Planespotting with Rust: using nom to parse ADS-B messages

#adsb #rust #nom #parsing

Using software defined radio (SDR) to listen to ADS-B transmissions has been on my mind for a while. This article is inspired by the cool experiment by Charlie Gerard, who used JavaScript to parse and display ADS-B messages as they come through the WebUSB interface right in the browser. I wanted to do something similar, but use my go-to parsing library nom and the terminal.

You can find the full source code here: ads-b-parser. This is by no means a complete parser but here's what I was able to achieve with it:

ADS-B

ADS-B is a protocol used by aircrafts to broadcast their position, altitude, speed, and other information. Nowadays, the majority of aircrafts broadcast ADS-B messages constantly. Anyone with the right equipment can listen to these messages. You can buy a relatively cheap USB dongle with an antenna on Amazon and install drivers for it on Linux. In my case I used usbipd-win to mount the USB device inside Ubuntu running in WSL2. Then I installed the Linux drivers and dump1090, a program that makes use of these drivers and then outputs ADS-B messages in a format that is easy to parse. While you can use dump1090 to display a neat table full of information about aircrafts, I wanted to use its raw output capabilities to parse ADS-B messages myself. It starts a simple TCP server that outputs raw ADS-B messages wrapped in Mode-S Beast frames. I'm not sure what Beast means, but I found something that looks like its spec here.

The ADS-B specification is pretty easy to read. Basically every message is 112 bits long and has the following structure:

+----------+----------+-------------+------------------------+-----------+
|  DF (5)  |  CA (3)  |  ICAO (24)  |         ME (56)        |  PI (24)  |
+----------+----------+-------------+------------------------+-----------+

The DF (downlink format) field can be used to figure out whether this is an ADS-B message. This time I only care about DF=17 or DF=18 messages, the only messages in ADS-B format. CA (capability) is kind of boring: capabilities of the hardware that broadcasts the message. ICAO (International Civil Aviation Organization) 24-bit address or (informally) Mode-S "hex code" is a unique identifier of the aircraft that normally never changes. ME (message extension) is the actual message. The contents of this field depend on its first 5 bits, the typecode. For example, aircrafts identify themselves and send their altitude information in messages with different typecodes. This time I want to at least recognize aircrafts' callsigns (TC 1-4) and their altitude (TC 9-18, 20-22).

nom

Just in case you are not familiar with nom, it is a parser combinator written in Rust. The most basic thing you can do with it is import one of its parsing functions, give it some byte or string input and then get a Result as output with the parsed value and the rest of the input or an error if the parser failed. tag for example is used to recognize literal character/byte sequences.

use nom::bytes::complete::tag;

fn parser(s: &str) -> IResult<&str, &str> {
  tag("Hello")(s)
}

assert_eq!(parser("Hello, World!"), Ok((", World!", "Hello")));

nom also has a bunch of combinators, helpers that allow us to apply many parsers in a sequence, or apply parsers conditionally etc.

This time I am going to parse byte input (&[u8]), because this is what we get from a raw TCP server started by dump1090. Parsing bytes is as easy as parsing strings:

use nom::bytes::complete::tag;

fn parser(s: &[u8]) -> IResult<&[u8], &[u8]> {
  tag([0x01, 0x02, 0x03])(s)
}

Parsing ADS-B messages

Parsing ADS-B messages is basically a matter of recognizing some bytes, then taking some more bytes and interpreting them as either a number or a string. The only tricky part is that some parts of the message are 5 or 3 bits long. Normally you would take a byte and shift some bits but fortunately nom has nice helpers for bits as well.

Here is the ADSBFrame struct that we want to ultimately build:

struct ADSBFrame {
    downlink_format: u8,
    capability: u8,
    icao: String,
    payload: AdsbMessage,
}

enum AdsbMessage {
    Identification(Callsign),
    BarometricAltitude(f64),
    GNSSAltitude(usize),
    Unknown(u8),
}

First, I need to parse the Mode-S Beast frame header I mention above. I keep it very simple because I just want to discard it and read the information I'm interested in.

fn mode_s_beast_header(input: &[u8]) -> IResult<&[u8], &[u8], ()> {
    let header = tuple((tag([0x1a]), tag([0x33]), take(6u8), take(1u8)));
    recognize(header)(input)
}

All frames start with 0x1a. The next byte, 0x33 represents Mode S messages (apparently there are more modes) and since I'm only interested in Mode S messages I expect 0x33 and just error if the message is not Mode S. Next is the MLAT timestamp. Honestly, I don't know what it's for but I know that it's always 6 bytes long so I just take the next 6 bytes. Finally there is a single byte RSSI (received signal strength indicator). I'm not interested in this information either so I just take another byte. Then the recognize combinator is used to return the successfully parsed input as is.

The following bytes are the actual ADS-B message. First I parse DF and CA fields. DF is 5 bits long and CA is 3 bits long. I use bits module of nom to parse the two and return them as a tuple.

fn df_ca(input: (&[u8], usize)) -> IResult<(&[u8], usize), (u8, u8), ()> {
    use nom::bits::complete::take;

    let ((input, offset), df) = take(5u8)(input)?;
    let ((input, offset), ca) = take(3u8)((input, offset))?;
    assert!(offset == 0);
    Ok(((input, offset), (df, ca)))
}

Next, I parse the ICAO address. The returned input from the df_ca becomes the input for icao parser. We take 3 bytes and then format them as a hex string, which is what ICAO addresses are normally represented as.

fn icao(input: &[u8]) -> IResult<&[u8], String, ()> {
    let (input, icao) = take(3u8)(input)?;
    Ok((
        input,
        format!("{:02x}{:02x}{:02x}", icao[0], icao[1], icao[2]),
    ))
}

The next part is the actual message. It is a bit more complicated because the first 5 bits of the message determine the type of the message. Depending on what the type is, the rest of the message needs to be parsed differently. nom provides us with an alt combinator that tries to run multiple parsers and returns the result of the first one that succeeds. This is exactly what we need. The parsers that don't succeed need to "soft fail" so that alt can try the next one. This is possible by returning Err(nom::Err::Error(())) from the parser.

In each message parser we check what range the typecode falls into:

const TYPECODE_IDENTIFICATION_RANGE: Range<u8> = 1..5;
const TYPECODE_POSITION_BAROMETRIC_RANGE: Range<u8> = 9..19;
const TYPECODE_POSITION_GNSS_RANGE: Range<u8> = 20..23;

Here's how I parse the identification message:


fn identification(input: &[u8]) -> IResult<&[u8], AdsbMessage, ()> {
    let ((_, offset), tc) = typecode((input, 0))?;
    if !TYPECODE_IDENTIFICATION_RANGE.contains(&tc) {
        return Err(Err::Error(()));
    }

    let ((input, _), _) = aircraft_category((input, offset))?;
    let (input, callsign) = callsign(input)?;
    Ok((input, AdsbMessage::Identification(callsign)))
}

callsign is a bit tricky because it is not encoded as ASCII as you would maybe expect. Instead, every character (expect numbers) is encoded with just 6 bits, which are exactly the lower 6 bits of the ASCII representation of the character. This means that A-Z characters are 1 to 26 in decimal.

fn callsign(input: &[u8]) -> IResult<&[u8], String, ()> {
    // https://mode-s.org/decode/content/ads-b/2-identification.html
    let ((input, offset), mut chunks) = count(nom::bits::complete::take(6u8), 8)((input, 0))?;
    assert!(offset == 0);
    chunks.iter_mut().for_each(|chunk| {
        if (1..27).contains(chunk) {
            *chunk |= 0x40;
        }
    });
    Ok((
        input,
        String::from_utf8_lossy(&chunks).trim_end().to_owned(),
    ))
}

There are two types of position messages: barometric and GNSS (geometric). Geometric altitude is measured with GPS but I actually couldn't get any messages of this type.

// https://mode-s.org/decode/content/ads-b/3-airborne-position.html#altitude-decoding
fn barometric_altitude(input: &[u8]) -> IResult<&[u8], AdsbMessage, ()> {
    use nom::bits::complete::take;

    const ALTITUDE_BITS: u8 = 12u8;

    let ((_, offset), tc) = typecode((input, 0))?;
    if !TYPECODE_POSITION_BAROMETRIC_RANGE.contains(&tc) {
        return Err(Err::Error(()));
    }

    // Skip surveillance status and single antenna flag
    let ((input, offset), _) = tuple::<_, (u8, u8), _, _>((take(2u8), take(1u8)))((input, offset))?;
    let ((input, _), alt) = take::<_, u16, _, _>(ALTITUDE_BITS)((input, offset))?;
    let q = (alt >> 8) & 1;
    let alt = remove_nth_bit(alt, 4);

    // TODO: Parse altitudes for q=1 (> 50175ft) using Gray code
    match q {
        1 => {
            let ft: f64 = (alt as f64) * 25.0 - 1000.0;
            Ok((input, AdsbMessage::BarometricAltitude(ft * 0.3048)))
        }
        _ => Err(Err::Error(())),
    }
}

fn remove_nth_bit(input: u16, n: u8) -> u16 {
    let upper = input & (0xfffe << n);
    let lower = input & ((1 << n) - 1);
    (upper >> 1) | lower
}

Parsing barometric altitude requires removing one so-called Q-bit from the sequence of 12 bits. This bit affects which formula should be used that changes at ~15293m altitude. Then it is as simple as putting the decimal representation of the remaining 11 bits in the formula:

# For q=0
h = (25 * N - 1000)

Now we just need to put it all together, redirect outputs of parsers to inputs of other parsers until we get the final ADSBFrame struct.

fn adsb_frame(input: &[u8]) -> IResult<&[u8], ADSBFrame, ()> {
    let (input, _) = mode_s_beast_header(input)?;
    let ((input, _), (df, ca)) = df_ca((input, 0))?;
    if !ADS_B_DOWNLINK_FORMAT_RANGE.contains(&df) {
        return Err(Err::Failure(()));
    }

    let (input, icao) = icao(input)?;
    let (input, payload) =
        alt((identification, barometric_altitude, gnss_altitude, unknown))(input)?;
    Ok((
        input,
        ADSBFrame {
            downlink_format: df,
            capability: ca,
            icao,
            payload,
        },
    ))
}

The rest is just connecting to the raw TCP server and parsing the messages as they come in. There is nothing interesting about that so this where I'm going to stop. I hope you enjoyed this article and learned something new about ADS-B and nom.