mirror of https://github.com/gnss-sdr/gnss-sdr
710 lines
20 KiB
C++
710 lines
20 KiB
C++
/*!
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* \file rtklib_rtcm2.cc
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* \brief RTCM functions for v2
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* \authors <ul>
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* <li> 2007-2013, T. Takasu
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* <li> 2017, Javier Arribas
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* <li> 2017, Carles Fernandez
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* </ul>
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*
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* This is a derived work from RTKLIB http://www.rtklib.com/
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* The original source code at https://github.com/tomojitakasu/RTKLIB is
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* released under the BSD 2-clause license with an additional exclusive clause
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* that does not apply here. This additional clause is reproduced below:
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*
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* " The software package includes some companion executive binaries or shared
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* libraries necessary to execute APs on Windows. These licenses succeed to the
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* original ones of these software. "
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*
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* Neither the executive binaries nor the shared libraries are required by, used
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* or included in GNSS-SDR.
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*
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* -----------------------------------------------------------------------------
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* Copyright (C) 2007-2013, T. Takasu
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* Copyright (C) 2017, Javier Arribas
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* Copyright (C) 2017, Carles Fernandez
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* All rights reserved.
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*
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* SPDX-License-Identifier: BSD-2-Clause
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*
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*
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* -----------------------------------------------------------------------------
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*/
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#include "rtklib_rtcm2.h"
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#include "rtklib_rtkcmn.h"
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/* adjust hourly rollover of rtcm 2 time -------------------------------------*/
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void adjhour(rtcm_t *rtcm, double zcnt)
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{
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double tow;
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double hour;
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double sec;
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int week;
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/* if no time, get cpu time */
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if (rtcm->time.time == 0)
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{
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rtcm->time = utc2gpst(timeget());
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}
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tow = time2gpst(rtcm->time, &week);
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hour = floor(tow / 3600.0);
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sec = tow - hour * 3600.0;
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if (zcnt < sec - 1800.0)
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{
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zcnt += 3600.0;
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}
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else if (zcnt > sec + 1800.0)
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{
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zcnt -= 3600.0;
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}
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rtcm->time = gpst2time(week, hour * 3600 + zcnt);
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}
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/* get observation data index ------------------------------------------------*/
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int obsindex(obs_t *obs, gtime_t time, int sat)
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{
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int i;
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int j;
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for (i = 0; i < obs->n; i++)
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{
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if (obs->data[i].sat == sat)
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{
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return i; /* field already exists */
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}
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}
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if (i >= MAXOBS)
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{
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return -1; /* overflow */
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}
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/* add new field */
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obs->data[i].time = time;
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obs->data[i].sat = sat;
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for (j = 0; j < NFREQ; j++)
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{
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obs->data[i].L[j] = obs->data[i].P[j] = 0.0;
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obs->data[i].D[j] = 0.0;
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obs->data[i].SNR[j] = obs->data[i].LLI[j] = obs->data[i].code[j] = 0;
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}
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obs->n++;
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return i;
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}
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/* decode type 1/9: differential gps correction/partial correction set -------*/
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int decode_type1(rtcm_t *rtcm)
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{
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int i = 48;
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int fact;
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int udre;
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int prn;
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int sat;
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int iod;
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double prc;
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double rrc;
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trace(4, "decode_type1: len=%d\n", rtcm->len);
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while (i + 40 <= rtcm->len * 8)
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{
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fact = getbitu(rtcm->buff, i, 1);
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i += 1;
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udre = getbitu(rtcm->buff, i, 2);
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i += 2;
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prn = getbitu(rtcm->buff, i, 5);
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i += 5;
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prc = getbits(rtcm->buff, i, 16);
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i += 16;
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rrc = getbits(rtcm->buff, i, 8);
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i += 8;
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iod = getbits(rtcm->buff, i, 8);
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i += 8;
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if (prn == 0)
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{
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prn = 32;
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}
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if (prc == 0x80000000 || rrc == 0xFFFF8000)
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{
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trace(2, "rtcm2 1 prc/rrc indicates satellite problem: prn=%d\n", prn);
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continue;
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}
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if (rtcm->dgps)
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{
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sat = satno(SYS_GPS, prn);
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rtcm->dgps[sat - 1].t0 = rtcm->time;
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rtcm->dgps[sat - 1].prc = prc * (fact ? 0.32 : 0.02);
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rtcm->dgps[sat - 1].rrc = rrc * (fact ? 0.032 : 0.002);
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rtcm->dgps[sat - 1].iod = iod;
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rtcm->dgps[sat - 1].udre = udre;
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}
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}
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return 7;
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}
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/* decode type 3: reference station parameter --------------------------------*/
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int decode_type3(rtcm_t *rtcm)
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{
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int i = 48;
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trace(4, "decode_type3: len=%d\n", rtcm->len);
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if (i + 96 <= rtcm->len * 8)
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{
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rtcm->sta.pos[0] = getbits(rtcm->buff, i, 32) * 0.01;
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i += 32;
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rtcm->sta.pos[1] = getbits(rtcm->buff, i, 32) * 0.01;
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i += 32;
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rtcm->sta.pos[2] = getbits(rtcm->buff, i, 32) * 0.01;
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}
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else
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{
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trace(2, "rtcm2 3 length error: len=%d\n", rtcm->len);
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return -1;
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}
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return 5;
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}
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/* decode type 14: gps time of week ------------------------------------------*/
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int decode_type14(rtcm_t *rtcm, bool pre_2009_file)
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{
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double zcnt;
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int i = 48;
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int week;
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int hour;
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int leaps;
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trace(4, "decode_type14: len=%d\n", rtcm->len);
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zcnt = getbitu(rtcm->buff, 24, 13);
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if (i + 24 <= rtcm->len * 8)
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{
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week = getbitu(rtcm->buff, i, 10);
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i += 10;
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hour = getbitu(rtcm->buff, i, 8);
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i += 8;
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leaps = getbitu(rtcm->buff, i, 6);
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}
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else
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{
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trace(2, "rtcm2 14 length error: len=%d\n", rtcm->len);
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return -1;
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}
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week = adjgpsweek(week, pre_2009_file);
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rtcm->time = gpst2time(week, hour * 3600.0 + zcnt * 0.6);
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rtcm->nav.leaps = leaps;
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return 6;
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}
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/* decode type 16: gps special message ---------------------------------------*/
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int decode_type16(rtcm_t *rtcm)
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{
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int i = 48;
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int n = 0;
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trace(4, "decode_type16: len=%d\n", rtcm->len);
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while (i + 8 <= rtcm->len * 8 && n < 90)
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{
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rtcm->msg[n++] = getbitu(rtcm->buff, i, 8);
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i += 8;
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}
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rtcm->msg[n] = '\0';
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trace(3, "rtcm2 16 message: %s\n", rtcm->msg);
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return 9;
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}
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/* decode type 17: gps ephemerides -------------------------------------------*/
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int decode_type17(rtcm_t *rtcm, bool pre_2009_file)
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{
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eph_t eph = {0, -1, -1, 0, 0, 0, 0, 0, {0, 0.0}, {0, 0.0}, {0, 0.0},
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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,
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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, false};
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double toc;
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double sqrtA;
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int i = 48;
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int week;
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int prn;
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int sat;
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trace(4, "decode_type17: len=%d\n", rtcm->len);
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if (i + 480 <= rtcm->len * 8)
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{
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week = getbitu(rtcm->buff, i, 10);
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i += 10;
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eph.idot = getbits(rtcm->buff, i, 14) * TWO_N43 * SC2RAD;
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i += 14;
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eph.iode = getbitu(rtcm->buff, i, 8);
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i += 8;
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toc = getbitu(rtcm->buff, i, 16) * 16.0;
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i += 16;
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eph.f1 = getbits(rtcm->buff, i, 16) * TWO_N43;
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i += 16;
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eph.f2 = getbits(rtcm->buff, i, 8) * TWO_N55;
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i += 8;
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eph.crs = getbits(rtcm->buff, i, 16) * TWO_N5;
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i += 16;
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eph.deln = getbits(rtcm->buff, i, 16) * TWO_N43 * SC2RAD;
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i += 16;
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eph.cuc = getbits(rtcm->buff, i, 16) * TWO_N29;
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i += 16;
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eph.e = getbitu(rtcm->buff, i, 32) * TWO_N33;
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i += 32;
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eph.cus = getbits(rtcm->buff, i, 16);
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i += 16;
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sqrtA = getbitu(rtcm->buff, i, 32) * TWO_N19;
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i += 32;
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eph.toes = getbitu(rtcm->buff, i, 16);
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i += 16;
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eph.OMG0 = getbits(rtcm->buff, i, 32) * TWO_N31 * SC2RAD;
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i += 32;
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eph.cic = getbits(rtcm->buff, i, 16) * TWO_N29;
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i += 16;
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eph.i0 = getbits(rtcm->buff, i, 32) * TWO_N31 * SC2RAD;
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i += 32;
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eph.cis = getbits(rtcm->buff, i, 16) * TWO_N29;
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i += 16;
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eph.omg = getbits(rtcm->buff, i, 32) * TWO_N31 * SC2RAD;
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i += 32;
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eph.crc = getbits(rtcm->buff, i, 16) * TWO_N5;
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i += 16;
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eph.OMGd = getbits(rtcm->buff, i, 24) * TWO_N43 * SC2RAD;
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i += 24;
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eph.M0 = getbits(rtcm->buff, i, 32) * TWO_N31 * SC2RAD;
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i += 32;
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eph.iodc = getbitu(rtcm->buff, i, 10);
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i += 10;
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eph.f0 = getbits(rtcm->buff, i, 22) * TWO_N31;
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i += 22;
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prn = getbitu(rtcm->buff, i, 5);
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i += 5 + 3;
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eph.tgd[0] = getbits(rtcm->buff, i, 8) * TWO_N31;
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i += 8;
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eph.code = getbitu(rtcm->buff, i, 2);
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i += 2;
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eph.sva = getbitu(rtcm->buff, i, 4);
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i += 4;
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eph.svh = getbitu(rtcm->buff, i, 6);
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i += 6;
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eph.flag = getbitu(rtcm->buff, i, 1);
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}
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else
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{
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trace(2, "rtcm2 17 length error: len=%d\n", rtcm->len);
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return -1;
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}
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if (prn == 0)
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{
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prn = 32;
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}
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sat = satno(SYS_GPS, prn);
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eph.sat = sat;
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eph.week = adjgpsweek(week, pre_2009_file);
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eph.toe = gpst2time(eph.week, eph.toes);
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eph.toc = gpst2time(eph.week, toc);
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eph.ttr = rtcm->time;
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eph.A = sqrtA * sqrtA;
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rtcm->nav.eph[sat - 1] = eph;
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rtcm->ephsat = sat;
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return 2;
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}
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/* decode type 18: rtk uncorrected carrier-phase -----------------------------*/
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int decode_type18(rtcm_t *rtcm)
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{
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gtime_t time;
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double usec;
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double cp;
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double tt;
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int i = 48;
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int index;
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int freq;
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int sync = 1;
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int code;
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int sys;
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int prn;
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int sat;
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int loss;
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trace(4, "decode_type18: len=%d\n", rtcm->len);
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if (i + 24 <= rtcm->len * 8)
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{
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freq = getbitu(rtcm->buff, i, 2);
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i += 2 + 2;
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usec = getbitu(rtcm->buff, i, 20);
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i += 20;
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}
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else
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{
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trace(2, "rtcm2 18 length error: len=%d\n", rtcm->len);
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return -1;
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}
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if (freq & 0x1)
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{
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trace(2, "rtcm2 18 not supported frequency: freq=%d\n", freq);
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return -1;
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}
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freq >>= 1;
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while (i + 48 <= rtcm->len * 8 && rtcm->obs.n < MAXOBS)
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{
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sync = getbitu(rtcm->buff, i, 1);
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i += 1;
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code = getbitu(rtcm->buff, i, 1);
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i += 1;
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sys = getbitu(rtcm->buff, i, 1);
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i += 1;
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prn = getbitu(rtcm->buff, i, 5);
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i += 5 + 3;
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loss = getbitu(rtcm->buff, i, 5);
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i += 5;
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cp = getbits(rtcm->buff, i, 32);
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i += 32;
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if (prn == 0)
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{
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prn = 32;
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}
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if (!(sat = satno(sys ? SYS_GLO : SYS_GPS, prn)))
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{
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trace(2, "rtcm2 18 satellite number error: sys=%d prn=%d\n", sys, prn);
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continue;
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}
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time = timeadd(rtcm->time, usec * 1E-6);
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if (sys)
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{
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time = utc2gpst(time); /* convert glonass time to gpst */
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}
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tt = timediff(rtcm->obs.data[0].time, time);
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if (rtcm->obsflag || fabs(tt) > 1E-9)
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{
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rtcm->obs.n = rtcm->obsflag = 0;
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}
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if ((index = obsindex(&rtcm->obs, time, sat)) >= 0)
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{
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rtcm->obs.data[index].L[freq] = -cp / 256.0;
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rtcm->obs.data[index].LLI[freq] = rtcm->loss[sat - 1][freq] != loss;
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rtcm->obs.data[index].code[freq] =
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!freq ? (code ? CODE_L1P : CODE_L1C) : (code ? CODE_L2P : CODE_L2C);
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rtcm->loss[sat - 1][freq] = loss;
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}
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}
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rtcm->obsflag = !sync;
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return sync ? 0 : 1;
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}
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/* decode type 19: rtk uncorrected pseudorange -------------------------------*/
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int decode_type19(rtcm_t *rtcm)
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{
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gtime_t time;
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double usec;
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double pr;
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double tt;
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int i = 48;
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int index;
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int freq;
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int sync = 1;
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int code;
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int sys;
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int prn;
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int sat;
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trace(4, "decode_type19: len=%d\n", rtcm->len);
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if (i + 24 <= rtcm->len * 8)
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{
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freq = getbitu(rtcm->buff, i, 2);
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i += 2 + 2;
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usec = getbitu(rtcm->buff, i, 20);
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i += 20;
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}
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else
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{
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trace(2, "rtcm2 19 length error: len=%d\n", rtcm->len);
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return -1;
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}
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if (freq & 0x1)
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{
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trace(2, "rtcm2 19 not supported frequency: freq=%d\n", freq);
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return -1;
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}
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freq >>= 1;
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while (i + 48 <= rtcm->len * 8 && rtcm->obs.n < MAXOBS)
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{
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sync = getbitu(rtcm->buff, i, 1);
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i += 1;
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code = getbitu(rtcm->buff, i, 1);
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i += 1;
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sys = getbitu(rtcm->buff, i, 1);
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i += 1;
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prn = getbitu(rtcm->buff, i, 5);
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i += 5 + 8;
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pr = getbitu(rtcm->buff, i, 32);
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i += 32;
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if (prn == 0)
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{
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prn = 32;
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}
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if (!(sat = satno(sys ? SYS_GLO : SYS_GPS, prn)))
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{
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trace(2, "rtcm2 19 satellite number error: sys=%d prn=%d\n", sys, prn);
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continue;
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}
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time = timeadd(rtcm->time, usec * 1E-6);
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if (sys)
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{
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time = utc2gpst(time); /* convert glonass time to gpst */
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}
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tt = timediff(rtcm->obs.data[0].time, time);
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if (rtcm->obsflag || fabs(tt) > 1E-9)
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{
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rtcm->obs.n = rtcm->obsflag = 0;
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}
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if ((index = obsindex(&rtcm->obs, time, sat)) >= 0)
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{
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rtcm->obs.data[index].P[freq] = pr * 0.02;
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rtcm->obs.data[index].code[freq] =
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!freq ? (code ? CODE_L1P : CODE_L1C) : (code ? CODE_L2P : CODE_L2C);
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}
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}
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rtcm->obsflag = !sync;
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return sync ? 0 : 1;
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}
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/* decode type 22: extended reference station parameter ----------------------*/
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int decode_type22(rtcm_t *rtcm)
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{
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double del[2][3] = {{0}};
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double hgt = 0.0;
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int i = 48;
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int j;
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int noh;
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trace(4, "decode_type22: len=%d\n", rtcm->len);
|
|
|
|
if (i + 24 <= rtcm->len * 8)
|
|
{
|
|
del[0][0] = getbits(rtcm->buff, i, 8) / 25600.0;
|
|
i += 8;
|
|
del[0][1] = getbits(rtcm->buff, i, 8) / 25600.0;
|
|
i += 8;
|
|
del[0][2] = getbits(rtcm->buff, i, 8) / 25600.0;
|
|
i += 8;
|
|
}
|
|
else
|
|
{
|
|
trace(2, "rtcm2 22 length error: len=%d\n", rtcm->len);
|
|
return -1;
|
|
}
|
|
if (i + 24 <= rtcm->len * 8)
|
|
{
|
|
i += 5;
|
|
noh = getbits(rtcm->buff, i, 1);
|
|
i += 1;
|
|
hgt = noh ? 0.0 : getbitu(rtcm->buff, i, 18) / 25600.0;
|
|
i += 18;
|
|
}
|
|
if (i + 24 <= rtcm->len * 8)
|
|
{
|
|
del[1][0] = getbits(rtcm->buff, i, 8) / 1600.0;
|
|
i += 8;
|
|
del[1][1] = getbits(rtcm->buff, i, 8) / 1600.0;
|
|
i += 8;
|
|
del[1][2] = getbits(rtcm->buff, i, 8) / 1600.0;
|
|
}
|
|
rtcm->sta.deltype = 1; /* xyz */
|
|
for (j = 0; j < 3; j++)
|
|
{
|
|
rtcm->sta.del[j] = del[0][j];
|
|
}
|
|
rtcm->sta.hgt = hgt;
|
|
return 5;
|
|
}
|
|
|
|
|
|
/* decode type 23: antenna type definition record ----------------------------*/
|
|
int decode_type23(rtcm_t *rtcm __attribute((unused)))
|
|
{
|
|
return 0;
|
|
}
|
|
|
|
|
|
/* decode type 24: antenna reference point (arp) -----------------------------*/
|
|
int decode_type24(rtcm_t *rtcm __attribute((unused)))
|
|
{
|
|
return 0;
|
|
}
|
|
|
|
|
|
/* decode type 31: differential glonass correction ---------------------------*/
|
|
int decode_type31(rtcm_t *rtcm __attribute((unused)))
|
|
{
|
|
return 0;
|
|
}
|
|
|
|
|
|
/* decode type 32: differential glonass reference station parameters ---------*/
|
|
int decode_type32(rtcm_t *rtcm __attribute((unused)))
|
|
{
|
|
return 0;
|
|
}
|
|
|
|
|
|
/* decode type 34: glonass partial differential correction set ---------------*/
|
|
int decode_type34(rtcm_t *rtcm __attribute((unused)))
|
|
{
|
|
return 0;
|
|
}
|
|
|
|
|
|
/* decode type 36: glonass special message -----------------------------------*/
|
|
int decode_type36(rtcm_t *rtcm __attribute((unused)))
|
|
{
|
|
return 0;
|
|
}
|
|
|
|
|
|
/* decode type 37: gnss system time offset -----------------------------------*/
|
|
int decode_type37(rtcm_t *rtcm __attribute((unused)))
|
|
{
|
|
return 0;
|
|
}
|
|
|
|
|
|
/* decode type 59: proprietary message ---------------------------------------*/
|
|
int decode_type59(rtcm_t *rtcm __attribute((unused)))
|
|
{
|
|
return 0;
|
|
}
|
|
|
|
|
|
/* decode rtcm ver.2 message -------------------------------------------------*/
|
|
int decode_rtcm2(rtcm_t *rtcm)
|
|
{
|
|
double zcnt;
|
|
int staid;
|
|
int seqno;
|
|
int stah;
|
|
int ret = 0;
|
|
int type = getbitu(rtcm->buff, 8, 6);
|
|
|
|
trace(3, "decode_rtcm2: type=%2d len=%3d\n", type, rtcm->len);
|
|
|
|
if ((zcnt = getbitu(rtcm->buff, 24, 13) * 0.6) >= 3600.0)
|
|
{
|
|
trace(2, "rtcm2 modified z-count error: zcnt=%.1f\n", zcnt);
|
|
return -1;
|
|
}
|
|
adjhour(rtcm, zcnt);
|
|
staid = getbitu(rtcm->buff, 14, 10);
|
|
seqno = getbitu(rtcm->buff, 37, 3);
|
|
stah = getbitu(rtcm->buff, 45, 3);
|
|
if (seqno - rtcm->seqno != 1 && seqno - rtcm->seqno != -7)
|
|
{
|
|
trace(2, "rtcm2 message outage: seqno=%d->%d\n", rtcm->seqno, seqno);
|
|
}
|
|
rtcm->seqno = seqno;
|
|
rtcm->stah = stah;
|
|
|
|
if (rtcm->outtype)
|
|
{
|
|
std::snprintf(rtcm->msgtype, sizeof(rtcm->msgtype), "RTCM %2d (%4d) zcnt=%7.1f staid=%3d seqno=%d",
|
|
type, rtcm->len, zcnt, staid, seqno);
|
|
}
|
|
if (type == 3 || type == 22 || type == 23 || type == 24)
|
|
{
|
|
if (rtcm->staid != 0 && staid != rtcm->staid)
|
|
{
|
|
trace(2, "rtcm2 station id changed: %d->%d\n", rtcm->staid, staid);
|
|
}
|
|
rtcm->staid = staid;
|
|
}
|
|
if (rtcm->staid != 0 && staid != rtcm->staid)
|
|
{
|
|
trace(2, "rtcm2 station id invalid: %d %d\n", staid, rtcm->staid);
|
|
return -1;
|
|
}
|
|
switch (type)
|
|
{
|
|
case 1:
|
|
ret = decode_type1(rtcm);
|
|
break;
|
|
case 3:
|
|
ret = decode_type3(rtcm);
|
|
break;
|
|
case 9:
|
|
ret = decode_type1(rtcm);
|
|
break;
|
|
case 14:
|
|
ret = decode_type14(rtcm);
|
|
break;
|
|
case 16:
|
|
ret = decode_type16(rtcm);
|
|
break;
|
|
case 17:
|
|
ret = decode_type17(rtcm);
|
|
break;
|
|
case 18:
|
|
ret = decode_type18(rtcm);
|
|
break;
|
|
case 19:
|
|
ret = decode_type19(rtcm);
|
|
break;
|
|
case 22:
|
|
ret = decode_type22(rtcm);
|
|
break;
|
|
case 23:
|
|
ret = decode_type23(rtcm);
|
|
break; /* not supported */
|
|
case 24:
|
|
ret = decode_type24(rtcm);
|
|
break; /* not supported */
|
|
case 31:
|
|
ret = decode_type31(rtcm);
|
|
break; /* not supported */
|
|
case 32:
|
|
ret = decode_type32(rtcm);
|
|
break; /* not supported */
|
|
case 34:
|
|
ret = decode_type34(rtcm);
|
|
break; /* not supported */
|
|
case 36:
|
|
ret = decode_type36(rtcm);
|
|
break; /* not supported */
|
|
case 37:
|
|
ret = decode_type37(rtcm);
|
|
break; /* not supported */
|
|
case 59:
|
|
ret = decode_type59(rtcm);
|
|
break; /* not supported */
|
|
}
|
|
if (ret >= 0)
|
|
{
|
|
if (1 <= type && type <= 99)
|
|
{
|
|
rtcm->nmsg2[type]++;
|
|
}
|
|
else
|
|
{
|
|
rtcm->nmsg2[0]++;
|
|
}
|
|
}
|
|
return ret;
|
|
}
|