source: ntrip/trunk/BNC/src/RTCM3/RTCM3Decoder.cpp@ 7755

// Part of BNC, a utility for retrieving decoding and
// converting GNSS data streams from NTRIP broadcasters.
//
// Copyright (C) 2007
// German Federal Agency for Cartography and Geodesy (BKG)
// http://www.bkg.bund.de
// Czech Technical University Prague, Department of Geodesy
// http://www.fsv.cvut.cz
//
// Email: euref-ip@bkg.bund.de
//
// This program is free software; you can redistribute it and/or
// modify it under the terms of the GNU General Public License
// as published by the Free Software Foundation, version 2.
//
// This program is distributed in the hope that it will be useful,
// but WITHOUT ANY WARRANTY; without even the implied warranty of
// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
// GNU General Public License for more details.
//
// You should have received a copy of the GNU General Public License
// along with this program; if not, write to the Free Software
// Foundation, Inc., 59 Temple Place - Suite 330, Boston, MA 02111-1307, USA.

/* -------------------------------------------------------------------------
 * BKG NTRIP Client
 * -------------------------------------------------------------------------
 *
 * Class:      RTCM3Decoder
 *
 * Purpose:    RTCM3 Decoder
 *
 * Author:     L. Mervart
 *
 * Created:    24-Aug-2006
 *
 * Changes:
 *
 * -----------------------------------------------------------------------*/

#include <iostream>
#include <iomanip>
#include <sstream>
#include <math.h>
#include <string.h>

#include "bits.h"
#include "gnss.h"
#include "RTCM3Decoder.h"
#include "rtcm_utils.h"
#include "bncconst.h"
#include "bnccore.h"
#include "bncutils.h"
#include "bncsettings.h"

using namespace std;

// Error Handling
////////////////////////////////////////////////////////////////////////////
void RTCM3Error(const char*, ...) {
}

// Constructor
////////////////////////////////////////////////////////////////////////////
RTCM3Decoder::RTCM3Decoder(const QString& staID, bncRawFile* rawFile) :
                GPSDecoder() {

  _staID   = staID;
  _rawFile = rawFile;

  connect(this, SIGNAL(newGPSEph(t_ephGPS)),     BNC_CORE, SLOT(slotNewGPSEph(t_ephGPS)));
  connect(this, SIGNAL(newGlonassEph(t_ephGlo)), BNC_CORE, SLOT(slotNewGlonassEph(t_ephGlo)));
  connect(this, SIGNAL(newGalileoEph(t_ephGal)), BNC_CORE, SLOT(slotNewGalileoEph(t_ephGal)));
  connect(this, SIGNAL(newSBASEph(t_ephSBAS)),   BNC_CORE, SLOT(slotNewSBASEph(t_ephSBAS)));
  connect(this, SIGNAL(newBDSEph(t_ephBDS)),     BNC_CORE, SLOT(slotNewBDSEph(t_ephBDS)));

  _MessageSize = _SkipBytes = _BlockSize = _NeedBytes = 0;
}

// Destructor
////////////////////////////////////////////////////////////////////////////
RTCM3Decoder::~RTCM3Decoder() {
  QMapIterator<QByteArray, RTCM3coDecoder*> it(_coDecoders);
  while(it.hasNext())
  {
    it.next();
    delete it.value();
  }
}

//
////////////////////////////////////////////////////////////////////////////
bool RTCM3Decoder::DecodeRTCM3GPS(unsigned char* data, int size)
{
  bool decoded = false;
  bncTime CurrentObsTime;
  int i, numsats, syncf, type;
  uint64_t numbits = 0, bitfield = 0;

  data += 3; /* header */
  size -= 6; /* header + crc */

  GETBITS(type, 12)
  SKIPBITS(12) /* id */
  GETBITS(i,30)

  CurrentObsTime.set(i);
  if(_CurrentTime.valid() && CurrentObsTime != _CurrentTime)
  {
    decoded = true;
    _obsList.append(_CurrentObsList);
    _CurrentObsList.clear();
  }

  _CurrentTime = CurrentObsTime;

  GETBITS(syncf,1) /* sync */
  GETBITS(numsats,5)
  SKIPBITS(4) /* smind, smint */

  while(numsats--)
  {
    int sv, code, l1range, amb=0;
    t_satObs CurrentObs;
    CurrentObs._time = CurrentObsTime;

    GETBITS(sv, 6)
    if(sv < 40)
      CurrentObs._prn.set('G', sv);
    else
      CurrentObs._prn.set('S', sv-20);

    t_frqObs *frqObs = new t_frqObs;
    /* L1 */
    GETBITS(code, 1);
    frqObs->_rnxType2ch = code ? "1W" : "1C";
    GETBITS(l1range, 24);
    GETBITSSIGN(i, 20);
    if((i&((1<<20)-1)) != 0x80000)
    {
      frqObs->_code = l1range*0.02;
      frqObs->_phase = (l1range*0.02+i*0.0005)/GPS_WAVELENGTH_L1;
      frqObs->_codeValid = frqObs->_phaseValid = true;
    }
    GETBITS(i, 7);
    frqObs->_slipCounter = i;
    if(type == 1002 || type == 1004)
    {
      GETBITS(amb,8);
      if(amb)
      {
        frqObs->_code += amb*299792.458;
        frqObs->_phase += (amb*299792.458)/GPS_WAVELENGTH_L1;
      }
      GETBITS(i, 8);
      if(i)
      {
        frqObs->_snr = i*0.25;
        frqObs->_snrValid = true;
      }
    }
    CurrentObs._obs.push_back(frqObs);
    if(type == 1003 || type == 1004)
    {
      frqObs = new t_frqObs;
      /* L2 */
      GETBITS(code,2);
      switch(code)
      {
      case 3: frqObs->_rnxType2ch = "2W"; /* or "2Y"? */ break;
      case 2: frqObs->_rnxType2ch = "2W"; break;
      case 1: frqObs->_rnxType2ch = "2P"; break;
      case 0: frqObs->_rnxType2ch = "2X"; /* or "2S" or "2L"? */ break;
      }
      GETBITSSIGN(i,14);
      if((i&((1<<14)-1)) != 0x2000)
      {
        frqObs->_code = l1range*0.02+i*0.02+amb*299792.458;
        frqObs->_codeValid = true;
      }
      GETBITSSIGN(i,20);
      if((i&((1<<20)-1)) != 0x80000)
      {
        frqObs->_phase = (l1range*0.02+i*0.0005+amb*299792.458)/GPS_WAVELENGTH_L2;
        frqObs->_phaseValid = true;
      }
      GETBITS(i,7);
      frqObs->_slipCounter = i;
      if(type == 1004)
      {
        GETBITS(i, 8);
        if(i)
        {
          frqObs->_snr = i*0.25;
          frqObs->_snrValid = true;
        }
      }
      CurrentObs._obs.push_back(frqObs);
    }
    _CurrentObsList.push_back(CurrentObs);
  }

  if(!syncf)
  {
    decoded = true;
    _obsList.append(_CurrentObsList);
    _CurrentTime.reset();
    _CurrentObsList.clear();
  }
  return decoded;
}

#define RTCM3_MSM_NUMSIG      32
#define RTCM3_MSM_NUMSAT      64
#define RTCM3_MSM_NUMCELLS    96 /* arbitrary limit */

/**
 * Frequency numbers of GLONASS with an offset of 100 to detect unset values.
 * Gets filled by ephemeris and data blocks and shared between different streams.
 */
static int GLOFreq[RTCM3_MSM_NUMSAT];

/*
 * Storage structure to store frequency and RINEX ID assignment for MSM
 * message */
struct CodeData {
  double wl;
  const char *code; /* currently unused */
};

/** MSM signal types for GPS and SBAS */
static struct CodeData gps[RTCM3_MSM_NUMSIG] =
{
  {0.0,0},
  {GPS_WAVELENGTH_L1,"1C"},
  {GPS_WAVELENGTH_L1,"1P"},
  {GPS_WAVELENGTH_L1,"1W"},
  {0.0,0}/*{GPS_WAVELENGTH_L1,"1Y"}*/,
  {0.0,0},
  {0.0,0},
  {GPS_WAVELENGTH_L2,"2C"},
  {GPS_WAVELENGTH_L2,"2P"},
  {GPS_WAVELENGTH_L2,"2W"},
  {0.0,0}/*{GPS_WAVELENGTH_L2,"2Y"}*/,
  {0.0,0},
  {0.0,0},
  {0.0,0},
  {GPS_WAVELENGTH_L2,"2S"},
  {GPS_WAVELENGTH_L2,"2L"},
  {GPS_WAVELENGTH_L2,"2X"},
  {0.0,0},
  {0.0,0},
  {0.0,0},
  {0.0,0},
  {GPS_WAVELENGTH_L5,"5I"},
  {GPS_WAVELENGTH_L5,"5Q"},
  {GPS_WAVELENGTH_L5,"5X"},
  {0.0,0},
  {0.0,0},
  {0.0,0},
  {0.0,0},
  {0.0,0},
  {GPS_WAVELENGTH_L1,"1S"},
  {GPS_WAVELENGTH_L1,"1L"},
  {GPS_WAVELENGTH_L1,"1X"}
};

/**
 * MSM signal types for GLONASS
 *
 * NOTE: Uses 0.0, 1.0 for wavelength as sat index dependence is done later!
 */
static struct CodeData glo[RTCM3_MSM_NUMSIG] =
{
  {0.0,0},
  {0.0,"1C"},
  {0.0,"1P"},
  {0.0,0},
  {0.0,0},
  {0.0,0},
  {0.0,0},
  {1.0,"2C"},
  {1.0,"2P"},
  {0.0,0},
  {0.0,0},
  {0.0,0},
  {0.0,0},
  {0.0,0},
  {0.0,0},
  {0.0,0},
  {0.0,0},
  {0.0,0},
  {0.0,0},
  {0.0,0},
  {0.0,0},
  {0.0,0},
  {0.0,0},
  {0.0,0},
  {0.0,0},
  {0.0,0},
  {0.0,0},
  {0.0,0},
  {0.0,0},
  {0.0,0},
  {0.0,0},
  {0.0,0}
};

/** MSM signal types for Galileo */
static struct CodeData gal[RTCM3_MSM_NUMSIG] =
{
  {0.0,0},
  {GAL_WAVELENGTH_E1,"1C"},
  {GAL_WAVELENGTH_E1,"1A"},
  {GAL_WAVELENGTH_E1,"1B"},
  {GAL_WAVELENGTH_E1,"1X"},
  {GAL_WAVELENGTH_E1,"1Z"},
  {0.0,0},
  {GAL_WAVELENGTH_E6,"6C"},
  {GAL_WAVELENGTH_E6,"6A"},
  {GAL_WAVELENGTH_E6,"6B"},
  {GAL_WAVELENGTH_E6,"6X"},
  {GAL_WAVELENGTH_E6,"6Z"},
  {0.0,0},
  {GAL_WAVELENGTH_E5B,"7I"},
  {GAL_WAVELENGTH_E5B,"7Q"},
  {GAL_WAVELENGTH_E5B,"7X"},
  {0.0,0},
  {GAL_WAVELENGTH_E5AB,"8I"},
  {GAL_WAVELENGTH_E5AB,"8Q"},
  {GAL_WAVELENGTH_E5AB,"8X"},
  {0.0,0},
  {GAL_WAVELENGTH_E5A,"5I"},
  {GAL_WAVELENGTH_E5A,"5Q"},
  {GAL_WAVELENGTH_E5A,"5X"},
  {0.0,0},
  {0.0,0},
  {0.0,0},
  {0.0,0},
  {0.0,0},
  {0.0,0},
  {0.0,0},
  {0.0,0},
};

/** MSM signal types for QZSS */
static struct CodeData qzss[RTCM3_MSM_NUMSIG] =
{
  {0.0,0},
  {GPS_WAVELENGTH_L1,"1C"},
  {0.0,0},
  {0.0,0},
  {0.0,0},
  {GPS_WAVELENGTH_L1,"1Z"},
  {0.0,0},
  {0.0,0},
  {QZSS_WAVELENGTH_LEX,"6S"},
  {QZSS_WAVELENGTH_LEX,"6L"},
  {QZSS_WAVELENGTH_LEX,"6X"},
  {0.0,0},
  {0.0,0},
  {0.0,0},
  {GPS_WAVELENGTH_L2,"2S"},
  {GPS_WAVELENGTH_L2,"2L"},
  {GPS_WAVELENGTH_L2,"2X"},
  {0.0,0},
  {0.0,0},
  {0.0,0},
  {0.0,0},
  {GPS_WAVELENGTH_L5,"5I"},
  {GPS_WAVELENGTH_L5,"5Q"},
  {GPS_WAVELENGTH_L5,"5X"},
  {0.0,0},
  {0.0,0},
  {0.0,0},
  {0.0,0},
  {0.0,0},
  {GPS_WAVELENGTH_L1,"1D"},
  {GPS_WAVELENGTH_L1,"1P"},
  {GPS_WAVELENGTH_L1,"1X"}
};

/** MSM signal types for Beidou/BDS */
static struct CodeData bds[RTCM3_MSM_NUMSIG] =
{
  {0.0,0},
  {BDS_WAVELENGTH_B1,"2I"},
  {0.0,0},
  {0.0,0},
  {0.0,0},
  {0.0,0},
  {0.0,0},
  {BDS_WAVELENGTH_B3,"6I"},
  {0.0,0},
  {0.0,0},
  {0.0,0},
  {0.0,0},
  {0.0,0},
  {BDS_WAVELENGTH_B2,"7I"},
  {0.0,0},
  {0.0,0},
  {0.0,0},
  {0.0,0},
  {0.0,0},
  {0.0,0},
  {0.0,0},
  {0.0,0},
  {0.0,0},
  {0.0,0},
  {0.0,0},
  {0.0,0},
  {0.0,0},
  {0.0,0},
  {0.0,0},
  {0.0,0},
  {0.0,0},
  {0.0,0},
};

#define UINT64(c) c ## ULL

//
////////////////////////////////////////////////////////////////////////////
bool RTCM3Decoder::DecodeRTCM3MSM(unsigned char* data, int size)
{
  bool decoded = false;
  int type, syncf, i;
  uint64_t numbits = 0, bitfield = 0;

  data += 3; /* header */
  size -= 6; /* header + crc */

  GETBITS(type, 12)
  SKIPBITS(12) /* id */
  char sys;
  if(type >= 1121)
    sys = 'C';
  else if(type >= 1111)
    sys = 'J';
  else if(type >= 1101)
    sys = 'S';
  else if(type >= 1091)
    sys = 'E';
  else if(type >= 1081)
    sys = 'R';
  else
    sys = 'G';

  bncTime CurrentObsTime;
  if(sys == 'C') /* BDS */
  {
    GETBITS(i,30)
    CurrentObsTime.setBDS(i);
  }
  else if(sys == 'R') /* GLONASS */
  {
    SKIPBITS(3)
    GETBITS(i,27) /* tk */
    CurrentObsTime.setTk(i);
  }
  else /* GPS style date */
  {
    GETBITS(i,30)
    CurrentObsTime.set(i);
  }
  if(_CurrentTime.valid() && CurrentObsTime != _CurrentTime)
  {
    decoded = true;
    _obsList = _CurrentObsList;
    _CurrentObsList.clear();
  }
  _CurrentTime = CurrentObsTime;

  GETBITS(syncf, 1)
  /**
   * Ignore unknown types except for sync flag
   *
   * We actually support types 1-3 in following code, but as they are missing
   * the full cycles and can't be used later we skip interpretation here already.
   */
  if(type <= 1130 && (type % 10) >= 4 && (type % 10) <= 7)
  {
    int sigmask, numsat = 0, numsig = 0;
    uint64_t satmask, cellmask, ui;
    double rrmod[RTCM3_MSM_NUMSAT];
    int rrint[RTCM3_MSM_NUMSAT], rdop[RTCM3_MSM_NUMSAT],
    extsat[RTCM3_MSM_NUMSAT];
    int ll[RTCM3_MSM_NUMCELLS]/*, hc[RTCM3_MSM_NUMCELLS]*/;
    double cnr[RTCM3_MSM_NUMCELLS];
    double cp[RTCM3_MSM_NUMCELLS], psr[RTCM3_MSM_NUMCELLS],
    dop[RTCM3_MSM_NUMCELLS];

    SKIPBITS(3+7+2+2+1+3)
    GETBITS64(satmask, RTCM3_MSM_NUMSAT)

    /* http://gurmeetsingh.wordpress.com/2008/08/05/fast-bit-counting-routines/ */
    for(ui = satmask; ui; ui &= (ui - 1) /* remove rightmost bit */)
      ++numsat;
    GETBITS(sigmask, RTCM3_MSM_NUMSIG)
    for(i = sigmask; i; i &= (i - 1) /* remove rightmost bit */)
      ++numsig;
    for(i = 0; i < RTCM3_MSM_NUMSAT; ++i)
      extsat[i] = 15;

    i = numsat*numsig;
    GETBITS64(cellmask, (unsigned)i)

    switch(type % 10)
    {
    case 1: case 2: case 3:
      /* partial data, already skipped above, but implemented for future expansion ! */
      for(int j = numsat; j--;)
        GETFLOAT(rrmod[j], 10, 1.0/1024.0)
      break;
    case 4: case 6:
      for(int j = numsat; j--;)
        GETBITS(rrint[j], 8)
      for(int j = numsat; j--;)
        GETFLOAT(rrmod[j], 10, 1.0/1024.0)
      break;
    case 5: case 7:
      for(int j = numsat; j--;)
        GETBITS(rrint[j], 8)
      for(int j = numsat; j--;)
        GETBITS(extsat[j], 4)
      for(int j = numsat; j--;)
        GETFLOAT(rrmod[j], 10, 1.0/1024.0)
      for(int j = numsat; j--;)
        GETBITSSIGN(rdop[j], 14)
      break;
    }

    int numcells = numsat*numsig;
    /** Drop anything which exceeds our cell limit. Increase limit definition
     * when that happens. */
    if(numcells <= RTCM3_MSM_NUMCELLS)
    {
      switch(type % 10)
      {
      case 1:
        for(int count = numcells; count--;)
          if(cellmask & (UINT64(1)<<count))
            GETFLOATSIGN(psr[count], 15, 1.0/(1<<24))
        break;
      case 2:
        for(int count = numcells; count--;)
          if(cellmask & (UINT64(1)<<count))
            GETFLOATSIGN(cp[count], 22, 1.0/(1<<29))
        for(int count = numcells; count--;)
          if(cellmask & (UINT64(1)<<count))
            GETBITS(ll[count], 4)
        for(int count = numcells; count--;)
          if(cellmask & (UINT64(1)<<count))
            SKIPBITS(1)/*GETBITS(hc[count], 1)*/
        break;
      case 3:
        for(int count = numcells; count--;)
          if(cellmask & (UINT64(1)<<count))
            GETFLOATSIGN(psr[count], 15, 1.0/(1<<24))
        for(int count = numcells; count--;)
          if(cellmask & (UINT64(1)<<count))
            GETFLOATSIGN(cp[count], 22, 1.0/(1<<29))
        for(int count = numcells; count--;)
          if(cellmask & (UINT64(1)<<count))
            GETBITS(ll[count], 4)
        for(int count = numcells; count--;)
          if(cellmask & (UINT64(1)<<count))
            SKIPBITS(1)/*GETBITS(hc[count], 1)*/
        break;
      case 4:
        for(int count = numcells; count--;)
          if(cellmask & (UINT64(1)<<count))
            GETFLOATSIGN(psr[count], 15, 1.0/(1<<24))
        for(int count = numcells; count--;)
          if(cellmask & (UINT64(1)<<count))
            GETFLOATSIGN(cp[count], 22, 1.0/(1<<29))
        for(int count = numcells; count--;)
          if(cellmask & (UINT64(1)<<count))
            GETBITS(ll[count], 4)
        for(int count = numcells; count--;)
          if(cellmask & (UINT64(1)<<count))
            SKIPBITS(1)/*GETBITS(hc[count], 1)*/
        for(int count = numcells; count--;)
          if(cellmask & (UINT64(1)<<count))
            GETBITS(cnr[count], 6)
        break;
      case 5:
        for(int count = numcells; count--;)
          if(cellmask & (UINT64(1)<<count))
            GETFLOATSIGN(psr[count], 15, 1.0/(1<<24))
        for(int count = numcells; count--;)
          if(cellmask & (UINT64(1)<<count))
            GETFLOATSIGN(cp[count], 22, 1.0/(1<<29))
        for(int count = numcells; count--;)
          if(cellmask & (UINT64(1)<<count))
            GETBITS(ll[count], 4)
        for(int count = numcells; count--;)
          if(cellmask & (UINT64(1)<<count))
            SKIPBITS(1)/*GETBITS(hc[count], 1)*/
        for(int count = numcells; count--;)
          if(cellmask & (UINT64(1)<<count))
            GETFLOAT(cnr[count], 6, 1.0)
        for(int count = numcells; count--;)
          if(cellmask & (UINT64(1)<<count))
            GETFLOATSIGN(dop[count], 15, 0.0001)
        break;
      case 6:
        for(int count = numcells; count--;)
          if(cellmask & (UINT64(1)<<count))
            GETFLOATSIGN(psr[count], 20, 1.0/(1<<29))
        for(int count = numcells; count--;)
          if(cellmask & (UINT64(1)<<count))
            GETFLOATSIGN(cp[count], 24, 1.0/(1U<<31))
        for(int count = numcells; count--;)
          if(cellmask & (UINT64(1)<<count))
            GETBITS(ll[count], 10)
        for(int count = numcells; count--;)
          if(cellmask & (UINT64(1)<<count))
            SKIPBITS(1)/*GETBITS(hc[count], 1)*/
        for(int count = numcells; count--;)
          if(cellmask & (UINT64(1)<<count))
            GETFLOAT(cnr[count], 10, 1.0/(1<<4))
        break;
      case 7:
        for(int count = numcells; count--;)
          if(cellmask & (UINT64(1)<<count))
            GETFLOATSIGN(psr[count], 20, 1.0/(1<<29))
        for(int count = numcells; count--;)
          if(cellmask & (UINT64(1)<<count))
            GETFLOATSIGN(cp[count], 24, 1.0/(1U<<31))
        for(int count = numcells; count--;)
          if(cellmask & (UINT64(1)<<count))
            GETBITS(ll[count], 10)
        for(int count = numcells; count--;)
          if(cellmask & (UINT64(1)<<count))
            SKIPBITS(1)/*GETBITS(hc[count], 1)*/
        for(int count = numcells; count--;)
          if(cellmask & (UINT64(1)<<count))
            GETFLOAT(cnr[count], 10, 1.0/(1<<4))
        for(int count = numcells; count--;)
          if(cellmask & (UINT64(1)<<count))
            GETFLOATSIGN(dop[count], 15, 0.0001)
        break;
      }
      i = RTCM3_MSM_NUMSAT;
      int j = -1;
      t_satObs CurrentObs;
      for(int count = numcells; count--;)
      {
        while(j >= 0 && !(sigmask&(1<<--j)))
          ;
        if(j < 0)
        {
          while(!(satmask&(UINT64(1)<<(--i)))) /* next satellite */
            ;
          if(CurrentObs._obs.size() > 0)
            _CurrentObsList.push_back(CurrentObs);
          CurrentObs.clear();
          CurrentObs._time = CurrentObsTime;
          if(sys == 'S')
            CurrentObs._prn.set(sys, 20-1+RTCM3_MSM_NUMSAT-i);
          else
            CurrentObs._prn.set(sys, RTCM3_MSM_NUMSAT-i);
          j = RTCM3_MSM_NUMSIG;
          while(!(sigmask&(1<<--j)))
            ;
          --numsat;
        }
        if(cellmask & (UINT64(1)<<count))
        {
          struct CodeData cd = {0.0,0};
          switch(sys)
          {
          case 'J':
            cd = qzss[RTCM3_MSM_NUMSIG-j-1];
            break;
          case 'C':
            cd = bds[RTCM3_MSM_NUMSIG-j-1];
            break;
          case 'G': case 'S':
            cd = gps[RTCM3_MSM_NUMSIG-j-1];
            break;
          case 'R':
            cd = glo[RTCM3_MSM_NUMSIG-j-1];
            {
              int k = GLOFreq[RTCM3_MSM_NUMSAT-i-1];
              if(extsat[numsat] < 14)
              {
                k = GLOFreq[RTCM3_MSM_NUMSAT-i-1] = 100+extsat[numsat]-7;
              }
              if(k)
                cd.wl = (cd.wl == 0.0 ? GLO_WAVELENGTH_L1(k-100) : GLO_WAVELENGTH_L2(k-100));
              else
                cd.code = 0;
            }
            break;
          case 'E':
            cd = gal[RTCM3_MSM_NUMSIG-j-1];
            break;
          }
          if(cd.code)
          {
            t_frqObs *frqObs = new t_frqObs;
            frqObs->_rnxType2ch = cd.code;

            switch(type % 10)
            {
            case 1:
              if(psr[count] > -1.0/(1<<10))
              {
                frqObs->_code = psr[count]*LIGHTSPEED/1000.0
                +(rrmod[numsat])*LIGHTSPEED/1000.0;
                frqObs->_codeValid = true;
              }
              break;
            case 2:
              if(cp[count] > -1.0/(1<<8))
              {
                frqObs->_phase = cp[count]*LIGHTSPEED/1000.0/cd.wl
                +(rrmod[numsat])*LIGHTSPEED/1000.0/cd.wl;
                frqObs->_phaseValid = true;
                frqObs->_slipCounter = ll[count];
              }
              break;
            case 3:
              if(psr[count] > -1.0/(1<<10))
              {
                frqObs->_code = psr[count]*LIGHTSPEED/1000.0
                +(rrmod[numsat])*LIGHTSPEED/1000.0;
                frqObs->_codeValid = true;
              }

              if(cp[count] > -1.0/(1<<8))
              {
                frqObs->_phase = cp[count]*LIGHTSPEED/1000.0/cd.wl
                +rrmod[numsat]*LIGHTSPEED/1000.0/cd.wl;
                frqObs->_phaseValid = true;
                frqObs->_slipCounter = ll[count];
              }
              break;
            case 4:
              if(psr[count] > -1.0/(1<<10))
              {
                frqObs->_code = psr[count]*LIGHTSPEED/1000.0
                +(rrmod[numsat]+rrint[numsat])*LIGHTSPEED/1000.0;
                frqObs->_codeValid = true;
              }

              if(cp[count] > -1.0/(1<<8))
              {
                frqObs->_phase = cp[count]*LIGHTSPEED/1000.0/cd.wl
                +(rrmod[numsat]+rrint[numsat])*LIGHTSPEED/1000.0/cd.wl;
                frqObs->_phaseValid = true;
                frqObs->_slipCounter = ll[count];
              }

              frqObs->_snr = cnr[count];
              frqObs->_snrValid = true;
              break;
            case 5:
              if(psr[count] > -1.0/(1<<10))
              {
                frqObs->_code = psr[count]*LIGHTSPEED/1000.0
                +(rrmod[numsat]+rrint[numsat])*LIGHTSPEED/1000.0;
                frqObs->_codeValid = true;
              }

              if(cp[count] > -1.0/(1<<8))
              {
                frqObs->_phase = cp[count]*LIGHTSPEED/1000.0/cd.wl
                +(rrmod[numsat]+rrint[numsat])*LIGHTSPEED/1000.0/cd.wl;
                frqObs->_phaseValid = true;
                frqObs->_slipCounter = ll[count];
              }

              frqObs->_snr = cnr[count];
              frqObs->_snrValid = true;

              if(dop[count] > -1.6384)
              {
                frqObs->_doppler = -(dop[count]+rdop[numsat])/cd.wl;
                frqObs->_dopplerValid = true;
              }
              break;
            case 6:
              if(psr[count] > -1.0/(1<<10))
              {
                frqObs->_code = psr[count]*LIGHTSPEED/1000.0
                +(rrmod[numsat]+rrint[numsat])*LIGHTSPEED/1000.0;
                frqObs->_codeValid = true;
              }

              if(cp[count] > -1.0/(1<<8))
              {
                frqObs->_phase = cp[count]*LIGHTSPEED/1000.0/cd.wl
                +(rrmod[numsat]+rrint[numsat])*LIGHTSPEED/1000.0/cd.wl;
                frqObs->_phaseValid = true;
                frqObs->_slipCounter = ll[count];
              }

              frqObs->_snr = cnr[count];
              frqObs->_snrValid = true;
              break;
            case 7:
              if(psr[count] > -1.0/(1<<10))
              {
                frqObs->_code = psr[count]*LIGHTSPEED/1000.0
                +(rrmod[numsat]+rrint[numsat])*LIGHTSPEED/1000.0;
                frqObs->_codeValid = true;
              }

              if(cp[count] > -1.0/(1<<8))
              {
                frqObs->_phase = cp[count]*LIGHTSPEED/1000.0/cd.wl
                +(rrmod[numsat]+rrint[numsat])*LIGHTSPEED/1000.0/cd.wl;
                frqObs->_phaseValid = true;
                frqObs->_slipCounter = ll[count];
              }

              frqObs->_snr = cnr[count];
              frqObs->_snrValid = true;

              if(dop[count] > -1.6384)
              {
                frqObs->_doppler = -(dop[count]+rdop[numsat])/cd.wl;
                frqObs->_dopplerValid = true;
              }
              break;
            }
            CurrentObs._obs.push_back(frqObs);
          }
        }
      }
      if(CurrentObs._obs.size() > 0)
        _CurrentObsList.push_back(CurrentObs);
    }
  }
  else if((type % 10) < 3)
  {
    emit(newMessage(QString("%1: Block %2 contain partial data! Ignored!")
    .arg(_staID).arg(type).toAscii(), true));
  }
  if(!syncf)
  {
    decoded = true;
    _obsList = _CurrentObsList;
    _CurrentTime.reset();
    _CurrentObsList.clear();
  }
  return decoded;
}

//
////////////////////////////////////////////////////////////////////////////
bool RTCM3Decoder::DecodeRTCM3GLONASS(unsigned char* data, int size)
{
  bool decoded = false;
  bncTime CurrentObsTime;
  int i, numsats, syncf, type;
  uint64_t numbits = 0, bitfield = 0;

  data += 3; /* header */
  size -= 6; /* header + crc */

  GETBITS(type, 12)
  SKIPBITS(12) /* id */
  GETBITS(i,27) /* tk */

  CurrentObsTime.setTk(i);
  if(_CurrentTime.valid() && CurrentObsTime != _CurrentTime)
  {
    decoded = true;
    _obsList.append(_CurrentObsList);
    _CurrentObsList.clear();
  }
  _CurrentTime = CurrentObsTime;

  GETBITS(syncf,1) /* sync */
  GETBITS(numsats,5)
  SKIPBITS(4) /* smind, smint */

  while(numsats--)
  {
    int sv, code, l1range, amb=0, freq;
    t_satObs CurrentObs;
    CurrentObs._time = CurrentObsTime;

    GETBITS(sv, 6)
    CurrentObs._prn.set('R', sv);
    GETBITS(code, 1)
    GETBITS(freq, 5)
    GLOFreq[sv-1] = 100+freq-7; /* store frequency for other users (MSM) */

    t_frqObs *frqObs = new t_frqObs;
    /* L1 */
    frqObs->_rnxType2ch = code ? "1P" : "1C";
    GETBITS(l1range, 25);
    GETBITSSIGN(i, 20);
    if((i&((1<<20)-1)) != 0x80000)
    {
      frqObs->_code = l1range*0.02;
      frqObs->_phase = (l1range*0.02+i*0.0005)/GLO_WAVELENGTH_L1(freq-7);
      frqObs->_codeValid = frqObs->_phaseValid = true;
    }
    GETBITS(i, 7);
    frqObs->_slipCounter = i;
    if(type == 1010 || type == 1012)
    {
      GETBITS(amb,7);
      if(amb)
      {
        frqObs->_code += amb*599584.916;
        frqObs->_phase += (amb*599584.916)/GLO_WAVELENGTH_L1(freq-7);
      }
      GETBITS(i, 8);
      if(i)
      {
        frqObs->_snr = i*0.25;
        frqObs->_snrValid = true;
      }
    }
    CurrentObs._obs.push_back(frqObs);
    if(type == 1011 || type == 1012)
    {
      frqObs = new t_frqObs;
      /* L2 */
      GETBITS(code,2);
      switch(code)
      {
      case 3: frqObs->_rnxType2ch = "2P"; break;
      case 2: frqObs->_rnxType2ch = "2P"; break;
      case 1: frqObs->_rnxType2ch = "2P"; break;
      case 0: frqObs->_rnxType2ch = "2C"; break;
      }
      GETBITSSIGN(i,14);
      if((i&((1<<14)-1)) != 0x2000)
      {
        frqObs->_code = l1range*0.02+i*0.02+amb*599584.916;
        frqObs->_codeValid = true;
      }
      GETBITSSIGN(i,20);
      if((i&((1<<20)-1)) != 0x80000)
      {
        frqObs->_phase = (l1range*0.02+i*0.0005+amb*599584.916)/GLO_WAVELENGTH_L2(freq-7);
        frqObs->_phaseValid = true;
      }
      GETBITS(i,7);
      frqObs->_slipCounter = i;
      if(type == 1012)
      {
        GETBITS(i, 8);
        if(i)
        {
          frqObs->_snr = i*0.25;
          frqObs->_snrValid = true;
        }
      }
      CurrentObs._obs.push_back(frqObs);
    }
    _CurrentObsList.push_back(CurrentObs);
  }
  if(!syncf)
  {
    decoded = true;
    _obsList.append(_CurrentObsList);
    _CurrentTime.reset();
    _CurrentObsList.clear();
  }
  return decoded;
}

//
////////////////////////////////////////////////////////////////////////////
bool RTCM3Decoder::DecodeGPSEphemeris(unsigned char* data, int size)
{
  bool decoded = false;

  if(size == 67)
  {
    t_ephGPS eph;
    int i, week;
    uint64_t numbits = 0, bitfield = 0;

    data += 3; /* header */
    size -= 6; /* header + crc */
    SKIPBITS(12)

    eph._receptDateTime = currentDateAndTimeGPS();

    GETBITS(i, 6)
    eph._prn.set('G', i);
    GETBITS(week, 10)
    week += 1024;
    GETBITS(i, 4)
    eph._ura = accuracyFromIndex(i, eph.type());
    GETBITS(eph._L2Codes, 2)
    GETFLOATSIGN(eph._IDOT, 14, R2R_PI/(double)(1<<30)/(double)(1<<13))
    GETBITS(eph._IODE, 8)
    GETBITS(i, 16)
    i <<= 4;
    eph._TOC.set(i*1000);
    GETFLOATSIGN(eph._clock_driftrate, 8, 1.0/(double)(1<<30)/(double)(1<<25))
    GETFLOATSIGN(eph._clock_drift, 16, 1.0/(double)(1<<30)/(double)(1<<13))
    GETFLOATSIGN(eph._clock_bias, 22, 1.0/(double)(1<<30)/(double)(1<<1))
    GETBITS(eph._IODC, 10)
    GETFLOATSIGN(eph._Crs, 16, 1.0/(double)(1<<5))
    GETFLOATSIGN(eph._Delta_n, 16, R2R_PI/(double)(1<<30)/(double)(1<<13))
    GETFLOATSIGN(eph._M0, 32, R2R_PI/(double)(1<<30)/(double)(1<<1))
    GETFLOATSIGN(eph._Cuc, 16, 1.0/(double)(1<<29))
    GETFLOAT(eph._e, 32, 1.0/(double)(1<<30)/(double)(1<<3))
    GETFLOATSIGN(eph._Cus, 16, 1.0/(double)(1<<29))
    GETFLOAT(eph._sqrt_A, 32, 1.0/(double)(1<<19))
    GETBITS(i, 16)
    i <<= 4;
    eph._TOEsec = i;
    bncTime t;
    t.set(i*1000);
    eph._TOEweek = t.gpsw();
    /* week from HOW, differs from TOC, TOE week, we use adapted value instead */
    if(eph._TOEweek > week + 1 || eph._TOEweek < week-1) /* invalid week */
      return false;
    GETFLOATSIGN(eph._Cic, 16, 1.0/(double)(1<<29))
    GETFLOATSIGN(eph._OMEGA0, 32, R2R_PI/(double)(1<<30)/(double)(1<<1))
    GETFLOATSIGN(eph._Cis, 16, 1.0/(double)(1<<29))
    GETFLOATSIGN(eph._i0, 32, R2R_PI/(double)(1<<30)/(double)(1<<1))
    GETFLOATSIGN(eph._Crc, 16, 1.0/(double)(1<<5))
    GETFLOATSIGN(eph._omega, 32, R2R_PI/(double)(1<<30)/(double)(1<<1))
    GETFLOATSIGN(eph._OMEGADOT, 24, R2R_PI/(double)(1<<30)/(double)(1<<13))
    GETFLOATSIGN(eph._TGD, 8, 1.0/(double)(1<<30)/(double)(1<<1))
    GETBITS(eph._health, 6)
    GETBITS(eph._L2PFlag, 1)
    GETBITS(eph._fitInterval, 1)
    eph._TOT = 0.9999e9;

    emit newGPSEph(eph);
    decoded = true;
  }
  return decoded;
}

//
////////////////////////////////////////////////////////////////////////////
bool RTCM3Decoder::DecodeGLONASSEphemeris(unsigned char* data, int size)
{
  bool decoded = false;

  if(size == 51)
  {
    t_ephGlo eph;
    int sv, i, tk;
    uint64_t numbits = 0, bitfield = 0;

    data += 3; /* header */
    size -= 6; /* header + crc */
    SKIPBITS(12)

    eph._receptDateTime = currentDateAndTimeGPS();

    GETBITS(sv, 6)
    eph._prn.set('R', sv);

    GETBITS(i, 5)
    eph._frequency_number = i-7;
    GLOFreq[sv-1] = 100+i-7; /* store frequency for other users (MSM) */
    _gloFrq = QString("%1 %2").arg(eph._prn.toString().c_str()).arg(eph._frequency_number,2,'f',0);
    SKIPBITS(4) /* almanac healthy, almanac health ok, P1 */
    GETBITS(i, 5)
    tk = i*60*60;
    GETBITS(i, 6)
    tk += i*60;
    GETBITS(i, 1)
    tk += i*30;
    eph._tki = tk < 3*60*60 ? tk-3*60*60+86400 : tk-3*60*60;
    GETBITS(eph._health, 1)
    SKIPBITS(1) /* P2 */
    GETBITS(i, 7)
    eph._TOC.setTk(i*15*60*1000); /* tb */

    GETFLOATSIGNM(eph._x_velocity, 24, 1.0/(double)(1<<20))
    GETFLOATSIGNM(eph._x_pos, 27, 1.0/(double)(1<<11))
    GETFLOATSIGNM(eph._x_acceleration, 5, 1.0/(double)(1<<30))
    GETFLOATSIGNM(eph._y_velocity, 24, 1.0/(double)(1<<20))
    GETFLOATSIGNM(eph._y_pos, 27, 1.0/(double)(1<<11))
    GETFLOATSIGNM(eph._y_acceleration, 5, 1.0/(double)(1<<30))
    GETFLOATSIGNM(eph._z_velocity, 24, 1.0/(double)(1<<20))
    GETFLOATSIGNM(eph._z_pos, 27, 1.0/(double)(1<<11))
    GETFLOATSIGNM(eph._z_acceleration, 5, 1.0/(double)(1<<30))
    SKIPBITS(1) /* P3 */
    GETFLOATSIGNM(eph._gamma, 11, 1.0/(double)(1<<30)/(double)(1<<10))
    SKIPBITS(3) /* GLONASS-M P, GLONASS-M ln (third string) */
    GETFLOATSIGNM(eph._tau, 22, 1.0/(double)(1<<30)) /* GLONASS tau n(tb) */
    SKIPBITS(5) /* GLONASS-M delta tau n(tb) */
    GETBITS(eph._E, 5)
    /* GETBITS(i, 1) / * GLONASS-M P4 */
    /* GETBITS(i, 4) / * GLONASS-M Ft */
    /* GETBITS(i, 11) / * GLONASS-M Nt */
    /* GETBITS(i, 2) / * GLONASS-M M */
    /* GETBITS(i, 1) / * GLONASS-M The Availability of Additional Data */
    /* GETBITS(i, 11) / * GLONASS-M Na */
    /* GETFLOATSIGNM(i, 32, 1.0/(double)(1<<30)/(double)(1<<1)) / * GLONASS tau c */
    /* GETBITS(i, 5) / * GLONASS-M N4 */
    /* GETFLOATSIGNM(i, 22, 1.0/(double)(1<<30)) / * GLONASS-M tau GPS */
    /* GETBITS(i, 1) / * GLONASS-M ln (fifth string) */

    unsigned year, month, day;
    eph._TOC.civil_date(year, month, day);
    eph._gps_utc = gnumleap(year, month, day);
    eph._tt = eph._TOC;

    eph._xv(1) = eph._x_pos * 1.e3;
    eph._xv(2) = eph._y_pos * 1.e3;
    eph._xv(3) = eph._z_pos * 1.e3;
    eph._xv(4) = eph._x_velocity * 1.e3;
    eph._xv(5) = eph._y_velocity * 1.e3;
    eph._xv(6) = eph._z_velocity * 1.e3;

    emit newGlonassEph(eph);
    decoded = true;
  }
  return decoded;
}

//
////////////////////////////////////////////////////////////////////////////
bool RTCM3Decoder::DecodeQZSSEphemeris(unsigned char* data, int size)
{
  bool decoded = false;

  if(size == 67)
  {
    t_ephGPS eph;
    int i, week;
    uint64_t numbits = 0, bitfield = 0;

    data += 3; /* header */
    size -= 6; /* header + crc */
    SKIPBITS(12)

    eph._receptDateTime = currentDateAndTimeGPS();

    GETBITS(i, 4)
    eph._prn.set('J', i);

    GETBITS(i, 16)
    i <<= 4;
    eph._TOC.set(i*1000);

    GETFLOATSIGN(eph._clock_driftrate, 8, 1.0/(double)(1<<30)/(double)(1<<25))
    GETFLOATSIGN(eph._clock_drift, 16, 1.0/(double)(1<<30)/(double)(1<<13))
    GETFLOATSIGN(eph._clock_bias, 22, 1.0/(double)(1<<30)/(double)(1<<1))
    GETBITS(eph._IODE, 8)
    GETFLOATSIGN(eph._Crs, 16, 1.0/(double)(1<<5))
    GETFLOATSIGN(eph._Delta_n, 16, R2R_PI/(double)(1<<30)/(double)(1<<13))
    GETFLOATSIGN(eph._M0, 32, R2R_PI/(double)(1<<30)/(double)(1<<1))
    GETFLOATSIGN(eph._Cuc, 16, 1.0/(double)(1<<29))
    GETFLOAT(eph._e, 32, 1.0/(double)(1<<30)/(double)(1<<3))
    GETFLOATSIGN(eph._Cus, 16, 1.0/(double)(1<<29))
    GETFLOAT(eph._sqrt_A, 32, 1.0/(double)(1<<19))
    GETBITS(i, 16)
    i <<= 4;
    eph._TOEsec = i;
    bncTime t;
    t.set(i);

    GETFLOATSIGN(eph._Cic, 16, 1.0/(double)(1<<29))
    GETFLOATSIGN(eph._OMEGA0, 32, R2R_PI/(double)(1<<30)/(double)(1<<1))
    GETFLOATSIGN(eph._Cis, 16, 1.0/(double)(1<<29))
    GETFLOATSIGN(eph._i0, 32, R2R_PI/(double)(1<<30)/(double)(1<<1))
    GETFLOATSIGN(eph._Crc, 16, 1.0/(double)(1<<5))
    GETFLOATSIGN(eph._omega, 32, R2R_PI/(double)(1<<30)/(double)(1<<1))
    GETFLOATSIGN(eph._OMEGADOT, 24, R2R_PI/(double)(1<<30)/(double)(1<<13))
    GETFLOATSIGN(eph._IDOT, 14, R2R_PI/(double)(1<<30)/(double)(1<<13))
    GETBITS(eph._L2Codes, 2)
    GETBITS(week, 10)
    week += 1024;
    eph._TOEweek = t.gpsw();
    /* week from HOW, differs from TOC, TOE week, we use adapted value instead */
    if(eph._TOEweek > week + 1 || eph._TOEweek < week-1) /* invalid week */
      return false;

    GETBITS(i, 4)
    if(i <= 6)
      eph._ura = ceil(10.0*pow(2.0, 1.0+i/2.0))/10.0;
    else
      eph._ura = ceil(10.0*pow(2.0, i/2.0))/10.0;
    GETBITS(eph._health, 6)
    GETFLOATSIGN(eph._TGD, 8, 1.0/(double)(1<<30)/(double)(1<<1))
    GETBITS(eph._IODC, 10)
    GETBITS(eph._fitInterval, 1)
    eph._TOT = 0.9999e9;
    eph._L2PFlag = 0; /* does not exist for QZSS */

    emit newGPSEph(eph);
    decoded = true;
  }
  return decoded;
}

//
////////////////////////////////////////////////////////////////////////////
bool RTCM3Decoder::DecodeSBASEphemeris(unsigned char* data, int size)
{
  bool decoded = false;

  if(size == 35)
  {
    t_ephSBAS eph;
    int i;
    uint64_t numbits = 0, bitfield = 0;

    data += 3; /* header */
    size -= 6; /* header + crc */
    SKIPBITS(12)

    eph._receptDateTime = currentDateAndTimeGPS();

    GETBITS(i, 6)
    eph._prn.set('S', 20+i);
    GETBITS(eph._IODN, 8)
    GETBITS(i, 13)
    i <<= 4;
    eph._TOC.setTOD(i*1000);
    GETBITS(i, 4)
    eph._ura = accuracyFromIndex(i, eph.type());
    GETFLOATSIGN(eph._x_pos, 30, 0.08)
    GETFLOATSIGN(eph._y_pos, 30, 0.08)
    GETFLOATSIGN(eph._z_pos, 25, 0.4)
    GETFLOATSIGN(eph._x_velocity, 17, 0.000625)
    GETFLOATSIGN(eph._y_velocity, 17, 0.000625)
    GETFLOATSIGN(eph._z_velocity, 18, 0.004)
    GETFLOATSIGN(eph._x_acceleration, 10, 0.0000125)
    GETFLOATSIGN(eph._y_acceleration, 10, 0.0000125)
    GETFLOATSIGN(eph._z_acceleration, 10, 0.0000625)
    GETFLOATSIGN(eph._agf0, 12, 1.0/(1<<30)/(1<<1))
    GETFLOATSIGN(eph._agf1, 8, 1.0/(1<<30)/(1<<10))

    eph._TOW = 0.9999E9;
    eph._health = 0;

    emit newSBASEph(eph);
    decoded = true;
  }
  return decoded;
}

//
////////////////////////////////////////////////////////////////////////////
bool RTCM3Decoder::DecodeGalileoEphemeris(unsigned char* data, int size)
{
  bool decoded = false;
  uint64_t numbits = 0, bitfield = 0;
  int i;

  data += 3; /* header */
  size -= 6; /* header + crc */
  GETBITS(i, 12)

  if((i == 1046 && size == 61) || (i == 1045 && size == 60))
  {
    t_ephGal eph;

    eph._receptDateTime = currentDateAndTimeGPS();

    eph._inav = (i == 1046);
    eph._fnav = (i == 1045);
    GETBITS(i, 6)
    eph._prn.set('E', i, eph._inav ? 1 : 0);

    GETBITS(eph._TOEweek, 12)
    GETBITS(eph._IODnav, 10)
    GETBITS(i, 8)
    eph._SISA = accuracyFromIndex(i, eph.type());
    GETFLOATSIGN(eph._IDOT, 14, R2R_PI/(double)(1<<30)/(double)(1<<13))
    GETBITSFACTOR(i, 14, 60)
    eph._TOC.set(1024+eph._TOEweek, i);
    GETFLOATSIGN(eph._clock_driftrate, 6, 1.0/(double)(1<<30)/(double)(1<<29))
    GETFLOATSIGN(eph._clock_drift, 21, 1.0/(double)(1<<30)/(double)(1<<16))
    GETFLOATSIGN(eph._clock_bias, 31, 1.0/(double)(1<<30)/(double)(1<<4))
    GETFLOATSIGN(eph._Crs, 16, 1.0/(double)(1<<5))
    GETFLOATSIGN(eph._Delta_n, 16, R2R_PI/(double)(1<<30)/(double)(1<<13))
    GETFLOATSIGN(eph._M0, 32, R2R_PI/(double)(1<<30)/(double)(1<<1))
    GETFLOATSIGN(eph._Cuc, 16, 1.0/(double)(1<<29))
    GETFLOAT(eph._e, 32, 1.0/(double)(1<<30)/(double)(1<<3))
    GETFLOATSIGN(eph._Cus, 16, 1.0/(double)(1<<29))
    GETFLOAT(eph._sqrt_A, 32, 1.0/(double)(1<<19))
    GETBITSFACTOR(eph._TOEsec, 14, 60)
    /* FIXME: overwrite value, copied from old code */
    eph._TOEsec = eph._TOC.gpssec();
    GETFLOATSIGN(eph._Cic, 16, 1.0/(double)(1<<29))
    GETFLOATSIGN(eph._OMEGA0, 32, R2R_PI/(double)(1<<30)/(double)(1<<1))
    GETFLOATSIGN(eph._Cis, 16, 1.0/(double)(1<<29))
    GETFLOATSIGN(eph._i0, 32, R2R_PI/(double)(1<<30)/(double)(1<<1))
    GETFLOATSIGN(eph._Crc, 16, 1.0/(double)(1<<5))
    GETFLOATSIGN(eph._omega, 32, R2R_PI/(double)(1<<30)/(double)(1<<1))
    GETFLOATSIGN(eph._OMEGADOT, 24, R2R_PI/(double)(1<<30)/(double)(1<<13))
    GETFLOATSIGN(eph._BGD_1_5A, 10, 1.0/(double)(1<<30)/(double)(1<<2))
    if(eph._inav)
    {
      /* set unused F/NAV values */
      eph._E5aHS = 0.0;
      eph._e5aDataInValid = false;

      GETFLOATSIGN(eph._BGD_1_5B, 10, 1.0/(double)(1<<30)/(double)(1<<2))
      GETBITS(eph._E5bHS, 2)
      GETBITS(eph._e5bDataInValid, 1)
      GETBITS(eph._E1_bHS, 2)
      GETBITS(eph._e1DataInValid, 1)
    }
    else
    {
      /* set unused I/NAV values */
      eph._BGD_1_5B = 0.0;
      eph._E5bHS = 0.0;
      eph._E1_bHS = 0.0;
      eph._e1DataInValid = false;
      eph._e5bDataInValid = false;

      GETBITS(eph._E5aHS, 2)
      GETBITS(eph._e5aDataInValid, 1)
    }
    eph._TOT = 0.9999e9;

    emit newGalileoEph(eph);
    decoded = true;
  }
  return decoded;
}

//
////////////////////////////////////////////////////////////////////////////
bool RTCM3Decoder::DecodeBDSEphemeris(unsigned char* data, int size)
{
  bool decoded = false;

  if(size == 70)
  {
    t_ephBDS eph;
    int i;
    uint64_t numbits = 0, bitfield = 0;

    data += 3; /* header */
    size -= 6; /* header + crc */
    SKIPBITS(12)

    eph._receptDateTime = currentDateAndTimeGPS();

    GETBITS(i, 6)
    eph._prn.set('C', i);

    SKIPBITS(13) /* week */
    GETBITS(i, 4)
    eph._URA = accuracyFromIndex(i, eph.type());
    GETFLOATSIGN(eph._IDOT, 14, R2R_PI/(double)(1<<30)/(double)(1<<13))
    GETBITS(eph._AODE, 5)
    GETBITS(i, 17)
    i <<= 3;
    eph._TOC.setBDS(i*1000);
    GETFLOATSIGN(eph._clock_driftrate, 11, 1.0/(double)(1<<30)/(double)(1<<30)/(double)(1<<6))
    GETFLOATSIGN(eph._clock_drift, 22, 1.0/(double)(1<<30)/(double)(1<<20))
    GETFLOATSIGN(eph._clock_bias, 24, 1.0/(double)(1<<30)/(double)(1<<3))
    GETBITS(eph._AODC, 5)
    GETFLOATSIGN(eph._Crs, 18, 1.0/(double)(1<<6))
    GETFLOATSIGN(eph._Delta_n, 16, R2R_PI/(double)(1<<30)/(double)(1<<13))
    GETFLOATSIGN(eph._M0, 32, R2R_PI/(double)(1<<30)/(double)(1<<1))
    GETFLOATSIGN(eph._Cuc, 18, 1.0/(double)(1<<30)/(double)(1<<1))
    GETFLOAT(eph._e, 32, 1.0/(double)(1<<30)/(double)(1<<3))
    GETFLOATSIGN(eph._Cus, 18, 1.0/(double)(1<<30)/(double)(1<<1))
    GETFLOAT(eph._sqrt_A, 32, 1.0/(double)(1<<19))
    GETBITS(i, 17)
    i <<= 3;
    eph._TOEsec = i;
    eph._TOE.setBDS(i*1000);
    GETFLOATSIGN(eph._Cic, 18, 1.0/(double)(1<<30)/(double)(1<<1))
    GETFLOATSIGN(eph._OMEGA0, 32, R2R_PI/(double)(1<<30)/(double)(1<<1))
    GETFLOATSIGN(eph._Cis, 18, 1.0/(double)(1<<30)/(double)(1<<1))
    GETFLOATSIGN(eph._i0, 32, R2R_PI/(double)(1<<30)/(double)(1<<1))
    GETFLOATSIGN(eph._Crc, 18, 1.0/(double)(1<<6))
    GETFLOATSIGN(eph._omega, 32, R2R_PI/(double)(1<<30)/(double)(1<<1))
    GETFLOATSIGN(eph._OMEGADOT, 24, R2R_PI/(double)(1<<30)/(double)(1<<13))
    GETFLOATSIGN(eph._TGD1, 10, 0.0000000001)
    GETFLOATSIGN(eph._TGD2, 10, 0.0000000001)
    GETBITS(eph._SatH1, 1)

    eph._TOW = 0.9999E9;
    emit newBDSEph(eph);
    decoded = true;
  }
  return decoded;
}

//
////////////////////////////////////////////////////////////////////////////
bool RTCM3Decoder::DecodeAntenna(unsigned char* data, int size)
{
  char *antenna;
  int antnum;
  uint64_t numbits = 0, bitfield = 0;

  data += 4; /* header */
  size -= 6; /* header + crc */

  SKIPBITS(12)
  GETSTRING(antnum,antenna)
  _antType.push_back(antenna);

  return true;
}

//
////////////////////////////////////////////////////////////////////////////
bool RTCM3Decoder::DecodeAntennaPosition(unsigned char* data, int size)
{
  int type;
  uint64_t numbits = 0, bitfield = 0;
  double x, y, z;

  data += 3; /* header */
  size -= 6; /* header + crc */

  GETBITS(type, 12)
  _antList.push_back(t_antInfo());
  _antList.back().type = t_antInfo::ARP;
  SKIPBITS(22)
  GETBITSSIGN(x, 38)
  _antList.back().xx = x * 1e-4;
  SKIPBITS(2)
  GETBITSSIGN(y, 38)
  _antList.back().yy = y * 1e-4;
  SKIPBITS(2)
  GETBITSSIGN(z, 38)
  _antList.back().zz = z * 1e-4;
  if(type == 1006)
  {
    double h;
    GETBITS(h, 16)
    _antList.back().height = h * 1e-4;
    _antList.back().height_f = true;
  }
  _antList.back().message  = type;

  return true;
}

//
////////////////////////////////////////////////////////////////////////////
t_irc RTCM3Decoder::Decode(char* buffer, int bufLen, vector<string>& errmsg)
{
  bool decoded = false;

  errmsg.clear();

  while(bufLen && _MessageSize < sizeof(_Message))
  {
    int l = sizeof(_Message) - _MessageSize;
    if(l > bufLen)
      l = bufLen;
    memcpy(_Message+_MessageSize, buffer, l);
    _MessageSize += l;
    bufLen -= l;
    buffer += l;
    int id;
    while((id = GetMessage()))
    {
      /* reset station ID for file loading as it can change */
      if(_rawFile)
        _staID = _rawFile->staID();
      /* store the id into the list of loaded blocks */
      _typeList.push_back(id);

      /* SSR I+II data handled in another function, already pass the
       * extracted data block. That does no harm, as it anyway skip everything
       * else. */
      if((id >= 1057 && id <= 1068) || (id >= 1240 && id <= 1270))
      {
        if (!_coDecoders.contains(_staID.toAscii()))
          _coDecoders[_staID.toAscii()] = new RTCM3coDecoder(_staID);
        RTCM3coDecoder* coDecoder = _coDecoders[_staID.toAscii()];
        if(coDecoder->Decode(reinterpret_cast<char *>(_Message), _BlockSize,
        errmsg) == success)
        {
          decoded = true;
        }
      }
      else if(id >= 1070 && id <= 1229) /* MSM */
      {
        if(DecodeRTCM3MSM(_Message, _BlockSize))
          decoded = true;
      }
      else
      {
        switch(id)
        {
        case 1001: case 1003:
          emit(newMessage(QString("%1: Block %2 contain partial data! Ignored!")
          .arg(_staID).arg(id).toAscii(), true));
          break; /* no use decoding partial data ATM, remove break when data can be used */
        case 1002: case 1004:
          if(DecodeRTCM3GPS(_Message, _BlockSize))
            decoded = true;
          break;
        case 1009: case 1011:
          emit(newMessage(QString("%1: Block %2 contain partial data! Ignored!")
          .arg(_staID).arg(id).toAscii(), true));
          break; /* no use decoding partial data ATM, remove break when data can be used */
        case 1010: case 1012:
          if(DecodeRTCM3GLONASS(_Message, _BlockSize))
            decoded = true;
          break;
        case 1019:
          if(DecodeGPSEphemeris(_Message, _BlockSize))
            decoded = true;
          break;
        case 1020:
          if(DecodeGLONASSEphemeris(_Message, _BlockSize))
            decoded = true;
          break;
        case 1043:
          if(DecodeSBASEphemeris(_Message, _BlockSize))
            decoded = true;
          break;
        case 1044:
          if(DecodeQZSSEphemeris(_Message, _BlockSize))
            decoded = true;
          break;
        case 1045: case 1046:
          if(DecodeGalileoEphemeris(_Message, _BlockSize))
            decoded = true;
          break;
        case RTCM3ID_BDS:
          if(DecodeBDSEphemeris(_Message, _BlockSize))
            decoded = true;
          break;
        case 1007: case 1008: case 1033:
          DecodeAntenna(_Message, _BlockSize);
          break;
        case 1005: case 1006:
          DecodeAntennaPosition(_Message, _BlockSize);
          break;
        }
      }
    }
  }
  return decoded ? success : failure;
};

//
////////////////////////////////////////////////////////////////////////////
uint32_t RTCM3Decoder::CRC24(long size, const unsigned char *buf)
{
  uint32_t crc = 0;
  int i;

  while(size--)
  {
    crc ^= (*buf++) << (16);
    for(i = 0; i < 8; i++)
    {
      crc <<= 1;
      if(crc & 0x1000000)
        crc ^= 0x01864cfb;
    }
  }
  return crc;
}

//
////////////////////////////////////////////////////////////////////////////
int RTCM3Decoder::GetMessage(void)
{
  unsigned char *m, *e;
  int i;

  m = _Message+_SkipBytes;
  e = _Message+_MessageSize;
  _NeedBytes = _SkipBytes = 0;
  while(e-m >= 3)
  {
    if(m[0] == 0xD3)
    {
      _BlockSize = ((m[1]&3)<<8)|m[2];
      if(e-m >= static_cast<int>(_BlockSize+6))
      {
        if(static_cast<uint32_t>((m[3+_BlockSize]<<16)|(m[3+_BlockSize+1]<<8)
        |(m[3+_BlockSize+2])) == CRC24(_BlockSize+3, m))
        {
          _BlockSize +=6;
          _SkipBytes = _BlockSize;
          break;
        }
        else
          ++m;
      }
      else
      {
        _NeedBytes = _BlockSize;
        break;
      }
    }
    else
      ++m;
  }
  if(e-m < 3)
    _NeedBytes = 3;

  /* copy buffer to front */
  i = m - _Message;
  if(i && m < e)
    memmove(_Message, m, static_cast<size_t>(_MessageSize-i));
  _MessageSize -= i;

  return !_NeedBytes ? ((_Message[3]<<4)|(_Message[4]>>4)) : 0;
}

// Time of Corrections
//////////////////////////////////////////////////////////////////////////////
int RTCM3Decoder::corrGPSEpochTime() const {
  return _coDecoders.size() > 0 ? _coDecoders.begin().value()->corrGPSEpochTime() : -1;
}