1 | #ifndef RTCM3TORINEX_H
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2 | #define RTCM3TORINEX_H
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3 |
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4 | /*
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5 | Converter for RTCM3 data to RINEX.
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6 | $Id: rtcm3torinex.h,v 1.11 2010/03/01 13:48:25 stoecker Exp $
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7 | Copyright (C) 2005-2006 by Dirk Stöcker <stoecker@alberding.eu>
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8 |
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9 | This program is free software; you can redistribute it and/or modify
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10 | it under the terms of the GNU General Public License as published by
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11 | the Free Software Foundation; either version 2 of the License, or
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12 | (at your option) any later version.
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13 |
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14 | This program is distributed in the hope that it will be useful,
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15 | but WITHOUT ANY WARRANTY; without even the implied warranty of
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16 | MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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17 | GNU General Public License for more details.
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18 |
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19 | You should have received a copy of the GNU General Public License
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20 | along with this program; if not, write to the Free Software
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21 | Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
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22 | or read http://www.gnu.org/licenses/gpl.txt
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23 | */
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24 |
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25 | #include <stdio.h>
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26 |
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27 | #define GNSS_MAXSATS 64
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28 |
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29 | #define PRN_GPS_START 1
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30 | #define PRN_GPS_END 32
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31 | #define PRN_GLONASS_START 38
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32 | #define PRN_GLONASS_END 61
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33 | #define PRN_WAAS_START 120
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34 | #define PRN_WAAS_END 138
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35 |
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36 | #define GNSSENTRY_C1DATA 0
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37 | #define GNSSENTRY_C2DATA 1
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38 | #define GNSSENTRY_P1DATA 2
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39 | #define GNSSENTRY_P2DATA 3
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40 | #define GNSSENTRY_L1CDATA 4
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41 | #define GNSSENTRY_L1PDATA 5
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42 | #define GNSSENTRY_L2CDATA 6
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43 | #define GNSSENTRY_L2PDATA 7
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44 | #define GNSSENTRY_D1CDATA 8
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45 | #define GNSSENTRY_D1PDATA 9
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46 | #define GNSSENTRY_D2CDATA 10
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47 | #define GNSSENTRY_D2PDATA 11
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48 | #define GNSSENTRY_S1CDATA 12
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49 | #define GNSSENTRY_S1PDATA 13
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50 | #define GNSSENTRY_S2CDATA 14
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51 | #define GNSSENTRY_S2PDATA 15
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52 | #define GNSSENTRY_NUMBER 16 /* number of types!!! */
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53 |
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54 | /* Data flags. These flags are used in the dataflags field of gpsdata structure
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55 | and are used the determine, which data fields are filled with valid data. */
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56 | #define GNSSDF_C1DATA (1<<GNSSENTRY_C1DATA)
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57 | #define GNSSDF_C2DATA (1<<GNSSENTRY_C2DATA)
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58 | #define GNSSDF_P1DATA (1<<GNSSENTRY_P1DATA)
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59 | #define GNSSDF_P2DATA (1<<GNSSENTRY_P2DATA)
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60 | #define GNSSDF_L1CDATA (1<<GNSSENTRY_L1CDATA)
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61 | #define GNSSDF_L1PDATA (1<<GNSSENTRY_L1PDATA)
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62 | #define GNSSDF_L2CDATA (1<<GNSSENTRY_L2CDATA)
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63 | #define GNSSDF_L2PDATA (1<<GNSSENTRY_L2PDATA)
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64 | #define GNSSDF_D1CDATA (1<<GNSSENTRY_D1CDATA)
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65 | #define GNSSDF_D1PDATA (1<<GNSSENTRY_D1PDATA)
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66 | #define GNSSDF_D2CDATA (1<<GNSSENTRY_D2CDATA)
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67 | #define GNSSDF_D2PDATA (1<<GNSSENTRY_D2PDATA)
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68 | #define GNSSDF_S1CDATA (1<<GNSSENTRY_S1CDATA)
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69 | #define GNSSDF_S1PDATA (1<<GNSSENTRY_S1PDATA)
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70 | #define GNSSDF_S2CDATA (1<<GNSSENTRY_S2CDATA)
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71 | #define GNSSDF_S2PDATA (1<<GNSSENTRY_S2PDATA)
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72 |
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73 | #define RINEXENTRY_C1DATA 0
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74 | #define RINEXENTRY_C2DATA 1
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75 | #define RINEXENTRY_P1DATA 2
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76 | #define RINEXENTRY_P2DATA 3
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77 | #define RINEXENTRY_L1DATA 4
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78 | #define RINEXENTRY_L2DATA 5
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79 | #define RINEXENTRY_D1DATA 6
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80 | #define RINEXENTRY_D2DATA 7
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81 | #define RINEXENTRY_S1DATA 8
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82 | #define RINEXENTRY_S2DATA 9
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83 | #define RINEXENTRY_NUMBER 10
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84 |
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85 | #define LIGHTSPEED 2.99792458e8 /* m/sec */
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86 | #define GPS_FREQU_L1 1575420000.0 /* Hz */
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87 | #define GPS_FREQU_L2 1227600000.0 /* Hz */
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88 | #define GPS_WAVELENGTH_L1 (LIGHTSPEED / GPS_FREQU_L1) /* m */
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89 | #define GPS_WAVELENGTH_L2 (LIGHTSPEED / GPS_FREQU_L2) /* m */
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90 |
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91 | #define GLO_FREQU_L1_BASE 1602000000.0 /* Hz */
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92 | #define GLO_FREQU_L2_BASE 1246000000.0 /* Hz */
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93 | #define GLO_FREQU_L1_STEP 562500.0 /* Hz */
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94 | #define GLO_FREQU_L2_STEP 437500.0 /* Hz */
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95 | #define GLO_FREQU_L1(a) (GLO_FREQU_L1_BASE+(a)*GLO_FREQU_L1_STEP)
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96 | #define GLO_FREQU_L2(a) (GLO_FREQU_L2_BASE+(a)*GLO_FREQU_L2_STEP)
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97 | #define GLO_WAVELENGTH_L1(a) (LIGHTSPEED / GLO_FREQU_L1(a)) /* m */
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98 | #define GLO_WAVELENGTH_L2(a) (LIGHTSPEED / GLO_FREQU_L2(a)) /* m */
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99 |
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100 | /* Additional flags for the data field, which tell us more. */
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101 | #define GNSSDF_LOCKLOSSL1 (1<<29) /* lost lock on L1 */
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102 | #define GNSSDF_LOCKLOSSL2 (1<<30) /* lost lock on L2 */
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103 |
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104 | struct converttimeinfo {
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105 | int second; /* seconds of GPS time [0..59] */
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106 | int minute; /* minutes of GPS time [0..59] */
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107 | int hour; /* hour of GPS time [0..24] */
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108 | int day; /* day of GPS time [1..28..30(31)*/
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109 | int month; /* month of GPS time [1..12]*/
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110 | int year; /* year of GPS time [1980..] */
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111 | };
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112 |
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113 | struct gnssdata {
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114 | int flags; /* GPSF_xxx */
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115 | int week; /* week number of GPS date */
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116 | int numsats;
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117 | double timeofweek; /* milliseconds in GPS week */
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118 | double measdata[GNSS_MAXSATS][GNSSENTRY_NUMBER]; /* data fields */
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119 | int dataflags[GNSS_MAXSATS]; /* GPSDF_xxx */
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120 | int satellites[GNSS_MAXSATS]; /* SV - IDs */
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121 | int channels[GNSS_MAXSATS]; /* Glonass channels - valid of Glonass SV only */
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122 | int snrL1[GNSS_MAXSATS]; /* Important: all the 5 SV-specific fields must */
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123 | int snrL2[GNSS_MAXSATS]; /* have the same SV-order */
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124 | };
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125 |
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126 | #define GPSEPHF_L2PCODEDATA (1<<0) /* set, if NAV data OFF on L2 P-code, s1w4b01 */
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127 | #define GPSEPHF_L2PCODE (1<<1) /* set, if P-code available, s1w3b12 */
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128 | #define GPSEPHF_L2CACODE (1<<2) /* set, if CA-code available, s1w3b11 */
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129 | #define GPSEPHF_VALIDATED (1<<3) /* data is completely valid */
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130 |
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131 | #define R2R_PI 3.1415926535898
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132 |
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133 | struct gpsephemeris {
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134 | int flags; /* GPSEPHF_xxx */
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135 | int satellite; /* SV ID ICD-GPS data position */
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136 | int IODE; /* [s2w3b01-08] */
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137 | int URAindex; /* [1..15] [s1w3b13-16] */
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138 | int SVhealth; /* [s1w3b17-22] */
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139 | int GPSweek; /* [s1w3b01-10] */
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140 | int IODC; /* [s1w3b23-32,w8b01-08] */
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141 | int TOW; /* [s] [s1w2b01-17] */
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142 | int TOC; /* [s] [s1w8b09-24] */
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143 | int TOE; /* [s] [s2w10b1-16] */
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144 | double clock_bias; /* [s] [s1w10b1-22, af0] */
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145 | double clock_drift; /* [s/s] [s1w9b09-24, af1] */
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146 | double clock_driftrate; /* [s/s^2] [s1w9b01-08, af2] */
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147 | double Crs; /* [m] [s2w3b09-24] */
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148 | double Delta_n; /* [rad/s] [s2w4b01-16 * Pi] */
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149 | double M0; /* [rad] [s2w4b17-24,w5b01-24 * Pi]*/
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150 | double Cuc; /* [rad] [s2w6b01-16] */
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151 | double e; /* [s2w6b17-24,w6b01-24] */
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152 | double Cus; /* [rad] [s2w8b01-16] */
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153 | double sqrt_A; /* [m^0.5] [s2w8b16-24,w9b01-24] */
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154 | double Cic; /* [rad] [s3w3b01-16] */
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155 | double OMEGA0; /* [rad] [s3w3b17-24,w4b01-24 * Pi]*/
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156 | double Cis; /* [rad] [s3w5b01-16] */
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157 | double i0; /* [rad] [s3w5b17-24,w6b01-24 * Pi]*/
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158 | double Crc; /* [m] [s3w701-16] */
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159 | double omega; /* [rad] [s3w7b17-24,w8b01-24 * Pi]*/
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160 | double OMEGADOT; /* [rad/s] [s3w9b01-24 * Pi] */
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161 | double IDOT; /* [rad/s] [s3w10b9-22 * Pi] */
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162 | double TGD; /* [s] [s1w7b17-24] */
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163 | };
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164 |
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165 | #define GLOEPHF_UNHEALTHY (1<<0) /* set if unhealty satellite, f2b78 */
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166 | #define GLOEPHF_ALMANACHEALTHOK (1<<1) /* set if ALM health is available */
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167 | #define GLOEPHF_ALMANACHEALTHY (1<<2) /* set if Cn word is true */
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168 | #define GLOEPHF_PAVAILABLE (1<<3) /* set if the 3 P flags are available */
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169 | #define GLOEPHF_P10TRUE (1<<4)
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170 | #define GLOEPHF_P11TRUE (1<<5)
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171 | #define GLOEPHF_P2TRUE (1<<6)
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172 | #define GLOEPHF_P3TRUE (1<<7)
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173 |
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174 | struct glonassephemeris {
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175 | int GPSWeek;
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176 | int GPSTOW;
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177 | int flags; /* GLOEPHF_xxx */
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178 | int almanac_number;
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179 | int frequency_number; /* ICD-GLONASS data position */
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180 | int tb; /* [s] [f2b70-76] */
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181 | int tk; /* [s] [f1b65-76] */
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182 | int E; /* [days] [f4b49-53] */
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183 | double tau; /* [s] [f4b59-80] */
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184 | double gamma; /* [f3b69-79] */
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185 | double x_pos; /* [km] [f1b09-35] */
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186 | double x_velocity; /* [km/s] [f1b41-64] */
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187 | double x_acceleration; /* [km/s^2][f1b36-40] */
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188 | double y_pos; /* [km] [f2b09-35] */
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189 | double y_velocity; /* [km/s] [f2b41-64] */
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190 | double y_acceleration; /* [km/s^2][f2b36-40] */
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191 | double z_pos; /* [km] [f3b09-35] */
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192 | double z_velocity; /* [km/s] [f3b41-64] */
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193 | double z_acceleration; /* [km/s^2][f3b36-40] */
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194 | };
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195 |
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196 | struct RTCM3ParserData {
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197 | unsigned char Message[2048]; /* input-buffer */
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198 | int MessageSize; /* current buffer size */
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199 | int NeedBytes; /* bytes wanted for next run */
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200 | int SkipBytes; /* bytes to skip in next round */
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201 | int GPSWeek;
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202 | int GPSTOW; /* in seconds */
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203 | struct gnssdata Data;
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204 | struct gpsephemeris ephemerisGPS;
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205 | struct glonassephemeris ephemerisGLONASS;
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206 | struct gnssdata DataNew;
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207 | int size;
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208 | int lastlockl1[64];
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209 | int lastlockl2[64];
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210 | #ifdef NO_RTCM3_MAIN
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211 | double antX;
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212 | double antY;
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213 | double antZ;
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214 | double antH;
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215 | char antenna[256+1];
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216 | int blocktype;
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217 | #endif /* NO_RTCM3_MAIN */
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218 | int datapos[RINEXENTRY_NUMBER];
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219 | int dataflag[RINEXENTRY_NUMBER];
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220 | /* for RINEX2 GPS and GLO are both handled in GPS */
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221 | int dataposGPS[RINEXENTRY_NUMBER]; /* SBAS has same entries */
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222 | int dataflagGPS[RINEXENTRY_NUMBER];
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223 | int dataposGLO[RINEXENTRY_NUMBER]; /* only used for RINEX3 */
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224 | int dataflagGLO[RINEXENTRY_NUMBER];
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225 | int numdatatypesGPS;
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226 | int numdatatypesGLO; /* only used for RINEX3 */
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227 | int validwarning;
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228 | int init;
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229 | int startflags;
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230 | int rinex3;
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231 | const char * headerfile;
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232 | const char * glonassephemeris;
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233 | const char * gpsephemeris;
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234 | FILE *glonassfile;
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235 | FILE *gpsfile;
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236 | };
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237 |
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238 | #ifndef PRINTFARG
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239 | #ifdef __GNUC__
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240 | #define PRINTFARG(a,b) __attribute__ ((format(printf, a, b)))
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241 | #else /* __GNUC__ */
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242 | #define PRINTFARG(a,b)
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243 | #endif /* __GNUC__ */
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244 | #endif /* PRINTFARG */
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245 |
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246 | int gnumleap(int year, int month, int day);
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247 | void updatetime(int *week, int *tow, int tk, int fixnumleap);
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248 | void converttime(struct converttimeinfo *c, int week, int tow);
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249 |
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250 | void HandleHeader(struct RTCM3ParserData *Parser);
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251 | int RTCM3Parser(struct RTCM3ParserData *handle);
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252 | void HandleByte(struct RTCM3ParserData *Parser, unsigned int byte);
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253 | void PRINTFARG(1,2) RTCM3Error(const char *fmt, ...);
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254 | void PRINTFARG(1,2) RTCM3Text(const char *fmt, ...);
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255 |
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256 | #endif /* RTCM3TORINEX_H */
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