/*------------------------------------------------------------------------------ * rtcm.c : rtcm functions * * Copyright (C) 2009-2020 by T.TAKASU, All rights reserved. * * references : * [1] RTCM Recommended Standards for Differential GNSS (Global Navigation * Satellite Systems) Service version 2.3, August 20, 2001 * [7] RTCM Standard 10403.1 - Amendment 5, Differential GNSS (Global * Navigation Satellite Systems) Services - version 3, July 1, 2011 * [10] RTCM Paper 059-2011-SC104-635 (draft Galileo and QZSS ssr messages) * [15] RTCM Standard 10403.2, Differential GNSS (Global Navigation Satellite * Systems) Services - version 3, with amendment 1/2, November 7, 2013 * [16] Proposal of new RTCM SSR Messages (ssr_1_gal_qzss_sbas_dbs_v05) * 2014/04/17 * [17] RTCM Standard 10403.3, Differential GNSS (Global Navigation Satellite * Systems) Services - version 3, with amendment 1, April 28, 2020 * [18] IGS State Space Representation (SSR) Format version 1.00, October 5, * 2020 * * version : $Revision:$ $Date:$ * history : 2009/04/10 1.0 new * 2009/06/29 1.1 support type 1009-1012 to get synchronous-gnss-flag * 2009/12/04 1.2 support type 1010,1012,1020 * 2010/07/15 1.3 support type 1057-1068 for ssr corrections * support type 1007,1008,1033 for antenna info * 2010/09/08 1.4 fix problem of ephemeris and ssr sequence upset * (2.4.0_p8) * 2012/05/11 1.5 comply with RTCM 3 final SSR format (RTCM 3 * Amendment 5) (ref [7]) (2.4.1_p6) * 2012/05/14 1.6 separate rtcm2.c, rtcm3.c * add options to select used codes for msm * 2013/04/27 1.7 comply with rtcm 3.2 with amendment 1/2 (ref[15]) * 2013/12/06 1.8 support SBAS/BeiDou SSR messages (ref[16]) * 2018/01/29 1.9 support RTCM 3.3 (ref[17]) * crc24q() -> rtk_crc24q() * 2018/10/10 1.10 fix bug on initializing rtcm struct * add rtcm option -GALINAV, -GALFNAV * 2018/11/05 1.11 add notes for api gen_rtcm3() * 2020/11/30 1.12 modify API gen_rtcm3() * support NavIC/IRNSS MSM and ephemeris (ref [17]) * allocate double size of ephemeris buffer to support * multiple ephemeris sets in init_rtcm() * delete references [2]-[6],[8],[9],[11]-[14] * update reference [17] * use integer types in stdint.h *-----------------------------------------------------------------------------*/ #include "rtklib.h" /* function prototypes -------------------------------------------------------*/ extern int decode_rtcm2(rtcm_t *rtcm); extern int decode_rtcm3(rtcm_t *rtcm); extern int encode_rtcm3(rtcm_t *rtcm, int type, int subtype, int sync); /* constants -----------------------------------------------------------------*/ #define RTCM2PREAMB 0x66 /* rtcm ver.2 frame preamble */ #define RTCM3PREAMB 0xD3 /* rtcm ver.3 frame preamble */ /* initialize rtcm control ----------------------------------------------------- * initialize rtcm control struct and reallocate memory for observation and * ephemeris buffer in rtcm control struct * args : rtcm_t *raw IO rtcm control struct * return : status (1:ok,0:memory allocation error) *-----------------------------------------------------------------------------*/ extern int init_rtcm(rtcm_t *rtcm) { gtime_t time0={0}; obsd_t data0={{0}}; eph_t eph0 ={0,-1,-1}; geph_t geph0={0,-1}; ssr_t ssr0={{{0}}}; int i,j; trace(3,"init_rtcm:\n"); rtcm->staid=rtcm->stah=rtcm->seqno=rtcm->outtype=0; rtcm->time=rtcm->time_s=time0; rtcm->sta.name[0]=rtcm->sta.marker[0]='\0'; rtcm->sta.antdes[0]=rtcm->sta.antsno[0]='\0'; rtcm->sta.rectype[0]=rtcm->sta.recver[0]=rtcm->sta.recsno[0]='\0'; rtcm->sta.antsetup=rtcm->sta.itrf=rtcm->sta.deltype=0; for (i=0;i<3;i++) { rtcm->sta.pos[i]=rtcm->sta.del[i]=0.0; } rtcm->sta.hgt=0.0; rtcm->dgps=NULL; for (i=0;issr[i]=ssr0; } rtcm->msg[0]=rtcm->msgtype[0]=rtcm->opt[0]='\0'; for (i=0;i<6;i++) rtcm->msmtype[i][0]='\0'; rtcm->obsflag=rtcm->ephsat=0; for (i=0;icp[i][j]=0.0; rtcm->lock[i][j]=rtcm->loss[i][j]=0; rtcm->lltime[i][j]=time0; } rtcm->nbyte=rtcm->nbit=rtcm->len=0; rtcm->word=0; for (i=0;i<100;i++) rtcm->nmsg2[i]=0; for (i=0;i<400;i++) rtcm->nmsg3[i]=0; rtcm->obs.data=NULL; rtcm->nav.eph =NULL; rtcm->nav.geph=NULL; /* reallocate memory for observation and ephemeris buffer */ if (!(rtcm->obs.data=(obsd_t *)malloc(sizeof(obsd_t)*MAXOBS))|| !(rtcm->nav.eph =(eph_t *)malloc(sizeof(eph_t )*MAXSAT*2))|| !(rtcm->nav.geph=(geph_t *)malloc(sizeof(geph_t)*MAXPRNGLO))) { free_rtcm(rtcm); return 0; } rtcm->obs.n=0; rtcm->nav.n=MAXSAT*2; rtcm->nav.ng=MAXPRNGLO; for (i=0;iobs.data[i]=data0; for (i=0;inav.eph [i]=eph0; for (i=0;inav.geph[i]=geph0; return 1; } /* free rtcm control ---------------------------------------------------------- * free observation and ephemeris buffer in rtcm control struct * args : rtcm_t *raw IO rtcm control struct * return : none *-----------------------------------------------------------------------------*/ extern void free_rtcm(rtcm_t *rtcm) { trace(3,"free_rtcm:\n"); /* free memory for observation and ephemeris buffer */ free(rtcm->obs.data); rtcm->obs.data=NULL; rtcm->obs.n=0; free(rtcm->nav.eph ); rtcm->nav.eph =NULL; rtcm->nav.n=0; free(rtcm->nav.geph); rtcm->nav.geph=NULL; rtcm->nav.ng=0; } /* input RTCM 2 message from stream -------------------------------------------- * fetch next RTCM 2 message and input a message from byte stream * args : rtcm_t *rtcm IO rtcm control struct * uint8_t data I stream data (1 byte) * return : status (-1: error message, 0: no message, 1: input observation data, * 2: input ephemeris, 5: input station pos/ant parameters, * 6: input time parameter, 7: input dgps corrections, * 9: input special message) * notes : before firstly calling the function, time in rtcm control struct has * to be set to the approximate time within 1/2 hour in order to resolve * ambiguity of time in rtcm messages. * supported msgs RTCM ver.2: 1,3,9,14,16,17,18,19,22 * refer [1] for RTCM ver.2 *-----------------------------------------------------------------------------*/ extern int input_rtcm2(rtcm_t *rtcm, uint8_t data) { uint8_t preamb; int i; trace(5,"input_rtcm2: data=%02x\n",data); if ((data&0xC0)!=0x40) return 0; /* ignore if upper 2bit != 01 */ for (i=0;i<6;i++,data>>=1) { /* decode 6-of-8 form */ rtcm->word=(rtcm->word<<1)+(data&1); /* synchronize frame */ if (rtcm->nbyte==0) { preamb=(uint8_t)(rtcm->word>>22); if (rtcm->word&0x40000000) preamb^=0xFF; /* decode preamble */ if (preamb!=RTCM2PREAMB) continue; /* check parity */ if (!decode_word(rtcm->word,rtcm->buff)) continue; rtcm->nbyte=3; rtcm->nbit=0; continue; } if (++rtcm->nbit<30) continue; else rtcm->nbit=0; /* check parity */ if (!decode_word(rtcm->word,rtcm->buff+rtcm->nbyte)) { trace(2,"rtcm2 partity error: i=%d word=%08x\n",i,rtcm->word); rtcm->nbyte=0; rtcm->word&=0x3; continue; } rtcm->nbyte+=3; if (rtcm->nbyte==6) rtcm->len=(rtcm->buff[5]>>3)*3+6; if (rtcm->nbytelen) continue; rtcm->nbyte=0; rtcm->word&=0x3; /* decode rtcm2 message */ return decode_rtcm2(rtcm); } return 0; } /* input RTCM 3 message from stream -------------------------------------------- * fetch next RTCM 3 message and input a message from byte stream * args : rtcm_t *rtcm IO rtcm control struct * uint8_t data I stream data (1 byte) * return : status (-1: error message, 0: no message, 1: input observation data, * 2: input ephemeris, 5: input station pos/ant parameters, * 10: input ssr messages) * notes : before firstly calling the function, time in rtcm control struct has * to be set to the approximate time within 1/2 week in order to resolve * ambiguity of time in rtcm messages. * * to specify input options, set rtcm->opt to the following option * strings separated by spaces. * * -EPHALL : input all ephemerides (default: only new) * -STA=nnn : input only message with STAID=nnn (default: all) * -GLss : select signal ss for GPS MSM (ss=1C,1P,...) * -RLss : select signal ss for GLO MSM (ss=1C,1P,...) * -ELss : select signal ss for GAL MSM (ss=1C,1B,...) * -JLss : select signal ss for QZS MSM (ss=1C,2C,...) * -CLss : select signal ss for BDS MSM (ss=2I,7I,...) * -ILss : select signal ss for IRN MSM (ss=5A,9A,...) * -GALINAV : select I/NAV for Galileo ephemeris (default: all) * -GALFNAV : select F/NAV for Galileo ephemeris (default: all) * * supported RTCM 3 messages (ref [7][10][15][16][17][18]) * * TYPE : GPS GLONASS Galileo QZSS BDS SBAS NavIC * ---------------------------------------------------------------------- * OBS COMP L1 : 1001~ 1009~ - - - - - * FULL L1 : 1002 1010 - - - - - * COMP L1L2: 1003~ 1011~ - - - - - * FULL L1L2: 1004 1012 - - - - - * * NAV : 1019 1020 1045** 1044 1042 - 1041 * - - 1046** - 63* - - * * MSM 1 : 1071~ 1081~ 1091~ 1111~ 1121~ 1101~ 1131~ * 2 : 1072~ 1082~ 1092~ 1112~ 1122~ 1102~ 1132~ * 3 : 1073~ 1083~ 1093~ 1113~ 1123~ 1103~ 1133~ * 4 : 1074 1084 1094 1114 1124 1104 1134 * 5 : 1075 1085 1095 1115 1125 1105 1135 * 6 : 1076 1086 1096 1116 1126 1106 1136 * 7 : 1077 1087 1097 1117 1127 1107 1137 * * SSR ORBIT : 1057 1063 1240* 1246* 1258* - - * CLOCK : 1058 1064 1241* 1247* 1259* - - * CODE BIAS: 1059 1065 1242* 1248* 1260* - - * OBT/CLK : 1060 1066 1243* 1249* 1261* - - * URA : 1061 1067 1244* 1250* 1262* - - * HR-CLOCK : 1062 1068 1245* 1251* 1263* - - * PHAS BIAS: 11* - 12* 13* 14* - - * * ANT/RCV INFO : 1007 1008 1033 * STA POSITION : 1005 1006 * * PROPRIETARY : 4076 (IGS) * ---------------------------------------------------------------------- * (* draft, ** 1045:F/NAV,1046:I/NAV, ~ only encode) * * for MSM observation data with multiple signals for a frequency, * a signal is selected according to internal priority. to select * a specified signal, use the input options. * * RTCM 3 message format: * +----------+--------+-----------+--------------------+----------+ * | preamble | 000000 | length | data message | parity | * +----------+--------+-----------+--------------------+----------+ * |<-- 8 --->|<- 6 -->|<-- 10 --->|<--- length x 8 --->|<-- 24 -->| * *-----------------------------------------------------------------------------*/ extern int input_rtcm3(rtcm_t *rtcm, uint8_t data) { trace(5,"input_rtcm3: data=%02x\n",data); /* synchronize frame */ if (rtcm->nbyte==0) { if (data!=RTCM3PREAMB) return 0; rtcm->buff[rtcm->nbyte++]=data; return 0; } rtcm->buff[rtcm->nbyte++]=data; if (rtcm->nbyte==3) { rtcm->len=getbitu(rtcm->buff,14,10)+3; /* length without parity */ } if (rtcm->nbyte<3||rtcm->nbytelen+3) return 0; rtcm->nbyte=0; /* check parity */ if (rtk_crc24q(rtcm->buff,rtcm->len)!=getbitu(rtcm->buff,rtcm->len*8,24)) { trace(2,"rtcm3 parity error: len=%d\n",rtcm->len); return 0; } /* decode rtcm3 message */ return decode_rtcm3(rtcm); } /* input RTCM 2 message from file ---------------------------------------------- * fetch next RTCM 2 message and input a messsage from file * args : rtcm_t *rtcm IO rtcm control struct * FILE *fp I file pointer * return : status (-2: end of file, -1...10: same as above) * notes : same as above *-----------------------------------------------------------------------------*/ extern int input_rtcm2f(rtcm_t *rtcm, FILE *fp) { int i,data=0,ret; trace(4,"input_rtcm2f: data=%02x\n",data); for (i=0;i<4096;i++) { if ((data=fgetc(fp))==EOF) return -2; if ((ret=input_rtcm2(rtcm,(uint8_t)data))) return ret; } return 0; /* return at every 4k bytes */ } /* input RTCM 3 message from file ---------------------------------------------- * fetch next RTCM 3 message and input a messsage from file * args : rtcm_t *rtcm IO rtcm control struct * FILE *fp I file pointer * return : status (-2: end of file, -1...10: same as above) * notes : same as above *-----------------------------------------------------------------------------*/ extern int input_rtcm3f(rtcm_t *rtcm, FILE *fp) { int i,data=0,ret; trace(4,"input_rtcm3f: data=%02x\n",data); for (i=0;i<4096;i++) { if ((data=fgetc(fp))==EOF) return -2; if ((ret=input_rtcm3(rtcm,(uint8_t)data))) return ret; } return 0; /* return at every 4k bytes */ } /* generate RTCM 2 message ----------------------------------------------------- * generate RTCM 2 message * args : rtcm_t *rtcm IO rtcm control struct * int type I message type * int sync I sync flag (1:another message follows) * return : status (1:ok,0:error) *-----------------------------------------------------------------------------*/ extern int gen_rtcm2(rtcm_t *rtcm, int type, int sync) { trace(4,"gen_rtcm2: type=%d sync=%d\n",type,sync); rtcm->nbit=rtcm->len=rtcm->nbyte=0; /* not yet implemented */ return 0; } /* generate RTCM 3 message ----------------------------------------------------- * generate RTCM 3 message * args : rtcm_t *rtcm IO rtcm control struct * int type I message type * int subtype I message subtype * int sync I sync flag (1:another message follows) * return : status (1:ok,0:error) * notes : For rtcm 3 msm, the {nsat} x {nsig} in rtcm->obs should not exceed * 64. If {nsat} x {nsig} of the input obs data exceeds 64, separate * them to multiple ones and call gen_rtcm3() multiple times as user * responsibility. * ({nsat} = number of valid satellites, {nsig} = number of signals in * the obs data) *-----------------------------------------------------------------------------*/ extern int gen_rtcm3(rtcm_t *rtcm, int type, int subtype, int sync) { uint32_t crc; int i=0; trace(4,"gen_rtcm3: type=%d subtype=%d sync=%d\n",type,subtype,sync); rtcm->nbit=rtcm->len=rtcm->nbyte=0; /* set preamble and reserved */ setbitu(rtcm->buff,i, 8,RTCM3PREAMB); i+= 8; setbitu(rtcm->buff,i, 6,0 ); i+= 6; setbitu(rtcm->buff,i,10,0 ); i+=10; /* encode rtcm 3 message body */ if (!encode_rtcm3(rtcm,type,subtype,sync)) return 0; /* padding to align 8 bit boundary */ for (i=rtcm->nbit;i%8;i++) { setbitu(rtcm->buff,i,1,0); } /* message length (header+data) (bytes) */ if ((rtcm->len=i/8)>=3+1024) { trace(2,"generate rtcm 3 message length error len=%d\n",rtcm->len-3); rtcm->nbit=rtcm->len=0; return 0; } /* message length without header and parity */ setbitu(rtcm->buff,14,10,rtcm->len-3); /* crc-24q */ crc=rtk_crc24q(rtcm->buff,rtcm->len); setbitu(rtcm->buff,i,24,crc); /* length total (bytes) */ rtcm->nbyte=rtcm->len+3; return 1; }