346 lines
12 KiB
C
346 lines
12 KiB
C
#include "rtklib.h"
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/* function prototypes -------------------------------------------------------*/
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extern int decode_rtcm3(rtcm_t *rtcm);
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/* 定义静态数组替换动态数组 */
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#ifdef STATIC
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#define RTCM_STATIC
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#endif
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/* 定义静态数组替换动态数组 */
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/* constants -----------------------------------------------------------------*/
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#define RTCM3PREAMB 0xD3 /* rtcm ver.3 frame preamble */
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/* initialize rtcm control -----------------------------------------------------
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* initialize rtcm control struct and reallocate memory for observation and
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* ephemeris buffer in rtcm control struct
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* args : rtcm_t *raw IO rtcm control struct
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* return : status (1:ok,0:memory allocation error)
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*-----------------------------------------------------------------------------*/
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extern int init_rtcm(rtcm_t *rtcm)
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{
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gtime_t time0 = {0};
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obsd_t data0 = {{0}};
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eph_t eph0 = {0, -1, -1};
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#ifdef ENAGLO
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geph_t geph0 = {0, -1};
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#endif
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// ssr_t ssr0={{{0}}};
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int i, j;
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trace(4, "init_rtcm:\n");
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rtcm->staid = rtcm->stah = rtcm->seqno = 0;
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// rtcm->outtype = 0;
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rtcm->time = rtcm->time_s = time0;
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rtcm->sta.name[0] = rtcm->sta.marker[0] = '\0';
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rtcm->sta.antdes[0] = rtcm->sta.antsno[0] = '\0';
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rtcm->sta.rectype[0] = rtcm->sta.recver[0] = rtcm->sta.recsno[0] = '\0';
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rtcm->sta.antsetup = rtcm->sta.itrf = rtcm->sta.deltype = 0;
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for (i = 0; i < 3; i++)
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{
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rtcm->sta.pos[i] = rtcm->sta.del[i] = 0.0;
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}
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rtcm->sta.hgt = 0.0;
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//rtcm->dgps = NULL;
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// for (i=0;i<MAXSAT;i++) {
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// rtcm->ssr[i]=ssr0;
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// }
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// rtcm->msg[0]=rtcm->msgtype[0]=rtcm->opt[0]='\0';
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for (i = 0; i < 6; i++)
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rtcm->msmtype[i][0] = '\0';
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rtcm->obsflag = rtcm->ephsat = 0;
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for (i = 0; i < MAXSAT; i++)
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for (j = 0; j < NFREQ + NEXOBS; j++)
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{
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rtcm->cp[i][j] = 0.0;
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rtcm->lock[i][j] = rtcm->loss[i][j] = 0;
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rtcm->lltime[i][j] = time0;
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}
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rtcm->nbit = rtcm->len = 0;
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rtcm->nbyte = 0;
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// rtcm->word=0;
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// for (i=0;i<100;i++) rtcm->nmsg2[i]=0;
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for (i = 0; i < 400; i++)
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rtcm->nmsg3[i] = 0;
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rtcm->obs.data = NULL;
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rtcm->nav.eph = NULL;
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rtcm->nav.geph = NULL;
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/* reallocate memory for observation and ephemeris buffer */
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#ifndef ENAGLO
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if (!(rtcm->obs.data = (obsd_t *)malloc(sizeof(obsd_t) * MAXOBS)) ||
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!(rtcm->nav.eph = (eph_t *)malloc(sizeof(eph_t) * MAXSAT * 1)))
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#else
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if (!(rtcm->obs.data = (obsd_t *)malloc(sizeof(obsd_t) * MAXOBS)) ||
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!(rtcm->nav.eph = (eph_t *)malloc(sizeof(eph_t) * MAXSAT)) ||
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!(rtcm->nav.geph = (geph_t *)malloc(sizeof(geph_t) * MAXPRNGLO)))
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#endif
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{
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free_rtcm(rtcm);
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return 0;
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}
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rtcm->obs.n = 0;
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rtcm->nav.n = MAXSAT * 1; /* 接收机星历 (当前星历) */
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rtcm->nav.ng = MAXPRNGLO;
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for (i = 0; i < MAXOBS; i++)
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rtcm->obs.data[i] = data0;
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for (i = 0; i < MAXSAT * 1; i++)
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rtcm->nav.eph[i] = eph0;
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#ifdef ENAGLO
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for (i = 0; i < MAXPRNGLO; i++)
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rtcm->nav.geph[i] = geph0;
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#endif
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return 1;
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}
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/* initialize rtcm control -----------------------------------------------------
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* initialize rtcm control struct and reallocate memory for observation and
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* ephemeris buffer in rtcm control struct
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* args : rtcm_t *raw IO rtcm control struct
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* return : status (1:ok,0:memory allocation error)
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*-----------------------------------------------------------------------------*/
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extern int init_rtcm_static(rtcm_t *rtcm, char index)
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{
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gtime_t time0 = {0};
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obsd_t data0 = {{0}};
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eph_t eph0 = {0, -1, -1};
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extern obsd_t RTCM_obsd_r[MAXOBS];
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extern obsd_t RTCM_obsd_b[MAXOBS];
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extern eph_t RTCM_eph_r[MAXSAT];
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#ifdef ENAGLO
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extern eph_t RTCM_geph[MAXPRNGLO];
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geph_t geph0 = {0, -1};
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#endif
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// ssr_t ssr0={{{0}}};
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int i, j;
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trace(4, "init_rtcm:\n");
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rtcm->staid = rtcm->stah = rtcm->seqno = 0;
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// rtcm->outtype = 0;
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rtcm->time = rtcm->time_s = time0;
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rtcm->sta.name[0] = rtcm->sta.marker[0] = '\0';
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rtcm->sta.antdes[0] = rtcm->sta.antsno[0] = '\0';
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rtcm->sta.rectype[0] = rtcm->sta.recver[0] = rtcm->sta.recsno[0] = '\0';
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rtcm->sta.antsetup = rtcm->sta.itrf = rtcm->sta.deltype = 0;
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for (i = 0; i < 3; i++)
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{
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rtcm->sta.pos[i] = rtcm->sta.del[i] = 0.0;
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}
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rtcm->sta.hgt = 0.0;
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//rtcm->dgps = NULL;
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// for (i=0;i<MAXSAT;i++) {
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// rtcm->ssr[i]=ssr0;
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// }
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// rtcm->msg[0]=rtcm->msgtype[0]=rtcm->opt[0]='\0';
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for (i = 0; i < 6; i++)
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rtcm->msmtype[i][0] = '\0';
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rtcm->obsflag = rtcm->ephsat = 0;
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for (i = 0; i < MAXSAT; i++)
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for (j = 0; j < NFREQ + NEXOBS; j++)
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{
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rtcm->cp[i][j] = 0.0;
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rtcm->lock[i][j] = rtcm->loss[i][j] = 0;
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rtcm->lltime[i][j] = time0;
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}
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rtcm->nbit = rtcm->len = 0;
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rtcm->nbyte = 0;
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// rtcm->word=0;
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// for (i=0;i<100;i++) rtcm->nmsg2[i]=0;
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for (i = 0; i < 400; i++)
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rtcm->nmsg3[i] = 0;
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rtcm->obs.data = NULL;
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rtcm->nav.eph = NULL;
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rtcm->nav.geph = NULL;
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/* reallocate memory for observation and ephemeris buffer */
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if (index == 0) /* 接收机静态 */
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{
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memset(RTCM_obsd_r,0,MAXOBS);
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memset(RTCM_eph_r,0,MAXSAT);
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rtcm->obs.data = RTCM_obsd_r;
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rtcm->nav.eph = RTCM_eph_r;
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rtcm->obs.n = 0;
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rtcm->nav.n = MAXSAT * 1; /* 接收机星历 (当前星历) */
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rtcm->nav.ng = MAXPRNGLO;
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for (i = 0; i < MAXOBS; i++)
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rtcm->obs.data[i] = data0;
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for (i = 0; i < MAXSAT * 1; i++)
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rtcm->nav.eph[i] = eph0;
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}
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else /* 基准站静态 */
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{
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memset(RTCM_obsd_b,0,MAXOBS);
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rtcm->obs.data = RTCM_obsd_b;
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rtcm->obs.n = 0;
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rtcm->nav.n = 0; /* 基准站最大星历数量 */
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rtcm->nav.ng = 0;
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for (i = 0; i < MAXOBS; i++)
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rtcm->obs.data[i] = data0;
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}
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#ifdef ENAGLO
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if (index == 0)
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{
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memset(RTCM_geph_r,0,MAXPRNGLO);
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rtcm->nav.geph = RTCM_geph_r;
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for (i = 0; i < MAXPRNGLO; i++)
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rtcm->nav.geph[i] = geph0;
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}
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#endif
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return 1;
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}
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/* free rtcm control ----------------------------------------------------------
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* free observation and ephemeris buffer in rtcm control struct
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* args : rtcm_t *raw IO rtcm control struct
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* return : none
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*-----------------------------------------------------------------------------*/
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extern void free_rtcm(rtcm_t *rtcm)
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{
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trace(4, "free_rtcm:\n");
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/* free memory for observation and ephemeris buffer */
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#ifndef RTCM_STATIC
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free(rtcm->obs.data);
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rtcm->obs.data = NULL;
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free(rtcm->nav.eph);
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rtcm->nav.eph = NULL;
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free(rtcm->nav.geph);
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rtcm->nav.geph = NULL;
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#endif
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rtcm->nav.ng = 0;
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rtcm->obs.n = 0;
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rtcm->nav.n = 0;
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}
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/* input RTCM 3 message from stream --------------------------------------------
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* fetch next RTCM 3 message and input a message from byte stream
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* args : rtcm_t *rtcm IO rtcm control struct
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* uint8_t data I stream data (1 byte)
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* return : status (-1: error message, 0: no message, 1: input observation data,
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* 2: input ephemeris, 5: input station pos/ant parameters,
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* 10: input ssr messages)
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* notes : before firstly calling the function, time in rtcm control struct has
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* to be set to the approximate time within 1/2 week in order to resolve
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* ambiguity of time in rtcm messages.
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*
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* to specify input options, set rtcm->opt to the following option
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* strings separated by spaces.
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*
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* -EPHALL : input all ephemerides (default: only new)
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* -STA=nnn : input only message with STAID=nnn (default: all)
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* -GLss : select signal ss for GPS MSM (ss=1C,1P,...)
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* -RLss : select signal ss for GLO MSM (ss=1C,1P,...)
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* -ELss : select signal ss for GAL MSM (ss=1C,1B,...)
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* -JLss : select signal ss for QZS MSM (ss=1C,2C,...)
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* -CLss : select signal ss for BDS MSM (ss=2I,7I,...)
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* -ILss : select signal ss for IRN MSM (ss=5A,9A,...)
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* -GALINAV : select I/NAV for Galileo ephemeris (default: all)
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* -GALFNAV : select F/NAV for Galileo ephemeris (default: all)
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*
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* supported RTCM 3 messages (ref [7][10][15][16][17][18])
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*
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* TYPE : GPS GLONASS Galileo QZSS BDS SBAS NavIC
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* ----------------------------------------------------------------------
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* OBS COMP L1 : 1001~ 1009~ - - - - -
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* FULL L1 : 1002 1010 - - - - -
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* COMP L1L2: 1003~ 1011~ - - - - -
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* FULL L1L2: 1004 1012 - - - - -
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*
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* NAV : 1019 1020 1045** 1044 1042 - 1041
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* - - 1046** - 63* - -
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*
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* MSM 1 : 1071~ 1081~ 1091~ 1111~ 1121~ 1101~ 1131~
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* 2 : 1072~ 1082~ 1092~ 1112~ 1122~ 1102~ 1132~
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* 3 : 1073~ 1083~ 1093~ 1113~ 1123~ 1103~ 1133~
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* 4 : 1074 1084 1094 1114 1124 1104 1134
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* 5 : 1075 1085 1095 1115 1125 1105 1135
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* 6 : 1076 1086 1096 1116 1126 1106 1136
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* 7 : 1077 1087 1097 1117 1127 1107 1137
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*
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* SSR ORBIT : 1057 1063 1240* 1246* 1258* - -
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* CLOCK : 1058 1064 1241* 1247* 1259* - -
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* CODE BIAS: 1059 1065 1242* 1248* 1260* - -
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* OBT/CLK : 1060 1066 1243* 1249* 1261* - -
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* URA : 1061 1067 1244* 1250* 1262* - -
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* HR-CLOCK : 1062 1068 1245* 1251* 1263* - -
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* PHAS BIAS: 11* - 12* 13* 14* - -
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*
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* ANT/RCV INFO : 1007 1008 1033
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* STA POSITION : 1005 1006
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*
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* PROPRIETARY : 4076 (IGS)
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* ----------------------------------------------------------------------
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* (* draft, ** 1045:F/NAV,1046:I/NAV, ~ only encode)
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*
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* for MSM observation data with multiple signals for a frequency,
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* a signal is selected according to internal priority. to select
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* a specified signal, use the input options.
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*
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* RTCM 3 message format:
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* +----------+--------+-----------+--------------------+----------+
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* | preamble | 000000 | length | data message | parity |
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* +----------+--------+-----------+--------------------+----------+
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* |<-- 8 --->|<- 6 -->|<-- 10 --->|<--- length x 8 --->|<-- 24 -->|
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*
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*-----------------------------------------------------------------------------*/
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extern int input_rtcm3(rtcm_t *rtcm, uint8_t data)
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{
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trace(5, "input_rtcm3: data=%02x\n", data);
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/* synchronize frame */
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if (rtcm->nbyte == 0)
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{
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if (data != RTCM3PREAMB)
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return 0;
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rtcm->buff[rtcm->nbyte++] = data;
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return 0;
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}
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rtcm->buff[rtcm->nbyte++] = data;
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if (rtcm->nbyte == 3)
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{
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rtcm->len = getbitu(rtcm->buff, 14, 10) + 3; /* length without parity */
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}
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if (rtcm->nbyte < 3 || rtcm->nbyte < rtcm->len + 3)
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return 0;
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rtcm->nbyte = 0;
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/* check parity */
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if (rtk_crc24q(rtcm->buff, rtcm->len) != getbitu(rtcm->buff, rtcm->len * 8, 24))
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{
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trace(2, "rtcm3 parity error: len=%d\n", rtcm->len);
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return 0;
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}
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/* decode rtcm3 message */
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return decode_rtcm3(rtcm);
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}
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/* input RTCM 3 message from file ----------------------------------------------
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* fetch next RTCM 3 message and input a messsage from file
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* args : rtcm_t *rtcm IO rtcm control struct
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* FILE *fp I file pointer
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* return : status (-2: end of file, -1...10: same as above)
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* notes : same as above
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*-----------------------------------------------------------------------------*/
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extern int input_rtcm3f(rtcm_t *rtcm, FILE *fp)
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{
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int i, data = 0, ret;
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trace(4, "input_rtcm3f: data=%02x\n", data);
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for (i = 0; i < 4096; i++)
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{
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if ((data = fgetc(fp)) == EOF)
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return -2;
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if ((ret = input_rtcm3(rtcm, (uint8_t)data)))
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return ret;
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}
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return 0; /* return at every 4k bytes */
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}
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