source: ntrip/trunk/BNC/src/RTCM3/clock_and_orbit/clock_orbit.h@ 9050

Last change on this file since 9050 was 9050, checked in by stuerze, 4 years ago

minor changes
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1#ifndef RTCM3_CLOCK_ORBIT_H
2#define RTCM3_CLOCK_ORBIT_H
3
4/* Programheader
5
6 Name: clock_orbit.h
7 Project: RTCM3
8 Version: $Id: clock_orbit_igs.h 8966 2020-07-01 07:48:35Z stuerze $
9 Authors: Dirk Stöcker, Andrea Stürze
10 Description: state space approach
11 */
12
13#include <QList>
14#include <string.h>
15#include <math.h>
16#include "t_prn.h"
17
18enum IGS_NUMBERS {
19 RTCM_MESSAGE_NUMBER_IGS = 4076,
20 IGS_SSR_VERSION = 3
21};
22
23/* if some systems aren't supported at all, change the following numbers to zero
24 for these systems to save space */
25enum COR_CONSTANTS {
26 CLOCKORBIT_BUFFERSIZE = 8192,
27 CLOCKORBIT_NUMGPS = t_prn::MAXPRN_GPS,
28 CLOCKORBIT_NUMGLONASS = t_prn::MAXPRN_GLONASS,
29 CLOCKORBIT_NUMGALILEO = t_prn::MAXPRN_GALILEO,
30 CLOCKORBIT_NUMQZSS = t_prn::MAXPRN_QZSS,
31 CLOCKORBIT_NUMSBAS = t_prn::MAXPRN_SBAS,
32 CLOCKORBIT_NUMBDS = t_prn::MAXPRN_BDS,
33 CLOCKORBIT_NUMBIAS = 100,
34 CLOCKORBIT_NUMIONOLAYERS = 4,
35 CLOCKORBIT_MAXIONOORDER = 16,
36 CLOCKORBIT_MAXIONODEGREE = 16
37};
38
39enum COR_SATSYSTEM {
40 CLOCKORBIT_SATGPS = 0,
41 CLOCKORBIT_SATGLONASS,
42 CLOCKORBIT_SATGALILEO,
43 CLOCKORBIT_SATQZSS,
44 CLOCKORBIT_SATSBAS,
45 CLOCKORBIT_SATBDS,
46 CLOCKORBIT_SATNUM
47};
48
49enum COR_OFFSETS {
50 CLOCKORBIT_OFFSETGPS = 0,
51 CLOCKORBIT_OFFSETGLONASS = CLOCKORBIT_NUMGPS,
52 CLOCKORBIT_OFFSETGALILEO = CLOCKORBIT_NUMGPS + CLOCKORBIT_NUMGLONASS,
53 CLOCKORBIT_OFFSETQZSS = CLOCKORBIT_NUMGPS + CLOCKORBIT_NUMGLONASS
54 + CLOCKORBIT_NUMGALILEO,
55 CLOCKORBIT_OFFSETSBAS = CLOCKORBIT_NUMGPS + CLOCKORBIT_NUMGLONASS
56 + CLOCKORBIT_NUMGALILEO + CLOCKORBIT_NUMQZSS,
57 CLOCKORBIT_OFFSETBDS = CLOCKORBIT_NUMGPS + CLOCKORBIT_NUMGLONASS
58 + CLOCKORBIT_NUMGALILEO + CLOCKORBIT_NUMQZSS
59 + CLOCKORBIT_NUMSBAS,
60 CLOCKORBIT_COUNTSAT = CLOCKORBIT_NUMGPS + CLOCKORBIT_NUMGLONASS
61 + CLOCKORBIT_NUMGALILEO + CLOCKORBIT_NUMQZSS
62 + CLOCKORBIT_NUMSBAS + CLOCKORBIT_NUMBDS
63};
64
65enum GCOB_RETURN {
66 /* all well */
67 GCOBR_MESSAGEFOLLOWS = 1,
68 GCOBR_OK = 0,
69 /* unknown data, a warning */
70 GCOBR_UNKNOWNTYPE = -1,
71 GCOBR_UNKNOWNDATA = -2,
72 GCOBR_CRCMISMATCH = -3,
73 GCOBR_SHORTMESSAGE = -4,
74 /* failed to do the work */
75 GCOBR_NOCLOCKORBITPARAMETER = -10,
76 GCOBR_NOCODEBIASPARAMETER = -11,
77 GCOBR_NOPHASEBIASPARAMETER = -12,
78 GCOBR_NOVTECPARAMETER = -13,
79 /* data mismatch - data in storage does not match new data */
80 GCOBR_TIMEMISMATCH = -20,
81 GCOBR_DATAMISMATCH = -21,
82 /* not enough data - can decode the block completely */
83 GCOBR_SHORTBUFFER = -30,
84 GCOBR_MESSAGEEXCEEDSBUFFER = -31
85/* NOTE: When an error message has been emitted, the output structures may have been modified.
86 * Make a copy of the previous variant before calling the
87 function to have a clean state. */
88};
89
90class SsrCorr {
91
92public:
93 SsrCorr() {};
94 virtual ~SsrCorr() {};
95 virtual void setCorBase() = 0;
96 virtual void setCorOffset() = 0;
97 virtual void setCoType() = 0;
98 virtual void setCbType() = 0;
99 virtual void setPbType() = 0;
100 virtual void setVtecType() = 0;
101 virtual void setCodeType() = 0;
102
103 typedef unsigned int SatelliteReferenceDatum;
104 SatelliteReferenceDatum DATUM_ITRF;
105 SatelliteReferenceDatum DATUM_LOCAL;
106
107 typedef unsigned int CorBase;
108 CorBase COBBASE_GPS;
109 CorBase COBBASE_GLONASS;
110 CorBase COBBASE_GALILEO;
111 CorBase COBBASE_QZSS;
112 CorBase COBBASE_BDS;
113 CorBase COBBASE_SBAS;
114 CorBase COBBASE_NUM;
115
116 typedef unsigned int CorOffset;
117 CorOffset COBOFS_ORBIT;
118 CorOffset COBOFS_CLOCK;
119 CorOffset COBOFS_COMBINED;
120 CorOffset COBOFS_HR;
121 CorOffset COBOFS_CBIAS;
122 CorOffset COBOFS_PBIAS;
123 CorOffset COBOFS_URA;
124 CorOffset COBOFS_NUM;
125
126 typedef unsigned int ClockOrbitType;
127 ClockOrbitType COTYPE_GPSORBIT;
128 ClockOrbitType COTYPE_GPSCLOCK;
129 ClockOrbitType COTYPE_GPSCOMBINED;
130 ClockOrbitType COTYPE_GPSHR;
131 ClockOrbitType COTYPE_GPSURA;
132
133 ClockOrbitType COTYPE_GLONASSORBIT;
134 ClockOrbitType COTYPE_GLONASSCLOCK;
135 ClockOrbitType COTYPE_GLONASSCOMBINED;
136 ClockOrbitType COTYPE_GLONASSHR;
137 ClockOrbitType COTYPE_GLONASSURA;
138
139 ClockOrbitType COTYPE_GALILEOORBIT;
140 ClockOrbitType COTYPE_GALILEOCLOCK;
141 ClockOrbitType COTYPE_GALILEOCOMBINED;
142 ClockOrbitType COTYPE_GALILEOHR;
143 ClockOrbitType COTYPE_GALILEOURA;
144
145 ClockOrbitType COTYPE_QZSSORBIT;
146 ClockOrbitType COTYPE_QZSSCLOCK;
147 ClockOrbitType COTYPE_QZSSCOMBINED;
148 ClockOrbitType COTYPE_QZSSHR;
149 ClockOrbitType COTYPE_QZSSURA;
150
151 ClockOrbitType COTYPE_SBASORBIT;
152 ClockOrbitType COTYPE_SBASCLOCK;
153 ClockOrbitType COTYPE_SBASCOMBINED;
154 ClockOrbitType COTYPE_SBASHR;
155 ClockOrbitType COTYPE_SBASURA;
156
157 ClockOrbitType COTYPE_BDSORBIT;
158 ClockOrbitType COTYPE_BDSCLOCK;
159 ClockOrbitType COTYPE_BDSCOMBINED;
160 ClockOrbitType COTYPE_BDSHR;
161 ClockOrbitType COTYPE_BDSURA;
162
163 ClockOrbitType COTYPE_AUTO;
164
165 typedef unsigned int CodeBiasType;
166 CodeBiasType CBTYPE_GPS;
167 CodeBiasType CBTYPE_GLONASS;
168 CodeBiasType CBTYPE_GALILEO;
169 CodeBiasType CBTYPE_QZSS;
170 CodeBiasType CBTYPE_SBAS;
171 CodeBiasType CBTYPE_BDS;
172 CodeBiasType CBTYPE_AUTO;
173
174 typedef unsigned int PhaseBiasType;
175 PhaseBiasType PBTYPE_BASE;
176 PhaseBiasType PBTYPE_GPS;
177 PhaseBiasType PBTYPE_GLONASS;
178 PhaseBiasType PBTYPE_GALILEO;
179 PhaseBiasType PBTYPE_QZSS;
180 PhaseBiasType PBTYPE_SBAS;
181 PhaseBiasType PBTYPE_BDS;
182 PhaseBiasType PBTYPE_AUTO;
183
184 typedef unsigned int VtecType;
185 VtecType VTEC_BASE;
186
187 typedef unsigned int CodeType;
188 CodeType RESERVED;
189 CodeType CODETYPE_GPS_L1_CA;
190 CodeType CODETYPE_GPS_L1_P;
191 CodeType CODETYPE_GPS_L1_Z;
192 CodeType CODETYPE_GPS_L1C_D;
193 CodeType CODETYPE_GPS_L1C_P;
194 CodeType CODETYPE_GPS_L1C_DP;
195 CodeType CODETYPE_GPS_L2_CA;
196 CodeType CODETYPE_GPS_SEMI_CODELESS;
197 CodeType CODETYPE_GPS_L2C_M;
198 CodeType CODETYPE_GPS_L2C_L;
199 CodeType CODETYPE_GPS_L2C_ML;
200 CodeType CODETYPE_GPS_L2_P;
201 CodeType CODETYPE_GPS_L2_Z;
202 CodeType CODETYPE_GPS_L5_I;
203 CodeType CODETYPE_GPS_L5_Q;
204 CodeType CODETYPE_GPS_L5_IQ;
205
206 CodeType CODETYPE_GLONASS_L1_CA;
207 CodeType CODETYPE_GLONASS_L1_P;
208 CodeType CODETYPE_GLONASS_L2_CA;
209 CodeType CODETYPE_GLONASS_L2_P;
210 CodeType CODETYPE_GLONASS_L1a_OCd;
211 CodeType CODETYPE_GLONASS_L1a_OCp;
212 CodeType CODETYPE_GLONASS_L1a_OCdp;
213 CodeType CODETYPE_GLONASS_L2a_CSI;
214 CodeType CODETYPE_GLONASS_L2a_OCp;
215 CodeType CODETYPE_GLONASS_L2a_CSIOCp;
216 CodeType CODETYPE_GLONASS_L3_I;
217 CodeType CODETYPE_GLONASS_L3_Q;
218 CodeType CODETYPE_GLONASS_L3_IQ;
219
220 CodeType CODETYPE_GALILEO_E1_A;
221 CodeType CODETYPE_GALILEO_E1_B;
222 CodeType CODETYPE_GALILEO_E1_C;
223 CodeType CODETYPE_GALILEO_E1_BC;
224 CodeType CODETYPE_GALILEO_E1_ABC;
225 CodeType CODETYPE_GALILEO_E5A_I;
226 CodeType CODETYPE_GALILEO_E5A_Q;
227 CodeType CODETYPE_GALILEO_E5A_IQ;
228 CodeType CODETYPE_GALILEO_E5B_I;
229 CodeType CODETYPE_GALILEO_E5B_Q;
230 CodeType CODETYPE_GALILEO_E5B_IQ;
231 CodeType CODETYPE_GALILEO_E5_I;
232 CodeType CODETYPE_GALILEO_E5_Q;
233 CodeType CODETYPE_GALILEO_E5_IQ;
234 CodeType CODETYPE_GALILEO_E6_A;
235 CodeType CODETYPE_GALILEO_E6_B;
236 CodeType CODETYPE_GALILEO_E6_C;
237 CodeType CODETYPE_GALILEO_E6_BC;
238 CodeType CODETYPE_GALILEO_E6_ABC;
239
240 CodeType CODETYPE_QZSS_L1_CA;
241 CodeType CODETYPE_QZSS_L1C_D;
242 CodeType CODETYPE_QZSS_L1C_P;
243 CodeType CODETYPE_QZSS_L2C_M;
244 CodeType CODETYPE_QZSS_L2C_L;
245 CodeType CODETYPE_QZSS_L2C_ML;
246 CodeType CODETYPE_QZSS_L5_I;
247 CodeType CODETYPE_QZSS_L5_Q;
248 CodeType CODETYPE_QZSS_L5_IQ;
249 CodeType CODETYPE_QZSS_L6_D;
250 CodeType CODETYPE_QZSS_L6_P;
251 CodeType CODETYPE_QZSS_L6_DP;
252 CodeType CODETYPE_QZSS_L1C_DP;
253 CodeType CODETYPE_QZSS_L1_S;
254 CodeType CODETYPE_QZSS_L5_D;
255 CodeType CODETYPE_QZSS_L5_P;
256 CodeType CODETYPE_QZSS_L5_DP;
257 CodeType CODETYPE_QZSS_L6_E;
258 CodeType CODETYPE_QZSS_L6_DE;
259
260 CodeType CODETYPE_SBAS_L1_CA;
261 CodeType CODETYPE_SBAS_L5_I;
262 CodeType CODETYPE_SBAS_L5_Q;
263 CodeType CODETYPE_SBAS_L5_IQ;
264
265 CodeType CODETYPE_BDS_B1_I;
266 CodeType CODETYPE_BDS_B1_Q;
267 CodeType CODETYPE_BDS_B1_IQ;
268 CodeType CODETYPE_BDS_B3_I;
269 CodeType CODETYPE_BDS_B3_Q;
270 CodeType CODETYPE_BDS_B3_IQ;
271 CodeType CODETYPE_BDS_B2_I;
272 CodeType CODETYPE_BDS_B2_Q;
273 CodeType CODETYPE_BDS_B2_IQ;
274 CodeType CODETYPE_BDS_B1a_D;
275 CodeType CODETYPE_BDS_B1a_P;
276 CodeType CODETYPE_BDS_B1a_DP;
277 CodeType CODETYPE_BDS_B2a_D;
278 CodeType CODETYPE_BDS_B2a_P;
279 CodeType CODETYPE_BDS_B2a_DP;
280 CodeType CODETYPE_BDS_B1_A;
281 CodeType CODETYPE_BDS_B3_A;
282
283 QList<CorBase> corbase;
284 QList<unsigned int> satoffset;
285
286
287#define SSR_MAXURA 5.5 /* > 5466.5mm in meter */
288#define COBOFS_MAXNUM 7
289
290 /* satellite system data is stored with offset CLOCKORBIT_OFFSET...
291 in the data structures. So first GLONASS satellite is at
292 xxx->Sat[CLOCKORBIT_OFFSETGLONASS], first GPS satellite is
293 xxx->Sat[CLOCKORBIT_OFFSETGPS]. */
294
295 struct ClockOrbit {
296 ClockOrbitType messageType;
297 unsigned int EpochTime[CLOCKORBIT_SATNUM]; /* 0 .. system specific maximum */
298 unsigned int NumberOfSat[CLOCKORBIT_SATNUM]; /* 0 .. CLOCKORBIT_NUM... */
299 unsigned int Supplied[COBOFS_MAXNUM]; /* boolean */
300 unsigned int SSRIOD;
301 unsigned int SSRProviderID;
302 unsigned int SSRSolutionID;
303 unsigned int UpdateInterval;
304 SatelliteReferenceDatum SatRefDatum;
305 struct SatData {
306 unsigned int ID; /* all */
307 unsigned int IOD; /* all */
308 unsigned int toe; /* SBAS, BDS */
309 double UserRangeAccuracy; /* accuracy values in [m] */
310 double hrclock;
311 struct OrbitPart {
312 double DeltaRadial; /* m */
313 double DeltaAlongTrack; /* m */
314 double DeltaCrossTrack; /* m */
315 double DotDeltaRadial; /* m/s */
316 double DotDeltaAlongTrack; /* m/s */
317 double DotDeltaCrossTrack; /* m/s */
318 } Orbit;
319 struct ClockPart {
320 double DeltaA0; /* m */
321 double DeltaA1; /* m/s */
322 double DeltaA2; /* m/ss */
323 } Clock;
324 } Sat[CLOCKORBIT_COUNTSAT];
325 };
326
327 struct CodeBias {
328 CodeBiasType messageType;
329 unsigned int EpochTime[CLOCKORBIT_SATNUM]; /* 0 .. system specific maximum */
330 unsigned int NumberOfSat[CLOCKORBIT_SATNUM]; /* 0 .. CLOCKORBIT_NUM... */
331 unsigned int UpdateInterval;
332 unsigned int SSRIOD;
333 unsigned int SSRProviderID;
334 unsigned int SSRSolutionID;
335 struct BiasSat {
336 unsigned int ID; /* all */
337 unsigned int NumberOfCodeBiases;
338 struct CodeBiasEntry {
339 CodeType Type;
340 float Bias; /* m */
341 } Biases[CLOCKORBIT_NUMBIAS];
342 } Sat[CLOCKORBIT_COUNTSAT];
343 };
344
345 struct PhaseBias {
346 PhaseBiasType messageType;
347 unsigned int EpochTime[CLOCKORBIT_SATNUM]; /* 0 .. system specific maximum */
348 unsigned int NumberOfSat[CLOCKORBIT_SATNUM]; /* 0 .. CLOCKORBIT_NUM... */
349 unsigned int UpdateInterval;
350 unsigned int SSRIOD;
351 unsigned int SSRProviderID;
352 unsigned int SSRSolutionID;
353 unsigned int DispersiveBiasConsistencyIndicator;
354 unsigned int MWConsistencyIndicator;
355 struct PhaseBiasSat {
356 unsigned int ID; /* all */
357 unsigned int NumberOfPhaseBiases;
358 double YawAngle; /* radiant */
359 double YawRate; /* radiant/s */
360 struct PhaseBiasEntry {
361 CodeType Type;
362 unsigned int SignalIntegerIndicator;
363 unsigned int SignalsWideLaneIntegerIndicator;
364 unsigned int SignalDiscontinuityCounter;
365 float Bias; /* m */
366 } Biases[CLOCKORBIT_NUMBIAS];
367 } Sat[CLOCKORBIT_COUNTSAT];
368 };
369
370 struct VTEC {
371 unsigned int EpochTime; /* GPS */
372 unsigned int UpdateInterval;
373 unsigned int SSRIOD;
374 unsigned int SSRProviderID;
375 unsigned int SSRSolutionID;
376 unsigned int NumLayers; /* 1-4 */
377 double Quality;
378 struct IonoLayers {
379 double Height; /* m */
380 unsigned int Degree; /* 1-16 */
381 unsigned int Order; /* 1-16 */
382 double Sinus[CLOCKORBIT_MAXIONODEGREE][CLOCKORBIT_MAXIONOORDER];
383 double Cosinus[CLOCKORBIT_MAXIONODEGREE][CLOCKORBIT_MAXIONOORDER];
384 } Layers[CLOCKORBIT_NUMIONOLAYERS];
385 };
386
387 /* return size of resulting data or 0 in case of an error */
388 virtual size_t MakeClockOrbit(const struct ClockOrbit *co, CodeType type,
389 int moremessagesfollow, char *buffer, size_t size) = 0;
390 virtual size_t MakeCodeBias(const struct CodeBias *b, CodeBiasType type,
391 int moremessagesfollow, char *buffer, size_t size) = 0;
392 virtual size_t MakePhaseBias(const struct PhaseBias *b, CodeBiasType type,
393 int moremessagesfollow, char *buffer, size_t size) = 0;
394 virtual size_t MakeVTEC(const struct VTEC *b, int moremessagesfollow,
395 char *buffer, size_t size) = 0;
396
397 /* buffer should point to a RTCM3 block */
398 virtual enum GCOB_RETURN GetSSR(struct ClockOrbit *co, struct CodeBias *b,
399 struct VTEC *v, struct PhaseBias *pb, const char *buffer, size_t size,
400 int *bytesused) = 0;
401
402 virtual std::string codeTypeToRnxType(char system, CodeType type) = 0;
403 virtual CodeType rnxTypeToCodeType(char system, std::string type) = 0;
404
405 static uint32_t CRC24(long size, const unsigned char *buf) {
406 uint32_t crc = 0;
407 int ii;
408 while (size--) {
409 crc ^= (*buf++) << (16);
410 for (ii = 0; ii < 8; ii++) {
411 crc <<= 1;
412 if (crc & 0x1000000)
413 crc ^= 0x01864cfb;
414 }
415 }
416 return crc;
417 }
418
419//#ifndef NOENCODE
420#define STOREBITS \
421 while(numbits >= 8) { \
422 if(!size) return 0; \
423 *(buffer++) = bitbuffer>>(numbits-8); \
424 numbits -= 8; \
425 ++ressize; \
426 --size; \
427 }
428
429#define ADDBITS(a, b) { \
430 bitbuffer = (bitbuffer<<(a))|((b)&((1<<a)-1)); \
431 numbits += (a); \
432 STOREBITS \
433 }
434
435#define STARTDATA \
436 size_t ressize=0; \
437 char *blockstart; \
438 int numbits; \
439 uint64_t bitbuffer=0;
440
441#define INITBLOCK \
442 numbits = 0; \
443 blockstart = buffer; \
444 ADDBITS(8, 0xD3) \
445 ADDBITS(6, 0) \
446 ADDBITS(10, 0)
447
448#define ENDBLOCK \
449 if(numbits) { ADDBITS((8-numbits), 0) } { \
450 int len = buffer-blockstart-3; \
451 blockstart[1] |= len>>8; \
452 blockstart[2] = len; \
453 if(len > 1023) \
454 return 0; \
455 len = SsrCorr::CRC24(len+3, (const unsigned char *) blockstart); \
456 ADDBITS(24, len) \
457 }
458
459#define SCALEADDBITS(a, b, c) ADDBITS(a, (int64_t)(c > 0 ? b*c+0.5 : b*c-0.5))
460#define MPI 3.141592653589793
461
462/* GNSS macros - Header part */
463#define T_RTCM_MESSAGE_NUMBER(a) ADDBITS(12, a) /* DF002 */
464#define T_IGS_SSR_VERSION(a) ADDBITS( 3, a) /* IDF001 */
465#define T_IGS_MESSAGE_NUMBER(a) ADDBITS( 8, a) /* IDF002 */
466#define T_SSR_EPOCH_TIME(a) ADDBITS(20, a) /* DF??? IDF003 */ //T_GPS_EPOCH_TIME(a)
467#define T_GLONASS_EPOCH_TIME(a) ADDBITS(17, a) /* DF */
468
469#define T_SSR_UPDATE_INTERVAL(a) ADDBITS( 4, a) /* DF391, IDF004 */
470#define T_MULTIPLE_MESSAGE_INDICATOR(a) ADDBITS( 1, a) /* DF388, IDF005 */
471#define T_SSR_IOD(a) ADDBITS( 4, a) /* DF413, IDF007 */
472#define T_SSR_PROVIDER_ID(a) ADDBITS(16, a) /* DF414, IDF008 */
473#define T_SSR_SOLUTION_ID(a) ADDBITS( 4, a) /* DF415, IDF009 */
474#define T_SATELLITE_REFERENCE_DATUM(a) ADDBITS( 1, a) /* DF375, IDF006 */
475#define T_NO_OF_SATELLITES(a) ADDBITS( 6, a) /* DF387, IDF010 */
476
477/* GNSS macros - Satellite specific part */
478#define T_GNSS_SATELLITE_ID(a) ADDBITS( 6, a) /* IDF011 */
479#define T_GPS_SATELLITE_ID(a) ADDBITS( 6, a) /* DF068 */
480#define T_QZSS_SATELLITE_ID(a) ADDBITS( 4, a) /* DF249 */
481#define T_GLONASS_SATELLITE_ID(a) ADDBITS( 5, a) /* DF */
482#define T_GNSS_IOD(a) ADDBITS( 8, a) /* IDF012 */
483#define T_GPS_IODE(a) ADDBITS( 8, a) /* DF071 */
484#define T_GLONASS_IOD(a) ADDBITS( 8, a) /* DF239 */
485#define T_GALILEO_IOD(a) ADDBITS(10, a) /* DF459 */
486#define T_SBAS_T0MOD(a) ADDBITS( 9, (a/16)) /* DF468 */
487#define T_SBAS_IODCRC(a) ADDBITS(24, a) /* DF469 */
488#define T_BDS_TOEMOD(a) ADDBITS(10, (a/8)) /* DF470 */
489#define T_BDS_IOD(a) ADDBITS( 8, a) /* DF471 */
490
491/* Orbit Corrections */
492#define T_DELTA_RADIAL(a) SCALEADDBITS(22, 10000.0, a) /* DF365, IDF013 */
493#define T_DELTA_ALONG_TRACK(a) SCALEADDBITS(20, 2500.0, a) /* DF366, IDF014 */
494#define T_DELTA_CROSS_TRACK(a) SCALEADDBITS(20, 2500.0, a) /* DF367, IDF015 */
495#define T_DELTA_DOT_RADIAL(a) SCALEADDBITS(21, 1000000.0, a) /* DF368, IDF016 */
496#define T_DELTA_DOT_ALONG_TRACK(a) SCALEADDBITS(19, 250000.0, a) /* DF369, IDF017 */
497#define T_DELTA_DOT_CROSS_TRACK(a) SCALEADDBITS(19, 250000.0, a) /* DF370, IDF018 */
498
499/* Clock Corrections */
500#define T_DELTA_CLOCK_C0(a) SCALEADDBITS(22, 10000.0, a) /* DF376, IDF019 */
501#define T_DELTA_CLOCK_C1(a) SCALEADDBITS(21, 1000000.0, a) /* DF377, IDF020 */
502#define T_DELTA_CLOCK_C2(a) SCALEADDBITS(27, 50000000.0, a) /* DF378, IDF021 */
503#define T_HR_CLOCK_CORRECTION(a) SCALEADDBITS(22, 10000.0, a) /* DF390, IDF022 */
504
505/* Biases */
506#define T_NO_OF_BIASES(a) ADDBITS(5, a) /* DF, DF IDF023 */ //_NO_OF_CODE_BIASES(a)T_NO_OF_PHASE_BIASES(a)
507
508#define T_GNSS_SIGNAL_IDENTIFIER(a) ADDBITS(5, a) /* DF IDF024 */
509#define T_CODE_BIAS(a) SCALEADDBITS(14, 100.0, a) /* DF383, IDF025 */
510#define T_YAW_ANGLE(a) SCALEADDBITS( 9, 256.0/MPI, a) /* DF480, IDF026 */
511#define T_YAW_RATE(a) SCALEADDBITS( 8, 8192.0/MPI, a) /* DF481, IDF027 */
512#define T_PHASE_BIAS(a) SCALEADDBITS(20, 10000.0, a) /* DF482, IDF028 */
513
514/* Phase specific part of GNSS phase bias message */
515#define T_INTEGER_INDICATOR(a) ADDBITS( 1, a) /* DF483, IDF029 */
516#define T_WIDE_LANE_INDICATOR(a) ADDBITS( 2, a) /* DF484, IDF030 */
517#define T_DISCONTINUITY_COUNTER(a) ADDBITS( 4, a) /* DF485, IDF031 */
518#define T_DISPERSIVE_BIAS_INDICATOR(a) ADDBITS( 1, a) /* DF486, IDF032 */
519#define T_MW_CONSISTENCY_INDICATOR(a) ADDBITS( 1, a) /* DF487, IDF033 */
520
521/* URA */
522#define T_SSR_URA(a) ADDBITS( 6, a) /* DF389, IDF034 */
523
524/* Ionosphere */
525#define T_NO_IONO_LAYERS(a) ADDBITS( 2, a-1) /* DF472, IDF035 */
526#define T_IONO_HEIGHT(a) SCALEADDBITS( 8, 1/10000.0, a) /* DF473, IDF036 */
527#define T_IONO_DEGREE(a) ADDBITS( 4, a-1) /* DF474, IDF037 */
528#define T_IONO_ORDER(a) ADDBITS( 4, a-1) /* DF475, IDF038 */
529#define T_IONO_COEFF_C(a) SCALEADDBITS(16, 200.0, a) /* DF476, IDF039 */
530#define T_IONO_COEFF_S(a) SCALEADDBITS(16, 200.0, a) /* DF477, IDF040 */
531#define T_VTEC_QUALITY_INDICATOR(a) SCALEADDBITS( 9, 20.0, a) /* DF478, IDF041 */
532
533
534static double URAToValue(int ura) {
535 int urac, urav;
536 urac = ura >> 3;
537 urav = ura & 7;
538 if (!ura)
539 return 0;
540 else if (ura == 63)
541 return SSR_MAXURA;
542 return (pow(3, urac) * (1.0 + urav / 4.0) - 1.0) / 1000.0;
543}
544
545static int ValueToURA(double val) {
546 int ura;
547 if (!val)
548 return 0;
549 else if (val > 5.4665)
550 return 63;
551 for (ura = 1; ura < 63 && val > URAToValue(ura); ++ura)
552 ;
553 return ura;
554}
555//#endif /* NOENCODE */
556
557//#ifndef NODECODE
558#define DECODESTART \
559 int numbits=0; \
560 uint64_t bitbuffer=0;
561
562#define LOADSSRBITS(a) { \
563 while((a) > numbits) { \
564 if(!size--) return GCOBR_SHORTMESSAGE; \
565 bitbuffer = (bitbuffer<<8)|((unsigned char)*(buffer++)); \
566 numbits += 8; \
567 } \
568}
569
570/* extract bits from data stream
571 b = variable to store result, a = number of bits */
572#define GETSSRBITS(b, a) { \
573 LOADSSRBITS(a) \
574 b = (bitbuffer<<(64-numbits))>>(64-(a)); \
575 numbits -= (a); \
576}
577
578/* extract bits from data stream
579 b = variable to store result, a = number of bits */
580#define GETSSRBITSFACTOR(b, a, c) { \
581 LOADSSRBITS(a) \
582 b = ((bitbuffer<<(64-numbits))>>(64-(a)))*(c); \
583 numbits -= (a); \
584}
585
586/* extract signed floating value from data stream
587 b = variable to store result, a = number of bits */
588#define GETSSRFLOATSIGN(b, a, c) { \
589 LOADSSRBITS(a) \
590 b = ((double)(((int64_t)(bitbuffer<<(64-numbits)))>>(64-(a))))*(c); \
591 numbits -= (a); \
592}
593
594/* extract floating value from data stream
595 b = variable to store result, a = number of bits, c = scale factor */
596#define GETSSRFLOAT(b, a, c) { \
597 LOADSSRBITS(a) \
598 b = ((double)((bitbuffer<<(sizeof(bitbuffer)*8-numbits))>>(sizeof(bitbuffer)*8-(a))))*(c); \
599 numbits -= (a); \
600}
601
602#define SKIPSSRBITS(b) { LOADSSRBITS(b) numbits -= (b); }
603
604/* GPS macros also used for other systems when matching! */
605#define G_HEADER(a) GETSSRBITS(a, 8)
606#define G_RESERVEDH(a) GETSSRBITS(a, 6)
607#define G_SIZE(a) GETSSRBITS(a, 10)
608
609/* GNSS macros - Header part */
610#define G_RTCM_MESSAGE_NUMBER(a) GETSSRBITS(a, 12) /* DF002 */
611
612#define G_IGS_SSR_VERSION(a) GETSSRBITS(a, 3) /* IDF001 */
613#define G_IGS_MESSAGE_NUMBER(a) GETSSRBITS(a, 8) /* IDF002 */
614#define G_SSR_EPOCH_TIME(a) GETSSRBITS(a, 20) /*DF IDF003 */
615#define G_SSR_EPOCH_TIME_CHECK(a, b) {unsigned int temp; GETSSRBITS(temp, 20) \
616 if(b && a != temp) return GCOBR_TIMEMISMATCH; a = temp;}
617#define G_GLONASS_EPOCH_TIME(a, b) {unsigned int temp; GETSSRBITS(temp, 17) \
618 if(b && a != temp) return GCOBR_TIMEMISMATCH; a = temp;}
619
620#define G_SSR_UPDATE_INTERVAL(a) GETSSRBITS(a, 4) /* DF391, IDF004 */
621#define G_MULTIPLE_MESSAGE_INDICATOR(a) GETSSRBITS(a, 1) /* DF388, IDF005 */
622#define G_SSR_IOD(a) GETSSRBITS(a, 4) /* DF413, IDF007 */
623#define G_SSR_PROVIDER_ID(a) GETSSRBITS(a, 16) /* DF414, IDF008 */
624#define G_SSR_SOLUTION_ID(a) GETSSRBITS(a, 4) /* DF415, IDF009 */
625#define G_SATELLITE_REFERENCE_DATUM(a) GETSSRBITS(a, 1) /* DF375, IDF006 */
626#define G_NO_OF_SATELLITES(a) GETSSRBITS(a, 6) /* DF387, IDF010 */
627
628/* GNSS macros - Satellite specific part */
629#define G_GNSS_SATELLITE_ID(a) GETSSRBITS(a, 6) /* DF068, IDF011 */
630#define G_GLONASS_SATELLITE_ID(a) GETSSRBITS(a, 5) /* DF */
631#define G_QZSS_SATELLITE_ID(a) GETSSRBITS(a, 4) /* DF249 */
632
633#define G_GNSS_IOD(a) GETSSRBITS(a, 8) /*DF071, DF237,DF471 IDF012 */
634#define G_GALILEO_IOD(a) GETSSRBITS(a, 10) /* DF459 */
635#define G_SBAS_T0MOD(a) GETSSRBITSFACTOR(a, 9, 16) /* DF468 */
636#define G_SBAS_IODCRC(a) GETSSRBITS(a, 24) /* DF469 */
637#define G_BDS_TOEMOD(a) GETSSRBITSFACTOR(a, 10, 8) /* DF470 */
638
639/* Orbit Corrections */
640#define G_DELTA_RADIAL(a) GETSSRFLOATSIGN(a, 22, 1/10000.0) /* DF365, IDF013 */
641#define G_DELTA_ALONG_TRACK(a) GETSSRFLOATSIGN(a, 20, 1/2500.0) /* DF366, IDF014 */
642#define G_DELTA_CROSS_TRACK(a) GETSSRFLOATSIGN(a, 20, 1/2500.0) /* DF367, IDF015 */
643#define G_DELTA_DOT_RADIAL(a) GETSSRFLOATSIGN(a, 21, 1/1000000.0) /* DF368, IDF016 */
644#define G_DELTA_DOT_ALONG_TRACK(a) GETSSRFLOATSIGN(a, 19, 1/250000.0) /* DF369, IDF017 */
645#define G_DELTA_DOT_CROSS_TRACK(a) GETSSRFLOATSIGN(a, 19, 1/250000.0) /* DF370, IDF018 */
646
647/* Clock Corrections */
648#define G_DELTA_CLOCK_C0(a) GETSSRFLOATSIGN(a, 22, 1/10000.0) /* DF376, IDF019 */
649#define G_DELTA_CLOCK_C1(a) GETSSRFLOATSIGN(a, 21, 1/1000000.0) /* DF377, IDF020 */
650#define G_DELTA_CLOCK_C2(a) GETSSRFLOATSIGN(a, 27, 1/50000000.0) /* DF378, IDF021 */
651#define G_HR_CLOCK_CORRECTION(a) GETSSRFLOATSIGN(a, 22, 1/10000.0) /* DF390, IDF022 */
652
653/* Biases */
654#define G_NO_OF_BIASES(a) GETSSRBITS(a, 5) /* DF, DF IDF023 */
655#define G_GNSS_SIGNAL_IDENTIFIER(a) GETSSRBITS(a, 5) /* DF IDF024 */
656#define G_CODE_BIAS(a) GETSSRFLOATSIGN(a, 14, 1/100.0) /* DF383, IDF025 */
657#define G_YAW_ANGLE(a) GETSSRFLOAT (a, 9, MPI/256.0) /* DF480, IDF026 */
658#define G_YAW_RATE(a) GETSSRFLOATSIGN(a, 8, MPI/8192.0) /* DF481, IDF027 */
659#define G_PHASE_BIAS(a) GETSSRFLOATSIGN(a, 20, 1/10000.) /* DF482, IDF028 */
660
661/* Phase specific part of GNSS phase bias message */
662#define G_INTEGER_INDICATOR(a) GETSSRBITS(a, 1) /* DF483, IDF029 */
663#define G_WIDE_LANE_INDICATOR(a) GETSSRBITS(a, 2) /* DF484, IDF030 */
664#define G_DISCONTINUITY_COUNTER(a) GETSSRBITS(a, 4) /* DF485, IDF031 */
665#define G_DISPERSIVE_BIAS_INDICATOR(a) GETSSRBITS(a, 1) /* DF486, IDF032 */
666#define G_MW_CONSISTENCY_INDICATOR(a) GETSSRBITS(a, 1) /* DF487, IDF033 */
667
668/* URA */
669#define G_SSR_URA(a) {int temp; GETSSRBITS(temp, 6) \
670 (a) = URAToValue(temp);} /* DF389, IDF034 */
671
672/* Ionosphere */
673#define G_NO_IONO_LAYERS(a) {unsigned int temp; GETSSRBITS(temp, 2) a = temp+1;} /* DF472, IDF035 */
674#define G_IONO_HEIGHT(a) GETSSRFLOAT(a, 8 , 10000.0) /* DF473, IDF036 */
675#define G_IONO_DEGREE(a) {unsigned int temp; GETSSRBITS(temp, 4) a = temp+1;} /* DF474, IDF037 */
676#define G_IONO_ORDER(a) {unsigned int temp; GETSSRBITS(temp, 4) a = temp+1;} /* DF475, IDF038 */
677#define G_IONO_COEFF_C(a) GETSSRFLOATSIGN(a, 16,1/200.0) /* DF476, IDF039 */
678#define G_IONO_COEFF_S(a) GETSSRFLOATSIGN(a, 16,1/200.0) /* DF477, IDF040 */
679#define G_VTEC_QUALITY_INDICATOR(a) GETSSRFLOAT (a, 9, 1/20.0) /* DF478, IDF041 */
680
681//#endif /* NODECODE */
682
683};
684
685#endif /* RTCM3_CLOCK_ORBIT_H */
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