From 46e7ed92c4e8d239f054a45ecd5c33e689a27a2b Mon Sep 17 00:00:00 2001
From: TimEverett <tim.everett3@gmail.com>
Date: Tue, 31 Jul 2018 12:11:30 -0600
Subject: [PATCH] - Add support for ComNav binary format - Add support for
rover base position in rinex header (for fixed sol)
---
app/convbin/bcc/_convbin.cbproj | 9 +
app/convbin/gcc/makefile | 5 +-
app/convbin/msc/msc.vcproj | 269 ------
app/convbin/msc/msc.vcxproj | 1 +
app/rtkconv/rtkconv.cbproj | 9 +
app/rtknavi/rtknavi.cbproj | 9 +
app/rtknavi_mkl/rtknavi_mkl.cbproj | 9 +
app/rtknavi_win64/rtknavi_win64.cbproj | 21 +
app/rtkplot/plotinfo.cpp | 1 +
app/rtkplot/rtkplot.cbproj | 27 +-
app/rtkplot/rtkplot.cpp | 56 +-
app/rtkrcv/gcc/makefile | 5 +-
app/rtkrcv/gcc/rtkrcv.conf | 37 +-
app/srctblbrows/srctblbrows.cbproj | 9 +
app/str2str/gcc/makefile | 5 +-
app/strsvr/strsvr.cbproj | 9 +
src/convrnx.c | 16 +-
src/postpos.c | 4 +
src/rcv/comnav.c | 1144 ++++++++++++++++++++++++
src/rcv/novatel.c | 322 +------
src/rcvraw.c | 4 +-
src/rinex.c | 4 +-
src/rtkcmn.c | 4 +-
src/rtklib.h | 6 +-
src/sbas.c | 6 -
src/src.pro | 1 +
26 files changed, 1313 insertions(+), 679 deletions(-)
delete mode 100644 app/convbin/msc/msc.vcproj
create mode 100644 src/rcv/comnav.c
diff --git a/app/convbin/bcc/_convbin.cbproj b/app/convbin/bcc/_convbin.cbproj
index 94dc037..488eedd 100644
--- a/app/convbin/bcc/_convbin.cbproj
+++ b/app/convbin/bcc/_convbin.cbproj
@@ -211,6 +211,9 @@
<CppCompile Include="..\..\..\src\rcv\tersus.c">
<BuildOrder>28</BuildOrder>
</CppCompile>
+ <CppCompile Include="..\..\..\src\rcv\comnav.c">
+ <BuildOrder>29</BuildOrder>
+ </CppCompile>
<CppCompile Include="..\..\..\src\rcv\ublox.c">
<BuildOrder>7</BuildOrder>
<BuildOrder>12</BuildOrder>
@@ -528,6 +531,12 @@
<Overwrite>true</Overwrite>
</Platform>
</DeployFile>
+ <DeployFile LocalName="..\..\..\src\rcv\comnav.c" Configuration="Release" Class="ProjectFile">
+ <Platform Name="Win32">
+ <RemoteDir>.\</RemoteDir>
+ <Overwrite>true</Overwrite>
+ </Platform>
+ </DeployFile>
<DeployFile Condition="'$(DynamicRTL)'=='true' And '$(Multithreaded)'!='true'" LocalName="$(BDS)\bin\cc32250.dll" Class="DependencyModule">
<Platform Name="Win32">
<Overwrite>true</Overwrite>
diff --git a/app/convbin/gcc/makefile b/app/convbin/gcc/makefile
index e44dec3..9cbb435 100644
--- a/app/convbin/gcc/makefile
+++ b/app/convbin/gcc/makefile
@@ -22,7 +22,7 @@ all : convbin
convbin : convbin.o rtkcmn.o rinex.o sbas.o preceph.o rcvraw.o convrnx.o
convbin : rtcm.o rtcm2.o rtcm3.o rtcm3e.o pntpos.o ephemeris.o ionex.o
-convbin : novatel.o swiftnav.o tersus.o ublox.o crescent.o skytraq.o gw10.o javad.o nvs.o
+convbin : novatel.o swiftnav.o tersus.o comnav.o ublox.o crescent.o skytraq.o gw10.o javad.o nvs.o
convbin : binex.o rt17.o qzslex.o septentrio.o cmr.o
convbin.o : ../convbin.c
@@ -81,6 +81,8 @@ cmr.o : $(SRC)/rcv/cmr.c
$(CC) -c $(CFLAGS) $(SRC)/rcv/cmr.c
tersus.o : $(SRC)/rcv/tersus.c
$(CC) -c $(CFLAGS) $(SRC)/rcv/tersus.c
+comnav.o : $(SRC)/rcv/comnav.c
+ $(CC) -c $(CFLAGS) $(SRC)/rcv/comnav.c
convbin.o : $(SRC)/rtklib.h
rtkcmn.o : $(SRC)/rtklib.h
@@ -110,6 +112,7 @@ qzslex.o : $(SRC)/rtklib.h
septentrio.o: $(SRC)/rtklib.h
cmr.o : $(SRC)/rtklib.h
tersus.o : $(SRC)/rtklib.h
+comnav.o : $(SRC)/rtklib.h
DATDIR = ../../../test/data/rcvraw
diff --git a/app/convbin/msc/msc.vcproj b/app/convbin/msc/msc.vcproj
deleted file mode 100644
index 926cfab..0000000
--- a/app/convbin/msc/msc.vcproj
+++ /dev/null
@@ -1,269 +0,0 @@
-<?xml version="1.0" encoding="shift_jis"?>
-<VisualStudioProject
- ProjectType="Visual C++"
- Version="9.00"
- Name="msc"
- ProjectGUID="{A9A9B274-2448-4FA0-AC05-857D411DCA48}"
- RootNamespace="msc"
- Keyword="Win32Proj"
- TargetFrameworkVersion="131072"
- >
- <Platforms>
- <Platform
- Name="Win32"
- />
- </Platforms>
- <ToolFiles>
- </ToolFiles>
- <Configurations>
- <Configuration
- Name="Debug|Win32"
- OutputDirectory="$(SolutionDir)$(ConfigurationName)"
- IntermediateDirectory="$(ConfigurationName)"
- ConfigurationType="1"
- CharacterSet="1"
- >
- <Tool
- Name="VCPreBuildEventTool"
- />
- <Tool
- Name="VCCustomBuildTool"
- />
- <Tool
- Name="VCXMLDataGeneratorTool"
- />
- <Tool
- Name="VCWebServiceProxyGeneratorTool"
- />
- <Tool
- Name="VCMIDLTool"
- />
- <Tool
- Name="VCCLCompilerTool"
- Optimization="0"
- AdditionalIncludeDirectories="C:\rtklib_2.1\src"
- PreprocessorDefinitions="WIN32;_CRT_SECURE_NO_DEPRECATE;ENAGLO;ENAQZS;ENAGAL;NFREQ=3"
- MinimalRebuild="true"
- BasicRuntimeChecks="3"
- RuntimeLibrary="3"
- UsePrecompiledHeader="0"
- WarningLevel="3"
- DebugInformationFormat="4"
- />
- <Tool
- Name="VCManagedResourceCompilerTool"
- />
- <Tool
- Name="VCResourceCompilerTool"
- />
- <Tool
- Name="VCPreLinkEventTool"
- />
- <Tool
- Name="VCLinkerTool"
- AdditionalDependencies="winmm.lib"
- OutputFile="$(OutDir)\convbin.exe"
- LinkIncremental="2"
- GenerateDebugInformation="true"
- SubSystem="1"
- RandomizedBaseAddress="1"
- DataExecutionPrevention="0"
- TargetMachine="1"
- />
- <Tool
- Name="VCALinkTool"
- />
- <Tool
- Name="VCManifestTool"
- />
- <Tool
- Name="VCXDCMakeTool"
- />
- <Tool
- Name="VCBscMakeTool"
- />
- <Tool
- Name="VCFxCopTool"
- />
- <Tool
- Name="VCAppVerifierTool"
- />
- <Tool
- Name="VCPostBuildEventTool"
- />
- </Configuration>
- <Configuration
- Name="Release|Win32"
- OutputDirectory="$(SolutionDir)$(ConfigurationName)"
- IntermediateDirectory="$(ConfigurationName)"
- ConfigurationType="1"
- CharacterSet="0"
- WholeProgramOptimization="1"
- >
- <Tool
- Name="VCPreBuildEventTool"
- />
- <Tool
- Name="VCCustomBuildTool"
- />
- <Tool
- Name="VCXMLDataGeneratorTool"
- />
- <Tool
- Name="VCWebServiceProxyGeneratorTool"
- />
- <Tool
- Name="VCMIDLTool"
- />
- <Tool
- Name="VCCLCompilerTool"
- AdditionalIncludeDirectories="..\..\..\src"
- PreprocessorDefinitions="WIN32;_CRT_SECURE_NO_DEPRECATE;ENAGLO;ENAQZS;ENAGAL;NFREQ=3"
- RuntimeLibrary="2"
- UsePrecompiledHeader="0"
- WarningLevel="3"
- DebugInformationFormat="3"
- />
- <Tool
- Name="VCManagedResourceCompilerTool"
- />
- <Tool
- Name="VCResourceCompilerTool"
- />
- <Tool
- Name="VCPreLinkEventTool"
- />
- <Tool
- Name="VCLinkerTool"
- AdditionalDependencies="winmm.lib"
- OutputFile="$(OutDir)\convbin.exe"
- LinkIncremental="1"
- AdditionalLibraryDirectories=""
- GenerateDebugInformation="true"
- SubSystem="1"
- OptimizeReferences="2"
- EnableCOMDATFolding="2"
- RandomizedBaseAddress="1"
- DataExecutionPrevention="0"
- TargetMachine="1"
- />
- <Tool
- Name="VCALinkTool"
- />
- <Tool
- Name="VCManifestTool"
- />
- <Tool
- Name="VCXDCMakeTool"
- />
- <Tool
- Name="VCBscMakeTool"
- />
- <Tool
- Name="VCFxCopTool"
- />
- <Tool
- Name="VCAppVerifierTool"
- />
- <Tool
- Name="VCPostBuildEventTool"
- />
- </Configuration>
- </Configurations>
- <References>
- </References>
- <Files>
- <Filter
- Name="ソース ファイル"
- Filter="cpp;c;cc;cxx;def;odl;idl;hpj;bat;asm;asmx"
- UniqueIdentifier="{4FC737F1-C7A5-4376-A066-2A32D752A2FF}"
- >
- <File
- RelativePath="..\convbin.c"
- >
- </File>
- <File
- RelativePath="..\..\..\src\convrnx.c"
- >
- </File>
- <File
- RelativePath="..\..\..\src\rcv\crescent.c"
- >
- </File>
- <File
- RelativePath="..\..\..\src\rcv\gw10.c"
- >
- </File>
- <File
- RelativePath="..\..\..\src\rcv\javad.c"
- >
- </File>
- <File
- RelativePath="..\..\..\src\rcv\novatel.c"
- >
- </File>
- <File
- RelativePath="..\..\..\src\rcv\nvs.c"
- >
- </File>
- <File
- RelativePath="..\..\..\src\preceph.c"
- >
- </File>
- <File
- RelativePath="..\..\..\src\rcvraw.c"
- >
- </File>
- <File
- RelativePath="..\..\..\src\rinex.c"
- >
- </File>
- <File
- RelativePath="..\..\..\src\rtcm.c"
- >
- </File>
- <File
- RelativePath="..\..\..\src\rtcm2.c"
- >
- </File>
- <File
- RelativePath="..\..\..\src\rtcm3.c"
- >
- </File>
- <File
- RelativePath="..\..\..\src\rtkcmn.c"
- >
- </File>
- <File
- RelativePath="..\..\..\src\sbas.c"
- >
- </File>
- <File
- RelativePath="..\..\..\src\rcv\skytraq.c"
- >
- </File>
- <File
- RelativePath="..\..\..\src\rcv\ss2.c"
- >
- </File>
- <File
- RelativePath="..\..\..\src\rcv\ublox.c"
- >
- </File>
- </Filter>
- <Filter
- Name="ヘッダー ファイル"
- Filter="h;hpp;hxx;hm;inl;inc;xsd"
- UniqueIdentifier="{93995380-89BD-4b04-88EB-625FBE52EBFB}"
- >
- </Filter>
- <Filter
- Name="リソース ファイル"
- Filter="rc;ico;cur;bmp;dlg;rc2;rct;bin;rgs;gif;jpg;jpeg;jpe;resx;tiff;tif;png;wav"
- UniqueIdentifier="{67DA6AB6-F800-4c08-8B7A-83BB121AAD01}"
- >
- </Filter>
- </Files>
- <Globals>
- </Globals>
-</VisualStudioProject>
diff --git a/app/convbin/msc/msc.vcxproj b/app/convbin/msc/msc.vcxproj
index 75ab36d..ca690dd 100644
--- a/app/convbin/msc/msc.vcxproj
+++ b/app/convbin/msc/msc.vcxproj
@@ -109,6 +109,7 @@
<ClCompile Include="..\..\..\src\rcv\septentrio.c" />
<ClCompile Include="..\..\..\src\rcv\swiftnav.c" />
<ClCompile Include="..\..\..\src\rcv\tersus.c" />
+ <ClCompile Include="..\..\..\src\rcv\comnav.c" />
<ClCompile Include="..\..\..\src\rtcm3e.c" />
<ClCompile Include="..\convbin.c" />
<ClCompile Include="..\..\..\src\convrnx.c" />
diff --git a/app/rtkconv/rtkconv.cbproj b/app/rtkconv/rtkconv.cbproj
index dbedb6d..9fba7f6 100644
--- a/app/rtkconv/rtkconv.cbproj
+++ b/app/rtkconv/rtkconv.cbproj
@@ -250,6 +250,9 @@
<CppCompile Include="..\..\src\rcv\cmr.c">
<BuildOrder>38</BuildOrder>
</CppCompile>
+ <CppCompile Include="..\..\src\rcv\comnav.c">
+ <BuildOrder>40</BuildOrder>
+ </CppCompile>
<CppCompile Include="..\..\src\rcv\crescent.c">
<BuildOrder>20</BuildOrder>
<BuildOrder>10</BuildOrder>
@@ -488,6 +491,12 @@
<Overwrite>true</Overwrite>
</Platform>
</DeployFile>
+ <DeployFile LocalName="..\..\src\rcv\comnav.c" Configuration="Debug" Class="ProjectFile">
+ <Platform Name="Win32">
+ <RemoteDir>.\</RemoteDir>
+ <Overwrite>true</Overwrite>
+ </Platform>
+ </DeployFile>
<DeployFile LocalName="..\..\src\rcv\skytraq.c" Configuration="Debug" Class="ProjectFile">
<Platform Name="Win32">
<RemoteDir>.\</RemoteDir>
diff --git a/app/rtknavi/rtknavi.cbproj b/app/rtknavi/rtknavi.cbproj
index 457e9d4..c4c7b3f 100644
--- a/app/rtknavi/rtknavi.cbproj
+++ b/app/rtknavi/rtknavi.cbproj
@@ -308,6 +308,9 @@
<CppCompile Include="..\..\src\rcv\cmr.c">
<BuildOrder>61</BuildOrder>
</CppCompile>
+ <CppCompile Include="..\..\src\rcv\comnav.c">
+ <BuildOrder>62</BuildOrder>
+ </CppCompile>
<CppCompile Include="..\..\src\rcv\crescent.c">
<BuildOrder>49</BuildOrder>
</CppCompile>
@@ -713,6 +716,12 @@
<Overwrite>true</Overwrite>
</Platform>
</DeployFile>
+ <DeployFile LocalName="..\..\src\rcv\comnav.c" Configuration="Release" Class="ProjectFile">
+ <Platform Name="Win32">
+ <RemoteDir>.\</RemoteDir>
+ <Overwrite>true</Overwrite>
+ </Platform>
+ </DeployFile>
<DeployFile LocalName="..\..\src\rcvraw.c" Configuration="Release" Class="ProjectFile">
<Platform Name="Win32">
<RemoteDir>.\</RemoteDir>
diff --git a/app/rtknavi_mkl/rtknavi_mkl.cbproj b/app/rtknavi_mkl/rtknavi_mkl.cbproj
index 5c2bf27..1edaf5c 100644
--- a/app/rtknavi_mkl/rtknavi_mkl.cbproj
+++ b/app/rtknavi_mkl/rtknavi_mkl.cbproj
@@ -352,6 +352,9 @@
<BuildOrder>56</BuildOrder>
</CppCompile>
<CppCompile Include="..\..\src\rcv\cmr.c">
+ <BuildOrder>61</BuildOrder>
+ </CppCompile>
+ <CppCompile Include="..\..\src\rcv\comnav.c">
<BuildOrder>62</BuildOrder>
</CppCompile>
<CppCompile Include="..\..\src\rcv\crescent.c">
@@ -768,6 +771,12 @@
<Overwrite>true</Overwrite>
</Platform>
</DeployFile>
+ <DeployFile LocalName="..\..\src\rcv\comnav.c" Configuration="Release" Class="ProjectFile">
+ <Platform Name="Win32">
+ <RemoteDir>.\</RemoteDir>
+ <Overwrite>true</Overwrite>
+ </Platform>
+ </DeployFile>
<DeployFile LocalName="..\..\src\rcvraw.c" Configuration="Release" Class="ProjectFile">
<Platform Name="Win32">
<RemoteDir>.\</RemoteDir>
diff --git a/app/rtknavi_win64/rtknavi_win64.cbproj b/app/rtknavi_win64/rtknavi_win64.cbproj
index 2a178aa..c68e1e9 100644
--- a/app/rtknavi_win64/rtknavi_win64.cbproj
+++ b/app/rtknavi_win64/rtknavi_win64.cbproj
@@ -357,6 +357,9 @@
<BuildOrder>56</BuildOrder>
</CppCompile>
<CppCompile Include="..\..\src\rcv\cmr.c">
+ <BuildOrder>61</BuildOrder>
+ </CppCompile>
+ <CppCompile Include="..\..\src\rcv\comnav.c">
<BuildOrder>62</BuildOrder>
</CppCompile>
<CppCompile Include="..\..\src\rcv\crescent.c">
@@ -637,6 +640,18 @@
<Overwrite>true</Overwrite>
</Platform>
</DeployFile>
+ <DeployFile LocalName="..\..\src\rcv\tersus.c" Configuration="Release" Class="ProjectFile">
+ <Platform Name="Win64">
+ <RemoteDir>.\</RemoteDir>
+ <Overwrite>true</Overwrite>
+ </Platform>
+ </DeployFile>
+ <DeployFile LocalName="..\..\src\rcv\comnav.c" Configuration="Release" Class="ProjectFile">
+ <Platform Name="Win64">
+ <RemoteDir>.\</RemoteDir>
+ <Overwrite>true</Overwrite>
+ </Platform>
+ </DeployFile>
<DeployFile Condition="'$(UsingDelphiRTL)'=='true'" LocalName="$(BDS)\bin\borlndmm.dll" Class="DependencyModule">
<Platform Name="Win32">
<Overwrite>true</Overwrite>
@@ -742,6 +757,12 @@
<Overwrite>true</Overwrite>
</Platform>
</DeployFile>
+ <DeployFile LocalName="..\..\src\rcv\comnav.c" Configuration="Release" Class="ProjectFile">
+ <Platform Name="Win32">
+ <RemoteDir>.\</RemoteDir>
+ <Overwrite>true</Overwrite>
+ </Platform>
+ </DeployFile>
<DeployFile LocalName="..\..\src\rcv\crescent.c" Configuration="Release" Class="ProjectFile">
<Platform Name="Win32">
<RemoteDir>.\</RemoteDir>
diff --git a/app/rtkplot/plotinfo.cpp b/app/rtkplot/plotinfo.cpp
index 2b0e67e..0a8a307 100644
--- a/app/rtkplot/plotinfo.cpp
+++ b/app/rtkplot/plotinfo.cpp
@@ -408,3 +408,4 @@ void __fastcall TPlot::UpdatePoint(int x, int y)
Message2->Caption=A2U(msg);
}
//---------------------------------------------------------------------------
+
diff --git a/app/rtkplot/rtkplot.cbproj b/app/rtkplot/rtkplot.cbproj
index 5138d6c..2704f63 100644
--- a/app/rtkplot/rtkplot.cbproj
+++ b/app/rtkplot/rtkplot.cbproj
@@ -4,7 +4,7 @@
<ProjectType>CppVCLApplication</ProjectType>
<MainSource>rtkplot.cpp</MainSource>
<Base>True</Base>
- <Config Condition="'$(Config)'==''">Release</Config>
+ <Config Condition="'$(Config)'==''">Debug</Config>
<FrameworkType>VCL</FrameworkType>
<ProjectVersion>18.2</ProjectVersion>
<Platform Condition="'$(Platform)'==''">Win32</Platform>
@@ -19,11 +19,6 @@
<CfgParent>Base</CfgParent>
<Base>true</Base>
</PropertyGroup>
- <PropertyGroup Condition="('$(Platform)'=='Win64' and '$(Base)'=='true') or '$(Base_Win64)'!=''">
- <Base_Win64>true</Base_Win64>
- <CfgParent>Base</CfgParent>
- <Base>true</Base>
- </PropertyGroup>
<PropertyGroup Condition="'$(Config)'=='Debug' or '$(Cfg_1)'!=''">
<Cfg_1>true</Cfg_1>
<CfgParent>Base</CfgParent>
@@ -35,12 +30,6 @@
<Cfg_1>true</Cfg_1>
<Base>true</Base>
</PropertyGroup>
- <PropertyGroup Condition="('$(Platform)'=='Win64' and '$(Cfg_1)'=='true') or '$(Cfg_1_Win64)'!=''">
- <Cfg_1_Win64>true</Cfg_1_Win64>
- <CfgParent>Cfg_1</CfgParent>
- <Cfg_1>true</Cfg_1>
- <Base>true</Base>
- </PropertyGroup>
<PropertyGroup Condition="'$(Config)'=='Release' or '$(Cfg_2)'!=''">
<Cfg_2>true</Cfg_2>
<CfgParent>Base</CfgParent>
@@ -105,13 +94,6 @@
<UWP_CppLogo44>$(BDS)\bin\Artwork\Windows\UWP\cppreg_UwpDefault_44.png</UWP_CppLogo44>
<UWP_CppLogo150>$(BDS)\bin\Artwork\Windows\UWP\cppreg_UwpDefault_150.png</UWP_CppLogo150>
</PropertyGroup>
- <PropertyGroup Condition="'$(Base_Win64)'!=''">
- <BCC_Defines>_RTLDLL;WIN32;TRACE;ENAGLO;ENAGAL;ENAQZS;ENACMP;NEXOBS=3;NFREQ=3;$(BCC_Defines)</BCC_Defines>
- <TASM_Defines>_RTLDLL;WIN32;TRACE;ENAGLO;ENAGAL;ENAQZS;NFREQ=3;$(TASM_Defines)</TASM_Defines>
- <BRCC_Defines>_RTLDLL;WIN32;TRACE;ENAGLO;ENAGAL;ENAQZS;NFREQ=3;$(BRCC_Defines)</BRCC_Defines>
- <UWP_CppLogo44>$(BDS)\bin\Artwork\Windows\UWP\cppreg_UwpDefault_44.png</UWP_CppLogo44>
- <UWP_CppLogo150>$(BDS)\bin\Artwork\Windows\UWP\cppreg_UwpDefault_150.png</UWP_CppLogo150>
- </PropertyGroup>
<PropertyGroup Condition="'$(Cfg_1)'!=''">
<DCC_AdditionalSwitches> -V</DCC_AdditionalSwitches>
<DCC_Define>DEBUG;$(DCC_Define);$(DCC_Define)</DCC_Define>
@@ -139,9 +121,6 @@
<VerInfo_Locale>1033</VerInfo_Locale>
<BCC_wpar>false</BCC_wpar>
</PropertyGroup>
- <PropertyGroup Condition="'$(Cfg_1_Win64)'!=''">
- <BCC_Defines>_DEBUG;$(BCC_Defines);$(BCC_Defines)</BCC_Defines>
- </PropertyGroup>
<PropertyGroup Condition="'$(Cfg_2)'!=''">
<DCC_AdditionalSwitches> -$O+</DCC_AdditionalSwitches>
<IntermediateOutputDir>Release_Build</IntermediateOutputDir>
@@ -366,6 +345,9 @@
<CppCompile Include="..\..\src\rcv\cmr.c">
<BuildOrder>61</BuildOrder>
</CppCompile>
+ <CppCompile Include="..\..\src\rcv\comnav.c">
+ <BuildOrder>62</BuildOrder>
+ </CppCompile>
<CppCompile Include="..\..\src\rcv\crescent.c">
<BuildOrder>37</BuildOrder>
<BuildOrder>20</BuildOrder>
@@ -546,7 +528,6 @@
</CPlusPlusBuilder.Personality>
<Platforms>
<Platform value="Win32">True</Platform>
- <Platform value="Win64">False</Platform>
</Platforms>
<Deployment Version="3">
<DeployFile LocalName="..\..\src\rcv\binex.c" Configuration="Release" Class="ProjectFile">
diff --git a/app/rtkplot/rtkplot.cpp b/app/rtkplot/rtkplot.cpp
index 269a284..fd3f4f9 100644
--- a/app/rtkplot/rtkplot.cpp
+++ b/app/rtkplot/rtkplot.cpp
@@ -42,7 +42,6 @@
-USEFORM("vmapdlg.cpp", VecMapDialog);
USEFORM("..\appcmn\tcpoptdlg.cpp", TcpOptDialog);
USEFORM("..\appcmn\serioptdlg.cpp", SerialOptDialog);
USEFORM("..\appcmn\refdlg.cpp", RefDialog);
@@ -57,15 +56,16 @@ USEFORM("..\appcmn\aboutdlg.cpp", AboutDialog);
USEFORM("..\appcmn\console.cpp", Console);
USEFORM("..\appcmn\ftpoptdlg.cpp", FtpOptDialog);
USEFORM("..\appcmn\fileoptdlg.cpp", FileOptDialog);
+USEFORM("conndlg.cpp", ConnectDialog);
USEFORM("pntdlg.cpp", PntDialog);
USEFORM("plotopt.cpp", PlotOptDialog);
-USEFORM("plotmain.cpp", Plot);
+USEFORM("vmapdlg.cpp", VecMapDialog);
USEFORM("skydlg.cpp", SkyImgDialog);
USEFORM("satdlg.cpp", SatDialog);
+USEFORM("plotmain.cpp", Plot);
+USEFORM("mapdlg.cpp", MapAreaDialog);
USEFORM("gmview.cpp", GoogleMapView);
USEFORM("geview.cpp", GoogleEarthView);
-USEFORM("conndlg.cpp", ConnectDialog);
-USEFORM("mapdlg.cpp", MapAreaDialog);
//---------------------------------------------------------------------------
WINAPI WinMain(HINSTANCE, HINSTANCE, LPSTR, int)
{
@@ -74,30 +74,30 @@ WINAPI WinMain(HINSTANCE, HINSTANCE, LPSTR, int)
Application->Initialize();
Application->Title = "RTKPLOT";
Application->CreateForm(__classid(TPlot), &Plot);
- Application->CreateForm(__classid(TPlotOptDialog), &PlotOptDialog);
- Application->CreateForm(__classid(TSatDialog), &SatDialog);
- Application->CreateForm(__classid(TRefDialog), &RefDialog);
- Application->CreateForm(__classid(TAboutDialog), &AboutDialog);
- Application->CreateForm(__classid(TSpanDialog), &SpanDialog);
- Application->CreateForm(__classid(TTimeDialog), &TimeDialog);
- Application->CreateForm(__classid(TConnectDialog), &ConnectDialog);
- Application->CreateForm(__classid(TSerialOptDialog), &SerialOptDialog);
- Application->CreateForm(__classid(TTcpOptDialog), &TcpOptDialog);
- Application->CreateForm(__classid(TCmdOptDialog), &CmdOptDialog);
- Application->CreateForm(__classid(TFileOptDialog), &FileOptDialog);
- Application->CreateForm(__classid(TKeyDialog), &KeyDialog);
- Application->CreateForm(__classid(TTextViewer), &TextViewer);
- Application->CreateForm(__classid(TViewerOptDialog), &ViewerOptDialog);
- Application->CreateForm(__classid(TPntDialog), &PntDialog);
- Application->CreateForm(__classid(TConfDialog), &ConfDialog);
- Application->CreateForm(__classid(TGoogleEarthView), &GoogleEarthView);
- Application->CreateForm(__classid(TFtpOptDialog), &FtpOptDialog);
- Application->CreateForm(__classid(TConsole), &Console);
- Application->CreateForm(__classid(TGoogleMapView), &GoogleMapView);
- Application->CreateForm(__classid(TMapAreaDialog), &MapAreaDialog);
- Application->CreateForm(__classid(TSkyImgDialog), &SkyImgDialog);
- Application->CreateForm(__classid(TVecMapDialog), &VecMapDialog);
- Application->Run();
+ Application->CreateForm(__classid(TPlotOptDialog), &PlotOptDialog);
+ Application->CreateForm(__classid(TSatDialog), &SatDialog);
+ Application->CreateForm(__classid(TRefDialog), &RefDialog);
+ Application->CreateForm(__classid(TAboutDialog), &AboutDialog);
+ Application->CreateForm(__classid(TSpanDialog), &SpanDialog);
+ Application->CreateForm(__classid(TTimeDialog), &TimeDialog);
+ Application->CreateForm(__classid(TConnectDialog), &ConnectDialog);
+ Application->CreateForm(__classid(TSerialOptDialog), &SerialOptDialog);
+ Application->CreateForm(__classid(TTcpOptDialog), &TcpOptDialog);
+ Application->CreateForm(__classid(TCmdOptDialog), &CmdOptDialog);
+ Application->CreateForm(__classid(TFileOptDialog), &FileOptDialog);
+ Application->CreateForm(__classid(TKeyDialog), &KeyDialog);
+ Application->CreateForm(__classid(TTextViewer), &TextViewer);
+ Application->CreateForm(__classid(TViewerOptDialog), &ViewerOptDialog);
+ Application->CreateForm(__classid(TPntDialog), &PntDialog);
+ Application->CreateForm(__classid(TConfDialog), &ConfDialog);
+ Application->CreateForm(__classid(TGoogleEarthView), &GoogleEarthView);
+ Application->CreateForm(__classid(TFtpOptDialog), &FtpOptDialog);
+ Application->CreateForm(__classid(TConsole), &Console);
+ Application->CreateForm(__classid(TGoogleMapView), &GoogleMapView);
+ Application->CreateForm(__classid(TMapAreaDialog), &MapAreaDialog);
+ Application->CreateForm(__classid(TSkyImgDialog), &SkyImgDialog);
+ Application->CreateForm(__classid(TVecMapDialog), &VecMapDialog);
+ Application->Run();
}
catch (Exception &exception)
{
diff --git a/app/rtkrcv/gcc/makefile b/app/rtkrcv/gcc/makefile
index a95bd4d..6776c7d 100644
--- a/app/rtkrcv/gcc/makefile
+++ b/app/rtkrcv/gcc/makefile
@@ -21,7 +21,7 @@ rtkrcv : rtkrcv.o vt.o rtkcmn.o rtksvr.o rtkpos.o geoid.o solution.o lambda.
rtkrcv : sbas.o stream.o rcvraw.o rtcm.o preceph.o options.o pntpos.o ppp.o ppp_ar.o
rtkrcv : novatel.o ublox.o swiftnav.o crescent.o skytraq.o gw10.o javad.o nvs.o binex.o
rtkrcv : rt17.o ephemeris.o rinex.o ionex.o rtcm2.o rtcm3.o rtcm3e.o qzslex.o
-rtkrcv : ppp_corr.o tides.o septentrio.o cmr.o tersus.o
+rtkrcv : ppp_corr.o tides.o septentrio.o cmr.o tersus.o comnav.o
rtkrcv.o : ../rtkrcv.c
$(CC) -c $(CFLAGS) ../rtkrcv.c
@@ -101,6 +101,8 @@ cmr.o : $(SRC)/rcv/cmr.c
$(CC) -c $(CFLAGS) $(SRC)/rcv/cmr.c
tersus.o : $(SRC)/rcv/tersus.c
$(CC) -c $(CFLAGS) $(SRC)/rcv/tersus.c
+comnav.o : $(SRC)/rcv/comnav.c
+ $(CC) -c $(CFLAGS) $(SRC)/rcv/comnav.c
rtkrcv.o : $(SRC)/rtklib.h ../vt.h
rtkcmn.o : $(SRC)/rtklib.h
@@ -132,6 +134,7 @@ rt17.o : $(SRC)/rtklib.h
septentrio.o: $(SRC)/rtklib.h
cmr.o : $(SRC)/rtklib.h
tersus.o : $(SRC)/rtklib.h
+comnav.o : $(SRC)/rtklib.h
ephemeris.o: $(SRC)/rtklib.h
rinex.o : $(SRC)/rtklib.h
ionex.o : $(SRC)/rtklib.h
diff --git a/app/rtkrcv/gcc/rtkrcv.conf b/app/rtkrcv/gcc/rtkrcv.conf
index cabe22f..77f59dd 100644
--- a/app/rtkrcv/gcc/rtkrcv.conf
+++ b/app/rtkrcv/gcc/rtkrcv.conf
@@ -5,24 +5,24 @@ console-timetype =gpst # (0:gpst,1:utc,2:jst,3:tow)
console-soltype =dms # (0:dms,1:deg,2:xyz,3:enu,4:pyl)
console-solflag =1 # (0:off,1:std+2:age/ratio/ns)
inpstr1-type =serial # (0:off,1:serial,2:file,3:tcpsvr,4:tcpcli,7:ntripcli,8:ftp,9:http)
-inpstr2-type =serial # (0:off,1:serial,2:file,3:tcpsvr,4:tcpcli,7:ntripcli,8:ftp,9:http)
-inpstr3-type =ftp # (0:off,1:serial,2:file,3:tcpsvr,4:tcpcli,7:ntripcli,8:ftp,9:http)
-inpstr1-path =ttyS0:115200:8:n:1:off
+inpstr2-type =off # (0:off,1:serial,2:file,3:tcpsvr,4:tcpcli,7:ntripcli,8:ftp,9:http)
+inpstr3-type =off # (0:off,1:serial,2:file,3:tcpsvr,4:tcpcli,7:ntripcli,8:ftp,9:http)
+inpstr1-path =ttyS4:115200:8:n:1:off
inpstr2-path =ttyS1:115200:8:n:1:off
inpstr3-path =anonymous:passwd@cddis.gsfc.nasa.gov/gps/products/%W/igu%W%D_%hb.sp3.Z::T=-14400,21600,7200,600
-inpstr1-format =oem4 # (0:rtcm2,1:rtcm3,2:oem4,3:oem3,4:ubx,5:ss2,6:hemis,7:skytraq,14:sp3)
+inpstr1-format =ubx # (0:rtcm2,1:rtcm3,2:oem4,3:oem3,4:ubx,5:ss2,6:hemis,7:skytraq,14:sp3)
inpstr2-format =oem4 # (0:rtcm2,1:rtcm3,2:oem4,3:oem3,4:ubx,5:ss2,6:hemis,7:skytraq,14:sp3)
inpstr3-format =sp3 # (0:rtcm2,1:rtcm3,2:oem4,3:oem3,4:ubx,5:ss2,6:hemis,7:skytraq,14:sp3)
inpstr2-nmeareq =off # (0:off,1:latlon,2:single)
inpstr2-nmealat =0 # (deg)
inpstr2-nmealon =0 # (deg)
-outstr1-type =off # (0:off,1:serial,2:file,3:tcpsvr,4:tcpcli,6:ntripsvr)
+outstr1-type =file # (0:off,1:serial,2:file,3:tcpsvr,4:tcpcli,6:ntripsvr)
outstr2-type =off # (0:off,1:serial,2:file,3:tcpsvr,4:tcpcli,6:ntripsvr)
outstr1-path =sol1_%Y%m%d%h%M.pos
outstr2-path =sol2_%Y%m%d%h%M.pos
outstr1-format =llh # (0:llh,1:xyz,2:enu,3:nmea)
outstr2-format =nmea # (0:llh,1:xyz,2:enu,3:nmea)
-logstr1-type =off # (0:off,1:serial,2:file,3:tcpsvr,4:tcpcli,6:ntripsvr)
+logstr1-type =file # (0:off,1:serial,2:file,3:tcpsvr,4:tcpcli,6:ntripsvr)
logstr2-type =off # (0:off,1:serial,2:file,3:tcpsvr,4:tcpcli,6:ntripsvr)
logstr3-type =off # (0:off,1:serial,2:file,3:tcpsvr,4:tcpcli,6:ntripsvr)
logstr1-path =rov_%Y%m%d%h%M.log
@@ -34,23 +34,23 @@ misc-reconnect =30000 # (ms)
misc-nmeacycle =5000 # (ms)
misc-buffsize =32768 # (bytes)
misc-navmsgsel =rover # (0:all,1:rover,1:base,2:corr)
-misc-startcmd =./rtkstart.sh
-misc-stopcmd =./rtkshut.sh
-file-cmdfile1 =../../../data/oem4_raw_1hz.cmd
+misc-startcmd =
+misc-stopcmd =
+file-cmdfile1 =../../../../bins/demo5_b29c/m8t_5hz_usb.cmd
file-cmdfile2 =../../../data/oem4_raw_1hz.cmd
file-cmdfile3 =
pos1-posmode =single # (0:single,1:dgps,2:kinematic,3:static,4:movingbase,5:fixed,6:ppp-kine,7:ppp-static)
pos1-frequency =l1 # (1:l1,2:l1+l2,3:l1+l2+l5)
pos1-soltype =forward # (0:forward,1:backward,2:combined)
pos1-elmask =15 # (deg)
-pos1-snrmask =0 # (dBHz)
+pos1-snrmask =off # (dBHz)
pos1-dynamics =off # (0:off,1:on)
pos1-tidecorr =off # (0:off,1:on)
pos1-ionoopt =brdc # (0:off,1:brdc,2:sbas,3:dual-freq,4:est-stec)
pos1-tropopt =saas # (0:off,1:saas,2:sbas,3:est-ztd,4:est-ztdgrad)
-pos1-sateph =precise # (0:brdc,1:precise,2:brdc+sbas,3:brdc+ssrapc,4:brdc+ssrcom)
+pos1-sateph =brdc # (0:brdc,1:precise,2:brdc+sbas,3:brdc+ssrapc,4:brdc+ssrcom)
pos1-exclsats = # (prn ...)
-pos1-navsys =1 # (1:gps+2:sbas+4:glo+8:gal+16:qzs+32:comp)
+pos1-navsys =15 # (1:gps+2:sbas+4:glo+8:gal+16:qzs+32:comp)
pos2-armode =off # (0:off,1:continuous,2:instantaneous,3:fix-and-hold)
pos2-gloarmode =off # (0:off,1:on,2:autocal)
pos2-arthres =5
@@ -78,7 +78,8 @@ out-solstatic =all # (0:all,1:single)
out-nmeaintv1 =0 # (s)
out-nmeaintv2 =0 # (s)
out-outstat =off # (0:off,1:state,2:residual)
-stats-errratio =100
+out-outvel =on
+stats-errratio =300
stats-errphase =0.003 # (m)
stats-errphaseel =0.003 # (m)
stats-errphasebl =0 # (m/10km)
@@ -110,12 +111,12 @@ ant2-antdeln =0 # (m)
ant2-antdelu =0 # (m)
misc-timeinterp =off # (0:off,1:on)
misc-sbasatsel =0 # (0:all)
-file-satantfile =../../../data/igs05.atx
-file-rcvantfile =../../../data/igs05.atx
-file-staposfile =../../../data/station.pos
+file-satantfile =#../../../data/igs05.atx
+file-rcvantfile =#../../../data/igs05.atx
+file-staposfile =#../../../data/station.pos
file-geoidfile =
-file-dcbfile =../../../data/P1C1_ALL.DCB
-file-tempdir =temp
+file-dcbfile =#../../../data/P1C1_ALL.DCB
+file-tempdir =#temp
file-geexefile =
file-solstatfile =
file-tracefile =
diff --git a/app/srctblbrows/srctblbrows.cbproj b/app/srctblbrows/srctblbrows.cbproj
index 05727ea..2366d8c 100644
--- a/app/srctblbrows/srctblbrows.cbproj
+++ b/app/srctblbrows/srctblbrows.cbproj
@@ -249,6 +249,9 @@
<CppCompile Include="..\..\src\rcv\tersus.c">
<BuildOrder>25</BuildOrder>
</CppCompile>
+ <CppCompile Include="..\..\src\rcv\comnav.c">
+ <BuildOrder>26</BuildOrder>
+ </CppCompile>
<CppCompile Include="..\..\src\rcv\ublox.c">
<BuildOrder>3</BuildOrder>
<BuildOrder>10</BuildOrder>
@@ -398,6 +401,12 @@
<Overwrite>true</Overwrite>
</Platform>
</DeployFile>
+ <DeployFile LocalName="..\..\src\rcv\comnav.c" Configuration="Release" Class="ProjectFile">
+ <Platform Name="Win32">
+ <RemoteDir>.\</RemoteDir>
+ <Overwrite>true</Overwrite>
+ </Platform>
+ </DeployFile>
<DeployFile LocalName="..\..\src\rcvraw.c" Configuration="Release" Class="ProjectFile">
<Platform Name="Win32">
<RemoteDir>.\</RemoteDir>
diff --git a/app/str2str/gcc/makefile b/app/str2str/gcc/makefile
index 6b1c0e0..62308ad 100644
--- a/app/str2str/gcc/makefile
+++ b/app/str2str/gcc/makefile
@@ -22,7 +22,7 @@ all : str2str
str2str : str2str.o stream.o rtkcmn.o solution.o sbas.o geoid.o
str2str : rcvraw.o novatel.o ublox.o swiftnav.o crescent.o skytraq.o gw10.o javad.o
str2str : nvs.o binex.o rt17.o rtcm.o rtcm2.o rtcm3.o rtcm3e.o preceph.o streamsvr.o
-str2str : septentrio.o cmr.o tersus.o
+str2str : septentrio.o cmr.o tersus.o comnav.o
str2str.o : ../str2str.c
$(CC) -c $(CFLAGS) ../str2str.c
@@ -76,6 +76,8 @@ cmr.o : $(SRC)/rcv/cmr.c
$(CC) -c $(CFLAGS) $(SRC)/rcv/cmr.c
tersus.o : $(SRC)/rcv/tersus.c
$(CC) -c $(CFLAGS) $(SRC)/rcv/tersus.c
+comnav.o : $(SRC)/rcv/tersus.c
+ $(CC) -c $(CFLAGS) $(SRC)/rcv/comnav.c
str2str.o : $(SRC)/rtklib.h
stream.o : $(SRC)/rtklib.h
@@ -103,6 +105,7 @@ preceph.o : $(SRC)/rtklib.h
septentrio.o: $(SRC)/rtklib.h
cmr.o : $(SRC)/rtklib.h
tersus.o : $(SRC)/rtklib.h
+comnav.o : $(SRC)/rtklib.h
install:
cp str2str $(BINDIR)
diff --git a/app/strsvr/strsvr.cbproj b/app/strsvr/strsvr.cbproj
index 523e3a5..7635596 100644
--- a/app/strsvr/strsvr.cbproj
+++ b/app/strsvr/strsvr.cbproj
@@ -307,6 +307,9 @@
<CppCompile Include="..\..\src\rcv\tersus.c">
<BuildOrder>41</BuildOrder>
</CppCompile>
+ <CppCompile Include="..\..\src\rcv\comnav.c">
+ <BuildOrder>42</BuildOrder>
+ </CppCompile>
<CppCompile Include="..\..\src\rcv\ublox.c">
<BuildOrder>35</BuildOrder>
</CppCompile>
@@ -567,6 +570,12 @@
<Overwrite>true</Overwrite>
</Platform>
</DeployFile>
+ <DeployFile LocalName="..\..\src\rcv\comnav.c" Configuration="Release" Class="ProjectFile">
+ <Platform Name="Win32">
+ <RemoteDir>.\</RemoteDir>
+ <Overwrite>true</Overwrite>
+ </Platform>
+ </DeployFile>
<DeployFile LocalName="..\..\src\rcv\skytraq.c" Configuration="Release" Class="ProjectFile">
<Platform Name="Win32">
<RemoteDir>.\</RemoteDir>
diff --git a/src/convrnx.c b/src/convrnx.c
index ba0f762..41144f6 100644
--- a/src/convrnx.c
+++ b/src/convrnx.c
@@ -696,13 +696,13 @@ static void set_obstype(int format, rnxopt_t *opt)
{CODE_L1I,CODE_L7I},
{0}
};
- static const unsigned char codes_oem3[NSATSYS][8]={ /* novatel oem3 */
- {CODE_L1C,CODE_L2P},
- {0},
- {0},
- {0},
- {CODE_L1C},
- {0},
+ static const unsigned char codes_cnav[NSATSYS][8]={ /* comnav */
+ {CODE_L1C,CODE_L1P,CODE_L2D,CODE_L2X,CODE_L5I},
+ {CODE_L1C,CODE_L2C},
+ {CODE_L1B,CODE_L1X,CODE_L5X,CODE_L7X,CODE_L8X},
+ {CODE_L1C,CODE_L2X,CODE_L5Q},
+ {CODE_L1C,CODE_L5I},
+ {CODE_L1I,CODE_L7I},
{0}
};
static const unsigned char codes_oem4[NSATSYS][8]={ /* novatel oem6 */
@@ -802,7 +802,7 @@ static void set_obstype(int format, rnxopt_t *opt)
case STRFMT_RTCM2: codes=codes_rtcm2[i]; break;
case STRFMT_RTCM3: codes=codes_rtcm3[i]; break;
case STRFMT_OEM4 : codes=codes_oem4 [i]; break;
- case STRFMT_OEM3 : codes=codes_oem3 [i]; break;
+ case STRFMT_CNAV : codes=codes_cnav [i]; break;
case STRFMT_CRES : codes=codes_cres [i]; break;
case STRFMT_SBP : codes=codes_sbp [i]; break;
case STRFMT_JAVAD: codes=codes_javad[i]; break;
diff --git a/src/postpos.c b/src/postpos.c
index 75e883b..3b29d1f 100644
--- a/src/postpos.c
+++ b/src/postpos.c
@@ -1038,6 +1038,10 @@ static int execses(gtime_t ts, gtime_t te, double ti, const prcopt_t *popt,
freeobsnav(&obss,&navs);
return 0;
}
+ if (!antpos(&popt_,2,&obss,&navs,stas,fopt->stapos)) {
+ freeobsnav(&obss,&navs);
+ return 0;
+ }
}
else if (PMODE_DGPS<=popt_.mode&&popt_.mode<=PMODE_STATIC_START) {
if (!antpos(&popt_,2,&obss,&navs,stas,fopt->stapos)) {
diff --git a/src/rcv/comnav.c b/src/rcv/comnav.c
new file mode 100644
index 0000000..6e344a7
--- /dev/null
+++ b/src/rcv/comnav.c
@@ -0,0 +1,1144 @@
+/*------------------------------------------------------------------------------
+* comnav.c : ComNav receiver functions
+*
+* Copyright (C) 2007-2017 by T.TAKASU, All rights reserved.
+*
+* reference :
+* [1] ComNav, CNT-OEM-RM001, Rev 1.5 COMNAV OEM BOARD REFERENCE MANUAL, 2018
+
+*
+* history : 2007/10/08 1.0 new
+
+*-----------------------------------------------------------------------------*/
+#include "rtklib.h"
+
+#define CNAVSYNC1 0xAA /* cnav message start sync code 1 */
+#define CNAVSYNC2 0x44 /* cnav message start sync code 2 */
+#define CNAVSYNC3 0x12 /* cnav message start sync code 3 */
+
+#define CNAVHLEN 28 /* cnav message header length (bytes) */
+
+#define ID_ALMANAC 73 /* message id: cnav decoded almanac */
+#define ID_GLOALMANAC 718 /* message id: cnav glonass decoded almanac */
+#define ID_GLOEPHEMERIS 723 /* message id: cnav glonass ephemeris */
+#define ID_IONUTC 8 /* message id: cnav iono and utc data */
+#define ID_RANGE 43 /* message id: cnav range measurement */
+#define ID_RANGECMP 140 /* message id: cnav range compressed */
+#define ID_RAWALM 74 /* message id: cnav raw almanac */
+#define ID_RAWEPHEM 41 /* message id: cnav raw ephemeris */
+#define ID_RAWWAASFRAME 287 /* message id: cnav raw waas frame */
+
+#define ID_QZSSIONUTC 1347 /* message id: oem6 qzss ion/utc parameters */
+#define ID_QZSSRAWEPHEM 1330 /* message id: oem6 qzss raw ephemeris */
+#define ID_QZSSRAWSUBFRAME 1331 /* message id: oem6 qzss raw subframe */
+#define ID_RAWSBASFRAME 973 /* message id: oem6 raw sbas frame */
+#define ID_GALEPHEMERIS 1122 /* message id: oem6 decoded galileo ephemeris */
+#define ID_GALALMANAC 1120 /* message id: oem6 decoded galileo almanac */
+#define ID_GALCLOCK 1121 /* message id: oem6 galileo clockinformation */
+#define ID_GALIONO 1127 /* message id: oem6 decoded galileo iono corrections */
+#define ID_GALFNAVRAWPAGE 1413 /* message id: oem6 raw galileo f/nav paga data */
+#define ID_GALINAVRAWWORD 1414 /* message id: oem6 raw galileo i/nav word data */
+#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 WL2 0.2442102134246
+#define MAXVAL 8388608.0
+
+#define OFF_FRQNO -7 /* F/W ver.3.620 */
+
+/* get fields (little-endian) ------------------------------------------------*/
+#define U1(p) (*((unsigned char *)(p)))
+#define I1(p) (*((signed char *)(p)))
+static unsigned short U2(unsigned char *p) {unsigned short u; memcpy(&u,p,2); return u;}
+static unsigned int U4(unsigned char *p) {unsigned int u; memcpy(&u,p,4); return u;}
+static int I4(unsigned char *p) {int i; memcpy(&i,p,4); return i;}
+static float R4(unsigned char *p) {float r; memcpy(&r,p,4); return r;}
+static double R8(unsigned char *p) {double r; memcpy(&r,p,8); return r;}
+
+/* extend sign ---------------------------------------------------------------*/
+static int exsign(unsigned int v, int bits)
+{
+ return (int)(v&(1<<(bits-1))?v|(~0u<<bits):v);
+}
+/* checksum ------------------------------------------------------------------*/
+static unsigned char chksum(const unsigned char *buff, int len)
+{
+ unsigned char sum=0;
+ int i;
+ for (i=0;i<len;i++) sum^=buff[i];
+ return sum;
+}
+/* adjust weekly rollover of gps time ----------------------------------------*/
+static gtime_t adjweek(gtime_t time, double tow)
+{
+ double tow_p;
+ int week;
+ tow_p=time2gpst(time,&week);
+ if (tow<tow_p-302400.0) tow+=604800.0;
+ else if (tow>tow_p+302400.0) tow-=604800.0;
+ return gpst2time(week,tow);
+}
+/* get observation data index ------------------------------------------------*/
+static int obsindex(obs_t *obs, gtime_t time, int sat)
+{
+ int i,j;
+
+ if (obs->n>=MAXOBS) return -1;
+ for (i=0;i<obs->n;i++) {
+ if (obs->data[i].sat==sat) return i;
+ }
+ obs->data[i].time=time;
+ obs->data[i].sat=sat;
+ for (j=0;j<NFREQ+NEXOBS;j++) {
+ obs->data[i].L[j]=obs->data[i].P[j]=0.0;
+ obs->data[i].D[j]=0.0;
+ obs->data[i].SNR[j]=obs->data[i].LLI[j]=0;
+ obs->data[i].code[j]=CODE_NONE;
+ }
+ obs->n++;
+ return i;
+}
+/* decode cnav tracking status -------------------------------------------------
+* deocode cnav tracking status
+* args : unsigned int stat I tracking status field
+* int *sys O system (SYS_???)
+* int *code O signal code (CODE_L??)
+* int *track O tracking state
+* (cnav/5)
+* 0=L1 idle 8=L2 idle
+* 1=L1 sky search 9=L2 p-code align
+* 2=L1 wide freq pull-in 10=L2 search
+* 3=L1 narrow freq pull-in 11=L2 pll
+* 4=L1 pll 12=L2 steering
+* 5=L1 reacq
+* 6=L1 steering
+* 7=L1 fll
+* (oem6)
+* 0=idle 7=freq-lock loop
+* 2=wide freq band pull-in 9=channel alignment
+* 3=narrow freq band pull-in 10=code search
+* 4=phase lock loop 11=aided phase lock loop
+* int *plock O phase-lock flag (0=not locked, 1=locked)
+* int *clock O code-lock flag (0=not locked, 1=locked)
+* int *parity O parity known flag (0=not known, 1=known)
+* int *halfc O phase measurement (0=half-cycle not added,
+* 1=added)
+* return : signal frequency (0:L1,1:L2,2:L5,3:L6,4:L7,5:L8,-1:error)
+* notes : refer [1][3]
+*-----------------------------------------------------------------------------*/
+static int decode_trackstat(unsigned int stat, int *sys, int *code, int *track,
+ int *plock, int *clock, int *parity, int *halfc)
+{
+ int satsys,sigtype,freq=0;
+
+ *track =stat&0x1F;
+ *plock =(stat>>10)&1;
+ *parity=(stat>>11)&1;
+ *clock =(stat>>12)&1;
+ satsys =(stat>>16)&7;
+ *halfc =(stat>>28)&1;
+ sigtype=(stat>>21)&0x1F;
+
+ switch (satsys) {
+ case 0: *sys=SYS_GPS; break;
+ case 1: *sys=SYS_GLO; break;
+ case 2: *sys=SYS_SBS; break;
+ case 3: *sys=SYS_GAL; break; /* OEM6 */
+ case 4: *sys=SYS_CMP; break; /* OEM6 F/W 6.400 */
+ case 5: *sys=SYS_QZS; break; /* OEM6 */
+ default:
+ trace(2,"cnav unknown system: sys=%d\n",satsys);
+ return -1;
+ }
+ if (*sys==SYS_GPS||*sys==SYS_QZS) {
+ switch (sigtype) {
+ case 0: freq=0; *code=CODE_L1C; break; /* L1C/A */
+ case 2: freq=2; *code=CODE_L5I; break; /* L5 */
+ case 5: freq=0; *code=CODE_L1P; break; /* L1P */
+ case 9: freq=1; *code=CODE_L2D; break; /* L2P codeless */
+ case 14: freq=2; *code=CODE_L5I; break; /* L5I */
+ case 17: freq=1; *code=CODE_L2X; break; /* L2C(M+L) */
+ default: freq=-1; break;
+ }
+ }
+ else if (*sys==SYS_GLO) {
+ switch (sigtype) {
+ case 0: freq=0; *code=CODE_L1C; break; /* L1C/A */
+ case 1: freq=1; *code=CODE_L2C; break; /* L2C/A (OEM6) */
+ case 5: freq=1; *code=CODE_L2C; break; /* L2C */
+ default: freq=-1; break;
+ }
+ }
+ else if (*sys==SYS_GAL) {
+ switch (sigtype) {
+ case 1: freq=0; *code=CODE_L1B; break; /* E1B (OEM6) */
+ case 2: freq=0; *code=CODE_L1X; break; /* E1C (OEM6) */
+ case 12: freq=2; *code=CODE_L5X; break; /* E5aQ (OEM6) */
+ case 17: freq=4; *code=CODE_L7X; break; /* E5bQ (OEM6) */
+ case 20: freq=5; *code=CODE_L8X; break; /* AltBOCQ (OEM6) */
+ default: freq=-1; break;
+ }
+ }
+ else if (*sys==SYS_CMP) {
+ switch (sigtype) {
+ case 0: freq=0; *code=CODE_L1I; break; /* B1 with D1 (OEM6) */
+ case 1: freq=1; *code=CODE_L7I; break; /* B2 with D1 (OEM6) */
+ case 4: freq=0; *code=CODE_L1I; break; /* B1 with D2 (OEM6) */
+ case 5: freq=1; *code=CODE_L7I; break; /* B2 with D2 (OEM6) */
+ default: freq=-1; break;
+ }
+ }
+ else if (*sys==SYS_SBS) {
+ switch (sigtype) {
+ case 0: freq=0; *code=CODE_L1C; break; /* L1C/A */
+ case 6: freq=2; *code=CODE_L5I; break; /* L5I (OEM6) */
+ default: freq=-1; break;
+ }
+ }
+ if (freq<0) {
+ trace(2,"cnav signal type error: sys=%d sigtype=%d\n",*sys,sigtype);
+ return -1;
+ }
+ return freq;
+}
+/* check code priority and return obs position -------------------------------*/
+static int checkpri(const char *opt, int sys, int code, int freq)
+{
+ int nex=NEXOBS; /* number of extended obs data */
+
+ if (sys==SYS_GPS) {
+ if (strstr(opt,"-GL1P")&&freq==0) return code==CODE_L1P?0:-1;
+ if (strstr(opt,"-GL2X")&&freq==1) return code==CODE_L2X?1:-1;
+ if (code==CODE_L1P) return nex<1?-1:NFREQ;
+ if (code==CODE_L2X) return nex<2?-1:NFREQ+1;
+ }
+ else if (sys==SYS_GLO) {
+ if (strstr(opt,"-RL2C")&&freq==1) return code==CODE_L2C?1:-1;
+ if (code==CODE_L2C) return nex<1?-1:NFREQ;
+ }
+ else if (sys==SYS_GAL) {
+ if (strstr(opt,"-EL1B")&&freq==0) return code==CODE_L1B?0:-1;
+ if (code==CODE_L1B) return nex<1?-1:NFREQ;
+ if (code==CODE_L7Q) return nex<2?-1:NFREQ+1;
+ if (code==CODE_L8Q) return nex<3?-1:NFREQ+2;
+ }
+ return freq<NFREQ?freq:-1;
+}
+/* decode rangecmpb ----------------------------------------------------------*/
+static int decode_rangecmpb(raw_t *raw)
+{
+ double psr,adr,adr_rolls,lockt,tt,dop,snr,wavelen;
+ int i,index,nobs,prn,sat,sys,code,freq,pos;
+ int track,plock,clock,parity,halfc,lli;
+ char *msg;
+ unsigned char *p=raw->buff+CNAVHLEN;
+
+ trace(3,"decode_rangecmpb: len=%d\n",raw->len);
+
+ nobs=U4(p);
+
+ if (raw->outtype) {
+ msg=raw->msgtype+strlen(raw->msgtype);
+ sprintf(msg," nobs=%2d",nobs);
+ }
+ if (raw->len<CNAVHLEN+4+nobs*24) {
+ trace(2,"cnav rangecmpb length error: len=%d nobs=%d\n",raw->len,nobs);
+ return -1;
+ }
+ for (i=0,p+=4;i<nobs;i++,p+=24) {
+
+ /* decode tracking status */
+ if ((freq=decode_trackstat(U4(p),&sys,&code,&track,&plock,&clock,
+ &parity,&halfc))<0) continue;
+
+ /* obs position */
+ if ((pos=checkpri(raw->opt,sys,code,freq))<0) continue;
+
+ prn=U1(p+17);
+ if (sys==SYS_GLO) prn-=37;
+
+ if (!(sat=satno(sys,prn))) {
+ trace(3,"cnav rangecmpb satellite number error: sys=%d,prn=%d\n",sys,prn);
+ continue;
+ }
+ if (sys==SYS_GLO&&!parity) continue; /* invalid if GLO parity unknown */
+
+ dop=exsign(U4(p+4)&0xFFFFFFF,28)/256.0;
+ psr=(U4(p+7)>>4)/128.0+U1(p+11)*2097152.0;
+
+ if ((wavelen=satwavelen(sat,freq,&raw->nav))<=0.0) {
+ if (sys==SYS_GLO) wavelen=CLIGHT/(freq==0?FREQ1_GLO:FREQ2_GLO);
+ else wavelen=lam_carr[freq];
+ }
+ adr=I4(p+12)/256.0;
+ adr_rolls=(psr/wavelen+adr)/MAXVAL;
+ adr=-adr+MAXVAL*floor(adr_rolls+(adr_rolls<=0?-0.5:0.5));
+
+ lockt=(U4(p+18)&0x1FFFFF)/32.0; /* lock time */
+ if (lockt<2) parity=0; /* pseudo-parity */
+
+ if (raw->tobs[sat-1][pos].time!=0) {
+ tt=timediff(raw->time,raw->tobs[sat-1][pos]);
+ lli=(lockt<65535.968&&lockt-raw->lockt[sat-1][pos]+0.05<=tt)?LLI_SLIP:0;
+ }
+ else {
+ lli=0;
+ }
+
+ if (!parity) lli|=LLI_HALFC;
+ if (halfc ) lli|=LLI_HALFA;
+ raw->tobs [sat-1][pos]=raw->time;
+ raw->lockt[sat-1][pos]=lockt;
+ raw->halfc[sat-1][pos]=halfc;
+
+ snr=((U2(p+20)&0x3FF)>>5)+20.0;
+ if ((sys!=SYS_GAL&&!clock)||(sys==SYS_GAL&&!plock)) psr=0.0; /* code unlock */
+ if (!plock) adr=dop=0.0; /* phase unlock */
+
+ if (fabs(timediff(raw->obs.data[0].time,raw->time))>1E-9) {
+ raw->obs.n=0;
+ }
+ if ((index=obsindex(&raw->obs,raw->time,sat))>=0) {
+ raw->obs.data[index].L [pos]=adr;
+ raw->obs.data[index].P [pos]=psr;
+ raw->obs.data[index].D [pos]=(float)dop;
+ raw->obs.data[index].SNR[pos]=
+ 0.0<=snr&&snr<255.0?(unsigned char)(snr*4.0+0.5):0;
+ raw->obs.data[index].LLI[pos]=(unsigned char)lli;
+ raw->obs.data[index].code[pos]=code;
+#if 0
+ /* L2C phase shift correction (L2C->L2P) */
+ if (code==CODE_L2X) {
+ raw->obs.data[index].L[pos]+=0.25;
+ trace(3,"cnav L2C phase shift corrected: prn=%2d\n",prn);
+ }
+#endif
+ }
+ }
+ return 1;
+}
+/* decode rangeb -------------------------------------------------------------*/
+static int decode_rangeb(raw_t *raw)
+{
+ double psr,adr,dop,snr,lockt,tt;
+ char *msg;
+ int i,index,nobs,prn,sat,sys,code,freq,pos;
+ int track,plock,clock,parity,halfc,lli,gfrq;
+ unsigned char *p=raw->buff+CNAVHLEN;
+
+ trace(3,"decode_rangeb: len=%d\n",raw->len);
+
+ nobs=U4(p);
+
+ if (raw->outtype) {
+ msg=raw->msgtype+strlen(raw->msgtype);
+ sprintf(msg," nobs=%2d",nobs);
+ }
+ if (raw->len<CNAVHLEN+4+nobs*44) {
+ trace(2,"cnav rangeb length error: len=%d nobs=%d\n",raw->len,nobs);
+ return -1;
+ }
+ for (i=0,p+=4;i<nobs;i++,p+=44) {
+
+ /* decode tracking status */
+ if ((freq=decode_trackstat(U4(p+40),&sys,&code,&track,&plock,&clock,
+ &parity,&halfc))<0) continue;
+
+ /* obs position */
+ if ((pos=checkpri(raw->opt,sys,code,freq))<0) continue;
+
+ prn=U2(p);
+ if (sys==SYS_GLO) prn-=37;
+
+ if (!(sat=satno(sys,prn))) {
+ trace(3,"cnav rangeb satellite number error: sys=%d,prn=%d\n",sys,prn);
+ continue;
+ }
+ if (sys==SYS_GLO&&!parity) continue; /* invalid if GLO parity unknown */
+
+ gfrq =U2(p+ 2);
+ psr =R8(p+ 4);
+ adr =R8(p+16);
+ dop =R4(p+28);
+ snr =R4(p+32);
+ lockt=R4(p+36);
+ if (lockt<2) parity=0; /* pseudo-parity */
+
+ /* set glonass frequency channel number */
+ if (sys==SYS_GLO&&raw->nav.geph[prn-1].sat!=sat) {
+ raw->nav.geph[prn-1].frq=gfrq-7;
+ }
+ if (raw->tobs[sat-1][pos].time!=0) {
+ tt=timediff(raw->time,raw->tobs[sat-1][pos]);
+ lli=lockt-raw->lockt[sat-1][pos]+0.05<=tt?LLI_SLIP:0;
+ }
+ else {
+ lli=0;
+ }
+ if (!parity) lli|=LLI_HALFC;
+ if (halfc ) lli|=LLI_HALFA;
+ raw->tobs [sat-1][pos]=raw->time;
+ raw->lockt[sat-1][pos]=lockt;
+ raw->halfc[sat-1][pos]=halfc;
+
+ if (!clock) psr=0.0; /* code unlock */
+ if (!plock) adr=dop=0.0; /* phase unlock */
+
+ if (fabs(timediff(raw->obs.data[0].time,raw->time))>1E-9) {
+ raw->obs.n=0;
+ }
+ if ((index=obsindex(&raw->obs,raw->time,sat))>=0) {
+ raw->obs.data[index].L [pos]=-adr;
+ raw->obs.data[index].P [pos]=psr;
+ raw->obs.data[index].D [pos]=(float)dop;
+ raw->obs.data[index].SNR[pos]=
+ 0.0<=snr&&snr<255.0?(unsigned char)(snr*4.0+0.5):0;
+ raw->obs.data[index].LLI[pos]=(unsigned char)lli;
+ raw->obs.data[index].code[pos]=code;
+#if 0
+ /* L2C phase shift correction */
+ if (code==CODE_L2X) {
+ raw->obs.data[index].L[pos]+=0.25;
+ trace(3,"cnav L2C phase shift corrected: prn=%2d\n",prn);
+ }
+#endif
+ }
+ }
+ return 1;
+}
+/* decode rawephemb ----------------------------------------------------------*/
+static int decode_rawephemb(raw_t *raw)
+{
+ unsigned char *p=raw->buff+CNAVHLEN;
+ eph_t eph={0};
+ int prn,sat;
+
+ trace(3,"decode_rawephemb: len=%d\n",raw->len);
+
+ if (raw->len<CNAVHLEN+102) {
+ trace(2,"cnav rawephemb length error: len=%d\n",raw->len);
+ return -1;
+ }
+ prn=U4(p);
+ if (!(sat=satno(SYS_GPS,prn))) {
+ trace(2,"cnav rawephemb satellite number error: prn=%d\n",prn);
+ return -1;
+ }
+ if (decode_frame(p+ 12,&eph,NULL,NULL,NULL,NULL)!=1||
+ decode_frame(p+ 42,&eph,NULL,NULL,NULL,NULL)!=2||
+ decode_frame(p+ 72,&eph,NULL,NULL,NULL,NULL)!=3) {
+ trace(2,"cnav rawephemb subframe error: prn=%d\n",prn);
+ return -1;
+ }
+ if (!strstr(raw->opt,"-EPHALL")) {
+ if (eph.iode==raw->nav.eph[sat-1].iode) return 0; /* unchanged */
+ }
+ eph.sat=sat;
+ raw->nav.eph[sat-1]=eph;
+ raw->ephsat=sat;
+ trace(4,"decode_rawephemb: sat=%2d\n",sat);
+ return 2;
+}
+/* decode ionutcb ------------------------------------------------------------*/
+static int decode_ionutcb(raw_t *raw)
+{
+ unsigned char *p=raw->buff+CNAVHLEN;
+ int i;
+
+ trace(3,"decode_ionutcb: len=%d\n",raw->len);
+
+ if (raw->len<CNAVHLEN+108) {
+ trace(2,"cnav ionutcb length error: len=%d\n",raw->len);
+ return -1;
+ }
+ for (i=0;i<8;i++) raw->nav.ion_gps[i]=R8(p+i*8);
+ raw->nav.utc_gps[0]=R8(p+72);
+ raw->nav.utc_gps[1]=R8(p+80);
+ raw->nav.utc_gps[2]=U4(p+68);
+ raw->nav.utc_gps[3]=U4(p+64);
+ raw->nav.leaps =I4(p+96);
+ return 9;
+}
+/* decode rawwaasframeb ------------------------------------------------------*/
+static int decode_rawwaasframeb(raw_t *raw)
+{
+ unsigned char *p=raw->buff+CNAVHLEN;
+ int i,prn;
+
+ trace(3,"decode_rawwaasframeb: len=%d\n",raw->len);
+
+ if (raw->len<CNAVHLEN+48) {
+ trace(2,"cnav rawwaasframeb length error: len=%d\n",raw->len);
+ return -1;
+ }
+ prn=U4(p+4);
+
+ if (MINPRNQZS_S<=prn&&prn<=MAXPRNQZS_S) {
+ prn+=10; /* QZSS SAIF PRN -> QZSS PRN */
+ }
+ else if (prn<MINPRNSBS||MAXPRNSBS<prn) return 0;
+
+ raw->sbsmsg.tow=(int)time2gpst(raw->time,&raw->sbsmsg.week);
+ raw->sbsmsg.prn=prn;
+ for (i=0,p+=12;i<29;i++,p++) raw->sbsmsg.msg[i]=*p;
+ return 3;
+}
+/* decode rawsbasframeb ------------------------------------------------------*/
+static int decode_rawsbasframeb(raw_t *raw)
+{
+ trace(3,"decode_rawsbasframeb: len=%d\n",raw->len);
+
+ /* format same as rawwaasframeb */
+ return decode_rawwaasframeb(raw);
+}
+/* decode gloephemerisb ------------------------------------------------------*/
+static int decode_gloephemerisb(raw_t *raw)
+{
+ unsigned char *p=raw->buff+CNAVHLEN;
+ geph_t geph={0};
+ char *msg;
+ double tow,tof,toff;
+ int prn,sat,week;
+
+ trace(3,"decode_gloephemerisb: len=%d\n",raw->len);
+
+ if (raw->len<CNAVHLEN+144) {
+ trace(2,"cnav gloephemerisb length error: len=%d\n",raw->len);
+ return -1;
+ }
+ prn =U2(p)-37;
+
+ if (raw->outtype) {
+ msg=raw->msgtype+strlen(raw->msgtype);
+ sprintf(msg," prn=%3d",prn);
+ }
+ if (!(sat=satno(SYS_GLO,prn))) {
+ trace(2,"cnav gloephemerisb prn error: prn=%d\n",prn);
+ return -1;
+ }
+ geph.frq =U2(p+ 2)+OFF_FRQNO;
+ week =U2(p+ 6);
+ tow =floor(U4(p+8)/1000.0+0.5); /* rounded to integer sec */
+ toff =U4(p+ 12);
+ geph.iode =U4(p+ 20)&0x7F;
+ geph.svh =U4(p+ 24);
+ geph.pos[0]=R8(p+ 28);
+ geph.pos[1]=R8(p+ 36);
+ geph.pos[2]=R8(p+ 44);
+ geph.vel[0]=R8(p+ 52);
+ geph.vel[1]=R8(p+ 60);
+ geph.vel[2]=R8(p+ 68);
+ geph.acc[0]=R8(p+ 76);
+ geph.acc[1]=R8(p+ 84);
+ geph.acc[2]=R8(p+ 92);
+ geph.taun =R8(p+100);
+ geph.gamn =R8(p+116);
+ tof =U4(p+124)-toff; /* glonasst->gpst */
+ geph.age =U4(p+136);
+ geph.toe=gpst2time(week,tow);
+ tof+=floor(tow/86400.0)*86400;
+ if (tof<tow-43200.0) tof+=86400.0;
+ else if (tof>tow+43200.0) tof-=86400.0;
+ geph.tof=gpst2time(week,tof);
+
+ if (!strstr(raw->opt,"-EPHALL")) {
+ if (fabs(timediff(geph.toe,raw->nav.geph[prn-1].toe))<1.0&&
+ geph.svh==raw->nav.geph[prn-1].svh) return 0; /* unchanged */
+ }
+ geph.sat=sat;
+ raw->nav.geph[prn-1]=geph;
+ raw->ephsat=sat;
+ return 2;
+}
+/* decode qzss rawephemb -----------------------------------------------------*/
+static int decode_qzssrawephemb(raw_t *raw)
+{
+ unsigned char *p=raw->buff+CNAVHLEN,*q;
+ eph_t eph={0};
+ char *msg;
+ int i,prn,id,sat;
+
+ trace(3,"decode_qzssrawephemb: len=%d\n",raw->len);
+
+ if (raw->len<CNAVHLEN+44) {
+ trace(2,"cnav qzssrawephemb length error: len=%d\n",raw->len);
+ return -1;
+ }
+ prn=U4(p);
+ id =U4(p+4);
+
+ if (raw->outtype) {
+ msg=raw->msgtype+strlen(raw->msgtype);
+ sprintf(msg," prn=%3d id=%d",prn,id);
+ }
+ if (!(sat=satno(SYS_QZS,prn))) {
+ trace(2,"cnav qzssrawephemb satellite number error: prn=%d\n",prn);
+ return -1;
+ }
+ if (id<1||3<id) return 0;
+
+ q=raw->subfrm[sat-1]+(id-1)*30;
+ for (i=0;i<30;i++) *q++=p[8+i];
+
+ if (id<3) return 0;
+ if (decode_frame(raw->subfrm[sat-1] ,&eph,NULL,NULL,NULL,NULL)!=1||
+ decode_frame(raw->subfrm[sat-1]+30,&eph,NULL,NULL,NULL,NULL)!=2||
+ decode_frame(raw->subfrm[sat-1]+60,&eph,NULL,NULL,NULL,NULL)!=3) {
+ return 0;
+ }
+ if (!strstr(raw->opt,"-EPHALL")) {
+ if (eph.iodc==raw->nav.eph[sat-1].iodc&&
+ eph.iode==raw->nav.eph[sat-1].iode) return 0; /* unchanged */
+ }
+ eph.sat=sat;
+ raw->nav.eph[sat-1]=eph;
+ raw->ephsat=sat;
+ trace(4,"decode_qzssrawephemb: sat=%2d\n",sat);
+ return 2;
+}
+/* decode qzss rawsubframeb --------------------------------------------------*/
+static int decode_qzssrawsubframeb(raw_t *raw)
+{
+ unsigned char *p=raw->buff+CNAVHLEN;
+ eph_t eph={0};
+ char *msg;
+ int prn,sat;
+
+ trace(3,"decode_qzssrawsubframeb: len=%d\n",raw->len);
+
+ if (raw->len<CNAVHLEN+44) {
+ trace(2,"cnav qzssrawsubframeb length error: len=%d\n",raw->len);
+ return -1;
+ }
+ prn=U4(p);
+
+ if (raw->outtype) {
+ msg=raw->msgtype+strlen(raw->msgtype);
+ sprintf(msg," prn=%3d",prn);
+ }
+ if (!(sat=satno(SYS_QZS,prn))) {
+ trace(2,"cnav qzssrawephemb satellite number error: prn=%d\n",prn);
+ return -1;
+ }
+ if (decode_frame(p+12,&eph,NULL,NULL,NULL,NULL)!=1||
+ decode_frame(p+42,&eph,NULL,NULL,NULL,NULL)!=2||
+ decode_frame(p+72,&eph,NULL,NULL,NULL,NULL)!=3) {
+ return 0;
+ }
+ if (!strstr(raw->opt,"-EPHALL")) {
+ if (eph.iodc==raw->nav.eph[sat-1].iodc&&
+ eph.iode==raw->nav.eph[sat-1].iode) return 0; /* unchanged */
+ }
+ eph.sat=sat;
+ raw->nav.eph[sat-1]=eph;
+ raw->ephsat=sat;
+ trace(4,"decode_qzssrawsubframeb: sat=%2d\n",sat);
+ return 2;
+}
+/* decode qzssionutcb --------------------------------------------------------*/
+static int decode_qzssionutcb(raw_t *raw)
+{
+ unsigned char *p=raw->buff+CNAVHLEN;
+ int i;
+
+ trace(3,"decode_qzssionutcb: len=%d\n",raw->len);
+
+ if (raw->len<CNAVHLEN+108) {
+ trace(2,"cnav qzssionutcb length error: len=%d\n",raw->len);
+ return -1;
+ }
+ for (i=0;i<8;i++) raw->nav.ion_qzs[i]=R8(p+i*8);
+ raw->nav.utc_qzs[0]=R8(p+72);
+ raw->nav.utc_qzs[1]=R8(p+80);
+ raw->nav.utc_qzs[2]=U4(p+68);
+ raw->nav.utc_qzs[3]=U4(p+64);
+ raw->nav.leaps =I4(p+96);
+ return 9;
+}
+/* decode galephemerisb ------------------------------------------------------*/
+static int decode_galephemerisb(raw_t *raw)
+{
+ eph_t eph={0};
+ unsigned char *p=raw->buff+CNAVHLEN;
+ double tow,sqrtA,af0_fnav,af1_fnav,af2_fnav,af0_inav,af1_inav,af2_inav,tt;
+ char *msg;
+ int prn,rcv_fnav,rcv_inav,svh_e1b,svh_e5a,svh_e5b,dvs_e1b,dvs_e5a,dvs_e5b;
+ int toc_fnav,toc_inav,week,sel_nav=0;
+
+ trace(3,"decode_galephemerisb: len=%d\n",raw->len);
+
+ if (raw->len<CNAVHLEN+220) {
+ trace(2,"cnav galephemrisb length error: len=%d\n",raw->len);
+ return -1;
+ }
+ prn =U4(p); p+=4;
+ rcv_fnav =U4(p)&1; p+=4;
+ rcv_inav =U4(p)&1; p+=4;
+ svh_e1b =U1(p)&3; p+=1;
+ svh_e5a =U1(p)&3; p+=1;
+ svh_e5b =U1(p)&3; p+=1;
+ dvs_e1b =U1(p)&1; p+=1;
+ dvs_e5a =U1(p)&1; p+=1;
+ dvs_e5b =U1(p)&1; p+=1;
+ eph.sva =U1(p); p+=1+1; /* SISA */
+ eph.iode =U4(p); p+=4; /* IODNav */
+ eph.toes =U4(p); p+=4;
+ sqrtA =R8(p); p+=8;
+ eph.deln =R8(p); p+=8;
+ eph.M0 =R8(p); p+=8;
+ eph.e =R8(p); p+=8;
+ eph.omg =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.i0 =R8(p); p+=8;
+ eph.idot =R8(p); p+=8;
+ eph.OMG0 =R8(p); p+=8;
+ eph.OMGd =R8(p); p+=8;
+ toc_fnav =U4(p); p+=4;
+ af0_fnav =R8(p); p+=8;
+ af1_fnav =R8(p); p+=8;
+ af2_fnav =R8(p); p+=8;
+ toc_inav =U4(p); p+=4;
+ af0_inav =R8(p); p+=8;
+ af1_inav =R8(p); p+=8;
+ af2_inav =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_e5a<<4)|(dvs_e5a<<3)|
+ (svh_e1b<<1)|dvs_e1b;
+
+ /* ephemeris selection (0:INAV,1:FNAV) */
+ if (strstr(raw->opt,"-GALINAV")) sel_nav=0;
+ else if (strstr(raw->opt,"-GALFNAV")) sel_nav=1;
+ else if (!rcv_inav&&rcv_fnav) sel_nav=1;
+
+ eph.A =sqrtA*sqrtA;
+ eph.f0 =sel_nav?af0_fnav:af0_inav;
+ eph.f1 =sel_nav?af1_fnav:af1_inav;
+ eph.f2 =sel_nav?af2_fnav:af2_inav;
+ eph.code =sel_nav?2:1; /* data source 1:I/NAV E1B,2:F/NAV E5a-I */
+
+ 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,sel_nav?toc_fnav: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 galalmanacb --------------------------------------------------------*/
+static int decode_galalmanacb(raw_t *raw)
+{
+ alm_t alm={0};
+ unsigned char *p=raw->buff+CNAVHLEN;
+ double dsqrtA,sqrtA=sqrt(29601297.0);
+ int prn,rcv_fnav,rcv_inav,svh_e1b,svh_e5a,svh_e5b,ioda;
+
+ trace(3,"decode_galalmanacb: len=%d\n",raw->len);
+
+ if (raw->len<CNAVHLEN+100) {
+ trace(2,"cnav galephemrisb length error: len=%d\n",raw->len);
+ return -1;
+ }
+ prn =U4(p); p+=4;
+ rcv_fnav=U4(p)&1; p+=4;
+ rcv_inav=U4(p)&1; p+=4;
+ svh_e1b =U1(p)&3; p+=1;
+ svh_e5a =U1(p)&3; p+=1;
+ svh_e5b =U1(p)&3; p+=1+1;
+ ioda =U4(p); p+=4;
+ alm.week=U4(p); p+=4; /* gst week */
+ alm.toas=U4(p); p+=4;
+ alm.e =R8(p); p+=8;
+ alm.OMGd=R8(p); p+=8;
+ alm.OMG0=R8(p); p+=8;
+ alm.omg =R8(p); p+=8;
+ alm.M0 =R8(p); p+=8;
+ alm.f0 =R8(p); p+=8;
+ alm.f1 =R8(p); p+=8;
+ dsqrtA =R8(p); p+=8;
+ alm.i0 =(R8(p)+56.0)*D2R;
+ alm.svh =(svh_e5b<<7)|(svh_e5a<<4)|(svh_e1b<<1);
+ alm.A =(sqrtA+dsqrtA)*(sqrtA+dsqrtA);
+
+ if (!(alm.sat=satno(SYS_GAL,prn))) {
+ trace(2,"oemv galalmanac satellite error: prn=%d\n",prn);
+ return -1;
+ }
+ alm.toa=gst2time(alm.week,alm.toas);
+ raw->nav.alm[alm.sat-1]=alm;
+ return 0;
+}
+/* decode galclockb ----------------------------------------------------------*/
+static int decode_galclockb(raw_t *raw)
+{
+ unsigned char *p=raw->buff+CNAVHLEN;
+ double a0,a1,a0g,a1g;
+ int leaps,tot,wnt,wnlsf,dn,dtlsf,t0g,wn0g;
+
+ trace(3,"decode_galclockb: len=%d\n",raw->len);
+
+ if (raw->len<CNAVHLEN+64) {
+ trace(2,"cnav galclockb length error: len=%d\n",raw->len);
+ return -1;
+ }
+ a0 =R8(p); p+=8;
+ a1 =R8(p); p+=8;
+ leaps=I4(p); p+=4;
+ tot =U4(p); p+=4;
+ wnt =U4(p); p+=4;
+ wnlsf=U4(p); p+=4;
+ dn =U4(p); p+=4;
+ dtlsf=U4(p); p+=4;
+ a0g =R8(p); p+=8;
+ a1g =R8(p); p+=8;
+ t0g =U4(p); p+=4;
+ wn0g =U4(p);
+
+ raw->nav.utc_gal[0]=a0;
+ raw->nav.utc_gal[1]=a1;
+ raw->nav.utc_gal[2]=tot; /* utc reference tow (s) */
+ raw->nav.utc_gal[3]=wnt; /* utc reference week */
+ return 9;
+}
+/* decode galionob -----------------------------------------------------------*/
+static int decode_galionob(raw_t *raw)
+{
+ unsigned char *p=raw->buff+CNAVHLEN;
+ double ai[3];
+ int i,sf[5];
+
+ trace(3,"decode_galionob: len=%d\n",raw->len);
+
+ if (raw->len<CNAVHLEN+29) {
+ trace(2,"cnav galionob length error: len=%d\n",raw->len);
+ return -1;
+ }
+ ai[0]=R8(p); p+=8;
+ ai[1]=R8(p); p+=8;
+ ai[2]=R8(p); p+=8;
+ sf[0]=U1(p); p+=1;
+ sf[1]=U1(p); p+=1;
+ sf[2]=U1(p); p+=1;
+ sf[3]=U1(p); p+=1;
+ sf[4]=U1(p);
+
+ for (i=0;i<3;i++) raw->nav.ion_gal[i]=ai[i];
+ return 9;
+}
+/* decode galfnavrawpageb ----------------------------------------------------*/
+static int decode_galfnavrawpageb(raw_t *raw)
+{
+ unsigned char *p=raw->buff+CNAVHLEN;
+ unsigned char buff[27];
+ int i,sigch,satid,page;
+
+ trace(3,"decode_galfnavrawpageb: len=%d\n",raw->len);
+
+ if (raw->len<CNAVHLEN+35) {
+ trace(2,"cnav galfnavrawpageb length error: len=%d\n",raw->len);
+ return -1;
+ }
+ sigch=U4(p); p+=4;
+ satid=U4(p); p+=4;
+ for (i=0;i<27;i++) {
+ buff[i]=U1(p); p+=1;
+ }
+ page=getbitu(buff,0,6);
+
+ trace(3,"%s E%2d FNAV (%2d) ",time_str(raw->time,0),satid,page);
+ traceb(3,buff,27);
+
+ return 0;
+}
+/* decode galinavrawwordb ----------------------------------------------------*/
+static int decode_galinavrawwordb(raw_t *raw)
+{
+ unsigned char *p=raw->buff+CNAVHLEN;
+ unsigned char buff[16];
+ gtime_t time=raw->time;
+ char *sig;
+ int i,sigch,satid,sigtype,type,week=0,tow=0;
+
+ trace(3,"decode_galinavrawwordb: len=%d\n",raw->len);
+
+ if (raw->len<CNAVHLEN+28) {
+ trace(2,"cnav galinavrawwordb length error: len=%d\n",raw->len);
+ return -1;
+ }
+ sigch =U4(p); p+=4;
+ satid =U4(p); p+=4;
+ sigtype=U4(p); p+=4;
+
+ switch (sigtype) {
+ case 10433: sig="E1 "; break;
+ case 10466: sig="E5A"; break;
+ case 10499: sig="E5B"; break;
+ default: sig="???" ; break;
+ }
+ for (i=0;i<16;i++) {
+ buff[i]=U1(p); p+=1;
+ }
+ type=getbitu(buff,0,6);
+ if (type==0&&getbitu(buff,6,2)==2) {
+ week=getbitu(buff, 96,12); /* gst week */
+ tow =getbitu(buff,108,20);
+ time=gst2time(week,tow);
+ }
+ trace(3,"%s E%2d INAV-%s (%2d) ",time_str(time,0),satid,sig,type);
+ traceb(3,buff,16);
+
+ return 0;
+}
+/* decode rawcnavframeb ------------------------------------------------------*/
+static int decode_rawcnavframeb(raw_t *raw)
+{
+ unsigned char *p=raw->buff+CNAVHLEN;
+ unsigned char buff[38];
+ int i,sigch,prn,frmid;
+
+ trace(3,"decode_rawcnavframeb: len=%d\n",raw->len);
+
+ if (raw->len<CNAVHLEN+50) {
+ trace(2,"cnav rawcnavframeb length error: len=%d\n",raw->len);
+ return -1;
+ }
+ sigch=U4(p); p+=4;
+ prn =U4(p); p+=4;
+ frmid=U4(p); p+=4;
+
+ for (i=0;i<38;i++) {
+ buff[i]=U1(p); p+=1;
+ }
+ trace(3,"%s PRN=%3d FRMID=%2d ",time_str(raw->time,0),prn,frmid);
+ traceb(3,buff,38);
+
+ return 0;
+}
+/* decode bdsephemerisb ------------------------------------------------------*/
+static int decode_bdsephemerisb(raw_t *raw)
+{
+ eph_t eph={0};
+ unsigned char *p=raw->buff+CNAVHLEN;
+ double ura,sqrtA;
+ char *msg;
+ int prn,toc;
+
+ trace(3,"decode_bdsephemerisb: len=%d\n",raw->len);
+
+ if (raw->len<CNAVHLEN+196) {
+ trace(2,"cnav bdsephemrisb length error: len=%d\n",raw->len);
+ return -1;
+ }
+ prn =U4(p); p+=4;
+ eph.week =U4(p); p+=4;
+ ura =R8(p); p+=8;
+ eph.svh =U4(p)&1; p+=4;
+ eph.tgd[0]=R8(p); p+=8; /* TGD1 for B1 (s) */
+ eph.tgd[1]=R8(p); p+=8; /* TGD2 for B2 (s) */
+ eph.iodc =U4(p); p+=4; /* AODC */
+ toc =U4(p); p+=4;
+ eph.f0 =R8(p); p+=8;
+ eph.f1 =R8(p); p+=8;
+ eph.f2 =R8(p); p+=8;
+ eph.iode =U4(p); p+=4; /* AODE */
+ eph.toes =U4(p); p+=4;
+ sqrtA =R8(p); p+=8;
+ eph.e =R8(p); p+=8;
+ eph.omg =R8(p); p+=8;
+ eph.deln =R8(p); p+=8;
+ eph.M0 =R8(p); p+=8;
+ eph.OMG0 =R8(p); p+=8;
+ eph.OMGd =R8(p); p+=8;
+ eph.i0 =R8(p); p+=8;
+ eph.idot =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);
+ eph.A =sqrtA*sqrtA;
+ eph.sva =uraindex(ura,SYS_CMP);
+
+ 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_CMP,prn))) {
+ trace(2,"oemv bdsephemeris satellite error: prn=%d\n",prn);
+ return -1;
+ }
+ eph.toe=bdt2gpst(bdt2time(eph.week,eph.toes)); /* bdt -> gpst */
+ eph.toc=bdt2gpst(bdt2time(eph.week,toc)); /* bdt -> gpst */
+ eph.ttr=raw->time;
+
+ if (!strstr(raw->opt,"-EPHALL")) {
+ if (timediff(raw->nav.eph[eph.sat-1].toe,eph.toe)==0.0&&
+ raw->nav.eph[eph.sat-1].iode==eph.iode&&
+ raw->nav.eph[eph.sat-1].iodc==eph.iodc) return 0; /* unchanged */
+ }
+ raw->nav.eph[eph.sat-1]=eph;
+ raw->ephsat=eph.sat;
+ return 2;
+}
+
+/* decode cnav message -------------------------------------------------------*/
+static int decode_cnav(raw_t *raw)
+{
+ double tow;
+ int msg,week,type=U2(raw->buff+4);
+
+ trace(3,"decode_cnav: type=%3d len=%d\n",type,raw->len);
+
+ /* check crc32 */
+ if (rtk_crc32(raw->buff,raw->len)!=U4(raw->buff+raw->len)) {
+ trace(2,"cnav crc error: type=%3d len=%d\n",type,raw->len);
+ return -1;
+ }
+ msg =(U1(raw->buff+6)>>4)&0x3;
+ if (!(week=U2(raw->buff+14))) {
+ return -1;
+ }
+ week=adjgpsweek(week);
+ tow =U4(raw->buff+16)*0.001;
+ raw->time=gpst2time(week,tow);
+
+ if (raw->outtype) {
+ sprintf(raw->msgtype,"CNAV %4d (%4d): msg=%d %s",type,raw->len,msg,
+ time_str(gpst2time(week,tow),2));
+ }
+ if (msg!=0) return 0; /* message type: 0=binary,1=ascii */
+
+ switch (type) {
+ case ID_RANGECMP : return decode_rangecmpb (raw);
+ case ID_RANGE : return decode_rangeb (raw);
+ case ID_RAWEPHEM : return decode_rawephemb (raw);
+ case ID_RAWWAASFRAME : return decode_rawwaasframeb (raw);
+ case ID_RAWSBASFRAME : return decode_rawsbasframeb (raw);
+ case ID_IONUTC : return decode_ionutcb (raw);
+ case ID_GLOEPHEMERIS : return decode_gloephemerisb (raw);
+ case ID_QZSSRAWEPHEM : return decode_qzssrawephemb (raw);
+ case ID_QZSSRAWSUBFRAME: return decode_qzssrawsubframeb(raw);
+ case ID_QZSSIONUTC : return decode_qzssionutcb (raw);
+ case ID_GALEPHEMERIS : return decode_galephemerisb (raw);
+ case ID_GALALMANAC : return decode_galalmanacb (raw);
+ case ID_GALCLOCK : return decode_galclockb (raw);
+ case ID_GALIONO : return decode_galionob (raw);
+ case ID_GALFNAVRAWPAGE: return decode_galfnavrawpageb(raw);
+ case ID_GALINAVRAWWORD: return decode_galinavrawwordb(raw);
+ case ID_RAWCNAVFRAME : return decode_rawcnavframeb (raw);
+ case ID_BDSEPHEMERIS : return decode_bdsephemerisb (raw);
+ }
+ return 0;
+}
+/* sync header ---------------------------------------------------------------*/
+static int sync_cnav(unsigned char *buff, unsigned char data)
+{
+ buff[0]=buff[1]; buff[1]=buff[2]; buff[2]=data;
+ return buff[0]==CNAVSYNC1&&buff[1]==CNAVSYNC2&&buff[2]==CNAVSYNC3;
+}
+/* input comnav raw data from stream ----------------------------------------
+* fetch next comnav raw data and input a mesasge from stream
+* args : raw_t *raw IO receiver raw data control struct
+* unsigned char data I stream data (1 byte)
+* return : status (-1: error message, 0: no message, 1: input observation data,
+* 2: input ephemeris, 3: input sbas message,
+* 9: input ion/utc parameter)
+*
+* notes : to specify input options for cnav, set raw->opt to the following
+* option strings separated by spaces.
+*
+* -EPHALL : input all ephemerides
+* -GL1P : select 1P for GPS L1 (default 1C)
+* -GL2X : select 2X for GPS L2 (default 2W)
+* -RL2C : select 2C for GLO L2 (default 2P)
+* -EL2C : select 2C for GAL L2 (default 2C)
+* -GALINAV: use I/NAV for GAL ephemeris
+* -GALFNAV: use F/NAV for GAL ephemeris
+*
+*-----------------------------------------------------------------------------*/
+extern int input_cnav(raw_t *raw, unsigned char data)
+{
+ trace(5,"input_cnav: data=%02x\n",data);
+
+ /* synchronize frame */
+ if (raw->nbyte==0) {
+ if (sync_cnav(raw->buff,data)) raw->nbyte=3;
+ return 0;
+ }
+ raw->buff[raw->nbyte++]=data;
+
+ if (raw->nbyte==10&&(raw->len=U2(raw->buff+8)+CNAVHLEN)>MAXRAWLEN-4) {
+ trace(2,"cnav length error: len=%d\n",raw->len);
+ raw->nbyte=0;
+ return -1;
+ }
+ if (raw->nbyte<10||raw->nbyte<raw->len+4) return 0;
+ raw->nbyte=0;
+
+ /* decode cnav message */
+ return decode_cnav(raw);
+}
+/* input comnav raw data from file ------------------------------------------
+* fetch next comnav raw data and input a message from file
+* args : raw_t *raw IO receiver raw data control struct
+* int format I receiver raw data format (STRFMT_???)
+* FILE *fp I file pointer
+* return : status(-2: end of file, -1...9: same as above)
+*-----------------------------------------------------------------------------*/
+extern int input_cnavf(raw_t *raw, FILE *fp)
+{
+ int i,data;
+
+ trace(4,"input_cnavf:\n");
+
+ /* synchronize frame */
+ if (raw->nbyte==0) {
+ for (i=0;;i++) {
+ if ((data=fgetc(fp))==EOF) return -2;
+ if (sync_cnav(raw->buff,(unsigned char)data)) break;
+ if (i>=4096) return 0;
+ }
+ }
+ if (fread(raw->buff+3,7,1,fp)<1) return -2;
+ raw->nbyte=10;
+
+ if ((raw->len=U2(raw->buff+8)+CNAVHLEN)>MAXRAWLEN-4) {
+ trace(2,"cnav length error: len=%d\n",raw->len);
+ raw->nbyte=0;
+ return -1;
+ }
+ if (fread(raw->buff+10,raw->len-6,1,fp)<1) return -2;
+ raw->nbyte=0;
+
+ /* decode cnav message */
+ return decode_cnav(raw);
+}
+
diff --git a/src/rcv/novatel.c b/src/rcv/novatel.c
index 482c950..89daff3 100644
--- a/src/rcv/novatel.c
+++ b/src/rcv/novatel.c
@@ -1,5 +1,5 @@
/*------------------------------------------------------------------------------
-* notvatel.c : NovAtel OEM6/OEM5/OEM4/OEM3 receiver functions
+* notvatel.c : NovAtel OEM6/OEM5/OEM4 receiver functions
*
* Copyright (C) 2007-2017 by T.TAKASU, All rights reserved.
*
@@ -57,12 +57,8 @@
#define OEM4SYNC1 0xAA /* oem4 message start sync code 1 */
#define OEM4SYNC2 0x44 /* oem4 message start sync code 2 */
#define OEM4SYNC3 0x12 /* oem4 message start sync code 3 */
-#define OEM3SYNC1 0xAA /* oem3 message start sync code 1 */
-#define OEM3SYNC2 0x44 /* oem3 message start sync code 2 */
-#define OEM3SYNC3 0x11 /* oem3 message start sync code 3 */
#define OEM4HLEN 28 /* oem4 message header length (bytes) */
-#define OEM3HLEN 12 /* oem3 message header length (bytes) */
#define ID_ALMANAC 73 /* message id: oem4 decoded almanac */
#define ID_GLOALMANAC 718 /* message id: oem4 glonass decoded almanac */
@@ -87,16 +83,6 @@
#define ID_RAWCNAVFRAME 1066 /* message id: oem6 raw cnav frame data */
#define ID_BDSEPHEMERIS 1696 /* message id: oem6 decoded bds ephemeris */
-#define ID_ALMB 18 /* message id: oem3 decoded almanac */
-#define ID_IONB 16 /* message id: oem3 iono parameters */
-#define ID_UTCB 17 /* message id: oem3 utc parameters */
-#define ID_FRMB 54 /* message id: oem3 framed raw navigation data */
-#define ID_RALB 15 /* message id: oem3 raw almanac */
-#define ID_RASB 66 /* message id: oem3 raw almanac set */
-#define ID_REPB 14 /* message id: oem3 raw ephemeris */
-#define ID_RGEB 32 /* message id: oem3 range measurement */
-#define ID_RGED 65 /* message id: oem3 range compressed */
-
#define WL1 0.1902936727984
#define WL2 0.2442102134246
#define MAXVAL 8388608.0
@@ -1060,222 +1046,7 @@ static int decode_bdsephemerisb(raw_t *raw)
raw->ephsat=eph.sat;
return 2;
}
-/* decode rgeb ---------------------------------------------------------------*/
-static int decode_rgeb(raw_t *raw)
-{
- unsigned char *p=raw->buff+OEM3HLEN;
- double tow,psr,adr,tt,lockt,dop,snr;
- int i,week,nobs,prn,sat,stat,sys,parity,lli,index,freq;
-
- trace(3,"decode_rgeb: len=%d\n",raw->len);
-
- week=adjgpsweek(U4(p));
- tow =R8(p+ 4);
- nobs=U4(p+12);
- raw->time=gpst2time(week,tow);
-
- if (raw->len!=OEM3HLEN+20+nobs*44) {
- trace(2,"oem3 regb length error: len=%d nobs=%d\n",raw->len,nobs);
- return -1;
- }
- for (i=0,p+=20;i<nobs;i++,p+=44) {
- prn =U4(p );
- psr =R8(p+ 4);
- adr =R8(p+16);
- dop =R4(p+28);
- snr =R4(p+32);
- lockt =R4(p+36); /* lock time (s) */
- stat =I4(p+40); /* tracking status */
- freq =(stat>>20)&1; /* L1:0,L2:1 */
- sys =(stat>>15)&7; /* satellite sys (0:GPS,1:GLONASS,2:WAAS) */
- parity=(stat>>10)&1; /* parity known */
- if (!(sat=satno(sys==1?SYS_GLO:(sys==2?SYS_SBS:SYS_GPS),prn))) {
- trace(2,"oem3 regb satellite number error: sys=%d prn=%d\n",sys,prn);
- continue;
- }
- if (raw->tobs[sat-1][freq].time!=0) {
- tt=timediff(raw->time,raw->tobs[sat-1][freq]);
- lli=lockt-raw->lockt[sat-1][freq]+0.05<tt||
- parity!=raw->halfc[sat-1][freq];
- }
- else {
- lli=0;
- }
- if (!parity) lli|=2;
- raw->tobs [sat-1][freq]=raw->time;
- raw->lockt[sat-1][freq]=lockt;
- raw->halfc[sat-1][freq]=parity;
-
- if (fabs(timediff(raw->obs.data[0].time,raw->time))>1E-9) {
- raw->obs.n=0;
- }
- if ((index=obsindex(&raw->obs,raw->time,sat))>=0) {
- raw->obs.data[index].L [freq]=-adr; /* flip sign */
- raw->obs.data[index].P [freq]=psr;
- raw->obs.data[index].D [freq]=(float)dop;
- raw->obs.data[index].SNR[freq]=
- 0.0<=snr&&snr<255.0?(unsigned char)(snr*4.0+0.5):0;
- raw->obs.data[index].LLI[freq]=(unsigned char)lli;
- raw->obs.data[index].code[freq]=freq==0?CODE_L1C:CODE_L2P;
- }
- }
- return 1;
-}
-/* decode rged ---------------------------------------------------------------*/
-static int decode_rged(raw_t *raw)
-{
- unsigned int word;
- unsigned char *p=raw->buff+OEM3HLEN;
- double tow,psrh,psrl,psr,adr,adr_rolls,tt,lockt,dop;
- int i,week,nobs,prn,sat,stat,sys,parity,lli,index,freq,snr;
-
- trace(3,"decode_rged: len=%d\n",raw->len);
-
- nobs=U2(p);
- week=adjgpsweek(U2(p+2));
- tow =U4(p+4)/100.0;
- raw->time=gpst2time(week,tow);
- if (raw->len!=OEM3HLEN+12+nobs*20) {
- trace(2,"oem3 regd length error: len=%d nobs=%d\n",raw->len,nobs);
- return -1;
- }
- for (i=0,p+=12;i<nobs;i++,p+=20) {
- word =U4(p);
- prn =word&0x3F;
- snr =((word>>6)&0x1F)+20;
- lockt =(word>>11)/32.0;
- adr =-I4(p+4)/256.0;
- word =U4(p+8);
- psrh =word&0xF;
- dop =exsign(word>>4,28)/256.0;
- psrl =U4(p+12);
- stat =U4(p+16)>>8;
- freq =(stat>>20)&1; /* L1:0,L2:1 */
- sys =(stat>>15)&7; /* satellite sys (0:GPS,1:GLONASS,2:WAAS) */
- parity=(stat>>10)&1; /* parity known */
- if (!(sat=satno(sys==1?SYS_GLO:(sys==2?SYS_SBS:SYS_GPS),prn))) {
- trace(2,"oem3 regd satellite number error: sys=%d prn=%d\n",sys,prn);
- continue;
- }
- psr=(psrh*4294967296.0+psrl)/128.0;
- adr_rolls=floor((psr/(freq==0?WL1:WL2)-adr)/MAXVAL+0.5);
- adr=adr+MAXVAL*adr_rolls;
-
- if (raw->tobs[sat-1][freq].time!=0) {
- tt=timediff(raw->time,raw->tobs[sat-1][freq]);
- lli=lockt-raw->lockt[sat-1][freq]+0.05<tt||
- parity!=raw->halfc[sat-1][freq];
- }
- else {
- lli=0;
- }
- if (!parity) lli|=2;
- raw->tobs [sat-1][freq]=raw->time;
- raw->lockt[sat-1][freq]=lockt;
- raw->halfc[sat-1][freq]=parity;
-
- if (fabs(timediff(raw->obs.data[0].time,raw->time))>1E-9) {
- raw->obs.n=0;
- }
- if ((index=obsindex(&raw->obs,raw->time,sat))>=0) {
- raw->obs.data[index].L [freq]=adr;
- raw->obs.data[index].P [freq]=psr;
- raw->obs.data[index].D [freq]=(float)dop;
- raw->obs.data[index].SNR[freq]=(unsigned char)(snr*4.0+0.5);
- raw->obs.data[index].LLI[freq]=(unsigned char)lli;
- raw->obs.data[index].code[freq]=freq==0?CODE_L1C:CODE_L2P;
- }
- }
- return 1;
-}
-/* decode repb ---------------------------------------------------------------*/
-static int decode_repb(raw_t *raw)
-{
- unsigned char *p=raw->buff+OEM3HLEN;
- eph_t eph={0};
- int prn,sat;
-
- trace(3,"decode_repb: len=%d\n",raw->len);
-
- if (raw->len!=OEM3HLEN+96) {
- trace(2,"oem3 repb length error: len=%d\n",raw->len);
- return -1;
- }
- prn=U4(p);
- if (!(sat=satno(SYS_GPS,prn))) {
- trace(2,"oem3 repb satellite number error: prn=%d\n",prn);
- return -1;
- }
- if (decode_frame(p+ 4,&eph,NULL,NULL,NULL,NULL)!=1||
- decode_frame(p+34,&eph,NULL,NULL,NULL,NULL)!=2||
- decode_frame(p+64,&eph,NULL,NULL,NULL,NULL)!=3) {
- trace(2,"oem3 repb subframe error: prn=%d\n",prn);
- return -1;
- }
- if (!strstr(raw->opt,"-EPHALL")) {
- if (eph.iode==raw->nav.eph[sat-1].iode) return 0; /* unchanged */
- }
- eph.sat=sat;
- raw->nav.eph[sat-1]=eph;
- raw->ephsat=sat;
- return 2;
-}
-/* decode frmb --------------------------------------------------------------*/
-static int decode_frmb(raw_t *raw)
-{
- unsigned char *p=raw->buff+OEM3HLEN;
- double tow;
- int i,week,prn,nbit;
-
- trace(3,"decode_frmb: len=%d\n",raw->len);
-
- week=adjgpsweek(U4(p));
- tow =R8(p+ 4);
- prn =U4(p+12);
- nbit=U4(p+20);
- raw->time=gpst2time(week,tow);
- if (nbit!=250) return 0;
- if (prn<MINPRNSBS||MAXPRNSBS<prn) {
- trace(2,"oem3 frmb satellite number error: prn=%d\n",prn);
- return -1;
- }
- raw->sbsmsg.week=week;
- raw->sbsmsg.tow=(int)tow;
- raw->sbsmsg.prn=prn;
- for (i=0;i<29;i++) raw->sbsmsg.msg[i]=p[24+i];
- return 3;
-}
-/* decode ionb ---------------------------------------------------------------*/
-static int decode_ionb(raw_t *raw)
-{
- unsigned char *p=raw->buff+OEM3HLEN;
- int i;
-
- if (raw->len!=64+OEM3HLEN) {
- trace(2,"oem3 ionb length error: len=%d\n",raw->len);
- return -1;
- }
- for (i=0;i<8;i++) raw->nav.ion_gps[i]=R8(p+i*8);
- return 9;
-}
-/* decode utcb ---------------------------------------------------------------*/
-static int decode_utcb(raw_t *raw)
-{
- unsigned char *p=raw->buff+OEM3HLEN;
-
- trace(3,"decode_utcb: len=%d\n",raw->len);
-
- if (raw->len!=40+OEM3HLEN) {
- trace(2,"oem3 utcb length error: len=%d\n",raw->len);
- return -1;
- }
- raw->nav.utc_gps[0]=R8(p );
- raw->nav.utc_gps[1]=R8(p+ 8);
- raw->nav.utc_gps[2]=U4(p+16);
- raw->nav.utc_gps[3]=adjgpsweek(U4(p+20));
- raw->nav.leaps =I4(p+28);
- return 9;
-}
+
/* decode oem4 message -------------------------------------------------------*/
static int decode_oem4(raw_t *raw)
{
@@ -1325,44 +1096,14 @@ static int decode_oem4(raw_t *raw)
}
return 0;
}
-/* decode oem3 message -------------------------------------------------------*/
-static int decode_oem3(raw_t *raw)
-{
- int type=U4(raw->buff+4);
-
- trace(3,"decode_oem3: type=%3d len=%d\n",type,raw->len);
-
- /* checksum */
- if (chksum(raw->buff,raw->len)) {
- trace(2,"oem3 checksum error: type=%3d len=%d\n",type,raw->len);
- return -1;
- }
- if (raw->outtype) {
- sprintf(raw->msgtype,"OEM3 %4d (%4d):",type,raw->len);
- }
- switch (type) {
- case ID_RGEB: return decode_rgeb(raw);
- case ID_RGED: return decode_rged(raw);
- case ID_REPB: return decode_repb(raw);
- case ID_FRMB: return decode_frmb(raw);
- case ID_IONB: return decode_ionb(raw);
- case ID_UTCB: return decode_utcb(raw);
- }
- return 0;
-}
/* sync header ---------------------------------------------------------------*/
static int sync_oem4(unsigned char *buff, unsigned char data)
{
buff[0]=buff[1]; buff[1]=buff[2]; buff[2]=data;
return buff[0]==OEM4SYNC1&&buff[1]==OEM4SYNC2&&buff[2]==OEM4SYNC3;
}
-static int sync_oem3(unsigned char *buff, unsigned char data)
-{
- buff[0]=buff[1]; buff[1]=buff[2]; buff[2]=data;
- return buff[0]==OEM3SYNC1&&buff[1]==OEM3SYNC2&&buff[2]==OEM3SYNC3;
-}
-/* input oem4/oem3 raw data from stream ----------------------------------------
-* fetch next novatel oem4/oem3 raw data and input a mesasge from stream
+/* input oem4 raw data from stream ----------------------------------------
+* fetch next novatel oem4 raw data and input a mesasge from stream
* args : raw_t *raw IO receiver raw data control struct
* unsigned char data I stream data (1 byte)
* return : status (-1: error message, 0: no message, 1: input observation data,
@@ -1403,30 +1144,8 @@ extern int input_oem4(raw_t *raw, unsigned char data)
/* decode oem4 message */
return decode_oem4(raw);
}
-extern int input_oem3(raw_t *raw, unsigned char data)
-{
- trace(5,"input_oem3: data=%02x\n",data);
-
- /* synchronize frame */
- if (raw->nbyte==0) {
- if (sync_oem3(raw->buff,data)) raw->nbyte=3;
- return 0;
- }
- raw->buff[raw->nbyte++]=data;
-
- if (raw->nbyte==12&&(raw->len=U4(raw->buff+8))>MAXRAWLEN) {
- trace(2,"oem3 length error: len=%d\n",raw->len);
- raw->nbyte=0;
- return -1;
- }
- if (raw->nbyte<12||raw->nbyte<raw->len) return 0;
- raw->nbyte=0;
-
- /* decode oem3 message */
- return decode_oem3(raw);
-}
-/* input oem4/oem3 raw data from file ------------------------------------------
-* fetch next novatel oem4/oem3 raw data and input a message from file
+/* input oem4 raw data from file ------------------------------------------
+* fetch next novatel oem4 raw data and input a message from file
* args : raw_t *raw IO receiver raw data control struct
* int format I receiver raw data format (STRFMT_???)
* FILE *fp I file pointer
@@ -1460,31 +1179,4 @@ extern int input_oem4f(raw_t *raw, FILE *fp)
/* decode oem4 message */
return decode_oem4(raw);
}
-extern int input_oem3f(raw_t *raw, FILE *fp)
-{
- int i,data;
-
- trace(4,"input_oem3f:\n");
-
- /* synchronize frame */
- if (raw->nbyte==0) {
- for (i=0;;i++) {
- if ((data=fgetc(fp))==EOF) return -2;
- if (sync_oem3(raw->buff,(unsigned char)data)) break;
- if (i>=4096) return 0;
- }
- }
- if (fread(raw->buff+3,1,9,fp)<9) return -2;
- raw->nbyte=12;
-
- if ((raw->len=U4(raw->buff+8))>MAXRAWLEN) {
- trace(2,"oem3 length error: len=%d\n",raw->len);
- raw->nbyte=0;
- return -1;
- }
- if (fread(raw->buff+12,1,raw->len-12,fp)<(size_t)(raw->len-12)) return -2;
- raw->nbyte=0;
-
- /* decode oem3 message */
- return decode_oem3(raw);
-}
+
diff --git a/src/rcvraw.c b/src/rcvraw.c
index 12ba571..dd9daed 100644
--- a/src/rcvraw.c
+++ b/src/rcvraw.c
@@ -990,7 +990,7 @@ extern int input_raw(raw_t *raw, int format, unsigned char data)
switch (format) {
case STRFMT_OEM4 : return input_oem4 (raw,data);
- case STRFMT_OEM3 : return input_oem3 (raw,data);
+ case STRFMT_CNAV : return input_cnav (raw,data);
case STRFMT_UBX : return input_ubx (raw,data);
case STRFMT_SBP : return input_sbp (raw,data);
case STRFMT_CRES : return input_cres (raw,data);
@@ -1020,7 +1020,7 @@ extern int input_rawf(raw_t *raw, int format, FILE *fp)
switch (format) {
case STRFMT_OEM4 : return input_oem4f (raw,fp);
- case STRFMT_OEM3 : return input_oem3f (raw,fp);
+ case STRFMT_CNAV : return input_cnavf (raw,fp);
case STRFMT_UBX : return input_ubxf (raw,fp);
case STRFMT_SBP : return input_sbpf (raw,fp);
case STRFMT_CRES : return input_cresf (raw,fp);
diff --git a/src/rinex.c b/src/rinex.c
index e926590..e53704a 100644
--- a/src/rinex.c
+++ b/src/rinex.c
@@ -1962,11 +1962,11 @@ extern int outrnxobsh(FILE *fp, const rnxopt_t *opt, const nav_t *nav)
/* output obs data field -----------------------------------------------------*/
static void outrnxobsf(FILE *fp, double obs, int lli, int qual)
{
- if (obs==0.0||obs<=-1E9||obs>=1E9) {
+ if (obs==0.0) {
fprintf(fp," ");
}
else {
- fprintf(fp,"%14.3f",obs);
+ fprintf(fp,"%14.3f",fmod(obs,1e9));
}
if (lli<0||!(lli&(LLI_SLIP|LLI_HALFC|LLI_BOCTRK))) {
fprintf(fp," ");
diff --git a/src/rtkcmn.c b/src/rtkcmn.c
index 671c3c6..54f0ca0 100644
--- a/src/rtkcmn.c
+++ b/src/rtkcmn.c
@@ -204,7 +204,7 @@ const prcopt_t prcopt_default={ /* defaults processing options */
{0},{0},{0}, /* baseline,ru,rb */
{"",""}, /* anttype */
{{0}},{{0}},{0}, /* antdel,pcv,exsats */
- 1 /* maxaveep */
+ 1,1 /* maxaveep,initrst */
};
const solopt_t solopt_default={ /* defaults solution output options */
SOLF_LLH,TIMES_GPST,1,3, /* posf,times,timef,timeu */
@@ -217,7 +217,7 @@ const char *formatstrs[32]={ /* stream format strings */
"RTCM 2", /* 0 */
"RTCM 3", /* 1 */
"NovAtel OEM6", /* 2 */
- "NovAtel OEM3", /* 3 */
+ "ComNav", /* 3 */
"u-blox", /* 4 */
"Swift Navigation SBP", /* 5 */
"Hemisphere", /* 6 */
diff --git a/src/rtklib.h b/src/rtklib.h
index 3f3287a..c479ae7 100644
--- a/src/rtklib.h
+++ b/src/rtklib.h
@@ -436,7 +436,7 @@ extern "C" {
#define STRFMT_RTCM2 0 /* stream format: RTCM 2 */
#define STRFMT_RTCM3 1 /* stream format: RTCM 3 */
#define STRFMT_OEM4 2 /* stream format: NovAtel OEMV/4 */
-#define STRFMT_OEM3 3 /* stream format: NovAtel OEM3 */
+#define STRFMT_CNAV 3 /* stream format: ComNav */
#define STRFMT_UBX 4 /* stream format: u-blox LEA-*T */
#define STRFMT_SBP 5 /* stream format: Swift Navigation SBP */
#define STRFMT_CRES 6 /* stream format: Hemisphere */
@@ -1688,7 +1688,7 @@ EXPORT void free_cmr (raw_t *raw);
EXPORT int update_cmr (raw_t *raw, rtksvr_t *svr, obs_t *obs);
EXPORT int input_oem4 (raw_t *raw, unsigned char data);
-EXPORT int input_oem3 (raw_t *raw, unsigned char data);
+EXPORT int input_cnav (raw_t *raw, unsigned char data);
EXPORT int input_ubx (raw_t *raw, unsigned char data);
EXPORT int input_sbp (raw_t *raw, unsigned char data);
EXPORT int input_cres (raw_t *raw, unsigned char data);
@@ -1703,7 +1703,7 @@ EXPORT int input_cmr (raw_t *raw, unsigned char data);
EXPORT int input_tersus(raw_t *raw, unsigned char data);
EXPORT int input_lexr (raw_t *raw, unsigned char data);
EXPORT int input_oem4f (raw_t *raw, FILE *fp);
-EXPORT int input_oem3f (raw_t *raw, FILE *fp);
+EXPORT int input_cnavf (raw_t *raw, FILE *fp);
EXPORT int input_ubxf (raw_t *raw, FILE *fp);
EXPORT int input_sbpf (raw_t *raw, FILE *fp);
EXPORT int input_cresf (raw_t *raw, FILE *fp);
diff --git a/src/sbas.c b/src/sbas.c
index 09a3ec2..6920ffb 100644
--- a/src/sbas.c
+++ b/src/sbas.c
@@ -484,12 +484,6 @@ static void readmsgs(const char *file, int sel, gtime_t ts, gtime_t te,
if (sscanf(++p,"%d,%d",&ch,&prn)<2) continue;
if (!(p=getfield(p,4))) continue;
}
- else if (!strncmp(buff,"$FRMA",5)) { /* NovAtel OEM3 */
- if (!(p=getfield(buff,2))) continue;
- if (sscanf(p,"%d,%lf,%d",&week,&tow,&prn)<3) continue;
- if (!(p=getfield(p,6))) continue;
- if (week<WEEKOFFSET) week+=WEEKOFFSET;
- }
else continue;
if (sel!=0&&sel!=prn) continue;
diff --git a/src/src.pro b/src/src.pro
index 20cc422..0f99e4b 100644
--- a/src/src.pro
+++ b/src/src.pro
@@ -61,6 +61,7 @@ SOURCES += rtkcmn.c \
rcv/ss2.c \
rcv/ublox.c \
rcv/tersus.c \
+ rcv/comnav.c \
rcv/swiftnav.c \
rcv/cmr.c
--
GitLab