MRTKLIB RTCM Module — RTCM message types and functions. More...

#include <stdint.h>
#include <stdio.h>
#include "mrtklib/mrtk_foundation.h"
#include "mrtklib/mrtk_nav.h"
#include "mrtklib/mrtk_obs.h"
#include "mrtklib/mrtk_station.h"
#include "mrtklib/mrtk_time.h"

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Classes
struct	rtcm_t
	RTCM control struct type. More...

Functions
int	init_rtcm (rtcm_t *rtcm)
	Initialize RTCM control struct.
void	free_rtcm (rtcm_t *rtcm)
	Free RTCM control struct.
lclblock_t *	rtcm_lclblk (rtcm_t *rtcm)
	Get the local correction block, lazily allocating it on first use.
int	input_rtcm2 (rtcm_t *rtcm, uint8_t data)
	Input RTCM 2 message from stream (byte-by-byte).
int	input_rtcm3 (rtcm_t *rtcm, uint8_t data)
	Input RTCM 3 message from stream (byte-by-byte).
int	input_rtcm2f (rtcm_t rtcm, FILE fp)
	Input RTCM 2 message from file.
int	input_rtcm3f (rtcm_t rtcm, FILE fp)
	Input RTCM 3 message from file.
int	gen_rtcm2 (rtcm_t *rtcm, int type, int sync)
	Generate RTCM 2 message.
int	gen_rtcm3 (rtcm_t *rtcm, int type, int subtype, int sync)
	Generate RTCM 3 message.
int	decode_rtcm2 (rtcm_t *rtcm)
	Decode RTCM ver.2 message (called from rtcm.c).
int	decode_rtcm3 (rtcm_t *rtcm)
	Decode RTCM ver.3 message (called from rtcm.c).
int	encode_rtcm3 (rtcm_t *rtcm, int type, int subtype, int sync)
	Encode RTCM ver.3 message (called from rtcm.c).
int	decode_lcltrop (rtcm_t *rtcm, int type)
	Decode local tropospheric delay correction grid RTCM message.
int	decode_lcliono (rtcm_t *rtcm, int type)
	Decode local ionospheric delay correction grid RTCM message.
int	encode_lcltrop (rtcm_t *rtcm, int type)
	Encode local tropospheric delay correction grid RTCM message.
int	encode_lcliono (rtcm_t *rtcm, int type)
	Encode local ionospheric delay correction grid RTCM message.
void	initblkinf (blkinf_t *b)
	Initialize block information struct.

Detailed Description

MRTKLIB RTCM Module — RTCM message types and functions.

This header provides the RTCM control struct (rtcm_t) and all public RTCM function declarations extracted from rtcm.c, rtcm2.c, rtcm3.c, rtcm3e.c, and rtcm3lcl.c.

Note: All functions in this module are pure cut-and-paste extractions with zero algorithmic changes.

Definition in file mrtk_rtcm.h.

Function Documentation

◆ decode_lcliono()

int decode_lcliono	(	rtcm_t *	rtcm,
		int	type )

Decode local ionospheric delay correction grid RTCM message.

Parameters

[in,out]	rtcm	RTCM control struct
[in]	type	Message type

Returns: Status (1:ok, 0:error)

Definition at line 260 of file mrtk_rtcm3_local_corr.c.

References blkinf_t::bn, blkinf_t::bpos, blkinf_t::btype, D2R, decode_lclhead(), getbitu(), blkinf_t::gp, blkinf_t::gpitch, blkinf_t::grid, ion_t::ion, ION_BAS_LSB, ION_DET_LSB, ION_STD_LSB, LAT_LSB, LON_LSB, MAXSAT, MINPRNCMP, MINPRNGAL, MINPRNGLO, MINPRNGPS, MINPRNQZS, blkinf_t::n, NSATCMP, NSATGAL, NSATGLO, NSATGPS, NSATQZS, pos2ecef(), R2D, rtcm, rtcm_lclblk(), satno(), ion_t::std, SYS_CMP, SYS_GAL, SYS_GLO, SYS_GPS, SYS_QZS, ion_t::time, time_str(), and trace().

Referenced by decode_rtcm3().

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◆ decode_lcltrop()

int decode_lcltrop	(	rtcm_t *	rtcm,
		int	type )

Decode local tropospheric delay correction grid RTCM message.

Parameters

[in,out]	rtcm	RTCM control struct
[in]	type	Message type

Returns: Status (1:ok, 0:error)

Definition at line 185 of file mrtk_rtcm3_local_corr.c.

References blkinf_t::bn, blkinf_t::bpos, blkinf_t::btype, D2R, decode_lclhead(), spos_t::ecef, getbitu(), blkinf_t::gp, blkinf_t::gpitch, blkinf_t::grid, LAT_LSB, LON_LSB, blkinf_t::n, PI, pos2ecef(), R2D, rtcm, rtcm_lclblk(), sitetrp_t::site, trp_t::std, trp_t::time, time_str(), trace(), tropmodel(), trp_t::trp, TRP_BAS_LSB, TRP_DET_LSB, TRP_STD_LSB, and sitetrp_t::trpd.

Referenced by decode_rtcm3().

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◆ decode_rtcm2()

int decode_rtcm2 ( rtcm_t * rtcm )

Decode RTCM ver.2 message (called from rtcm.c).

Parameters

[in,out] rtcm RTCM control struct

Returns: Status (-1:error, 0:no message, 1:obs, 2:eph, ...)

Definition at line 452 of file mrtk_rtcm2.c.

References adjhour(), decode_type1(), decode_type14(), decode_type16(), decode_type17(), decode_type18(), decode_type19(), decode_type22(), decode_type23(), decode_type24(), decode_type3(), decode_type31(), decode_type32(), decode_type34(), decode_type36(), decode_type37(), decode_type59(), getbitu(), rtcm, and trace().

Referenced by input_rtcm2().

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◆ decode_rtcm3()

int decode_rtcm3 ( rtcm_t * rtcm )

Decode RTCM ver.3 message (called from rtcm.c).

Parameters

[in,out] rtcm RTCM control struct

Returns: Status (-1:error, 0:no message, 1:obs, 2:eph, ...)

Definition at line 3402 of file mrtk_rtcm3.c.

References decode_lcliono(), decode_lcltrop(), decode_msm0(), decode_msm4(), decode_msm5(), decode_msm6(), decode_msm7(), decode_ssr1(), decode_ssr2(), decode_ssr3(), decode_ssr4(), decode_ssr5(), decode_ssr6(), decode_ssr7(), decode_type1001(), decode_type1002(), decode_type1003(), decode_type1004(), decode_type1005(), decode_type1006(), decode_type1007(), decode_type1008(), decode_type1009(), decode_type1010(), decode_type1011(), decode_type1012(), decode_type1013(), decode_type1019(), decode_type1020(), decode_type1021(), decode_type1022(), decode_type1023(), decode_type1024(), decode_type1025(), decode_type1026(), decode_type1027(), decode_type1029(), decode_type1030(), decode_type1031(), decode_type1032(), decode_type1033(), decode_type1034(), decode_type1035(), decode_type1037(), decode_type1038(), decode_type1039(), decode_type1041(), decode_type1042(), decode_type1044(), decode_type1045(), decode_type1046(), decode_type1230(), decode_type4050(), decode_type4073(), decode_type4076(), getbitu(), gpst2time(), rtcm, SYS_CMP, SYS_GAL, SYS_GLO, SYS_GPS, SYS_IRN, SYS_QZS, SYS_SBS, time2gpst(), timeget(), trace(), and utc2gpst().

Referenced by input_rtcm3().

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◆ encode_lcliono()

int encode_lcliono	(	rtcm_t *	rtcm,
		int	type )

Encode local ionospheric delay correction grid RTCM message.

Parameters

[in,out]	rtcm	RTCM control struct
[in]	type	Message type

Returns: Status (1:ok, 0:error)

Definition at line 577 of file mrtk_rtcm3_local_corr.c.

References blkinf_t::bn, blkinf_t::bpos, blkinf_t::btype, encode_lclhead(), blkinf_t::gp, blkinf_t::gpitch, blkinf_t::grid, ion_t::ion, ION_BAS_LSB, ION_DET_LSB, ION_STD_LSB, ION_STD_MAX, LAT_LSB, LON_LSB, MAXIONSTA, MAXOBS, MINPRNCMP, MINPRNGAL, MINPRNGLO, MINPRNGPS, MINPRNQZS, blkinf_t::n, NSATCMP, NSATGAL, NSATGLO, NSATGPS, NSATQZS, R2D, rtcm, satno(), satsys(), setbitu(), ion_t::std, SYS_CMP, SYS_GAL, SYS_GLO, SYS_GPS, SYS_QZS, ion_t::time, time_str(), and trace().

Referenced by encode_rtcm3().

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◆ encode_lcltrop()

int encode_lcltrop	(	rtcm_t *	rtcm,
		int	type )

Encode local tropospheric delay correction grid RTCM message.

Parameters

[in,out]	rtcm	RTCM control struct
[in]	type	Message type

Returns: Status (1:ok, 0:error)

Definition at line 480 of file mrtk_rtcm3_local_corr.c.

References blkinf_t::bn, blkinf_t::bpos, blkinf_t::btype, encode_lclhead(), blkinf_t::gp, blkinf_t::gpitch, blkinf_t::grid, ION_BAS_LSB, LAT_LSB, LON_LSB, MAXTRPSTA, blkinf_t::n, PI, R2D, rtcm, setbitu(), trp_t::std, gtime_t::time, trp_t::time, time_str(), timediff(), trace(), tropmodel(), trp_t::trp, TRP_BAS_LSB, TRP_DET_LSB, TRP_STD_LSB, and TRP_STD_MAX.

Referenced by encode_rtcm3().

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◆ encode_rtcm3()

int encode_rtcm3	(	rtcm_t *	rtcm,
		int	type,
		int	subtype,
		int	sync )

Encode RTCM ver.3 message (called from rtcm.c).

Parameters

[in,out]	rtcm	RTCM control struct
[in]	type	Message type
[in]	subtype	Message subtype
[in]	sync	Sync flag

Returns: Status (1:ok, 0:error)

Definition at line 3610 of file mrtk_rtcm3e.c.

References encode_lcliono(), encode_lcltrop(), encode_msm1(), encode_msm2(), encode_msm3(), encode_msm4(), encode_msm5(), encode_msm6(), encode_msm7(), encode_ssr1(), encode_ssr2(), encode_ssr3(), encode_ssr4(), encode_ssr5(), encode_ssr6(), encode_ssr7(), encode_type1001(), encode_type1002(), encode_type1003(), encode_type1004(), encode_type1005(), encode_type1006(), encode_type1007(), encode_type1008(), encode_type1009(), encode_type1010(), encode_type1011(), encode_type1012(), encode_type1019(), encode_type1020(), encode_type1033(), encode_type1041(), encode_type1042(), encode_type1044(), encode_type1045(), encode_type1046(), encode_type1230(), encode_type4073(), encode_type4076(), encode_type63(), rtcm, SYS_CMP, SYS_GAL, SYS_GLO, SYS_GPS, SYS_IRN, SYS_QZS, SYS_SBS, and trace().

Referenced by gen_rtcm3().

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◆ free_rtcm()

void free_rtcm ( rtcm_t * rtcm )

Free RTCM control struct.

Parameters

[in,out] rtcm RTCM control struct

Definition at line 118 of file mrtk_rtcm.c.

References free, rtcm, and trace().

Referenced by free_strfile(), freepreceph(), init_rtcm(), rtksvrthread(), strconvfree(), and strconvnew().

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◆ gen_rtcm2()

int gen_rtcm2	(	rtcm_t *	rtcm,
		int	type,
		int	sync )

Generate RTCM 2 message.

Parameters

[in,out]	rtcm	RTCM control struct
[in]	type	Message type
[in]	sync	Sync flag (1:another message follows)

Returns: Status (1:ok, 0:error)

Definition at line 369 of file mrtk_rtcm.c.

References rtcm, and trace().

Referenced by write_nav(), write_nav_cycle(), write_obs(), and write_sta_cycle().

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◆ gen_rtcm3()

int gen_rtcm3	(	rtcm_t *	rtcm,
		int	type,
		int	subtype,
		int	sync )

Generate RTCM 3 message.

Parameters

[in,out]	rtcm	RTCM control struct
[in]	type	Message type
[in]	subtype	Message subtype (0:no subtype)
[in]	sync	Sync flag (1:another message follows)

Returns: Status (1:ok, 0:error)

Definition at line 392 of file mrtk_rtcm.c.

References encode_rtcm3(), rtcm, RTCM3PREAMB, rtk_crc24q(), setbitu(), and trace().

Referenced by output_lclcmb(), write_nav(), write_nav_cycle(), write_obs(), write_rtcm3_msm(), and write_sta_cycle().

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◆ init_rtcm()

int init_rtcm ( rtcm_t * rtcm )

Initialize RTCM control struct.

Parameters

[out] rtcm RTCM control struct

Returns: Status (1:ok, 0:memory allocation error)

Note: The struct must be zero-initialized (calloc/memset) before the first call; an existing lclblk allocation is preserved across re-init.

Definition at line 37 of file mrtk_rtcm.c.

References free_rtcm(), malloc, MAXOBS, MAXPRNGLO, MAXSAT, rtcm, and trace().

Referenced by gen_strfile(), readpreceph(), rtksvrstart(), and strconvnew().

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◆ initblkinf()

void initblkinf ( blkinf_t * b )

Initialize block information struct.

Parameters

[in,out] b Block information struct

Definition at line 58 of file mrtk_rtcm3_local_corr.c.

References blkinf_t::bn, blkinf_t::bpos, blkinf_t::bs, blkinf_t::btype, BTYPE_GRID, D2R, GN, blkinf_t::gp, blkinf_t::gpitch, blkinf_t::grid, blkinf_t::mask, and blkinf_t::n.

Referenced by decode_lclhead(), and initgridsta().

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◆ input_rtcm2()

int input_rtcm2	(	rtcm_t *	rtcm,
		uint8_t	data )

Input RTCM 2 message from stream (byte-by-byte).

Parameters

[in,out]	rtcm	RTCM control struct
[in]	data	Stream data (1 byte)

Returns: Status (-1:error, 0:no message, 1:obs data, 2:ephemeris, ...)

Definition at line 159 of file mrtk_rtcm.c.

References decode_rtcm2(), decode_word(), rtcm, RTCM2PREAMB, and trace().

Referenced by decoderaw(), input_rtcm2f(), and strconv().

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◆ input_rtcm2f()

int input_rtcm2f	(	rtcm_t *	rtcm,
		FILE *	fp )

Input RTCM 2 message from file.

Parameters

[in,out]	rtcm	RTCM control struct
[in]	fp	File pointer

Returns: Status (-2:end of file, -1:error, 0:no message, 1:obs, 2:eph, ...)

Definition at line 325 of file mrtk_rtcm.c.

References input_rtcm2(), rtcm, and trace().

Referenced by input_strfile().

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◆ input_rtcm3()

int input_rtcm3	(	rtcm_t *	rtcm,
		uint8_t	data )

Input RTCM 3 message from stream (byte-by-byte).

Parameters

[in,out]	rtcm	RTCM control struct
[in]	data	Stream data (1 byte)

Returns: Status (-1:error, 0:no message, 1:obs data, 2:ephemeris, ...)

Definition at line 289 of file mrtk_rtcm.c.

References decode_rtcm3(), getbitu(), rtcm, RTCM3PREAMB, rtk_crc24q(), and trace().

Referenced by decoderaw(), input_rtcm3f(), and strconv().

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◆ input_rtcm3f()

int input_rtcm3f	(	rtcm_t *	rtcm,
		FILE *	fp )

Input RTCM 3 message from file.

Parameters

[in,out]	rtcm	RTCM control struct
[in]	fp	File pointer

Returns: Status (-2:end of file, -1:error, 0:no message, 1:obs, 2:eph, ...)

Definition at line 347 of file mrtk_rtcm.c.

References input_rtcm3(), rtcm, and trace().

Referenced by input_strfile(), and update_rtcm().

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◆ rtcm_lclblk()

lclblock_t * rtcm_lclblk ( rtcm_t * rtcm )

Get the local correction block, lazily allocating it on first use.

Parameters

[in,out] rtcm RTCM control struct

Returns: Local correction block (NULL: memory allocation error).

Definition at line 139 of file mrtk_rtcm.c.

References calloc, and rtcm.

Referenced by decode_lcliono(), and decode_lcltrop().

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Classes

Functions

Detailed Description

Function Documentation

◆ decode_lcliono()

◆ decode_lcltrop()

◆ decode_rtcm2()

◆ decode_rtcm3()

◆ encode_lcliono()

◆ encode_lcltrop()

◆ encode_rtcm3()

◆ free_rtcm()

◆ gen_rtcm2()

◆ gen_rtcm3()

◆ init_rtcm()

◆ initblkinf()

◆ input_rtcm2()

◆ input_rtcm2f()

◆ input_rtcm3()

◆ input_rtcm3f()

◆ rtcm_lclblk()