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Commit 14881c8a authored by Pep Martí Saumell's avatar Pep Martí Saumell
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Merge branch '1-support-for-novatel-oem7-logs' into 'devel' 

Resolve "Support for Novatel OEM7 logs"

Closes #1

See merge request mobile_robotics/gauss_project/RTKLIB!2
parents 3f0bb15e 6ecf8cf1
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1 merge request!2Resolve "Support for Novatel OEM7 logs"
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src/rcv/novatel.c
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...@@ -10,6 +10,7 @@ ...@@ -10,6 +10,7 @@
* [3] NovAtel, OM-20000129 Rev2 OEM6 Family Firmware Reference Manual, 2011 * [3] NovAtel, OM-20000129 Rev2 OEM6 Family Firmware Reference Manual, 2011
* [4] NovAtel, OM-20000127 Rev1 OEMStar Firmware Reference Manual, 2009 * [4] NovAtel, OM-20000127 Rev1 OEMStar Firmware Reference Manual, 2009
* [5] NovAtel, OM-20000129 Rev6 OEM6 Family Firmware Reference Manual, 2014 * [5] NovAtel, OM-20000129 Rev6 OEM6 Family Firmware Reference Manual, 2014
* [6] Novatel, OM-20000169 Rev15A OEM7 Commands and Logs Reference Manual, 2020
* *
* version : $Revision: 1.2 $ $Date: 2008/07/14 00:05:05 $ * version : $Revision: 1.2 $ $Date: 2008/07/14 00:05:05 $
* history : 2007/10/08 1.0 new * history : 2007/10/08 1.0 new
...@@ -55,37 +56,39 @@ ...@@ -55,37 +56,39 @@
* output L2W instead of L2D for L2Pcodeless * output L2W instead of L2D for L2Pcodeless
* test toc difference to output beidou ephemeris * test toc difference to output beidou ephemeris
* 2019/05/10 1.17 save galileo E5b data to obs index 2 * 2019/05/10 1.17 save galileo E5b data to obs index 2
* 2020/05/11 1.18 add OEM7 messages
*-----------------------------------------------------------------------------*/ *-----------------------------------------------------------------------------*/
#include "rtklib.h" #include "rtklib.h"
#define OEM4SYNC1 0xAA /* oem4 message start sync code 1 */ #define OEM4SYNC1 0xAA /* oem4 message start sync code 1 */
#define OEM4SYNC2 0x44 /* oem4 message start sync code 2 */ #define OEM4SYNC2 0x44 /* oem4 message start sync code 2 */
#define OEM4SYNC3 0x12 /* oem4 message start sync code 3 */ #define OEM4SYNC3 0x12 /* oem4 message start sync code 3 */
#define OEM4HLEN 28 /* oem4 message header length (bytes) */ #define OEM4HLEN 28 /* oem4 message header length (bytes) */
#define ID_ALMANAC 73 /* message id: oem4 decoded almanac */ #define ID_ALMANAC 73 /* message id: oem4 decoded almanac */
#define ID_GLOALMANAC 718 /* message id: oem4 glonass decoded almanac */ #define ID_GLOALMANAC 718 /* message id: oem4 glonass decoded almanac */
#define ID_GLOEPHEMERIS 723 /* message id: oem4 glonass ephemeris */ #define ID_GLOEPHEMERIS 723 /* message id: oem4 glonass ephemeris */
#define ID_IONUTC 8 /* message id: oem4 iono and utc data */ #define ID_IONUTC 8 /* message id: oem4 iono and utc data */
#define ID_RANGE 43 /* message id: oem4 range measurement */ #define ID_RANGE 43 /* message id: oem4 range measurement */
#define ID_RANGECMP 140 /* message id: oem4 range compressed */ #define ID_RANGECMP 140 /* message id: oem4 range compressed */
#define ID_RAWALM 74 /* message id: oem4 raw almanac */ #define ID_RAWALM 74 /* message id: oem4 raw almanac */
#define ID_RAWEPHEM 41 /* message id: oem4 raw ephemeris */ #define ID_RAWEPHEM 41 /* message id: oem4 raw ephemeris */
#define ID_RAWWAASFRAME 287 /* message id: oem4 raw waas frame */ #define ID_RAWWAASFRAME 287 /* message id: oem4 raw waas frame */
#define ID_QZSSIONUTC 1347 /* message id: oem6 qzss ion/utc parameters */
#define ID_QZSSIONUTC 1347 /* message id: oem6 qzss ion/utc parameters */ #define ID_QZSSRAWEPHEM 1330 /* message id: oem6 qzss raw ephemeris */
#define ID_QZSSRAWEPHEM 1330 /* message id: oem6 qzss raw ephemeris */ #define ID_QZSSRAWSUBFRAME 1331 /* message id: oem6 qzss raw subframe */
#define ID_QZSSRAWSUBFRAME 1331 /* message id: oem6 qzss raw subframe */ #define ID_RAWSBASFRAME 973 /* message id: oem6 raw sbas frame */
#define ID_RAWSBASFRAME 973 /* message id: oem6 raw sbas frame */ #define ID_GALEPHEMERIS 1122 /* message id: oem6 decoded galileo ephemeris */
#define ID_GALEPHEMERIS 1122 /* message id: oem6 decoded galileo ephemeris */ #define ID_GALINAVEPHEMERIS 1309 /* message id: oem7 decoded galileo inav ephemeris */
#define ID_GALALMANAC 1120 /* message id: oem6 decoded galileo almanac */ #define ID_GALFNAVEPHEMERIS 1310 /* message id: oem7 decoded galileo fnav ephemeris */
#define ID_GALCLOCK 1121 /* message id: oem6 galileo clockinformation */ #define ID_GALALMANAC 1120 /* message id: oem6 decoded galileo almanac */
#define ID_GALIONO 1127 /* message id: oem6 decoded galileo iono corrections */ #define ID_GALCLOCK 1121 /* message id: oem6 galileo clockinformation */
#define ID_GALFNAVRAWPAGE 1413 /* message id: oem6 raw galileo f/nav paga data */ #define ID_GALIONO 1127 /* message id: oem6 decoded galileo iono corrections */
#define ID_GALINAVRAWWORD 1414 /* message id: oem6 raw galileo i/nav word data */ #define ID_GALFNAVRAWPAGE 1413 /* message id: oem6 raw galileo f/nav paga data */
#define ID_RAWCNAVFRAME 1066 /* message id: oem6 raw cnav frame data */ #define ID_GALINAVRAWWORD 1414 /* message id: oem6 raw galileo i/nav word data */
#define ID_BDSEPHEMERIS 1696 /* message id: oem6 decoded bds ephemeris */ #define ID_RAWCNAVFRAME 1066 /* message id: oem6 raw cnav frame data */
#define ID_BDSEPHEMERIS 1696 /* message id: oem6 decoded bds ephemeris */
#define WL1 0.1902936727984 #define WL1 0.1902936727984
#define WL2 0.2442102134246 #define WL2 0.2442102134246
...@@ -787,6 +790,168 @@ static int decode_galephemerisb(raw_t *raw) ...@@ -787,6 +790,168 @@ static int decode_galephemerisb(raw_t *raw)
raw->ephsat=eph.sat; raw->ephsat=eph.sat;
return 2; return 2;
} }
/* decode INAV galephemerisb ------------------------------------------------------*/
static int decode_galinavephemerisb(raw_t *raw)
{
eph_t eph={0};
unsigned char *p=raw->buff+OEM4HLEN;
double tow,sqrtA,tt;
char *msg;
int prn,svh_e1b,svh_e5b,dvs_e1b,dvs_e5b;
int toc_inav,week;
trace(3,"decode_galephemerisb: len=%d\n",raw->len);
if (raw->len<OEM4HLEN+184) {
trace(2,"oem7 galinavephemrisb length error: len=%d\n",raw->len);
return -1;
}
prn =U4(p); p+=4;
svh_e5b =U1(p)&3; p+=1;
dvs_e5b =U1(p)&1; p+=1+1+1;
svh_e1b =U1(p)&3; p+=1;
dvs_e1b =U1(p)&1; p+=1+1+1;
eph.iode =U2(p); p+=2; /* IODNav */
eph.sva =U1(p); p+=1; /* SISA index */
// inav source
p+=1;
//
eph.toes =U4(p); p+=4;
toc_inav =U4(p); p+=4;
eph.M0 =R8(p); p+=8;
eph.deln =R8(p); p+=8;
eph.e =R8(p); p+=8;
sqrtA =R8(p); p+=8;
eph.i0 =R8(p); p+=8;
eph.idot =R8(p); p+=8;
eph.OMG0 =R8(p); p+=8;
eph.omg =R8(p); p+=8;
eph.OMGd =R8(p); p+=8;
eph.cuc =R8(p); p+=8;
eph.cus =R8(p); p+=8;
eph.crc =R8(p); p+=8;
eph.crs =R8(p); p+=8;
eph.cic =R8(p); p+=8;
eph.cis =R8(p); p+=8;
eph.f0 =R8(p); p+=8;
eph.f1 =R8(p); p+=8;
eph.f2 =R8(p); p+=8;
eph.tgd[0]=R8(p); p+=8; /* BGD: E5A-E1 (s) */
eph.tgd[1]=R8(p); /* BGD: E5B-E1 (s) */
eph.iodc =eph.iode;
eph.svh =(svh_e5b<<7)|(dvs_e5b<<6)|(svh_e1b<<1)|dvs_e1b;
eph.A =sqrtA*sqrtA;
/* set data source defined in rinex 3.03 */
eph.code=((1<<0)|(1<<9));
if (raw->outtype) {
msg=raw->msgtype+strlen(raw->msgtype);
sprintf(msg," prn=%3d iod=%3d toes=%6.0f",prn,eph.iode,eph.toes);
}
if (!(eph.sat=satno(SYS_GAL,prn))) {
trace(2,"oem7 galinavephemeris satellite error: prn=%d\n",prn);
return -1;
}
tow=time2gpst(raw->time,&week);
eph.week=week; /* gps-week = gal-week */
eph.toe=gpst2time(eph.week,eph.toes);
/* for week-handover problem */
tt=timediff(eph.toe,raw->time);
if (tt<-302400.0) eph.week++;
else if (tt> 302400.0) eph.week--;
eph.toe=gpst2time(eph.week,eph.toes);
eph.toc=adjweek(eph.toe,toc_inav);
eph.ttr=adjweek(eph.toe,tow);
if (!strstr(raw->opt,"-EPHALL")) {
if (raw->nav.eph[eph.sat-1].iode==eph.iode&&
raw->nav.eph[eph.sat-1].code==eph.code) return 0; /* unchanged */
}
raw->nav.eph[eph.sat-1]=eph;
raw->ephsat=eph.sat;
return 2;
}
/* decode FNAV galephemerisb ------------------------------------------------------*/
static int decode_galfnavephemerisb(raw_t *raw)
{
eph_t eph={0};
unsigned char *p=raw->buff+OEM4HLEN;
double tow,sqrtA,tt;
char *msg;
int prn,svh_e5a,dvs_e5a;
int toc_fnav,week;
trace(3,"decode_galfnavephemerisb: len=%d\n",raw->len);
if (raw->len<OEM4HLEN+172) {
trace(2,"oem7 galephemrisb length error: len=%d\n",raw->len);
return -1;
}
prn =U4(p); p+=4;
svh_e5a =U1(p)&3; p+=1;
dvs_e5a =U1(p)&1; p+=1+1+1;
eph.iode =U2(p); p+=2; /* IODNav */
eph.sva =U1(p); p+=1+1; /* SISA index */
eph.toes =U4(p); p+=4;
toc_fnav =U4(p); p+=4;
eph.M0 =R8(p); p+=8;
eph.deln =R8(p); p+=8;
eph.e =R8(p); p+=8;
sqrtA =R8(p); p+=8;
eph.i0 =R8(p); p+=8;
eph.idot =R8(p); p+=8;
eph.OMG0 =R8(p); p+=8;
eph.omg =R8(p); p+=8;
eph.OMGd =R8(p); p+=8;
eph.cuc =R8(p); p+=8;
eph.cus =R8(p); p+=8;
eph.crc =R8(p); p+=8;
eph.crs =R8(p); p+=8;
eph.cic =R8(p); p+=8;
eph.cis =R8(p); p+=8;
eph.f0 =R8(p); p+=8;
eph.f1 =R8(p); p+=8;
eph.f2 =R8(p); p+=8;
eph.tgd[0]=R8(p);
eph.iodc =eph.iode;
eph.svh =(svh_e5a<<4)|(dvs_e5a<<3);
eph.A =sqrtA*sqrtA;
/* set data source defined in rinex 3.03 */
eph.code=((1<<1)|(1<<8));
if (raw->outtype) {
msg=raw->msgtype+strlen(raw->msgtype);
sprintf(msg," prn=%3d iod=%3d toes=%6.0f",prn,eph.iode,eph.toes);
}
if (!(eph.sat=satno(SYS_GAL,prn))) {
trace(2,"oemv galephemeris satellite error: prn=%d\n",prn);
return -1;
}
tow=time2gpst(raw->time,&week);
eph.week=week; /* gps-week = gal-week */
eph.toe=gpst2time(eph.week,eph.toes);
/* for week-handover problem */
tt=timediff(eph.toe,raw->time);
if (tt<-302400.0) eph.week++;
else if (tt> 302400.0) eph.week--;
eph.toe=gpst2time(eph.week,eph.toes);
eph.toc=adjweek(eph.toe,toc_fnav);
eph.ttr=adjweek(eph.toe,tow);
if (!strstr(raw->opt,"-EPHALL")) {
if (raw->nav.eph[eph.sat-1].iode==eph.iode&&
raw->nav.eph[eph.sat-1].code==eph.code) return 0; /* unchanged */
}
raw->nav.eph[eph.sat-1]=eph;
raw->ephsat=eph.sat;
return 2;
}
/* decode galalmanacb --------------------------------------------------------*/ /* decode galalmanacb --------------------------------------------------------*/
static int decode_galalmanacb(raw_t *raw) static int decode_galalmanacb(raw_t *raw)
{ {
...@@ -1084,6 +1249,8 @@ static int decode_oem4(raw_t *raw) ...@@ -1084,6 +1249,8 @@ static int decode_oem4(raw_t *raw)
case ID_QZSSRAWSUBFRAME: return decode_qzssrawsubframeb(raw); case ID_QZSSRAWSUBFRAME: return decode_qzssrawsubframeb(raw);
case ID_QZSSIONUTC : return decode_qzssionutcb (raw); case ID_QZSSIONUTC : return decode_qzssionutcb (raw);
case ID_GALEPHEMERIS : return decode_galephemerisb (raw); case ID_GALEPHEMERIS : return decode_galephemerisb (raw);
case ID_GALINAVEPHEMERIS : return decode_galinavephemerisb (raw);
case ID_GALFNAVEPHEMERIS : return decode_galfnavephemerisb (raw);
case ID_GALALMANAC : return decode_galalmanacb (raw); case ID_GALALMANAC : return decode_galalmanacb (raw);
case ID_GALCLOCK : return decode_galclockb (raw); case ID_GALCLOCK : return decode_galclockb (raw);
case ID_GALIONO : return decode_galionob (raw); case ID_GALIONO : return decode_galionob (raw);
......
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