/* ************************************************************************    *                                                                      *   *                          GPS Simulation                              *   *                                                                      *   * -------------------------------------------------------------------- *   *                                                                      *   *     Module:   ogsgar2rnx.cpp                                         *   *                                                                      *   *    Version:   0.1.0                                                  *   *                                                                      *   *       Date:   17.05.02                                               *   *                                                                      *   *    Authors:   Antonio Tabernero, modifications by Georg Beyerle      *   *                                                                      *   * -------------------------------------------------------------------- *   *                                                                      *   * Copyright (C) 2000-2002  Antonio Tabernero                           *   *                                                                      *   * This program is free software; you can redistribute it and/or modify *   * it under the terms of the GNU General Public License as published by *   * the Free Software Foundation; either version 2 of the License, or    *   * (at your option) any later version.                                  *   *                                                                      *   * This program is distributed in the hope that it will be useful,      *   * but WITHOUT ANY WARRANTY; without even the implied warranty of       *   * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the        *   * GNU General Public License for more details.                         *   *                                                                      *   * You should have received a copy of the GNU General Public License    *   * along with this program; if not, write to the Free Software          *   * Foundation, Inc., 675 Mass Ave, Cambridge, MA 02139, USA.            *   *                                                                      *   * -------------------------------------------------------------------- *   *                                                                      *   * The files 'gpsfuncs.cpp', 'gpsrcvr.cpp' and 'gp2021.cpp' are modi-   *   * fied versions of the files with the same name from Clifford Kelley's *    * OpenSourceGPS distribution. The unmodified files can be obtained     *   * from http://www.home.earthlink.net/~cwkelley                         *   *                                                                      *   * -------------------------------------------------------------------- *   *                                                                      *   *          read G*RM*N binary data and construct 1500 bit frames       *   *                                                                      *   ************************************************************************ *//********************************************************************** @source**** @author Copyright (C) 2000,2001 Antonio Tabernero** @version 1.48** @last modified Ago 28 2001 Antonio Tabernero. ** @last modified Mar 22 2002 Antonio Tabernero. ** @last modified Apr  3 2002 Antonio Tabernero. ** @@**** This program is free software; you can redistribute it and/or** modify it under the terms of the GNU Library General Public** License as published by the Free Software Foundation; either** version 2 of the License, or (at your option) any later version.**** This program is distributed in the hope that it will be useful,** but WITHOUT ANY WARRANTY; without even the implied warranty of** MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU** Library General Public License for more details.**** You should have received a copy of the GNU Library General Public** License along with this library; if not, write to the** Free Software Foundation, Inc., 59 Temple Place - Suite 330,** Boston, MA  02111-1307, USA.********************************************************************//* ******************************* changes ********************************1.3  Can use records 0x0e and 0x11 to get aprox time and position      instead of requiring record 0x33 (which seems to be missing      in some models/firmwares)     Output Doppler data (using the flag +doppler) when applied to      binary files logged with the 1.2 (or newer) version of async.1.4  Added generation of RINEX ephemeris files (-nav option)     Added decoding of the navigation message     Added option to get input from stdin     Some bugs corrected1.45 -monitor, -V, -sf  options1.48 version published. Minor cosmetic changes from 1.45   ************************************************************************ *//* ------------------------------- includes ------------------------------- */#include <stdio.h>#include <math.h>#include <stdlib.h>#include <string.h>#include <time.h>#include <sys/types.h>/* ------------------------------- defines -------------------------------- */// data bits: bits 30 -> 7 within ULONG NAV_WORD#define  d1  ((NAV_WORD>>29) & 1)#define  d2  ((NAV_WORD>>28) & 1) #define  d3  ((NAV_WORD>>27) & 1)#define  d4  ((NAV_WORD>>26) & 1)#define  d5  ((NAV_WORD>>25) & 1)#define  d6  ((NAV_WORD>>24) & 1)#define  d7  ((NAV_WORD>>23) & 1)#define  d8  ((NAV_WORD>>22) & 1)#define  d9  ((NAV_WORD>>21) & 1)#define d10  ((NAV_WORD>>20) & 1)#define d11  ((NAV_WORD>>19) & 1)#define d12  ((NAV_WORD>>18) & 1)#define d13  ((NAV_WORD>>17) & 1)#define d14  ((NAV_WORD>>16) & 1)#define d15  ((NAV_WORD>>15) & 1)#define d16  ((NAV_WORD>>14) & 1)#define d17  ((NAV_WORD>>13) & 1)#define d18  ((NAV_WORD>>12) & 1)#define d19  ((NAV_WORD>>11) & 1)#define d20  ((NAV_WORD>>10) & 1)#define d21  ((NAV_WORD>> 9) & 1)#define d22  ((NAV_WORD>> 8) & 1)#define d23  ((NAV_WORD>> 7) & 1)#define d24  ((NAV_WORD>> 6) & 1) // Parity bits: bits 6 -> 1 within ULONG NAV_WORD#define D25  ((NAV_WORD>> 5) & 1)#define D26  ((NAV_WORD>> 4) & 1)#define D27  ((NAV_WORD>> 3) & 1)#define D28  ((NAV_WORD>> 2) & 1)#define D29  ((NAV_WORD>> 1) & 1)#define D30  ((NAV_WORD>> 0) & 1) // Previous word parity bits 29-30: bits 32 and 31 of ULONG NAV_WORD#define P29  ((NAV_WORD>>31) & 1)#define P30  ((NAV_WORD>>30) & 1)     #define RECLEN 256/* ------------------------------- typedefs ------------------------------- */typedef unsigned char BOOLEAN;typedef unsigned char BYTE;typedef unsigned long ULONG;typedef unsigned short int UINT;typedef short int INT;typedef struct{   ULONG c50;   BYTE uk[4];   BYTE sv; } type_rec0x36;/* ------------------------------- globals -------------------------------- */static BYTE LSB[32] = { 7, 6, 5, 4, 3, 2, 1, 0,                        15,14,13,12,11,10, 9, 8,                        23,22,21,20,19,18,17,16,                        31,30,29,28,27,26,25,24};static ULONG NAV_WORD;static BYTE Frame[32][30];   // 30 bytes = 240 bits = 10 GPS words a 24 bitsstatic BOOLEAN ChkFrame[32][30];static int pages[64] = {0, 1, 2, 3, 4, 5, 6, 7, 8, 9,10,11,12,13,14,15,                       16,17,18,19,20,21,22,23,24, 2, 3, 4, 5, 7, 8, 9,                       10,-1,-1,-1,-1,-1,-1,-1,-1,-1,-1,-1,-1,-1,-1,-1,                        -1,-1,-1,25,13,14,15,17,18, 1,19,20,22,23,12,25};static BYTE CurSat;extern int ListOnlyPRN;/* ------------------------------- procedures ----------------------------- */static type_rec0x36 process_0x36( BYTE *record){  type_rec0x36 rec;  int i;//  50 Hz counter  rec.c50 = *((ULONG*)(record));    //  data : 30 bits + 2 parity bits from previous word  for ( i=0; i<4; i++)     rec.uk[i] = record[4+i];//  SV PRN  rec.sv = record[8];  return rec;}static void reset_frame( int cursat){//	memcpy( frame[CurSat], RESET, 30);//	memcpy( ChkFrame[CurSat], RESET, 30);	memset( Frame[cursat], 0, 30);	memset( ChkFrame[cursat], 0, 30);}// Move bits 2 to 25 from org to Frame[] arraystatic void strip_parity_and_copy_to_frame( BYTE* org, ULONG word, int cursat){  BYTE *dest;  int k, index;  BYTE d30;  d30 = (org[3] >> 6) & 0x1;  index = word * 3;  dest  = Frame[cursat] + index;  for ( k=0; k<3; k++)    {    dest[k] = ((org[3-k] & 0x3f) << 2) + ((org[2-k] & 0xc0) >> 6);	  if ( d30 == 1) 	    dest[k] = dest[k]^0xff;	  ChkFrame[cursat][index+k] = 1;  }  return;}//// Extract bit number nbit from byte stream ptr//static BYTE peak_bit(int nbit, BYTE *ptr){  int byte_pos = (nbit>>3);  int bit_pos  = 7 - (nbit & 0x07);  BYTE res = (ptr[byte_pos] & (1 << bit_pos)) >> bit_pos;  return res;}//// Place bit (0/1) in position nbit of byte stream dest//static void poke_bit( BYTE bit, int nbit, BYTE *dest){  int byte_pos = (nbit >> 3);  int bit_pos  = (nbit & 0x07);  BYTE mask;  BYTE org = dest[byte_pos]; // printf("ORG %d  byte %d bit %d\n",org,byte_pos,bit_pos);  bit_pos = 7 - bit_pos;  mask = 0xff - (1<<bit_pos);  org &= mask;    //p_bits(org); printf("\n");  //p_bits(mask); printf("\n");  bit&=0x01;  org = org | (bit<<bit_pos);  //p_bits(org); printf("\n");	    dest[byte_pos]=org;  return;}//// Extract L bits starting from Frame[ini-1] as unsigned long int (32 bits max)//static ULONG extract_bits( int ini, int L){  ULONG res = 0;  BYTE *dest = (BYTE*)&res;  int k, pos_lsb;  BYTE data;  ini = ini-1;  pos_lsb = ini + L - 1;  for ( k=0; k<L; k++, pos_lsb--)   {    data = peak_bit( pos_lsb, Frame[CurSat]);    poke_bit( data, LSB[k], dest);  }  return res;}static int verify_frame( void){ int k, sum = 0; for ( k=0; k<30; k++)    sum += ChkFrame[CurSat][k]; k = (30-sum) / 3; return (k);}static BOOLEAN info_frame( ULONG nfr, char *info_msg){  BYTE page, sv_id;  int n_bad;  char *ptr = info_msg;  BOOLEAN fail = 0;  BYTE sf_id, preamble;  ULONG tow;  ULONG av;  char av_message[16];  n_bad = verify_frame();  if ( n_bad)   {     ptr += sprintf( ptr, " %d missing words\n", n_bad);     fail = 1;     return (fail);  }   preamble = Frame[CurSat][0];  tow = extract_bits( 25, 17);   if ( preamble != 0x8b)   {    ptr += sprintf( ptr, "Bad preamble ");     fail = 1;  }    if ( tow != nfr)   {    ptr += sprintf( ptr, "Tow missmatch ");     fail = 1;  }   if ( fail)   {    ptr+=sprintf( ptr, "\n");     //ptr+=sprintf(ptr,": skipping\n"); //printf("%s",info_msg);     return fail;  }   sf_id = (BYTE)extract_bits( 44, 3);  //  *sf_id_ptr = sf_id;  ptr += sprintf( ptr, " Subframe %d", sf_id);//  printf( "\nSF_ID %d\n", sf_id);  if ( sf_id <= 3)   {     ptr += sprintf( ptr, "                Ephemeris data\n");     return fail;   }  sv_id = (BYTE)extract_bits(51,6);   page  = pages[sv_id];// printf("SV_ID %d  PAGE %d\n",sv_id,page);  switch ( sv_id)  {  case 0:      ptr+=sprintf( ptr, ", page --       ");      break;     //ptr+=sprintf(ptr,"Dummy sat:");  break;  case 57:     ptr+=sprintf( ptr, ", page %2d*      ",page);      break;    //ptr+=sprintf(ptr,"(1,6,11,16,21) : ");  break;  case 62:     ptr+=sprintf( ptr, ", page %2d*      ",page);     break;    //ptr+=sprintf(ptr,"(12,24)        : "); break;