Index: trunk/BNC/src/RTCM3/RTCM3Decoder.cpp =================================================================== --- trunk/BNC/src/RTCM3/RTCM3Decoder.cpp (revision 8782) +++ trunk/BNC/src/RTCM3/RTCM3Decoder.cpp (revision 8783) @@ -421,4 +421,44 @@ }; +/** + * MSM signal types for IRNSS + * + * NOTE: Uses 0.0, 1.0 for wavelength as sat index dependence is done later! + */ +static struct CodeData irn[RTCM3_MSM_NUMSIG] = { + {0.0, 0}, + {0.0, 0}, + {0.0, 0}, + {0.0, 0}, + {0.0, 0}, + {0.0, 0}, + {0.0, 0}, + {IRNSS_WAVELENGTH_S, "9A"}, + {0.0, 0}, + {0.0, 0}, + {0.0, 0}, + {0.0, 0}, + {0.0, 0}, + {0.0, 0}, + {0.0, 0}, + {0.0, 0}, + {0.0, 0}, + {0.0, 0}, + {0.0, 0}, + {0.0, 0}, + {0.0, 0}, + {IRNSS_WAVELENGTH_L5, "5A"}, + {0.0, 0}, + {0.0, 0}, + {0.0, 0}, + {0.0, 0}, + {0.0, 0}, + {0.0, 0}, + {0.0, 0}, + {0.0, 0}, + {0.0, 0}, + {0.0, 0} + }; + #define UINT64(c) c ## ULL @@ -438,5 +478,5 @@ /* id */ char sys; - if (type >= 1121) + if (type >= 1121) sys = 'C'; else if (type >= 1111) @@ -448,9 +488,11 @@ else if (type >= 1081) sys = 'R'; - else + else if (type >= 1071) sys = 'G'; + else if (type >= 21) // test + sys = 'I'; bncTime CurrentObsTime; - if (sys == 'C') /* BDS */ { + if (sys == 'C') /* BDS */ { GETBITS(i, 30) CurrentObsTime.setBDS(i); @@ -700,4 +742,7 @@ cd = gal[RTCM3_MSM_NUMSIG - j - 1]; break; + case 'I': + cd = irn[RTCM3_MSM_NUMSIG - j - 1]; + break; } if (cd.code) { @@ -1002,18 +1047,15 @@ i <<= 4; eph._TOC.set(i * 1000); - GETFLOATSIGN(eph._clock_driftrate, 8, - 1.0 / (double )(1 << 30) / (double )(1 << 25)) - GETFLOATSIGN(eph._clock_drift, 16, - 1.0 / (double )(1 << 30) / (double )(1 << 13)) - GETFLOATSIGN(eph._clock_bias, 22, - 1.0 / (double )(1 << 30) / (double )(1 << 1)) + GETFLOATSIGN(eph._clock_driftrate, 8, 1.0 / (double )(1 << 30) / (double )(1 << 25)) + GETFLOATSIGN(eph._clock_drift, 16, 1.0 / (double )(1 << 30) / (double )(1 << 13)) + GETFLOATSIGN(eph._clock_bias, 22, 1.0 / (double )(1 << 30) / (double )(1 << 1)) GETBITS(eph._IODC, 10) - GETFLOATSIGN(eph._Crs, 16, 1.0 / (double )(1 << 5)) - GETFLOATSIGN(eph._Delta_n, 16, R2R_PI/(double)(1<<30)/(double)(1<<13)) - GETFLOATSIGN(eph._M0, 32, R2R_PI/(double)(1<<30)/(double)(1<<1)) - GETFLOATSIGN(eph._Cuc, 16, 1.0 / (double )(1 << 29)) - GETFLOAT(eph._e, 32, 1.0 / (double )(1 << 30) / (double )(1 << 3)) - GETFLOATSIGN(eph._Cus, 16, 1.0 / (double )(1 << 29)) - GETFLOAT(eph._sqrt_A, 32, 1.0 / (double )(1 << 19)) + GETFLOATSIGN(eph._Crs, 16, 1.0 / (double )(1 << 5)) + GETFLOATSIGN(eph._Delta_n, 16, R2R_PI/(double)(1<<30)/(double)(1<<13)) + GETFLOATSIGN(eph._M0, 32, R2R_PI/(double)(1<<30)/(double)(1<<1)) + GETFLOATSIGN(eph._Cuc, 16, 1.0 / (double )(1 << 29)) + GETFLOAT(eph._e, 32, 1.0 / (double )(1 << 30) / (double )(1 << 3)) + GETFLOATSIGN(eph._Cus, 16, 1.0 / (double )(1 << 29)) + GETFLOAT(eph._sqrt_A, 32, 1.0 / (double )(1 << 19)) GETBITS(i, 16) i <<= 4; @@ -1027,12 +1069,12 @@ if (eph._TOEweek > week + 1 || eph._TOEweek < week - 1) /* invalid week */ return false; - GETFLOATSIGN(eph._Cic, 16, 1.0 / (double )(1 << 29)) - GETFLOATSIGN(eph._OMEGA0, 32, R2R_PI/(double)(1<<30)/(double)(1<<1)) - GETFLOATSIGN(eph._Cis, 16, 1.0 / (double )(1 << 29)) - GETFLOATSIGN(eph._i0, 32, R2R_PI/(double)(1<<30)/(double)(1<<1)) - GETFLOATSIGN(eph._Crc, 16, 1.0 / (double )(1 << 5)) - GETFLOATSIGN(eph._omega, 32, R2R_PI/(double)(1<<30)/(double)(1<<1)) + GETFLOATSIGN(eph._Cic, 16, 1.0 / (double )(1 << 29)) + GETFLOATSIGN(eph._OMEGA0, 32, R2R_PI/(double)(1<<30)/(double)(1<<1)) + GETFLOATSIGN(eph._Cis, 16, 1.0 / (double )(1 << 29)) + GETFLOATSIGN(eph._i0, 32, R2R_PI/(double)(1<<30)/(double)(1<<1)) + GETFLOATSIGN(eph._Crc, 16, 1.0 / (double )(1 << 5)) + GETFLOATSIGN(eph._omega, 32, R2R_PI/(double)(1<<30)/(double)(1<<1)) GETFLOATSIGN(eph._OMEGADOT, 24, R2R_PI/(double)(1<<30)/(double)(1<<13)) - GETFLOATSIGN(eph._TGD, 8, 1.0 / (double )(1 << 30) / (double )(1 << 1)) + GETFLOATSIGN(eph._TGD, 8, 1.0 / (double )(1 << 30) / (double )(1 << 1)) GETBITS(eph._health, 6) GETBITS(eph._L2PFlag, 1) @@ -1082,30 +1124,30 @@ eph._TOC.setTk(i * 15 * 60 * 1000); /* tb */ - GETFLOATSIGNM(eph._x_velocity, 24, 1.0 / (double )(1 << 20)) - GETFLOATSIGNM(eph._x_pos, 27, 1.0 / (double )(1 << 11)) + GETFLOATSIGNM(eph._x_velocity, 24, 1.0 / (double )(1 << 20)) + GETFLOATSIGNM(eph._x_pos, 27, 1.0 / (double )(1 << 11)) GETFLOATSIGNM(eph._x_acceleration, 5, 1.0 / (double )(1 << 30)) - GETFLOATSIGNM(eph._y_velocity, 24, 1.0 / (double )(1 << 20)) - GETFLOATSIGNM(eph._y_pos, 27, 1.0 / (double )(1 << 11)) + GETFLOATSIGNM(eph._y_velocity, 24, 1.0 / (double )(1 << 20)) + GETFLOATSIGNM(eph._y_pos, 27, 1.0 / (double )(1 << 11)) GETFLOATSIGNM(eph._y_acceleration, 5, 1.0 / (double )(1 << 30)) - GETFLOATSIGNM(eph._z_velocity, 24, 1.0 / (double )(1 << 20)) - GETFLOATSIGNM(eph._z_pos, 27, 1.0 / (double )(1 << 11)) + GETFLOATSIGNM(eph._z_velocity, 24, 1.0 / (double )(1 << 20)) + GETFLOATSIGNM(eph._z_pos, 27, 1.0 / (double )(1 << 11)) GETFLOATSIGNM(eph._z_acceleration, 5, 1.0 / (double )(1 << 30)) GETBITS(eph._P3, 1) /* P3 */ - GETFLOATSIGNM(eph._gamma, 11, 1.0 / (double )(1 << 30) / (double )(1 << 10)) - GETBITS(eph._M_P, 2) /* GLONASS-M P, */ + GETFLOATSIGNM(eph._gamma, 11, 1.0 / (double )(1 << 30) / (double )(1 << 10)) + GETBITS(eph._M_P, 2) /* GLONASS-M P, */ GETBITS(eph._M_l3, 1) /*GLONASS-M ln (third string) */ - GETFLOATSIGNM(eph._tau, 22, 1.0 / (double )(1 << 30)) /* GLONASS tau n(tb) */ + GETFLOATSIGNM(eph._tau, 22, 1.0 / (double )(1 << 30)) /* GLONASS tau n(tb) */ GETFLOATSIGNM(eph._M_delta_tau, 5, 1.0 / (double )(1 << 30)) /* GLONASS-M delta tau n(tb) */ GETBITS(eph._E, 5) - GETBITS(eph._M_P4, 1) /* GLONASS-M P4 */ - GETBITS(eph._M_FT, 4) /* GLONASS-M Ft */ + GETBITS(eph._M_P4, 1) /* GLONASS-M P4 */ + GETBITS(eph._M_FT, 4) /* GLONASS-M Ft */ GETBITS(eph._M_NT, 11) /* GLONASS-M Nt */ - GETBITS(eph._M_M, 2) /* GLONASS-M M */ + GETBITS(eph._M_M, 2) /* GLONASS-M M */ GETBITS(eph._additional_data_availability, 1) /* GLONASS-M The Availability of Additional Data */ - GETBITS(eph._NA, 11) /* GLONASS-M Na */ - GETFLOATSIGNM(eph._tauC, 32, 1.0/(double)(1<<30)/(double)(1<<1)) /* GLONASS tau c */ + GETBITS(eph._NA, 11) /* GLONASS-M Na */ + GETFLOATSIGNM(eph._tauC, 32, 1.0/(double)(1<<30)/(double)(1<<1)) /* GLONASS tau c */ GETBITS(eph._M_N4, 5) /* GLONASS-M N4 */ - GETFLOATSIGNM(eph._M_tau_GPS, 22, 1.0/(double)(1<<30)) /* GLONASS-M tau GPS */ + GETFLOATSIGNM(eph._M_tau_GPS, 22, 1.0/(double)(1<<30)) /* GLONASS-M tau GPS */ GETBITS(eph._M_l5, 1) /* GLONASS-M ln (fifth string) */ @@ -1114,5 +1156,5 @@ eph._gps_utc = gnumleap(year, month, day); eph._tt = eph._TOC; - + eph._xv(1) = eph._x_pos * 1.e3; eph._xv(2) = eph._y_pos * 1.e3; @@ -1154,18 +1196,15 @@ eph._TOC.set(i * 1000); - GETFLOATSIGN(eph._clock_driftrate, 8, - 1.0 / (double )(1 << 30) / (double )(1 << 25)) - GETFLOATSIGN(eph._clock_drift, 16, - 1.0 / (double )(1 << 30) / (double )(1 << 13)) - GETFLOATSIGN(eph._clock_bias, 22, - 1.0 / (double )(1 << 30) / (double )(1 << 1)) + GETFLOATSIGN(eph._clock_driftrate, 8, 1.0 / (double )(1 << 30) / (double )(1 << 25)) + GETFLOATSIGN(eph._clock_drift, 16, 1.0 / (double )(1 << 30) / (double )(1 << 13)) + GETFLOATSIGN(eph._clock_bias, 22, 1.0 / (double )(1 << 30) / (double )(1 << 1)) GETBITS(eph._IODE, 8) - GETFLOATSIGN(eph._Crs, 16, 1.0 / (double )(1 << 5)) + GETFLOATSIGN(eph._Crs, 16, 1.0 / (double )(1 << 5)) GETFLOATSIGN(eph._Delta_n, 16, R2R_PI/(double)(1<<30)/(double)(1<<13)) - GETFLOATSIGN(eph._M0, 32, R2R_PI/(double)(1<<30)/(double)(1<<1)) - GETFLOATSIGN(eph._Cuc, 16, 1.0 / (double )(1 << 29)) - GETFLOAT(eph._e, 32, 1.0 / (double )(1 << 30) / (double )(1 << 3)) - GETFLOATSIGN(eph._Cus, 16, 1.0 / (double )(1 << 29)) - GETFLOAT(eph._sqrt_A, 32, 1.0 / (double )(1 << 19)) + GETFLOATSIGN(eph._M0, 32, R2R_PI/(double)(1<<30)/(double)(1<<1)) + GETFLOATSIGN(eph._Cuc, 16, 1.0 / (double )(1 << 29)) + GETFLOAT(eph._e, 32, 1.0 / (double )(1 << 30) / (double )(1 << 3)) + GETFLOATSIGN(eph._Cus, 16, 1.0 / (double )(1 << 29)) + GETFLOAT(eph._sqrt_A, 32, 1.0 / (double )(1 << 19)) GETBITS(i, 16) i <<= 4; @@ -1174,12 +1213,12 @@ t.set(i*1000); eph._TOEweek = t.gpsw(); - GETFLOATSIGN(eph._Cic, 16, 1.0 / (double )(1 << 29)) - GETFLOATSIGN(eph._OMEGA0, 32, R2R_PI/(double)(1<<30)/(double)(1<<1)) - GETFLOATSIGN(eph._Cis, 16, 1.0 / (double )(1 << 29)) - GETFLOATSIGN(eph._i0, 32, R2R_PI/(double)(1<<30)/(double)(1<<1)) - GETFLOATSIGN(eph._Crc, 16, 1.0 / (double )(1 << 5)) - GETFLOATSIGN(eph._omega, 32, R2R_PI/(double)(1<<30)/(double)(1<<1)) + GETFLOATSIGN(eph._Cic, 16, 1.0 / (double )(1 << 29)) + GETFLOATSIGN(eph._OMEGA0, 32, R2R_PI/(double)(1<<30)/(double)(1<<1)) + GETFLOATSIGN(eph._Cis, 16, 1.0 / (double )(1 << 29)) + GETFLOATSIGN(eph._i0, 32, R2R_PI/(double)(1<<30)/(double)(1<<1)) + GETFLOATSIGN(eph._Crc, 16, 1.0 / (double )(1 << 5)) + GETFLOATSIGN(eph._omega, 32, R2R_PI/(double)(1<<30)/(double)(1<<1)) GETFLOATSIGN(eph._OMEGADOT, 24, R2R_PI/(double)(1<<30)/(double)(1<<13)) - GETFLOATSIGN(eph._IDOT, 14, R2R_PI/(double)(1<<30)/(double)(1<<13)) + GETFLOATSIGN(eph._IDOT, 14, R2R_PI/(double)(1<<30)/(double)(1<<13)) GETBITS(eph._L2Codes, 2) GETBITS(week, 10) @@ -1196,9 +1235,90 @@ eph._ura = ceil(10.0 * pow(2.0, i / 2.0)) / 10.0; GETBITS(eph._health, 6) - GETFLOATSIGN(eph._TGD, 8, 1.0 / (double )(1 << 30) / (double )(1 << 1)) + GETFLOATSIGN(eph._TGD, 8, 1.0 / (double )(1 << 30) / (double )(1 << 1)) GETBITS(eph._IODC, 10) GETBITS(eph._fitInterval, 1) eph._TOT = 0.9999e9; - eph._L2PFlag = 0; /* does not exist for QZSS */ + + emit newGPSEph(eph); + decoded = true; + } + return decoded; +} + +// +//////////////////////////////////////////////////////////////////////////// +bool RTCM3Decoder::DecodeIRNSSEphemeris(unsigned char* data, int size) { + bool decoded = false; + + if (size == 67) { + t_ephGPS eph; + int i, week, L5Flag, SFlag; + uint64_t numbits = 0, bitfield = 0; + + data += 3; /* header */ + size -= 6; /* header + crc */ + SKIPBITS(12) + + eph._receptDateTime = currentDateAndTimeGPS(); + + GETBITS(i, 6) + eph._prn.set('I', i); + GETBITS(week, 10) + GETFLOATSIGN(eph._clock_bias, 22, 1.0 / (double )(1 << 30) / (double )(1 << 1)) + GETFLOATSIGN(eph._clock_drift, 16, 1.0 / (double )(1 << 30) / (double )(1 << 13)) + GETFLOATSIGN(eph._clock_driftrate, 8, 1.0 / (double )(1 << 30) / (double )(1 << 25)) + GETBITS(i, 4) + eph._ura = accuracyFromIndex(i, eph.type()); + GETBITS(i, 16) + i <<= 4; + eph._TOC.set(i * 1000); + GETFLOATSIGN(eph._TGD, 8, 1.0 / (double )(1 << 30) / (double )(1 << 1)) + GETFLOATSIGN(eph._Delta_n, 22, R2R_PI/(double)(1<<30)/(double)(1 << 11)) + // IODCE + GETBITS(eph._IODE, 8) + eph._IODC = eph._IODE; + SKIPBITS(10) + GETBITS(L5Flag, 1) + GETBITS(SFlag, 1) + if (L5Flag == 0 && SFlag == 0) { + eph._health = 0.0; + } + else if (L5Flag == 0 && SFlag == 1) { + eph._health = 1.0; + } + else if (L5Flag == 1 && SFlag == 0) { + eph._health = 2.0; + } + else if (L5Flag == 1 && SFlag == 1) { + eph._health = 3.0; + } + GETFLOATSIGN(eph._Cuc, 15, 1.0 / (double )(1 << 28)) + GETFLOATSIGN(eph._Cus, 15, 1.0 / (double )(1 << 28)) + GETFLOATSIGN(eph._Cic, 15, 1.0 / (double )(1 << 28)) + GETFLOATSIGN(eph._Cis, 15, 1.0 / (double )(1 << 28)) + GETFLOATSIGN(eph._Crc, 15, 1.0 / (double )(1 << 4)) + GETFLOATSIGN(eph._Crs, 15, 1.0 / (double )(1 << 4)) + GETFLOATSIGN(eph._IDOT, 14, R2R_PI/(double)(1<<30)/(double)(1<<13)) + GETFLOATSIGN(eph._M0, 32, R2R_PI/(double)(1<<30)/(double)(1<< 1)) + GETBITS(i, 16) + i <<= 4; + eph._TOEsec = i; + bncTime t; + t.set(i * 1000); + eph._TOEweek = t.gpsw(); + int numOfRollOvers = int(floor(t.gpsw()/1024.0)); + week += (numOfRollOvers * 1024); + /* week from HOW, differs from TOC, TOE week, we use adapted value instead */ + if (eph._TOEweek > week + 1 || eph._TOEweek < week - 1) /* invalid week */ + return false; + GETFLOAT(eph._e, 32, 1.0 / (double )(1 << 30) / (double )(1 << 3)) + GETFLOAT(eph._sqrt_A, 32, 1.0 / (double )(1 << 19)) + GETFLOATSIGN(eph._OMEGA0, 32, R2R_PI/(double)(1<<30)/(double)(1<< 1)) + GETFLOATSIGN(eph._omega, 32, R2R_PI/(double)(1<<30)/(double)(1<< 1)) + GETFLOATSIGN(eph._OMEGADOT, 22, R2R_PI/(double)(1<<30)/(double)(1<<11)) + GETFLOATSIGN(eph._i0, 32, R2R_PI/(double)(1<<30)/(double)(1<< 1)) + SKIPBITS(2) + SKIPBITS(2) + eph._TOT = 0.9999e9; emit newGPSEph(eph); @@ -1274,5 +1394,5 @@ eph._prn.set('E', i, eph._inav ? 1 : 0); - GETBITS(eph._TOEweek, 12) + GETBITS(eph._TOEweek, 12) //FIXME: roll-over after week 4095!! GETBITS(eph._IODnav, 10) GETBITS(i, 8) @@ -1281,26 +1401,23 @@ GETBITSFACTOR(i, 14, 60) eph._TOC.set(1024 + eph._TOEweek, i); - GETFLOATSIGN(eph._clock_driftrate, 6, - 1.0 / (double )(1 << 30) / (double )(1 << 29)) - GETFLOATSIGN(eph._clock_drift, 21, - 1.0 / (double )(1 << 30) / (double )(1 << 16)) - GETFLOATSIGN(eph._clock_bias, 31, - 1.0 / (double )(1 << 30) / (double )(1 << 4)) - GETFLOATSIGN(eph._Crs, 16, 1.0 / (double )(1 << 5)) - GETFLOATSIGN(eph._Delta_n, 16, R2R_PI/(double)(1<<30)/(double)(1<<13)) - GETFLOATSIGN(eph._M0, 32, R2R_PI/(double)(1<<30)/(double)(1<<1)) - GETFLOATSIGN(eph._Cuc, 16, 1.0 / (double )(1 << 29)) - GETFLOAT(eph._e, 32, 1.0 / (double )(1 << 30) / (double )(1 << 3)) - GETFLOATSIGN(eph._Cus, 16, 1.0 / (double )(1 << 29)) - GETFLOAT(eph._sqrt_A, 32, 1.0 / (double )(1 << 19)) + GETFLOATSIGN(eph._clock_driftrate, 6, 1.0 / (double )(1 << 30) / (double )(1 << 29)) + GETFLOATSIGN(eph._clock_drift, 21, 1.0 / (double )(1 << 30) / (double )(1 << 16)) + GETFLOATSIGN(eph._clock_bias, 31, 1.0 / (double )(1 << 30) / (double )(1 << 4)) + GETFLOATSIGN(eph._Crs, 16, 1.0 / (double )(1 << 5)) + GETFLOATSIGN(eph._Delta_n, 16, R2R_PI/(double)(1<<30)/(double)(1<<13)) + GETFLOATSIGN(eph._M0, 32, R2R_PI/(double)(1<<30)/(double)(1<<1)) + GETFLOATSIGN(eph._Cuc, 16, 1.0 / (double )(1 << 29)) + GETFLOAT(eph._e, 32, 1.0 / (double )(1 << 30) / (double )(1 << 3)) + GETFLOATSIGN(eph._Cus, 16, 1.0 / (double )(1 << 29)) + GETFLOAT(eph._sqrt_A, 32, 1.0 / (double )(1 << 19)) GETBITSFACTOR(eph._TOEsec, 14, 60) /* FIXME: overwrite value, copied from old code */ eph._TOEsec = eph._TOC.gpssec(); - GETFLOATSIGN(eph._Cic, 16, 1.0 / (double )(1 << 29)) - GETFLOATSIGN(eph._OMEGA0, 32, R2R_PI/(double)(1<<30)/(double)(1<<1)) - GETFLOATSIGN(eph._Cis, 16, 1.0 / (double )(1 << 29)) - GETFLOATSIGN(eph._i0, 32, R2R_PI/(double)(1<<30)/(double)(1<<1)) - GETFLOATSIGN(eph._Crc, 16, 1.0 / (double )(1 << 5)) - GETFLOATSIGN(eph._omega, 32, R2R_PI/(double)(1<<30)/(double)(1<<1)) + GETFLOATSIGN(eph._Cic, 16, 1.0 / (double )(1 << 29)) + GETFLOATSIGN(eph._OMEGA0, 32, R2R_PI/(double)(1<<30)/(double)(1<<1)) + GETFLOATSIGN(eph._Cis, 16, 1.0 / (double )(1 << 29)) + GETFLOATSIGN(eph._i0, 32, R2R_PI/(double)(1<<30)/(double)(1<<1)) + GETFLOATSIGN(eph._Crc, 16, 1.0 / (double )(1 << 5)) + GETFLOATSIGN(eph._omega, 32, R2R_PI/(double)(1<<30)/(double)(1<<1)) GETFLOATSIGN(eph._OMEGADOT, 24, R2R_PI/(double)(1<<30)/(double)(1<<13)) GETFLOATSIGN(eph._BGD_1_5A, 10, @@ -1311,6 +1428,5 @@ eph._e5aDataInValid = false; - GETFLOATSIGN(eph._BGD_1_5B, 10, - 1.0 / (double )(1 << 30) / (double )(1 << 2)) + GETFLOATSIGN(eph._BGD_1_5B, 10, 1.0 / (double )(1 << 30) / (double )(1 << 2)) GETBITS(eph._E5bHS, 2) GETBITS(eph._e5bDataInValid, 1) @@ -1365,31 +1481,28 @@ i <<= 3; eph._TOC.setBDS(i * 1000); - GETFLOATSIGN(eph._clock_driftrate, 11, - 1.0 / (double )(1 << 30) / (double )(1 << 30) / (double )(1 << 6)) - GETFLOATSIGN(eph._clock_drift, 22, - 1.0 / (double )(1 << 30) / (double )(1 << 20)) - GETFLOATSIGN(eph._clock_bias, 24, - 1.0 / (double )(1 << 30) / (double )(1 << 3)) + GETFLOATSIGN(eph._clock_driftrate, 11, 1.0 / (double )(1 << 30) / (double )(1 << 30) / (double )(1 << 6)) + GETFLOATSIGN(eph._clock_drift, 22, 1.0 / (double )(1 << 30) / (double )(1 << 20)) + GETFLOATSIGN(eph._clock_bias, 24, 1.0 / (double )(1 << 30) / (double )(1 << 3)) GETBITS(eph._AODC, 5) - GETFLOATSIGN(eph._Crs, 18, 1.0 / (double )(1 << 6)) + GETFLOATSIGN(eph._Crs, 18, 1.0 / (double )(1 << 6)) GETFLOATSIGN(eph._Delta_n, 16, R2R_PI/(double)(1<<30)/(double)(1<<13)) - GETFLOATSIGN(eph._M0, 32, R2R_PI/(double)(1<<30)/(double)(1<<1)) - GETFLOATSIGN(eph._Cuc, 18, 1.0 / (double )(1 << 30) / (double )(1 << 1)) - GETFLOAT(eph._e, 32, 1.0 / (double )(1 << 30) / (double )(1 << 3)) - GETFLOATSIGN(eph._Cus, 18, 1.0 / (double )(1 << 30) / (double )(1 << 1)) - GETFLOAT(eph._sqrt_A, 32, 1.0 / (double )(1 << 19)) + GETFLOATSIGN(eph._M0, 32, R2R_PI/(double)(1<<30)/(double)(1<<1)) + GETFLOATSIGN(eph._Cuc, 18, 1.0 / (double )(1 << 30) / (double )(1 << 1)) + GETFLOAT(eph._e, 32, 1.0 / (double )(1 << 30) / (double )(1 << 3)) + GETFLOATSIGN(eph._Cus, 18, 1.0 / (double )(1 << 30) / (double )(1 << 1)) + GETFLOAT(eph._sqrt_A, 32, 1.0 / (double )(1 << 19)) GETBITS(i, 17) i <<= 3; eph._TOEsec = i; eph._TOE.setBDS(i * 1000); - GETFLOATSIGN(eph._Cic, 18, 1.0 / (double )(1 << 30) / (double )(1 << 1)) - GETFLOATSIGN(eph._OMEGA0, 32, R2R_PI/(double)(1<<30)/(double)(1<<1)) - GETFLOATSIGN(eph._Cis, 18, 1.0 / (double )(1 << 30) / (double )(1 << 1)) - GETFLOATSIGN(eph._i0, 32, R2R_PI/(double)(1<<30)/(double)(1<<1)) - GETFLOATSIGN(eph._Crc, 18, 1.0 / (double )(1 << 6)) - GETFLOATSIGN(eph._omega, 32, R2R_PI/(double)(1<<30)/(double)(1<<1)) + GETFLOATSIGN(eph._Cic, 18, 1.0 / (double )(1 << 30) / (double )(1 << 1)) + GETFLOATSIGN(eph._OMEGA0, 32, R2R_PI/(double)(1<<30)/(double)(1<<1)) + GETFLOATSIGN(eph._Cis, 18, 1.0 / (double )(1 << 30) / (double )(1 << 1)) + GETFLOATSIGN(eph._i0, 32, R2R_PI/(double)(1<<30)/(double)(1<<1)) + GETFLOATSIGN(eph._Crc, 18, 1.0 / (double )(1 << 6)) + GETFLOATSIGN(eph._omega, 32, R2R_PI/(double)(1<<30)/(double)(1<<1)) GETFLOATSIGN(eph._OMEGADOT, 24, R2R_PI/(double)(1<<30)/(double)(1<<13)) - GETFLOATSIGN(eph._TGD1, 10, 0.0000000001) - GETFLOATSIGN(eph._TGD2, 10, 0.0000000001) + GETFLOATSIGN(eph._TGD1, 10, 0.0000000001) + GETFLOATSIGN(eph._TGD2, 10, 0.0000000001) GETBITS(eph._SatH1, 1) @@ -1529,5 +1642,6 @@ } } - else if (id >= 1070 && id <= 1229) /* MSM */ { + else if ((id >= 1070 && id <= 1229) || + (id >= 21 && id <= 27)) /* MSM */ { if (DecodeRTCM3MSM(_Message, _BlockSize)) decoded = true; @@ -1573,4 +1687,8 @@ decoded = true; break; + case 29: + if (DecodeIRNSSEphemeris(_Message, _BlockSize)) + decoded = true; + break; case 1045: case 1046: Index: trunk/BNC/src/RTCM3/RTCM3Decoder.h =================================================================== --- trunk/BNC/src/RTCM3/RTCM3Decoder.h (revision 8782) +++ trunk/BNC/src/RTCM3/RTCM3Decoder.h (revision 8783) @@ -132,4 +132,11 @@ bool DecodeQZSSEphemeris(unsigned char* buffer, int bufLen); /** + * Extract ephemeris data from 29 (allocated for testing) RTCM3 messages. + * @param buffer the buffer containing an 29 RTCM block + * @param bufLen the length of the buffer (the message length including header+crc) + * @return true when data block was decodable + */ + bool DecodeIRNSSEphemeris(unsigned char* buffer, int bufLen); + /** * Extract ephemeris data from 1045 and 1046 RTCM3 messages. * @param buffer the buffer containing an 1045 and 1046 RTCM block Index: trunk/BNC/src/RTCM3/gnss.h =================================================================== --- trunk/BNC/src/RTCM3/gnss.h (revision 8782) +++ trunk/BNC/src/RTCM3/gnss.h (revision 8783) @@ -70,4 +70,9 @@ #define BDS_WAVELENGTH_B3 (LIGHTSPEED / BDS_FREQU_B3) /* m */ +#define IRNSS_FREQU_L5 1176450000.0 /* Hz */ +#define IRNSS_FREQU_S 2492028000.0 /* Hz */ +#define IRNSS_WAVELENGTH_L5 (LIGHTSPEED / IRNSS_FREQU_L5) /* m */ +#define IRNSS_WAVELENGTH_S (LIGHTSPEED / IRNSS_FREQU_S) /* m */ + #define R2R_PI 3.1415926535898