source: ntrip/trunk/rtcm3torinex/lib/rtcm3torinex.h@ 6462

Last change on this file since 6462 was 6329, checked in by stoecker, 10 years ago

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1#ifndef RTCM3TORINEX_H
2#define RTCM3TORINEX_H
3
4/*
5 Converter for RTCM3 data to RINEX.
6 $Id: rtcm3torinex.h 6329 2014-11-20 13:07:01Z stoecker $
7 Copyright (C) 2005-2012 by Dirk Stöcker <stoecker@alberding.eu>
8
9 This program is free software; you can redistribute it and/or modify
10 it under the terms of the GNU General Public License as published by
11 the Free Software Foundation; either version 2 of the License, or
12 (at your option) any later version.
13
14 This program is distributed in the hope that it will be useful,
15 but WITHOUT ANY WARRANTY; without even the implied warranty of
16 MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
17 GNU General Public License for more details.
18
19 You should have received a copy of the GNU General Public License
20 along with this program; if not, write to the Free Software
21 Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
22 or read http://www.gnu.org/licenses/gpl.txt
23*/
24
25#define RTCM3TORINEX_VERSION "2"
26
27#include <stdio.h>
28
29#define NUMRTCM3PARSERSATS 144
30#define GNSS_MAXSATS 64
31
32#define PRN_GPS_START 1
33#define PRN_GPS_END 32
34#define PRN_GLONASS_START 38
35#define PRN_GLONASS_END 61
36#define PRN_GALILEO_START 71
37#define PRN_GALILEO_END 100
38#define PRN_GIOVE_START 101
39#define PRN_GIOVE_END 102
40#define PRN_SBAS_START 120
41#define PRN_SBAS_END 141
42#define PRN_COMPASS_START 161
43#define PRN_COMPASS_END 190
44#define PRN_QZSS_START 193
45#define PRN_QZSS_END 202
46
47#define PRN_GALGIO_START PRN_GALILEO_START
48#define PRN_GALGIO_END PRN_GIOVE_END
49
50#define PRN_GLONASS_NUM (PRN_GLONASS_END-PRN_GLONASS_START+1)
51
52#define RTCM3_MSM_NUMSIG 32
53#define RTCM3_MSM_NUMSAT 64
54#define RTCM3_MSM_NUMCELLS 96 /* arbitrary limit */
55
56/* system identifiers */
57#define RTCM3_MSM_GPS 0
58#define RTCM3_MSM_GLONASS 1
59#define RTCM3_MSM_GALILEO 2
60#define RTCM3_MSM_SBAS 3
61#define RTCM3_MSM_QZSS 4
62#define RTCM3_MSM_COMPASS 5
63
64#define RTCM3_MSM_NUMSYS 6
65
66#define GNSSENTRY_CODE 0
67#define GNSSENTRY_PHASE 1
68#define GNSSENTRY_DOPPLER 2
69#define GNSSENTRY_SNR 3
70
71#define GNSSENTRY_TYPEC1 (0<<2)
72#define GNSSENTRY_TYPEC2 (1<<2)
73#define GNSSENTRY_TYPEP1 (2<<2)
74#define GNSSENTRY_TYPEP2 (3<<2)
75#define GNSSENTRY_TYPEC5 (4<<2)
76#define GNSSENTRY_TYPEC6 (5<<2)
77#define GNSSENTRY_TYPEC5B (6<<2)
78#define GNSSENTRY_TYPEC5AB (7<<2)
79#define GNSSENTRY_TYPECSAIF (8<<2)
80#define GNSSENTRY_TYPEC1N (9<<2)
81
82#define GNSSENTRY_C1DATA (GNSSENTRY_TYPEC1+GNSSENTRY_CODE)
83#define GNSSENTRY_L1CDATA (GNSSENTRY_TYPEC1+GNSSENTRY_PHASE)
84#define GNSSENTRY_D1CDATA (GNSSENTRY_TYPEC1+GNSSENTRY_DOPPLER)
85#define GNSSENTRY_S1CDATA (GNSSENTRY_TYPEC1+GNSSENTRY_SNR)
86
87#define GNSSENTRY_C2DATA (GNSSENTRY_TYPEC2+GNSSENTRY_CODE)
88#define GNSSENTRY_L2CDATA (GNSSENTRY_TYPEC2+GNSSENTRY_PHASE)
89#define GNSSENTRY_D2CDATA (GNSSENTRY_TYPEC2+GNSSENTRY_DOPPLER)
90#define GNSSENTRY_S2CDATA (GNSSENTRY_TYPEC2+GNSSENTRY_SNR)
91
92#define GNSSENTRY_CB1DATA GNSSENTRY_C1DATA
93#define GNSSENTRY_LB1DATA GNSSENTRY_L1CDATA
94#define GNSSENTRY_DB1DATA GNSSENTRY_D1CDATA
95#define GNSSENTRY_SB1DATA GNSSENTRY_S1CDATA
96
97#define GNSSENTRY_P1DATA (GNSSENTRY_TYPEP1+GNSSENTRY_CODE)
98#define GNSSENTRY_L1PDATA (GNSSENTRY_TYPEP1+GNSSENTRY_PHASE)
99#define GNSSENTRY_D1PDATA (GNSSENTRY_TYPEP1+GNSSENTRY_DOPPLER)
100#define GNSSENTRY_S1PDATA (GNSSENTRY_TYPEP1+GNSSENTRY_SNR)
101
102#define GNSSENTRY_P2DATA (GNSSENTRY_TYPEP2+GNSSENTRY_CODE)
103#define GNSSENTRY_L2PDATA (GNSSENTRY_TYPEP2+GNSSENTRY_PHASE)
104#define GNSSENTRY_D2PDATA (GNSSENTRY_TYPEP2+GNSSENTRY_DOPPLER)
105#define GNSSENTRY_S2PDATA (GNSSENTRY_TYPEP2+GNSSENTRY_SNR)
106
107#define GNSSENTRY_C5DATA (GNSSENTRY_TYPEC5+GNSSENTRY_CODE)
108#define GNSSENTRY_L5DATA (GNSSENTRY_TYPEC5+GNSSENTRY_PHASE)
109#define GNSSENTRY_D5DATA (GNSSENTRY_TYPEC5+GNSSENTRY_DOPPLER)
110#define GNSSENTRY_S5DATA (GNSSENTRY_TYPEC5+GNSSENTRY_SNR)
111
112#define GNSSENTRY_C6DATA (GNSSENTRY_TYPEC6+GNSSENTRY_CODE)
113#define GNSSENTRY_L6DATA (GNSSENTRY_TYPEC6+GNSSENTRY_PHASE)
114#define GNSSENTRY_D6DATA (GNSSENTRY_TYPEC6+GNSSENTRY_DOPPLER)
115#define GNSSENTRY_S6DATA (GNSSENTRY_TYPEC6+GNSSENTRY_SNR)
116
117#define GNSSENTRY_CB3DATA GNSSENTRY_C6DATA
118#define GNSSENTRY_LB3DATA GNSSENTRY_L6DATA
119#define GNSSENTRY_DB3DATA GNSSENTRY_D6DATA
120#define GNSSENTRY_SB3DATA GNSSENTRY_S6DATA
121
122#define GNSSENTRY_CLEXDATA GNSSENTRY_C6DATA
123#define GNSSENTRY_LLEXDATA GNSSENTRY_L6DATA
124#define GNSSENTRY_DLEXDATA GNSSENTRY_D6DATA
125#define GNSSENTRY_SLEXDATA GNSSENTRY_S6DATA
126
127#define GNSSENTRY_C5BDATA (GNSSENTRY_TYPEC5B+GNSSENTRY_CODE)
128#define GNSSENTRY_L5BDATA (GNSSENTRY_TYPEC5B+GNSSENTRY_PHASE)
129#define GNSSENTRY_D5BDATA (GNSSENTRY_TYPEC5B+GNSSENTRY_DOPPLER)
130#define GNSSENTRY_S5BDATA (GNSSENTRY_TYPEC5B+GNSSENTRY_SNR)
131
132#define GNSSENTRY_CB2DATA GNSSENTRY_C5BDATA
133#define GNSSENTRY_LB2DATA GNSSENTRY_L5BDATA
134#define GNSSENTRY_DB2DATA GNSSENTRY_D5BDATA
135#define GNSSENTRY_SB2DATA GNSSENTRY_S5BDATA
136
137#define GNSSENTRY_C5ABDATA (GNSSENTRY_TYPEC5AB+GNSSENTRY_CODE)
138#define GNSSENTRY_L5ABDATA (GNSSENTRY_TYPEC5AB+GNSSENTRY_PHASE)
139#define GNSSENTRY_D5ABDATA (GNSSENTRY_TYPEC5AB+GNSSENTRY_DOPPLER)
140#define GNSSENTRY_S5ABDATA (GNSSENTRY_TYPEC5AB+GNSSENTRY_SNR)
141
142#define GNSSENTRY_CSAIFDATA (GNSSENTRY_TYPECSAIF+GNSSENTRY_CODE)
143#define GNSSENTRY_LSAIFDATA (GNSSENTRY_TYPECSAIF+GNSSENTRY_PHASE)
144#define GNSSENTRY_DSAIFDATA (GNSSENTRY_TYPECSAIF+GNSSENTRY_DOPPLER)
145#define GNSSENTRY_SSAIFDATA (GNSSENTRY_TYPECSAIF+GNSSENTRY_SNR)
146
147#define GNSSENTRY_C1NDATA (GNSSENTRY_TYPEC1N+GNSSENTRY_CODE)
148#define GNSSENTRY_L1NDATA (GNSSENTRY_TYPEC1N+GNSSENTRY_PHASE)
149#define GNSSENTRY_D1NDATA (GNSSENTRY_TYPEC1N+GNSSENTRY_DOPPLER)
150#define GNSSENTRY_S1NDATA (GNSSENTRY_TYPEC1N+GNSSENTRY_SNR)
151
152#define GNSSENTRY_NUMBER 40 /* number of types!!! */
153
154/* Data flags. These flags are used in the dataflags field of gpsdata structure
155 and are required to determine, which data fields are filled with valid data. */
156#define GNSSDF_C1DATA (1<<GNSSENTRY_C1DATA)
157#define GNSSDF_L1CDATA (1<<GNSSENTRY_L1CDATA)
158#define GNSSDF_D1CDATA (1<<GNSSENTRY_D1CDATA)
159#define GNSSDF_S1CDATA (1<<GNSSENTRY_S1CDATA)
160#define GNSSDF_C2DATA (1<<GNSSENTRY_C2DATA)
161#define GNSSDF_L2CDATA (1<<GNSSENTRY_L2CDATA)
162#define GNSSDF_D2CDATA (1<<GNSSENTRY_D2CDATA)
163#define GNSSDF_S2CDATA (1<<GNSSENTRY_S2CDATA)
164#define GNSSDF_CB1DATA (1<<GNSSENTRY_CB1DATA)
165#define GNSSDF_LB1DATA (1<<GNSSENTRY_LB1DATA)
166#define GNSSDF_DB1DATA (1<<GNSSENTRY_DB1DATA)
167#define GNSSDF_SB1DATA (1<<GNSSENTRY_SB1DATA)
168#define GNSSDF_P1DATA (1<<GNSSENTRY_P1DATA)
169#define GNSSDF_L1PDATA (1<<GNSSENTRY_L1PDATA)
170#define GNSSDF_D1PDATA (1<<GNSSENTRY_D1PDATA)
171#define GNSSDF_S1PDATA (1<<GNSSENTRY_S1PDATA)
172#define GNSSDF_P2DATA (1<<GNSSENTRY_P2DATA)
173#define GNSSDF_L2PDATA (1<<GNSSENTRY_L2PDATA)
174#define GNSSDF_D2PDATA (1<<GNSSENTRY_D2PDATA)
175#define GNSSDF_S2PDATA (1<<GNSSENTRY_S2PDATA)
176
177#define GNSSDF_C5DATA (1<<GNSSENTRY_C5DATA)
178#define GNSSDF_L5DATA (1<<GNSSENTRY_L5DATA)
179#define GNSSDF_D5DATA (1<<GNSSENTRY_D5DATA)
180#define GNSSDF_S5DATA (1<<GNSSENTRY_S5DATA)
181#define GNSSDF_C6DATA (1<<GNSSENTRY_C6DATA)
182#define GNSSDF_L6DATA (1<<GNSSENTRY_L6DATA)
183#define GNSSDF_D6DATA (1<<GNSSENTRY_D6DATA)
184#define GNSSDF_S6DATA (1<<GNSSENTRY_S6DATA)
185#define GNSSDF_CB3DATA (1<<GNSSENTRY_CB3DATA)
186#define GNSSDF_LB3DATA (1<<GNSSENTRY_LB3DATA)
187#define GNSSDF_DB3DATA (1<<GNSSENTRY_DB3DATA)
188#define GNSSDF_SB3DATA (1<<GNSSENTRY_SB3DATA)
189#define GNSSDF_C5BDATA (1<<GNSSENTRY_C5BDATA)
190#define GNSSDF_L5BDATA (1<<GNSSENTRY_L5BDATA)
191#define GNSSDF_D5BDATA (1<<GNSSENTRY_D5BDATA)
192#define GNSSDF_S5BDATA (1<<GNSSENTRY_S5BDATA)
193#define GNSSDF_CB2DATA (1<<GNSSENTRY_CB2DATA)
194#define GNSSDF_LB2DATA (1<<GNSSENTRY_LB2DATA)
195#define GNSSDF_DB2DATA (1<<GNSSENTRY_DB2DATA)
196#define GNSSDF_SB2DATA (1<<GNSSENTRY_SB2DATA)
197#define GNSSDF_C5ABDATA (1<<GNSSENTRY_C5ABDATA)
198#define GNSSDF_L5ABDATA (1<<GNSSENTRY_L5ABDATA)
199#define GNSSDF_D5ABDATA (1<<GNSSENTRY_D5ABDATA)
200#define GNSSDF_S5ABDATA (1<<GNSSENTRY_S5ABDATA)
201
202#define GNSSDF_CSAIFDATA (1LL<<GNSSENTRY_CSAIFDATA)
203#define GNSSDF_LSAIFDATA (1LL<<GNSSENTRY_LSAIFDATA)
204#define GNSSDF_DSAIFDATA (1LL<<GNSSENTRY_DSAIFDATA)
205#define GNSSDF_SSAIFDATA (1LL<<GNSSENTRY_SSAIFDATA)
206
207#define GNSSDF_C1NDATA (1LL<<GNSSENTRY_C1NDATA)
208#define GNSSDF_L1NDATA (1LL<<GNSSENTRY_L1NDATA)
209#define GNSSDF_D1NDATA (1LL<<GNSSENTRY_D1NDATA)
210#define GNSSDF_S1NDATA (1LL<<GNSSENTRY_S1NDATA)
211
212#define RINEXENTRY_C1DATA 0
213#define RINEXENTRY_C2DATA 1
214#define RINEXENTRY_P1DATA 2
215#define RINEXENTRY_P2DATA 3
216#define RINEXENTRY_L1DATA 4
217#define RINEXENTRY_L2DATA 5
218#define RINEXENTRY_D1DATA 6
219#define RINEXENTRY_D2DATA 7
220#define RINEXENTRY_S1DATA 8
221#define RINEXENTRY_S2DATA 9
222
223#define RINEXENTRY_C5DATA 10
224#define RINEXENTRY_L5DATA 11
225#define RINEXENTRY_D5DATA 12
226#define RINEXENTRY_S5DATA 13
227#define RINEXENTRY_C6DATA 14
228#define RINEXENTRY_L6DATA 15
229#define RINEXENTRY_D6DATA 16
230#define RINEXENTRY_S6DATA 17
231#define RINEXENTRY_C7DATA 18 /* 5B */
232#define RINEXENTRY_L7DATA 19
233#define RINEXENTRY_D7DATA 20
234#define RINEXENTRY_S7DATA 21
235#define RINEXENTRY_C8DATA 22 /* 5AB */
236#define RINEXENTRY_L8DATA 23
237#define RINEXENTRY_D8DATA 24
238#define RINEXENTRY_S8DATA 25
239
240#define RINEXENTRY_NUMBER 26
241
242#define LIGHTSPEED 2.99792458e8 /* m/sec */
243#define GPS_FREQU_L1 1575420000.0 /* Hz */
244#define GPS_FREQU_L2 1227600000.0 /* Hz */
245#define GPS_FREQU_L5 1176450000.0 /* Hz */
246#define GPS_WAVELENGTH_L1 (LIGHTSPEED / GPS_FREQU_L1) /* m */
247#define GPS_WAVELENGTH_L2 (LIGHTSPEED / GPS_FREQU_L2) /* m */
248#define GPS_WAVELENGTH_L5 (LIGHTSPEED / GPS_FREQU_L5) /* m */
249
250#define GLO_FREQU_L1_BASE 1602000000.0 /* Hz */
251#define GLO_FREQU_L2_BASE 1246000000.0 /* Hz */
252#define GLO_FREQU_L1_STEP 562500.0 /* Hz */
253#define GLO_FREQU_L2_STEP 437500.0 /* Hz */
254#define GLO_FREQU_L1(a) (GLO_FREQU_L1_BASE+(a)*GLO_FREQU_L1_STEP)
255#define GLO_FREQU_L2(a) (GLO_FREQU_L2_BASE+(a)*GLO_FREQU_L2_STEP)
256#define GLO_WAVELENGTH_L1(a) (LIGHTSPEED / GLO_FREQU_L1(a)) /* m */
257#define GLO_WAVELENGTH_L2(a) (LIGHTSPEED / GLO_FREQU_L2(a)) /* m */
258
259#define GAL_FREQU_E1 1575420000.0 /* Hz */
260#define GAL_FREQU_E5A 1176450000.0 /* Hz */
261#define GAL_FREQU_E5AB 1191795000.0 /* Hz */
262#define GAL_FREQU_E5B 1207140000.0 /* Hz */
263#define GAL_FREQU_E6 1278750000.0 /* Hz */
264#define GAL_WAVELENGTH_E1 (LIGHTSPEED / GAL_FREQU_E1) /* m */
265#define GAL_WAVELENGTH_E5A (LIGHTSPEED / GAL_FREQU_E5A) /* m */
266#define GAL_WAVELENGTH_E5AB (LIGHTSPEED / GAL_FREQU_E5AB) /* m */
267#define GAL_WAVELENGTH_E5B (LIGHTSPEED / GAL_FREQU_E5B) /* m */
268#define GAL_WAVELENGTH_E6 (LIGHTSPEED / GAL_FREQU_E6) /* m */
269
270#define QZSS_FREQU_L1 1575420000.0 /* Hz */
271#define QZSS_FREQU_L2 1227600000.0 /* Hz */
272#define QZSS_FREQU_L5 1176450000.0 /* Hz */
273#define QZSS_FREQU_LEX 1278750000.0 /* Hz */
274#define QZSS_WAVELENGTH_L1 (LIGHTSPEED / QZSS_FREQU_L1) /* m */
275#define QZSS_WAVELENGTH_L2 (LIGHTSPEED / QZSS_FREQU_L2) /* m */
276#define QZSS_WAVELENGTH_L5 (LIGHTSPEED / QZSS_FREQU_L5) /* m */
277#define QZSS_WAVELENGTH_LEX (LIGHTSPEED / QZSS_FREQU_LEX) /* m */
278
279#define COMPASS_FREQU_B1 1561098000.0 /* Hz */
280#define COMPASS_FREQU_B2 1207140000.0 /* Hz */
281#define COMPASS_FREQU_B3 1268520000.0 /* Hz */
282#define COMPASS_WAVELENGTH_B1 (LIGHTSPEED / COMPASS_FREQU_B1) /* m */
283#define COMPASS_WAVELENGTH_B2 (LIGHTSPEED / COMPASS_FREQU_B2) /* m */
284#define COMPASS_WAVELENGTH_B3 (LIGHTSPEED / COMPASS_FREQU_B3) /* m */
285
286#define PRN_GIOVE_OFFSET 51
287
288/* Additional flags for the data field, which tell us more. */
289#define GNSSDF2_XCORRL2 (1<<0) /* cross-correlated L2 */
290#define GNSSDF2_LOCKLOSSL1 (1<<1) /* lost lock on L1 */
291#define GNSSDF2_LOCKLOSSL2 (1<<2) /* lost lock on L2 */
292#define GNSSDF2_LOCKLOSSL5 (1<<3) /* lost lock on L5 */
293#define GNSSDF2_LOCKLOSSE6 (1<<4) /* lost lock on E6 */
294#define GNSSDF2_LOCKLOSSE5B (1<<5) /* lost lock on E5B */
295#define GNSSDF2_LOCKLOSSE5AB (1<<6) /* lost lock on E5AB */
296#define GNSSDF2_LOCKLOSSB1 GNSSDF2_LOCKLOSSL1
297#define GNSSDF2_LOCKLOSSB2 GNSSDF2_LOCKLOSSE5B
298#define GNSSDF2_LOCKLOSSB3 GNSSDF2_LOCKLOSSE6
299#define GNSSDF2_LOCKLOSSLEX GNSSDF2_LOCKLOSSE6
300#define GNSSDF2_LOCKLOSSSAIF (1<<9) /* lost lock on SAIF signal */
301
302#define UINT64(c) c ## ULL
303
304struct converttimeinfo {
305 int second; /* seconds of GPS time [0..59] */
306 int minute; /* minutes of GPS time [0..59] */
307 int hour; /* hour of GPS time [0..24] */
308 int day; /* day of GPS time [1..28..30(31)*/
309 int month; /* month of GPS time [1..12]*/
310 int year; /* year of GPS time [1980..] */
311};
312
313struct gnssdata {
314 int flags; /* GNSSF_xxx */
315 int week; /* week number of GPS date */
316 int numsats;
317 double timeofweek; /* milliseconds in GPS week */
318 double measdata[GNSS_MAXSATS][GNSSENTRY_NUMBER]; /* data fields */
319 unsigned long long dataflags[GNSS_MAXSATS]; /* GNSSDF_xxx */
320 unsigned int dataflags2[GNSS_MAXSATS]; /* GNSSDF2_xxx */
321 int satellites[GNSS_MAXSATS]; /* SV - IDs */
322 int snrL1[GNSS_MAXSATS]; /* Important: all the 6 SV-specific fields must */
323 int snrL2[GNSS_MAXSATS]; /* have the same SV-order */
324 const char * codetype[GNSS_MAXSATS][GNSSENTRY_NUMBER];
325};
326
327#define GPSEPHF_L2PCODEDATA (1<<0) /* set, if NAV data OFF on L2 P-code, s1w4b01 */
328#define GPSEPHF_L2PCODE (1<<1) /* set, if P-code available, s1w3b12 */
329#define GPSEPHF_L2CACODE (1<<2) /* set, if CA-code available, s1w3b11 */
330#define GPSEPHF_VALIDATED (1<<3) /* data is completely valid */
331#define GPSEPHF_6HOURSFIT (1<<4) /* Bit 17 Word 10 of subframe 2 is set to 1 */
332
333#define R2R_PI 3.1415926535898
334
335struct gpsephemeris {
336 int flags; /* GPSEPHF_xxx */
337 int satellite; /* SV ID ICD-GPS data position */
338 int IODE; /* [s2w3b01-08] */
339 int URAindex; /* [1..15] [s1w3b13-16] */
340 int SVhealth; /* [s1w3b17-22] */
341 int GPSweek; /* [s1w3b01-10] */
342 int IODC; /* [s1w3b23-32,w8b01-08] */
343 int TOW; /* [s] [s1w2b01-17] */
344 int TOC; /* [s] [s1w8b09-24] */
345 int TOE; /* [s] [s2w10b1-16] */
346 double clock_bias; /* [s] [s1w10b1-22, af0] */
347 double clock_drift; /* [s/s] [s1w9b09-24, af1] */
348 double clock_driftrate; /* [s/s^2] [s1w9b01-08, af2] */
349 double Crs; /* [m] [s2w3b09-24] */
350 double Delta_n; /* [rad/s] [s2w4b01-16 * Pi] */
351 double M0; /* [rad] [s2w4b17-24,w5b01-24 * Pi]*/
352 double Cuc; /* [rad] [s2w6b01-16] */
353 double e; /* [s2w6b17-24,w6b01-24] */
354 double Cus; /* [rad] [s2w8b01-16] */
355 double sqrt_A; /* [m^0.5] [s2w8b16-24,w9b01-24] */
356 double Cic; /* [rad] [s3w3b01-16] */
357 double OMEGA0; /* [rad] [s3w3b17-24,w4b01-24 * Pi]*/
358 double Cis; /* [rad] [s3w5b01-16] */
359 double i0; /* [rad] [s3w5b17-24,w6b01-24 * Pi]*/
360 double Crc; /* [m] [s3w701-16] */
361 double omega; /* [rad] [s3w7b17-24,w8b01-24 * Pi]*/
362 double OMEGADOT; /* [rad/s] [s3w9b01-24 * Pi] */
363 double IDOT; /* [rad/s] [s3w10b9-22 * Pi] */
364 double TGD; /* [s] [s1w7b17-24] */
365};
366
367#define GALEPHF_E5ADINVALID (1<<0) /* E5aDVS set invalid */
368#define GALEPHF_E5BDINVALID (1<<1) /* E5bDVS set invalid */
369#define GALEPHF_INAV (1<<2) /* INAV data */
370#define GALEPHF_FNAV (1<<3) /* FNAV data */
371
372#define GLOEPHF_UNHEALTHY (1<<0) /* set if unhealty satellite, f2b78 */
373#define GLOEPHF_ALMANACHEALTHOK (1<<1) /* set if ALM health is available */
374#define GLOEPHF_ALMANACHEALTHY (1<<2) /* set if Cn word is true */
375#define GLOEPHF_PAVAILABLE (1<<3) /* set if the 3 P flags are available */
376#define GLOEPHF_P10TRUE (1<<4)
377#define GLOEPHF_P11TRUE (1<<5)
378#define GLOEPHF_P2TRUE (1<<6)
379#define GLOEPHF_P3TRUE (1<<7)
380
381struct glonassephemeris {
382 int GPSWeek;
383 int GPSTOW;
384 int flags; /* GLOEPHF_xxx */
385 int almanac_number;
386 int frequency_number; /* ICD-GLONASS data position */
387 int tb; /* [s] [f2b70-76] */
388 int tk; /* [s] [f1b65-76] */
389 int E; /* [days] [f4b49-53] */
390 double tau; /* [s] [f4b59-80] */
391 double gamma; /* [f3b69-79] */
392 double x_pos; /* [km] [f1b09-35] */
393 double x_velocity; /* [km/s] [f1b41-64] */
394 double x_acceleration; /* [km/s^2][f1b36-40] */
395 double y_pos; /* [km] [f2b09-35] */
396 double y_velocity; /* [km/s] [f2b41-64] */
397 double y_acceleration; /* [km/s^2][f2b36-40] */
398 double z_pos; /* [km] [f3b09-35] */
399 double z_velocity; /* [km/s] [f3b41-64] */
400 double z_acceleration; /* [km/s^2][f3b36-40] */
401};
402
403struct sbasephemeris {
404 int satellite;
405 int IODN; /* [bits 14- 21] */
406 int GPSweek_TOE;
407 int TOW;
408 int TOE; /* [s] [bits 22- 34] */
409 double agf0; /* [s] [bits 206-217] */
410 double agf1; /* [s/s] [bits 218-225] */
411 double x_pos; /* [km] [bits 39- 68] */
412 double x_velocity; /* [km/s] [bits 124-140] */
413 double x_acceleration; /* [km/s^2][bits 176-185] */
414 double y_pos; /* [km] [bits 69- 98] */
415 double y_velocity; /* [km/s] [bits 141-157] */
416 double y_acceleration; /* [km/s^2][bits 186-195] */
417 double z_pos; /* [km] [bits 99-123] */
418 double z_velocity; /* [km/s] [bits 158-175] */
419 double z_acceleration; /* [km/s^2][bits 196-205] */
420 int URA; /* [bits 35- 38] */
421};
422
423struct galileoephemeris {
424 int flags; /* GALEPHF_xxx */
425 int satellite; /* SV ID */
426 int IODnav;
427 int TOC; /* [s] */
428 int TOE; /* [s] */
429 double clock_bias; /* [s] */
430 double clock_drift; /* [s/s] */
431 double clock_driftrate; /* [s/s^2] */
432 double Crs; /* [m] */
433 double Delta_n; /* [rad/s] */
434 double M0; /* [rad] */
435 double Cuc; /* [rad] */
436 double e;
437 double Cus; /* [rad] */
438 double sqrt_A; /* [m^0.5] */
439 double Cic; /* [rad] */
440 double OMEGA0; /* [rad] */
441 double Cis; /* [rad] */
442 double i0; /* [rad] */
443 double Crc; /* [m] */
444 double omega; /* [rad] */
445 double OMEGADOT; /* [rad/s] */
446 double IDOT; /* [rad/s] */
447 double BGD_1_5A; /* [s] */
448 double BGD_1_5B; /* [s] */
449 int Week;
450 int SISA;
451 int E5aHS;
452 int E5bHS;
453};
454
455struct DataInfo {
456 long long flags[RINEXENTRY_NUMBER];
457 int pos[RINEXENTRY_NUMBER];
458 int numtypes;
459 char type[GNSSENTRY_NUMBER];
460};
461
462struct RTCM3ParserData {
463 unsigned char Message[2048]; /* input-buffer */
464 int MessageSize; /* current buffer size */
465 int NeedBytes; /* bytes wanted for next run */
466 int SkipBytes; /* bytes to skip in next round */
467 int GPSWeek;
468 int GPSTOW; /* in seconds */
469 struct gnssdata Data;
470 struct gpsephemeris ephemerisGPS;
471 struct galileoephemeris ephemerisGALILEO;
472 struct glonassephemeris ephemerisGLONASS;
473 struct sbasephemeris ephemerisSBAS;
474 struct gnssdata DataNew;
475 int GLOFreq[PRN_GLONASS_NUM]; /* frequency numbers of GLONASS + 100 */
476 int size;
477 int lastlockGPSl1[64];
478 int lastlockGPSl2[64];
479 int lastlockGLOl1[64];
480 int lastlockGLOl2[64];
481 int lastlockmsm[RTCM3_MSM_NUMCELLS][NUMRTCM3PARSERSATS];
482#ifdef NO_RTCM3_MAIN
483 double antX;
484 double antY;
485 double antZ;
486 double antH;
487 char antenna[256+1];
488 int blocktype;
489 int allflags;
490 int modjulday;
491 int secofday;
492 int leapsec;
493#endif /* NO_RTCM3_MAIN */
494 int pos[RINEXENTRY_NUMBER];
495 long long flags[RINEXENTRY_NUMBER];
496 /* For RINEX2 only field GPS is used */
497 struct DataInfo info[RTCM3_MSM_NUMSYS];
498 int datafields[RINEXENTRY_NUMBER]; /* for RTCM2 header */
499 char fieldbuffer[6*RINEXENTRY_NUMBER+1];
500 char fieldbufferSBAS[4*RINEXENTRY_NUMBER+1];
501 char fieldbufferGPS[4*RINEXENTRY_NUMBER+1];
502 char fieldbufferGLONASS[4*RINEXENTRY_NUMBER+1];
503 char fieldbufferGALILEO[4*RINEXENTRY_NUMBER+1];
504 char fieldbufferCOMPASS[4*RINEXENTRY_NUMBER+1];
505 char fieldbufferQZSS[4*RINEXENTRY_NUMBER+1];
506 int numdatafields; /* for RTCM2 */
507 int validwarning;
508 int init;
509 int startflags;
510 int rinex3;
511 int changeobs;
512 const char * headerfile;
513 const char * glonassephemeris;
514 const char * gpsephemeris;
515 const char * qzssephemeris;
516 const char * sbasephemeris;
517 FILE * glonassfile;
518 FILE * gpsfile;
519 FILE * qzssfile;
520 FILE * sbasfile;
521};
522
523#ifndef PRINTFARG
524#ifdef __GNUC__
525#define PRINTFARG(a,b) __attribute__ ((format(printf, a, b)))
526#else /* __GNUC__ */
527#define PRINTFARG(a,b)
528#endif /* __GNUC__ */
529#endif /* PRINTFARG */
530
531int gnumleap(int year, int month, int day);
532void updatetime(int *week, int *tow, int tk, int fixnumleap);
533void converttime(struct converttimeinfo *c, int week, int tow);
534
535void HandleHeader(struct RTCM3ParserData *Parser);
536int RTCM3Parser(struct RTCM3ParserData *handle);
537void HandleByte(struct RTCM3ParserData *Parser, unsigned int byte);
538void PRINTFARG(1,2) RTCM3Error(const char *fmt, ...);
539void PRINTFARG(1,2) RTCM3Text(const char *fmt, ...);
540
541#endif /* RTCM3TORINEX_H */
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