#include "mrtklib/mrtk_has.h"
#include <math.h>
#include <stdlib.h>
#include <string.h>
#include "mrtk_has_rs.h"
#include "mrtklib/mrtk_bits.h"
#include "mrtklib/mrtk_const.h"
#include "mrtklib/mrtk_time.h"
#include "mrtklib/mrtk_trace.h"

Include dependency graph for mrtk_has.c:

Macros
#define	HAS_DUMMY_HEADER 0xAF3BC3 /* 24-bit HAS header of a dummy page */
#define	HAS_TIMEOUT 150.0 /* message collection timeout (s) [1] 6.4.1 */
#define	HAS_MT1 1 /* HAS Message Type 1 (satellite corrections) */
#define	HAS_GNSS_GPS 0 /* HAS GNSS ID: GPS ([1] Table 18) */
#define	HAS_GNSS_GAL 2 /* HAS GNSS ID: Galileo ([1] Table 18) */
#define	HAS_HASS_DONTUSE 3 /* HAS Status: don't use ([1] Table 9) */
#define	HAS_SATM_BITS 40 /* satellite mask length ([1] 5.2.1.2) */
#define	HAS_SIGM_BITS 16 /* signal mask length ([1] 5.2.1.3) */
#define	HAS_DR_NA (-4096) /* DR "data not available" (1000...0, 13-bit) */
#define	HAS_DIT_NA (-2048) /* DIT "data not available" (1000...0, 12-bit) */
#define	HAS_DCT_NA (-2048) /* DCT "data not available" (1000...0, 12-bit) */
#define	HAS_DCC_NA (-4096) /* DCC "data not available" (1000...0, 13-bit) */
#define	HAS_DCC_NU (4095) /* DCC "shall not be used" (0111...1, 13-bit) */
#define	HAS_CB_NA (-1024) /* CB "data not available" (1000...0, 11-bit) */
#define	HAS_PB_NA (-1024) /* PB "data not available" (1000...0, 11-bit) */
#define	HAS_MAX_LATENCY 600.0

Functions
int	satno (int sys, int prn)
void	satno2id (int sat, char *id)
double	time2gpst (gtime_t t, int *week)
char *	time_str (gtime_t t, int n)
static int	has_gnssid2sys (int gnssid)
static uint8_t	has_sigcode (int gnssid, int sigidx)
static int	has_iodref_bits (int gnssid)
static double	has_code2lam (int sys, uint8_t code)
static int	has_bits_ok (int i, int n, int nbit)
static int	popcount_field (const uint8_t *buff, int pos, int len)
static gtime_t	has_t_mt1 (gtime_t time, int toh)
static int	decode_has_mask (has_t has, const uint8_t msg, int i, int nbit, int mid)
static int	decode_has_orbit (has_t has, const uint8_t msg, int i, int nbit, int mid, int iodset, gtime_t t0)
static int	decode_has_clock (has_t has, const uint8_t msg, int i, int nbit, int mid, int iodset, gtime_t t0)
static int	decode_has_clock_subset (has_t has, const uint8_t msg, int i, int nbit, int mid, int iodset, gtime_t t0)
static int	decode_has_codebias (has_t has, const uint8_t msg, int i, int nbit, gtime_t t0, const has_mask_t *m)
static int	decode_has_phasebias (has_t has, const uint8_t msg, int i, int nbit, gtime_t t0, const has_mask_t *m)
static int	decode_has_mt1 (has_t has, const uint8_t msg, int nbit, gtime_t time)
static int	has_complete (has_t has, has_collect_t col, gtime_t time)
static has_collect_t *	has_find_collect (has_t *has, int mid, int mt, gtime_t time)
static void	has_flush (has_t *has)
has_t *	has_new (void)
	Allocate and initialize a Galileo HAS decode context.
void	has_free (has_t *has)
	Free a Galileo HAS decode context.
int	has_input_page (has_t has, int prn, const uint8_t page56, gtime_t time)
	Input one received Galileo HAS page.
int	has_input_file (has_t has, FILE fp, gtime_t tmax)
	Read .has records from a file and feed them to has_input_page().
int	has_sel_biascode (int sys, uint8_t code)
	Select the HAS bias slot obs code for an observation code.

Variables
static const uint8_t	has_sig_gal [HAS_MAX_SIG]
static const uint8_t	has_sig_gps [HAS_MAX_SIG]

Macro Definition Documentation

◆ HAS_CB_NA

#define HAS_CB_NA (-1024) /* CB "data not available" (1000...0, 11-bit) */

Definition at line 50 of file mrtk_has.c.

Referenced by decode_has_codebias().

◆ HAS_DCC_NA

#define HAS_DCC_NA (-4096) /* DCC "data not available" (1000...0, 13-bit) */

Definition at line 48 of file mrtk_has.c.

Referenced by decode_has_clock(), and decode_has_clock_subset().

◆ HAS_DCC_NU

#define HAS_DCC_NU (4095) /* DCC "shall not be used" (0111...1, 13-bit) */

Definition at line 49 of file mrtk_has.c.

Referenced by decode_has_clock(), and decode_has_clock_subset().

◆ HAS_DCT_NA

#define HAS_DCT_NA (-2048) /* DCT "data not available" (1000...0, 12-bit) */

Definition at line 47 of file mrtk_has.c.

Referenced by decode_has_orbit().

◆ HAS_DIT_NA

#define HAS_DIT_NA (-2048) /* DIT "data not available" (1000...0, 12-bit) */

Definition at line 46 of file mrtk_has.c.

Referenced by decode_has_orbit().

◆ HAS_DR_NA

#define HAS_DR_NA (-4096) /* DR "data not available" (1000...0, 13-bit) */

Definition at line 45 of file mrtk_has.c.

Referenced by decode_has_orbit().

◆ HAS_DUMMY_HEADER

#define HAS_DUMMY_HEADER 0xAF3BC3 /* 24-bit HAS header of a dummy page */

Definition at line 32 of file mrtk_has.c.

Referenced by has_input_page().

◆ HAS_GNSS_GAL

#define HAS_GNSS_GAL 2 /* HAS GNSS ID: Galileo ([1] Table 18) */

Definition at line 38 of file mrtk_has.c.

Referenced by has_gnssid2sys(), has_iodref_bits(), and has_sigcode().

◆ HAS_GNSS_GPS

#define HAS_GNSS_GPS 0 /* HAS GNSS ID: GPS ([1] Table 18) */

Definition at line 37 of file mrtk_has.c.

Referenced by has_gnssid2sys(), has_iodref_bits(), and has_sigcode().

◆ HAS_HASS_DONTUSE

#define HAS_HASS_DONTUSE 3 /* HAS Status: don't use ([1] Table 9) */

Definition at line 40 of file mrtk_has.c.

Referenced by has_input_page().

◆ HAS_MAX_LATENCY

#define HAS_MAX_LATENCY 600.0

Definition at line 165 of file mrtk_has.c.

Referenced by decode_has_mt1().

◆ HAS_MT1

#define HAS_MT1 1 /* HAS Message Type 1 (satellite corrections) */

Definition at line 35 of file mrtk_has.c.

Referenced by has_complete(), and has_input_page().

◆ HAS_PB_NA

#define HAS_PB_NA (-1024) /* PB "data not available" (1000...0, 11-bit) */

Definition at line 51 of file mrtk_has.c.

Referenced by decode_has_phasebias().

◆ HAS_SATM_BITS

#define HAS_SATM_BITS 40 /* satellite mask length ([1] 5.2.1.2) */

Definition at line 42 of file mrtk_has.c.

Referenced by decode_has_mask().

◆ HAS_SIGM_BITS

#define HAS_SIGM_BITS 16 /* signal mask length ([1] 5.2.1.3) */

Definition at line 43 of file mrtk_has.c.

Referenced by decode_has_mask().

◆ HAS_TIMEOUT

#define HAS_TIMEOUT 150.0 /* message collection timeout (s) [1] 6.4.1 */

Definition at line 33 of file mrtk_has.c.

Referenced by has_find_collect().

Function Documentation

◆ decode_has_clock()

int decode_has_clock	(	has_t *	has,
		const uint8_t *	msg,
		int	i,
		int	nbit,
		int	mid,
		int	iodset,
		gtime_t	t0 )

static

Definition at line 377 of file mrtk_has.c.

References ssr_t::dclk, getbits(), getbitu(), has_mask_t::gnssid, has_bits_ok(), HAS_DCC_NA, HAS_DCC_NU, HAS_MAX_SIG, ssr_t::hrclk, ssr_t::iod, has_t::mask, has_mask_t::nsat, has_mask_t::nsys, has_mask_t::sat, gtime_t::sec, has_t::ssr, ssr_t::t0, gtime_t::time, ssr_t::udi, and ssr_t::update.

Referenced by decode_has_mt1().

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◆ decode_has_clock_subset()

int decode_has_clock_subset	(	has_t *	has,
		const uint8_t *	msg,
		int	i,
		int	nbit,
		int	mid,
		int	iodset,
		gtime_t	t0 )

static

Definition at line 436 of file mrtk_has.c.

References ssr_t::dclk, getbits(), getbitu(), has_mask_t::gnssid, has_bits_ok(), HAS_DCC_NA, HAS_DCC_NU, ssr_t::hrclk, ssr_t::iod, has_t::mask, has_mask_t::nsat, has_mask_t::sat, gtime_t::sec, has_t::ssr, ssr_t::t0, gtime_t::time, trace(), ssr_t::udi, and ssr_t::update.

Referenced by decode_has_mt1().

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◆ decode_has_codebias()

int decode_has_codebias	(	has_t *	has,
		const uint8_t *	msg,
		int	i,
		int	nbit,
		gtime_t	t0,
		const has_mask_t *	m )

static

Definition at line 516 of file mrtk_has.c.

References ssr_t::cbias, has_mask_t::cellmask, has_mask_t::code, CODE_NONE, getbits(), has_bits_ok(), HAS_CB_NA, has_mask_t::nsat, has_mask_t::nsig, has_mask_t::sat, has_t::ssr, ssr_t::t0, ssr_t::udi, ssr_t::update, and ssr_t::vcbias.

Referenced by decode_has_mt1().

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◆ decode_has_mask()

int decode_has_mask	(	has_t *	has,
		const uint8_t *	msg,
		int	i,
		int	nbit,
		int	mid )

static

Definition at line 195 of file mrtk_has.c.

References has_mask_t::cellmask, has_mask_t::code, getbitu(), has_mask_t::gnssid, has_bits_ok(), has_gnssid2sys(), HAS_MAX_SIG, HAS_SATM_BITS, has_sigcode(), HAS_SIGM_BITS, has_t::mask, MAXSAT, has_mask_t::navmsg, has_mask_t::nsat, has_mask_t::nsig, has_mask_t::nsys, popcount_field(), has_mask_t::sat, satno(), satno2id(), SYS_NONE, trace(), and has_mask_t::valid.

Referenced by decode_has_mt1().

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◆ decode_has_mt1()

int decode_has_mt1	(	has_t *	has,
		const uint8_t *	msg,
		int	nbit,
		gtime_t	time )

static

Definition at line 629 of file mrtk_has.c.

References decode_has_clock(), decode_has_clock_subset(), decode_has_codebias(), decode_has_mask(), decode_has_orbit(), decode_has_phasebias(), getbitu(), HAS_MAX_LATENCY, has_t_mt1(), has_t::iodset, has_t::mask, time2gpst(), time_str(), trace(), has_iodset_t::valid, and has_mask_t::valid.

Referenced by has_complete().

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◆ decode_has_orbit()

int decode_has_orbit	(	has_t *	has,
		const uint8_t *	msg,
		int	i,
		int	nbit,
		int	mid,
		int	iodset,
		gtime_t	t0 )

static

Definition at line 318 of file mrtk_has.c.

References ssr_t::ddeph, ssr_t::deph, getbits(), getbitu(), has_mask_t::gnssid, has_bits_ok(), HAS_DCT_NA, HAS_DIT_NA, HAS_DR_NA, has_iodref_bits(), ssr_t::iod, ssr_t::iode, has_iodset_t::iodref, has_t::iodset, has_t::mask, has_mask_t::nsat, has_mask_t::sat, has_t::ssr, ssr_t::t0, ssr_t::udi, ssr_t::update, and has_iodset_t::valid.

Referenced by decode_has_mt1().

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◆ decode_has_phasebias()

int decode_has_phasebias	(	has_t *	has,
		const uint8_t *	msg,
		int	i,
		int	nbit,
		gtime_t	t0,
		const has_mask_t *	m )

static

Definition at line 568 of file mrtk_has.c.

References has_mask_t::cellmask, has_mask_t::code, CODE_NONE, ssr_t::discnt, getbits(), getbitu(), has_mask_t::gnssid, has_bits_ok(), has_code2lam(), has_gnssid2sys(), HAS_PB_NA, has_mask_t::nsat, has_mask_t::nsig, ssr_t::pbias, has_mask_t::sat, has_t::ssr, SYS_NONE, ssr_t::t0, ssr_t::udi, ssr_t::update, and ssr_t::vpbias.

Referenced by decode_has_mt1().

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◆ has_bits_ok()

int has_bits_ok	(	int	i,
		int	n,
		int	nbit )

static

Definition at line 160 of file mrtk_has.c.

Referenced by decode_has_clock(), decode_has_clock_subset(), decode_has_codebias(), decode_has_mask(), decode_has_orbit(), and decode_has_phasebias().

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◆ has_code2lam()

double has_code2lam	(	int	sys,
		uint8_t	code )

static

Definition at line 100 of file mrtk_has.c.

References CLIGHT, CODE_L1B, CODE_L1C, CODE_L1L, CODE_L1S, CODE_L1X, CODE_L2L, CODE_L2S, CODE_L2W, CODE_L2X, CODE_L5I, CODE_L5Q, CODE_L5X, CODE_L6B, CODE_L6C, CODE_L6X, CODE_L7I, CODE_L7Q, CODE_L7X, CODE_L8I, CODE_L8Q, CODE_L8X, FREQ1, FREQ2, FREQ5, FREQ6, FREQ7, FREQ8, SYS_GAL, and SYS_GPS.

Referenced by decode_has_phasebias().

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◆ has_complete()

int has_complete	(	has_t *	has,
		has_collect_t *	col,
		gtime_t	time )

static

Definition at line 725 of file mrtk_has.c.

References has_collect_t::active, calloc, decode_has_mt1(), free, HAS_MT1, HAS_PAGE_BYTES, has_rs_decode(), has_collect_t::mid, has_collect_t::ms, has_collect_t::mt, has_collect_t::page, has_collect_t::pid, and trace().

Referenced by has_input_page().

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◆ has_find_collect()

has_collect_t * has_find_collect	(	has_t *	has,
		int	mid,
		int	mt,
		gtime_t	time )

static

Definition at line 749 of file mrtk_has.c.

References has_collect_t::active, has_t::collect, HAS_MAX_INFLIGHT, HAS_TIMEOUT, has_collect_t::mid, has_collect_t::mt, has_collect_t::t0, and timediff().

Referenced by has_input_page().

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◆ has_flush()

void has_flush ( has_t * has )

static

Definition at line 777 of file mrtk_has.c.

References has_collect_t::active, has_t::collect, HAS_MAX_INFLIGHT, HAS_MAX_MID, has_t::mask, trace(), and has_mask_t::valid.

Referenced by has_input_page().

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◆ has_free()

void has_free ( has_t * has )

extern

Free a Galileo HAS decode context.

Parameters

[in,out] has Context allocated by has_new() (NULL: no-op)

Definition at line 801 of file mrtk_has.c.

References free.

Referenced by freepreceph(), and rtksvrfree().

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◆ has_gnssid2sys()

int has_gnssid2sys ( int gnssid )

static

Definition at line 64 of file mrtk_has.c.

References HAS_GNSS_GAL, HAS_GNSS_GPS, SYS_GAL, SYS_GPS, and SYS_NONE.

Referenced by decode_has_mask(), and decode_has_phasebias().

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◆ has_input_file()

int has_input_file	(	has_t *	has,
		FILE *	fp,
		gtime_t	tmax )

extern

Read .has records from a file and feed them to has_input_page().

Parameters

[in,out]	has	HAS decode context
[in]	fp	Open .has file pointer (64-byte little-endian records)
[in]	tmax	Stop after reading records past this time (GPST)

Returns: 10 if any message completed during the call, 0 otherwise (including at end of file).

Definition at line 872 of file mrtk_has.c.

References gpst2time(), has_input_page(), gtime_t::time, timediff(), and trace().

Referenced by update_gal_has().

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◆ has_input_page()

int has_input_page	(	has_t *	has,
		int	prn,
		const uint8_t *	page56,
		gtime_t	time )

extern

Input one received Galileo HAS page.

Parameters

[in,out]	has	HAS decode context
[in]	prn	Galileo PRN of the transmitting satellite (1-40)
[in]	page56	56-byte HAS page (24-bit header + 424-bit encoded page)
[in]	time	Page reception time (GPST)

Returns: 10 when a complete MT1 was decoded and ssr[] updated, 0 when no message completed, <0 on error.

Definition at line 804 of file mrtk_has.c.

References has_collect_t::active, getbitu(), has_complete(), HAS_DUMMY_HEADER, has_find_collect(), has_flush(), HAS_HASS_DONTUSE, HAS_MAX_PAGES, HAS_MT1, HAS_PAGE_BYTES, has_collect_t::mid, has_collect_t::ms, has_collect_t::mt, has_collect_t::npid, has_collect_t::page, has_collect_t::pid, has_collect_t::t0, and trace().

Referenced by decoderaw(), and has_input_file().

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◆ has_iodref_bits()

int has_iodref_bits ( int gnssid )

static

Definition at line 89 of file mrtk_has.c.

References HAS_GNSS_GAL, and HAS_GNSS_GPS.

Referenced by decode_has_orbit().

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◆ has_new()

has_t * has_new ( void )

extern

Allocate and initialize a Galileo HAS decode context.

Returns: Pointer to a heap-allocated has_t (NULL on allocation failure or RS init failure). Free with has_free().

Note: Calls has_rs_init() to build the RS(255,32) erasure-decoder tables.

Definition at line 790 of file mrtk_has.c.

References calloc, and has_rs_init().

Referenced by readpreceph(), and rtksvrstart().

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◆ has_sel_biascode()

int has_sel_biascode	(	int	sys,
		uint8_t	code )

extern

Select the HAS bias slot obs code for an observation code.

Parameters

[in]	sys	Satellite system (SYS_GPS or SYS_GAL)
[in]	code	Observation code (CODE_???)

Returns: Obs code under which the HAS bias is stored, with same-frequency fallback (component <-> combined on the same carrier per HAS SIS ICD Table 20); 0 (CODE_NONE) if no mapping exists.

Definition at line 902 of file mrtk_has.c.

References CODE_L1B, CODE_L1C, CODE_L1L, CODE_L1S, CODE_L1X, CODE_L2L, CODE_L2S, CODE_L2W, CODE_L2X, CODE_L5I, CODE_L5Q, CODE_L5X, CODE_L6B, CODE_L6C, CODE_L6X, CODE_L7I, CODE_L7Q, CODE_L7X, CODE_L8I, CODE_L8Q, CODE_L8X, CODE_NONE, SYS_GAL, and SYS_GPS.

Referenced by corr_meas().

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◆ has_sigcode()

uint8_t has_sigcode	(	int	gnssid,
		int	sigidx )

static

Definition at line 75 of file mrtk_has.c.

References CODE_NONE, HAS_GNSS_GAL, HAS_GNSS_GPS, HAS_MAX_SIG, has_sig_gal, and has_sig_gps.

Referenced by decode_has_mask().

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◆ has_t_mt1()

gtime_t has_t_mt1	(	gtime_t	time,
		int	toh )

static

Definition at line 180 of file mrtk_has.c.

References gpst2time(), and time2gpst().

Referenced by decode_has_mt1().

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◆ popcount_field()

int popcount_field	(	const uint8_t *	buff,
		int	pos,
		int	len )

static

Definition at line 168 of file mrtk_has.c.

References getbitu().

Referenced by decode_has_mask().

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◆ satno()

int satno	(	int	sys,
		int	prn )

extern

Definition at line 58 of file mrtk_nav.c.

Referenced by decode_has_mask().

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◆ satno2id()

void satno2id	(	int	sat,
		char *	id )

extern

Definition at line 817 of file mrtk_nav.c.

Referenced by decode_has_mask().

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◆ time2gpst()

double time2gpst	(	gtime_t	t,
		int *	week )

extern

Definition at line 181 of file mrtk_time.c.

Referenced by decode_has_mt1(), and has_t_mt1().

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◆ time_str()

char * time_str	(	gtime_t	t,
		int	n )

extern

Definition at line 530 of file mrtk_time.c.

Referenced by decode_has_mt1().

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Variable Documentation

◆ has_sig_gal

const uint8_t has_sig_gal[HAS_MAX_SIG]

static

Initial value:

= {CODE_L1B, CODE_L1C, CODE_L1X, CODE_L5I, CODE_L5Q, CODE_L5X,
                                                 CODE_L7I, CODE_L7Q, CODE_L7X, CODE_L8I, CODE_L8Q, CODE_L8X,
                                                 CODE_L6B, CODE_L6C, CODE_L6X, CODE_NONE}

Definition at line 54 of file mrtk_has.c.

Referenced by has_sigcode().

◆ has_sig_gps

const uint8_t has_sig_gps[HAS_MAX_SIG]

static

Initial value:

= {CODE_L1C, CODE_NONE, CODE_NONE, CODE_L1S, CODE_L1L, CODE_L1X,
                                                 CODE_L2S, CODE_L2L,  CODE_L2X,  CODE_L2W, CODE_L5I, CODE_L5Q,
                                                 CODE_L5X, CODE_NONE, CODE_NONE, CODE_NONE}

Definition at line 59 of file mrtk_has.c.

Referenced by has_sigcode().

Macros

Functions

Variables

Macro Definition Documentation

◆ HAS_CB_NA

◆ HAS_DCC_NA

◆ HAS_DCC_NU

◆ HAS_DCT_NA

◆ HAS_DIT_NA

◆ HAS_DR_NA

◆ HAS_DUMMY_HEADER

◆ HAS_GNSS_GAL

◆ HAS_GNSS_GPS

◆ HAS_HASS_DONTUSE

◆ HAS_MAX_LATENCY

◆ HAS_MT1

◆ HAS_PB_NA

◆ HAS_SATM_BITS

◆ HAS_SIGM_BITS

◆ HAS_TIMEOUT

Function Documentation

◆ decode_has_clock()

◆ decode_has_clock_subset()

◆ decode_has_codebias()

◆ decode_has_mask()

◆ decode_has_mt1()

◆ decode_has_orbit()

◆ decode_has_phasebias()

◆ has_bits_ok()

◆ has_code2lam()

◆ has_complete()

◆ has_find_collect()

◆ has_flush()

◆ has_free()

◆ has_gnssid2sys()

◆ has_input_file()

◆ has_input_page()

◆ has_iodref_bits()

◆ has_new()

◆ has_sel_biascode()

◆ has_sigcode()

◆ has_t_mt1()

◆ popcount_field()

◆ satno()

◆ satno2id()

◆ time2gpst()

◆ time_str()

Variable Documentation

◆ has_sig_gal

◆ has_sig_gps