1 | /* Programheader
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2 |
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3 | Name: clock_orbit_igs.c
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4 | Project: RTCM3
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5 | Version: $Id: clock_orbit_igs.c 8988 2020-07-20 13:56:40Z stuerze $
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6 | Authors: Dirk Stöcker, Andrea Stürze
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7 | Description: state space approach: IGS
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8 | */
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9 |
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10 | #include <math.h>
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11 | #include <stdio.h>
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12 | #include <string.h>
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13 | #ifndef sparc
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14 | #include <stdint.h>
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15 | #else
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16 | #include <sys/types.h>
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17 | #endif
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18 | #include <clock_orbit_igs.h>
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19 |
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20 |
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21 | static uint32_t CRC24(long size, const unsigned char *buf) {
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22 | uint32_t crc = 0;
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23 | int i;
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24 |
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25 | while (size--) {
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26 | crc ^= (*buf++) << (16);
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27 | for (i = 0; i < 8; i++)
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28 | {
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29 | crc <<= 1;
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30 | if (crc & 0x1000000)
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31 | crc ^= 0x01864cfb;
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32 | }
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33 | }
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34 | return crc;
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35 | }
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36 |
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37 | /* NOTE: These defines are interlinked with below functions and directly modify
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38 | the values. This may not be optimized in terms of final program code size but
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39 | should be optimized in terms of speed.
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40 |
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41 | modified variables are:
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42 | - everything defined in STARTDATA (only use ressize outside of the defines,
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43 | others are private)
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44 | - buffer
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45 | - size
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46 | */
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47 |
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48 | #ifndef NOENCODE
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49 | #define STOREBITS \
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50 | while(numbits >= 8) { \
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51 | if(!size) return 0; \
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52 | *(buffer++) = bitbuffer>>(numbits-8); \
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53 | numbits -= 8; \
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54 | ++ressize; \
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55 | --size; \
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56 | }
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57 |
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58 | #define ADDBITS(a, b) { \
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59 | bitbuffer = (bitbuffer<<(a))|((b)&((1<<a)-1)); \
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60 | numbits += (a); \
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61 | STOREBITS \
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62 | }
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63 |
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64 | #define STARTDATA \
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65 | size_t ressize=0; \
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66 | char *blockstart; \
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67 | int numbits; \
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68 | uint64_t bitbuffer=0;
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69 |
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70 | #define INITBLOCK \
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71 | numbits = 0; \
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72 | blockstart = buffer; \
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73 | ADDBITS(8, 0xD3) \
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74 | ADDBITS(6, 0) \
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75 | ADDBITS(10, 0)
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76 |
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77 | #define ENDBLOCK \
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78 | if(numbits) { ADDBITS((8-numbits), 0) } { \
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79 | int len = buffer-blockstart-3; \
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80 | blockstart[1] |= len>>8; \
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81 | blockstart[2] = len; \
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82 | if(len > 1023) \
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83 | return 0; \
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84 | len = CRC24(len+3, (const unsigned char *) blockstart); \
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85 | ADDBITS(24, len) \
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86 | }
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87 |
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88 | #define SCALEADDBITS(a, b, c) ADDBITS(a, (int64_t)(c > 0 ? b*c+0.5 : b*c-0.5))
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89 |
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90 | #define MPI 3.141592653589793
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91 |
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92 | /* GNSS macros - Header part */
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93 | #define T_RTCM_MESSAGE_NUMBER(a) ADDBITS(12, a) /* DF002 */
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94 | #define T_IGS_SSR_VERSION(a) ADDBITS( 3, a) /* IDF001 */
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95 | #define T_IGS_MESSAGE_NUMBER(a) ADDBITS( 8, a) /* IDF002 */
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96 | #define T_SSR_EPOCH_TIME(a) ADDBITS(20, a) /* IDF003 */
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97 | #define T_SSR_UPDATE_INTERVAL(a) ADDBITS( 4, a) /* DF391, IDF004 */
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98 | #define T_MULTIPLE_MESSAGE_INDICATOR(a) ADDBITS( 1, a) /* DF388, IDF005 */
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99 | #define T_SSR_IOD(a) ADDBITS( 4, a) /* DF413, IDF007 */
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100 | #define T_SSR_PROVIDER_ID(a) ADDBITS(16, a) /* DF414, IDF008 */
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101 | #define T_SSR_SOLUTION_ID(a) ADDBITS( 4, a) /* DF415, IDF009 */
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102 | #define T_SATELLITE_REFERENCE_DATUM(a) ADDBITS( 1, a) /* DF375, IDF006 */
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103 | #define T_NO_OF_SATELLITES(a) ADDBITS( 6, a) /* DF387, IDF010 */
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104 |
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105 | /* GNSS macros - Satellite specific part */
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106 | #define T_GNSS_SATELLITE_ID(a) ADDBITS( 6, a) /* IDF011 */
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107 | #define T_GNSS_IOD(a) ADDBITS( 8, a) /* IDF012 */
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108 | #define T_DELTA_RADIAL(a) SCALEADDBITS(22, 10000.0, a) /* DF365, IDF013 */
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109 | #define T_DELTA_ALONG_TRACK(a) SCALEADDBITS(20, 2500.0, a) /* DF366, IDF014 */
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110 | #define T_DELTA_CROSS_TRACK(a) SCALEADDBITS(20, 2500.0, a) /* DF367, IDF015 */
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111 | #define T_DELTA_DOT_RADIAL(a) SCALEADDBITS(21, 1000000.0, a) /* DF368, IDF016 */
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112 | #define T_DELTA_DOT_ALONG_TRACK(a) SCALEADDBITS(19, 250000.0, a) /* DF369, IDF017 */
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113 | #define T_DELTA_DOT_CROSS_TRACK(a) SCALEADDBITS(19, 250000.0, a) /* DF370, IDF018 */
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114 |
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115 | #define T_DELTA_CLOCK_C0(a) SCALEADDBITS(22, 10000.0, a) /* DF376, IDF019 */
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116 | #define T_DELTA_CLOCK_C1(a) SCALEADDBITS(21, 1000000.0, a) /* DF377, IDF020 */
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117 | #define T_DELTA_CLOCK_C2(a) SCALEADDBITS(27, 50000000.0, a) /* DF378, IDF021 */
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118 | #define T_HR_CLOCK_CORRECTION(a) SCALEADDBITS(22, 10000.0, a) /* DF390, IDF022 */
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119 |
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120 | #define T_NO_OF_BIASES(a) ADDBITS(5, a) /* IDF023 */
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121 | #define T_GNSS_SIGNAL_IDENTIFIER(a) ADDBITS(5, a) /* IDF024 */
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122 | #define T_CODE_BIAS(a) SCALEADDBITS(14, 100.0, a) /* DF383, IDF025 */
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123 | #define T_YAW_ANGLE(a) SCALEADDBITS( 9, 256.0/MPI, a) /* DF480, IDF026 */
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124 | #define T_YAW_RATE(a) SCALEADDBITS( 8, 8192.0/MPI, a) /* DF481, IDF027 */
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125 | #define T_PHASE_BIAS(a) SCALEADDBITS(20, 10000.0, a) /* DF482, IDF028 */
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126 |
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127 | /* Phase specific part of GNSS phase bias message */
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128 | #define T_INTEGER_INDICATOR(a) ADDBITS( 1, a) /* DF483, IDF029 */
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129 | #define T_WIDE_LANE_INDICATOR(a) ADDBITS( 2, a) /* DF484, IDF030 */
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130 | #define T_DISCONTINUITY_COUNTER(a) ADDBITS( 4, a) /* DF485, IDF031 */
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131 | #define T_DISPERSIVE_BIAS_INDICATOR(a) ADDBITS( 1, a) /* DF486, IDF032 */
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132 | #define T_MW_CONSISTENCY_INDICATOR(a) ADDBITS( 1, a) /* DF487, IDF033 */
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133 |
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134 | #define T_SSR_URA(a) ADDBITS( 6, a) /* DF389, IDF034 */
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135 |
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136 | /* Ionosphere */
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137 | #define T_NO_IONO_LAYERS(a) ADDBITS( 2, a-1) /* DF472, IDF035 */
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138 | #define T_IONO_HEIGHT(a) SCALEADDBITS( 8, 1/10000.0, a) /* DF473, IDF036 */
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139 | #define T_IONO_DEGREE(a) ADDBITS( 4, a-1) /* DF474, IDF037 */
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140 | #define T_IONO_ORDER(a) ADDBITS( 4, a-1) /* DF475, IDF038 */
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141 | #define T_IONO_COEFF_C(a) SCALEADDBITS(16, 200.0, a) /* DF476, IDF039 */
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142 | #define T_IONO_COEFF_S(a) SCALEADDBITS(16, 200.0, a) /* DF477, IDF040 */
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143 | #define T_VTEC_QUALITY_INDICATOR(a) SCALEADDBITS( 9, 20.0, a) /* DF478, IDF041 */
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144 |
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145 | static double URAToValue(int ura) {
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146 | int urac, urav;
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147 | urac = ura >> 3;
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148 | urav = ura & 7;
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149 | if (!ura)
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150 | return 0;
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151 | else if (ura == 63)
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152 | return SSR_MAXURA;
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153 | return (pow(3, urac) * (1.0 + urav / 4.0) - 1.0) / 1000.0;
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154 | }
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155 |
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156 | static int ValueToURA(double val) {
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157 | int ura;
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158 | if (!val)
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159 | return 0;
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160 | else if (val > 5.4665)
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161 | return 63;
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162 | for (ura = 1; ura < 63 && val > URAToValue(ura); ++ura)
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163 | ;
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164 | return ura;
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165 | }
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166 |
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167 | static const enum ClockOrbitType corbase[CLOCKORBIT_SATNUM] = {
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168 | (int) COBBASE_GPS,
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169 | (int) COBBASE_GLONASS,
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170 | (int) COBBASE_GALILEO,
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171 | (int) COBBASE_QZSS,
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172 | (int) COBBASE_SBAS,
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173 | (int) COBBASE_BDS
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174 | };
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175 |
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176 | static const enum COR_OFFSETS satoffset[CLOCKORBIT_SATNUM + 1] = {
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177 | CLOCKORBIT_OFFSETGPS,
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178 | CLOCKORBIT_OFFSETGLONASS,
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179 | CLOCKORBIT_OFFSETGALILEO,
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180 | CLOCKORBIT_OFFSETQZSS,
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181 | CLOCKORBIT_OFFSETSBAS,
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182 | CLOCKORBIT_OFFSETBDS,
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183 | CLOCKORBIT_COUNTSAT
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184 | };
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185 |
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186 | size_t MakeClockOrbit(const struct ClockOrbit *co, enum ClockOrbitType type,
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187 | int moremessagesfollow, char *buffer, size_t size) {
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188 | unsigned int status[CLOCKORBIT_SATNUM][COBOFS_NUM], i, s;
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189 |
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190 | memset(status, 0, sizeof(status));
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191 |
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192 | STARTDATA
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193 |
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194 | for (s = 0; s < CLOCKORBIT_SATNUM; ++s) {
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195 | for (i = 0; i < COBOFS_NUM; ++i) {
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196 | if (co->NumberOfSat[s] && (type == COTYPE_AUTO || type == corbase[s] + i) &&
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197 | (co->Supplied[i] || (i <= COBOFS_CLOCK && co->Supplied[COBOFS_COMBINED]) ||
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198 | (i == COBOFS_COMBINED && co->Supplied[COBOFS_ORBIT] && co->Supplied[COBOFS_CLOCK]))) {
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199 | status[s][i] = 1;
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200 | if (i == COBOFS_COMBINED) {
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201 | status[s][COBOFS_ORBIT] = status[s][COBOFS_CLOCK] = 0;
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202 | } /* disable single blocks for combined type */
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203 | } /* check for data */
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204 | } /* iterate over sub-types */
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205 | } /* iterate over satellite systems */
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206 |
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207 | for (s = 0; s < CLOCKORBIT_SATNUM; ++s) {
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208 | if (status[s][COBOFS_ORBIT]) {
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209 | INITBLOCK
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210 | T_RTCM_MESSAGE_NUMBER(RTCM_MESSAGE_NUMBER_IGS)
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211 | T_IGS_SSR_VERSION(IGS_SSR_VERSION)
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212 | T_IGS_MESSAGE_NUMBER(corbase[s] + COBOFS_ORBIT)
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213 | T_SSR_EPOCH_TIME(co->EpochTime[s])
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214 | T_SSR_UPDATE_INTERVAL(co->UpdateInterval)
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215 | T_MULTIPLE_MESSAGE_INDICATOR(moremessagesfollow ? 1 : 0)
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216 | T_SSR_IOD(co->SSRIOD)
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217 | T_SSR_PROVIDER_ID(co->SSRProviderID)
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218 | T_SSR_SOLUTION_ID(co->SSRSolutionID)
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219 | T_SATELLITE_REFERENCE_DATUM(co->SatRefDatum)
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220 | T_NO_OF_SATELLITES(co->NumberOfSat[s])
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221 | for (i = satoffset[s]; i < satoffset[s] + co->NumberOfSat[s]; ++i) {
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222 | T_GNSS_SATELLITE_ID(co->Sat[i].ID)
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223 | T_GNSS_IOD(co->Sat[i].IOD)
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224 | T_DELTA_RADIAL(co->Sat[i].Orbit.DeltaRadial)
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225 | T_DELTA_ALONG_TRACK(co->Sat[i].Orbit.DeltaAlongTrack)
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226 | T_DELTA_CROSS_TRACK(co->Sat[i].Orbit.DeltaCrossTrack)
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227 | T_DELTA_DOT_RADIAL(co->Sat[i].Orbit.DotDeltaRadial)
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228 | T_DELTA_DOT_ALONG_TRACK(co->Sat[i].Orbit.DotDeltaAlongTrack)
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229 | T_DELTA_DOT_CROSS_TRACK(co->Sat[i].Orbit.DotDeltaCrossTrack)
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230 | }
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231 | ENDBLOCK
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232 | }
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233 | if (status[s][COBOFS_CLOCK]) {
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234 | INITBLOCK
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235 | T_RTCM_MESSAGE_NUMBER(RTCM_MESSAGE_NUMBER_IGS)
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236 | T_IGS_SSR_VERSION(IGS_SSR_VERSION)
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237 | T_IGS_MESSAGE_NUMBER(corbase[s] + COBOFS_CLOCK)
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238 | T_SSR_EPOCH_TIME(co->EpochTime[s])
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239 | T_SSR_UPDATE_INTERVAL(co->UpdateInterval)
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240 | T_MULTIPLE_MESSAGE_INDICATOR(moremessagesfollow ? 1 : 0)
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241 | T_SSR_IOD(co->SSRIOD)
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242 | T_SSR_PROVIDER_ID(co->SSRProviderID)
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243 | T_SSR_SOLUTION_ID(co->SSRSolutionID)
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244 | T_NO_OF_SATELLITES(co->NumberOfSat[s])
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245 | for (i = satoffset[s]; i < satoffset[s] + co->NumberOfSat[s]; ++i) {
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246 | T_GNSS_SATELLITE_ID(co->Sat[i].ID)
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247 | T_DELTA_CLOCK_C0(co->Sat[i].Clock.DeltaA0)
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248 | T_DELTA_CLOCK_C1(co->Sat[i].Clock.DeltaA1)
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249 | T_DELTA_CLOCK_C2(co->Sat[i].Clock.DeltaA2)
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250 | }
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251 | ENDBLOCK
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252 | }
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253 | if (status[s][COBOFS_COMBINED]) {
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254 | #ifdef SPLITBLOCK
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255 | int nums = co->NumberOfSat[s];
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256 | int left, start = satoffset[s];
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257 | if(nums > 28) {/* split block when more than 28 sats */
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258 | left = nums - 28;
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259 | nums = 28;
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260 | }
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261 | else {
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262 | left = 0;
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263 | }
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264 | while(nums) {
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265 | #endif
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266 | INITBLOCK
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267 | T_RTCM_MESSAGE_NUMBER(RTCM_MESSAGE_NUMBER_IGS)
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268 | T_IGS_SSR_VERSION(IGS_SSR_VERSION)
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269 | T_IGS_MESSAGE_NUMBER(corbase[s] + COBOFS_COMBINED)
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270 | T_SSR_EPOCH_TIME(co->EpochTime[s])
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271 | T_SSR_UPDATE_INTERVAL(co->UpdateInterval)
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272 | #ifdef SPLITBLOCK
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273 | T_MULTIPLE_MESSAGE_INDICATOR((moremessagesfollow || left) ? 1 : 0)
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274 | #else
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275 | T_MULTIPLE_MESSAGE_INDICATOR(moremessagesfollow ? 1 : 0)
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276 | #endif
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277 | T_SSR_IOD(co->SSRIOD)
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278 | T_SSR_PROVIDER_ID(co->SSRProviderID)
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279 | T_SSR_SOLUTION_ID(co->SSRSolutionID)
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280 | T_SATELLITE_REFERENCE_DATUM(co->SatRefDatum)
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281 | #ifdef SPLITBLOCK
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282 | T_NO_OF_SATELLITES(nums)
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283 | for(i = start; i < start+nums; ++i) {
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284 | #else
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285 | T_NO_OF_SATELLITES(co->NumberOfSat[s])
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286 | for (i = satoffset[s]; i < satoffset[s] + co->NumberOfSat[s]; ++i) {
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287 | #endif
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288 | T_GNSS_SATELLITE_ID(co->Sat[i].ID)
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289 | T_GNSS_IOD(co->Sat[i].IOD)
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290 | T_DELTA_RADIAL(co->Sat[i].Orbit.DeltaRadial)
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291 | T_DELTA_ALONG_TRACK(co->Sat[i].Orbit.DeltaAlongTrack)
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292 | T_DELTA_CROSS_TRACK(co->Sat[i].Orbit.DeltaCrossTrack)
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293 | T_DELTA_DOT_RADIAL(co->Sat[i].Orbit.DotDeltaRadial)
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294 | T_DELTA_DOT_ALONG_TRACK(co->Sat[i].Orbit.DotDeltaAlongTrack)
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295 | T_DELTA_DOT_CROSS_TRACK(co->Sat[i].Orbit.DotDeltaCrossTrack)
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296 | T_DELTA_CLOCK_C0(co->Sat[i].Clock.DeltaA0)
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297 | T_DELTA_CLOCK_C1(co->Sat[i].Clock.DeltaA1)
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298 | T_DELTA_CLOCK_C2(co->Sat[i].Clock.DeltaA2)
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299 | }
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300 | ENDBLOCK
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301 | #ifdef SPLITBLOCK
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302 | start += nums;
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303 | nums = left;
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304 | left = 0;
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305 | }
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306 | #endif
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307 | }
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308 | if (status[s][COBOFS_HR]) {
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309 | INITBLOCK
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310 | T_RTCM_MESSAGE_NUMBER(RTCM_MESSAGE_NUMBER_IGS)
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311 | T_IGS_SSR_VERSION(IGS_SSR_VERSION)
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312 | T_IGS_MESSAGE_NUMBER(corbase[s] + COBOFS_HR)
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313 | T_SSR_EPOCH_TIME(co->EpochTime[s])
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314 | T_SSR_UPDATE_INTERVAL(co->UpdateInterval)
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315 | T_MULTIPLE_MESSAGE_INDICATOR(moremessagesfollow ? 1 : 0)
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316 | T_SSR_IOD(co->SSRIOD)
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317 | T_SSR_PROVIDER_ID(co->SSRProviderID)
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318 | T_SSR_SOLUTION_ID(co->SSRSolutionID)
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319 | T_NO_OF_SATELLITES(co->NumberOfSat[s])
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320 | for (i = satoffset[s]; i < satoffset[s] + co->NumberOfSat[s]; ++i) {
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321 | T_GNSS_SATELLITE_ID(co->Sat[i].ID)
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322 | T_HR_CLOCK_CORRECTION(co->Sat[i].hrclock)
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323 | }
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324 | ENDBLOCK
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325 | }
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326 | if (status[s][COBOFS_URA]) {
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327 | INITBLOCK
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328 | T_RTCM_MESSAGE_NUMBER(RTCM_MESSAGE_NUMBER_IGS)
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329 | T_IGS_SSR_VERSION(IGS_SSR_VERSION)
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330 | T_IGS_MESSAGE_NUMBER(corbase[s] + COBOFS_URA)
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331 | T_SSR_EPOCH_TIME(co->EpochTime[s])
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332 | T_SSR_UPDATE_INTERVAL(co->UpdateInterval)
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333 | T_MULTIPLE_MESSAGE_INDICATOR(moremessagesfollow ? 1 : 0)
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334 | T_SSR_IOD(co->SSRIOD)
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335 | T_SSR_PROVIDER_ID(co->SSRProviderID)
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336 | T_SSR_SOLUTION_ID(co->SSRSolutionID)
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337 | T_NO_OF_SATELLITES(co->NumberOfSat[s])
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338 | for (i = satoffset[s]; i < satoffset[s] + co->NumberOfSat[s]; ++i) {
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339 | T_GNSS_SATELLITE_ID(co->Sat[i].ID)
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340 | T_SSR_URA(ValueToURA(co->Sat[i].UserRangeAccuracy))
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341 | }
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342 | ENDBLOCK
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343 | }
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344 | }
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345 | return ressize;
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346 | }
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347 |
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348 | size_t MakeCodeBias(const struct CodeBias *b, enum CodeBiasType type,
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349 | int moremessagesfollow, char *buffer, size_t size) {
|
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350 | unsigned int s, i, j;
|
---|
351 |
|
---|
352 | STARTDATA
|
---|
353 |
|
---|
354 | for (s = 0; s < CLOCKORBIT_SATNUM; ++s) {
|
---|
355 | if (b->NumberOfSat[s] && (type == CBTYPE_AUTO || type == corbase[s] + COBOFS_CBIAS)) {
|
---|
356 | INITBLOCK
|
---|
357 | T_RTCM_MESSAGE_NUMBER(RTCM_MESSAGE_NUMBER_IGS)
|
---|
358 | T_IGS_SSR_VERSION(IGS_SSR_VERSION)
|
---|
359 | T_IGS_MESSAGE_NUMBER(corbase[s] + COBOFS_CBIAS)
|
---|
360 | T_SSR_EPOCH_TIME(b->EpochTime[s])
|
---|
361 | T_SSR_UPDATE_INTERVAL(b->UpdateInterval)
|
---|
362 | T_MULTIPLE_MESSAGE_INDICATOR(moremessagesfollow ? 1 : 0)
|
---|
363 | T_SSR_IOD(b->SSRIOD)
|
---|
364 | T_SSR_PROVIDER_ID(b->SSRProviderID)
|
---|
365 | T_SSR_SOLUTION_ID(b->SSRSolutionID)
|
---|
366 | T_NO_OF_SATELLITES(b->NumberOfSat[s])
|
---|
367 | for (i = satoffset[s]; i < satoffset[s] + b->NumberOfSat[s]; ++i) {
|
---|
368 | T_GNSS_SATELLITE_ID(b->Sat[i].ID)
|
---|
369 | T_NO_OF_BIASES(b->Sat[i].NumberOfCodeBiases)
|
---|
370 | for (j = 0; j < b->Sat[i].NumberOfCodeBiases; ++j) {
|
---|
371 | T_GNSS_SIGNAL_IDENTIFIER(b->Sat[i].Biases[j].Type)
|
---|
372 | T_CODE_BIAS(b->Sat[i].Biases[j].Bias)
|
---|
373 | }
|
---|
374 | }
|
---|
375 | ENDBLOCK
|
---|
376 | }
|
---|
377 | }
|
---|
378 | return ressize;
|
---|
379 | }
|
---|
380 |
|
---|
381 | size_t MakePhaseBias(const struct PhaseBias *b, enum PhaseBiasType type,
|
---|
382 | int moremessagesfollow, char *buffer, size_t size) {
|
---|
383 | unsigned int s, i, j;
|
---|
384 |
|
---|
385 | STARTDATA
|
---|
386 |
|
---|
387 | for (s = 0; s < CLOCKORBIT_SATNUM; ++s) {
|
---|
388 | if (b->NumberOfSat[s] && (type == PBTYPE_AUTO || type == corbase[s] + COBOFS_PBIAS)) {
|
---|
389 | INITBLOCK
|
---|
390 | T_RTCM_MESSAGE_NUMBER(RTCM_MESSAGE_NUMBER_IGS)
|
---|
391 | T_IGS_SSR_VERSION(IGS_SSR_VERSION)
|
---|
392 | T_IGS_MESSAGE_NUMBER(corbase[s] + COBOFS_PBIAS)
|
---|
393 | T_SSR_EPOCH_TIME(b->EpochTime[s])
|
---|
394 | T_SSR_UPDATE_INTERVAL(b->UpdateInterval)
|
---|
395 | T_MULTIPLE_MESSAGE_INDICATOR(moremessagesfollow ? 1 : 0)
|
---|
396 | T_SSR_IOD(b->SSRIOD)
|
---|
397 | T_SSR_PROVIDER_ID(b->SSRProviderID)
|
---|
398 | T_SSR_SOLUTION_ID(b->SSRSolutionID)
|
---|
399 | T_DISPERSIVE_BIAS_INDICATOR(b->DispersiveBiasConsistencyIndicator ? 1 : 0)
|
---|
400 | T_MW_CONSISTENCY_INDICATOR(b->MWConsistencyIndicator ? 1 : 0)
|
---|
401 | T_NO_OF_SATELLITES(b->NumberOfSat[s])
|
---|
402 | for (i = satoffset[s]; i < satoffset[s] + b->NumberOfSat[s]; ++i) {
|
---|
403 | T_GNSS_SATELLITE_ID(b->Sat[i].ID)
|
---|
404 | T_NO_OF_BIASES(b->Sat[i].NumberOfPhaseBiases)
|
---|
405 | T_YAW_ANGLE(b->Sat[i].YawAngle)
|
---|
406 | T_YAW_RATE(b->Sat[i].YawRate)
|
---|
407 | for (j = 0; j < b->Sat[i].NumberOfPhaseBiases; ++j) {
|
---|
408 | T_GNSS_SIGNAL_IDENTIFIER(b->Sat[i].Biases[j].Type)
|
---|
409 | T_INTEGER_INDICATOR(b->Sat[i].Biases[j].SignalIntegerIndicator ? 1 : 0)
|
---|
410 | T_WIDE_LANE_INDICATOR(b->Sat[i].Biases[j].SignalsWideLaneIntegerIndicator)
|
---|
411 | T_DISCONTINUITY_COUNTER(b->Sat[i].Biases[j].SignalDiscontinuityCounter)
|
---|
412 | T_PHASE_BIAS(b->Sat[i].Biases[j].Bias)
|
---|
413 | }
|
---|
414 | }
|
---|
415 | ENDBLOCK
|
---|
416 | }
|
---|
417 | }
|
---|
418 | return ressize;
|
---|
419 | }
|
---|
420 |
|
---|
421 | size_t MakeVTEC(const struct VTEC *v, int moremessagesfollow, char *buffer, size_t size) {
|
---|
422 | unsigned int l, o, d;
|
---|
423 |
|
---|
424 | STARTDATA
|
---|
425 | INITBLOCK
|
---|
426 |
|
---|
427 | T_RTCM_MESSAGE_NUMBER(RTCM_MESSAGE_NUMBER_IGS)
|
---|
428 | T_IGS_SSR_VERSION(IGS_SSR_VERSION)
|
---|
429 | T_IGS_MESSAGE_NUMBER(VTEC_BASE)
|
---|
430 | T_SSR_EPOCH_TIME(v->EpochTime)
|
---|
431 | T_SSR_UPDATE_INTERVAL(v->UpdateInterval)
|
---|
432 | T_MULTIPLE_MESSAGE_INDICATOR(moremessagesfollow ? 1 : 0)
|
---|
433 | T_SSR_IOD(v->SSRIOD)
|
---|
434 | T_SSR_PROVIDER_ID(v->SSRProviderID)
|
---|
435 | T_SSR_SOLUTION_ID(v->SSRSolutionID)
|
---|
436 | T_VTEC_QUALITY_INDICATOR(v->Quality)
|
---|
437 | T_NO_IONO_LAYERS(v->NumLayers)
|
---|
438 | for (l = 0; l < v->NumLayers; ++l) {
|
---|
439 | T_IONO_HEIGHT(v->Layers[l].Height)
|
---|
440 | T_IONO_DEGREE(v->Layers[l].Degree)
|
---|
441 | T_IONO_ORDER(v->Layers[l].Order)
|
---|
442 | for (o = 0; o <= v->Layers[l].Order; ++o) {
|
---|
443 | for (d = o; d <= v->Layers[l].Degree; ++d) {
|
---|
444 | T_IONO_COEFF_C(v->Layers[l].Cosinus[d][o])
|
---|
445 | }
|
---|
446 | }
|
---|
447 | for (o = 1; o <= v->Layers[l].Order; ++o) {
|
---|
448 | for (d = o; d <= v->Layers[l].Degree; ++d) {
|
---|
449 | T_IONO_COEFF_S(v->Layers[l].Sinus[d][o])
|
---|
450 | }
|
---|
451 | }
|
---|
452 | }
|
---|
453 | ENDBLOCK
|
---|
454 | return ressize;
|
---|
455 | }
|
---|
456 | #endif /* NOENCODE */
|
---|
457 |
|
---|
458 | #ifndef NODECODE
|
---|
459 |
|
---|
460 | #define DECODESTART \
|
---|
461 | int numbits=0; \
|
---|
462 | uint64_t bitbuffer=0;
|
---|
463 |
|
---|
464 | #define LOADBITS(a) { \
|
---|
465 | while((a) > numbits) { \
|
---|
466 | if(!size--) return GCOBR_SHORTMESSAGE; \
|
---|
467 | bitbuffer = (bitbuffer<<8)|((unsigned char)*(buffer++)); \
|
---|
468 | numbits += 8; \
|
---|
469 | } \
|
---|
470 | }
|
---|
471 |
|
---|
472 | /* extract bits from data stream
|
---|
473 | b = variable to store result, a = number of bits */
|
---|
474 | #define GETBITS(b, a) { \
|
---|
475 | LOADBITS(a) \
|
---|
476 | b = (bitbuffer<<(64-numbits))>>(64-(a)); \
|
---|
477 | numbits -= (a); \
|
---|
478 | }
|
---|
479 |
|
---|
480 | /* extract bits from data stream
|
---|
481 | b = variable to store result, a = number of bits */
|
---|
482 | #define GETBITSFACTOR(b, a, c) { \
|
---|
483 | LOADBITS(a) \
|
---|
484 | b = ((bitbuffer<<(64-numbits))>>(64-(a)))*(c); \
|
---|
485 | numbits -= (a); \
|
---|
486 | }
|
---|
487 |
|
---|
488 | /* extract signed floating value from data stream
|
---|
489 | b = variable to store result, a = number of bits */
|
---|
490 | #define GETFLOATSIGN(b, a, c) { \
|
---|
491 | LOADBITS(a) \
|
---|
492 | b = ((double)(((int64_t)(bitbuffer<<(64-numbits)))>>(64-(a))))*(c); \
|
---|
493 | numbits -= (a); \
|
---|
494 | }
|
---|
495 |
|
---|
496 | /* extract floating value from data stream
|
---|
497 | b = variable to store result, a = number of bits, c = scale factor */
|
---|
498 | #define GETFLOAT(b, a, c) { \
|
---|
499 | LOADBITS(a) \
|
---|
500 | b = ((double)((bitbuffer<<(sizeof(bitbuffer)*8-numbits))>>(sizeof(bitbuffer)*8-(a))))*(c); \
|
---|
501 | numbits -= (a); \
|
---|
502 | }
|
---|
503 |
|
---|
504 | #define SKIPBITS(b) { LOADBITS(b) numbits -= (b); }
|
---|
505 |
|
---|
506 | /* GPS macros also used for other systems when matching! */
|
---|
507 | #define G_HEADER(a) GETBITS(a, 8)
|
---|
508 | #define G_RESERVEDH(a) GETBITS(a, 6)
|
---|
509 | #define G_SIZE(a) GETBITS(a, 10)
|
---|
510 |
|
---|
511 | /* GNSS macros - Header part */
|
---|
512 | #define G_RTCM_MESSAGE_NUMBER(a) GETBITS(a, 12) /* DF002 */
|
---|
513 | #define G_IGS_SSR_VERSION(a) GETBITS(a, 3) /* IDF001 */
|
---|
514 | #define G_IGS_MESSAGE_NUMBER(a) GETBITS(a, 8) /* IDF002 */
|
---|
515 | #define G_SSR_EPOCH_TIME(a) GETBITS(a, 20) /* IDF003 */
|
---|
516 | #define G_SSR_EPOCH_TIME_CHECK(a, b) {unsigned int temp; GETBITS(temp, 20) \
|
---|
517 | if(b && a != temp) return GCOBR_TIMEMISMATCH; a = temp;}
|
---|
518 | #define G_SSR_UPDATE_INTERVAL(a) GETBITS(a, 4) /* DF391, IDF004 */
|
---|
519 | #define G_MULTIPLE_MESSAGE_INDICATOR(a) GETBITS(a, 1) /* DF388, IDF005 */
|
---|
520 | #define G_SSR_IOD(a) GETBITS(a, 4) /* DF413, IDF007 */
|
---|
521 | #define G_SSR_PROVIDER_ID(a) GETBITS(a, 16) /* DF414, IDF008 */
|
---|
522 | #define G_SSR_SOLUTION_ID(a) GETBITS(a, 4) /* DF415, IDF009 */
|
---|
523 | #define G_SATELLITE_REFERENCE_DATUM(a) GETBITS(a, 1) /* DF375, IDF006 */
|
---|
524 | #define G_NO_OF_SATELLITES(a) GETBITS(a, 6) /* DF387, IDF010 */
|
---|
525 |
|
---|
526 | /* GNSS macros - Satellite specific part */
|
---|
527 | #define G_GNSS_SATELLITE_ID(a) GETBITS(a, 6) /* IDF011 */
|
---|
528 | #define G_GNSS_IOD(a) GETBITS(a, 8) /* IDF012 */
|
---|
529 |
|
---|
530 | #define G_DELTA_RADIAL(a) GETFLOATSIGN(a, 22, 1/10000.0) /* DF365, IDF013 */
|
---|
531 | #define G_DELTA_ALONG_TRACK(a) GETFLOATSIGN(a, 20, 1/2500.0) /* DF366, IDF014 */
|
---|
532 | #define G_DELTA_CROSS_TRACK(a) GETFLOATSIGN(a, 20, 1/2500.0) /* DF367, IDF015 */
|
---|
533 | #define G_DELTA_DOT_RADIAL(a) GETFLOATSIGN(a, 21, 1/1000000.0) /* DF368, IDF016 */
|
---|
534 | #define G_DELTA_DOT_ALONG_TRACK(a) GETFLOATSIGN(a, 19, 1/250000.0) /* DF369, IDF017 */
|
---|
535 | #define G_DELTA_DOT_CROSS_TRACK(a) GETFLOATSIGN(a, 19, 1/250000.0) /* DF370, IDF018 */
|
---|
536 |
|
---|
537 | #define G_DELTA_CLOCK_C0(a) GETFLOATSIGN(a, 22, 1/10000.0) /* DF376, IDF019 */
|
---|
538 | #define G_DELTA_CLOCK_C1(a) GETFLOATSIGN(a, 21, 1/1000000.0) /* DF377, IDF020 */
|
---|
539 | #define G_DELTA_CLOCK_C2(a) GETFLOATSIGN(a, 27, 1/50000000.0) /* DF378, IDF021 */
|
---|
540 | #define G_HR_CLOCK_CORRECTION(a) GETFLOATSIGN(a, 22, 1/10000.0) /* DF390, IDF022 */
|
---|
541 |
|
---|
542 | #define G_NO_OF_BIASES(a) GETBITS(a, 5) /* IDF023 */
|
---|
543 | #define G_GNSS_SIGNAL_IDENTIFIER(a) GETBITS(a, 5) /* IDF024 */
|
---|
544 | #define G_CODE_BIAS(a) GETFLOATSIGN(a, 14, 1/100.0) /* DF383, IDF025 */
|
---|
545 | #define G_YAW_ANGLE(a) GETFLOAT (a, 9, MPI/256.0) /* DF480, IDF026 */
|
---|
546 | #define G_YAW_RATE(a) GETFLOATSIGN(a, 8, MPI/8192.0) /* DF481, IDF027 */
|
---|
547 | #define G_PHASE_BIAS(a) GETFLOATSIGN(a, 20, 1/10000.) /* DF482, IDF028 */
|
---|
548 |
|
---|
549 | #define G_INTEGER_INDICATOR(a) GETBITS(a, 1) /* DF483, IDF029 */
|
---|
550 | #define G_WIDE_LANE_INDICATOR(a) GETBITS(a, 2) /* DF484, IDF030 */
|
---|
551 | #define G_DISCONTINUITY_COUNTER(a) GETBITS(a, 4) /* DF485, IDF031 */
|
---|
552 | #define G_DISPERSIVE_BIAS_INDICATOR(a) GETBITS(a, 1) /* DF486, IDF032 */
|
---|
553 | #define G_MW_CONSISTENCY_INDICATOR(a) GETBITS(a, 1) /* DF487, IDF033 */
|
---|
554 |
|
---|
555 | #define G_SSR_URA(a) {int temp; GETBITS(temp, 6) \
|
---|
556 | (a) = URAToValue(temp);} /* DF389, IDF034 */
|
---|
557 |
|
---|
558 | /* Ionosphere */
|
---|
559 | #define G_NO_IONO_LAYERS(a) {unsigned int temp; GETBITS(temp, 2) a = temp+1;} /* DF472, IDF035 */
|
---|
560 | #define G_IONO_HEIGHT(a) GETFLOAT(a, 8 , 10000.0) /* DF473, IDF036 */
|
---|
561 | #define G_IONO_DEGREE(a) {unsigned int temp; GETBITS(temp, 4) a = temp+1;} /* DF474, IDF037 */
|
---|
562 | #define G_IONO_ORDER(a) {unsigned int temp; GETBITS(temp, 4) a = temp+1;} /* DF475, IDF038 */
|
---|
563 | #define G_IONO_COEFF_C(a) GETFLOATSIGN(a, 16,1/200.0) /* DF476, IDF039 */
|
---|
564 | #define G_IONO_COEFF_S(a) GETFLOATSIGN(a, 16,1/200.0) /* DF477, IDF040 */
|
---|
565 | #define G_VTEC_QUALITY_INDICATOR(a) GETFLOAT (a, 9, 1/20.0) /* DF478, IDF041 */
|
---|
566 |
|
---|
567 | enum GCOB_RETURN GetSSR(struct ClockOrbit *co, struct CodeBias *b,struct VTEC *v,
|
---|
568 | struct PhaseBias *pb, const char *buffer, size_t size, int *bytesused) {
|
---|
569 | int mmi = 0, h, rs;
|
---|
570 | unsigned int type, pos, i, j, s, nums, id, version;
|
---|
571 | size_t sizeofrtcmblock;
|
---|
572 | const char *blockstart = buffer;
|
---|
573 | DECODESTART
|
---|
574 |
|
---|
575 | if (size < 7)
|
---|
576 | return GCOBR_SHORTBUFFER;
|
---|
577 |
|
---|
578 | #ifdef DEBUG
|
---|
579 | fprintf(stderr, "GetSSR START: size %d, numbits %d\n",(int)size, numbits);
|
---|
580 | #endif
|
---|
581 |
|
---|
582 | G_HEADER(h)
|
---|
583 | G_RESERVEDH(rs)
|
---|
584 | G_SIZE(sizeofrtcmblock);
|
---|
585 |
|
---|
586 | if ((unsigned char) h != 0xD3 || rs)
|
---|
587 | return GCOBR_UNKNOWNDATA;
|
---|
588 | if (size < sizeofrtcmblock + 3) /* 3 header bytes already removed */
|
---|
589 | return GCOBR_MESSAGEEXCEEDSBUFFER;
|
---|
590 | if (CRC24(sizeofrtcmblock + 3, (const unsigned char *) blockstart) !=
|
---|
591 | (uint32_t) ((((unsigned char) buffer[sizeofrtcmblock]) << 16) |
|
---|
592 | (((unsigned char) buffer[sizeofrtcmblock + 1]) << 8) |
|
---|
593 | (((unsigned char) buffer[sizeofrtcmblock + 2]))))
|
---|
594 | return GCOBR_CRCMISMATCH;
|
---|
595 | size = sizeofrtcmblock; /* reduce size, so overflows are detected */
|
---|
596 |
|
---|
597 | G_RTCM_MESSAGE_NUMBER(type)
|
---|
598 | G_IGS_SSR_VERSION(version)
|
---|
599 | #ifdef DEBUG
|
---|
600 | fprintf(stderr, "rtcmType %d igsVersion %d ",type, version);
|
---|
601 | #endif
|
---|
602 | G_IGS_MESSAGE_NUMBER(type)
|
---|
603 | #ifdef DEBUG
|
---|
604 | fprintf(stderr, "igsType IM%d size %d\n",type,(int)sizeofrtcmblock);
|
---|
605 | #endif
|
---|
606 | if (bytesused)
|
---|
607 | *bytesused = sizeofrtcmblock + 6;
|
---|
608 |
|
---|
609 | if (type == VTEC_BASE) {
|
---|
610 | unsigned int l, o, d;
|
---|
611 | if (!v)
|
---|
612 | return GCOBR_NOVTECPARAMETER;
|
---|
613 | memset(v, 0, sizeof(*v));
|
---|
614 | G_SSR_EPOCH_TIME(v->EpochTime)
|
---|
615 | G_SSR_UPDATE_INTERVAL(v->UpdateInterval)
|
---|
616 | G_MULTIPLE_MESSAGE_INDICATOR(mmi)
|
---|
617 | G_SSR_IOD(v->SSRIOD)
|
---|
618 | G_SSR_PROVIDER_ID(v->SSRProviderID)
|
---|
619 | G_SSR_SOLUTION_ID(v->SSRSolutionID)
|
---|
620 | G_VTEC_QUALITY_INDICATOR(v->Quality)
|
---|
621 | G_NO_IONO_LAYERS(v->NumLayers)
|
---|
622 | #ifdef DEBUG
|
---|
623 | fprintf(stderr, "epochTime %d ui %d mmi %d ssrIod %d providerId %d solId %d vtecQ %8.3f numLay %d \n",
|
---|
624 | v->EpochTime, v->UpdateInterval, mmi,
|
---|
625 | v->SSRIOD, v->SSRProviderID, v->SSRSolutionID, v->Quality, v->NumLayers);
|
---|
626 | #endif
|
---|
627 | for (l = 0; l < v->NumLayers; ++l) {
|
---|
628 | G_IONO_HEIGHT(v->Layers[l].Height)
|
---|
629 | G_IONO_DEGREE(v->Layers[l].Degree)
|
---|
630 | G_IONO_ORDER(v->Layers[l].Order)
|
---|
631 | #ifdef DEBUG
|
---|
632 | fprintf(stderr, "h %8.3f deg %d ord %d \n",
|
---|
633 | v->Layers[l].Height, v->Layers[l].Degree, v->Layers[l].Order);
|
---|
634 | #endif
|
---|
635 | for (o = 0; o <= v->Layers[l].Order; ++o) {
|
---|
636 | for (d = o; d <= v->Layers[l].Degree; ++d) {
|
---|
637 | G_IONO_COEFF_C(v->Layers[l].Cosinus[d][o])
|
---|
638 | #ifdef DEBUG
|
---|
639 | fprintf(stderr, "C[%02d][%02d] %8.3f \n",
|
---|
640 | d, o, v->Layers[l].Cosinus[d][o]);
|
---|
641 | #endif
|
---|
642 | }
|
---|
643 | }
|
---|
644 | for (o = 1; o <= v->Layers[l].Order; ++o) {
|
---|
645 | for (d = o; d <= v->Layers[l].Degree; ++d) {
|
---|
646 | G_IONO_COEFF_S(v->Layers[l].Sinus[d][o])
|
---|
647 | #ifdef DEBUG
|
---|
648 | fprintf(stderr, "S[%02d][%02d] %8.3f \n",
|
---|
649 | d, o, v->Layers[l].Sinus[d][o]);
|
---|
650 | #endif
|
---|
651 | }
|
---|
652 | }
|
---|
653 | }
|
---|
654 | #ifdef DEBUG
|
---|
655 | for(type = 0; type < (unsigned int)size && (unsigned char)buffer[type] != 0xD3; ++type)
|
---|
656 | numbits += 8;
|
---|
657 | fprintf(stderr, "numbits left %d\n",numbits);
|
---|
658 | #endif
|
---|
659 | return mmi ? GCOBR_MESSAGEFOLLOWS : GCOBR_OK;
|
---|
660 | }
|
---|
661 | for (s = CLOCKORBIT_SATNUM; s-- > 0;) {
|
---|
662 | if (type >= corbase[s]) {
|
---|
663 | switch (type - corbase[s]) {
|
---|
664 | case COBOFS_ORBIT:
|
---|
665 | if (!co)
|
---|
666 | return GCOBR_NOCLOCKORBITPARAMETER;
|
---|
667 | co->messageType = type;
|
---|
668 | G_SSR_EPOCH_TIME_CHECK(co->EpochTime[s], co->NumberOfSat[s])
|
---|
669 | G_SSR_UPDATE_INTERVAL(co->UpdateInterval)
|
---|
670 | G_MULTIPLE_MESSAGE_INDICATOR(mmi)
|
---|
671 | G_SSR_IOD(co->SSRIOD)
|
---|
672 | G_SSR_PROVIDER_ID(co->SSRProviderID)
|
---|
673 | G_SSR_SOLUTION_ID(co->SSRSolutionID)
|
---|
674 | G_SATELLITE_REFERENCE_DATUM(co->SatRefDatum)
|
---|
675 | G_NO_OF_SATELLITES(nums)
|
---|
676 | co->Supplied[COBOFS_ORBIT] |= 1;
|
---|
677 | #ifdef DEBUG
|
---|
678 | fprintf(stderr, "epochTime %d ui %d mmi %d sats %d/%d rd %d ssrIod %d providerId %d solId %d\n",
|
---|
679 | co->EpochTime[s], co->UpdateInterval,mmi,co->NumberOfSat[s],nums,
|
---|
680 | co->SatRefDatum, co->SSRIOD, co->SSRProviderID, co->SSRSolutionID);
|
---|
681 | #endif
|
---|
682 | for (i = 0; i < nums; ++i) {
|
---|
683 | G_GNSS_SATELLITE_ID(id)
|
---|
684 | for (pos = satoffset[s];
|
---|
685 | pos < satoffset[s] + co->NumberOfSat[s] && co->Sat[pos].ID != id;
|
---|
686 | ++pos)
|
---|
687 | ;
|
---|
688 | if (pos >= satoffset[s + 1])
|
---|
689 | return GCOBR_DATAMISMATCH;
|
---|
690 | else if (pos == co->NumberOfSat[s] + satoffset[s])
|
---|
691 | ++co->NumberOfSat[s];
|
---|
692 | co->Sat[pos].ID = id;
|
---|
693 | G_GNSS_IOD(co->Sat[pos].IOD)
|
---|
694 | G_DELTA_RADIAL(co->Sat[pos].Orbit.DeltaRadial)
|
---|
695 | G_DELTA_ALONG_TRACK(co->Sat[pos].Orbit.DeltaAlongTrack)
|
---|
696 | G_DELTA_CROSS_TRACK(co->Sat[pos].Orbit.DeltaCrossTrack)
|
---|
697 | G_DELTA_DOT_RADIAL(co->Sat[pos].Orbit.DotDeltaRadial)
|
---|
698 | G_DELTA_DOT_ALONG_TRACK(co->Sat[pos].Orbit.DotDeltaAlongTrack)
|
---|
699 | G_DELTA_DOT_CROSS_TRACK(co->Sat[pos].Orbit.DotDeltaCrossTrack)
|
---|
700 | #ifdef DEBUG
|
---|
701 | fprintf(stderr, "id %2d iod %3d dr %8.4f da %8.4f dc %8.4f dr %8.3f da %8.3f dc %8.3f\n",
|
---|
702 | co->Sat[pos].ID,co->Sat[pos].IOD,co->Sat[pos].Orbit.DeltaRadial,
|
---|
703 | co->Sat[pos].Orbit.DeltaAlongTrack,co->Sat[pos].Orbit.DeltaCrossTrack,
|
---|
704 | co->Sat[pos].Orbit.DotDeltaRadial,
|
---|
705 | co->Sat[pos].Orbit.DotDeltaAlongTrack,
|
---|
706 | co->Sat[pos].Orbit.DotDeltaCrossTrack);
|
---|
707 | #endif
|
---|
708 | }
|
---|
709 | break;
|
---|
710 | case COBOFS_CLOCK:
|
---|
711 | if (!co)
|
---|
712 | return GCOBR_NOCLOCKORBITPARAMETER;
|
---|
713 | co->messageType = type;
|
---|
714 | G_SSR_EPOCH_TIME_CHECK(co->EpochTime[s], co->NumberOfSat[s])
|
---|
715 | G_SSR_UPDATE_INTERVAL(co->UpdateInterval)
|
---|
716 | G_MULTIPLE_MESSAGE_INDICATOR(mmi)
|
---|
717 | G_SSR_IOD(co->SSRIOD)
|
---|
718 | G_SSR_PROVIDER_ID(co->SSRProviderID)
|
---|
719 | G_SSR_SOLUTION_ID(co->SSRSolutionID)
|
---|
720 | G_NO_OF_SATELLITES(nums)
|
---|
721 | co->Supplied[COBOFS_CLOCK] |= 1;
|
---|
722 | #ifdef DEBUG
|
---|
723 | fprintf(stderr, "epochTime %d ui %d mmi %d sats %d/%d ssrIod %d providerId %d solId %d\n",
|
---|
724 | co->EpochTime[s], co->UpdateInterval,mmi,co->NumberOfSat[s],nums,
|
---|
725 | co->SSRIOD, co->SSRProviderID, co->SSRSolutionID);
|
---|
726 | #endif
|
---|
727 | for (i = 0; i < nums; ++i) {
|
---|
728 | G_GNSS_SATELLITE_ID(id)
|
---|
729 | for (pos = satoffset[s];
|
---|
730 | pos < satoffset[s] + co->NumberOfSat[s] && co->Sat[pos].ID != id;
|
---|
731 | ++pos)
|
---|
732 | ;
|
---|
733 | if (pos >= satoffset[s + 1])
|
---|
734 | return GCOBR_DATAMISMATCH;
|
---|
735 | else if (pos == co->NumberOfSat[s] + satoffset[s])
|
---|
736 | ++co->NumberOfSat[s];
|
---|
737 | co->Sat[pos].ID = id;
|
---|
738 | G_DELTA_CLOCK_C0(co->Sat[pos].Clock.DeltaA0)
|
---|
739 | G_DELTA_CLOCK_C1(co->Sat[pos].Clock.DeltaA1)
|
---|
740 | G_DELTA_CLOCK_C2(co->Sat[pos].Clock.DeltaA2)
|
---|
741 | #ifdef DEBUG
|
---|
742 | fprintf(stderr, "id %2d c0 %8.3f c1 %8.3f c2 %8.3f\n",
|
---|
743 | co->Sat[pos].ID, co->Sat[pos].Clock.DeltaA0, co->Sat[pos].Clock.DeltaA1,
|
---|
744 | co->Sat[pos].Clock.DeltaA2);
|
---|
745 | #endif
|
---|
746 | }
|
---|
747 | break;
|
---|
748 | case COBOFS_COMBINED:
|
---|
749 | if (!co)
|
---|
750 | return GCOBR_NOCLOCKORBITPARAMETER;
|
---|
751 | co->messageType = type;
|
---|
752 | G_SSR_EPOCH_TIME_CHECK(co->EpochTime[s], co->NumberOfSat[s])
|
---|
753 | G_SSR_UPDATE_INTERVAL(co->UpdateInterval)
|
---|
754 | G_MULTIPLE_MESSAGE_INDICATOR(mmi)
|
---|
755 | G_SSR_IOD(co->SSRIOD)
|
---|
756 | G_SSR_PROVIDER_ID(co->SSRProviderID)
|
---|
757 | G_SSR_SOLUTION_ID(co->SSRSolutionID)
|
---|
758 | G_SATELLITE_REFERENCE_DATUM(co->SatRefDatum)
|
---|
759 | G_NO_OF_SATELLITES(nums)
|
---|
760 | co->Supplied[COBOFS_ORBIT] |= 1;
|
---|
761 | co->Supplied[COBOFS_CLOCK] |= 1;
|
---|
762 | #ifdef DEBUG
|
---|
763 | fprintf(stderr, "epochTime %d ui %d mmi %d sats %d/%d rd %d ssrIod %d providerId %d solId %d\n",
|
---|
764 | co->EpochTime[s], co->UpdateInterval,mmi,co->NumberOfSat[s],nums,
|
---|
765 | co->SatRefDatum, co->SSRIOD, co->SSRProviderID, co->SSRSolutionID);
|
---|
766 | #endif
|
---|
767 | for (i = 0; i < nums; ++i) {
|
---|
768 | G_GNSS_SATELLITE_ID(id)
|
---|
769 | for (pos = satoffset[s];
|
---|
770 | pos < satoffset[s] + co->NumberOfSat[s] && co->Sat[pos].ID != id;
|
---|
771 | ++pos)
|
---|
772 | ;
|
---|
773 | if (pos >= satoffset[s + 1])
|
---|
774 | return GCOBR_DATAMISMATCH;
|
---|
775 | else if (pos == co->NumberOfSat[s] + satoffset[s])
|
---|
776 | ++co->NumberOfSat[s];
|
---|
777 | co->Sat[pos].ID = id;
|
---|
778 | G_GNSS_IOD(co->Sat[pos].IOD)
|
---|
779 | G_DELTA_RADIAL(co->Sat[pos].Orbit.DeltaRadial)
|
---|
780 | G_DELTA_ALONG_TRACK(co->Sat[pos].Orbit.DeltaAlongTrack)
|
---|
781 | G_DELTA_CROSS_TRACK(co->Sat[pos].Orbit.DeltaCrossTrack)
|
---|
782 | G_DELTA_DOT_RADIAL(co->Sat[pos].Orbit.DotDeltaRadial)
|
---|
783 | G_DELTA_DOT_ALONG_TRACK(co->Sat[pos].Orbit.DotDeltaAlongTrack)
|
---|
784 | G_DELTA_DOT_CROSS_TRACK(co->Sat[pos].Orbit.DotDeltaCrossTrack)
|
---|
785 | G_DELTA_CLOCK_C0(co->Sat[pos].Clock.DeltaA0)
|
---|
786 | G_DELTA_CLOCK_C1(co->Sat[pos].Clock.DeltaA1)
|
---|
787 | G_DELTA_CLOCK_C2(co->Sat[pos].Clock.DeltaA2)
|
---|
788 | #ifdef DEBUG
|
---|
789 | fprintf(stderr, "id %2d iod %3d dr %10.6f da %10.6f dc %10.6f dr %10.6f da %10.6f dc %10.6f c0 %10.6f c1 %10.6f c2 %10.6f\n",
|
---|
790 | co->Sat[pos].ID,co->Sat[pos].IOD,co->Sat[pos].Orbit.DeltaRadial,
|
---|
791 | co->Sat[pos].Orbit.DeltaAlongTrack,co->Sat[pos].Orbit.DeltaCrossTrack,
|
---|
792 | co->Sat[pos].Orbit.DotDeltaRadial, co->Sat[pos].Orbit.DotDeltaAlongTrack,
|
---|
793 | co->Sat[pos].Orbit.DotDeltaCrossTrack,
|
---|
794 | co->Sat[pos].Clock.DeltaA0, co->Sat[pos].Clock.DeltaA1, co->Sat[pos].Clock.DeltaA2);
|
---|
795 | #endif
|
---|
796 | }
|
---|
797 | break;
|
---|
798 | case COBOFS_URA:
|
---|
799 | if (!co)
|
---|
800 | return GCOBR_NOCLOCKORBITPARAMETER;
|
---|
801 | co->messageType = type;
|
---|
802 | G_SSR_EPOCH_TIME_CHECK(co->EpochTime[s], co->NumberOfSat[s])
|
---|
803 | G_SSR_UPDATE_INTERVAL(co->UpdateInterval)
|
---|
804 | G_MULTIPLE_MESSAGE_INDICATOR(mmi)
|
---|
805 | G_SSR_IOD(co->SSRIOD)
|
---|
806 | G_SSR_PROVIDER_ID(co->SSRProviderID)
|
---|
807 | G_SSR_SOLUTION_ID(co->SSRSolutionID)
|
---|
808 | G_NO_OF_SATELLITES(nums)
|
---|
809 | co->Supplied[COBOFS_URA] |= 1;
|
---|
810 | #ifdef DEBUG
|
---|
811 | fprintf(stderr, "epochTime %d ui %d mmi %d sats %d/%d ssrIod %d providerId %d solId %d\n",
|
---|
812 | co->EpochTime[s], co->UpdateInterval,mmi,co->NumberOfSat[s],nums,
|
---|
813 | co->SSRIOD, co->SSRProviderID, co->SSRSolutionID);
|
---|
814 | #endif
|
---|
815 | for (i = 0; i < nums; ++i) {
|
---|
816 | G_GNSS_SATELLITE_ID(id)
|
---|
817 | for (pos = satoffset[s];
|
---|
818 | pos < satoffset[s] + co->NumberOfSat[s] && co->Sat[pos].ID != id;
|
---|
819 | ++pos)
|
---|
820 | ;
|
---|
821 | if (pos >= satoffset[s + 1])
|
---|
822 | return GCOBR_DATAMISMATCH;
|
---|
823 | else if (pos == co->NumberOfSat[s] + satoffset[s])
|
---|
824 | ++co->NumberOfSat[s];
|
---|
825 | co->Sat[pos].ID = id;
|
---|
826 | G_SSR_URA(co->Sat[pos].UserRangeAccuracy)
|
---|
827 | #ifdef DEBUG
|
---|
828 | fprintf(stderr, "id %2d ura %8.3f \n",
|
---|
829 | co->Sat[pos].ID, co->Sat[pos].UserRangeAccuracy);
|
---|
830 | #endif
|
---|
831 | }
|
---|
832 | break;
|
---|
833 | case COBOFS_HR:
|
---|
834 | if (!co)
|
---|
835 | return GCOBR_NOCLOCKORBITPARAMETER;
|
---|
836 | co->messageType = type;
|
---|
837 | G_SSR_EPOCH_TIME_CHECK(co->EpochTime[s], co->NumberOfSat[s])
|
---|
838 | G_SSR_UPDATE_INTERVAL(co->UpdateInterval)
|
---|
839 | G_MULTIPLE_MESSAGE_INDICATOR(mmi)
|
---|
840 | G_SSR_IOD(co->SSRIOD)
|
---|
841 | G_SSR_PROVIDER_ID(co->SSRProviderID)
|
---|
842 | G_SSR_SOLUTION_ID(co->SSRSolutionID)
|
---|
843 | G_NO_OF_SATELLITES(nums)
|
---|
844 | co->Supplied[COBOFS_HR] |= 1;
|
---|
845 | #ifdef DEBUG
|
---|
846 | fprintf(stderr, "epochTime %d ui %d mmi %d sats %d/%d ssrIod %d providerId %d solId %d\n",
|
---|
847 | co->EpochTime[s], co->UpdateInterval,mmi,co->NumberOfSat[s],nums,
|
---|
848 | co->SSRIOD, co->SSRProviderID, co->SSRSolutionID);
|
---|
849 | #endif
|
---|
850 | for (i = 0; i < nums; ++i) {
|
---|
851 | G_GNSS_SATELLITE_ID(id)
|
---|
852 | for (pos = satoffset[s];
|
---|
853 | pos < satoffset[s] + co->NumberOfSat[s] && co->Sat[pos].ID != id;
|
---|
854 | ++pos)
|
---|
855 | ;
|
---|
856 | if (pos >= satoffset[s + 1])
|
---|
857 | return GCOBR_DATAMISMATCH;
|
---|
858 | else if (pos == co->NumberOfSat[s] + satoffset[s])
|
---|
859 | ++co->NumberOfSat[s];
|
---|
860 | co->Sat[pos].ID = id;
|
---|
861 | G_HR_CLOCK_CORRECTION(co->Sat[pos].hrclock)
|
---|
862 | #ifdef DEBUG
|
---|
863 | fprintf(stderr, "id %2d hrClock %8.3f \n",
|
---|
864 | co->Sat[pos].ID, co->Sat[pos].hrclock);
|
---|
865 | #endif
|
---|
866 | }
|
---|
867 | break;
|
---|
868 | case COBOFS_CBIAS:
|
---|
869 | if (!b)
|
---|
870 | return GCOBR_NOCODEBIASPARAMETER;
|
---|
871 | b->messageType = type;
|
---|
872 | G_SSR_EPOCH_TIME_CHECK(b->EpochTime[s], b->NumberOfSat[s])
|
---|
873 | G_SSR_UPDATE_INTERVAL(b->UpdateInterval)
|
---|
874 | G_MULTIPLE_MESSAGE_INDICATOR(mmi)
|
---|
875 | G_SSR_IOD(b->SSRIOD)
|
---|
876 | G_SSR_PROVIDER_ID(b->SSRProviderID)
|
---|
877 | G_SSR_SOLUTION_ID(b->SSRSolutionID)
|
---|
878 | G_NO_OF_SATELLITES(nums)
|
---|
879 | #ifdef DEBUG
|
---|
880 | fprintf(stderr, "epochTime %d ui %d mmi %d sats %d/%d ssrIod %d providerId %d solId %d\n",
|
---|
881 | b->EpochTime[s], b->UpdateInterval,mmi,b->NumberOfSat[s],nums,
|
---|
882 | b->SSRIOD, b->SSRProviderID, b->SSRSolutionID);
|
---|
883 | #endif
|
---|
884 | for (i = 0; i < nums; ++i) {
|
---|
885 | G_GNSS_SATELLITE_ID(id)
|
---|
886 | for (pos = satoffset[s];
|
---|
887 | pos < satoffset[s] + b->NumberOfSat[s] && b->Sat[pos].ID != id;
|
---|
888 | ++pos)
|
---|
889 | ;
|
---|
890 | if (pos >= satoffset[s + 1])
|
---|
891 | return GCOBR_DATAMISMATCH;
|
---|
892 | else if (pos == b->NumberOfSat[s] + satoffset[s])
|
---|
893 | ++b->NumberOfSat[s];
|
---|
894 | b->Sat[pos].ID = id;
|
---|
895 | G_NO_OF_BIASES(b->Sat[pos].NumberOfCodeBiases)
|
---|
896 | #ifdef DEBUG
|
---|
897 | fprintf(stderr, "id %2d #%d ",
|
---|
898 | b->Sat[pos].ID, b->Sat[pos].NumberOfCodeBiases);
|
---|
899 | #endif
|
---|
900 | for (j = 0; j < b->Sat[pos].NumberOfCodeBiases; ++j) {
|
---|
901 | G_GNSS_SIGNAL_IDENTIFIER(b->Sat[pos].Biases[j].Type)
|
---|
902 | G_CODE_BIAS(b->Sat[pos].Biases[j].Bias)
|
---|
903 | #ifdef DEBUG
|
---|
904 | fprintf(stderr, "t%02d b %8.2f ",
|
---|
905 | b->Sat[pos].Biases[j].Type, b->Sat[pos].Biases[j].Bias);
|
---|
906 | #endif
|
---|
907 | }
|
---|
908 | #ifdef DEBUG
|
---|
909 | fprintf(stderr, "\n");
|
---|
910 | #endif
|
---|
911 | }
|
---|
912 | break;
|
---|
913 | case COBOFS_PBIAS:
|
---|
914 | if (!pb)
|
---|
915 | return GCOBR_NOPHASEBIASPARAMETER;
|
---|
916 | pb->messageType = type;
|
---|
917 | G_SSR_EPOCH_TIME_CHECK(pb->EpochTime[s], pb->NumberOfSat[s])
|
---|
918 | G_SSR_UPDATE_INTERVAL(pb->UpdateInterval)
|
---|
919 | G_MULTIPLE_MESSAGE_INDICATOR(mmi)
|
---|
920 | G_SSR_IOD(pb->SSRIOD)
|
---|
921 | G_SSR_PROVIDER_ID(pb->SSRProviderID)
|
---|
922 | G_SSR_SOLUTION_ID(pb->SSRSolutionID)
|
---|
923 | G_DISPERSIVE_BIAS_INDICATOR(pb->DispersiveBiasConsistencyIndicator)
|
---|
924 | G_MW_CONSISTENCY_INDICATOR(pb->MWConsistencyIndicator)
|
---|
925 | G_NO_OF_SATELLITES(nums)
|
---|
926 | #ifdef DEBUG
|
---|
927 | fprintf(stderr, "epochTime %d ui %d mmi %d sats %d/%d ssrIod %d providerId %d solId %d dispInd %d mwInd %d\n",
|
---|
928 | pb->EpochTime[s], pb->UpdateInterval,mmi,pb->NumberOfSat[s],nums,
|
---|
929 | pb->SSRIOD, pb->SSRProviderID, pb->SSRSolutionID,
|
---|
930 | pb->DispersiveBiasConsistencyIndicator, pb->MWConsistencyIndicator);
|
---|
931 | #endif
|
---|
932 | for (i = 0; i < nums; ++i) {
|
---|
933 | G_GNSS_SATELLITE_ID(id)
|
---|
934 | for (pos = satoffset[s];
|
---|
935 | pos < satoffset[s] + pb->NumberOfSat[s] && pb->Sat[pos].ID != id;
|
---|
936 | ++pos)
|
---|
937 | ;
|
---|
938 | if (pos >= satoffset[s + 1])
|
---|
939 | return GCOBR_DATAMISMATCH;
|
---|
940 | else if (pos == pb->NumberOfSat[s] + satoffset[s])
|
---|
941 | ++pb->NumberOfSat[s];
|
---|
942 | pb->Sat[pos].ID = id;
|
---|
943 | G_NO_OF_BIASES(pb->Sat[pos].NumberOfPhaseBiases)
|
---|
944 | G_YAW_ANGLE(pb->Sat[pos].YawAngle)
|
---|
945 | G_YAW_RATE(pb->Sat[pos].YawRate)
|
---|
946 | #ifdef DEBUG
|
---|
947 | fprintf(stderr, "id %2d #%d y %10.6f yr %10.6f ",
|
---|
948 | pb->Sat[pos].ID, pb->Sat[pos].NumberOfPhaseBiases,
|
---|
949 | pb->Sat[pos].YawAngle/MPI, pb->Sat[pos].YawRate/MPI);
|
---|
950 | #endif
|
---|
951 | for (j = 0; j < pb->Sat[pos].NumberOfPhaseBiases; ++j) {
|
---|
952 | G_GNSS_SIGNAL_IDENTIFIER(pb->Sat[pos].Biases[j].Type)
|
---|
953 | G_INTEGER_INDICATOR(pb->Sat[pos].Biases[j].SignalIntegerIndicator)
|
---|
954 | G_WIDE_LANE_INDICATOR(pb->Sat[pos].Biases[j].SignalsWideLaneIntegerIndicator)
|
---|
955 | G_DISCONTINUITY_COUNTER(pb->Sat[pos].Biases[j].SignalDiscontinuityCounter)
|
---|
956 | G_PHASE_BIAS(pb->Sat[pos].Biases[j].Bias)
|
---|
957 | #ifdef DEBUG
|
---|
958 | fprintf(stderr, "t%02d int %d wl %d disc %d b %8.4f ",
|
---|
959 | pb->Sat[pos].Biases[j].Type,
|
---|
960 | pb->Sat[pos].Biases[j].SignalIntegerIndicator,
|
---|
961 | pb->Sat[pos].Biases[j].SignalsWideLaneIntegerIndicator,
|
---|
962 | pb->Sat[pos].Biases[j].SignalDiscontinuityCounter,
|
---|
963 | pb->Sat[pos].Biases[j].Bias);
|
---|
964 | #endif
|
---|
965 | }
|
---|
966 | #ifdef DEBUG
|
---|
967 | fprintf(stderr, "\n");
|
---|
968 | #endif
|
---|
969 | }
|
---|
970 | break;
|
---|
971 | default:
|
---|
972 | continue;
|
---|
973 | }
|
---|
974 | #ifdef DEBUG
|
---|
975 | for(type = 0; type < (unsigned int)size && (unsigned char)buffer[type] != 0xD3; ++type)
|
---|
976 | numbits += 8;
|
---|
977 | fprintf(stderr, "numbits left %d\n",numbits);
|
---|
978 | #endif
|
---|
979 | return mmi ? GCOBR_MESSAGEFOLLOWS : GCOBR_OK;
|
---|
980 | }
|
---|
981 | }
|
---|
982 | return GCOBR_UNKNOWNTYPE;
|
---|
983 | }
|
---|
984 | #endif /* NODECODE */
|
---|
985 |
|
---|
986 |
|
---|
987 |
|
---|