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ublox.c
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ublox.c
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/*------------------------------------------------------------------------------
* ublox.c : ublox receiver dependent functions
*
* Copyright (C) 2007-2018 by T.TAKASU, All rights reserved.
* Copyright (C) 2014 by T.SUZUKI, All rights reserved.
*
* reference :
* [1] ublox-AG, GPS.G3-X-03002-D, ANTARIS Positioning Engine NMEA and UBX
* Protocol Specification, Version 5.00, 2003
* [2] ublox-AG, UBX-13003221-R03, u-blox M8 Receiver Description including
* Protocol Specification V5, Dec 20, 2013
* [3] ublox-AG, UBX-13003221-R07, u-blox M8 Receiver Description including
* Protocol Specification V15.00-17.00, Nov 3, 2014
* [4] ublox-AG, UBX-13003221-R09, u-blox 8 /u-blox M8 Receiver Description
* including Protocol Specification V15.00-18.00, January, 2016
*
* version : $Revision: 1.2 $ $Date: 2008/07/14 00:05:05 $
* history : 2007/10/08 1.0 new
* 2008/06/16 1.1 separate common functions to rcvcmn.c
* 2009/04/01 1.2 add range check of prn number
* 2009/04/10 1.3 refactored
* 2009/09/25 1.4 add function gen_ubx()
* 2010/01/17 1.5 add time tag adjustment option -tadj sec
* 2010/10/31 1.6 fix bug on playback disabled for raw data (2.4.0_p9)
* 2011/05/27 1.7 add almanac decoding
* add -EPHALL option
* fix problem with ARM compiler
* 2013/02/23 1.8 fix memory access violation problem on arm
* change options -tadj to -TADJ, -invcp to -INVCP
* 2014/05/26 1.9 fix bug on message size of CFG-MSG
* fix bug on return code of decode_alm1()
* 2014/06/21 1.10 support message TRK-MEAS and TRK-SFRBX
* support message NAV-SOL and NAV-TIMEGPS to get time
* support message GFG-GNSS generation
* 2014/06/23 1.11 support message TRK-MEAS for beidou ephemeris
* 2014/08/11 1.12 fix bug on unable to read RXM-RAW
* fix problem on decoding glo ephemeris in TRK-SFRBX
* support message TRK-TRKD5
* 2014/08/31 1.13 suppress warning
* 2014/11/04 1.14 support message RXM-RAWX and RXM-SFRBX
* 2015/03/20 1.15 omit time adjustment for RXM-RAWX
* 2016/01/22 1.16 add time-tag in raw-message-type
* 2016/01/26 1.17 support galileo navigation data in RXM-SFRBX
* enable option -TADJ for RXM-RAWX
* 2016/05/25 1.18 fix bug on crc-buffer-overflow by decoding galileo
* navigation data
* 2016/07/04 1.19 add half-cycle vaild check for ubx-trk-meas
* 2016/07/29 1.20 support RXM-CFG-TMODE3 (0x06 0x71) for M8P
* crc24q() -> rtk_crc24q()
* check week number zero for ubx-rxm-raw and rawx
* 2016/08/20 1.21 add test of std-dev for carrier-phase valid
* 2016/08/26 1.22 add option -STD_SLIP to test slip by std-dev of cp
* fix on half-cyc valid for sbas in trkmeas
* 2017/04/11 1.23 (char *) -> (signed char *)
* fix bug on week handover in decode_trkmeas/trkd5()
* fix bug on prn for geo in decode_cnav()
* 2017/06/10 1.24 output half-cycle-subtracted flag
*-----------------------------------------------------------------------------*/
#include "rtklib.h"
#define UBXSYNC1 0xB5 /* ubx message sync code 1 */
#define UBXSYNC2 0x62 /* ubx message sync code 2 */
#define UBXCFG 0x06 /* ubx message cfg-??? */
#define ID_NAVSOL 0x0106 /* ubx message id: nav solution info */
#define ID_NAVTIME 0x0120 /* ubx message id: nav time gps */
#define ID_RXMRAW 0x0210 /* ubx message id: raw measurement data */
#define ID_RXMSFRB 0x0211 /* ubx message id: subframe buffer */
#define ID_RXMSFRBX 0x0213 /* ubx message id: raw subframe data */
#define ID_RXMRAWX 0x0215 /* ubx message id: multi-gnss raw meas data */
#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 FU1 1 /* ubx message field types */
#define FU2 2
#define FU4 3
#define FI1 4
#define FI2 5
#define FI4 6
#define FR4 7
#define FR8 8
#define FS32 9
#define P2_10 0.0009765625 /* 2^-10 */
#define CPSTD_VALID 5 /* std-dev threshold of carrier-phase valid */
#define ROUND(x) (int)floor((x)+0.5)
/* 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 u; memcpy(&u,p,4); return u;}
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;}
static double I8(unsigned char *p) {return I4(p+4)*4294967296.0+U4(p);}
/* set fields (little-endian) ------------------------------------------------*/
static void setU1(unsigned char *p, unsigned char u) {*p=u;}
static void setU2(unsigned char *p, unsigned short u) {memcpy(p,&u,2);}
static void setU4(unsigned char *p, unsigned int u) {memcpy(p,&u,4);}
static void setI1(unsigned char *p, signed char i) {*p=(unsigned char)i;}
static void setI2(unsigned char *p, short i) {memcpy(p,&i,2);}
static void setI4(unsigned char *p, int i) {memcpy(p,&i,4);}
static void setR4(unsigned char *p, float r) {memcpy(p,&r,4);}
static void setR8(unsigned char *p, double r) {memcpy(p,&r,8);}
/* checksum ------------------------------------------------------------------*/
static int checksum(unsigned char *buff, int len)
{
unsigned char cka=0,ckb=0;
int i;
for (i=2;i<len-2;i++) {
cka+=buff[i]; ckb+=cka;
}
return cka==buff[len-2]&&ckb==buff[len-1];
}
static void setcs(unsigned char *buff, int len)
{
unsigned char cka=0,ckb=0;
int i;
for (i=2;i<len-2;i++) {
cka+=buff[i]; ckb+=cka;
}
buff[len-2]=cka;
buff[len-1]=ckb;
}
/* ubx gnss indicator (ref [2] 25) -------------------------------------------*/
static int ubx_sys(int ind)
{
switch (ind) {
case 0: return SYS_GPS;
case 1: return SYS_SBS;
case 2: return SYS_GAL;
case 3: return SYS_CMP;
case 5: return SYS_QZS;
case 6: return SYS_GLO;
}
return 0;
}
/* 8-bit week -> full week ---------------------------------------------------*/
static void adj_utcweek(gtime_t time, double *utc)
{
int week;
if (utc[3]>=256.0) return;
time2gpst(time,&week);
utc[3]+=week/256*256;
if (utc[3]<week-128) utc[3]+=256.0;
else if (utc[3]>week+128) utc[3]-=256.0;
}
/* decode ubx-rxm-raw: raw measurement data ----------------------------------*/
static int decode_rxmraw(raw_t *raw)
{
gtime_t time;
double tow,tt,tadj=0.0,toff=0.0,tn;
int i,j,prn,sat,n=0,nsat,week;
unsigned char *p=raw->buff+6;
char *q;
trace(4,"decode_rxmraw: len=%d\n",raw->len);
if (raw->outtype) {
sprintf(raw->msgtype,"UBX RXM-RAW (%4d): nsat=%d",raw->len,U1(p+6));
}
/* time tag adjustment option (-TADJ) */
if ((q=strstr(raw->opt,"-TADJ="))) {
sscanf(q,"-TADJ=%lf",&tadj);
}
nsat=U1(p+6);
if (raw->len<12+24*nsat) {
trace(2,"ubx rxmraw length error: len=%d nsat=%d\n",raw->len,nsat);
return -1;
}
tow =U4(p );
week=U2(p+4);
time=gpst2time(week,tow*0.001);
if (week==0) {
trace(3,"ubx rxmraw week=0 error: len=%d nsat=%d\n",raw->len,nsat);
return 0;
}
/* time tag adjustment */
if (tadj>0.0) {
tn=time2gpst(time,&week)/tadj;
toff=(tn-floor(tn+0.5))*tadj;
time=timeadd(time,-toff);
}
tt=timediff(time,raw->time);
for (i=0,p+=8;i<nsat&&i<MAXOBS;i++,p+=24) {
raw->obs.data[n].time=time;
raw->obs.data[n].L[0] =R8(p )-toff*FREQ1;
raw->obs.data[n].P[0] =R8(p+ 8)-toff*CLIGHT;
raw->obs.data[n].D[0] =R4(p+16);
prn =U1(p+20);
raw->obs.data[n].SNR[0]=(unsigned char)(I1(p+22)*4.0+0.5);
raw->obs.data[n].LLI[0]=U1(p+23);
raw->obs.data[n].code[0]=CODE_L1C;
/* phase polarity flip option (-INVCP) */
if (strstr(raw->opt,"-INVCP")) {
raw->obs.data[n].L[0]=-raw->obs.data[n].L[0];
}
if (!(sat=satno(MINPRNSBS<=prn?SYS_SBS:SYS_GPS,prn))) {
trace(2,"ubx rxmraw sat number error: prn=%d\n",prn);
continue;
}
raw->obs.data[n].sat=sat;
if (raw->obs.data[n].LLI[0]&1) raw->lockt[sat-1][0]=0.0;
else if (tt<1.0||10.0<tt) raw->lockt[sat-1][0]=0.0;
else raw->lockt[sat-1][0]+=tt;
for (j=1;j<NFREQ+NEXOBS;j++) {
raw->obs.data[n].L[j]=raw->obs.data[n].P[j]=0.0;
raw->obs.data[n].D[j]=0.0;
raw->obs.data[n].SNR[j]=raw->obs.data[n].LLI[j]=0;
raw->obs.data[n].code[j]=CODE_NONE;
}
n++;
}
raw->time=time;
raw->obs.n=n;
return 1;
}
/* decode ubx-rxm-rawx: multi-gnss raw measurement data (ref [3]) ------------*/
static int decode_rxmrawx(raw_t *raw)
{
gtime_t time;
double tow,cp1,pr1,tadj=0.0,toff=0.0,freq,tn;
int i,j,sys,prn,sat,n=0,nsat,week,tstat,lockt,slip,halfv,halfc,fcn,cpstd;
int std_slip=0;
char *q;
unsigned char *p=raw->buff+6;
trace(4,"decode_rxmrawx: len=%d\n",raw->len);
nsat=U1(p+11);
if (raw->len<24+32*nsat) {
trace(2,"ubx rxmrawx length error: len=%d nsat=%d\n",raw->len,nsat);
return -1;
}
tow=R8(p);
week=U2(p+8);
time=gpst2time(week,tow);
if (week==0) {
trace(3,"ubx rxmrawx week=0 error: len=%d nsat=%d\n",raw->len,nsat);
return 0;
}
if (raw->outtype) {
sprintf(raw->msgtype,"UBX RXM-RAWX (%4d): time=%s nsat=%d",raw->len,
time_str(time,2),U1(p+11));
}
/* time tag adjustment option (-TADJ) */
if ((q=strstr(raw->opt,"-TADJ="))) {
sscanf(q,"-TADJ=%lf",&tadj);
}
/* slip theshold of std-dev of carreir-phase (-STD_SLIP) */
if ((q=strstr(raw->opt,"-STD_SLIP="))) {
sscanf(q,"-STD_SLIP=%d",&std_slip);
}
/* time tag adjustment */
if (tadj>0.0) {
tn=time2gpst(time,&week)/tadj;
toff=(tn-floor(tn+0.5))*tadj;
time=timeadd(time,-toff);
}
for (i=0,p+=16;i<nsat&&i<MAXOBS;i++,p+=32) {
if (!(sys=ubx_sys(U1(p+20)))) {
trace(2,"ubx rxmrawx: system error\n");
continue;
}
prn=U1(p+21)+(sys==SYS_QZS?192:0);
if (!(sat=satno(sys,prn))) {
trace(2,"ubx rxmrawx sat number error: sys=%2d prn=%2d\n",sys,prn);
continue;
}
cpstd=U1(p+28)&15; /* carrier-phase std-dev */
tstat=U1(p+30); /* tracking status */
pr1=tstat&1?R8(p ):0.0;
cp1=tstat&2?R8(p+8):0.0;
if (cp1==-0.5||cpstd>CPSTD_VALID) cp1=0.0; /* invalid phase */
raw->obs.data[n].sat=sat;
raw->obs.data[n].time=time;
raw->obs.data[n].P[0]=pr1;
raw->obs.data[n].L[0]=cp1;
/* offset by time tag adjustment */
if (toff!=0.0) {
fcn=(int)U1(p+23)-7;
freq=sys==SYS_CMP?FREQ1_CMP:
(sys==SYS_GLO?FREQ1_GLO+DFRQ1_GLO*fcn:FREQ1);
raw->obs.data[n].P[0]-=toff*CLIGHT;
raw->obs.data[n].L[0]-=toff*freq;
}
raw->obs.data[n].D[0]=R4(p+16);
raw->obs.data[n].SNR[0]=U1(p+26)*4;
raw->obs.data[n].LLI[0]=0;
raw->obs.data[n].code[0]=
sys==SYS_CMP?CODE_L1I:(sys==SYS_GAL?CODE_L1X:CODE_L1C);
lockt=U2(p+24); /* lock time count (ms) */
slip=lockt==0||lockt<raw->lockt[sat-1][0]?1:0;
if (std_slip>0) {
cp1=0.0;
}
halfv=tstat&4?1:0; /* half cycle valid */
halfc=tstat&8?1:0; /* half cycle subtracted from phase */
if (cp1!=0.0) { /* carrier-phase valid */
/* LLI: bit1=loss-of-lock,bit2=half-cycle-invalid */
raw->obs.data[n].LLI[0]|=slip?LLI_SLIP:0;
#if 0
raw->obs.data[n].LLI[0]|=halfc?LLI_HALFA:0; /* half-cycle subtraced */
#else
if (halfc!=raw->halfc[sat-1][0]) raw->obs.data[n].LLI[0]|=LLI_SLIP;
#endif
raw->obs.data[n].LLI[0]|=halfv?0:LLI_HALFC;
raw->lockt[sat-1][0]=lockt;
raw->halfc[sat-1][0]=halfc;
}
for (j=1;j<NFREQ+NEXOBS;j++) {
raw->obs.data[n].L[j]=raw->obs.data[n].P[j]=0.0;
raw->obs.data[n].D[j]=0.0;
raw->obs.data[n].SNR[j]=raw->obs.data[n].LLI[j]=0;
raw->obs.data[n].code[j]=CODE_NONE;
}
n++;
}
raw->time=time;
raw->obs.n=n;
return 1;
}
/* save subframe -------------------------------------------------------------*/
static int save_subfrm(int sat, raw_t *raw)
{
unsigned char *p=raw->buff+6,*q;
int i,j,n,id=(U4(p+6)>>2)&0x7;
trace(4,"save_subfrm: sat=%2d id=%d\n",sat,id);
if (id<1||5<id) return 0;
q=raw->subfrm[sat-1]+(id-1)*30;
for (i=n=0,p+=2;i<10;i++,p+=4) {
for (j=23;j>=0;j--) {
*q=(*q<<1)+((U4(p)>>j)&1); if (++n%8==0) q++;
}
}
return id;
}
/* decode ephemeris ----------------------------------------------------------*/
static int decode_ephem(int sat, raw_t *raw)
{
eph_t eph={0};
trace(4,"decode_ephem: sat=%2d\n",sat);
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.iode==raw->nav.eph[sat-1].iode&&
eph.iodc==raw->nav.eph[sat-1].iodc) return 0; /* unchanged */
}
eph.sat=sat;
raw->nav.eph[sat-1]=eph;
raw->ephsat=sat;
return 2;
}
/* decode almanac and ion/utc ------------------------------------------------*/
static int decode_alm1(int sat, raw_t *raw)
{
int sys=satsys(sat,NULL);
trace(4,"decode_alm1 : sat=%2d\n",sat);
if (sys==SYS_GPS) {
decode_frame(raw->subfrm[sat-1]+90,NULL,raw->nav.alm,raw->nav.ion_gps,
raw->nav.utc_gps,&raw->nav.leaps);
adj_utcweek(raw->time,raw->nav.utc_gps);
}
else if (sys==SYS_QZS) {
decode_frame(raw->subfrm[sat-1]+90,NULL,raw->nav.alm,raw->nav.ion_qzs,
raw->nav.utc_qzs,&raw->nav.leaps);
adj_utcweek(raw->time,raw->nav.utc_qzs);
}
return 9;
}
/* decode almanac ------------------------------------------------------------*/
static int decode_alm2(int sat, raw_t *raw)
{
int sys=satsys(sat,NULL);
trace(4,"decode_alm2 : sat=%2d\n",sat);
if (sys==SYS_GPS) {
decode_frame(raw->subfrm[sat-1]+120,NULL,raw->nav.alm,NULL,NULL,NULL);
}
else if (sys==SYS_QZS) {
decode_frame(raw->subfrm[sat-1]+120,NULL,raw->nav.alm,raw->nav.ion_qzs,
raw->nav.utc_qzs,&raw->nav.leaps);
adj_utcweek(raw->time,raw->nav.utc_qzs);
}
return 0;
}
/* decode ubx-rxm-sfrb: subframe buffer --------------------------------------*/
static int decode_rxmsfrb(raw_t *raw)
{
unsigned int words[10];
int i,prn,sat,sys,id;
unsigned char *p=raw->buff+6;
trace(4,"decode_rxmsfrb: len=%d\n",raw->len);
if (raw->outtype) {
sprintf(raw->msgtype,"UBX RXM-SFRB (%4d): prn=%2d",raw->len,U1(p+1));
}
if (raw->len<42) {
trace(2,"ubx rxmsfrb length error: len=%d\n",raw->len);
return -1;
}
prn=U1(p+1);
if (!(sat=satno(MINPRNSBS<=prn?SYS_SBS:SYS_GPS,prn))) {
trace(2,"ubx rxmsfrb satellite number error: prn=%d\n",prn);
return -1;
}
sys=satsys(sat,&prn);
if (sys==SYS_GPS) {
id=save_subfrm(sat,raw);
if (id==3) return decode_ephem(sat,raw);
if (id==4) return decode_alm1 (sat,raw);
if (id==5) return decode_alm2 (sat,raw);
return 0;
}
else if (sys==SYS_SBS) {
for (i=0,p+=2;i<10;i++,p+=4) words[i]=U4(p);
return sbsdecodemsg(raw->time,prn,words,&raw->sbsmsg)?3:0;
}
return 0;
}
/* decode ubx-nav-sol: navigation solution -----------------------------------*/
static int decode_navsol(raw_t *raw)
{
int itow,ftow,week;
unsigned char *p=raw->buff+6;
trace(4,"decode_navsol: len=%d\n",raw->len);
if (raw->outtype) {
sprintf(raw->msgtype,"UBX NAV-SOL (%4d):",raw->len);
}
itow=U4(p);
ftow=I4(p+4);
week=U2(p+8);
if ((U1(p+11)&0x0C)==0x0C) {
raw->time=gpst2time(week,itow*1E-3+ftow*1E-9);
}
return 0;
}
/* decode ubx-nav-timegps: gps time solution ---------------------------------*/
static int decode_navtime(raw_t *raw)
{
int itow,ftow,week;
unsigned char *p=raw->buff+6;
trace(4,"decode_navtime: len=%d\n",raw->len);
if (raw->outtype) {
sprintf(raw->msgtype,"UBX NAV-TIME (%4d):",raw->len);
}
itow=U4(p);
ftow=I4(p+4);
week=U2(p+8);
if ((U1(p+11)&0x03)==0x03) {
raw->time=gpst2time(week,itow*1E-3+ftow*1E-9);
}
return 0;
}
/* decode ubx-trk-meas: trace measurement data -------------------------------*/
static int decode_trkmeas(raw_t *raw)
{
static double adrs[MAXSAT]={0};
gtime_t time;
double ts,tr=-1.0,t,tau,utc_gpst,snr,adr,dop;
int i,j,n=0,nch,sys,prn,sat,qi,frq,flag,lock1,lock2,week;
unsigned char *p=raw->buff+6;
trace(4,"decode_trkmeas: len=%d\n",raw->len);
if (raw->outtype) {
sprintf(raw->msgtype,"UBX TRK-MEAS (%4d):",raw->len);
}
if (!raw->time.time) return 0;
/* number of channels */
nch=U1(p+2);
if (raw->len<112+nch*56) {
trace(2,"decode_trkmeas: length error len=%d nch=%2d\n",raw->len,nch);
return -1;
}
/* time-tag = max(transmission time + 0.08) rounded by 100 ms */
for (i=0,p=raw->buff+110;i<nch;i++,p+=56) {
if (U1(p+1)<4||ubx_sys(U1(p+4))!=SYS_GPS) continue;
if ((t=I8(p+24)*P2_32/1000.0)>tr) tr=t;
}
if (tr<0.0) return 0;
tr=ROUND((tr+0.08)/0.1)*0.1;
/* adjust week handover */
t=time2gpst(raw->time,&week);
if (tr<t-302400.0) week++;
else if (tr>t+302400.0) week--;
time=gpst2time(week,tr);
utc_gpst=timediff(gpst2utc(time),time);
for (i=0,p=raw->buff+110;i<nch;i++,p+=56) {
/* quality indicator (0:idle,1:search,2:aquired,3:unusable, */
/* 4:code lock,5,6,7:code/carrier lock) */
qi=U1(p+1);
if (qi<4||7<qi) continue;
/* system and satellite number */
if (!(sys=ubx_sys(U1(p+4)))) {
trace(2,"ubx trkmeas: system error\n");
continue;
}
prn=U1(p+5)+(sys==SYS_QZS?192:0);
if (!(sat=satno(sys,prn))) {
trace(2,"ubx trkmeas sat number error: sys=%2d prn=%2d\n",sys,prn);
continue;
}
/* transmission time */
ts=I8(p+24)*P2_32/1000.0;
if (sys==SYS_CMP) ts+=14.0; /* bdt -> gpst */
else if (sys==SYS_GLO) ts-=10800.0+utc_gpst; /* glot -> gpst */
/* signal travel time */
tau=tr-ts;
if (tau<-302400.0) tau+=604800.0;
else if (tau> 302400.0) tau-=604800.0;
frq =U1(p+ 7)-7; /* frequency */
flag =U1(p+ 8); /* tracking status */
lock1=U1(p+16); /* code lock count */
lock2=U1(p+17); /* phase lock count */
snr =U2(p+20)/256.0;
adr =I8(p+32)*P2_32+(flag&0x40?0.5:0.0);
dop =I4(p+40)*P2_10*10.0;
/* set slip flag */
if (lock2==0||lock2<raw->lockt[sat-1][0]) raw->lockt[sat-1][1]=1.0;
raw->lockt[sat-1][0]=lock2;
#if 0 /* for debug */
trace(2,"[%2d] qi=%d sys=%d prn=%3d frq=%2d flag=%02X ?=%02X %02X "
"%02X %02X %02X %02X %02X lock=%3d %3d ts=%10.3f snr=%4.1f "
"dop=%9.3f adr=%13.3f %6.3f\n",U1(p),qi,U1(p+4),prn,frq,flag,
U1(p+9),U1(p+10),U1(p+11),U1(p+12),U1(p+13),U1(p+14),U1(p+15),
lock1,lock2,ts,snr,dop,adr,
adrs[sat-1]==0.0||dop==0.0?0.0:(adr-adrs[sat-1])-dop);
#endif
adrs[sat-1]=adr;
/* check phase lock */
if (!(flag&0x20)) continue;
raw->obs.data[n].time=time;
raw->obs.data[n].sat=sat;
raw->obs.data[n].P[0]=tau*CLIGHT;
raw->obs.data[n].L[0]=-adr;
raw->obs.data[n].D[0]=(float)dop;
raw->obs.data[n].SNR[0]=(unsigned char)(snr*4.0);
raw->obs.data[n].code[0]=sys==SYS_CMP?CODE_L1I:CODE_L1C;
raw->obs.data[n].LLI[0]=raw->lockt[sat-1][1]>0.0?1:0;
if (sys==SYS_SBS) { /* half-cycle valid */
raw->obs.data[n].LLI[0]|=lock2>142?0:2;
}
else {
raw->obs.data[n].LLI[0]|=flag&0x80?0:2;
}
raw->lockt[sat-1][1]=0.0;
for (j=1;j<NFREQ+NEXOBS;j++) {
raw->obs.data[n].L[j]=raw->obs.data[n].P[j]=0.0;
raw->obs.data[n].D[j]=0.0;
raw->obs.data[n].SNR[j]=raw->obs.data[n].LLI[j]=0;
raw->obs.data[n].code[j]=CODE_NONE;
}
n++;
}
if (n<=0) return 0;
raw->time=time;
raw->obs.n=n;
return 1;
}
/* decode ubx-trkd5: trace measurement data ----------------------------------*/
static int decode_trkd5(raw_t *raw)
{
static double adrs[MAXSAT]={0};
gtime_t time;
double ts,tr=-1.0,t,tau,adr,dop,snr,utc_gpst;
int i,j,n=0,type,off,len,sys,prn,sat,qi,frq,flag,week;
unsigned char *p=raw->buff+6;
trace(4,"decode_trkd5: len=%d\n",raw->len);
if (raw->outtype) {
sprintf(raw->msgtype,"UBX TRK-D5 (%4d):",raw->len);
}
if (!raw->time.time) return 0;
utc_gpst=timediff(gpst2utc(raw->time),raw->time);
switch ((type=U1(p))) {
case 3 : off=86; len=56; break;
case 6 : off=86; len=64; break; /* u-blox 7 */
default: off=78; len=56; break;
}
for (i=0,p=raw->buff+off;p-raw->buff<raw->len-2;i++,p+=len) {
if (U1(p+41)<4) continue;
t=I8(p)*P2_32/1000.0;
if (ubx_sys(U1(p+56))==SYS_GLO) t-=10800.0+utc_gpst;
if (t>tr) tr=t;
}
if (tr<0.0) return 0;
tr=ROUND((tr+0.08)/0.1)*0.1;
/* adjust week handover */
t=time2gpst(raw->time,&week);
if (tr<t-302400.0) week++;
else if (tr>t+302400.0) week--;
time=gpst2time(week,tr);
trace(4,"time=%s\n",time_str(time,0));
for (i=0,p=raw->buff+off;p-raw->buff<raw->len-2;i++,p+=len) {
/* quality indicator */
qi =U1(p+41)&7;
if (qi<4||7<qi) continue;
if (type==6) {
if (!(sys=ubx_sys(U1(p+56)))) {
trace(2,"ubx trkd5: system error\n");
continue;
}
prn=U1(p+57)+(sys==SYS_QZS?192:0);
frq=U1(p+59)-7;
}
else {
prn=U1(p+34);
sys=prn<MINPRNSBS?SYS_GPS:SYS_SBS;
}
if (!(sat=satno(sys,prn))) {
trace(2,"ubx trkd5 sat number error: sys=%2d prn=%2d\n",sys,prn);
continue;
}
/* transmission time */
ts=I8(p)*P2_32/1000.0;
if (sys==SYS_GLO) ts-=10800.0+utc_gpst; /* glot -> gpst */
/* signal travel time */
tau=tr-ts;
if (tau<-302400.0) tau+=604800.0;
else if (tau> 302400.0) tau-=604800.0;
flag=U1(p+54); /* tracking status */
adr=qi<6?0.0:I8(p+8)*P2_32+(flag&0x01?0.5:0.0);
dop=I4(p+16)*P2_10/4.0;
snr=U2(p+32)/256.0;
if (snr<=10.0) raw->lockt[sat-1][1]=1.0;
#if 0 /* for debug */
trace(2,"[%2d] qi=%d sys=%d prn=%3d frq=%2d flag=%02X ts=%1.3f "
"snr=%4.1f dop=%9.3f adr=%13.3f %6.3f\n",U1(p+35),qi,U1(p+56),
prn,frq,flag,ts,snr,dop,adr,
adrs[sat-1]==0.0||dop==0.0?0.0:(adr-adrs[sat-1])-dop);
#endif
adrs[sat-1]=adr;
/* check phase lock */
if (!(flag&0x08)) continue;
raw->obs.data[n].time=time;
raw->obs.data[n].sat=sat;
raw->obs.data[n].P[0]=tau*CLIGHT;
raw->obs.data[n].L[0]=-adr;
raw->obs.data[n].D[0]=(float)dop;
raw->obs.data[n].SNR[0]=(unsigned char)(snr*4.0);
raw->obs.data[n].code[0]=sys==SYS_CMP?CODE_L1I:CODE_L1C;
raw->obs.data[n].LLI[0]=raw->lockt[sat-1][1]>0.0?1:0;
raw->lockt[sat-1][1]=0.0;
for (j=1;j<NFREQ+NEXOBS;j++) {
raw->obs.data[n].L[j]=raw->obs.data[n].P[j]=0.0;
raw->obs.data[n].D[j]=0.0;
raw->obs.data[n].SNR[j]=raw->obs.data[n].LLI[j]=0;
raw->obs.data[n].code[j]=CODE_NONE;
}
n++;
}
if (n<=0) return 0;
raw->time=time;
raw->obs.n=n;
return 1;
}
/* decode gps and qzss navigation data ---------------------------------------*/
static int decode_nav(raw_t *raw, int sat, int off)
{
unsigned int words[10];
int i,id;
unsigned char *p=raw->buff+6+off;
if (raw->len<48+off) {
trace(2,"ubx rawsfrbx length error: sat=%d len=%d\n",sat,raw->len);
return -1;
}
for (i=0;i<10;i++,p+=4) words[i]=U4(p)>>6; /* 24 bits without parity */
id=(words[1]>>2)&7;
if (id<1||5<id) {
trace(2,"ubx rawsfrbx subfrm id error: sat=%2d\n",sat);
return -1;
}
for (i=0;i<10;i++) {
setbitu(raw->subfrm[sat-1]+(id-1)*30,i*24,24,words[i]);
}
if (id==3) return decode_ephem(sat,raw);
if (id==4) return decode_alm1 (sat,raw);
if (id==5) return decode_alm2 (sat,raw);
return 0;
}
/* decode galileo navigation data --------------------------------------------*/
static int decode_enav(raw_t *raw, int sat, int off)
{
eph_t eph={0};
unsigned char *p=raw->buff+6+off,buff[32],crc_buff[26]={0};
int i,j,k,part1,page1,part2,page2,type;
if (raw->len<44+off) {
trace(2,"ubx rawsfrbx length error: sat=%d len=%d\n",sat,raw->len);
return -1;
}
for (i=k=0;i<8;i++,p+=4) for (j=0;j<4;j++) {
buff[k++]=p[3-j];
}
part1=getbitu(buff ,0,1);
page1=getbitu(buff ,1,1);
part2=getbitu(buff+16,0,1);
page2=getbitu(buff+16,1,1);
/* skip alert page */
if (page1==1||page2==1) return 0;
/* test even-odd parts */
if (part1!=0||part2!=1) {
trace(2,"ubx rawsfrbx gal page even/odd error: sat=%2d\n",sat);
return -1;
}
/* test crc (4(pad) + 114 + 82 bits) */
for (i=0,j= 4;i<15;i++,j+=8) setbitu(crc_buff,j,8,getbitu(buff ,i*8,8));
for (i=0,j=118;i<11;i++,j+=8) setbitu(crc_buff,j,8,getbitu(buff+16,i*8,8));
if (rtk_crc24q(crc_buff,25)!=getbitu(buff+16,82,24)) {
trace(2,"ubx rawsfrbx gal page crc error: sat=%2d\n",sat);
return -1;
}
type=getbitu(buff,2,6); /* word type */
/* skip word except for ephemeris, iono, utc parameters */
if (type>6) return 0;
/* clear word 0-6 flags */
if (type==2) raw->subfrm[sat-1][112]=0;
/* save page data (112 + 16 bits) to frame buffer */
k=type*16;
for (i=0,j=2;i<14;i++,j+=8) raw->subfrm[sat-1][k++]=getbitu(buff ,j,8);
for (i=0,j=2;i< 2;i++,j+=8) raw->subfrm[sat-1][k++]=getbitu(buff+16,j,8);
/* test word 0-6 flags */
raw->subfrm[sat-1][112]|=(1<<type);
if (raw->subfrm[sat-1][112]!=0x7F) return 0;
/* decode galileo inav ephemeris */
if (!decode_gal_inav(raw->subfrm[sat-1],&eph)) {
return 0;
}
/* test svid consistency */
if (eph.sat!=sat) {
trace(2,"ubx rawsfrbx gal svid error: sat=%2d %2d\n",sat,eph.sat);
return -1;
}
if (!strstr(raw->opt,"-EPHALL")) {
if (eph.iode==raw->nav.eph[sat-1].iode&& /* unchanged */
timediff(eph.toe,raw->nav.eph[sat-1].toe)==0.0&&
timediff(eph.toc,raw->nav.eph[sat-1].toc)==0.0) return 0;
}
eph.sat=sat;
raw->nav.eph[sat-1]=eph;
raw->ephsat=sat;
return 2;
}
/* decode beidou navigation data ---------------------------------------------*/
static int decode_cnav(raw_t *raw, int sat, int off)
{
eph_t eph={0};
unsigned int words[10];
int i,id,pgn,prn;
unsigned char *p=raw->buff+6+off;
if (raw->len<48+off) {
trace(2,"ubx rawsfrbx length error: sat=%d len=%d\n",sat,raw->len);
return -1;
}
for (i=0;i<10;i++,p+=4) words[i]=U4(p)&0x3FFFFFFF; /* 30 bits */
satsys(sat,&prn);
id=(words[0]>>12)&0x07; /* subframe id (3bit) */
if (id<1||5<id) {
trace(2,"ubx rawsfrbx subfrm id error: sat=%2d\n",sat);
return -1;
}
if (prn>5) { /* IGSO/MEO */
for (i=0;i<10;i++) {
setbitu(raw->subfrm[sat-1]+(id-1)*38,i*30,30,words[i]);
}
if (id!=3) return 0;
/* decode beidou D1 ephemeris */
if (!decode_bds_d1(raw->subfrm[sat-1],&eph)) return 0;
}
else { /* GEO */
if (id!=1) return 0;
/* subframe 1 */
pgn=(words[1]>>14)&0x0F; /* page number (4bit) */
if (pgn<1||10<pgn) {
trace(2,"ubx rawsfrbx page number error: sat=%2d\n",sat);
return -1;
}
for (i=0;i<10;i++) {
setbitu(raw->subfrm[sat-1]+(pgn-1)*38,i*30,30,words[i]);
}
if (pgn!=10) return 0;
/* decode beidou D2 ephemeris */
if (!decode_bds_d2(raw->subfrm[sat-1],&eph)) return 0;
}
if (!strstr(raw->opt,"-EPHALL")) {
if (timediff(eph.toe,raw->nav.eph[sat-1].toe)==0.0&&
eph.iode==raw->nav.eph[sat-1].iode&&
eph.iodc==raw->nav.eph[sat-1].iodc) return 0; /* unchanged */
}
eph.sat=sat;
raw->nav.eph[sat-1]=eph;
raw->ephsat=sat;
return 2;
}
/* decode glonass navigation data --------------------------------------------*/
static int decode_gnav(raw_t *raw, int sat, int off, int frq)
{
geph_t geph={0};
int i,j,k,m,prn;
unsigned char *p=raw->buff+6+off,buff[64],*fid;
satsys(sat,&prn);
if (raw->len<24+off) {
trace(2,"ubx rawsfrbx gnav length error: len=%d\n",raw->len);
return -1;
}
for (i=k=0;i<4;i++,p+=4) for (j=0;j<4;j++) {
buff[k++]=p[3-j];
}
/* test hamming of glonass string */
if (!test_glostr(buff)) {
trace(2,"ubx rawsfrbx glo string hamming error: sat=%2d\n",sat);
return -1;
}
m=getbitu(buff,1,4);
if (m<1||15<m) {
trace(2,"ubx rawsfrbx glo string no error: sat=%2d\n",sat);
return -1;
}
/* flush frame buffer if frame-id changed */
fid=raw->subfrm[sat-1]+150;
if (fid[0]!=buff[12]||fid[1]!=buff[13]) {
for (i=0;i<4;i++) memset(raw->subfrm[sat-1]+i*10,0,10);
memcpy(fid,buff+12,2); /* save frame-id */
}
memcpy(raw->subfrm[sat-1]+(m-1)*10,buff,10);
if (m!=4) return 0;
/* decode glonass ephemeris strings */
geph.tof=raw->time;
if (!decode_glostr(raw->subfrm[sat-1],&geph)||geph.sat!=sat) return 0;
geph.frq=frq-7;
if (!strstr(raw->opt,"-EPHALL")) {
if (geph.iode==raw->nav.geph[prn-1].iode) return 0; /* unchanged */
}
raw->nav.geph[prn-1]=geph;
raw->ephsat=sat;
return 2;
}
/* decode sbas navigation data -----------------------------------------------*/
static int decode_snav(raw_t *raw, int sat, int off)
{
int i,j,k,prn,tow,week;
unsigned char *p=raw->buff+6+off,buff[64];
if (raw->len<40+off) {
trace(2,"ubx rawsfrbx snav length error: len=%d\n",raw->len);
return -1;
}
tow=(int)time2gpst(timeadd(raw->time,-1.0),&week);
satsys(sat,&prn);
raw->sbsmsg.prn=prn;
raw->sbsmsg.tow=tow;
raw->sbsmsg.week=week;
for (i=k=0;i<8;i++,p+=4) for (j=0;j<4;j++) {
buff[k++]=p[3-j];
}
memcpy(raw->sbsmsg.msg,buff,29);
raw->sbsmsg.msg[28]&=0xC0;
return 3;
}
/* decode ubx-rxm-sfrbx: raw subframe data (ref [3]) -------------------------*/
static int decode_rxmsfrbx(raw_t *raw)
{
int prn,sat,sys;
unsigned char *p=raw->buff+6;
trace(4,"decode_rxmsfrbx: len=%d\n",raw->len);
if (raw->outtype) {
sprintf(raw->msgtype,"UBX RXM-SFRBX (%4d): sys=%d prn=%3d",raw->len,
U1(p),U1(p+1));
}
if (!(sys=ubx_sys(U1(p)))) {
trace(2,"ubx rxmsfrbx sys id error: sys=%d\n",U1(p));
return -1;
}
prn=U1(p+1)+(sys==SYS_QZS?192:0);
if (!(sat=satno(sys,prn))) {
trace(2,"ubx rxmsfrbx sat number error: sys=%d prn=%d\n",sys,prn);
return -1;
}
switch (sys) {
case SYS_GPS: return decode_nav (raw,sat,8);
case SYS_QZS: return decode_nav (raw,sat,8);
case SYS_GAL: return decode_enav(raw,sat,8);
case SYS_CMP: return decode_cnav(raw,sat,8);
case SYS_GLO: return decode_gnav(raw,sat,8,U1(p+3));
case SYS_SBS: return decode_snav(raw,sat,8);
}
return 0;
}
/* decode ubx-trk-sfrbx: subframe buffer extension ---------------------------*/
static int decode_trksfrbx(raw_t *raw)
{
int prn,sat,sys;
unsigned char *p=raw->buff+6;
trace(4,"decode_trksfrbx: len=%d\n",raw->len);
if (raw->outtype) {
sprintf(raw->msgtype,"UBX TRK-SFRBX (%4d): sys=%d prn=%3d",raw->len,
U1(p+1),U1(p+2));
}
if (!(sys=ubx_sys(U1(p+1)))) {
trace(2,"ubx trksfrbx sys id error: sys=%d\n",U1(p+1));
return -1;
}
prn=U1(p+2)+(sys==SYS_QZS?192:0);
if (!(sat=satno(sys,prn))) {
trace(2,"ubx trksfrbx sat number error: sys=%d prn=%d\n",sys,prn);
return -1;