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source: ntrip/trunk/BNC/src/RTCM3/RTCM3Decoder.cpp@ 10412

Last change on this file since 10412 was 10236, checked in by stuerze, 13 months ago
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1	// Part of BNC, a utility for retrieving decoding and
2	// converting GNSS data streams from NTRIP broadcasters.
3	//
4	// Copyright (C) 2007
5	// German Federal Agency for Cartography and Geodesy (BKG)
6	// http://www.bkg.bund.de
7	// Czech Technical University Prague, Department of Geodesy
8	// http://www.fsv.cvut.cz
9	//
10	// Email: euref-ip@bkg.bund.de
11	//
12	// This program is free software; you can redistribute it and/or
13	// modify it under the terms of the GNU General Public License
14	// as published by the Free Software Foundation, version 2.
15	//
16	// This program is distributed in the hope that it will be useful,
17	// but WITHOUT ANY WARRANTY; without even the implied warranty of
18	// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
19	// GNU General Public License for more details.
20	//
21	// You should have received a copy of the GNU General Public License
22	// along with this program; if not, write to the Free Software
23	// Foundation, Inc., 59 Temple Place - Suite 330, Boston, MA 02111-1307, USA.
24
25	/* -------------------------------------------------------------------------
26	* BKG NTRIP Client
27	* -------------------------------------------------------------------------
28	*
29	* Class: RTCM3Decoder
30	*
31	* Purpose: RTCM3 Decoder
32	*
33	* Author: L. Mervart
34	*
35	* Created: 24-Aug-2006
36	*
37	* Changes:
38	*
39	* -----------------------------------------------------------------------*/
40
41	#include <iostream>
42	#include <iomanip>
43	#include <sstream>
44	#include <math.h>
45	#include <string.h>
46
47	#include "bits.h"
48	#include "gnss.h"
49	#include "RTCM3Decoder.h"
50	#include "rtcm_utils.h"
51	#include "bncconst.h"
52	#include "bnccore.h"
53	#include "bncutils.h"
54	#include "bncsettings.h"
55
56	using namespace std;
57
58	// Error Handling
59	////////////////////////////////////////////////////////////////////////////
60	void RTCM3Error(const char*, ...) {
61	}
62
63	// Constructor
64	////////////////////////////////////////////////////////////////////////////
65	RTCM3Decoder::RTCM3Decoder(const QString& staID, bncRawFile* rawFile) :
66	GPSDecoder() {
67
68	_staID = staID;
69	_rawFile = rawFile;
70
71	connect(this, SIGNAL(newGPSEph(t_ephGPS)), BNC_CORE,
72	SLOT(slotNewGPSEph(t_ephGPS)));
73	connect(this, SIGNAL(newGlonassEph(t_ephGlo)), BNC_CORE,
74	SLOT(slotNewGlonassEph(t_ephGlo)));
75	connect(this, SIGNAL(newGalileoEph(t_ephGal)), BNC_CORE,
76	SLOT(slotNewGalileoEph(t_ephGal)));
77	connect(this, SIGNAL(newSBASEph(t_ephSBAS)), BNC_CORE,
78	SLOT(slotNewSBASEph(t_ephSBAS)));
79	connect(this, SIGNAL(newBDSEph(t_ephBDS)), BNC_CORE,
80	SLOT(slotNewBDSEph(t_ephBDS)));
81
82	_MessageSize = _SkipBytes = _BlockSize = _NeedBytes = 0;
83	}
84
85	// Destructor
86	////////////////////////////////////////////////////////////////////////////
87	RTCM3Decoder::~RTCM3Decoder() {
88	QMapIterator<QByteArray, RTCM3coDecoder*> it(_coDecoders);
89	while (it.hasNext()) {
90	it.next();
91	delete it.value();
92	}
93	_coDecoders.clear();
94	}
95
96	//
97	////////////////////////////////////////////////////////////////////////////
98	bool RTCM3Decoder::DecodeRTCM3GPS(unsigned char* data, int size) {
99	bool decoded = false;
100	bncTime CurrentObsTime;
101	int i, numsats, syncf, type;
102	uint64_t numbits = 0, bitfield = 0;
103
104	data += 3; /* header */
105	size -= 6; /* header + crc */
106
107	GETBITS(type, 12)
108	SKIPBITS(12)
109	/* id */
110	GETBITS(i, 30)
111
112	CurrentObsTime.set(i);
113	if (_CurrentTime.valid() && CurrentObsTime != _CurrentTime) {
114	decoded = true;
115	_obsList.append(_CurrentObsList);
116	_CurrentObsList.clear();
117	}
118
119	_CurrentTime = CurrentObsTime;
120
121	GETBITS(syncf, 1)
122	/* sync */
123	GETBITS(numsats, 5)
124	SKIPBITS(4)
125	/* smind, smint */
126
127	while (numsats--) {
128	int sv, code, l1range, amb = 0;
129	t_satObs CurrentObs;
130	CurrentObs._time = CurrentObsTime;
131	CurrentObs._type = type;
132
133	GETBITS(sv, 6)
134	if (sv < 40)
135	CurrentObs._prn.set('G', sv);
136	else
137	CurrentObs._prn.set('S', sv - 20);
138
139	t_frqObs *frqObs = new t_frqObs;
140	/* L1 */
141	GETBITS(code, 1);
142	(code) ?
143	frqObs->_rnxType2ch.assign("1W") : frqObs->_rnxType2ch.assign("1C");
144	GETBITS(l1range, 24);
145	GETBITSSIGN(i, 20);
146	if ((i & ((1 << 20) - 1)) != 0x80000) {
147	frqObs->_code = l1range * 0.02;
148	frqObs->_phase = (l1range * 0.02 + i * 0.0005) / GPS_WAVELENGTH_L1;
149	frqObs->_codeValid = frqObs->_phaseValid = true;
150	}
151	GETBITS(frqObs->_lockTimeIndicator, 7);
152	frqObs->_lockTime = lti2sec(type, frqObs->_lockTimeIndicator);
153	frqObs->_lockTimeValid = (frqObs->_lockTime >= 0.0 && frqObs->_phaseValid);
154	if (type == 1002 \|\| type == 1004) {
155	GETBITS(amb, 8);
156	if (amb) {
157	frqObs->_code += amb * 299792.458;
158	frqObs->_phase += (amb * 299792.458) / GPS_WAVELENGTH_L1;
159	}
160	GETBITS(i, 8);
161	if (i) {
162	frqObs->_snr = i * 0.25;
163	frqObs->_snrValid = true;
164	}
165	}
166	CurrentObs._obs.push_back(frqObs);
167	if (type == 1003 \|\| type == 1004) {
168	frqObs = new t_frqObs;
169	/* L2 */
170	GETBITS(code, 2);
171	switch (code) {
172	case 3:
173	frqObs->_rnxType2ch.assign("2W"); /* or "2Y"? */
174	break;
175	case 2:
176	frqObs->_rnxType2ch.assign("2W");
177	break;
178	case 1:
179	frqObs->_rnxType2ch.assign("2P");
180	break;
181	case 0:
182	frqObs->_rnxType2ch.assign("2X"); /* or "2S" or "2L"? */
183	break;
184	}
185	GETBITSSIGN(i, 14);
186	if ((i & ((1 << 14) - 1)) != 0x2000) {
187	frqObs->_code = l1range * 0.02 + i * 0.02 + amb * 299792.458;
188	frqObs->_codeValid = true;
189	}
190	GETBITSSIGN(i, 20);
191	if ((i & ((1 << 20) - 1)) != 0x80000) {
192	frqObs->_phase = (l1range * 0.02 + i * 0.0005 + amb * 299792.458)
193	/ GPS_WAVELENGTH_L2;
194	frqObs->_phaseValid = true;
195	}
196	GETBITS(frqObs->_lockTimeIndicator, 7);
197	frqObs->_lockTime = lti2sec(type, frqObs->_lockTimeIndicator);
198	frqObs->_lockTimeValid = (frqObs->_lockTime >= 0.0 && frqObs->_phaseValid);
199	if (type == 1004) {
200	GETBITS(i, 8);
201	if (i) {
202	frqObs->_snr = i * 0.25;
203	frqObs->_snrValid = true;
204	}
205	}
206	CurrentObs._obs.push_back(frqObs);
207	}
208	_CurrentObsList.push_back(CurrentObs);
209	}
210
211	if (!syncf) {
212	decoded = true;
213	_obsList.append(_CurrentObsList);
214	_CurrentTime.reset();
215	_CurrentObsList.clear();
216	}
217	return decoded;
218	}
219
220	#define RTCM3_MSM_NUMSIG 32
221	#define RTCM3_MSM_NUMSAT 64
222	#define RTCM3_MSM_NUMCELLS 96 /* arbitrary limit */
223
224	/**
225	* Frequency numbers of GLONASS with an offset of 100 to detect unset values.
226	* Gets filled by ephemeris and data blocks and shared between different streams.
227	*/
228	static int GLOFreq[RTCM3_MSM_NUMSAT];
229
230	/*
231	* Storage structure to store frequency and RINEX ID assignment for MSM
232	* message */
233	struct CodeData {
234	double wl;
235	const char code; / currently unused */
236	};
237
238	/** MSM signal types for GPS and SBAS */
239	static struct CodeData gps[RTCM3_MSM_NUMSIG] = {
240	{0.0, 0},
241	{GPS_WAVELENGTH_L1, "1C"},
242	{GPS_WAVELENGTH_L1, "1P"},
243	{GPS_WAVELENGTH_L1, "1W"},
244	{0.0, 0},
245	{0.0, 0},
246	{0.0, 0},
247	{GPS_WAVELENGTH_L2, "2C"},
248	{GPS_WAVELENGTH_L2, "2P"},
249	{GPS_WAVELENGTH_L2, "2W"},
250	{0.0, 0},
251	{0.0, 0},
252	{0.0, 0},
253	{0.0, 0},
254	{GPS_WAVELENGTH_L2, "2S"},
255	{GPS_WAVELENGTH_L2, "2L"},
256	{GPS_WAVELENGTH_L2, "2X"},
257	{0.0, 0},
258	{0.0, 0},
259	{0.0, 0},
260	{0.0, 0},
261	{GPS_WAVELENGTH_L5, "5I"},
262	{GPS_WAVELENGTH_L5, "5Q"},
263	{GPS_WAVELENGTH_L5, "5X"},
264	{0.0, 0},
265	{0.0, 0},
266	{0.0, 0},
267	{0.0, 0},
268	{0.0, 0},
269	{GPS_WAVELENGTH_L1, "1S"},
270	{GPS_WAVELENGTH_L1, "1L"},
271	{GPS_WAVELENGTH_L1, "1X"}
272	};
273
274	/**
275	* MSM signal types for GLONASS
276	*
277	* NOTE: Uses 0.0, 1.0 for wavelength as sat index dependence is done later!
278	*/
279	static struct CodeData glo[RTCM3_MSM_NUMSIG] = {
280	{0.0, 0},
281	{0.0, "1C"},
282	{0.0, "1P"},
283	{0.0, 0},
284	{0.0, 0},
285	{0.0, 0},
286	{0.0, 0},
287	{1.0, "2C"},
288	{1.0, "2P"},
289	{GLO_WAVELENGTH_L1a, "4A"},
290	{GLO_WAVELENGTH_L1a, "4B"},
291	{GLO_WAVELENGTH_L1a, "4X"},
292	{GLO_WAVELENGTH_L2a, "6A"},
293	{GLO_WAVELENGTH_L2a, "6B"},
294	{GLO_WAVELENGTH_L2a, "6X"},
295	{GLO_WAVELENGTH_L3, "3I"},
296	{GLO_WAVELENGTH_L3, "3Q"},
297	{GLO_WAVELENGTH_L3, "3X"},
298	{0.0, 0},
299	{0.0, 0},
300	{0.0, 0},
301	{0.0, 0},
302	{0.0, 0},
303	{0.0, 0},
304	{0.0, 0},
305	{0.0, 0},
306	{0.0, 0},
307	{0.0, 0},
308	{0.0, 0},
309	{0.0, 0},
310	{0.0, 0},
311	{0.0, 0}
312	};
313
314	/** MSM signal types for Galileo */
315	static struct CodeData gal[RTCM3_MSM_NUMSIG] = {
316	{0.0, 0},
317	{GAL_WAVELENGTH_E1, "1C"},
318	{GAL_WAVELENGTH_E1, "1A"},
319	{GAL_WAVELENGTH_E1, "1B"},
320	{GAL_WAVELENGTH_E1, "1X"},
321	{GAL_WAVELENGTH_E1, "1Z"},
322	{0.0, 0},
323	{GAL_WAVELENGTH_E6, "6C"},
324	{GAL_WAVELENGTH_E6, "6A"},
325	{GAL_WAVELENGTH_E6, "6B"},
326	{GAL_WAVELENGTH_E6, "6X"},
327	{GAL_WAVELENGTH_E6, "6Z"},
328	{0.0, 0},
329	{GAL_WAVELENGTH_E5B, "7I"},
330	{GAL_WAVELENGTH_E5B, "7Q"},
331	{GAL_WAVELENGTH_E5B, "7X"},
332	{0.0, 0},
333	{GAL_WAVELENGTH_E5AB,"8I"},
334	{GAL_WAVELENGTH_E5AB,"8Q"},
335	{GAL_WAVELENGTH_E5AB,"8X"},
336	{0.0, 0},
337	{GAL_WAVELENGTH_E5A, "5I"},
338	{GAL_WAVELENGTH_E5A, "5Q"},
339	{GAL_WAVELENGTH_E5A, "5X"},
340	{0.0, 0},
341	{0.0, 0},
342	{0.0, 0},
343	{0.0, 0},
344	{0.0, 0},
345	{0.0, 0},
346	{0.0, 0},
347	{0.0, 0}
348	};
349
350	/** MSM signal types for QZSS */
351	static struct CodeData qzss[RTCM3_MSM_NUMSIG] = {
352	{0.0, 0},
353	{GPS_WAVELENGTH_L1, "1C"},
354	{0.0, 0},
355	{0.0, 0},
356	{0.0, 0},
357	{0.0, 0},
358	{0.0, 0},
359	{0.0, 0},
360	{QZSS_WAVELENGTH_L6, "6S"},
361	{QZSS_WAVELENGTH_L6, "6L"},
362	{QZSS_WAVELENGTH_L6, "6X"},
363	{0.0, 0},
364	{0.0, 0},
365	{0.0, 0},
366	{GPS_WAVELENGTH_L2, "2S"},
367	{GPS_WAVELENGTH_L2, "2L"},
368	{GPS_WAVELENGTH_L2, "2X"},
369	{0.0, 0},
370	{0.0, 0},
371	{0.0, 0},
372	{0.0, 0},
373	{GPS_WAVELENGTH_L5, "5I"},
374	{GPS_WAVELENGTH_L5, "5Q"},
375	{GPS_WAVELENGTH_L5, "5X"},
376	{0.0, 0},
377	{0.0, 0},
378	{0.0, 0},
379	{0.0, 0},
380	{0.0, 0},
381	{GPS_WAVELENGTH_L1, "1S"},
382	{GPS_WAVELENGTH_L1, "1L"},
383	{GPS_WAVELENGTH_L1, "1X"}
384	};
385
386	/** MSM signal types for Beidou/BDS */
387	static struct CodeData bds[RTCM3_MSM_NUMSIG] = {
388	{0.0, 0},
389	{BDS_WAVELENGTH_B1, "2I"},
390	{BDS_WAVELENGTH_B1, "2Q"},
391	{BDS_WAVELENGTH_B1, "2X"},
392	{0.0, 0},
393	{0.0, 0},
394	{0.0, 0},
395	{BDS_WAVELENGTH_B3, "6I"},
396	{BDS_WAVELENGTH_B3, "6Q"},
397	{BDS_WAVELENGTH_B3, "6X"},
398	{0.0, 0},
399	{0.0, 0},
400	{0.0, 0},
401	{BDS_WAVELENGTH_B2, "7I"},
402	{BDS_WAVELENGTH_B2, "7Q"},
403	{BDS_WAVELENGTH_B2, "7X"},
404	{0.0, 0},
405	{0.0, 0},
406	{0.0, 0},
407	{0.0, 0},
408	{0.0, 0},
409	{BDS_WAVELENGTH_B2a, "5D"},
410	{BDS_WAVELENGTH_B2a, "5P"},
411	{BDS_WAVELENGTH_B2a, "5X"},
412	{BDS_WAVELENGTH_B2b, "7D"},
413	{0.0, 0},
414	{0.0, 0},
415	{0.0, 0},
416	{0.0, 0},
417	{BDS_WAVELENGTH_B1C, "1D"},
418	{BDS_WAVELENGTH_B1C, "1P"},
419	{BDS_WAVELENGTH_B1C, "1X"}
420	};
421
422	/** MSM signal types for IRNSS */
423	static struct CodeData irn[RTCM3_MSM_NUMSIG] = {
424	{0.0, 0},
425	{0.0, 0},
426	{0.0, 0},
427	{0.0, 0},
428	{0.0, 0},
429	{0.0, 0},
430	{0.0, 0},
431	{IRNSS_WAVELENGTH_S, "9A"},
432	{0.0, 0},
433	{0.0, 0},
434	{0.0, 0},
435	{0.0, 0},
436	{0.0, 0},
437	{0.0, 0},
438	{0.0, 0},
439	{0.0, 0},
440	{0.0, 0},
441	{0.0, 0},
442	{0.0, 0},
443	{0.0, 0},
444	{0.0, 0},
445	{IRNSS_WAVELENGTH_L5, "5A"},
446	{0.0, 0},
447	{0.0, 0},
448	{0.0, 0},
449	{0.0, 0},
450	{0.0, 0},
451	{0.0, 0},
452	{0.0, 0},
453	{0.0, 0},
454	{0.0, 0},
455	{0.0, 0}
456	};
457
458	#define UINT64(c) c ## ULL
459
460	//
461	////////////////////////////////////////////////////////////////////////////
462	bool RTCM3Decoder::DecodeRTCM3MSM(unsigned char* data, int size) {
463	bool decoded = false;
464	int type, syncf, i;
465	uint64_t numbits = 0, bitfield = 0;
466
467	data += 3; /* header */
468	size -= 6; /* header + crc */
469
470	GETBITS(type, 12)
471	SKIPBITS(12)
472	/* id */
473	char sys;
474	if (type >= 1131 && type <= 1137) {
475	sys = 'I';
476	}
477	else if (type >= 1121 && type <= 1127) {
478	sys = 'C';
479	}
480	else if (type >= 1111 && type <= 1117) {
481	sys = 'J';
482	}
483	else if (type >= 1101 && type <= 1007) {
484	sys = 'S';
485	}
486	else if (type >= 1091 && type <= 1097) {
487	sys = 'E';
488	}
489	else if (type >= 1081 && type <= 1087) {
490	sys = 'R';
491	}
492	else if (type >= 1071 && type <= 1077) {
493	sys = 'G';
494	}
495	else {
496	return decoded; // false
497	}
498	bncTime CurrentObsTime;
499	if (sys == 'C') /* BDS */ {
500	GETBITS(i, 30)
501	CurrentObsTime.setBDS(i);
502	}
503	else if (sys == 'R') /* GLONASS */ {
504	SKIPBITS(3)
505	GETBITS(i, 27)
506	/* tk */
507	CurrentObsTime.setTk(i);
508	}
509	else /* GPS style date */ {
510	GETBITS(i, 30)
511	CurrentObsTime.set(i);
512	}
513	if (_CurrentTime.valid() && CurrentObsTime != _CurrentTime) {
514	decoded = true;
515	_obsList.append(_CurrentObsList);
516	_CurrentObsList.clear();
517	}
518	_CurrentTime = CurrentObsTime;
519
520	GETBITS(syncf, 1)
521	/**
522	* Ignore unknown types except for sync flag
523	*
524	* We actually support types 1-3 in following code, but as they are missing
525	* the full cycles and can't be used later we skip interpretation here already.
526	*/
527	if (type <= 1137 && (type % 10) >= 4 && (type % 10) <= 7) {
528	int sigmask, numsat = 0, numsig = 0;
529	uint64_t satmask, cellmask, ui;
530	// satellite data
531	double rrmod[RTCM3_MSM_NUMSAT]; // GNSS sat rough ranges modulo 1 millisecond
532	int rrint[RTCM3_MSM_NUMSAT]; // number of integer msecs in GNSS sat rough ranges
533	int rdop[RTCM3_MSM_NUMSAT]; // GNSS sat rough phase range rates
534	int extsat[RTCM3_MSM_NUMSAT];// extended sat info
535	// signal data
536	int ll[RTCM3_MSM_NUMCELLS]; // lock time indicator
537	/int hc[RTCM3_MSM_NUMCELLS];/ // half cycle ambiguity indicator
538	double cnr[RTCM3_MSM_NUMCELLS]; // signal cnr
539	double cp[RTCM3_MSM_NUMCELLS]; // fine phase range data
540	double psr[RTCM3_MSM_NUMCELLS]; // fine psr
541	double dop[RTCM3_MSM_NUMCELLS]; // fine phase range rates
542
543	SKIPBITS(3 + 7 + 2 + 2 + 1 + 3)
544	GETBITS64(satmask, RTCM3_MSM_NUMSAT)
545
546	/* http://gurmeetsingh.wordpress.com/2008/08/05/fast-bit-counting-routines/ */
547	for (ui = satmask; ui; ui &= (ui - 1) /* remove rightmost bit */)
548	++numsat;
549	GETBITS(sigmask, RTCM3_MSM_NUMSIG)
550	for (i = sigmask; i; i &= (i - 1) /* remove rightmost bit */)
551	++numsig;
552	for (i = 0; i < RTCM3_MSM_NUMSAT; ++i)
553	extsat[i] = 15;
554
555	i = numsat * numsig;
556	GETBITS64(cellmask, (unsigned )i)
557	// satellite data
558	switch (type % 10) {
559	case 1:
560	case 2:
561	case 3:
562	/* partial data, already skipped above, but implemented for future expansion ! */
563	for (int j = numsat; j--;)
564	GETFLOAT(rrmod[j], 10, 1.0 / 1024.0)
565	break;
566	case 4:
567	case 6:
568	for (int j = numsat; j--;)
569	GETBITS(rrint[j], 8)
570	for (int j = numsat; j--;)
571	GETFLOAT(rrmod[j], 10, 1.0 / 1024.0)
572	break;
573	case 5:
574	case 7:
575	for (int j = numsat; j--;)
576	GETBITS(rrint[j], 8)
577	for (int j = numsat; j--;)
578	GETBITS(extsat[j], 4)
579	for (int j = numsat; j--;)
580	GETFLOAT(rrmod[j], 10, 1.0 / 1024.0)
581	for (int j = numsat; j--;)
582	GETBITSSIGN(rdop[j], 14)
583	break;
584	}
585	// signal data
586	int numcells = numsat * numsig;
587	/** Drop anything which exceeds our cell limit. Increase limit definition
588	* when that happens. */
589	if (numcells <= RTCM3_MSM_NUMCELLS) {
590	switch (type % 10) {
591	case 1:
592	for (int count = numcells; count--;)
593	if (cellmask & (UINT64(1) << count))
594	GETFLOATSIGN(psr[count], 15, 1.0 / (1 << 24))
595	break;
596	case 2:
597	for (int count = numcells; count--;)
598	if (cellmask & (UINT64(1) << count))
599	GETFLOATSIGN(cp[count], 22, 1.0 / (1 << 29))
600	for (int count = numcells; count--;)
601	if (cellmask & (UINT64(1) << count))
602	GETBITS(ll[count], 4)
603	for (int count = numcells; count--;)
604	if (cellmask & (UINT64(1) << count))
605	SKIPBITS(1)/GETBITS(hc[count], 1)/
606	break;
607	case 3:
608	for (int count = numcells; count--;)
609	if (cellmask & (UINT64(1) << count))
610	GETFLOATSIGN(psr[count], 15, 1.0 / (1 << 24))
611	for (int count = numcells; count--;)
612	if (cellmask & (UINT64(1) << count))
613	GETFLOATSIGN(cp[count], 22, 1.0 / (1 << 29))
614	for (int count = numcells; count--;)
615	if (cellmask & (UINT64(1) << count))
616	GETBITS(ll[count], 4)
617	for (int count = numcells; count--;)
618	if (cellmask & (UINT64(1) << count))
619	SKIPBITS(1)/GETBITS(hc[count], 1)/
620	break;
621	case 4:
622	for (int count = numcells; count--;)
623	if (cellmask & (UINT64(1) << count))
624	GETFLOATSIGN(psr[count], 15, 1.0 / (1 << 24))
625	for (int count = numcells; count--;)
626	if (cellmask & (UINT64(1) << count))
627	GETFLOATSIGN(cp[count], 22, 1.0 / (1 << 29))
628	for (int count = numcells; count--;)
629	if (cellmask & (UINT64(1) << count))
630	GETBITS(ll[count], 4)
631	for (int count = numcells; count--;)
632	if (cellmask & (UINT64(1) << count))
633	SKIPBITS(1)/GETBITS(hc[count], 1)/
634	for (int count = numcells; count--;)
635	if (cellmask & (UINT64(1) << count))
636	GETBITS(cnr[count], 6)
637	break;
638	case 5:
639	for (int count = numcells; count--;)
640	if (cellmask & (UINT64(1) << count))
641	GETFLOATSIGN(psr[count], 15, 1.0 / (1 << 24))
642	for (int count = numcells; count--;)
643	if (cellmask & (UINT64(1) << count))
644	GETFLOATSIGN(cp[count], 22, 1.0 / (1 << 29))
645	for (int count = numcells; count--;)
646	if (cellmask & (UINT64(1) << count))
647	GETBITS(ll[count], 4)
648	for (int count = numcells; count--;)
649	if (cellmask & (UINT64(1) << count))
650	SKIPBITS(1)/GETBITS(hc[count], 1)/
651	for (int count = numcells; count--;)
652	if (cellmask & (UINT64(1) << count))
653	GETFLOAT(cnr[count], 6, 1.0)
654	for (int count = numcells; count--;)
655	if (cellmask & (UINT64(1) << count))
656	GETFLOATSIGN(dop[count], 15, 0.0001)
657	break;
658	case 6:
659	for (int count = numcells; count--;)
660	if (cellmask & (UINT64(1) << count))
661	GETFLOATSIGN(psr[count], 20, 1.0 / (1 << 29))
662	for (int count = numcells; count--;)
663	if (cellmask & (UINT64(1) << count))
664	GETFLOATSIGN(cp[count], 24, 1.0 / (1U << 31))
665	for (int count = numcells; count--;)
666	if (cellmask & (UINT64(1) << count))
667	GETBITS(ll[count], 10)
668	for (int count = numcells; count--;)
669	if (cellmask & (UINT64(1) << count))
670	SKIPBITS(1)/GETBITS(hc[count], 1)/
671	for (int count = numcells; count--;)
672	if (cellmask & (UINT64(1) << count))
673	GETFLOAT(cnr[count], 10, 1.0 / (1 << 4))
674	break;
675	case 7:
676	for (int count = numcells; count--;)
677	if (cellmask & (UINT64(1) << count))
678	GETFLOATSIGN(psr[count], 20, 1.0 / (1 << 29))
679	for (int count = numcells; count--;)
680	if (cellmask & (UINT64(1) << count))
681	GETFLOATSIGN(cp[count], 24, 1.0 / (1U << 31))
682	for (int count = numcells; count--;)
683	if (cellmask & (UINT64(1) << count))
684	GETBITS(ll[count], 10)
685	for (int count = numcells; count--;)
686	if (cellmask & (UINT64(1) << count))
687	SKIPBITS(1)/GETBITS(hc[count], 1)/
688	for (int count = numcells; count--;)
689	if (cellmask & (UINT64(1) << count))
690	GETFLOAT(cnr[count], 10, 1.0 / (1 << 4))
691	for (int count = numcells; count--;)
692	if (cellmask & (UINT64(1) << count))
693	GETFLOATSIGN(dop[count], 15, 0.0001)
694	break;
695	}
696	i = RTCM3_MSM_NUMSAT;
697	int j = -1;
698	t_satObs CurrentObs;
699	for (int count = numcells; count--;) {
700	while (j >= 0 && !(sigmask & (1 << --j)))
701	;
702	if (j < 0) {
703	while (!(satmask & (UINT64(1) << (--i))))
704	/* next satellite */
705	;
706	if (CurrentObs._obs.size() > 0)
707	_CurrentObsList.push_back(CurrentObs);
708	CurrentObs.clear();
709	CurrentObs._time = CurrentObsTime;
710	CurrentObs._type = type;
711	if (sys == 'S')
712	CurrentObs._prn.set(sys, 20 - 1 + RTCM3_MSM_NUMSAT - i);
713	else
714	CurrentObs._prn.set(sys, RTCM3_MSM_NUMSAT - i);
715	j = RTCM3_MSM_NUMSIG;
716	while (!(sigmask & (1 << --j)))
717	;
718	--numsat;
719	}
720	if (cellmask & (UINT64(1) << count)) {
721	struct CodeData cd = {0.0, 0};
722	switch (sys) {
723	case 'J':
724	cd = qzss[RTCM3_MSM_NUMSIG - j - 1];
725	break;
726	case 'C':
727	cd = bds[RTCM3_MSM_NUMSIG - j - 1];
728	break;
729	case 'G':
730	case 'S':
731	cd = gps[RTCM3_MSM_NUMSIG - j - 1];
732	break;
733	case 'R':
734	cd = glo[RTCM3_MSM_NUMSIG - j - 1];
735	{
736	int k = GLOFreq[RTCM3_MSM_NUMSAT - i - 1];
737	if (extsat[numsat] < 14) { // channel number is available as extended info for MSM5/7
738	k = GLOFreq[RTCM3_MSM_NUMSAT - i - 1] = 100 + extsat[numsat] - 7;
739	}
740	if (k) {
741	if (cd.wl == 0.0) {
742	cd.wl = GLO_WAVELENGTH_L1(k - 100);
743	}
744	else if (cd.wl == 1.0) {
745	cd.wl = GLO_WAVELENGTH_L2(k - 100);
746	}
747	}
748	else if (!k && cd.wl <= 1) {
749	cd.code = 0;
750	}
751	}
752	break;
753	case 'E':
754	cd = gal[RTCM3_MSM_NUMSIG - j - 1];
755	break;
756	case 'I':
757	cd = irn[RTCM3_MSM_NUMSIG - j - 1];
758	break;
759	}
760	if (cd.code) {
761	t_frqObs *frqObs = new t_frqObs;
762	frqObs->_rnxType2ch.assign(cd.code);
763
764	switch (type % 10) {
765	case 1:
766	if (psr[count] > -1.0 / (1 << 10)) {
767	frqObs->_code = psr[count] * LIGHTSPEED / 1000.0
768	+ (rrmod[numsat]) * LIGHTSPEED / 1000.0;
769	frqObs->_codeValid = true;
770	}
771	break;
772	case 2:
773	if (cp[count] > -1.0 / (1 << 8)) {
774	frqObs->_phase = cp[count] * LIGHTSPEED / 1000.0 / cd.wl
775	+ (rrmod[numsat]) * LIGHTSPEED / 1000.0 / cd.wl;
776	frqObs->_phaseValid = true;
777	frqObs->_lockTime = lti2sec(type,ll[count]);
778	frqObs->_lockTimeValid = (frqObs->_lockTime >= 0.0);
779	frqObs->_lockTimeIndicator = ll[count];
780	}
781	break;
782	case 3:
783	if (psr[count] > -1.0 / (1 << 10)) {
784	frqObs->_code = psr[count] * LIGHTSPEED / 1000.0
785	+ (rrmod[numsat]) * LIGHTSPEED / 1000.0;
786	frqObs->_codeValid = true;
787	}
788	if (cp[count] > -1.0 / (1 << 8)) {
789	frqObs->_phase = cp[count] * LIGHTSPEED / 1000.0 / cd.wl
790	+ rrmod[numsat] * LIGHTSPEED / 1000.0 / cd.wl;
791	frqObs->_phaseValid = true;
792	frqObs->_lockTime = lti2sec(type,ll[count]);
793	frqObs->_lockTimeValid = (frqObs->_lockTime >= 0.0);
794	frqObs->_lockTimeIndicator = ll[count];
795	}
796	break;
797	case 4:
798	if (psr[count] > -1.0 / (1 << 10)) {
799	frqObs->_code = psr[count] * LIGHTSPEED / 1000.0
800	+ (rrmod[numsat] + rrint[numsat]) * LIGHTSPEED / 1000.0;
801	frqObs->_codeValid = true;
802	}
803	if (cp[count] > -1.0 / (1 << 8)) {
804	frqObs->_phase = cp[count] * LIGHTSPEED / 1000.0 / cd.wl
805	+ (rrmod[numsat] + rrint[numsat]) * LIGHTSPEED / 1000.0 / cd.wl;
806	frqObs->_phaseValid = true;
807	frqObs->_lockTime = lti2sec(type,ll[count]);
808	frqObs->_lockTimeValid = (frqObs->_lockTime >= 0.0);
809	frqObs->_lockTimeIndicator = ll[count];
810	}
811	frqObs->_snr = cnr[count];
812	frqObs->_snrValid = true;
813	break;
814	case 5:
815	if (psr[count] > -1.0 / (1 << 10)) {
816	frqObs->_code = psr[count] * LIGHTSPEED / 1000.0
817	+ (rrmod[numsat] + rrint[numsat]) * LIGHTSPEED / 1000.0;
818	frqObs->_codeValid = true;
819	}
820	if (cp[count] > -1.0 / (1 << 8)) {
821	frqObs->_phase = cp[count] * LIGHTSPEED / 1000.0 / cd.wl
822	+ (rrmod[numsat] + rrint[numsat]) * LIGHTSPEED / 1000.0 / cd.wl;
823	frqObs->_phaseValid = true;
824	frqObs->_lockTime = lti2sec(type,ll[count]);
825	frqObs->_lockTimeValid = (frqObs->_lockTime >= 0.0);
826	frqObs->_lockTimeIndicator = ll[count];
827	}
828	frqObs->_snr = cnr[count];
829	frqObs->_snrValid = true;
830	if (dop[count] > -1.6384) {
831	frqObs->_doppler = -(dop[count] + rdop[numsat]) / cd.wl;
832	frqObs->_dopplerValid = true;
833	}
834	break;
835	case 6:
836	if (psr[count] > -1.0 / (1 << 10)) {
837	frqObs->_code = psr[count] * LIGHTSPEED / 1000.0
838	+ (rrmod[numsat] + rrint[numsat]) * LIGHTSPEED / 1000.0;
839	frqObs->_codeValid = true;
840	}
841	if (cp[count] > -1.0 / (1 << 8)) {
842	frqObs->_phase = cp[count] * LIGHTSPEED / 1000.0 / cd.wl
843	+ (rrmod[numsat] + rrint[numsat]) * LIGHTSPEED / 1000.0 / cd.wl;
844	frqObs->_phaseValid = true;
845	frqObs->_lockTime = lti2sec(type,ll[count]);
846	frqObs->_lockTimeValid = (frqObs->_lockTime >= 0.0);
847	frqObs->_lockTimeIndicator = ll[count];
848	}
849
850	frqObs->_snr = cnr[count];
851	frqObs->_snrValid = true;
852	break;
853	case 7:
854	if (psr[count] > -1.0 / (1 << 10)) {
855	frqObs->_code = psr[count] * LIGHTSPEED / 1000.0
856	+ (rrmod[numsat] + rrint[numsat]) * LIGHTSPEED / 1000.0;
857	frqObs->_codeValid = true;
858	}
859	if (cp[count] > -1.0 / (1 << 8)) {
860	frqObs->_phase = cp[count] * LIGHTSPEED / 1000.0 / cd.wl
861	+ (rrmod[numsat] + rrint[numsat]) * LIGHTSPEED / 1000.0 / cd.wl;
862	frqObs->_phaseValid = true;
863	frqObs->_lockTime = lti2sec(type,ll[count]);
864	frqObs->_lockTimeValid = (frqObs->_lockTime >= 0.0);
865	frqObs->_lockTimeIndicator = ll[count];
866	}
867
868	frqObs->_snr = cnr[count];
869	frqObs->_snrValid = true;
870
871	if (dop[count] > -1.6384) {
872	frqObs->_doppler = -(dop[count] + rdop[numsat]) / cd.wl;
873	frqObs->_dopplerValid = true;
874	}
875	break;
876	}
877	CurrentObs._obs.push_back(frqObs);
878	}
879	}
880	}
881	if (CurrentObs._obs.size() > 0) {
882	_CurrentObsList.push_back(CurrentObs);
883	}
884	}
885	}
886	else if ((type % 10) < 4) {
887	#ifdef BNC_DEBUG_OBS
888	emit(newMessage(QString("%1: Block %2 contain partial data! Ignored!")
889	.arg(_staID).arg(type).toLatin1(), true));
890	#endif
891	}
892	if (!syncf) {
893	decoded = true;
894	_obsList.append(_CurrentObsList);
895	_CurrentTime.reset();
896	_CurrentObsList.clear();
897	}
898	return decoded;
899	}
900
901	//
902	////////////////////////////////////////////////////////////////////////////
903	bool RTCM3Decoder::DecodeRTCM3GLONASS(unsigned char* data, int size) {
904	bool decoded = false;
905	bncTime CurrentObsTime;
906	int i, numsats, syncf, type;
907	uint64_t numbits = 0, bitfield = 0;
908
909	data += 3; /* header */
910	size -= 6; /* header + crc */
911
912	GETBITS(type, 12)
913	SKIPBITS(12)
914	/* id */
915	GETBITS(i, 27)
916	/* tk */
917
918	CurrentObsTime.setTk(i);
919	if (_CurrentTime.valid() && CurrentObsTime != _CurrentTime) {
920	decoded = true;
921	_obsList.append(_CurrentObsList);
922	_CurrentObsList.clear();
923	}
924	_CurrentTime = CurrentObsTime;
925
926	GETBITS(syncf, 1)
927	/* sync */
928	GETBITS(numsats, 5)
929	SKIPBITS(4)
930	/* smind, smint */
931
932	while (numsats--) {
933	int sv, code, l1range, amb = 0, freq;
934	t_satObs CurrentObs;
935	CurrentObs._time = CurrentObsTime;
936	CurrentObs._type = type;
937
938	GETBITS(sv, 6)
939	CurrentObs._prn.set('R', sv);
940	GETBITS(code, 1)
941	GETBITS(freq, 5)
942	GLOFreq[sv - 1] = 100 + freq - 7; /* store frequency for other users (MSM) */
943
944	t_frqObs *frqObs = new t_frqObs;
945	/* L1 */
946	(code) ?
947	frqObs->_rnxType2ch.assign("1P") : frqObs->_rnxType2ch.assign("1C");
948	GETBITS(l1range, 25);
949	GETBITSSIGN(i, 20);
950	if ((i & ((1 << 20) - 1)) != 0x80000) {
951	frqObs->_code = l1range * 0.02;
952	frqObs->_phase = (l1range * 0.02 + i * 0.0005) / GLO_WAVELENGTH_L1(freq - 7);
953	frqObs->_codeValid = frqObs->_phaseValid = true;
954	}
955	GETBITS(frqObs->_lockTimeIndicator, 7);
956	frqObs->_lockTime = lti2sec(type, frqObs->_lockTimeIndicator);
957	frqObs->_lockTimeValid = (frqObs->_lockTime >= 0.0 && frqObs->_phaseValid);
958	if (type == 1010 \|\| type == 1012) {
959	GETBITS(amb, 7);
960	if (amb) {
961	frqObs->_code += amb * 599584.916;
962	frqObs->_phase += (amb * 599584.916) / GLO_WAVELENGTH_L1(freq - 7);
963	}
964	GETBITS(i, 8);
965	if (i) {
966	frqObs->_snr = i * 0.25;
967	frqObs->_snrValid = true;
968	}
969	}
970	CurrentObs._obs.push_back(frqObs);
971	if (type == 1011 \|\| type == 1012) {
972	frqObs = new t_frqObs;
973	/* L2 */
974	GETBITS(code, 2);
975	switch (code) {
976	case 3:
977	frqObs->_rnxType2ch.assign("2P");
978	break;
979	case 2:
980	frqObs->_rnxType2ch.assign("2P");
981	break;
982	case 1:
983	frqObs->_rnxType2ch.assign("2P");
984	break;
985	case 0:
986	frqObs->_rnxType2ch.assign("2C");
987	break;
988	}
989	GETBITSSIGN(i, 14);
990	if ((i & ((1 << 14) - 1)) != 0x2000) {
991	frqObs->_code = l1range * 0.02 + i * 0.02 + amb * 599584.916;
992	frqObs->_codeValid = true;
993	}
994	GETBITSSIGN(i, 20);
995	if ((i & ((1 << 20) - 1)) != 0x80000) {
996	frqObs->_phase = (l1range * 0.02 + i * 0.0005 + amb * 599584.916)
997	/ GLO_WAVELENGTH_L2(freq - 7);
998	frqObs->_phaseValid = true;
999	}
1000	GETBITS(frqObs->_lockTimeIndicator, 7);
1001	frqObs->_lockTime = lti2sec(type, frqObs->_lockTimeIndicator);
1002	frqObs->_lockTimeValid = (frqObs->_lockTime >= 0.0 && frqObs->_phaseValid);
1003	if (type == 1012) {
1004	GETBITS(i, 8);
1005	if (i) {
1006	frqObs->_snr = i * 0.25;
1007	frqObs->_snrValid = true;
1008	}
1009	}
1010	CurrentObs._obs.push_back(frqObs);
1011	}
1012	_CurrentObsList.push_back(CurrentObs);
1013	}
1014	if (!syncf) {
1015	decoded = true;
1016	_obsList.append(_CurrentObsList);
1017	_CurrentTime.reset();
1018	_CurrentObsList.clear();
1019	}
1020	return decoded;
1021	}
1022
1023	//
1024	////////////////////////////////////////////////////////////////////////////
1025	bool RTCM3Decoder::DecodeGPSEphemeris(unsigned char* data, int size) {
1026	bool decoded = false;
1027
1028	if (size == 67) {
1029	t_ephGPS eph;
1030	int i, week;
1031	uint64_t numbits = 0, bitfield = 0;
1032	int fitIntervalFalg = 0;
1033
1034	data += 3; /* header */
1035	size -= 6; /* header + crc */
1036	SKIPBITS(12)
1037
1038	eph._receptDateTime = currentDateAndTimeGPS();
1039	eph._receptStaID = _staID;
1040
1041	GETBITS(i, 6)
1042	eph._prn.set('G', i);
1043	GETBITS(week, 10)
1044	GETBITS(i, 4)
1045	eph._ura = accuracyFromIndex(i, eph.type());
1046	GETBITS(eph._L2Codes, 2)
1047	GETFLOATSIGN(eph._IDOT, 14, R2R_PI/(double)(1<<30)/(double)(1<<13))
1048	GETBITS(eph._IODE, 8)
1049	GETBITS(i, 16)
1050	i <<= 4;
1051	eph._TOC.set(i * 1000);
1052	GETFLOATSIGN(eph._clock_driftrate, 8, 1.0 / (double )(1 << 30) / (double )(1 << 25))
1053	GETFLOATSIGN(eph._clock_drift, 16, 1.0 / (double )(1 << 30) / (double )(1 << 13))
1054	GETFLOATSIGN(eph._clock_bias, 22, 1.0 / (double )(1 << 30) / (double )(1 << 1))
1055	GETBITS(eph._IODC, 10)
1056	GETFLOATSIGN(eph._Crs, 16, 1.0 / (double )(1 << 5))
1057	GETFLOATSIGN(eph._Delta_n, 16, R2R_PI/(double)(1<<30)/(double)(1<<13))
1058	GETFLOATSIGN(eph._M0, 32, R2R_PI/(double)(1<<30)/(double)(1<<1))
1059	GETFLOATSIGN(eph._Cuc, 16, 1.0 / (double )(1 << 29))
1060	GETFLOAT(eph._e, 32, 1.0 / (double )(1 << 30) / (double )(1 << 3))
1061	GETFLOATSIGN(eph._Cus, 16, 1.0 / (double )(1 << 29))
1062	GETFLOAT(eph._sqrt_A, 32, 1.0 / (double )(1 << 19))
1063	if (eph._sqrt_A < 1000.0) {
1064	#ifdef BNC_DEBUG_BCEP
1065	emit(newMessage(QString("%1: Block %2 (%3) SQRT_A %4 m!")
1066	.arg(_staID).arg(1019,4).arg(eph._prn.toString().c_str())
1067	.arg(eph._sqrt_A,10,'F',3).toLatin1(), true));
1068	#endif
1069	return false;
1070	}
1071	GETBITS(i, 16)
1072	i <<= 4;
1073	eph._TOEsec = i;
1074	bncTime t;
1075	t.set(i * 1000);
1076	eph._TOEweek = t.gpsw();
1077	int numOfRollOvers = int(floor(t.gpsw()/1024.0));
1078	week += (numOfRollOvers * 1024);
1079	/* week from HOW, differs from TOC, TOE week, we use adapted value instead */
1080	if (eph._TOEweek > week + 1 \|\| eph._TOEweek < week - 1) /* invalid week */
1081	return false;
1082	GETFLOATSIGN(eph._Cic, 16, 1.0 / (double )(1 << 29))
1083	GETFLOATSIGN(eph._OMEGA0, 32, R2R_PI/(double)(1<<30)/(double)(1<<1))
1084	GETFLOATSIGN(eph._Cis, 16, 1.0 / (double )(1 << 29))
1085	GETFLOATSIGN(eph._i0, 32, R2R_PI/(double)(1<<30)/(double)(1<<1))
1086	GETFLOATSIGN(eph._Crc, 16, 1.0 / (double )(1 << 5))
1087	GETFLOATSIGN(eph._omega, 32, R2R_PI/(double)(1<<30)/(double)(1<<1))
1088	GETFLOATSIGN(eph._OMEGADOT, 24, R2R_PI/(double)(1<<30)/(double)(1<<13))
1089	GETFLOATSIGN(eph._TGD, 8, 1.0 / (double )(1 << 30) / (double )(1 << 1))
1090	GETBITS(eph._health, 6)
1091	GETBITS(eph._L2PFlag, 1)
1092	GETBITS(fitIntervalFalg, 1)
1093	eph._fitInterval = fitIntervalFromFlag(fitIntervalFalg, eph._IODC, eph.type());
1094	eph._TOT = 0.9999e9;
1095	eph._navType = t_eph::LNAV;
1096
1097	emit newGPSEph(eph);
1098	decoded = true;
1099	}
1100	return decoded;
1101	}
1102
1103	//
1104	////////////////////////////////////////////////////////////////////////////
1105	bool RTCM3Decoder::DecodeGLONASSEphemeris(unsigned char* data, int size) {
1106	bool decoded = false;
1107
1108	if (size == 51) {
1109	t_ephGlo eph;
1110	int sv, i, tk;
1111	uint64_t numbits = 0, bitfield = 0;
1112
1113	data += 3; /* header */
1114	size -= 6; /* header + crc */
1115	SKIPBITS(12)
1116
1117	eph._receptDateTime = currentDateAndTimeGPS();
1118	eph._receptStaID = _staID;
1119
1120	eph._flags_unknown = true;
1121
1122	GETBITS(sv, 6)
1123	eph._prn.set('R', sv);
1124
1125	GETBITS(i, 5)
1126	eph._frequency_number = i - 7;
1127	GETBITS(eph._almanac_health, 1) /* almanac healthy */
1128	GETBITS(eph._almanac_health_availablility_indicator, 1) /* almanac health ok */
1129	/*
1130	if (eph._almanac_health_availablility_indicator == 0.0) {
1131	#ifdef BNC_DEBUG_BCEP
1132	emit(newMessage(QString("%1: Block %2 (%3): ALM = %4: missing data!")
1133	.arg(_staID).arg(1020,4).arg(eph._prn.toString().c_str())
1134	.arg(eph._almanac_health_availablility_indicator).toLatin1(), true));
1135	#endif
1136	return false;
1137	}
1138	*/
1139	GETBITS(eph._P1, 2) /* P1 */
1140	GETBITS(i, 5)
1141	tk = i * 60 * 60;
1142	GETBITS(i, 6)
1143	tk += i * 60;
1144	GETBITS(i, 1)
1145	tk += i * 30;
1146	eph._tki = tk - 36060;
1147	if(eph._tki < 0.0) {
1148	eph._tki += 86400.0;
1149	}
1150	GETBITS(eph._health, 1) /* MSB of Bn*/
1151	GETBITS(eph._P2, 1) /* P2 */
1152	GETBITS(i, 7)
1153	eph._TOC.setTk(i * 15 * 60 * 1000); /* tb */
1154
1155	GETFLOATSIGNM(eph._x_velocity, 24, 1.0 / (double )(1 << 20))
1156	GETFLOATSIGNM(eph._x_pos, 27, 1.0 / (double )(1 << 11))
1157	GETFLOATSIGNM(eph._x_acceleration, 5, 1.0 / (double )(1 << 30))
1158	GETFLOATSIGNM(eph._y_velocity, 24, 1.0 / (double )(1 << 20))
1159	GETFLOATSIGNM(eph._y_pos, 27, 1.0 / (double )(1 << 11))
1160	GETFLOATSIGNM(eph._y_acceleration, 5, 1.0 / (double )(1 << 30))
1161	GETFLOATSIGNM(eph._z_velocity, 24, 1.0 / (double )(1 << 20))
1162	GETFLOATSIGNM(eph._z_pos, 27, 1.0 / (double )(1 << 11))
1163	GETFLOATSIGNM(eph._z_acceleration, 5, 1.0 / (double )(1 << 30))
1164	GETBITS(eph._P3, 1) /* P3 */
1165	GETFLOATSIGNM(eph._gamma, 11, 1.0 / (double )(1 << 30) / (double )(1 << 10))
1166	GETBITS(eph._M_P, 2) /* GLONASS-M P, */
1167	GETBITS(eph._M_l3, 1) /* GLONASS-M ln (third string) */
1168	GETFLOATSIGNM(eph._tau, 22, 1.0 / (double )(1 << 30)) /* GLONASS tau n(tb) */
1169	GETFLOATSIGNM(eph._M_delta_tau, 5, 1.0 / (double )(1 << 30)) /* GLONASS-M delta tau n(tb) */
1170	GETBITS(eph._E, 5)
1171	GETBITS(eph._M_P4, 1) /* GLONASS-M P4 */
1172	GETBITS(eph._M_FT, 4) /* GLONASS-M Ft */
1173	GETBITS(eph._M_NT, 11) /* GLONASS-M Nt */
1174	if (eph._M_NT == 0.0) {
1175	#ifdef BNC_DEBUG_BCEP
1176	emit(newMessage(QString("%1: Block %2 (%3): NT = %4: missing data!")
1177	.arg(_staID).arg(1020,4).arg(eph._prn.toString().c_str()).arg(eph._M_NT,4).toLatin1(), true));
1178	#endif
1179	return false;
1180	}
1181	GETBITS(eph._M_M, 2) /* GLONASS-M M */
1182	GETBITS(eph._additional_data_availability, 1) /* GLONASS-M The Availability of Additional Data */
1183	if (eph._additional_data_availability == 0.0) {
1184	#ifdef BNC_DEBUG_BCEP
1185	emit(newMessage(QString("%1: Block %2 (%3): ADD = %4: missing data!")
1186	.arg(_staID).arg(1020,4).arg(eph._prn.toString().c_str())
1187	.arg(eph._additional_data_availability).toLatin1(), true));
1188	#endif
1189	return false;
1190	}
1191	GETBITS(eph._NA, 11) /* GLONASS-M Na */
1192	GETFLOATSIGNM(eph._tauC, 32, 1.0/(double)(1<<30)/(double)(1<<1)) /* GLONASS tau c */
1193	GETBITS(eph._M_N4, 5) /* GLONASS-M N4 */
1194	GETFLOATSIGNM(eph._M_tau_GPS, 22, 1.0/(double)(1<<30)) /* GLONASS-M tau GPS */
1195	GETBITS(eph._M_l5, 1) /* GLONASS-M ln (fifth string) */
1196
1197	unsigned year, month, day;
1198	eph._TOC.civil_date(year, month, day);
1199	eph._gps_utc = gnumleap(year, month, day);
1200	eph._tt = eph._TOC;
1201
1202	eph._xv(1) = eph._x_pos * 1.e3;
1203	eph._xv(2) = eph._y_pos * 1.e3;
1204	eph._xv(3) = eph._z_pos * 1.e3;
1205	if (eph._xv.Rows(1,3).NormFrobenius() < 1.0) {
1206	#ifdef BNC_DEBUG_BCEP
1207	emit(newMessage(QString("%1: Block %2 (%3): zero position!")
1208	.arg(_staID).arg(1020,4).arg(eph._prn.toString().c_str()).toLatin1(), true));
1209	#endif
1210	return false;
1211	}
1212	eph._xv(4) = eph._x_velocity * 1.e3;
1213	eph._xv(5) = eph._y_velocity * 1.e3;
1214	eph._xv(6) = eph._z_velocity * 1.e3;
1215	if (eph._xv.Rows(4,6).NormFrobenius() < 1.0) {
1216	#ifdef BNC_DEBUG_BCEP
1217	emit(newMessage(QString("%1: Block %2 (%3): zero velocity!")
1218	.arg(_staID).arg(1020,4).arg(eph._prn.toString().c_str()).toLatin1(), true));
1219	#endif
1220	return false;
1221	}
1222	GLOFreq[sv - 1] = 100 + eph._frequency_number ; /* store frequency for other users (MSM) */
1223	_gloFrq = QString("%1 %2").arg(eph._prn.toString().c_str()).arg(eph._frequency_number, 2, 'f', 0);
1224
1225	eph._navType = t_eph::FDMA;
1226
1227	emit newGlonassEph(eph);
1228	decoded = true;
1229	}
1230	return decoded;
1231	}
1232
1233	//
1234	////////////////////////////////////////////////////////////////////////////
1235	bool RTCM3Decoder::DecodeQZSSEphemeris(unsigned char* data, int size) {
1236	bool decoded = false;
1237
1238	if (size == 67) {
1239	t_ephGPS eph;
1240	int i, week;
1241	uint64_t numbits = 0, bitfield = 0;
1242	int fitIntervalFalg = 0;
1243
1244	data += 3; /* header */
1245	size -= 6; /* header + crc */
1246	SKIPBITS(12)
1247
1248	eph._receptDateTime = currentDateAndTimeGPS();
1249	eph._receptStaID = _staID;
1250
1251	GETBITS(i, 4)
1252	eph._prn.set('J', i);
1253
1254	GETBITS(i, 16)
1255	i <<= 4;
1256	eph._TOC.set(i * 1000);
1257
1258	GETFLOATSIGN(eph._clock_driftrate, 8, 1.0 / (double )(1 << 30) / (double )(1 << 25))
1259	GETFLOATSIGN(eph._clock_drift, 16, 1.0 / (double )(1 << 30) / (double )(1 << 13))
1260	GETFLOATSIGN(eph._clock_bias, 22, 1.0 / (double )(1 << 30) / (double )(1 << 1))
1261	GETBITS(eph._IODE, 8)
1262	GETFLOATSIGN(eph._Crs, 16, 1.0 / (double )(1 << 5))
1263	GETFLOATSIGN(eph._Delta_n, 16, R2R_PI/(double)(1<<30)/(double)(1<<13))
1264	GETFLOATSIGN(eph._M0, 32, R2R_PI/(double)(1<<30)/(double)(1<<1))
1265	GETFLOATSIGN(eph._Cuc, 16, 1.0 / (double )(1 << 29))
1266	GETFLOAT(eph._e, 32, 1.0 / (double )(1 << 30) / (double )(1 << 3))
1267	GETFLOATSIGN(eph._Cus, 16, 1.0 / (double )(1 << 29))
1268	GETFLOAT(eph._sqrt_A, 32, 1.0 / (double )(1 << 19))
1269	if (eph._sqrt_A < 1000.0) {
1270	#ifdef BNC_DEBUG_BCEP
1271	emit(newMessage(QString("%1: Block %2 (%3) SQRT_A %4 m!")
1272	.arg(_staID).arg(1044,4).arg(eph._prn.toString().c_str())
1273	.arg(eph._sqrt_A,10,'F',3).toLatin1(), true));
1274	#endif
1275	return false;
1276	}
1277	GETBITS(i, 16)
1278	i <<= 4;
1279	eph._TOEsec = i;
1280	bncTime t;
1281	t.set(i*1000);
1282	eph._TOEweek = t.gpsw();
1283	GETFLOATSIGN(eph._Cic, 16, 1.0 / (double )(1 << 29))
1284	GETFLOATSIGN(eph._OMEGA0, 32, R2R_PI/(double)(1<<30)/(double)(1<<1))
1285	GETFLOATSIGN(eph._Cis, 16, 1.0 / (double )(1 << 29))
1286	GETFLOATSIGN(eph._i0, 32, R2R_PI/(double)(1<<30)/(double)(1<<1))
1287	GETFLOATSIGN(eph._Crc, 16, 1.0 / (double )(1 << 5))
1288	GETFLOATSIGN(eph._omega, 32, R2R_PI/(double)(1<<30)/(double)(1<<1))
1289	GETFLOATSIGN(eph._OMEGADOT, 24, R2R_PI/(double)(1<<30)/(double)(1<<13))
1290	GETFLOATSIGN(eph._IDOT, 14, R2R_PI/(double)(1<<30)/(double)(1<<13))
1291	GETBITS(eph._L2Codes, 2)
1292	GETBITS(week, 10)
1293	int numOfRollOvers = int(floor(t.gpsw()/1024.0));
1294	week += (numOfRollOvers * 1024);
1295	/* week from HOW, differs from TOC, TOE week, we use adapted value instead */
1296	if (eph._TOEweek > week + 1 \|\| eph._TOEweek < week - 1) /* invalid week */
1297	return false;
1298
1299	GETBITS(i, 4)
1300	if (i <= 6)
1301	eph._ura = ceil(10.0 * pow(2.0, 1.0 + i / 2.0)) / 10.0;
1302	else
1303	eph._ura = ceil(10.0 * pow(2.0, i / 2.0)) / 10.0;
1304	GETBITS(eph._health, 6)
1305	GETFLOATSIGN(eph._TGD, 8, 1.0 / (double )(1 << 30) / (double )(1 << 1))
1306	GETBITS(eph._IODC, 10)
1307	GETBITS(fitIntervalFalg, 1)
1308	eph._fitInterval = fitIntervalFromFlag(fitIntervalFalg, eph._IODC, eph.type());
1309	eph._TOT = 0.9999e9;
1310	eph._navType = t_eph::LNAV;
1311
1312	emit newGPSEph(eph);
1313	decoded = true;
1314	}
1315	return decoded;
1316	}
1317
1318	//
1319	////////////////////////////////////////////////////////////////////////////
1320	bool RTCM3Decoder::DecodeIRNSSEphemeris(unsigned char* data, int size) {
1321	bool decoded = false;
1322
1323	if (size == 67) {
1324	t_ephGPS eph;
1325	int i, week, L5Flag, SFlag;
1326	uint64_t numbits = 0, bitfield = 0;
1327
1328	data += 3; /* header */
1329	size -= 6; /* header + crc */
1330	SKIPBITS(12)
1331
1332	eph._receptDateTime = currentDateAndTimeGPS();
1333	eph._receptStaID = _staID;
1334
1335	GETBITS(i, 6)
1336	eph._prn.set('I', i);
1337	GETBITS(week, 10)
1338	GETFLOATSIGN(eph._clock_bias, 22, 1.0 / (double )(1 << 30) / (double )(1 << 1))
1339	GETFLOATSIGN(eph._clock_drift, 16, 1.0 / (double )(1 << 30) / (double )(1 << 13))
1340	GETFLOATSIGN(eph._clock_driftrate, 8, 1.0 / (double )(1 << 30) / (double )(1 << 25))
1341	GETBITS(i, 4)
1342	eph._ura = accuracyFromIndex(i, eph.type());
1343	GETBITS(i, 16)
1344	i <<= 4;
1345	eph._TOC.set(i * 1000);
1346	GETFLOATSIGN(eph._TGD, 8, 1.0 / (double )(1 << 30) / (double )(1 << 1))
1347	GETFLOATSIGN(eph._Delta_n, 22, R2R_PI/(double)(1<<30)/(double)(1 << 11))
1348	// IODCE
1349	GETBITS(eph._IODE, 8)
1350	eph._IODC = eph._IODE;
1351	SKIPBITS(10)
1352	GETBITS(L5Flag, 1)
1353	GETBITS(SFlag, 1)
1354	if (L5Flag == 0 && SFlag == 0) {
1355	eph._health = 0.0;
1356	}
1357	else if (L5Flag == 0 && SFlag == 1) {
1358	eph._health = 1.0;
1359	}
1360	else if (L5Flag == 1 && SFlag == 0) {
1361	eph._health = 2.0;
1362	}
1363	else if (L5Flag == 1 && SFlag == 1) {
1364	eph._health = 3.0;
1365	}
1366	GETFLOATSIGN(eph._Cuc, 15, 1.0 / (double )(1 << 28))
1367	GETFLOATSIGN(eph._Cus, 15, 1.0 / (double )(1 << 28))
1368	GETFLOATSIGN(eph._Cic, 15, 1.0 / (double )(1 << 28))
1369	GETFLOATSIGN(eph._Cis, 15, 1.0 / (double )(1 << 28))
1370	GETFLOATSIGN(eph._Crc, 15, 1.0 / (double )(1 << 4))
1371	GETFLOATSIGN(eph._Crs, 15, 1.0 / (double )(1 << 4))
1372	GETFLOATSIGN(eph._IDOT, 14, R2R_PI/(double)(1<<30)/(double)(1<<13))
1373	SKIPBITS(2)
1374	GETFLOATSIGN(eph._M0, 32, R2R_PI/(double)(1<<30)/(double)(1<< 1))
1375	GETBITS(i, 16)
1376	i <<= 4;
1377	eph._TOEsec = i;
1378	bncTime t;
1379	t.set(i * 1000);
1380	eph._TOEweek = t.gpsw();
1381	int numOfRollOvers = int(floor(t.gpsw()/1024.0));
1382	week += (numOfRollOvers * 1024);
1383	/* week from HOW, differs from TOC, TOE week, we use adapted value instead */
1384	if (eph._TOEweek > week + 1 \|\| eph._TOEweek < week - 1) /* invalid week */
1385	return false;
1386	GETFLOAT(eph._e, 32, 1.0 / (double )(1 << 30) / (double )(1 << 3))
1387	GETFLOAT(eph._sqrt_A, 32, 1.0 / (double )(1 << 19))
1388	if (eph._sqrt_A < 1000.0) {
1389	#ifdef BNC_DEBUG_BCEP
1390	emit(newMessage(QString("%1: Block %2 (%3) SQRT_A %4 m!")
1391	.arg(_staID).arg(1041,4).arg(eph._prn.toString().c_str())
1392	.arg(eph._sqrt_A,10,'F',3).toLatin1(), true));
1393	#endif
1394	return false;
1395	}
1396	GETFLOATSIGN(eph._OMEGA0, 32, R2R_PI/(double)(1<<30)/(double)(1<< 1))
1397	GETFLOATSIGN(eph._omega, 32, R2R_PI/(double)(1<<30)/(double)(1<< 1))
1398	GETFLOATSIGN(eph._OMEGADOT, 22, R2R_PI/(double)(1<<30)/(double)(1<<11))
1399	GETFLOATSIGN(eph._i0, 32, R2R_PI/(double)(1<<30)/(double)(1<< 1))
1400	SKIPBITS(2)
1401	eph._TOT = 0.9999e9;
1402	eph._navType = t_eph::LNAV;
1403
1404	emit newGPSEph(eph);
1405	decoded = true;
1406	}
1407	return decoded;
1408	}
1409
1410	//
1411	////////////////////////////////////////////////////////////////////////////
1412	bool RTCM3Decoder::DecodeSBASEphemeris(unsigned char* data, int size) {
1413	bool decoded = false;
1414
1415	if (size == 35) {
1416	t_ephSBAS eph;
1417	int i;
1418	uint64_t numbits = 0, bitfield = 0;
1419
1420	data += 3; /* header */
1421	size -= 6; /* header + crc */
1422	SKIPBITS(12)
1423
1424	eph._receptDateTime = currentDateAndTimeGPS();
1425	eph._receptStaID = _staID;
1426
1427	GETBITS(i, 6)
1428	eph._prn.set('S', 20 + i);
1429	GETBITS(eph._IODN, 8)
1430	GETBITS(i, 13)
1431	i <<= 4;
1432	eph._TOC.setTOD(i * 1000);
1433	GETBITS(i, 4)
1434	eph._ura = accuracyFromIndex(i, eph.type());
1435	GETFLOATSIGN(eph._x_pos, 30, 0.08)
1436	GETFLOATSIGN(eph._y_pos, 30, 0.08)
1437	GETFLOATSIGN(eph._z_pos, 25, 0.4)
1438	ColumnVector pos(3);
1439	pos(1) = eph._x_pos; pos(2) = eph._y_pos; pos(3) = eph._z_pos;
1440	if (pos.NormFrobenius() < 1.0) {
1441	#ifdef BNC_DEBUG_BCEP
1442	emit(newMessage(QString("%1: Block %2 (%3): zero position!")
1443	.arg(_staID).arg(1043,4).arg(eph._prn.toString().c_str()).toLatin1(), true));
1444	#endif
1445	return false;
1446	}
1447	GETFLOATSIGN(eph._x_velocity, 17, 0.000625)
1448	GETFLOATSIGN(eph._y_velocity, 17, 0.000625)
1449	GETFLOATSIGN(eph._z_velocity, 18, 0.004)
1450	GETFLOATSIGN(eph._x_acceleration, 10, 0.0000125)
1451	GETFLOATSIGN(eph._y_acceleration, 10, 0.0000125)
1452	GETFLOATSIGN(eph._z_acceleration, 10, 0.0000625)
1453	GETFLOATSIGN(eph._agf0, 12, 1.0 / (1 << 30) / (1 << 1))
1454	GETFLOATSIGN(eph._agf1, 8, 1.0 / (1 << 30) / (1 << 10))
1455
1456	eph._TOT = 0.9999E9;
1457	eph._health = 0;
1458	eph._navType = t_eph::SBASL1;
1459
1460	emit newSBASEph(eph);
1461	decoded = true;
1462	}
1463	return decoded;
1464	}
1465
1466	//
1467	////////////////////////////////////////////////////////////////////////////
1468	bool RTCM3Decoder::DecodeGalileoEphemeris(unsigned char* data, int size) {
1469	bool decoded = false;
1470	uint64_t numbits = 0, bitfield = 0;
1471	int i;
1472
1473	data += 3; /* header */
1474	size -= 6; /* header + crc */
1475	GETBITS(i, 12)
1476
1477	if ((i == 1046 && size == 61) \|\| (i == 1045 && size == 60)) {
1478	t_ephGal eph;
1479
1480	eph._receptDateTime = currentDateAndTimeGPS();
1481	eph._receptStaID = _staID;
1482
1483	eph._inav = (i == 1046);
1484	eph._fnav = (i == 1045);
1485	GETBITS(i, 6)
1486	eph._prn.set('E', i, eph._inav ? 1 : 0);
1487
1488	GETBITS(eph._TOEweek, 12) //FIXME: roll-over after week 4095!!
1489	GETBITS(eph._IODnav, 10)
1490	GETBITS(i, 8)
1491	eph._SISA = accuracyFromIndex(i, eph.type());
1492	GETFLOATSIGN(eph._IDOT, 14, R2R_PI/(double)(1<<30)/(double)(1<<13))
1493	GETBITSFACTOR(i, 14, 60)
1494	eph._TOC.set(1024 + eph._TOEweek, i);
1495	GETFLOATSIGN(eph._clock_driftrate, 6, 1.0 / (double )(1 << 30) / (double )(1 << 29))
1496	GETFLOATSIGN(eph._clock_drift, 21, 1.0 / (double )(1 << 30) / (double )(1 << 16))
1497	GETFLOATSIGN(eph._clock_bias, 31, 1.0 / (double )(1 << 30) / (double )(1 << 4))
1498	GETFLOATSIGN(eph._Crs, 16, 1.0 / (double )(1 << 5))
1499	GETFLOATSIGN(eph._Delta_n, 16, R2R_PI/(double)(1<<30)/(double)(1<<13))
1500	GETFLOATSIGN(eph._M0, 32, R2R_PI/(double)(1<<30)/(double)(1<<1))
1501	GETFLOATSIGN(eph._Cuc, 16, 1.0 / (double )(1 << 29))
1502	GETFLOAT(eph._e, 32, 1.0 / (double )(1 << 30) / (double )(1 << 3))
1503	GETFLOATSIGN(eph._Cus, 16, 1.0 / (double )(1 << 29))
1504	GETFLOAT(eph._sqrt_A, 32, 1.0 / (double )(1 << 19))
1505	GETBITSFACTOR(eph._TOEsec, 14, 60)
1506	/* FIXME: overwrite value, copied from old code */
1507	eph._TOEsec = eph._TOC.gpssec();
1508	GETFLOATSIGN(eph._Cic, 16, 1.0 / (double )(1 << 29))
1509	GETFLOATSIGN(eph._OMEGA0, 32, R2R_PI/(double)(1<<30)/(double)(1<<1))
1510	GETFLOATSIGN(eph._Cis, 16, 1.0 / (double )(1 << 29))
1511	GETFLOATSIGN(eph._i0, 32, R2R_PI/(double)(1<<30)/(double)(1<<1))
1512	GETFLOATSIGN(eph._Crc, 16, 1.0 / (double )(1 << 5))
1513	GETFLOATSIGN(eph._omega, 32, R2R_PI/(double)(1<<30)/(double)(1<<1))
1514	GETFLOATSIGN(eph._OMEGADOT, 24, R2R_PI/(double)(1<<30)/(double)(1<<13))
1515	GETFLOATSIGN(eph._BGD_1_5A, 10, 1.0 / (double )(1 << 30) / (double )(1 << 2))
1516	if (eph._inav) {
1517	/* set unused F/NAV values */
1518	eph._E5aHS = 0.0;
1519	eph._e5aDataInValid = false;
1520
1521	GETFLOATSIGN(eph._BGD_1_5B, 10, 1.0 / (double )(1 << 30) / (double )(1 << 2))
1522	GETBITS(eph._E5bHS, 2)
1523	GETBITS(eph._e5bDataInValid, 1)
1524	GETBITS(eph._E1_bHS, 2)
1525	GETBITS(eph._e1DataInValid, 1)
1526	if (eph._E5bHS != eph._E1_bHS) {
1527	#ifdef BNC_DEBUG_BCEP
1528	emit(newMessage(QString("%1: Block %2 (%3) SHS E5b %4 E1B %5: inconsistent health!")
1529	.arg(_staID).arg(1046,4).arg(eph._prn.toString().c_str())
1530	.arg(eph._E5bHS).arg(eph._E1_bHS).toLatin1(), true));
1531	#endif
1532	return false;
1533	}
1534	if ((eph._BGD_1_5A == 0.0 && fabs(eph._BGD_1_5B) > 1e-9) \|\|
1535	(eph._BGD_1_5B == 0.0 && fabs(eph._BGD_1_5A) > 1e-9)) {
1536	#ifdef BNC_DEBUG_BCEP
1537	emit(newMessage(QString("%1: Block %2 (%3) BGD_15a = %4 BGD_15b = %5: inconsistent BGD!")
1538	.arg(_staID).arg(1046,4).arg(eph._prn.toString().c_str())
1539	.arg(eph._BGD_1_5A,10,'E',3).arg(eph._BGD_1_5B,10,'E',3).toLatin1(), true));
1540	#endif
1541	return false;
1542	}
1543	eph._navType = t_eph::INAF;
1544	}
1545	else {
1546	/* set unused I/NAV values */
1547	eph._BGD_1_5B = 0.0;
1548	eph._E5bHS = 0.0;
1549	eph._E1_bHS = 0.0;
1550	eph._e1DataInValid = false;
1551	eph._e5bDataInValid = false;
1552
1553	GETBITS(eph._E5aHS, 2)
1554	GETBITS(eph._e5aDataInValid, 1)
1555	eph._navType = t_eph::FNAV;
1556	}
1557	eph._TOT = 0.9999e9;
1558
1559	if (eph._sqrt_A < 1000.0) {
1560	#ifdef BNC_DEBUG_BCEP
1561	emit(newMessage(QString("%1: Block %2 (%3) SQRT_A %4 m!")
1562	.arg(_staID).arg(eph._inav? 1046 : 1045,4).arg(eph._prn.toString().c_str())
1563	.arg(eph._sqrt_A,10,'F',3).toLatin1(), true));
1564	#endif
1565	return false;
1566	}
1567
1568	emit newGalileoEph(eph);
1569	decoded = true;
1570	}
1571	return decoded;
1572	}
1573
1574	//
1575	////////////////////////////////////////////////////////////////////////////
1576	bool RTCM3Decoder::DecodeBDSEphemeris(unsigned char* data, int size) {
1577	bool decoded = false;
1578	const double iMaxGEO = 10.0 / 180.0 * M_PI;
1579
1580	if (size == 70) {
1581	t_ephBDS eph;
1582	int i;
1583	uint64_t numbits = 0, bitfield = 0;
1584
1585	data += 3; /* header */
1586	size -= 6; /* header + crc */
1587	SKIPBITS(12)
1588
1589	eph._receptDateTime = currentDateAndTimeGPS();
1590	eph._receptStaID = _staID;
1591
1592	GETBITS(i, 6)
1593	eph._prn.set('C', i);
1594
1595	GETBITS(eph._BDTweek, 13)
1596	GETBITS(i, 4)
1597	eph._URA = accuracyFromIndex(i, eph.type());
1598	GETFLOATSIGN(eph._IDOT, 14, R2R_PI/(double)(1<<30)/(double)(1<<13))
1599	GETBITS(eph._AODE, 5)
1600	GETBITS(i, 17)
1601	i <<= 3;
1602	eph._TOC.setBDS(eph._BDTweek, i);
1603	GETFLOATSIGN(eph._clock_driftrate, 11, 1.0 / (double )(1 << 30) / (double )(1 << 30) / (double )(1 << 6))
1604	GETFLOATSIGN(eph._clock_drift, 22, 1.0 / (double )(1 << 30) / (double )(1 << 20))
1605	GETFLOATSIGN(eph._clock_bias, 24, 1.0 / (double )(1 << 30) / (double )(1 << 3))
1606	GETBITS(eph._AODC, 5)
1607	GETFLOATSIGN(eph._Crs, 18, 1.0 / (double )(1 << 6))
1608	GETFLOATSIGN(eph._Delta_n, 16, R2R_PI/(double)(1<<30)/(double)(1<<13))
1609	GETFLOATSIGN(eph._M0, 32, R2R_PI/(double)(1<<30)/(double)(1<<1))
1610	GETFLOATSIGN(eph._Cuc, 18, 1.0 / (double )(1 << 30) / (double )(1 << 1))
1611	GETFLOAT(eph._e, 32, 1.0 / (double )(1 << 30) / (double )(1 << 3))
1612	GETFLOATSIGN(eph._Cus, 18, 1.0 / (double )(1 << 30) / (double )(1 << 1))
1613	GETFLOAT(eph._sqrt_A, 32, 1.0 / (double )(1 << 19))
1614	if (eph._sqrt_A < 1000.0) {
1615	#ifdef BNC_DEBUG_BCEP
1616	emit(newMessage(QString("%1: Block %2 (%3) SQRT_A %4 m!")
1617	.arg(_staID).arg(1042,4).arg(eph._prn.toString().c_str())
1618	.arg(eph._sqrt_A,10,'F',3).toLatin1(), true));
1619	#endif
1620	return false;
1621	}
1622	GETBITS(i, 17)
1623	i <<= 3;
1624	eph._TOEsec = i;
1625	eph._TOE.setBDS(eph._BDTweek, i);
1626	GETFLOATSIGN(eph._Cic, 18, 1.0 / (double )(1 << 30) / (double )(1 << 1))
1627	GETFLOATSIGN(eph._OMEGA0, 32, R2R_PI/(double)(1<<30)/(double)(1<<1))
1628	GETFLOATSIGN(eph._Cis, 18, 1.0 / (double )(1 << 30) / (double )(1 << 1))
1629	GETFLOATSIGN(eph._i0, 32, R2R_PI/(double)(1<<30)/(double)(1<<1))
1630	GETFLOATSIGN(eph._Crc, 18, 1.0 / (double )(1 << 6))
1631	GETFLOATSIGN(eph._omega, 32, R2R_PI/(double)(1<<30)/(double)(1<<1))
1632	GETFLOATSIGN(eph._OMEGADOT, 24, R2R_PI/(double)(1<<30)/(double)(1<<13))
1633	GETFLOATSIGN(eph._TGD1, 10, 0.0000000001)
1634	GETFLOATSIGN(eph._TGD2, 10, 0.0000000001)
1635	GETBITS(eph._SatH1, 1)
1636
1637	eph._TOT = 0.9999E9;
1638	if (eph._i0 > iMaxGEO) {
1639	eph._navType = t_eph::D1;
1640	}
1641	else {
1642	eph._navType = t_eph::D2;
1643	}
1644
1645	emit newBDSEph(eph);
1646	decoded = true;
1647	}
1648	return decoded;
1649	}
1650
1651	//
1652	////////////////////////////////////////////////////////////////////////////
1653	bool RTCM3Decoder::DecodeAntennaReceiver(unsigned char* data, int size) {
1654	char *antenna;
1655	char *antserialnum;
1656	char *receiver;
1657	char *recfirmware;
1658	char *recserialnum;
1659	int type;
1660	int antsernum = -1;
1661	int antnum = -1;
1662	int recnum = -1;
1663	int recsernum = -1;
1664	int recfirnum = -1;
1665	uint64_t numbits = 0, bitfield = 0;
1666
1667	data += 3; /* header*/
1668	size -= 6; /* header + crc */
1669
1670	GETBITS(type, 12)
1671	SKIPBITS(12) /* reference station ID */
1672	GETSTRING(antnum, antenna)
1673	if ((antnum > -1 && antnum < 265) &&
1674	(_antType.empty() \|\| strncmp(_antType.back().descriptor, antenna, recnum) != 0)) {
1675	_antType.push_back(t_antInfo());
1676	memcpy(_antType.back().descriptor, antenna, antnum);
1677	_antType.back().descriptor[antnum] = 0;
1678	}
1679	SKIPBITS(8) /* antenna setup ID */
1680	if (type == 1008 \|\| type == 1033 ) {
1681	GETSTRING(antsernum, antserialnum)
1682	if ((antsernum > -1 && antsernum < 265)) {
1683	memcpy(_antType.back().serialnumber, antserialnum, antsernum);
1684	_antType.back().serialnumber[antsernum] = 0;
1685	}
1686	}
1687
1688	if (type == 1033) {
1689	GETSTRING(recnum, receiver)
1690	GETSTRING(recfirnum, recfirmware)
1691	GETSTRING(recsernum, recserialnum)
1692	if ((recnum > -1 && recnum < 265) &&
1693	(_recType.empty() \|\| strncmp(_recType.back().descriptor, receiver, recnum) != 0)) {
1694	_recType.push_back(t_recInfo());
1695	memcpy(_recType.back().descriptor, receiver, recnum);
1696	_recType.back().descriptor[recnum] = 0;
1697	if (recfirnum > -1 && recfirnum < 265) {
1698	memcpy(_recType.back().firmware, recfirmware, recfirnum);
1699	_recType.back().firmware[recfirnum] = 0;
1700	}
1701	if (recsernum > -1 && recsernum < 265) {
1702	memcpy(_recType.back().serialnumber, recserialnum, recsernum);
1703	_recType.back().serialnumber[recsernum] = 0;
1704	}
1705	}
1706	}
1707	return true;
1708	}
1709
1710	//
1711	////////////////////////////////////////////////////////////////////////////
1712	bool RTCM3Decoder::DecodeAntennaPosition(unsigned char* data, int size) {
1713	int type;
1714	uint64_t numbits = 0, bitfield = 0;
1715	double x, y, z;
1716
1717	data += 3; /* header */
1718	size -= 6; /* header + crc */
1719
1720	GETBITS(type, 12)
1721	_antList.push_back(t_antRefPoint());
1722	_antList.back().type = t_antRefPoint::ARP;
1723	SKIPBITS(22)
1724	GETBITSSIGN(x, 38)
1725	_antList.back().xx = x * 1e-4;
1726	SKIPBITS(2)
1727	GETBITSSIGN(y, 38)
1728	_antList.back().yy = y * 1e-4;
1729	SKIPBITS(2)
1730	GETBITSSIGN(z, 38)
1731	_antList.back().zz = z * 1e-4;
1732	if (type == 1006)
1733	{
1734	double h;
1735	GETBITS(h, 16)
1736	_antList.back().height = h * 1e-4;
1737	_antList.back().height_f = true;
1738	}
1739	_antList.back().message = type;
1740
1741	return true;
1742	}
1743
1744	//
1745	////////////////////////////////////////////////////////////////////////////
1746	t_irc RTCM3Decoder::Decode(char* buffer, int bufLen, vector<string>& errmsg) {
1747	bool decoded = false;
1748
1749	errmsg.clear();
1750
1751	while (bufLen && _MessageSize < sizeof(_Message)) {
1752	int l = sizeof(_Message) - _MessageSize;
1753	if (l > bufLen)
1754	l = bufLen;
1755	memcpy(_Message + _MessageSize, buffer, l);
1756	_MessageSize += l;
1757	bufLen -= l;
1758	buffer += l;
1759	int id;
1760	while ((id = GetMessage())) {
1761	/* reset station ID for file loading as it can change */
1762	if (_rawFile)
1763	_staID = _rawFile->staID();
1764	/* store the id into the list of loaded blocks */
1765	_typeList.push_back(id);
1766
1767	/* SSR I+II data handled in another function, already pass the
1768	* extracted data block. That does no harm, as it anyway skip everything
1769	* else. */
1770	if ((id >= 1057 && id <= 1068) \|\|
1771	(id >= 1240 && id <= 1270) \|\|
1772	(id == 4076)) {
1773	if (!_coDecoders.contains(_staID.toLatin1())) {
1774	_coDecoders[_staID.toLatin1()] = new RTCM3coDecoder(_staID);
1775	if (id == 4076) {
1776	_coDecoders[_staID.toLatin1()]->initSsrFormatType(RTCM3coDecoder::IGSssr);
1777	}
1778	else {
1779	_coDecoders[_staID.toLatin1()]->initSsrFormatType(RTCM3coDecoder::RTCMssr);
1780	}
1781	}
1782	RTCM3coDecoder* coDecoder = _coDecoders[_staID.toLatin1()];
1783	if (coDecoder->Decode(reinterpret_cast<char *>(_Message), _BlockSize, errmsg) == success) {
1784	decoded = true;
1785	}
1786	}
1787	else if (id >= 1070 && id <= 1237) { /* MSM */
1788	if (DecodeRTCM3MSM(_Message, _BlockSize))
1789	decoded = true;
1790	}
1791	else {
1792	switch (id) {
1793	case 1001:
1794	case 1003:
1795	#ifdef BNC_DEBUG_OBS
1796	emit(newMessage(QString("%1: Block %2 contain partial data! Ignored!")
1797	.arg(_staID).arg(id).toLatin1(), true));
1798	#endif
1799	break; /* no use decoding partial data ATM, remove break when data can be used */
1800	case 1002:
1801	case 1004:
1802	if (DecodeRTCM3GPS(_Message, _BlockSize))
1803	decoded = true;
1804	break;
1805	case 1009:
1806	case 1011:
1807	#ifdef BNC_DEBUG_OBS
1808	emit(newMessage(QString("%1: Block %2 contain partial data! Ignored!")
1809	.arg(_staID).arg(id).toLatin1(), true));
1810	#endif
1811	break; /* no use decoding partial data ATM, remove break when data can be used */
1812	case 1010:
1813	case 1012:
1814	if (DecodeRTCM3GLONASS(_Message, _BlockSize))
1815	decoded = true;
1816	break;
1817	case 1019:
1818	if (DecodeGPSEphemeris(_Message, _BlockSize))
1819	decoded = true;
1820	break;
1821	case 1020:
1822	if (DecodeGLONASSEphemeris(_Message, _BlockSize))
1823	decoded = true;
1824	break;
1825	case 1043:
1826	if (DecodeSBASEphemeris(_Message, _BlockSize))
1827	decoded = true;
1828	break;
1829	case 1044:
1830	if (DecodeQZSSEphemeris(_Message, _BlockSize))
1831	decoded = true;
1832	break;
1833	case 1041:
1834	if (DecodeIRNSSEphemeris(_Message, _BlockSize))
1835	decoded = true;
1836	break;
1837	case 1045:
1838	case 1046:
1839	if (DecodeGalileoEphemeris(_Message, _BlockSize))
1840	decoded = true;
1841	break;
1842	case 1042:
1843	if (DecodeBDSEphemeris(_Message, _BlockSize))
1844	decoded = true;
1845	break;
1846	case 1007:
1847	case 1008:
1848	case 1033:
1849	DecodeAntennaReceiver(_Message, _BlockSize);
1850	break;
1851	case 1005:
1852	case 1006:
1853	DecodeAntennaPosition(_Message, _BlockSize);
1854	break;
1855	}
1856	}
1857	}
1858	}
1859	return decoded ? success : failure;
1860	}
1861	;
1862
1863	//
1864	////////////////////////////////////////////////////////////////////////////
1865	uint32_t RTCM3Decoder::CRC24(long size, const unsigned char *buf) {
1866	uint32_t crc = 0;
1867	int ii;
1868	while (size--) {
1869	crc ^= (*buf++) << (16);
1870	for (ii = 0; ii < 8; ii++) {
1871	crc <<= 1;
1872	if (crc & 0x1000000)
1873	crc ^= 0x01864cfb;
1874	}
1875	}
1876	return crc;
1877	}
1878
1879	//
1880	////////////////////////////////////////////////////////////////////////////
1881	int RTCM3Decoder::GetMessage(void) {
1882	unsigned char m, e;
1883	int i;
1884
1885	m = _Message + _SkipBytes;
1886	e = _Message + _MessageSize;
1887	_NeedBytes = _SkipBytes = 0;
1888	while (e - m >= 3) {
1889	if (m[0] == 0xD3) {
1890	_BlockSize = ((m[1] & 3) << 8) \| m[2];
1891	if (e - m >= static_cast<int>(_BlockSize + 6)) {
1892	if (static_cast<uint32_t>((m[3 + _BlockSize] << 16)
1893	\| (m[3 + _BlockSize + 1] << 8)
1894	\| (m[3 + _BlockSize + 2])) == CRC24(_BlockSize + 3, m)) {
1895	_BlockSize += 6;
1896	_SkipBytes = _BlockSize;
1897	break;
1898	}
1899	else
1900	++m;
1901	}
1902	else {
1903	_NeedBytes = _BlockSize;
1904	break;
1905	}
1906	}
1907	else
1908	++m;
1909	}
1910	if (e - m < 3)
1911	_NeedBytes = 3;
1912
1913	/* copy buffer to front */
1914	i = m - _Message;
1915	if (i && m < e)
1916	memmove(_Message, m, static_cast<size_t>(_MessageSize - i));
1917	_MessageSize -= i;
1918
1919	return !_NeedBytes ? ((_Message[3] << 4) \| (_Message[4] >> 4)) : 0;
1920	}
1921
1922	// Time of Corrections
1923	//////////////////////////////////////////////////////////////////////////////
1924	int RTCM3Decoder::corrGPSEpochTime() const {
1925	return
1926	_coDecoders.size() > 0 ?
1927	_coDecoders.begin().value()->corrGPSEpochTime() : -1;
1928	}

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