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source: ntrip/trunk/BNC/src/RTCM3/clock_and_orbit/clock_orbit.h @ 9093

Last change on this file since 9093 was 9093, checked in by stuerze, 8 months ago
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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 <stdint.h>
15	#include <string.h>
16	#include <math.h>
17	#include "t_prn.h"
18
19	enum IGS_NUMBERS {
20	RTCM_MESSAGE_NUMBER_IGS = 4076,
21	IGS_SSR_VERSION = 3
22	};
23
24	/* if some systems aren't supported at all, change the following numbers to zero
25	for these systems to save space */
26	enum COR_CONSTANTS {
27	CLOCKORBIT_BUFFERSIZE = 8192,
28	CLOCKORBIT_NUMGPS = t_prn::MAXPRN_GPS,
29	CLOCKORBIT_NUMGLONASS = t_prn::MAXPRN_GLONASS,
30	CLOCKORBIT_NUMGALILEO = t_prn::MAXPRN_GALILEO,
31	CLOCKORBIT_NUMQZSS = t_prn::MAXPRN_QZSS,
32	CLOCKORBIT_NUMSBAS = t_prn::MAXPRN_SBAS,
33	CLOCKORBIT_NUMBDS = t_prn::MAXPRN_BDS,
34	CLOCKORBIT_NUMBIAS = 100,
35	CLOCKORBIT_NUMIONOLAYERS = 4,
36	CLOCKORBIT_MAXIONOORDER = 16,
37	CLOCKORBIT_MAXIONODEGREE = 16
38	};
39
40	enum COR_SATSYSTEM {
41	CLOCKORBIT_SATGPS = 0,
42	CLOCKORBIT_SATGLONASS,
43	CLOCKORBIT_SATGALILEO,
44	CLOCKORBIT_SATQZSS,
45	CLOCKORBIT_SATSBAS,
46	CLOCKORBIT_SATBDS,
47	CLOCKORBIT_SATNUM
48	};
49
50	enum COR_OFFSETS {
51	CLOCKORBIT_OFFSETGPS = 0,
52	CLOCKORBIT_OFFSETGLONASS = CLOCKORBIT_NUMGPS,
53	CLOCKORBIT_OFFSETGALILEO = CLOCKORBIT_NUMGPS + CLOCKORBIT_NUMGLONASS,
54	CLOCKORBIT_OFFSETQZSS = CLOCKORBIT_NUMGPS + CLOCKORBIT_NUMGLONASS
55	+ CLOCKORBIT_NUMGALILEO,
56	CLOCKORBIT_OFFSETSBAS = CLOCKORBIT_NUMGPS + CLOCKORBIT_NUMGLONASS
57	+ CLOCKORBIT_NUMGALILEO + CLOCKORBIT_NUMQZSS,
58	CLOCKORBIT_OFFSETBDS = CLOCKORBIT_NUMGPS + CLOCKORBIT_NUMGLONASS
59	+ CLOCKORBIT_NUMGALILEO + CLOCKORBIT_NUMQZSS
60	+ CLOCKORBIT_NUMSBAS,
61	CLOCKORBIT_COUNTSAT = CLOCKORBIT_NUMGPS + CLOCKORBIT_NUMGLONASS
62	+ CLOCKORBIT_NUMGALILEO + CLOCKORBIT_NUMQZSS
63	+ CLOCKORBIT_NUMSBAS + CLOCKORBIT_NUMBDS
64	};
65
66	enum GCOB_RETURN {
67	/* all well */
68	GCOBR_MESSAGEFOLLOWS = 1,
69	GCOBR_OK = 0,
70	/* unknown data, a warning */
71	GCOBR_UNKNOWNTYPE = -1,
72	GCOBR_UNKNOWNDATA = -2,
73	GCOBR_CRCMISMATCH = -3,
74	GCOBR_SHORTMESSAGE = -4,
75	/* failed to do the work */
76	GCOBR_NOCLOCKORBITPARAMETER = -10,
77	GCOBR_NOCODEBIASPARAMETER = -11,
78	GCOBR_NOPHASEBIASPARAMETER = -12,
79	GCOBR_NOVTECPARAMETER = -13,
80	/* data mismatch - data in storage does not match new data */
81	GCOBR_TIMEMISMATCH = -20,
82	GCOBR_DATAMISMATCH = -21,
83	/* not enough data - can decode the block completely */
84	GCOBR_SHORTBUFFER = -30,
85	GCOBR_MESSAGEEXCEEDSBUFFER = -31
86	/* NOTE: When an error message has been emitted, the output structures may have been modified.
87	* Make a copy of the previous variant before calling the
88	function to have a clean state. */
89	};
90
91	class SsrCorr {
92
93	public:
94	SsrCorr() {};
95	virtual ~SsrCorr() {};
96	virtual void setCorBase() = 0;
97	virtual void setCorOffset() = 0;
98	virtual void setCoType() = 0;
99	virtual void setCbType() = 0;
100	virtual void setPbType() = 0;
101	virtual void setVtecType() = 0;
102	virtual void setCodeType() = 0;
103
104	typedef unsigned int SatelliteReferenceDatum;
105	SatelliteReferenceDatum DATUM_ITRF;
106	SatelliteReferenceDatum DATUM_LOCAL;
107
108	typedef unsigned int CorBase;
109	CorBase COBBASE_GPS;
110	CorBase COBBASE_GLONASS;
111	CorBase COBBASE_GALILEO;
112	CorBase COBBASE_QZSS;
113	CorBase COBBASE_BDS;
114	CorBase COBBASE_SBAS;
115	CorBase COBBASE_NUM;
116
117	typedef unsigned int CorOffset;
118	CorOffset COBOFS_ORBIT;
119	CorOffset COBOFS_CLOCK;
120	CorOffset COBOFS_COMBINED;
121	CorOffset COBOFS_HR;
122	CorOffset COBOFS_CBIAS;
123	CorOffset COBOFS_PBIAS;
124	CorOffset COBOFS_URA;
125	CorOffset COBOFS_NUM;
126
127	typedef unsigned int ClockOrbitType;
128	ClockOrbitType COTYPE_GPSORBIT;
129	ClockOrbitType COTYPE_GPSCLOCK;
130	ClockOrbitType COTYPE_GPSCOMBINED;
131	ClockOrbitType COTYPE_GPSHR;
132	ClockOrbitType COTYPE_GPSURA;
133
134	ClockOrbitType COTYPE_GLONASSORBIT;
135	ClockOrbitType COTYPE_GLONASSCLOCK;
136	ClockOrbitType COTYPE_GLONASSCOMBINED;
137	ClockOrbitType COTYPE_GLONASSHR;
138	ClockOrbitType COTYPE_GLONASSURA;
139
140	ClockOrbitType COTYPE_GALILEOORBIT;
141	ClockOrbitType COTYPE_GALILEOCLOCK;
142	ClockOrbitType COTYPE_GALILEOCOMBINED;
143	ClockOrbitType COTYPE_GALILEOHR;
144	ClockOrbitType COTYPE_GALILEOURA;
145
146	ClockOrbitType COTYPE_QZSSORBIT;
147	ClockOrbitType COTYPE_QZSSCLOCK;
148	ClockOrbitType COTYPE_QZSSCOMBINED;
149	ClockOrbitType COTYPE_QZSSHR;
150	ClockOrbitType COTYPE_QZSSURA;
151
152	ClockOrbitType COTYPE_SBASORBIT;
153	ClockOrbitType COTYPE_SBASCLOCK;
154	ClockOrbitType COTYPE_SBASCOMBINED;
155	ClockOrbitType COTYPE_SBASHR;
156	ClockOrbitType COTYPE_SBASURA;
157
158	ClockOrbitType COTYPE_BDSORBIT;
159	ClockOrbitType COTYPE_BDSCLOCK;
160	ClockOrbitType COTYPE_BDSCOMBINED;
161	ClockOrbitType COTYPE_BDSHR;
162	ClockOrbitType COTYPE_BDSURA;
163
164	ClockOrbitType COTYPE_AUTO;
165
166	typedef unsigned int CodeBiasType;
167	CodeBiasType CBTYPE_GPS;
168	CodeBiasType CBTYPE_GLONASS;
169	CodeBiasType CBTYPE_GALILEO;
170	CodeBiasType CBTYPE_QZSS;
171	CodeBiasType CBTYPE_SBAS;
172	CodeBiasType CBTYPE_BDS;
173	CodeBiasType CBTYPE_AUTO;
174
175	typedef unsigned int PhaseBiasType;
176	PhaseBiasType PBTYPE_BASE;
177	PhaseBiasType PBTYPE_GPS;
178	PhaseBiasType PBTYPE_GLONASS;
179	PhaseBiasType PBTYPE_GALILEO;
180	PhaseBiasType PBTYPE_QZSS;
181	PhaseBiasType PBTYPE_SBAS;
182	PhaseBiasType PBTYPE_BDS;
183	PhaseBiasType PBTYPE_AUTO;
184
185	typedef unsigned int VtecType;
186	VtecType VTEC_BASE;
187
188	typedef unsigned int CodeType;
189	CodeType RESERVED;
190	CodeType CODETYPE_GPS_L1_CA;
191	CodeType CODETYPE_GPS_L1_P;
192	CodeType CODETYPE_GPS_L1_Z;
193	CodeType CODETYPE_GPS_L1C_D;
194	CodeType CODETYPE_GPS_L1C_P;
195	CodeType CODETYPE_GPS_L1C_DP;
196	CodeType CODETYPE_GPS_L2_CA;
197	CodeType CODETYPE_GPS_SEMI_CODELESS;
198	CodeType CODETYPE_GPS_L2C_M;
199	CodeType CODETYPE_GPS_L2C_L;
200	CodeType CODETYPE_GPS_L2C_ML;
201	CodeType CODETYPE_GPS_L2_P;
202	CodeType CODETYPE_GPS_L2_Z;
203	CodeType CODETYPE_GPS_L5_I;
204	CodeType CODETYPE_GPS_L5_Q;
205	CodeType CODETYPE_GPS_L5_IQ;
206
207	CodeType CODETYPE_GLONASS_L1_CA;
208	CodeType CODETYPE_GLONASS_L1_P;
209	CodeType CODETYPE_GLONASS_L2_CA;
210	CodeType CODETYPE_GLONASS_L2_P;
211	CodeType CODETYPE_GLONASS_L1a_OCd;
212	CodeType CODETYPE_GLONASS_L1a_OCp;
213	CodeType CODETYPE_GLONASS_L1a_OCdp;
214	CodeType CODETYPE_GLONASS_L2a_CSI;
215	CodeType CODETYPE_GLONASS_L2a_OCp;
216	CodeType CODETYPE_GLONASS_L2a_CSIOCp;
217	CodeType CODETYPE_GLONASS_L3_I;
218	CodeType CODETYPE_GLONASS_L3_Q;
219	CodeType CODETYPE_GLONASS_L3_IQ;
220
221	CodeType CODETYPE_GALILEO_E1_A;
222	CodeType CODETYPE_GALILEO_E1_B;
223	CodeType CODETYPE_GALILEO_E1_C;
224	CodeType CODETYPE_GALILEO_E1_BC;
225	CodeType CODETYPE_GALILEO_E1_ABC;
226	CodeType CODETYPE_GALILEO_E5A_I;
227	CodeType CODETYPE_GALILEO_E5A_Q;
228	CodeType CODETYPE_GALILEO_E5A_IQ;
229	CodeType CODETYPE_GALILEO_E5B_I;
230	CodeType CODETYPE_GALILEO_E5B_Q;
231	CodeType CODETYPE_GALILEO_E5B_IQ;
232	CodeType CODETYPE_GALILEO_E5_I;
233	CodeType CODETYPE_GALILEO_E5_Q;
234	CodeType CODETYPE_GALILEO_E5_IQ;
235	CodeType CODETYPE_GALILEO_E6_A;
236	CodeType CODETYPE_GALILEO_E6_B;
237	CodeType CODETYPE_GALILEO_E6_C;
238	CodeType CODETYPE_GALILEO_E6_BC;
239	CodeType CODETYPE_GALILEO_E6_ABC;
240
241	CodeType CODETYPE_QZSS_L1_CA;
242	CodeType CODETYPE_QZSS_L1C_D;
243	CodeType CODETYPE_QZSS_L1C_P;
244	CodeType CODETYPE_QZSS_L2C_M;
245	CodeType CODETYPE_QZSS_L2C_L;
246	CodeType CODETYPE_QZSS_L2C_ML;
247	CodeType CODETYPE_QZSS_L5_I;
248	CodeType CODETYPE_QZSS_L5_Q;
249	CodeType CODETYPE_QZSS_L5_IQ;
250	CodeType CODETYPE_QZSS_L6_D;
251	CodeType CODETYPE_QZSS_L6_P;
252	CodeType CODETYPE_QZSS_L6_DP;
253	CodeType CODETYPE_QZSS_L1C_DP;
254	CodeType CODETYPE_QZSS_L1_S;
255	CodeType CODETYPE_QZSS_L5_D;
256	CodeType CODETYPE_QZSS_L5_P;
257	CodeType CODETYPE_QZSS_L5_DP;
258	CodeType CODETYPE_QZSS_L6_E;
259	CodeType CODETYPE_QZSS_L6_DE;
260
261	CodeType CODETYPE_SBAS_L1_CA;
262	CodeType CODETYPE_SBAS_L5_I;
263	CodeType CODETYPE_SBAS_L5_Q;
264	CodeType CODETYPE_SBAS_L5_IQ;
265
266	CodeType CODETYPE_BDS_B1_I;
267	CodeType CODETYPE_BDS_B1_Q;
268	CodeType CODETYPE_BDS_B1_IQ;
269	CodeType CODETYPE_BDS_B3_I;
270	CodeType CODETYPE_BDS_B3_Q;
271	CodeType CODETYPE_BDS_B3_IQ;
272	CodeType CODETYPE_BDS_B2_I;
273	CodeType CODETYPE_BDS_B2_Q;
274	CodeType CODETYPE_BDS_B2_IQ;
275	CodeType CODETYPE_BDS_B1a_D;
276	CodeType CODETYPE_BDS_B1a_P;
277	CodeType CODETYPE_BDS_B1a_DP;
278	CodeType CODETYPE_BDS_B2a_D;
279	CodeType CODETYPE_BDS_B2a_P;
280	CodeType CODETYPE_BDS_B2a_DP;
281	CodeType CODETYPE_BDS_B1_A;
282	CodeType CODETYPE_BDS_B3_A;
283
284	QList<CorBase> corbase;
285	QList<unsigned int> satoffset;
286
287
288	#define SSR_MAXURA 5.5 /* > 5466.5mm in meter */
289	#define COBOFS_MAXNUM 7
290
291	/* satellite system data is stored with offset CLOCKORBIT_OFFSET...
292	in the data structures. So first GLONASS satellite is at
293	xxx->Sat[CLOCKORBIT_OFFSETGLONASS], first GPS satellite is
294	xxx->Sat[CLOCKORBIT_OFFSETGPS]. */
295
296	struct ClockOrbit {
297	ClockOrbitType messageType;
298	unsigned int EpochTime[CLOCKORBIT_SATNUM]; /* 0 .. system specific maximum */
299	unsigned int NumberOfSat[CLOCKORBIT_SATNUM]; /* 0 .. CLOCKORBIT_NUM... */
300	unsigned int Supplied[COBOFS_MAXNUM]; /* boolean */
301	unsigned int SSRIOD;
302	unsigned int SSRProviderID;
303	unsigned int SSRSolutionID;
304	unsigned int UpdateInterval;
305	SatelliteReferenceDatum SatRefDatum;
306	struct SatData {
307	unsigned int ID; /* all */
308	unsigned int IOD; /* all */
309	unsigned int toe; /* SBAS, BDS */
310	double UserRangeAccuracy; /* accuracy values in [m] */
311	double hrclock;
312	struct OrbitPart {
313	double DeltaRadial; /* m */
314	double DeltaAlongTrack; /* m */
315	double DeltaCrossTrack; /* m */
316	double DotDeltaRadial; /* m/s */
317	double DotDeltaAlongTrack; /* m/s */
318	double DotDeltaCrossTrack; /* m/s */
319	} Orbit;
320	struct ClockPart {
321	double DeltaA0; /* m */
322	double DeltaA1; /* m/s */
323	double DeltaA2; /* m/ss */
324	} Clock;
325	} Sat[CLOCKORBIT_COUNTSAT];
326	};
327
328	struct CodeBias {
329	CodeBiasType messageType;
330	unsigned int EpochTime[CLOCKORBIT_SATNUM]; /* 0 .. system specific maximum */
331	unsigned int NumberOfSat[CLOCKORBIT_SATNUM]; /* 0 .. CLOCKORBIT_NUM... */
332	unsigned int UpdateInterval;
333	unsigned int SSRIOD;
334	unsigned int SSRProviderID;
335	unsigned int SSRSolutionID;
336	struct BiasSat {
337	unsigned int ID; /* all */
338	unsigned int NumberOfCodeBiases;
339	struct CodeBiasEntry {
340	CodeType Type;
341	float Bias; /* m */
342	} Biases[CLOCKORBIT_NUMBIAS];
343	} Sat[CLOCKORBIT_COUNTSAT];
344	};
345
346	struct PhaseBias {
347	PhaseBiasType messageType;
348	unsigned int EpochTime[CLOCKORBIT_SATNUM]; /* 0 .. system specific maximum */
349	unsigned int NumberOfSat[CLOCKORBIT_SATNUM]; /* 0 .. CLOCKORBIT_NUM... */
350	unsigned int UpdateInterval;
351	unsigned int SSRIOD;
352	unsigned int SSRProviderID;
353	unsigned int SSRSolutionID;
354	unsigned int DispersiveBiasConsistencyIndicator;
355	unsigned int MWConsistencyIndicator;
356	struct PhaseBiasSat {
357	unsigned int ID; /* all */
358	unsigned int NumberOfPhaseBiases;
359	double YawAngle; /* radiant */
360	double YawRate; /* radiant/s */
361	struct PhaseBiasEntry {
362	CodeType Type;
363	unsigned int SignalIntegerIndicator;
364	unsigned int SignalsWideLaneIntegerIndicator;
365	unsigned int SignalDiscontinuityCounter;
366	float Bias; /* m */
367	} Biases[CLOCKORBIT_NUMBIAS];
368	} Sat[CLOCKORBIT_COUNTSAT];
369	};
370
371	struct VTEC {
372	unsigned int EpochTime; /* GPS */
373	unsigned int UpdateInterval;
374	unsigned int SSRIOD;
375	unsigned int SSRProviderID;
376	unsigned int SSRSolutionID;
377	unsigned int NumLayers; /* 1-4 */
378	double Quality;
379	struct IonoLayers {
380	double Height; /* m */
381	unsigned int Degree; /* 1-16 */
382	unsigned int Order; /* 1-16 */
383	double Sinus[CLOCKORBIT_MAXIONODEGREE][CLOCKORBIT_MAXIONOORDER];
384	double Cosinus[CLOCKORBIT_MAXIONODEGREE][CLOCKORBIT_MAXIONOORDER];
385	} Layers[CLOCKORBIT_NUMIONOLAYERS];
386	};
387
388	/* return size of resulting data or 0 in case of an error */
389	virtual size_t MakeClockOrbit(const struct ClockOrbit *co, CodeType type,
390	int moremessagesfollow, char *buffer, size_t size) = 0;
391	virtual size_t MakeCodeBias(const struct CodeBias *b, CodeBiasType type,
392	int moremessagesfollow, char *buffer, size_t size) = 0;
393	virtual size_t MakePhaseBias(const struct PhaseBias *b, CodeBiasType type,
394	int moremessagesfollow, char *buffer, size_t size) = 0;
395	virtual size_t MakeVTEC(const struct VTEC *b, int moremessagesfollow,
396	char *buffer, size_t size) = 0;
397
398	/* buffer should point to a RTCM3 block */
399	virtual enum GCOB_RETURN GetSSR(struct ClockOrbit co, struct CodeBias b,
400	struct VTEC v, struct PhaseBias pb, const char *buffer, size_t size,
401	int *bytesused) = 0;
402
403	virtual std::string codeTypeToRnxType(char system, CodeType type) = 0;
404	virtual CodeType rnxTypeToCodeType(char system, std::string type) = 0;
405
406	static uint32_t CRC24(long size, const unsigned char *buf) {
407	uint32_t crc = 0;
408	int ii;
409	while (size--) {
410	crc ^= (*buf++) << (16);
411	for (ii = 0; ii < 8; ii++) {
412	crc <<= 1;
413	if (crc & 0x1000000)
414	crc ^= 0x01864cfb;
415	}
416	}
417	return crc;
418	}
419
420	//#ifndef NOENCODE
421	#define STOREBITS \
422	while(numbits >= 8) { \
423	if(!size) return 0; \
424	*(buffer++) = bitbuffer>>(numbits-8); \
425	numbits -= 8; \
426	++ressize; \
427	--size; \
428	}
429
430	#define ADDBITS(a, b) { \
431	bitbuffer = (bitbuffer<<(a))\|((b)&((1<<a)-1)); \
432	numbits += (a); \
433	STOREBITS \
434	}
435
436	#define STARTDATA \
437	size_t ressize=0; \
438	char *blockstart; \
439	int numbits; \
440	uint64_t bitbuffer=0;
441
442	#define INITBLOCK \
443	numbits = 0; \
444	blockstart = buffer; \
445	ADDBITS(8, 0xD3) \
446	ADDBITS(6, 0) \
447	ADDBITS(10, 0)
448
449	#define ENDBLOCK \
450	if(numbits) { ADDBITS((8-numbits), 0) } { \
451	int len = buffer-blockstart-3; \
452	blockstart[1] \|= len>>8; \
453	blockstart[2] = len; \
454	if(len > 1023) \
455	return 0; \
456	len = SsrCorr::CRC24(len+3, (const unsigned char *) blockstart); \
457	ADDBITS(24, len) \
458	}
459
460	#define SCALEADDBITS(a, b, c) ADDBITS(a, (int64_t)(c > 0 ? bc+0.5 : bc-0.5))
461	#define MPI 3.141592653589793
462
463	/* GNSS macros - Header part */
464	#define T_RTCM_MESSAGE_NUMBER(a) ADDBITS(12, a) /* DF002 */
465	#define T_IGS_SSR_VERSION(a) ADDBITS( 3, a) /* IDF001 */
466	#define T_IGS_MESSAGE_NUMBER(a) ADDBITS( 8, a) /* IDF002 */
467	#define T_SSR_EPOCH_TIME(a) ADDBITS(20, a) /* DF??? IDF003 */ //T_GPS_EPOCH_TIME(a)
468	#define T_GLONASS_EPOCH_TIME(a) ADDBITS(17, a) /* DF */
469
470	#define T_SSR_UPDATE_INTERVAL(a) ADDBITS( 4, a) /* DF391, IDF004 */
471	#define T_MULTIPLE_MESSAGE_INDICATOR(a) ADDBITS( 1, a) /* DF388, IDF005 */
472	#define T_SSR_IOD(a) ADDBITS( 4, a) /* DF413, IDF007 */
473	#define T_SSR_PROVIDER_ID(a) ADDBITS(16, a) /* DF414, IDF008 */
474	#define T_SSR_SOLUTION_ID(a) ADDBITS( 4, a) /* DF415, IDF009 */
475	#define T_SATELLITE_REFERENCE_DATUM(a) ADDBITS( 1, a) /* DF375, IDF006 */
476	#define T_NO_OF_SATELLITES(a) ADDBITS( 6, a) /* DF387, IDF010 */
477
478	/* GNSS macros - Satellite specific part */
479	#define T_GNSS_SATELLITE_ID(a) ADDBITS( 6, a) /* IDF011 */
480	#define T_GPS_SATELLITE_ID(a) ADDBITS( 6, a) /* DF068 */
481	#define T_QZSS_SATELLITE_ID(a) ADDBITS( 4, a) /* DF249 */
482	#define T_GLONASS_SATELLITE_ID(a) ADDBITS( 5, a) /* DF */
483	#define T_GNSS_IOD(a) ADDBITS( 8, a) /* IDF012 */
484	#define T_GPS_IODE(a) ADDBITS( 8, a) /* DF071 */
485	#define T_GLONASS_IOD(a) ADDBITS( 8, a) /* DF239 */
486	#define T_GALILEO_IOD(a) ADDBITS(10, a) /* DF459 */
487	#define T_SBAS_T0MOD(a) ADDBITS( 9, (a/16)) /* DF468 */
488	#define T_SBAS_IODCRC(a) ADDBITS(24, a) /* DF469 */
489	#define T_BDS_TOEMOD(a) ADDBITS(10, (a/8)) /* DF470 */
490	#define T_BDS_IOD(a) ADDBITS( 8, a) /* DF471 */
491
492	/* Orbit Corrections */
493	#define T_DELTA_RADIAL(a) SCALEADDBITS(22, 10000.0, a) /* DF365, IDF013 */
494	#define T_DELTA_ALONG_TRACK(a) SCALEADDBITS(20, 2500.0, a) /* DF366, IDF014 */
495	#define T_DELTA_CROSS_TRACK(a) SCALEADDBITS(20, 2500.0, a) /* DF367, IDF015 */
496	#define T_DELTA_DOT_RADIAL(a) SCALEADDBITS(21, 1000000.0, a) /* DF368, IDF016 */
497	#define T_DELTA_DOT_ALONG_TRACK(a) SCALEADDBITS(19, 250000.0, a) /* DF369, IDF017 */
498	#define T_DELTA_DOT_CROSS_TRACK(a) SCALEADDBITS(19, 250000.0, a) /* DF370, IDF018 */
499
500	/* Clock Corrections */
501	#define T_DELTA_CLOCK_C0(a) SCALEADDBITS(22, 10000.0, a) /* DF376, IDF019 */
502	#define T_DELTA_CLOCK_C1(a) SCALEADDBITS(21, 1000000.0, a) /* DF377, IDF020 */
503	#define T_DELTA_CLOCK_C2(a) SCALEADDBITS(27, 50000000.0, a) /* DF378, IDF021 */
504	#define T_HR_CLOCK_CORRECTION(a) SCALEADDBITS(22, 10000.0, a) /* DF390, IDF022 */
505
506	/* Biases */
507	#define T_NO_OF_BIASES(a) ADDBITS(5, a) /* DF, DF IDF023 */ //_NO_OF_CODE_BIASES(a)T_NO_OF_PHASE_BIASES(a)
508
509	#define T_GNSS_SIGNAL_IDENTIFIER(a) ADDBITS(5, a) /* DF IDF024 */
510	#define T_CODE_BIAS(a) SCALEADDBITS(14, 100.0, a) /* DF383, IDF025 */
511	#define T_YAW_ANGLE(a) SCALEADDBITS( 9, 256.0/MPI, a) /* DF480, IDF026 */
512	#define T_YAW_RATE(a) SCALEADDBITS( 8, 8192.0/MPI, a) /* DF481, IDF027 */
513	#define T_PHASE_BIAS(a) SCALEADDBITS(20, 10000.0, a) /* DF482, IDF028 */
514
515	/* Phase specific part of GNSS phase bias message */
516	#define T_INTEGER_INDICATOR(a) ADDBITS( 1, a) /* DF483, IDF029 */
517	#define T_WIDE_LANE_INDICATOR(a) ADDBITS( 2, a) /* DF484, IDF030 */
518	#define T_DISCONTINUITY_COUNTER(a) ADDBITS( 4, a) /* DF485, IDF031 */
519	#define T_DISPERSIVE_BIAS_INDICATOR(a) ADDBITS( 1, a) /* DF486, IDF032 */
520	#define T_MW_CONSISTENCY_INDICATOR(a) ADDBITS( 1, a) /* DF487, IDF033 */
521
522	/* URA */
523	#define T_SSR_URA(a) ADDBITS( 6, a) /* DF389, IDF034 */
524
525	/* Ionosphere */
526	#define T_NO_IONO_LAYERS(a) ADDBITS( 2, a-1) /* DF472, IDF035 */
527	#define T_IONO_HEIGHT(a) SCALEADDBITS( 8, 1/10000.0, a) /* DF473, IDF036 */
528	#define T_IONO_DEGREE(a) ADDBITS( 4, a-1) /* DF474, IDF037 */
529	#define T_IONO_ORDER(a) ADDBITS( 4, a-1) /* DF475, IDF038 */
530	#define T_IONO_COEFF_C(a) SCALEADDBITS(16, 200.0, a) /* DF476, IDF039 */
531	#define T_IONO_COEFF_S(a) SCALEADDBITS(16, 200.0, a) /* DF477, IDF040 */
532	#define T_VTEC_QUALITY_INDICATOR(a) SCALEADDBITS( 9, 20.0, a) /* DF478, IDF041 */
533
534
535	static double URAToValue(int ura) {
536	int urac, urav;
537	urac = ura >> 3;
538	urav = ura & 7;
539	if (!ura)
540	return 0;
541	else if (ura == 63)
542	return SSR_MAXURA;
543	return (pow(3, urac) * (1.0 + urav / 4.0) - 1.0) / 1000.0;
544	}
545
546	static int ValueToURA(double val) {
547	int ura;
548	if (!val)
549	return 0;
550	else if (val > 5.4665)
551	return 63;
552	for (ura = 1; ura < 63 && val > URAToValue(ura); ++ura)
553	;
554	return ura;
555	}
556	//#endif /* NOENCODE */
557
558	//#ifndef NODECODE
559	#define DECODESTART \
560	int numbits=0; \
561	uint64_t bitbuffer=0;
562
563	#define LOADSSRBITS(a) { \
564	while((a) > numbits) { \
565	if(!size--) return GCOBR_SHORTMESSAGE; \
566	bitbuffer = (bitbuffer<<8)\|((unsigned char)*(buffer++)); \
567	numbits += 8; \
568	} \
569	}
570
571	/* extract bits from data stream
572	b = variable to store result, a = number of bits */
573	#define GETSSRBITS(b, a) { \
574	LOADSSRBITS(a) \
575	b = (bitbuffer<<(64-numbits))>>(64-(a)); \
576	numbits -= (a); \
577	}
578
579	/* extract bits from data stream
580	b = variable to store result, a = number of bits */
581	#define GETSSRBITSFACTOR(b, a, c) { \
582	LOADSSRBITS(a) \
583	b = ((bitbuffer<<(64-numbits))>>(64-(a)))*(c); \
584	numbits -= (a); \
585	}
586
587	/* extract signed floating value from data stream
588	b = variable to store result, a = number of bits */
589	#define GETSSRFLOATSIGN(b, a, c) { \
590	LOADSSRBITS(a) \
591	b = ((double)(((int64_t)(bitbuffer<<(64-numbits)))>>(64-(a))))*(c); \
592	numbits -= (a); \
593	}
594
595	/* extract floating value from data stream
596	b = variable to store result, a = number of bits, c = scale factor */
597	#define GETSSRFLOAT(b, a, c) { \
598	LOADSSRBITS(a) \
599	b = ((double)((bitbuffer<<(sizeof(bitbuffer)8-numbits))>>(sizeof(bitbuffer)8-(a))))*(c); \
600	numbits -= (a); \
601	}
602
603	#define SKIPSSRBITS(b) { LOADSSRBITS(b) numbits -= (b); }
604
605	/* GPS macros also used for other systems when matching! */
606	#define G_HEADER(a) GETSSRBITS(a, 8)
607	#define G_RESERVEDH(a) GETSSRBITS(a, 6)
608	#define G_SIZE(a) GETSSRBITS(a, 10)
609
610	/* GNSS macros - Header part */
611	#define G_RTCM_MESSAGE_NUMBER(a) GETSSRBITS(a, 12) /* DF002 */
612
613	#define G_IGS_SSR_VERSION(a) GETSSRBITS(a, 3) /* IDF001 */
614	#define G_IGS_MESSAGE_NUMBER(a) GETSSRBITS(a, 8) /* IDF002 */
615	#define G_SSR_EPOCH_TIME(a) GETSSRBITS(a, 20) /DF IDF003 /
616	#define G_SSR_EPOCH_TIME_CHECK(a, b) {unsigned int temp; GETSSRBITS(temp, 20) \
617	if(b && a != temp) return GCOBR_TIMEMISMATCH; a = temp;}
618	#define G_GLONASS_EPOCH_TIME(a, b) {unsigned int temp; GETSSRBITS(temp, 17) \
619	if(b && a != temp) return GCOBR_TIMEMISMATCH; a = temp;}
620
621	#define G_SSR_UPDATE_INTERVAL(a) GETSSRBITS(a, 4) /* DF391, IDF004 */
622	#define G_MULTIPLE_MESSAGE_INDICATOR(a) GETSSRBITS(a, 1) /* DF388, IDF005 */
623	#define G_SSR_IOD(a) GETSSRBITS(a, 4) /* DF413, IDF007 */
624	#define G_SSR_PROVIDER_ID(a) GETSSRBITS(a, 16) /* DF414, IDF008 */
625	#define G_SSR_SOLUTION_ID(a) GETSSRBITS(a, 4) /* DF415, IDF009 */
626	#define G_SATELLITE_REFERENCE_DATUM(a) GETSSRBITS(a, 1) /* DF375, IDF006 */
627	#define G_NO_OF_SATELLITES(a) GETSSRBITS(a, 6) /* DF387, IDF010 */
628
629	/* GNSS macros - Satellite specific part */
630	#define G_GNSS_SATELLITE_ID(a) GETSSRBITS(a, 6) /* DF068, IDF011 */
631	#define G_GLONASS_SATELLITE_ID(a) GETSSRBITS(a, 5) /* DF */
632	#define G_QZSS_SATELLITE_ID(a) GETSSRBITS(a, 4) /* DF249 */
633
634	#define G_GNSS_IOD(a) GETSSRBITS(a, 8) /DF071, DF237,DF471 IDF012 /
635	#define G_GALILEO_IOD(a) GETSSRBITS(a, 10) /* DF459 */
636	#define G_SBAS_T0MOD(a) GETSSRBITSFACTOR(a, 9, 16) /* DF468 */
637	#define G_SBAS_IODCRC(a) GETSSRBITS(a, 24) /* DF469 */
638	#define G_BDS_TOEMOD(a) GETSSRBITSFACTOR(a, 10, 8) /* DF470 */
639
640	/* Orbit Corrections */
641	#define G_DELTA_RADIAL(a) GETSSRFLOATSIGN(a, 22, 1/10000.0) /* DF365, IDF013 */
642	#define G_DELTA_ALONG_TRACK(a) GETSSRFLOATSIGN(a, 20, 1/2500.0) /* DF366, IDF014 */
643	#define G_DELTA_CROSS_TRACK(a) GETSSRFLOATSIGN(a, 20, 1/2500.0) /* DF367, IDF015 */
644	#define G_DELTA_DOT_RADIAL(a) GETSSRFLOATSIGN(a, 21, 1/1000000.0) /* DF368, IDF016 */
645	#define G_DELTA_DOT_ALONG_TRACK(a) GETSSRFLOATSIGN(a, 19, 1/250000.0) /* DF369, IDF017 */
646	#define G_DELTA_DOT_CROSS_TRACK(a) GETSSRFLOATSIGN(a, 19, 1/250000.0) /* DF370, IDF018 */
647
648	/* Clock Corrections */
649	#define G_DELTA_CLOCK_C0(a) GETSSRFLOATSIGN(a, 22, 1/10000.0) /* DF376, IDF019 */
650	#define G_DELTA_CLOCK_C1(a) GETSSRFLOATSIGN(a, 21, 1/1000000.0) /* DF377, IDF020 */
651	#define G_DELTA_CLOCK_C2(a) GETSSRFLOATSIGN(a, 27, 1/50000000.0) /* DF378, IDF021 */
652	#define G_HR_CLOCK_CORRECTION(a) GETSSRFLOATSIGN(a, 22, 1/10000.0) /* DF390, IDF022 */
653
654	/* Biases */
655	#define G_NO_OF_BIASES(a) GETSSRBITS(a, 5) /* DF, DF IDF023 */
656	#define G_GNSS_SIGNAL_IDENTIFIER(a) GETSSRBITS(a, 5) /* DF IDF024 */
657	#define G_CODE_BIAS(a) GETSSRFLOATSIGN(a, 14, 1/100.0) /* DF383, IDF025 */
658	#define G_YAW_ANGLE(a) GETSSRFLOAT (a, 9, MPI/256.0) /* DF480, IDF026 */
659	#define G_YAW_RATE(a) GETSSRFLOATSIGN(a, 8, MPI/8192.0) /* DF481, IDF027 */
660	#define G_PHASE_BIAS(a) GETSSRFLOATSIGN(a, 20, 1/10000.) /* DF482, IDF028 */
661
662	/* Phase specific part of GNSS phase bias message */
663	#define G_INTEGER_INDICATOR(a) GETSSRBITS(a, 1) /* DF483, IDF029 */
664	#define G_WIDE_LANE_INDICATOR(a) GETSSRBITS(a, 2) /* DF484, IDF030 */
665	#define G_DISCONTINUITY_COUNTER(a) GETSSRBITS(a, 4) /* DF485, IDF031 */
666	#define G_DISPERSIVE_BIAS_INDICATOR(a) GETSSRBITS(a, 1) /* DF486, IDF032 */
667	#define G_MW_CONSISTENCY_INDICATOR(a) GETSSRBITS(a, 1) /* DF487, IDF033 */
668
669	/* URA */
670	#define G_SSR_URA(a) {int temp; GETSSRBITS(temp, 6) \
671	(a) = URAToValue(temp);} /* DF389, IDF034 */
672
673	/* Ionosphere */
674	#define G_NO_IONO_LAYERS(a) {unsigned int temp; GETSSRBITS(temp, 2) a = temp+1;} /* DF472, IDF035 */
675	#define G_IONO_HEIGHT(a) GETSSRFLOAT(a, 8 , 10000.0) /* DF473, IDF036 */
676	#define G_IONO_DEGREE(a) {unsigned int temp; GETSSRBITS(temp, 4) a = temp+1;} /* DF474, IDF037 */
677	#define G_IONO_ORDER(a) {unsigned int temp; GETSSRBITS(temp, 4) a = temp+1;} /* DF475, IDF038 */
678	#define G_IONO_COEFF_C(a) GETSSRFLOATSIGN(a, 16,1/200.0) /* DF476, IDF039 */
679	#define G_IONO_COEFF_S(a) GETSSRFLOATSIGN(a, 16,1/200.0) /* DF477, IDF040 */
680	#define G_VTEC_QUALITY_INDICATOR(a) GETSSRFLOAT (a, 9, 1/20.0) /* DF478, IDF041 */
681
682	//#endif /* NODECODE */
683
684	};
685
686	#endif /* RTCM3_CLOCK_ORBIT_H */

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