1 | // Part of BNC, a utility for retrieving decoding and |
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2 | // converting GNSS data streams from NTRIP broadcasters. |
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3 | // |
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4 | // Copyright (C) 2007 |
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5 | // German Federal Agency for Cartography and Geodesy (BKG) |
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6 | // http://www.bkg.bund.de |
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7 | // Czech Technical University Prague, Department of Geodesy |
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8 | // http://www.fsv.cvut.cz |
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9 | // |
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10 | // Email: euref-ip@bkg.bund.de |
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11 | // |
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12 | // This program is free software; you can redistribute it and/or |
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13 | // modify it under the terms of the GNU General Public License |
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14 | // as published by the Free Software Foundation, version 2. |
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15 | // |
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16 | // This program is distributed in the hope that it will be useful, |
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17 | // but WITHOUT ANY WARRANTY; without even the implied warranty of |
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18 | // MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the |
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19 | // GNU General Public License for more details. |
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20 | // |
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21 | // You should have received a copy of the GNU General Public License |
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22 | // along with this program; if not, write to the Free Software |
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23 | // Foundation, Inc., 59 Temple Place - Suite 330, Boston, MA 02111-1307, USA. |
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24 | |
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25 | /* ------------------------------------------------------------------------- |
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26 | * BKG NTRIP Client |
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27 | * ------------------------------------------------------------------------- |
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28 | * |
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29 | * Class: RTCM3Decoder |
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30 | * |
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31 | * Purpose: RTCM3 Decoder |
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32 | * |
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33 | * Author: L. Mervart |
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34 | * |
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35 | * Created: 24-Aug-2006 |
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36 | * |
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37 | * Changes: |
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38 | * |
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39 | * -----------------------------------------------------------------------*/ |
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40 | |
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41 | #include <iostream> |
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42 | #include <iomanip> |
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43 | #include <sstream> |
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44 | #include <math.h> |
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45 | #include <string.h> |
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46 | |
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47 | #include "bits.h" |
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48 | #include "gnss.h" |
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49 | #include "RTCM3Decoder.h" |
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50 | #include "rtcm_utils.h" |
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51 | #include "bncconst.h" |
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52 | #include "bnccore.h" |
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53 | #include "bncutils.h" |
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54 | #include "bncsettings.h" |
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55 | |
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56 | using namespace std; |
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57 | |
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58 | // Error Handling |
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59 | //////////////////////////////////////////////////////////////////////////// |
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60 | void RTCM3Error(const char*, ...) { |
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61 | } |
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62 | |
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63 | // Constructor |
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64 | //////////////////////////////////////////////////////////////////////////// |
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65 | RTCM3Decoder::RTCM3Decoder(const QString& staID, bncRawFile* rawFile) : |
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66 | GPSDecoder() { |
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67 | |
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68 | _staID = staID; |
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69 | _rawFile = rawFile; |
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70 | |
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71 | connect(this, SIGNAL(newGPSEph(t_ephGPS)), BNC_CORE, |
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72 | SLOT(slotNewGPSEph(t_ephGPS))); |
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73 | connect(this, SIGNAL(newGlonassEph(t_ephGlo)), BNC_CORE, |
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74 | SLOT(slotNewGlonassEph(t_ephGlo))); |
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75 | connect(this, SIGNAL(newGalileoEph(t_ephGal)), BNC_CORE, |
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76 | SLOT(slotNewGalileoEph(t_ephGal))); |
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77 | connect(this, SIGNAL(newSBASEph(t_ephSBAS)), BNC_CORE, |
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78 | SLOT(slotNewSBASEph(t_ephSBAS))); |
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79 | connect(this, SIGNAL(newBDSEph(t_ephBDS)), BNC_CORE, |
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80 | SLOT(slotNewBDSEph(t_ephBDS))); |
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81 | |
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82 | _MessageSize = _SkipBytes = _BlockSize = _NeedBytes = 0; |
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83 | } |
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84 | |
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85 | // Destructor |
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86 | //////////////////////////////////////////////////////////////////////////// |
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87 | RTCM3Decoder::~RTCM3Decoder() { |
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88 | QMapIterator<QByteArray, RTCM3coDecoder*> it(_coDecoders); |
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89 | while (it.hasNext()) |
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90 | { |
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91 | it.next(); |
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92 | delete it.value(); |
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93 | } |
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94 | } |
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95 | |
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96 | // |
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97 | //////////////////////////////////////////////////////////////////////////// |
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98 | bool RTCM3Decoder::DecodeRTCM3GPS(unsigned char* data, int size) { |
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99 | bool decoded = false; |
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100 | bncTime CurrentObsTime; |
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101 | int i, numsats, syncf, type; |
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102 | uint64_t numbits = 0, bitfield = 0; |
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103 | |
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104 | data += 3; /* header */ |
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105 | size -= 6; /* header + crc */ |
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106 | |
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107 | GETBITS(type, 12) |
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108 | SKIPBITS(12) |
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109 | /* id */ |
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110 | GETBITS(i, 30) |
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111 | |
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112 | CurrentObsTime.set(i); |
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113 | if (_CurrentTime.valid() && CurrentObsTime != _CurrentTime) { |
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114 | decoded = true; |
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115 | _obsList.append(_CurrentObsList); |
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116 | _CurrentObsList.clear(); |
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117 | } |
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118 | |
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119 | _CurrentTime = CurrentObsTime; |
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120 | |
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121 | GETBITS(syncf, 1) |
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122 | /* sync */ |
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123 | GETBITS(numsats, 5) |
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124 | SKIPBITS(4) |
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125 | /* smind, smint */ |
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126 | |
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127 | while (numsats--) { |
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128 | int sv, code, l1range, amb = 0; |
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129 | t_satObs CurrentObs; |
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130 | CurrentObs._time = CurrentObsTime; |
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131 | |
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132 | GETBITS(sv, 6) |
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133 | if (sv < 40) |
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134 | CurrentObs._prn.set('G', sv); |
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135 | else |
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136 | CurrentObs._prn.set('S', sv - 20); |
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137 | |
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138 | t_frqObs *frqObs = new t_frqObs; |
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139 | /* L1 */ |
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140 | GETBITS(code, 1); |
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141 | (code) ? |
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142 | frqObs->_rnxType2ch.assign("1W") : frqObs->_rnxType2ch.assign("1C"); |
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143 | GETBITS(l1range, 24); |
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144 | GETBITSSIGN(i, 20); |
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145 | if ((i & ((1 << 20) - 1)) != 0x80000) { |
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146 | frqObs->_code = l1range * 0.02; |
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147 | frqObs->_phase = (l1range * 0.02 + i * 0.0005) / GPS_WAVELENGTH_L1; |
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148 | frqObs->_codeValid = frqObs->_phaseValid = true; |
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149 | } |
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150 | GETBITS(frqObs->_lockTimeIndicator, 7); |
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151 | frqObs->_lockTime = lti2sec(type, frqObs->_lockTimeIndicator); |
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152 | frqObs->_lockTimeValid = (frqObs->_lockTime >= 0.0 && frqObs->_phaseValid); |
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153 | if (type == 1002 || type == 1004) { |
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154 | GETBITS(amb, 8); |
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155 | if (amb) { |
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156 | frqObs->_code += amb * 299792.458; |
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157 | frqObs->_phase += (amb * 299792.458) / GPS_WAVELENGTH_L1; |
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158 | } |
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159 | GETBITS(i, 8); |
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160 | if (i) { |
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161 | frqObs->_snr = i * 0.25; |
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162 | frqObs->_snrValid = true; |
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163 | } |
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164 | } |
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165 | CurrentObs._obs.push_back(frqObs); |
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166 | if (type == 1003 || type == 1004) { |
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167 | frqObs = new t_frqObs; |
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168 | /* L2 */ |
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169 | GETBITS(code, 2); |
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170 | switch (code) { |
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171 | case 3: |
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172 | frqObs->_rnxType2ch.assign("2W"); /* or "2Y"? */ |
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173 | break; |
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174 | case 2: |
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175 | frqObs->_rnxType2ch.assign("2W"); |
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176 | break; |
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177 | case 1: |
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178 | frqObs->_rnxType2ch.assign("2P"); |
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179 | break; |
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180 | case 0: |
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181 | frqObs->_rnxType2ch.assign("2X"); /* or "2S" or "2L"? */ |
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182 | break; |
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183 | } |
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184 | GETBITSSIGN(i, 14); |
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185 | if ((i & ((1 << 14) - 1)) != 0x2000) { |
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186 | frqObs->_code = l1range * 0.02 + i * 0.02 + amb * 299792.458; |
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187 | frqObs->_codeValid = true; |
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188 | } |
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189 | GETBITSSIGN(i, 20); |
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190 | if ((i & ((1 << 20) - 1)) != 0x80000) { |
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191 | frqObs->_phase = (l1range * 0.02 + i * 0.0005 + amb * 299792.458) |
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192 | / GPS_WAVELENGTH_L2; |
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193 | frqObs->_phaseValid = true; |
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194 | } |
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195 | GETBITS(frqObs->_lockTimeIndicator, 7); |
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196 | frqObs->_lockTime = lti2sec(type, frqObs->_lockTimeIndicator); |
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197 | frqObs->_lockTimeValid = (frqObs->_lockTime >= 0.0 && frqObs->_phaseValid); |
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198 | if (type == 1004) { |
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199 | GETBITS(i, 8); |
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200 | if (i) { |
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201 | frqObs->_snr = i * 0.25; |
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202 | frqObs->_snrValid = true; |
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203 | } |
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204 | } |
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205 | CurrentObs._obs.push_back(frqObs); |
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206 | } |
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207 | _CurrentObsList.push_back(CurrentObs); |
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208 | } |
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209 | |
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210 | if (!syncf) { |
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211 | decoded = true; |
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212 | _obsList.append(_CurrentObsList); |
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213 | _CurrentTime.reset(); |
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214 | _CurrentObsList.clear(); |
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215 | } |
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216 | return decoded; |
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217 | } |
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218 | |
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219 | #define RTCM3_MSM_NUMSIG 32 |
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220 | #define RTCM3_MSM_NUMSAT 64 |
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221 | #define RTCM3_MSM_NUMCELLS 96 /* arbitrary limit */ |
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222 | |
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223 | /** |
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224 | * Frequency numbers of GLONASS with an offset of 100 to detect unset values. |
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225 | * Gets filled by ephemeris and data blocks and shared between different streams. |
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226 | */ |
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227 | static int GLOFreq[RTCM3_MSM_NUMSAT]; |
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228 | |
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229 | /* |
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230 | * Storage structure to store frequency and RINEX ID assignment for MSM |
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231 | * message */ |
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232 | struct CodeData { |
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233 | double wl; |
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234 | const char *code; /* currently unused */ |
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235 | }; |
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236 | |
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237 | /** MSM signal types for GPS and SBAS */ |
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238 | static struct CodeData gps[RTCM3_MSM_NUMSIG] = { |
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239 | {0.0, 0}, |
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240 | {GPS_WAVELENGTH_L1, "1C"}, |
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241 | {GPS_WAVELENGTH_L1, "1P"}, |
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242 | {GPS_WAVELENGTH_L1, "1W"}, |
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243 | {0.0, 0}, |
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244 | {0.0, 0}, |
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245 | {0.0, 0}, |
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246 | {GPS_WAVELENGTH_L2, "2C"}, |
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247 | {GPS_WAVELENGTH_L2, "2P"}, |
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248 | {GPS_WAVELENGTH_L2, "2W"}, |
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249 | {0.0, 0}, |
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250 | {0.0, 0}, |
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251 | {0.0, 0}, |
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252 | {0.0, 0}, |
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253 | {GPS_WAVELENGTH_L2, "2S"}, |
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254 | {GPS_WAVELENGTH_L2, "2L"}, |
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255 | {GPS_WAVELENGTH_L2, "2X"}, |
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256 | {0.0, 0}, |
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257 | {0.0, 0}, |
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258 | {0.0, 0}, |
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259 | {0.0, 0}, |
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260 | {GPS_WAVELENGTH_L5, "5I"}, |
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261 | {GPS_WAVELENGTH_L5, "5Q"}, |
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262 | {GPS_WAVELENGTH_L5, "5X"}, |
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263 | {0.0, 0}, |
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264 | {0.0, 0}, |
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265 | {0.0, 0}, |
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266 | {0.0, 0}, |
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267 | {0.0, 0}, |
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268 | {GPS_WAVELENGTH_L1, "1S"}, |
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269 | {GPS_WAVELENGTH_L1, "1L"}, |
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270 | {GPS_WAVELENGTH_L1, "1X"} |
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271 | }; |
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272 | |
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273 | /** |
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274 | * MSM signal types for GLONASS |
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275 | * |
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276 | * NOTE: Uses 0.0, 1.0 for wavelength as sat index dependence is done later! |
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277 | */ |
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278 | static struct CodeData glo[RTCM3_MSM_NUMSIG] = { |
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279 | {0.0, 0}, |
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280 | {0.0, "1C"}, |
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281 | {0.0, "1P"}, |
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282 | {0.0, 0}, |
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283 | {0.0, 0}, |
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284 | {0.0, 0}, |
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285 | {0.0, 0}, |
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286 | {1.0, "2C"}, |
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287 | {1.0, "2P"}, |
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288 | {GLO_WAVELENGTH_L1a, "4A"}, |
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289 | {GLO_WAVELENGTH_L1a, "4B"}, |
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290 | {GLO_WAVELENGTH_L1a, "4X"}, |
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291 | {GLO_WAVELENGTH_L2a, "6A"}, |
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292 | {GLO_WAVELENGTH_L2a, "6B"}, |
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293 | {GLO_WAVELENGTH_L2a, "6X"}, |
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294 | {GLO_WAVELENGTH_L3, "3I"}, |
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295 | {GLO_WAVELENGTH_L3, "3Q"}, |
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296 | {GLO_WAVELENGTH_L3, "3X"}, |
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297 | {0.0, 0}, |
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298 | {0.0, 0}, |
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299 | {0.0, 0}, |
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300 | {0.0, 0}, |
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301 | {0.0, 0}, |
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302 | {0.0, 0}, |
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303 | {0.0, 0}, |
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304 | {0.0, 0}, |
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305 | {0.0, 0}, |
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306 | {0.0, 0}, |
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307 | {0.0, 0}, |
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308 | {0.0, 0}, |
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309 | {0.0, 0}, |
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310 | {0.0, 0} |
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311 | }; |
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312 | |
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313 | /** MSM signal types for Galileo */ |
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314 | static struct CodeData gal[RTCM3_MSM_NUMSIG] = { |
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315 | {0.0, 0}, |
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316 | {GAL_WAVELENGTH_E1, "1C"}, |
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317 | {GAL_WAVELENGTH_E1, "1A"}, |
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318 | {GAL_WAVELENGTH_E1, "1B"}, |
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319 | {GAL_WAVELENGTH_E1, "1X"}, |
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320 | {GAL_WAVELENGTH_E1, "1Z"}, |
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321 | {0.0, 0}, |
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322 | {GAL_WAVELENGTH_E6, "6C"}, |
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323 | {GAL_WAVELENGTH_E6, "6A"}, |
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324 | {GAL_WAVELENGTH_E6, "6B"}, |
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325 | {GAL_WAVELENGTH_E6, "6X"}, |
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326 | {GAL_WAVELENGTH_E6, "6Z"}, |
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327 | {0.0, 0}, |
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328 | {GAL_WAVELENGTH_E5B, "7I"}, |
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329 | {GAL_WAVELENGTH_E5B, "7Q"}, |
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330 | {GAL_WAVELENGTH_E5B, "7X"}, |
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331 | {0.0, 0}, |
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332 | {GAL_WAVELENGTH_E5AB,"8I"}, |
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333 | {GAL_WAVELENGTH_E5AB,"8Q"}, |
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334 | {GAL_WAVELENGTH_E5AB,"8X"}, |
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335 | {0.0, 0}, |
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336 | {GAL_WAVELENGTH_E5A, "5I"}, |
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337 | {GAL_WAVELENGTH_E5A, "5Q"}, |
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338 | {GAL_WAVELENGTH_E5A, "5X"}, |
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339 | {0.0, 0}, |
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340 | {0.0, 0}, |
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341 | {0.0, 0}, |
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342 | {0.0, 0}, |
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343 | {0.0, 0}, |
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344 | {0.0, 0}, |
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345 | {0.0, 0}, |
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346 | {0.0, 0} |
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347 | }; |
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348 | |
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349 | /** MSM signal types for QZSS */ |
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350 | static struct CodeData qzss[RTCM3_MSM_NUMSIG] = { |
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351 | {0.0, 0}, |
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352 | {GPS_WAVELENGTH_L1, "1C"}, |
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353 | {0.0, 0}, |
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354 | {0.0, 0}, |
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355 | {0.0, 0}, |
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356 | {0.0, 0}, |
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357 | {0.0, 0}, |
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358 | {0.0, 0}, |
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359 | {QZSS_WAVELENGTH_L6, "6S"}, |
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360 | {QZSS_WAVELENGTH_L6, "6L"}, |
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361 | {QZSS_WAVELENGTH_L6, "6X"}, |
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362 | {0.0, 0}, |
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363 | {0.0, 0}, |
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364 | {0.0, 0}, |
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365 | {GPS_WAVELENGTH_L2, "2S"}, |
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366 | {GPS_WAVELENGTH_L2, "2L"}, |
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367 | {GPS_WAVELENGTH_L2, "2X"}, |
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368 | {0.0, 0}, |
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369 | {0.0, 0}, |
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370 | {0.0, 0}, |
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371 | {0.0, 0}, |
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372 | {GPS_WAVELENGTH_L5, "5I"}, |
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373 | {GPS_WAVELENGTH_L5, "5Q"}, |
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374 | {GPS_WAVELENGTH_L5, "5X"}, |
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375 | {0.0, 0}, |
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376 | {0.0, 0}, |
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377 | {0.0, 0}, |
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378 | {0.0, 0}, |
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379 | {0.0, 0}, |
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380 | {GPS_WAVELENGTH_L1, "1S"}, |
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381 | {GPS_WAVELENGTH_L1, "1L"}, |
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382 | {GPS_WAVELENGTH_L1, "1X"} |
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383 | }; |
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384 | |
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385 | /** MSM signal types for Beidou/BDS */ |
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386 | static struct CodeData bds[RTCM3_MSM_NUMSIG] = { |
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387 | {0.0, 0}, |
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388 | {BDS_WAVELENGTH_B1, "2I"}, |
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389 | {BDS_WAVELENGTH_B1, "2Q"}, |
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390 | {BDS_WAVELENGTH_B1, "2X"}, |
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391 | {0.0, 0}, |
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392 | {0.0, 0}, |
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393 | {0.0, 0}, |
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394 | {BDS_WAVELENGTH_B3, "6I"}, |
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395 | {BDS_WAVELENGTH_B3, "6Q"}, |
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396 | {BDS_WAVELENGTH_B3, "6X"}, |
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397 | {0.0, 0}, |
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398 | {0.0, 0}, |
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399 | {0.0, 0}, |
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400 | {BDS_WAVELENGTH_B2, "7I"}, |
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401 | {BDS_WAVELENGTH_B2, "7Q"}, |
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402 | {BDS_WAVELENGTH_B2, "7X"}, |
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403 | {0.0, 0}, |
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404 | {0.0, 0}, |
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405 | {0.0, 0}, |
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406 | {0.0, 0}, |
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407 | {0.0, 0}, |
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408 | {BDS_WAVELENGTH_B2a, "5D"}, |
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409 | {BDS_WAVELENGTH_B2a, "5P"}, |
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410 | {BDS_WAVELENGTH_B2a, "5X"}, |
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411 | {BDS_WAVELENGTH_B2b, "7D"}, |
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412 | {0.0, 0}, |
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413 | {0.0, 0}, |
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414 | {0.0, 0}, |
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415 | {0.0, 0}, |
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416 | {BDS_WAVELENGTH_B1C, "1D"}, |
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417 | {BDS_WAVELENGTH_B1C, "1P"}, |
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418 | {BDS_WAVELENGTH_B1C, "1X"} |
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419 | }; |
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420 | |
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421 | /** MSM signal types for IRNSS */ |
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422 | static struct CodeData irn[RTCM3_MSM_NUMSIG] = { |
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423 | {0.0, 0}, |
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424 | {0.0, 0}, |
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425 | {0.0, 0}, |
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426 | {0.0, 0}, |
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427 | {0.0, 0}, |
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428 | {0.0, 0}, |
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429 | {0.0, 0}, |
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430 | {IRNSS_WAVELENGTH_S, "9A"}, |
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431 | {0.0, 0}, |
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432 | {0.0, 0}, |
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433 | {0.0, 0}, |
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434 | {0.0, 0}, |
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435 | {0.0, 0}, |
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436 | {0.0, 0}, |
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437 | {0.0, 0}, |
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438 | {0.0, 0}, |
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439 | {0.0, 0}, |
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440 | {0.0, 0}, |
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441 | {0.0, 0}, |
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442 | {0.0, 0}, |
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443 | {0.0, 0}, |
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444 | {IRNSS_WAVELENGTH_L5, "5A"}, |
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445 | {0.0, 0}, |
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446 | {0.0, 0}, |
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447 | {0.0, 0}, |
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448 | {0.0, 0}, |
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449 | {0.0, 0}, |
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450 | {0.0, 0}, |
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451 | {0.0, 0}, |
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452 | {0.0, 0}, |
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453 | {0.0, 0}, |
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454 | {0.0, 0} |
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455 | }; |
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456 | |
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457 | #define UINT64(c) c ## ULL |
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458 | |
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459 | // |
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460 | //////////////////////////////////////////////////////////////////////////// |
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461 | bool RTCM3Decoder::DecodeRTCM3MSM(unsigned char* data, int size) { |
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462 | bool decoded = false; |
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463 | int type, syncf, i; |
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464 | uint64_t numbits = 0, bitfield = 0; |
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465 | |
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466 | data += 3; /* header */ |
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467 | size -= 6; /* header + crc */ |
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468 | |
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469 | GETBITS(type, 12) |
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470 | SKIPBITS(12) |
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471 | /* id */ |
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472 | char sys; |
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473 | if (type >= 1131) |
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474 | sys = 'I'; |
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475 | else if (type >= 1121) |
---|
476 | sys = 'C'; |
---|
477 | else if (type >= 1111) |
---|
478 | sys = 'J'; |
---|
479 | else if (type >= 1101) |
---|
480 | sys = 'S'; |
---|
481 | else if (type >= 1091) |
---|
482 | sys = 'E'; |
---|
483 | else if (type >= 1081) |
---|
484 | sys = 'R'; |
---|
485 | else if (type >= 1071) |
---|
486 | sys = 'G'; |
---|
487 | |
---|
488 | bncTime CurrentObsTime; |
---|
489 | if (sys == 'C') /* BDS */ { |
---|
490 | GETBITS(i, 30) |
---|
491 | CurrentObsTime.setBDS(i); |
---|
492 | } |
---|
493 | else if (sys == 'R') /* GLONASS */ { |
---|
494 | SKIPBITS(3) |
---|
495 | GETBITS(i, 27) |
---|
496 | /* tk */ |
---|
497 | CurrentObsTime.setTk(i); |
---|
498 | } |
---|
499 | else /* GPS style date */ { |
---|
500 | GETBITS(i, 30) |
---|
501 | CurrentObsTime.set(i); |
---|
502 | } |
---|
503 | if (_CurrentTime.valid() && CurrentObsTime != _CurrentTime) { |
---|
504 | decoded = true; |
---|
505 | _obsList.append(_CurrentObsList); |
---|
506 | _CurrentObsList.clear(); |
---|
507 | } |
---|
508 | _CurrentTime = CurrentObsTime; |
---|
509 | |
---|
510 | GETBITS(syncf, 1) |
---|
511 | /** |
---|
512 | * Ignore unknown types except for sync flag |
---|
513 | * |
---|
514 | * We actually support types 1-3 in following code, but as they are missing |
---|
515 | * the full cycles and can't be used later we skip interpretation here already. |
---|
516 | */ |
---|
517 | if (type <= 1137 && (type % 10) >= 4 && (type % 10) <= 7) { |
---|
518 | int sigmask, numsat = 0, numsig = 0; |
---|
519 | uint64_t satmask, cellmask, ui; |
---|
520 | // satellite data |
---|
521 | double rrmod[RTCM3_MSM_NUMSAT]; // GNSS sat rough ranges modulo 1 millisecond |
---|
522 | int rrint[RTCM3_MSM_NUMSAT]; // number of integer msecs in GNSS sat rough ranges |
---|
523 | int rdop[RTCM3_MSM_NUMSAT]; // GNSS sat rough phase range rates |
---|
524 | int extsat[RTCM3_MSM_NUMSAT];// extended sat info |
---|
525 | // signal data |
---|
526 | int ll[RTCM3_MSM_NUMCELLS]; // lock time indicator |
---|
527 | /*int hc[RTCM3_MSM_NUMCELLS];*/ // half cycle ambiguity indicator |
---|
528 | double cnr[RTCM3_MSM_NUMCELLS]; // signal cnr |
---|
529 | double cp[RTCM3_MSM_NUMCELLS]; // fine phase range data |
---|
530 | double psr[RTCM3_MSM_NUMCELLS]; // fine psr |
---|
531 | double dop[RTCM3_MSM_NUMCELLS]; // fine phase range rates |
---|
532 | |
---|
533 | SKIPBITS(3 + 7 + 2 + 2 + 1 + 3) |
---|
534 | GETBITS64(satmask, RTCM3_MSM_NUMSAT) |
---|
535 | |
---|
536 | /* http://gurmeetsingh.wordpress.com/2008/08/05/fast-bit-counting-routines/ */ |
---|
537 | for (ui = satmask; ui; ui &= (ui - 1) /* remove rightmost bit */) |
---|
538 | ++numsat; |
---|
539 | GETBITS(sigmask, RTCM3_MSM_NUMSIG) |
---|
540 | for (i = sigmask; i; i &= (i - 1) /* remove rightmost bit */) |
---|
541 | ++numsig; |
---|
542 | for (i = 0; i < RTCM3_MSM_NUMSAT; ++i) |
---|
543 | extsat[i] = 15; |
---|
544 | |
---|
545 | i = numsat * numsig; |
---|
546 | GETBITS64(cellmask, (unsigned )i) |
---|
547 | // satellite data |
---|
548 | switch (type % 10) { |
---|
549 | case 1: |
---|
550 | case 2: |
---|
551 | case 3: |
---|
552 | /* partial data, already skipped above, but implemented for future expansion ! */ |
---|
553 | for (int j = numsat; j--;) |
---|
554 | GETFLOAT(rrmod[j], 10, 1.0 / 1024.0) |
---|
555 | break; |
---|
556 | case 4: |
---|
557 | case 6: |
---|
558 | for (int j = numsat; j--;) |
---|
559 | GETBITS(rrint[j], 8) |
---|
560 | for (int j = numsat; j--;) |
---|
561 | GETFLOAT(rrmod[j], 10, 1.0 / 1024.0) |
---|
562 | break; |
---|
563 | case 5: |
---|
564 | case 7: |
---|
565 | for (int j = numsat; j--;) |
---|
566 | GETBITS(rrint[j], 8) |
---|
567 | for (int j = numsat; j--;) |
---|
568 | GETBITS(extsat[j], 4) |
---|
569 | for (int j = numsat; j--;) |
---|
570 | GETFLOAT(rrmod[j], 10, 1.0 / 1024.0) |
---|
571 | for (int j = numsat; j--;) |
---|
572 | GETBITSSIGN(rdop[j], 14) |
---|
573 | break; |
---|
574 | } |
---|
575 | // signal data |
---|
576 | int numcells = numsat * numsig; |
---|
577 | /** Drop anything which exceeds our cell limit. Increase limit definition |
---|
578 | * when that happens. */ |
---|
579 | if (numcells <= RTCM3_MSM_NUMCELLS) { |
---|
580 | switch (type % 10) { |
---|
581 | case 1: |
---|
582 | for (int count = numcells; count--;) |
---|
583 | if (cellmask & (UINT64(1) << count)) |
---|
584 | GETFLOATSIGN(psr[count], 15, 1.0 / (1 << 24)) |
---|
585 | break; |
---|
586 | case 2: |
---|
587 | for (int count = numcells; count--;) |
---|
588 | if (cellmask & (UINT64(1) << count)) |
---|
589 | GETFLOATSIGN(cp[count], 22, 1.0 / (1 << 29)) |
---|
590 | for (int count = numcells; count--;) |
---|
591 | if (cellmask & (UINT64(1) << count)) |
---|
592 | GETBITS(ll[count], 4) |
---|
593 | for (int count = numcells; count--;) |
---|
594 | if (cellmask & (UINT64(1) << count)) |
---|
595 | SKIPBITS(1)/*GETBITS(hc[count], 1)*/ |
---|
596 | break; |
---|
597 | case 3: |
---|
598 | for (int count = numcells; count--;) |
---|
599 | if (cellmask & (UINT64(1) << count)) |
---|
600 | GETFLOATSIGN(psr[count], 15, 1.0 / (1 << 24)) |
---|
601 | for (int count = numcells; count--;) |
---|
602 | if (cellmask & (UINT64(1) << count)) |
---|
603 | GETFLOATSIGN(cp[count], 22, 1.0 / (1 << 29)) |
---|
604 | for (int count = numcells; count--;) |
---|
605 | if (cellmask & (UINT64(1) << count)) |
---|
606 | GETBITS(ll[count], 4) |
---|
607 | for (int count = numcells; count--;) |
---|
608 | if (cellmask & (UINT64(1) << count)) |
---|
609 | SKIPBITS(1)/*GETBITS(hc[count], 1)*/ |
---|
610 | break; |
---|
611 | case 4: |
---|
612 | for (int count = numcells; count--;) |
---|
613 | if (cellmask & (UINT64(1) << count)) |
---|
614 | GETFLOATSIGN(psr[count], 15, 1.0 / (1 << 24)) |
---|
615 | for (int count = numcells; count--;) |
---|
616 | if (cellmask & (UINT64(1) << count)) |
---|
617 | GETFLOATSIGN(cp[count], 22, 1.0 / (1 << 29)) |
---|
618 | for (int count = numcells; count--;) |
---|
619 | if (cellmask & (UINT64(1) << count)) |
---|
620 | GETBITS(ll[count], 4) |
---|
621 | for (int count = numcells; count--;) |
---|
622 | if (cellmask & (UINT64(1) << count)) |
---|
623 | SKIPBITS(1)/*GETBITS(hc[count], 1)*/ |
---|
624 | for (int count = numcells; count--;) |
---|
625 | if (cellmask & (UINT64(1) << count)) |
---|
626 | GETBITS(cnr[count], 6) |
---|
627 | break; |
---|
628 | case 5: |
---|
629 | for (int count = numcells; count--;) |
---|
630 | if (cellmask & (UINT64(1) << count)) |
---|
631 | GETFLOATSIGN(psr[count], 15, 1.0 / (1 << 24)) |
---|
632 | for (int count = numcells; count--;) |
---|
633 | if (cellmask & (UINT64(1) << count)) |
---|
634 | GETFLOATSIGN(cp[count], 22, 1.0 / (1 << 29)) |
---|
635 | for (int count = numcells; count--;) |
---|
636 | if (cellmask & (UINT64(1) << count)) |
---|
637 | GETBITS(ll[count], 4) |
---|
638 | for (int count = numcells; count--;) |
---|
639 | if (cellmask & (UINT64(1) << count)) |
---|
640 | SKIPBITS(1)/*GETBITS(hc[count], 1)*/ |
---|
641 | for (int count = numcells; count--;) |
---|
642 | if (cellmask & (UINT64(1) << count)) |
---|
643 | GETFLOAT(cnr[count], 6, 1.0) |
---|
644 | for (int count = numcells; count--;) |
---|
645 | if (cellmask & (UINT64(1) << count)) |
---|
646 | GETFLOATSIGN(dop[count], 15, 0.0001) |
---|
647 | break; |
---|
648 | case 6: |
---|
649 | for (int count = numcells; count--;) |
---|
650 | if (cellmask & (UINT64(1) << count)) |
---|
651 | GETFLOATSIGN(psr[count], 20, 1.0 / (1 << 29)) |
---|
652 | for (int count = numcells; count--;) |
---|
653 | if (cellmask & (UINT64(1) << count)) |
---|
654 | GETFLOATSIGN(cp[count], 24, 1.0 / (1U << 31)) |
---|
655 | for (int count = numcells; count--;) |
---|
656 | if (cellmask & (UINT64(1) << count)) |
---|
657 | GETBITS(ll[count], 10) |
---|
658 | for (int count = numcells; count--;) |
---|
659 | if (cellmask & (UINT64(1) << count)) |
---|
660 | SKIPBITS(1)/*GETBITS(hc[count], 1)*/ |
---|
661 | for (int count = numcells; count--;) |
---|
662 | if (cellmask & (UINT64(1) << count)) |
---|
663 | GETFLOAT(cnr[count], 10, 1.0 / (1 << 4)) |
---|
664 | break; |
---|
665 | case 7: |
---|
666 | for (int count = numcells; count--;) |
---|
667 | if (cellmask & (UINT64(1) << count)) |
---|
668 | GETFLOATSIGN(psr[count], 20, 1.0 / (1 << 29)) |
---|
669 | for (int count = numcells; count--;) |
---|
670 | if (cellmask & (UINT64(1) << count)) |
---|
671 | GETFLOATSIGN(cp[count], 24, 1.0 / (1U << 31)) |
---|
672 | for (int count = numcells; count--;) |
---|
673 | if (cellmask & (UINT64(1) << count)) |
---|
674 | GETBITS(ll[count], 10) |
---|
675 | for (int count = numcells; count--;) |
---|
676 | if (cellmask & (UINT64(1) << count)) |
---|
677 | SKIPBITS(1)/*GETBITS(hc[count], 1)*/ |
---|
678 | for (int count = numcells; count--;) |
---|
679 | if (cellmask & (UINT64(1) << count)) |
---|
680 | GETFLOAT(cnr[count], 10, 1.0 / (1 << 4)) |
---|
681 | for (int count = numcells; count--;) |
---|
682 | if (cellmask & (UINT64(1) << count)) |
---|
683 | GETFLOATSIGN(dop[count], 15, 0.0001) |
---|
684 | break; |
---|
685 | } |
---|
686 | i = RTCM3_MSM_NUMSAT; |
---|
687 | int j = -1; |
---|
688 | t_satObs CurrentObs; |
---|
689 | for (int count = numcells; count--;) { |
---|
690 | while (j >= 0 && !(sigmask & (1 << --j))) |
---|
691 | ; |
---|
692 | if (j < 0) { |
---|
693 | while (!(satmask & (UINT64(1) << (--i)))) |
---|
694 | /* next satellite */ |
---|
695 | ; |
---|
696 | if (CurrentObs._obs.size() > 0) |
---|
697 | _CurrentObsList.push_back(CurrentObs); |
---|
698 | CurrentObs.clear(); |
---|
699 | CurrentObs._time = CurrentObsTime; |
---|
700 | if (sys == 'S') |
---|
701 | CurrentObs._prn.set(sys, 20 - 1 + RTCM3_MSM_NUMSAT - i); |
---|
702 | else |
---|
703 | CurrentObs._prn.set(sys, RTCM3_MSM_NUMSAT - i); |
---|
704 | j = RTCM3_MSM_NUMSIG; |
---|
705 | while (!(sigmask & (1 << --j))) |
---|
706 | ; |
---|
707 | --numsat; |
---|
708 | } |
---|
709 | if (cellmask & (UINT64(1) << count)) { |
---|
710 | struct CodeData cd = {0.0, 0}; |
---|
711 | switch (sys) { |
---|
712 | case 'J': |
---|
713 | cd = qzss[RTCM3_MSM_NUMSIG - j - 1]; |
---|
714 | break; |
---|
715 | case 'C': |
---|
716 | cd = bds[RTCM3_MSM_NUMSIG - j - 1]; |
---|
717 | break; |
---|
718 | case 'G': |
---|
719 | case 'S': |
---|
720 | cd = gps[RTCM3_MSM_NUMSIG - j - 1]; |
---|
721 | break; |
---|
722 | case 'R': |
---|
723 | cd = glo[RTCM3_MSM_NUMSIG - j - 1]; |
---|
724 | { |
---|
725 | int k = GLOFreq[RTCM3_MSM_NUMSAT - i - 1]; |
---|
726 | if (extsat[numsat] < 14) { // channel number is available as extended info for MSM5/7 |
---|
727 | k = GLOFreq[RTCM3_MSM_NUMSAT - i - 1] = 100 + extsat[numsat] - 7; |
---|
728 | } |
---|
729 | if (k) { |
---|
730 | if (cd.wl == 0.0) { |
---|
731 | cd.wl = GLO_WAVELENGTH_L1(k - 100); |
---|
732 | } |
---|
733 | else if (cd.wl == 1.0) { |
---|
734 | cd.wl = GLO_WAVELENGTH_L2(k - 100); |
---|
735 | } |
---|
736 | } |
---|
737 | else if (!k && cd.wl <= 1) { |
---|
738 | cd.code = 0; |
---|
739 | } |
---|
740 | } |
---|
741 | break; |
---|
742 | case 'E': |
---|
743 | cd = gal[RTCM3_MSM_NUMSIG - j - 1]; |
---|
744 | break; |
---|
745 | case 'I': |
---|
746 | cd = irn[RTCM3_MSM_NUMSIG - j - 1]; |
---|
747 | break; |
---|
748 | } |
---|
749 | if (cd.code) { |
---|
750 | t_frqObs *frqObs = new t_frqObs; |
---|
751 | frqObs->_rnxType2ch.assign(cd.code); |
---|
752 | |
---|
753 | switch (type % 10) { |
---|
754 | case 1: |
---|
755 | if (psr[count] > -1.0 / (1 << 10)) { |
---|
756 | frqObs->_code = psr[count] * LIGHTSPEED / 1000.0 |
---|
757 | + (rrmod[numsat]) * LIGHTSPEED / 1000.0; |
---|
758 | frqObs->_codeValid = true; |
---|
759 | } |
---|
760 | break; |
---|
761 | case 2: |
---|
762 | if (cp[count] > -1.0 / (1 << 8)) { |
---|
763 | frqObs->_phase = cp[count] * LIGHTSPEED / 1000.0 / cd.wl |
---|
764 | + (rrmod[numsat]) * LIGHTSPEED / 1000.0 / cd.wl; |
---|
765 | frqObs->_phaseValid = true; |
---|
766 | frqObs->_lockTime = lti2sec(type,ll[count]); |
---|
767 | frqObs->_lockTimeValid = (frqObs->_lockTime >= 0.0); |
---|
768 | frqObs->_lockTimeIndicator = ll[count]; |
---|
769 | } |
---|
770 | break; |
---|
771 | case 3: |
---|
772 | if (psr[count] > -1.0 / (1 << 10)) { |
---|
773 | frqObs->_code = psr[count] * LIGHTSPEED / 1000.0 |
---|
774 | + (rrmod[numsat]) * LIGHTSPEED / 1000.0; |
---|
775 | frqObs->_codeValid = true; |
---|
776 | } |
---|
777 | if (cp[count] > -1.0 / (1 << 8)) { |
---|
778 | frqObs->_phase = cp[count] * LIGHTSPEED / 1000.0 / cd.wl |
---|
779 | + rrmod[numsat] * LIGHTSPEED / 1000.0 / cd.wl; |
---|
780 | frqObs->_phaseValid = true; |
---|
781 | frqObs->_lockTime = lti2sec(type,ll[count]); |
---|
782 | frqObs->_lockTimeValid = (frqObs->_lockTime >= 0.0); |
---|
783 | frqObs->_lockTimeIndicator = ll[count]; |
---|
784 | } |
---|
785 | break; |
---|
786 | case 4: |
---|
787 | if (psr[count] > -1.0 / (1 << 10)) { |
---|
788 | frqObs->_code = psr[count] * LIGHTSPEED / 1000.0 |
---|
789 | + (rrmod[numsat] + rrint[numsat]) * LIGHTSPEED / 1000.0; |
---|
790 | frqObs->_codeValid = true; |
---|
791 | } |
---|
792 | if (cp[count] > -1.0 / (1 << 8)) { |
---|
793 | frqObs->_phase = cp[count] * LIGHTSPEED / 1000.0 / cd.wl |
---|
794 | + (rrmod[numsat] + rrint[numsat]) * LIGHTSPEED / 1000.0 / cd.wl; |
---|
795 | frqObs->_phaseValid = true; |
---|
796 | frqObs->_lockTime = lti2sec(type,ll[count]); |
---|
797 | frqObs->_lockTimeValid = (frqObs->_lockTime >= 0.0); |
---|
798 | frqObs->_lockTimeIndicator = ll[count]; |
---|
799 | } |
---|
800 | frqObs->_snr = cnr[count]; |
---|
801 | frqObs->_snrValid = true; |
---|
802 | break; |
---|
803 | case 5: |
---|
804 | if (psr[count] > -1.0 / (1 << 10)) { |
---|
805 | frqObs->_code = psr[count] * LIGHTSPEED / 1000.0 |
---|
806 | + (rrmod[numsat] + rrint[numsat]) * LIGHTSPEED / 1000.0; |
---|
807 | frqObs->_codeValid = true; |
---|
808 | } |
---|
809 | if (cp[count] > -1.0 / (1 << 8)) { |
---|
810 | frqObs->_phase = cp[count] * LIGHTSPEED / 1000.0 / cd.wl |
---|
811 | + (rrmod[numsat] + rrint[numsat]) * LIGHTSPEED / 1000.0 / cd.wl; |
---|
812 | frqObs->_phaseValid = true; |
---|
813 | frqObs->_lockTime = lti2sec(type,ll[count]); |
---|
814 | frqObs->_lockTimeValid = (frqObs->_lockTime >= 0.0); |
---|
815 | frqObs->_lockTimeIndicator = ll[count]; |
---|
816 | } |
---|
817 | frqObs->_snr = cnr[count]; |
---|
818 | frqObs->_snrValid = true; |
---|
819 | if (dop[count] > -1.6384) { |
---|
820 | frqObs->_doppler = -(dop[count] + rdop[numsat]) / cd.wl; |
---|
821 | frqObs->_dopplerValid = true; |
---|
822 | } |
---|
823 | break; |
---|
824 | case 6: |
---|
825 | if (psr[count] > -1.0 / (1 << 10)) { |
---|
826 | frqObs->_code = psr[count] * LIGHTSPEED / 1000.0 |
---|
827 | + (rrmod[numsat] + rrint[numsat]) * LIGHTSPEED / 1000.0; |
---|
828 | frqObs->_codeValid = true; |
---|
829 | } |
---|
830 | if (cp[count] > -1.0 / (1 << 8)) { |
---|
831 | frqObs->_phase = cp[count] * LIGHTSPEED / 1000.0 / cd.wl |
---|
832 | + (rrmod[numsat] + rrint[numsat]) * LIGHTSPEED / 1000.0 / cd.wl; |
---|
833 | frqObs->_phaseValid = true; |
---|
834 | frqObs->_lockTime = lti2sec(type,ll[count]); |
---|
835 | frqObs->_lockTimeValid = (frqObs->_lockTime >= 0.0); |
---|
836 | frqObs->_lockTimeIndicator = ll[count]; |
---|
837 | } |
---|
838 | |
---|
839 | frqObs->_snr = cnr[count]; |
---|
840 | frqObs->_snrValid = true; |
---|
841 | break; |
---|
842 | case 7: |
---|
843 | if (psr[count] > -1.0 / (1 << 10)) { |
---|
844 | frqObs->_code = psr[count] * LIGHTSPEED / 1000.0 |
---|
845 | + (rrmod[numsat] + rrint[numsat]) * LIGHTSPEED / 1000.0; |
---|
846 | frqObs->_codeValid = true; |
---|
847 | } |
---|
848 | if (cp[count] > -1.0 / (1 << 8)) { |
---|
849 | frqObs->_phase = cp[count] * LIGHTSPEED / 1000.0 / cd.wl |
---|
850 | + (rrmod[numsat] + rrint[numsat]) * LIGHTSPEED / 1000.0 / cd.wl; |
---|
851 | frqObs->_phaseValid = true; |
---|
852 | frqObs->_lockTime = lti2sec(type,ll[count]); |
---|
853 | frqObs->_lockTimeValid = (frqObs->_lockTime >= 0.0); |
---|
854 | frqObs->_lockTimeIndicator = ll[count]; |
---|
855 | } |
---|
856 | |
---|
857 | frqObs->_snr = cnr[count]; |
---|
858 | frqObs->_snrValid = true; |
---|
859 | |
---|
860 | if (dop[count] > -1.6384) { |
---|
861 | frqObs->_doppler = -(dop[count] + rdop[numsat]) / cd.wl; |
---|
862 | frqObs->_dopplerValid = true; |
---|
863 | } |
---|
864 | break; |
---|
865 | } |
---|
866 | CurrentObs._obs.push_back(frqObs); |
---|
867 | } |
---|
868 | } |
---|
869 | } |
---|
870 | if (CurrentObs._obs.size() > 0) { |
---|
871 | _CurrentObsList.push_back(CurrentObs); |
---|
872 | } |
---|
873 | } |
---|
874 | } |
---|
875 | else if ((type % 10) < 4) { |
---|
876 | emit(newMessage(QString("%1: Block %2 contain partial data! Ignored!") |
---|
877 | .arg(_staID).arg(type).toLatin1(), true)); |
---|
878 | } |
---|
879 | if (!syncf) { |
---|
880 | decoded = true; |
---|
881 | _obsList.append(_CurrentObsList); |
---|
882 | _CurrentTime.reset(); |
---|
883 | _CurrentObsList.clear(); |
---|
884 | } |
---|
885 | return decoded; |
---|
886 | } |
---|
887 | |
---|
888 | // |
---|
889 | //////////////////////////////////////////////////////////////////////////// |
---|
890 | bool RTCM3Decoder::DecodeRTCM3GLONASS(unsigned char* data, int size) { |
---|
891 | bool decoded = false; |
---|
892 | bncTime CurrentObsTime; |
---|
893 | int i, numsats, syncf, type; |
---|
894 | uint64_t numbits = 0, bitfield = 0; |
---|
895 | |
---|
896 | data += 3; /* header */ |
---|
897 | size -= 6; /* header + crc */ |
---|
898 | |
---|
899 | GETBITS(type, 12) |
---|
900 | SKIPBITS(12) |
---|
901 | /* id */ |
---|
902 | GETBITS(i, 27) |
---|
903 | /* tk */ |
---|
904 | |
---|
905 | CurrentObsTime.setTk(i); |
---|
906 | if (_CurrentTime.valid() && CurrentObsTime != _CurrentTime) { |
---|
907 | decoded = true; |
---|
908 | _obsList.append(_CurrentObsList); |
---|
909 | _CurrentObsList.clear(); |
---|
910 | } |
---|
911 | _CurrentTime = CurrentObsTime; |
---|
912 | |
---|
913 | GETBITS(syncf, 1) |
---|
914 | /* sync */ |
---|
915 | GETBITS(numsats, 5) |
---|
916 | SKIPBITS(4) |
---|
917 | /* smind, smint */ |
---|
918 | |
---|
919 | while (numsats--) { |
---|
920 | int sv, code, l1range, amb = 0, freq; |
---|
921 | t_satObs CurrentObs; |
---|
922 | CurrentObs._time = CurrentObsTime; |
---|
923 | |
---|
924 | GETBITS(sv, 6) |
---|
925 | CurrentObs._prn.set('R', sv); |
---|
926 | GETBITS(code, 1) |
---|
927 | GETBITS(freq, 5) |
---|
928 | GLOFreq[sv - 1] = 100 + freq - 7; /* store frequency for other users (MSM) */ |
---|
929 | |
---|
930 | t_frqObs *frqObs = new t_frqObs; |
---|
931 | /* L1 */ |
---|
932 | (code) ? |
---|
933 | frqObs->_rnxType2ch.assign("1P") : frqObs->_rnxType2ch.assign("1C"); |
---|
934 | GETBITS(l1range, 25); |
---|
935 | GETBITSSIGN(i, 20); |
---|
936 | if ((i & ((1 << 20) - 1)) != 0x80000) { |
---|
937 | frqObs->_code = l1range * 0.02; |
---|
938 | frqObs->_phase = (l1range * 0.02 + i * 0.0005) / GLO_WAVELENGTH_L1(freq - 7); |
---|
939 | frqObs->_codeValid = frqObs->_phaseValid = true; |
---|
940 | } |
---|
941 | GETBITS(frqObs->_lockTimeIndicator, 7); |
---|
942 | frqObs->_lockTime = lti2sec(type, frqObs->_lockTimeIndicator); |
---|
943 | frqObs->_lockTimeValid = (frqObs->_lockTime >= 0.0 && frqObs->_phaseValid); |
---|
944 | if (type == 1010 || type == 1012) { |
---|
945 | GETBITS(amb, 7); |
---|
946 | if (amb) { |
---|
947 | frqObs->_code += amb * 599584.916; |
---|
948 | frqObs->_phase += (amb * 599584.916) / GLO_WAVELENGTH_L1(freq - 7); |
---|
949 | } |
---|
950 | GETBITS(i, 8); |
---|
951 | if (i) { |
---|
952 | frqObs->_snr = i * 0.25; |
---|
953 | frqObs->_snrValid = true; |
---|
954 | } |
---|
955 | } |
---|
956 | CurrentObs._obs.push_back(frqObs); |
---|
957 | if (type == 1011 || type == 1012) { |
---|
958 | frqObs = new t_frqObs; |
---|
959 | /* L2 */ |
---|
960 | GETBITS(code, 2); |
---|
961 | switch (code) { |
---|
962 | case 3: |
---|
963 | frqObs->_rnxType2ch.assign("2P"); |
---|
964 | break; |
---|
965 | case 2: |
---|
966 | frqObs->_rnxType2ch.assign("2P"); |
---|
967 | break; |
---|
968 | case 1: |
---|
969 | frqObs->_rnxType2ch.assign("2P"); |
---|
970 | break; |
---|
971 | case 0: |
---|
972 | frqObs->_rnxType2ch.assign("2C"); |
---|
973 | break; |
---|
974 | } |
---|
975 | GETBITSSIGN(i, 14); |
---|
976 | if ((i & ((1 << 14) - 1)) != 0x2000) { |
---|
977 | frqObs->_code = l1range * 0.02 + i * 0.02 + amb * 599584.916; |
---|
978 | frqObs->_codeValid = true; |
---|
979 | } |
---|
980 | GETBITSSIGN(i, 20); |
---|
981 | if ((i & ((1 << 20) - 1)) != 0x80000) { |
---|
982 | frqObs->_phase = (l1range * 0.02 + i * 0.0005 + amb * 599584.916) |
---|
983 | / GLO_WAVELENGTH_L2(freq - 7); |
---|
984 | frqObs->_phaseValid = true; |
---|
985 | } |
---|
986 | GETBITS(frqObs->_lockTimeIndicator, 7); |
---|
987 | frqObs->_lockTime = lti2sec(type, frqObs->_lockTimeIndicator); |
---|
988 | frqObs->_lockTimeValid = (frqObs->_lockTime >= 0.0 && frqObs->_phaseValid); |
---|
989 | if (type == 1012) { |
---|
990 | GETBITS(i, 8); |
---|
991 | if (i) { |
---|
992 | frqObs->_snr = i * 0.25; |
---|
993 | frqObs->_snrValid = true; |
---|
994 | } |
---|
995 | } |
---|
996 | CurrentObs._obs.push_back(frqObs); |
---|
997 | } |
---|
998 | _CurrentObsList.push_back(CurrentObs); |
---|
999 | } |
---|
1000 | if (!syncf) { |
---|
1001 | decoded = true; |
---|
1002 | _obsList.append(_CurrentObsList); |
---|
1003 | _CurrentTime.reset(); |
---|
1004 | _CurrentObsList.clear(); |
---|
1005 | } |
---|
1006 | return decoded; |
---|
1007 | } |
---|
1008 | |
---|
1009 | // |
---|
1010 | //////////////////////////////////////////////////////////////////////////// |
---|
1011 | bool RTCM3Decoder::DecodeGPSEphemeris(unsigned char* data, int size) { |
---|
1012 | bool decoded = false; |
---|
1013 | |
---|
1014 | if (size == 67) { |
---|
1015 | t_ephGPS eph; |
---|
1016 | int i, week; |
---|
1017 | uint64_t numbits = 0, bitfield = 0; |
---|
1018 | int fitIntervalFalg = 0; |
---|
1019 | |
---|
1020 | data += 3; /* header */ |
---|
1021 | size -= 6; /* header + crc */ |
---|
1022 | SKIPBITS(12) |
---|
1023 | |
---|
1024 | eph._receptDateTime = currentDateAndTimeGPS(); |
---|
1025 | |
---|
1026 | GETBITS(i, 6) |
---|
1027 | eph._prn.set('G', i); |
---|
1028 | GETBITS(week, 10) |
---|
1029 | GETBITS(i, 4) |
---|
1030 | eph._ura = accuracyFromIndex(i, eph.type()); |
---|
1031 | GETBITS(eph._L2Codes, 2) |
---|
1032 | GETFLOATSIGN(eph._IDOT, 14, R2R_PI/(double)(1<<30)/(double)(1<<13)) |
---|
1033 | GETBITS(eph._IODE, 8) |
---|
1034 | GETBITS(i, 16) |
---|
1035 | i <<= 4; |
---|
1036 | eph._TOC.set(i * 1000); |
---|
1037 | GETFLOATSIGN(eph._clock_driftrate, 8, 1.0 / (double )(1 << 30) / (double )(1 << 25)) |
---|
1038 | GETFLOATSIGN(eph._clock_drift, 16, 1.0 / (double )(1 << 30) / (double )(1 << 13)) |
---|
1039 | GETFLOATSIGN(eph._clock_bias, 22, 1.0 / (double )(1 << 30) / (double )(1 << 1)) |
---|
1040 | GETBITS(eph._IODC, 10) |
---|
1041 | GETFLOATSIGN(eph._Crs, 16, 1.0 / (double )(1 << 5)) |
---|
1042 | GETFLOATSIGN(eph._Delta_n, 16, R2R_PI/(double)(1<<30)/(double)(1<<13)) |
---|
1043 | GETFLOATSIGN(eph._M0, 32, R2R_PI/(double)(1<<30)/(double)(1<<1)) |
---|
1044 | GETFLOATSIGN(eph._Cuc, 16, 1.0 / (double )(1 << 29)) |
---|
1045 | GETFLOAT(eph._e, 32, 1.0 / (double )(1 << 30) / (double )(1 << 3)) |
---|
1046 | GETFLOATSIGN(eph._Cus, 16, 1.0 / (double )(1 << 29)) |
---|
1047 | GETFLOAT(eph._sqrt_A, 32, 1.0 / (double )(1 << 19)) |
---|
1048 | if (eph._sqrt_A < 1000.0) { |
---|
1049 | #ifdef BNC_DEBUG_BCEP |
---|
1050 | emit(newMessage(QString("%1: Block %2 (%3) SQRT_A %4 m!") |
---|
1051 | .arg(_staID).arg(1020,4).arg(eph._prn.toString().c_str()) |
---|
1052 | .arg(eph._sqrt_A,10,'F',3).toLatin1(), true)); |
---|
1053 | #endif |
---|
1054 | return false; |
---|
1055 | } |
---|
1056 | GETBITS(i, 16) |
---|
1057 | i <<= 4; |
---|
1058 | eph._TOEsec = i; |
---|
1059 | bncTime t; |
---|
1060 | t.set(i * 1000); |
---|
1061 | eph._TOEweek = t.gpsw(); |
---|
1062 | int numOfRollOvers = int(floor(t.gpsw()/1024.0)); |
---|
1063 | week += (numOfRollOvers * 1024); |
---|
1064 | /* week from HOW, differs from TOC, TOE week, we use adapted value instead */ |
---|
1065 | if (eph._TOEweek > week + 1 || eph._TOEweek < week - 1) /* invalid week */ |
---|
1066 | return false; |
---|
1067 | GETFLOATSIGN(eph._Cic, 16, 1.0 / (double )(1 << 29)) |
---|
1068 | GETFLOATSIGN(eph._OMEGA0, 32, R2R_PI/(double)(1<<30)/(double)(1<<1)) |
---|
1069 | GETFLOATSIGN(eph._Cis, 16, 1.0 / (double )(1 << 29)) |
---|
1070 | GETFLOATSIGN(eph._i0, 32, R2R_PI/(double)(1<<30)/(double)(1<<1)) |
---|
1071 | GETFLOATSIGN(eph._Crc, 16, 1.0 / (double )(1 << 5)) |
---|
1072 | GETFLOATSIGN(eph._omega, 32, R2R_PI/(double)(1<<30)/(double)(1<<1)) |
---|
1073 | GETFLOATSIGN(eph._OMEGADOT, 24, R2R_PI/(double)(1<<30)/(double)(1<<13)) |
---|
1074 | GETFLOATSIGN(eph._TGD, 8, 1.0 / (double )(1 << 30) / (double )(1 << 1)) |
---|
1075 | GETBITS(eph._health, 6) |
---|
1076 | GETBITS(eph._L2PFlag, 1) |
---|
1077 | GETBITS(fitIntervalFalg, 1) |
---|
1078 | eph._fitInterval = fitIntervalFromFlag(fitIntervalFalg, eph._IODC, eph.type()); |
---|
1079 | eph._TOT = 0.9999e9; |
---|
1080 | |
---|
1081 | emit newGPSEph(eph); |
---|
1082 | decoded = true; |
---|
1083 | } |
---|
1084 | return decoded; |
---|
1085 | } |
---|
1086 | |
---|
1087 | // |
---|
1088 | //////////////////////////////////////////////////////////////////////////// |
---|
1089 | bool RTCM3Decoder::DecodeGLONASSEphemeris(unsigned char* data, int size) { |
---|
1090 | bool decoded = false; |
---|
1091 | |
---|
1092 | if (size == 51) { |
---|
1093 | t_ephGlo eph; |
---|
1094 | int sv, i, tk; |
---|
1095 | uint64_t numbits = 0, bitfield = 0; |
---|
1096 | |
---|
1097 | data += 3; /* header */ |
---|
1098 | size -= 6; /* header + crc */ |
---|
1099 | SKIPBITS(12) |
---|
1100 | |
---|
1101 | eph._receptDateTime = currentDateAndTimeGPS(); |
---|
1102 | |
---|
1103 | GETBITS(sv, 6) |
---|
1104 | eph._prn.set('R', sv); |
---|
1105 | |
---|
1106 | GETBITS(i, 5) |
---|
1107 | eph._frequency_number = i - 7; |
---|
1108 | GETBITS(eph._almanac_health, 1) /* almanac healthy */ |
---|
1109 | GETBITS(eph._almanac_health_availablility_indicator, 1) /* almanac health ok */ |
---|
1110 | if (eph._almanac_health_availablility_indicator == 0.0) { |
---|
1111 | #ifdef BNC_DEBUG_BCEP |
---|
1112 | emit(newMessage(QString("%1: Block %2 (%3): ALM = %4: missing data!") |
---|
1113 | .arg(_staID).arg(1019,4).arg(eph._prn.toString().c_str()) |
---|
1114 | .arg(eph._almanac_health_availablility_indicator).toLatin1(), true)); |
---|
1115 | #endif |
---|
1116 | return false; |
---|
1117 | } |
---|
1118 | GETBITS(eph._P1, 2) /* P1 */ |
---|
1119 | GETBITS(i, 5) |
---|
1120 | tk = i * 60 * 60; |
---|
1121 | GETBITS(i, 6) |
---|
1122 | tk += i * 60; |
---|
1123 | GETBITS(i, 1) |
---|
1124 | tk += i * 30; |
---|
1125 | eph._tki = tk - 3*60*60; |
---|
1126 | if(eph._tki < 0.0) { |
---|
1127 | eph._tki += 86400.0; |
---|
1128 | } |
---|
1129 | GETBITS(eph._health, 1) /* MSB of Bn*/ |
---|
1130 | GETBITS(eph._P2, 1) /* P2 */ |
---|
1131 | GETBITS(i, 7) |
---|
1132 | eph._TOC.setTk(i * 15 * 60 * 1000); /* tb */ |
---|
1133 | |
---|
1134 | GETFLOATSIGNM(eph._x_velocity, 24, 1.0 / (double )(1 << 20)) |
---|
1135 | GETFLOATSIGNM(eph._x_pos, 27, 1.0 / (double )(1 << 11)) |
---|
1136 | GETFLOATSIGNM(eph._x_acceleration, 5, 1.0 / (double )(1 << 30)) |
---|
1137 | GETFLOATSIGNM(eph._y_velocity, 24, 1.0 / (double )(1 << 20)) |
---|
1138 | GETFLOATSIGNM(eph._y_pos, 27, 1.0 / (double )(1 << 11)) |
---|
1139 | GETFLOATSIGNM(eph._y_acceleration, 5, 1.0 / (double )(1 << 30)) |
---|
1140 | GETFLOATSIGNM(eph._z_velocity, 24, 1.0 / (double )(1 << 20)) |
---|
1141 | GETFLOATSIGNM(eph._z_pos, 27, 1.0 / (double )(1 << 11)) |
---|
1142 | GETFLOATSIGNM(eph._z_acceleration, 5, 1.0 / (double )(1 << 30)) |
---|
1143 | GETBITS(eph._P3, 1) /* P3 */ |
---|
1144 | GETFLOATSIGNM(eph._gamma, 11, 1.0 / (double )(1 << 30) / (double )(1 << 10)) |
---|
1145 | GETBITS(eph._M_P, 2) /* GLONASS-M P, */ |
---|
1146 | GETBITS(eph._M_l3, 1) /* GLONASS-M ln (third string) */ |
---|
1147 | GETFLOATSIGNM(eph._tau, 22, 1.0 / (double )(1 << 30)) /* GLONASS tau n(tb) */ |
---|
1148 | GETFLOATSIGNM(eph._M_delta_tau, 5, 1.0 / (double )(1 << 30)) /* GLONASS-M delta tau n(tb) */ |
---|
1149 | GETBITS(eph._E, 5) |
---|
1150 | GETBITS(eph._M_P4, 1) /* GLONASS-M P4 */ |
---|
1151 | GETBITS(eph._M_FT, 4) /* GLONASS-M Ft */ |
---|
1152 | GETBITS(eph._M_NT, 11) /* GLONASS-M Nt */ |
---|
1153 | if (eph._M_NT == 0.0) { |
---|
1154 | #ifdef BNC_DEBUG_BCEP |
---|
1155 | emit(newMessage(QString("%1: Block %2 (%3): NT = %4: missing data!") |
---|
1156 | .arg(_staID).arg(1019,4).arg(eph._prn.toString().c_str()).arg(eph._M_NT,4).toLatin1(), true)); |
---|
1157 | #endif |
---|
1158 | return false; |
---|
1159 | } |
---|
1160 | GETBITS(eph._M_M, 2) /* GLONASS-M M */ |
---|
1161 | GETBITS(eph._additional_data_availability, 1) /* GLONASS-M The Availability of Additional Data */ |
---|
1162 | if (eph._additional_data_availability == 0.0) { |
---|
1163 | #ifdef BNC_DEBUG_BCEP |
---|
1164 | emit(newMessage(QString("%1: Block %2 (%3): ADD = %4: missing data!") |
---|
1165 | .arg(_staID).arg(1019,4).arg(eph._prn.toString().c_str()) |
---|
1166 | .arg(eph._additional_data_availability).toLatin1(), true)); |
---|
1167 | #endif |
---|
1168 | return false; |
---|
1169 | } |
---|
1170 | GETBITS(eph._NA, 11) /* GLONASS-M Na */ |
---|
1171 | GETFLOATSIGNM(eph._tauC, 32, 1.0/(double)(1<<30)/(double)(1<<1)) /* GLONASS tau c */ |
---|
1172 | GETBITS(eph._M_N4, 5) /* GLONASS-M N4 */ |
---|
1173 | GETFLOATSIGNM(eph._M_tau_GPS, 22, 1.0/(double)(1<<30)) /* GLONASS-M tau GPS */ |
---|
1174 | GETBITS(eph._M_l5, 1) /* GLONASS-M ln (fifth string) */ |
---|
1175 | |
---|
1176 | unsigned year, month, day; |
---|
1177 | eph._TOC.civil_date(year, month, day); |
---|
1178 | eph._gps_utc = gnumleap(year, month, day); |
---|
1179 | eph._tt = eph._TOC; |
---|
1180 | |
---|
1181 | eph._xv(1) = eph._x_pos * 1.e3; |
---|
1182 | eph._xv(2) = eph._y_pos * 1.e3; |
---|
1183 | eph._xv(3) = eph._z_pos * 1.e3; |
---|
1184 | if (eph._xv.Rows(1,3).NormFrobenius() < 1.0) { |
---|
1185 | #ifdef BNC_DEBUG_BCEP |
---|
1186 | emit(newMessage(QString("%1: Block %2 (%3): zero position!") |
---|
1187 | .arg(_staID).arg(1019,4).arg(eph._prn.toString().c_str()).toLatin1(), true)); |
---|
1188 | #endif |
---|
1189 | return false; |
---|
1190 | } |
---|
1191 | eph._xv(4) = eph._x_velocity * 1.e3; |
---|
1192 | eph._xv(5) = eph._y_velocity * 1.e3; |
---|
1193 | eph._xv(6) = eph._z_velocity * 1.e3; |
---|
1194 | if (eph._xv.Rows(4,6).NormFrobenius() < 1.0) { |
---|
1195 | #ifdef BNC_DEBUG_BCEP |
---|
1196 | emit(newMessage(QString("%1: Block %2 (%3): zero velocity!") |
---|
1197 | .arg(_staID).arg(1019,4).arg(eph._prn.toString().c_str()).toLatin1(), true)); |
---|
1198 | #endif |
---|
1199 | return false; |
---|
1200 | } |
---|
1201 | GLOFreq[sv - 1] = 100 + eph._frequency_number ; /* store frequency for other users (MSM) */ |
---|
1202 | _gloFrq = QString("%1 %2").arg(eph._prn.toString().c_str()).arg(eph._frequency_number, 2, 'f', 0); |
---|
1203 | |
---|
1204 | emit newGlonassEph(eph); |
---|
1205 | decoded = true; |
---|
1206 | } |
---|
1207 | return decoded; |
---|
1208 | } |
---|
1209 | |
---|
1210 | // |
---|
1211 | //////////////////////////////////////////////////////////////////////////// |
---|
1212 | bool RTCM3Decoder::DecodeQZSSEphemeris(unsigned char* data, int size) { |
---|
1213 | bool decoded = false; |
---|
1214 | |
---|
1215 | if (size == 67) { |
---|
1216 | t_ephGPS eph; |
---|
1217 | int i, week; |
---|
1218 | uint64_t numbits = 0, bitfield = 0; |
---|
1219 | int fitIntervalFalg = 0; |
---|
1220 | |
---|
1221 | data += 3; /* header */ |
---|
1222 | size -= 6; /* header + crc */ |
---|
1223 | SKIPBITS(12) |
---|
1224 | |
---|
1225 | eph._receptDateTime = currentDateAndTimeGPS(); |
---|
1226 | |
---|
1227 | GETBITS(i, 4) |
---|
1228 | eph._prn.set('J', i); |
---|
1229 | |
---|
1230 | GETBITS(i, 16) |
---|
1231 | i <<= 4; |
---|
1232 | eph._TOC.set(i * 1000); |
---|
1233 | |
---|
1234 | GETFLOATSIGN(eph._clock_driftrate, 8, 1.0 / (double )(1 << 30) / (double )(1 << 25)) |
---|
1235 | GETFLOATSIGN(eph._clock_drift, 16, 1.0 / (double )(1 << 30) / (double )(1 << 13)) |
---|
1236 | GETFLOATSIGN(eph._clock_bias, 22, 1.0 / (double )(1 << 30) / (double )(1 << 1)) |
---|
1237 | GETBITS(eph._IODE, 8) |
---|
1238 | GETFLOATSIGN(eph._Crs, 16, 1.0 / (double )(1 << 5)) |
---|
1239 | GETFLOATSIGN(eph._Delta_n, 16, R2R_PI/(double)(1<<30)/(double)(1<<13)) |
---|
1240 | GETFLOATSIGN(eph._M0, 32, R2R_PI/(double)(1<<30)/(double)(1<<1)) |
---|
1241 | GETFLOATSIGN(eph._Cuc, 16, 1.0 / (double )(1 << 29)) |
---|
1242 | GETFLOAT(eph._e, 32, 1.0 / (double )(1 << 30) / (double )(1 << 3)) |
---|
1243 | GETFLOATSIGN(eph._Cus, 16, 1.0 / (double )(1 << 29)) |
---|
1244 | GETFLOAT(eph._sqrt_A, 32, 1.0 / (double )(1 << 19)) |
---|
1245 | if (eph._sqrt_A < 1000.0) { |
---|
1246 | #ifdef BNC_DEBUG_BCEP |
---|
1247 | emit(newMessage(QString("%1: Block %2 (%3) SQRT_A %4 m!") |
---|
1248 | .arg(_staID).arg(1044,4).arg(eph._prn.toString().c_str()) |
---|
1249 | .arg(eph._sqrt_A,10,'F',3).toLatin1(), true)); |
---|
1250 | #endif |
---|
1251 | return false; |
---|
1252 | } |
---|
1253 | GETBITS(i, 16) |
---|
1254 | i <<= 4; |
---|
1255 | eph._TOEsec = i; |
---|
1256 | bncTime t; |
---|
1257 | t.set(i*1000); |
---|
1258 | eph._TOEweek = t.gpsw(); |
---|
1259 | GETFLOATSIGN(eph._Cic, 16, 1.0 / (double )(1 << 29)) |
---|
1260 | GETFLOATSIGN(eph._OMEGA0, 32, R2R_PI/(double)(1<<30)/(double)(1<<1)) |
---|
1261 | GETFLOATSIGN(eph._Cis, 16, 1.0 / (double )(1 << 29)) |
---|
1262 | GETFLOATSIGN(eph._i0, 32, R2R_PI/(double)(1<<30)/(double)(1<<1)) |
---|
1263 | GETFLOATSIGN(eph._Crc, 16, 1.0 / (double )(1 << 5)) |
---|
1264 | GETFLOATSIGN(eph._omega, 32, R2R_PI/(double)(1<<30)/(double)(1<<1)) |
---|
1265 | GETFLOATSIGN(eph._OMEGADOT, 24, R2R_PI/(double)(1<<30)/(double)(1<<13)) |
---|
1266 | GETFLOATSIGN(eph._IDOT, 14, R2R_PI/(double)(1<<30)/(double)(1<<13)) |
---|
1267 | GETBITS(eph._L2Codes, 2) |
---|
1268 | GETBITS(week, 10) |
---|
1269 | int numOfRollOvers = int(floor(t.gpsw()/1024.0)); |
---|
1270 | week += (numOfRollOvers * 1024); |
---|
1271 | /* week from HOW, differs from TOC, TOE week, we use adapted value instead */ |
---|
1272 | if (eph._TOEweek > week + 1 || eph._TOEweek < week - 1) /* invalid week */ |
---|
1273 | return false; |
---|
1274 | |
---|
1275 | GETBITS(i, 4) |
---|
1276 | if (i <= 6) |
---|
1277 | eph._ura = ceil(10.0 * pow(2.0, 1.0 + i / 2.0)) / 10.0; |
---|
1278 | else |
---|
1279 | eph._ura = ceil(10.0 * pow(2.0, i / 2.0)) / 10.0; |
---|
1280 | GETBITS(eph._health, 6) |
---|
1281 | GETFLOATSIGN(eph._TGD, 8, 1.0 / (double )(1 << 30) / (double )(1 << 1)) |
---|
1282 | GETBITS(eph._IODC, 10) |
---|
1283 | GETBITS(fitIntervalFalg, 1) |
---|
1284 | eph._fitInterval = fitIntervalFromFlag(fitIntervalFalg, eph._IODC, eph.type()); |
---|
1285 | eph._TOT = 0.9999e9; |
---|
1286 | |
---|
1287 | emit newGPSEph(eph); |
---|
1288 | decoded = true; |
---|
1289 | } |
---|
1290 | return decoded; |
---|
1291 | } |
---|
1292 | |
---|
1293 | // |
---|
1294 | //////////////////////////////////////////////////////////////////////////// |
---|
1295 | bool RTCM3Decoder::DecodeIRNSSEphemeris(unsigned char* data, int size) { |
---|
1296 | bool decoded = false; |
---|
1297 | |
---|
1298 | if (size == 67) { |
---|
1299 | t_ephGPS eph; |
---|
1300 | int i, week, L5Flag, SFlag; |
---|
1301 | uint64_t numbits = 0, bitfield = 0; |
---|
1302 | |
---|
1303 | data += 3; /* header */ |
---|
1304 | size -= 6; /* header + crc */ |
---|
1305 | SKIPBITS(12) |
---|
1306 | |
---|
1307 | eph._receptDateTime = currentDateAndTimeGPS(); |
---|
1308 | |
---|
1309 | GETBITS(i, 6) |
---|
1310 | eph._prn.set('I', i); |
---|
1311 | GETBITS(week, 10) |
---|
1312 | GETFLOATSIGN(eph._clock_bias, 22, 1.0 / (double )(1 << 30) / (double )(1 << 1)) |
---|
1313 | GETFLOATSIGN(eph._clock_drift, 16, 1.0 / (double )(1 << 30) / (double )(1 << 13)) |
---|
1314 | GETFLOATSIGN(eph._clock_driftrate, 8, 1.0 / (double )(1 << 30) / (double )(1 << 25)) |
---|
1315 | GETBITS(i, 4) |
---|
1316 | eph._ura = accuracyFromIndex(i, eph.type()); |
---|
1317 | GETBITS(i, 16) |
---|
1318 | i <<= 4; |
---|
1319 | eph._TOC.set(i * 1000); |
---|
1320 | GETFLOATSIGN(eph._TGD, 8, 1.0 / (double )(1 << 30) / (double )(1 << 1)) |
---|
1321 | GETFLOATSIGN(eph._Delta_n, 22, R2R_PI/(double)(1<<30)/(double)(1 << 11)) |
---|
1322 | // IODCE |
---|
1323 | GETBITS(eph._IODE, 8) |
---|
1324 | eph._IODC = eph._IODE; |
---|
1325 | SKIPBITS(10) |
---|
1326 | GETBITS(L5Flag, 1) |
---|
1327 | GETBITS(SFlag, 1) |
---|
1328 | if (L5Flag == 0 && SFlag == 0) { |
---|
1329 | eph._health = 0.0; |
---|
1330 | } |
---|
1331 | else if (L5Flag == 0 && SFlag == 1) { |
---|
1332 | eph._health = 1.0; |
---|
1333 | } |
---|
1334 | else if (L5Flag == 1 && SFlag == 0) { |
---|
1335 | eph._health = 2.0; |
---|
1336 | } |
---|
1337 | else if (L5Flag == 1 && SFlag == 1) { |
---|
1338 | eph._health = 3.0; |
---|
1339 | } |
---|
1340 | GETFLOATSIGN(eph._Cuc, 15, 1.0 / (double )(1 << 28)) |
---|
1341 | GETFLOATSIGN(eph._Cus, 15, 1.0 / (double )(1 << 28)) |
---|
1342 | GETFLOATSIGN(eph._Cic, 15, 1.0 / (double )(1 << 28)) |
---|
1343 | GETFLOATSIGN(eph._Cis, 15, 1.0 / (double )(1 << 28)) |
---|
1344 | GETFLOATSIGN(eph._Crc, 15, 1.0 / (double )(1 << 4)) |
---|
1345 | GETFLOATSIGN(eph._Crs, 15, 1.0 / (double )(1 << 4)) |
---|
1346 | GETFLOATSIGN(eph._IDOT, 14, R2R_PI/(double)(1<<30)/(double)(1<<13)) |
---|
1347 | GETFLOATSIGN(eph._M0, 32, R2R_PI/(double)(1<<30)/(double)(1<< 1)) |
---|
1348 | GETBITS(i, 16) |
---|
1349 | i <<= 4; |
---|
1350 | eph._TOEsec = i; |
---|
1351 | bncTime t; |
---|
1352 | t.set(i * 1000); |
---|
1353 | eph._TOEweek = t.gpsw(); |
---|
1354 | int numOfRollOvers = int(floor(t.gpsw()/1024.0)); |
---|
1355 | week += (numOfRollOvers * 1024); |
---|
1356 | /* week from HOW, differs from TOC, TOE week, we use adapted value instead */ |
---|
1357 | if (eph._TOEweek > week + 1 || eph._TOEweek < week - 1) /* invalid week */ |
---|
1358 | return false; |
---|
1359 | GETFLOAT(eph._e, 32, 1.0 / (double )(1 << 30) / (double )(1 << 3)) |
---|
1360 | GETFLOAT(eph._sqrt_A, 32, 1.0 / (double )(1 << 19)) |
---|
1361 | if (eph._sqrt_A < 1000.0) { |
---|
1362 | #ifdef BNC_DEBUG_BCEP |
---|
1363 | emit(newMessage(QString("%1: Block %2 (%3) SQRT_A %4 m!") |
---|
1364 | .arg(_staID).arg(1041,4).arg(eph._prn.toString().c_str()) |
---|
1365 | .arg(eph._sqrt_A,10,'F',3).toLatin1(), true)); |
---|
1366 | #endif |
---|
1367 | return false; |
---|
1368 | } |
---|
1369 | GETFLOATSIGN(eph._OMEGA0, 32, R2R_PI/(double)(1<<30)/(double)(1<< 1)) |
---|
1370 | GETFLOATSIGN(eph._omega, 32, R2R_PI/(double)(1<<30)/(double)(1<< 1)) |
---|
1371 | GETFLOATSIGN(eph._OMEGADOT, 22, R2R_PI/(double)(1<<30)/(double)(1<<11)) |
---|
1372 | GETFLOATSIGN(eph._i0, 32, R2R_PI/(double)(1<<30)/(double)(1<< 1)) |
---|
1373 | SKIPBITS(2) |
---|
1374 | SKIPBITS(2) |
---|
1375 | eph._TOT = 0.9999e9; |
---|
1376 | |
---|
1377 | emit newGPSEph(eph); |
---|
1378 | decoded = true; |
---|
1379 | } |
---|
1380 | return decoded; |
---|
1381 | } |
---|
1382 | |
---|
1383 | // |
---|
1384 | //////////////////////////////////////////////////////////////////////////// |
---|
1385 | bool RTCM3Decoder::DecodeSBASEphemeris(unsigned char* data, int size) { |
---|
1386 | bool decoded = false; |
---|
1387 | |
---|
1388 | if (size == 35) { |
---|
1389 | t_ephSBAS eph; |
---|
1390 | int i; |
---|
1391 | uint64_t numbits = 0, bitfield = 0; |
---|
1392 | |
---|
1393 | data += 3; /* header */ |
---|
1394 | size -= 6; /* header + crc */ |
---|
1395 | SKIPBITS(12) |
---|
1396 | |
---|
1397 | eph._receptDateTime = currentDateAndTimeGPS(); |
---|
1398 | |
---|
1399 | GETBITS(i, 6) |
---|
1400 | eph._prn.set('S', 20 + i); |
---|
1401 | GETBITS(eph._IODN, 8) |
---|
1402 | GETBITS(i, 13) |
---|
1403 | i <<= 4; |
---|
1404 | eph._TOC.setTOD(i * 1000); |
---|
1405 | GETBITS(i, 4) |
---|
1406 | eph._ura = accuracyFromIndex(i, eph.type()); |
---|
1407 | GETFLOATSIGN(eph._x_pos, 30, 0.08) |
---|
1408 | GETFLOATSIGN(eph._y_pos, 30, 0.08) |
---|
1409 | GETFLOATSIGN(eph._z_pos, 25, 0.4) |
---|
1410 | ColumnVector pos(3); |
---|
1411 | pos(1) = eph._x_pos; pos(2) = eph._y_pos; pos(3) = eph._z_pos; |
---|
1412 | if (pos.NormFrobenius() < 1.0) { |
---|
1413 | #ifdef BNC_DEBUG_BCEP |
---|
1414 | emit(newMessage(QString("%1: Block %2 (%3): zero position!") |
---|
1415 | .arg(_staID).arg(1043,4).arg(eph._prn.toString().c_str()).toLatin1(), true)); |
---|
1416 | #endif |
---|
1417 | return false; |
---|
1418 | } |
---|
1419 | GETFLOATSIGN(eph._x_velocity, 17, 0.000625) |
---|
1420 | GETFLOATSIGN(eph._y_velocity, 17, 0.000625) |
---|
1421 | GETFLOATSIGN(eph._z_velocity, 18, 0.004) |
---|
1422 | GETFLOATSIGN(eph._x_acceleration, 10, 0.0000125) |
---|
1423 | GETFLOATSIGN(eph._y_acceleration, 10, 0.0000125) |
---|
1424 | GETFLOATSIGN(eph._z_acceleration, 10, 0.0000625) |
---|
1425 | GETFLOATSIGN(eph._agf0, 12, 1.0 / (1 << 30) / (1 << 1)) |
---|
1426 | GETFLOATSIGN(eph._agf1, 8, 1.0 / (1 << 30) / (1 << 10)) |
---|
1427 | |
---|
1428 | eph._TOT = 0.9999E9; |
---|
1429 | eph._health = 0; |
---|
1430 | |
---|
1431 | emit newSBASEph(eph); |
---|
1432 | decoded = true; |
---|
1433 | } |
---|
1434 | return decoded; |
---|
1435 | } |
---|
1436 | |
---|
1437 | // |
---|
1438 | //////////////////////////////////////////////////////////////////////////// |
---|
1439 | bool RTCM3Decoder::DecodeGalileoEphemeris(unsigned char* data, int size) { |
---|
1440 | bool decoded = false; |
---|
1441 | uint64_t numbits = 0, bitfield = 0; |
---|
1442 | int i; |
---|
1443 | |
---|
1444 | data += 3; /* header */ |
---|
1445 | size -= 6; /* header + crc */ |
---|
1446 | GETBITS(i, 12) |
---|
1447 | |
---|
1448 | if ((i == 1046 && size == 61) || (i == 1045 && size == 60)) { |
---|
1449 | t_ephGal eph; |
---|
1450 | |
---|
1451 | eph._receptDateTime = currentDateAndTimeGPS(); |
---|
1452 | |
---|
1453 | eph._inav = (i == 1046); |
---|
1454 | eph._fnav = (i == 1045); |
---|
1455 | GETBITS(i, 6) |
---|
1456 | eph._prn.set('E', i, eph._inav ? 1 : 0); |
---|
1457 | |
---|
1458 | GETBITS(eph._TOEweek, 12) //FIXME: roll-over after week 4095!! |
---|
1459 | GETBITS(eph._IODnav, 10) |
---|
1460 | GETBITS(i, 8) |
---|
1461 | eph._SISA = accuracyFromIndex(i, eph.type()); |
---|
1462 | GETFLOATSIGN(eph._IDOT, 14, R2R_PI/(double)(1<<30)/(double)(1<<13)) |
---|
1463 | GETBITSFACTOR(i, 14, 60) |
---|
1464 | eph._TOC.set(1024 + eph._TOEweek, i); |
---|
1465 | GETFLOATSIGN(eph._clock_driftrate, 6, 1.0 / (double )(1 << 30) / (double )(1 << 29)) |
---|
1466 | GETFLOATSIGN(eph._clock_drift, 21, 1.0 / (double )(1 << 30) / (double )(1 << 16)) |
---|
1467 | GETFLOATSIGN(eph._clock_bias, 31, 1.0 / (double )(1 << 30) / (double )(1 << 4)) |
---|
1468 | GETFLOATSIGN(eph._Crs, 16, 1.0 / (double )(1 << 5)) |
---|
1469 | GETFLOATSIGN(eph._Delta_n, 16, R2R_PI/(double)(1<<30)/(double)(1<<13)) |
---|
1470 | GETFLOATSIGN(eph._M0, 32, R2R_PI/(double)(1<<30)/(double)(1<<1)) |
---|
1471 | GETFLOATSIGN(eph._Cuc, 16, 1.0 / (double )(1 << 29)) |
---|
1472 | GETFLOAT(eph._e, 32, 1.0 / (double )(1 << 30) / (double )(1 << 3)) |
---|
1473 | GETFLOATSIGN(eph._Cus, 16, 1.0 / (double )(1 << 29)) |
---|
1474 | GETFLOAT(eph._sqrt_A, 32, 1.0 / (double )(1 << 19)) |
---|
1475 | GETBITSFACTOR(eph._TOEsec, 14, 60) |
---|
1476 | /* FIXME: overwrite value, copied from old code */ |
---|
1477 | eph._TOEsec = eph._TOC.gpssec(); |
---|
1478 | GETFLOATSIGN(eph._Cic, 16, 1.0 / (double )(1 << 29)) |
---|
1479 | GETFLOATSIGN(eph._OMEGA0, 32, R2R_PI/(double)(1<<30)/(double)(1<<1)) |
---|
1480 | GETFLOATSIGN(eph._Cis, 16, 1.0 / (double )(1 << 29)) |
---|
1481 | GETFLOATSIGN(eph._i0, 32, R2R_PI/(double)(1<<30)/(double)(1<<1)) |
---|
1482 | GETFLOATSIGN(eph._Crc, 16, 1.0 / (double )(1 << 5)) |
---|
1483 | GETFLOATSIGN(eph._omega, 32, R2R_PI/(double)(1<<30)/(double)(1<<1)) |
---|
1484 | GETFLOATSIGN(eph._OMEGADOT, 24, R2R_PI/(double)(1<<30)/(double)(1<<13)) |
---|
1485 | GETFLOATSIGN(eph._BGD_1_5A, 10, 1.0 / (double )(1 << 30) / (double )(1 << 2)) |
---|
1486 | if (eph._inav) { |
---|
1487 | /* set unused F/NAV values */ |
---|
1488 | eph._E5aHS = 0.0; |
---|
1489 | eph._e5aDataInValid = false; |
---|
1490 | |
---|
1491 | GETFLOATSIGN(eph._BGD_1_5B, 10, 1.0 / (double )(1 << 30) / (double )(1 << 2)) |
---|
1492 | GETBITS(eph._E5bHS, 2) |
---|
1493 | GETBITS(eph._e5bDataInValid, 1) |
---|
1494 | GETBITS(eph._E1_bHS, 2) |
---|
1495 | GETBITS(eph._e1DataInValid, 1) |
---|
1496 | if (eph._E5bHS != eph._E1_bHS) { |
---|
1497 | #ifdef BNC_DEBUG_BCEP |
---|
1498 | emit(newMessage(QString("%1: Block %2 (%3) SHS E5b %4 E1B %5: inconsistent health!") |
---|
1499 | .arg(_staID).arg(1046,4).arg(eph._prn.toString().c_str()) |
---|
1500 | .arg(eph._E5bHS).arg(eph._E1_bHS).toLatin1(), true)); |
---|
1501 | #endif |
---|
1502 | return false; |
---|
1503 | } |
---|
1504 | if ((eph._BGD_1_5A == 0.0 && fabs(eph._BGD_1_5B) > 1e-9) || |
---|
1505 | (eph._BGD_1_5B == 0.0 && fabs(eph._BGD_1_5A) > 1e-9)) { |
---|
1506 | #ifdef BNC_DEBUG_BCEP |
---|
1507 | emit(newMessage(QString("%1: Block %2 (%3) BGD_15a = %4 BGD_15b = %5: inconsistent BGD!") |
---|
1508 | .arg(_staID).arg(1046,4).arg(eph._prn.toString().c_str()) |
---|
1509 | .arg(eph._BGD_1_5A,10,'E',3).arg(eph._BGD_1_5B,10,'E',3).toLatin1(), true)); |
---|
1510 | #endif |
---|
1511 | return false; |
---|
1512 | } |
---|
1513 | } |
---|
1514 | else { |
---|
1515 | /* set unused I/NAV values */ |
---|
1516 | eph._BGD_1_5B = 0.0; |
---|
1517 | eph._E5bHS = 0.0; |
---|
1518 | eph._E1_bHS = 0.0; |
---|
1519 | eph._e1DataInValid = false; |
---|
1520 | eph._e5bDataInValid = false; |
---|
1521 | |
---|
1522 | GETBITS(eph._E5aHS, 2) |
---|
1523 | GETBITS(eph._e5aDataInValid, 1) |
---|
1524 | } |
---|
1525 | eph._TOT = 0.9999e9; |
---|
1526 | |
---|
1527 | if (eph._sqrt_A < 1000.0) { |
---|
1528 | #ifdef BNC_DEBUG_BCEP |
---|
1529 | emit(newMessage(QString("%1: Block %2 (%3) SQRT_A %4 m!") |
---|
1530 | .arg(_staID).arg(eph._inav? 1046 : 1045,4).arg(eph._prn.toString().c_str()) |
---|
1531 | .arg(eph._sqrt_A,10,'F',3).toLatin1(), true)); |
---|
1532 | #endif |
---|
1533 | return false; |
---|
1534 | } |
---|
1535 | |
---|
1536 | emit newGalileoEph(eph); |
---|
1537 | decoded = true; |
---|
1538 | } |
---|
1539 | return decoded; |
---|
1540 | } |
---|
1541 | |
---|
1542 | // |
---|
1543 | //////////////////////////////////////////////////////////////////////////// |
---|
1544 | bool RTCM3Decoder::DecodeBDSEphemeris(unsigned char* data, int size) { |
---|
1545 | bool decoded = false; |
---|
1546 | |
---|
1547 | if (size == 70) { |
---|
1548 | t_ephBDS eph; |
---|
1549 | int i; |
---|
1550 | uint64_t numbits = 0, bitfield = 0; |
---|
1551 | |
---|
1552 | data += 3; /* header */ |
---|
1553 | size -= 6; /* header + crc */ |
---|
1554 | SKIPBITS(12) |
---|
1555 | |
---|
1556 | eph._receptDateTime = currentDateAndTimeGPS(); |
---|
1557 | |
---|
1558 | GETBITS(i, 6) |
---|
1559 | eph._prn.set('C', i); |
---|
1560 | |
---|
1561 | SKIPBITS(13) |
---|
1562 | /* week */ |
---|
1563 | GETBITS(i, 4) |
---|
1564 | eph._URA = accuracyFromIndex(i, eph.type()); |
---|
1565 | GETFLOATSIGN(eph._IDOT, 14, R2R_PI/(double)(1<<30)/(double)(1<<13)) |
---|
1566 | GETBITS(eph._AODE, 5) |
---|
1567 | GETBITS(i, 17) |
---|
1568 | i <<= 3; |
---|
1569 | eph._TOC.setBDS(i * 1000); |
---|
1570 | GETFLOATSIGN(eph._clock_driftrate, 11, 1.0 / (double )(1 << 30) / (double )(1 << 30) / (double )(1 << 6)) |
---|
1571 | GETFLOATSIGN(eph._clock_drift, 22, 1.0 / (double )(1 << 30) / (double )(1 << 20)) |
---|
1572 | GETFLOATSIGN(eph._clock_bias, 24, 1.0 / (double )(1 << 30) / (double )(1 << 3)) |
---|
1573 | GETBITS(eph._AODC, 5) |
---|
1574 | GETFLOATSIGN(eph._Crs, 18, 1.0 / (double )(1 << 6)) |
---|
1575 | GETFLOATSIGN(eph._Delta_n, 16, R2R_PI/(double)(1<<30)/(double)(1<<13)) |
---|
1576 | GETFLOATSIGN(eph._M0, 32, R2R_PI/(double)(1<<30)/(double)(1<<1)) |
---|
1577 | GETFLOATSIGN(eph._Cuc, 18, 1.0 / (double )(1 << 30) / (double )(1 << 1)) |
---|
1578 | GETFLOAT(eph._e, 32, 1.0 / (double )(1 << 30) / (double )(1 << 3)) |
---|
1579 | GETFLOATSIGN(eph._Cus, 18, 1.0 / (double )(1 << 30) / (double )(1 << 1)) |
---|
1580 | GETFLOAT(eph._sqrt_A, 32, 1.0 / (double )(1 << 19)) |
---|
1581 | if (eph._sqrt_A < 1000.0) { |
---|
1582 | #ifdef BNC_DEBUG_BCEP |
---|
1583 | emit(newMessage(QString("%1: Block %2 (%3) SQRT_A %4 m!") |
---|
1584 | .arg(_staID).arg(1042,4).arg(eph._prn.toString().c_str()) |
---|
1585 | .arg(eph._sqrt_A,10,'F',3).toLatin1(), true)); |
---|
1586 | #endif |
---|
1587 | return false; |
---|
1588 | } |
---|
1589 | GETBITS(i, 17) |
---|
1590 | i <<= 3; |
---|
1591 | eph._TOEsec = i; |
---|
1592 | eph._TOE.setBDS(i * 1000); |
---|
1593 | GETFLOATSIGN(eph._Cic, 18, 1.0 / (double )(1 << 30) / (double )(1 << 1)) |
---|
1594 | GETFLOATSIGN(eph._OMEGA0, 32, R2R_PI/(double)(1<<30)/(double)(1<<1)) |
---|
1595 | GETFLOATSIGN(eph._Cis, 18, 1.0 / (double )(1 << 30) / (double )(1 << 1)) |
---|
1596 | GETFLOATSIGN(eph._i0, 32, R2R_PI/(double)(1<<30)/(double)(1<<1)) |
---|
1597 | GETFLOATSIGN(eph._Crc, 18, 1.0 / (double )(1 << 6)) |
---|
1598 | GETFLOATSIGN(eph._omega, 32, R2R_PI/(double)(1<<30)/(double)(1<<1)) |
---|
1599 | GETFLOATSIGN(eph._OMEGADOT, 24, R2R_PI/(double)(1<<30)/(double)(1<<13)) |
---|
1600 | GETFLOATSIGN(eph._TGD1, 10, 0.0000000001) |
---|
1601 | GETFLOATSIGN(eph._TGD2, 10, 0.0000000001) |
---|
1602 | GETBITS(eph._SatH1, 1) |
---|
1603 | |
---|
1604 | eph._TOT = 0.9999E9; |
---|
1605 | emit newBDSEph(eph); |
---|
1606 | decoded = true; |
---|
1607 | } |
---|
1608 | return decoded; |
---|
1609 | } |
---|
1610 | |
---|
1611 | // |
---|
1612 | //////////////////////////////////////////////////////////////////////////// |
---|
1613 | bool RTCM3Decoder::DecodeAntennaReceiver(unsigned char* data, int size) { |
---|
1614 | char *antenna; |
---|
1615 | char *antserialnum; |
---|
1616 | char *receiver; |
---|
1617 | char *recfirmware; |
---|
1618 | char *recserialnum; |
---|
1619 | int type; |
---|
1620 | int antsernum = -1; |
---|
1621 | int antnum = -1; |
---|
1622 | int recnum = -1; |
---|
1623 | int recsernum = -1; |
---|
1624 | int recfirnum = -1; |
---|
1625 | uint64_t numbits = 0, bitfield = 0; |
---|
1626 | |
---|
1627 | data += 3; /* header*/ |
---|
1628 | size -= 6; /* header + crc */ |
---|
1629 | |
---|
1630 | GETBITS(type, 12) |
---|
1631 | SKIPBITS(12) /* reference station ID */ |
---|
1632 | GETSTRING(antnum, antenna) |
---|
1633 | if ((antnum > -1 && antnum < 265) && |
---|
1634 | (_antType.empty() || strncmp(_antType.back().descriptor, antenna, recnum) != 0)) { |
---|
1635 | _antType.push_back(t_antInfo()); |
---|
1636 | memcpy(_antType.back().descriptor, antenna, antnum); |
---|
1637 | _antType.back().descriptor[antnum] = 0; |
---|
1638 | } |
---|
1639 | SKIPBITS(8) /* antenna setup ID */ |
---|
1640 | if (type == 1008 || type == 1033 ) { |
---|
1641 | GETSTRING(antsernum, antserialnum) |
---|
1642 | if ((antsernum > -1 && antsernum < 265)) { |
---|
1643 | memcpy(_antType.back().serialnumber, antserialnum, antsernum); |
---|
1644 | _antType.back().serialnumber[antsernum] = 0; |
---|
1645 | } |
---|
1646 | } |
---|
1647 | |
---|
1648 | if (type == 1033) { |
---|
1649 | GETSTRING(recnum, receiver) |
---|
1650 | GETSTRING(recfirnum, recfirmware) |
---|
1651 | GETSTRING(recsernum, recserialnum) |
---|
1652 | if ((recnum > -1 && recnum < 265) && |
---|
1653 | (_recType.empty() || strncmp(_recType.back().descriptor, receiver, recnum) != 0)) { |
---|
1654 | _recType.push_back(t_recInfo()); |
---|
1655 | memcpy(_recType.back().descriptor, receiver, recnum); |
---|
1656 | _recType.back().descriptor[recnum] = 0; |
---|
1657 | if (recfirnum > -1 && recfirnum < 265) { |
---|
1658 | memcpy(_recType.back().firmware, recfirmware, recfirnum); |
---|
1659 | _recType.back().firmware[recfirnum] = 0; |
---|
1660 | } |
---|
1661 | if (recsernum > -1 && recsernum < 265) { |
---|
1662 | memcpy(_recType.back().serialnumber, recserialnum, recsernum); |
---|
1663 | _recType.back().serialnumber[recsernum] = 0; |
---|
1664 | } |
---|
1665 | } |
---|
1666 | } |
---|
1667 | return true; |
---|
1668 | } |
---|
1669 | |
---|
1670 | // |
---|
1671 | //////////////////////////////////////////////////////////////////////////// |
---|
1672 | bool RTCM3Decoder::DecodeAntennaPosition(unsigned char* data, int size) { |
---|
1673 | int type; |
---|
1674 | uint64_t numbits = 0, bitfield = 0; |
---|
1675 | double x, y, z; |
---|
1676 | |
---|
1677 | data += 3; /* header */ |
---|
1678 | size -= 6; /* header + crc */ |
---|
1679 | |
---|
1680 | GETBITS(type, 12) |
---|
1681 | _antList.push_back(t_antRefPoint()); |
---|
1682 | _antList.back().type = t_antRefPoint::ARP; |
---|
1683 | SKIPBITS(22) |
---|
1684 | GETBITSSIGN(x, 38) |
---|
1685 | _antList.back().xx = x * 1e-4; |
---|
1686 | SKIPBITS(2) |
---|
1687 | GETBITSSIGN(y, 38) |
---|
1688 | _antList.back().yy = y * 1e-4; |
---|
1689 | SKIPBITS(2) |
---|
1690 | GETBITSSIGN(z, 38) |
---|
1691 | _antList.back().zz = z * 1e-4; |
---|
1692 | if (type == 1006) |
---|
1693 | { |
---|
1694 | double h; |
---|
1695 | GETBITS(h, 16) |
---|
1696 | _antList.back().height = h * 1e-4; |
---|
1697 | _antList.back().height_f = true; |
---|
1698 | } |
---|
1699 | _antList.back().message = type; |
---|
1700 | |
---|
1701 | return true; |
---|
1702 | } |
---|
1703 | |
---|
1704 | // |
---|
1705 | //////////////////////////////////////////////////////////////////////////// |
---|
1706 | t_irc RTCM3Decoder::Decode(char* buffer, int bufLen, vector<string>& errmsg) { |
---|
1707 | bool decoded = false; |
---|
1708 | |
---|
1709 | errmsg.clear(); |
---|
1710 | |
---|
1711 | while (bufLen && _MessageSize < sizeof(_Message)) { |
---|
1712 | int l = sizeof(_Message) - _MessageSize; |
---|
1713 | if (l > bufLen) |
---|
1714 | l = bufLen; |
---|
1715 | memcpy(_Message + _MessageSize, buffer, l); |
---|
1716 | _MessageSize += l; |
---|
1717 | bufLen -= l; |
---|
1718 | buffer += l; |
---|
1719 | int id; |
---|
1720 | while ((id = GetMessage())) { |
---|
1721 | /* reset station ID for file loading as it can change */ |
---|
1722 | if (_rawFile) |
---|
1723 | _staID = _rawFile->staID(); |
---|
1724 | /* store the id into the list of loaded blocks */ |
---|
1725 | _typeList.push_back(id); |
---|
1726 | |
---|
1727 | /* SSR I+II data handled in another function, already pass the |
---|
1728 | * extracted data block. That does no harm, as it anyway skip everything |
---|
1729 | * else. */ |
---|
1730 | if ((id >= 1057 && id <= 1068) || |
---|
1731 | (id >= 1240 && id <= 1270) || |
---|
1732 | (id == 4076)) { |
---|
1733 | if (!_coDecoders.contains(_staID.toLatin1())) { |
---|
1734 | _coDecoders[_staID.toLatin1()] = new RTCM3coDecoder(_staID); |
---|
1735 | } |
---|
1736 | RTCM3coDecoder* coDecoder = _coDecoders[_staID.toLatin1()]; |
---|
1737 | if (id == 4076) { |
---|
1738 | coDecoder->setSsrFormatType(RTCM3coDecoder::IGSssr); |
---|
1739 | } |
---|
1740 | else { |
---|
1741 | coDecoder->setSsrFormatType(RTCM3coDecoder::RTCMssr); |
---|
1742 | } |
---|
1743 | if (coDecoder->Decode(reinterpret_cast<char *>(_Message), _BlockSize, |
---|
1744 | errmsg) == success) { |
---|
1745 | decoded = true; |
---|
1746 | } |
---|
1747 | } |
---|
1748 | else if (id >= 1070 && id <= 1229) { /* MSM */ |
---|
1749 | if (DecodeRTCM3MSM(_Message, _BlockSize)) |
---|
1750 | decoded = true; |
---|
1751 | } |
---|
1752 | else { |
---|
1753 | switch (id) { |
---|
1754 | case 1001: |
---|
1755 | case 1003: |
---|
1756 | emit(newMessage(QString("%1: Block %2 contain partial data! Ignored!") |
---|
1757 | .arg(_staID).arg(id).toLatin1(), true)); |
---|
1758 | break; /* no use decoding partial data ATM, remove break when data can be used */ |
---|
1759 | case 1002: |
---|
1760 | case 1004: |
---|
1761 | if (DecodeRTCM3GPS(_Message, _BlockSize)) |
---|
1762 | decoded = true; |
---|
1763 | break; |
---|
1764 | case 1009: |
---|
1765 | case 1011: |
---|
1766 | emit(newMessage(QString("%1: Block %2 contain partial data! Ignored!") |
---|
1767 | .arg(_staID).arg(id).toLatin1(), true)); |
---|
1768 | break; /* no use decoding partial data ATM, remove break when data can be used */ |
---|
1769 | case 1010: |
---|
1770 | case 1012: |
---|
1771 | if (DecodeRTCM3GLONASS(_Message, _BlockSize)) |
---|
1772 | decoded = true; |
---|
1773 | break; |
---|
1774 | case 1019: |
---|
1775 | if (DecodeGPSEphemeris(_Message, _BlockSize)) |
---|
1776 | decoded = true; |
---|
1777 | break; |
---|
1778 | case 1020: |
---|
1779 | if (DecodeGLONASSEphemeris(_Message, _BlockSize)) |
---|
1780 | decoded = true; |
---|
1781 | break; |
---|
1782 | case 1043: |
---|
1783 | if (DecodeSBASEphemeris(_Message, _BlockSize)) |
---|
1784 | decoded = true; |
---|
1785 | break; |
---|
1786 | case 1044: |
---|
1787 | if (DecodeQZSSEphemeris(_Message, _BlockSize)) |
---|
1788 | decoded = true; |
---|
1789 | break; |
---|
1790 | case 1041: |
---|
1791 | if (DecodeIRNSSEphemeris(_Message, _BlockSize)) |
---|
1792 | decoded = true; |
---|
1793 | break; |
---|
1794 | case 1045: |
---|
1795 | case 1046: |
---|
1796 | if (_staID.contains("AIRA") || _staID.contains("STK2") || |
---|
1797 | _staID.contains("CCJ2") || _staID.contains("SYOG")) { |
---|
1798 | emit(newMessage(QString("%1: Block temporary %2 from JAXA RTKLIB encoded stations!") |
---|
1799 | .arg(_staID).arg(id).toLatin1(), true)); |
---|
1800 | break; |
---|
1801 | } |
---|
1802 | if (DecodeGalileoEphemeris(_Message, _BlockSize)) |
---|
1803 | decoded = true; |
---|
1804 | break; |
---|
1805 | case 1042: |
---|
1806 | if (DecodeBDSEphemeris(_Message, _BlockSize)) |
---|
1807 | decoded = true; |
---|
1808 | break; |
---|
1809 | case 1007: |
---|
1810 | case 1008: |
---|
1811 | case 1033: |
---|
1812 | DecodeAntennaReceiver(_Message, _BlockSize); |
---|
1813 | break; |
---|
1814 | case 1005: |
---|
1815 | case 1006: |
---|
1816 | DecodeAntennaPosition(_Message, _BlockSize); |
---|
1817 | break; |
---|
1818 | } |
---|
1819 | } |
---|
1820 | } |
---|
1821 | } |
---|
1822 | return decoded ? success : failure; |
---|
1823 | } |
---|
1824 | ; |
---|
1825 | |
---|
1826 | // |
---|
1827 | //////////////////////////////////////////////////////////////////////////// |
---|
1828 | uint32_t RTCM3Decoder::CRC24(long size, const unsigned char *buf) { |
---|
1829 | uint32_t crc = 0; |
---|
1830 | int ii; |
---|
1831 | while (size--) { |
---|
1832 | crc ^= (*buf++) << (16); |
---|
1833 | for (ii = 0; ii < 8; ii++) { |
---|
1834 | crc <<= 1; |
---|
1835 | if (crc & 0x1000000) |
---|
1836 | crc ^= 0x01864cfb; |
---|
1837 | } |
---|
1838 | } |
---|
1839 | return crc; |
---|
1840 | } |
---|
1841 | |
---|
1842 | // |
---|
1843 | //////////////////////////////////////////////////////////////////////////// |
---|
1844 | int RTCM3Decoder::GetMessage(void) { |
---|
1845 | unsigned char *m, *e; |
---|
1846 | int i; |
---|
1847 | |
---|
1848 | m = _Message + _SkipBytes; |
---|
1849 | e = _Message + _MessageSize; |
---|
1850 | _NeedBytes = _SkipBytes = 0; |
---|
1851 | while (e - m >= 3) { |
---|
1852 | if (m[0] == 0xD3) { |
---|
1853 | _BlockSize = ((m[1] & 3) << 8) | m[2]; |
---|
1854 | if (e - m >= static_cast<int>(_BlockSize + 6)) { |
---|
1855 | if (static_cast<uint32_t>((m[3 + _BlockSize] << 16) |
---|
1856 | | (m[3 + _BlockSize + 1] << 8) |
---|
1857 | | (m[3 + _BlockSize + 2])) == CRC24(_BlockSize + 3, m)) { |
---|
1858 | _BlockSize += 6; |
---|
1859 | _SkipBytes = _BlockSize; |
---|
1860 | break; |
---|
1861 | } |
---|
1862 | else |
---|
1863 | ++m; |
---|
1864 | } |
---|
1865 | else { |
---|
1866 | _NeedBytes = _BlockSize; |
---|
1867 | break; |
---|
1868 | } |
---|
1869 | } |
---|
1870 | else |
---|
1871 | ++m; |
---|
1872 | } |
---|
1873 | if (e - m < 3) |
---|
1874 | _NeedBytes = 3; |
---|
1875 | |
---|
1876 | /* copy buffer to front */ |
---|
1877 | i = m - _Message; |
---|
1878 | if (i && m < e) |
---|
1879 | memmove(_Message, m, static_cast<size_t>(_MessageSize - i)); |
---|
1880 | _MessageSize -= i; |
---|
1881 | |
---|
1882 | return !_NeedBytes ? ((_Message[3] << 4) | (_Message[4] >> 4)) : 0; |
---|
1883 | } |
---|
1884 | |
---|
1885 | // Time of Corrections |
---|
1886 | ////////////////////////////////////////////////////////////////////////////// |
---|
1887 | int RTCM3Decoder::corrGPSEpochTime() const { |
---|
1888 | return |
---|
1889 | _coDecoders.size() > 0 ? |
---|
1890 | _coDecoders.begin().value()->corrGPSEpochTime() : -1; |
---|
1891 | } |
---|