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source: ntrip/branches/BNC_2.12/src/RTCM3/RTCM3Decoder.cpp@ 8854

Last change on this file since 8854 was 8854, checked in by stuerze, 4 years ago
small improvement with respect to fit interval for GPS and QZSS at least if the flag is 0
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
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},
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	*/
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	{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 */
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	{0.0, 0},
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	{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	/** MSM signal types for IRNSS */
424	static struct CodeData irn[RTCM3_MSM_NUMSIG] = {
425	{0.0, 0},
426	{0.0, 0},
427	{0.0, 0},
428	{0.0, 0},
429	{0.0, 0},
430	{0.0, 0},
431	{0.0, 0},
432	{IRNSS_WAVELENGTH_S, "9A"},
433	{0.0, 0},
434	{0.0, 0},
435	{0.0, 0},
436	{0.0, 0},
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	{IRNSS_WAVELENGTH_L5, "5A"},
447	{0.0, 0},
448	{0.0, 0},
449	{0.0, 0},
450	{0.0, 0},
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	};
458
459	#define UINT64(c) c ## ULL
460
461	//
462	////////////////////////////////////////////////////////////////////////////
463	bool RTCM3Decoder::DecodeRTCM3MSM(unsigned char* data, int size) {
464	bool decoded = false;
465	int type, syncf, i;
466	uint64_t numbits = 0, bitfield = 0;
467
468	data += 3; /* header */
469	size -= 6; /* header + crc */
470
471	GETBITS(type, 12)
472	SKIPBITS(12)
473	/* id */
474	char sys;
475	if (type >= 1121)
476	sys = 'C';
477	else if (type >= 1111)
478	sys = 'J';
479	else if (type >= 1101)
480	sys = 'S';
481	else if (type >= 1091)
482	sys = 'E';
483	else if (type >= 1081)
484	sys = 'R';
485	else if (type >= 1071)
486	sys = 'G';
487	else if (type >= 21) // test
488	sys = 'I';
489
490	bncTime CurrentObsTime;
491	if (sys == 'C') /* BDS */ {
492	GETBITS(i, 30)
493	CurrentObsTime.setBDS(i);
494	}
495	else if (sys == 'R') /* GLONASS */ {
496	SKIPBITS(3)
497	GETBITS(i, 27)
498	/* tk */
499	CurrentObsTime.setTk(i);
500	}
501	else /* GPS style date */ {
502	GETBITS(i, 30)
503	CurrentObsTime.set(i);
504	}
505	if (_CurrentTime.valid() && CurrentObsTime != _CurrentTime) {
506	decoded = true;
507	_obsList.append(_CurrentObsList);
508	_CurrentObsList.clear();
509	}
510	_CurrentTime = CurrentObsTime;
511
512	GETBITS(syncf, 1)
513	/**
514	* Ignore unknown types except for sync flag
515	*
516	* We actually support types 1-3 in following code, but as they are missing
517	* the full cycles and can't be used later we skip interpretation here already.
518	*/
519	if (type <= 1130 && (type % 10) >= 4 && (type % 10) <= 7) {
520	int sigmask, numsat = 0, numsig = 0;
521	uint64_t satmask, cellmask, ui;
522	// satellite data
523	double rrmod[RTCM3_MSM_NUMSAT]; // GNSS sat rough ranges modulo 1 millisecond
524	int rrint[RTCM3_MSM_NUMSAT]; // number of integer msecs in GNSS sat rough ranges
525	int rdop[RTCM3_MSM_NUMSAT]; // GNSS sat rough phase range rates
526	int extsat[RTCM3_MSM_NUMSAT];// extended sat info
527	// signal data
528	int ll[RTCM3_MSM_NUMCELLS]; // lock time indicator
529	/int hc[RTCM3_MSM_NUMCELLS];/ // half cycle ambiguity indicator
530	double cnr[RTCM3_MSM_NUMCELLS]; // signal cnr
531	double cp[RTCM3_MSM_NUMCELLS]; // fine phase range data
532	double psr[RTCM3_MSM_NUMCELLS]; // fine psr
533	double dop[RTCM3_MSM_NUMCELLS]; // fine phase range rates
534
535	SKIPBITS(3 + 7 + 2 + 2 + 1 + 3)
536	GETBITS64(satmask, RTCM3_MSM_NUMSAT)
537
538	/* http://gurmeetsingh.wordpress.com/2008/08/05/fast-bit-counting-routines/ */
539	for (ui = satmask; ui; ui &= (ui - 1) /* remove rightmost bit */)
540	++numsat;
541	GETBITS(sigmask, RTCM3_MSM_NUMSIG)
542	for (i = sigmask; i; i &= (i - 1) /* remove rightmost bit */)
543	++numsig;
544	for (i = 0; i < RTCM3_MSM_NUMSAT; ++i)
545	extsat[i] = 15;
546
547	i = numsat * numsig;
548	GETBITS64(cellmask, (unsigned )i)
549	// satellite data
550	switch (type % 10) {
551	case 1:
552	case 2:
553	case 3:
554	/* partial data, already skipped above, but implemented for future expansion ! */
555	for (int j = numsat; j--;)
556	GETFLOAT(rrmod[j], 10, 1.0 / 1024.0)
557	break;
558	case 4:
559	case 6:
560	for (int j = numsat; j--;)
561	GETBITS(rrint[j], 8)
562	for (int j = numsat; j--;)
563	GETFLOAT(rrmod[j], 10, 1.0 / 1024.0)
564	break;
565	case 5:
566	case 7:
567	for (int j = numsat; j--;)
568	GETBITS(rrint[j], 8)
569	for (int j = numsat; j--;)
570	GETBITS(extsat[j], 4)
571	for (int j = numsat; j--;)
572	GETFLOAT(rrmod[j], 10, 1.0 / 1024.0)
573	for (int j = numsat; j--;)
574	GETBITSSIGN(rdop[j], 14)
575	break;
576	}
577	// signal data
578	int numcells = numsat * numsig;
579	/** Drop anything which exceeds our cell limit. Increase limit definition
580	* when that happens. */
581	if (numcells <= RTCM3_MSM_NUMCELLS) {
582	switch (type % 10) {
583	case 1:
584	for (int count = numcells; count--;)
585	if (cellmask & (UINT64(1) << count))
586	GETFLOATSIGN(psr[count], 15, 1.0 / (1 << 24))
587	break;
588	case 2:
589	for (int count = numcells; count--;)
590	if (cellmask & (UINT64(1) << count))
591	GETFLOATSIGN(cp[count], 22, 1.0 / (1 << 29))
592	for (int count = numcells; count--;)
593	if (cellmask & (UINT64(1) << count))
594	GETBITS(ll[count], 4)
595	for (int count = numcells; count--;)
596	if (cellmask & (UINT64(1) << count))
597	SKIPBITS(1)/GETBITS(hc[count], 1)/
598	break;
599	case 3:
600	for (int count = numcells; count--;)
601	if (cellmask & (UINT64(1) << count))
602	GETFLOATSIGN(psr[count], 15, 1.0 / (1 << 24))
603	for (int count = numcells; count--;)
604	if (cellmask & (UINT64(1) << count))
605	GETFLOATSIGN(cp[count], 22, 1.0 / (1 << 29))
606	for (int count = numcells; count--;)
607	if (cellmask & (UINT64(1) << count))
608	GETBITS(ll[count], 4)
609	for (int count = numcells; count--;)
610	if (cellmask & (UINT64(1) << count))
611	SKIPBITS(1)/GETBITS(hc[count], 1)/
612	break;
613	case 4:
614	for (int count = numcells; count--;)
615	if (cellmask & (UINT64(1) << count))
616	GETFLOATSIGN(psr[count], 15, 1.0 / (1 << 24))
617	for (int count = numcells; count--;)
618	if (cellmask & (UINT64(1) << count))
619	GETFLOATSIGN(cp[count], 22, 1.0 / (1 << 29))
620	for (int count = numcells; count--;)
621	if (cellmask & (UINT64(1) << count))
622	GETBITS(ll[count], 4)
623	for (int count = numcells; count--;)
624	if (cellmask & (UINT64(1) << count))
625	SKIPBITS(1)/GETBITS(hc[count], 1)/
626	for (int count = numcells; count--;)
627	if (cellmask & (UINT64(1) << count))
628	GETBITS(cnr[count], 6)
629	break;
630	case 5:
631	for (int count = numcells; count--;)
632	if (cellmask & (UINT64(1) << count))
633	GETFLOATSIGN(psr[count], 15, 1.0 / (1 << 24))
634	for (int count = numcells; count--;)
635	if (cellmask & (UINT64(1) << count))
636	GETFLOATSIGN(cp[count], 22, 1.0 / (1 << 29))
637	for (int count = numcells; count--;)
638	if (cellmask & (UINT64(1) << count))
639	GETBITS(ll[count], 4)
640	for (int count = numcells; count--;)
641	if (cellmask & (UINT64(1) << count))
642	SKIPBITS(1)/GETBITS(hc[count], 1)/
643	for (int count = numcells; count--;)
644	if (cellmask & (UINT64(1) << count))
645	GETFLOAT(cnr[count], 6, 1.0)
646	for (int count = numcells; count--;)
647	if (cellmask & (UINT64(1) << count))
648	GETFLOATSIGN(dop[count], 15, 0.0001)
649	break;
650	case 6:
651	for (int count = numcells; count--;)
652	if (cellmask & (UINT64(1) << count))
653	GETFLOATSIGN(psr[count], 20, 1.0 / (1 << 29))
654	for (int count = numcells; count--;)
655	if (cellmask & (UINT64(1) << count))
656	GETFLOATSIGN(cp[count], 24, 1.0 / (1U << 31))
657	for (int count = numcells; count--;)
658	if (cellmask & (UINT64(1) << count))
659	GETBITS(ll[count], 10)
660	for (int count = numcells; count--;)
661	if (cellmask & (UINT64(1) << count))
662	SKIPBITS(1)/GETBITS(hc[count], 1)/
663	for (int count = numcells; count--;)
664	if (cellmask & (UINT64(1) << count))
665	GETFLOAT(cnr[count], 10, 1.0 / (1 << 4))
666	break;
667	case 7:
668	for (int count = numcells; count--;)
669	if (cellmask & (UINT64(1) << count))
670	GETFLOATSIGN(psr[count], 20, 1.0 / (1 << 29))
671	for (int count = numcells; count--;)
672	if (cellmask & (UINT64(1) << count))
673	GETFLOATSIGN(cp[count], 24, 1.0 / (1U << 31))
674	for (int count = numcells; count--;)
675	if (cellmask & (UINT64(1) << count))
676	GETBITS(ll[count], 10)
677	for (int count = numcells; count--;)
678	if (cellmask & (UINT64(1) << count))
679	SKIPBITS(1)/GETBITS(hc[count], 1)/
680	for (int count = numcells; count--;)
681	if (cellmask & (UINT64(1) << count))
682	GETFLOAT(cnr[count], 10, 1.0 / (1 << 4))
683	for (int count = numcells; count--;)
684	if (cellmask & (UINT64(1) << count))
685	GETFLOATSIGN(dop[count], 15, 0.0001)
686	break;
687	}
688	i = RTCM3_MSM_NUMSAT;
689	int j = -1;
690	t_satObs CurrentObs;
691	for (int count = numcells; count--;) {
692	while (j >= 0 && !(sigmask & (1 << --j)))
693	;
694	if (j < 0) {
695	while (!(satmask & (UINT64(1) << (--i))))
696	/* next satellite */
697	;
698	if (CurrentObs._obs.size() > 0)
699	_CurrentObsList.push_back(CurrentObs);
700	CurrentObs.clear();
701	CurrentObs._time = CurrentObsTime;
702	if (sys == 'S')
703	CurrentObs._prn.set(sys, 20 - 1 + RTCM3_MSM_NUMSAT - i);
704	else
705	CurrentObs._prn.set(sys, RTCM3_MSM_NUMSAT - i);
706	j = RTCM3_MSM_NUMSIG;
707	while (!(sigmask & (1 << --j)))
708	;
709	--numsat;
710	}
711	if (cellmask & (UINT64(1) << count)) {
712	struct CodeData cd = {0.0, 0};
713	switch (sys) {
714	case 'J':
715	cd = qzss[RTCM3_MSM_NUMSIG - j - 1];
716	break;
717	case 'C':
718	cd = bds[RTCM3_MSM_NUMSIG - j - 1];
719	break;
720	case 'G':
721	case 'S':
722	cd = gps[RTCM3_MSM_NUMSIG - j - 1];
723	break;
724	case 'R':
725	cd = glo[RTCM3_MSM_NUMSIG - j - 1];
726	{
727	int k = GLOFreq[RTCM3_MSM_NUMSAT - i - 1];
728	if (extsat[numsat] < 14) { // channel number is available as extended info for MSM5/7
729	k = GLOFreq[RTCM3_MSM_NUMSAT - i - 1] = 100 + extsat[numsat] - 7;
730	}
731	if (k) {
732	if (cd.wl == 0.0) {
733	cd.wl = GLO_WAVELENGTH_L1(k - 100);
734	}
735	else if (cd.wl == 1.0) {
736	cd.wl = GLO_WAVELENGTH_L2(k - 100);
737	}
738	}
739	else if (!k && cd.wl <= 1) {
740	cd.code = 0;
741	}
742	}
743	break;
744	case 'E':
745	cd = gal[RTCM3_MSM_NUMSIG - j - 1];
746	break;
747	case 'I':
748	cd = irn[RTCM3_MSM_NUMSIG - j - 1];
749	break;
750	}
751	if (cd.code) {
752	t_frqObs *frqObs = new t_frqObs;
753	frqObs->_rnxType2ch.assign(cd.code);
754
755	switch (type % 10) {
756	case 1:
757	if (psr[count] > -1.0 / (1 << 10)) {
758	frqObs->_code = psr[count] * LIGHTSPEED / 1000.0
759	+ (rrmod[numsat]) * LIGHTSPEED / 1000.0;
760	frqObs->_codeValid = true;
761	}
762	break;
763	case 2:
764	if (cp[count] > -1.0 / (1 << 8)) {
765	frqObs->_phase = cp[count] * LIGHTSPEED / 1000.0 / cd.wl
766	+ (rrmod[numsat]) * LIGHTSPEED / 1000.0 / cd.wl;
767	frqObs->_phaseValid = true;
768	frqObs->_lockTime = lti2sec(type,ll[count]);
769	frqObs->_lockTimeValid = (frqObs->_lockTime >= 0.0);
770	frqObs->_slipCounter = ll[count];
771	}
772	break;
773	case 3:
774	if (psr[count] > -1.0 / (1 << 10)) {
775	frqObs->_code = psr[count] * LIGHTSPEED / 1000.0
776	+ (rrmod[numsat]) * LIGHTSPEED / 1000.0;
777	frqObs->_codeValid = true;
778	}
779
780	if (cp[count] > -1.0 / (1 << 8)) {
781	frqObs->_phase = cp[count] * LIGHTSPEED / 1000.0 / cd.wl
782	+ rrmod[numsat] * LIGHTSPEED / 1000.0 / cd.wl;
783	frqObs->_phaseValid = true;
784	frqObs->_lockTime = lti2sec(type,ll[count]);
785	frqObs->_lockTimeValid = (frqObs->_lockTime >= 0.0);
786	frqObs->_slipCounter = ll[count];
787	}
788	break;
789	case 4:
790	if (psr[count] > -1.0 / (1 << 10)) {
791	frqObs->_code = psr[count] * LIGHTSPEED / 1000.0
792	+ (rrmod[numsat] + rrint[numsat]) * LIGHTSPEED / 1000.0;
793	frqObs->_codeValid = true;
794	}
795
796	if (cp[count] > -1.0 / (1 << 8)) {
797	frqObs->_phase = cp[count] * LIGHTSPEED / 1000.0 / cd.wl
798	+ (rrmod[numsat] + rrint[numsat]) * LIGHTSPEED / 1000.0 / cd.wl;
799	frqObs->_phaseValid = true;
800	frqObs->_lockTime = lti2sec(type,ll[count]);
801	frqObs->_lockTimeValid = (frqObs->_lockTime >= 0.0);
802	frqObs->_slipCounter = ll[count];
803	}
804
805	frqObs->_snr = cnr[count];
806	frqObs->_snrValid = true;
807	break;
808	case 5:
809	if (psr[count] > -1.0 / (1 << 10)) {
810	frqObs->_code = psr[count] * LIGHTSPEED / 1000.0
811	+ (rrmod[numsat] + rrint[numsat]) * LIGHTSPEED / 1000.0;
812	frqObs->_codeValid = true;
813	}
814
815	if (cp[count] > -1.0 / (1 << 8)) {
816	frqObs->_phase = cp[count] * LIGHTSPEED / 1000.0 / cd.wl
817	+ (rrmod[numsat] + rrint[numsat]) * LIGHTSPEED / 1000.0 / cd.wl;
818	frqObs->_phaseValid = true;
819	frqObs->_lockTime = lti2sec(type,ll[count]);
820	frqObs->_lockTimeValid = (frqObs->_lockTime >= 0.0);
821	frqObs->_slipCounter = ll[count];
822	}
823
824	frqObs->_snr = cnr[count];
825	frqObs->_snrValid = true;
826
827	if (dop[count] > -1.6384) {
828	frqObs->_doppler = -(dop[count] + rdop[numsat]) / cd.wl;
829	frqObs->_dopplerValid = true;
830	}
831	break;
832	case 6:
833	if (psr[count] > -1.0 / (1 << 10)) {
834	frqObs->_code = psr[count] * LIGHTSPEED / 1000.0
835	+ (rrmod[numsat] + rrint[numsat]) * LIGHTSPEED / 1000.0;
836	frqObs->_codeValid = true;
837	}
838
839	if (cp[count] > -1.0 / (1 << 8)) {
840	frqObs->_phase = cp[count] * LIGHTSPEED / 1000.0 / cd.wl
841	+ (rrmod[numsat] + rrint[numsat]) * LIGHTSPEED / 1000.0 / cd.wl;
842	frqObs->_phaseValid = true;
843	frqObs->_lockTime = lti2sec(type,ll[count]);
844	frqObs->_lockTimeValid = (frqObs->_lockTime >= 0.0);
845	frqObs->_slipCounter = ll[count];
846	}
847
848	frqObs->_snr = cnr[count];
849	frqObs->_snrValid = true;
850	break;
851	case 7:
852	if (psr[count] > -1.0 / (1 << 10)) {
853	frqObs->_code = psr[count] * LIGHTSPEED / 1000.0
854	+ (rrmod[numsat] + rrint[numsat]) * LIGHTSPEED / 1000.0;
855	frqObs->_codeValid = true;
856	}
857
858	if (cp[count] > -1.0 / (1 << 8)) {
859	frqObs->_phase = cp[count] * LIGHTSPEED / 1000.0 / cd.wl
860	+ (rrmod[numsat] + rrint[numsat]) * LIGHTSPEED / 1000.0 / cd.wl;
861	frqObs->_phaseValid = true;
862	frqObs->_lockTime = lti2sec(type,ll[count]);
863	frqObs->_lockTimeValid = (frqObs->_lockTime >= 0.0);
864	frqObs->_slipCounter = ll[count];
865	}
866
867	frqObs->_snr = cnr[count];
868	frqObs->_snrValid = true;
869
870	if (dop[count] > -1.6384) {
871	frqObs->_doppler = -(dop[count] + rdop[numsat]) / cd.wl;
872	frqObs->_dopplerValid = true;
873	}
874	break;
875	}
876	CurrentObs._obs.push_back(frqObs);
877	}
878	}
879	}
880	if (CurrentObs._obs.size() > 0) {
881	_CurrentObsList.push_back(CurrentObs);
882	}
883	}
884	}
885	else if ((type % 10) < 3) {
886	emit(newMessage(QString("%1: Block %2 contain partial data! Ignored!")
887	.arg(_staID).arg(type).toAscii(), true));
888	}
889	if (!syncf) {
890	decoded = true;
891	_obsList.append(_CurrentObsList);
892	_CurrentTime.reset();
893	_CurrentObsList.clear();
894	}
895	return decoded;
896	}
897
898	//
899	////////////////////////////////////////////////////////////////////////////
900	bool RTCM3Decoder::DecodeRTCM3GLONASS(unsigned char* data, int size) {
901	bool decoded = false;
902	bncTime CurrentObsTime;
903	int i, numsats, syncf, type;
904	uint64_t numbits = 0, bitfield = 0;
905
906	data += 3; /* header */
907	size -= 6; /* header + crc */
908
909	GETBITS(type, 12)
910	SKIPBITS(12)
911	/* id */
912	GETBITS(i, 27)
913	/* tk */
914
915	CurrentObsTime.setTk(i);
916	if (_CurrentTime.valid() && CurrentObsTime != _CurrentTime) {
917	decoded = true;
918	_obsList.append(_CurrentObsList);
919	_CurrentObsList.clear();
920	}
921	_CurrentTime = CurrentObsTime;
922
923	GETBITS(syncf, 1)
924	/* sync */
925	GETBITS(numsats, 5)
926	SKIPBITS(4)
927	/* smind, smint */
928
929	while (numsats--) {
930	int sv, code, l1range, amb = 0, freq;
931	t_satObs CurrentObs;
932	CurrentObs._time = CurrentObsTime;
933
934	GETBITS(sv, 6)
935	CurrentObs._prn.set('R', sv);
936	GETBITS(code, 1)
937	GETBITS(freq, 5)
938	GLOFreq[sv - 1] = 100 + freq - 7; /* store frequency for other users (MSM) */
939
940	t_frqObs *frqObs = new t_frqObs;
941	/* L1 */
942	(code) ?
943	frqObs->_rnxType2ch.assign("1P") : frqObs->_rnxType2ch.assign("1C");
944	GETBITS(l1range, 25);
945	GETBITSSIGN(i, 20);
946	if ((i & ((1 << 20) - 1)) != 0x80000) {
947	frqObs->_code = l1range * 0.02;
948	frqObs->_phase = (l1range * 0.02 + i * 0.0005)
949	/ GLO_WAVELENGTH_L1(freq - 7);
950	frqObs->_codeValid = frqObs->_phaseValid = true;
951	}
952	GETBITS(i, 7);
953	frqObs->_lockTime = lti2sec(type,i);
954	frqObs->_lockTimeValid = (frqObs->_lockTime >= 0.0 && frqObs->_phaseValid);
955	frqObs->_slipCounter = i;
956	if (type == 1010 \|\| type == 1012) {
957	GETBITS(amb, 7);
958	if (amb) {
959	frqObs->_code += amb * 599584.916;
960	frqObs->_phase += (amb * 599584.916) / GLO_WAVELENGTH_L1(freq - 7);
961	}
962	GETBITS(i, 8);
963	if (i) {
964	frqObs->_snr = i * 0.25;
965	frqObs->_snrValid = true;
966	}
967	}
968	CurrentObs._obs.push_back(frqObs);
969	if (type == 1011 \|\| type == 1012) {
970	frqObs = new t_frqObs;
971	/* L2 */
972	GETBITS(code, 2);
973	switch (code) {
974	case 3:
975	frqObs->_rnxType2ch.assign("2P");
976	break;
977	case 2:
978	frqObs->_rnxType2ch.assign("2P");
979	break;
980	case 1:
981	frqObs->_rnxType2ch.assign("2P");
982	break;
983	case 0:
984	frqObs->_rnxType2ch.assign("2C");
985	break;
986	}
987	GETBITSSIGN(i, 14);
988	if ((i & ((1 << 14) - 1)) != 0x2000) {
989	frqObs->_code = l1range * 0.02 + i * 0.02 + amb * 599584.916;
990	frqObs->_codeValid = true;
991	}
992	GETBITSSIGN(i, 20);
993	if ((i & ((1 << 20) - 1)) != 0x80000) {
994	frqObs->_phase = (l1range * 0.02 + i * 0.0005 + amb * 599584.916)
995	/ GLO_WAVELENGTH_L2(freq - 7);
996	frqObs->_phaseValid = true;
997	}
998	GETBITS(i, 7);
999	frqObs->_lockTime = lti2sec(type,i);
1000	frqObs->_lockTimeValid = (frqObs->_lockTime >= 0.0 && frqObs->_phaseValid);
1001	frqObs->_slipCounter = i;
1002	if (type == 1012) {
1003	GETBITS(i, 8);
1004	if (i) {
1005	frqObs->_snr = i * 0.25;
1006	frqObs->_snrValid = true;
1007	}
1008	}
1009	CurrentObs._obs.push_back(frqObs);
1010	}
1011	_CurrentObsList.push_back(CurrentObs);
1012	}
1013	if (!syncf) {
1014	decoded = true;
1015	_obsList.append(_CurrentObsList);
1016	_CurrentTime.reset();
1017	_CurrentObsList.clear();
1018	}
1019	return decoded;
1020	}
1021
1022	//
1023	////////////////////////////////////////////////////////////////////////////
1024	bool RTCM3Decoder::DecodeGPSEphemeris(unsigned char* data, int size) {
1025	bool decoded = false;
1026
1027	if (size == 67) {
1028	t_ephGPS eph;
1029	int i, week;
1030	uint64_t numbits = 0, bitfield = 0;
1031	int fitIntervalFalg = 0;
1032
1033	data += 3; /* header */
1034	size -= 6; /* header + crc */
1035	SKIPBITS(12)
1036
1037	eph._receptDateTime = currentDateAndTimeGPS();
1038
1039	GETBITS(i, 6)
1040	eph._prn.set('G', i);
1041	GETBITS(week, 10)
1042	GETBITS(i, 4)
1043	eph._ura = accuracyFromIndex(i, eph.type());
1044	GETBITS(eph._L2Codes, 2)
1045	GETFLOATSIGN(eph._IDOT, 14, R2R_PI/(double)(1<<30)/(double)(1<<13))
1046	GETBITS(eph._IODE, 8)
1047	GETBITS(i, 16)
1048	i <<= 4;
1049	eph._TOC.set(i * 1000);
1050	GETFLOATSIGN(eph._clock_driftrate, 8, 1.0 / (double )(1 << 30) / (double )(1 << 25))
1051	GETFLOATSIGN(eph._clock_drift, 16, 1.0 / (double )(1 << 30) / (double )(1 << 13))
1052	GETFLOATSIGN(eph._clock_bias, 22, 1.0 / (double )(1 << 30) / (double )(1 << 1))
1053
1054	GETBITS(eph._IODC, 10)
1055	GETFLOATSIGN(eph._Crs, 16, 1.0 / (double )(1 << 5))
1056	GETFLOATSIGN(eph._Delta_n, 16, R2R_PI/(double)(1<<30)/(double)(1<<13))
1057	GETFLOATSIGN(eph._M0, 32, R2R_PI/(double)(1<<30)/(double)(1<<1))
1058	GETFLOATSIGN(eph._Cuc, 16, 1.0 / (double )(1 << 29))
1059	GETFLOAT(eph._e, 32, 1.0 / (double )(1 << 30) / (double )(1 << 3))
1060	GETFLOATSIGN(eph._Cus, 16, 1.0 / (double )(1 << 29))
1061	GETFLOAT(eph._sqrt_A, 32, 1.0 / (double )(1 << 19))
1062	GETBITS(i, 16)
1063	i <<= 4;
1064	eph._TOEsec = i;
1065	bncTime t;
1066	t.set(i * 1000);
1067	eph._TOEweek = t.gpsw();
1068	int numOfRollOvers = int(floor(t.gpsw()/1024.0));
1069	week += (numOfRollOvers * 1024);
1070	/* week from HOW, differs from TOC, TOE week, we use adapted value instead */
1071	if (eph._TOEweek > week + 1 \|\| eph._TOEweek < week - 1) /* invalid week */
1072	return false;
1073	GETFLOATSIGN(eph._Cic, 16, 1.0 / (double )(1 << 29))
1074	GETFLOATSIGN(eph._OMEGA0, 32, R2R_PI/(double)(1<<30)/(double)(1<<1))
1075	GETFLOATSIGN(eph._Cis, 16, 1.0 / (double )(1 << 29))
1076	GETFLOATSIGN(eph._i0, 32, R2R_PI/(double)(1<<30)/(double)(1<<1))
1077	GETFLOATSIGN(eph._Crc, 16, 1.0 / (double )(1 << 5))
1078	GETFLOATSIGN(eph._omega, 32, R2R_PI/(double)(1<<30)/(double)(1<<1))
1079	GETFLOATSIGN(eph._OMEGADOT, 24, R2R_PI/(double)(1<<30)/(double)(1<<13))
1080	GETFLOATSIGN(eph._TGD, 8, 1.0 / (double )(1 << 30) / (double )(1 << 1))
1081	GETBITS(eph._health, 6)
1082	GETBITS(eph._L2PFlag, 1)
1083	GETBITS(fitIntervalFalg, 1)
1084	if (fitIntervalFalg == 0) {
1085	eph._fitInterval = 4.0;
1086	}
1087	eph._TOT = 0.9999e9;
1088
1089	emit newGPSEph(eph);
1090	decoded = true;
1091	}
1092	return decoded;
1093	}
1094
1095	//
1096	////////////////////////////////////////////////////////////////////////////
1097	bool 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 - 36060;
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	////////////////////////////////////////////////////////////////////////////
1184	bool 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	int fitIntervalFalg = 0;
1192
1193	data += 3; /* header */
1194	size -= 6; /* header + crc */
1195	SKIPBITS(12)
1196
1197	eph._receptDateTime = currentDateAndTimeGPS();
1198
1199	GETBITS(i, 4)
1200	eph._prn.set('J', i);
1201
1202	GETBITS(i, 16)
1203	i <<= 4;
1204	eph._TOC.set(i * 1000);
1205
1206	GETFLOATSIGN(eph._clock_driftrate, 8, 1.0 / (double )(1 << 30) / (double )(1 << 25))
1207	GETFLOATSIGN(eph._clock_drift, 16, 1.0 / (double )(1 << 30) / (double )(1 << 13))
1208	GETFLOATSIGN(eph._clock_bias, 22, 1.0 / (double )(1 << 30) / (double )(1 << 1))
1209
1210	GETBITS(eph._IODE, 8)
1211	GETFLOATSIGN(eph._Crs, 16, 1.0 / (double )(1 << 5))
1212	GETFLOATSIGN(eph._Delta_n, 16, R2R_PI/(double)(1<<30)/(double)(1<<13))
1213	GETFLOATSIGN(eph._M0, 32, R2R_PI/(double)(1<<30)/(double)(1<<1))
1214	GETFLOATSIGN(eph._Cuc, 16, 1.0 / (double )(1 << 29))
1215	GETFLOAT(eph._e, 32, 1.0 / (double )(1 << 30) / (double )(1 << 3))
1216	GETFLOATSIGN(eph._Cus, 16, 1.0 / (double )(1 << 29))
1217	GETFLOAT(eph._sqrt_A, 32, 1.0 / (double )(1 << 19))
1218	GETBITS(i, 16)
1219	i <<= 4;
1220	eph._TOEsec = i;
1221	bncTime t;
1222	t.set(i*1000);
1223	eph._TOEweek = t.gpsw();
1224	GETFLOATSIGN(eph._Cic, 16, 1.0 / (double )(1 << 29))
1225	GETFLOATSIGN(eph._OMEGA0, 32, R2R_PI/(double)(1<<30)/(double)(1<<1))
1226	GETFLOATSIGN(eph._Cis, 16, 1.0 / (double )(1 << 29))
1227	GETFLOATSIGN(eph._i0, 32, R2R_PI/(double)(1<<30)/(double)(1<<1))
1228	GETFLOATSIGN(eph._Crc, 16, 1.0 / (double )(1 << 5))
1229	GETFLOATSIGN(eph._omega, 32, R2R_PI/(double)(1<<30)/(double)(1<<1))
1230	GETFLOATSIGN(eph._OMEGADOT, 24, R2R_PI/(double)(1<<30)/(double)(1<<13))
1231	GETFLOATSIGN(eph._IDOT, 14, R2R_PI/(double)(1<<30)/(double)(1<<13))
1232	GETBITS(eph._L2Codes, 2)
1233	GETBITS(week, 10)
1234	int numOfRollOvers = int(floor(t.gpsw()/1024.0));
1235	week += (numOfRollOvers * 1024);
1236	/* week from HOW, differs from TOC, TOE week, we use adapted value instead */
1237	if (eph._TOEweek > week + 1 \|\| eph._TOEweek < week - 1) /* invalid week */
1238	return false;
1239
1240	GETBITS(i, 4)
1241	if (i <= 6)
1242	eph._ura = ceil(10.0 * pow(2.0, 1.0 + i / 2.0)) / 10.0;
1243	else
1244	eph._ura = ceil(10.0 * pow(2.0, i / 2.0)) / 10.0;
1245	GETBITS(eph._health, 6)
1246	GETFLOATSIGN(eph._TGD, 8, 1.0 / (double )(1 << 30) / (double )(1 << 1))
1247	GETBITS(eph._IODC, 10)
1248	GETBITS(fitIntervalFalg, 1)
1249	if (fitIntervalFalg == 0) {
1250	eph._fitInterval = 2.0;
1251	}
1252	eph._TOT = 0.9999e9;
1253
1254	emit newGPSEph(eph);
1255	decoded = true;
1256	}
1257	return decoded;
1258	}
1259
1260	//
1261	////////////////////////////////////////////////////////////////////////////
1262	bool RTCM3Decoder::DecodeIRNSSEphemeris(unsigned char* data, int size) {
1263	bool decoded = false;
1264
1265	if (size == 67) {
1266	t_ephGPS eph;
1267	int i, week, L5Flag, SFlag;
1268	uint64_t numbits = 0, bitfield = 0;
1269
1270	data += 3; /* header */
1271	size -= 6; /* header + crc */
1272	SKIPBITS(12)
1273
1274	eph._receptDateTime = currentDateAndTimeGPS();
1275
1276	GETBITS(i, 6)
1277	eph._prn.set('I', i);
1278	GETBITS(week, 10)
1279	GETFLOATSIGN(eph._clock_bias, 22, 1.0 / (double )(1 << 30) / (double )(1 << 1))
1280	GETFLOATSIGN(eph._clock_drift, 16, 1.0 / (double )(1 << 30) / (double )(1 << 13))
1281	GETFLOATSIGN(eph._clock_driftrate, 8, 1.0 / (double )(1 << 30) / (double )(1 << 25))
1282	GETBITS(i, 4)
1283	eph._ura = accuracyFromIndex(i, eph.type());
1284	GETBITS(i, 16)
1285	i <<= 4;
1286	eph._TOC.set(i * 1000);
1287	GETFLOATSIGN(eph._TGD, 8, 1.0 / (double )(1 << 30) / (double )(1 << 1))
1288	GETFLOATSIGN(eph._Delta_n, 22, R2R_PI/(double)(1<<30)/(double)(1 << 11))
1289	// IODCE
1290	GETBITS(eph._IODE, 8)
1291	eph._IODC = eph._IODE;
1292	SKIPBITS(10)
1293	GETBITS(L5Flag, 1)
1294	GETBITS(SFlag, 1)
1295	if (L5Flag == 0 && SFlag == 0) {
1296	eph._health = 0.0;
1297	}
1298	else if (L5Flag == 0 && SFlag == 1) {
1299	eph._health = 1.0;
1300	}
1301	else if (L5Flag == 1 && SFlag == 0) {
1302	eph._health = 2.0;
1303	}
1304	else if (L5Flag == 1 && SFlag == 1) {
1305	eph._health = 3.0;
1306	}
1307	GETFLOATSIGN(eph._Cuc, 15, 1.0 / (double )(1 << 28))
1308	GETFLOATSIGN(eph._Cus, 15, 1.0 / (double )(1 << 28))
1309	GETFLOATSIGN(eph._Cic, 15, 1.0 / (double )(1 << 28))
1310	GETFLOATSIGN(eph._Cis, 15, 1.0 / (double )(1 << 28))
1311	GETFLOATSIGN(eph._Crc, 15, 1.0 / (double )(1 << 4))
1312	GETFLOATSIGN(eph._Crs, 15, 1.0 / (double )(1 << 4))
1313	GETFLOATSIGN(eph._IDOT, 14, R2R_PI/(double)(1<<30)/(double)(1<<13))
1314	GETFLOATSIGN(eph._M0, 32, R2R_PI/(double)(1<<30)/(double)(1<< 1))
1315	GETBITS(i, 16)
1316	i <<= 4;
1317	eph._TOEsec = i;
1318	bncTime t;
1319	t.set(i * 1000);
1320	eph._TOEweek = t.gpsw();
1321	int numOfRollOvers = int(floor(t.gpsw()/1024.0));
1322	week += (numOfRollOvers * 1024);
1323	/* week from HOW, differs from TOC, TOE week, we use adapted value instead */
1324	if (eph._TOEweek > week + 1 \|\| eph._TOEweek < week - 1) /* invalid week */
1325	return false;
1326	GETFLOAT(eph._e, 32, 1.0 / (double )(1 << 30) / (double )(1 << 3))
1327	GETFLOAT(eph._sqrt_A, 32, 1.0 / (double )(1 << 19))
1328	GETFLOATSIGN(eph._OMEGA0, 32, R2R_PI/(double)(1<<30)/(double)(1<< 1))
1329	GETFLOATSIGN(eph._omega, 32, R2R_PI/(double)(1<<30)/(double)(1<< 1))
1330	GETFLOATSIGN(eph._OMEGADOT, 22, R2R_PI/(double)(1<<30)/(double)(1<<11))
1331	GETFLOATSIGN(eph._i0, 32, R2R_PI/(double)(1<<30)/(double)(1<< 1))
1332	SKIPBITS(2)
1333	SKIPBITS(2)
1334	eph._TOT = 0.9999e9;
1335
1336	emit newGPSEph(eph);
1337	decoded = true;
1338	}
1339	return decoded;
1340	}
1341
1342	//
1343	////////////////////////////////////////////////////////////////////////////
1344	bool RTCM3Decoder::DecodeSBASEphemeris(unsigned char* data, int size) {
1345	bool decoded = false;
1346
1347	if (size == 35) {
1348	t_ephSBAS eph;
1349	int i;
1350	uint64_t numbits = 0, bitfield = 0;
1351
1352	data += 3; /* header */
1353	size -= 6; /* header + crc */
1354	SKIPBITS(12)
1355
1356	eph._receptDateTime = currentDateAndTimeGPS();
1357
1358	GETBITS(i, 6)
1359	eph._prn.set('S', 20 + i);
1360	GETBITS(eph._IODN, 8)
1361	GETBITS(i, 13)
1362	i <<= 4;
1363	eph._TOC.setTOD(i * 1000);
1364	GETBITS(i, 4)
1365	eph._ura = accuracyFromIndex(i, eph.type());
1366	GETFLOATSIGN(eph._x_pos, 30, 0.08)
1367	GETFLOATSIGN(eph._y_pos, 30, 0.08)
1368	GETFLOATSIGN(eph._z_pos, 25, 0.4)
1369	GETFLOATSIGN(eph._x_velocity, 17, 0.000625)
1370	GETFLOATSIGN(eph._y_velocity, 17, 0.000625)
1371	GETFLOATSIGN(eph._z_velocity, 18, 0.004)
1372	GETFLOATSIGN(eph._x_acceleration, 10, 0.0000125)
1373	GETFLOATSIGN(eph._y_acceleration, 10, 0.0000125)
1374	GETFLOATSIGN(eph._z_acceleration, 10, 0.0000625)
1375	GETFLOATSIGN(eph._agf0, 12, 1.0 / (1 << 30) / (1 << 1))
1376	GETFLOATSIGN(eph._agf1, 8, 1.0 / (1 << 30) / (1 << 10))
1377
1378	eph._TOT = 0.9999E9;
1379	eph._health = 0;
1380
1381	emit newSBASEph(eph);
1382	decoded = true;
1383	}
1384	return decoded;
1385	}
1386
1387	//
1388	////////////////////////////////////////////////////////////////////////////
1389	bool RTCM3Decoder::DecodeGalileoEphemeris(unsigned char* data, int size) {
1390	bool decoded = false;
1391	uint64_t numbits = 0, bitfield = 0;
1392	int i;
1393
1394	data += 3; /* header */
1395	size -= 6; /* header + crc */
1396	GETBITS(i, 12)
1397
1398	if ((i == 1046 && size == 61) \|\| (i == 1045 && size == 60)) {
1399	t_ephGal eph;
1400
1401	eph._receptDateTime = currentDateAndTimeGPS();
1402
1403	eph._inav = (i == 1046);
1404	eph._fnav = (i == 1045);
1405	GETBITS(i, 6)
1406	eph._prn.set('E', i, eph._inav ? 1 : 0);
1407
1408	GETBITS(eph._TOEweek, 12) //FIXME: roll-over after week 4095!!
1409	GETBITS(eph._IODnav, 10)
1410	GETBITS(i, 8)
1411	eph._SISA = accuracyFromIndex(i, eph.type());
1412	GETFLOATSIGN(eph._IDOT, 14, R2R_PI/(double)(1<<30)/(double)(1<<13))
1413	GETBITSFACTOR(i, 14, 60)
1414	eph._TOC.set(1024 + eph._TOEweek, i);
1415	GETFLOATSIGN(eph._clock_driftrate, 6, 1.0 / (double )(1 << 30) / (double )(1 << 29))
1416	GETFLOATSIGN(eph._clock_drift, 21, 1.0 / (double )(1 << 30) / (double )(1 << 16))
1417	GETFLOATSIGN(eph._clock_bias, 31, 1.0 / (double )(1 << 30) / (double )(1 << 4))
1418	GETFLOATSIGN(eph._Crs, 16, 1.0 / (double )(1 << 5))
1419	GETFLOATSIGN(eph._Delta_n, 16, R2R_PI/(double)(1<<30)/(double)(1<<13))
1420	GETFLOATSIGN(eph._M0, 32, R2R_PI/(double)(1<<30)/(double)(1<<1))
1421	GETFLOATSIGN(eph._Cuc, 16, 1.0 / (double )(1 << 29))
1422	GETFLOAT(eph._e, 32, 1.0 / (double )(1 << 30) / (double )(1 << 3))
1423	GETFLOATSIGN(eph._Cus, 16, 1.0 / (double )(1 << 29))
1424	GETFLOAT(eph._sqrt_A, 32, 1.0 / (double )(1 << 19))
1425	GETBITSFACTOR(eph._TOEsec, 14, 60)
1426	/* FIXME: overwrite value, copied from old code */
1427	eph._TOEsec = eph._TOC.gpssec();
1428	GETFLOATSIGN(eph._Cic, 16, 1.0 / (double )(1 << 29))
1429	GETFLOATSIGN(eph._OMEGA0, 32, R2R_PI/(double)(1<<30)/(double)(1<<1))
1430	GETFLOATSIGN(eph._Cis, 16, 1.0 / (double )(1 << 29))
1431	GETFLOATSIGN(eph._i0, 32, R2R_PI/(double)(1<<30)/(double)(1<<1))
1432	GETFLOATSIGN(eph._Crc, 16, 1.0 / (double )(1 << 5))
1433	GETFLOATSIGN(eph._omega, 32, R2R_PI/(double)(1<<30)/(double)(1<<1))
1434	GETFLOATSIGN(eph._OMEGADOT, 24, R2R_PI/(double)(1<<30)/(double)(1<<13))
1435	GETFLOATSIGN(eph._BGD_1_5A, 10,
1436	1.0 / (double )(1 << 30) / (double )(1 << 2))
1437	if (eph._inav) {
1438	/* set unused F/NAV values */
1439	eph._E5aHS = 0.0;
1440	eph._e5aDataInValid = false;
1441
1442	GETFLOATSIGN(eph._BGD_1_5B, 10, 1.0 / (double )(1 << 30) / (double )(1 << 2))
1443	GETBITS(eph._E5bHS, 2)
1444	GETBITS(eph._e5bDataInValid, 1)
1445	GETBITS(eph._E1_bHS, 2)
1446	GETBITS(eph._e1DataInValid, 1)
1447	}
1448	else {
1449	/* set unused I/NAV values */
1450	eph._BGD_1_5B = 0.0;
1451	eph._E5bHS = 0.0;
1452	eph._E1_bHS = 0.0;
1453	eph._e1DataInValid = false;
1454	eph._e5bDataInValid = false;
1455
1456	GETBITS(eph._E5aHS, 2)
1457	GETBITS(eph._e5aDataInValid, 1)
1458	}
1459	eph._TOT = 0.9999e9;
1460
1461	emit newGalileoEph(eph);
1462	decoded = true;
1463	}
1464	return decoded;
1465	}
1466
1467	//
1468	////////////////////////////////////////////////////////////////////////////
1469	bool RTCM3Decoder::DecodeBDSEphemeris(unsigned char* data, int size) {
1470	bool decoded = false;
1471
1472	if (size == 70) {
1473	t_ephBDS eph;
1474	int i;
1475	uint64_t numbits = 0, bitfield = 0;
1476
1477	data += 3; /* header */
1478	size -= 6; /* header + crc */
1479	SKIPBITS(12)
1480
1481	eph._receptDateTime = currentDateAndTimeGPS();
1482
1483	GETBITS(i, 6)
1484	eph._prn.set('C', i);
1485
1486	SKIPBITS(13)
1487	/* week */
1488	GETBITS(i, 4)
1489	eph._URA = accuracyFromIndex(i, eph.type());
1490	GETFLOATSIGN(eph._IDOT, 14, R2R_PI/(double)(1<<30)/(double)(1<<13))
1491	GETBITS(eph._AODE, 5)
1492	GETBITS(i, 17)
1493	i <<= 3;
1494	eph._TOC.setBDS(i * 1000);
1495	GETFLOATSIGN(eph._clock_driftrate, 11, 1.0 / (double )(1 << 30) / (double )(1 << 30) / (double )(1 << 6))
1496	GETFLOATSIGN(eph._clock_drift, 22, 1.0 / (double )(1 << 30) / (double )(1 << 20))
1497	GETFLOATSIGN(eph._clock_bias, 24, 1.0 / (double )(1 << 30) / (double )(1 << 3))
1498	GETBITS(eph._AODC, 5)
1499	GETFLOATSIGN(eph._Crs, 18, 1.0 / (double )(1 << 6))
1500	GETFLOATSIGN(eph._Delta_n, 16, R2R_PI/(double)(1<<30)/(double)(1<<13))
1501	GETFLOATSIGN(eph._M0, 32, R2R_PI/(double)(1<<30)/(double)(1<<1))
1502	GETFLOATSIGN(eph._Cuc, 18, 1.0 / (double )(1 << 30) / (double )(1 << 1))
1503	GETFLOAT(eph._e, 32, 1.0 / (double )(1 << 30) / (double )(1 << 3))
1504	GETFLOATSIGN(eph._Cus, 18, 1.0 / (double )(1 << 30) / (double )(1 << 1))
1505	GETFLOAT(eph._sqrt_A, 32, 1.0 / (double )(1 << 19))
1506	GETBITS(i, 17)
1507	i <<= 3;
1508	eph._TOEsec = i;
1509	eph._TOE.setBDS(i * 1000);
1510	GETFLOATSIGN(eph._Cic, 18, 1.0 / (double )(1 << 30) / (double )(1 << 1))
1511	GETFLOATSIGN(eph._OMEGA0, 32, R2R_PI/(double)(1<<30)/(double)(1<<1))
1512	GETFLOATSIGN(eph._Cis, 18, 1.0 / (double )(1 << 30) / (double )(1 << 1))
1513	GETFLOATSIGN(eph._i0, 32, R2R_PI/(double)(1<<30)/(double)(1<<1))
1514	GETFLOATSIGN(eph._Crc, 18, 1.0 / (double )(1 << 6))
1515	GETFLOATSIGN(eph._omega, 32, R2R_PI/(double)(1<<30)/(double)(1<<1))
1516	GETFLOATSIGN(eph._OMEGADOT, 24, R2R_PI/(double)(1<<30)/(double)(1<<13))
1517	GETFLOATSIGN(eph._TGD1, 10, 0.0000000001)
1518	GETFLOATSIGN(eph._TGD2, 10, 0.0000000001)
1519	GETBITS(eph._SatH1, 1)
1520
1521	eph._TOT = 0.9999E9;
1522	emit newBDSEph(eph);
1523	decoded = true;
1524	}
1525	return decoded;
1526	}
1527
1528	//
1529	////////////////////////////////////////////////////////////////////////////
1530	bool RTCM3Decoder::DecodeAntennaReceiver(unsigned char* data, int size) {
1531	char *antenna, anttype[256];
1532	char *dummy;
1533	char *receiver, rectype[256];
1534
1535	int type;
1536
1537	int dnum = -1;
1538	int antnum = -1;
1539	int recnum = -1;
1540	uint64_t numbits = 0, bitfield = 0;
1541
1542	data += 3; /* header*/
1543	size -= 6; /* header + crc */
1544
1545	GETBITS(type, 12)
1546	SKIPBITS(12)
1547	GETSTRING(antnum, antenna)
1548	if (antnum > -1 && antnum < 265) {
1549	memcpy(anttype, antenna, antnum);
1550	anttype[antnum] = 0;
1551	if (!_antType.contains(anttype)) {
1552	_antType.push_back(anttype);
1553	}
1554	}
1555	if (type == 1033) {
1556	SKIPBITS(8)
1557	GETSTRING(dnum, dummy)
1558	GETSTRING(recnum, receiver)
1559	if (recnum > -1 && recnum < 265) {
1560	memcpy(rectype, receiver, recnum);
1561	rectype[recnum] = 0;
1562	if (!_recType.contains(rectype)) {
1563	_recType.push_back(rectype);
1564	}
1565	}
1566	}
1567	return true;
1568	}
1569
1570	//
1571	////////////////////////////////////////////////////////////////////////////
1572	bool RTCM3Decoder::DecodeAntennaPosition(unsigned char* data, int size) {
1573	int type;
1574	uint64_t numbits = 0, bitfield = 0;
1575	double x, y, z;
1576
1577	data += 3; /* header */
1578	size -= 6; /* header + crc */
1579
1580	GETBITS(type, 12)
1581	_antList.push_back(t_antInfo());
1582	_antList.back().type = t_antInfo::ARP;
1583	SKIPBITS(22)
1584	GETBITSSIGN(x, 38)
1585	_antList.back().xx = x * 1e-4;
1586	SKIPBITS(2)
1587	GETBITSSIGN(y, 38)
1588	_antList.back().yy = y * 1e-4;
1589	SKIPBITS(2)
1590	GETBITSSIGN(z, 38)
1591	_antList.back().zz = z * 1e-4;
1592	if (type == 1006)
1593	{
1594	double h;
1595	GETBITS(h, 16)
1596	_antList.back().height = h * 1e-4;
1597	_antList.back().height_f = true;
1598	}
1599	_antList.back().message = type;
1600
1601	return true;
1602	}
1603
1604	//
1605	////////////////////////////////////////////////////////////////////////////
1606	t_irc RTCM3Decoder::Decode(char* buffer, int bufLen, vector<string>& errmsg) {
1607	bool decoded = false;
1608
1609	errmsg.clear();
1610
1611	while (bufLen && _MessageSize < sizeof(_Message)) {
1612	int l = sizeof(_Message) - _MessageSize;
1613	if (l > bufLen)
1614	l = bufLen;
1615	memcpy(_Message + _MessageSize, buffer, l);
1616	_MessageSize += l;
1617	bufLen -= l;
1618	buffer += l;
1619	int id;
1620	while ((id = GetMessage())) {
1621	/* reset station ID for file loading as it can change */
1622	if (_rawFile)
1623	_staID = _rawFile->staID();
1624	/* store the id into the list of loaded blocks */
1625	_typeList.push_back(id);
1626
1627	/* SSR I+II data handled in another function, already pass the
1628	* extracted data block. That does no harm, as it anyway skip everything
1629	* else. */
1630	if ((id >= 1057 && id <= 1068) \|\| (id >= 1240 && id <= 1270)) {
1631	if (!_coDecoders.contains(_staID.toAscii()))
1632	_coDecoders[_staID.toAscii()] = new RTCM3coDecoder(_staID);
1633	RTCM3coDecoder* coDecoder = _coDecoders[_staID.toAscii()];
1634	if (coDecoder->Decode(reinterpret_cast<char *>(_Message), _BlockSize,
1635	errmsg) == success) {
1636	decoded = true;
1637	}
1638	}
1639	else if ((id >= 1070 && id <= 1229) \|\|
1640	(id >= 21 && id <= 27)) /* MSM */ {
1641	if (DecodeRTCM3MSM(_Message, _BlockSize))
1642	decoded = true;
1643	}
1644	else {
1645	switch (id) {
1646	case 1001:
1647	case 1003:
1648	emit(newMessage(
1649	QString("%1: Block %2 contain partial data! Ignored!")
1650	.arg(_staID).arg(id).toAscii(), true));
1651	break; /* no use decoding partial data ATM, remove break when data can be used */
1652	case 1002:
1653	case 1004:
1654	if (DecodeRTCM3GPS(_Message, _BlockSize))
1655	decoded = true;
1656	break;
1657	case 1009:
1658	case 1011:
1659	emit(newMessage(
1660	QString("%1: Block %2 contain partial data! Ignored!")
1661	.arg(_staID).arg(id).toAscii(), true));
1662	break; /* no use decoding partial data ATM, remove break when data can be used */
1663	case 1010:
1664	case 1012:
1665	if (DecodeRTCM3GLONASS(_Message, _BlockSize))
1666	decoded = true;
1667	break;
1668	case 1019:
1669	if (DecodeGPSEphemeris(_Message, _BlockSize))
1670	decoded = true;
1671	break;
1672	case 1020:
1673	if (DecodeGLONASSEphemeris(_Message, _BlockSize))
1674	decoded = true;
1675	break;
1676	case 1043:
1677	if (DecodeSBASEphemeris(_Message, _BlockSize))
1678	decoded = true;
1679	break;
1680	case 1044:
1681	if (DecodeQZSSEphemeris(_Message, _BlockSize))
1682	decoded = true;
1683	break;
1684	case 29:
1685	if (DecodeIRNSSEphemeris(_Message, _BlockSize))
1686	decoded = true;
1687	break;
1688	case 1045:
1689	case 1046:
1690	if (DecodeGalileoEphemeris(_Message, _BlockSize))
1691	decoded = true;
1692	break;
1693	case RTCM3ID_BDS:
1694	if (DecodeBDSEphemeris(_Message, _BlockSize))
1695	decoded = true;
1696	break;
1697	case 1007:
1698	case 1008:
1699	case 1033:
1700	DecodeAntennaReceiver(_Message, _BlockSize);
1701	break;
1702	case 1005:
1703	case 1006:
1704	DecodeAntennaPosition(_Message, _BlockSize);
1705	break;
1706	}
1707	}
1708	}
1709	}
1710	return decoded ? success : failure;
1711	}
1712	;
1713
1714	//
1715	////////////////////////////////////////////////////////////////////////////
1716	uint32_t RTCM3Decoder::CRC24(long size, const unsigned char *buf) {
1717	uint32_t crc = 0;
1718	int i;
1719
1720	while (size--) {
1721	crc ^= (*buf++) << (16);
1722	for (i = 0; i < 8; i++)
1723	{
1724	crc <<= 1;
1725	if (crc & 0x1000000)
1726	crc ^= 0x01864cfb;
1727	}
1728	}
1729	return crc;
1730	}
1731
1732	//
1733	////////////////////////////////////////////////////////////////////////////
1734	int RTCM3Decoder::GetMessage(void) {
1735	unsigned char m, e;
1736	int i;
1737
1738	m = _Message + _SkipBytes;
1739	e = _Message + _MessageSize;
1740	_NeedBytes = _SkipBytes = 0;
1741	while (e - m >= 3) {
1742	if (m[0] == 0xD3) {
1743	_BlockSize = ((m[1] & 3) << 8) \| m[2];
1744	if (e - m >= static_cast<int>(_BlockSize + 6)) {
1745	if (static_cast<uint32_t>((m[3 + _BlockSize] << 16)
1746	\| (m[3 + _BlockSize + 1] << 8)
1747	\| (m[3 + _BlockSize + 2])) == CRC24(_BlockSize + 3, m)) {
1748	_BlockSize += 6;
1749	_SkipBytes = _BlockSize;
1750	break;
1751	}
1752	else
1753	++m;
1754	}
1755	else {
1756	_NeedBytes = _BlockSize;
1757	break;
1758	}
1759	}
1760	else
1761	++m;
1762	}
1763	if (e - m < 3)
1764	_NeedBytes = 3;
1765
1766	/* copy buffer to front */
1767	i = m - _Message;
1768	if (i && m < e)
1769	memmove(_Message, m, static_cast<size_t>(_MessageSize - i));
1770	_MessageSize -= i;
1771
1772	return !_NeedBytes ? ((_Message[3] << 4) \| (_Message[4] >> 4)) : 0;
1773	}
1774
1775	// Time of Corrections
1776	//////////////////////////////////////////////////////////////////////////////
1777	int RTCM3Decoder::corrGPSEpochTime() const {
1778	return
1779	_coDecoders.size() > 0 ?
1780	_coDecoders.begin().value()->corrGPSEpochTime() : -1;
1781	}

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