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rcvraw.c
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/*------------------------------------------------------------------------------
* rcvraw.c : receiver raw data functions
*
* Copyright (C) 2009-2018 by T.TAKASU, All rights reserved.
* Copyright (C) 2014 by T.SUZUKI, All rights reserved.
*
* references :
* [1] IS-GPS-200D, Navstar GPS Space Segment/Navigation User Interfaces,
* 7 March, 2006
* [2] Global navigation satellite system GLONASS interface control document
* navigation radiosignal in bands L1,L2 (version 5.1), 2008
* [3] BeiDou satellite navigation system signal in space interface control
* document open service signal (version 2.0), December 2013
* [4] Quasi-Zenith Satellite System Navigation Service Interface
* Specification for QZSS (IS-QZSS) V.1.5, March 27, 2014
* [5] European GNSS (Galileo) Open Service Signal In Space Interface Control
* Document, Issue 1.2, November 2015
*
* version : $Revision: 1.1 $ $Date: 2008/07/17 21:48:06 $
* history : 2009/04/10 1.0 new
* 2009/06/02 1.1 support glonass
* 2010/07/31 1.2 support eph_t struct change
* 2010/12/06 1.3 add almanac decoding, support of GW10
* change api decode_frame()
* 2013/04/11 1.4 fix bug on decode fit interval
* 2014/01/31 1.5 fix bug on decode fit interval
* 2014/06/22 1.6 add api decode_glostr()
* 2014/06/22 1.7 add api decode_bds_d1(), decode_bds_d2()
* 2014/08/14 1.8 add test_glostr()
* add support input format rt17
* 2014/08/31 1.9 suppress warning
* 2014/11/07 1.10 support qzss navigation subframes
* 2018/01/29 1.11 add api decode_gal_inav() for galileo I/NAV
* improve struct initialization in init_raw()
*-----------------------------------------------------------------------------*/
#include "rtklib.h"
#include <stdint.h>
#define P2_34 5.820766091346740E-11 /* 2^-34 */
#define P2_46 1.421085471520200E-14 /* 2^-46 */
#define P2_59 1.734723475976810E-18 /* 2^-59 */
#define P2_66 1.355252715606881E-20 /* 2^-66 for BeiDou ephemeris */
/* get two component bits ----------------------------------------------------*/
static unsigned int getbitu2(const unsigned char *buff, int p1, int l1, int p2,
int l2)
{
return (getbitu(buff,p1,l1)<<l2)+getbitu(buff,p2,l2);
}
static int getbits2(const unsigned char *buff, int p1, int l1, int p2, int l2)
{
if (getbitu(buff,p1,1))
return (int)((getbits(buff,p1,l1)<<l2)+getbitu(buff,p2,l2));
else
return (int)getbitu2(buff,p1,l1,p2,l2);
}
/* get three component bits --------------------------------------------------*/
static unsigned int getbitu3(const unsigned char *buff, int p1, int l1, int p2,
int l2, int p3, int l3)
{
return (getbitu(buff,p1,l1)<<(l2+l3))+(getbitu(buff,p2,l2)<<l3)+
getbitu(buff,p3,l3);
}
static int getbits3(const unsigned char *buff, int p1, int l1, int p2, int l2,
int p3, int l3)
{
if (getbitu(buff,p1,1))
return (int)((getbits(buff,p1,l1)<<(l2+l3))+
(getbitu(buff,p2,l2)<<l3)+getbitu(buff,p3,l3));
else
return (int)getbitu3(buff,p1,l1,p2,l2,p3,l3);
}
/* merge two components ------------------------------------------------------*/
static unsigned int merge_two_u(unsigned int a, unsigned int b, int n)
{
return (a<<n)+b;
}
static int merge_two_s(int a, unsigned int b, int n)
{
return (int)((a<<n)+b);
}
/* get sign-magnitude bits ---------------------------------------------------*/
static double getbitg(const unsigned char *buff, int pos, int len)
{
double value=getbitu(buff,pos+1,len-1);
return getbitu(buff,pos,1)?-value:value;
}
/* decode Galileo I/NAV ephemeris ----------------------------------------------
* decode Galileo I/NAV (ref [5] 4.3)
* args : unsigned char *buff I Galileo I/NAV subframe bits
* buff[ 0-15]: I/NAV word type 0 (128 bit)
* buff[16-31]: I/NAV word type 1
* buff[32-47]: I/NAV word type 2
* buff[48-63]: I/NAV word type 3
* buff[64-79]: I/NAV word type 4
* buff[80-95]: I/NAV word type 5
* eph_t *eph IO ephemeris structure
* return : status (1:ok,0:error)
*-----------------------------------------------------------------------------*/
extern int decode_gal_inav(const unsigned char *buff, eph_t *eph)
{
double tow,toc,tt,sqrtA;
int i,time_f,week,svid,e5b_hs,e1b_hs,e5b_dvs,e1b_dvs,type[6],iod_nav[4];
i=0; /* word type 0 */
type[0] =getbitu(buff,i, 6); i+= 6;
time_f =getbitu(buff,i, 2); i+= 2+88;
week =getbitu(buff,i,12); i+=12; /* gst-week */
tow =getbitu(buff,i,20);
i=128; /* word type 1 */
type[1] =getbitu(buff,i, 6); i+= 6;
iod_nav[0] =getbitu(buff,i,10); i+=10;
eph->toes =getbitu(buff,i,14)*60.0; i+=14;
eph->M0 =getbits(buff,i,32)*P2_31*SC2RAD; i+=32;
eph->e =getbitu(buff,i,32)*P2_33; i+=32;
sqrtA =getbitu(buff,i,32)*P2_19;
i=128*2; /* word type 2 */
type[2] =getbitu(buff,i, 6); i+= 6;
iod_nav[1] =getbitu(buff,i,10); i+=10;
eph->OMG0 =getbits(buff,i,32)*P2_31*SC2RAD; i+=32;
eph->i0 =getbits(buff,i,32)*P2_31*SC2RAD; i+=32;
eph->omg =getbits(buff,i,32)*P2_31*SC2RAD; i+=32;
eph->idot =getbits(buff,i,14)*P2_43*SC2RAD;
i=128*3; /* word type 3 */
type[3] =getbitu(buff,i, 6); i+= 6;
iod_nav[2] =getbitu(buff,i,10); i+=10;
eph->OMGd =getbits(buff,i,24)*P2_43*SC2RAD; i+=24;
eph->deln =getbits(buff,i,16)*P2_43*SC2RAD; i+=16;
eph->cuc =getbits(buff,i,16)*P2_29; i+=16;
eph->cus =getbits(buff,i,16)*P2_29; i+=16;
eph->crc =getbits(buff,i,16)*P2_5; i+=16;
eph->crs =getbits(buff,i,16)*P2_5; i+=16;
eph->sva =getbitu(buff,i, 8);
i=128*4; /* word type 4 */
type[4] =getbitu(buff,i, 6); i+= 6;
iod_nav[3] =getbitu(buff,i,10); i+=10;
svid =getbitu(buff,i, 6); i+= 6;
eph->cic =getbits(buff,i,16)*P2_29; i+=16;
eph->cis =getbits(buff,i,16)*P2_29; i+=16;
toc =getbitu(buff,i,14)*60.0; i+=14;
eph->f0 =getbits(buff,i,31)*P2_34; i+=31;
eph->f1 =getbits(buff,i,21)*P2_46; i+=21;
eph->f2 =getbits(buff,i, 6)*P2_59;
i=128*5; /* word type 5 */
type[5] =getbitu(buff,i, 6); i+= 6+41;
eph->tgd[0]=getbits(buff,i,10)*P2_32; i+=10; /* BGD E5a/E1 */
eph->tgd[1]=getbits(buff,i,10)*P2_32; i+=10; /* BGD E5b/E1 */
e5b_hs =getbitu(buff,i, 2); i+= 2;
e1b_hs =getbitu(buff,i, 2); i+= 2;
e5b_dvs =getbitu(buff,i, 1); i+= 1;
e1b_dvs =getbitu(buff,i, 1);
/* test word types */
if (type[0]!=0||type[1]!=1||type[2]!=2||type[3]!=3||type[4]!=4) {
trace(3,"decode_gal_inav error: type=%d %d %d %d %d\n",type[0],type[1],
type[2],type[3],type[4]);
return 0;
}
/* test word type 0 time field */
if (time_f!=2) {
trace(3,"decode_gal_inav error: word0-time=%d\n",time_f);
return 0;
}
/* test consistency of iod_nav */
if (iod_nav[0]!=iod_nav[1]||iod_nav[0]!=iod_nav[2]||iod_nav[0]!=iod_nav[3]) {
trace(3,"decode_gal_inav error: ionav=%d %d %d %d\n",iod_nav[0],
iod_nav[1],iod_nav[2],iod_nav[3]);
return 0;
}
if (!(eph->sat=satno(SYS_GAL,svid))) {
trace(2,"decode_gal_inav svid error: svid=%d\n",svid);
return 0;
}
eph->A=sqrtA*sqrtA;
eph->iode=eph->iodc=iod_nav[0];
eph->svh=(e5b_hs<<7)|(e5b_dvs<<6)|(e1b_hs<<1)|e1b_dvs;
eph->ttr=gst2time(week,tow);
tt=timediff(gst2time(week,eph->toes),eph->ttr); /* week complient to toe */
if (tt> 302400.0) week--;
else if (tt<-302400.0) week++;
eph->toe=gst2time(week,eph->toes);
eph->toc=gst2time(week,toc);
eph->week=week+1024; /* gal-week = gst-week + 1024 */
eph->code=1; /* data source = I/NAV E1B */
return 1;
}
/* decode BeiDou D1 ephemeris --------------------------------------------------
* decode BeiDou D1 ephemeris (IGSO/MEO satellites) (ref [3] 5.2)
* args : unsigned char *buff I beidou D1 subframe bits
* buff[ 0- 37]: subframe 1 (300 bits)
* buff[38- 75]: subframe 2
* buff[76-113]: subframe 3
* eph_t *eph IO ephemeris structure
* return : status (1:ok,0:error)
*-----------------------------------------------------------------------------*/
extern int decode_bds_d1(const unsigned char *buff, eph_t *eph)
{
double toc_bds,sqrtA;
unsigned int toe1,toe2,sow1,sow2,sow3;
int i,frn1,frn2,frn3;
trace(3,"decode_bds_d1:\n");
i=8*38*0; /* subframe 1 */
frn1 =getbitu (buff,i+ 15, 3);
sow1 =getbitu2(buff,i+ 18, 8,i+30,12);
eph->svh =getbitu (buff,i+ 42, 1); /* SatH1 */
eph->iodc =getbitu (buff,i+ 43, 5); /* AODC */
eph->sva =getbitu (buff,i+ 48, 4);
eph->week =getbitu (buff,i+ 60,13); /* week in BDT */
toc_bds =getbitu2(buff,i+ 73, 9,i+ 90, 8)*8.0;
eph->tgd[0]=getbits (buff,i+ 98,10)*0.1*1E-9;
eph->tgd[1]=getbits2(buff,i+108, 4,i+120, 6)*0.1*1E-9;
eph->f2 =getbits (buff,i+214,11)*P2_66;
eph->f0 =getbits2(buff,i+225, 7,i+240,17)*P2_33;
eph->f1 =getbits2(buff,i+257, 5,i+270,17)*P2_50;
eph->iode =getbitu (buff,i+287, 5); /* AODE */
i=8*38*1; /* subframe 2 */
frn2 =getbitu (buff,i+ 15, 3);
sow2 =getbitu2(buff,i+ 18, 8,i+30,12);
eph->deln =getbits2(buff,i+ 42,10,i+ 60, 6)*P2_43*SC2RAD;
eph->cuc =getbits2(buff,i+ 66,16,i+ 90, 2)*P2_31;
eph->M0 =getbits2(buff,i+ 92,20,i+120,12)*P2_31*SC2RAD;
eph->e =getbitu2(buff,i+132,10,i+150,22)*P2_33;
eph->cus =getbits (buff,i+180,18)*P2_31;
eph->crc =getbits2(buff,i+198, 4,i+210,14)*P2_6;
eph->crs =getbits2(buff,i+224, 8,i+240,10)*P2_6;
sqrtA =getbitu2(buff,i+250,12,i+270,20)*P2_19;
toe1 =getbitu (buff,i+290, 2); /* TOE 2-MSB */
eph->A =sqrtA*sqrtA;
i=8*38*2; /* subframe 3 */
frn3 =getbitu (buff,i+ 15, 3);
sow3 =getbitu2(buff,i+ 18, 8,i+30,12);
toe2 =getbitu2(buff,i+ 42,10,i+ 60, 5); /* TOE 5-LSB */
eph->i0 =getbits2(buff,i+ 65,17,i+ 90,15)*P2_31*SC2RAD;
eph->cic =getbits2(buff,i+105, 7,i+120,11)*P2_31;
eph->OMGd =getbits2(buff,i+131,11,i+150,13)*P2_43*SC2RAD;
eph->cis =getbits2(buff,i+163, 9,i+180, 9)*P2_31;
eph->idot =getbits2(buff,i+189,13,i+210, 1)*P2_43*SC2RAD;
eph->OMG0 =getbits2(buff,i+211,21,i+240,11)*P2_31*SC2RAD;
eph->omg =getbits2(buff,i+251,11,i+270,21)*P2_31*SC2RAD;
eph->toes =merge_two_u(toe1,toe2,15)*8.0;
/* check consistency of subframe numbers, sows and toe/toc */
if (frn1!=1||frn2!=2||frn3!=3) {
trace(3,"decode_bds_d1 error: frn=%d %d %d\n",frn1,frn2,frn3);
return 0;
}
if (sow2!=sow1+6||sow3!=sow2+6) {
trace(3,"decode_bds_d1 error: sow=%d %d %d\n",sow1,sow2,sow3);
return 0;
}
if (toc_bds!=eph->toes) {
trace(3,"decode_bds_d1 error: toe=%.0f toc=%.0f\n",eph->toes,toc_bds);
return 0;
}
eph->ttr=bdt2gpst(bdt2time(eph->week,sow1)); /* bdt -> gpst */
if (eph->toes>sow1+302400.0) eph->week++;
else if (eph->toes<sow1-302400.0) eph->week--;
eph->toe=bdt2gpst(bdt2time(eph->week,eph->toes)); /* bdt -> gpst */
eph->toc=bdt2gpst(bdt2time(eph->week,toc_bds)); /* bdt -> gpst */
return 1;
}
/* decode BeiDou D2 ephemeris --------------------------------------------------
* decode BeiDou D2 ephemeris (GEO satellites) (ref [3] 5.3)
* args : unsigned char *buff I beidou D2 subframe 1 page bits
* buff[ 0- 37]: page 1 (300 bits)
* buff[ 38- 75]: page 2
* ...
* buff[342-379]: page 10
* eph_t *eph IO ephemeris structure
* return : status (1:ok,0:error)
*-----------------------------------------------------------------------------*/
extern int decode_bds_d2(const unsigned char *buff, eph_t *eph)
{
double toc_bds,sqrtA;
unsigned int f1p4,cucp5,ep6,cicp7,i0p8,OMGdp9,omgp10;
unsigned int sow1,sow3,sow4,sow5,sow6,sow7,sow8,sow9,sow10;
int i,f1p3,cucp4,ep5,cicp6,i0p7,OMGdp8,omgp9;
int pgn1,pgn3,pgn4,pgn5,pgn6,pgn7,pgn8,pgn9,pgn10;
trace(3,"decode_bds_d2:\n");
i=8*38*0; /* page 1 */
pgn1 =getbitu (buff,i+ 42, 4);
sow1 =getbitu2(buff,i+ 18, 8,i+ 30,12);
eph->svh =getbitu (buff,i+ 46, 1); /* SatH1 */
eph->iodc =getbitu (buff,i+ 47, 5); /* AODC */
eph->sva =getbitu (buff,i+ 60, 4);
eph->week =getbitu (buff,i+ 64,13); /* week in BDT */
toc_bds =getbitu2(buff,i+ 77, 5,i+ 90,12)*8.0;
eph->tgd[0]=getbits (buff,i+102,10)*0.1*1E-9;
eph->tgd[1]=getbits (buff,i+120,10)*0.1*1E-9;
i=8*38*2; /* page 3 */
pgn3 =getbitu (buff,i+ 42, 4);
sow3 =getbitu2(buff,i+ 18, 8,i+ 30,12);
eph->f0 =getbits2(buff,i+100,12,i+120,12)*P2_33;
f1p3 =getbits (buff,i+132,4);
i=8*38*3; /* page 4 */
pgn4 =getbitu (buff,i+ 42, 4);
sow4 =getbitu2(buff,i+ 18, 8,i+ 30,12);
f1p4 =getbitu2(buff,i+ 46, 6,i+ 60,12);
eph->f2 =getbits2(buff,i+ 72,10,i+ 90, 1)*P2_66;
eph->iode =getbitu (buff,i+ 91, 5); /* AODE */
eph->deln =getbits (buff,i+ 96,16)*P2_43*SC2RAD;
cucp4 =getbits (buff,i+120,14);
i=8*38*4; /* page 5 */
pgn5 =getbitu (buff,i+ 42, 4);
sow5 =getbitu2(buff,i+ 18, 8,i+ 30,12);
cucp5 =getbitu (buff,i+ 46, 4);
eph->M0 =getbits3(buff,i+ 50, 2,i+ 60,22,i+ 90, 8)*P2_31*SC2RAD;
eph->cus =getbits2(buff,i+ 98,14,i+120, 4)*P2_31;
ep5 =getbits (buff,i+124,10);
i=8*38*5; /* page 6 */
pgn6 =getbitu (buff,i+ 42, 4);
sow6 =getbitu2(buff,i+ 18, 8,i+ 30,12);
ep6 =getbitu2(buff,i+ 46, 6,i+ 60,16);
sqrtA =getbitu3(buff,i+ 76, 6,i+ 90,22,i+120,4)*P2_19;
cicp6 =getbits (buff,i+124,10);
eph->A =sqrtA*sqrtA;
i=8*38*6; /* page 7 */
pgn7 =getbitu (buff,i+ 42, 4);
sow7 =getbitu2(buff,i+ 18, 8,i+ 30,12);
cicp7 =getbitu2(buff,i+ 46, 6,i+ 60, 2);
eph->cis =getbits (buff,i+ 62,18)*P2_31;
eph->toes =getbitu2(buff,i+ 80, 2,i+ 90,15)*8.0;
i0p7 =getbits2(buff,i+105, 7,i+120,14);
i=8*38*7; /* page 8 */
pgn8 =getbitu (buff,i+ 42, 4);
sow8 =getbitu2(buff,i+ 18, 8,i+ 30,12);
i0p8 =getbitu2(buff,i+ 46, 6,i+ 60, 5);
eph->crc =getbits2(buff,i+ 65,17,i+ 90, 1)*P2_6;
eph->crs =getbits (buff,i+ 91,18)*P2_6;
OMGdp8 =getbits2(buff,i+109, 3,i+120,16);
i=8*38*8; /* page 9 */
pgn9 =getbitu (buff,i+ 42, 4);
sow9 =getbitu2(buff,i+ 18, 8,i+ 30,12);
OMGdp9 =getbitu (buff,i+ 46, 5);
eph->OMG0 =getbits3(buff,i+ 51, 1,i+ 60,22,i+ 90, 9)*P2_31*SC2RAD;
omgp9 =getbits2(buff,i+ 99,13,i+120,14);
i=8*38*9; /* page 10 */
pgn10 =getbitu (buff,i+ 42, 4);
sow10 =getbitu2(buff,i+ 18, 8,i+ 30,12);
omgp10 =getbitu (buff,i+ 46, 5);
eph->idot =getbits2(buff,i+ 51, 1,i+ 60,13)*P2_43*SC2RAD;
/* check consistency of page numbers, sows and toe/toc */
if (pgn1!=1||pgn3!=3||pgn4!=4||pgn5!=5||pgn6!=6||pgn7!=7||pgn8!=8||pgn9!=9||
pgn10!=10) {
trace(3,"decode_bds_d2 error: pgn=%d %d %d %d %d %d %d %d %d\n",
pgn1,pgn3,pgn4,pgn5,pgn6,pgn7,pgn8,pgn9,pgn10);
return 0;
}
if (sow3!=sow1+6||sow4!=sow3+3||sow5!=sow4+3||sow6!=sow5+3||
sow7!=sow6+3||sow8!=sow7+3||sow9!=sow8+3||sow10!=sow9+3) {
trace(3,"decode_bds_d2 error: sow=%d %d %d %d %d %d %d %d %d\n",
sow1,sow3,sow4,sow5,sow6,sow7,sow8,sow9,sow10);
return 0;
}
if (toc_bds!=eph->toes) {
trace(3,"decode_bds_d2 error: toe=%.0f toc=%.0f\n",eph->toes,toc_bds);
return 0;
}
eph->f1 =merge_two_s(f1p3 ,f1p4 ,18)*P2_50;
eph->cuc =merge_two_s(cucp4 ,cucp5 , 4)*P2_31;
eph->e =merge_two_s(ep5 ,ep6 ,22)*P2_33;
eph->cic =merge_two_s(cicp6 ,cicp7 , 8)*P2_31;
eph->i0 =merge_two_s(i0p7 ,i0p8 ,11)*P2_31*SC2RAD;
eph->OMGd=merge_two_s(OMGdp8,OMGdp9, 5)*P2_43*SC2RAD;
eph->omg =merge_two_s(omgp9 ,omgp10, 5)*P2_31*SC2RAD;
eph->ttr=bdt2gpst(bdt2time(eph->week,sow1)); /* bdt -> gpst */
if (eph->toes>sow1+302400.0) eph->week++;
else if (eph->toes<sow1-302400.0) eph->week--;
eph->toe=bdt2gpst(bdt2time(eph->week,eph->toes)); /* bdt -> gpst */
eph->toc=bdt2gpst(bdt2time(eph->week,toc_bds)); /* bdt -> gpst */
return 1;
}
/* test hamming code of glonass ephemeris string -------------------------------
* test hamming code of glonass ephemeris string (ref [2] 4.7)
* args : unsigned char *buff I glonass navigation data string bits in frame
* with hamming
* buff[ 0]: string bit 85-78
* buff[ 1]: string bit 77-70
* ...
* buff[10]: string bit 5- 1 (0 padded)
* return : status (1:ok,0:error)
*-----------------------------------------------------------------------------*/
extern int test_glostr(const unsigned char *buff)
{
static const unsigned char xor_8bit[256]={ /* xor of 8 bits */
0,1,1,0,1,0,0,1,1,0,0,1,0,1,1,0,1,0,0,1,0,1,1,0,0,1,1,0,1,0,0,1,
1,0,0,1,0,1,1,0,0,1,1,0,1,0,0,1,0,1,1,0,1,0,0,1,1,0,0,1,0,1,1,0,
1,0,0,1,0,1,1,0,0,1,1,0,1,0,0,1,0,1,1,0,1,0,0,1,1,0,0,1,0,1,1,0,
0,1,1,0,1,0,0,1,1,0,0,1,0,1,1,0,1,0,0,1,0,1,1,0,0,1,1,0,1,0,0,1,
1,0,0,1,0,1,1,0,0,1,1,0,1,0,0,1,0,1,1,0,1,0,0,1,1,0,0,1,0,1,1,0,
0,1,1,0,1,0,0,1,1,0,0,1,0,1,1,0,1,0,0,1,0,1,1,0,0,1,1,0,1,0,0,1,
0,1,1,0,1,0,0,1,1,0,0,1,0,1,1,0,1,0,0,1,0,1,1,0,0,1,1,0,1,0,0,1,
1,0,0,1,0,1,1,0,0,1,1,0,1,0,0,1,0,1,1,0,1,0,0,1,1,0,0,1,0,1,1,0
};
static const unsigned char mask_hamming[][12]={ /* mask of hamming codes */
{0x55,0x55,0x5A,0xAA,0xAA,0xAA,0xB5,0x55,0x6A,0xD8,0x08},
{0x66,0x66,0x6C,0xCC,0xCC,0xCC,0xD9,0x99,0xB3,0x68,0x10},
{0x87,0x87,0x8F,0x0F,0x0F,0x0F,0x1E,0x1E,0x3C,0x70,0x20},
{0x07,0xF8,0x0F,0xF0,0x0F,0xF0,0x1F,0xE0,0x3F,0x80,0x40},
{0xF8,0x00,0x0F,0xFF,0xF0,0x00,0x1F,0xFF,0xC0,0x00,0x80},
{0x00,0x00,0x0F,0xFF,0xFF,0xFF,0xE0,0x00,0x00,0x01,0x00},
{0xFF,0xFF,0xF0,0x00,0x00,0x00,0x00,0x00,0x00,0x02,0x00},
{0xFF,0xFF,0xFF,0xFF,0xFF,0xFF,0xFF,0xFF,0xFF,0xFF,0xF8}
};
unsigned char cs;
int i,j,n=0;
for (i=0;i<8;i++) {
for (j=0,cs=0;j<11;j++) {
cs^=xor_8bit[buff[j]&mask_hamming[i][j]];
}
if (cs) n++;
}
return n==0||(n==2&&cs);
}
/* decode glonass ephemeris strings --------------------------------------------
* decode glonass ephemeris string (ref [2])
* args : unsigned char *buff I glonass navigation data string bits in frames
* (without hamming and time mark)
* buff[ 0- 9]: string #1 (77 bits)
* buff[10-19]: string #2
* buff[20-29]: string #3
* buff[30-39]: string #4
* geph_t *geph IO glonass ephemeris message
* return : status (1:ok,0:error)
* notes : geph->tof should be set to frame time witin 1/2 day before calling
* geph->frq is set to 0
*-----------------------------------------------------------------------------*/
extern int decode_glostr(const unsigned char *buff, geph_t *geph)
{
double tow,tod,tof,toe;
int P,P1,P2,P3,P4,tk_h,tk_m,tk_s,tb,ln,NT,slot,M,week;
int i=1,frn1,frn2,frn3,frn4;
trace(3,"decode_glostr:\n");
/* frame 1 */
frn1 =getbitu(buff,i, 4); i+= 4+2;
P1 =getbitu(buff,i, 2); i+= 2;
tk_h =getbitu(buff,i, 5); i+= 5;
tk_m =getbitu(buff,i, 6); i+= 6;
tk_s =getbitu(buff,i, 1)*30; i+= 1;
geph->vel[0]=getbitg(buff,i,24)*P2_20*1E3; i+=24;
geph->acc[0]=getbitg(buff,i, 5)*P2_30*1E3; i+= 5;
geph->pos[0]=getbitg(buff,i,27)*P2_11*1E3; i+=27+4;
/* frame 2 */
frn2 =getbitu(buff,i, 4); i+= 4;
geph->svh =getbitu(buff,i, 3); i+= 3;
P2 =getbitu(buff,i, 1); i+= 1;
tb =getbitu(buff,i, 7); i+= 7+5;
geph->vel[1]=getbitg(buff,i,24)*P2_20*1E3; i+=24;
geph->acc[1]=getbitg(buff,i, 5)*P2_30*1E3; i+= 5;
geph->pos[1]=getbitg(buff,i,27)*P2_11*1E3; i+=27+4;
/* frame 3 */
frn3 =getbitu(buff,i, 4); i+= 4;
P3 =getbitu(buff,i, 1); i+= 1;
geph->gamn =getbitg(buff,i,11)*P2_40; i+=11+1;
P =getbitu(buff,i, 2); i+= 2;
ln =getbitu(buff,i, 1); i+= 1;
geph->vel[2]=getbitg(buff,i,24)*P2_20*1E3; i+=24;
geph->acc[2]=getbitg(buff,i, 5)*P2_30*1E3; i+= 5;
geph->pos[2]=getbitg(buff,i,27)*P2_11*1E3; i+=27+4;
/* frame 4 */
frn4 =getbitu(buff,i, 4); i+= 4;
geph->taun =getbitg(buff,i,22)*P2_30; i+=22;
geph->dtaun =getbitg(buff,i, 5)*P2_30; i+= 5;
geph->age =getbitu(buff,i, 5); i+= 5+14;
P4 =getbitu(buff,i, 1); i+= 1;
geph->sva =getbitu(buff,i, 4); i+= 4+3;
NT =getbitu(buff,i,11); i+=11;
slot =getbitu(buff,i, 5); i+= 5;
M =getbitu(buff,i, 2);
if (frn1!=1||frn2!=2||frn3!=3||frn4!=4) {
trace(3,"decode_glostr error: frn=%d %d %d %d %d\n",frn1,frn2,frn3,frn4);
return 0;
}
if (!(geph->sat=satno(SYS_GLO,slot))) {
trace(2,"decode_glostr error: slot=%d\n",slot);
return 0;
}
geph->frq=0;
geph->iode=tb;
tow=time2gpst(gpst2utc(geph->tof),&week);
tod=fmod(tow,86400.0); tow-=tod;
tof=tk_h*3600.0+tk_m*60.0+tk_s-10800.0; /* lt->utc */
if (tof<tod-43200.0) tof+=86400.0;
else if (tof>tod+43200.0) tof-=86400.0;
geph->tof=utc2gpst(gpst2time(week,tow+tof));
toe=tb*900.0-10800.0; /* lt->utc */
if (toe<tod-43200.0) toe+=86400.0;
else if (toe>tod+43200.0) toe-=86400.0;
geph->toe=utc2gpst(gpst2time(week,tow+toe)); /* utc->gpst */
return 1;
}
/* decode gps/qzss navigation data subframe 1 --------------------------------*/
static int decode_subfrm1(const unsigned char *buff, eph_t *eph)
{
double tow,toc;
int i=48,week,iodc0,iodc1,tgd;
trace(4,"decode_subfrm1:\n");
trace(5,"decode_subfrm1: buff="); traceb(5,buff,30);
tow =getbitu(buff,24,17)*6.0; /* transmission time */
week =getbitu(buff,i,10); i+=10;
eph->code =getbitu(buff,i, 2); i+= 2;
eph->sva =getbitu(buff,i, 4); i+= 4; /* ura index */
eph->svh =getbitu(buff,i, 6); i+= 6;
iodc0 =getbitu(buff,i, 2); i+= 2;
eph->flag =getbitu(buff,i, 1); i+= 1+87;
tgd =getbits(buff,i, 8); i+= 8;
iodc1 =getbitu(buff,i, 8); i+= 8;
toc =getbitu(buff,i,16)*16.0; i+=16;
eph->f2 =getbits(buff,i, 8)*P2_55; i+= 8;
eph->f1 =getbits(buff,i,16)*P2_43; i+=16;
eph->f0 =getbits(buff,i,22)*P2_31;
eph->tgd[0]=tgd==-128?0.0:tgd*P2_31; /* ref [4] */
eph->iodc=(iodc0<<8)+iodc1;
eph->week=adjgpsweek(week); /* week of tow */
eph->ttr=gpst2time(eph->week,tow);
eph->toc=gpst2time(eph->week,toc);
return 1;
}
/* decode gps/qzss navigation data subframe 2 --------------------------------*/
static int decode_subfrm2(const unsigned char *buff, eph_t *eph)
{
double sqrtA;
int i=48;
trace(4,"decode_subfrm2:\n");
trace(5,"decode_subfrm2: buff="); traceb(5,buff,30);
eph->iode=getbitu(buff,i, 8); i+= 8;
eph->crs =getbits(buff,i,16)*P2_5; i+=16;
eph->deln=getbits(buff,i,16)*P2_43*SC2RAD; i+=16;
eph->M0 =getbits(buff,i,32)*P2_31*SC2RAD; i+=32;
eph->cuc =getbits(buff,i,16)*P2_29; i+=16;
eph->e =getbitu(buff,i,32)*P2_33; i+=32;
eph->cus =getbits(buff,i,16)*P2_29; i+=16;
sqrtA =getbitu(buff,i,32)*P2_19; i+=32;
eph->toes=getbitu(buff,i,16)*16.0; i+=16;
eph->fit =getbitu(buff,i, 1)?0.0:4.0; /* 0:4hr,1:>4hr */
eph->A=sqrtA*sqrtA;
return 2;
}
/* decode gps/qzss navigation data subframe 3 --------------------------------*/
static int decode_subfrm3(const unsigned char *buff, eph_t *eph)
{
double tow,toc;
int i=48,iode;
trace(4,"decode_subfrm3:\n");
trace(5,"decode_subfrm3: buff="); traceb(5,buff,30);
eph->cic =getbits(buff,i,16)*P2_29; i+=16;
eph->OMG0=getbits(buff,i,32)*P2_31*SC2RAD; i+=32;
eph->cis =getbits(buff,i,16)*P2_29; i+=16;
eph->i0 =getbits(buff,i,32)*P2_31*SC2RAD; i+=32;
eph->crc =getbits(buff,i,16)*P2_5; i+=16;
eph->omg =getbits(buff,i,32)*P2_31*SC2RAD; i+=32;
eph->OMGd=getbits(buff,i,24)*P2_43*SC2RAD; i+=24;
iode =getbitu(buff,i, 8); i+= 8;
eph->idot=getbits(buff,i,14)*P2_43*SC2RAD;
/* check iode and iodc consistency */
if (iode!=eph->iode||iode!=(eph->iodc&0xFF)) return 0;
/* adjustment for week handover */
tow=time2gpst(eph->ttr,&eph->week);
toc=time2gpst(eph->toc,NULL);
if (eph->toes<tow-302400.0) {eph->week++; tow-=604800.0;}
else if (eph->toes>tow+302400.0) {eph->week--; tow+=604800.0;}
eph->toe=gpst2time(eph->week,eph->toes);
eph->toc=gpst2time(eph->week,toc);
eph->ttr=gpst2time(eph->week,tow);
return 3;
}
/* decode gps/qzss almanac ---------------------------------------------------*/
static void decode_almanac(const unsigned char *buff, int sat, alm_t *alm)
{
gtime_t toa;
double deltai,sqrtA,tt;
int i=50,f0;
trace(4,"decode_almanac: sat=%2d\n",sat);
if (!alm||alm[sat-1].week==0) return;
alm[sat-1].sat =sat;
alm[sat-1].e =getbits(buff,i,16)*P2_21; i+=16;
alm[sat-1].toas=getbitu(buff,i, 8)*4096.0; i+= 8;
deltai =getbits(buff,i,16)*P2_19*SC2RAD; i+=16;
alm[sat-1].OMGd=getbits(buff,i,16)*P2_38*SC2RAD; i+=16;
alm[sat-1].svh =getbitu(buff,i, 8); i+= 8;
sqrtA =getbitu(buff,i,24)*P2_11; i+=24;
alm[sat-1].OMG0=getbits(buff,i,24)*P2_23*SC2RAD; i+=24;
alm[sat-1].omg =getbits(buff,i,24)*P2_23*SC2RAD; i+=24;
alm[sat-1].M0 =getbits(buff,i,24)*P2_23*SC2RAD; i+=24;
f0 =getbitu(buff,i, 8); i+= 8;
alm[sat-1].f1 =getbits(buff,i,11)*P2_38; i+=11;
alm[sat-1].f0 =getbits(buff,i, 3)*P2_17+f0*P2_20;
alm[sat-1].A =sqrtA*sqrtA;
alm[sat-1].i0 =0.3*SC2RAD+deltai;
toa=gpst2time(alm[sat-1].week,alm[sat-1].toas);
tt=timediff(toa,alm[sat-1].toa);
if (tt<302400.0) alm[sat-1].week--;
else if (tt>302400.0) alm[sat-1].week++;
alm[sat-1].toa=gpst2time(alm[sat-1].week,alm[sat-1].toas);
}
/* decode gps navigation data subframe 4 -------------------------------------*/
static void decode_gps_subfrm4(const unsigned char *buff, alm_t *alm,
double *ion, double *utc, int *leaps)
{
int i,sat,svid=getbitu(buff,50,6);
if (25<=svid&&svid<=32) { /* page 2,3,4,5,7,8,9,10 */
/* decode almanac */
sat=getbitu(buff,50,6);
if (1<=sat&&sat<=32) decode_almanac(buff,sat,alm);
}
else if (svid==63) { /* page 25 */
/* decode as and sv config */
i=56;
for (sat=1;sat<=32;sat++) {
if (alm) alm[sat-1].svconf=getbitu(buff,i,4);
i+=4;
}
/* decode sv health */
i=186;
for (sat=25;sat<=32;sat++) {
if (alm) alm[sat-1].svh =getbitu(buff,i,6);
i+=6;
}
}
else if (svid==56) { /* page 18 */
/* decode ion/utc parameters */
if (ion) {
i=56;
ion[0]=getbits(buff,i, 8)*P2_30; i+= 8;
ion[1]=getbits(buff,i, 8)*P2_27; i+= 8;
ion[2]=getbits(buff,i, 8)*P2_24; i+= 8;
ion[3]=getbits(buff,i, 8)*P2_24; i+= 8;
ion[4]=getbits(buff,i, 8)*pow(2,11); i+= 8;
ion[5]=getbits(buff,i, 8)*pow(2,14); i+= 8;
ion[6]=getbits(buff,i, 8)*pow(2,16); i+= 8;
ion[7]=getbits(buff,i, 8)*pow(2,16);
}
if (utc) {
i=120;
utc[1]=getbits(buff,i,24)*P2_50; i+=24;
utc[0]=getbits(buff,i,32)*P2_30; i+=32;
utc[2]=getbits(buff,i, 8)*pow(2,12); i+= 8;
utc[3]=getbitu(buff,i, 8);
}
if (leaps) {
i=192;
*leaps=getbits(buff,i,8);
}
}
}
/* decode gps navigation data subframe 5 -------------------------------------*/
static void decode_gps_subfrm5(const unsigned char *buff, alm_t *alm)
{
double toas;
int i,sat,week,svid=getbitu(buff,50,6);
if (1<=svid&&svid<=24) { /* page 1-24 */
/* decode almanac */
sat=getbitu(buff,50,6);
if (1<=sat&&sat<=32) decode_almanac(buff,sat,alm);
}
else if (svid==51) { /* page 25 */
if (alm) {
i=56;
toas=getbitu(buff,i,8)*4096; i+=8;
week=getbitu(buff,i,8); i+=8;
week=adjgpsweek(week);
/* decode sv health */
for (sat=1;sat<=24;sat++) {
alm[sat-1].svh=getbitu(buff,i,6); i+=6;
}
for (sat=1;sat<=32;sat++) {
alm[sat-1].toas=toas;
alm[sat-1].week=week;
alm[sat-1].toa=gpst2time(week,toas);
}
}
}
}
/* decode qzss navigation data subframe 4/5 ----------------------------------*/
static void decode_qzs_subfrm45(const unsigned char *buff, alm_t *alm,
double *ion, double *utc, int *leaps)
{
int i,j,sat,toas,week,svid=getbitu(buff,50,6);
if (1<=svid&&svid<=5) { /* qzss almanac */
if (!(sat=satno(SYS_QZS,192+svid))) return;
decode_almanac(buff,sat,alm);
}
else if (svid==51) { /* qzss health */
if (alm) {
i=56;
toas=getbitu(buff,i,8)*4096; i+=8;
week=getbitu(buff,i,8); i+=8;
week=adjgpsweek(week);
for (j=0;j<5;j++) {
if (!(sat=satno(SYS_QZS,193+j))) continue;
alm[sat-1].toas=toas;
alm[sat-1].week=week;
alm[sat-1].toa=gpst2time(week,toas);
alm[sat-1].svh=getbitu(buff,i,6); i+=6;
}
}
}
else if (svid==56) { /* ion/utc parameters */
if (ion) {
i=56;
ion[0]=getbits(buff,i, 8)*P2_30; i+= 8;
ion[1]=getbits(buff,i, 8)*P2_27; i+= 8;
ion[2]=getbits(buff,i, 8)*P2_24; i+= 8;
ion[3]=getbits(buff,i, 8)*P2_24; i+= 8;
ion[4]=getbits(buff,i, 8)*pow(2,11); i+= 8;
ion[5]=getbits(buff,i, 8)*pow(2,14); i+= 8;
ion[6]=getbits(buff,i, 8)*pow(2,16); i+= 8;
ion[7]=getbits(buff,i, 8)*pow(2,16);
}
if (utc) {
i=120;
utc[1]=getbits(buff,i,24)*P2_50; i+=24;
utc[0]=getbits(buff,i,32)*P2_30; i+=32;
utc[2]=getbits(buff,i, 8)*pow(2,12); i+= 8;
utc[3]=getbitu(buff,i, 8);
}
}
}
/* decode gps/qzss navigation data subframe 4 --------------------------------*/
static int decode_subfrm4(const unsigned char *buff, alm_t *alm, double *ion,
double *utc, int *leaps)
{
int dataid=getbitu(buff,48,2);
trace(4,"decode_subfrm4: dataid=%d\n",dataid);
trace(5,"decode_subfrm4: buff="); traceb(5,buff,30);
if (dataid==1) { /* gps */
decode_gps_subfrm4(buff,alm,ion,utc,leaps);
}
else if (dataid==3) { /* qzss */
decode_qzs_subfrm45(buff,alm,ion,utc,leaps);
}
return 4;
}
/* decode gps/qzss navigation data subframe 5 --------------------------------*/
static int decode_subfrm5(const unsigned char *buff, alm_t *alm, double *ion,
double *utc, int *leaps)
{
int dataid=getbitu(buff,48,2);
trace(4,"decode_subfrm5: dataid=%d\n",dataid);
trace(5,"decode_subfrm5: buff="); traceb(5,buff,30);
if (dataid==1) { /* gps */
decode_gps_subfrm5(buff,alm);
}
else if (dataid==3) { /* qzss */
decode_qzs_subfrm45(buff,alm,ion,utc,leaps);
}
return 5;
}
/* decode gps/qzss navigation data frame ---------------------------------------
* decode navigation data frame and extract ephemeris and ion/utc parameters
* args : unsigned char *buff I gps navigation data frame (without parity)
* buff[0-29]: 24 bits x 10 words
* eph_t *eph IO ephemeris message (NULL: no input)
* alm_t *alm IO almanac (NULL: no input)
* double *ion IO ionospheric parameters (NULL: no input)
* double *utc IO delta-utc parameters (NULL: no input)
* int *leaps IO leap seconds (s) (NULL: no input)
* return : status (0:no valid, 1-5:subframe id)
* notes : use cpu time to resolve modulo 1024 ambiguity of the week number
* see ref [1]
* utc[3] reference week for utc parameter is truncated in 8 bits
* ion and utc parameters by qzss indicate local iono and qzst-utc
* parameters.
*-----------------------------------------------------------------------------*/
extern int decode_frame(const unsigned char *buff, eph_t *eph, alm_t *alm,
double *ion, double *utc, int *leaps)
{
int id=getbitu(buff,43,3); /* subframe id */
trace(3,"decodefrm: id=%d\n",id);
switch (id) {
case 1: return decode_subfrm1(buff,eph);
case 2: return decode_subfrm2(buff,eph);
case 3: return decode_subfrm3(buff,eph);
case 4: return decode_subfrm4(buff,alm,ion,utc,leaps);
case 5: return decode_subfrm5(buff,alm,ion,utc,leaps);
}
return 0;
}
/* initialize receiver raw data control ----------------------------------------
* initialize receiver raw data control struct and reallocate obsevation and
* epheris buffer
* args : raw_t *raw IO receiver raw data control struct
* return : status (1:ok,0:memory allocation error)
*-----------------------------------------------------------------------------*/
extern int init_raw(raw_t *raw)
{
const double lam_glo[NFREQ]={CLIGHT/FREQ1_GLO,CLIGHT/FREQ2_GLO};
gtime_t time0={0};
obsd_t data0={{0}};
eph_t eph0 ={0,-1,-1};
alm_t alm0 ={0,-1};
geph_t geph0={0,-1};
seph_t seph0={0};
sbsmsg_t sbsmsg0={0};
lexmsg_t lexmsg0={0};
int i,j,sys;
trace(3,"init_raw:\n");
raw->time=time0;
raw->ephsat=0;
raw->sbsmsg=sbsmsg0;
raw->msgtype[0]='\0';
for (i=0;i<MAXSAT;i++) {
for (j=0;j<380;j++) raw->subfrm[i][j]=0;
for (j=0;j<NFREQ+NEXOBS;j++) {
raw->tobs [i][j]=time0;
raw->lockt[i][j]=0.0;
raw->halfc[i][j]=0;
}
raw->icpp[i]=raw->off[i]=raw->prCA[i]=raw->dpCA[i]=0.0;
}
for (i=0;i<MAXOBS;i++) raw->freqn[i]=0;
raw->lexmsg=lexmsg0;
raw->icpc=0.0;
raw->nbyte=raw->len=0;
raw->iod=raw->flag=raw->tbase=raw->outtype=0;
raw->tod=-1;
for (i=0;i<MAXRAWLEN;i++) raw->buff[i]=0;
raw->opt[0]='\0';
raw->receive_time=0.0;
raw->plen=raw->pbyte=raw->page=raw->reply=0;
raw->week=0;
raw->obs.data =NULL;
raw->obuf.data=NULL;
raw->nav.eph =NULL;
raw->nav.alm =NULL;
raw->nav.geph =NULL;
raw->nav.seph =NULL;
if (!(raw->obs.data =(obsd_t *)malloc(sizeof(obsd_t)*MAXOBS))||
!(raw->obuf.data=(obsd_t *)malloc(sizeof(obsd_t)*MAXOBS))||
!(raw->nav.eph =(eph_t *)malloc(sizeof(eph_t )*MAXSAT))||
!(raw->nav.alm =(alm_t *)malloc(sizeof(alm_t )*MAXSAT))||
!(raw->nav.geph =(geph_t *)malloc(sizeof(geph_t)*NSATGLO))||
!(raw->nav.seph =(seph_t *)malloc(sizeof(seph_t)*NSATSBS*2))) {
free_raw(raw);
return 0;
}
raw->obs.n =0;
raw->obuf.n=0;
raw->nav.n =MAXSAT;
raw->nav.na=MAXSAT;
raw->nav.ng=NSATGLO;
raw->nav.ns=NSATSBS*2;
for (i=0;i<MAXOBS ;i++) raw->obs.data [i]=data0;
for (i=0;i<MAXOBS ;i++) raw->obuf.data[i]=data0;
for (i=0;i<MAXSAT ;i++) raw->nav.eph [i]=eph0;
for (i=0;i<MAXSAT ;i++) raw->nav.alm [i]=alm0;
for (i=0;i<NSATGLO ;i++) raw->nav.geph [i]=geph0;
for (i=0;i<NSATSBS*2;i++) raw->nav.seph [i]=seph0;
for (i=0;i<MAXSAT;i++) for (j=0;j<NFREQ;j++) {
if (!(sys=satsys(i+1,NULL))) continue;
raw->nav.lam[i][j]=sys==SYS_GLO?lam_glo[j]:lam_carr[j];
}
raw->sta.name[0]=raw->sta.marker[0]='\0';
raw->sta.antdes[0]=raw->sta.antsno[0]='\0';
raw->sta.rectype[0]=raw->sta.recver[0]=raw->sta.recsno[0]='\0';
raw->sta.antsetup=raw->sta.itrf=raw->sta.deltype=0;
for (i=0;i<3;i++) {
raw->sta.pos[i]=raw->sta.del[i]=0.0;
}
raw->sta.hgt=0.0;
return 1;
}
/* free receiver raw data control ----------------------------------------------
* free observation and ephemeris buffer in receiver raw data control struct
* args : raw_t *raw IO receiver raw data control struct
* return : none
*-----------------------------------------------------------------------------*/
extern void free_raw(raw_t *raw)
{
trace(3,"free_raw:\n");
free(raw->obs.data ); raw->obs.data =NULL; raw->obs.n =0;
free(raw->obuf.data); raw->obuf.data=NULL; raw->obuf.n=0;
free(raw->nav.eph ); raw->nav.eph =NULL; raw->nav.n =0;
free(raw->nav.alm ); raw->nav.alm =NULL; raw->nav.na=0;
free(raw->nav.geph ); raw->nav.geph =NULL; raw->nav.ng=0;
free(raw->nav.seph ); raw->nav.seph =NULL; raw->nav.ns=0;
}
/* input receiver raw data from stream -----------------------------------------
* fetch next receiver raw data and input a message from stream
* args : raw_t *raw IO receiver raw data control struct
* int format I receiver raw data format (STRFMT_???)
* unsigned char data I stream data (1 byte)
* return : status (-1: error message, 0: no message, 1: input observation data,
* 2: input ephemeris, 3: input sbas message,
* 9: input ion/utc parameter, 31: input lex message)
*-----------------------------------------------------------------------------*/
extern int input_raw(raw_t *raw, int format, unsigned char data)
{
trace(5,"input_raw: format=%d data=0x%02x\n",format,data);
switch (format) {
case STRFMT_OEM4 : return input_oem4 (raw,data);
case STRFMT_OEM3 : return input_oem3 (raw,data);
case STRFMT_UBX : return input_ubx (raw,data);
case STRFMT_SS2 : return input_ss2 (raw,data);
case STRFMT_CRES : return input_cres (raw,data);
case STRFMT_STQ : return input_stq (raw,data);
case STRFMT_GW10 : return input_gw10 (raw,data);
case STRFMT_JAVAD: return input_javad(raw,data);
case STRFMT_NVS : return input_nvs (raw,data);
case STRFMT_BINEX: return input_bnx (raw,data);
case STRFMT_RT17 : return input_rt17 (raw,data);
case STRFMT_LEXR : return input_lexr (raw,data);
}
return 0;
}
/* input receiver raw data from file -------------------------------------------
* fetch next receiver raw data and input a message from file
* args : raw_t *raw IO receiver raw data control struct
* int format I receiver raw data format (STRFMT_???)
* FILE *fp I file pointer
* return : status(-2: end of file/format error, -1...31: same as above)
*-----------------------------------------------------------------------------*/
extern int input_rawf(raw_t *raw, int format, FILE *fp)
{
trace(4,"input_rawf: format=%d\n",format);
switch (format) {
case STRFMT_OEM4 : return input_oem4f (raw,fp);
case STRFMT_OEM3 : return input_oem3f (raw,fp);
case STRFMT_UBX : return input_ubxf (raw,fp);
case STRFMT_SS2 : return input_ss2f (raw,fp);
case STRFMT_CRES : return input_cresf (raw,fp);
case STRFMT_STQ : return input_stqf (raw,fp);
case STRFMT_GW10 : return input_gw10f (raw,fp);
case STRFMT_JAVAD: return input_javadf(raw,fp);
case STRFMT_NVS : return input_nvsf (raw,fp);
case STRFMT_BINEX: return input_bnxf (raw,fp);
case STRFMT_RT17 : return input_rt17f (raw,fp);
case STRFMT_LEXR : return input_lexrf (raw,fp);