#pragma once #include #include #include #include "bits.hh" #include #include struct GPSCNavAlmanac { int dataid{-1}; int sv; uint32_t t0a{0}; uint32_t e{0}, sqrtA{0}; int32_t M0, Omega0, deltai, omega, omegadot; int health; int af0, af1; double getMu() const { return 3.986005 * pow(10.0, 14.0); } // m^3/s^2 // same for galileo & gps double getOmegaE() const { return 7.2921151467 * pow(10.0, -5.0);} // rad/s double getE() const { return ldexp(e, -21); } double getT0e() const { return ldexp(t0a, 12); } double getI0() const { return M_PI*0.3 + ldexp(M_PI*deltai, -19); } double getOmegadot() const { return ldexp(M_PI * omegadot, -38); } double getSqrtA() const { return ldexp(sqrtA, -11); } double getOmega0() const { return ldexp(M_PI * Omega0, -23); } double getOmega() const { return ldexp(M_PI * omega, -23); } double getM0() const { return ldexp(M_PI * M0, -23); } double getIdot() const { return 0; } // radians/s double getCic() const { return 0; } // radians double getCis() const { return 0; } // radians double getCuc() const { return 0; } // radians double getCus() const { return 0; } // radians double getCrc() const { return 0; } // meters double getCrs() const { return 0; } // meters double getDeltan()const { return 0; } //radians/s }; struct GPSCNavState { uint32_t t0e; uint32_t e, sqrtA; int32_t m0, omega0, i0, omega, idot, omegadot, deltan; int16_t cuc{0}, cus{0}, crc{0}, crs{0}, cic{0}, cis{0}; // 16 seconds uint16_t t0c; // 2^-31 2^-43 int32_t af0 , af1; // ??? int8_t af2; uint32_t wn{0}, tow{0}; double getMu() const { return 3.986005 * pow(10.0, 14.0); } // m^3/s^2 // same for galileo & gps double getOmegaE() const { return 7.2921151467 * pow(10.0, -5.0);} // rad/s uint32_t getT0e() const { return t0e; } double getSqrtA() const { return ldexp(sqrtA, -19); } double getE() const { return ldexp(e, -33); } double getCuc() const { return ldexp(cuc, -29); } // radians double getCus() const { return ldexp(cus, -29); } // radians double getCrc() const { return ldexp(crc, -5); } // meters double getCrs() const { return ldexp(crs, -5); } // meters double getM0() const { return ldexp(m0 * M_PI, -31); } // radians double getDeltan()const { return ldexp(deltan *M_PI, -43); } //radians/s double getI0() const { return ldexp(i0 * M_PI, -31); } // radians double getCic() const { return ldexp(cic, -29); } // radians double getCis() const { return ldexp(cis, -29); } // radians double getOmegadot() const { return ldexp(omegadot * M_PI, -43); } // radians/s double getOmega0() const { return ldexp(omega0 * M_PI, -31); } // radians double getIdot() const { return ldexp(idot * M_PI, -43); } // radians/s double getOmega() const { return ldexp(omega * M_PI, -31); } // radians uint8_t gpshealth{0}; uint16_t ai0{0}; int16_t ai1{0}, ai2{0}; int BGDE1E5a{0}, BGDE1E5b{0}; bool disturb1{false}, disturb2{false}, disturb3{false}, disturb4{false}, disturb5{false}; // // 2^-30 2^-50 1 8-bit week int32_t a0{0}, a1{0}, t0t{0}, wn0t{0}; int32_t a0g{0}, a1g{0}, t0g{0}, wn0g{0}; int8_t dtLS{0}, dtLSF{0}; uint16_t wnLSF{0}; uint8_t dn; // leap second day number int gpsiod{-1}; int teop; int deltaUT1; int deltaUT1dot; // milliseconds std::pair getUT1OffsetMS(int tow) { int delta = ephAge(tow, 16* teop); std::cout<<" tow "< std::pair getGPSCNavAtomicOffset(int tow, const T& eph) { int delta = ephAge(tow, getT0c(eph)); double cur = eph.af0 + ldexp(delta*eph.af1, -12) + ldexp(delta*delta*eph.af2, -24); double trend = ldexp(eph.af1, -12) + ldexp(2*delta*eph.af2, -24); // now in units of 2^-31 seconds, which are 0.5 nanoseconds each double factor = ldexp(1000000000, -31); return {factor * cur, factor * trend}; } template std::pair getGPSCNavUTCOffset(int tow, int wn, const T& eph) { // 2^-30 2^-50 3600 // a0 a1 t0t int dw = (int)(uint8_t)wn - (int)(uint8_t) eph.wn0t; int delta = dw*7*86400 + tow - eph.t0t; // this is pre-scaled for GPS.. double cur = eph.a0 + ldexp(1.0*delta*eph.a1, -20); double trend = ldexp(eph.a1, -20); // now in units of 2^-30 seconds, which are ~1.1 nanoseconds each double factor = ldexp(1000000000, -30); return {factor * cur, factor * trend}; } template int parseGPSCNavMessage(std::basic_string_view msg, T& out) { using namespace std; int type = getbitu(&msg[0], 14, 6); out.tow = 6 * getbitu(&msg[0], 20, 17) - 12; if(type == 10) { out.wn = getbitu(&msg[0], 38, 13); // out.ura = getbitu(&msg[0], 65, 5); out.t0e = getbitu(&msg[0], 70, 11); // XXX scale? // int32_t deltaSqrtA = getbits(&msg[0], 81, 26); // int32_t SqrtADot = getbits(&msg[0], 107, 25); out.deltan = getbitu(&msg[0], 132, 17); // XXX scale?? // int deltandot = getbitu(&msg[0], 149, 23); // XXX scale?? // int64_t M0n = getbitu(&msg[0], 172, 33); // XXX scale?? out.e = getbitu(&msg[0], 205, 33); // XXX scale?? out.omega = getbitu(&msg[0], 238, 33); // XXX scale? } else if(type == 11) { out.t0e = getbitu(&msg[0], 38, 11); // XXX scale? out.omega0 = getbitu(&msg[0], 49, 33); // XXX scale? out.i0 = getbitu(&msg[0], 82, 33); // XXX scale? // int64_t deltaOmegaDot = getbitu(&msg[0], 115, 17); // XXX scale? out.idot = getbitu(&msg[0], 132, 15); // XXX scale? out.cis = getbits(&msg[0], 147, 16);// XXX scale? out.cic = getbits(&msg[0], 163, 16);// XXX scale? out.crs = getbits(&msg[0], 179, 24);// XXX scale? out.crc = getbits(&msg[0], 203, 24);// XXX scale? out.cus = getbits(&msg[0], 227, 21);// XXX scale? out.cuc = getbits(&msg[0], 248, 21); // XXX scale? } else if(type == 32) { out.deltaUT1 = getbits(&msg[0], 215, 31); out.deltaUT1dot = getbits(&msg[0], 246, 19); out.teop = getbitu(&msg[0], 127, 16); } return type; }