diff --git a/src/convrnx.c b/src/convrnx.c
index d017eded6056fbf0c7237409952369914ee9b92e..4cf6816c7ba28e013aca377bfddbe935948f3819 100644
--- a/src/convrnx.c
+++ b/src/convrnx.c
@@ -1004,7 +1004,12 @@ static void convobs(FILE **ofp, rnxopt_t *opt, strfile_t *str, int *staid,
}
}
/* output rinex obs */
- outrnxobsb(ofp[0],opt,str->obs->data,str->obs->n,0);
+ outrnxobsb(ofp[0],opt,str->obs);
+ /* n[NOUTFILE+1] - count of events converted to rinex */
+ if (str->obs->flag == 5)
+ n[NOUTFILE+1]++;
+ /* set to zero flag for the next iteration (initialization) */
+ str->obs->flag = 0;
if (opt->tstart.time==0) opt->tstart=time;
opt->tend=time;
@@ -1215,7 +1220,7 @@ static void setapppos(strfile_t *str, rnxopt_t *opt)
/* show status message -------------------------------------------------------*/
static int showstat(int sess, gtime_t ts, gtime_t te, int *n)
{
- const char type[]="ONGHQLCISE";
+ const char type[]="ONGHQLCISET";
char msg[1024]="",*p=msg,s[64];
int i;
@@ -1232,9 +1237,10 @@ static int showstat(int sess, gtime_t ts, gtime_t te, int *n)
}
p+=sprintf(p,": ");
- for (i=0;i<NOUTFILE+1;i++) {
+ /* +2 to NOUTFILE for counters of errors and events */
+ for (i=0;i<NOUTFILE+2;i++) {
if (n[i]==0) continue;
- p+=sprintf(p,"%c=%d%s",type[i],n[i],i<NOUTFILE?" ":"");
+ p+=sprintf(p,"%c=%d%s",type[i],n[i],i<NOUTFILE+1?" ":"");
}
return showmsg(msg);
}
@@ -1248,7 +1254,7 @@ static int convrnx_s(int sess, int format, rnxopt_t *opt, const char *file,
halfc_t halfc={{{0}}};
gtime_t ts={0},te={0},tend={0},time={0};
unsigned char slips[MAXSAT][NFREQ+NEXOBS]={{0}};
- int i,j,nf,type,n[NOUTFILE+1]={0},staid=-1,abort=0;
+ int i,j,nf,type,n[NOUTFILE+2]={0},staid=-1,abort=0;
char path[1024],*paths[NOUTFILE],s[NOUTFILE][1024];
char *epath[MAXEXFILE]={0},*staname=*opt->staid?opt->staid:"0000";
diff --git a/src/rcv/swiftnav.c b/src/rcv/swiftnav.c
index 6fe1989fde9a9c60d8abe3e2e8f2801467e88065..07fd6b5560b3890efc1d8d9aae9d115923d1be10 100644
--- a/src/rcv/swiftnav.c
+++ b/src/rcv/swiftnav.c
@@ -30,6 +30,7 @@ static const char rcsid[] = "$Id: Swiftnav SBP,v 1.0 2017/02/01 FT $";
#define ID_MSGEPHGLO 0x008B /* Glonass L1/L2 OF nav message */
#define ID_MSGIONGPS 0x0090 /* GPS ionospheric parameters */
#define ID_MSG_SBAS_RAW 0x7777 /* SBAS data */
+#define ID_MSG_EXT_EVENT 0x101 /* external event */
#define SEC_DAY 86400.0
@@ -294,6 +295,15 @@ static int flushobuf(raw_t *raw) {
trace(3, "flushobuf: n=%d\n", raw->obuf.n);
+ /* copy events from data buffer */
+ if (raw->obuf.eventime.time>0) {
+ raw->obs.eventime = raw->obuf.eventime;
+ raw->obs.timevalid = raw->obuf.timevalid;
+ raw->obs.flag = raw->obuf.flag;
+ raw->obs.rcvcount = raw->obuf.rcvcount;
+ raw->obs.tmcount=raw->obuf.tmcount;
+ }
+
/* copy observation data buffer */
for (i = 0; i < raw->obuf.n && i < MAXOBS; i++) {
if (!satsys(raw->obuf.data[i].sat, NULL))
@@ -304,6 +314,11 @@ static int flushobuf(raw_t *raw) {
}
raw->obs.n = n;
+ /* clear events from data buffer */
+ raw->obuf.eventime = time0;
+ raw->obuf.flag = raw->obuf.timevalid=0;
+ raw->obuf.rcvcount = raw->obuf.tmcount=0;
+
/* clear observation data buffer */
for (i = 0; i < MAXOBS; i++) {
raw->obuf.data[i].time = time0;
@@ -1132,6 +1147,39 @@ static int decode_snav(raw_t *raw) {
return 3;
}
+/* decode external event -----------------------------------------------*/
+static int decode_event(raw_t *raw) {
+ gtime_t eventime;
+ uint8_t *puiTmp = (raw->buff) + 6;
+ uint16_t wn;
+ uint32_t tow;
+ int32_t ns_residual;
+ uint8_t flags,pin;
+
+ trace(4, "MSG_EXT_EVENT: len=%d\n", raw->len);
+
+ if ((raw->len) < 20) {
+ trace(2, "SBP decode_event length error: len=%d\n", raw->len);
+ return -1;
+ }
+
+/* get message fields */
+ wn = U2(puiTmp + 0);
+ tow = U4(puiTmp + 2);
+ ns_residual = I4(puiTmp + 6);
+ flags = U1(puiTmp + 10);
+ pin = U1(puiTmp + 11);
+
+/* write to event variables */
+ eventime = gpst2time(wn,tow*1E-3+ns_residual*1E-9);
+ raw->obuf.flag = 5; /* event flag */
+ raw->obuf.eventime = eventime;
+ raw->obuf.tmcount++;
+ raw->obuf.timevalid = (flags & 0x02)>>1;
+
+ return 0;
+}
+
/* decode SBF raw message --------------------------------------------------*/
static int decode_sbp(raw_t *raw) {
uint16_t crc, uCalcCrc;
@@ -1182,6 +1230,8 @@ static int decode_sbp(raw_t *raw) {
return decode_gpsion(raw);
case ID_MSG_SBAS_RAW:
return decode_snav(raw);
+ case ID_MSG_EXT_EVENT:
+ return decode_event(raw);
default:
trace(4, "decode_sbp: unused frame type=%04x len=%d\n", type, raw->len);
diff --git a/src/rcv/ublox.c b/src/rcv/ublox.c
index e1dd2d4bc7239ed6d1879fa6ce22dbf2a0394997..c1b329caa4d0b1d6859ffde04c7132b09d78c990 100644
--- a/src/rcv/ublox.c
+++ b/src/rcv/ublox.c
@@ -71,6 +71,7 @@
#define ID_TRKD5 0x030A /* ubx message id: trace mesurement data */
#define ID_TRKMEAS 0x0310 /* ubx message id: trace mesurement data */
#define ID_TRKSFRBX 0x030F /* ubx message id: trace subframe buffer */
+#define ID_TIMTM2 0x0D03 /* ubx message id: time mark data */
#define FU1 1 /* ubx message field types */
#define FU2 2
@@ -1071,6 +1072,52 @@ static int decode_trksfrbx(raw_t *raw)
}
return 0;
}
+/* decode ubx-tim-tm2: time mark data ----------------------------------------*/
+static int decode_timtm2(raw_t *raw)
+{
+ gtime_t eventime;
+ char ch, flags;
+ unsigned int count, wnR, wnF;
+ unsigned long towMsR, towSubMsR, towMsF, towSubMsF, accEst;
+ int time, timeBase, newRisingEdge, newFallingEdge;
+ unsigned char *p=raw->buff+6;
+
+ trace(4, "decode_timtm2: len=%d\n", raw->len);
+
+ if (raw->outtype) {
+ sprintf(raw->msgtype, "UBX TIM-TM2 (%4d)", raw->len);
+ }
+ ch = U1(p);
+ flags = *(p+1);
+ count = U2(p+2);
+ wnR = U2(p+4);
+ wnF = U2(p+6);
+ towMsR = U4(p+8);
+ towSubMsR = U4(p+12);
+ towMsF = U4(p+16);
+ towSubMsF = U4(p+20);
+ accEst = U4(p+24);
+
+ /* extract flags to variables */
+ newFallingEdge = ((flags >> 2) & 0x01);
+ timeBase = ((flags >> 3) & 0x03);
+ time = ((flags >> 6) & 0x01);
+ newRisingEdge = ((flags >> 7) & 0x01);
+
+ if (newFallingEdge)
+ {
+ eventime = gpst2time(wnF,towMsF*1E-3+towSubMsF*1E-9);
+ raw->obs.flag = 5; /* Event flag */
+ raw->obs.eventime = eventime;
+ raw->obs.rcvcount = count;
+ raw->obs.tmcount++;
+ raw->obs.timevalid = time;
+ } else {
+ raw->obs.flag = 0;
+ }
+ return 0;
+}
+
/* decode ublox raw message --------------------------------------------------*/
static int decode_ubx(raw_t *raw)
{
@@ -1093,6 +1140,7 @@ static int decode_ubx(raw_t *raw)
case ID_TRKMEAS : return decode_trkmeas (raw);
case ID_TRKD5 : return decode_trkd5 (raw);
case ID_TRKSFRBX: return decode_trksfrbx(raw);
+ case ID_TIMTM2 : return decode_timtm2 (raw);
}
if (raw->outtype) {
sprintf(raw->msgtype,"UBX 0x%02X 0x%02X (%4d)",type>>8,type&0xF,
@@ -1107,7 +1155,7 @@ static int sync_ubx(unsigned char *buff, unsigned char data)
return buff[0]==UBXSYNC1&&buff[1]==UBXSYNC2;
}
/* input ublox raw message from stream -----------------------------------------
-* fetch next ublox raw data and input a mesasge from stream
+* fetch next ublox raw data and input a message 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,
diff --git a/src/rinex.c b/src/rinex.c
index ced5a615dd32e405f7f9e8d9517804d44a84fc04..a04c8e0d72a5e184481db66da5f779fb9e8deaa6 100644
--- a/src/rinex.c
+++ b/src/rinex.c
@@ -14,7 +14,7 @@
* Version 2.12, June 23, 2009
* [5] W.Gurtner and L.Estey, RINEX The Receiver Independent Exchange Format
* Version 3.01, June 22, 2009
-* [6] J.Ray and W.Gurtner, RINEX extentions to handle clock information
+* [6] J.Ray and W.Gurtner, RINEX extensions to handle clock information
* version 3.02, September 2, 2010
* [7] RINEX The Receiver Independent Exchange Format Version 3.02,
* International GNSS Service (IGS), RINEX Working Group and Radio
@@ -544,7 +544,7 @@ static void decode_gnavh(char *buff, nav_t *nav)
trace(4,"decode_gnavh:\n");
- if (strstr(label,"CORR TO SYTEM TIME" )) ; /* opt */
+ if (strstr(label,"CORR TO SYSTEM TIME" )) ; /* opt */
else if (strstr(label,"LEAP SECONDS" )) { /* opt */
if (nav) nav->leaps=(int)str2num(buff,0,6);
}
@@ -556,7 +556,7 @@ static void decode_hnavh(char *buff, nav_t *nav)
trace(4,"decode_hnavh:\n");
- if (strstr(label,"CORR TO SYTEM TIME" )) ; /* opt */
+ if (strstr(label,"CORR TO SYSTEM TIME" )) ; /* opt */
else if (strstr(label,"D-UTC A0,A1,T,W,S,U" )) ; /* opt */
else if (strstr(label,"LEAP SECONDS" )) { /* opt */
if (nav) nav->leaps=(int)str2num(buff,0,6);
@@ -2038,6 +2038,27 @@ static int obsindex(double ver, int sys, const unsigned char *code,
}
return -1;
}
+/* output rinex event time ---------------------------------------------------*/
+static void outrinexevent(FILE *fp, const rnxopt_t *opt, const obs_t *obs,
+ const double epdiff)
+{
+ int n;
+ double epe[6];
+
+ time2epoch(obs->eventime,epe);
+ n = obs->timevalid ? 0 : 1;
+
+ if (opt->rnxver<=2.99) { /* ver.2 */
+ if (epdiff < 0) fprintf(fp,"\n");
+ fprintf(fp," %02d %2.0f %2.0f %2.0f %2.0f%11.7f %d%3d",
+ (int)epe[0]%100,epe[1],epe[2],epe[3],epe[4],epe[5],5,n);
+ if (epdiff >= 0) fprintf(fp,"\n");
+ } else { /* ver.3 */
+ fprintf(fp,"> %04.0f %2.0f %2.0f %2.0f %2.0f%11.7f %d%3d\n",
+ epe[0],epe[1],epe[2],epe[3],epe[4],epe[5],5,n);
+ }
+ if (n) fprintf(fp,"%-60.60s%-20s\n"," Time mark is not valid","COMMENT");
+}
/* output rinex obs body -------------------------------------------------------
* output rinex obs body
* args : FILE *fp I output file pointer
@@ -2047,22 +2068,21 @@ static int obsindex(double ver, int sys, const unsigned char *code,
* int flag I epoch flag (0:ok,1:power failure,>1:event flag)
* return : status (1:ok, 0:output error)
*-----------------------------------------------------------------------------*/
-extern int outrnxobsb(FILE *fp, const rnxopt_t *opt, const obsd_t *obs, int n,
- int flag)
+extern int outrnxobsb(FILE *fp, const rnxopt_t *opt, const obs_t *obs)
{
const char *mask;
- double ep[6];
+ double epdiff,ep[6];
char sats[MAXOBS][4]={""};
int i,j,k,m,ns,sys,ind[MAXOBS],s[MAXOBS]={0};
+
+ trace(3,"outrnxobsb: n=%d\n",obs->n);
+
+ time2epoch(obs->data[0].time,ep);
- trace(3,"outrnxobsb: n=%d\n",n);
-
- time2epoch(obs[0].time,ep);
-
- for (i=ns=0;i<n&&ns<MAXOBS;i++) {
- sys=satsys(obs[i].sat,NULL);
- if (!(sys&opt->navsys)||opt->exsats[obs[i].sat-1]) continue;
- if (!sat2code(obs[i].sat,sats[ns])) continue;
+ for (i=ns=0;i<obs->n&&ns<MAXOBS;i++) {
+ sys=satsys(obs->data[i].sat,NULL);
+ if (!(sys&opt->navsys)||opt->exsats[obs->data[i].sat-1]) continue;
+ if (!sat2code(obs->data[i].sat,sats[ns])) continue;
switch (sys) {
case SYS_GPS: s[ns]=0; break;
case SYS_GLO: s[ns]=1; break;
@@ -2075,9 +2095,17 @@ extern int outrnxobsb(FILE *fp, const rnxopt_t *opt, const obsd_t *obs, int n,
if (!opt->nobs[opt->rnxver<=2.99?0:s[ns]]) continue;
ind[ns++]=i;
}
+
+ /* if epoch of event less than epoch of observation, then first output
+ time mark, else first output observation record */
+ epdiff = timediff(obs->data[0].time,obs->eventime);
+ if (obs->flag == 5 && epdiff >= 0) {
+ outrinexevent(fp, opt, obs, epdiff);
+ }
+
if (opt->rnxver<=2.99) { /* ver.2 */
fprintf(fp," %02d %2.0f %2.0f %2.0f %2.0f%11.7f %d%3d",
- (int)ep[0]%100,ep[1],ep[2],ep[3],ep[4],ep[5],flag,ns);
+ (int)ep[0]%100,ep[1],ep[2],ep[3],ep[4],ep[5],0,ns);
for (i=0;i<ns;i++) {
if (i>0&&i%12==0) fprintf(fp,"\n%32s","");
fprintf(fp,"%-3s",sats[i]);
@@ -2085,10 +2113,10 @@ extern int outrnxobsb(FILE *fp, const rnxopt_t *opt, const obsd_t *obs, int n,
}
else { /* ver.3 */
fprintf(fp,"> %04.0f %2.0f %2.0f %2.0f %2.0f%11.7f %d%3d%21s\n",
- ep[0],ep[1],ep[2],ep[3],ep[4],ep[5],flag,ns,"");
+ ep[0],ep[1],ep[2],ep[3],ep[4],ep[5],0,ns,"");
}
for (i=0;i<ns;i++) {
- sys=satsys(obs[ind[i]].sat,NULL);
+ sys=satsys(obs->data[ind[i]].sat,NULL);
if (opt->rnxver<=2.99) { /* ver.2 */
m=0;
@@ -2105,7 +2133,7 @@ extern int outrnxobsb(FILE *fp, const rnxopt_t *opt, const obsd_t *obs, int n,
if (j%5==0) fprintf(fp,"\n");
}
/* search obs data index */
- if ((k=obsindex(opt->rnxver,sys,obs[ind[i]].code,opt->tobs[m][j],
+ if ((k=obsindex(opt->rnxver,sys,obs->data[ind[i]].code,opt->tobs[m][j],
mask))<0) {
outrnxobsf(fp,0.0,-1,-1);
continue;
@@ -2113,14 +2141,19 @@ extern int outrnxobsb(FILE *fp, const rnxopt_t *opt, const obsd_t *obs, int n,
/* output field */
switch (opt->tobs[m][j][0]) {
case 'C':
- case 'P': outrnxobsf(fp,obs[ind[i]].P[k],-1,obs[ind[i]].qualP[k]); break;
- case 'L': outrnxobsf(fp,obs[ind[i]].L[k],obs[ind[i]].LLI[k],obs[ind[i]].qualL[k]); break;
- case 'D': outrnxobsf(fp,obs[ind[i]].D[k],-1,-1); break;
- case 'S': outrnxobsf(fp,obs[ind[i]].SNR[k]*0.25,-1,-1); break;
+ case 'P': outrnxobsf(fp,obs->data[ind[i]].P[k],-1,obs->data[ind[i]].qualP[k]); break;
+ case 'L': outrnxobsf(fp,obs->data[ind[i]].L[k],obs->data[ind[i]].LLI[k],obs->data[ind[i]].qualL[k]); break;
+ case 'D': outrnxobsf(fp,obs->data[ind[i]].D[k],-1,-1); break;
+ case 'S': outrnxobsf(fp,obs->data[ind[i]].SNR[k]*0.25,-1,-1); break;
}
}
if (opt->rnxver>2.99&&fprintf(fp,"\n")==EOF) return 0;
}
+
+ if (obs->flag == 5 && epdiff < 0) {
+ outrinexevent(fp, opt, obs, epdiff);
+ }
+
if (opt->rnxver>2.99) return 1;
return fprintf(fp,"\n")!=EOF;
@@ -2581,7 +2614,7 @@ extern int outrnxlnavh(FILE *fp, const rnxopt_t *opt, const nav_t *nav)
return fprintf(fp,"%60s%-20s\n","","END OF HEADER")!=EOF;
}
/* output rinex qzss nav header ------------------------------------------------
-* output rinex qzss nav file header (2.12 extention and 3.02)
+* output rinex qzss nav file header (2.12 extension and 3.02)
* args : FILE *fp I output file pointer
* rnxopt_t *opt I rinex options
* nav_t nav I navigation data (NULL: no input)
@@ -2609,7 +2642,7 @@ extern int outrnxqnavh(FILE *fp, const rnxopt_t *opt, const nav_t *nav)
return fprintf(fp,"%60s%-20s\n","","END OF HEADER")!=EOF;
}
/* output rinex beidou nav header ----------------------------------------------
-* output rinex beidou nav file header (2.12 extention and 3.02)
+* output rinex beidou nav file header (2.12 extension and 3.02)
* args : FILE *fp I output file pointer
* rnxopt_t *opt I rinex options
* nav_t nav I navigation data (NULL: no input)
diff --git a/src/rtklib.h b/src/rtklib.h
index 30c592826480921b6ca677bf4974216cb9c2848b..f2307fbcf4719d1a05fc79781bdc15420eeaf3fc 100644
--- a/src/rtklib.h
+++ b/src/rtklib.h
@@ -557,6 +557,11 @@ typedef struct { /* observation data record */
} obsd_t;
typedef struct { /* observation data */
+ gtime_t eventime; /* time of event (GPST) */
+ int timevalid; /* time is valid (Valid GNSS fix) for time mark */
+ int flag; /* epoch flag (0:ok,1:power failure,>1:event flag) */
+ int rcvcount; /* count of rcv event */
+ int tmcount; /* time mark count */
int n,nmax; /* number of obervation data/allocated */
obsd_t *data; /* observation data records */
} obs_t;
@@ -1608,8 +1613,7 @@ EXPORT int readrnxt(const char *file, int rcv, gtime_t ts, gtime_t te,
sta_t *sta);
EXPORT int readrnxc(const char *file, nav_t *nav);
EXPORT int outrnxobsh(FILE *fp, const rnxopt_t *opt, const nav_t *nav);
-EXPORT int outrnxobsb(FILE *fp, const rnxopt_t *opt, const obsd_t *obs, int n,
- int epflag);
+EXPORT int outrnxobsb(FILE *fp, const rnxopt_t *opt, const obs_t *obs);
EXPORT int outrnxnavh (FILE *fp, const rnxopt_t *opt, const nav_t *nav);
EXPORT int outrnxgnavh(FILE *fp, const rnxopt_t *opt, const nav_t *nav);
EXPORT int outrnxhnavh(FILE *fp, const rnxopt_t *opt, const nav_t *nav);