The table contains 112 elements, every element corresponds to a bit set
* in the message, starting from the first bit of actual data after the
* preamble.
*
* For messages of 112 bit, the whole table is used.
* For messages of 56 bits only the last 56 elements are used.
*
* The algorithm is as simple as xoring all the elements in this table
* for which the corresponding bit on the message is set to 1.
*
* The latest 24 elements in this table are set to 0 as the checksum at the
* end of the message should not affect the computation.
*
* Note: this function can be used with DF11 and DF17, other modes have
* the CRC xored with the sender address as they are reply to interrogations,
* but a casual listener can't split the address from the checksum.
*/
uint32_t modes_checksum_table[112] = {
0x3935ea, 0x1c9af5, 0xf1b77e, 0x78dbbf, 0xc397db, 0x9e31e9, 0xb0e2f0, 0x587178,
0x2c38bc, 0x161c5e, 0x0b0e2f, 0xfa7d13, 0x82c48d, 0xbe9842, 0x5f4c21, 0xd05c14,
0x682e0a, 0x341705, 0xe5f186, 0x72f8c3, 0xc68665, 0x9cb936, 0x4e5c9b, 0xd8d449,
0x939020, 0x49c810, 0x24e408, 0x127204, 0x093902, 0x049c81, 0xfdb444, 0x7eda22,
0x3f6d11, 0xe04c8c, 0x702646, 0x381323, 0xe3f395, 0x8e03ce, 0x4701e7, 0xdc7af7,
0x91c77f, 0xb719bb, 0xa476d9, 0xadc168, 0x56e0b4, 0x2b705a, 0x15b82d, 0xf52612,
0x7a9309, 0xc2b380, 0x6159c0, 0x30ace0, 0x185670, 0x0c2b38, 0x06159c, 0x030ace,
0x018567, 0xff38b7, 0x80665f, 0xbfc92b, 0xa01e91, 0xaff54c, 0x57faa6, 0x2bfd53,
0xea04ad, 0x8af852, 0x457c29, 0xdd4410, 0x6ea208, 0x375104, 0x1ba882, 0x0dd441,
0xf91024, 0x7c8812, 0x3e4409, 0xe0d800, 0x706c00, 0x383600, 0x1c1b00, 0x0e0d80,
0x0706c0, 0x038360, 0x01c1b0, 0x00e0d8, 0x00706c, 0x003836, 0x001c1b, 0xfff409,
0x000000, 0x000000, 0x000000, 0x000000, 0x000000, 0x000000, 0x000000, 0x000000,
0x000000, 0x000000, 0x000000, 0x000000, 0x000000, 0x000000, 0x000000, 0x000000,
0x000000, 0x000000, 0x000000, 0x000000, 0x000000, 0x000000, 0x000000, 0x000000
};
uint32_t modesChecksum(unsigned char *msg, int bits) {
uint32_t crc = 0;
uint32_t rem = 0;
int offset = (bits == 112) ? 0 : (112-56);
uint8_t theByte = *msg;
uint32_t * pCRCTable = &modes_checksum_table[offset];
int j;
for(j = 0; j < bits; j++) {
if ((j & 7) == 0)
{theByte = *msg++; rem = (rem << 8) | theByte;}
// If bit is set, xor with corresponding table entry.
if (theByte & 0x80) {crc ^= *pCRCTable;}
pCRCTable++;
theByte = theByte << 1;
}
return ((crc ^ rem) & 0x00FFFFFF); // 24 bit checksum.
}
//
// Given the Downlink Format (DF) of the message, return the message length in bits.
//
// All known DF's 16 or greater are long. All known DF's 15 or less are short.
// There are lots of unused codes in both category, so we can assume ICAO will stick to
// these rules, meaning that the most significant bit of the DF indicates the length.
//
int modesMessageLenByType(int type) {
return (type & 0x10) ? MODES_LONG_MSG_BITS : MODES_SHORT_MSG_BITS ;
}
//
// Try to fix single bit errors using the checksum. On success modifies
// the original buffer with the fixed version, and returns the position
// of the error bit. Otherwise if fixing failed -1 is returned.
//
int fixSingleBitErrors(unsigned char *msg, int bits) {
int j;
unsigned char aux[MODES_LONG_MSG_BYTES];
memcpy(aux, msg, bits/8);
// Do not attempt to error correct Bits 0-4. These contain the DF, and must
// be correct because we can only error correct DF17
for (j = 5; j < bits; j++) {
int byte = j/8;
int bitmask = 1 << (7 - (j & 7));
aux[byte] ^= bitmask; // Flip j-th bit
if (0 == modesChecksum(aux, bits)) {
// The error is fixed. Overwrite the original buffer with the
// corrected sequence, and returns the error bit position
msg[byte] = aux[byte];
return (j);
}
aux[byte] ^= bitmask; // Flip j-th bit back again
}
return (-1);
}
//
// Similar to fixSingleBitErrors() but try every possible two bit combination.
// This is very slow and should be tried only against DF17 messages that
// don't pass the checksum, and only in Aggressive Mode.
//
int fixTwoBitsErrors(unsigned char *msg, int bits) {
int j, i;
unsigned char aux[MODES_LONG_MSG_BYTES];
memcpy(aux, msg, bits/8);
// Do not attempt to error correct Bits 0-4. These contain the DF, and must
// be correct because we can only error correct DF17
for (j = 5; j < bits; j++) {
int byte1 = j/8;
int bitmask1 = 1 << (7 - (j & 7));
aux[byte1] ^= bitmask1; // Flip j-th bit
// Don't check the same pairs multiple times, so i starts from j+1
for (i = j+1; i < bits; i++) {
int byte2 = i/8;
int bitmask2 = 1 << (7 - (i & 7));
aux[byte2] ^= bitmask2; // Flip i-th bit
if (0 == modesChecksum(aux, bits)) {
// The error is fixed. Overwrite the original buffer with
// the corrected sequence, and returns the error bit position
msg[byte1] = aux[byte1];
msg[byte2] = aux[byte2];
// We return the two bits as a 16 bit integer by shifting
// 'i' on the left. This is possible since 'i' will always
// be non-zero because i starts from j+1
return (j | (i << 8));
aux[byte2] ^= bitmask2; // Flip i-th bit back
}
aux[byte1] ^= bitmask1; // Flip j-th bit back
}
}
return (-1);
}
/* Hash the ICAO address to index our cache of MODES_ICAO_CACHE_LEN
* elements, that is assumed to be a power of two. */
uint32_t ICAOCacheHashAddress(uint32_t a) {
/* The following three rounds wil make sure that every bit affects
* every output bit with ~ 50% of probability. */
a = ((a >> 16) ^ a) * 0x45d9f3b;
a = ((a >> 16) ^ a) * 0x45d9f3b;
a = ((a >> 16) ^ a);
return a & (MODES_ICAO_CACHE_LEN-1);
}
/* Add the specified entry to the cache of recently seen ICAO addresses.
* Note that we also add a timestamp so that we can make sure that the
* entry is only valid for MODES_ICAO_CACHE_TTL seconds. */
void addRecentlySeenICAOAddr(uint32_t addr) {
uint32_t h = ICAOCacheHashAddress(addr);
Modes.icao_cache[h*2] = addr;
Modes.icao_cache[h*2+1] = (uint32_t) time(NULL);
}
/* Returns 1 if the specified ICAO address was seen in a DF format with
* proper checksum (not xored with address) no more than * MODES_ICAO_CACHE_TTL
* seconds ago. Otherwise returns 0. */
int ICAOAddressWasRecentlySeen(uint32_t addr) {
uint32_t h = ICAOCacheHashAddress(addr);
uint32_t a = Modes.icao_cache[h*2];
uint32_t t = Modes.icao_cache[h*2+1];
return a && a == addr && time(NULL)-t <= MODES_ICAO_CACHE_TTL;
}
//
// In the squawk (identity) field bits are interleaved as follows in
// (message bit 20 to bit 32):
//
// C1-A1-C2-A2-C4-A4-ZERO-B1-D1-B2-D2-B4-D4
//
// So every group of three bits A, B, C, D represent an integer from 0 to 7.
//
// The actual meaning is just 4 octal numbers, but we convert it into a hex
// number tha happens to represent the four octal numbers.
//
// For more info: http://en.wikipedia.org/wiki/Gillham_code
//
int decodeID13Field(int ID13Field) {
int hexGillham = 0;
if (ID13Field & 0x1000) {hexGillham |= 0x0010;} // Bit 12 = C1
if (ID13Field & 0x0800) {hexGillham |= 0x1000;} // Bit 11 = A1
if (ID13Field & 0x0400) {hexGillham |= 0x0020;} // Bit 10 = C2
if (ID13Field & 0x0200) {hexGillham |= 0x2000;} // Bit 9 = A2
if (ID13Field & 0x0100) {hexGillham |= 0x0040;} // Bit 8 = C4
if (ID13Field & 0x0080) {hexGillham |= 0x4000;} // Bit 7 = A4
//if (ID13Field & 0x0040) {hexGillham |= 0x0800;} // Bit 6 = X or M
if (ID13Field & 0x0020) {hexGillham |= 0x0100;} // Bit 5 = B1
if (ID13Field & 0x0010) {hexGillham |= 0x0001;} // Bit 4 = D1 or Q
if (ID13Field & 0x0008) {hexGillham |= 0x0200;} // Bit 3 = B2
if (ID13Field & 0x0004) {hexGillham |= 0x0002;} // Bit 2 = D2
if (ID13Field & 0x0002) {hexGillham |= 0x0400;} // Bit 1 = B4
if (ID13Field & 0x0001) {hexGillham |= 0x0004;} // Bit 0 = D4
return (hexGillham);
}
//
// Decode the 13 bit AC altitude field (in DF 20 and others).
// Returns the altitude, and set 'unit' to either MODES_UNIT_METERS or MDOES_UNIT_FEETS.
//
int decodeAC13Field(int AC13Field, int *unit) {
int m_bit = AC13Field & 0x0040; // set = meters, clear = feet
int q_bit = AC13Field & 0x0010; // set = 25 ft encoding, clear = Gillham Mode C encoding
if (!m_bit) {
*unit = MODES_UNIT_FEET;
if (q_bit) {
// N is the 11 bit integer resulting from the removal of bit Q and M
int n = ((AC13Field & 0x1F80) >> 2) |
((AC13Field & 0x0020) >> 1) |
(AC13Field & 0x000F);
// The final altitude is resulting number multiplied by 25, minus 1000.
return ((n * 25) - 1000);
} else {
// N is an 11 bit Gillham coded altitude
int n = ModeAToModeC(decodeID13Field(AC13Field));
if (n < -12) {n = 0;}
return (100 * n);
}
} else {
*unit = MODES_UNIT_METERS;
// TODO: Implement altitude when meter unit is selected
}
return 0;
}
//
// Decode the 12 bit AC altitude field (in DF 17 and others).
//
int decodeAC12Field(int AC12Field, int *unit) {
int q_bit = AC12Field & 0x10; // Bit 48 = Q
*unit = MODES_UNIT_FEET;
if (q_bit) {
/// N is the 11 bit integer resulting from the removal of bit Q at bit 4
int n = ((AC12Field & 0x0FE0) >> 1) |
(AC12Field & 0x000F);
// The final altitude is the resulting number multiplied by 25, minus 1000.
return ((n * 25) - 1000);
} else {
// Make N a 13 bit Gillham coded altitude by inserting M=0 at bit 6
int n = ((AC12Field & 0x0FC0) << 1) |
(AC12Field & 0x003F);
n = ModeAToModeC(decodeID13Field(n));
if (n < -12) {n = 0;}
return (100 * n);
}
}
//
// Decode the 7 bit ground movement field PWL exponential style scale
//
int decodeMovementField(int movement) {
int gspeed;
// Note : movement codes 0,125,126,127 are all invalid, but they are
// trapped for before this function is called.
if (movement > 123) gspeed = 199; // > 175kt
else if (movement > 108) gspeed = ((movement - 108) * 5) + 100;
else if (movement > 93) gspeed = ((movement - 93) * 2) + 70;
else if (movement > 38) gspeed = ((movement - 38) ) + 15;
else if (movement > 12) gspeed = ((movement - 11) >> 1) + 2;
else if (movement > 8) gspeed = ((movement - 6) >> 2) + 1;
else gspeed = 0;
return (gspeed);
}
/* Capability table. */
char *ca_str[8] = {
/* 0 */ "Level 1 (Survillance Only)",
/* 1 */ "Level 2 (DF0,4,5,11)",
/* 2 */ "Level 3 (DF0,4,5,11,20,21)",
/* 3 */ "Level 4 (DF0,4,5,11,20,21,24)",
/* 4 */ "Level 2+3+4 (DF0,4,5,11,20,21,24,code7 - is on ground)",
/* 5 */ "Level 2+3+4 (DF0,4,5,11,20,21,24,code7 - is on airborne)",
/* 6 */ "Level 2+3+4 (DF0,4,5,11,20,21,24,code7)",
/* 7 */ "Level 7 ???"
};
/* Flight status table. */
char *fs_str[8] = {
/* 0 */ "Normal, Airborne",
/* 1 */ "Normal, On the ground",
/* 2 */ "ALERT, Airborne",
/* 3 */ "ALERT, On the ground",
/* 4 */ "ALERT & Special Position Identification. Airborne or Ground",
/* 5 */ "Special Position Identification. Airborne or Ground",
/* 6 */ "Value 6 is not assigned",
/* 7 */ "Value 7 is not assigned"
};
char *getMEDescription(int metype, int mesub) {
char *mename = "Unknown";
if (metype >= 1 && metype <= 4)
mename = "Aircraft Identification and Category";
else if (metype >= 5 && metype <= 8)
mename = "Surface Position";
else if (metype >= 9 && metype <= 18)
mename = "Airborne Position (Baro Altitude)";
else if (metype == 19 && mesub >=1 && mesub <= 4)
mename = "Airborne Velocity";
else if (metype >= 20 && metype <= 22)
mename = "Airborne Position (GNSS Height)";
else if (metype == 23 && mesub == 0)
mename = "Test Message";
else if (metype == 24 && mesub == 1)
mename = "Surface System Status";
else if (metype == 28 && mesub == 1)
mename = "Extended Squitter Aircraft Status (Emergency)";
else if (metype == 28 && mesub == 2)
mename = "Extended Squitter Aircraft Status (1090ES TCAS RA)";
else if (metype == 29 && (mesub == 0 || mesub == 1))
mename = "Target State and Status Message";
else if (metype == 31 && (mesub == 0 || mesub == 1))
mename = "Aircraft Operational Status Message";
return mename;
}
//
// Decode a raw Mode S message demodulated as a stream of bytes by detectModeS(),
// and split it into fields populating a modesMessage structure.
//
void decodeModesMessage(struct modesMessage *mm, unsigned char *msg) {
char *ais_charset = "?ABCDEFGHIJKLMNOPQRSTUVWXYZ????? ???????????????0123456789??????";
// Work on our local copy
memcpy(mm->msg, msg, MODES_LONG_MSG_BYTES);
msg = mm->msg;
// Get the message type ASAP as other operations depend on this
mm->msgtype = msg[0] >> 3; // Downlink Format
mm->msgbits = modesMessageLenByType(mm->msgtype);
mm->errorbit = -1; // No errors fixed
mm->phase_corrected = 0;
mm->crc = modesChecksum(msg, mm->msgbits);
if ((mm->crc) && (Modes.fix_errors) && (mm->msgtype == 17)) {
// if ((mm->crc) && (Modes.fix_errors) && ((mm->msgtype == 11) || (mm->msgtype == 17))) {
//
// Fixing single bit errors in DF-11 is a bit dodgy because we have no way to
// know for sure if the crc is supposed to be 0 or not - it could be any value
// less than 80. Therefore, attempting to fix DF-11 errors can result in a
// multitude of possible crc solutions, only one of which is correct.
//
// We should probably perform some sanity checks on corrected DF-11's before
// using the results. Perhaps check the ICAO against known aircraft, and check
// IID against known good IID's. That's a TODO.
//
mm->errorbit = fixSingleBitErrors(msg, mm->msgbits);
if ((mm->errorbit == -1) && (Modes.aggressive)) {
mm->errorbit = fixTwoBitsErrors(msg, mm->msgbits);
}
}
//
// Note that most of the other computation happens *after* we fix the
// single/two bit errors, otherwise we would need to recompute the fields again.
//
if (mm->msgtype == 11) { // DF 11
mm->crcok = (mm->crc < 80);
mm->iid = mm->crc;
mm->addr = (msg[1] << 16) | (msg[2] << 8) | (msg[3]);
if (0 == mm->crc) {
// DF 11 : if crc == 0 try to populate our ICAO addresses whitelist.
addRecentlySeenICAOAddr(mm->addr);
}
} else if (mm->msgtype == 17) { // DF 17
mm->crcok = (mm->crc == 0);
mm->addr = (msg[1] << 16) | (msg[2] << 8) | (msg[3]);
if (-1 != mm->errorbit) {
// DF 17 : if (error corrected) force crc = 0 but do not try to add this address
// to the whitelist of recently seen ICAO addresses.
mm->crc = 0;
} else if (0 == mm->crc) {
// DF 17 : if uncorrected and crc == 0 add this address to the whitelist of
// recently seen ICAO addresses.
addRecentlySeenICAOAddr(mm->addr);
}
} else { // All other DF's
// Compare the checksum with the whitelist of recently seen ICAO
// addresses. If it matches one, then declare the message as valid
mm->addr = mm->crc;
mm->crcok = ICAOAddressWasRecentlySeen(mm->crc);
}
// Fields for DF4,5,20,21
mm->ca = // Responder capabilities
mm->fs = msg[0] & 7; // Flight status for DF4,5,20,21
mm->dr = (msg[1] >> 3) & 0x1F; // Request extraction of downlink request
mm->um = ((msg[1] & 7) << 3) | (msg[2] >> 5); // Request extraction of downlink request
// Fields for DF5, DF21 = Gillham encoded Squawk
if (mm->msgtype == 5 || mm->msgtype == 21) {
mm->modeA = decodeID13Field((msg[2] << 8) | msg[3]);
}
// Fields for DF0, DF4, DF16, DF20 13 bit altitude
if (mm->msgtype == 0 || mm->msgtype == 4 ||
mm->msgtype == 16 || mm->msgtype == 20) {
int AC13Field = ((msg[2] << 8) | msg[3]) & 0x1FFF;
if (AC13Field) { // Only attempt to decode if a valid (non zero) altitude is present
mm->altitude = decodeAC13Field(AC13Field, &mm->unit);
}
}
// Fields for DF17 squitter
if (mm->msgtype == 17) {
mm->metype = msg[4] >> 3; // Extended squitter message type
mm->mesub = msg[4] & 7; // Extended squitter message subtype
// Decode the extended squitter message
if (mm->metype >= 1 && mm->metype <= 4) { // Aircraft Identification and Category
uint32_t chars;
chars = (msg[5] << 16) | (msg[6] << 8) | (msg[7]);
mm->flight[3] = ais_charset[chars & 0x3F]; chars = chars >> 6;
mm->flight[2] = ais_charset[chars & 0x3F]; chars = chars >> 6;
mm->flight[1] = ais_charset[chars & 0x3F]; chars = chars >> 6;
mm->flight[0] = ais_charset[chars & 0x3F];
chars = (msg[8] << 16) | (msg[9] << 8) | (msg[10]);
mm->flight[7] = ais_charset[chars & 0x3F]; chars = chars >> 6;
mm->flight[6] = ais_charset[chars & 0x3F]; chars = chars >> 6;
mm->flight[5] = ais_charset[chars & 0x3F]; chars = chars >> 6;
mm->flight[4] = ais_charset[chars & 0x3F];
mm->flight[8] = '\0';
} else if (mm->metype >= 5 && mm->metype <= 18) { // Position Message
mm->fflag = msg[6] & (1<<2);
mm->tflag = msg[6] & (1<<3);
mm->raw_latitude = ((msg[6] & 3) << 15) | (msg[7] << 7) | (msg[8] >> 1);
mm->raw_longitude = ((msg[8] & 1) << 16) | (msg[9] << 8) | (msg[10]);
if (mm->metype >= 9) { // Airborne
int AC12Field = ((msg[5] << 4) | (msg[6] >> 4)) & 0x0FFF;
if (AC12Field) {// Only attempt to decode if a valid (non zero) altitude is present
{mm->altitude = decodeAC12Field(AC12Field, &mm->unit);}
}
} else { // Ground
int movement = ((msg[4] << 4) | (msg[5] >> 4)) & 0x007F;
if ((movement) && (movement < 125))
{mm->velocity = decodeMovementField(movement);}
mm->heading_is_valid = (msg[5] & 0x08);
if (mm->heading_is_valid) {
mm->heading = ((((msg[5] << 4) | (msg[6] >> 4)) & 0x007F) * 45) >> 4;
}
}
} else if (mm->metype == 19) { // Airborne Velocity Message
if ( (mm->mesub >= 1) && (mm->mesub <= 4) ) {
int vert_rate = ((msg[8] & 0x07) << 6) | (msg[9] >> 2);
if (vert_rate) {
mm->vert_rate_source = (msg[8] & 0x10) >> 4;
mm->vert_rate_sign = (msg[8] & 0x08) >> 3;
mm->vert_rate = vert_rate - 1;
}
}
if ((mm->mesub == 1) || (mm->mesub == 2)) {
int ew_raw = ((msg[5] & 0x03) << 8) | msg[6];
int ew_vel = ew_raw - 1;
int ns_raw = ((msg[7] & 0x7F) << 3) | (msg[8] >> 5);
int ns_vel = ew_raw - 1;
if (mm->mesub == 2) { // If (supersonic) unit is 4 kts
ns_vel = ns_vel << 2;
ew_vel = ew_vel << 2;
}
if (ew_raw) { // Do East/West
mm->ew_velocity = ew_vel;
mm->ew_dir = (msg[5] & 0x04) >> 2;
if (mm->ew_dir)
{ew_vel = 0 - ew_vel;}
}
if (ns_raw) { // Do North/South
mm->ns_velocity = ns_vel;
mm->ns_dir = (msg[7] & 0x80) >> 7;
if (mm->ns_dir)
{ns_vel = 0 - ns_vel;}
}
if (ew_raw && ns_raw) {
// Compute velocity and angle from the two speed components
mm->velocity = (int) sqrt((ns_vel * ns_vel) + (ew_vel * ew_vel));
if (mm->velocity) {
mm->heading = (int) (atan2(ew_vel, ns_vel) * 180.0 / M_PI);
// We don't want negative values but a 0-360 scale
if (mm->heading < 0) mm->heading += 360;
}
}
} else if (mm->mesub == 3 || mm->mesub == 4) {
int airspeed = ((msg[7] & 0x7f) << 3) | (msg[8] >> 5);
if (airspeed) {
--airspeed;
if (mm->mesub == 4) // If (supersonic) unit is 4 kts
{airspeed = airspeed << 2;}
mm->velocity = airspeed;
mm->tasflag = (msg[7] & 0x80);
}
mm->heading_is_valid = msg[5] & 0x04;
if (mm->heading_is_valid) {
mm->heading = ((((msg[5] & 0x03) << 8) | msg[6]) * 45) >> 7;
}
}
}
}
// Fields for DF20, DF21 Comm-B
if ((mm->msgtype == 20) || (mm->msgtype == 21)){
if (msg[4] == 0x20) { // Aircraft Identification
uint32_t chars;
chars = (msg[5] << 16) | (msg[6] << 8) | (msg[7]);
mm->flight[3] = ais_charset[chars & 0x3F]; chars = chars >> 6;
mm->flight[2] = ais_charset[chars & 0x3F]; chars = chars >> 6;
mm->flight[1] = ais_charset[chars & 0x3F]; chars = chars >> 6;
mm->flight[0] = ais_charset[chars & 0x3F];
chars = (msg[8] << 16) | (msg[9] << 8) | (msg[10]);
mm->flight[7] = ais_charset[chars & 0x3F]; chars = chars >> 6;
mm->flight[6] = ais_charset[chars & 0x3F]; chars = chars >> 6;
mm->flight[5] = ais_charset[chars & 0x3F]; chars = chars >> 6;
mm->flight[4] = ais_charset[chars & 0x3F];
mm->flight[8] = '\0';
} else {
}
}
}
//
// This function gets a decoded Mode S Message and prints it on the screen
// in a human readable format.
//
void displayModesMessage(struct modesMessage *mm) {
int j;
char * pTimeStamp;
// Handle only addresses mode first.
if (Modes.onlyaddr) {
printf("%06x\n", mm->addr);
return;
}
// Show the raw message.
if (Modes.mlat) {
printf("@");
pTimeStamp = (char *) &mm->timestampMsg;
for (j=5; j>=0;j--) {
printf("%02X",pTimeStamp[j]);
}
} else
printf("*");
for (j = 0; j < mm->msgbits/8; j++) printf("%02x", mm->msg[j]);
printf(";\n");
if (Modes.raw) {
fflush(stdout); /* Provide data to the reader ASAP. */
return; /* Enough for --raw mode */
}
if (mm->msgtype < 32)
printf("CRC: %06x (%s)\n", (int)mm->crc, mm->crcok ? "ok" : "wrong");
if (mm->errorbit != -1)
printf("Single bit error fixed, bit %d\n", mm->errorbit);
if (mm->msgtype == 0) { // DF 0
printf("DF 0: Short Air-Air Surveillance.\n");
printf(" Altitude : %d %s\n", mm->altitude,
(mm->unit == MODES_UNIT_METERS) ? "meters" : "feet");
printf(" ICAO Address : %06x\n", mm->addr);
} else if (mm->msgtype == 4 || mm->msgtype == 20) {
printf("DF %d: %s, Altitude Reply.\n", mm->msgtype,
(mm->msgtype == 4) ? "Surveillance" : "Comm-B");
printf(" Flight Status : %s\n", fs_str[mm->fs]);
printf(" DR : %d\n", mm->dr);
printf(" UM : %d\n", mm->um);
printf(" Altitude : %d %s\n", mm->altitude,
(mm->unit == MODES_UNIT_METERS) ? "meters" : "feet");
printf(" ICAO Address : %06x\n", mm->addr);
if (mm->msgtype == 20) {
printf(" Comm-B BDS : %x\n", mm->msg[4]);
// Decode the extended squitter message
if ( mm->msg[4] == 0x20) { // BDS 2,0 Aircraft identification
printf(" BDS 2,0 Aircraft Identification : %s\n", mm->flight);
}
}
} else if (mm->msgtype == 5 || mm->msgtype == 21) {
printf("DF %d: %s, Identity Reply.\n", mm->msgtype,
(mm->msgtype == 5) ? "Surveillance" : "Comm-B");
printf(" Flight Status : %s\n", fs_str[mm->fs]);
printf(" DR : %d\n", mm->dr);
printf(" UM : %d\n", mm->um);
printf(" Squawk : %x\n", mm->modeA);
printf(" ICAO Address : %06x\n", mm->addr);
if (mm->msgtype == 21) {
printf(" Comm-B BDS : %x\n", mm->msg[4]);
// Decode the extended squitter message
if ( mm->msg[4] == 0x20) { // BDS 2,0 Aircraft identification
printf(" BDS 2,0 Aircraft Identification : %s\n", mm->flight);
}
}
} else if (mm->msgtype == 11) {
/* DF 11 */
printf("DF 11: All Call Reply.\n");
printf(" Capability : %s\n", ca_str[mm->ca]);
printf(" ICAO Address: %06x\n", mm->addr);
if (mm->iid > 16)
{printf(" IID : SI-%02d\n", mm->iid-16);}
else
{printf(" IID : II-%02d\n", mm->iid);}
} else if (mm->msgtype == 16) { // DF 16
printf("DF 16: Long Air to Air ACAS\n");
} else if (mm->msgtype == 17) { // DF 17
printf("DF 17: ADS-B message.\n");
printf(" Capability : %d (%s)\n", mm->ca, ca_str[mm->ca]);
printf(" ICAO Address : %06x\n", mm->addr);
printf(" Extended Squitter Type: %d\n", mm->metype);
printf(" Extended Squitter Sub : %d\n", mm->mesub);
printf(" Extended Squitter Name: %s\n", getMEDescription(mm->metype, mm->mesub));
// Decode the extended squitter message
if (mm->metype >= 1 && mm->metype <= 4) { // Aircraft identification
printf(" Aircraft Type : %c%d\n", ('A' + 4 - mm->metype), mm->mesub);
printf(" Identification : %s\n", mm->flight);
//} else if (mm->metype >= 5 && mm->metype <= 8) { // Surface position
} else if (mm->metype >= 9 && mm->metype <= 18) { // Airborne position Baro
printf(" F flag : %s\n", mm->fflag ? "odd" : "even");
printf(" T flag : %s\n", mm->tflag ? "UTC" : "non-UTC");
printf(" Altitude : %d feet\n", mm->altitude);
printf(" Latitude : %d (not decoded)\n", mm->raw_latitude);
printf(" Longitude: %d (not decoded)\n", mm->raw_longitude);
} else if (mm->metype == 19) { // Airborne Velocity
if (mm->mesub == 1 || mm->mesub == 2) {
printf(" EW direction : %d\n", mm->ew_dir);
printf(" EW velocity : %d\n", mm->ew_velocity);
printf(" NS direction : %d\n", mm->ns_dir);
printf(" NS velocity : %d\n", mm->ns_velocity);
printf(" Vertical rate src : %d\n", mm->vert_rate_source);
printf(" Vertical rate sign: %d\n", mm->vert_rate_sign);
printf(" Vertical rate : %d\n", mm->vert_rate);
} else if (mm->mesub == 3 || mm->mesub == 4) {
printf(" Heading status: %d", mm->heading_is_valid);
printf(" Heading: %d", mm->heading);
} else {
printf(" Unrecognized ME subtype: %d subtype: %d\n", mm->metype, mm->mesub);
}
//} else if (mm->metype >= 20 && mm->metype <= 22) { // Airborne position GNSS
} else {
printf(" Unrecognized ME type: %d subtype: %d\n", mm->metype, mm->mesub);
}
} else if (mm->msgtype == 18) { // DF 18
printf("DF 18: Extended Squitter.\n");
} else if (mm->msgtype == 19) { // DF 19
printf("DF 19: Military Extended Squitter.\n");
} else if (mm->msgtype == 22) { // DF 22
printf("DF 22: Military Use.\n");
} else if (mm->msgtype == 24) { // DF 24
printf("DF 24: Comm D Extended Length Message.\n");
} else if (mm->msgtype == 32) { // DF 32 is special code we use for Mode A/C
printf("SSR : Mode A/C Reply.\n");
if (mm->fs & 0x0080) {
printf(" Mode A : %04x IDENT\n", mm->modeA);
} else {
int modeC = ModeAToModeC(mm->modeA);
printf(" Mode A : %04x\n", mm->modeA);
if (modeC >= -13)
{printf(" Mode C : %d feet\n", (modeC * 100));}
}
} else {
printf("DF %d: Unknown DF Format.\n", mm->msgtype);
}
}
/* Turn I/Q samples pointed by Modes.data into the magnitude vector
* pointed by Modes.magnitude. */
void computeMagnitudeVector(void) {
uint16_t *m = &Modes.magnitude[MODES_PREAMBLE_SAMPLES+MODES_LONG_MSG_SAMPLES];
uint16_t *p = Modes.data;
uint32_t j;
memcpy(Modes.magnitude,&Modes.magnitude[MODES_ASYNC_BUF_SAMPLES], MODES_PREAMBLE_SIZE+MODES_LONG_MSG_SIZE);
/* Compute the magnitudo vector. It's just SQRT(I^2 + Q^2), but
* we rescale to the 0-255 range to exploit the full resolution. */
for (j = 0; j < MODES_ASYNC_BUF_SAMPLES; j ++) {
*m++ = Modes.maglut[*p++];
}
}
/* Return -1 if the message is out of fase left-side
* Return 1 if the message is out of fase right-size
* Return 0 if the message is not particularly out of phase.
*
* Note: this function will access pPreamble[-1], so the caller should make sure to
* call it only if we are not at the start of the current buffer. */
int detectOutOfPhase(uint16_t *pPreamble) {
if (pPreamble[ 3] > pPreamble[2]/3) return 1;
if (pPreamble[10] > pPreamble[9]/3) return 1;
if (pPreamble[ 6] > pPreamble[7]/3) return -1;
if (pPreamble[-1] > pPreamble[1]/3) return -1;
return 0;
}
/* This function does not really correct the phase of the message, it just
* applies a transformation to the first sample representing a given bit:
*
* If the previous bit was one, we amplify it a bit.
* If the previous bit was zero, we decrease it a bit.
*
* This simple transformation makes the message a bit more likely to be
* correctly decoded for out of phase messages:
*
* When messages are out of phase there is more uncertainty in
* sequences of the same bit multiple times, since 11111 will be
* transmitted as continuously altering magnitude (high, low, high, low...)
*
* However because the message is out of phase some part of the high
* is mixed in the low part, so that it is hard to distinguish if it is
* a zero or a one.
*
* However when the message is out of phase passing from 0 to 1 or from
* 1 to 0 happens in a very recognizable way, for instance in the 0 -> 1
* transition, magnitude goes low, high, high, low, and one of of the
* two middle samples the high will be *very* high as part of the previous
* or next high signal will be mixed there.
*
* Applying our simple transformation we make more likely if the current
* bit is a zero, to detect another zero. Symmetrically if it is a one
* it will be more likely to detect a one because of the transformation.
* In this way similar levels will be interpreted more likely in the
* correct way. */
void applyPhaseCorrection(uint16_t *pPayload) {
int j;
for (j = 0; j < MODES_LONG_MSG_SAMPLES; j += 2, pPayload += 2) {
if (pPayload[0] > pPayload[1]) { /* One */
pPayload[2] = (pPayload[2] * 5) / 4;
} else { /* Zero */
pPayload[2] = (pPayload[2] * 4) / 5;
}
}
}
/* Detect a Mode S messages inside the magnitude buffer pointed by 'm' and of
* size 'mlen' bytes. Every detected Mode S message is convert it into a
* stream of bits and passed to the function to display it. */
void detectModeS(uint16_t *m, uint32_t mlen) {
unsigned char msg[MODES_LONG_MSG_BYTES], *pMsg;
uint16_t aux[MODES_LONG_MSG_SAMPLES];
uint32_t j;
int use_correction = 0;
/* The Mode S preamble is made of impulses of 0.5 microseconds at
* the following time offsets:
*
* 0 - 0.5 usec: first impulse.
* 1.0 - 1.5 usec: second impulse.
* 3.5 - 4 usec: third impulse.
* 4.5 - 5 usec: last impulse.
*
* Since we are sampling at 2 Mhz every sample in our magnitude vector
* is 0.5 usec, so the preamble will look like this, assuming there is
* an impulse at offset 0 in the array:
*
* 0 -----------------
* 1 -
* 2 ------------------
* 3 --
* 4 -
* 5 --
* 6 -
* 7 ------------------
* 8 --
* 9 -------------------
*/
for (j = 0; j < mlen; j++) {
int high, i, errors, errors56, errorsTy;
int good_message = 0;
uint16_t *pPreamble, *pPayload, *pPtr;
uint8_t theByte, theErrs;
int msglen, scanlen, sigStrength;
pPreamble = &m[j];
pPayload = &m[j+MODES_PREAMBLE_SAMPLES];
if (!use_correction) // This is not a re-try with phase correction
{ // so try to find a new preamble
if (Modes.mode_ac)
{
struct modesMessage mm;
int ModeA = detectModeA(pPreamble, &mm);
if (ModeA) // We have found a valid ModeA/C in the data
{
mm.timestampMsg = Modes.timestampBlk + ((j+1) * 6);
// Decode the received message
decodeModeAMessage(&mm, ModeA);
// Pass data to the next layer
useModesMessage(&mm);
j += MODEAC_MSG_SAMPLES;
Modes.stat_ModeAC++;
continue;
}
}
/* First check of relations between the first 10 samples
* representing a valid preamble. We don't even investigate further
* if this simple test is not passed. */
if (!(pPreamble[0] > pPreamble[1] &&
pPreamble[1] < pPreamble[2] &&
pPreamble[2] > pPreamble[3] &&
pPreamble[3] < pPreamble[0] &&
pPreamble[4] < pPreamble[0] &&
pPreamble[5] < pPreamble[0] &&
pPreamble[6] < pPreamble[0] &&
pPreamble[7] > pPreamble[8] &&
pPreamble[8] < pPreamble[9] &&
pPreamble[9] > pPreamble[6]))
{
if (Modes.debug & MODES_DEBUG_NOPREAMBLE &&
*pPreamble > MODES_DEBUG_NOPREAMBLE_LEVEL)
dumpRawMessage("Unexpected ratio among first 10 samples", msg, m, j);
continue;
}
/* The samples between the two spikes must be < than the average
* of the high spikes level. We don't test bits too near to
* the high levels as signals can be out of phase so part of the
* energy can be in the near samples. */
high = (pPreamble[0] + pPreamble[2] + pPreamble[7] + pPreamble[9]) / 6;
if (pPreamble[4] >= high ||
pPreamble[5] >= high)
{
if (Modes.debug & MODES_DEBUG_NOPREAMBLE &&
*pPreamble > MODES_DEBUG_NOPREAMBLE_LEVEL)
dumpRawMessage("Too high level in samples between 3 and 6", msg, m, j);
continue;
}
/* Similarly samples in the range 11-14 must be low, as it is the
* space between the preamble and real data. Again we don't test
* bits too near to high levels, see above. */
if (pPreamble[11] >= high ||
pPreamble[12] >= high ||
pPreamble[13] >= high ||
pPreamble[14] >= high)
{
if (Modes.debug & MODES_DEBUG_NOPREAMBLE &&
*pPreamble > MODES_DEBUG_NOPREAMBLE_LEVEL)
dumpRawMessage("Too high level in samples between 10 and 15", msg, m, j);
continue;
}
Modes.stat_valid_preamble++;
}
else {
/* If the previous attempt with this message failed, retry using
* magnitude correction. */
// Make a copy of the Payload, and phase correct the copy
memcpy(aux, pPayload, sizeof(aux));
applyPhaseCorrection(aux);
Modes.stat_out_of_phase++;
pPayload = aux;
/* TODO ... apply other kind of corrections. */
}
/* Decode all the next 112 bits, regardless of the actual message
* size. We'll check the actual message type later. */
pMsg = &msg[0];
pPtr = pPayload;
theByte = 0;
theErrs = 0; errorsTy = 0;
errors = 0; errors56 = 0;
// We should have 4 'bits' of 0/1 and 1/0 samples in the preamble,
// so include these in the signal strength
sigStrength = (pPreamble[0]-pPreamble[1])
+ (pPreamble[2]-pPreamble[3])
+ (pPreamble[7]-pPreamble[6])
+ (pPreamble[9]-pPreamble[8]);
msglen = scanlen = MODES_LONG_MSG_BITS;
for (i = 0; i < scanlen; i++) {
uint32_t a = *pPtr++;
uint32_t b = *pPtr++;
if (a > b)
{theByte |= 1; if (i < 56) {sigStrength += (a-b);}}
else if (a < b)
{/*theByte |= 0;*/ if (i < 56) {sigStrength += (b-a);}}
else if (i >= MODES_SHORT_MSG_BITS) //(a == b), and we're in the long part of a frame
{errors++; /*theByte |= 0;*/}
else if (i >= 5) //(a == b), and we're in the short part of a frame
{scanlen = MODES_LONG_MSG_BITS; errors56 = ++errors;/*theByte |= 0;*/}
else if (i) //(a == b), and we're in the message type part of a frame
{errorsTy = errors56 = ++errors; theErrs |= 1; /*theByte |= 0;*/}
else //(a == b), and we're in the first bit of the message type part of a frame
{errorsTy = errors56 = ++errors; theErrs |= 1; theByte |= 1;}
if ((i & 7) == 7)
{*pMsg++ = theByte;}
else if (i == 4) {
msglen = modesMessageLenByType(theByte);
if (errors == 0)
{scanlen = msglen;}
}
theByte = theByte << 1;
if (i < 7)
{theErrs = theErrs << 1;}
// If we've exceeded the permissible number of encoding errors, abandon ship now
if (errors > MODES_MSG_ENCODER_ERRS) {
if (i < MODES_SHORT_MSG_BITS) {
msglen = 0;
} else if ((errorsTy == 1) && (theErrs == 0x80)) {
// If we only saw one error in the first bit of the byte of the frame, then it's possible
// we guessed wrongly about the value of the bit. We may be able to correct it by guessing
// the other way.
//
// We guessed a '1' at bit 7, which is the DF length bit == 112 Bits.
// Inverting bit 7 will change the message type from a long to a short.
// Invert the bit, cross your fingers and carry on.
msglen = MODES_SHORT_MSG_BITS;
msg[0] ^= theErrs; errorsTy = 0;
errors = errors56; // revert to the number of errors prior to bit 56
Modes.stat_DF_Len_Corrected++;
} else if (i < MODES_LONG_MSG_BITS) {
msglen = MODES_SHORT_MSG_BITS;
errors = errors56;
} else {
msglen = MODES_LONG_MSG_BITS;
}
break;
}
}
// Ensure msglen is consistent with the DF type
i = modesMessageLenByType(msg[0] >> 3);
if (msglen > i) {msglen = i;}
else if (msglen < i) {msglen = 0;}
//
// If we guessed at any of the bits in the DF type field, then look to see if our guess was sensible.
// Do this by looking to see if the original guess results in the DF type being one of the ICAO defined
// message types. If it isn't then toggle the guessed bit and see if this new value is ICAO defined.
// if the new value is ICAO defined, then update it in our message.
if ((msglen) && (errorsTy == 1) && (theErrs & 0x78)) {
// We guessed at one (and only one) of the message type bits. See if our guess is "likely"
// to be correct by comparing the DF against a list of known good DF's
int thisDF = ((theByte = msg[0]) >> 3) & 0x1f;
uint32_t validDFbits = 0x017F0831; // One bit per 32 possible DF's. Set bits 0,4,5,11,16.17.18.19,20,21,22,24
uint32_t thisDFbit = (1 << thisDF);
if (0 == (validDFbits & thisDFbit)) {
// The current DF is not ICAO defined, so is probably an errors.
// Toggle the bit we guessed at and see if the resultant DF is more likely
theByte ^= theErrs;
thisDF = (theByte >> 3) & 0x1f;
thisDFbit = (1 << thisDF);
// if this DF any more likely?
if (validDFbits & thisDFbit) {
// Yep, more likely, so update the main message
msg[0] = theByte;
Modes.stat_DF_Type_Corrected++;
errors--; // decrease the error count so we attempt to use the modified DF.
}
}
}
// We measured signal strength over the first 56 bits. Don't forget to add 4
// for the preamble samples, so round up and divide by 60.
sigStrength = (sigStrength + 29) / 60;
// When we reach this point, if error is small, and the signal strength is large enough
// we may have a Mode S message on our hands. It may still be broken and the CRC may not
// be correct, but this can be handled by the next layer.
if ( (msglen)
&& (sigStrength > MODES_MSG_SQUELCH_LEVEL)
&& (errors <= MODES_MSG_ENCODER_ERRS) ) {
struct modesMessage mm;
memset(&mm, 0, sizeof(mm));
// Set initial mm structure details
mm.timestampMsg = Modes.timestampBlk + (j*6);
sigStrength = (sigStrength + 0x7F) >> 8;
mm.signalLevel = ((sigStrength < 255) ? sigStrength : 255);
// Decode the received message
decodeModesMessage(&mm, msg);
// Update statistics
if (Modes.stats) {
if (mm.crcok || use_correction) {
if (errors == 0) Modes.stat_demodulated++;
if (mm.errorbit == -1) {
if (mm.crcok) {Modes.stat_goodcrc++;}
else {Modes.stat_badcrc++;}
} else {
Modes.stat_badcrc++;
Modes.stat_fixed++;
if (mm.errorbit < MODES_LONG_MSG_BITS)
{Modes.stat_single_bit_fix++;}
else
{Modes.stat_two_bits_fix++;}
}
}
}
// Output debug mode info if needed
if (use_correction) {
if (Modes.debug & MODES_DEBUG_DEMOD)
dumpRawMessage("Demodulated with 0 errors", msg, m, j);
else if (Modes.debug & MODES_DEBUG_BADCRC &&
mm.msgtype == 17 &&
(!mm.crcok || mm.errorbit != -1))
dumpRawMessage("Decoded with bad CRC", msg, m, j);
else if (Modes.debug & MODES_DEBUG_GOODCRC && mm.crcok &&
mm.errorbit == -1)
dumpRawMessage("Decoded with good CRC", msg, m, j);
}
// Skip this message if we are sure it's fine
if (mm.crcok) {
j += (MODES_PREAMBLE_US+msglen)*2;
good_message = 1;
if (use_correction)
mm.phase_corrected = 1;
}
// Pass data to the next layer
useModesMessage(&mm);
} else {
if (Modes.debug & MODES_DEBUG_DEMODERR && use_correction) {
printf("The following message has %d demod errors\n", errors);
dumpRawMessage("Demodulated with errors", msg, m, j);
}
}
// Retry with phase correction if possible.
if (!good_message && !use_correction && j && detectOutOfPhase(pPreamble)) {
use_correction = 1; j--;
} else {
use_correction = 0;
}
}
//Send any remaining partial raw buffers now
if (Modes.rawOutUsed)
{
Modes.net_output_raw_rate_count++;
if (Modes.net_output_raw_rate_count > Modes.net_output_raw_rate)
{
modesSendAllClients(Modes.ros, Modes.rawOut, Modes.rawOutUsed);
Modes.rawOutUsed = 0;
Modes.net_output_raw_rate_count = 0;
}
}
}
/* When a new message is available, because it was decoded from the
* RTL device, file, or received in the TCP input port, or any other
* way we can receive a decoded message, we call this function in order
* to use the message.
*
* Basically this function passes a raw message to the upper layers for
* further processing and visualization. */
void useModesMessage(struct modesMessage *mm) {
if ((Modes.check_crc == 0) || (mm->crcok)) {
// Track aircrafts if...
if ( (Modes.interactive) // in interactive mode
|| (Modes.stat_http_requests > 0) // or if the HTTP interface is enabled
|| (Modes.stat_sbs_connections > 0) // or if sbs connections are established
|| (Modes.mode_ac) ) { // or if mode A/C decoding is enabled
struct aircraft *a = interactiveReceiveData(mm);
if ( (a)
&& (mm->msgtype < 32) // don't even try to send ModesA/C to SBS clients
&& (Modes.stat_sbs_connections > 0) )
{modesSendSBSOutput(mm, a);} // Feed SBS output clients
}
// In non-interactive mode, and non-quiet mode, display messages on
// standard output as they occur.
if (!Modes.interactive && !Modes.quiet) {
displayModesMessage(mm);
if (!Modes.raw && !Modes.onlyaddr) printf("\n");
}
// Send data to connected network clients
if (Modes.net) {
if (Modes.beast)
modesSendBeastOutput(mm);
else
modesSendRawOutput(mm);
}
}
}
/* ========================= Interactive mode =============================== */
//
// Return a new aircraft structure for the interactive mode linked list
// of aircraft
//
struct aircraft *interactiveCreateAircraft(struct modesMessage *mm) {
struct aircraft *a = (struct aircraft *) malloc(sizeof(*a));
// Default everything to zero/NULL
memset(a, 0, sizeof(*a));
// Now initialise things that should not be 0/NULL to their defaults
a->addr = mm->addr;
memset(a->signalLevel, mm->signalLevel, 8); // First time, initialise everything
// to the first signal strength
a->lat = a->lon = 0.0;
// mm->msgtype 32 is used to represent Mode A/C. These values can never change, so
// set them once here during initialisation, and don't bother to set them every
// time this ModeA/C is received again in the future
if (mm->msgtype == 32) {
a->modeACflags = MODEAC_MSG_FLAG;
a->modeA = mm->modeA;
a->modeC = ModeAToModeC(mm->modeA | mm->fs);
a->altitude = a->modeC * 100;
if (a->modeC < -12)
{a->modeACflags |= MODEAC_MSG_MODEA_ONLY;}
}
return (a);
}
//
// Return the aircraft with the specified address, or NULL if no aircraft
// exists with this address.
//
struct aircraft *interactiveFindAircraft(uint32_t addr) {
struct aircraft *a = Modes.aircrafts;
while(a) {
if (a->addr == addr) return (a);
a = a->next;
}
return (NULL);
}
//
// We have received a Mode A or C response.
//
// Search through the list of known Mode-S aircraft and tag them if this Mode A/C
// matches their known Mode S Squawks or Altitudes(+/- 50feet).
//
// A Mode S equipped aircraft may also respond to Mode A and Mode C SSR interrogations.
// We can't tell if this is a Mode A or C, so scan through the entire aircraft list
// looking for matches on Mode A (squawk) and Mode C (altitude). Flag in the Mode S
// records that we have had a potential Mode A or Mode C response from this aircraft.
//
// If an aircraft responds to Mode A then it's highly likely to be responding to mode C
// too, and vice verca. Therefore, once the mode S record is tagged with both a Mode A
// and a Mode C flag, we can be fairly confident that this Mode A/C frame relates to that
// Mode S aircraft.
//
// Mode C's are more likely to clash than Mode A's; There could be several aircraft
// cruising at FL370, but it's less likely (though not impossible) that there are two
// aircraft on the same squawk. Therefore, give precidence to Mode A record matches
//
// Note : It's theoretically possible for an aircraft to have the same value for Mode A
// and Mode C. Therefore we have to check BOTH A AND C for EVERY S.
//
void interactiveUpdateAircraftModeA(struct aircraft *a) {
struct aircraft *b = Modes.aircrafts;
while(b) {
if ((b->modeACflags & MODEAC_MSG_FLAG) == 0) {// skip any fudged ICAO records
// First check for Mode-A <=> Mode-S Squawk matches
if (a->modeA == b->modeA) { // If a 'real' Mode-S ICAO exists using this Mode-A Squawk
b->modeAcount = a->messages;
b->modeACflags |= MODEAC_MSG_MODEA_HIT;
a->modeACflags |= MODEAC_MSG_MODEA_HIT;
if ( (b->modeAcount > 0) &&
( (b->modeCcount > 1)
|| (a->modeACflags & MODEAC_MSG_MODEA_ONLY)) ) // Allow Mode-A only matches if this Mode-A is invalid Mode-C
{a->modeACflags |= MODEAC_MSG_MODES_HIT;} // flag this ModeA/C probably belongs to a known Mode S
}
// Next check for Mode-C <=> Mode-S Altitude matches
if ( (a->modeC == b->modeC ) // If a 'real' Mode-S ICAO exists at this Mode-C Altitude
|| (a->modeC == b->modeC + 1) // or this Mode-C - 100 ft
|| (a->modeC + 1 == b->modeC ) ) { // or this Mode-C + 100 ft
b->modeCcount = a->messages;
b->modeACflags |= MODEAC_MSG_MODEC_HIT;
a->modeACflags |= MODEAC_MSG_MODEC_HIT;
if ( (b->modeAcount > 0) &&
(b->modeCcount > 1) )
{a->modeACflags |= (MODEAC_MSG_MODES_HIT | MODEAC_MSG_MODEC_OLD);} // flag this ModeA/C probably belongs to a known Mode S
}
}
b = b->next;
}
}
void interactiveUpdateAircraftModeS() {
struct aircraft *a = Modes.aircrafts;
while(a) {
int flags = a->modeACflags;
if (flags & MODEAC_MSG_FLAG) { // find any fudged ICAO records
// clear the current A,C and S hit bits ready for this attempt
a->modeACflags = flags & ~(MODEAC_MSG_MODEA_HIT | MODEAC_MSG_MODEC_HIT | MODEAC_MSG_MODES_HIT);
interactiveUpdateAircraftModeA(a); // and attempt to match them with Mode-S
}
a = a->next;
}
}
/* Always positive MOD operation, used for CPR decoding. */
int cprModFunction(int a, int b) {
int res = a % b;
if (res < 0) res += b;
return res;
}
/* The NL function uses the precomputed table from 1090-WP-9-14 */
int cprNLFunction(double lat) {
if (lat < 0) lat = -lat; /* Table is simmetric about the equator. */
if (lat < 10.47047130) return 59;
if (lat < 14.82817437) return 58;
if (lat < 18.18626357) return 57;
if (lat < 21.02939493) return 56;
if (lat < 23.54504487) return 55;
if (lat < 25.82924707) return 54;
if (lat < 27.93898710) return 53;
if (lat < 29.91135686) return 52;
if (lat < 31.77209708) return 51;
if (lat < 33.53993436) return 50;
if (lat < 35.22899598) return 49;
if (lat < 36.85025108) return 48;
if (lat < 38.41241892) return 47;
if (lat < 39.92256684) return 46;
if (lat < 41.38651832) return 45;
if (lat < 42.80914012) return 44;
if (lat < 44.19454951) return 43;
if (lat < 45.54626723) return 42;
if (lat < 46.86733252) return 41;
if (lat < 48.16039128) return 40;
if (lat < 49.42776439) return 39;
if (lat < 50.67150166) return 38;
if (lat < 51.89342469) return 37;
if (lat < 53.09516153) return 36;
if (lat < 54.27817472) return 35;
if (lat < 55.44378444) return 34;
if (lat < 56.59318756) return 33;
if (lat < 57.72747354) return 32;
if (lat < 58.84763776) return 31;
if (lat < 59.95459277) return 30;
if (lat < 61.04917774) return 29;
if (lat < 62.13216659) return 28;
if (lat < 63.20427479) return 27;
if (lat < 64.26616523) return 26;
if (lat < 65.31845310) return 25;
if (lat < 66.36171008) return 24;
if (lat < 67.39646774) return 23;
if (lat < 68.42322022) return 22;
if (lat < 69.44242631) return 21;
if (lat < 70.45451075) return 20;
if (lat < 71.45986473) return 19;
if (lat < 72.45884545) return 18;
if (lat < 73.45177442) return 17;
if (lat < 74.43893416) return 16;
if (lat < 75.42056257) return 15;
if (lat < 76.39684391) return 14;
if (lat < 77.36789461) return 13;
if (lat < 78.33374083) return 12;
if (lat < 79.29428225) return 11;
if (lat < 80.24923213) return 10;
if (lat < 81.19801349) return 9;
if (lat < 82.13956981) return 8;
if (lat < 83.07199445) return 7;
if (lat < 83.99173563) return 6;
if (lat < 84.89166191) return 5;
if (lat < 85.75541621) return 4;
if (lat < 86.53536998) return 3;
if (lat < 87.00000000) return 2;
else return 1;
}
int cprNFunction(double lat, int fflag) {
int nl = cprNLFunction(lat) - (fflag ? 1 : 0);
if (nl < 1) nl = 1;
return nl;
}
double cprDlonFunction(double lat, int fflag, int surface) {
return (surface ? 90.0 : 360.0) / cprNFunction(lat, fflag);
}
/* This algorithm comes from:
* http://www.lll.lu/~edward/edward/adsb/DecodingADSBposition.html.
*
* A few remarks:
* 1) 131072 is 2^17 since CPR latitude and longitude are encoded in 17 bits.
* 2) We assume that we always received the odd packet as last packet for
* simplicity. This may provide a position that is less fresh of a few
* seconds.
*/
void decodeCPR(struct aircraft *a, int fflag, int surface) {
double AirDlat0 = (surface ? 90.0 : 360.0) / 60.0;
double AirDlat1 = (surface ? 90.0 : 360.0) / 59.0;
double lat0 = a->even_cprlat;
double lat1 = a->odd_cprlat;
double lon0 = a->even_cprlon;
double lon1 = a->odd_cprlon;
// Compute the Latitude Index "j"
int j = (int) floor(((59*lat0 - 60*lat1) / 131072) + 0.5);
double rlat0 = AirDlat0 * (cprModFunction(j,60) + lat0 / 131072);
double rlat1 = AirDlat1 * (cprModFunction(j,59) + lat1 / 131072);
if (rlat0 >= 270) rlat0 -= 360;
if (rlat1 >= 270) rlat1 -= 360;
// Check that both are in the same latitude zone, or abort.
if (cprNLFunction(rlat0) != cprNLFunction(rlat1)) return;
// Compute ni and the Longitude Index "m"
if (fflag) { // Use odd packet.
int ni = cprNFunction(rlat1,1);
int m = (int) floor((((lon0 * (cprNLFunction(rlat1)-1)) -
(lon1 * cprNLFunction(rlat1))) / 131072.0) + 0.5);
a->lon = cprDlonFunction(rlat1, 1, surface) * (cprModFunction(m, ni)+lon1/131072);
a->lat = rlat1;
} else { // Use even packet.
int ni = cprNFunction(rlat0,0);
int m = (int) floor((((lon0 * (cprNLFunction(rlat0)-1)) -
(lon1 * cprNLFunction(rlat0))) / 131072) + 0.5);
a->lon = cprDlonFunction(rlat0, 0, surface) * (cprModFunction(m, ni)+lon0/131072);
a->lat = rlat0;
}
if (a->lon > 180) a->lon -= 360;
a->seenLatLon = a->seen;
a->timestampLatLon = a->timestamp;
a->sbsflags |= MODES_SBS_LAT_LONG_FRESH;
}
/* This algorithm comes from:
* 1090-WP29-07-Draft_CPR101 (which also defines decodeCPR() )
*
* There is an error in this document related to CPR relative decode.
* Should use trunc() rather than the floor() function in Eq 38 and related for deltaZI.
* floor() returns integer less than argument
* trunc() returns integer closer to zero than argument.
* Note: text of document describes trunc() functionality for deltaZI calculation
* but the formulae use floor().
*/
int decodeCPRrelative(struct aircraft *a, int fflag, int surface, double latr, double lonr) {
double AirDlat;
double AirDlon;
double lat;
double lon;
double rlon, rlat;
int j,m;
// If not passed a lat/long, we must be using aircraft relative
if ( (latr == 0) && (lonr == 0) ) {
latr = a->lat;
lonr = a->lon;
}
if ( (latr == 0) && (lonr == 0) )
return (-1); // Exit with error - can't do relative if we don't have ref.
if (fflag) { // odd
AirDlat = (surface ? 90.0 : 360.0) / 59.0;
lat = a->odd_cprlat;
lon = a->odd_cprlon;
} else { // even
AirDlat = (surface ? 90.0 : 360.0) / 60.0;
lat = a->even_cprlat;
lon = a->even_cprlon;
}
// Compute the Latitude Index "j"
j = (int) (floor(latr/AirDlat) +
trunc(0.5 + cprModFunction((int)latr, (int)AirDlat)/AirDlat - lat/131072));
rlat = AirDlat * (j + lat/131072);
if (rlat >= 270) rlat -= 360;
// Check to see that answer is reasonable - ie no more than 1/2 cell away
if (fabs(rlat - a->lat) > (AirDlat/2)) {
a->lat = a->lon = 0; // This will cause a quick exit next time if no global has been done
return (-1); // Time to give up - Latitude error
}
// Compute the Longitude Index "m"
AirDlon = cprDlonFunction(rlat, fflag, surface);
m = (int) (floor(lonr/AirDlon) +
trunc(0.5 + cprModFunction((int)lonr, (int)AirDlon)/AirDlon - lon/131072));
rlon = AirDlon * (m + lon/131072);
if (rlon > 180) rlon -= 360;
// Check to see that answer is reasonable - ie no more than 1/2 cell away
if (fabs(rlon - a->lon) > (AirDlon/2)) {
a->lat = a->lon = 0; // This will cause a quick exit next time if no global has been done
return (-1); // Time to give up - Longitude error
}
a->lat = rlat;
a->lon = rlon;
a->seenLatLon = a->seen;
a->timestampLatLon = a->timestamp;
a->sbsflags |= MODES_SBS_LAT_LONG_FRESH;
return (0);
}
/* Receive new messages and populate the interactive mode with more info. */
struct aircraft *interactiveReceiveData(struct modesMessage *mm) {
struct aircraft *a, *aux;
if (Modes.check_crc && mm->crcok == 0) return NULL;
// Loookup our aircraft or create a new one
a = interactiveFindAircraft(mm->addr);
if (!a) { // If it's a currently unknown aircraft....
a = interactiveCreateAircraft(mm); // ., create a new record for it,
a->next = Modes.aircrafts; // .. and put it at the head of the list
Modes.aircrafts = a;
} else {
/* If it is an already known aircraft, move it on head
* so we keep aircrafts ordered by received message time.
*
* However move it on head only if at least one second elapsed
* since the aircraft that is currently on head sent a message,
* othewise with multiple aircrafts at the same time we have an
* useless shuffle of positions on the screen. */
if (0 && Modes.aircrafts != a && (time(NULL) - a->seen) >= 1) {
aux = Modes.aircrafts;
while(aux->next != a) aux = aux->next;
/* Now we are a node before the aircraft to remove. */
aux->next = aux->next->next; /* removed. */
/* Add on head */
a->next = Modes.aircrafts;
Modes.aircrafts = a;
}
}
a->signalLevel[a->messages & 7] = mm->signalLevel;// replace the 8th oldest signal strength
a->seen = time(NULL);
a->timestamp = mm->timestampMsg;
a->messages++;
if (mm->msgtype == 0 || mm->msgtype == 4 || mm->msgtype == 20) {
if ( (a->modeCcount) // if we've a modeCcount already
&& (a->altitude != mm->altitude ) ) // and Altitude has changed
// && (a->modeC != mm->modeC + 1) // and Altitude not changed by +100 feet
// && (a->modeC + 1 != mm->modeC ) ) // and Altitude not changes by -100 feet
{
a->modeCcount = 0; //....zero the hit count
a->modeACflags &= ~MODEAC_MSG_MODEC_HIT;
}
a->altitude = mm->altitude;
a->modeC = (mm->altitude + 49) / 100;
if ((mm->msgtype == 20) && (mm->msg[4] == 0x20)) {
memcpy(a->flight, mm->flight, sizeof(a->flight));
}
} else if(mm->msgtype == 5 || mm->msgtype == 21) {
if (a->modeA != mm->modeA) {
a->modeAcount = 0; // Squawk has changed, so zero the hit count
a->modeACflags &= ~MODEAC_MSG_MODEA_HIT;
}
a->modeA = mm->modeA;
if ((mm->msgtype == 21) && (mm->msg[4] == 0x20)) {
memcpy(a->flight, mm->flight, sizeof(a->flight));
}
} else if (mm->msgtype == 17) {
if (mm->metype >= 1 && mm->metype <= 4) {
memcpy(a->flight, mm->flight, sizeof(a->flight));
} else if (mm->metype >= 9 && mm->metype <= 18) {
if ( (a->modeCcount) // if we've a modeCcount already
&& (a->altitude != mm->altitude ) ) // and Altitude has changed
// && (a->modeC != mm->modeC + 1) // and Altitude not changed by +100 feet
// && (a->modeC + 1 != mm->modeC ) ) // and Altitude not changes by -100 feet
{
a->modeCcount = 0; //....zero the hit count
a->modeACflags &= ~MODEAC_MSG_MODEC_HIT;
}
a->altitude = mm->altitude;
a->modeC = (mm->altitude + 49) / 100;
if (mm->fflag) {
a->odd_cprlat = mm->raw_latitude;
a->odd_cprlon = mm->raw_longitude;
a->odd_cprtime = mstime();
} else {
a->even_cprlat = mm->raw_latitude;
a->even_cprlon = mm->raw_longitude;
a->even_cprtime = mstime();
}
// Try relative CPR first
if (decodeCPRrelative(a, mm->fflag, 0, 0, 0)) {
// If it fails then try global if the two data are less than 10 seconds apart, compute
// the position.
if (abs((int)(a->even_cprtime - a->odd_cprtime)) <= 10000) {
decodeCPR(a, mm->fflag, 0);
}
}
} else if (mm->metype == 19) {
if (mm->mesub == 1 || mm->mesub == 2) {
a->speed = mm->velocity;
a->track = mm->heading;
}
}
} else if(mm->msgtype == 32) {
int flags = a->modeACflags;
if ((flags & (MODEAC_MSG_MODEC_HIT | MODEAC_MSG_MODEC_OLD)) == MODEAC_MSG_MODEC_OLD) {
//
// This Mode-C doesn't currently hit any known Mode-S, but it used to because MODEAC_MSG_MODEC_OLD is
// set So the aircraft it used to match has either changed altitude, or gone out of our receiver range
//
// We've now received this Mode-A/C again, so it must be a new aircraft. It could be another aircraft
// at the same Mode-C altitude, or it could be a new airctraft with a new Mods-A squawk.
//
// To avoid masking this aircraft from the interactive display, clear the MODEAC_MSG_MODES_OLD flag
// and set messages to 1;
//
a->modeACflags = flags & ~MODEAC_MSG_MODEC_OLD;
a->messages = 1;
}
}
return a;
}
/* Show the currently captured interactive data on screen. */
void interactiveShowData(void) {
struct aircraft *a = Modes.aircrafts;
time_t now = time(NULL);
int count = 0;
char progress;
char spinner[4] = "|/-\\";
progress = spinner[time(NULL)%4];
printf("\x1b[H\x1b[2J"); /* Clear the screen */
if (Modes.interactive_rtl1090 == 0) {
printf (
"Hex Mode Sqwk Flight Alt Spd Hdg Lat Long Sig Msgs Ti%c\n", progress);
} else {
printf (
"Hex Flight Alt V/S GS TT SSR G*456^ Msgs Seen %c\n", progress);
}
printf(
"-------------------------------------------------------------------------------\n");
while(a && count < Modes.interactive_rows) {
int msgs = a->messages;
int flags = a->modeACflags;
if ( (((flags & (MODEAC_MSG_FLAG )) == 0 ) )
|| (((flags & (MODEAC_MSG_MODES_HIT | MODEAC_MSG_MODEA_ONLY)) == MODEAC_MSG_MODEA_ONLY) && (msgs > 4 ) )
|| (((flags & (MODEAC_MSG_MODES_HIT | MODEAC_MSG_MODEC_OLD )) == 0 ) && (msgs > 127) )
) {
int altitude = a->altitude, speed = a->speed;
char squawk[5] = " ";
// Convert units to metric if --metric was specified
if (Modes.metric) {
altitude = (int) (altitude / 3.2828);
speed = (int) (speed * 1.852);
}
if (altitude > 99999) {
altitude = 99999;
} else if (altitude == -999900) {
altitude = 0;
} else if (altitude < -9999) {
altitude = -9999;
}
if (a->modeA) {
sprintf(squawk, "%04x", a->modeA);
}
if (msgs > 99999) {
msgs = 99999;
}
if (Modes.interactive_rtl1090 != 0) {
char fl[5] = " ";
char tt[5] = " ";
char gs[5] = " ";
if (altitude > 0) {
sprintf(fl,"F%03d",(altitude/100));
}
if (speed > 0) {
sprintf (gs,"%3d",speed);
}
if (a->track > 0) {
sprintf (tt,"%03d",a->track);
}
printf("%06x %-8s %-4s %-3s %-3s %4s %-6d %-2d\n",
a->addr, a->flight, fl, gs, tt, squawk, msgs, (int)(now - a->seen));
} else {
char mode[5] = " \0";
unsigned char * pSig = a->signalLevel;
unsigned int signalAverage = (pSig[0] + pSig[1] + pSig[2] + pSig[3] +
pSig[4] + pSig[5] + pSig[6] + pSig[7] + 3) >> 3;
if ((flags & MODEAC_MSG_FLAG) == 0) {
mode[0] = 'S';
} else if (flags & MODEAC_MSG_MODEA_ONLY) {
mode[0] = 'A';
}
if (flags & MODEAC_MSG_MODEA_HIT) {mode[2] = 'a';}
if (flags & MODEAC_MSG_MODEC_HIT) {mode[3] = 'c';}
printf("%06x %-4s %-4s %-8s %5d %3d %3d %7.03f %8.03f %3d %5d %2d\n",
a->addr, mode, squawk, a->flight, altitude, speed, a->track,
a->lat, a->lon, signalAverage, msgs, (int)(now - a->seen));
}
count++;
}
a = a->next;
}
}
/* When in interactive mode If we don't receive new nessages within
* MODES_INTERACTIVE_TTL seconds we remove the aircraft from the list. */
void interactiveRemoveStaleAircrafts(void) {
struct aircraft *a = Modes.aircrafts;
struct aircraft *prev = NULL;
time_t now = time(NULL);
while(a) {
if ((now - a->seen) > Modes.interactive_ttl) {
struct aircraft *next = a->next;
/* Remove the element from the linked list, with care
* if we are removing the first element. */
free(a);
if (!prev)
Modes.aircrafts = next;
else
prev->next = next;
a = next;
} else {
prev = a;
a = a->next;
}
}
}
/* ============================== Snip mode ================================= */
/* Get raw IQ samples and filter everything is < than the specified level
* for more than 256 samples in order to reduce example file size. */
void snipMode(int level) {
int i, q;
uint64_t c = 0;
while ((i = getchar()) != EOF && (q = getchar()) != EOF) {
if (abs(i-127) < level && abs(q-127) < level) {
c++;
if (c > MODES_PREAMBLE_SIZE) continue;
} else {
c = 0;
}
putchar(i);
putchar(q);
}
}
/* ============================= Networking =================================
* Note: here we risregard any kind of good coding practice in favor of
* extreme simplicity, that is:
*
* 1) We only rely on the kernel buffers for our I/O without any kind of
* user space buffering.
* 2) We don't register any kind of event handler, from time to time a
* function gets called and we accept new connections. All the rest is
* handled via non-blocking I/O and manually pullign clients to see if
* they have something new to share with us when reading is needed.
*/
/* Networking "stack" initialization. */
void modesInitNet(void) {
struct {
char *descr;
int *socket;
int port;
} services[4] = {
{"Raw TCP output", &Modes.ros, Modes.net_output_raw_port},
{"Raw TCP input", &Modes.ris, Modes.net_input_raw_port},
{"HTTP server", &Modes.https, Modes.net_http_port},
{"Basestation TCP output", &Modes.sbsos, Modes.net_output_sbs_port}
};
int j;
memset(Modes.clients,0,sizeof(Modes.clients));
Modes.maxfd = -1;
for (j = 0; j < 4; j++) {
int s = anetTcpServer(Modes.aneterr, services[j].port, NULL);
if (s == -1) {
fprintf(stderr, "Error opening the listening port %d (%s): %s\n",
services[j].port, services[j].descr, strerror(errno));
exit(1);
}
anetNonBlock(Modes.aneterr, s);
*services[j].socket = s;
}
signal(SIGPIPE, SIG_IGN);
}
/* This function gets called from time to time when the decoding thread is
* awakened by new data arriving. This usually happens a few times every
* second. */
void modesAcceptClients(void) {
int fd, port;
unsigned int j;
struct client *c;
int services[4];
services[0] = Modes.ros;
services[1] = Modes.ris;
services[2] = Modes.https;
services[3] = Modes.sbsos;
for (j = 0; j < sizeof(services)/sizeof(int); j++) {
fd = anetTcpAccept(Modes.aneterr, services[j], NULL, &port);
if (fd == -1) continue;
if (fd >= MODES_NET_MAX_FD) {
close(fd);
return; /* Max number of clients reached. */
}
anetNonBlock(Modes.aneterr, fd);
c = (struct client *) malloc(sizeof(*c));
c->service = services[j];
c->fd = fd;
c->buflen = 0;
Modes.clients[fd] = c;
anetSetSendBuffer(Modes.aneterr,fd,MODES_NET_SNDBUF_SIZE);
if (Modes.maxfd < fd) Modes.maxfd = fd;
if (services[j] == Modes.sbsos) Modes.stat_sbs_connections++;
j--; /* Try again with the same listening port. */
if (Modes.debug & MODES_DEBUG_NET)
printf("Created new client %d\n", fd);
}
}
/* On error free the client, collect the structure, adjust maxfd if needed. */
void modesFreeClient(int fd) {
close(fd);
free(Modes.clients[fd]);
Modes.clients[fd] = NULL;
if (Modes.debug & MODES_DEBUG_NET)
printf("Closing client %d\n", fd);
/* If this was our maxfd, rescan the full clients array to check what's
* the new max. */
if (Modes.maxfd == fd) {
int j;
Modes.maxfd = -1;
for (j = 0; j < MODES_NET_MAX_FD; j++) {
if (Modes.clients[j]) Modes.maxfd = j;
}
}
}
/* Send the specified message to all clients listening for a given service. */
void modesSendAllClients(int service, void *msg, int len) {
int j;
struct client *c;
for (j = 0; j <= Modes.maxfd; j++) {
c = Modes.clients[j];
if (c && c->service == service) {
int nwritten = write(j, msg, len);
if (nwritten != len) {
modesFreeClient(j);
}
}
}
}
/* Write raw output in Beast Binary format with Timestamp to TCP clients */
void modesSendBeastOutput(struct modesMessage *mm) {
char *p = &Modes.rawOut[Modes.rawOutUsed];
int msgLen = mm->msgbits / 8;
char * pTimeStamp;
int j;
*p++ = 0x1a;
if (msgLen == MODES_SHORT_MSG_BYTES)
{*p++ = '2';}
else if (msgLen == MODES_LONG_MSG_BYTES)
{*p++ = '3';}
else if (msgLen == MODEAC_MSG_BYTES)
{*p++ = '1';}
else
{return;}
pTimeStamp = (char *) &mm->timestampMsg;
for (j = 5; j >= 0; j--) {
*p++ = pTimeStamp[j];
}
*p++ = mm->signalLevel;
memcpy(p, mm->msg, msgLen);
Modes.rawOutUsed += (msgLen + 9);
if (Modes.rawOutUsed >= Modes.net_output_raw_size)
{
modesSendAllClients(Modes.ros, Modes.rawOut, Modes.rawOutUsed);
Modes.rawOutUsed = 0;
Modes.net_output_raw_rate_count = 0;
}
}
/* Write raw output to TCP clients. */
void modesSendRawOutput(struct modesMessage *mm) {
char *p = &Modes.rawOut[Modes.rawOutUsed];
int msgLen = mm->msgbits / 8;
int j;
char * pTimeStamp;
if (Modes.mlat) {
*p++ = '@';
pTimeStamp = (char *) &mm->timestampMsg;
for (j = 5; j >= 0; j--) {
sprintf(p, "%02X", pTimeStamp[j]);
p += 2;
}
Modes.rawOutUsed += 12; // additional 12 characters for timestamp
} else
*p++ = '*';
for (j = 0; j < msgLen; j++) {
sprintf(p, "%02X", mm->msg[j]);
p += 2;
}
*p++ = ';';
*p++ = '\n';
Modes.rawOutUsed += ((msgLen*2) + 3);
if (Modes.rawOutUsed >= Modes.net_output_raw_size)
{
modesSendAllClients(Modes.ros, Modes.rawOut, Modes.rawOutUsed);
Modes.rawOutUsed = 0;
Modes.net_output_raw_rate_count = 0;
}
}
/* Write SBS output to TCP clients. */
void modesSendSBSOutput(struct modesMessage *mm, struct aircraft *a) {
char msg[256], *p = msg;
char strCommon[128], *pCommon = strCommon;
int emergency = 0, ground = 0, alert = 0, spi = 0;
uint32_t offset;
struct timeb epocTime;
struct tm stTime;
if (mm->msgtype == 4 || mm->msgtype == 5 || mm->msgtype == 21) {
if (mm->modeA == 0x7500 || mm->modeA == 0x7600 ||
mm->modeA == 0x7700) emergency = -1;
if (mm->fs == 1 || mm->fs == 3) ground = -1;
if (mm->fs == 2 || mm->fs == 3 || mm->fs == 4) alert = -1;
if (mm->fs == 4 || mm->fs == 5) spi = -1;
}
// ICAO address of the aircraft
pCommon += sprintf(pCommon, "111,11111,%06X,111111,", mm->addr);
// Make sure the records' timestamp is valid before outputing it
if (mm->timestampMsg != (uint64_t)(-1)) {
// Do the records' time and date now
epocTime = Modes.stSystemTimeBlk; // This is the time of the start of the Block we're processing
offset = (int) (mm->timestampMsg - Modes.timestampBlk); // This is the time (in 12Mhz ticks) into the Block
offset = offset / 12000; // convert to milliseconds
epocTime.millitm += offset; // add on the offset time to the Block start time
if (epocTime.millitm > 999) // if we've caused an overflow into the next second...
{epocTime.millitm -= 1000; epocTime.time ++;} // ..correct the overflow
stTime = *localtime(&epocTime.time); // convert the time to year, month day, hours, min, sec
pCommon += sprintf(pCommon, "%04d/%02d/%02d,", (stTime.tm_year+1900),(stTime.tm_mon+1), stTime.tm_mday);
pCommon += sprintf(pCommon, "%02d:%02d:%02d.%03d,", stTime.tm_hour, stTime.tm_min, stTime.tm_sec, epocTime.millitm);
} else {
pCommon += sprintf(pCommon, ",,");
}
// Do the current time and date now
ftime(&epocTime); // get the current system time & date
stTime = *localtime(&epocTime.time); // convert the time to year, month day, hours, min, sec
pCommon += sprintf(pCommon, "%04d/%02d/%02d,", (stTime.tm_year+1900),(stTime.tm_mon+1), stTime.tm_mday);
pCommon += sprintf(pCommon, "%02d:%02d:%02d.%03d", stTime.tm_hour, stTime.tm_min, stTime.tm_sec, epocTime.millitm);
if (mm->msgtype == 0) {
p += sprintf(p, "MSG,5,%s,,%d,,,,,,,,,,", strCommon, mm->altitude);
} else if (mm->msgtype == 4) {
p += sprintf(p, "MSG,5,%s,,%d,,,,,,,%d,%d,%d,%d", strCommon, mm->altitude, alert, emergency, spi, ground);
} else if (mm->msgtype == 5) {
p += sprintf(p, "MSG,6,%s,,,,,,,,%x,%d,%d,%d,%d", strCommon, mm->modeA, alert, emergency, spi, ground);
} else if (mm->msgtype == 11) {
p += sprintf(p, "MSG,8,%s,,,,,,,,,,,,", strCommon);
} else if (mm->msgtype == 17 && mm->metype == 4) {
p += sprintf(p, "MSG,1,%s,%s,,,,,,,,0,0,0,0", strCommon, mm->flight);
} else if (mm->msgtype == 17 && mm->metype >= 9 && mm->metype <= 18) {
if ( ((a->lat == 0) && (a->lon == 0)) || ((a->sbsflags & MODES_SBS_LAT_LONG_FRESH) == 0) ){
p += sprintf(p, "MSG,3,%s,,%d,,,,,,,0,0,0,0", strCommon, mm->altitude);
} else {
p += sprintf(p, "MSG,3,%s,,%d,,,%1.5f,%1.5f,,,0,0,0,0", strCommon, mm->altitude, a->lat, a->lon);
a->sbsflags &= ~MODES_SBS_LAT_LONG_FRESH;
}
} else if (mm->msgtype == 17 && mm->metype == 19 && mm->mesub == 1) {
int vr = (mm->vert_rate_sign==0?1:-1) * (mm->vert_rate-1) * 64;
p += sprintf(p, "MSG,4,%s,,,%d,%d,,,%i,,0,0,0,0", strCommon, mm->velocity, mm->heading, vr);
} else if (mm->msgtype == 21) {
p += sprintf(p, "MSG,6,%s,,,,,,,,%x,%d,%d,%d,%d", strCommon, mm->modeA, alert, emergency, spi, ground);
} else {
return;
}
*p++ = '\r'; *p++ = '\n'; // <CRLF> or just <LF> ??
modesSendAllClients(Modes.sbsos, msg, p-msg);
}
/* Turn an hex digit into its 4 bit decimal value.
* Returns -1 if the digit is not in the 0-F range. */
int hexDigitVal(int c) {
c = tolower(c);
if (c >= '0' && c <= '9') return c-'0';
else if (c >= 'a' && c <= 'f') return c-'a'+10;
else return -1;
}
/* This function decodes a string representing a Mode S message in
* raw hex format like: *8D4B969699155600E87406F5B69F;
* The string is supposed to be at the start of the client buffer
* and null-terminated.
*
* The message is passed to the higher level layers, so it feeds
* the selected screen output, the network output and so forth.
*
* If the message looks invalid is silently discarded.
*
* The function always returns 0 (success) to the caller as there is
* no case where we want broken messages here to close the client
* connection. */
int decodeHexMessage(struct client *c) {
char *hex = c->buf;
int l = strlen(hex), j;
unsigned char msg[MODES_LONG_MSG_BYTES];
struct modesMessage mm;
memset(&mm, 0, sizeof(mm));
// Always mark the timestamp as invalid for packets received over the internet
// Mixing of data from two or more different receivers and publishing
// as coming from one would lead to corrupt mlat data
// Non timemarked internet data has indeterminate delay
mm.timestampMsg = -1;
mm.signalLevel = -1;
// Remove spaces on the left and on the right
while(l && isspace(hex[l-1])) {
hex[l-1] = '\0'; l--;
}
while(isspace(*hex)) {
hex++; l--;
}
// Turn the message into binary.
// Accept *-AVR raw @-AVR/BEAST timeS+raw %-AVR timeS+raw (CRC good) <-BEAST timeS+sigL+raw
// and some AVR recorer that we can understand
if (hex[l-1] != ';') {return (0);} // not complete - abort
switch(hex[0]) {
case '<': {
mm.signalLevel = (hexDigitVal(hex[13])<<4) | hexDigitVal(hex[14]);
hex += 15; l -= 16; // Skip <, timestamp and siglevel, and ;
break;}
case '@':
case '%':
case '#':
case '$': {
hex += 13; l -= 14; // Skip @,%,#,$, and timestamp, and ;
break;}
case '*':
case ':': {
hex++; l-=2; // Skip * and ;
break;}
default: {
return (0); // We don't know what this is, so abort
break;}
}
if ( (l < 4) || (l > MODES_LONG_MSG_BYTES*2) ) return (0); // Too short or long message... broken
for (j = 0; j < l; j += 2) {
int high = hexDigitVal(hex[j]);
int low = hexDigitVal(hex[j+1]);
if (high == -1 || low == -1) return 0;
msg[j/2] = (high << 4) | low;
}
if (l < 5) {decodeModeAMessage(&mm, ((msg[0] << 8) | msg[1]));} // ModeA or ModeC
else {decodeModesMessage(&mm, msg);}
useModesMessage(&mm);
return (0);
}
/* Return a description of planes in json. */
char *aircraftsToJson(int *len) {
struct aircraft *a = Modes.aircrafts;
int buflen = 1024; /* The initial buffer is incremented as needed. */
char *buf = (char *) malloc(buflen), *p = buf;
int l;
l = snprintf(p,buflen,"[\n");
p += l; buflen -= l;
while(a) {
int altitude = a->altitude, speed = a->speed;
/* Convert units to metric if --metric was specified. */
if (Modes.metric) {
altitude = (int) (altitude / 3.2828);
speed = (int) (speed * 1.852);
}
if (a->lat != 0 && a->lon != 0) {
l = snprintf(p,buflen,
"{\"hex\":\"%06x\", \"flight\":\"%s\", \"lat\":%f, "
"\"lon\":%f, \"altitude\":%d, \"track\":%d, "
"\"speed\":%d},\n",
a->addr, a->flight, a->lat, a->lon, a->altitude, a->track,
a->speed);
p += l; buflen -= l;
/* Resize if needed. */
if (buflen < 256) {
int used = p-buf;
buflen += 1024; /* Our increment. */
buf = (char *) realloc(buf,used+buflen);
p = buf+used;
}
}
a = a->next;
}
/* Remove the final comma if any, and closes the json array. */
if (*(p-2) == ',') {
*(p-2) = '\n';
p--;
buflen++;
}
l = snprintf(p,buflen,"]\n");
p += l; buflen -= l;
*len = p-buf;
return buf;
}
#define MODES_CONTENT_TYPE_HTML "text/html;charset=utf-8"
#define MODES_CONTENT_TYPE_JSON "application/json;charset=utf-8"
/* Get an HTTP request header and write the response to the client.
* Again here we assume that the socket buffer is enough without doing
* any kind of userspace buffering.
*
* Returns 1 on error to signal the caller the client connection should
* be closed. */
int handleHTTPRequest(struct client *c) {
char hdr[512];
int clen, hdrlen;
int httpver, keepalive;
char *p, *url, *content;
char *ctype;
if (Modes.debug & MODES_DEBUG_NET)
printf("\nHTTP request: %s\n", c->buf);
/* Minimally parse the request. */
httpver = (strstr(c->buf, "HTTP/1.1") != NULL) ? 11 : 10;
if (httpver == 10) {
/* HTTP 1.0 defaults to close, unless otherwise specified. */
keepalive = strstr(c->buf, "Connection: keep-alive") != NULL;
} else if (httpver == 11) {
/* HTTP 1.1 defaults to keep-alive, unless close is specified. */
keepalive = strstr(c->buf, "Connection: close") == NULL;
}
/* Identify he URL. */
p = strchr(c->buf,' ');
if (!p) return 1; /* There should be the method and a space... */
url = ++p; /* Now this should point to the requested URL. */
p = strchr(p, ' ');
if (!p) return 1; /* There should be a space before HTTP/... */
*p = '\0';
if (Modes.debug & MODES_DEBUG_NET) {
printf("\nHTTP keep alive: %d\n", keepalive);
printf("HTTP requested URL: %s\n\n", url);
}
/* Select the content to send, we have just two so far:
* "/" -> Our google map application.
* "/data.json" -> Our ajax request to update planes. */
if (strstr(url, "/data.json")) {
content = aircraftsToJson(&clen);
ctype = MODES_CONTENT_TYPE_JSON;
} else {
struct stat sbuf;
int fd = -1;
if (stat("gmap.html",&sbuf) != -1 &&
(fd = open("gmap.html",O_RDONLY)) != -1)
{
content = (char *) malloc(sbuf.st_size);
if (read(fd,content,sbuf.st_size) == -1) {
snprintf(content,sbuf.st_size,"Error reading from file: %s",
strerror(errno));
}
clen = sbuf.st_size;
} else {
char buf[128];
clen = snprintf(buf,sizeof(buf),"Error opening HTML file: %s",
strerror(errno));
content = strdup(buf);
}
if (fd != -1) close(fd);
ctype = MODES_CONTENT_TYPE_HTML;
}
/* Create the header and send the reply. */
hdrlen = snprintf(hdr, sizeof(hdr),
"HTTP/1.1 200 OK\r\n"
"Server: Dump1090\r\n"
"Content-Type: %s\r\n"
"Connection: %s\r\n"
"Content-Length: %d\r\n"
"\r\n",
ctype,
keepalive ? "keep-alive" : "close",
clen);
if (Modes.debug & MODES_DEBUG_NET)
printf("HTTP Reply header:\n%s", hdr);
/* Send header and content. */
if (write(c->fd, hdr, hdrlen) == -1 ||
write(c->fd, content, clen) == -1)
{
free(content);
return 1;
}
free(content);
Modes.stat_http_requests++;
return !keepalive;
}
/* This function polls the clients using read() in order to receive new
* messages from the net.
*
* The message is supposed to be separated by the next message by the
* separator 'sep', that is a null-terminated C string.
*
* Every full message received is decoded and passed to the higher layers
* calling the function 'handler'.
*
* The handelr returns 0 on success, or 1 to signal this function we
* should close the connection with the client in case of non-recoverable
* errors. */
void modesReadFromClient(struct client *c, char *sep,
int(*handler)(struct client *))
{
while(1) {
int left = MODES_CLIENT_BUF_SIZE - c->buflen;
int nread = read(c->fd, c->buf+c->buflen, left);
int fullmsg = 0;
int i;
char *p;
if (nread <= 0) {
if (nread == 0 || errno != EAGAIN) {
/* Error, or end of file. */
modesFreeClient(c->fd);
}
break; /* Serve next client. */
}
c->buflen += nread;
/* Always null-term so we are free to use strstr() */
c->buf[c->buflen] = '\0';
/* If there is a complete message there must be the separator 'sep'
* in the buffer, note that we full-scan the buffer at every read
* for simplicity. */
while ((p = strstr(c->buf, sep)) != NULL) {
i = p - c->buf; /* Turn it as an index inside the buffer. */
c->buf[i] = '\0'; /* Te handler expects null terminated strings. */
/* Call the function to process the message. It returns 1
* on error to signal we should close the client connection. */
if (handler(c)) {
modesFreeClient(c->fd);
return;
}
/* Move what's left at the start of the buffer. */
i += strlen(sep); /* The separator is part of the previous msg. */
memmove(c->buf,c->buf+i,c->buflen-i);
c->buflen -= i;
c->buf[c->buflen] = '\0';
/* Maybe there are more messages inside the buffer.
* Start looping from the start again. */
fullmsg = 1;
}
/* If our buffer is full discard it, this is some badly
* formatted shit. */
if (c->buflen == MODES_CLIENT_BUF_SIZE) {
c->buflen = 0;
/* If there is garbage, read more to discard it ASAP. */
continue;
}
/* If no message was decoded process the next client, otherwise
* read more data from the same client. */
if (!fullmsg) break;
}
}
/* Read data from clients. This function actually delegates a lower-level
* function that depends on the kind of service (raw, http, ...). */
void modesReadFromClients(void) {
int j;
struct client *c;
for (j = 0; j <= Modes.maxfd; j++) {
if ((c = Modes.clients[j]) == NULL) continue;
if (c->service == Modes.ris)
modesReadFromClient(c,"\n",decodeHexMessage);
else if (c->service == Modes.https)
modesReadFromClient(c,"\r\n\r\n",handleHTTPRequest);
}
}
/* ================================ Main ==================================== */
void showHelp(void) {
printf(
"-----------------------------------------------------------------------------\n"
"| dump1090 ModeS Receiver Ver : " MODES_DUMP1090_VERSION " |\n"
"-----------------------------------------------------------------------------\n"
"--device-index <index> Select RTL device (default: 0)\n"
"--gain <db> Set gain (default: max gain. Use -100 for auto-gain)\n"
"--enable-agc Enable the Automatic Gain Control (default: off)\n"
"--freq <hz> Set frequency (default: 1090 Mhz)\n"
"--ifile <filename> Read data from file (use '-' for stdin)\n"
"--interactive Interactive mode refreshing data on screen\n"
"--interactive-rows <num> Max number of rows in interactive mode (default: 15)\n"
"--interactive-ttl <sec> Remove from list if idle for <sec> (default: 60)\n"
"--interactive-rtl1090 Display flight table in RTL1090 format\n"
"--raw Show only messages hex values\n"
"--net Enable networking\n"
"--modeac Enable decoding of SSR Modes 3/A & 3/C\n"
"--net-beast TCP raw output in Beast binary format\n"
"--net-only Enable just networking, no RTL device or file used\n"
"--net-ro-size <size> TCP raw output minimum size (default: 0)\n"
"--net-ro-rate <rate> TCP raw output memory flush rate (default: 0)\n"
"--net-ro-port <port> TCP raw output listen port (default: 30002)\n"
"--net-ri-port <port> TCP raw input listen port (default: 30001)\n"
"--net-http-port <port> HTTP server port (default: 8080)\n"
"--net-sbs-port <port> TCP BaseStation output listen port (default: 30003)\n"
"--lat <latitude> Reference/receiver latitide for surface posn (opt)\n"
"--lon <longitude> Reference/receiver longitude for surface posn (opt)\n"
"--fix Enable single-bits error correction using CRC\n"
"--no-fix Disable single-bits error correction using CRC\n"
"--no-crc-check Disable messages with broken CRC (discouraged)\n"
"--aggressive More CPU for more messages (two bits fixes, ...)\n"
"--mlat display raw messages in Beast ascii mode\n"
"--stats With --ifile print stats at exit. No other output\n"
"--onlyaddr Show only ICAO addresses (testing purposes)\n"
"--metric Use metric units (meters, km/h, ...)\n"
"--snip <level> Strip IQ file removing samples < level\n"
"--debug <flags> Debug mode (verbose), see README for details\n"
"--quiet Disable output to stdout. Use for daemon applications\n"
"--ppm <error> Set receiver error in parts per million (default 0)\n"
"--help Show this help\n"
"\n"
"Debug mode flags: d = Log frames decoded with errors\n"
" D = Log frames decoded with zero errors\n"
" c = Log frames with bad CRC\n"
" C = Log frames with good CRC\n"
" p = Log frames with bad preamble\n"
" n = Log network debugging info\n"
" j = Log frames to frames.js, loadable by debug.html\n"
);
}
/* This function is called a few times every second by main in order to
* perform tasks we need to do continuously, like accepting new clients
* from the net, refreshing the screen in interactive mode, and so forth. */
void backgroundTasks(void) {
if (Modes.net) {
modesAcceptClients();
modesReadFromClients();
}
// If Modes.aircrafts is not NULL, remove any stale aircraft
if (Modes.aircrafts)
{interactiveRemoveStaleAircrafts();}
// Refresh screen when in interactive mode
if ((Modes.interactive) &&
((mstime() - Modes.interactive_last_update) > MODES_INTERACTIVE_REFRESH_TIME) ) {
// Attempt to reconsile any ModeA/C with known Mode-S
// We can't condition on Modes.modeac because ModeA/C could be comming
// in from a raw input port which we can't turn off.
interactiveUpdateAircraftModeS();
// Now display Mode-S and any non-reconsiled Modes-A/C
interactiveShowData();
Modes.interactive_last_update = mstime();
}
}
int main(int argc, char **argv) {
int j;
// Set sane defaults
modesInitConfig();
signal(SIGINT, sigintHandler); // Define Ctrl/C handler (exit program)
/* Parse the command line options */
for (j = 1; j < argc; j++) {
int more = j+1 < argc; /* There are more arguments. */
if (!strcmp(argv[j],"--device-index") && more) {
Modes.dev_index = atoi(argv[++j]);
} else if (!strcmp(argv[j],"--gain") && more) {
Modes.gain = (int) atof(argv[++j])*10; /* Gain is in tens of DBs */
} else if (!strcmp(argv[j],"--enable-agc")) {
Modes.enable_agc++;
} else if (!strcmp(argv[j],"--freq") && more) {
Modes.freq = (int) strtoll(argv[++j],NULL,10);
} else if (!strcmp(argv[j],"--ifile") && more) {
Modes.filename = strdup(argv[++j]);
} else if (!strcmp(argv[j],"--fix")) {
Modes.fix_errors = 1;
} else if (!strcmp(argv[j],"--no-fix")) {
Modes.fix_errors = 0;
Modes.aggressive = 0;
} else if (!strcmp(argv[j],"--no-crc-check")) {
Modes.check_crc = 0;
} else if (!strcmp(argv[j],"--raw")) {
Modes.raw = 1;
} else if (!strcmp(argv[j],"--net")) {
Modes.net = 1;
} else if (!strcmp(argv[j],"--modeac")) {
Modes.mode_ac = 1;
} else if (!strcmp(argv[j],"--net-beast")) {
Modes.beast = 1;
} else if (!strcmp(argv[j],"--net-only")) {
Modes.net = 1;
Modes.net_only = 1;
} else if (!strcmp(argv[j],"--net-ro-size") && more) {
Modes.net_output_raw_size = atoi(argv[++j]);
} else if (!strcmp(argv[j],"--net-ro-rate") && more) {
Modes.net_output_raw_rate = atoi(argv[++j]);
} else if (!strcmp(argv[j],"--net-ro-port") && more) {
Modes.net_output_raw_port = atoi(argv[++j]);
} else if (!strcmp(argv[j],"--net-ri-port") && more) {
Modes.net_input_raw_port = atoi(argv[++j]);
} else if (!strcmp(argv[j],"--net-http-port") && more) {
Modes.net_http_port = atoi(argv[++j]);
} else if (!strcmp(argv[j],"--net-sbs-port") && more) {
Modes.net_output_sbs_port = atoi(argv[++j]);
} else if (!strcmp(argv[j],"--onlyaddr")) {
Modes.onlyaddr = 1;
} else if (!strcmp(argv[j],"--metric")) {
Modes.metric = 1;
} else if (!strcmp(argv[j],"--aggressive")) {
Modes.aggressive = 1;
Modes.fix_errors = 1;
} else if (!strcmp(argv[j],"--interactive")) {
Modes.interactive = 1;
} else if (!strcmp(argv[j],"--interactive-rows") && more) {
Modes.interactive_rows = atoi(argv[++j]);
} else if (!strcmp(argv[j],"--interactive-ttl") && more) {
Modes.interactive_ttl = atoi(argv[++j]);
} else if (!strcmp(argv[j],"--lat") && more) {
Modes.fUserLat = atof(argv[++j]);
} else if (!strcmp(argv[j],"--lon") && more) {
Modes.fUserLon = atof(argv[++j]);
} else if (!strcmp(argv[j],"--debug") && more) {
char *f = argv[++j];
while(*f) {
switch(*f) {
case 'D': Modes.debug |= MODES_DEBUG_DEMOD; break;
case 'd': Modes.debug |= MODES_DEBUG_DEMODERR; break;
case 'C': Modes.debug |= MODES_DEBUG_GOODCRC; break;
case 'c': Modes.debug |= MODES_DEBUG_BADCRC; break;
case 'p': Modes.debug |= MODES_DEBUG_NOPREAMBLE; break;
case 'n': Modes.debug |= MODES_DEBUG_NET; break;
case 'j': Modes.debug |= MODES_DEBUG_JS; break;
default:
fprintf(stderr, "Unknown debugging flag: %c\n", *f);
exit(1);
break;
}
f++;
}
} else if (!strcmp(argv[j],"--stats")) {
Modes.stats = 1;
} else if (!strcmp(argv[j],"--snip") && more) {
snipMode(atoi(argv[++j]));
exit(0);
} else if (!strcmp(argv[j],"--help")) {
showHelp();
exit(0);
} else if (!strcmp(argv[j],"--ppm") && more) {
Modes.ppm_error = atoi(argv[++j]);
} else if (!strcmp(argv[j],"--quiet")) {
Modes.quiet = 1;
} else if (!strcmp(argv[j],"--mlat")) {
Modes.mlat = 1;
} else if (!strcmp(argv[j],"--interactive-rtl1090")) {
Modes.interactive = 1;
Modes.interactive_rtl1090 = 1;
} else {
fprintf(stderr,
"Unknown or not enough arguments for option '%s'.\n\n",
argv[j]);
showHelp();
exit(1);
}
}
// Initialization
modesInit();
if (Modes.net_only) {
fprintf(stderr,"Net-only mode, no RTL device or file open.\n");
} else if (Modes.filename == NULL) {
modesInitRTLSDR();
} else {
if (Modes.filename[0] == '-' && Modes.filename[1] == '\0') {
Modes.fd = STDIN_FILENO;
} else if ((Modes.fd = open(Modes.filename,O_RDONLY)) == -1) {
perror("Opening data file");
exit(1);
}
}
if (Modes.net) modesInitNet();
/* If the user specifies --net-only, just run in order to serve network
* clients without reading data from the RTL device. */
while (Modes.net_only) {
if (Modes.exit) exit(0); // If we exit net_only nothing further in main()
backgroundTasks();
usleep(100000);
}
/* Create the thread that will read the data from the device. */
pthread_create(&Modes.reader_thread, NULL, readerThreadEntryPoint, NULL);
pthread_mutex_lock(&Modes.data_mutex);
while(1) {
if (!Modes.data_ready) {
pthread_cond_wait(&Modes.data_cond,&Modes.data_mutex);
continue;
}
computeMagnitudeVector();
Modes.stSystemTimeBlk = Modes.stSystemTimeRTL;
/* Signal to the other thread that we processed the available data
* and we want more (useful for --ifile). */
Modes.data_ready = 0;
pthread_cond_signal(&Modes.data_cond);
/* Process data after releasing the lock, so that the capturing
* thread can read data while we perform computationally expensive
* stuff * at the same time. (This should only be useful with very
* slow processors). */
pthread_mutex_unlock(&Modes.data_mutex);
detectModeS(Modes.magnitude, MODES_ASYNC_BUF_SAMPLES);
Modes.timestampBlk += (MODES_ASYNC_BUF_SAMPLES*6);
backgroundTasks();
pthread_mutex_lock(&Modes.data_mutex);
if (Modes.exit) break;
}
// If --stats were given, print statistics
if (Modes.stats) {
printf("\n\n");
printf("%d ModeA/C detected\n", Modes.stat_ModeAC);
printf("%d valid preambles\n", Modes.stat_valid_preamble);
printf("%d DF-?? fields corrected for length\n", Modes.stat_DF_Len_Corrected);
printf("%d DF-?? fields corrected for type\n", Modes.stat_DF_Type_Corrected);
printf("%d demodulated again after phase correction\n", Modes.stat_out_of_phase);
printf("%d demodulated with zero errors\n", Modes.stat_demodulated);
printf("%d with good crc\n", Modes.stat_goodcrc);
printf("%d with bad crc\n", Modes.stat_badcrc);
printf("%d errors corrected\n", Modes.stat_fixed);
printf("%d single bit errors\n", Modes.stat_single_bit_fix);
printf("%d two bits errors\n", Modes.stat_two_bits_fix);
printf("%d total usable messages\n", Modes.stat_goodcrc + Modes.stat_fixed);
}
rtlsdr_cancel_async(Modes.dev); // Cancel rtlsdr_read_async will cause data input thread to terminate cleanly
rtlsdr_close(Modes.dev);
exit (0);
}
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