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source: ntrip/branches/BNC_2.12/src/RTCM3/RTCM3Decoder.cpp@ 8681

Last change on this file since 8681 was 8681, checked in by stuerze, 5 years ago
minor changes in RTCM3 Decoder with respect to MSM obs codes
File size: 51.3 KB

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1	// Part of BNC, a utility for retrieving decoding and
2	// converting GNSS data streams from NTRIP broadcasters.
3	//
4	// Copyright (C) 2007
5	// German Federal Agency for Cartography and Geodesy (BKG)
6	// http://www.bkg.bund.de
7	// Czech Technical University Prague, Department of Geodesy
8	// http://www.fsv.cvut.cz
9	//
10	// Email: euref-ip@bkg.bund.de
11	//
12	// This program is free software; you can redistribute it and/or
13	// modify it under the terms of the GNU General Public License
14	// as published by the Free Software Foundation, version 2.
15	//
16	// This program is distributed in the hope that it will be useful,
17	// but WITHOUT ANY WARRANTY; without even the implied warranty of
18	// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
19	// GNU General Public License for more details.
20	//
21	// You should have received a copy of the GNU General Public License
22	// along with this program; if not, write to the Free Software
23	// Foundation, Inc., 59 Temple Place - Suite 330, Boston, MA 02111-1307, USA.
24
25	/* -------------------------------------------------------------------------
26	* BKG NTRIP Client
27	* -------------------------------------------------------------------------
28	*
29	* Class: RTCM3Decoder
30	*
31	* Purpose: RTCM3 Decoder
32	*
33	* Author: L. Mervart
34	*
35	* Created: 24-Aug-2006
36	*
37	* Changes:
38	*
39	* -----------------------------------------------------------------------*/
40
41	#include <iostream>
42	#include <iomanip>
43	#include <sstream>
44	#include <math.h>
45	#include <string.h>
46
47	#include "bits.h"
48	#include "gnss.h"
49	#include "RTCM3Decoder.h"
50	#include "rtcm_utils.h"
51	#include "bncconst.h"
52	#include "bnccore.h"
53	#include "bncutils.h"
54	#include "bncsettings.h"
55
56	using namespace std;
57
58	// Error Handling
59	////////////////////////////////////////////////////////////////////////////
60	void RTCM3Error(const char*, ...) {
61	}
62
63	// Constructor
64	////////////////////////////////////////////////////////////////////////////
65	RTCM3Decoder::RTCM3Decoder(const QString& staID, bncRawFile* rawFile) :
66	GPSDecoder() {
67
68	_staID = staID;
69	_rawFile = rawFile;
70
71	connect(this, SIGNAL(newGPSEph(t_ephGPS)), BNC_CORE,
72	SLOT(slotNewGPSEph(t_ephGPS)));
73	connect(this, SIGNAL(newGlonassEph(t_ephGlo)), BNC_CORE,
74	SLOT(slotNewGlonassEph(t_ephGlo)));
75	connect(this, SIGNAL(newGalileoEph(t_ephGal)), BNC_CORE,
76	SLOT(slotNewGalileoEph(t_ephGal)));
77	connect(this, SIGNAL(newSBASEph(t_ephSBAS)), BNC_CORE,
78	SLOT(slotNewSBASEph(t_ephSBAS)));
79	connect(this, SIGNAL(newBDSEph(t_ephBDS)), BNC_CORE,
80	SLOT(slotNewBDSEph(t_ephBDS)));
81
82	_MessageSize = _SkipBytes = _BlockSize = _NeedBytes = 0;
83	}
84
85	// Destructor
86	////////////////////////////////////////////////////////////////////////////
87	RTCM3Decoder::~RTCM3Decoder() {
88	QMapIterator<QByteArray, RTCM3coDecoder*> it(_coDecoders);
89	while (it.hasNext())
90	{
91	it.next();
92	delete it.value();
93	}
94	}
95
96	//
97	////////////////////////////////////////////////////////////////////////////
98	bool RTCM3Decoder::DecodeRTCM3GPS(unsigned char* data, int size) {
99	bool decoded = false;
100	bncTime CurrentObsTime;
101	int i, numsats, syncf, type;
102	uint64_t numbits = 0, bitfield = 0;
103
104	data += 3; /* header */
105	size -= 6; /* header + crc */
106
107	GETBITS(type, 12)
108	SKIPBITS(12)
109	/* id */
110	GETBITS(i, 30)
111
112	CurrentObsTime.set(i);
113	if (_CurrentTime.valid() && CurrentObsTime != _CurrentTime) {
114	decoded = true;
115	_obsList.append(_CurrentObsList);
116	_CurrentObsList.clear();
117	}
118
119	_CurrentTime = CurrentObsTime;
120
121	GETBITS(syncf, 1)
122	/* sync */
123	GETBITS(numsats, 5)
124	SKIPBITS(4)
125	/* smind, smint */
126
127	while (numsats--) {
128	int sv, code, l1range, amb = 0;
129	t_satObs CurrentObs;
130	CurrentObs._time = CurrentObsTime;
131
132	GETBITS(sv, 6)
133	if (sv < 40)
134	CurrentObs._prn.set('G', sv);
135	else
136	CurrentObs._prn.set('S', sv - 20);
137
138	t_frqObs *frqObs = new t_frqObs;
139	/* L1 */
140	GETBITS(code, 1);
141	(code) ?
142	frqObs->_rnxType2ch.assign("1W") : frqObs->_rnxType2ch.assign("1C");
143	GETBITS(l1range, 24);
144	GETBITSSIGN(i, 20);
145	if ((i & ((1 << 20) - 1)) != 0x80000) {
146	frqObs->_code = l1range * 0.02;
147	frqObs->_phase = (l1range * 0.02 + i * 0.0005) / GPS_WAVELENGTH_L1;
148	frqObs->_codeValid = frqObs->_phaseValid = true;
149	}
150	GETBITS(i, 7);
151	frqObs->_lockTime = lti2sec(type,i);
152	frqObs->_lockTimeValid = (frqObs->_lockTime >= 0.0 && frqObs->_phaseValid);
153	frqObs->_slipCounter = i;
154	if (type == 1002 \|\| type == 1004) {
155	GETBITS(amb, 8);
156	if (amb) {
157	frqObs->_code += amb * 299792.458;
158	frqObs->_phase += (amb * 299792.458) / GPS_WAVELENGTH_L1;
159	}
160	GETBITS(i, 8);
161	if (i) {
162	frqObs->_snr = i * 0.25;
163	frqObs->_snrValid = true;
164	}
165	}
166	CurrentObs._obs.push_back(frqObs);
167	if (type == 1003 \|\| type == 1004) {
168	frqObs = new t_frqObs;
169	/* L2 */
170	GETBITS(code, 2);
171	switch (code) {
172	case 3:
173	frqObs->_rnxType2ch.assign("2W"); /* or "2Y"? */
174	break;
175	case 2:
176	frqObs->_rnxType2ch.assign("2W");
177	break;
178	case 1:
179	frqObs->_rnxType2ch.assign("2P");
180	break;
181	case 0:
182	frqObs->_rnxType2ch.assign("2X"); /* or "2S" or "2L"? */
183	break;
184	}
185	GETBITSSIGN(i, 14);
186	if ((i & ((1 << 14) - 1)) != 0x2000) {
187	frqObs->_code = l1range * 0.02 + i * 0.02 + amb * 299792.458;
188	frqObs->_codeValid = true;
189	}
190	GETBITSSIGN(i, 20);
191	if ((i & ((1 << 20) - 1)) != 0x80000) {
192	frqObs->_phase = (l1range * 0.02 + i * 0.0005 + amb * 299792.458)
193	/ GPS_WAVELENGTH_L2;
194	frqObs->_phaseValid = true;
195	}
196	GETBITS(i, 7);
197	frqObs->_lockTime = lti2sec(type,i);
198	frqObs->_lockTimeValid = (frqObs->_lockTime >= 0.0 && frqObs->_phaseValid);
199	frqObs->_slipCounter = i;
200	if (type == 1004) {
201	GETBITS(i, 8);
202	if (i) {
203	frqObs->_snr = i * 0.25;
204	frqObs->_snrValid = true;
205	}
206	}
207	CurrentObs._obs.push_back(frqObs);
208	}
209	_CurrentObsList.push_back(CurrentObs);
210	}
211
212	if (!syncf) {
213	decoded = true;
214	_obsList.append(_CurrentObsList);
215	_CurrentTime.reset();
216	_CurrentObsList.clear();
217	}
218	return decoded;
219	}
220
221	#define RTCM3_MSM_NUMSIG 32
222	#define RTCM3_MSM_NUMSAT 64
223	#define RTCM3_MSM_NUMCELLS 96 /* arbitrary limit */
224
225	/**
226	* Frequency numbers of GLONASS with an offset of 100 to detect unset values.
227	* Gets filled by ephemeris and data blocks and shared between different streams.
228	*/
229	static int GLOFreq[RTCM3_MSM_NUMSAT];
230
231	/*
232	* Storage structure to store frequency and RINEX ID assignment for MSM
233	* message */
234	struct CodeData {
235	double wl;
236	const char code; / currently unused */
237	};
238
239	/** MSM signal types for GPS and SBAS */
240	static struct CodeData gps[RTCM3_MSM_NUMSIG] = {
241	{0.0, 0},
242	{GPS_WAVELENGTH_L1, "1C"},
243	{GPS_WAVELENGTH_L1, "1P"},
244	{GPS_WAVELENGTH_L1, "1W"},
245	{0.0, 0}/{GPS_WAVELENGTH_L1,"1Y"}/,
246	{0.0, 0},
247	{0.0, 0},
248	{GPS_WAVELENGTH_L2, "2C"},
249	{GPS_WAVELENGTH_L2, "2P"},
250	{GPS_WAVELENGTH_L2, "2W"},
251	{0.0, 0}/{GPS_WAVELENGTH_L2,"2Y"}/,
252	{0.0, 0},
253	{0.0, 0},
254	{0.0, 0},
255	{GPS_WAVELENGTH_L2, "2S"},
256	{GPS_WAVELENGTH_L2, "2L"},
257	{GPS_WAVELENGTH_L2, "2X"},
258	{0.0, 0},
259	{0.0, 0},
260	{0.0, 0},
261	{0.0, 0},
262	{GPS_WAVELENGTH_L5, "5I"},
263	{GPS_WAVELENGTH_L5, "5Q"},
264	{GPS_WAVELENGTH_L5, "5X"},
265	{0.0, 0},
266	{0.0, 0},
267	{0.0, 0},
268	{0.0, 0},
269	{0.0, 0},
270	{GPS_WAVELENGTH_L1, "1S"},
271	{GPS_WAVELENGTH_L1, "1L"},
272	{GPS_WAVELENGTH_L1, "1X"}
273	};
274
275	/**
276	* MSM signal types for GLONASS
277	*
278	* NOTE: Uses 0.0, 1.0 for wavelength as sat index dependence is done later!
279	*/
280	static struct CodeData glo[RTCM3_MSM_NUMSIG] = {
281	{0.0, 0},
282	{0.0, "1C"},
283	{0.0, "1P"},
284	{0.0, 0},
285	{0.0, 0},
286	{0.0, 0},
287	{0.0, 0},
288	{1.0, "2C"},
289	{1.0, "2P"},
290	{0.0, 0},
291	{0.0, 0},
292	{0.0, 0},
293	{0.0, 0},
294	{0.0, 0},
295	{0.0, 0},
296	{0.0, 0},
297	{0.0, 0},
298	{0.0, 0},
299	{0.0, 0},
300	{0.0, 0},
301	{0.0, 0},
302	{0.0, 0},
303	{0.0, 0},
304	{0.0, 0},
305	{0.0, 0},
306	{0.0, 0},
307	{0.0, 0},
308	{0.0, 0},
309	{0.0, 0},
310	{0.0, 0},
311	{0.0, 0},
312	{0.0, 0}
313	};
314
315	/** MSM signal types for Galileo */
316	static struct CodeData gal[RTCM3_MSM_NUMSIG] = {
317	{0.0, 0},
318	{GAL_WAVELENGTH_E1, "1C"},
319	{GAL_WAVELENGTH_E1, "1A"},
320	{GAL_WAVELENGTH_E1, "1B"},
321	{GAL_WAVELENGTH_E1, "1X"},
322	{GAL_WAVELENGTH_E1, "1Z"},
323	{0.0, 0},
324	{GAL_WAVELENGTH_E6, "6C"},
325	{GAL_WAVELENGTH_E6, "6A"},
326	{GAL_WAVELENGTH_E6, "6B"},
327	{GAL_WAVELENGTH_E6, "6X"},
328	{GAL_WAVELENGTH_E6, "6Z"},
329	{0.0, 0},
330	{GAL_WAVELENGTH_E5B, "7I"},
331	{GAL_WAVELENGTH_E5B, "7Q"},
332	{GAL_WAVELENGTH_E5B, "7X"},
333	{0.0, 0},
334	{GAL_WAVELENGTH_E5AB, "8I"},
335	{GAL_WAVELENGTH_E5AB, "8Q"},
336	{GAL_WAVELENGTH_E5AB, "8X"},
337	{0.0, 0},
338	{GAL_WAVELENGTH_E5A, "5I"},
339	{GAL_WAVELENGTH_E5A, "5Q"},
340	{GAL_WAVELENGTH_E5A, "5X"},
341	{0.0, 0},
342	{0.0, 0},
343	{0.0, 0},
344	{0.0, 0},
345	{0.0, 0},
346	{0.0, 0},
347	{0.0, 0},
348	{0.0, 0},
349	};
350
351	/** MSM signal types for QZSS */
352	static struct CodeData qzss[RTCM3_MSM_NUMSIG] = {
353	{0.0, 0},
354	{GPS_WAVELENGTH_L1, "1C"},
355	{0.0, 0},
356	{0.0, 0},
357	{0.0, 0},
358	{GPS_WAVELENGTH_L1, "1Z"}, // not defined in RTCM3.3?
359	{0.0, 0},
360	{0.0, 0},
361	{QZSS_WAVELENGTH_L6, "6S"},
362	{QZSS_WAVELENGTH_L6, "6L"},
363	{QZSS_WAVELENGTH_L6, "6X"},
364	{0.0, 0},
365	{0.0, 0},
366	{0.0, 0},
367	{GPS_WAVELENGTH_L2, "2S"},
368	{GPS_WAVELENGTH_L2, "2L"},
369	{GPS_WAVELENGTH_L2, "2X"},
370	{0.0, 0},
371	{0.0, 0},
372	{0.0, 0},
373	{0.0, 0},
374	{GPS_WAVELENGTH_L5, "5I"},
375	{GPS_WAVELENGTH_L5, "5Q"},
376	{GPS_WAVELENGTH_L5, "5X"},
377	{0.0, 0},
378	{0.0, 0},
379	{0.0, 0},
380	{0.0, 0},
381	{0.0, 0},
382	{GPS_WAVELENGTH_L1, "1S"},
383	{GPS_WAVELENGTH_L1, "1L"},
384	{GPS_WAVELENGTH_L1, "1X"}
385	};
386
387	/** MSM signal types for Beidou/BDS */
388	static struct CodeData bds[RTCM3_MSM_NUMSIG] = {
389	{0.0, 0},
390	{BDS_WAVELENGTH_B1, "2I"},
391	{BDS_WAVELENGTH_B1, "2Q"},
392	{BDS_WAVELENGTH_B1, "2X"},
393	{0.0, 0},
394	{0.0, 0},
395	{0.0, 0},
396	{BDS_WAVELENGTH_B3, "6I"},
397	{BDS_WAVELENGTH_B3, "6Q"},
398	{BDS_WAVELENGTH_B3, "6X"},
399	{0.0, 0},
400	{0.0, 0},
401	{0.0, 0},
402	{BDS_WAVELENGTH_B2, "7I"},
403	{BDS_WAVELENGTH_B2, "7Q"},
404	{BDS_WAVELENGTH_B2, "7X"},
405	{0.0, 0},
406	{0.0, 0},
407	{0.0, 0},
408	{0.0, 0},
409	{0.0, 0},
410	{0.0, 0},
411	{0.0, 0},
412	{0.0, 0},
413	{0.0, 0},
414	{0.0, 0},
415	{0.0, 0},
416	{0.0, 0},
417	{0.0, 0},
418	{0.0, 0},
419	{0.0, 0},
420	{0.0, 0},
421	};
422
423	#define UINT64(c) c ## ULL
424
425	//
426	////////////////////////////////////////////////////////////////////////////
427	bool RTCM3Decoder::DecodeRTCM3MSM(unsigned char* data, int size)
428	{
429	bool decoded = false;
430	int type, syncf, i;
431	uint64_t numbits = 0, bitfield = 0;
432
433	data += 3; /* header */
434	size -= 6; /* header + crc */
435
436	GETBITS(type, 12)
437	SKIPBITS(12)
438	/* id */
439	char sys;
440	if (type >= 1121)
441	sys = 'C';
442	else if (type >= 1111)
443	sys = 'J';
444	else if (type >= 1101)
445	sys = 'S';
446	else if (type >= 1091)
447	sys = 'E';
448	else if (type >= 1081)
449	sys = 'R';
450	else
451	sys = 'G';
452
453	bncTime CurrentObsTime;
454	if (sys == 'C') /* BDS */ {
455	GETBITS(i, 30)
456	CurrentObsTime.setBDS(i);
457	}
458	else if (sys == 'R') /* GLONASS */ {
459	SKIPBITS(3)
460	GETBITS(i, 27)
461	/* tk */
462	CurrentObsTime.setTk(i);
463	}
464	else /* GPS style date */ {
465	GETBITS(i, 30)
466	CurrentObsTime.set(i);
467	}
468	if (_CurrentTime.valid() && CurrentObsTime != _CurrentTime) {
469	decoded = true;
470	_obsList.append(_CurrentObsList);
471	_CurrentObsList.clear();
472	}
473	_CurrentTime = CurrentObsTime;
474
475	GETBITS(syncf, 1)
476	/**
477	* Ignore unknown types except for sync flag
478	*
479	* We actually support types 1-3 in following code, but as they are missing
480	* the full cycles and can't be used later we skip interpretation here already.
481	*/
482	if (type <= 1130 && (type % 10) >= 4 && (type % 10) <= 7) {
483	int sigmask, numsat = 0, numsig = 0;
484	uint64_t satmask, cellmask, ui;
485	double rrmod[RTCM3_MSM_NUMSAT];
486	int rrint[RTCM3_MSM_NUMSAT], rdop[RTCM3_MSM_NUMSAT],
487	extsat[RTCM3_MSM_NUMSAT];
488	int ll[RTCM3_MSM_NUMCELLS]/, hc[RTCM3_MSM_NUMCELLS]/;
489	double cnr[RTCM3_MSM_NUMCELLS];
490	double cp[RTCM3_MSM_NUMCELLS], psr[RTCM3_MSM_NUMCELLS],
491	dop[RTCM3_MSM_NUMCELLS];
492
493	SKIPBITS(3 + 7 + 2 + 2 + 1 + 3)
494	GETBITS64(satmask, RTCM3_MSM_NUMSAT)
495
496	/* http://gurmeetsingh.wordpress.com/2008/08/05/fast-bit-counting-routines/ */
497	for (ui = satmask; ui; ui &= (ui - 1) /* remove rightmost bit */)
498	++numsat;
499	GETBITS(sigmask, RTCM3_MSM_NUMSIG)
500	for (i = sigmask; i; i &= (i - 1) /* remove rightmost bit */)
501	++numsig;
502	for (i = 0; i < RTCM3_MSM_NUMSAT; ++i)
503	extsat[i] = 15;
504
505	i = numsat * numsig;
506	GETBITS64(cellmask, (unsigned )i)
507
508	switch (type % 10) {
509	case 1:
510	case 2:
511	case 3:
512	/* partial data, already skipped above, but implemented for future expansion ! */
513	for (int j = numsat; j--;)
514	GETFLOAT(rrmod[j], 10, 1.0 / 1024.0)
515	break;
516	case 4:
517	case 6:
518	for (int j = numsat; j--;)
519	GETBITS(rrint[j], 8)
520	for (int j = numsat; j--;)
521	GETFLOAT(rrmod[j], 10, 1.0 / 1024.0)
522	break;
523	case 5:
524	case 7:
525	for (int j = numsat; j--;)
526	GETBITS(rrint[j], 8)
527	for (int j = numsat; j--;)
528	GETBITS(extsat[j], 4)
529	for (int j = numsat; j--;)
530	GETFLOAT(rrmod[j], 10, 1.0 / 1024.0)
531	for (int j = numsat; j--;)
532	GETBITSSIGN(rdop[j], 14)
533	break;
534	}
535
536	int numcells = numsat * numsig;
537	/** Drop anything which exceeds our cell limit. Increase limit definition
538	* when that happens. */
539	if (numcells <= RTCM3_MSM_NUMCELLS) {
540	switch (type % 10) {
541	case 1:
542	for (int count = numcells; count--;)
543	if (cellmask & (UINT64(1) << count))
544	GETFLOATSIGN(psr[count], 15, 1.0 / (1 << 24))
545	break;
546	case 2:
547	for (int count = numcells; count--;)
548	if (cellmask & (UINT64(1) << count))
549	GETFLOATSIGN(cp[count], 22, 1.0 / (1 << 29))
550	for (int count = numcells; count--;)
551	if (cellmask & (UINT64(1) << count))
552	GETBITS(ll[count], 4)
553	for (int count = numcells; count--;)
554	if (cellmask & (UINT64(1) << count))
555	SKIPBITS(1)/GETBITS(hc[count], 1)/
556	break;
557	case 3:
558	for (int count = numcells; count--;)
559	if (cellmask & (UINT64(1) << count))
560	GETFLOATSIGN(psr[count], 15, 1.0 / (1 << 24))
561	for (int count = numcells; count--;)
562	if (cellmask & (UINT64(1) << count))
563	GETFLOATSIGN(cp[count], 22, 1.0 / (1 << 29))
564	for (int count = numcells; count--;)
565	if (cellmask & (UINT64(1) << count))
566	GETBITS(ll[count], 4)
567	for (int count = numcells; count--;)
568	if (cellmask & (UINT64(1) << count))
569	SKIPBITS(1)/GETBITS(hc[count], 1)/
570	break;
571	case 4:
572	for (int count = numcells; count--;)
573	if (cellmask & (UINT64(1) << count))
574	GETFLOATSIGN(psr[count], 15, 1.0 / (1 << 24))
575	for (int count = numcells; count--;)
576	if (cellmask & (UINT64(1) << count))
577	GETFLOATSIGN(cp[count], 22, 1.0 / (1 << 29))
578	for (int count = numcells; count--;)
579	if (cellmask & (UINT64(1) << count))
580	GETBITS(ll[count], 4)
581	for (int count = numcells; count--;)
582	if (cellmask & (UINT64(1) << count))
583	SKIPBITS(1)/GETBITS(hc[count], 1)/
584	for (int count = numcells; count--;)
585	if (cellmask & (UINT64(1) << count))
586	GETBITS(cnr[count], 6)
587	break;
588	case 5:
589	for (int count = numcells; count--;)
590	if (cellmask & (UINT64(1) << count))
591	GETFLOATSIGN(psr[count], 15, 1.0 / (1 << 24))
592	for (int count = numcells; count--;)
593	if (cellmask & (UINT64(1) << count))
594	GETFLOATSIGN(cp[count], 22, 1.0 / (1 << 29))
595	for (int count = numcells; count--;)
596	if (cellmask & (UINT64(1) << count))
597	GETBITS(ll[count], 4)
598	for (int count = numcells; count--;)
599	if (cellmask & (UINT64(1) << count))
600	SKIPBITS(1)/GETBITS(hc[count], 1)/
601	for (int count = numcells; count--;)
602	if (cellmask & (UINT64(1) << count))
603	GETFLOAT(cnr[count], 6, 1.0)
604	for (int count = numcells; count--;)
605	if (cellmask & (UINT64(1) << count))
606	GETFLOATSIGN(dop[count], 15, 0.0001)
607	break;
608	case 6:
609	for (int count = numcells; count--;)
610	if (cellmask & (UINT64(1) << count))
611	GETFLOATSIGN(psr[count], 20, 1.0 / (1 << 29))
612	for (int count = numcells; count--;)
613	if (cellmask & (UINT64(1) << count))
614	GETFLOATSIGN(cp[count], 24, 1.0 / (1U << 31))
615	for (int count = numcells; count--;)
616	if (cellmask & (UINT64(1) << count))
617	GETBITS(ll[count], 10)
618	for (int count = numcells; count--;)
619	if (cellmask & (UINT64(1) << count))
620	SKIPBITS(1)/GETBITS(hc[count], 1)/
621	for (int count = numcells; count--;)
622	if (cellmask & (UINT64(1) << count))
623	GETFLOAT(cnr[count], 10, 1.0 / (1 << 4))
624	break;
625	case 7:
626	for (int count = numcells; count--;)
627	if (cellmask & (UINT64(1) << count))
628	GETFLOATSIGN(psr[count], 20, 1.0 / (1 << 29))
629	for (int count = numcells; count--;)
630	if (cellmask & (UINT64(1) << count))
631	GETFLOATSIGN(cp[count], 24, 1.0 / (1U << 31))
632	for (int count = numcells; count--;)
633	if (cellmask & (UINT64(1) << count))
634	GETBITS(ll[count], 10)
635	for (int count = numcells; count--;)
636	if (cellmask & (UINT64(1) << count))
637	SKIPBITS(1)/GETBITS(hc[count], 1)/
638	for (int count = numcells; count--;)
639	if (cellmask & (UINT64(1) << count))
640	GETFLOAT(cnr[count], 10, 1.0 / (1 << 4))
641	for (int count = numcells; count--;)
642	if (cellmask & (UINT64(1) << count))
643	GETFLOATSIGN(dop[count], 15, 0.0001)
644	break;
645	}
646	i = RTCM3_MSM_NUMSAT;
647	int j = -1;
648	t_satObs CurrentObs;
649	for (int count = numcells; count--;) {
650	while (j >= 0 && !(sigmask & (1 << --j)))
651	;
652	if (j < 0) {
653	while (!(satmask & (UINT64(1) << (--i))))
654	/* next satellite */
655	;
656	if (CurrentObs._obs.size() > 0)
657	_CurrentObsList.push_back(CurrentObs);
658	CurrentObs.clear();
659	CurrentObs._time = CurrentObsTime;
660	if (sys == 'S')
661	CurrentObs._prn.set(sys, 20 - 1 + RTCM3_MSM_NUMSAT - i);
662	else
663	CurrentObs._prn.set(sys, RTCM3_MSM_NUMSAT - i);
664	j = RTCM3_MSM_NUMSIG;
665	while (!(sigmask & (1 << --j)))
666	;
667	--numsat;
668	}
669	if (cellmask & (UINT64(1) << count)) {
670	struct CodeData cd = {0.0, 0};
671	switch (sys) {
672	case 'J':
673	cd = qzss[RTCM3_MSM_NUMSIG - j - 1];
674	break;
675	case 'C':
676	cd = bds[RTCM3_MSM_NUMSIG - j - 1];
677	break;
678	case 'G':
679	case 'S':
680	cd = gps[RTCM3_MSM_NUMSIG - j - 1];
681	break;
682	case 'R':
683	cd = glo[RTCM3_MSM_NUMSIG - j - 1];
684	{
685	int k = GLOFreq[RTCM3_MSM_NUMSAT - i - 1];
686	if (extsat[numsat] < 14) {
687	k = GLOFreq[RTCM3_MSM_NUMSAT - i - 1] = 100 + extsat[numsat]
688	- 7;
689	}
690	if (k)
691	cd.wl = (
692	cd.wl == 0.0 ?
693	GLO_WAVELENGTH_L1(k - 100) :
694	GLO_WAVELENGTH_L2(k - 100));
695	else
696	cd.code = 0;
697	}
698	break;
699	case 'E':
700	cd = gal[RTCM3_MSM_NUMSIG - j - 1];
701	break;
702	}
703	if (cd.code) {
704	t_frqObs *frqObs = new t_frqObs;
705	frqObs->_rnxType2ch.assign(cd.code);
706
707	switch (type % 10) {
708	case 1:
709	if (psr[count] > -1.0 / (1 << 10)) {
710	frqObs->_code = psr[count] * LIGHTSPEED / 1000.0
711	+ (rrmod[numsat]) * LIGHTSPEED / 1000.0;
712	frqObs->_codeValid = true;
713	}
714	break;
715	case 2:
716	if (cp[count] > -1.0 / (1 << 8)) {
717	frqObs->_phase = cp[count] * LIGHTSPEED / 1000.0 / cd.wl
718	+ (rrmod[numsat]) * LIGHTSPEED / 1000.0 / cd.wl;
719	frqObs->_phaseValid = true;
720	frqObs->_lockTime = lti2sec(type,ll[count]);
721	frqObs->_lockTimeValid = (frqObs->_lockTime >= 0.0);
722	frqObs->_slipCounter = ll[count];
723	}
724	break;
725	case 3:
726	if (psr[count] > -1.0 / (1 << 10)) {
727	frqObs->_code = psr[count] * LIGHTSPEED / 1000.0
728	+ (rrmod[numsat]) * LIGHTSPEED / 1000.0;
729	frqObs->_codeValid = true;
730	}
731
732	if (cp[count] > -1.0 / (1 << 8)) {
733	frqObs->_phase = cp[count] * LIGHTSPEED / 1000.0 / cd.wl
734	+ rrmod[numsat] * LIGHTSPEED / 1000.0 / cd.wl;
735	frqObs->_phaseValid = true;
736	frqObs->_lockTime = lti2sec(type,ll[count]);
737	frqObs->_lockTimeValid = (frqObs->_lockTime >= 0.0);
738	frqObs->_slipCounter = ll[count];
739	}
740	break;
741	case 4:
742	if (psr[count] > -1.0 / (1 << 10)) {
743	frqObs->_code = psr[count] * LIGHTSPEED / 1000.0
744	+ (rrmod[numsat] + rrint[numsat]) * LIGHTSPEED / 1000.0;
745	frqObs->_codeValid = true;
746	}
747
748	if (cp[count] > -1.0 / (1 << 8)) {
749	frqObs->_phase = cp[count] * LIGHTSPEED / 1000.0 / cd.wl
750	+ (rrmod[numsat] + rrint[numsat]) * LIGHTSPEED / 1000.0
751	/ cd.wl;
752	frqObs->_phaseValid = true;
753	frqObs->_lockTime = lti2sec(type,ll[count]);
754	frqObs->_lockTimeValid = (frqObs->_lockTime >= 0.0);
755	frqObs->_slipCounter = ll[count];
756	}
757
758	frqObs->_snr = cnr[count];
759	frqObs->_snrValid = true;
760	break;
761	case 5:
762	if (psr[count] > -1.0 / (1 << 10)) {
763	frqObs->_code = psr[count] * LIGHTSPEED / 1000.0
764	+ (rrmod[numsat] + rrint[numsat]) * LIGHTSPEED / 1000.0;
765	frqObs->_codeValid = true;
766	}
767
768	if (cp[count] > -1.0 / (1 << 8)) {
769	frqObs->_phase = cp[count] * LIGHTSPEED / 1000.0 / cd.wl
770	+ (rrmod[numsat] + rrint[numsat]) * LIGHTSPEED / 1000.0
771	/ cd.wl;
772	frqObs->_phaseValid = true;
773	frqObs->_lockTime = lti2sec(type,ll[count]);
774	frqObs->_lockTimeValid = (frqObs->_lockTime >= 0.0);
775	frqObs->_slipCounter = ll[count];
776	}
777
778	frqObs->_snr = cnr[count];
779	frqObs->_snrValid = true;
780
781	if (dop[count] > -1.6384) {
782	frqObs->_doppler = -(dop[count] + rdop[numsat]) / cd.wl;
783	frqObs->_dopplerValid = true;
784	}
785	break;
786	case 6:
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
793	if (cp[count] > -1.0 / (1 << 8)) {
794	frqObs->_phase = cp[count] * LIGHTSPEED / 1000.0 / cd.wl
795	+ (rrmod[numsat] + rrint[numsat]) * LIGHTSPEED / 1000.0
796	/ cd.wl;
797	frqObs->_phaseValid = true;
798	frqObs->_lockTime = lti2sec(type,ll[count]);
799	frqObs->_lockTimeValid = (frqObs->_lockTime >= 0.0);
800	frqObs->_slipCounter = ll[count];
801	}
802
803	frqObs->_snr = cnr[count];
804	frqObs->_snrValid = true;
805	break;
806	case 7:
807	if (psr[count] > -1.0 / (1 << 10)) {
808	frqObs->_code = psr[count] * LIGHTSPEED / 1000.0
809	+ (rrmod[numsat] + rrint[numsat]) * LIGHTSPEED / 1000.0;
810	frqObs->_codeValid = true;
811	}
812
813	if (cp[count] > -1.0 / (1 << 8)) {
814	frqObs->_phase = cp[count] * LIGHTSPEED / 1000.0 / cd.wl
815	+ (rrmod[numsat] + rrint[numsat]) * LIGHTSPEED / 1000.0
816	/ cd.wl;
817	frqObs->_phaseValid = true;
818	frqObs->_lockTime = lti2sec(type,ll[count]);
819	frqObs->_lockTimeValid = (frqObs->_lockTime >= 0.0);
820	frqObs->_slipCounter = ll[count];
821	}
822
823	frqObs->_snr = cnr[count];
824	frqObs->_snrValid = true;
825
826	if (dop[count] > -1.6384) {
827	frqObs->_doppler = -(dop[count] + rdop[numsat]) / cd.wl;
828	frqObs->_dopplerValid = true;
829	}
830	break;
831	}
832	CurrentObs._obs.push_back(frqObs);
833	}
834	}
835	}
836	if (CurrentObs._obs.size() > 0)
837	_CurrentObsList.push_back(CurrentObs);
838	}
839	}
840	else if ((type % 10) < 3) {
841	emit(newMessage(QString("%1: Block %2 contain partial data! Ignored!")
842	.arg(_staID).arg(type).toAscii(), true));
843	}
844	if (!syncf) {
845	decoded = true;
846	_obsList.append(_CurrentObsList);
847	_CurrentTime.reset();
848	_CurrentObsList.clear();
849	}
850	return decoded;
851	}
852
853	//
854	////////////////////////////////////////////////////////////////////////////
855	bool RTCM3Decoder::DecodeRTCM3GLONASS(unsigned char* data, int size) {
856	bool decoded = false;
857	bncTime CurrentObsTime;
858	int i, numsats, syncf, type;
859	uint64_t numbits = 0, bitfield = 0;
860
861	data += 3; /* header */
862	size -= 6; /* header + crc */
863
864	GETBITS(type, 12)
865	SKIPBITS(12)
866	/* id */
867	GETBITS(i, 27)
868	/* tk */
869
870	CurrentObsTime.setTk(i);
871	if (_CurrentTime.valid() && CurrentObsTime != _CurrentTime) {
872	decoded = true;
873	_obsList.append(_CurrentObsList);
874	_CurrentObsList.clear();
875	}
876	_CurrentTime = CurrentObsTime;
877
878	GETBITS(syncf, 1)
879	/* sync */
880	GETBITS(numsats, 5)
881	SKIPBITS(4)
882	/* smind, smint */
883
884	while (numsats--) {
885	int sv, code, l1range, amb = 0, freq;
886	t_satObs CurrentObs;
887	CurrentObs._time = CurrentObsTime;
888
889	GETBITS(sv, 6)
890	CurrentObs._prn.set('R', sv);
891	GETBITS(code, 1)
892	GETBITS(freq, 5)
893	GLOFreq[sv - 1] = 100 + freq - 7; /* store frequency for other users (MSM) */
894
895	t_frqObs *frqObs = new t_frqObs;
896	/* L1 */
897	(code) ?
898	frqObs->_rnxType2ch.assign("1P") : frqObs->_rnxType2ch.assign("1C");
899	GETBITS(l1range, 25);
900	GETBITSSIGN(i, 20);
901	if ((i & ((1 << 20) - 1)) != 0x80000) {
902	frqObs->_code = l1range * 0.02;
903	frqObs->_phase = (l1range * 0.02 + i * 0.0005)
904	/ GLO_WAVELENGTH_L1(freq - 7);
905	frqObs->_codeValid = frqObs->_phaseValid = true;
906	}
907	GETBITS(i, 7);
908	frqObs->_lockTime = lti2sec(type,i);
909	frqObs->_lockTimeValid = (frqObs->_lockTime >= 0.0 && frqObs->_phaseValid);
910	frqObs->_slipCounter = i;
911	if (type == 1010 \|\| type == 1012) {
912	GETBITS(amb, 7);
913	if (amb) {
914	frqObs->_code += amb * 599584.916;
915	frqObs->_phase += (amb * 599584.916) / GLO_WAVELENGTH_L1(freq - 7);
916	}
917	GETBITS(i, 8);
918	if (i) {
919	frqObs->_snr = i * 0.25;
920	frqObs->_snrValid = true;
921	}
922	}
923	CurrentObs._obs.push_back(frqObs);
924	if (type == 1011 \|\| type == 1012) {
925	frqObs = new t_frqObs;
926	/* L2 */
927	GETBITS(code, 2);
928	switch (code) {
929	case 3:
930	frqObs->_rnxType2ch.assign("2P");
931	break;
932	case 2:
933	frqObs->_rnxType2ch.assign("2P");
934	break;
935	case 1:
936	frqObs->_rnxType2ch.assign("2P");
937	break;
938	case 0:
939	frqObs->_rnxType2ch.assign("2C");
940	break;
941	}
942	GETBITSSIGN(i, 14);
943	if ((i & ((1 << 14) - 1)) != 0x2000) {
944	frqObs->_code = l1range * 0.02 + i * 0.02 + amb * 599584.916;
945	frqObs->_codeValid = true;
946	}
947	GETBITSSIGN(i, 20);
948	if ((i & ((1 << 20) - 1)) != 0x80000) {
949	frqObs->_phase = (l1range * 0.02 + i * 0.0005 + amb * 599584.916)
950	/ GLO_WAVELENGTH_L2(freq - 7);
951	frqObs->_phaseValid = true;
952	}
953	GETBITS(i, 7);
954	frqObs->_lockTime = lti2sec(type,i);
955	frqObs->_lockTimeValid = (frqObs->_lockTime >= 0.0 && frqObs->_phaseValid);
956	frqObs->_slipCounter = i;
957	if (type == 1012) {
958	GETBITS(i, 8);
959	if (i) {
960	frqObs->_snr = i * 0.25;
961	frqObs->_snrValid = true;
962	}
963	}
964	CurrentObs._obs.push_back(frqObs);
965	}
966	_CurrentObsList.push_back(CurrentObs);
967	}
968	if (!syncf) {
969	decoded = true;
970	_obsList.append(_CurrentObsList);
971	_CurrentTime.reset();
972	_CurrentObsList.clear();
973	}
974	return decoded;
975	}
976
977	//
978	////////////////////////////////////////////////////////////////////////////
979	bool RTCM3Decoder::DecodeGPSEphemeris(unsigned char* data, int size) {
980	bool decoded = false;
981
982	if (size == 67) {
983	t_ephGPS eph;
984	int i, week;
985	uint64_t numbits = 0, bitfield = 0;
986
987	data += 3; /* header */
988	size -= 6; /* header + crc */
989	SKIPBITS(12)
990
991	eph._receptDateTime = currentDateAndTimeGPS();
992
993	GETBITS(i, 6)
994	eph._prn.set('G', i);
995	GETBITS(week, 10)
996	GETBITS(i, 4)
997	eph._ura = accuracyFromIndex(i, eph.type());
998	GETBITS(eph._L2Codes, 2)
999	GETFLOATSIGN(eph._IDOT, 14, R2R_PI/(double)(1<<30)/(double)(1<<13))
1000	GETBITS(eph._IODE, 8)
1001	GETBITS(i, 16)
1002	i <<= 4;
1003	eph._TOC.set(i * 1000);
1004	GETFLOATSIGN(eph._clock_driftrate, 8,
1005	1.0 / (double )(1 << 30) / (double )(1 << 25))
1006	GETFLOATSIGN(eph._clock_drift, 16,
1007	1.0 / (double )(1 << 30) / (double )(1 << 13))
1008	GETFLOATSIGN(eph._clock_bias, 22,
1009	1.0 / (double )(1 << 30) / (double )(1 << 1))
1010	GETBITS(eph._IODC, 10)
1011	GETFLOATSIGN(eph._Crs, 16, 1.0 / (double )(1 << 5))
1012	GETFLOATSIGN(eph._Delta_n, 16, R2R_PI/(double)(1<<30)/(double)(1<<13))
1013	GETFLOATSIGN(eph._M0, 32, R2R_PI/(double)(1<<30)/(double)(1<<1))
1014	GETFLOATSIGN(eph._Cuc, 16, 1.0 / (double )(1 << 29))
1015	GETFLOAT(eph._e, 32, 1.0 / (double )(1 << 30) / (double )(1 << 3))
1016	GETFLOATSIGN(eph._Cus, 16, 1.0 / (double )(1 << 29))
1017	GETFLOAT(eph._sqrt_A, 32, 1.0 / (double )(1 << 19))
1018	GETBITS(i, 16)
1019	i <<= 4;
1020	eph._TOEsec = i;
1021	bncTime t;
1022	t.set(i * 1000);
1023	eph._TOEweek = t.gpsw();
1024	int numOfRollOvers = int(floor(t.gpsw()/1024.0));
1025	week += (numOfRollOvers * 1024);
1026	/* week from HOW, differs from TOC, TOE week, we use adapted value instead */
1027	if (eph._TOEweek > week + 1 \|\| eph._TOEweek < week - 1) /* invalid week */
1028	return false;
1029	GETFLOATSIGN(eph._Cic, 16, 1.0 / (double )(1 << 29))
1030	GETFLOATSIGN(eph._OMEGA0, 32, R2R_PI/(double)(1<<30)/(double)(1<<1))
1031	GETFLOATSIGN(eph._Cis, 16, 1.0 / (double )(1 << 29))
1032	GETFLOATSIGN(eph._i0, 32, R2R_PI/(double)(1<<30)/(double)(1<<1))
1033	GETFLOATSIGN(eph._Crc, 16, 1.0 / (double )(1 << 5))
1034	GETFLOATSIGN(eph._omega, 32, R2R_PI/(double)(1<<30)/(double)(1<<1))
1035	GETFLOATSIGN(eph._OMEGADOT, 24, R2R_PI/(double)(1<<30)/(double)(1<<13))
1036	GETFLOATSIGN(eph._TGD, 8, 1.0 / (double )(1 << 30) / (double )(1 << 1))
1037	GETBITS(eph._health, 6)
1038	GETBITS(eph._L2PFlag, 1)
1039	GETBITS(eph._fitInterval, 1)
1040	eph._TOT = 0.9999e9;
1041
1042	emit newGPSEph(eph);
1043	decoded = true;
1044	}
1045	return decoded;
1046	}
1047
1048	//
1049	////////////////////////////////////////////////////////////////////////////
1050	bool RTCM3Decoder::DecodeGLONASSEphemeris(unsigned char* data, int size) {
1051	bool decoded = false;
1052
1053	if (size == 51) {
1054	t_ephGlo eph;
1055	int sv, i, tk;
1056	uint64_t numbits = 0, bitfield = 0;
1057
1058	data += 3; /* header */
1059	size -= 6; /* header + crc */
1060	SKIPBITS(12)
1061
1062	eph._receptDateTime = currentDateAndTimeGPS();
1063
1064	GETBITS(sv, 6)
1065	eph._prn.set('R', sv);
1066
1067	GETBITS(i, 5)
1068	eph._frequency_number = i - 7;
1069	GETBITS(eph._almanac_health, 1) /* almanac healthy */
1070	GETBITS(eph._almanac_health_availablility_indicator, 1) /* almanac health ok */
1071	GETBITS(eph._P1, 2) /* P1 */
1072	GETBITS(i, 5)
1073	tk = i * 60 * 60;
1074	GETBITS(i, 6)
1075	tk += i * 60;
1076	GETBITS(i, 1)
1077	tk += i * 30;
1078	eph._tki = tk < 3 * 60 * 60 ? tk - 3 * 60 * 60 + 86400 : tk - 3 * 60 * 60;
1079	GETBITS(eph._health, 1) /* MSB of Bn*/
1080	GETBITS(eph._P2, 1) /* P2 */
1081	GETBITS(i, 7)
1082	eph._TOC.setTk(i * 15 * 60 * 1000); /* tb */
1083
1084	GETFLOATSIGNM(eph._x_velocity, 24, 1.0 / (double )(1 << 20))
1085	GETFLOATSIGNM(eph._x_pos, 27, 1.0 / (double )(1 << 11))
1086	GETFLOATSIGNM(eph._x_acceleration, 5, 1.0 / (double )(1 << 30))
1087	GETFLOATSIGNM(eph._y_velocity, 24, 1.0 / (double )(1 << 20))
1088	GETFLOATSIGNM(eph._y_pos, 27, 1.0 / (double )(1 << 11))
1089	GETFLOATSIGNM(eph._y_acceleration, 5, 1.0 / (double )(1 << 30))
1090	GETFLOATSIGNM(eph._z_velocity, 24, 1.0 / (double )(1 << 20))
1091	GETFLOATSIGNM(eph._z_pos, 27, 1.0 / (double )(1 << 11))
1092	GETFLOATSIGNM(eph._z_acceleration, 5, 1.0 / (double )(1 << 30))
1093
1094	eph._xv(1) = eph._x_pos * 1.e3;
1095	eph._xv(2) = eph._y_pos * 1.e3;
1096	eph._xv(3) = eph._z_pos * 1.e3;
1097	eph._xv(4) = eph._x_velocity * 1.e3;
1098	eph._xv(5) = eph._y_velocity * 1.e3;
1099	eph._xv(6) = eph._z_velocity * 1.e3;
1100
1101	GETBITS(eph._P3, 1) /* P3 */
1102	GETFLOATSIGNM(eph._gamma, 11, 1.0 / (double )(1 << 30) / (double )(1 << 10))
1103	GETBITS(eph._M_P, 2) /* GLONASS-M P, */
1104	GETBITS(eph._M_l3, 1) /GLONASS-M ln (third string) /
1105	GETFLOATSIGNM(eph._tau, 22, 1.0 / (double )(1 << 30)) /* GLONASS tau n(tb) */
1106	GETFLOATSIGNM(eph._M_delta_tau, 5, 1.0 / (double )(1 << 30)) /* GLONASS-M delta tau n(tb) */
1107	GETBITS(eph._E, 5)
1108	GETBITS(eph._M_P4, 1) /* GLONASS-M P4 */
1109	GETBITS(eph._M_FT, 4) /* GLONASS-M Ft */
1110	GETBITS(eph._M_NT, 11) /* GLONASS-M Nt */
1111	GETBITS(eph._M_M, 2) /* GLONASS-M M */
1112	GETBITS(eph._additional_data_availability, 1) /* GLONASS-M The Availability of Additional Data */
1113	GETBITS(eph._NA, 11) /* GLONASS-M Na */
1114	GETFLOATSIGNM(eph._tauC, 32, 1.0/(double)(1<<30)/(double)(1<<1)) /* GLONASS tau c */
1115	GETBITS(eph._M_N4, 5) /* GLONASS-M N4 */
1116	GETFLOATSIGNM(eph._M_tau_GPS, 22, 1.0/(double)(1<<30)) /* GLONASS-M tau GPS */
1117	GETBITS(eph._M_l5, 1) /* GLONASS-M ln (fifth string) */
1118
1119	unsigned year, month, day;
1120	eph._TOC.civil_date(year, month, day);
1121	eph._gps_utc = gnumleap(year, month, day);
1122	eph._tt = eph._TOC;
1123
1124	GLOFreq[sv - 1] = 100 + eph._frequency_number ; /* store frequency for other users (MSM) */
1125	_gloFrq = QString("%1 %2").arg(eph._prn.toString().c_str()).arg(eph._frequency_number, 2, 'f', 0);
1126
1127	if (eph._xv.size() == 6) {
1128	emit newGlonassEph(eph);
1129	decoded = true;
1130	}
1131	}
1132	return decoded;
1133	}
1134
1135	//
1136	////////////////////////////////////////////////////////////////////////////
1137	bool RTCM3Decoder::DecodeQZSSEphemeris(unsigned char* data, int size) {
1138	bool decoded = false;
1139
1140	if (size == 67) {
1141	t_ephGPS eph;
1142	int i, week;
1143	uint64_t numbits = 0, bitfield = 0;
1144
1145	data += 3; /* header */
1146	size -= 6; /* header + crc */
1147	SKIPBITS(12)
1148
1149	eph._receptDateTime = currentDateAndTimeGPS();
1150
1151	GETBITS(i, 4)
1152	eph._prn.set('J', i);
1153
1154	GETBITS(i, 16)
1155	i <<= 4;
1156	eph._TOC.set(i * 1000);
1157
1158	GETFLOATSIGN(eph._clock_driftrate, 8,
1159	1.0 / (double )(1 << 30) / (double )(1 << 25))
1160	GETFLOATSIGN(eph._clock_drift, 16,
1161	1.0 / (double )(1 << 30) / (double )(1 << 13))
1162	GETFLOATSIGN(eph._clock_bias, 22,
1163	1.0 / (double )(1 << 30) / (double )(1 << 1))
1164	GETBITS(eph._IODE, 8)
1165	GETFLOATSIGN(eph._Crs, 16, 1.0 / (double )(1 << 5))
1166	GETFLOATSIGN(eph._Delta_n, 16, R2R_PI/(double)(1<<30)/(double)(1<<13))
1167	GETFLOATSIGN(eph._M0, 32, R2R_PI/(double)(1<<30)/(double)(1<<1))
1168	GETFLOATSIGN(eph._Cuc, 16, 1.0 / (double )(1 << 29))
1169	GETFLOAT(eph._e, 32, 1.0 / (double )(1 << 30) / (double )(1 << 3))
1170	GETFLOATSIGN(eph._Cus, 16, 1.0 / (double )(1 << 29))
1171	GETFLOAT(eph._sqrt_A, 32, 1.0 / (double )(1 << 19))
1172	GETBITS(i, 16)
1173	i <<= 4;
1174	eph._TOEsec = i;
1175	bncTime t;
1176	t.set(i*1000);
1177	eph._TOEweek = t.gpsw();
1178	GETFLOATSIGN(eph._Cic, 16, 1.0 / (double )(1 << 29))
1179	GETFLOATSIGN(eph._OMEGA0, 32, R2R_PI/(double)(1<<30)/(double)(1<<1))
1180	GETFLOATSIGN(eph._Cis, 16, 1.0 / (double )(1 << 29))
1181	GETFLOATSIGN(eph._i0, 32, R2R_PI/(double)(1<<30)/(double)(1<<1))
1182	GETFLOATSIGN(eph._Crc, 16, 1.0 / (double )(1 << 5))
1183	GETFLOATSIGN(eph._omega, 32, R2R_PI/(double)(1<<30)/(double)(1<<1))
1184	GETFLOATSIGN(eph._OMEGADOT, 24, R2R_PI/(double)(1<<30)/(double)(1<<13))
1185	GETFLOATSIGN(eph._IDOT, 14, R2R_PI/(double)(1<<30)/(double)(1<<13))
1186	GETBITS(eph._L2Codes, 2)
1187	GETBITS(week, 10)
1188	int numOfRollOvers = int(floor(t.gpsw()/1024.0));
1189	week += (numOfRollOvers * 1024);
1190	/* week from HOW, differs from TOC, TOE week, we use adapted value instead */
1191	if (eph._TOEweek > week + 1 \|\| eph._TOEweek < week - 1) /* invalid week */
1192	return false;
1193
1194	GETBITS(i, 4)
1195	if (i <= 6)
1196	eph._ura = ceil(10.0 * pow(2.0, 1.0 + i / 2.0)) / 10.0;
1197	else
1198	eph._ura = ceil(10.0 * pow(2.0, i / 2.0)) / 10.0;
1199	GETBITS(eph._health, 6)
1200	GETFLOATSIGN(eph._TGD, 8, 1.0 / (double )(1 << 30) / (double )(1 << 1))
1201	GETBITS(eph._IODC, 10)
1202	GETBITS(eph._fitInterval, 1)
1203	eph._TOT = 0.9999e9;
1204	eph._L2PFlag = 0; /* does not exist for QZSS */
1205
1206	emit newGPSEph(eph);
1207	decoded = true;
1208	}
1209	return decoded;
1210	}
1211
1212	//
1213	////////////////////////////////////////////////////////////////////////////
1214	bool RTCM3Decoder::DecodeSBASEphemeris(unsigned char* data, int size) {
1215	bool decoded = false;
1216
1217	if (size == 35) {
1218	t_ephSBAS eph;
1219	int i;
1220	uint64_t numbits = 0, bitfield = 0;
1221
1222	data += 3; /* header */
1223	size -= 6; /* header + crc */
1224	SKIPBITS(12)
1225
1226	eph._receptDateTime = currentDateAndTimeGPS();
1227
1228	GETBITS(i, 6)
1229	eph._prn.set('S', 20 + i);
1230	GETBITS(eph._IODN, 8)
1231	GETBITS(i, 13)
1232	i <<= 4;
1233	eph._TOC.setTOD(i * 1000);
1234	GETBITS(i, 4)
1235	eph._ura = accuracyFromIndex(i, eph.type());
1236	GETFLOATSIGN(eph._x_pos, 30, 0.08)
1237	GETFLOATSIGN(eph._y_pos, 30, 0.08)
1238	GETFLOATSIGN(eph._z_pos, 25, 0.4)
1239	GETFLOATSIGN(eph._x_velocity, 17, 0.000625)
1240	GETFLOATSIGN(eph._y_velocity, 17, 0.000625)
1241	GETFLOATSIGN(eph._z_velocity, 18, 0.004)
1242	GETFLOATSIGN(eph._x_acceleration, 10, 0.0000125)
1243	GETFLOATSIGN(eph._y_acceleration, 10, 0.0000125)
1244	GETFLOATSIGN(eph._z_acceleration, 10, 0.0000625)
1245	GETFLOATSIGN(eph._agf0, 12, 1.0 / (1 << 30) / (1 << 1))
1246	GETFLOATSIGN(eph._agf1, 8, 1.0 / (1 << 30) / (1 << 10))
1247
1248	eph._TOT = 0.9999E9;
1249	eph._health = 0;
1250
1251	emit newSBASEph(eph);
1252	decoded = true;
1253	}
1254	return decoded;
1255	}
1256
1257	//
1258	////////////////////////////////////////////////////////////////////////////
1259	bool RTCM3Decoder::DecodeGalileoEphemeris(unsigned char* data, int size) {
1260	bool decoded = false;
1261	uint64_t numbits = 0, bitfield = 0;
1262	int i;
1263
1264	data += 3; /* header */
1265	size -= 6; /* header + crc */
1266	GETBITS(i, 12)
1267
1268	if ((i == 1046 && size == 61) \|\| (i == 1045 && size == 60)) {
1269	t_ephGal eph;
1270
1271	eph._receptDateTime = currentDateAndTimeGPS();
1272
1273	eph._inav = (i == 1046);
1274	eph._fnav = (i == 1045);
1275	GETBITS(i, 6)
1276	eph._prn.set('E', i, eph._inav ? 1 : 0);
1277
1278	GETBITS(eph._TOEweek, 12)
1279	GETBITS(eph._IODnav, 10)
1280	GETBITS(i, 8)
1281	eph._SISA = accuracyFromIndex(i, eph.type());
1282	GETFLOATSIGN(eph._IDOT, 14, R2R_PI/(double)(1<<30)/(double)(1<<13))
1283	GETBITSFACTOR(i, 14, 60)
1284	eph._TOC.set(1024 + eph._TOEweek, i);
1285	GETFLOATSIGN(eph._clock_driftrate, 6,
1286	1.0 / (double )(1 << 30) / (double )(1 << 29))
1287	GETFLOATSIGN(eph._clock_drift, 21,
1288	1.0 / (double )(1 << 30) / (double )(1 << 16))
1289	GETFLOATSIGN(eph._clock_bias, 31,
1290	1.0 / (double )(1 << 30) / (double )(1 << 4))
1291	GETFLOATSIGN(eph._Crs, 16, 1.0 / (double )(1 << 5))
1292	GETFLOATSIGN(eph._Delta_n, 16, R2R_PI/(double)(1<<30)/(double)(1<<13))
1293	GETFLOATSIGN(eph._M0, 32, R2R_PI/(double)(1<<30)/(double)(1<<1))
1294	GETFLOATSIGN(eph._Cuc, 16, 1.0 / (double )(1 << 29))
1295	GETFLOAT(eph._e, 32, 1.0 / (double )(1 << 30) / (double )(1 << 3))
1296	GETFLOATSIGN(eph._Cus, 16, 1.0 / (double )(1 << 29))
1297	GETFLOAT(eph._sqrt_A, 32, 1.0 / (double )(1 << 19))
1298	GETBITSFACTOR(eph._TOEsec, 14, 60)
1299	/* FIXME: overwrite value, copied from old code */
1300	eph._TOEsec = eph._TOC.gpssec();
1301	GETFLOATSIGN(eph._Cic, 16, 1.0 / (double )(1 << 29))
1302	GETFLOATSIGN(eph._OMEGA0, 32, R2R_PI/(double)(1<<30)/(double)(1<<1))
1303	GETFLOATSIGN(eph._Cis, 16, 1.0 / (double )(1 << 29))
1304	GETFLOATSIGN(eph._i0, 32, R2R_PI/(double)(1<<30)/(double)(1<<1))
1305	GETFLOATSIGN(eph._Crc, 16, 1.0 / (double )(1 << 5))
1306	GETFLOATSIGN(eph._omega, 32, R2R_PI/(double)(1<<30)/(double)(1<<1))
1307	GETFLOATSIGN(eph._OMEGADOT, 24, R2R_PI/(double)(1<<30)/(double)(1<<13))
1308	GETFLOATSIGN(eph._BGD_1_5A, 10,
1309	1.0 / (double )(1 << 30) / (double )(1 << 2))
1310	if (eph._inav) {
1311	/* set unused F/NAV values */
1312	eph._E5aHS = 0.0;
1313	eph._e5aDataInValid = false;
1314
1315	GETFLOATSIGN(eph._BGD_1_5B, 10,
1316	1.0 / (double )(1 << 30) / (double )(1 << 2))
1317	GETBITS(eph._E5bHS, 2)
1318	GETBITS(eph._e5bDataInValid, 1)
1319	GETBITS(eph._E1_bHS, 2)
1320	GETBITS(eph._e1DataInValid, 1)
1321	}
1322	else {
1323	/* set unused I/NAV values */
1324	eph._BGD_1_5B = 0.0;
1325	eph._E5bHS = 0.0;
1326	eph._E1_bHS = 0.0;
1327	eph._e1DataInValid = false;
1328	eph._e5bDataInValid = false;
1329
1330	GETBITS(eph._E5aHS, 2)
1331	GETBITS(eph._e5aDataInValid, 1)
1332	}
1333	eph._TOT = 0.9999e9;
1334
1335	emit newGalileoEph(eph);
1336	decoded = true;
1337	}
1338	return decoded;
1339	}
1340
1341	//
1342	////////////////////////////////////////////////////////////////////////////
1343	bool RTCM3Decoder::DecodeBDSEphemeris(unsigned char* data, int size) {
1344	bool decoded = false;
1345
1346	if (size == 70) {
1347	t_ephBDS eph;
1348	int i;
1349	uint64_t numbits = 0, bitfield = 0;
1350
1351	data += 3; /* header */
1352	size -= 6; /* header + crc */
1353	SKIPBITS(12)
1354
1355	eph._receptDateTime = currentDateAndTimeGPS();
1356
1357	GETBITS(i, 6)
1358	eph._prn.set('C', i);
1359
1360	SKIPBITS(13)
1361	/* week */
1362	GETBITS(i, 4)
1363	eph._URA = accuracyFromIndex(i, eph.type());
1364	GETFLOATSIGN(eph._IDOT, 14, R2R_PI/(double)(1<<30)/(double)(1<<13))
1365	GETBITS(eph._AODE, 5)
1366	GETBITS(i, 17)
1367	i <<= 3;
1368	eph._TOC.setBDS(i * 1000);
1369	GETFLOATSIGN(eph._clock_driftrate, 11,
1370	1.0 / (double )(1 << 30) / (double )(1 << 30) / (double )(1 << 6))
1371	GETFLOATSIGN(eph._clock_drift, 22,
1372	1.0 / (double )(1 << 30) / (double )(1 << 20))
1373	GETFLOATSIGN(eph._clock_bias, 24,
1374	1.0 / (double )(1 << 30) / (double )(1 << 3))
1375	GETBITS(eph._AODC, 5)
1376	GETFLOATSIGN(eph._Crs, 18, 1.0 / (double )(1 << 6))
1377	GETFLOATSIGN(eph._Delta_n, 16, R2R_PI/(double)(1<<30)/(double)(1<<13))
1378	GETFLOATSIGN(eph._M0, 32, R2R_PI/(double)(1<<30)/(double)(1<<1))
1379	GETFLOATSIGN(eph._Cuc, 18, 1.0 / (double )(1 << 30) / (double )(1 << 1))
1380	GETFLOAT(eph._e, 32, 1.0 / (double )(1 << 30) / (double )(1 << 3))
1381	GETFLOATSIGN(eph._Cus, 18, 1.0 / (double )(1 << 30) / (double )(1 << 1))
1382	GETFLOAT(eph._sqrt_A, 32, 1.0 / (double )(1 << 19))
1383	GETBITS(i, 17)
1384	i <<= 3;
1385	eph._TOEsec = i;
1386	eph._TOE.setBDS(i * 1000);
1387	GETFLOATSIGN(eph._Cic, 18, 1.0 / (double )(1 << 30) / (double )(1 << 1))
1388	GETFLOATSIGN(eph._OMEGA0, 32, R2R_PI/(double)(1<<30)/(double)(1<<1))
1389	GETFLOATSIGN(eph._Cis, 18, 1.0 / (double )(1 << 30) / (double )(1 << 1))
1390	GETFLOATSIGN(eph._i0, 32, R2R_PI/(double)(1<<30)/(double)(1<<1))
1391	GETFLOATSIGN(eph._Crc, 18, 1.0 / (double )(1 << 6))
1392	GETFLOATSIGN(eph._omega, 32, R2R_PI/(double)(1<<30)/(double)(1<<1))
1393	GETFLOATSIGN(eph._OMEGADOT, 24, R2R_PI/(double)(1<<30)/(double)(1<<13))
1394	GETFLOATSIGN(eph._TGD1, 10, 0.0000000001)
1395	GETFLOATSIGN(eph._TGD2, 10, 0.0000000001)
1396	GETBITS(eph._SatH1, 1)
1397
1398	eph._TOT = 0.9999E9;
1399	emit newBDSEph(eph);
1400	decoded = true;
1401	}
1402	return decoded;
1403	}
1404
1405	//
1406	////////////////////////////////////////////////////////////////////////////
1407	bool RTCM3Decoder::DecodeAntennaReceiver(unsigned char* data, int size) {
1408	char *antenna, anttype[256];
1409	char *dummy;
1410	char *receiver, rectype[256];
1411
1412	int type;
1413
1414	int dnum = -1;
1415	int antnum = -1;
1416	int recnum = -1;
1417	uint64_t numbits = 0, bitfield = 0;
1418
1419	data += 3; /* header*/
1420	size -= 6; /* header + crc */
1421
1422	GETBITS(type, 12)
1423	SKIPBITS(12)
1424	GETSTRING(antnum, antenna)
1425	if (antnum > -1 && antnum < 265) {
1426	memcpy(anttype, antenna, antnum);
1427	anttype[antnum] = 0;
1428	if (!_antType.contains(anttype)) {
1429	_antType.push_back(anttype);
1430	}
1431	}
1432	if (type == 1033) {
1433	SKIPBITS(8)
1434	GETSTRING(dnum, dummy)
1435	GETSTRING(recnum, receiver)
1436	if (recnum > -1 && recnum < 265) {
1437	memcpy(rectype, receiver, recnum);
1438	rectype[recnum] = 0;
1439	if (!_recType.contains(rectype)) {
1440	_recType.push_back(rectype);
1441	}
1442	}
1443	}
1444	return true;
1445	}
1446
1447	//
1448	////////////////////////////////////////////////////////////////////////////
1449	bool RTCM3Decoder::DecodeAntennaPosition(unsigned char* data, int size) {
1450	int type;
1451	uint64_t numbits = 0, bitfield = 0;
1452	double x, y, z;
1453
1454	data += 3; /* header */
1455	size -= 6; /* header + crc */
1456
1457	GETBITS(type, 12)
1458	_antList.push_back(t_antInfo());
1459	_antList.back().type = t_antInfo::ARP;
1460	SKIPBITS(22)
1461	GETBITSSIGN(x, 38)
1462	_antList.back().xx = x * 1e-4;
1463	SKIPBITS(2)
1464	GETBITSSIGN(y, 38)
1465	_antList.back().yy = y * 1e-4;
1466	SKIPBITS(2)
1467	GETBITSSIGN(z, 38)
1468	_antList.back().zz = z * 1e-4;
1469	if (type == 1006)
1470	{
1471	double h;
1472	GETBITS(h, 16)
1473	_antList.back().height = h * 1e-4;
1474	_antList.back().height_f = true;
1475	}
1476	_antList.back().message = type;
1477
1478	return true;
1479	}
1480
1481	//
1482	////////////////////////////////////////////////////////////////////////////
1483	t_irc RTCM3Decoder::Decode(char* buffer, int bufLen, vector<string>& errmsg) {
1484	bool decoded = false;
1485
1486	errmsg.clear();
1487
1488	while (bufLen && _MessageSize < sizeof(_Message)) {
1489	int l = sizeof(_Message) - _MessageSize;
1490	if (l > bufLen)
1491	l = bufLen;
1492	memcpy(_Message + _MessageSize, buffer, l);
1493	_MessageSize += l;
1494	bufLen -= l;
1495	buffer += l;
1496	int id;
1497	while ((id = GetMessage())) {
1498	/* reset station ID for file loading as it can change */
1499	if (_rawFile)
1500	_staID = _rawFile->staID();
1501	/* store the id into the list of loaded blocks */
1502	_typeList.push_back(id);
1503
1504	/* SSR I+II data handled in another function, already pass the
1505	* extracted data block. That does no harm, as it anyway skip everything
1506	* else. */
1507	if ((id >= 1057 && id <= 1068) \|\| (id >= 1240 && id <= 1270)) {
1508	if (!_coDecoders.contains(_staID.toAscii()))
1509	_coDecoders[_staID.toAscii()] = new RTCM3coDecoder(_staID);
1510	RTCM3coDecoder* coDecoder = _coDecoders[_staID.toAscii()];
1511	if (coDecoder->Decode(reinterpret_cast<char *>(_Message), _BlockSize,
1512	errmsg) == success) {
1513	decoded = true;
1514	}
1515	}
1516	else if (id >= 1070 && id <= 1229) /* MSM */ {
1517	if (DecodeRTCM3MSM(_Message, _BlockSize))
1518	decoded = true;
1519	}
1520	else {
1521	switch (id) {
1522	case 1001:
1523	case 1003:
1524	emit(newMessage(
1525	QString("%1: Block %2 contain partial data! Ignored!")
1526	.arg(_staID).arg(id).toAscii(), true));
1527	break; /* no use decoding partial data ATM, remove break when data can be used */
1528	case 1002:
1529	case 1004:
1530	if (DecodeRTCM3GPS(_Message, _BlockSize))
1531	decoded = true;
1532	break;
1533	case 1009:
1534	case 1011:
1535	emit(newMessage(
1536	QString("%1: Block %2 contain partial data! Ignored!")
1537	.arg(_staID).arg(id).toAscii(), true));
1538	break; /* no use decoding partial data ATM, remove break when data can be used */
1539	case 1010:
1540	case 1012:
1541	if (DecodeRTCM3GLONASS(_Message, _BlockSize))
1542	decoded = true;
1543	break;
1544	case 1019:
1545	if (DecodeGPSEphemeris(_Message, _BlockSize))
1546	decoded = true;
1547	break;
1548	case 1020:
1549	if (DecodeGLONASSEphemeris(_Message, _BlockSize))
1550	decoded = true;
1551	break;
1552	case 1043:
1553	if (DecodeSBASEphemeris(_Message, _BlockSize))
1554	decoded = true;
1555	break;
1556	case 1044:
1557	if (DecodeQZSSEphemeris(_Message, _BlockSize))
1558	decoded = true;
1559	break;
1560	case 1045:
1561	case 1046:
1562	if (DecodeGalileoEphemeris(_Message, _BlockSize))
1563	decoded = true;
1564	break;
1565	case RTCM3ID_BDS:
1566	if (DecodeBDSEphemeris(_Message, _BlockSize))
1567	decoded = true;
1568	break;
1569	case 1007:
1570	case 1008:
1571	case 1033:
1572	DecodeAntennaReceiver(_Message, _BlockSize);
1573	break;
1574	case 1005:
1575	case 1006:
1576	DecodeAntennaPosition(_Message, _BlockSize);
1577	break;
1578	}
1579	}
1580	}
1581	}
1582	return decoded ? success : failure;
1583	}
1584	;
1585
1586	//
1587	////////////////////////////////////////////////////////////////////////////
1588	uint32_t RTCM3Decoder::CRC24(long size, const unsigned char *buf) {
1589	uint32_t crc = 0;
1590	int i;
1591
1592	while (size--) {
1593	crc ^= (*buf++) << (16);
1594	for (i = 0; i < 8; i++)
1595	{
1596	crc <<= 1;
1597	if (crc & 0x1000000)
1598	crc ^= 0x01864cfb;
1599	}
1600	}
1601	return crc;
1602	}
1603
1604	//
1605	////////////////////////////////////////////////////////////////////////////
1606	int RTCM3Decoder::GetMessage(void) {
1607	unsigned char m, e;
1608	int i;
1609
1610	m = _Message + _SkipBytes;
1611	e = _Message + _MessageSize;
1612	_NeedBytes = _SkipBytes = 0;
1613	while (e - m >= 3) {
1614	if (m[0] == 0xD3) {
1615	_BlockSize = ((m[1] & 3) << 8) \| m[2];
1616	if (e - m >= static_cast<int>(_BlockSize + 6)) {
1617	if (static_cast<uint32_t>((m[3 + _BlockSize] << 16)
1618	\| (m[3 + _BlockSize + 1] << 8)
1619	\| (m[3 + _BlockSize + 2])) == CRC24(_BlockSize + 3, m)) {
1620	_BlockSize += 6;
1621	_SkipBytes = _BlockSize;
1622	break;
1623	}
1624	else
1625	++m;
1626	}
1627	else {
1628	_NeedBytes = _BlockSize;
1629	break;
1630	}
1631	}
1632	else
1633	++m;
1634	}
1635	if (e - m < 3)
1636	_NeedBytes = 3;
1637
1638	/* copy buffer to front */
1639	i = m - _Message;
1640	if (i && m < e)
1641	memmove(_Message, m, static_cast<size_t>(_MessageSize - i));
1642	_MessageSize -= i;
1643
1644	return !_NeedBytes ? ((_Message[3] << 4) \| (_Message[4] >> 4)) : 0;
1645	}
1646
1647	// Time of Corrections
1648	//////////////////////////////////////////////////////////////////////////////
1649	int RTCM3Decoder::corrGPSEpochTime() const {
1650	return
1651	_coDecoders.size() > 0 ?
1652	_coDecoders.begin().value()->corrGPSEpochTime() : -1;
1653	}

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