source: ntrip/branches/BNC_2.12/src/RTCM3/RTCM3Decoder.cpp@ 8819

Last change on this file since 8819 was 8819, checked in by stuerze, 3 years ago

update with respect to BDS signal mapping IDs as far as consistent with RINEX v3.04

File size: 55.9 KB
Line 
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
56using namespace std;
57
58// Error Handling
59////////////////////////////////////////////////////////////////////////////
60void RTCM3Error(const char*, ...) {
61}
62
63// Constructor
64////////////////////////////////////////////////////////////////////////////
65RTCM3Decoder::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////////////////////////////////////////////////////////////////////////////
87RTCM3Decoder::~RTCM3Decoder() {
88 QMapIterator<QByteArray, RTCM3coDecoder*> it(_coDecoders);
89 while (it.hasNext())
90 {
91 it.next();
92 delete it.value();
93 }
94}
95
96//
97////////////////////////////////////////////////////////////////////////////
98bool 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 */
229static int GLOFreq[RTCM3_MSM_NUMSAT];
230
231/*
232 * Storage structure to store frequency and RINEX ID assignment for MSM
233 * message */
234struct CodeData {
235 double wl;
236 const char *code; /* currently unused */
237};
238
239/** MSM signal types for GPS and SBAS */
240static 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},
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},
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 */
280static 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 {GLO_WAVELENGTH_L1a, "4A"},
291 {GLO_WAVELENGTH_L1a, "4B"},
292 {GLO_WAVELENGTH_L1a, "4X"},
293 {GLO_WAVELENGTH_L2a, "6A"},
294 {GLO_WAVELENGTH_L2a, "6B"},
295 {GLO_WAVELENGTH_L2a, "6X"},
296 {GLO_WAVELENGTH_L3, "3I"},
297 {GLO_WAVELENGTH_L3, "3Q"},
298 {GLO_WAVELENGTH_L3, "3X"},
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 */
316static 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 */
352static 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 */
388static 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 {BDS_WAVELENGTH_B2a, "5D"},
411 {BDS_WAVELENGTH_B2a, "5P"},
412 {BDS_WAVELENGTH_B2a, "5X"},
413 {0.0, 0},
414 {0.0, 0},
415 {0.0, 0},
416 {0.0, 0},
417 {0.0, 0},
418 {BDS_WAVELENGTH_B1C, "1D"},
419 {BDS_WAVELENGTH_B1C, "1P"},
420 {BDS_WAVELENGTH_B1C, "1X"}
421 };
422
423/**
424 * MSM signal types for IRNSS
425 *
426 * NOTE: Uses 0.0, 1.0 for wavelength as sat index dependence is done later!
427 */
428static struct CodeData irn[RTCM3_MSM_NUMSIG] = {
429 {0.0, 0},
430 {0.0, 0},
431 {0.0, 0},
432 {0.0, 0},
433 {0.0, 0},
434 {0.0, 0},
435 {0.0, 0},
436 {IRNSS_WAVELENGTH_S, "9A"},
437 {0.0, 0},
438 {0.0, 0},
439 {0.0, 0},
440 {0.0, 0},
441 {0.0, 0},
442 {0.0, 0},
443 {0.0, 0},
444 {0.0, 0},
445 {0.0, 0},
446 {0.0, 0},
447 {0.0, 0},
448 {0.0, 0},
449 {0.0, 0},
450 {IRNSS_WAVELENGTH_L5, "5A"},
451 {0.0, 0},
452 {0.0, 0},
453 {0.0, 0},
454 {0.0, 0},
455 {0.0, 0},
456 {0.0, 0},
457 {0.0, 0},
458 {0.0, 0},
459 {0.0, 0},
460 {0.0, 0}
461 };
462
463#define UINT64(c) c ## ULL
464
465//
466////////////////////////////////////////////////////////////////////////////
467bool RTCM3Decoder::DecodeRTCM3MSM(unsigned char* data, int size) {
468 bool decoded = false;
469 int type, syncf, i;
470 uint64_t numbits = 0, bitfield = 0;
471
472 data += 3; /* header */
473 size -= 6; /* header + crc */
474
475 GETBITS(type, 12)
476 SKIPBITS(12)
477 /* id */
478 char sys;
479 if (type >= 1121)
480 sys = 'C';
481 else if (type >= 1111)
482 sys = 'J';
483 else if (type >= 1101)
484 sys = 'S';
485 else if (type >= 1091)
486 sys = 'E';
487 else if (type >= 1081)
488 sys = 'R';
489 else if (type >= 1071)
490 sys = 'G';
491 else if (type >= 21) // test
492 sys = 'I';
493
494 bncTime CurrentObsTime;
495 if (sys == 'C') /* BDS */ {
496 GETBITS(i, 30)
497 CurrentObsTime.setBDS(i);
498 }
499 else if (sys == 'R') /* GLONASS */ {
500 SKIPBITS(3)
501 GETBITS(i, 27)
502 /* tk */
503 CurrentObsTime.setTk(i);
504 }
505 else /* GPS style date */ {
506 GETBITS(i, 30)
507 CurrentObsTime.set(i);
508 }
509 if (_CurrentTime.valid() && CurrentObsTime != _CurrentTime) {
510 decoded = true;
511 _obsList.append(_CurrentObsList);
512 _CurrentObsList.clear();
513 }
514 _CurrentTime = CurrentObsTime;
515
516 GETBITS(syncf, 1)
517 /**
518 * Ignore unknown types except for sync flag
519 *
520 * We actually support types 1-3 in following code, but as they are missing
521 * the full cycles and can't be used later we skip interpretation here already.
522 */
523 if (type <= 1130 && (type % 10) >= 4 && (type % 10) <= 7) {
524 int sigmask, numsat = 0, numsig = 0;
525 uint64_t satmask, cellmask, ui;
526 // satellite data
527 double rrmod[RTCM3_MSM_NUMSAT]; // GNSS sat rough ranges modulo 1 millisecond
528 int rrint[RTCM3_MSM_NUMSAT]; // number of integer msecs in GNSS sat rough ranges
529 int rdop[RTCM3_MSM_NUMSAT]; // GNSS sat rough phase range rates
530 int extsat[RTCM3_MSM_NUMSAT];// extended sat info
531 // signal data
532 int ll[RTCM3_MSM_NUMCELLS]; // lock time indicator
533 /*int hc[RTCM3_MSM_NUMCELLS];*/ // half cycle ambiguity indicator
534 double cnr[RTCM3_MSM_NUMCELLS]; // signal cnr
535 double cp[RTCM3_MSM_NUMCELLS]; // fine phase range data
536 double psr[RTCM3_MSM_NUMCELLS]; // fine psr
537 double dop[RTCM3_MSM_NUMCELLS]; // fine phase range rates
538
539 SKIPBITS(3 + 7 + 2 + 2 + 1 + 3)
540 GETBITS64(satmask, RTCM3_MSM_NUMSAT)
541
542 /* http://gurmeetsingh.wordpress.com/2008/08/05/fast-bit-counting-routines/ */
543 for (ui = satmask; ui; ui &= (ui - 1) /* remove rightmost bit */)
544 ++numsat;
545 GETBITS(sigmask, RTCM3_MSM_NUMSIG)
546 for (i = sigmask; i; i &= (i - 1) /* remove rightmost bit */)
547 ++numsig;
548 for (i = 0; i < RTCM3_MSM_NUMSAT; ++i)
549 extsat[i] = 15;
550
551 i = numsat * numsig;
552 GETBITS64(cellmask, (unsigned )i)
553 // satellite data
554 switch (type % 10) {
555 case 1:
556 case 2:
557 case 3:
558 /* partial data, already skipped above, but implemented for future expansion ! */
559 for (int j = numsat; j--;)
560 GETFLOAT(rrmod[j], 10, 1.0 / 1024.0)
561 break;
562 case 4:
563 case 6:
564 for (int j = numsat; j--;)
565 GETBITS(rrint[j], 8)
566 for (int j = numsat; j--;)
567 GETFLOAT(rrmod[j], 10, 1.0 / 1024.0)
568 break;
569 case 5:
570 case 7:
571 for (int j = numsat; j--;)
572 GETBITS(rrint[j], 8)
573 for (int j = numsat; j--;)
574 GETBITS(extsat[j], 4)
575 for (int j = numsat; j--;)
576 GETFLOAT(rrmod[j], 10, 1.0 / 1024.0)
577 for (int j = numsat; j--;)
578 GETBITSSIGN(rdop[j], 14)
579 break;
580 }
581 // signal data
582 int numcells = numsat * numsig;
583 /** Drop anything which exceeds our cell limit. Increase limit definition
584 * when that happens. */
585 if (numcells <= RTCM3_MSM_NUMCELLS) {
586 switch (type % 10) {
587 case 1:
588 for (int count = numcells; count--;)
589 if (cellmask & (UINT64(1) << count))
590 GETFLOATSIGN(psr[count], 15, 1.0 / (1 << 24))
591 break;
592 case 2:
593 for (int count = numcells; count--;)
594 if (cellmask & (UINT64(1) << count))
595 GETFLOATSIGN(cp[count], 22, 1.0 / (1 << 29))
596 for (int count = numcells; count--;)
597 if (cellmask & (UINT64(1) << count))
598 GETBITS(ll[count], 4)
599 for (int count = numcells; count--;)
600 if (cellmask & (UINT64(1) << count))
601 SKIPBITS(1)/*GETBITS(hc[count], 1)*/
602 break;
603 case 3:
604 for (int count = numcells; count--;)
605 if (cellmask & (UINT64(1) << count))
606 GETFLOATSIGN(psr[count], 15, 1.0 / (1 << 24))
607 for (int count = numcells; count--;)
608 if (cellmask & (UINT64(1) << count))
609 GETFLOATSIGN(cp[count], 22, 1.0 / (1 << 29))
610 for (int count = numcells; count--;)
611 if (cellmask & (UINT64(1) << count))
612 GETBITS(ll[count], 4)
613 for (int count = numcells; count--;)
614 if (cellmask & (UINT64(1) << count))
615 SKIPBITS(1)/*GETBITS(hc[count], 1)*/
616 break;
617 case 4:
618 for (int count = numcells; count--;)
619 if (cellmask & (UINT64(1) << count))
620 GETFLOATSIGN(psr[count], 15, 1.0 / (1 << 24))
621 for (int count = numcells; count--;)
622 if (cellmask & (UINT64(1) << count))
623 GETFLOATSIGN(cp[count], 22, 1.0 / (1 << 29))
624 for (int count = numcells; count--;)
625 if (cellmask & (UINT64(1) << count))
626 GETBITS(ll[count], 4)
627 for (int count = numcells; count--;)
628 if (cellmask & (UINT64(1) << count))
629 SKIPBITS(1)/*GETBITS(hc[count], 1)*/
630 for (int count = numcells; count--;)
631 if (cellmask & (UINT64(1) << count))
632 GETBITS(cnr[count], 6)
633 break;
634 case 5:
635 for (int count = numcells; count--;)
636 if (cellmask & (UINT64(1) << count))
637 GETFLOATSIGN(psr[count], 15, 1.0 / (1 << 24))
638 for (int count = numcells; count--;)
639 if (cellmask & (UINT64(1) << count))
640 GETFLOATSIGN(cp[count], 22, 1.0 / (1 << 29))
641 for (int count = numcells; count--;)
642 if (cellmask & (UINT64(1) << count))
643 GETBITS(ll[count], 4)
644 for (int count = numcells; count--;)
645 if (cellmask & (UINT64(1) << count))
646 SKIPBITS(1)/*GETBITS(hc[count], 1)*/
647 for (int count = numcells; count--;)
648 if (cellmask & (UINT64(1) << count))
649 GETFLOAT(cnr[count], 6, 1.0)
650 for (int count = numcells; count--;)
651 if (cellmask & (UINT64(1) << count))
652 GETFLOATSIGN(dop[count], 15, 0.0001)
653 break;
654 case 6:
655 for (int count = numcells; count--;)
656 if (cellmask & (UINT64(1) << count))
657 GETFLOATSIGN(psr[count], 20, 1.0 / (1 << 29))
658 for (int count = numcells; count--;)
659 if (cellmask & (UINT64(1) << count))
660 GETFLOATSIGN(cp[count], 24, 1.0 / (1U << 31))
661 for (int count = numcells; count--;)
662 if (cellmask & (UINT64(1) << count))
663 GETBITS(ll[count], 10)
664 for (int count = numcells; count--;)
665 if (cellmask & (UINT64(1) << count))
666 SKIPBITS(1)/*GETBITS(hc[count], 1)*/
667 for (int count = numcells; count--;)
668 if (cellmask & (UINT64(1) << count))
669 GETFLOAT(cnr[count], 10, 1.0 / (1 << 4))
670 break;
671 case 7:
672 for (int count = numcells; count--;)
673 if (cellmask & (UINT64(1) << count))
674 GETFLOATSIGN(psr[count], 20, 1.0 / (1 << 29))
675 for (int count = numcells; count--;)
676 if (cellmask & (UINT64(1) << count))
677 GETFLOATSIGN(cp[count], 24, 1.0 / (1U << 31))
678 for (int count = numcells; count--;)
679 if (cellmask & (UINT64(1) << count))
680 GETBITS(ll[count], 10)
681 for (int count = numcells; count--;)
682 if (cellmask & (UINT64(1) << count))
683 SKIPBITS(1)/*GETBITS(hc[count], 1)*/
684 for (int count = numcells; count--;)
685 if (cellmask & (UINT64(1) << count))
686 GETFLOAT(cnr[count], 10, 1.0 / (1 << 4))
687 for (int count = numcells; count--;)
688 if (cellmask & (UINT64(1) << count))
689 GETFLOATSIGN(dop[count], 15, 0.0001)
690 break;
691 }
692 i = RTCM3_MSM_NUMSAT;
693 int j = -1;
694 t_satObs CurrentObs;
695 for (int count = numcells; count--;) {
696 while (j >= 0 && !(sigmask & (1 << --j)))
697 ;
698 if (j < 0) {
699 while (!(satmask & (UINT64(1) << (--i))))
700 /* next satellite */
701 ;
702 if (CurrentObs._obs.size() > 0)
703 _CurrentObsList.push_back(CurrentObs);
704 CurrentObs.clear();
705 CurrentObs._time = CurrentObsTime;
706 if (sys == 'S')
707 CurrentObs._prn.set(sys, 20 - 1 + RTCM3_MSM_NUMSAT - i);
708 else
709 CurrentObs._prn.set(sys, RTCM3_MSM_NUMSAT - i);
710 j = RTCM3_MSM_NUMSIG;
711 while (!(sigmask & (1 << --j)))
712 ;
713 --numsat;
714 }
715 if (cellmask & (UINT64(1) << count)) {
716 struct CodeData cd = {0.0, 0};
717 switch (sys) {
718 case 'J':
719 cd = qzss[RTCM3_MSM_NUMSIG - j - 1];
720 break;
721 case 'C':
722 cd = bds[RTCM3_MSM_NUMSIG - j - 1];
723 break;
724 case 'G':
725 case 'S':
726 cd = gps[RTCM3_MSM_NUMSIG - j - 1];
727 break;
728 case 'R':
729 cd = glo[RTCM3_MSM_NUMSIG - j - 1];
730 {
731 int k = GLOFreq[RTCM3_MSM_NUMSAT - i - 1];
732 if (extsat[numsat] < 14) { // channel number is available as extended info for MSM5/7
733 k = GLOFreq[RTCM3_MSM_NUMSAT - i - 1] = 100 + extsat[numsat] - 7;
734 }
735 if (k) {
736 if (cd.wl == 0.0) {
737 cd.wl = GLO_WAVELENGTH_L1(k - 100);
738 }
739 else if (cd.wl == 1.0) {
740 cd.wl = GLO_WAVELENGTH_L2(k - 100);
741 }
742 }
743 else if (!k && cd.wl <= 1) {
744 cd.code = 0;
745 }
746 }
747 break;
748 case 'E':
749 cd = gal[RTCM3_MSM_NUMSIG - j - 1];
750 break;
751 case 'I':
752 cd = irn[RTCM3_MSM_NUMSIG - j - 1];
753 break;
754 }
755 if (cd.code) {
756 t_frqObs *frqObs = new t_frqObs;
757 frqObs->_rnxType2ch.assign(cd.code);
758
759 switch (type % 10) {
760 case 1:
761 if (psr[count] > -1.0 / (1 << 10)) {
762 frqObs->_code = psr[count] * LIGHTSPEED / 1000.0
763 + (rrmod[numsat]) * LIGHTSPEED / 1000.0;
764 frqObs->_codeValid = true;
765 }
766 break;
767 case 2:
768 if (cp[count] > -1.0 / (1 << 8)) {
769 frqObs->_phase = cp[count] * LIGHTSPEED / 1000.0 / cd.wl
770 + (rrmod[numsat]) * LIGHTSPEED / 1000.0 / cd.wl;
771 frqObs->_phaseValid = true;
772 frqObs->_lockTime = lti2sec(type,ll[count]);
773 frqObs->_lockTimeValid = (frqObs->_lockTime >= 0.0);
774 frqObs->_slipCounter = ll[count];
775 }
776 break;
777 case 3:
778 if (psr[count] > -1.0 / (1 << 10)) {
779 frqObs->_code = psr[count] * LIGHTSPEED / 1000.0
780 + (rrmod[numsat]) * LIGHTSPEED / 1000.0;
781 frqObs->_codeValid = true;
782 }
783
784 if (cp[count] > -1.0 / (1 << 8)) {
785 frqObs->_phase = cp[count] * LIGHTSPEED / 1000.0 / cd.wl
786 + rrmod[numsat] * LIGHTSPEED / 1000.0 / cd.wl;
787 frqObs->_phaseValid = true;
788 frqObs->_lockTime = lti2sec(type,ll[count]);
789 frqObs->_lockTimeValid = (frqObs->_lockTime >= 0.0);
790 frqObs->_slipCounter = ll[count];
791 }
792 break;
793 case 4:
794 if (psr[count] > -1.0 / (1 << 10)) {
795 frqObs->_code = psr[count] * LIGHTSPEED / 1000.0
796 + (rrmod[numsat] + rrint[numsat]) * LIGHTSPEED / 1000.0;
797 frqObs->_codeValid = true;
798 }
799
800 if (cp[count] > -1.0 / (1 << 8)) {
801 frqObs->_phase = cp[count] * LIGHTSPEED / 1000.0 / cd.wl
802 + (rrmod[numsat] + rrint[numsat]) * LIGHTSPEED / 1000.0 / cd.wl;
803 frqObs->_phaseValid = true;
804 frqObs->_lockTime = lti2sec(type,ll[count]);
805 frqObs->_lockTimeValid = (frqObs->_lockTime >= 0.0);
806 frqObs->_slipCounter = ll[count];
807 }
808
809 frqObs->_snr = cnr[count];
810 frqObs->_snrValid = true;
811 break;
812 case 5:
813 if (psr[count] > -1.0 / (1 << 10)) {
814 frqObs->_code = psr[count] * LIGHTSPEED / 1000.0
815 + (rrmod[numsat] + rrint[numsat]) * LIGHTSPEED / 1000.0;
816 frqObs->_codeValid = true;
817 }
818
819 if (cp[count] > -1.0 / (1 << 8)) {
820 frqObs->_phase = cp[count] * LIGHTSPEED / 1000.0 / cd.wl
821 + (rrmod[numsat] + rrint[numsat]) * LIGHTSPEED / 1000.0 / cd.wl;
822 frqObs->_phaseValid = true;
823 frqObs->_lockTime = lti2sec(type,ll[count]);
824 frqObs->_lockTimeValid = (frqObs->_lockTime >= 0.0);
825 frqObs->_slipCounter = ll[count];
826 }
827
828 frqObs->_snr = cnr[count];
829 frqObs->_snrValid = true;
830
831 if (dop[count] > -1.6384) {
832 frqObs->_doppler = -(dop[count] + rdop[numsat]) / cd.wl;
833 frqObs->_dopplerValid = true;
834 }
835 break;
836 case 6:
837 if (psr[count] > -1.0 / (1 << 10)) {
838 frqObs->_code = psr[count] * LIGHTSPEED / 1000.0
839 + (rrmod[numsat] + rrint[numsat]) * LIGHTSPEED / 1000.0;
840 frqObs->_codeValid = true;
841 }
842
843 if (cp[count] > -1.0 / (1 << 8)) {
844 frqObs->_phase = cp[count] * LIGHTSPEED / 1000.0 / cd.wl
845 + (rrmod[numsat] + rrint[numsat]) * LIGHTSPEED / 1000.0 / cd.wl;
846 frqObs->_phaseValid = true;
847 frqObs->_lockTime = lti2sec(type,ll[count]);
848 frqObs->_lockTimeValid = (frqObs->_lockTime >= 0.0);
849 frqObs->_slipCounter = ll[count];
850 }
851
852 frqObs->_snr = cnr[count];
853 frqObs->_snrValid = true;
854 break;
855 case 7:
856 if (psr[count] > -1.0 / (1 << 10)) {
857 frqObs->_code = psr[count] * LIGHTSPEED / 1000.0
858 + (rrmod[numsat] + rrint[numsat]) * LIGHTSPEED / 1000.0;
859 frqObs->_codeValid = true;
860 }
861
862 if (cp[count] > -1.0 / (1 << 8)) {
863 frqObs->_phase = cp[count] * LIGHTSPEED / 1000.0 / cd.wl
864 + (rrmod[numsat] + rrint[numsat]) * LIGHTSPEED / 1000.0 / cd.wl;
865 frqObs->_phaseValid = true;
866 frqObs->_lockTime = lti2sec(type,ll[count]);
867 frqObs->_lockTimeValid = (frqObs->_lockTime >= 0.0);
868 frqObs->_slipCounter = ll[count];
869 }
870
871 frqObs->_snr = cnr[count];
872 frqObs->_snrValid = true;
873
874 if (dop[count] > -1.6384) {
875 frqObs->_doppler = -(dop[count] + rdop[numsat]) / cd.wl;
876 frqObs->_dopplerValid = true;
877 }
878 break;
879 }
880 CurrentObs._obs.push_back(frqObs);
881 }
882 }
883 }
884 if (CurrentObs._obs.size() > 0) {
885 _CurrentObsList.push_back(CurrentObs);
886 }
887 }
888 }
889 else if ((type % 10) < 3) {
890 emit(newMessage(QString("%1: Block %2 contain partial data! Ignored!")
891 .arg(_staID).arg(type).toAscii(), true));
892 }
893 if (!syncf) {
894 decoded = true;
895 _obsList.append(_CurrentObsList);
896 _CurrentTime.reset();
897 _CurrentObsList.clear();
898 }
899 return decoded;
900}
901
902//
903////////////////////////////////////////////////////////////////////////////
904bool RTCM3Decoder::DecodeRTCM3GLONASS(unsigned char* data, int size) {
905 bool decoded = false;
906 bncTime CurrentObsTime;
907 int i, numsats, syncf, type;
908 uint64_t numbits = 0, bitfield = 0;
909
910 data += 3; /* header */
911 size -= 6; /* header + crc */
912
913 GETBITS(type, 12)
914 SKIPBITS(12)
915 /* id */
916 GETBITS(i, 27)
917 /* tk */
918
919 CurrentObsTime.setTk(i);
920 if (_CurrentTime.valid() && CurrentObsTime != _CurrentTime) {
921 decoded = true;
922 _obsList.append(_CurrentObsList);
923 _CurrentObsList.clear();
924 }
925 _CurrentTime = CurrentObsTime;
926
927 GETBITS(syncf, 1)
928 /* sync */
929 GETBITS(numsats, 5)
930 SKIPBITS(4)
931 /* smind, smint */
932
933 while (numsats--) {
934 int sv, code, l1range, amb = 0, freq;
935 t_satObs CurrentObs;
936 CurrentObs._time = CurrentObsTime;
937
938 GETBITS(sv, 6)
939 CurrentObs._prn.set('R', sv);
940 GETBITS(code, 1)
941 GETBITS(freq, 5)
942 GLOFreq[sv - 1] = 100 + freq - 7; /* store frequency for other users (MSM) */
943
944 t_frqObs *frqObs = new t_frqObs;
945 /* L1 */
946 (code) ?
947 frqObs->_rnxType2ch.assign("1P") : frqObs->_rnxType2ch.assign("1C");
948 GETBITS(l1range, 25);
949 GETBITSSIGN(i, 20);
950 if ((i & ((1 << 20) - 1)) != 0x80000) {
951 frqObs->_code = l1range * 0.02;
952 frqObs->_phase = (l1range * 0.02 + i * 0.0005)
953 / GLO_WAVELENGTH_L1(freq - 7);
954 frqObs->_codeValid = frqObs->_phaseValid = true;
955 }
956 GETBITS(i, 7);
957 frqObs->_lockTime = lti2sec(type,i);
958 frqObs->_lockTimeValid = (frqObs->_lockTime >= 0.0 && frqObs->_phaseValid);
959 frqObs->_slipCounter = i;
960 if (type == 1010 || type == 1012) {
961 GETBITS(amb, 7);
962 if (amb) {
963 frqObs->_code += amb * 599584.916;
964 frqObs->_phase += (amb * 599584.916) / GLO_WAVELENGTH_L1(freq - 7);
965 }
966 GETBITS(i, 8);
967 if (i) {
968 frqObs->_snr = i * 0.25;
969 frqObs->_snrValid = true;
970 }
971 }
972 CurrentObs._obs.push_back(frqObs);
973 if (type == 1011 || type == 1012) {
974 frqObs = new t_frqObs;
975 /* L2 */
976 GETBITS(code, 2);
977 switch (code) {
978 case 3:
979 frqObs->_rnxType2ch.assign("2P");
980 break;
981 case 2:
982 frqObs->_rnxType2ch.assign("2P");
983 break;
984 case 1:
985 frqObs->_rnxType2ch.assign("2P");
986 break;
987 case 0:
988 frqObs->_rnxType2ch.assign("2C");
989 break;
990 }
991 GETBITSSIGN(i, 14);
992 if ((i & ((1 << 14) - 1)) != 0x2000) {
993 frqObs->_code = l1range * 0.02 + i * 0.02 + amb * 599584.916;
994 frqObs->_codeValid = true;
995 }
996 GETBITSSIGN(i, 20);
997 if ((i & ((1 << 20) - 1)) != 0x80000) {
998 frqObs->_phase = (l1range * 0.02 + i * 0.0005 + amb * 599584.916)
999 / GLO_WAVELENGTH_L2(freq - 7);
1000 frqObs->_phaseValid = true;
1001 }
1002 GETBITS(i, 7);
1003 frqObs->_lockTime = lti2sec(type,i);
1004 frqObs->_lockTimeValid = (frqObs->_lockTime >= 0.0 && frqObs->_phaseValid);
1005 frqObs->_slipCounter = i;
1006 if (type == 1012) {
1007 GETBITS(i, 8);
1008 if (i) {
1009 frqObs->_snr = i * 0.25;
1010 frqObs->_snrValid = true;
1011 }
1012 }
1013 CurrentObs._obs.push_back(frqObs);
1014 }
1015 _CurrentObsList.push_back(CurrentObs);
1016 }
1017 if (!syncf) {
1018 decoded = true;
1019 _obsList.append(_CurrentObsList);
1020 _CurrentTime.reset();
1021 _CurrentObsList.clear();
1022 }
1023 return decoded;
1024}
1025
1026//
1027////////////////////////////////////////////////////////////////////////////
1028bool RTCM3Decoder::DecodeGPSEphemeris(unsigned char* data, int size) {
1029 bool decoded = false;
1030
1031 if (size == 67) {
1032 t_ephGPS eph;
1033 int i, week;
1034 uint64_t numbits = 0, bitfield = 0;
1035
1036 data += 3; /* header */
1037 size -= 6; /* header + crc */
1038 SKIPBITS(12)
1039
1040 eph._receptDateTime = currentDateAndTimeGPS();
1041
1042 GETBITS(i, 6)
1043 eph._prn.set('G', i);
1044 GETBITS(week, 10)
1045 GETBITS(i, 4)
1046 eph._ura = accuracyFromIndex(i, eph.type());
1047 GETBITS(eph._L2Codes, 2)
1048 GETFLOATSIGN(eph._IDOT, 14, R2R_PI/(double)(1<<30)/(double)(1<<13))
1049 GETBITS(eph._IODE, 8)
1050 GETBITS(i, 16)
1051 i <<= 4;
1052 eph._TOC.set(i * 1000);
1053 GETFLOATSIGN(eph._clock_driftrate, 8, 1.0 / (double )(1 << 30) / (double )(1 << 25))
1054 GETFLOATSIGN(eph._clock_drift, 16, 1.0 / (double )(1 << 30) / (double )(1 << 13))
1055 GETFLOATSIGN(eph._clock_bias, 22, 1.0 / (double )(1 << 30) / (double )(1 << 1))
1056
1057 GETBITS(eph._IODC, 10)
1058 GETFLOATSIGN(eph._Crs, 16, 1.0 / (double )(1 << 5))
1059 GETFLOATSIGN(eph._Delta_n, 16, R2R_PI/(double)(1<<30)/(double)(1<<13))
1060 GETFLOATSIGN(eph._M0, 32, R2R_PI/(double)(1<<30)/(double)(1<<1))
1061 GETFLOATSIGN(eph._Cuc, 16, 1.0 / (double )(1 << 29))
1062 GETFLOAT(eph._e, 32, 1.0 / (double )(1 << 30) / (double )(1 << 3))
1063 GETFLOATSIGN(eph._Cus, 16, 1.0 / (double )(1 << 29))
1064 GETFLOAT(eph._sqrt_A, 32, 1.0 / (double )(1 << 19))
1065 GETBITS(i, 16)
1066 i <<= 4;
1067 eph._TOEsec = i;
1068 bncTime t;
1069 t.set(i * 1000);
1070 eph._TOEweek = t.gpsw();
1071 int numOfRollOvers = int(floor(t.gpsw()/1024.0));
1072 week += (numOfRollOvers * 1024);
1073 /* week from HOW, differs from TOC, TOE week, we use adapted value instead */
1074 if (eph._TOEweek > week + 1 || eph._TOEweek < week - 1) /* invalid week */
1075 return false;
1076 GETFLOATSIGN(eph._Cic, 16, 1.0 / (double )(1 << 29))
1077 GETFLOATSIGN(eph._OMEGA0, 32, R2R_PI/(double)(1<<30)/(double)(1<<1))
1078 GETFLOATSIGN(eph._Cis, 16, 1.0 / (double )(1 << 29))
1079 GETFLOATSIGN(eph._i0, 32, R2R_PI/(double)(1<<30)/(double)(1<<1))
1080 GETFLOATSIGN(eph._Crc, 16, 1.0 / (double )(1 << 5))
1081 GETFLOATSIGN(eph._omega, 32, R2R_PI/(double)(1<<30)/(double)(1<<1))
1082 GETFLOATSIGN(eph._OMEGADOT, 24, R2R_PI/(double)(1<<30)/(double)(1<<13))
1083 GETFLOATSIGN(eph._TGD, 8, 1.0 / (double )(1 << 30) / (double )(1 << 1))
1084 GETBITS(eph._health, 6)
1085 GETBITS(eph._L2PFlag, 1)
1086 GETBITS(eph._fitInterval, 1)
1087 eph._TOT = 0.9999e9;
1088
1089 emit newGPSEph(eph);
1090 decoded = true;
1091 }
1092 return decoded;
1093}
1094
1095//
1096////////////////////////////////////////////////////////////////////////////
1097bool RTCM3Decoder::DecodeGLONASSEphemeris(unsigned char* data, int size) {
1098 bool decoded = false;
1099
1100 if (size == 51) {
1101 t_ephGlo eph;
1102 int sv, i, tk;
1103 uint64_t numbits = 0, bitfield = 0;
1104
1105 data += 3; /* header */
1106 size -= 6; /* header + crc */
1107 SKIPBITS(12)
1108
1109 eph._receptDateTime = currentDateAndTimeGPS();
1110
1111 GETBITS(sv, 6)
1112 eph._prn.set('R', sv);
1113
1114 GETBITS(i, 5)
1115 eph._frequency_number = i - 7;
1116 GETBITS(eph._almanac_health, 1) /* almanac healthy */
1117 GETBITS(eph._almanac_health_availablility_indicator, 1) /* almanac health ok */
1118 GETBITS(eph._P1, 2) /* P1 */
1119 GETBITS(i, 5)
1120 tk = i * 60 * 60;
1121 GETBITS(i, 6)
1122 tk += i * 60;
1123 GETBITS(i, 1)
1124 tk += i * 30;
1125 eph._tki = tk - 3*60*60;
1126 if(eph._tki < 0.0) {
1127 eph._tki += 86400.0;
1128 }
1129 GETBITS(eph._health, 1) /* MSB of Bn*/
1130 GETBITS(eph._P2, 1) /* P2 */
1131 GETBITS(i, 7)
1132 eph._TOC.setTk(i * 15 * 60 * 1000); /* tb */
1133
1134 GETFLOATSIGNM(eph._x_velocity, 24, 1.0 / (double )(1 << 20))
1135 GETFLOATSIGNM(eph._x_pos, 27, 1.0 / (double )(1 << 11))
1136 GETFLOATSIGNM(eph._x_acceleration, 5, 1.0 / (double )(1 << 30))
1137 GETFLOATSIGNM(eph._y_velocity, 24, 1.0 / (double )(1 << 20))
1138 GETFLOATSIGNM(eph._y_pos, 27, 1.0 / (double )(1 << 11))
1139 GETFLOATSIGNM(eph._y_acceleration, 5, 1.0 / (double )(1 << 30))
1140 GETFLOATSIGNM(eph._z_velocity, 24, 1.0 / (double )(1 << 20))
1141 GETFLOATSIGNM(eph._z_pos, 27, 1.0 / (double )(1 << 11))
1142 GETFLOATSIGNM(eph._z_acceleration, 5, 1.0 / (double )(1 << 30))
1143 GETBITS(eph._P3, 1) /* P3 */
1144 GETFLOATSIGNM(eph._gamma, 11, 1.0 / (double )(1 << 30) / (double )(1 << 10))
1145 GETBITS(eph._M_P, 2) /* GLONASS-M P, */
1146 GETBITS(eph._M_l3, 1) /*GLONASS-M ln (third string) */
1147 GETFLOATSIGNM(eph._tau, 22, 1.0 / (double )(1 << 30)) /* GLONASS tau n(tb) */
1148 GETFLOATSIGNM(eph._M_delta_tau, 5, 1.0 / (double )(1 << 30)) /* GLONASS-M delta tau n(tb) */
1149 GETBITS(eph._E, 5)
1150 GETBITS(eph._M_P4, 1) /* GLONASS-M P4 */
1151 GETBITS(eph._M_FT, 4) /* GLONASS-M Ft */
1152 GETBITS(eph._M_NT, 11) /* GLONASS-M Nt */
1153 GETBITS(eph._M_M, 2) /* GLONASS-M M */
1154 GETBITS(eph._additional_data_availability, 1) /* GLONASS-M The Availability of Additional Data */
1155 GETBITS(eph._NA, 11) /* GLONASS-M Na */
1156 GETFLOATSIGNM(eph._tauC, 32, 1.0/(double)(1<<30)/(double)(1<<1)) /* GLONASS tau c */
1157 GETBITS(eph._M_N4, 5) /* GLONASS-M N4 */
1158 GETFLOATSIGNM(eph._M_tau_GPS, 22, 1.0/(double)(1<<30)) /* GLONASS-M tau GPS */
1159 GETBITS(eph._M_l5, 1) /* GLONASS-M ln (fifth string) */
1160
1161 unsigned year, month, day;
1162 eph._TOC.civil_date(year, month, day);
1163 eph._gps_utc = gnumleap(year, month, day);
1164 eph._tt = eph._TOC;
1165
1166 eph._xv(1) = eph._x_pos * 1.e3;
1167 eph._xv(2) = eph._y_pos * 1.e3;
1168 eph._xv(3) = eph._z_pos * 1.e3;
1169 eph._xv(4) = eph._x_velocity * 1.e3;
1170 eph._xv(5) = eph._y_velocity * 1.e3;
1171 eph._xv(6) = eph._z_velocity * 1.e3;
1172
1173 GLOFreq[sv - 1] = 100 + eph._frequency_number ; /* store frequency for other users (MSM) */
1174 _gloFrq = QString("%1 %2").arg(eph._prn.toString().c_str()).arg(eph._frequency_number, 2, 'f', 0);
1175
1176 emit newGlonassEph(eph);
1177 decoded = true;
1178 }
1179 return decoded;
1180}
1181
1182//
1183////////////////////////////////////////////////////////////////////////////
1184bool RTCM3Decoder::DecodeQZSSEphemeris(unsigned char* data, int size) {
1185 bool decoded = false;
1186
1187 if (size == 67) {
1188 t_ephGPS eph;
1189 int i, week;
1190 uint64_t numbits = 0, bitfield = 0;
1191
1192 data += 3; /* header */
1193 size -= 6; /* header + crc */
1194 SKIPBITS(12)
1195
1196 eph._receptDateTime = currentDateAndTimeGPS();
1197
1198 GETBITS(i, 4)
1199 eph._prn.set('J', i);
1200
1201 GETBITS(i, 16)
1202 i <<= 4;
1203 eph._TOC.set(i * 1000);
1204
1205 GETFLOATSIGN(eph._clock_driftrate, 8, 1.0 / (double )(1 << 30) / (double )(1 << 25))
1206 GETFLOATSIGN(eph._clock_drift, 16, 1.0 / (double )(1 << 30) / (double )(1 << 13))
1207 GETFLOATSIGN(eph._clock_bias, 22, 1.0 / (double )(1 << 30) / (double )(1 << 1))
1208
1209 GETBITS(eph._IODE, 8)
1210 GETFLOATSIGN(eph._Crs, 16, 1.0 / (double )(1 << 5))
1211 GETFLOATSIGN(eph._Delta_n, 16, R2R_PI/(double)(1<<30)/(double)(1<<13))
1212 GETFLOATSIGN(eph._M0, 32, R2R_PI/(double)(1<<30)/(double)(1<<1))
1213 GETFLOATSIGN(eph._Cuc, 16, 1.0 / (double )(1 << 29))
1214 GETFLOAT(eph._e, 32, 1.0 / (double )(1 << 30) / (double )(1 << 3))
1215 GETFLOATSIGN(eph._Cus, 16, 1.0 / (double )(1 << 29))
1216 GETFLOAT(eph._sqrt_A, 32, 1.0 / (double )(1 << 19))
1217 GETBITS(i, 16)
1218 i <<= 4;
1219 eph._TOEsec = i;
1220 bncTime t;
1221 t.set(i*1000);
1222 eph._TOEweek = t.gpsw();
1223 GETFLOATSIGN(eph._Cic, 16, 1.0 / (double )(1 << 29))
1224 GETFLOATSIGN(eph._OMEGA0, 32, R2R_PI/(double)(1<<30)/(double)(1<<1))
1225 GETFLOATSIGN(eph._Cis, 16, 1.0 / (double )(1 << 29))
1226 GETFLOATSIGN(eph._i0, 32, R2R_PI/(double)(1<<30)/(double)(1<<1))
1227 GETFLOATSIGN(eph._Crc, 16, 1.0 / (double )(1 << 5))
1228 GETFLOATSIGN(eph._omega, 32, R2R_PI/(double)(1<<30)/(double)(1<<1))
1229 GETFLOATSIGN(eph._OMEGADOT, 24, R2R_PI/(double)(1<<30)/(double)(1<<13))
1230 GETFLOATSIGN(eph._IDOT, 14, R2R_PI/(double)(1<<30)/(double)(1<<13))
1231 GETBITS(eph._L2Codes, 2)
1232 GETBITS(week, 10)
1233 int numOfRollOvers = int(floor(t.gpsw()/1024.0));
1234 week += (numOfRollOvers * 1024);
1235 /* week from HOW, differs from TOC, TOE week, we use adapted value instead */
1236 if (eph._TOEweek > week + 1 || eph._TOEweek < week - 1) /* invalid week */
1237 return false;
1238
1239 GETBITS(i, 4)
1240 if (i <= 6)
1241 eph._ura = ceil(10.0 * pow(2.0, 1.0 + i / 2.0)) / 10.0;
1242 else
1243 eph._ura = ceil(10.0 * pow(2.0, i / 2.0)) / 10.0;
1244 GETBITS(eph._health, 6)
1245 GETFLOATSIGN(eph._TGD, 8, 1.0 / (double )(1 << 30) / (double )(1 << 1))
1246 GETBITS(eph._IODC, 10)
1247 GETBITS(eph._fitInterval, 1)
1248 eph._TOT = 0.9999e9;
1249
1250 emit newGPSEph(eph);
1251 decoded = true;
1252 }
1253 return decoded;
1254}
1255
1256//
1257////////////////////////////////////////////////////////////////////////////
1258bool RTCM3Decoder::DecodeIRNSSEphemeris(unsigned char* data, int size) {
1259 bool decoded = false;
1260
1261 if (size == 67) {
1262 t_ephGPS eph;
1263 int i, week, L5Flag, SFlag;
1264 uint64_t numbits = 0, bitfield = 0;
1265
1266 data += 3; /* header */
1267 size -= 6; /* header + crc */
1268 SKIPBITS(12)
1269
1270 eph._receptDateTime = currentDateAndTimeGPS();
1271
1272 GETBITS(i, 6)
1273 eph._prn.set('I', i);
1274 GETBITS(week, 10)
1275 GETFLOATSIGN(eph._clock_bias, 22, 1.0 / (double )(1 << 30) / (double )(1 << 1))
1276 GETFLOATSIGN(eph._clock_drift, 16, 1.0 / (double )(1 << 30) / (double )(1 << 13))
1277 GETFLOATSIGN(eph._clock_driftrate, 8, 1.0 / (double )(1 << 30) / (double )(1 << 25))
1278 GETBITS(i, 4)
1279 eph._ura = accuracyFromIndex(i, eph.type());
1280 GETBITS(i, 16)
1281 i <<= 4;
1282 eph._TOC.set(i * 1000);
1283 GETFLOATSIGN(eph._TGD, 8, 1.0 / (double )(1 << 30) / (double )(1 << 1))
1284 GETFLOATSIGN(eph._Delta_n, 22, R2R_PI/(double)(1<<30)/(double)(1 << 11))
1285 // IODCE
1286 GETBITS(eph._IODE, 8)
1287 eph._IODC = eph._IODE;
1288 SKIPBITS(10)
1289 GETBITS(L5Flag, 1)
1290 GETBITS(SFlag, 1)
1291 if (L5Flag == 0 && SFlag == 0) {
1292 eph._health = 0.0;
1293 }
1294 else if (L5Flag == 0 && SFlag == 1) {
1295 eph._health = 1.0;
1296 }
1297 else if (L5Flag == 1 && SFlag == 0) {
1298 eph._health = 2.0;
1299 }
1300 else if (L5Flag == 1 && SFlag == 1) {
1301 eph._health = 3.0;
1302 }
1303 GETFLOATSIGN(eph._Cuc, 15, 1.0 / (double )(1 << 28))
1304 GETFLOATSIGN(eph._Cus, 15, 1.0 / (double )(1 << 28))
1305 GETFLOATSIGN(eph._Cic, 15, 1.0 / (double )(1 << 28))
1306 GETFLOATSIGN(eph._Cis, 15, 1.0 / (double )(1 << 28))
1307 GETFLOATSIGN(eph._Crc, 15, 1.0 / (double )(1 << 4))
1308 GETFLOATSIGN(eph._Crs, 15, 1.0 / (double )(1 << 4))
1309 GETFLOATSIGN(eph._IDOT, 14, R2R_PI/(double)(1<<30)/(double)(1<<13))
1310 GETFLOATSIGN(eph._M0, 32, R2R_PI/(double)(1<<30)/(double)(1<< 1))
1311 GETBITS(i, 16)
1312 i <<= 4;
1313 eph._TOEsec = i;
1314 bncTime t;
1315 t.set(i * 1000);
1316 eph._TOEweek = t.gpsw();
1317 int numOfRollOvers = int(floor(t.gpsw()/1024.0));
1318 week += (numOfRollOvers * 1024);
1319 /* week from HOW, differs from TOC, TOE week, we use adapted value instead */
1320 if (eph._TOEweek > week + 1 || eph._TOEweek < week - 1) /* invalid week */
1321 return false;
1322 GETFLOAT(eph._e, 32, 1.0 / (double )(1 << 30) / (double )(1 << 3))
1323 GETFLOAT(eph._sqrt_A, 32, 1.0 / (double )(1 << 19))
1324 GETFLOATSIGN(eph._OMEGA0, 32, R2R_PI/(double)(1<<30)/(double)(1<< 1))
1325 GETFLOATSIGN(eph._omega, 32, R2R_PI/(double)(1<<30)/(double)(1<< 1))
1326 GETFLOATSIGN(eph._OMEGADOT, 22, R2R_PI/(double)(1<<30)/(double)(1<<11))
1327 GETFLOATSIGN(eph._i0, 32, R2R_PI/(double)(1<<30)/(double)(1<< 1))
1328 SKIPBITS(2)
1329 SKIPBITS(2)
1330 eph._TOT = 0.9999e9;
1331
1332 emit newGPSEph(eph);
1333 decoded = true;
1334 }
1335 return decoded;
1336}
1337
1338//
1339////////////////////////////////////////////////////////////////////////////
1340bool RTCM3Decoder::DecodeSBASEphemeris(unsigned char* data, int size) {
1341 bool decoded = false;
1342
1343 if (size == 35) {
1344 t_ephSBAS eph;
1345 int i;
1346 uint64_t numbits = 0, bitfield = 0;
1347
1348 data += 3; /* header */
1349 size -= 6; /* header + crc */
1350 SKIPBITS(12)
1351
1352 eph._receptDateTime = currentDateAndTimeGPS();
1353
1354 GETBITS(i, 6)
1355 eph._prn.set('S', 20 + i);
1356 GETBITS(eph._IODN, 8)
1357 GETBITS(i, 13)
1358 i <<= 4;
1359 eph._TOC.setTOD(i * 1000);
1360 GETBITS(i, 4)
1361 eph._ura = accuracyFromIndex(i, eph.type());
1362 GETFLOATSIGN(eph._x_pos, 30, 0.08)
1363 GETFLOATSIGN(eph._y_pos, 30, 0.08)
1364 GETFLOATSIGN(eph._z_pos, 25, 0.4)
1365 GETFLOATSIGN(eph._x_velocity, 17, 0.000625)
1366 GETFLOATSIGN(eph._y_velocity, 17, 0.000625)
1367 GETFLOATSIGN(eph._z_velocity, 18, 0.004)
1368 GETFLOATSIGN(eph._x_acceleration, 10, 0.0000125)
1369 GETFLOATSIGN(eph._y_acceleration, 10, 0.0000125)
1370 GETFLOATSIGN(eph._z_acceleration, 10, 0.0000625)
1371 GETFLOATSIGN(eph._agf0, 12, 1.0 / (1 << 30) / (1 << 1))
1372 GETFLOATSIGN(eph._agf1, 8, 1.0 / (1 << 30) / (1 << 10))
1373
1374 eph._TOT = 0.9999E9;
1375 eph._health = 0;
1376
1377 emit newSBASEph(eph);
1378 decoded = true;
1379 }
1380 return decoded;
1381}
1382
1383//
1384////////////////////////////////////////////////////////////////////////////
1385bool RTCM3Decoder::DecodeGalileoEphemeris(unsigned char* data, int size) {
1386 bool decoded = false;
1387 uint64_t numbits = 0, bitfield = 0;
1388 int i;
1389
1390 data += 3; /* header */
1391 size -= 6; /* header + crc */
1392 GETBITS(i, 12)
1393
1394 if ((i == 1046 && size == 61) || (i == 1045 && size == 60)) {
1395 t_ephGal eph;
1396
1397 eph._receptDateTime = currentDateAndTimeGPS();
1398
1399 eph._inav = (i == 1046);
1400 eph._fnav = (i == 1045);
1401 GETBITS(i, 6)
1402 eph._prn.set('E', i, eph._inav ? 1 : 0);
1403
1404 GETBITS(eph._TOEweek, 12) //FIXME: roll-over after week 4095!!
1405 GETBITS(eph._IODnav, 10)
1406 GETBITS(i, 8)
1407 eph._SISA = accuracyFromIndex(i, eph.type());
1408 GETFLOATSIGN(eph._IDOT, 14, R2R_PI/(double)(1<<30)/(double)(1<<13))
1409 GETBITSFACTOR(i, 14, 60)
1410 eph._TOC.set(1024 + eph._TOEweek, i);
1411 GETFLOATSIGN(eph._clock_driftrate, 6, 1.0 / (double )(1 << 30) / (double )(1 << 29))
1412 GETFLOATSIGN(eph._clock_drift, 21, 1.0 / (double )(1 << 30) / (double )(1 << 16))
1413 GETFLOATSIGN(eph._clock_bias, 31, 1.0 / (double )(1 << 30) / (double )(1 << 4))
1414 GETFLOATSIGN(eph._Crs, 16, 1.0 / (double )(1 << 5))
1415 GETFLOATSIGN(eph._Delta_n, 16, R2R_PI/(double)(1<<30)/(double)(1<<13))
1416 GETFLOATSIGN(eph._M0, 32, R2R_PI/(double)(1<<30)/(double)(1<<1))
1417 GETFLOATSIGN(eph._Cuc, 16, 1.0 / (double )(1 << 29))
1418 GETFLOAT(eph._e, 32, 1.0 / (double )(1 << 30) / (double )(1 << 3))
1419 GETFLOATSIGN(eph._Cus, 16, 1.0 / (double )(1 << 29))
1420 GETFLOAT(eph._sqrt_A, 32, 1.0 / (double )(1 << 19))
1421 GETBITSFACTOR(eph._TOEsec, 14, 60)
1422 /* FIXME: overwrite value, copied from old code */
1423 eph._TOEsec = eph._TOC.gpssec();
1424 GETFLOATSIGN(eph._Cic, 16, 1.0 / (double )(1 << 29))
1425 GETFLOATSIGN(eph._OMEGA0, 32, R2R_PI/(double)(1<<30)/(double)(1<<1))
1426 GETFLOATSIGN(eph._Cis, 16, 1.0 / (double )(1 << 29))
1427 GETFLOATSIGN(eph._i0, 32, R2R_PI/(double)(1<<30)/(double)(1<<1))
1428 GETFLOATSIGN(eph._Crc, 16, 1.0 / (double )(1 << 5))
1429 GETFLOATSIGN(eph._omega, 32, R2R_PI/(double)(1<<30)/(double)(1<<1))
1430 GETFLOATSIGN(eph._OMEGADOT, 24, R2R_PI/(double)(1<<30)/(double)(1<<13))
1431 GETFLOATSIGN(eph._BGD_1_5A, 10,
1432 1.0 / (double )(1 << 30) / (double )(1 << 2))
1433 if (eph._inav) {
1434 /* set unused F/NAV values */
1435 eph._E5aHS = 0.0;
1436 eph._e5aDataInValid = false;
1437
1438GETFLOATSIGN(eph._BGD_1_5B, 10, 1.0 / (double )(1 << 30) / (double )(1 << 2))
1439 GETBITS(eph._E5bHS, 2)
1440 GETBITS(eph._e5bDataInValid, 1)
1441 GETBITS(eph._E1_bHS, 2)
1442 GETBITS(eph._e1DataInValid, 1)
1443 }
1444 else {
1445 /* set unused I/NAV values */
1446 eph._BGD_1_5B = 0.0;
1447 eph._E5bHS = 0.0;
1448 eph._E1_bHS = 0.0;
1449 eph._e1DataInValid = false;
1450 eph._e5bDataInValid = false;
1451
1452 GETBITS(eph._E5aHS, 2)
1453 GETBITS(eph._e5aDataInValid, 1)
1454 }
1455 eph._TOT = 0.9999e9;
1456
1457 emit newGalileoEph(eph);
1458 decoded = true;
1459 }
1460 return decoded;
1461}
1462
1463//
1464////////////////////////////////////////////////////////////////////////////
1465bool RTCM3Decoder::DecodeBDSEphemeris(unsigned char* data, int size) {
1466 bool decoded = false;
1467
1468 if (size == 70) {
1469 t_ephBDS eph;
1470 int i;
1471 uint64_t numbits = 0, bitfield = 0;
1472
1473 data += 3; /* header */
1474 size -= 6; /* header + crc */
1475 SKIPBITS(12)
1476
1477 eph._receptDateTime = currentDateAndTimeGPS();
1478
1479 GETBITS(i, 6)
1480 eph._prn.set('C', i);
1481
1482 SKIPBITS(13)
1483 /* week */
1484 GETBITS(i, 4)
1485 eph._URA = accuracyFromIndex(i, eph.type());
1486 GETFLOATSIGN(eph._IDOT, 14, R2R_PI/(double)(1<<30)/(double)(1<<13))
1487 GETBITS(eph._AODE, 5)
1488 GETBITS(i, 17)
1489 i <<= 3;
1490 eph._TOC.setBDS(i * 1000);
1491 GETFLOATSIGN(eph._clock_driftrate, 11, 1.0 / (double )(1 << 30) / (double )(1 << 30) / (double )(1 << 6))
1492 GETFLOATSIGN(eph._clock_drift, 22, 1.0 / (double )(1 << 30) / (double )(1 << 20))
1493 GETFLOATSIGN(eph._clock_bias, 24, 1.0 / (double )(1 << 30) / (double )(1 << 3))
1494 GETBITS(eph._AODC, 5)
1495 GETFLOATSIGN(eph._Crs, 18, 1.0 / (double )(1 << 6))
1496 GETFLOATSIGN(eph._Delta_n, 16, R2R_PI/(double)(1<<30)/(double)(1<<13))
1497 GETFLOATSIGN(eph._M0, 32, R2R_PI/(double)(1<<30)/(double)(1<<1))
1498 GETFLOATSIGN(eph._Cuc, 18, 1.0 / (double )(1 << 30) / (double )(1 << 1))
1499 GETFLOAT(eph._e, 32, 1.0 / (double )(1 << 30) / (double )(1 << 3))
1500 GETFLOATSIGN(eph._Cus, 18, 1.0 / (double )(1 << 30) / (double )(1 << 1))
1501 GETFLOAT(eph._sqrt_A, 32, 1.0 / (double )(1 << 19))
1502 GETBITS(i, 17)
1503 i <<= 3;
1504 eph._TOEsec = i;
1505 eph._TOE.setBDS(i * 1000);
1506 GETFLOATSIGN(eph._Cic, 18, 1.0 / (double )(1 << 30) / (double )(1 << 1))
1507 GETFLOATSIGN(eph._OMEGA0, 32, R2R_PI/(double)(1<<30)/(double)(1<<1))
1508 GETFLOATSIGN(eph._Cis, 18, 1.0 / (double )(1 << 30) / (double )(1 << 1))
1509 GETFLOATSIGN(eph._i0, 32, R2R_PI/(double)(1<<30)/(double)(1<<1))
1510 GETFLOATSIGN(eph._Crc, 18, 1.0 / (double )(1 << 6))
1511 GETFLOATSIGN(eph._omega, 32, R2R_PI/(double)(1<<30)/(double)(1<<1))
1512 GETFLOATSIGN(eph._OMEGADOT, 24, R2R_PI/(double)(1<<30)/(double)(1<<13))
1513 GETFLOATSIGN(eph._TGD1, 10, 0.0000000001)
1514 GETFLOATSIGN(eph._TGD2, 10, 0.0000000001)
1515 GETBITS(eph._SatH1, 1)
1516
1517 eph._TOT = 0.9999E9;
1518 emit newBDSEph(eph);
1519 decoded = true;
1520 }
1521 return decoded;
1522}
1523
1524//
1525////////////////////////////////////////////////////////////////////////////
1526bool RTCM3Decoder::DecodeAntennaReceiver(unsigned char* data, int size) {
1527 char *antenna, anttype[256];
1528 char *dummy;
1529 char *receiver, rectype[256];
1530
1531 int type;
1532
1533 int dnum = -1;
1534 int antnum = -1;
1535 int recnum = -1;
1536 uint64_t numbits = 0, bitfield = 0;
1537
1538 data += 3; /* header*/
1539 size -= 6; /* header + crc */
1540
1541 GETBITS(type, 12)
1542 SKIPBITS(12)
1543 GETSTRING(antnum, antenna)
1544 if (antnum > -1 && antnum < 265) {
1545 memcpy(anttype, antenna, antnum);
1546 anttype[antnum] = 0;
1547 if (!_antType.contains(anttype)) {
1548 _antType.push_back(anttype);
1549 }
1550 }
1551 if (type == 1033) {
1552 SKIPBITS(8)
1553 GETSTRING(dnum, dummy)
1554 GETSTRING(recnum, receiver)
1555 if (recnum > -1 && recnum < 265) {
1556 memcpy(rectype, receiver, recnum);
1557 rectype[recnum] = 0;
1558 if (!_recType.contains(rectype)) {
1559 _recType.push_back(rectype);
1560 }
1561 }
1562 }
1563 return true;
1564}
1565
1566//
1567////////////////////////////////////////////////////////////////////////////
1568bool RTCM3Decoder::DecodeAntennaPosition(unsigned char* data, int size) {
1569 int type;
1570 uint64_t numbits = 0, bitfield = 0;
1571 double x, y, z;
1572
1573 data += 3; /* header */
1574 size -= 6; /* header + crc */
1575
1576 GETBITS(type, 12)
1577 _antList.push_back(t_antInfo());
1578 _antList.back().type = t_antInfo::ARP;
1579 SKIPBITS(22)
1580 GETBITSSIGN(x, 38)
1581 _antList.back().xx = x * 1e-4;
1582 SKIPBITS(2)
1583 GETBITSSIGN(y, 38)
1584 _antList.back().yy = y * 1e-4;
1585 SKIPBITS(2)
1586 GETBITSSIGN(z, 38)
1587 _antList.back().zz = z * 1e-4;
1588 if (type == 1006)
1589 {
1590 double h;
1591 GETBITS(h, 16)
1592 _antList.back().height = h * 1e-4;
1593 _antList.back().height_f = true;
1594 }
1595 _antList.back().message = type;
1596
1597 return true;
1598}
1599
1600//
1601////////////////////////////////////////////////////////////////////////////
1602t_irc RTCM3Decoder::Decode(char* buffer, int bufLen, vector<string>& errmsg) {
1603 bool decoded = false;
1604
1605 errmsg.clear();
1606
1607 while (bufLen && _MessageSize < sizeof(_Message)) {
1608 int l = sizeof(_Message) - _MessageSize;
1609 if (l > bufLen)
1610 l = bufLen;
1611 memcpy(_Message + _MessageSize, buffer, l);
1612 _MessageSize += l;
1613 bufLen -= l;
1614 buffer += l;
1615 int id;
1616 while ((id = GetMessage())) {
1617 /* reset station ID for file loading as it can change */
1618 if (_rawFile)
1619 _staID = _rawFile->staID();
1620 /* store the id into the list of loaded blocks */
1621 _typeList.push_back(id);
1622
1623 /* SSR I+II data handled in another function, already pass the
1624 * extracted data block. That does no harm, as it anyway skip everything
1625 * else. */
1626 if ((id >= 1057 && id <= 1068) || (id >= 1240 && id <= 1270)) {
1627 if (!_coDecoders.contains(_staID.toAscii()))
1628 _coDecoders[_staID.toAscii()] = new RTCM3coDecoder(_staID);
1629 RTCM3coDecoder* coDecoder = _coDecoders[_staID.toAscii()];
1630 if (coDecoder->Decode(reinterpret_cast<char *>(_Message), _BlockSize,
1631 errmsg) == success) {
1632 decoded = true;
1633 }
1634 }
1635 else if ((id >= 1070 && id <= 1229) ||
1636 (id >= 21 && id <= 27)) /* MSM */ {
1637 if (DecodeRTCM3MSM(_Message, _BlockSize))
1638 decoded = true;
1639 }
1640 else {
1641 switch (id) {
1642 case 1001:
1643 case 1003:
1644 emit(newMessage(
1645 QString("%1: Block %2 contain partial data! Ignored!")
1646 .arg(_staID).arg(id).toAscii(), true));
1647 break; /* no use decoding partial data ATM, remove break when data can be used */
1648 case 1002:
1649 case 1004:
1650 if (DecodeRTCM3GPS(_Message, _BlockSize))
1651 decoded = true;
1652 break;
1653 case 1009:
1654 case 1011:
1655 emit(newMessage(
1656 QString("%1: Block %2 contain partial data! Ignored!")
1657 .arg(_staID).arg(id).toAscii(), true));
1658 break; /* no use decoding partial data ATM, remove break when data can be used */
1659 case 1010:
1660 case 1012:
1661 if (DecodeRTCM3GLONASS(_Message, _BlockSize))
1662 decoded = true;
1663 break;
1664 case 1019:
1665 if (DecodeGPSEphemeris(_Message, _BlockSize))
1666 decoded = true;
1667 break;
1668 case 1020:
1669 if (DecodeGLONASSEphemeris(_Message, _BlockSize))
1670 decoded = true;
1671 break;
1672 case 1043:
1673 if (DecodeSBASEphemeris(_Message, _BlockSize))
1674 decoded = true;
1675 break;
1676 case 1044:
1677 if (DecodeQZSSEphemeris(_Message, _BlockSize))
1678 decoded = true;
1679 break;
1680 case 29:
1681 if (DecodeIRNSSEphemeris(_Message, _BlockSize))
1682 decoded = true;
1683 break;
1684 case 1045:
1685 case 1046:
1686 if (DecodeGalileoEphemeris(_Message, _BlockSize))
1687 decoded = true;
1688 break;
1689 case RTCM3ID_BDS:
1690 if (DecodeBDSEphemeris(_Message, _BlockSize))
1691 decoded = true;
1692 break;
1693 case 1007:
1694 case 1008:
1695 case 1033:
1696 DecodeAntennaReceiver(_Message, _BlockSize);
1697 break;
1698 case 1005:
1699 case 1006:
1700 DecodeAntennaPosition(_Message, _BlockSize);
1701 break;
1702 }
1703 }
1704 }
1705 }
1706 return decoded ? success : failure;
1707}
1708;
1709
1710//
1711////////////////////////////////////////////////////////////////////////////
1712uint32_t RTCM3Decoder::CRC24(long size, const unsigned char *buf) {
1713 uint32_t crc = 0;
1714 int i;
1715
1716 while (size--) {
1717 crc ^= (*buf++) << (16);
1718 for (i = 0; i < 8; i++)
1719 {
1720 crc <<= 1;
1721 if (crc & 0x1000000)
1722 crc ^= 0x01864cfb;
1723 }
1724 }
1725 return crc;
1726}
1727
1728//
1729////////////////////////////////////////////////////////////////////////////
1730int RTCM3Decoder::GetMessage(void) {
1731 unsigned char *m, *e;
1732 int i;
1733
1734 m = _Message + _SkipBytes;
1735 e = _Message + _MessageSize;
1736 _NeedBytes = _SkipBytes = 0;
1737 while (e - m >= 3) {
1738 if (m[0] == 0xD3) {
1739 _BlockSize = ((m[1] & 3) << 8) | m[2];
1740 if (e - m >= static_cast<int>(_BlockSize + 6)) {
1741 if (static_cast<uint32_t>((m[3 + _BlockSize] << 16)
1742 | (m[3 + _BlockSize + 1] << 8)
1743 | (m[3 + _BlockSize + 2])) == CRC24(_BlockSize + 3, m)) {
1744 _BlockSize += 6;
1745 _SkipBytes = _BlockSize;
1746 break;
1747 }
1748 else
1749 ++m;
1750 }
1751 else {
1752 _NeedBytes = _BlockSize;
1753 break;
1754 }
1755 }
1756 else
1757 ++m;
1758 }
1759 if (e - m < 3)
1760 _NeedBytes = 3;
1761
1762 /* copy buffer to front */
1763 i = m - _Message;
1764 if (i && m < e)
1765 memmove(_Message, m, static_cast<size_t>(_MessageSize - i));
1766 _MessageSize -= i;
1767
1768 return !_NeedBytes ? ((_Message[3] << 4) | (_Message[4] >> 4)) : 0;
1769}
1770
1771// Time of Corrections
1772//////////////////////////////////////////////////////////////////////////////
1773int RTCM3Decoder::corrGPSEpochTime() const {
1774 return
1775 _coDecoders.size() > 0 ?
1776 _coDecoders.begin().value()->corrGPSEpochTime() : -1;
1777}
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