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RTCM3Decoder.cpp@ 10603

Last change on this file since 10603 was 10599, checked in by stuerze, 2 weeks ago
ADDED: consideration of NAV type in all applications
File size: 75.3 KB

Rev	Line
[297]	1	// Part of BNC, a utility for retrieving decoding and
[464]	2	// converting GNSS data streams from NTRIP broadcasters.
[297]	3	//
[464]	4	// Copyright (C) 2007
[297]	5	// German Federal Agency for Cartography and Geodesy (BKG)
	6	// http://www.bkg.bund.de
[464]	7	// Czech Technical University Prague, Department of Geodesy
[297]	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.
[296]	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	*
[7753]	37	* Changes:
[296]	38	*
	39	* -----------------------------------------------------------------------*/
	40
	41	#include <iostream>
[1807]	42	#include <iomanip>
	43	#include <sstream>
[296]	44	#include <math.h>
[585]	45	#include <string.h>
[296]	46
[6812]	47	#include "bits.h"
	48	#include "gnss.h"
[296]	49	#include "RTCM3Decoder.h"
[6812]	50	#include "rtcm_utils.h"
[296]	51	#include "bncconst.h"
[5070]	52	#include "bnccore.h"
[1535]	53	#include "bncutils.h"
[7753]	54	#include "bncsettings.h"
[10534]	55	#include "bnctime.h"
	56	#include "crs.h"
[296]	57
	58	using namespace std;
	59
[320]	60	// Error Handling
	61	////////////////////////////////////////////////////////////////////////////
[504]	62	void RTCM3Error(const char*, ...) {
[505]	63	}
[320]	64
[296]	65	// Constructor
	66	////////////////////////////////////////////////////////////////////////////
[7753]	67	RTCM3Decoder::RTCM3Decoder(const QString& staID, bncRawFile* rawFile) :
[8158]	68	GPSDecoder() {
[505]	69
[8158]	70	_staID = staID;
[2527]	71	_rawFile = rawFile;
[2387]	72
[10599]	73	connect(this, SIGNAL(newGPSEph(t_ephGPS)), BNC_CORE, SLOT(slotNewGPSEph(t_ephGPS)));
	74	connect(this, SIGNAL(newGlonassEph(t_ephGlo)), BNC_CORE, SLOT(slotNewGlonassEph(t_ephGlo)));
	75	connect(this, SIGNAL(newGalileoEph(t_ephGal)), BNC_CORE, SLOT(slotNewGalileoEph(t_ephGal)));
	76	connect(this, SIGNAL(newSBASEph(t_ephSBAS)), BNC_CORE, SLOT(slotNewSBASEph(t_ephSBAS)));
	77	connect(this, SIGNAL(newBDSEph(t_ephBDS)), BNC_CORE, SLOT(slotNewBDSEph(t_ephBDS)));
[939]	78
[6812]	79	_MessageSize = _SkipBytes = _BlockSize = _NeedBytes = 0;
[296]	80	}
	81
	82	// Destructor
	83	////////////////////////////////////////////////////////////////////////////
	84	RTCM3Decoder::~RTCM3Decoder() {
[3001]	85	QMapIterator<QByteArray, RTCM3coDecoder*> it(_coDecoders);
[10234]	86	while (it.hasNext()) {
[3008]	87	it.next();
	88	delete it.value();
[3001]	89	}
[10234]	90	_coDecoders.clear();
[296]	91	}
	92
[7753]	93	//
[296]	94	////////////////////////////////////////////////////////////////////////////
[8158]	95	bool RTCM3Decoder::DecodeRTCM3GPS(unsigned char* data, int size) {
[6812]	96	bool decoded = false;
	97	bncTime CurrentObsTime;
	98	int i, numsats, syncf, type;
	99	uint64_t numbits = 0, bitfield = 0;
[508]	100
[6812]	101	data += 3; /* header */
	102	size -= 6; /* header + crc */
[1218]	103
[6812]	104	GETBITS(type, 12)
[8158]	105	SKIPBITS(12)
	106	/* id */
	107	GETBITS(i, 30)
[8159]	108
[8158]	109	CurrentObsTime.set(i);
	110	if (_CurrentTime.valid() && CurrentObsTime != _CurrentTime) {
[6812]	111	decoded = true;
[8164]	112	_obsList.append(_CurrentObsList);
[6812]	113	_CurrentObsList.clear();
[2551]	114	}
[7753]	115
[6812]	116	_CurrentTime = CurrentObsTime;
[2551]	117
[8158]	118	GETBITS(syncf, 1)
	119	/* sync */
	120	GETBITS(numsats, 5)
	121	SKIPBITS(4)
	122	/* smind, smint */
[3002]	123
[8158]	124	while (numsats--) {
	125	int sv, code, l1range, amb = 0;
[6812]	126	t_satObs CurrentObs;
	127	CurrentObs._time = CurrentObsTime;
[9541]	128	CurrentObs._type = type;
[6812]	129
	130	GETBITS(sv, 6)
[10599]	131	char sys;
	132	int num, flag;
	133	if (sv < 40) {
	134	sys = 'G';
	135	num = sv;
	136	}
	137	else {
	138	sys = 'S';
	139	num = sv - 20;
	140	}
	141	flag = t_corrSSR::getSsrNavTypeFlag(sys, num);
	142	CurrentObs._prn.set(sys, num, flag);
[6812]	143
	144	t_frqObs *frqObs = new t_frqObs;
	145	/* L1 */
	146	GETBITS(code, 1);
[8158]	147	(code) ?
	148	frqObs->_rnxType2ch.assign("1W") : frqObs->_rnxType2ch.assign("1C");
[6812]	149	GETBITS(l1range, 24);
	150	GETBITSSIGN(i, 20);
[8158]	151	if ((i & ((1 << 20) - 1)) != 0x80000) {
	152	frqObs->_code = l1range * 0.02;
	153	frqObs->_phase = (l1range * 0.02 + i * 0.0005) / GPS_WAVELENGTH_L1;
[6812]	154	frqObs->_codeValid = frqObs->_phaseValid = true;
[3002]	155	}
[9088]	156	GETBITS(frqObs->_lockTimeIndicator, 7);
	157	frqObs->_lockTime = lti2sec(type, frqObs->_lockTimeIndicator);
[8617]	158	frqObs->_lockTimeValid = (frqObs->_lockTime >= 0.0 && frqObs->_phaseValid);
[8158]	159	if (type == 1002 \|\| type == 1004) {
	160	GETBITS(amb, 8);
	161	if (amb) {
	162	frqObs->_code += amb * 299792.458;
	163	frqObs->_phase += (amb * 299792.458) / GPS_WAVELENGTH_L1;
[1021]	164	}
[6812]	165	GETBITS(i, 8);
[8158]	166	if (i) {
	167	frqObs->_snr = i * 0.25;
[6812]	168	frqObs->_snrValid = true;
	169	}
[1021]	170	}
[6812]	171	CurrentObs._obs.push_back(frqObs);
[8158]	172	if (type == 1003 \|\| type == 1004) {
[6812]	173	frqObs = new t_frqObs;
	174	/* L2 */
[8158]	175	GETBITS(code, 2);
	176	switch (code) {
	177	case 3:
	178	frqObs->_rnxType2ch.assign("2W"); /* or "2Y"? */
	179	break;
	180	case 2:
	181	frqObs->_rnxType2ch.assign("2W");
	182	break;
	183	case 1:
	184	frqObs->_rnxType2ch.assign("2P");
	185	break;
	186	case 0:
	187	frqObs->_rnxType2ch.assign("2X"); /* or "2S" or "2L"? */
	188	break;
[6812]	189	}
[8158]	190	GETBITSSIGN(i, 14);
	191	if ((i & ((1 << 14) - 1)) != 0x2000) {
	192	frqObs->_code = l1range * 0.02 + i * 0.02 + amb * 299792.458;
[6812]	193	frqObs->_codeValid = true;
	194	}
[8158]	195	GETBITSSIGN(i, 20);
	196	if ((i & ((1 << 20) - 1)) != 0x80000) {
	197	frqObs->_phase = (l1range * 0.02 + i * 0.0005 + amb * 299792.458)
	198	/ GPS_WAVELENGTH_L2;
[6812]	199	frqObs->_phaseValid = true;
	200	}
[9088]	201	GETBITS(frqObs->_lockTimeIndicator, 7);
	202	frqObs->_lockTime = lti2sec(type, frqObs->_lockTimeIndicator);
[8682]	203	frqObs->_lockTimeValid = (frqObs->_lockTime >= 0.0 && frqObs->_phaseValid);
[8158]	204	if (type == 1004) {
[6812]	205	GETBITS(i, 8);
[8158]	206	if (i) {
	207	frqObs->_snr = i * 0.25;
[6812]	208	frqObs->_snrValid = true;
	209	}
	210	}
	211	CurrentObs._obs.push_back(frqObs);
	212	}
	213	_CurrentObsList.push_back(CurrentObs);
[913]	214	}
[7753]	215
[8158]	216	if (!syncf) {
[6812]	217	decoded = true;
[7753]	218	_obsList.append(_CurrentObsList);
[6812]	219	_CurrentTime.reset();
	220	_CurrentObsList.clear();
[2527]	221	}
[6812]	222	return decoded;
	223	}
[2527]	224
[6812]	225	#define RTCM3_MSM_NUMSIG 32
	226	#define RTCM3_MSM_NUMSAT 64
	227	#define RTCM3_MSM_NUMCELLS 96 /* arbitrary limit */
[1127]	228
[6812]	229	/**
	230	* Frequency numbers of GLONASS with an offset of 100 to detect unset values.
	231	* Gets filled by ephemeris and data blocks and shared between different streams.
	232	*/
	233	static int GLOFreq[RTCM3_MSM_NUMSAT];
[1127]	234
[6812]	235	/*
	236	* Storage structure to store frequency and RINEX ID assignment for MSM
	237	* message */
	238	struct CodeData {
	239	double wl;
	240	const char code; / currently unused */
	241	};
[2677]	242
[6812]	243	/** MSM signal types for GPS and SBAS */
[8158]	244	static struct CodeData gps[RTCM3_MSM_NUMSIG] = {
	245	{0.0, 0},
	246	{GPS_WAVELENGTH_L1, "1C"},
	247	{GPS_WAVELENGTH_L1, "1P"},
	248	{GPS_WAVELENGTH_L1, "1W"},
	249	{0.0, 0},
	250	{0.0, 0},
[8801]	251	{0.0, 0},
[8158]	252	{GPS_WAVELENGTH_L2, "2C"},
	253	{GPS_WAVELENGTH_L2, "2P"},
	254	{GPS_WAVELENGTH_L2, "2W"},
	255	{0.0, 0},
	256	{0.0, 0},
	257	{0.0, 0},
[8801]	258	{0.0, 0},
[8158]	259	{GPS_WAVELENGTH_L2, "2S"},
	260	{GPS_WAVELENGTH_L2, "2L"},
	261	{GPS_WAVELENGTH_L2, "2X"},
	262	{0.0, 0},
	263	{0.0, 0},
	264	{0.0, 0},
	265	{0.0, 0},
	266	{GPS_WAVELENGTH_L5, "5I"},
	267	{GPS_WAVELENGTH_L5, "5Q"},
	268	{GPS_WAVELENGTH_L5, "5X"},
	269	{0.0, 0},
	270	{0.0, 0},
	271	{0.0, 0},
	272	{0.0, 0},
	273	{0.0, 0},
	274	{GPS_WAVELENGTH_L1, "1S"},
	275	{GPS_WAVELENGTH_L1, "1L"},
	276	{GPS_WAVELENGTH_L1, "1X"}
	277	};
[1185]	278
[6812]	279	/**
	280	* MSM signal types for GLONASS
[7753]	281	*
[6812]	282	* NOTE: Uses 0.0, 1.0 for wavelength as sat index dependence is done later!
	283	*/
[8158]	284	static struct CodeData glo[RTCM3_MSM_NUMSIG] = {
	285	{0.0, 0},
	286	{0.0, "1C"},
	287	{0.0, "1P"},
	288	{0.0, 0},
	289	{0.0, 0},
	290	{0.0, 0},
	291	{0.0, 0},
	292	{1.0, "2C"},
	293	{1.0, "2P"},
[8801]	294	{GLO_WAVELENGTH_L1a, "4A"},
	295	{GLO_WAVELENGTH_L1a, "4B"},
	296	{GLO_WAVELENGTH_L1a, "4X"},
	297	{GLO_WAVELENGTH_L2a, "6A"},
	298	{GLO_WAVELENGTH_L2a, "6B"},
	299	{GLO_WAVELENGTH_L2a, "6X"},
	300	{GLO_WAVELENGTH_L3, "3I"},
	301	{GLO_WAVELENGTH_L3, "3Q"},
	302	{GLO_WAVELENGTH_L3, "3X"},
[8158]	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	{0.0, 0},
	314	{0.0, 0},
	315	{0.0, 0},
	316	{0.0, 0}
	317	};
[1130]	318
[6812]	319	/** MSM signal types for Galileo */
[8158]	320	static struct CodeData gal[RTCM3_MSM_NUMSIG] = {
	321	{0.0, 0},
[8801]	322	{GAL_WAVELENGTH_E1, "1C"},
	323	{GAL_WAVELENGTH_E1, "1A"},
	324	{GAL_WAVELENGTH_E1, "1B"},
	325	{GAL_WAVELENGTH_E1, "1X"},
	326	{GAL_WAVELENGTH_E1, "1Z"},
[8158]	327	{0.0, 0},
[8801]	328	{GAL_WAVELENGTH_E6, "6C"},
	329	{GAL_WAVELENGTH_E6, "6A"},
	330	{GAL_WAVELENGTH_E6, "6B"},
	331	{GAL_WAVELENGTH_E6, "6X"},
	332	{GAL_WAVELENGTH_E6, "6Z"},
[8158]	333	{0.0, 0},
	334	{GAL_WAVELENGTH_E5B, "7I"},
	335	{GAL_WAVELENGTH_E5B, "7Q"},
	336	{GAL_WAVELENGTH_E5B, "7X"},
	337	{0.0, 0},
[8801]	338	{GAL_WAVELENGTH_E5AB,"8I"},
	339	{GAL_WAVELENGTH_E5AB,"8Q"},
	340	{GAL_WAVELENGTH_E5AB,"8X"},
[8158]	341	{0.0, 0},
	342	{GAL_WAVELENGTH_E5A, "5I"},
	343	{GAL_WAVELENGTH_E5A, "5Q"},
	344	{GAL_WAVELENGTH_E5A, "5X"},
	345	{0.0, 0},
	346	{0.0, 0},
	347	{0.0, 0},
	348	{0.0, 0},
	349	{0.0, 0},
	350	{0.0, 0},
	351	{0.0, 0},
[8801]	352	{0.0, 0}
[8158]	353	};
[1185]	354
[6812]	355	/** MSM signal types for QZSS */
[8158]	356	static struct CodeData qzss[RTCM3_MSM_NUMSIG] = {
	357	{0.0, 0},
	358	{GPS_WAVELENGTH_L1, "1C"},
	359	{0.0, 0},
	360	{0.0, 0},
	361	{0.0, 0},
	362	{0.0, 0},
	363	{0.0, 0},
[8844]	364	{0.0, 0},
[8682]	365	{QZSS_WAVELENGTH_L6, "6S"},
	366	{QZSS_WAVELENGTH_L6, "6L"},
	367	{QZSS_WAVELENGTH_L6, "6X"},
[8158]	368	{0.0, 0},
	369	{0.0, 0},
	370	{0.0, 0},
	371	{GPS_WAVELENGTH_L2, "2S"},
	372	{GPS_WAVELENGTH_L2, "2L"},
	373	{GPS_WAVELENGTH_L2, "2X"},
	374	{0.0, 0},
	375	{0.0, 0},
	376	{0.0, 0},
	377	{0.0, 0},
	378	{GPS_WAVELENGTH_L5, "5I"},
	379	{GPS_WAVELENGTH_L5, "5Q"},
	380	{GPS_WAVELENGTH_L5, "5X"},
	381	{0.0, 0},
	382	{0.0, 0},
	383	{0.0, 0},
	384	{0.0, 0},
	385	{0.0, 0},
[8682]	386	{GPS_WAVELENGTH_L1, "1S"},
	387	{GPS_WAVELENGTH_L1, "1L"},
[8158]	388	{GPS_WAVELENGTH_L1, "1X"}
	389	};
[1185]	390
[6812]	391	/** MSM signal types for Beidou/BDS */
[8158]	392	static struct CodeData bds[RTCM3_MSM_NUMSIG] = {
	393	{0.0, 0},
	394	{BDS_WAVELENGTH_B1, "2I"},
[8682]	395	{BDS_WAVELENGTH_B1, "2Q"},
	396	{BDS_WAVELENGTH_B1, "2X"},
[8158]	397	{0.0, 0},
	398	{0.0, 0},
	399	{0.0, 0},
	400	{BDS_WAVELENGTH_B3, "6I"},
[8682]	401	{BDS_WAVELENGTH_B3, "6Q"},
	402	{BDS_WAVELENGTH_B3, "6X"},
[8158]	403	{0.0, 0},
	404	{0.0, 0},
	405	{0.0, 0},
	406	{BDS_WAVELENGTH_B2, "7I"},
[8682]	407	{BDS_WAVELENGTH_B2, "7Q"},
	408	{BDS_WAVELENGTH_B2, "7X"},
[8158]	409	{0.0, 0},
	410	{0.0, 0},
	411	{0.0, 0},
	412	{0.0, 0},
	413	{0.0, 0},
[8801]	414	{BDS_WAVELENGTH_B2a, "5D"},
	415	{BDS_WAVELENGTH_B2a, "5P"},
	416	{BDS_WAVELENGTH_B2a, "5X"},
[9000]	417	{BDS_WAVELENGTH_B2b, "7D"},
[8158]	418	{0.0, 0},
	419	{0.0, 0},
	420	{0.0, 0},
	421	{0.0, 0},
[8818]	422	{BDS_WAVELENGTH_B1C, "1D"},
	423	{BDS_WAVELENGTH_B1C, "1P"},
	424	{BDS_WAVELENGTH_B1C, "1X"}
[8158]	425	};
[1807]	426
[8844]	427	/** MSM signal types for IRNSS */
[8783]	428	static 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
[6812]	463	#define UINT64(c) c ## ULL
[1033]	464
[7753]	465	//
[6812]	466	////////////////////////////////////////////////////////////////////////////
[8801]	467	bool RTCM3Decoder::DecodeRTCM3MSM(unsigned char* data, int size) {
[6812]	468	bool decoded = false;
	469	int type, syncf, i;
	470	uint64_t numbits = 0, bitfield = 0;
[1807]	471
[6812]	472	data += 3; /* header */
	473	size -= 6; /* header + crc */
[1239]	474
[6812]	475	GETBITS(type, 12)
[8158]	476	SKIPBITS(12)
	477	/* id */
[6812]	478	char sys;
[9262]	479	if (type >= 1131 && type <= 1137) {
[9007]	480	sys = 'I';
[9262]	481	}
	482	else if (type >= 1121 && type <= 1127) {
[6812]	483	sys = 'C';
[9262]	484	}
	485	else if (type >= 1111 && type <= 1117) {
[6812]	486	sys = 'J';
[9262]	487	}
[10534]	488	else if (type >= 1101 && type <= 1107) {
[6812]	489	sys = 'S';
[9262]	490	}
	491	else if (type >= 1091 && type <= 1097) {
[6812]	492	sys = 'E';
[9262]	493	}
	494	else if (type >= 1081 && type <= 1087) {
[6812]	495	sys = 'R';
[9262]	496	}
	497	else if (type >= 1071 && type <= 1077) {
[6812]	498	sys = 'G';
[9262]	499	}
	500	else {
	501	return decoded; // false
	502	}
[6812]	503	bncTime CurrentObsTime;
[8783]	504	if (sys == 'C') /* BDS */ {
[8158]	505	GETBITS(i, 30)
[6812]	506	CurrentObsTime.setBDS(i);
	507	}
[8158]	508	else if (sys == 'R') /* GLONASS */ {
[6812]	509	SKIPBITS(3)
[8158]	510	GETBITS(i, 27)
	511	/* tk */
[6812]	512	CurrentObsTime.setTk(i);
	513	}
[8158]	514	else /* GPS style date */ {
	515	GETBITS(i, 30)
[6812]	516	CurrentObsTime.set(i);
	517	}
[8158]	518	if (_CurrentTime.valid() && CurrentObsTime != _CurrentTime) {
[6812]	519	decoded = true;
[8160]	520	_obsList.append(_CurrentObsList);
[6812]	521	_CurrentObsList.clear();
	522	}
	523	_CurrentTime = CurrentObsTime;
[2677]	524
[6812]	525	GETBITS(syncf, 1)
	526	/**
	527	* Ignore unknown types except for sync flag
[7753]	528	*
[6812]	529	* We actually support types 1-3 in following code, but as they are missing
	530	* the full cycles and can't be used later we skip interpretation here already.
	531	*/
[9007]	532	if (type <= 1137 && (type % 10) >= 4 && (type % 10) <= 7) {
[6812]	533	int sigmask, numsat = 0, numsig = 0;
	534	uint64_t satmask, cellmask, ui;
[8801]	535	// satellite data
	536	double rrmod[RTCM3_MSM_NUMSAT]; // GNSS sat rough ranges modulo 1 millisecond
	537	int rrint[RTCM3_MSM_NUMSAT]; // number of integer msecs in GNSS sat rough ranges
	538	int rdop[RTCM3_MSM_NUMSAT]; // GNSS sat rough phase range rates
	539	int extsat[RTCM3_MSM_NUMSAT];// extended sat info
	540	// signal data
	541	int ll[RTCM3_MSM_NUMCELLS]; // lock time indicator
	542	/int hc[RTCM3_MSM_NUMCELLS];/ // half cycle ambiguity indicator
	543	double cnr[RTCM3_MSM_NUMCELLS]; // signal cnr
	544	double cp[RTCM3_MSM_NUMCELLS]; // fine phase range data
	545	double psr[RTCM3_MSM_NUMCELLS]; // fine psr
	546	double dop[RTCM3_MSM_NUMCELLS]; // fine phase range rates
[2674]	547
[8158]	548	SKIPBITS(3 + 7 + 2 + 2 + 1 + 3)
[6812]	549	GETBITS64(satmask, RTCM3_MSM_NUMSAT)
[2674]	550
[6812]	551	/* http://gurmeetsingh.wordpress.com/2008/08/05/fast-bit-counting-routines/ */
[8158]	552	for (ui = satmask; ui; ui &= (ui - 1) /* remove rightmost bit */)
[6812]	553	++numsat;
	554	GETBITS(sigmask, RTCM3_MSM_NUMSIG)
[8158]	555	for (i = sigmask; i; i &= (i - 1) /* remove rightmost bit */)
[6812]	556	++numsig;
[8158]	557	for (i = 0; i < RTCM3_MSM_NUMSAT; ++i)
[6812]	558	extsat[i] = 15;
[2674]	559
[8158]	560	i = numsat * numsig;
	561	GETBITS64(cellmask, (unsigned )i)
[8801]	562	// satellite data
[8158]	563	switch (type % 10) {
[6812]	564	case 1:
	565	case 2:
	566	case 3:
[8158]	567	/* partial data, already skipped above, but implemented for future expansion ! */
	568	for (int j = numsat; j--;)
	569	GETFLOAT(rrmod[j], 10, 1.0 / 1024.0)
[6812]	570	break;
	571	case 4:
[8158]	572	case 6:
	573	for (int j = numsat; j--;)
	574	GETBITS(rrint[j], 8)
	575	for (int j = numsat; j--;)
	576	GETFLOAT(rrmod[j], 10, 1.0 / 1024.0)
[6812]	577	break;
	578	case 5:
	579	case 7:
[8158]	580	for (int j = numsat; j--;)
	581	GETBITS(rrint[j], 8)
	582	for (int j = numsat; j--;)
	583	GETBITS(extsat[j], 4)
	584	for (int j = numsat; j--;)
	585	GETFLOAT(rrmod[j], 10, 1.0 / 1024.0)
	586	for (int j = numsat; j--;)
	587	GETBITSSIGN(rdop[j], 14)
[6812]	588	break;
[8158]	589	}
[8801]	590	// signal data
[8158]	591	int numcells = numsat * numsig;
	592	/** Drop anything which exceeds our cell limit. Increase limit definition
	593	* when that happens. */
	594	if (numcells <= RTCM3_MSM_NUMCELLS) {
	595	switch (type % 10) {
	596	case 1:
	597	for (int count = numcells; count--;)
	598	if (cellmask & (UINT64(1) << count))
	599	GETFLOATSIGN(psr[count], 15, 1.0 / (1 << 24))
	600	break;
	601	case 2:
	602	for (int count = numcells; count--;)
	603	if (cellmask & (UINT64(1) << count))
	604	GETFLOATSIGN(cp[count], 22, 1.0 / (1 << 29))
	605	for (int count = numcells; count--;)
	606	if (cellmask & (UINT64(1) << count))
	607	GETBITS(ll[count], 4)
	608	for (int count = numcells; count--;)
	609	if (cellmask & (UINT64(1) << count))
	610	SKIPBITS(1)/GETBITS(hc[count], 1)/
	611	break;
	612	case 3:
	613	for (int count = numcells; count--;)
	614	if (cellmask & (UINT64(1) << count))
	615	GETFLOATSIGN(psr[count], 15, 1.0 / (1 << 24))
	616	for (int count = numcells; count--;)
	617	if (cellmask & (UINT64(1) << count))
	618	GETFLOATSIGN(cp[count], 22, 1.0 / (1 << 29))
	619	for (int count = numcells; count--;)
	620	if (cellmask & (UINT64(1) << count))
	621	GETBITS(ll[count], 4)
	622	for (int count = numcells; count--;)
	623	if (cellmask & (UINT64(1) << count))
	624	SKIPBITS(1)/GETBITS(hc[count], 1)/
	625	break;
	626	case 4:
	627	for (int count = numcells; count--;)
	628	if (cellmask & (UINT64(1) << count))
	629	GETFLOATSIGN(psr[count], 15, 1.0 / (1 << 24))
	630	for (int count = numcells; count--;)
	631	if (cellmask & (UINT64(1) << count))
	632	GETFLOATSIGN(cp[count], 22, 1.0 / (1 << 29))
	633	for (int count = numcells; count--;)
	634	if (cellmask & (UINT64(1) << count))
	635	GETBITS(ll[count], 4)
	636	for (int count = numcells; count--;)
	637	if (cellmask & (UINT64(1) << count))
	638	SKIPBITS(1)/GETBITS(hc[count], 1)/
	639	for (int count = numcells; count--;)
	640	if (cellmask & (UINT64(1) << count))
	641	GETBITS(cnr[count], 6)
	642	break;
	643	case 5:
	644	for (int count = numcells; count--;)
	645	if (cellmask & (UINT64(1) << count))
	646	GETFLOATSIGN(psr[count], 15, 1.0 / (1 << 24))
	647	for (int count = numcells; count--;)
	648	if (cellmask & (UINT64(1) << count))
	649	GETFLOATSIGN(cp[count], 22, 1.0 / (1 << 29))
	650	for (int count = numcells; count--;)
	651	if (cellmask & (UINT64(1) << count))
	652	GETBITS(ll[count], 4)
	653	for (int count = numcells; count--;)
	654	if (cellmask & (UINT64(1) << count))
	655	SKIPBITS(1)/GETBITS(hc[count], 1)/
	656	for (int count = numcells; count--;)
	657	if (cellmask & (UINT64(1) << count))
	658	GETFLOAT(cnr[count], 6, 1.0)
	659	for (int count = numcells; count--;)
	660	if (cellmask & (UINT64(1) << count))
	661	GETFLOATSIGN(dop[count], 15, 0.0001)
	662	break;
	663	case 6:
	664	for (int count = numcells; count--;)
	665	if (cellmask & (UINT64(1) << count))
	666	GETFLOATSIGN(psr[count], 20, 1.0 / (1 << 29))
	667	for (int count = numcells; count--;)
	668	if (cellmask & (UINT64(1) << count))
	669	GETFLOATSIGN(cp[count], 24, 1.0 / (1U << 31))
	670	for (int count = numcells; count--;)
	671	if (cellmask & (UINT64(1) << count))
	672	GETBITS(ll[count], 10)
	673	for (int count = numcells; count--;)
	674	if (cellmask & (UINT64(1) << count))
	675	SKIPBITS(1)/GETBITS(hc[count], 1)/
	676	for (int count = numcells; count--;)
	677	if (cellmask & (UINT64(1) << count))
	678	GETFLOAT(cnr[count], 10, 1.0 / (1 << 4))
	679	break;
	680	case 7:
	681	for (int count = numcells; count--;)
	682	if (cellmask & (UINT64(1) << count))
	683	GETFLOATSIGN(psr[count], 20, 1.0 / (1 << 29))
	684	for (int count = numcells; count--;)
	685	if (cellmask & (UINT64(1) << count))
	686	GETFLOATSIGN(cp[count], 24, 1.0 / (1U << 31))
	687	for (int count = numcells; count--;)
	688	if (cellmask & (UINT64(1) << count))
	689	GETBITS(ll[count], 10)
	690	for (int count = numcells; count--;)
	691	if (cellmask & (UINT64(1) << count))
	692	SKIPBITS(1)/GETBITS(hc[count], 1)/
	693	for (int count = numcells; count--;)
	694	if (cellmask & (UINT64(1) << count))
	695	GETFLOAT(cnr[count], 10, 1.0 / (1 << 4))
	696	for (int count = numcells; count--;)
	697	if (cellmask & (UINT64(1) << count))
	698	GETFLOATSIGN(dop[count], 15, 0.0001)
	699	break;
[6812]	700	}
	701	i = RTCM3_MSM_NUMSAT;
	702	int j = -1;
	703	t_satObs CurrentObs;
[8158]	704	for (int count = numcells; count--;) {
	705	while (j >= 0 && !(sigmask & (1 << --j)))
[6812]	706	;
[8158]	707	if (j < 0) {
	708	while (!(satmask & (UINT64(1) << (--i))))
	709	/* next satellite */
[6812]	710	;
[10599]	711	if (CurrentObs._obs.size() > 0) {
	712	char sys = CurrentObs._prn.system();
	713	int num = CurrentObs._prn.number();
	714	int flag = t_corrSSR::getSsrNavTypeFlag(sys, num);
	715	CurrentObs._prn.setFlag(flag);
[6812]	716	_CurrentObsList.push_back(CurrentObs);
[10599]	717	}
[6812]	718	CurrentObs.clear();
	719	CurrentObs._time = CurrentObsTime;
[9541]	720	CurrentObs._type = type;
[8158]	721	if (sys == 'S')
	722	CurrentObs._prn.set(sys, 20 - 1 + RTCM3_MSM_NUMSAT - i);
[6812]	723	else
[8158]	724	CurrentObs._prn.set(sys, RTCM3_MSM_NUMSAT - i);
[6812]	725	j = RTCM3_MSM_NUMSIG;
[8158]	726	while (!(sigmask & (1 << --j)))
[6812]	727	;
	728	--numsat;
	729	}
[8158]	730	if (cellmask & (UINT64(1) << count)) {
	731	struct CodeData cd = {0.0, 0};
	732	switch (sys) {
	733	case 'J':
	734	cd = qzss[RTCM3_MSM_NUMSIG - j - 1];
	735	break;
	736	case 'C':
	737	cd = bds[RTCM3_MSM_NUMSIG - j - 1];
	738	break;
	739	case 'G':
	740	case 'S':
	741	cd = gps[RTCM3_MSM_NUMSIG - j - 1];
	742	break;
	743	case 'R':
	744	cd = glo[RTCM3_MSM_NUMSIG - j - 1];
[6812]	745	{
[8158]	746	int k = GLOFreq[RTCM3_MSM_NUMSAT - i - 1];
[8801]	747	if (extsat[numsat] < 14) { // channel number is available as extended info for MSM5/7
	748	k = GLOFreq[RTCM3_MSM_NUMSAT - i - 1] = 100 + extsat[numsat] - 7;
[8158]	749	}
[8801]	750	if (k) {
	751	if (cd.wl == 0.0) {
	752	cd.wl = GLO_WAVELENGTH_L1(k - 100);
	753	}
	754	else if (cd.wl == 1.0) {
	755	cd.wl = GLO_WAVELENGTH_L2(k - 100);
	756	}
	757	}
	758	else if (!k && cd.wl <= 1) {
[8158]	759	cd.code = 0;
[8801]	760	}
[2676]	761	}
[8158]	762	break;
	763	case 'E':
	764	cd = gal[RTCM3_MSM_NUMSIG - j - 1];
	765	break;
[8783]	766	case 'I':
	767	cd = irn[RTCM3_MSM_NUMSIG - j - 1];
	768	break;
[6812]	769	}
[8158]	770	if (cd.code) {
[6812]	771	t_frqObs *frqObs = new t_frqObs;
[7850]	772	frqObs->_rnxType2ch.assign(cd.code);
[2674]	773
[8158]	774	switch (type % 10) {
	775	case 1:
	776	if (psr[count] > -1.0 / (1 << 10)) {
	777	frqObs->_code = psr[count] * LIGHTSPEED / 1000.0
[8801]	778	+ (rrmod[numsat]) * LIGHTSPEED / 1000.0;
[8158]	779	frqObs->_codeValid = true;
	780	}
	781	break;
	782	case 2:
	783	if (cp[count] > -1.0 / (1 << 8)) {
	784	frqObs->_phase = cp[count] * LIGHTSPEED / 1000.0 / cd.wl
[8801]	785	+ (rrmod[numsat]) * LIGHTSPEED / 1000.0 / cd.wl;
[8158]	786	frqObs->_phaseValid = true;
[8617]	787	frqObs->_lockTime = lti2sec(type,ll[count]);
[8682]	788	frqObs->_lockTimeValid = (frqObs->_lockTime >= 0.0);
[9088]	789	frqObs->_lockTimeIndicator = ll[count];
[8158]	790	}
	791	break;
	792	case 3:
	793	if (psr[count] > -1.0 / (1 << 10)) {
	794	frqObs->_code = psr[count] * LIGHTSPEED / 1000.0
[8801]	795	+ (rrmod[numsat]) * LIGHTSPEED / 1000.0;
[8158]	796	frqObs->_codeValid = true;
	797	}
	798	if (cp[count] > -1.0 / (1 << 8)) {
	799	frqObs->_phase = cp[count] * LIGHTSPEED / 1000.0 / cd.wl
[8801]	800	+ rrmod[numsat] * LIGHTSPEED / 1000.0 / cd.wl;
[8158]	801	frqObs->_phaseValid = true;
[8617]	802	frqObs->_lockTime = lti2sec(type,ll[count]);
[8682]	803	frqObs->_lockTimeValid = (frqObs->_lockTime >= 0.0);
[9088]	804	frqObs->_lockTimeIndicator = ll[count];
[8158]	805	}
	806	break;
	807	case 4:
	808	if (psr[count] > -1.0 / (1 << 10)) {
	809	frqObs->_code = psr[count] * LIGHTSPEED / 1000.0
[8801]	810	+ (rrmod[numsat] + rrint[numsat]) * LIGHTSPEED / 1000.0;
[8158]	811	frqObs->_codeValid = true;
	812	}
	813	if (cp[count] > -1.0 / (1 << 8)) {
	814	frqObs->_phase = cp[count] * LIGHTSPEED / 1000.0 / cd.wl
[8801]	815	+ (rrmod[numsat] + rrint[numsat]) * LIGHTSPEED / 1000.0 / cd.wl;
[8158]	816	frqObs->_phaseValid = true;
[8617]	817	frqObs->_lockTime = lti2sec(type,ll[count]);
[8682]	818	frqObs->_lockTimeValid = (frqObs->_lockTime >= 0.0);
[9088]	819	frqObs->_lockTimeIndicator = ll[count];
[8158]	820	}
	821	frqObs->_snr = cnr[count];
	822	frqObs->_snrValid = true;
	823	break;
	824	case 5:
	825	if (psr[count] > -1.0 / (1 << 10)) {
	826	frqObs->_code = psr[count] * LIGHTSPEED / 1000.0
[8801]	827	+ (rrmod[numsat] + rrint[numsat]) * LIGHTSPEED / 1000.0;
[8158]	828	frqObs->_codeValid = true;
	829	}
	830	if (cp[count] > -1.0 / (1 << 8)) {
	831	frqObs->_phase = cp[count] * LIGHTSPEED / 1000.0 / cd.wl
[8801]	832	+ (rrmod[numsat] + rrint[numsat]) * LIGHTSPEED / 1000.0 / cd.wl;
[8158]	833	frqObs->_phaseValid = true;
[8617]	834	frqObs->_lockTime = lti2sec(type,ll[count]);
[8682]	835	frqObs->_lockTimeValid = (frqObs->_lockTime >= 0.0);
[9088]	836	frqObs->_lockTimeIndicator = ll[count];
[8158]	837	}
	838	frqObs->_snr = cnr[count];
	839	frqObs->_snrValid = true;
	840	if (dop[count] > -1.6384) {
	841	frqObs->_doppler = -(dop[count] + rdop[numsat]) / cd.wl;
	842	frqObs->_dopplerValid = true;
	843	}
	844	break;
	845	case 6:
	846	if (psr[count] > -1.0 / (1 << 10)) {
	847	frqObs->_code = psr[count] * LIGHTSPEED / 1000.0
[8801]	848	+ (rrmod[numsat] + rrint[numsat]) * LIGHTSPEED / 1000.0;
[8158]	849	frqObs->_codeValid = true;
	850	}
	851	if (cp[count] > -1.0 / (1 << 8)) {
	852	frqObs->_phase = cp[count] * LIGHTSPEED / 1000.0 / cd.wl
[8801]	853	+ (rrmod[numsat] + rrint[numsat]) * LIGHTSPEED / 1000.0 / cd.wl;
[8158]	854	frqObs->_phaseValid = true;
[8617]	855	frqObs->_lockTime = lti2sec(type,ll[count]);
[8682]	856	frqObs->_lockTimeValid = (frqObs->_lockTime >= 0.0);
[9088]	857	frqObs->_lockTimeIndicator = ll[count];
[8158]	858	}
[6812]	859
[8158]	860	frqObs->_snr = cnr[count];
	861	frqObs->_snrValid = true;
	862	break;
	863	case 7:
	864	if (psr[count] > -1.0 / (1 << 10)) {
	865	frqObs->_code = psr[count] * LIGHTSPEED / 1000.0
[8801]	866	+ (rrmod[numsat] + rrint[numsat]) * LIGHTSPEED / 1000.0;
[8158]	867	frqObs->_codeValid = true;
	868	}
	869	if (cp[count] > -1.0 / (1 << 8)) {
	870	frqObs->_phase = cp[count] * LIGHTSPEED / 1000.0 / cd.wl
[8801]	871	+ (rrmod[numsat] + rrint[numsat]) * LIGHTSPEED / 1000.0 / cd.wl;
[8158]	872	frqObs->_phaseValid = true;
[8617]	873	frqObs->_lockTime = lti2sec(type,ll[count]);
[8682]	874	frqObs->_lockTimeValid = (frqObs->_lockTime >= 0.0);
[9088]	875	frqObs->_lockTimeIndicator = ll[count];
[8158]	876	}
[6137]	877
[8158]	878	frqObs->_snr = cnr[count];
	879	frqObs->_snrValid = true;
[6137]	880
[8158]	881	if (dop[count] > -1.6384) {
	882	frqObs->_doppler = -(dop[count] + rdop[numsat]) / cd.wl;
	883	frqObs->_dopplerValid = true;
	884	}
	885	break;
[366]	886	}
[6812]	887	CurrentObs._obs.push_back(frqObs);
[296]	888	}
[6812]	889	}
	890	}
[8801]	891	if (CurrentObs._obs.size() > 0) {
[10599]	892	char sys = CurrentObs._prn.system();
	893	int num = CurrentObs._prn.number();
	894	int flag = t_corrSSR::getSsrNavTypeFlag(sys, num);
	895	CurrentObs._prn.setFlag(flag);
[6812]	896	_CurrentObsList.push_back(CurrentObs);
[8801]	897	}
[6812]	898	}
	899	}
[8937]	900	else if ((type % 10) < 4) {
[10236]	901	#ifdef BNC_DEBUG_OBS
[6812]	902	emit(newMessage(QString("%1: Block %2 contain partial data! Ignored!")
[8204]	903	.arg(_staID).arg(type).toLatin1(), true));
[10236]	904	#endif
[6812]	905	}
[8158]	906	if (!syncf) {
[6812]	907	decoded = true;
[8166]	908	_obsList.append(_CurrentObsList);
[6812]	909	_CurrentTime.reset();
	910	_CurrentObsList.clear();
	911	}
	912	return decoded;
	913	}
	914
[7753]	915	//
[6812]	916	////////////////////////////////////////////////////////////////////////////
[8158]	917	bool RTCM3Decoder::DecodeRTCM3GLONASS(unsigned char* data, int size) {
[6812]	918	bool decoded = false;
	919	bncTime CurrentObsTime;
	920	int i, numsats, syncf, type;
	921	uint64_t numbits = 0, bitfield = 0;
	922
	923	data += 3; /* header */
	924	size -= 6; /* header + crc */
	925
	926	GETBITS(type, 12)
[8158]	927	SKIPBITS(12)
	928	/* id */
	929	GETBITS(i, 27)
	930	/* tk */
[6812]	931
	932	CurrentObsTime.setTk(i);
[8158]	933	if (_CurrentTime.valid() && CurrentObsTime != _CurrentTime) {
[6812]	934	decoded = true;
[7753]	935	_obsList.append(_CurrentObsList);
[6812]	936	_CurrentObsList.clear();
	937	}
	938	_CurrentTime = CurrentObsTime;
	939
[8158]	940	GETBITS(syncf, 1)
	941	/* sync */
	942	GETBITS(numsats, 5)
	943	SKIPBITS(4)
	944	/* smind, smint */
[6812]	945
[8158]	946	while (numsats--) {
	947	int sv, code, l1range, amb = 0, freq;
[6812]	948	t_satObs CurrentObs;
	949	CurrentObs._time = CurrentObsTime;
[9541]	950	CurrentObs._type = type;
[6812]	951
	952	GETBITS(sv, 6)
[10599]	953	char sys = 'R';
	954	int flag = t_corrSSR::getSsrNavTypeFlag(sys, sv);
	955	CurrentObs._prn.set(sys, sv, flag);
[6812]	956	GETBITS(code, 1)
	957	GETBITS(freq, 5)
[8158]	958	GLOFreq[sv - 1] = 100 + freq - 7; /* store frequency for other users (MSM) */
[6812]	959
	960	t_frqObs *frqObs = new t_frqObs;
	961	/* L1 */
[8158]	962	(code) ?
	963	frqObs->_rnxType2ch.assign("1P") : frqObs->_rnxType2ch.assign("1C");
[6812]	964	GETBITS(l1range, 25);
	965	GETBITSSIGN(i, 20);
[8158]	966	if ((i & ((1 << 20) - 1)) != 0x80000) {
	967	frqObs->_code = l1range * 0.02;
[9088]	968	frqObs->_phase = (l1range * 0.02 + i * 0.0005) / GLO_WAVELENGTH_L1(freq - 7);
[6812]	969	frqObs->_codeValid = frqObs->_phaseValid = true;
	970	}
[9088]	971	GETBITS(frqObs->_lockTimeIndicator, 7);
	972	frqObs->_lockTime = lti2sec(type, frqObs->_lockTimeIndicator);
[8682]	973	frqObs->_lockTimeValid = (frqObs->_lockTime >= 0.0 && frqObs->_phaseValid);
[8158]	974	if (type == 1010 \|\| type == 1012) {
	975	GETBITS(amb, 7);
	976	if (amb) {
	977	frqObs->_code += amb * 599584.916;
	978	frqObs->_phase += (amb * 599584.916) / GLO_WAVELENGTH_L1(freq - 7);
[6812]	979	}
	980	GETBITS(i, 8);
[8158]	981	if (i) {
	982	frqObs->_snr = i * 0.25;
[6812]	983	frqObs->_snrValid = true;
	984	}
	985	}
	986	CurrentObs._obs.push_back(frqObs);
[8158]	987	if (type == 1011 \|\| type == 1012) {
[6812]	988	frqObs = new t_frqObs;
	989	/* L2 */
[8158]	990	GETBITS(code, 2);
	991	switch (code) {
	992	case 3:
	993	frqObs->_rnxType2ch.assign("2P");
	994	break;
	995	case 2:
	996	frqObs->_rnxType2ch.assign("2P");
	997	break;
	998	case 1:
	999	frqObs->_rnxType2ch.assign("2P");
	1000	break;
	1001	case 0:
	1002	frqObs->_rnxType2ch.assign("2C");
	1003	break;
[6812]	1004	}
[8158]	1005	GETBITSSIGN(i, 14);
	1006	if ((i & ((1 << 14) - 1)) != 0x2000) {
	1007	frqObs->_code = l1range * 0.02 + i * 0.02 + amb * 599584.916;
[6812]	1008	frqObs->_codeValid = true;
	1009	}
[8158]	1010	GETBITSSIGN(i, 20);
	1011	if ((i & ((1 << 20) - 1)) != 0x80000) {
	1012	frqObs->_phase = (l1range * 0.02 + i * 0.0005 + amb * 599584.916)
	1013	/ GLO_WAVELENGTH_L2(freq - 7);
[6812]	1014	frqObs->_phaseValid = true;
	1015	}
[9088]	1016	GETBITS(frqObs->_lockTimeIndicator, 7);
	1017	frqObs->_lockTime = lti2sec(type, frqObs->_lockTimeIndicator);
[8682]	1018	frqObs->_lockTimeValid = (frqObs->_lockTime >= 0.0 && frqObs->_phaseValid);
[8158]	1019	if (type == 1012) {
[6812]	1020	GETBITS(i, 8);
[8158]	1021	if (i) {
	1022	frqObs->_snr = i * 0.25;
[6812]	1023	frqObs->_snrValid = true;
	1024	}
	1025	}
	1026	CurrentObs._obs.push_back(frqObs);
	1027	}
	1028	_CurrentObsList.push_back(CurrentObs);
	1029	}
[8158]	1030	if (!syncf) {
[6812]	1031	decoded = true;
[7753]	1032	_obsList.append(_CurrentObsList);
[6812]	1033	_CurrentTime.reset();
	1034	_CurrentObsList.clear();
	1035	}
	1036	return decoded;
	1037	}
	1038
	1039	//
	1040	////////////////////////////////////////////////////////////////////////////
[8158]	1041	bool RTCM3Decoder::DecodeGPSEphemeris(unsigned char* data, int size) {
[6812]	1042	bool decoded = false;
	1043
[8158]	1044	if (size == 67) {
[6812]	1045	t_ephGPS eph;
	1046	int i, week;
	1047	uint64_t numbits = 0, bitfield = 0;
[8852]	1048	int fitIntervalFalg = 0;
[6812]	1049
	1050	data += 3; /* header */
	1051	size -= 6; /* header + crc */
	1052	SKIPBITS(12)
	1053
	1054	eph._receptDateTime = currentDateAndTimeGPS();
[9212]	1055	eph._receptStaID = _staID;
[6812]	1056
	1057	GETBITS(i, 6)
[10544]	1058	if (i < 1 \|\| i > 63 ) {
[10549]	1059	#ifdef BNC_DEBUG_BCE
[10544]	1060	emit(newMessage(QString("%1: Block %2 (G) PRN# is out of range: %3!")
	1061	.arg(_staID)
	1062	.arg(1019,4)
	1063	.arg(i).toLatin1(), true));
	1064	#endif
	1065	return false;
	1066	}
[6812]	1067	eph._prn.set('G', i);
	1068	GETBITS(week, 10)
[10544]	1069	if (week < 0 \|\| week > 1023) {
[10549]	1070	#ifdef BNC_DEBUG_BCE
[10544]	1071	emit(newMessage(QString("%1: Block %2 (%3) WEEK # is out of range: %4!")
	1072	.arg(_staID)
	1073	.arg(1019,4)
	1074	.arg(eph._prn.toString().c_str())
	1075	.arg(week).toLatin1(), true));
	1076	#endif
	1077	return false;
	1078	}
[6812]	1079	GETBITS(i, 4)
[10587]	1080	eph._ura = accuracyFromIndex(i, eph.system());
[6812]	1081	GETBITS(eph._L2Codes, 2)
	1082	GETFLOATSIGN(eph._IDOT, 14, R2R_PI/(double)(1<<30)/(double)(1<<13))
	1083	GETBITS(eph._IODE, 8)
	1084	GETBITS(i, 16)
	1085	i <<= 4;
[10544]	1086	if (i < 0 \|\| i > 604784) {
[10549]	1087	#ifdef BNC_DEBUG_BCE
[10544]	1088	emit(newMessage(QString("%1: Block %2 (%3) TOC is out of range: %4!")
	1089	.arg(_staID)
	1090	.arg(1019,4)
	1091	.arg(eph._prn.toString().c_str())
	1092	.arg(i).toLatin1(), true));
	1093	#endif
	1094	return false;
	1095	}
[8158]	1096	eph._TOC.set(i * 1000);
[8783]	1097	GETFLOATSIGN(eph._clock_driftrate, 8, 1.0 / (double )(1 << 30) / (double )(1 << 25))
	1098	GETFLOATSIGN(eph._clock_drift, 16, 1.0 / (double )(1 << 30) / (double )(1 << 13))
	1099	GETFLOATSIGN(eph._clock_bias, 22, 1.0 / (double )(1 << 30) / (double )(1 << 1))
[6812]	1100	GETBITS(eph._IODC, 10)
[8783]	1101	GETFLOATSIGN(eph._Crs, 16, 1.0 / (double )(1 << 5))
	1102	GETFLOATSIGN(eph._Delta_n, 16, R2R_PI/(double)(1<<30)/(double)(1<<13))
	1103	GETFLOATSIGN(eph._M0, 32, R2R_PI/(double)(1<<30)/(double)(1<<1))
	1104	GETFLOATSIGN(eph._Cuc, 16, 1.0 / (double )(1 << 29))
	1105	GETFLOAT(eph._e, 32, 1.0 / (double )(1 << 30) / (double )(1 << 3))
	1106	GETFLOATSIGN(eph._Cus, 16, 1.0 / (double )(1 << 29))
	1107	GETFLOAT(eph._sqrt_A, 32, 1.0 / (double )(1 << 19))
[9201]	1108	if (eph._sqrt_A < 1000.0) {
[10549]	1109	#ifdef BNC_DEBUG_BCE
[9201]	1110	emit(newMessage(QString("%1: Block %2 (%3) SQRT_A %4 m!")
[9315]	1111	.arg(_staID).arg(1019,4).arg(eph._prn.toString().c_str())
[9201]	1112	.arg(eph._sqrt_A,10,'F',3).toLatin1(), true));
[9210]	1113	#endif
[9201]	1114	return false;
	1115	}
[6812]	1116	GETBITS(i, 16)
	1117	i <<= 4;
[10544]	1118	if (i < 0 \|\| i > 604784) {
[10549]	1119	#ifdef BNC_DEBUG_BCE
[10544]	1120	emit(newMessage(QString("%1: Block %2 (%3) TOE is out of range: %4!")
	1121	.arg(_staID)
	1122	.arg(1019,4)
	1123	.arg(eph._prn.toString().c_str())
	1124	.arg(i).toLatin1(), true));
	1125	#endif
	1126	return false;
	1127	}
[6812]	1128	eph._TOEsec = i;
	1129	bncTime t;
[8158]	1130	t.set(i * 1000);
[6812]	1131	eph._TOEweek = t.gpsw();
[8472]	1132	int numOfRollOvers = int(floor(t.gpsw()/1024.0));
	1133	week += (numOfRollOvers * 1024);
[6812]	1134	/* week from HOW, differs from TOC, TOE week, we use adapted value instead */
[8158]	1135	if (eph._TOEweek > week + 1 \|\| eph._TOEweek < week - 1) /* invalid week */
[6812]	1136	return false;
[8783]	1137	GETFLOATSIGN(eph._Cic, 16, 1.0 / (double )(1 << 29))
	1138	GETFLOATSIGN(eph._OMEGA0, 32, R2R_PI/(double)(1<<30)/(double)(1<<1))
	1139	GETFLOATSIGN(eph._Cis, 16, 1.0 / (double )(1 << 29))
	1140	GETFLOATSIGN(eph._i0, 32, R2R_PI/(double)(1<<30)/(double)(1<<1))
	1141	GETFLOATSIGN(eph._Crc, 16, 1.0 / (double )(1 << 5))
	1142	GETFLOATSIGN(eph._omega, 32, R2R_PI/(double)(1<<30)/(double)(1<<1))
[6812]	1143	GETFLOATSIGN(eph._OMEGADOT, 24, R2R_PI/(double)(1<<30)/(double)(1<<13))
[8783]	1144	GETFLOATSIGN(eph._TGD, 8, 1.0 / (double )(1 << 30) / (double )(1 << 1))
[6812]	1145	GETBITS(eph._health, 6)
	1146	GETBITS(eph._L2PFlag, 1)
[8852]	1147	GETBITS(fitIntervalFalg, 1)
[10587]	1148	eph._fitInterval = fitIntervalFromFlag(fitIntervalFalg, eph._IODC, eph.system());
[6812]	1149	eph._TOT = 0.9999e9;
[10587]	1150	eph._type = t_eph::LNAV;
[10599]	1151	eph._prn.setFlag(eph._type);
[6812]	1152
	1153	emit newGPSEph(eph);
	1154	decoded = true;
	1155	}
	1156	return decoded;
	1157	}
	1158
	1159	//
	1160	////////////////////////////////////////////////////////////////////////////
[8158]	1161	bool RTCM3Decoder::DecodeGLONASSEphemeris(unsigned char* data, int size) {
[6812]	1162	bool decoded = false;
	1163
[8158]	1164	if (size == 51) {
[6812]	1165	t_ephGlo eph;
	1166	int sv, i, tk;
	1167	uint64_t numbits = 0, bitfield = 0;
	1168
	1169	data += 3; /* header */
	1170	size -= 6; /* header + crc */
	1171	SKIPBITS(12)
	1172
	1173	eph._receptDateTime = currentDateAndTimeGPS();
[9212]	1174	eph._receptStaID = _staID;
[6812]	1175
	1176	GETBITS(sv, 6)
[10544]	1177	if (sv < 1 \|\| sv > 63) {
[10549]	1178	#ifdef BNC_DEBUG_BCE
[10544]	1179	emit(newMessage(QString("%1: Block %2 (R): SLOT# is unknown (0) or out of range: %3!")
	1180	.arg(_staID)
	1181	.arg(1020,4)
	1182	.arg(sv).toLatin1(), true));
	1183	#endif
	1184	return false;
	1185	}
[6812]	1186	eph._prn.set('R', sv);
	1187
	1188	GETBITS(i, 5)
[10544]	1189	if (i < 0 \|\| i > 20) {
[10549]	1190	#ifdef BNC_DEBUG_BCE
[10544]	1191	emit(newMessage(QString("%1: Block %2 (%3): FRQ CHN# is out of range: %4")
	1192	.arg(_staID)
	1193	.arg(1020,4)
	1194	.arg(eph._prn.toString().c_str())
	1195	.arg(i).toLatin1(), true));
	1196	#endif
	1197	return false;
	1198	}
[10587]	1199	eph._frq_num = i - 7;
[8182]	1200	GETBITS(eph._almanac_health, 1) /* almanac healthy */
	1201	GETBITS(eph._almanac_health_availablility_indicator, 1) /* almanac health ok */
[10544]	1202	GETBITS(eph._P1, 2) /* P1 */
[10555]	1203	/* tk */
[10544]	1204	GETBITS(i, 5)
	1205	if (i < 0 \|\| i > 23) {
[10549]	1206	#ifdef BNC_DEBUG_BCE
[10544]	1207	emit(newMessage(QString("%1: Block %2 (%3): T_k (bits 11-7) is out of range: %4")
	1208	.arg(_staID)
	1209	.arg(1020,4)
	1210	.arg(eph._prn.toString().c_str())
	1211	.arg(i).toLatin1(), true));
[9210]	1212	#endif
[9892]	1213	return false;
[9318]	1214	}
[8158]	1215	tk = i * 60 * 60;
[6812]	1216	GETBITS(i, 6)
[10544]	1217	if (i < 0 \|\| i > 59) {
[10549]	1218	#ifdef BNC_DEBUG_BCE
[10544]	1219	emit(newMessage(QString("%1: Block %2 (%3): T_k (bits 6-1) is out of range: %4")
	1220	.arg(_staID)
	1221	.arg(1020,4)
	1222	.arg(eph._prn.toString().c_str())
	1223	.arg(i).toLatin1(), true));
	1224	#endif
	1225	return false;
	1226	}
[8158]	1227	tk += i * 60;
[6812]	1228	GETBITS(i, 1)
[10544]	1229	if (i < 0 \|\| i > 1) {
[10549]	1230	#ifdef BNC_DEBUG_BCE
[10544]	1231	emit(newMessage(QString("%1: Block %2 (%3): T_k (bit 0) is out of range: %4")
	1232	.arg(_staID)
	1233	.arg(1020,4)
	1234	.arg(eph._prn.toString().c_str())
	1235	.arg(i).toLatin1(), true));
	1236	#endif
	1237	return false;
	1238	}
[8158]	1239	tk += i * 30;
[8801]	1240	eph._tki = tk - 36060;
	1241	if(eph._tki < 0.0) {
	1242	eph._tki += 86400.0;
	1243	}
[8182]	1244	GETBITS(eph._health, 1) /* MSB of Bn*/
	1245	GETBITS(eph._P2, 1) /* P2 */
[6812]	1246	GETBITS(i, 7)
[10544]	1247	i *= 15;
	1248	if (i < 15 \|\| i > 1425) {
[10549]	1249	#ifdef BNC_DEBUG_BCE
[10544]	1250	emit(newMessage(QString("%1: Block %2 (%3): T_b is out of range: %4")
	1251	.arg(_staID)
	1252	.arg(1020,4)
	1253	.arg(eph._prn.toString().c_str())
	1254	.arg(i).toLatin1(), true));
	1255	#endif
	1256	return false;
	1257	}
	1258	eph._TOC.setTk(i * 60 * 1000); /* tb */
[6812]	1259
[10587]	1260	GETFLOATSIGNM(eph._x_vel, 24, 1.0 / (double )(1 << 20))
	1261	GETFLOATSIGNM(eph._x_pos, 27, 1.0 / (double )(1 << 11))
	1262	GETFLOATSIGNM(eph._x_acc, 5, 1.0 / (double )(1 << 30))
	1263	GETFLOATSIGNM(eph._y_vel, 24, 1.0 / (double )(1 << 20))
	1264	GETFLOATSIGNM(eph._y_pos, 27, 1.0 / (double )(1 << 11))
	1265	GETFLOATSIGNM(eph._y_acc, 5, 1.0 / (double )(1 << 30))
	1266	GETFLOATSIGNM(eph._z_vel, 24, 1.0 / (double )(1 << 20))
	1267	GETFLOATSIGNM(eph._z_pos, 27, 1.0 / (double )(1 << 11))
	1268	GETFLOATSIGNM(eph._z_acc, 5, 1.0 / (double )(1 << 30))
[8182]	1269	GETBITS(eph._P3, 1) /* P3 */
[8783]	1270	GETFLOATSIGNM(eph._gamma, 11, 1.0 / (double )(1 << 30) / (double )(1 << 10))
	1271	GETBITS(eph._M_P, 2) /* GLONASS-M P, */
[9201]	1272	GETBITS(eph._M_l3, 1) /* GLONASS-M ln (third string) */
	1273	GETFLOATSIGNM(eph._tau, 22, 1.0 / (double )(1 << 30)) /* GLONASS tau n(tb) */
[8183]	1274	GETFLOATSIGNM(eph._M_delta_tau, 5, 1.0 / (double )(1 << 30)) /* GLONASS-M delta tau n(tb) */
[6812]	1275	GETBITS(eph._E, 5)
[8783]	1276	GETBITS(eph._M_P4, 1) /* GLONASS-M P4 */
	1277	GETBITS(eph._M_FT, 4) /* GLONASS-M Ft */
[8182]	1278	GETBITS(eph._M_NT, 11) /* GLONASS-M Nt */
[9201]	1279	if (eph._M_NT == 0.0) {
[10549]	1280	#ifdef BNC_DEBUG_BCE
[9201]	1281	emit(newMessage(QString("%1: Block %2 (%3): NT = %4: missing data!")
[9315]	1282	.arg(_staID).arg(1020,4).arg(eph._prn.toString().c_str()).arg(eph._M_NT,4).toLatin1(), true));
[9210]	1283	#endif
[9891]	1284	return false;
[9201]	1285	}
[8783]	1286	GETBITS(eph._M_M, 2) /* GLONASS-M M */
[8182]	1287	GETBITS(eph._additional_data_availability, 1) /* GLONASS-M The Availability of Additional Data */
[9201]	1288	if (eph._additional_data_availability == 0.0) {
[10549]	1289	#ifdef BNC_DEBUG_BCE
[9201]	1290	emit(newMessage(QString("%1: Block %2 (%3): ADD = %4: missing data!")
[9315]	1291	.arg(_staID).arg(1020,4).arg(eph._prn.toString().c_str())
[9201]	1292	.arg(eph._additional_data_availability).toLatin1(), true));
[9210]	1293	#endif
[9891]	1294	return false;
[9201]	1295	}
[10587]	1296	GETBITS(eph._M_NA, 11) /* GLONASS-M Na */
[8783]	1297	GETFLOATSIGNM(eph._tauC, 32, 1.0/(double)(1<<30)/(double)(1<<1)) /* GLONASS tau c */
[8182]	1298	GETBITS(eph._M_N4, 5) /* GLONASS-M N4 */
[8783]	1299	GETFLOATSIGNM(eph._M_tau_GPS, 22, 1.0/(double)(1<<30)) /* GLONASS-M tau GPS */
[8182]	1300	GETBITS(eph._M_l5, 1) /* GLONASS-M ln (fifth string) */
[6812]	1301
	1302	unsigned year, month, day;
	1303	eph._TOC.civil_date(year, month, day);
	1304	eph._gps_utc = gnumleap(year, month, day);
	1305	eph._tt = eph._TOC;
[8783]	1306
[8708]	1307	eph._xv(1) = eph._x_pos * 1.e3;
	1308	eph._xv(2) = eph._y_pos * 1.e3;
	1309	eph._xv(3) = eph._z_pos * 1.e3;
[9201]	1310	if (eph._xv.Rows(1,3).NormFrobenius() < 1.0) {
[10549]	1311	#ifdef BNC_DEBUG_BCE
[9201]	1312	emit(newMessage(QString("%1: Block %2 (%3): zero position!")
[9315]	1313	.arg(_staID).arg(1020,4).arg(eph._prn.toString().c_str()).toLatin1(), true));
[9210]	1314	#endif
[9201]	1315	return false;
	1316	}
[10587]	1317	eph._xv(4) = eph._x_vel * 1.e3;
	1318	eph._xv(5) = eph._y_vel * 1.e3;
	1319	eph._xv(6) = eph._z_vel * 1.e3;
[9201]	1320	if (eph._xv.Rows(4,6).NormFrobenius() < 1.0) {
[10549]	1321	#ifdef BNC_DEBUG_BCE
[9201]	1322	emit(newMessage(QString("%1: Block %2 (%3): zero velocity!")
[9315]	1323	.arg(_staID).arg(1020,4).arg(eph._prn.toString().c_str()).toLatin1(), true));
[9210]	1324	#endif
[9201]	1325	return false;
	1326	}
[10587]	1327	GLOFreq[sv - 1] = 100 + eph._frq_num ; /* store frequency for other users (MSM) */
	1328	_gloFrq = QString("%1 %2").arg(eph._prn.toString().c_str()).arg(eph._frq_num, 2, 'f', 0);
[8186]	1329
[10599]	1330	if (eph.validMdata()) {
	1331	eph._type = t_eph::FDMA_M;
	1332	}
	1333	else {
	1334	eph._type = t_eph::FDMA;
	1335	}
	1336	eph._prn.setFlag(eph._type);
[10587]	1337	eph._healthflags_unknown = false;
	1338	eph._statusflags_unknown = false;
[9765]	1339
[8708]	1340	emit newGlonassEph(eph);
	1341	decoded = true;
[6812]	1342	}
	1343	return decoded;
	1344	}
	1345
	1346	//
	1347	////////////////////////////////////////////////////////////////////////////
[8158]	1348	bool RTCM3Decoder::DecodeQZSSEphemeris(unsigned char* data, int size) {
[6812]	1349	bool decoded = false;
	1350
[8158]	1351	if (size == 67) {
[6812]	1352	t_ephGPS eph;
	1353	int i, week;
	1354	uint64_t numbits = 0, bitfield = 0;
[8852]	1355	int fitIntervalFalg = 0;
[6812]	1356
	1357	data += 3; /* header */
	1358	size -= 6; /* header + crc */
	1359	SKIPBITS(12)
	1360
	1361	eph._receptDateTime = currentDateAndTimeGPS();
[9212]	1362	eph._receptStaID = _staID;
[6812]	1363
	1364	GETBITS(i, 4)
[10544]	1365	if (i < 1 \|\| i > 10 ) {
[10549]	1366	#ifdef BNC_DEBUG_BCE
[10544]	1367	emit(newMessage(QString("%1: Block %2 (J) SAT ID is out of range: %3!")
	1368	.arg(_staID)
	1369	.arg(1044,4)
	1370	.arg(i).toLatin1(), true));
	1371	#endif
	1372	return false;
	1373	}
[6812]	1374	eph._prn.set('J', i);
[8476]	1375
[6812]	1376	GETBITS(i, 16)
	1377	i <<= 4;
[10544]	1378	if (i < 0 \|\| i > 604784) {
[10549]	1379	#ifdef BNC_DEBUG_BCE
[10544]	1380	emit(newMessage(QString("%1: Block %2 (%3) TOC is out of range: %4!")
	1381	.arg(_staID)
	1382	.arg(1044,4)
	1383	.arg(eph._prn.toString().c_str())
	1384	.arg(i).toLatin1(), true));
	1385	#endif
	1386	return false;
	1387	}
[8158]	1388	eph._TOC.set(i * 1000);
[6812]	1389
[8783]	1390	GETFLOATSIGN(eph._clock_driftrate, 8, 1.0 / (double )(1 << 30) / (double )(1 << 25))
	1391	GETFLOATSIGN(eph._clock_drift, 16, 1.0 / (double )(1 << 30) / (double )(1 << 13))
	1392	GETFLOATSIGN(eph._clock_bias, 22, 1.0 / (double )(1 << 30) / (double )(1 << 1))
[6812]	1393	GETBITS(eph._IODE, 8)
[8783]	1394	GETFLOATSIGN(eph._Crs, 16, 1.0 / (double )(1 << 5))
[6812]	1395	GETFLOATSIGN(eph._Delta_n, 16, R2R_PI/(double)(1<<30)/(double)(1<<13))
[8783]	1396	GETFLOATSIGN(eph._M0, 32, R2R_PI/(double)(1<<30)/(double)(1<<1))
	1397	GETFLOATSIGN(eph._Cuc, 16, 1.0 / (double )(1 << 29))
	1398	GETFLOAT(eph._e, 32, 1.0 / (double )(1 << 30) / (double )(1 << 3))
	1399	GETFLOATSIGN(eph._Cus, 16, 1.0 / (double )(1 << 29))
	1400	GETFLOAT(eph._sqrt_A, 32, 1.0 / (double )(1 << 19))
[9201]	1401	if (eph._sqrt_A < 1000.0) {
[10549]	1402	#ifdef BNC_DEBUG_BCE
[9201]	1403	emit(newMessage(QString("%1: Block %2 (%3) SQRT_A %4 m!")
	1404	.arg(_staID).arg(1044,4).arg(eph._prn.toString().c_str())
	1405	.arg(eph._sqrt_A,10,'F',3).toLatin1(), true));
[9210]	1406	#endif
[9201]	1407	return false;
	1408	}
[6812]	1409	GETBITS(i, 16)
	1410	i <<= 4;
[10544]	1411	if (i < 0 \|\| i > 604784) {
[10549]	1412	#ifdef BNC_DEBUG_BCE
[10544]	1413	emit(newMessage(QString("%1: Block %2 (%3) TOE is out of range: %4!")
	1414	.arg(_staID)
	1415	.arg(1044,4)
	1416	.arg(eph._prn.toString().c_str())
	1417	.arg(i).toLatin1(), true));
	1418	#endif
	1419	return false;
	1420	}
[6812]	1421	eph._TOEsec = i;
	1422	bncTime t;
[8470]	1423	t.set(i*1000);
	1424	eph._TOEweek = t.gpsw();
[8783]	1425	GETFLOATSIGN(eph._Cic, 16, 1.0 / (double )(1 << 29))
	1426	GETFLOATSIGN(eph._OMEGA0, 32, R2R_PI/(double)(1<<30)/(double)(1<<1))
	1427	GETFLOATSIGN(eph._Cis, 16, 1.0 / (double )(1 << 29))
	1428	GETFLOATSIGN(eph._i0, 32, R2R_PI/(double)(1<<30)/(double)(1<<1))
	1429	GETFLOATSIGN(eph._Crc, 16, 1.0 / (double )(1 << 5))
	1430	GETFLOATSIGN(eph._omega, 32, R2R_PI/(double)(1<<30)/(double)(1<<1))
[6812]	1431	GETFLOATSIGN(eph._OMEGADOT, 24, R2R_PI/(double)(1<<30)/(double)(1<<13))
[8783]	1432	GETFLOATSIGN(eph._IDOT, 14, R2R_PI/(double)(1<<30)/(double)(1<<13))
[6812]	1433	GETBITS(eph._L2Codes, 2)
	1434	GETBITS(week, 10)
[10544]	1435	if (week < 0 \|\| week > 1023) {
[10549]	1436	#ifdef BNC_DEBUG_BCE
[10544]	1437	emit(newMessage(QString("%1: Block %2 (%3) WEEK # is out of range: %4!")
	1438	.arg(_staID)
	1439	.arg(1044,4)
	1440	.arg(eph._prn.toString().c_str())
	1441	.arg(week).toLatin1(), true));
	1442	#endif
	1443	return false;
	1444	}
[8472]	1445	int numOfRollOvers = int(floor(t.gpsw()/1024.0));
	1446	week += (numOfRollOvers * 1024);
[6812]	1447	/* week from HOW, differs from TOC, TOE week, we use adapted value instead */
[8158]	1448	if (eph._TOEweek > week + 1 \|\| eph._TOEweek < week - 1) /* invalid week */
[6812]	1449	return false;
	1450
	1451	GETBITS(i, 4)
[10587]	1452	eph._ura = accuracyFromIndex(i, eph.system());
[6812]	1453	GETBITS(eph._health, 6)
[8783]	1454	GETFLOATSIGN(eph._TGD, 8, 1.0 / (double )(1 << 30) / (double )(1 << 1))
[6812]	1455	GETBITS(eph._IODC, 10)
[8852]	1456	GETBITS(fitIntervalFalg, 1)
[10587]	1457	eph._fitInterval = fitIntervalFromFlag(fitIntervalFalg, eph._IODC, eph.system());
[6812]	1458	eph._TOT = 0.9999e9;
[10587]	1459	eph._type = t_eph::LNAV;
[6812]	1460
	1461	emit newGPSEph(eph);
	1462	decoded = true;
	1463	}
	1464	return decoded;
	1465	}
	1466
	1467	//
	1468	////////////////////////////////////////////////////////////////////////////
[8783]	1469	bool RTCM3Decoder::DecodeIRNSSEphemeris(unsigned char* data, int size) {
	1470	bool decoded = false;
	1471
	1472	if (size == 67) {
	1473	t_ephGPS eph;
	1474	int i, week, L5Flag, SFlag;
	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();
[9212]	1482	eph._receptStaID = _staID;
[8783]	1483
	1484	GETBITS(i, 6)
[10544]	1485	if (i < 1 \|\| i > 63 ) {
[10549]	1486	#ifdef BNC_DEBUG_BCE
[10544]	1487	emit(newMessage(QString("%1: Block %2 (I) PRN# is out of range: %3!")
	1488	.arg(_staID)
	1489	.arg(1041,4)
	1490	.arg(i).toLatin1(), true));
	1491	#endif
	1492	return false;
	1493	}
[8783]	1494	eph._prn.set('I', i);
	1495	GETBITS(week, 10)
[10544]	1496	if (week < 0 \|\| week > 1023) {
[10549]	1497	#ifdef BNC_DEBUG_BCE
[10544]	1498	emit(newMessage(QString("%1: Block %2 (%3) WEEK # is out of range: %4!")
	1499	.arg(_staID)
	1500	.arg(1041,4)
	1501	.arg(eph._prn.toString().c_str())
	1502	.arg(week).toLatin1(), true));
	1503	#endif
	1504	return false;
	1505	}
[8783]	1506	GETFLOATSIGN(eph._clock_bias, 22, 1.0 / (double )(1 << 30) / (double )(1 << 1))
	1507	GETFLOATSIGN(eph._clock_drift, 16, 1.0 / (double )(1 << 30) / (double )(1 << 13))
	1508	GETFLOATSIGN(eph._clock_driftrate, 8, 1.0 / (double )(1 << 30) / (double )(1 << 25))
	1509	GETBITS(i, 4)
[10587]	1510	eph._ura = accuracyFromIndex(i, eph.system());
[8783]	1511	GETBITS(i, 16)
	1512	i <<= 4;
[10544]	1513	if (i < 0 \|\| i > 1048560) {
[10549]	1514	#ifdef BNC_DEBUG_BCE
[10544]	1515	emit(newMessage(QString("%1: Block %2 (%3) TOC is out of range: %4!")
	1516	.arg(_staID)
	1517	.arg(1041,4)
	1518	.arg(eph._prn.toString().c_str())
	1519	.arg(i).toLatin1(), true));
	1520	#endif
	1521	return false;
	1522	}
[8783]	1523	eph._TOC.set(i * 1000);
	1524	GETFLOATSIGN(eph._TGD, 8, 1.0 / (double )(1 << 30) / (double )(1 << 1))
	1525	GETFLOATSIGN(eph._Delta_n, 22, R2R_PI/(double)(1<<30)/(double)(1 << 11))
	1526	// IODCE
	1527	GETBITS(eph._IODE, 8)
	1528	eph._IODC = eph._IODE;
	1529	SKIPBITS(10)
	1530	GETBITS(L5Flag, 1)
	1531	GETBITS(SFlag, 1)
	1532	if (L5Flag == 0 && SFlag == 0) {
	1533	eph._health = 0.0;
	1534	}
	1535	else if (L5Flag == 0 && SFlag == 1) {
	1536	eph._health = 1.0;
	1537	}
	1538	else if (L5Flag == 1 && SFlag == 0) {
	1539	eph._health = 2.0;
	1540	}
	1541	else if (L5Flag == 1 && SFlag == 1) {
	1542	eph._health = 3.0;
	1543	}
	1544	GETFLOATSIGN(eph._Cuc, 15, 1.0 / (double )(1 << 28))
	1545	GETFLOATSIGN(eph._Cus, 15, 1.0 / (double )(1 << 28))
	1546	GETFLOATSIGN(eph._Cic, 15, 1.0 / (double )(1 << 28))
	1547	GETFLOATSIGN(eph._Cis, 15, 1.0 / (double )(1 << 28))
	1548	GETFLOATSIGN(eph._Crc, 15, 1.0 / (double )(1 << 4))
	1549	GETFLOATSIGN(eph._Crs, 15, 1.0 / (double )(1 << 4))
	1550	GETFLOATSIGN(eph._IDOT, 14, R2R_PI/(double)(1<<30)/(double)(1<<13))
[9328]	1551	SKIPBITS(2)
[8783]	1552	GETFLOATSIGN(eph._M0, 32, R2R_PI/(double)(1<<30)/(double)(1<< 1))
	1553	GETBITS(i, 16)
	1554	i <<= 4;
[10544]	1555	if (i < 0 \|\| i > 1048560) {
[10549]	1556	#ifdef BNC_DEBUG_BCE
[10544]	1557	emit(newMessage(QString("%1: Block %2 (%3) TOE is out of range: %4!")
	1558	.arg(_staID)
	1559	.arg(1041,4)
	1560	.arg(eph._prn.toString().c_str())
	1561	.arg(i).toLatin1(), true));
	1562	#endif
	1563	return false;
	1564	}
[8783]	1565	eph._TOEsec = i;
	1566	bncTime t;
	1567	t.set(i * 1000);
	1568	eph._TOEweek = t.gpsw();
	1569	int numOfRollOvers = int(floor(t.gpsw()/1024.0));
	1570	week += (numOfRollOvers * 1024);
	1571	/* week from HOW, differs from TOC, TOE week, we use adapted value instead */
	1572	if (eph._TOEweek > week + 1 \|\| eph._TOEweek < week - 1) /* invalid week */
	1573	return false;
	1574	GETFLOAT(eph._e, 32, 1.0 / (double )(1 << 30) / (double )(1 << 3))
	1575	GETFLOAT(eph._sqrt_A, 32, 1.0 / (double )(1 << 19))
[9201]	1576	if (eph._sqrt_A < 1000.0) {
[10549]	1577	#ifdef BNC_DEBUG_BCE
[9201]	1578	emit(newMessage(QString("%1: Block %2 (%3) SQRT_A %4 m!")
	1579	.arg(_staID).arg(1041,4).arg(eph._prn.toString().c_str())
	1580	.arg(eph._sqrt_A,10,'F',3).toLatin1(), true));
[9210]	1581	#endif
[9201]	1582	return false;
	1583	}
[8783]	1584	GETFLOATSIGN(eph._OMEGA0, 32, R2R_PI/(double)(1<<30)/(double)(1<< 1))
	1585	GETFLOATSIGN(eph._omega, 32, R2R_PI/(double)(1<<30)/(double)(1<< 1))
	1586	GETFLOATSIGN(eph._OMEGADOT, 22, R2R_PI/(double)(1<<30)/(double)(1<<11))
	1587	GETFLOATSIGN(eph._i0, 32, R2R_PI/(double)(1<<30)/(double)(1<< 1))
	1588	SKIPBITS(2)
	1589	eph._TOT = 0.9999e9;
[10587]	1590	eph._type = t_eph::LNAV;
[10599]	1591	eph._prn.setFlag(eph._type);
[8783]	1592
	1593	emit newGPSEph(eph);
	1594	decoded = true;
	1595	}
	1596	return decoded;
	1597	}
	1598
	1599	//
	1600	////////////////////////////////////////////////////////////////////////////
[8158]	1601	bool RTCM3Decoder::DecodeSBASEphemeris(unsigned char* data, int size) {
[6812]	1602	bool decoded = false;
	1603
[8158]	1604	if (size == 35) {
[6812]	1605	t_ephSBAS eph;
	1606	int i;
	1607	uint64_t numbits = 0, bitfield = 0;
	1608
	1609	data += 3; /* header */
	1610	size -= 6; /* header + crc */
	1611	SKIPBITS(12)
	1612
	1613	eph._receptDateTime = currentDateAndTimeGPS();
[9212]	1614	eph._receptStaID = _staID;
[6812]	1615
	1616	GETBITS(i, 6)
[10554]	1617	if (i < 0 \|\| i > 38 ) {
[10549]	1618	#ifdef BNC_DEBUG_BCE
[10544]	1619	emit(newMessage(QString("%1: Block %2 (S) PRN# is out of range: %3!")
	1620	.arg(_staID)
	1621	.arg(1043,4)
	1622	.arg(i).toLatin1(), true));
	1623	#endif
	1624	return false;
	1625	}
[10554]	1626	eph._prn.set('S', 20 + i);
[6812]	1627	GETBITS(eph._IODN, 8)
	1628	GETBITS(i, 13)
	1629	i <<= 4;
[10544]	1630	if (i < 0 \|\| i > 86384) {
[10549]	1631	#ifdef BNC_DEBUG_BCE
[10544]	1632	emit(newMessage(QString("%1: Block %2 (%3) TOC is out of range: %4!")
	1633	.arg(_staID)
	1634	.arg(1043,4)
	1635	.arg(eph._prn.toString().c_str())
	1636	.arg(i).toLatin1(), true));
	1637	#endif
	1638	return false;
	1639	}
[8158]	1640	eph._TOC.setTOD(i * 1000);
[6812]	1641	GETBITS(i, 4)
[10587]	1642	eph._ura = accuracyFromIndex(i, eph.system());
[6812]	1643	GETFLOATSIGN(eph._x_pos, 30, 0.08)
	1644	GETFLOATSIGN(eph._y_pos, 30, 0.08)
	1645	GETFLOATSIGN(eph._z_pos, 25, 0.4)
[9201]	1646	ColumnVector pos(3);
	1647	pos(1) = eph._x_pos; pos(2) = eph._y_pos; pos(3) = eph._z_pos;
	1648	if (pos.NormFrobenius() < 1.0) {
[10549]	1649	#ifdef BNC_DEBUG_BCE
[9201]	1650	emit(newMessage(QString("%1: Block %2 (%3): zero position!")
	1651	.arg(_staID).arg(1043,4).arg(eph._prn.toString().c_str()).toLatin1(), true));
[9210]	1652	#endif
[9201]	1653	return false;
	1654	}
[10587]	1655	GETFLOATSIGN(eph._x_vel, 17, 0.000625)
	1656	GETFLOATSIGN(eph._y_vel, 17, 0.000625)
	1657	GETFLOATSIGN(eph._z_vel, 18, 0.004)
	1658	GETFLOATSIGN(eph._x_acc, 10, 0.0000125)
	1659	GETFLOATSIGN(eph._y_acc, 10, 0.0000125)
	1660	GETFLOATSIGN(eph._z_acc, 10, 0.0000625)
[8158]	1661	GETFLOATSIGN(eph._agf0, 12, 1.0 / (1 << 30) / (1 << 1))
	1662	GETFLOATSIGN(eph._agf1, 8, 1.0 / (1 << 30) / (1 << 10))
[6812]	1663
[8456]	1664	eph._TOT = 0.9999E9;
[6812]	1665	eph._health = 0;
[10587]	1666	eph._type = t_eph::SBASL1;
[10599]	1667	eph._prn.setFlag(eph._type);
[6812]	1668
	1669	emit newSBASEph(eph);
	1670	decoded = true;
	1671	}
	1672	return decoded;
	1673	}
	1674
	1675	//
	1676	////////////////////////////////////////////////////////////////////////////
[8158]	1677	bool RTCM3Decoder::DecodeGalileoEphemeris(unsigned char* data, int size) {
[6812]	1678	bool decoded = false;
	1679	uint64_t numbits = 0, bitfield = 0;
[10544]	1680	int i, week, mnum;
[6812]	1681
	1682	data += 3; /* header */
	1683	size -= 6; /* header + crc */
	1684	GETBITS(i, 12)
	1685
[10599]	1686	if ((i == 1046 && size == 61) \|\|
	1687	(i == 1045 && size == 60)) {
[6812]	1688	t_ephGal eph;
	1689	eph._receptDateTime = currentDateAndTimeGPS();
[9212]	1690	eph._receptStaID = _staID;
[6812]	1691
	1692	eph._inav = (i == 1046);
	1693	eph._fnav = (i == 1045);
[10544]	1694	mnum = i;
[6812]	1695	GETBITS(i, 6)
[10544]	1696	if (i < 1 \|\| i > 36 ) { // max. constellation within I/NAV / F/NAV frames is 36
[10549]	1697	#ifdef BNC_DEBUG_BCE
[10544]	1698	emit(newMessage(QString("%1: Block %2 (E) PRN# is out of range: %3!")
	1699	.arg(_staID)
	1700	.arg(mnum,4)
	1701	.arg(i).toLatin1(), true));
	1702	#endif
	1703	return false;
	1704	}
[10599]	1705	eph._prn.set('E', i, eph._inav ? t_eph::INAV : t_eph::FNAV);
[6812]	1706
[10544]	1707	GETBITS(week, 12) //FIXME: roll-over after week 4095!!
	1708	if (week < 0 \|\| week > 4095) {
[10549]	1709	#ifdef BNC_DEBUG_BCE
[10544]	1710	emit(newMessage(QString("%1: Block %2 (%3) WEEK # is out of range: %4!")
	1711	.arg(_staID)
	1712	.arg(mnum,4)
	1713	.arg(eph._prn.toString().c_str())
	1714	.arg(week).toLatin1(), true));
	1715	#endif
	1716	return false;
	1717	}
	1718	eph._TOEweek = week;
[6812]	1719	GETBITS(eph._IODnav, 10)
	1720	GETBITS(i, 8)
[10587]	1721	eph._SISA = accuracyFromIndex(i, eph.system());
[6812]	1722	GETFLOATSIGN(eph._IDOT, 14, R2R_PI/(double)(1<<30)/(double)(1<<13))
	1723	GETBITSFACTOR(i, 14, 60)
[10544]	1724	if (i < 0 \|\| i > 604740) {
[10549]	1725	#ifdef BNC_DEBUG_BCE
[10544]	1726	emit(newMessage(QString("%1: Block %2 (%3) TOC is out of range: %4!")
	1727	.arg(_staID)
	1728	.arg(mnum,4)
	1729	.arg(eph._prn.toString().c_str())
	1730	.arg(i).toLatin1(), true));
	1731	#endif
	1732	return false;
	1733	}
	1734	eph._TOC.set(1024 + eph._TOEweek, i);// Period #2 = + 1 x 1024 (has to be determined)
[8783]	1735	GETFLOATSIGN(eph._clock_driftrate, 6, 1.0 / (double )(1 << 30) / (double )(1 << 29))
	1736	GETFLOATSIGN(eph._clock_drift, 21, 1.0 / (double )(1 << 30) / (double )(1 << 16))
	1737	GETFLOATSIGN(eph._clock_bias, 31, 1.0 / (double )(1 << 30) / (double )(1 << 4))
	1738	GETFLOATSIGN(eph._Crs, 16, 1.0 / (double )(1 << 5))
	1739	GETFLOATSIGN(eph._Delta_n, 16, R2R_PI/(double)(1<<30)/(double)(1<<13))
	1740	GETFLOATSIGN(eph._M0, 32, R2R_PI/(double)(1<<30)/(double)(1<<1))
	1741	GETFLOATSIGN(eph._Cuc, 16, 1.0 / (double )(1 << 29))
	1742	GETFLOAT(eph._e, 32, 1.0 / (double )(1 << 30) / (double )(1 << 3))
	1743	GETFLOATSIGN(eph._Cus, 16, 1.0 / (double )(1 << 29))
	1744	GETFLOAT(eph._sqrt_A, 32, 1.0 / (double )(1 << 19))
[6812]	1745	GETBITSFACTOR(eph._TOEsec, 14, 60)
[10544]	1746	if (i < 0 \|\| i > 604740) {
[10549]	1747	#ifdef BNC_DEBUG_BCE
[10544]	1748	emit(newMessage(QString("%1: Block %2 (%3) TOE is out of range: %4!")
	1749	.arg(_staID)
	1750	.arg(mnum,4)
	1751	.arg(eph._prn.toString().c_str())
	1752	.arg(i).toLatin1(), true));
	1753	#endif
	1754	return false;
	1755	}
[6812]	1756	/* FIXME: overwrite value, copied from old code */
[10587]	1757	//eph._TOEsec = eph._TOC.gpssec();
[8783]	1758	GETFLOATSIGN(eph._Cic, 16, 1.0 / (double )(1 << 29))
	1759	GETFLOATSIGN(eph._OMEGA0, 32, R2R_PI/(double)(1<<30)/(double)(1<<1))
	1760	GETFLOATSIGN(eph._Cis, 16, 1.0 / (double )(1 << 29))
	1761	GETFLOATSIGN(eph._i0, 32, R2R_PI/(double)(1<<30)/(double)(1<<1))
	1762	GETFLOATSIGN(eph._Crc, 16, 1.0 / (double )(1 << 5))
	1763	GETFLOATSIGN(eph._omega, 32, R2R_PI/(double)(1<<30)/(double)(1<<1))
[6812]	1764	GETFLOATSIGN(eph._OMEGADOT, 24, R2R_PI/(double)(1<<30)/(double)(1<<13))
[8981]	1765	GETFLOATSIGN(eph._BGD_1_5A, 10, 1.0 / (double )(1 << 30) / (double )(1 << 2))
[8158]	1766	if (eph._inav) {
[10599]	1767	eph._type = t_eph::INAV;
[7006]	1768	/* set unused F/NAV values */
[10587]	1769	eph._E5a_HS = 0.0;
	1770	eph._E5a_DataInvalid = false;
[6812]	1771
[8783]	1772	GETFLOATSIGN(eph._BGD_1_5B, 10, 1.0 / (double )(1 << 30) / (double )(1 << 2))
[10587]	1773	GETBITS(eph._E5b_HS, 2)
	1774	GETBITS(eph._E5b_DataInvalid, 1)
	1775	GETBITS(eph._E1B_HS, 2)
	1776	GETBITS(eph._E1B_DataInvalid, 1)
	1777	if (eph._E5b_HS != eph._E1B_HS) {
[10549]	1778	#ifdef BNC_DEBUG_BCE
[9201]	1779	emit(newMessage(QString("%1: Block %2 (%3) SHS E5b %4 E1B %5: inconsistent health!")
	1780	.arg(_staID).arg(1046,4).arg(eph._prn.toString().c_str())
[10587]	1781	.arg(eph._E5b_HS).arg(eph._E1B_HS).toLatin1(), true));
[9210]	1782	#endif
[9192]	1783	return false;
	1784	}
	1785	if ((eph._BGD_1_5A == 0.0 && fabs(eph._BGD_1_5B) > 1e-9) \|\|
	1786	(eph._BGD_1_5B == 0.0 && fabs(eph._BGD_1_5A) > 1e-9)) {
[10549]	1787	#ifdef BNC_DEBUG_BCE
[10587]	1788	emit(newMessage(QString("%1: Block %2 (%3) BGD_1_5a = %4 BGD_1_5b = %5: inconsistent BGD!")
[9201]	1789	.arg(_staID).arg(1046,4).arg(eph._prn.toString().c_str())
	1790	.arg(eph._BGD_1_5A,10,'E',3).arg(eph._BGD_1_5B,10,'E',3).toLatin1(), true));
[9210]	1791	#endif
[9192]	1792	return false;
	1793	}
[6812]	1794	}
[8158]	1795	else {
[10599]	1796	eph._type = t_eph::FNAV;
[7006]	1797	/* set unused I/NAV values */
[6812]	1798	eph._BGD_1_5B = 0.0;
[10587]	1799	eph._E5b_HS = 0.0;
	1800	eph._E1B_HS = 0.0;
	1801	eph._E1B_DataInvalid = false;
	1802	eph._E5b_DataInvalid = false;
[6812]	1803
[10587]	1804	GETBITS(eph._E5a_HS, 2)
	1805	GETBITS(eph._E5a_DataInvalid, 1)
[6812]	1806	}
	1807	eph._TOT = 0.9999e9;
	1808
[9201]	1809	if (eph._sqrt_A < 1000.0) {
[10549]	1810	#ifdef BNC_DEBUG_BCE
[9201]	1811	emit(newMessage(QString("%1: Block %2 (%3) SQRT_A %4 m!")
	1812	.arg(_staID).arg(eph._inav? 1046 : 1045,4).arg(eph._prn.toString().c_str())
	1813	.arg(eph._sqrt_A,10,'F',3).toLatin1(), true));
[9210]	1814	#endif
[9201]	1815	return false;
	1816	}
	1817
[6812]	1818	emit newGalileoEph(eph);
	1819	decoded = true;
	1820	}
	1821	return decoded;
	1822	}
	1823
	1824	//
	1825	////////////////////////////////////////////////////////////////////////////
[8158]	1826	bool RTCM3Decoder::DecodeBDSEphemeris(unsigned char* data, int size) {
[6812]	1827	bool decoded = false;
[9765]	1828	const double iMaxGEO = 10.0 / 180.0 * M_PI;
[6812]	1829
[8158]	1830	if (size == 70) {
[6812]	1831	t_ephBDS eph;
[10544]	1832	int i, week;
[6812]	1833	uint64_t numbits = 0, bitfield = 0;
	1834
	1835	data += 3; /* header */
	1836	size -= 6; /* header + crc */
	1837	SKIPBITS(12)
	1838
	1839	eph._receptDateTime = currentDateAndTimeGPS();
[9212]	1840	eph._receptStaID = _staID;
[6812]	1841
	1842	GETBITS(i, 6)
[10544]	1843	if (i < 1 \|\| i > 63 ) {
[10549]	1844	#ifdef BNC_DEBUG_BCE
[10544]	1845	emit(newMessage(QString("%1: Block %2 (C) PRN# is out of range: %3!")
	1846	.arg(_staID)
	1847	.arg(1042,4)
	1848	.arg(i).toLatin1(), true));
	1849	#endif
	1850	return false;
	1851	}
[6812]	1852	eph._prn.set('C', i);
	1853
[10544]	1854	GETBITS(week, 13)
	1855	if (week < 0 \|\| week > 8191) {
[10549]	1856	#ifdef BNC_DEBUG_BCE
[10544]	1857	emit(newMessage(QString("%1: Block %2 (%3) WEEK # is out of range: %4!")
	1858	.arg(_staID)
	1859	.arg(1042,4)
	1860	.arg(eph._prn.toString().c_str())
	1861	.arg(week).toLatin1(), true));
	1862	#endif
	1863	return false;
	1864	}
	1865	eph._BDTweek = week;
[6812]	1866	GETBITS(i, 4)
[10587]	1867	eph._ura = accuracyFromIndex(i, eph.system());
[6812]	1868	GETFLOATSIGN(eph._IDOT, 14, R2R_PI/(double)(1<<30)/(double)(1<<13))
	1869	GETBITS(eph._AODE, 5)
	1870	GETBITS(i, 17)
	1871	i <<= 3;
[10544]	1872	if (i < 0 \|\| i > 604792) {
[10549]	1873	#ifdef BNC_DEBUG_BCE
[10544]	1874	emit(newMessage(QString("%1: Block %2 (%3) TOC is out of range: %4!")
	1875	.arg(_staID)
	1876	.arg(1042,4)
	1877	.arg(eph._prn.toString().c_str())
	1878	.arg(i).toLatin1(), true));
	1879	#endif
	1880	return false;
	1881	}
[9785]	1882	eph._TOC.setBDS(eph._BDTweek, i);
[8783]	1883	GETFLOATSIGN(eph._clock_driftrate, 11, 1.0 / (double )(1 << 30) / (double )(1 << 30) / (double )(1 << 6))
	1884	GETFLOATSIGN(eph._clock_drift, 22, 1.0 / (double )(1 << 30) / (double )(1 << 20))
	1885	GETFLOATSIGN(eph._clock_bias, 24, 1.0 / (double )(1 << 30) / (double )(1 << 3))
[6812]	1886	GETBITS(eph._AODC, 5)
[8783]	1887	GETFLOATSIGN(eph._Crs, 18, 1.0 / (double )(1 << 6))
[6812]	1888	GETFLOATSIGN(eph._Delta_n, 16, R2R_PI/(double)(1<<30)/(double)(1<<13))
[8783]	1889	GETFLOATSIGN(eph._M0, 32, R2R_PI/(double)(1<<30)/(double)(1<<1))
	1890	GETFLOATSIGN(eph._Cuc, 18, 1.0 / (double )(1 << 30) / (double )(1 << 1))
	1891	GETFLOAT(eph._e, 32, 1.0 / (double )(1 << 30) / (double )(1 << 3))
	1892	GETFLOATSIGN(eph._Cus, 18, 1.0 / (double )(1 << 30) / (double )(1 << 1))
	1893	GETFLOAT(eph._sqrt_A, 32, 1.0 / (double )(1 << 19))
[9201]	1894	if (eph._sqrt_A < 1000.0) {
[10549]	1895	#ifdef BNC_DEBUG_BCE
[9201]	1896	emit(newMessage(QString("%1: Block %2 (%3) SQRT_A %4 m!")
	1897	.arg(_staID).arg(1042,4).arg(eph._prn.toString().c_str())
	1898	.arg(eph._sqrt_A,10,'F',3).toLatin1(), true));
[9210]	1899	#endif
[9201]	1900	return false;
	1901	}
[6812]	1902	GETBITS(i, 17)
	1903	i <<= 3;
[10544]	1904	if (i < 0 \|\| i > 604792) {
[10549]	1905	#ifdef BNC_DEBUG_BCE
[10544]	1906	emit(newMessage(QString("%1: Block %2 (%3) TOE is out of range: %4!")
	1907	.arg(_staID)
	1908	.arg(1042,4)
	1909	.arg(eph._prn.toString().c_str())
	1910	.arg(i).toLatin1(), true));
	1911	#endif
	1912	return false;
	1913	}
[6812]	1914	eph._TOEsec = i;
[9785]	1915	eph._TOE.setBDS(eph._BDTweek, i);
[8783]	1916	GETFLOATSIGN(eph._Cic, 18, 1.0 / (double )(1 << 30) / (double )(1 << 1))
	1917	GETFLOATSIGN(eph._OMEGA0, 32, R2R_PI/(double)(1<<30)/(double)(1<<1))
	1918	GETFLOATSIGN(eph._Cis, 18, 1.0 / (double )(1 << 30) / (double )(1 << 1))
	1919	GETFLOATSIGN(eph._i0, 32, R2R_PI/(double)(1<<30)/(double)(1<<1))
	1920	GETFLOATSIGN(eph._Crc, 18, 1.0 / (double )(1 << 6))
	1921	GETFLOATSIGN(eph._omega, 32, R2R_PI/(double)(1<<30)/(double)(1<<1))
[6812]	1922	GETFLOATSIGN(eph._OMEGADOT, 24, R2R_PI/(double)(1<<30)/(double)(1<<13))
[8783]	1923	GETFLOATSIGN(eph._TGD1, 10, 0.0000000001)
	1924	GETFLOATSIGN(eph._TGD2, 10, 0.0000000001)
[6812]	1925	GETBITS(eph._SatH1, 1)
	1926
[8456]	1927	eph._TOT = 0.9999E9;
[9765]	1928	if (eph._i0 > iMaxGEO) {
[10587]	1929	eph._type = t_eph::D1;
[9765]	1930	}
	1931	else {
[10587]	1932	eph._type = t_eph::D2;
[9765]	1933	}
[10599]	1934	eph._prn.setFlag(eph._type);
[9765]	1935
[6812]	1936	emit newBDSEph(eph);
	1937	decoded = true;
	1938	}
	1939	return decoded;
	1940	}
	1941
[8197]	1942	//
	1943	////////////////////////////////////////////////////////////////////////////
	1944	bool RTCM3Decoder::DecodeAntennaReceiver(unsigned char* data, int size) {
[8234]	1945	char *antenna;
	1946	char *antserialnum;
	1947	char *receiver;
	1948	char *recfirmware;
	1949	char *recserialnum;
[8197]	1950	int type;
[8234]	1951	int antsernum = -1;
[8197]	1952	int antnum = -1;
	1953	int recnum = -1;
[8234]	1954	int recsernum = -1;
	1955	int recfirnum = -1;
[8197]	1956	uint64_t numbits = 0, bitfield = 0;
	1957
	1958	data += 3; /* header*/
	1959	size -= 6; /* header + crc */
	1960
[8198]	1961	GETBITS(type, 12)
[8234]	1962	SKIPBITS(12) /* reference station ID */
[8197]	1963	GETSTRING(antnum, antenna)
[8234]	1964	if ((antnum > -1 && antnum < 265) &&
	1965	(_antType.empty() \|\| strncmp(_antType.back().descriptor, antenna, recnum) != 0)) {
	1966	_antType.push_back(t_antInfo());
	1967	memcpy(_antType.back().descriptor, antenna, antnum);
	1968	_antType.back().descriptor[antnum] = 0;
	1969	}
	1970	SKIPBITS(8) /* antenna setup ID */
	1971	if (type == 1008 \|\| type == 1033 ) {
	1972	GETSTRING(antsernum, antserialnum)
	1973	if ((antsernum > -1 && antsernum < 265)) {
	1974	memcpy(_antType.back().serialnumber, antserialnum, antsernum);
	1975	_antType.back().serialnumber[antsernum] = 0;
[8197]	1976	}
	1977	}
[8234]	1978
[8197]	1979	if (type == 1033) {
	1980	GETSTRING(recnum, receiver)
[8234]	1981	GETSTRING(recfirnum, recfirmware)
	1982	GETSTRING(recsernum, recserialnum)
	1983	if ((recnum > -1 && recnum < 265) &&
	1984	(_recType.empty() \|\| strncmp(_recType.back().descriptor, receiver, recnum) != 0)) {
	1985	_recType.push_back(t_recInfo());
	1986	memcpy(_recType.back().descriptor, receiver, recnum);
	1987	_recType.back().descriptor[recnum] = 0;
	1988	if (recfirnum > -1 && recfirnum < 265) {
	1989	memcpy(_recType.back().firmware, recfirmware, recfirnum);
	1990	_recType.back().firmware[recfirnum] = 0;
[8197]	1991	}
[8234]	1992	if (recsernum > -1 && recsernum < 265) {
	1993	memcpy(_recType.back().serialnumber, recserialnum, recsernum);
	1994	_recType.back().serialnumber[recsernum] = 0;
	1995	}
[8197]	1996	}
	1997	}
	1998	return true;
[6812]	1999	}
	2000
	2001	//
	2002	////////////////////////////////////////////////////////////////////////////
[8158]	2003	bool RTCM3Decoder::DecodeAntennaPosition(unsigned char* data, int size) {
[6812]	2004	int type;
	2005	uint64_t numbits = 0, bitfield = 0;
	2006	double x, y, z;
	2007
	2008	data += 3; /* header */
	2009	size -= 6; /* header + crc */
	2010
	2011	GETBITS(type, 12)
[8234]	2012	_antList.push_back(t_antRefPoint());
	2013	_antList.back().type = t_antRefPoint::ARP;
[6812]	2014	SKIPBITS(22)
	2015	GETBITSSIGN(x, 38)
	2016	_antList.back().xx = x * 1e-4;
	2017	SKIPBITS(2)
	2018	GETBITSSIGN(y, 38)
	2019	_antList.back().yy = y * 1e-4;
	2020	SKIPBITS(2)
	2021	GETBITSSIGN(z, 38)
	2022	_antList.back().zz = z * 1e-4;
[10534]	2023	if (type == 1006) {
[6812]	2024	double h;
	2025	GETBITS(h, 16)
	2026	_antList.back().height = h * 1e-4;
	2027	_antList.back().height_f = true;
	2028	}
[8158]	2029	_antList.back().message = type;
[6812]	2030
	2031	return true;
	2032	}
	2033
[7753]	2034	//
[6812]	2035	////////////////////////////////////////////////////////////////////////////
[10534]	2036	bool RTCM3Decoder::DecodeServiceCRS(unsigned char* data, int size) {
	2037	t_serviceCrs serviceCrs;
	2038	int servicecrsnum = -1;
	2039
	2040	uint64_t numbits = 0, bitfield = 0;
	2041
	2042	data += 3; // header
	2043	size -= 6; // header + crc
	2044
	2045	SKIPBITS(12) // Message Number
	2046
	2047	GETBITS(servicecrsnum, 5)
	2048	if (servicecrsnum > -1 && servicecrsnum <= 31) {
	2049	for(int i = 0; i < servicecrsnum; i++) {
	2050	GETBITS(serviceCrs._name[i], 8);
	2051	}
	2052	serviceCrs._name[servicecrsnum] = 0;
	2053	}
	2054	if (_serviceCrs.empty() \|\|
	2055	(strncmp(_serviceCrs.back()._name, serviceCrs._name, servicecrsnum) != 0)) {
	2056	_serviceCrs.push_back(serviceCrs);
	2057	GETFLOAT(_serviceCrs.back()._CE, 16, 1/100.0)
	2058	_serviceCrs.back().setCoordinateEpochFromCE();
[10539]	2059	//_serviceCrs.back().print();
[10534]	2060	}
	2061	return true;
	2062
	2063	}
	2064
	2065	//
	2066	////////////////////////////////////////////////////////////////////////////
	2067	bool RTCM3Decoder::DecodeRTCMCRS(unsigned char* data, int size) {
	2068
	2069	t_rtcmCrs rtcmCrs;
	2070	int rtcmcrsnum = -1;
	2071
	2072	uint64_t numbits = 0, bitfield = 0;
	2073
	2074	data += 3; // header
	2075	size -= 6; // header + crc
	2076
	2077	SKIPBITS(12) // Message Number
	2078	GETBITS(rtcmcrsnum, 5)
	2079	if (rtcmcrsnum > -1 && rtcmcrsnum <= 31) {
	2080	for(int i = 0; i < rtcmcrsnum; i++) {
	2081	GETBITS(rtcmCrs._name[i], 8);
	2082	}
	2083	rtcmCrs._name[rtcmcrsnum] = 0;
	2084	}
	2085	if (_rtcmCrs.empty() \|\|
	2086	(strncmp(_rtcmCrs.back()._name, rtcmCrs._name, rtcmcrsnum) != 0)) {
	2087	_rtcmCrs.push_back(rtcmCrs);
	2088
	2089	GETBITS(_rtcmCrs.back()._anchor, 1)
	2090	GETBITS(_rtcmCrs.back()._plateNumber, 5)
	2091
	2092	int dblinksnum = 0;
	2093	GETBITS(dblinksnum, 3)
	2094	for (int i = 0; i < dblinksnum; i++) {
	2095	int dblinknum = -1;
	2096	char dblinkname[31];
	2097	GETBITS(dblinknum, 5)
	2098	if (dblinknum > -1 && dblinknum <= 31) {
	2099	for(int i = 0; i < dblinknum; i++) {
	2100	GETBITS(dblinkname[i], 8);
	2101	}
	2102	dblinkname[dblinknum] = 0;
	2103	_rtcmCrs.back()._databaseLinks.append(QString("%1").arg(dblinkname));
	2104	}
	2105	}
[10539]	2106	//_rtcmCrs.back().print();
[10534]	2107	}
	2108
	2109	return true;
	2110	}
	2111
	2112
	2113	////////////////////////////////////////////////////////////////////////////
	2114	bool RTCM3Decoder::DecodeHelmertTrafoParameters(unsigned char* data, int size) {
	2115
	2116	t_helmertPar helmertPar;
	2117	int sourcenum = -1;
	2118	int targetnum = -1;
	2119
	2120	uint64_t numbits = 0, bitfield = 0;
	2121	data += 3; // header
	2122	size -= 6; // header + crc
	2123
	2124	SKIPBITS(12) // Message Number
	2125	GETBITS(sourcenum, 5)
	2126	if (sourcenum > -1 && sourcenum <= 31) {
	2127	for(int i = 0; i < sourcenum; i++) {
	2128	GETBITS(helmertPar._sourceName[i], 8);
	2129	}
	2130	helmertPar._sourceName[sourcenum] = 0;
	2131	}
	2132	GETBITS(targetnum, 5)
	2133	if (targetnum > -1 && targetnum <= 31) {
	2134	for(int i = 0; i < targetnum; i++) {
	2135	GETBITS(helmertPar._targetName[i], 8);
	2136	}
	2137	helmertPar._targetName[targetnum] = 0;
	2138	}
	2139	GETBITS(helmertPar._sysIdentNum, 8)
	2140	GETBITS(helmertPar._utilTrafoMessageIndicator, 10)
[10545]	2141	GETBITS(helmertPar._mjd, 16)
	2142	helmertPar._mjd += 44244;
[10534]	2143
	2144	// delete old parameter entries if available
	2145	if (!_helmertPar.empty()) {
	2146	QList<t_helmertPar>::iterator it = _helmertPar.begin();
	2147	while (it != _helmertPar.end()) {
	2148	(helmertPar == *it) ? it = _helmertPar.erase(it) : ++it;
	2149	}
	2150	}
	2151	_helmertPar.push_back(helmertPar);
	2152
[10545]	2153	GETFLOATSIGN(_helmertPar.back()._dx, 23, 1/1000.0)
	2154	GETFLOATSIGN(_helmertPar.back()._dy, 23, 1/1000.0)
	2155	GETFLOATSIGN(_helmertPar.back()._dz, 23, 1/1000.0)
[10534]	2156
[10545]	2157	GETFLOATSIGN(_helmertPar.back()._ox, 32, 1/50000.0)
	2158	GETFLOATSIGN(_helmertPar.back()._oy, 32, 1/50000.0)
	2159	GETFLOATSIGN(_helmertPar.back()._oz, 32, 1/50000.0)
	2160
	2161	GETFLOATSIGN(_helmertPar.back()._sc, 25, 1/100000.0)
	2162
	2163	GETFLOATSIGN(_helmertPar.back()._dxr, 17, 1/50000.0)
	2164	GETFLOATSIGN(_helmertPar.back()._dyr, 17, 1/50000.0)
	2165	GETFLOATSIGN(_helmertPar.back()._dzr, 17, 1/50000.0)
	2166
	2167	GETFLOATSIGN(_helmertPar.back()._oxr, 17, 1/2500000.0)
	2168	GETFLOATSIGN(_helmertPar.back()._oyr, 17, 1/2500000.0)
	2169	GETFLOATSIGN(_helmertPar.back()._ozr, 17, 1/2500000.0)
	2170
	2171	GETFLOATSIGN(_helmertPar.back()._scr, 14, 1/5000000.0)
	2172
[10539]	2173	//_helmertPar.back().print();
[10534]	2174
	2175	return true;
	2176	}
	2177
	2178
	2179	//
	2180	////////////////////////////////////////////////////////////////////////////
[8158]	2181	t_irc RTCM3Decoder::Decode(char* buffer, int bufLen, vector<string>& errmsg) {
[6812]	2182	bool decoded = false;
	2183
	2184	errmsg.clear();
	2185
[8158]	2186	while (bufLen && _MessageSize < sizeof(_Message)) {
[6812]	2187	int l = sizeof(_Message) - _MessageSize;
[8158]	2188	if (l > bufLen)
[6812]	2189	l = bufLen;
[8158]	2190	memcpy(_Message + _MessageSize, buffer, l);
[6812]	2191	_MessageSize += l;
	2192	bufLen -= l;
	2193	buffer += l;
	2194	int id;
[8158]	2195	while ((id = GetMessage())) {
[6812]	2196	/* reset station ID for file loading as it can change */
[8158]	2197	if (_rawFile)
[6812]	2198	_staID = _rawFile->staID();
	2199	/* store the id into the list of loaded blocks */
	2200	_typeList.push_back(id);
	2201
[6856]	2202	/* SSR I+II data handled in another function, already pass the
[6812]	2203	* extracted data block. That does no harm, as it anyway skip everything
	2204	* else. */
[8971]	2205	if ((id >= 1057 && id <= 1068) \|\|
[9212]	2206	(id >= 1240 && id <= 1270) \|\|
	2207	(id == 4076)) {
[9048]	2208	if (!_coDecoders.contains(_staID.toLatin1())) {
	2209	_coDecoders[_staID.toLatin1()] = new RTCM3coDecoder(_staID);
[9306]	2210	if (id == 4076) {
	2211	_coDecoders[_staID.toLatin1()]->initSsrFormatType(RTCM3coDecoder::IGSssr);
	2212	}
	2213	else {
	2214	_coDecoders[_staID.toLatin1()]->initSsrFormatType(RTCM3coDecoder::RTCMssr);
	2215	}
[9048]	2216	}
	2217	RTCM3coDecoder* coDecoder = _coDecoders[_staID.toLatin1()];
[9212]	2218	if (coDecoder->Decode(reinterpret_cast<char *>(_Message), _BlockSize, errmsg) == success) {
[6812]	2219	decoded = true;
	2220	}
	2221	}
[9285]	2222	else if (id >= 1070 && id <= 1237) { /* MSM */
[8158]	2223	if (DecodeRTCM3MSM(_Message, _BlockSize))
[6812]	2224	decoded = true;
	2225	}
[8158]	2226	else {
	2227	switch (id) {
	2228	case 1001:
	2229	case 1003:
[10236]	2230	#ifdef BNC_DEBUG_OBS
[9210]	2231	emit(newMessage(QString("%1: Block %2 contain partial data! Ignored!")
	2232	.arg(_staID).arg(id).toLatin1(), true));
[10236]	2233	#endif
[8158]	2234	break; /* no use decoding partial data ATM, remove break when data can be used */
	2235	case 1002:
	2236	case 1004:
	2237	if (DecodeRTCM3GPS(_Message, _BlockSize))
	2238	decoded = true;
	2239	break;
	2240	case 1009:
	2241	case 1011:
[10236]	2242	#ifdef BNC_DEBUG_OBS
[9210]	2243	emit(newMessage(QString("%1: Block %2 contain partial data! Ignored!")
	2244	.arg(_staID).arg(id).toLatin1(), true));
[10236]	2245	#endif
[8158]	2246	break; /* no use decoding partial data ATM, remove break when data can be used */
	2247	case 1010:
	2248	case 1012:
	2249	if (DecodeRTCM3GLONASS(_Message, _BlockSize))
	2250	decoded = true;
	2251	break;
	2252	case 1019:
	2253	if (DecodeGPSEphemeris(_Message, _BlockSize))
	2254	decoded = true;
	2255	break;
	2256	case 1020:
	2257	if (DecodeGLONASSEphemeris(_Message, _BlockSize))
	2258	decoded = true;
	2259	break;
	2260	case 1043:
	2261	if (DecodeSBASEphemeris(_Message, _BlockSize))
	2262	decoded = true;
	2263	break;
	2264	case 1044:
	2265	if (DecodeQZSSEphemeris(_Message, _BlockSize))
	2266	decoded = true;
	2267	break;
[9002]	2268	case 1041:
[8783]	2269	if (DecodeIRNSSEphemeris(_Message, _BlockSize))
	2270	decoded = true;
	2271	break;
[8158]	2272	case 1045:
	2273	case 1046:
	2274	if (DecodeGalileoEphemeris(_Message, _BlockSize))
	2275	decoded = true;
	2276	break;
[9000]	2277	case 1042:
[8158]	2278	if (DecodeBDSEphemeris(_Message, _BlockSize))
	2279	decoded = true;
	2280	break;
	2281	case 1007:
	2282	case 1008:
	2283	case 1033:
[8197]	2284	DecodeAntennaReceiver(_Message, _BlockSize);
[8158]	2285	break;
	2286	case 1005:
	2287	case 1006:
	2288	DecodeAntennaPosition(_Message, _BlockSize);
	2289	break;
[10534]	2290	case 1300:
	2291	DecodeServiceCRS(_Message, _BlockSize);
	2292	break;
	2293	case 1301:
	2294	DecodeHelmertTrafoParameters(_Message, _BlockSize);
	2295	break;
	2296	case 1302:
	2297	case 35:
	2298	DecodeRTCMCRS(_Message, _BlockSize);
	2299	break;
[296]	2300	}
	2301	}
	2302	}
[6812]	2303	}
[10534]	2304	/*
	2305	for (int ii = 0; ii < _helmertParList.size(); ii++) {
	2306	_helmertParList[ii].print();
	2307	}*/
[6812]	2308	return decoded ? success : failure;
[8158]	2309	}
[6812]	2310
[7753]	2311	//
[6812]	2312	////////////////////////////////////////////////////////////////////////////
[8158]	2313	uint32_t RTCM3Decoder::CRC24(long size, const unsigned char *buf) {
[6812]	2314	uint32_t crc = 0;
[9025]	2315	int ii;
[8158]	2316	while (size--) {
[6812]	2317	crc ^= (*buf++) << (16);
[9025]	2318	for (ii = 0; ii < 8; ii++) {
[6812]	2319	crc <<= 1;
[8158]	2320	if (crc & 0x1000000)
[6812]	2321	crc ^= 0x01864cfb;
[1021]	2322	}
[296]	2323	}
[6812]	2324	return crc;
	2325	}
[1021]	2326
[7753]	2327	//
[6812]	2328	////////////////////////////////////////////////////////////////////////////
[8158]	2329	int RTCM3Decoder::GetMessage(void) {
[6812]	2330	unsigned char m, e;
	2331	int i;
	2332
[8158]	2333	m = _Message + _SkipBytes;
	2334	e = _Message + _MessageSize;
[6812]	2335	_NeedBytes = _SkipBytes = 0;
[8158]	2336	while (e - m >= 3) {
	2337	if (m[0] == 0xD3) {
	2338	_BlockSize = ((m[1] & 3) << 8) \| m[2];
	2339	if (e - m >= static_cast<int>(_BlockSize + 6)) {
	2340	if (static_cast<uint32_t>((m[3 + _BlockSize] << 16)
	2341	\| (m[3 + _BlockSize + 1] << 8)
	2342	\| (m[3 + _BlockSize + 2])) == CRC24(_BlockSize + 3, m)) {
	2343	_BlockSize += 6;
[6812]	2344	_SkipBytes = _BlockSize;
	2345	break;
	2346	}
	2347	else
	2348	++m;
	2349	}
[8158]	2350	else {
[6812]	2351	_NeedBytes = _BlockSize;
	2352	break;
	2353	}
	2354	}
	2355	else
	2356	++m;
[658]	2357	}
[8158]	2358	if (e - m < 3)
[6812]	2359	_NeedBytes = 3;
	2360
	2361	/* copy buffer to front */
	2362	i = m - _Message;
[8158]	2363	if (i && m < e)
	2364	memmove(_Message, m, static_cast<size_t>(_MessageSize - i));
[6812]	2365	_MessageSize -= i;
	2366
[8158]	2367	return !_NeedBytes ? ((_Message[3] << 4) \| (_Message[4] >> 4)) : 0;
[296]	2368	}
[1807]	2369
[3001]	2370	// Time of Corrections
	2371	//////////////////////////////////////////////////////////////////////////////
	2372	int RTCM3Decoder::corrGPSEpochTime() const {
[8158]	2373	return
	2374	_coDecoders.size() > 0 ?
	2375	_coDecoders.begin().value()->corrGPSEpochTime() : -1;
[3001]	2376	}
[10544]	2377
	2378
	2379
	2380

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source: ntrip/trunk/BNC/src/RTCM3/RTCM3Decoder.cpp@ 10603

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