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source: ntrip/trunk/BNC/src/RTCM3/RTCM3Decoder.cpp@ 9315

Last change on this file since 9315 was 9315, checked in by stuerze, 3 years ago
message type typo corrected
File size: 62.3 KB

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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	{
91	it.next();
92	delete it.value();
93	}
94	}
95
96	//
97	////////////////////////////////////////////////////////////////////////////
98	bool RTCM3Decoder::DecodeRTCM3GPS(unsigned char* data, int size) {
99	bool decoded = false;
100	bncTime CurrentObsTime;
101	int i, numsats, syncf, type;
102	uint64_t numbits = 0, bitfield = 0;
103
104	data += 3; /* header */
105	size -= 6; /* header + crc */
106
107	GETBITS(type, 12)
108	SKIPBITS(12)
109	/* id */
110	GETBITS(i, 30)
111
112	CurrentObsTime.set(i);
113	if (_CurrentTime.valid() && CurrentObsTime != _CurrentTime) {
114	decoded = true;
115	_obsList.append(_CurrentObsList);
116	_CurrentObsList.clear();
117	}
118
119	_CurrentTime = CurrentObsTime;
120
121	GETBITS(syncf, 1)
122	/* sync */
123	GETBITS(numsats, 5)
124	SKIPBITS(4)
125	/* smind, smint */
126
127	while (numsats--) {
128	int sv, code, l1range, amb = 0;
129	t_satObs CurrentObs;
130	CurrentObs._time = CurrentObsTime;
131
132	GETBITS(sv, 6)
133	if (sv < 40)
134	CurrentObs._prn.set('G', sv);
135	else
136	CurrentObs._prn.set('S', sv - 20);
137
138	t_frqObs *frqObs = new t_frqObs;
139	/* L1 */
140	GETBITS(code, 1);
141	(code) ?
142	frqObs->_rnxType2ch.assign("1W") : frqObs->_rnxType2ch.assign("1C");
143	GETBITS(l1range, 24);
144	GETBITSSIGN(i, 20);
145	if ((i & ((1 << 20) - 1)) != 0x80000) {
146	frqObs->_code = l1range * 0.02;
147	frqObs->_phase = (l1range * 0.02 + i * 0.0005) / GPS_WAVELENGTH_L1;
148	frqObs->_codeValid = frqObs->_phaseValid = true;
149	}
150	GETBITS(frqObs->_lockTimeIndicator, 7);
151	frqObs->_lockTime = lti2sec(type, frqObs->_lockTimeIndicator);
152	frqObs->_lockTimeValid = (frqObs->_lockTime >= 0.0 && frqObs->_phaseValid);
153	if (type == 1002 \|\| type == 1004) {
154	GETBITS(amb, 8);
155	if (amb) {
156	frqObs->_code += amb * 299792.458;
157	frqObs->_phase += (amb * 299792.458) / GPS_WAVELENGTH_L1;
158	}
159	GETBITS(i, 8);
160	if (i) {
161	frqObs->_snr = i * 0.25;
162	frqObs->_snrValid = true;
163	}
164	}
165	CurrentObs._obs.push_back(frqObs);
166	if (type == 1003 \|\| type == 1004) {
167	frqObs = new t_frqObs;
168	/* L2 */
169	GETBITS(code, 2);
170	switch (code) {
171	case 3:
172	frqObs->_rnxType2ch.assign("2W"); /* or "2Y"? */
173	break;
174	case 2:
175	frqObs->_rnxType2ch.assign("2W");
176	break;
177	case 1:
178	frqObs->_rnxType2ch.assign("2P");
179	break;
180	case 0:
181	frqObs->_rnxType2ch.assign("2X"); /* or "2S" or "2L"? */
182	break;
183	}
184	GETBITSSIGN(i, 14);
185	if ((i & ((1 << 14) - 1)) != 0x2000) {
186	frqObs->_code = l1range * 0.02 + i * 0.02 + amb * 299792.458;
187	frqObs->_codeValid = true;
188	}
189	GETBITSSIGN(i, 20);
190	if ((i & ((1 << 20) - 1)) != 0x80000) {
191	frqObs->_phase = (l1range * 0.02 + i * 0.0005 + amb * 299792.458)
192	/ GPS_WAVELENGTH_L2;
193	frqObs->_phaseValid = true;
194	}
195	GETBITS(frqObs->_lockTimeIndicator, 7);
196	frqObs->_lockTime = lti2sec(type, frqObs->_lockTimeIndicator);
197	frqObs->_lockTimeValid = (frqObs->_lockTime >= 0.0 && frqObs->_phaseValid);
198	if (type == 1004) {
199	GETBITS(i, 8);
200	if (i) {
201	frqObs->_snr = i * 0.25;
202	frqObs->_snrValid = true;
203	}
204	}
205	CurrentObs._obs.push_back(frqObs);
206	}
207	_CurrentObsList.push_back(CurrentObs);
208	}
209
210	if (!syncf) {
211	decoded = true;
212	_obsList.append(_CurrentObsList);
213	_CurrentTime.reset();
214	_CurrentObsList.clear();
215	}
216	return decoded;
217	}
218
219	#define RTCM3_MSM_NUMSIG 32
220	#define RTCM3_MSM_NUMSAT 64
221	#define RTCM3_MSM_NUMCELLS 96 /* arbitrary limit */
222
223	/**
224	* Frequency numbers of GLONASS with an offset of 100 to detect unset values.
225	* Gets filled by ephemeris and data blocks and shared between different streams.
226	*/
227	static int GLOFreq[RTCM3_MSM_NUMSAT];
228
229	/*
230	* Storage structure to store frequency and RINEX ID assignment for MSM
231	* message */
232	struct CodeData {
233	double wl;
234	const char code; / currently unused */
235	};
236
237	/** MSM signal types for GPS and SBAS */
238	static struct CodeData gps[RTCM3_MSM_NUMSIG] = {
239	{0.0, 0},
240	{GPS_WAVELENGTH_L1, "1C"},
241	{GPS_WAVELENGTH_L1, "1P"},
242	{GPS_WAVELENGTH_L1, "1W"},
243	{0.0, 0},
244	{0.0, 0},
245	{0.0, 0},
246	{GPS_WAVELENGTH_L2, "2C"},
247	{GPS_WAVELENGTH_L2, "2P"},
248	{GPS_WAVELENGTH_L2, "2W"},
249	{0.0, 0},
250	{0.0, 0},
251	{0.0, 0},
252	{0.0, 0},
253	{GPS_WAVELENGTH_L2, "2S"},
254	{GPS_WAVELENGTH_L2, "2L"},
255	{GPS_WAVELENGTH_L2, "2X"},
256	{0.0, 0},
257	{0.0, 0},
258	{0.0, 0},
259	{0.0, 0},
260	{GPS_WAVELENGTH_L5, "5I"},
261	{GPS_WAVELENGTH_L5, "5Q"},
262	{GPS_WAVELENGTH_L5, "5X"},
263	{0.0, 0},
264	{0.0, 0},
265	{0.0, 0},
266	{0.0, 0},
267	{0.0, 0},
268	{GPS_WAVELENGTH_L1, "1S"},
269	{GPS_WAVELENGTH_L1, "1L"},
270	{GPS_WAVELENGTH_L1, "1X"}
271	};
272
273	/**
274	* MSM signal types for GLONASS
275	*
276	* NOTE: Uses 0.0, 1.0 for wavelength as sat index dependence is done later!
277	*/
278	static struct CodeData glo[RTCM3_MSM_NUMSIG] = {
279	{0.0, 0},
280	{0.0, "1C"},
281	{0.0, "1P"},
282	{0.0, 0},
283	{0.0, 0},
284	{0.0, 0},
285	{0.0, 0},
286	{1.0, "2C"},
287	{1.0, "2P"},
288	{GLO_WAVELENGTH_L1a, "4A"},
289	{GLO_WAVELENGTH_L1a, "4B"},
290	{GLO_WAVELENGTH_L1a, "4X"},
291	{GLO_WAVELENGTH_L2a, "6A"},
292	{GLO_WAVELENGTH_L2a, "6B"},
293	{GLO_WAVELENGTH_L2a, "6X"},
294	{GLO_WAVELENGTH_L3, "3I"},
295	{GLO_WAVELENGTH_L3, "3Q"},
296	{GLO_WAVELENGTH_L3, "3X"},
297	{0.0, 0},
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	};
312
313	/** MSM signal types for Galileo */
314	static struct CodeData gal[RTCM3_MSM_NUMSIG] = {
315	{0.0, 0},
316	{GAL_WAVELENGTH_E1, "1C"},
317	{GAL_WAVELENGTH_E1, "1A"},
318	{GAL_WAVELENGTH_E1, "1B"},
319	{GAL_WAVELENGTH_E1, "1X"},
320	{GAL_WAVELENGTH_E1, "1Z"},
321	{0.0, 0},
322	{GAL_WAVELENGTH_E6, "6C"},
323	{GAL_WAVELENGTH_E6, "6A"},
324	{GAL_WAVELENGTH_E6, "6B"},
325	{GAL_WAVELENGTH_E6, "6X"},
326	{GAL_WAVELENGTH_E6, "6Z"},
327	{0.0, 0},
328	{GAL_WAVELENGTH_E5B, "7I"},
329	{GAL_WAVELENGTH_E5B, "7Q"},
330	{GAL_WAVELENGTH_E5B, "7X"},
331	{0.0, 0},
332	{GAL_WAVELENGTH_E5AB,"8I"},
333	{GAL_WAVELENGTH_E5AB,"8Q"},
334	{GAL_WAVELENGTH_E5AB,"8X"},
335	{0.0, 0},
336	{GAL_WAVELENGTH_E5A, "5I"},
337	{GAL_WAVELENGTH_E5A, "5Q"},
338	{GAL_WAVELENGTH_E5A, "5X"},
339	{0.0, 0},
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	};
348
349	/** MSM signal types for QZSS */
350	static struct CodeData qzss[RTCM3_MSM_NUMSIG] = {
351	{0.0, 0},
352	{GPS_WAVELENGTH_L1, "1C"},
353	{0.0, 0},
354	{0.0, 0},
355	{0.0, 0},
356	{0.0, 0},
357	{0.0, 0},
358	{0.0, 0},
359	{QZSS_WAVELENGTH_L6, "6S"},
360	{QZSS_WAVELENGTH_L6, "6L"},
361	{QZSS_WAVELENGTH_L6, "6X"},
362	{0.0, 0},
363	{0.0, 0},
364	{0.0, 0},
365	{GPS_WAVELENGTH_L2, "2S"},
366	{GPS_WAVELENGTH_L2, "2L"},
367	{GPS_WAVELENGTH_L2, "2X"},
368	{0.0, 0},
369	{0.0, 0},
370	{0.0, 0},
371	{0.0, 0},
372	{GPS_WAVELENGTH_L5, "5I"},
373	{GPS_WAVELENGTH_L5, "5Q"},
374	{GPS_WAVELENGTH_L5, "5X"},
375	{0.0, 0},
376	{0.0, 0},
377	{0.0, 0},
378	{0.0, 0},
379	{0.0, 0},
380	{GPS_WAVELENGTH_L1, "1S"},
381	{GPS_WAVELENGTH_L1, "1L"},
382	{GPS_WAVELENGTH_L1, "1X"}
383	};
384
385	/** MSM signal types for Beidou/BDS */
386	static struct CodeData bds[RTCM3_MSM_NUMSIG] = {
387	{0.0, 0},
388	{BDS_WAVELENGTH_B1, "2I"},
389	{BDS_WAVELENGTH_B1, "2Q"},
390	{BDS_WAVELENGTH_B1, "2X"},
391	{0.0, 0},
392	{0.0, 0},
393	{0.0, 0},
394	{BDS_WAVELENGTH_B3, "6I"},
395	{BDS_WAVELENGTH_B3, "6Q"},
396	{BDS_WAVELENGTH_B3, "6X"},
397	{0.0, 0},
398	{0.0, 0},
399	{0.0, 0},
400	{BDS_WAVELENGTH_B2, "7I"},
401	{BDS_WAVELENGTH_B2, "7Q"},
402	{BDS_WAVELENGTH_B2, "7X"},
403	{0.0, 0},
404	{0.0, 0},
405	{0.0, 0},
406	{0.0, 0},
407	{0.0, 0},
408	{BDS_WAVELENGTH_B2a, "5D"},
409	{BDS_WAVELENGTH_B2a, "5P"},
410	{BDS_WAVELENGTH_B2a, "5X"},
411	{BDS_WAVELENGTH_B2b, "7D"},
412	{0.0, 0},
413	{0.0, 0},
414	{0.0, 0},
415	{0.0, 0},
416	{BDS_WAVELENGTH_B1C, "1D"},
417	{BDS_WAVELENGTH_B1C, "1P"},
418	{BDS_WAVELENGTH_B1C, "1X"}
419	};
420
421	/** MSM signal types for IRNSS */
422	static struct CodeData irn[RTCM3_MSM_NUMSIG] = {
423	{0.0, 0},
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	{IRNSS_WAVELENGTH_S, "9A"},
431	{0.0, 0},
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	{IRNSS_WAVELENGTH_L5, "5A"},
445	{0.0, 0},
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	};
456
457	#define UINT64(c) c ## ULL
458
459	//
460	////////////////////////////////////////////////////////////////////////////
461	bool RTCM3Decoder::DecodeRTCM3MSM(unsigned char* data, int size) {
462	bool decoded = false;
463	int type, syncf, i;
464	uint64_t numbits = 0, bitfield = 0;
465
466	data += 3; /* header */
467	size -= 6; /* header + crc */
468
469	GETBITS(type, 12)
470	SKIPBITS(12)
471	/* id */
472	char sys;
473	if (type >= 1131 && type <= 1137) {
474	sys = 'I';
475	}
476	else if (type >= 1121 && type <= 1127) {
477	sys = 'C';
478	}
479	else if (type >= 1111 && type <= 1117) {
480	sys = 'J';
481	}
482	else if (type >= 1101 && type <= 1007) {
483	sys = 'S';
484	}
485	else if (type >= 1091 && type <= 1097) {
486	sys = 'E';
487	}
488	else if (type >= 1081 && type <= 1087) {
489	sys = 'R';
490	}
491	else if (type >= 1071 && type <= 1077) {
492	sys = 'G';
493	}
494	else {
495	return decoded; // false
496	}
497	bncTime CurrentObsTime;
498	if (sys == 'C') /* BDS */ {
499	GETBITS(i, 30)
500	CurrentObsTime.setBDS(i);
501	}
502	else if (sys == 'R') /* GLONASS */ {
503	SKIPBITS(3)
504	GETBITS(i, 27)
505	/* tk */
506	CurrentObsTime.setTk(i);
507	}
508	else /* GPS style date */ {
509	GETBITS(i, 30)
510	CurrentObsTime.set(i);
511	}
512	if (_CurrentTime.valid() && CurrentObsTime != _CurrentTime) {
513	decoded = true;
514	_obsList.append(_CurrentObsList);
515	_CurrentObsList.clear();
516	}
517	_CurrentTime = CurrentObsTime;
518
519	GETBITS(syncf, 1)
520	/**
521	* Ignore unknown types except for sync flag
522	*
523	* We actually support types 1-3 in following code, but as they are missing
524	* the full cycles and can't be used later we skip interpretation here already.
525	*/
526	if (type <= 1137 && (type % 10) >= 4 && (type % 10) <= 7) {
527	int sigmask, numsat = 0, numsig = 0;
528	uint64_t satmask, cellmask, ui;
529	// satellite data
530	double rrmod[RTCM3_MSM_NUMSAT]; // GNSS sat rough ranges modulo 1 millisecond
531	int rrint[RTCM3_MSM_NUMSAT]; // number of integer msecs in GNSS sat rough ranges
532	int rdop[RTCM3_MSM_NUMSAT]; // GNSS sat rough phase range rates
533	int extsat[RTCM3_MSM_NUMSAT];// extended sat info
534	// signal data
535	int ll[RTCM3_MSM_NUMCELLS]; // lock time indicator
536	/int hc[RTCM3_MSM_NUMCELLS];/ // half cycle ambiguity indicator
537	double cnr[RTCM3_MSM_NUMCELLS]; // signal cnr
538	double cp[RTCM3_MSM_NUMCELLS]; // fine phase range data
539	double psr[RTCM3_MSM_NUMCELLS]; // fine psr
540	double dop[RTCM3_MSM_NUMCELLS]; // fine phase range rates
541
542	SKIPBITS(3 + 7 + 2 + 2 + 1 + 3)
543	GETBITS64(satmask, RTCM3_MSM_NUMSAT)
544
545	/* http://gurmeetsingh.wordpress.com/2008/08/05/fast-bit-counting-routines/ */
546	for (ui = satmask; ui; ui &= (ui - 1) /* remove rightmost bit */)
547	++numsat;
548	GETBITS(sigmask, RTCM3_MSM_NUMSIG)
549	for (i = sigmask; i; i &= (i - 1) /* remove rightmost bit */)
550	++numsig;
551	for (i = 0; i < RTCM3_MSM_NUMSAT; ++i)
552	extsat[i] = 15;
553
554	i = numsat * numsig;
555	GETBITS64(cellmask, (unsigned )i)
556	// satellite data
557	switch (type % 10) {
558	case 1:
559	case 2:
560	case 3:
561	/* partial data, already skipped above, but implemented for future expansion ! */
562	for (int j = numsat; j--;)
563	GETFLOAT(rrmod[j], 10, 1.0 / 1024.0)
564	break;
565	case 4:
566	case 6:
567	for (int j = numsat; j--;)
568	GETBITS(rrint[j], 8)
569	for (int j = numsat; j--;)
570	GETFLOAT(rrmod[j], 10, 1.0 / 1024.0)
571	break;
572	case 5:
573	case 7:
574	for (int j = numsat; j--;)
575	GETBITS(rrint[j], 8)
576	for (int j = numsat; j--;)
577	GETBITS(extsat[j], 4)
578	for (int j = numsat; j--;)
579	GETFLOAT(rrmod[j], 10, 1.0 / 1024.0)
580	for (int j = numsat; j--;)
581	GETBITSSIGN(rdop[j], 14)
582	break;
583	}
584	// signal data
585	int numcells = numsat * numsig;
586	/** Drop anything which exceeds our cell limit. Increase limit definition
587	* when that happens. */
588	if (numcells <= RTCM3_MSM_NUMCELLS) {
589	switch (type % 10) {
590	case 1:
591	for (int count = numcells; count--;)
592	if (cellmask & (UINT64(1) << count))
593	GETFLOATSIGN(psr[count], 15, 1.0 / (1 << 24))
594	break;
595	case 2:
596	for (int count = numcells; count--;)
597	if (cellmask & (UINT64(1) << count))
598	GETFLOATSIGN(cp[count], 22, 1.0 / (1 << 29))
599	for (int count = numcells; count--;)
600	if (cellmask & (UINT64(1) << count))
601	GETBITS(ll[count], 4)
602	for (int count = numcells; count--;)
603	if (cellmask & (UINT64(1) << count))
604	SKIPBITS(1)/GETBITS(hc[count], 1)/
605	break;
606	case 3:
607	for (int count = numcells; count--;)
608	if (cellmask & (UINT64(1) << count))
609	GETFLOATSIGN(psr[count], 15, 1.0 / (1 << 24))
610	for (int count = numcells; count--;)
611	if (cellmask & (UINT64(1) << count))
612	GETFLOATSIGN(cp[count], 22, 1.0 / (1 << 29))
613	for (int count = numcells; count--;)
614	if (cellmask & (UINT64(1) << count))
615	GETBITS(ll[count], 4)
616	for (int count = numcells; count--;)
617	if (cellmask & (UINT64(1) << count))
618	SKIPBITS(1)/GETBITS(hc[count], 1)/
619	break;
620	case 4:
621	for (int count = numcells; count--;)
622	if (cellmask & (UINT64(1) << count))
623	GETFLOATSIGN(psr[count], 15, 1.0 / (1 << 24))
624	for (int count = numcells; count--;)
625	if (cellmask & (UINT64(1) << count))
626	GETFLOATSIGN(cp[count], 22, 1.0 / (1 << 29))
627	for (int count = numcells; count--;)
628	if (cellmask & (UINT64(1) << count))
629	GETBITS(ll[count], 4)
630	for (int count = numcells; count--;)
631	if (cellmask & (UINT64(1) << count))
632	SKIPBITS(1)/GETBITS(hc[count], 1)/
633	for (int count = numcells; count--;)
634	if (cellmask & (UINT64(1) << count))
635	GETBITS(cnr[count], 6)
636	break;
637	case 5:
638	for (int count = numcells; count--;)
639	if (cellmask & (UINT64(1) << count))
640	GETFLOATSIGN(psr[count], 15, 1.0 / (1 << 24))
641	for (int count = numcells; count--;)
642	if (cellmask & (UINT64(1) << count))
643	GETFLOATSIGN(cp[count], 22, 1.0 / (1 << 29))
644	for (int count = numcells; count--;)
645	if (cellmask & (UINT64(1) << count))
646	GETBITS(ll[count], 4)
647	for (int count = numcells; count--;)
648	if (cellmask & (UINT64(1) << count))
649	SKIPBITS(1)/GETBITS(hc[count], 1)/
650	for (int count = numcells; count--;)
651	if (cellmask & (UINT64(1) << count))
652	GETFLOAT(cnr[count], 6, 1.0)
653	for (int count = numcells; count--;)
654	if (cellmask & (UINT64(1) << count))
655	GETFLOATSIGN(dop[count], 15, 0.0001)
656	break;
657	case 6:
658	for (int count = numcells; count--;)
659	if (cellmask & (UINT64(1) << count))
660	GETFLOATSIGN(psr[count], 20, 1.0 / (1 << 29))
661	for (int count = numcells; count--;)
662	if (cellmask & (UINT64(1) << count))
663	GETFLOATSIGN(cp[count], 24, 1.0 / (1U << 31))
664	for (int count = numcells; count--;)
665	if (cellmask & (UINT64(1) << count))
666	GETBITS(ll[count], 10)
667	for (int count = numcells; count--;)
668	if (cellmask & (UINT64(1) << count))
669	SKIPBITS(1)/GETBITS(hc[count], 1)/
670	for (int count = numcells; count--;)
671	if (cellmask & (UINT64(1) << count))
672	GETFLOAT(cnr[count], 10, 1.0 / (1 << 4))
673	break;
674	case 7:
675	for (int count = numcells; count--;)
676	if (cellmask & (UINT64(1) << count))
677	GETFLOATSIGN(psr[count], 20, 1.0 / (1 << 29))
678	for (int count = numcells; count--;)
679	if (cellmask & (UINT64(1) << count))
680	GETFLOATSIGN(cp[count], 24, 1.0 / (1U << 31))
681	for (int count = numcells; count--;)
682	if (cellmask & (UINT64(1) << count))
683	GETBITS(ll[count], 10)
684	for (int count = numcells; count--;)
685	if (cellmask & (UINT64(1) << count))
686	SKIPBITS(1)/GETBITS(hc[count], 1)/
687	for (int count = numcells; count--;)
688	if (cellmask & (UINT64(1) << count))
689	GETFLOAT(cnr[count], 10, 1.0 / (1 << 4))
690	for (int count = numcells; count--;)
691	if (cellmask & (UINT64(1) << count))
692	GETFLOATSIGN(dop[count], 15, 0.0001)
693	break;
694	}
695	i = RTCM3_MSM_NUMSAT;
696	int j = -1;
697	t_satObs CurrentObs;
698	for (int count = numcells; count--;) {
699	while (j >= 0 && !(sigmask & (1 << --j)))
700	;
701	if (j < 0) {
702	while (!(satmask & (UINT64(1) << (--i))))
703	/* next satellite */
704	;
705	if (CurrentObs._obs.size() > 0)
706	_CurrentObsList.push_back(CurrentObs);
707	CurrentObs.clear();
708	CurrentObs._time = CurrentObsTime;
709	if (sys == 'S')
710	CurrentObs._prn.set(sys, 20 - 1 + RTCM3_MSM_NUMSAT - i);
711	else
712	CurrentObs._prn.set(sys, RTCM3_MSM_NUMSAT - i);
713	j = RTCM3_MSM_NUMSIG;
714	while (!(sigmask & (1 << --j)))
715	;
716	--numsat;
717	}
718	if (cellmask & (UINT64(1) << count)) {
719	struct CodeData cd = {0.0, 0};
720	switch (sys) {
721	case 'J':
722	cd = qzss[RTCM3_MSM_NUMSIG - j - 1];
723	break;
724	case 'C':
725	cd = bds[RTCM3_MSM_NUMSIG - j - 1];
726	break;
727	case 'G':
728	case 'S':
729	cd = gps[RTCM3_MSM_NUMSIG - j - 1];
730	break;
731	case 'R':
732	cd = glo[RTCM3_MSM_NUMSIG - j - 1];
733	{
734	int k = GLOFreq[RTCM3_MSM_NUMSAT - i - 1];
735	if (extsat[numsat] < 14) { // channel number is available as extended info for MSM5/7
736	k = GLOFreq[RTCM3_MSM_NUMSAT - i - 1] = 100 + extsat[numsat] - 7;
737	}
738	if (k) {
739	if (cd.wl == 0.0) {
740	cd.wl = GLO_WAVELENGTH_L1(k - 100);
741	}
742	else if (cd.wl == 1.0) {
743	cd.wl = GLO_WAVELENGTH_L2(k - 100);
744	}
745	}
746	else if (!k && cd.wl <= 1) {
747	cd.code = 0;
748	}
749	}
750	break;
751	case 'E':
752	cd = gal[RTCM3_MSM_NUMSIG - j - 1];
753	break;
754	case 'I':
755	cd = irn[RTCM3_MSM_NUMSIG - j - 1];
756	break;
757	}
758	if (cd.code) {
759	t_frqObs *frqObs = new t_frqObs;
760	frqObs->_rnxType2ch.assign(cd.code);
761
762	switch (type % 10) {
763	case 1:
764	if (psr[count] > -1.0 / (1 << 10)) {
765	frqObs->_code = psr[count] * LIGHTSPEED / 1000.0
766	+ (rrmod[numsat]) * LIGHTSPEED / 1000.0;
767	frqObs->_codeValid = true;
768	}
769	break;
770	case 2:
771	if (cp[count] > -1.0 / (1 << 8)) {
772	frqObs->_phase = cp[count] * LIGHTSPEED / 1000.0 / cd.wl
773	+ (rrmod[numsat]) * LIGHTSPEED / 1000.0 / cd.wl;
774	frqObs->_phaseValid = true;
775	frqObs->_lockTime = lti2sec(type,ll[count]);
776	frqObs->_lockTimeValid = (frqObs->_lockTime >= 0.0);
777	frqObs->_lockTimeIndicator = ll[count];
778	}
779	break;
780	case 3:
781	if (psr[count] > -1.0 / (1 << 10)) {
782	frqObs->_code = psr[count] * LIGHTSPEED / 1000.0
783	+ (rrmod[numsat]) * LIGHTSPEED / 1000.0;
784	frqObs->_codeValid = true;
785	}
786	if (cp[count] > -1.0 / (1 << 8)) {
787	frqObs->_phase = cp[count] * LIGHTSPEED / 1000.0 / cd.wl
788	+ rrmod[numsat] * LIGHTSPEED / 1000.0 / cd.wl;
789	frqObs->_phaseValid = true;
790	frqObs->_lockTime = lti2sec(type,ll[count]);
791	frqObs->_lockTimeValid = (frqObs->_lockTime >= 0.0);
792	frqObs->_lockTimeIndicator = ll[count];
793	}
794	break;
795	case 4:
796	if (psr[count] > -1.0 / (1 << 10)) {
797	frqObs->_code = psr[count] * LIGHTSPEED / 1000.0
798	+ (rrmod[numsat] + rrint[numsat]) * LIGHTSPEED / 1000.0;
799	frqObs->_codeValid = true;
800	}
801	if (cp[count] > -1.0 / (1 << 8)) {
802	frqObs->_phase = cp[count] * LIGHTSPEED / 1000.0 / cd.wl
803	+ (rrmod[numsat] + rrint[numsat]) * LIGHTSPEED / 1000.0 / cd.wl;
804	frqObs->_phaseValid = true;
805	frqObs->_lockTime = lti2sec(type,ll[count]);
806	frqObs->_lockTimeValid = (frqObs->_lockTime >= 0.0);
807	frqObs->_lockTimeIndicator = ll[count];
808	}
809	frqObs->_snr = cnr[count];
810	frqObs->_snrValid = true;
811	break;
812	case 5:
813	if (psr[count] > -1.0 / (1 << 10)) {
814	frqObs->_code = psr[count] * LIGHTSPEED / 1000.0
815	+ (rrmod[numsat] + rrint[numsat]) * LIGHTSPEED / 1000.0;
816	frqObs->_codeValid = true;
817	}
818	if (cp[count] > -1.0 / (1 << 8)) {
819	frqObs->_phase = cp[count] * LIGHTSPEED / 1000.0 / cd.wl
820	+ (rrmod[numsat] + rrint[numsat]) * LIGHTSPEED / 1000.0 / cd.wl;
821	frqObs->_phaseValid = true;
822	frqObs->_lockTime = lti2sec(type,ll[count]);
823	frqObs->_lockTimeValid = (frqObs->_lockTime >= 0.0);
824	frqObs->_lockTimeIndicator = ll[count];
825	}
826	frqObs->_snr = cnr[count];
827	frqObs->_snrValid = true;
828	if (dop[count] > -1.6384) {
829	frqObs->_doppler = -(dop[count] + rdop[numsat]) / cd.wl;
830	frqObs->_dopplerValid = true;
831	}
832	break;
833	case 6:
834	if (psr[count] > -1.0 / (1 << 10)) {
835	frqObs->_code = psr[count] * LIGHTSPEED / 1000.0
836	+ (rrmod[numsat] + rrint[numsat]) * LIGHTSPEED / 1000.0;
837	frqObs->_codeValid = true;
838	}
839	if (cp[count] > -1.0 / (1 << 8)) {
840	frqObs->_phase = cp[count] * LIGHTSPEED / 1000.0 / cd.wl
841	+ (rrmod[numsat] + rrint[numsat]) * LIGHTSPEED / 1000.0 / cd.wl;
842	frqObs->_phaseValid = true;
843	frqObs->_lockTime = lti2sec(type,ll[count]);
844	frqObs->_lockTimeValid = (frqObs->_lockTime >= 0.0);
845	frqObs->_lockTimeIndicator = ll[count];
846	}
847
848	frqObs->_snr = cnr[count];
849	frqObs->_snrValid = true;
850	break;
851	case 7:
852	if (psr[count] > -1.0 / (1 << 10)) {
853	frqObs->_code = psr[count] * LIGHTSPEED / 1000.0
854	+ (rrmod[numsat] + rrint[numsat]) * LIGHTSPEED / 1000.0;
855	frqObs->_codeValid = true;
856	}
857	if (cp[count] > -1.0 / (1 << 8)) {
858	frqObs->_phase = cp[count] * LIGHTSPEED / 1000.0 / cd.wl
859	+ (rrmod[numsat] + rrint[numsat]) * LIGHTSPEED / 1000.0 / cd.wl;
860	frqObs->_phaseValid = true;
861	frqObs->_lockTime = lti2sec(type,ll[count]);
862	frqObs->_lockTimeValid = (frqObs->_lockTime >= 0.0);
863	frqObs->_lockTimeIndicator = ll[count];
864	}
865
866	frqObs->_snr = cnr[count];
867	frqObs->_snrValid = true;
868
869	if (dop[count] > -1.6384) {
870	frqObs->_doppler = -(dop[count] + rdop[numsat]) / cd.wl;
871	frqObs->_dopplerValid = true;
872	}
873	break;
874	}
875	CurrentObs._obs.push_back(frqObs);
876	}
877	}
878	}
879	if (CurrentObs._obs.size() > 0) {
880	_CurrentObsList.push_back(CurrentObs);
881	}
882	}
883	}
884	else if ((type % 10) < 4) {
885	emit(newMessage(QString("%1: Block %2 contain partial data! Ignored!")
886	.arg(_staID).arg(type).toLatin1(), true));
887	}
888	if (!syncf) {
889	decoded = true;
890	_obsList.append(_CurrentObsList);
891	_CurrentTime.reset();
892	_CurrentObsList.clear();
893	}
894	return decoded;
895	}
896
897	//
898	////////////////////////////////////////////////////////////////////////////
899	bool RTCM3Decoder::DecodeRTCM3GLONASS(unsigned char* data, int size) {
900	bool decoded = false;
901	bncTime CurrentObsTime;
902	int i, numsats, syncf, type;
903	uint64_t numbits = 0, bitfield = 0;
904
905	data += 3; /* header */
906	size -= 6; /* header + crc */
907
908	GETBITS(type, 12)
909	SKIPBITS(12)
910	/* id */
911	GETBITS(i, 27)
912	/* tk */
913
914	CurrentObsTime.setTk(i);
915	if (_CurrentTime.valid() && CurrentObsTime != _CurrentTime) {
916	decoded = true;
917	_obsList.append(_CurrentObsList);
918	_CurrentObsList.clear();
919	}
920	_CurrentTime = CurrentObsTime;
921
922	GETBITS(syncf, 1)
923	/* sync */
924	GETBITS(numsats, 5)
925	SKIPBITS(4)
926	/* smind, smint */
927
928	while (numsats--) {
929	int sv, code, l1range, amb = 0, freq;
930	t_satObs CurrentObs;
931	CurrentObs._time = CurrentObsTime;
932
933	GETBITS(sv, 6)
934	CurrentObs._prn.set('R', sv);
935	GETBITS(code, 1)
936	GETBITS(freq, 5)
937	GLOFreq[sv - 1] = 100 + freq - 7; /* store frequency for other users (MSM) */
938
939	t_frqObs *frqObs = new t_frqObs;
940	/* L1 */
941	(code) ?
942	frqObs->_rnxType2ch.assign("1P") : frqObs->_rnxType2ch.assign("1C");
943	GETBITS(l1range, 25);
944	GETBITSSIGN(i, 20);
945	if ((i & ((1 << 20) - 1)) != 0x80000) {
946	frqObs->_code = l1range * 0.02;
947	frqObs->_phase = (l1range * 0.02 + i * 0.0005) / GLO_WAVELENGTH_L1(freq - 7);
948	frqObs->_codeValid = frqObs->_phaseValid = true;
949	}
950	GETBITS(frqObs->_lockTimeIndicator, 7);
951	frqObs->_lockTime = lti2sec(type, frqObs->_lockTimeIndicator);
952	frqObs->_lockTimeValid = (frqObs->_lockTime >= 0.0 && frqObs->_phaseValid);
953	if (type == 1010 \|\| type == 1012) {
954	GETBITS(amb, 7);
955	if (amb) {
956	frqObs->_code += amb * 599584.916;
957	frqObs->_phase += (amb * 599584.916) / GLO_WAVELENGTH_L1(freq - 7);
958	}
959	GETBITS(i, 8);
960	if (i) {
961	frqObs->_snr = i * 0.25;
962	frqObs->_snrValid = true;
963	}
964	}
965	CurrentObs._obs.push_back(frqObs);
966	if (type == 1011 \|\| type == 1012) {
967	frqObs = new t_frqObs;
968	/* L2 */
969	GETBITS(code, 2);
970	switch (code) {
971	case 3:
972	frqObs->_rnxType2ch.assign("2P");
973	break;
974	case 2:
975	frqObs->_rnxType2ch.assign("2P");
976	break;
977	case 1:
978	frqObs->_rnxType2ch.assign("2P");
979	break;
980	case 0:
981	frqObs->_rnxType2ch.assign("2C");
982	break;
983	}
984	GETBITSSIGN(i, 14);
985	if ((i & ((1 << 14) - 1)) != 0x2000) {
986	frqObs->_code = l1range * 0.02 + i * 0.02 + amb * 599584.916;
987	frqObs->_codeValid = true;
988	}
989	GETBITSSIGN(i, 20);
990	if ((i & ((1 << 20) - 1)) != 0x80000) {
991	frqObs->_phase = (l1range * 0.02 + i * 0.0005 + amb * 599584.916)
992	/ GLO_WAVELENGTH_L2(freq - 7);
993	frqObs->_phaseValid = true;
994	}
995	GETBITS(frqObs->_lockTimeIndicator, 7);
996	frqObs->_lockTime = lti2sec(type, frqObs->_lockTimeIndicator);
997	frqObs->_lockTimeValid = (frqObs->_lockTime >= 0.0 && frqObs->_phaseValid);
998	if (type == 1012) {
999	GETBITS(i, 8);
1000	if (i) {
1001	frqObs->_snr = i * 0.25;
1002	frqObs->_snrValid = true;
1003	}
1004	}
1005	CurrentObs._obs.push_back(frqObs);
1006	}
1007	_CurrentObsList.push_back(CurrentObs);
1008	}
1009	if (!syncf) {
1010	decoded = true;
1011	_obsList.append(_CurrentObsList);
1012	_CurrentTime.reset();
1013	_CurrentObsList.clear();
1014	}
1015	return decoded;
1016	}
1017
1018	//
1019	////////////////////////////////////////////////////////////////////////////
1020	bool RTCM3Decoder::DecodeGPSEphemeris(unsigned char* data, int size) {
1021	bool decoded = false;
1022
1023	if (size == 67) {
1024	t_ephGPS eph;
1025	int i, week;
1026	uint64_t numbits = 0, bitfield = 0;
1027	int fitIntervalFalg = 0;
1028
1029	data += 3; /* header */
1030	size -= 6; /* header + crc */
1031	SKIPBITS(12)
1032
1033	eph._receptDateTime = currentDateAndTimeGPS();
1034	eph._receptStaID = _staID;
1035
1036	GETBITS(i, 6)
1037	eph._prn.set('G', i);
1038	GETBITS(week, 10)
1039	GETBITS(i, 4)
1040	eph._ura = accuracyFromIndex(i, eph.type());
1041	GETBITS(eph._L2Codes, 2)
1042	GETFLOATSIGN(eph._IDOT, 14, R2R_PI/(double)(1<<30)/(double)(1<<13))
1043	GETBITS(eph._IODE, 8)
1044	GETBITS(i, 16)
1045	i <<= 4;
1046	eph._TOC.set(i * 1000);
1047	GETFLOATSIGN(eph._clock_driftrate, 8, 1.0 / (double )(1 << 30) / (double )(1 << 25))
1048	GETFLOATSIGN(eph._clock_drift, 16, 1.0 / (double )(1 << 30) / (double )(1 << 13))
1049	GETFLOATSIGN(eph._clock_bias, 22, 1.0 / (double )(1 << 30) / (double )(1 << 1))
1050	GETBITS(eph._IODC, 10)
1051	GETFLOATSIGN(eph._Crs, 16, 1.0 / (double )(1 << 5))
1052	GETFLOATSIGN(eph._Delta_n, 16, R2R_PI/(double)(1<<30)/(double)(1<<13))
1053	GETFLOATSIGN(eph._M0, 32, R2R_PI/(double)(1<<30)/(double)(1<<1))
1054	GETFLOATSIGN(eph._Cuc, 16, 1.0 / (double )(1 << 29))
1055	GETFLOAT(eph._e, 32, 1.0 / (double )(1 << 30) / (double )(1 << 3))
1056	GETFLOATSIGN(eph._Cus, 16, 1.0 / (double )(1 << 29))
1057	GETFLOAT(eph._sqrt_A, 32, 1.0 / (double )(1 << 19))
1058	if (eph._sqrt_A < 1000.0) {
1059	#ifdef BNC_DEBUG_BCEP
1060	emit(newMessage(QString("%1: Block %2 (%3) SQRT_A %4 m!")
1061	.arg(_staID).arg(1019,4).arg(eph._prn.toString().c_str())
1062	.arg(eph._sqrt_A,10,'F',3).toLatin1(), true));
1063	#endif
1064	return false;
1065	}
1066	GETBITS(i, 16)
1067	i <<= 4;
1068	eph._TOEsec = i;
1069	bncTime t;
1070	t.set(i * 1000);
1071	eph._TOEweek = t.gpsw();
1072	int numOfRollOvers = int(floor(t.gpsw()/1024.0));
1073	week += (numOfRollOvers * 1024);
1074	/* week from HOW, differs from TOC, TOE week, we use adapted value instead */
1075	if (eph._TOEweek > week + 1 \|\| eph._TOEweek < week - 1) /* invalid week */
1076	return false;
1077	GETFLOATSIGN(eph._Cic, 16, 1.0 / (double )(1 << 29))
1078	GETFLOATSIGN(eph._OMEGA0, 32, R2R_PI/(double)(1<<30)/(double)(1<<1))
1079	GETFLOATSIGN(eph._Cis, 16, 1.0 / (double )(1 << 29))
1080	GETFLOATSIGN(eph._i0, 32, R2R_PI/(double)(1<<30)/(double)(1<<1))
1081	GETFLOATSIGN(eph._Crc, 16, 1.0 / (double )(1 << 5))
1082	GETFLOATSIGN(eph._omega, 32, R2R_PI/(double)(1<<30)/(double)(1<<1))
1083	GETFLOATSIGN(eph._OMEGADOT, 24, R2R_PI/(double)(1<<30)/(double)(1<<13))
1084	GETFLOATSIGN(eph._TGD, 8, 1.0 / (double )(1 << 30) / (double )(1 << 1))
1085	GETBITS(eph._health, 6)
1086	GETBITS(eph._L2PFlag, 1)
1087	GETBITS(fitIntervalFalg, 1)
1088	eph._fitInterval = fitIntervalFromFlag(fitIntervalFalg, eph._IODC, eph.type());
1089	eph._TOT = 0.9999e9;
1090
1091	emit newGPSEph(eph);
1092	decoded = true;
1093	}
1094	return decoded;
1095	}
1096
1097	//
1098	////////////////////////////////////////////////////////////////////////////
1099	bool RTCM3Decoder::DecodeGLONASSEphemeris(unsigned char* data, int size) {
1100	bool decoded = false;
1101
1102	if (size == 51) {
1103	t_ephGlo eph;
1104	int sv, i, tk;
1105	uint64_t numbits = 0, bitfield = 0;
1106
1107	data += 3; /* header */
1108	size -= 6; /* header + crc */
1109	SKIPBITS(12)
1110
1111	eph._receptDateTime = currentDateAndTimeGPS();
1112	eph._receptStaID = _staID;
1113
1114	GETBITS(sv, 6)
1115	eph._prn.set('R', sv);
1116
1117	GETBITS(i, 5)
1118	eph._frequency_number = i - 7;
1119	GETBITS(eph._almanac_health, 1) /* almanac healthy */
1120	GETBITS(eph._almanac_health_availablility_indicator, 1) /* almanac health ok */
1121	/*
1122	if (eph._almanac_health_availablility_indicator == 0.0) {
1123	#ifdef BNC_DEBUG_BCEP
1124	emit(newMessage(QString("%1: Block %2 (%3): ALM = %4: missing data!")
1125	.arg(_staID).arg(1020,4).arg(eph._prn.toString().c_str())
1126	.arg(eph._almanac_health_availablility_indicator).toLatin1(), true));
1127	#endif
1128	return false;
1129	}*/
1130	GETBITS(eph._P1, 2) /* P1 */
1131	GETBITS(i, 5)
1132	tk = i * 60 * 60;
1133	GETBITS(i, 6)
1134	tk += i * 60;
1135	GETBITS(i, 1)
1136	tk += i * 30;
1137	eph._tki = tk - 36060;
1138	if(eph._tki < 0.0) {
1139	eph._tki += 86400.0;
1140	}
1141	GETBITS(eph._health, 1) /* MSB of Bn*/
1142	GETBITS(eph._P2, 1) /* P2 */
1143	GETBITS(i, 7)
1144	eph._TOC.setTk(i * 15 * 60 * 1000); /* tb */
1145
1146	GETFLOATSIGNM(eph._x_velocity, 24, 1.0 / (double )(1 << 20))
1147	GETFLOATSIGNM(eph._x_pos, 27, 1.0 / (double )(1 << 11))
1148	GETFLOATSIGNM(eph._x_acceleration, 5, 1.0 / (double )(1 << 30))
1149	GETFLOATSIGNM(eph._y_velocity, 24, 1.0 / (double )(1 << 20))
1150	GETFLOATSIGNM(eph._y_pos, 27, 1.0 / (double )(1 << 11))
1151	GETFLOATSIGNM(eph._y_acceleration, 5, 1.0 / (double )(1 << 30))
1152	GETFLOATSIGNM(eph._z_velocity, 24, 1.0 / (double )(1 << 20))
1153	GETFLOATSIGNM(eph._z_pos, 27, 1.0 / (double )(1 << 11))
1154	GETFLOATSIGNM(eph._z_acceleration, 5, 1.0 / (double )(1 << 30))
1155	GETBITS(eph._P3, 1) /* P3 */
1156	GETFLOATSIGNM(eph._gamma, 11, 1.0 / (double )(1 << 30) / (double )(1 << 10))
1157	GETBITS(eph._M_P, 2) /* GLONASS-M P, */
1158	GETBITS(eph._M_l3, 1) /* GLONASS-M ln (third string) */
1159	GETFLOATSIGNM(eph._tau, 22, 1.0 / (double )(1 << 30)) /* GLONASS tau n(tb) */
1160	GETFLOATSIGNM(eph._M_delta_tau, 5, 1.0 / (double )(1 << 30)) /* GLONASS-M delta tau n(tb) */
1161	GETBITS(eph._E, 5)
1162	GETBITS(eph._M_P4, 1) /* GLONASS-M P4 */
1163	GETBITS(eph._M_FT, 4) /* GLONASS-M Ft */
1164	GETBITS(eph._M_NT, 11) /* GLONASS-M Nt */
1165	if (eph._M_NT == 0.0) {
1166	#ifdef BNC_DEBUG_BCEP
1167	emit(newMessage(QString("%1: Block %2 (%3): NT = %4: missing data!")
1168	.arg(_staID).arg(1020,4).arg(eph._prn.toString().c_str()).arg(eph._M_NT,4).toLatin1(), true));
1169	#endif
1170	return false;
1171	}
1172	GETBITS(eph._M_M, 2) /* GLONASS-M M */
1173	GETBITS(eph._additional_data_availability, 1) /* GLONASS-M The Availability of Additional Data */
1174	if (eph._additional_data_availability == 0.0) {
1175	#ifdef BNC_DEBUG_BCEP
1176	emit(newMessage(QString("%1: Block %2 (%3): ADD = %4: missing data!")
1177	.arg(_staID).arg(1020,4).arg(eph._prn.toString().c_str())
1178	.arg(eph._additional_data_availability).toLatin1(), true));
1179	#endif
1180	return false;
1181	}
1182	GETBITS(eph._NA, 11) /* GLONASS-M Na */
1183	GETFLOATSIGNM(eph._tauC, 32, 1.0/(double)(1<<30)/(double)(1<<1)) /* GLONASS tau c */
1184	GETBITS(eph._M_N4, 5) /* GLONASS-M N4 */
1185	GETFLOATSIGNM(eph._M_tau_GPS, 22, 1.0/(double)(1<<30)) /* GLONASS-M tau GPS */
1186	GETBITS(eph._M_l5, 1) /* GLONASS-M ln (fifth string) */
1187
1188	unsigned year, month, day;
1189	eph._TOC.civil_date(year, month, day);
1190	eph._gps_utc = gnumleap(year, month, day);
1191	eph._tt = eph._TOC;
1192
1193	eph._xv(1) = eph._x_pos * 1.e3;
1194	eph._xv(2) = eph._y_pos * 1.e3;
1195	eph._xv(3) = eph._z_pos * 1.e3;
1196	if (eph._xv.Rows(1,3).NormFrobenius() < 1.0) {
1197	#ifdef BNC_DEBUG_BCEP
1198	emit(newMessage(QString("%1: Block %2 (%3): zero position!")
1199	.arg(_staID).arg(1020,4).arg(eph._prn.toString().c_str()).toLatin1(), true));
1200	#endif
1201	return false;
1202	}
1203	eph._xv(4) = eph._x_velocity * 1.e3;
1204	eph._xv(5) = eph._y_velocity * 1.e3;
1205	eph._xv(6) = eph._z_velocity * 1.e3;
1206	if (eph._xv.Rows(4,6).NormFrobenius() < 1.0) {
1207	#ifdef BNC_DEBUG_BCEP
1208	emit(newMessage(QString("%1: Block %2 (%3): zero velocity!")
1209	.arg(_staID).arg(1020,4).arg(eph._prn.toString().c_str()).toLatin1(), true));
1210	#endif
1211	return false;
1212	}
1213	GLOFreq[sv - 1] = 100 + eph._frequency_number ; /* store frequency for other users (MSM) */
1214	_gloFrq = QString("%1 %2").arg(eph._prn.toString().c_str()).arg(eph._frequency_number, 2, 'f', 0);
1215
1216	emit newGlonassEph(eph);
1217	decoded = true;
1218	}
1219	return decoded;
1220	}
1221
1222	//
1223	////////////////////////////////////////////////////////////////////////////
1224	bool RTCM3Decoder::DecodeQZSSEphemeris(unsigned char* data, int size) {
1225	bool decoded = false;
1226
1227	if (size == 67) {
1228	t_ephGPS eph;
1229	int i, week;
1230	uint64_t numbits = 0, bitfield = 0;
1231	int fitIntervalFalg = 0;
1232
1233	data += 3; /* header */
1234	size -= 6; /* header + crc */
1235	SKIPBITS(12)
1236
1237	eph._receptDateTime = currentDateAndTimeGPS();
1238	eph._receptStaID = _staID;
1239
1240	GETBITS(i, 4)
1241	eph._prn.set('J', i);
1242
1243	GETBITS(i, 16)
1244	i <<= 4;
1245	eph._TOC.set(i * 1000);
1246
1247	GETFLOATSIGN(eph._clock_driftrate, 8, 1.0 / (double )(1 << 30) / (double )(1 << 25))
1248	GETFLOATSIGN(eph._clock_drift, 16, 1.0 / (double )(1 << 30) / (double )(1 << 13))
1249	GETFLOATSIGN(eph._clock_bias, 22, 1.0 / (double )(1 << 30) / (double )(1 << 1))
1250	GETBITS(eph._IODE, 8)
1251	GETFLOATSIGN(eph._Crs, 16, 1.0 / (double )(1 << 5))
1252	GETFLOATSIGN(eph._Delta_n, 16, R2R_PI/(double)(1<<30)/(double)(1<<13))
1253	GETFLOATSIGN(eph._M0, 32, R2R_PI/(double)(1<<30)/(double)(1<<1))
1254	GETFLOATSIGN(eph._Cuc, 16, 1.0 / (double )(1 << 29))
1255	GETFLOAT(eph._e, 32, 1.0 / (double )(1 << 30) / (double )(1 << 3))
1256	GETFLOATSIGN(eph._Cus, 16, 1.0 / (double )(1 << 29))
1257	GETFLOAT(eph._sqrt_A, 32, 1.0 / (double )(1 << 19))
1258	if (eph._sqrt_A < 1000.0) {
1259	#ifdef BNC_DEBUG_BCEP
1260	emit(newMessage(QString("%1: Block %2 (%3) SQRT_A %4 m!")
1261	.arg(_staID).arg(1044,4).arg(eph._prn.toString().c_str())
1262	.arg(eph._sqrt_A,10,'F',3).toLatin1(), true));
1263	#endif
1264	return false;
1265	}
1266	GETBITS(i, 16)
1267	i <<= 4;
1268	eph._TOEsec = i;
1269	bncTime t;
1270	t.set(i*1000);
1271	eph._TOEweek = t.gpsw();
1272	GETFLOATSIGN(eph._Cic, 16, 1.0 / (double )(1 << 29))
1273	GETFLOATSIGN(eph._OMEGA0, 32, R2R_PI/(double)(1<<30)/(double)(1<<1))
1274	GETFLOATSIGN(eph._Cis, 16, 1.0 / (double )(1 << 29))
1275	GETFLOATSIGN(eph._i0, 32, R2R_PI/(double)(1<<30)/(double)(1<<1))
1276	GETFLOATSIGN(eph._Crc, 16, 1.0 / (double )(1 << 5))
1277	GETFLOATSIGN(eph._omega, 32, R2R_PI/(double)(1<<30)/(double)(1<<1))
1278	GETFLOATSIGN(eph._OMEGADOT, 24, R2R_PI/(double)(1<<30)/(double)(1<<13))
1279	GETFLOATSIGN(eph._IDOT, 14, R2R_PI/(double)(1<<30)/(double)(1<<13))
1280	GETBITS(eph._L2Codes, 2)
1281	GETBITS(week, 10)
1282	int numOfRollOvers = int(floor(t.gpsw()/1024.0));
1283	week += (numOfRollOvers * 1024);
1284	/* week from HOW, differs from TOC, TOE week, we use adapted value instead */
1285	if (eph._TOEweek > week + 1 \|\| eph._TOEweek < week - 1) /* invalid week */
1286	return false;
1287
1288	GETBITS(i, 4)
1289	if (i <= 6)
1290	eph._ura = ceil(10.0 * pow(2.0, 1.0 + i / 2.0)) / 10.0;
1291	else
1292	eph._ura = ceil(10.0 * pow(2.0, i / 2.0)) / 10.0;
1293	GETBITS(eph._health, 6)
1294	GETFLOATSIGN(eph._TGD, 8, 1.0 / (double )(1 << 30) / (double )(1 << 1))
1295	GETBITS(eph._IODC, 10)
1296	GETBITS(fitIntervalFalg, 1)
1297	eph._fitInterval = fitIntervalFromFlag(fitIntervalFalg, eph._IODC, eph.type());
1298	eph._TOT = 0.9999e9;
1299
1300	emit newGPSEph(eph);
1301	decoded = true;
1302	}
1303	return decoded;
1304	}
1305
1306	//
1307	////////////////////////////////////////////////////////////////////////////
1308	bool RTCM3Decoder::DecodeIRNSSEphemeris(unsigned char* data, int size) {
1309	bool decoded = false;
1310
1311	if (size == 67) {
1312	t_ephGPS eph;
1313	int i, week, L5Flag, SFlag;
1314	uint64_t numbits = 0, bitfield = 0;
1315
1316	data += 3; /* header */
1317	size -= 6; /* header + crc */
1318	SKIPBITS(12)
1319
1320	eph._receptDateTime = currentDateAndTimeGPS();
1321	eph._receptStaID = _staID;
1322
1323	GETBITS(i, 6)
1324	eph._prn.set('I', i);
1325	GETBITS(week, 10)
1326	GETFLOATSIGN(eph._clock_bias, 22, 1.0 / (double )(1 << 30) / (double )(1 << 1))
1327	GETFLOATSIGN(eph._clock_drift, 16, 1.0 / (double )(1 << 30) / (double )(1 << 13))
1328	GETFLOATSIGN(eph._clock_driftrate, 8, 1.0 / (double )(1 << 30) / (double )(1 << 25))
1329	GETBITS(i, 4)
1330	eph._ura = accuracyFromIndex(i, eph.type());
1331	GETBITS(i, 16)
1332	i <<= 4;
1333	eph._TOC.set(i * 1000);
1334	GETFLOATSIGN(eph._TGD, 8, 1.0 / (double )(1 << 30) / (double )(1 << 1))
1335	GETFLOATSIGN(eph._Delta_n, 22, R2R_PI/(double)(1<<30)/(double)(1 << 11))
1336	// IODCE
1337	GETBITS(eph._IODE, 8)
1338	eph._IODC = eph._IODE;
1339	SKIPBITS(10)
1340	GETBITS(L5Flag, 1)
1341	GETBITS(SFlag, 1)
1342	if (L5Flag == 0 && SFlag == 0) {
1343	eph._health = 0.0;
1344	}
1345	else if (L5Flag == 0 && SFlag == 1) {
1346	eph._health = 1.0;
1347	}
1348	else if (L5Flag == 1 && SFlag == 0) {
1349	eph._health = 2.0;
1350	}
1351	else if (L5Flag == 1 && SFlag == 1) {
1352	eph._health = 3.0;
1353	}
1354	GETFLOATSIGN(eph._Cuc, 15, 1.0 / (double )(1 << 28))
1355	GETFLOATSIGN(eph._Cus, 15, 1.0 / (double )(1 << 28))
1356	GETFLOATSIGN(eph._Cic, 15, 1.0 / (double )(1 << 28))
1357	GETFLOATSIGN(eph._Cis, 15, 1.0 / (double )(1 << 28))
1358	GETFLOATSIGN(eph._Crc, 15, 1.0 / (double )(1 << 4))
1359	GETFLOATSIGN(eph._Crs, 15, 1.0 / (double )(1 << 4))
1360	GETFLOATSIGN(eph._IDOT, 14, R2R_PI/(double)(1<<30)/(double)(1<<13))
1361	GETFLOATSIGN(eph._M0, 32, R2R_PI/(double)(1<<30)/(double)(1<< 1))
1362	GETBITS(i, 16)
1363	i <<= 4;
1364	eph._TOEsec = i;
1365	bncTime t;
1366	t.set(i * 1000);
1367	eph._TOEweek = t.gpsw();
1368	int numOfRollOvers = int(floor(t.gpsw()/1024.0));
1369	week += (numOfRollOvers * 1024);
1370	/* week from HOW, differs from TOC, TOE week, we use adapted value instead */
1371	if (eph._TOEweek > week + 1 \|\| eph._TOEweek < week - 1) /* invalid week */
1372	return false;
1373	GETFLOAT(eph._e, 32, 1.0 / (double )(1 << 30) / (double )(1 << 3))
1374	GETFLOAT(eph._sqrt_A, 32, 1.0 / (double )(1 << 19))
1375	if (eph._sqrt_A < 1000.0) {
1376	#ifdef BNC_DEBUG_BCEP
1377	emit(newMessage(QString("%1: Block %2 (%3) SQRT_A %4 m!")
1378	.arg(_staID).arg(1041,4).arg(eph._prn.toString().c_str())
1379	.arg(eph._sqrt_A,10,'F',3).toLatin1(), true));
1380	#endif
1381	return false;
1382	}
1383	GETFLOATSIGN(eph._OMEGA0, 32, R2R_PI/(double)(1<<30)/(double)(1<< 1))
1384	GETFLOATSIGN(eph._omega, 32, R2R_PI/(double)(1<<30)/(double)(1<< 1))
1385	GETFLOATSIGN(eph._OMEGADOT, 22, R2R_PI/(double)(1<<30)/(double)(1<<11))
1386	GETFLOATSIGN(eph._i0, 32, R2R_PI/(double)(1<<30)/(double)(1<< 1))
1387	SKIPBITS(2)
1388	SKIPBITS(2)
1389	eph._TOT = 0.9999e9;
1390
1391	emit newGPSEph(eph);
1392	decoded = true;
1393	}
1394	return decoded;
1395	}
1396
1397	//
1398	////////////////////////////////////////////////////////////////////////////
1399	bool RTCM3Decoder::DecodeSBASEphemeris(unsigned char* data, int size) {
1400	bool decoded = false;
1401
1402	if (size == 35) {
1403	t_ephSBAS eph;
1404	int i;
1405	uint64_t numbits = 0, bitfield = 0;
1406
1407	data += 3; /* header */
1408	size -= 6; /* header + crc */
1409	SKIPBITS(12)
1410
1411	eph._receptDateTime = currentDateAndTimeGPS();
1412	eph._receptStaID = _staID;
1413
1414	GETBITS(i, 6)
1415	eph._prn.set('S', 20 + i);
1416	GETBITS(eph._IODN, 8)
1417	GETBITS(i, 13)
1418	i <<= 4;
1419	eph._TOC.setTOD(i * 1000);
1420	GETBITS(i, 4)
1421	eph._ura = accuracyFromIndex(i, eph.type());
1422	GETFLOATSIGN(eph._x_pos, 30, 0.08)
1423	GETFLOATSIGN(eph._y_pos, 30, 0.08)
1424	GETFLOATSIGN(eph._z_pos, 25, 0.4)
1425	ColumnVector pos(3);
1426	pos(1) = eph._x_pos; pos(2) = eph._y_pos; pos(3) = eph._z_pos;
1427	if (pos.NormFrobenius() < 1.0) {
1428	#ifdef BNC_DEBUG_BCEP
1429	emit(newMessage(QString("%1: Block %2 (%3): zero position!")
1430	.arg(_staID).arg(1043,4).arg(eph._prn.toString().c_str()).toLatin1(), true));
1431	#endif
1432	return false;
1433	}
1434	GETFLOATSIGN(eph._x_velocity, 17, 0.000625)
1435	GETFLOATSIGN(eph._y_velocity, 17, 0.000625)
1436	GETFLOATSIGN(eph._z_velocity, 18, 0.004)
1437	GETFLOATSIGN(eph._x_acceleration, 10, 0.0000125)
1438	GETFLOATSIGN(eph._y_acceleration, 10, 0.0000125)
1439	GETFLOATSIGN(eph._z_acceleration, 10, 0.0000625)
1440	GETFLOATSIGN(eph._agf0, 12, 1.0 / (1 << 30) / (1 << 1))
1441	GETFLOATSIGN(eph._agf1, 8, 1.0 / (1 << 30) / (1 << 10))
1442
1443	eph._TOT = 0.9999E9;
1444	eph._health = 0;
1445
1446	emit newSBASEph(eph);
1447	decoded = true;
1448	}
1449	return decoded;
1450	}
1451
1452	//
1453	////////////////////////////////////////////////////////////////////////////
1454	bool RTCM3Decoder::DecodeGalileoEphemeris(unsigned char* data, int size) {
1455	bool decoded = false;
1456	uint64_t numbits = 0, bitfield = 0;
1457	int i;
1458
1459	data += 3; /* header */
1460	size -= 6; /* header + crc */
1461	GETBITS(i, 12)
1462
1463	if ((i == 1046 && size == 61) \|\| (i == 1045 && size == 60)) {
1464	t_ephGal eph;
1465
1466	eph._receptDateTime = currentDateAndTimeGPS();
1467	eph._receptStaID = _staID;
1468
1469	eph._inav = (i == 1046);
1470	eph._fnav = (i == 1045);
1471	GETBITS(i, 6)
1472	eph._prn.set('E', i, eph._inav ? 1 : 0);
1473
1474	GETBITS(eph._TOEweek, 12) //FIXME: roll-over after week 4095!!
1475	GETBITS(eph._IODnav, 10)
1476	GETBITS(i, 8)
1477	eph._SISA = accuracyFromIndex(i, eph.type());
1478	GETFLOATSIGN(eph._IDOT, 14, R2R_PI/(double)(1<<30)/(double)(1<<13))
1479	GETBITSFACTOR(i, 14, 60)
1480	eph._TOC.set(1024 + eph._TOEweek, i);
1481	GETFLOATSIGN(eph._clock_driftrate, 6, 1.0 / (double )(1 << 30) / (double )(1 << 29))
1482	GETFLOATSIGN(eph._clock_drift, 21, 1.0 / (double )(1 << 30) / (double )(1 << 16))
1483	GETFLOATSIGN(eph._clock_bias, 31, 1.0 / (double )(1 << 30) / (double )(1 << 4))
1484	GETFLOATSIGN(eph._Crs, 16, 1.0 / (double )(1 << 5))
1485	GETFLOATSIGN(eph._Delta_n, 16, R2R_PI/(double)(1<<30)/(double)(1<<13))
1486	GETFLOATSIGN(eph._M0, 32, R2R_PI/(double)(1<<30)/(double)(1<<1))
1487	GETFLOATSIGN(eph._Cuc, 16, 1.0 / (double )(1 << 29))
1488	GETFLOAT(eph._e, 32, 1.0 / (double )(1 << 30) / (double )(1 << 3))
1489	GETFLOATSIGN(eph._Cus, 16, 1.0 / (double )(1 << 29))
1490	GETFLOAT(eph._sqrt_A, 32, 1.0 / (double )(1 << 19))
1491	GETBITSFACTOR(eph._TOEsec, 14, 60)
1492	/* FIXME: overwrite value, copied from old code */
1493	eph._TOEsec = eph._TOC.gpssec();
1494	GETFLOATSIGN(eph._Cic, 16, 1.0 / (double )(1 << 29))
1495	GETFLOATSIGN(eph._OMEGA0, 32, R2R_PI/(double)(1<<30)/(double)(1<<1))
1496	GETFLOATSIGN(eph._Cis, 16, 1.0 / (double )(1 << 29))
1497	GETFLOATSIGN(eph._i0, 32, R2R_PI/(double)(1<<30)/(double)(1<<1))
1498	GETFLOATSIGN(eph._Crc, 16, 1.0 / (double )(1 << 5))
1499	GETFLOATSIGN(eph._omega, 32, R2R_PI/(double)(1<<30)/(double)(1<<1))
1500	GETFLOATSIGN(eph._OMEGADOT, 24, R2R_PI/(double)(1<<30)/(double)(1<<13))
1501	GETFLOATSIGN(eph._BGD_1_5A, 10, 1.0 / (double )(1 << 30) / (double )(1 << 2))
1502	if (eph._inav) {
1503	/* set unused F/NAV values */
1504	eph._E5aHS = 0.0;
1505	eph._e5aDataInValid = false;
1506
1507	GETFLOATSIGN(eph._BGD_1_5B, 10, 1.0 / (double )(1 << 30) / (double )(1 << 2))
1508	GETBITS(eph._E5bHS, 2)
1509	GETBITS(eph._e5bDataInValid, 1)
1510	GETBITS(eph._E1_bHS, 2)
1511	GETBITS(eph._e1DataInValid, 1)
1512	if (eph._E5bHS != eph._E1_bHS) {
1513	#ifdef BNC_DEBUG_BCEP
1514	emit(newMessage(QString("%1: Block %2 (%3) SHS E5b %4 E1B %5: inconsistent health!")
1515	.arg(_staID).arg(1046,4).arg(eph._prn.toString().c_str())
1516	.arg(eph._E5bHS).arg(eph._E1_bHS).toLatin1(), true));
1517	#endif
1518	return false;
1519	}
1520	if ((eph._BGD_1_5A == 0.0 && fabs(eph._BGD_1_5B) > 1e-9) \|\|
1521	(eph._BGD_1_5B == 0.0 && fabs(eph._BGD_1_5A) > 1e-9)) {
1522	#ifdef BNC_DEBUG_BCEP
1523	emit(newMessage(QString("%1: Block %2 (%3) BGD_15a = %4 BGD_15b = %5: inconsistent BGD!")
1524	.arg(_staID).arg(1046,4).arg(eph._prn.toString().c_str())
1525	.arg(eph._BGD_1_5A,10,'E',3).arg(eph._BGD_1_5B,10,'E',3).toLatin1(), true));
1526	#endif
1527	return false;
1528	}
1529	}
1530	else {
1531	/* set unused I/NAV values */
1532	eph._BGD_1_5B = 0.0;
1533	eph._E5bHS = 0.0;
1534	eph._E1_bHS = 0.0;
1535	eph._e1DataInValid = false;
1536	eph._e5bDataInValid = false;
1537
1538	GETBITS(eph._E5aHS, 2)
1539	GETBITS(eph._e5aDataInValid, 1)
1540	}
1541	eph._TOT = 0.9999e9;
1542
1543	if (eph._sqrt_A < 1000.0) {
1544	#ifdef BNC_DEBUG_BCEP
1545	emit(newMessage(QString("%1: Block %2 (%3) SQRT_A %4 m!")
1546	.arg(_staID).arg(eph._inav? 1046 : 1045,4).arg(eph._prn.toString().c_str())
1547	.arg(eph._sqrt_A,10,'F',3).toLatin1(), true));
1548	#endif
1549	return false;
1550	}
1551
1552	emit newGalileoEph(eph);
1553	decoded = true;
1554	}
1555	return decoded;
1556	}
1557
1558	//
1559	////////////////////////////////////////////////////////////////////////////
1560	bool RTCM3Decoder::DecodeBDSEphemeris(unsigned char* data, int size) {
1561	bool decoded = false;
1562
1563	if (size == 70) {
1564	t_ephBDS eph;
1565	int i;
1566	uint64_t numbits = 0, bitfield = 0;
1567
1568	data += 3; /* header */
1569	size -= 6; /* header + crc */
1570	SKIPBITS(12)
1571
1572	eph._receptDateTime = currentDateAndTimeGPS();
1573	eph._receptStaID = _staID;
1574
1575	GETBITS(i, 6)
1576	eph._prn.set('C', i);
1577
1578	SKIPBITS(13)
1579	/* week */
1580	GETBITS(i, 4)
1581	eph._URA = accuracyFromIndex(i, eph.type());
1582	GETFLOATSIGN(eph._IDOT, 14, R2R_PI/(double)(1<<30)/(double)(1<<13))
1583	GETBITS(eph._AODE, 5)
1584	GETBITS(i, 17)
1585	i <<= 3;
1586	eph._TOC.setBDS(i * 1000);
1587	GETFLOATSIGN(eph._clock_driftrate, 11, 1.0 / (double )(1 << 30) / (double )(1 << 30) / (double )(1 << 6))
1588	GETFLOATSIGN(eph._clock_drift, 22, 1.0 / (double )(1 << 30) / (double )(1 << 20))
1589	GETFLOATSIGN(eph._clock_bias, 24, 1.0 / (double )(1 << 30) / (double )(1 << 3))
1590	GETBITS(eph._AODC, 5)
1591	GETFLOATSIGN(eph._Crs, 18, 1.0 / (double )(1 << 6))
1592	GETFLOATSIGN(eph._Delta_n, 16, R2R_PI/(double)(1<<30)/(double)(1<<13))
1593	GETFLOATSIGN(eph._M0, 32, R2R_PI/(double)(1<<30)/(double)(1<<1))
1594	GETFLOATSIGN(eph._Cuc, 18, 1.0 / (double )(1 << 30) / (double )(1 << 1))
1595	GETFLOAT(eph._e, 32, 1.0 / (double )(1 << 30) / (double )(1 << 3))
1596	GETFLOATSIGN(eph._Cus, 18, 1.0 / (double )(1 << 30) / (double )(1 << 1))
1597	GETFLOAT(eph._sqrt_A, 32, 1.0 / (double )(1 << 19))
1598	if (eph._sqrt_A < 1000.0) {
1599	#ifdef BNC_DEBUG_BCEP
1600	emit(newMessage(QString("%1: Block %2 (%3) SQRT_A %4 m!")
1601	.arg(_staID).arg(1042,4).arg(eph._prn.toString().c_str())
1602	.arg(eph._sqrt_A,10,'F',3).toLatin1(), true));
1603	#endif
1604	return false;
1605	}
1606	GETBITS(i, 17)
1607	i <<= 3;
1608	eph._TOEsec = i;
1609	eph._TOE.setBDS(i * 1000);
1610	GETFLOATSIGN(eph._Cic, 18, 1.0 / (double )(1 << 30) / (double )(1 << 1))
1611	GETFLOATSIGN(eph._OMEGA0, 32, R2R_PI/(double)(1<<30)/(double)(1<<1))
1612	GETFLOATSIGN(eph._Cis, 18, 1.0 / (double )(1 << 30) / (double )(1 << 1))
1613	GETFLOATSIGN(eph._i0, 32, R2R_PI/(double)(1<<30)/(double)(1<<1))
1614	GETFLOATSIGN(eph._Crc, 18, 1.0 / (double )(1 << 6))
1615	GETFLOATSIGN(eph._omega, 32, R2R_PI/(double)(1<<30)/(double)(1<<1))
1616	GETFLOATSIGN(eph._OMEGADOT, 24, R2R_PI/(double)(1<<30)/(double)(1<<13))
1617	GETFLOATSIGN(eph._TGD1, 10, 0.0000000001)
1618	GETFLOATSIGN(eph._TGD2, 10, 0.0000000001)
1619	GETBITS(eph._SatH1, 1)
1620
1621	eph._TOT = 0.9999E9;
1622	emit newBDSEph(eph);
1623	decoded = true;
1624	}
1625	return decoded;
1626	}
1627
1628	//
1629	////////////////////////////////////////////////////////////////////////////
1630	bool RTCM3Decoder::DecodeAntennaReceiver(unsigned char* data, int size) {
1631	char *antenna;
1632	char *antserialnum;
1633	char *receiver;
1634	char *recfirmware;
1635	char *recserialnum;
1636	int type;
1637	int antsernum = -1;
1638	int antnum = -1;
1639	int recnum = -1;
1640	int recsernum = -1;
1641	int recfirnum = -1;
1642	uint64_t numbits = 0, bitfield = 0;
1643
1644	data += 3; /* header*/
1645	size -= 6; /* header + crc */
1646
1647	GETBITS(type, 12)
1648	SKIPBITS(12) /* reference station ID */
1649	GETSTRING(antnum, antenna)
1650	if ((antnum > -1 && antnum < 265) &&
1651	(_antType.empty() \|\| strncmp(_antType.back().descriptor, antenna, recnum) != 0)) {
1652	_antType.push_back(t_antInfo());
1653	memcpy(_antType.back().descriptor, antenna, antnum);
1654	_antType.back().descriptor[antnum] = 0;
1655	}
1656	SKIPBITS(8) /* antenna setup ID */
1657	if (type == 1008 \|\| type == 1033 ) {
1658	GETSTRING(antsernum, antserialnum)
1659	if ((antsernum > -1 && antsernum < 265)) {
1660	memcpy(_antType.back().serialnumber, antserialnum, antsernum);
1661	_antType.back().serialnumber[antsernum] = 0;
1662	}
1663	}
1664
1665	if (type == 1033) {
1666	GETSTRING(recnum, receiver)
1667	GETSTRING(recfirnum, recfirmware)
1668	GETSTRING(recsernum, recserialnum)
1669	if ((recnum > -1 && recnum < 265) &&
1670	(_recType.empty() \|\| strncmp(_recType.back().descriptor, receiver, recnum) != 0)) {
1671	_recType.push_back(t_recInfo());
1672	memcpy(_recType.back().descriptor, receiver, recnum);
1673	_recType.back().descriptor[recnum] = 0;
1674	if (recfirnum > -1 && recfirnum < 265) {
1675	memcpy(_recType.back().firmware, recfirmware, recfirnum);
1676	_recType.back().firmware[recfirnum] = 0;
1677	}
1678	if (recsernum > -1 && recsernum < 265) {
1679	memcpy(_recType.back().serialnumber, recserialnum, recsernum);
1680	_recType.back().serialnumber[recsernum] = 0;
1681	}
1682	}
1683	}
1684	return true;
1685	}
1686
1687	//
1688	////////////////////////////////////////////////////////////////////////////
1689	bool RTCM3Decoder::DecodeAntennaPosition(unsigned char* data, int size) {
1690	int type;
1691	uint64_t numbits = 0, bitfield = 0;
1692	double x, y, z;
1693
1694	data += 3; /* header */
1695	size -= 6; /* header + crc */
1696
1697	GETBITS(type, 12)
1698	_antList.push_back(t_antRefPoint());
1699	_antList.back().type = t_antRefPoint::ARP;
1700	SKIPBITS(22)
1701	GETBITSSIGN(x, 38)
1702	_antList.back().xx = x * 1e-4;
1703	SKIPBITS(2)
1704	GETBITSSIGN(y, 38)
1705	_antList.back().yy = y * 1e-4;
1706	SKIPBITS(2)
1707	GETBITSSIGN(z, 38)
1708	_antList.back().zz = z * 1e-4;
1709	if (type == 1006)
1710	{
1711	double h;
1712	GETBITS(h, 16)
1713	_antList.back().height = h * 1e-4;
1714	_antList.back().height_f = true;
1715	}
1716	_antList.back().message = type;
1717
1718	return true;
1719	}
1720
1721	//
1722	////////////////////////////////////////////////////////////////////////////
1723	t_irc RTCM3Decoder::Decode(char* buffer, int bufLen, vector<string>& errmsg) {
1724	bool decoded = false;
1725
1726	errmsg.clear();
1727
1728	while (bufLen && _MessageSize < sizeof(_Message)) {
1729	int l = sizeof(_Message) - _MessageSize;
1730	if (l > bufLen)
1731	l = bufLen;
1732	memcpy(_Message + _MessageSize, buffer, l);
1733	_MessageSize += l;
1734	bufLen -= l;
1735	buffer += l;
1736	int id;
1737	while ((id = GetMessage())) {
1738	/* reset station ID for file loading as it can change */
1739	if (_rawFile)
1740	_staID = _rawFile->staID();
1741	/* store the id into the list of loaded blocks */
1742	_typeList.push_back(id);
1743
1744	/* SSR I+II data handled in another function, already pass the
1745	* extracted data block. That does no harm, as it anyway skip everything
1746	* else. */
1747	if ((id >= 1057 && id <= 1068) \|\|
1748	(id >= 1240 && id <= 1270) \|\|
1749	(id == 4076)) {
1750	if (!_coDecoders.contains(_staID.toLatin1())) {
1751	_coDecoders[_staID.toLatin1()] = new RTCM3coDecoder(_staID);
1752	if (id == 4076) {
1753	_coDecoders[_staID.toLatin1()]->initSsrFormatType(RTCM3coDecoder::IGSssr);
1754	}
1755	else {
1756	_coDecoders[_staID.toLatin1()]->initSsrFormatType(RTCM3coDecoder::RTCMssr);
1757	}
1758	}
1759	RTCM3coDecoder* coDecoder = _coDecoders[_staID.toLatin1()];
1760	if (coDecoder->Decode(reinterpret_cast<char *>(_Message), _BlockSize, errmsg) == success) {
1761	decoded = true;
1762	}
1763	}
1764	else if (id >= 1070 && id <= 1237) { /* MSM */
1765	if (DecodeRTCM3MSM(_Message, _BlockSize))
1766	decoded = true;
1767	}
1768	else {
1769	switch (id) {
1770	case 1001:
1771	case 1003:
1772	emit(newMessage(QString("%1: Block %2 contain partial data! Ignored!")
1773	.arg(_staID).arg(id).toLatin1(), true));
1774	break; /* no use decoding partial data ATM, remove break when data can be used */
1775	case 1002:
1776	case 1004:
1777	if (DecodeRTCM3GPS(_Message, _BlockSize))
1778	decoded = true;
1779	break;
1780	case 1009:
1781	case 1011:
1782	emit(newMessage(QString("%1: Block %2 contain partial data! Ignored!")
1783	.arg(_staID).arg(id).toLatin1(), true));
1784	break; /* no use decoding partial data ATM, remove break when data can be used */
1785	case 1010:
1786	case 1012:
1787	if (DecodeRTCM3GLONASS(_Message, _BlockSize))
1788	decoded = true;
1789	break;
1790	case 1019:
1791	if (DecodeGPSEphemeris(_Message, _BlockSize))
1792	decoded = true;
1793	break;
1794	case 1020:
1795	if (DecodeGLONASSEphemeris(_Message, _BlockSize))
1796	decoded = true;
1797	break;
1798	case 1043:
1799	if (DecodeSBASEphemeris(_Message, _BlockSize))
1800	decoded = true;
1801	break;
1802	case 1044:
1803	if (DecodeQZSSEphemeris(_Message, _BlockSize))
1804	decoded = true;
1805	break;
1806	case 1041:
1807	if (DecodeIRNSSEphemeris(_Message, _BlockSize))
1808	decoded = true;
1809	break;
1810	case 1045:
1811	case 1046:
1812	if (_staID.contains("AIRA") \|\| _staID.contains("STK2") \|\|
1813	_staID.contains("CCJ2") \|\| _staID.contains("SYOG")) {
1814	emit(newMessage(QString("%1: Block temporary %2 from JAXA RTKLIB encoded stations!")
1815	.arg(_staID).arg(id).toLatin1(), true));
1816	break;
1817	}
1818	if (DecodeGalileoEphemeris(_Message, _BlockSize))
1819	decoded = true;
1820	break;
1821	case 1042:
1822	if (DecodeBDSEphemeris(_Message, _BlockSize))
1823	decoded = true;
1824	break;
1825	case 1007:
1826	case 1008:
1827	case 1033:
1828	DecodeAntennaReceiver(_Message, _BlockSize);
1829	break;
1830	case 1005:
1831	case 1006:
1832	DecodeAntennaPosition(_Message, _BlockSize);
1833	break;
1834	}
1835	}
1836	}
1837	}
1838	return decoded ? success : failure;
1839	}
1840	;
1841
1842	//
1843	////////////////////////////////////////////////////////////////////////////
1844	uint32_t RTCM3Decoder::CRC24(long size, const unsigned char *buf) {
1845	uint32_t crc = 0;
1846	int ii;
1847	while (size--) {
1848	crc ^= (*buf++) << (16);
1849	for (ii = 0; ii < 8; ii++) {
1850	crc <<= 1;
1851	if (crc & 0x1000000)
1852	crc ^= 0x01864cfb;
1853	}
1854	}
1855	return crc;
1856	}
1857
1858	//
1859	////////////////////////////////////////////////////////////////////////////
1860	int RTCM3Decoder::GetMessage(void) {
1861	unsigned char m, e;
1862	int i;
1863
1864	m = _Message + _SkipBytes;
1865	e = _Message + _MessageSize;
1866	_NeedBytes = _SkipBytes = 0;
1867	while (e - m >= 3) {
1868	if (m[0] == 0xD3) {
1869	_BlockSize = ((m[1] & 3) << 8) \| m[2];
1870	if (e - m >= static_cast<int>(_BlockSize + 6)) {
1871	if (static_cast<uint32_t>((m[3 + _BlockSize] << 16)
1872	\| (m[3 + _BlockSize + 1] << 8)
1873	\| (m[3 + _BlockSize + 2])) == CRC24(_BlockSize + 3, m)) {
1874	_BlockSize += 6;
1875	_SkipBytes = _BlockSize;
1876	break;
1877	}
1878	else
1879	++m;
1880	}
1881	else {
1882	_NeedBytes = _BlockSize;
1883	break;
1884	}
1885	}
1886	else
1887	++m;
1888	}
1889	if (e - m < 3)
1890	_NeedBytes = 3;
1891
1892	/* copy buffer to front */
1893	i = m - _Message;
1894	if (i && m < e)
1895	memmove(_Message, m, static_cast<size_t>(_MessageSize - i));
1896	_MessageSize -= i;
1897
1898	return !_NeedBytes ? ((_Message[3] << 4) \| (_Message[4] >> 4)) : 0;
1899	}
1900
1901	// Time of Corrections
1902	//////////////////////////////////////////////////////////////////////////////
1903	int RTCM3Decoder::corrGPSEpochTime() const {
1904	return
1905	_coDecoders.size() > 0 ?
1906	_coDecoders.begin().value()->corrGPSEpochTime() : -1;
1907	}

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