[8970] | 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 8963 2020-06-29 12:46:25Z stuerze $
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| 6 | Authors: 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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[8972] | 20 |
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[8970] | 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)
|
---|
| 335 | T_SSR_PROVIDER_ID(co->SSRProviderID)
|
---|
| 336 | T_SSR_SOLUTION_ID(co->SSRSolutionID)
|
---|
| 337 | T_NO_OF_SATELLITES(co->NumberOfSat[s])
|
---|
| 338 | for (i = satoffset[s]; i < satoffset[s] + co->NumberOfSat[s]; ++i) {
|
---|
| 339 | T_GNSS_SATELLITE_ID(co->Sat[i].ID)
|
---|
| 340 | T_SSR_URA(ValueToURA(co->Sat[i].UserRangeAccuracy))
|
---|
| 341 | }
|
---|
| 342 | ENDBLOCK
|
---|
| 343 | }
|
---|
| 344 | }
|
---|
| 345 | return ressize;
|
---|
| 346 | }
|
---|
| 347 |
|
---|
| 348 | size_t MakeCodeBias(const struct CodeBias *b, enum CodeBiasType type,
|
---|
| 349 | int moremessagesfollow, char *buffer, size_t size) {
|
---|
| 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 */
|
---|
[8975] | 565 | #define G_VTEC_QUALITY_INDICATOR(a) GETFLOAT (a, 9, 1/20.0) /* DF478, IDF041 */
|
---|
[8970] | 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;
|
---|
[8972] | 570 | unsigned int type, pos, i, j, s, nums, id, version;
|
---|
[8970] | 571 | size_t sizeofrtcmblock;
|
---|
| 572 | const char *blockstart = buffer;
|
---|
| 573 | DECODESTART
|
---|
| 574 |
|
---|
| 575 | if (size < 7)
|
---|
| 576 | return GCOBR_SHORTBUFFER;
|
---|
| 577 |
|
---|
[8972] | 578 | #ifdef BNC_DEBUG
|
---|
| 579 | fprintf(stderr, "GetSSR START: size %d, numbits %d\n",(int)size, numbits);
|
---|
[8970] | 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 |
|
---|
[8972] | 597 | G_RTCM_MESSAGE_NUMBER(type)
|
---|
| 598 | G_IGS_SSR_VERSION(version)
|
---|
| 599 | #ifdef BNC_DEBUG
|
---|
| 600 | fprintf(stderr, "rtcmType %d igsVersion %d ",type, version);
|
---|
| 601 | #endif
|
---|
[8970] | 602 | G_IGS_MESSAGE_NUMBER(type)
|
---|
[8972] | 603 | #ifdef BNC_DEBUG
|
---|
| 604 | fprintf(stderr, "igsType IM%d size %d\n",type,(int)sizeofrtcmblock);
|
---|
[8970] | 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)
|
---|
[8972] | 622 | #ifdef BNC_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
|
---|
[8970] | 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)
|
---|
[8972] | 631 | #ifdef BNC_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
|
---|
[8970] | 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])
|
---|
[8972] | 638 | #ifdef BNC_DEBUG
|
---|
| 639 | fprintf(stderr, "C[%d][%d] %8.3f \n",
|
---|
| 640 | d, o, v->Layers[l].Cosinus[d][o]);
|
---|
| 641 | #endif
|
---|
[8970] | 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])
|
---|
[8972] | 647 | #ifdef BNC_DEBUG
|
---|
| 648 | fprintf(stderr, "S[%d][%d] %8.3f \n",
|
---|
| 649 | d, o, v->Layers[l].Sinus[d][o]);
|
---|
| 650 | #endif
|
---|
[8970] | 651 | }
|
---|
| 652 | }
|
---|
| 653 | }
|
---|
[8972] | 654 | #ifdef BNC_DEBUG
|
---|
| 655 | for(type = 0; type < (unsigned int)size && (unsigned char)buffer[type] != 0xD3; ++type)
|
---|
[8970] | 656 | numbits += 8;
|
---|
| 657 | fprintf(stderr, "numbits left %d\n",numbits);
|
---|
| 658 | #endif
|
---|
| 659 | return mmi ? GCOBR_MESSAGEFOLLOWS : GCOBR_OK;
|
---|
| 660 | }
|
---|
| 661 |
|
---|
| 662 | for (s = CLOCKORBIT_SATNUM; s-- > 0;) {
|
---|
[8972] | 663 | if (type >= corbase[s]) {
|
---|
[8970] | 664 | switch (type - corbase[s]) {
|
---|
| 665 | case COBOFS_ORBIT:
|
---|
| 666 | if (!co)
|
---|
| 667 | return GCOBR_NOCLOCKORBITPARAMETER;
|
---|
| 668 | co->messageType = type;
|
---|
| 669 | G_SSR_EPOCH_TIME_CHECK(co->EpochTime[s], co->NumberOfSat[s])
|
---|
| 670 | G_SSR_UPDATE_INTERVAL(co->UpdateInterval)
|
---|
| 671 | G_MULTIPLE_MESSAGE_INDICATOR(mmi)
|
---|
| 672 | G_SSR_IOD(co->SSRIOD)
|
---|
| 673 | G_SSR_PROVIDER_ID(co->SSRProviderID)
|
---|
| 674 | G_SSR_SOLUTION_ID(co->SSRSolutionID)
|
---|
| 675 | G_SATELLITE_REFERENCE_DATUM(co->SatRefDatum)
|
---|
| 676 | G_NO_OF_SATELLITES(nums)
|
---|
| 677 | co->Supplied[COBOFS_ORBIT] |= 1;
|
---|
[8972] | 678 | #ifdef BNC_DEBUG
|
---|
| 679 | fprintf(stderr, "epochTime %d ui %d mmi %d sats %d/%d rd %d ssrIod %d providerId %d solId %d\n",
|
---|
| 680 | co->EpochTime[s], co->UpdateInterval,mmi,co->NumberOfSat[s],nums,
|
---|
| 681 | co->SatRefDatum, co->SSRIOD, co->SSRProviderID, co->SSRSolutionID);
|
---|
[8970] | 682 | #endif
|
---|
| 683 | for (i = 0; i < nums; ++i) {
|
---|
| 684 | G_GNSS_SATELLITE_ID(id)
|
---|
| 685 | for (pos = satoffset[s];
|
---|
| 686 | pos < satoffset[s] + co->NumberOfSat[s] && co->Sat[pos].ID != id;
|
---|
| 687 | ++pos)
|
---|
| 688 | ;
|
---|
| 689 | if (pos >= satoffset[s + 1])
|
---|
| 690 | return GCOBR_DATAMISMATCH;
|
---|
| 691 | else if (pos == co->NumberOfSat[s] + satoffset[s])
|
---|
| 692 | ++co->NumberOfSat[s];
|
---|
| 693 | co->Sat[pos].ID = id;
|
---|
| 694 | G_GNSS_IOD(co->Sat[pos].IOD)
|
---|
| 695 | G_DELTA_RADIAL(co->Sat[pos].Orbit.DeltaRadial)
|
---|
| 696 | G_DELTA_ALONG_TRACK(co->Sat[pos].Orbit.DeltaAlongTrack)
|
---|
| 697 | G_DELTA_CROSS_TRACK(co->Sat[pos].Orbit.DeltaCrossTrack)
|
---|
| 698 | G_DELTA_DOT_RADIAL(co->Sat[pos].Orbit.DotDeltaRadial)
|
---|
| 699 | G_DELTA_DOT_ALONG_TRACK(co->Sat[pos].Orbit.DotDeltaAlongTrack)
|
---|
| 700 | G_DELTA_DOT_CROSS_TRACK(co->Sat[pos].Orbit.DotDeltaCrossTrack)
|
---|
[8972] | 701 | #ifdef BNC_DEBUG
|
---|
| 702 | 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",
|
---|
[8970] | 703 | co->Sat[pos].ID,co->Sat[pos].IOD,co->Sat[pos].Orbit.DeltaRadial,
|
---|
| 704 | co->Sat[pos].Orbit.DeltaAlongTrack,co->Sat[pos].Orbit.DeltaCrossTrack,
|
---|
| 705 | co->Sat[pos].Orbit.DotDeltaRadial,
|
---|
| 706 | co->Sat[pos].Orbit.DotDeltaAlongTrack,
|
---|
| 707 | co->Sat[pos].Orbit.DotDeltaCrossTrack);
|
---|
| 708 | #endif
|
---|
| 709 | }
|
---|
| 710 | break;
|
---|
| 711 | case COBOFS_CLOCK:
|
---|
| 712 | if (!co)
|
---|
| 713 | return GCOBR_NOCLOCKORBITPARAMETER;
|
---|
| 714 | co->messageType = type;
|
---|
| 715 | G_SSR_EPOCH_TIME_CHECK(co->EpochTime[s], co->NumberOfSat[s])
|
---|
| 716 | G_SSR_UPDATE_INTERVAL(co->UpdateInterval)
|
---|
| 717 | G_MULTIPLE_MESSAGE_INDICATOR(mmi)
|
---|
| 718 | G_SSR_IOD(co->SSRIOD)
|
---|
| 719 | G_SSR_PROVIDER_ID(co->SSRProviderID)
|
---|
| 720 | G_SSR_SOLUTION_ID(co->SSRSolutionID)
|
---|
| 721 | G_NO_OF_SATELLITES(nums)
|
---|
| 722 | co->Supplied[COBOFS_CLOCK] |= 1;
|
---|
[8972] | 723 | #ifdef BNC_DEBUG
|
---|
| 724 | fprintf(stderr, "epochTime %d ui %d mmi %d sats %d/%d ssrIod %d providerId %d solId %d\n",
|
---|
| 725 | co->EpochTime[s], co->UpdateInterval,mmi,co->NumberOfSat[s],nums,
|
---|
| 726 | co->SSRIOD, co->SSRProviderID, co->SSRSolutionID);
|
---|
[8970] | 727 | #endif
|
---|
| 728 | for (i = 0; i < nums; ++i) {
|
---|
| 729 | G_GNSS_SATELLITE_ID(id)
|
---|
| 730 | for (pos = satoffset[s];
|
---|
| 731 | pos < satoffset[s] + co->NumberOfSat[s] && co->Sat[pos].ID != id;
|
---|
| 732 | ++pos)
|
---|
| 733 | ;
|
---|
| 734 | if (pos >= satoffset[s + 1])
|
---|
| 735 | return GCOBR_DATAMISMATCH;
|
---|
| 736 | else if (pos == co->NumberOfSat[s] + satoffset[s])
|
---|
| 737 | ++co->NumberOfSat[s];
|
---|
| 738 | co->Sat[pos].ID = id;
|
---|
| 739 | G_DELTA_CLOCK_C0(co->Sat[pos].Clock.DeltaA0)
|
---|
| 740 | G_DELTA_CLOCK_C1(co->Sat[pos].Clock.DeltaA1)
|
---|
| 741 | G_DELTA_CLOCK_C2(co->Sat[pos].Clock.DeltaA2)
|
---|
[8972] | 742 | #ifdef BNC_DEBUG
|
---|
[8970] | 743 | fprintf(stderr, "id %2d c0 %8.3f c1 %8.3f c2 %8.3f\n",
|
---|
| 744 | co->Sat[pos].ID, co->Sat[pos].Clock.DeltaA0, co->Sat[pos].Clock.DeltaA1,
|
---|
| 745 | co->Sat[pos].Clock.DeltaA2);
|
---|
| 746 | #endif
|
---|
| 747 | }
|
---|
| 748 | break;
|
---|
| 749 | case COBOFS_COMBINED:
|
---|
| 750 | if (!co)
|
---|
| 751 | return GCOBR_NOCLOCKORBITPARAMETER;
|
---|
| 752 | co->messageType = type;
|
---|
| 753 | G_SSR_EPOCH_TIME_CHECK(co->EpochTime[s], co->NumberOfSat[s])
|
---|
| 754 | G_SSR_UPDATE_INTERVAL(co->UpdateInterval)
|
---|
| 755 | G_MULTIPLE_MESSAGE_INDICATOR(mmi)
|
---|
| 756 | G_SSR_IOD(co->SSRIOD)
|
---|
| 757 | G_SSR_PROVIDER_ID(co->SSRProviderID)
|
---|
| 758 | G_SSR_SOLUTION_ID(co->SSRSolutionID)
|
---|
| 759 | G_SATELLITE_REFERENCE_DATUM(co->SatRefDatum)
|
---|
| 760 | G_NO_OF_SATELLITES(nums)
|
---|
| 761 | co->Supplied[COBOFS_ORBIT] |= 1;
|
---|
| 762 | co->Supplied[COBOFS_CLOCK] |= 1;
|
---|
[8972] | 763 | #ifdef BNC_DEBUG
|
---|
| 764 | fprintf(stderr, "epochTime %d ui %d mmi %d sats %d/%d rd %d ssrIod %d providerId %d solId %d\n",
|
---|
| 765 | co->EpochTime[s], co->UpdateInterval,mmi,co->NumberOfSat[s],nums,
|
---|
| 766 | co->SatRefDatum, co->SSRIOD, co->SSRProviderID, co->SSRSolutionID);
|
---|
| 767 | #endif
|
---|
[8970] | 768 | for (i = 0; i < nums; ++i) {
|
---|
| 769 | G_GNSS_SATELLITE_ID(id)
|
---|
| 770 | for (pos = satoffset[s];
|
---|
| 771 | pos < satoffset[s] + co->NumberOfSat[s] && co->Sat[pos].ID != id;
|
---|
| 772 | ++pos)
|
---|
| 773 | ;
|
---|
| 774 | if (pos >= satoffset[s + 1])
|
---|
| 775 | return GCOBR_DATAMISMATCH;
|
---|
| 776 | else if (pos == co->NumberOfSat[s] + satoffset[s])
|
---|
| 777 | ++co->NumberOfSat[s];
|
---|
| 778 | co->Sat[pos].ID = id;
|
---|
| 779 | G_GNSS_IOD(co->Sat[pos].IOD)
|
---|
| 780 | G_DELTA_RADIAL(co->Sat[pos].Orbit.DeltaRadial)
|
---|
| 781 | G_DELTA_ALONG_TRACK(co->Sat[pos].Orbit.DeltaAlongTrack)
|
---|
| 782 | G_DELTA_CROSS_TRACK(co->Sat[pos].Orbit.DeltaCrossTrack)
|
---|
| 783 | G_DELTA_DOT_RADIAL(co->Sat[pos].Orbit.DotDeltaRadial)
|
---|
| 784 | G_DELTA_DOT_ALONG_TRACK(co->Sat[pos].Orbit.DotDeltaAlongTrack)
|
---|
| 785 | G_DELTA_DOT_CROSS_TRACK(co->Sat[pos].Orbit.DotDeltaCrossTrack)
|
---|
| 786 | G_DELTA_CLOCK_C0(co->Sat[pos].Clock.DeltaA0)
|
---|
| 787 | G_DELTA_CLOCK_C1(co->Sat[pos].Clock.DeltaA1)
|
---|
| 788 | G_DELTA_CLOCK_C2(co->Sat[pos].Clock.DeltaA2)
|
---|
[8972] | 789 | #ifdef BNC_DEBUG
|
---|
| 790 | fprintf(stderr, "id %2d iod %3d dr %8.4f da %8.4f dc %8.4f dr %8.3f da %8.3f dc %8.3f c0 %8.3f c1 %8.3f c2 %8.3f\n",
|
---|
| 791 | co->Sat[pos].ID,co->Sat[pos].IOD,co->Sat[pos].Orbit.DeltaRadial,
|
---|
| 792 | co->Sat[pos].Orbit.DeltaAlongTrack,co->Sat[pos].Orbit.DeltaCrossTrack,
|
---|
| 793 | co->Sat[pos].Orbit.DotDeltaRadial, co->Sat[pos].Orbit.DotDeltaAlongTrack,
|
---|
| 794 | co->Sat[pos].Orbit.DotDeltaCrossTrack,
|
---|
| 795 | co->Sat[pos].Clock.DeltaA0, co->Sat[pos].Clock.DeltaA1, co->Sat[pos].Clock.DeltaA2);
|
---|
| 796 | #endif
|
---|
[8970] | 797 | }
|
---|
| 798 | break;
|
---|
| 799 | case COBOFS_URA:
|
---|
| 800 | if (!co)
|
---|
| 801 | return GCOBR_NOCLOCKORBITPARAMETER;
|
---|
| 802 | co->messageType = type;
|
---|
| 803 | G_SSR_EPOCH_TIME_CHECK(co->EpochTime[s], co->NumberOfSat[s])
|
---|
| 804 | G_SSR_UPDATE_INTERVAL(co->UpdateInterval)
|
---|
| 805 | G_MULTIPLE_MESSAGE_INDICATOR(mmi)
|
---|
| 806 | G_SSR_IOD(co->SSRIOD)
|
---|
| 807 | G_SSR_PROVIDER_ID(co->SSRProviderID)
|
---|
| 808 | G_SSR_SOLUTION_ID(co->SSRSolutionID)
|
---|
| 809 | G_NO_OF_SATELLITES(nums)
|
---|
| 810 | co->Supplied[COBOFS_URA] |= 1;
|
---|
[8972] | 811 | #ifdef BNC_DEBUG
|
---|
| 812 | fprintf(stderr, "epochTime %d ui %d mmi %d sats %d/%d ssrIod %d providerId %d solId %d\n",
|
---|
| 813 | co->EpochTime[s], co->UpdateInterval,mmi,co->NumberOfSat[s],nums,
|
---|
| 814 | co->SSRIOD, co->SSRProviderID, co->SSRSolutionID);
|
---|
| 815 | #endif
|
---|
[8970] | 816 | for (i = 0; i < nums; ++i) {
|
---|
| 817 | G_GNSS_SATELLITE_ID(id)
|
---|
| 818 | for (pos = satoffset[s];
|
---|
| 819 | pos < satoffset[s] + co->NumberOfSat[s] && co->Sat[pos].ID != id;
|
---|
| 820 | ++pos)
|
---|
| 821 | ;
|
---|
| 822 | if (pos >= satoffset[s + 1])
|
---|
| 823 | return GCOBR_DATAMISMATCH;
|
---|
| 824 | else if (pos == co->NumberOfSat[s] + satoffset[s])
|
---|
| 825 | ++co->NumberOfSat[s];
|
---|
| 826 | co->Sat[pos].ID = id;
|
---|
| 827 | G_SSR_URA(co->Sat[pos].UserRangeAccuracy)
|
---|
[8972] | 828 | #ifdef BNC_DEBUG
|
---|
| 829 | fprintf(stderr, "id %2d ura %8.3f \n",
|
---|
| 830 | co->Sat[pos].ID, co->Sat[pos].UserRangeAccuracy);
|
---|
| 831 | #endif
|
---|
[8970] | 832 | }
|
---|
| 833 | break;
|
---|
| 834 | case COBOFS_HR:
|
---|
| 835 | if (!co)
|
---|
| 836 | return GCOBR_NOCLOCKORBITPARAMETER;
|
---|
| 837 | co->messageType = type;
|
---|
| 838 | G_SSR_EPOCH_TIME_CHECK(co->EpochTime[s], co->NumberOfSat[s])
|
---|
| 839 | G_SSR_UPDATE_INTERVAL(co->UpdateInterval)
|
---|
| 840 | G_MULTIPLE_MESSAGE_INDICATOR(mmi)
|
---|
| 841 | G_SSR_IOD(co->SSRIOD)
|
---|
| 842 | G_SSR_PROVIDER_ID(co->SSRProviderID)
|
---|
| 843 | G_SSR_SOLUTION_ID(co->SSRSolutionID)
|
---|
| 844 | G_NO_OF_SATELLITES(nums)
|
---|
| 845 | co->Supplied[COBOFS_HR] |= 1;
|
---|
[8972] | 846 | #ifdef BNC_DEBUG
|
---|
| 847 | fprintf(stderr, "epochTime %d ui %d mmi %d sats %d/%d ssrIod %d providerId %d solId %d\n",
|
---|
| 848 | co->EpochTime[s], co->UpdateInterval,mmi,co->NumberOfSat[s],nums,
|
---|
| 849 | co->SSRIOD, co->SSRProviderID, co->SSRSolutionID);
|
---|
| 850 | #endif
|
---|
[8970] | 851 | for (i = 0; i < nums; ++i) {
|
---|
| 852 | G_GNSS_SATELLITE_ID(id)
|
---|
| 853 | for (pos = satoffset[s];
|
---|
| 854 | pos < satoffset[s] + co->NumberOfSat[s] && co->Sat[pos].ID != id;
|
---|
| 855 | ++pos)
|
---|
| 856 | ;
|
---|
| 857 | if (pos >= satoffset[s + 1])
|
---|
| 858 | return GCOBR_DATAMISMATCH;
|
---|
| 859 | else if (pos == co->NumberOfSat[s] + satoffset[s])
|
---|
| 860 | ++co->NumberOfSat[s];
|
---|
| 861 | co->Sat[pos].ID = id;
|
---|
| 862 | G_HR_CLOCK_CORRECTION(co->Sat[pos].hrclock)
|
---|
[8972] | 863 | #ifdef BNC_DEBUG
|
---|
| 864 | fprintf(stderr, "id %2d hrClock %8.3f \n",
|
---|
| 865 | co->Sat[pos].ID, co->Sat[pos].hrclock);
|
---|
| 866 | #endif
|
---|
[8970] | 867 | }
|
---|
| 868 | break;
|
---|
| 869 | case COBOFS_CBIAS:
|
---|
| 870 | if (!b)
|
---|
| 871 | return GCOBR_NOCODEBIASPARAMETER;
|
---|
| 872 | b->messageType = type;
|
---|
| 873 | G_SSR_EPOCH_TIME_CHECK(b->EpochTime[s], b->NumberOfSat[s])
|
---|
| 874 | G_SSR_UPDATE_INTERVAL(b->UpdateInterval)
|
---|
| 875 | G_MULTIPLE_MESSAGE_INDICATOR(mmi)
|
---|
| 876 | G_SSR_IOD(b->SSRIOD)
|
---|
| 877 | G_SSR_PROVIDER_ID(b->SSRProviderID)
|
---|
| 878 | G_SSR_SOLUTION_ID(b->SSRSolutionID)
|
---|
| 879 | G_NO_OF_SATELLITES(nums)
|
---|
[8972] | 880 | #ifdef BNC_DEBUG
|
---|
| 881 | fprintf(stderr, "epochTime %d ui %d mmi %d sats %d/%d ssrIod %d providerId %d solId %d\n",
|
---|
| 882 | b->EpochTime[s], b->UpdateInterval,mmi,b->NumberOfSat[s],nums,
|
---|
| 883 | b->SSRIOD, b->SSRProviderID, b->SSRSolutionID);
|
---|
| 884 | #endif
|
---|
[8970] | 885 | for (i = 0; i < nums; ++i) {
|
---|
| 886 | G_GNSS_SATELLITE_ID(id)
|
---|
| 887 | for (pos = satoffset[s];
|
---|
| 888 | pos < satoffset[s] + b->NumberOfSat[s] && b->Sat[pos].ID != id;
|
---|
| 889 | ++pos)
|
---|
| 890 | ;
|
---|
| 891 | if (pos >= satoffset[s + 1])
|
---|
| 892 | return GCOBR_DATAMISMATCH;
|
---|
| 893 | else if (pos == b->NumberOfSat[s] + satoffset[s])
|
---|
| 894 | ++b->NumberOfSat[s];
|
---|
| 895 | b->Sat[pos].ID = id;
|
---|
| 896 | G_NO_OF_BIASES(b->Sat[pos].NumberOfCodeBiases)
|
---|
[8972] | 897 | #ifdef BNC_DEBUG
|
---|
| 898 | fprintf(stderr, "id %2d #%d ",
|
---|
| 899 | b->Sat[pos].ID, b->Sat[pos].NumberOfCodeBiases);
|
---|
| 900 | #endif
|
---|
[8970] | 901 | for (j = 0; j < b->Sat[pos].NumberOfCodeBiases; ++j) {
|
---|
| 902 | G_GNSS_SIGNAL_IDENTIFIER(b->Sat[pos].Biases[j].Type)
|
---|
| 903 | G_CODE_BIAS(b->Sat[pos].Biases[j].Bias)
|
---|
[8972] | 904 | #ifdef BNC_DEBUG
|
---|
| 905 | fprintf(stderr, "t%d b %8.2f ",
|
---|
| 906 | b->Sat[pos].Biases[j].Type, b->Sat[pos].Biases[j].Bias);
|
---|
| 907 | #endif
|
---|
[8970] | 908 | }
|
---|
[8972] | 909 | #ifdef BNC_DEBUG
|
---|
| 910 | fprintf(stderr, "\n");
|
---|
| 911 | #endif
|
---|
[8970] | 912 | }
|
---|
| 913 | break;
|
---|
[8972] | 914 | case COBOFS_PBIAS:
|
---|
| 915 | if (!pb)
|
---|
| 916 | return GCOBR_NOPHASEBIASPARAMETER;
|
---|
| 917 | pb->messageType = type;
|
---|
| 918 | G_SSR_EPOCH_TIME_CHECK(pb->EpochTime[s], pb->NumberOfSat[s])
|
---|
| 919 | G_SSR_UPDATE_INTERVAL(pb->UpdateInterval)
|
---|
| 920 | G_MULTIPLE_MESSAGE_INDICATOR(mmi)
|
---|
| 921 | G_SSR_IOD(pb->SSRIOD)
|
---|
| 922 | G_SSR_PROVIDER_ID(pb->SSRProviderID)
|
---|
| 923 | G_SSR_SOLUTION_ID(pb->SSRSolutionID)
|
---|
| 924 | G_DISPERSIVE_BIAS_INDICATOR(pb->DispersiveBiasConsistencyIndicator)
|
---|
| 925 | G_MW_CONSISTENCY_INDICATOR(pb->MWConsistencyIndicator)
|
---|
| 926 | G_NO_OF_SATELLITES(nums)
|
---|
| 927 | #ifdef BNC_DEBUG
|
---|
| 928 | fprintf(stderr, "epochTime %d ui %d mmi %d sats %d/%d ssrIod %d providerId %d solId %d dispInd %d mwInd %d\n",
|
---|
| 929 | pb->EpochTime[s], pb->UpdateInterval,mmi,pb->NumberOfSat[s],nums,
|
---|
| 930 | pb->SSRIOD, pb->SSRProviderID, pb->SSRSolutionID,
|
---|
| 931 | pb->DispersiveBiasConsistencyIndicator, pb->MWConsistencyIndicator);
|
---|
| 932 | #endif
|
---|
| 933 | for (i = 0; i < nums; ++i) {
|
---|
| 934 | G_GNSS_SATELLITE_ID(id)
|
---|
| 935 | for (pos = satoffset[s];
|
---|
| 936 | pos < satoffset[s] + pb->NumberOfSat[s] && pb->Sat[pos].ID != id;
|
---|
| 937 | ++pos)
|
---|
| 938 | ;
|
---|
| 939 | if (pos >= satoffset[s + 1])
|
---|
| 940 | return GCOBR_DATAMISMATCH;
|
---|
| 941 | else if (pos == pb->NumberOfSat[s] + satoffset[s])
|
---|
| 942 | ++pb->NumberOfSat[s];
|
---|
| 943 | pb->Sat[pos].ID = id;
|
---|
| 944 | G_NO_OF_BIASES(pb->Sat[pos].NumberOfPhaseBiases)
|
---|
| 945 | G_YAW_ANGLE(pb->Sat[pos].YawAngle)
|
---|
| 946 | G_YAW_RATE(pb->Sat[pos].YawRate)
|
---|
| 947 | #ifdef BNC_DEBUG
|
---|
| 948 | fprintf(stderr, "id %2d #%d y %8.3f yr %8.3f ",
|
---|
| 949 | pb->Sat[pos].ID, pb->Sat[pos].NumberOfPhaseBiases,
|
---|
| 950 | pb->Sat[pos].YawAngle, pb->Sat[pos].YawRate);
|
---|
| 951 | #endif
|
---|
| 952 | for (j = 0; j < pb->Sat[pos].NumberOfPhaseBiases; ++j) {
|
---|
| 953 | G_GNSS_SIGNAL_IDENTIFIER(pb->Sat[pos].Biases[j].Type)
|
---|
| 954 | G_INTEGER_INDICATOR(pb->Sat[pos].Biases[j].SignalIntegerIndicator)
|
---|
| 955 | G_WIDE_LANE_INDICATOR(pb->Sat[pos].Biases[j].SignalsWideLaneIntegerIndicator)
|
---|
| 956 | G_DISCONTINUITY_COUNTER(pb->Sat[pos].Biases[j].SignalDiscontinuityCounter)
|
---|
| 957 | G_PHASE_BIAS(pb->Sat[pos].Biases[j].Bias)
|
---|
| 958 | #ifdef BNC_DEBUG
|
---|
| 959 | fprintf(stderr, "t%d int %d wl %d disc %d b %8.4f ",
|
---|
| 960 | pb->Sat[pos].Biases[j].Type,
|
---|
| 961 | pb->Sat[pos].Biases[j].SignalIntegerIndicator,
|
---|
| 962 | pb->Sat[pos].Biases[j].SignalsWideLaneIntegerIndicator,
|
---|
| 963 | pb->Sat[pos].Biases[j].SignalDiscontinuityCounter,
|
---|
| 964 | pb->Sat[pos].Biases[j].Bias);
|
---|
| 965 | #endif
|
---|
| 966 | }
|
---|
| 967 | #ifdef BNC_DEBUG
|
---|
| 968 | fprintf(stderr, "\n");
|
---|
| 969 | #endif
|
---|
| 970 | }
|
---|
| 971 | break;
|
---|
[8970] | 972 | default:
|
---|
| 973 | continue;
|
---|
| 974 | }
|
---|
[8972] | 975 | #ifdef BNC_DEBUG
|
---|
| 976 | for(type = 0; type < (unsigned int)size && (unsigned char)buffer[type] != 0xD3; ++type)
|
---|
[8970] | 977 | numbits += 8;
|
---|
| 978 | fprintf(stderr, "numbits left %d\n",numbits);
|
---|
| 979 | #endif
|
---|
| 980 | return mmi ? GCOBR_MESSAGEFOLLOWS : GCOBR_OK;
|
---|
| 981 | }
|
---|
| 982 | }
|
---|
| 983 | return GCOBR_UNKNOWNTYPE;
|
---|
| 984 | }
|
---|
| 985 | #endif /* NODECODE */
|
---|
| 986 |
|
---|
| 987 |
|
---|
| 988 |
|
---|