source: ntrip/trunk/rtcm3torinex/rtcm3torinex.h@ 1148

Last change on this file since 1148 was 1097, checked in by stoecker, 16 years ago

Minor fix
File size: 9.8 KB
Line 
1#ifndef RTCM3TORINEX_H
2#define RTCM3TORINEX_H
3
4/*
5 Converter for RTCM3 data to RINEX.
6 $Id: rtcm3torinex.h,v 1.8 2008/09/02 07:45:48 stoecker Exp $
7 Copyright (C) 2005-2006 by Dirk Stöcker <stoecker@alberding.eu>
8
9 This program is free software; you can redistribute it and/or modify
10 it under the terms of the GNU General Public License as published by
11 the Free Software Foundation; either version 2 of the License, or
12 (at your option) any later version.
13
14 This program is distributed in the hope that it will be useful,
15 but WITHOUT ANY WARRANTY; without even the implied warranty of
16 MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
17 GNU General Public License for more details.
18
19 You should have received a copy of the GNU General Public License
20 along with this program; if not, write to the Free Software
21 Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
22 or read http://www.gnu.org/licenses/gpl.txt
23*/
24
25#define PRN_GPS_START 1
26#define PRN_GPS_END 32
27#define PRN_GLONASS_START 38
28#define PRN_GLONASS_END 61
29#define PRN_WAAS_START 120
30#define PRN_WAAS_END 138
31
32#define GNSSENTRY_C1DATA 0
33#define GNSSENTRY_C2DATA 1
34#define GNSSENTRY_P1DATA 2
35#define GNSSENTRY_P2DATA 3
36#define GNSSENTRY_L1CDATA 4
37#define GNSSENTRY_L1PDATA 5
38#define GNSSENTRY_L2CDATA 6
39#define GNSSENTRY_L2PDATA 7
40#define GNSSENTRY_D1CDATA 8
41#define GNSSENTRY_D1PDATA 9
42#define GNSSENTRY_D2CDATA 10
43#define GNSSENTRY_D2PDATA 11
44#define GNSSENTRY_S1CDATA 12
45#define GNSSENTRY_S1PDATA 13
46#define GNSSENTRY_S2CDATA 14
47#define GNSSENTRY_S2PDATA 15
48#define GNSSENTRY_NUMBER 16 /* number of types!!! */
49
50/* Data flags. These flags are used in the dataflags field of gpsdata structure
51 and are used the determine, which data fields are filled with valid data. */
52#define GNSSDF_C1DATA (1<<GNSSENTRY_C1DATA)
53#define GNSSDF_C2DATA (1<<GNSSENTRY_C2DATA)
54#define GNSSDF_P1DATA (1<<GNSSENTRY_P1DATA)
55#define GNSSDF_P2DATA (1<<GNSSENTRY_P2DATA)
56#define GNSSDF_L1CDATA (1<<GNSSENTRY_L1CDATA)
57#define GNSSDF_L1PDATA (1<<GNSSENTRY_L1PDATA)
58#define GNSSDF_L2CDATA (1<<GNSSENTRY_L2CDATA)
59#define GNSSDF_L2PDATA (1<<GNSSENTRY_L2PDATA)
60#define GNSSDF_D1CDATA (1<<GNSSENTRY_D1CDATA)
61#define GNSSDF_D1PDATA (1<<GNSSENTRY_D1PDATA)
62#define GNSSDF_D2CDATA (1<<GNSSENTRY_D2CDATA)
63#define GNSSDF_D2PDATA (1<<GNSSENTRY_D2PDATA)
64#define GNSSDF_S1CDATA (1<<GNSSENTRY_S1CDATA)
65#define GNSSDF_S1PDATA (1<<GNSSENTRY_S1PDATA)
66#define GNSSDF_S2CDATA (1<<GNSSENTRY_S2CDATA)
67#define GNSSDF_S2PDATA (1<<GNSSENTRY_S2PDATA)
68
69#define RINEXENTRY_C1DATA 0
70#define RINEXENTRY_C2DATA 1
71#define RINEXENTRY_P1DATA 2
72#define RINEXENTRY_P2DATA 3
73#define RINEXENTRY_L1DATA 4
74#define RINEXENTRY_L2DATA 5
75#define RINEXENTRY_D1DATA 6
76#define RINEXENTRY_D2DATA 7
77#define RINEXENTRY_S1DATA 8
78#define RINEXENTRY_S2DATA 9
79#define RINEXENTRY_NUMBER 10
80
81#define LIGHTSPEED 2.99792458e8 /* m/sec */
82#define GPS_FREQU_L1 1575420000.0 /* Hz */
83#define GPS_FREQU_L2 1227600000.0 /* Hz */
84#define GPS_WAVELENGTH_L1 (LIGHTSPEED / GPS_FREQU_L1) /* m */
85#define GPS_WAVELENGTH_L2 (LIGHTSPEED / GPS_FREQU_L2) /* m */
86
87#define GLO_FREQU_L1_BASE 1602000000.0 /* Hz */
88#define GLO_FREQU_L2_BASE 1246000000.0 /* Hz */
89#define GLO_FREQU_L1_STEP 562500.0 /* Hz */
90#define GLO_FREQU_L2_STEP 437500.0 /* Hz */
91#define GLO_FREQU_L1(a) (GLO_FREQU_L1_BASE+(a)*GLO_FREQU_L1_STEP)
92#define GLO_FREQU_L2(a) (GLO_FREQU_L2_BASE+(a)*GLO_FREQU_L2_STEP)
93#define GLO_WAVELENGTH_L1(a) (LIGHTSPEED / GLO_FREQU_L1(a)) /* m */
94#define GLO_WAVELENGTH_L2(a) (LIGHTSPEED / GLO_FREQU_L2(a)) /* m */
95
96/* Additional flags for the data field, which tell us more. */
97#define GNSSDF_LOCKLOSSL1 (1<<29) /* lost lock on L1 */
98#define GNSSDF_LOCKLOSSL2 (1<<30) /* lost lock on L2 */
99
100struct gnssdata {
101 int flags; /* GPSF_xxx */
102 int week; /* week number of GPS date */
103 int numsats;
104 double timeofweek; /* milliseconds in GPS week */
105 double measdata[24][GNSSENTRY_NUMBER]; /* data fields */
106 int dataflags[24]; /* GPSDF_xxx */
107 int satellites[24]; /* SV - IDs */
108 int snrL1[24]; /* Important: all the 5 SV-specific fields must */
109 int snrL2[24]; /* have the same SV-order */
110};
111
112#define GPSEPHF_L2PCODEDATA (1<<0) /* set, if NAV data OFF on L2 P-code, s1w4b01 */
113#define GPSEPHF_L2PCODE (1<<1) /* set, if P-code available, s1w3b12 */
114#define GPSEPHF_L2CACODE (1<<2) /* set, if CA-code available, s1w3b11 */
115#define GPSEPHF_VALIDATED (1<<3) /* data is completely valid */
116
117#define R2R_PI 3.1415926535898
118
119struct gpsephemeris {
120 int flags; /* GPSEPHF_xxx */
121 int satellite; /* SV ID ICD-GPS data position */
122 int IODE; /* [s2w3b01-08] */
123 int URAindex; /* [1..15] [s1w3b13-16] */
124 int SVhealth; /* [s1w3b17-22] */
125 int GPSweek; /* [s1w3b01-10] */
126 int IODC; /* [s1w3b23-32,w8b01-08] */
127 int TOW; /* [s] [s1w2b01-17] */
128 int TOC; /* [s] [s1w8b09-24] */
129 int TOE; /* [s] [s2w10b1-16] */
130 double clock_bias; /* [s] [s1w10b1-22, af0] */
131 double clock_drift; /* [s/s] [s1w9b09-24, af1] */
132 double clock_driftrate; /* [s/s^2] [s1w9b01-08, af2] */
133 double Crs; /* [m] [s2w3b09-24] */
134 double Delta_n; /* [rad/s] [s2w4b01-16 * Pi] */
135 double M0; /* [rad] [s2w4b17-24,w5b01-24 * Pi]*/
136 double Cuc; /* [rad] [s2w6b01-16] */
137 double e; /* [s2w6b17-24,w6b01-24] */
138 double Cus; /* [rad] [s2w8b01-16] */
139 double sqrt_A; /* [m^0.5] [s2w8b16-24,w9b01-24] */
140 double Cic; /* [rad] [s3w3b01-16] */
141 double OMEGA0; /* [rad] [s3w3b17-24,w4b01-24 * Pi]*/
142 double Cis; /* [rad] [s3w5b01-16] */
143 double i0; /* [rad] [s3w5b17-24,w6b01-24 * Pi]*/
144 double Crc; /* [m] [s3w701-16] */
145 double omega; /* [rad] [s3w7b17-24,w8b01-24 * Pi]*/
146 double OMEGADOT; /* [rad/s] [s3w9b01-24 * Pi] */
147 double IDOT; /* [rad/s] [s3w10b9-22 * Pi] */
148 double TGD; /* [s] [s1w7b17-24] */
149};
150
151#define GLOEPHF_UNHEALTHY (1<<0) /* set if unhealty satellite, f2b78 */
152#define GLOEPHF_ALMANACHEALTHOK (1<<1) /* set if ALM health is available */
153#define GLOEPHF_ALMANACHEALTHY (1<<2) /* set if Cn word is true */
154#define GLOEPHF_PAVAILABLE (1<<3) /* set if the 3 P flags are available */
155#define GLOEPHF_P10TRUE (1<<4)
156#define GLOEPHF_P11TRUE (1<<5)
157#define GLOEPHF_P2TRUE (1<<6)
158#define GLOEPHF_P3TRUE (1<<7)
159
160struct glonassephemeris {
161 int GPSWeek;
162 int GPSTOW;
163 int flags; /* GLOEPHF_xxx */
164 int almanac_number;
165 int frequency_number; /* ICD-GLONASS data position */
166 int tb; /* [s] [f2b70-76] */
167 int tk; /* [s] [f1b65-76] */
168 int E; /* [days] [f4b49-53] */
169 double tau; /* [s] [f4b59-80] */
170 double gamma; /* [f3b69-79] */
171 double x_pos; /* [km] [f1b09-35] */
172 double x_velocity; /* [km/s] [f1b41-64] */
173 double x_acceleration; /* [km/s^2][f1b36-40] */
174 double y_pos; /* [km] [f2b09-35] */
175 double y_velocity; /* [km/s] [f2b41-64] */
176 double y_acceleration; /* [km/s^2][f2b36-40] */
177 double z_pos; /* [km] [f3b09-35] */
178 double z_velocity; /* [km/s] [f3b41-64] */
179 double z_acceleration; /* [km/s^2][f3b36-40] */
180};
181
182struct RTCM3ParserData {
183 unsigned char Message[2048]; /* input-buffer */
184 int MessageSize; /* current buffer size */
185 int NeedBytes; /* bytes wanted for next run */
186 int SkipBytes; /* bytes to skip in next round */
187 int GPSWeek;
188 int GPSTOW; /* in seconds */
189 struct gnssdata Data;
190 struct gpsephemeris ephemerisGPS;
191 struct glonassephemeris ephemerisGLONASS;
192 struct gnssdata DataNew;
193 int size;
194 int lastlockl1[64];
195 int lastlockl2[64];
196#ifdef NO_RTCM3_MAIN
197 int typeSize; /* RTCM message types */
198 int typeList[101]; /* RTCM message types */
199#endif /* NO_RTCM3_MAIN */
200 int datapos[RINEXENTRY_NUMBER];
201 int dataflag[RINEXENTRY_NUMBER];
202 /* for RINEX2 GPS and GLO are both handled in GPS */
203 int dataposGPS[RINEXENTRY_NUMBER]; /* SBAS has same entries */
204 int dataflagGPS[RINEXENTRY_NUMBER];
205 int dataposGLO[RINEXENTRY_NUMBER]; /* only used for RINEX3 */
206 int dataflagGLO[RINEXENTRY_NUMBER];
207 int numdatatypesGPS;
208 int numdatatypesGLO; /* only used for RINEX3 */
209 int validwarning;
210 int init;
211 int startflags;
212 int rinex3;
213 const char * headerfile;
214 const char * glonassephemeris;
215 const char * gpsephemeris;
216 FILE *glonassfile;
217 FILE *gpsfile;
218};
219
220#ifndef PRINTFARG
221#ifdef __GNUC__
222#define PRINTFARG(a,b) __attribute__ ((format(printf, a, b)))
223#else /* __GNUC__ */
224#define PRINTFARG(a,b)
225#endif /* __GNUC__ */
226#endif /* PRINTFARG */
227
228void HandleHeader(struct RTCM3ParserData *Parser);
229int RTCM3Parser(struct RTCM3ParserData *handle);
230void HandleByte(struct RTCM3ParserData *Parser, unsigned int byte);
231void PRINTFARG(1,2) RTCM3Error(const char *fmt, ...);
232void PRINTFARG(1,2) RTCM3Text(const char *fmt, ...);
233
234#endif /* RTCM3TORINEX_H */
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