diff --git a/src/rcv/novatel.c b/src/rcv/novatel.c
index 8dc2027404132c438479e82248687f278d9e38bb..1df540310fd43faf8402fab8d7bfe88665197d14 100644
--- a/src/rcv/novatel.c
+++ b/src/rcv/novatel.c
@@ -10,6 +10,7 @@
* [3] NovAtel, OM-20000129 Rev2 OEM6 Family Firmware Reference Manual, 2011
* [4] NovAtel, OM-20000127 Rev1 OEMStar Firmware Reference Manual, 2009
* [5] NovAtel, OM-20000129 Rev6 OEM6 Family Firmware Reference Manual, 2014
+* [6] Novatel, OM-20000169 Rev15A OEM7 Commands and Logs Reference Manual, 2020
*
* version : $Revision: 1.2 $ $Date: 2008/07/14 00:05:05 $
* history : 2007/10/08 1.0 new
@@ -55,37 +56,39 @@
* output L2W instead of L2D for L2Pcodeless
* test toc difference to output beidou ephemeris
* 2019/05/10 1.17 save galileo E5b data to obs index 2
+* 2020/05/11 1.18 add OEM7 messages
*-----------------------------------------------------------------------------*/
#include "rtklib.h"
-#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 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 OEM4HLEN 28 /* oem4 message header length (bytes) */
+#define OEM4HLEN 28 /* oem4 message header length (bytes) */
-#define ID_ALMANAC 73 /* message id: oem4 decoded almanac */
-#define ID_GLOALMANAC 718 /* message id: oem4 glonass decoded almanac */
-#define ID_GLOEPHEMERIS 723 /* message id: oem4 glonass ephemeris */
-#define ID_IONUTC 8 /* message id: oem4 iono and utc data */
-#define ID_RANGE 43 /* message id: oem4 range measurement */
-#define ID_RANGECMP 140 /* message id: oem4 range compressed */
-#define ID_RAWALM 74 /* message id: oem4 raw almanac */
-#define ID_RAWEPHEM 41 /* message id: oem4 raw ephemeris */
-#define ID_RAWWAASFRAME 287 /* message id: oem4 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 ID_ALMANAC 73 /* message id: oem4 decoded almanac */
+#define ID_GLOALMANAC 718 /* message id: oem4 glonass decoded almanac */
+#define ID_GLOEPHEMERIS 723 /* message id: oem4 glonass ephemeris */
+#define ID_IONUTC 8 /* message id: oem4 iono and utc data */
+#define ID_RANGE 43 /* message id: oem4 range measurement */
+#define ID_RANGECMP 140 /* message id: oem4 range compressed */
+#define ID_RAWALM 74 /* message id: oem4 raw almanac */
+#define ID_RAWEPHEM 41 /* message id: oem4 raw ephemeris */
+#define ID_RAWWAASFRAME 287 /* message id: oem4 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_GALINAVEPHEMERIS 1309 /* message id: oem7 decoded galileo inav ephemeris */
+#define ID_GALFNAVEPHEMERIS 1310 /* message id: oem7 decoded galileo fnav 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
@@ -787,6 +790,168 @@ static int decode_galephemerisb(raw_t *raw)
raw->ephsat=eph.sat;
return 2;
}
+/* decode INAV galephemerisb ------------------------------------------------------*/
+static int decode_galinavephemerisb(raw_t *raw)
+{
+ eph_t eph={0};
+ unsigned char *p=raw->buff+OEM4HLEN;
+ double tow,sqrtA,tt;
+ char *msg;
+ int prn,svh_e1b,svh_e5b,dvs_e1b,dvs_e5b;
+ int toc_inav,week;
+
+ trace(3,"decode_galephemerisb: len=%d\n",raw->len);
+
+ if (raw->len<OEM4HLEN+220) {
+ trace(2,"oem7 galinavephemrisb length error: len=%d\n",raw->len);
+ return -1;
+ }
+ prn =U4(p); p+=4;
+ svh_e5b =U1(p)&3; p+=1;
+ dvs_e5b =U1(p)&1; p+=1+1+1;
+ svh_e1b =U1(p)&3; p+=1;
+ dvs_e1b =U1(p)&1; p+=1+1+1;
+ eph.iode =U2(p); p+=2; /* IODNav */
+ eph.sva =U1(p); p+=1; /* SISA index */
+ // inav source
+ p+=1;
+ //
+ eph.toes =U4(p); p+=4;
+ toc_inav =U4(p); p+=4;
+ eph.M0 =R8(p); p+=8;
+ eph.deln =R8(p); p+=8;
+ eph.e =R8(p); p+=8;
+ sqrtA =R8(p); p+=8;
+ eph.i0 =R8(p); p+=8;
+ eph.idot =R8(p); p+=8;
+ eph.OMG0 =R8(p); p+=8;
+ eph.omg =R8(p); p+=8;
+ eph.OMGd =R8(p); p+=8;
+ eph.cuc =R8(p); p+=8;
+ eph.cus =R8(p); p+=8;
+ eph.crc =R8(p); p+=8;
+ eph.crs =R8(p); p+=8;
+ eph.cic =R8(p); p+=8;
+ eph.cis =R8(p); p+=8;
+ eph.f0 =R8(p); p+=8;
+ eph.f1 =R8(p); p+=8;
+ eph.f2 =R8(p); p+=8;
+ eph.tgd[0]=R8(p); p+=8; /* BGD: E5A-E1 (s) */
+ eph.tgd[1]=R8(p); /* BGD: E5B-E1 (s) */
+
+ eph.iodc =eph.iode;
+ eph.svh =(svh_e5b<<7)|(dvs_e5b<<6)|(svh_e1b<<1)|dvs_e1b;
+ eph.A =sqrtA*sqrtA;
+
+ /* set data source defined in rinex 3.03 */
+ eph.code=((1<<0)|(1<<9));
+
+ if (raw->outtype) {
+ msg=raw->msgtype+strlen(raw->msgtype);
+ sprintf(msg," prn=%3d iod=%3d toes=%6.0f",prn,eph.iode,eph.toes);
+ }
+ if (!(eph.sat=satno(SYS_GAL,prn))) {
+ trace(2,"oem7 galinavephemeris satellite error: prn=%d\n",prn);
+ return -1;
+ }
+ tow=time2gpst(raw->time,&week);
+ eph.week=week; /* gps-week = gal-week */
+ eph.toe=gpst2time(eph.week,eph.toes);
+
+ /* for week-handover problem */
+ tt=timediff(eph.toe,raw->time);
+ if (tt<-302400.0) eph.week++;
+ else if (tt> 302400.0) eph.week--;
+ eph.toe=gpst2time(eph.week,eph.toes);
+ eph.toc=adjweek(eph.toe,toc_inav);
+ eph.ttr=adjweek(eph.toe,tow);
+
+ if (!strstr(raw->opt,"-EPHALL")) {
+ if (raw->nav.eph[eph.sat-1].iode==eph.iode&&
+ raw->nav.eph[eph.sat-1].code==eph.code) return 0; /* unchanged */
+ }
+ raw->nav.eph[eph.sat-1]=eph;
+ raw->ephsat=eph.sat;
+ return 2;
+}
+/* decode FNAV galephemerisb ------------------------------------------------------*/
+static int decode_galfnavephemerisb(raw_t *raw)
+{
+ eph_t eph={0};
+ unsigned char *p=raw->buff+OEM4HLEN;
+ double tow,sqrtA,tt;
+ char *msg;
+ int prn,svh_e5a,dvs_e5a;
+ int toc_fnav,week;
+
+ trace(3,"decode_galfnavephemerisb: len=%d\n",raw->len);
+
+ if (raw->len<OEM4HLEN+220) {
+ trace(2,"oem7 galephemrisb length error: len=%d\n",raw->len);
+ return -1;
+ }
+ prn =U4(p); p+=4;
+ svh_e5a =U1(p)&3; p+=1;
+ dvs_e5a =U1(p)&1; p+=1+1+1;
+ eph.iode =U2(p); p+=2; /* IODNav */
+ eph.sva =U1(p); p+=1+1; /* SISA index */
+ eph.toes =U4(p); p+=4;
+ toc_fnav =U4(p); p+=4;
+ eph.M0 =R8(p); p+=8;
+ eph.deln =R8(p); p+=8;
+ eph.e =R8(p); p+=8;
+ sqrtA =R8(p); p+=8;
+ eph.i0 =R8(p); p+=8;
+ eph.idot =R8(p); p+=8;
+ eph.OMG0 =R8(p); p+=8;
+ eph.omg =R8(p); p+=8;
+ eph.OMGd =R8(p); p+=8;
+ eph.cuc =R8(p); p+=8;
+ eph.cus =R8(p); p+=8;
+ eph.crc =R8(p); p+=8;
+ eph.crs =R8(p); p+=8;
+ eph.cic =R8(p); p+=8;
+ eph.cis =R8(p); p+=8;
+ eph.f0 =R8(p); p+=8;
+ eph.f1 =R8(p); p+=8;
+ eph.f2 =R8(p); p+=8;
+ eph.tgd[0]=R8(p);
+
+ eph.iodc =eph.iode;
+ eph.svh =(svh_e5a<<4)|(dvs_e5a<<3);
+ eph.A =sqrtA*sqrtA;
+
+ /* set data source defined in rinex 3.03 */
+ eph.code=((1<<1)|(1<<8));
+
+ if (raw->outtype) {
+ msg=raw->msgtype+strlen(raw->msgtype);
+ sprintf(msg," prn=%3d iod=%3d toes=%6.0f",prn,eph.iode,eph.toes);
+ }
+ if (!(eph.sat=satno(SYS_GAL,prn))) {
+ trace(2,"oemv galephemeris satellite error: prn=%d\n",prn);
+ return -1;
+ }
+ tow=time2gpst(raw->time,&week);
+ eph.week=week; /* gps-week = gal-week */
+ eph.toe=gpst2time(eph.week,eph.toes);
+
+ /* for week-handover problem */
+ tt=timediff(eph.toe,raw->time);
+ if (tt<-302400.0) eph.week++;
+ else if (tt> 302400.0) eph.week--;
+ eph.toe=gpst2time(eph.week,eph.toes);
+ eph.toc=adjweek(eph.toe,toc_fnav);
+ eph.ttr=adjweek(eph.toe,tow);
+
+ if (!strstr(raw->opt,"-EPHALL")) {
+ if (raw->nav.eph[eph.sat-1].iode==eph.iode&&
+ raw->nav.eph[eph.sat-1].code==eph.code) return 0; /* unchanged */
+ }
+ raw->nav.eph[eph.sat-1]=eph;
+ raw->ephsat=eph.sat;
+ return 2;
+}
/* decode galalmanacb --------------------------------------------------------*/
static int decode_galalmanacb(raw_t *raw)
{
@@ -1084,6 +1249,8 @@ static int decode_oem4(raw_t *raw)
case ID_QZSSRAWSUBFRAME: return decode_qzssrawsubframeb(raw);
case ID_QZSSIONUTC : return decode_qzssionutcb (raw);
case ID_GALEPHEMERIS : return decode_galephemerisb (raw);
+ case ID_GALINAVEPHEMERIS : return decode_galinavephemerisb (raw);
+ case ID_GALFNAVEPHEMERIS : return decode_galfnavephemerisb (raw);
case ID_GALALMANAC : return decode_galalmanacb (raw);
case ID_GALCLOCK : return decode_galclockb (raw);
case ID_GALIONO : return decode_galionob (raw);