[862] | 1 | /* Programheader
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| 2 |
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| 3 | Name: clock_orbit_rtcm.c
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| 4 | Project: RTCM3
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[1865] | 5 | Version: $Id: clock_orbit_rtcm.c,v 1.15 2009/07/06 05:42:44 mervart Exp $
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[862] | 6 | Authors: Dirk Stöcker
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| 7 | Description: state space approach for RTCM3
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| 8 | */
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| 9 |
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| 10 | #include <stdio.h>
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| 11 | #include <string.h>
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| 12 | #include <stdint.h>
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| 13 | #include "clock_orbit_rtcm.h"
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| 14 |
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| 15 | static uint32_t CRC24(long size, const unsigned char *buf)
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| 16 | {
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| 17 | uint32_t crc = 0;
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| 18 | int i;
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| 19 |
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| 20 | while(size--)
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| 21 | {
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| 22 | crc ^= (*buf++) << (16);
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| 23 | for(i = 0; i < 8; i++)
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| 24 | {
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| 25 | crc <<= 1;
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| 26 | if(crc & 0x1000000)
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| 27 | crc ^= 0x01864cfb;
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| 28 | }
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| 29 | }
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| 30 | return crc;
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| 31 | }
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| 32 |
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| 33 | /* NOTE: These defines are interlinked with below functions and directly modify
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| 34 | the values. This may not be optimized in terms of final program code size but
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| 35 | should be optimized in terms of speed.
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| 36 |
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| 37 | modified variables are:
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| 38 | - everything defined in STARTDATA (only use ressize outside of the defines,
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| 39 | others are private)
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| 40 | - buffer
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| 41 | - size
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| 42 | */
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| 43 |
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| 44 | #ifndef NOENCODE
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| 45 | #define STOREBITS \
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| 46 | while(numbits >= 8) \
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| 47 | { \
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| 48 | if(!size) return 0; \
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| 49 | *(buffer++) = bitbuffer>>(numbits-8); \
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| 50 | numbits -= 8; \
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| 51 | ++ressize; \
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| 52 | --size; \
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| 53 | }
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| 54 |
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| 55 | #define ADDBITS(a, b) \
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| 56 | { \
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| 57 | bitbuffer = (bitbuffer<<(a))|((b)&((1<<a)-1)); \
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| 58 | numbits += (a); \
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| 59 | STOREBITS \
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| 60 | }
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| 61 |
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| 62 | #define STARTDATA \
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| 63 | size_t ressize=0; \
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| 64 | char *blockstart; \
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| 65 | int numbits; \
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| 66 | uint64_t bitbuffer=0;
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| 67 |
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| 68 | #define INITBLOCK \
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| 69 | numbits = 0; \
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| 70 | blockstart = buffer; \
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| 71 | ADDBITS(8, 0xD3) \
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| 72 | ADDBITS(6, 0) \
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| 73 | ADDBITS(10, 0)
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| 74 |
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| 75 | #define ENDBLOCK \
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| 76 | if(numbits) { ADDBITS((8-numbits), 0) } \
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| 77 | { \
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| 78 | int len = buffer-blockstart-3; \
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| 79 | blockstart[1] |= len>>8; \
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| 80 | blockstart[2] = len; \
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[1827] | 81 | if(len > 1023) \
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| 82 | return 0; \
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[862] | 83 | len = CRC24(len+3, (const unsigned char *) blockstart); \
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| 84 | ADDBITS(24, len) \
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| 85 | }
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| 86 |
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| 87 | #define SCALEADDBITS(a, b, c) ADDBITS(a, (int64_t)(b*c))
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| 88 |
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| 89 | /* standard values */
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| 90 | #define T_MESSAGE_NUMBER(a) ADDBITS(12, a) /* DF002 */
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[1697] | 91 | #define T_RESERVED5 ADDBITS(5, 0) /* DF001 */
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[862] | 92 | #define T_GPS_SATELLITE_ID(a) ADDBITS(6, a) /* DF068 */
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| 93 | #define T_GPS_IODE(a) ADDBITS(8, a) /* DF071 */
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| 94 | #define T_GLONASS_IOD(a) ADDBITS(8, a) /* DF237 */
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| 95 |
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| 96 | /* defined values */
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[1809] | 97 | #define T_DELTA_RADIAL(a) SCALEADDBITS(22, 10000.0, a)
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| 98 | #define T_DELTA_ALONG_TRACK(a) SCALEADDBITS(20, 2500.0, a)
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| 99 | #define T_DELTA_CROSS_TRACK(a) SCALEADDBITS(20, 2500.0, a)
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| 100 | #define T_DELTA_DOT_RADIAL(a) SCALEADDBITS(21, 1000000.0, a)
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| 101 | #define T_DELTA_DOT_ALONG_TRACK(a) SCALEADDBITS(19, 250000.0, a)
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| 102 | #define T_DELTA_DOT_CROSS_TRACK(a) SCALEADDBITS(19, 250000.0, a)
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[1697] | 103 | #define T_DELTA_DOT_DOT_RADIAL(a) SCALEADDBITS(27, 50000000.0, a)
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[1809] | 104 | #define T_DELTA_DOT_DOT_ALONG_TRACK(a) SCALEADDBITS(25, 12500000.0, a)
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| 105 | #define T_DELTA_DOT_DOT_CROSS_TRACK(a) SCALEADDBITS(25, 12500000.0, a)
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[862] | 106 | #define T_SATELLITE_REFERENCE_POINT(a) ADDBITS(1, a)
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[1697] | 107 |
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[862] | 108 | #define T_SATELLITE_REFERENCE_DATUM(a) ADDBITS(1, a)
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[1809] | 109 | #define T_DELTA_CLOCK_C0(a) SCALEADDBITS(22, 10000.0, a)
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| 110 | #define T_DELTA_CLOCK_C1(a) SCALEADDBITS(21, 1000000.0, a)
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[1697] | 111 | #define T_DELTA_CLOCK_C2(a) SCALEADDBITS(27, 50000000.0, a)
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[862] | 112 | #define T_NO_OF_CODE_BIASES(a) ADDBITS(5, a)
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[1697] | 113 | #define T_GPS_SIGNAL_IDENTIFIER(a) ADDBITS(5, a)
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| 114 | #define T_GLONASS_SIGNAL_IDENTIFIER(a) ADDBITS(5, a)
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| 115 | #define T_GALILEO_SIGNAL_IDENTIFIER(a) ADDBITS(5, a)
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[1809] | 116 | #define T_CODE_BIAS(a) SCALEADDBITS(14, 100.0, a)
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[1697] | 117 | #define T_GLONASS_SATELLITE_ID(a) ADDBITS(5, a)
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[862] | 118 |
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[1697] | 119 | #define T_GPS_EPOCH_TIME(a) ADDBITS(20, a)
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| 120 | #define T_GLONASS_EPOCH_TIME(a) ADDBITS(17, a)
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| 121 | #define T_NO_OF_SATELLITES(a) ADDBITS(6, a)
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| 122 | #define T_MULTIPLE_MESSAGE_INDICATOR(a) ADDBITS(1, a)
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| 123 | #define T_SSR_URA(a) ADDBITS(4, a)
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[1809] | 124 | #define T_HR_CLOCK_CORRECTION(a) SCALEADDBITS(22, 10000.0, a)
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[1697] | 125 | #define T_SSR_UPDATE_INTERVAL(a) ADDBITS(4, a)
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[862] | 126 |
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| 127 | size_t MakeClockOrbit(const struct ClockOrbit *co, enum ClockOrbitType type,
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| 128 | int moremessagesfollow, char *buffer, size_t size)
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| 129 | {
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[1697] | 130 | int gpshr=0, gpsur=0, gpsor=0, gpscl=0, gpsco=0, glohr=0, glour=0, gloor=0,
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| 131 | glocl=0, gloco=0, mmi, i;
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[1820] | 132 |
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[862] | 133 | STARTDATA
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| 134 |
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[1697] | 135 | if(co->NumberOfGPSSat && co->HRDataSupplied
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| 136 | && (type == COTYPE_AUTO || type == COTYPE_GPSHR))
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| 137 | gpshr = 1;
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| 138 | if(co->NumberOfGPSSat && co->URADataSupplied
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| 139 | && (type == COTYPE_AUTO || type == COTYPE_GPSURA))
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| 140 | gpsur = 1;
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[862] | 141 | if(co->NumberOfGPSSat && co->OrbitDataSupplied
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| 142 | && (type == COTYPE_AUTO || type == COTYPE_GPSORBIT))
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| 143 | gpsor = 1;
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| 144 | if(co->NumberOfGPSSat && co->ClockDataSupplied
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| 145 | && (type == COTYPE_AUTO || type == COTYPE_GPSCLOCK))
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| 146 | gpscl = 1;
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| 147 | if(co->NumberOfGPSSat && co->ClockDataSupplied && co->OrbitDataSupplied
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[1827] | 148 | && (type == COTYPE_AUTO || type == COTYPE_GPSCOMBINED)
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[1841] | 149 | /*&& co->NumberOfGPSSat <= 28*/)
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[862] | 150 | {
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| 151 | gpsco = 1; gpsor = 0; gpscl = 0;
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| 152 | }
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[1697] | 153 | if(co->NumberOfGLONASSSat && co->HRDataSupplied
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| 154 | && (type == COTYPE_AUTO || type == COTYPE_GLONASSHR))
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| 155 | glohr = 1;
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| 156 | if(co->NumberOfGLONASSSat && co->URADataSupplied
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| 157 | && (type == COTYPE_AUTO || type == COTYPE_GLONASSURA))
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| 158 | glour = 1;
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[862] | 159 | if(co->NumberOfGLONASSSat && co->OrbitDataSupplied
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| 160 | && (type == COTYPE_AUTO || type == COTYPE_GLONASSORBIT))
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| 161 | gloor = 1;
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| 162 | if(co->NumberOfGLONASSSat && co->ClockDataSupplied
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| 163 | && (type == COTYPE_AUTO || type == COTYPE_GLONASSCLOCK))
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| 164 | glocl = 1;
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| 165 | if(co->NumberOfGLONASSSat && co->ClockDataSupplied && co->OrbitDataSupplied
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| 166 | && (type == COTYPE_AUTO || type == COTYPE_GLONASSCOMBINED))
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| 167 | {
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| 168 | gloco = 1; gloor = 0; glocl = 0;
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| 169 | }
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| 170 |
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[1697] | 171 | mmi = gpshr+gpsur+gpsor+gpscl+gpsco+glohr+glour+gloor+glocl+gloco; /* required for multimessage */
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[862] | 172 | if(!moremessagesfollow) --mmi;
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| 173 |
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| 174 | if(gpsor)
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| 175 | {
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| 176 | INITBLOCK
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| 177 | T_MESSAGE_NUMBER(COTYPE_GPSORBIT)
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| 178 | T_GPS_EPOCH_TIME(co->GPSEpochTime)
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[1697] | 179 | T_SSR_UPDATE_INTERVAL(co->UpdateInterval)
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[1841] | 180 | T_MULTIPLE_MESSAGE_INDICATOR(/*mmi ? 1 :*/0)
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[862] | 181 | --mmi;
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[1697] | 182 | T_RESERVED5
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[862] | 183 | T_NO_OF_SATELLITES(co->NumberOfGPSSat)
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| 184 | for(i = 0; i < co->NumberOfGPSSat; ++i)
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| 185 | {
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| 186 | T_GPS_SATELLITE_ID(co->Sat[i].ID)
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| 187 | T_GPS_IODE(co->Sat[i].IOD)
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| 188 | T_DELTA_RADIAL(co->Sat[i].Orbit.DeltaRadial)
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| 189 | T_DELTA_ALONG_TRACK(co->Sat[i].Orbit.DeltaAlongTrack)
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| 190 | T_DELTA_CROSS_TRACK(co->Sat[i].Orbit.DeltaCrossTrack)
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| 191 | T_DELTA_DOT_RADIAL(co->Sat[i].Orbit.DotDeltaRadial)
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| 192 | T_DELTA_DOT_ALONG_TRACK(co->Sat[i].Orbit.DotDeltaAlongTrack)
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| 193 | T_DELTA_DOT_CROSS_TRACK(co->Sat[i].Orbit.DotDeltaCrossTrack)
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| 194 | T_DELTA_DOT_DOT_RADIAL(co->Sat[i].Orbit.DotDotDeltaRadial)
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| 195 | T_DELTA_DOT_DOT_ALONG_TRACK(co->Sat[i].Orbit.DotDotDeltaAlongTrack)
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| 196 | T_DELTA_DOT_DOT_CROSS_TRACK(co->Sat[i].Orbit.DotDotDeltaCrossTrack)
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| 197 | T_SATELLITE_REFERENCE_POINT(co->SatRefPoint)
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| 198 | T_SATELLITE_REFERENCE_DATUM(co->SatRefDatum)
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| 199 | }
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| 200 | ENDBLOCK
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| 201 | }
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| 202 | if(gpscl)
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| 203 | {
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| 204 | INITBLOCK
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| 205 | T_MESSAGE_NUMBER(COTYPE_GPSCLOCK)
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| 206 | T_GPS_EPOCH_TIME(co->GPSEpochTime)
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[1697] | 207 | T_SSR_UPDATE_INTERVAL(co->UpdateInterval)
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[1841] | 208 | T_MULTIPLE_MESSAGE_INDICATOR(/*mmi ? 1 :*/0)
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[862] | 209 | --mmi;
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[1697] | 210 | T_RESERVED5
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[862] | 211 | T_NO_OF_SATELLITES(co->NumberOfGPSSat)
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| 212 | for(i = 0; i < co->NumberOfGPSSat; ++i)
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| 213 | {
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| 214 | T_GPS_SATELLITE_ID(co->Sat[i].ID)
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[1697] | 215 | T_DELTA_CLOCK_C0(co->Sat[i].Clock.DeltaA0)
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| 216 | T_DELTA_CLOCK_C1(co->Sat[i].Clock.DeltaA1)
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| 217 | T_DELTA_CLOCK_C2(co->Sat[i].Clock.DeltaA2)
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[862] | 218 | }
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| 219 | ENDBLOCK
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| 220 | }
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| 221 | if(gpsco)
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| 222 | {
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[1841] | 223 | int nums, left, start = 0;
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| 224 | nums = co->NumberOfGPSSat;
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| 225 | if(nums > 28) /* split block when more than 28 sats */
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[862] | 226 | {
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[1841] | 227 | left = nums - 28;
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| 228 | nums = 28;
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[862] | 229 | }
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[1865] | 230 | else {
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| 231 | left = 0;
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| 232 | }
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[1841] | 233 | while(nums)
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| 234 | {
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| 235 | INITBLOCK
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| 236 | T_MESSAGE_NUMBER(COTYPE_GPSCOMBINED)
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| 237 | T_GPS_EPOCH_TIME(co->GPSEpochTime)
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| 238 | T_SSR_UPDATE_INTERVAL(co->UpdateInterval)
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| 239 | T_MULTIPLE_MESSAGE_INDICATOR(/*mmi || */ left ? 1 : 0)
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| 240 | --mmi;
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| 241 | T_RESERVED5
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| 242 | T_NO_OF_SATELLITES(nums)
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| 243 | for(i = start; i < start+nums; ++i)
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| 244 | {
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| 245 | T_GPS_SATELLITE_ID(co->Sat[i].ID)
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| 246 | T_GPS_IODE(co->Sat[i].IOD)
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| 247 | T_DELTA_RADIAL(co->Sat[i].Orbit.DeltaRadial)
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| 248 | T_DELTA_ALONG_TRACK(co->Sat[i].Orbit.DeltaAlongTrack)
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| 249 | T_DELTA_CROSS_TRACK(co->Sat[i].Orbit.DeltaCrossTrack)
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| 250 | T_DELTA_DOT_RADIAL(co->Sat[i].Orbit.DotDeltaRadial)
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| 251 | T_DELTA_DOT_ALONG_TRACK(co->Sat[i].Orbit.DotDeltaAlongTrack)
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| 252 | T_DELTA_DOT_CROSS_TRACK(co->Sat[i].Orbit.DotDeltaCrossTrack)
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| 253 | T_DELTA_DOT_DOT_RADIAL(co->Sat[i].Orbit.DotDotDeltaRadial)
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| 254 | T_DELTA_DOT_DOT_ALONG_TRACK(co->Sat[i].Orbit.DotDotDeltaAlongTrack)
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| 255 | T_DELTA_DOT_DOT_CROSS_TRACK(co->Sat[i].Orbit.DotDotDeltaCrossTrack)
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| 256 | T_SATELLITE_REFERENCE_POINT(co->SatRefPoint)
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| 257 | T_SATELLITE_REFERENCE_DATUM(co->SatRefDatum)
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| 258 | T_DELTA_CLOCK_C0(co->Sat[i].Clock.DeltaA0)
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| 259 | T_DELTA_CLOCK_C1(co->Sat[i].Clock.DeltaA1)
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| 260 | T_DELTA_CLOCK_C2(co->Sat[i].Clock.DeltaA2)
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| 261 | }
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| 262 | ENDBLOCK
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| 263 | start += nums;
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| 264 | nums = left;
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| 265 | left = 0;
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| 266 | }
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[862] | 267 | }
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[1697] | 268 | if(gpshr)
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| 269 | {
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| 270 | INITBLOCK
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| 271 | T_MESSAGE_NUMBER(COTYPE_GPSHR)
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| 272 | T_GPS_EPOCH_TIME(co->GPSEpochTime)
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| 273 | T_SSR_UPDATE_INTERVAL(co->UpdateInterval)
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[1841] | 274 | T_MULTIPLE_MESSAGE_INDICATOR(/*mmi ? 1 :*/0)
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[1697] | 275 | --mmi;
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| 276 | T_RESERVED5
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| 277 | T_NO_OF_SATELLITES(co->NumberOfGPSSat)
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| 278 | for(i = 0; i < co->NumberOfGPSSat; ++i)
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| 279 | {
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| 280 | T_GPS_SATELLITE_ID(co->Sat[i].ID)
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| 281 | T_HR_CLOCK_CORRECTION(co->Sat[i].hrclock)
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| 282 | }
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| 283 | ENDBLOCK
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| 284 | }
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| 285 | if(gpsur)
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| 286 | {
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| 287 | INITBLOCK
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| 288 | T_MESSAGE_NUMBER(COTYPE_GPSURA)
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| 289 | T_GPS_EPOCH_TIME(co->GPSEpochTime)
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[1841] | 290 | T_MULTIPLE_MESSAGE_INDICATOR(/*mmi ? 1 :*/0)
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[1697] | 291 | --mmi;
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| 292 | T_RESERVED5
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| 293 | T_NO_OF_SATELLITES(co->NumberOfGPSSat)
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| 294 | for(i = 0; i < co->NumberOfGPSSat; ++i)
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| 295 | {
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| 296 | T_GPS_SATELLITE_ID(co->Sat[i].ID)
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| 297 | T_SSR_URA(co->Sat[i].URA)
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| 298 | }
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| 299 | ENDBLOCK
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| 300 | }
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[862] | 301 | if(gloor)
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| 302 | {
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| 303 | INITBLOCK
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| 304 | T_MESSAGE_NUMBER(COTYPE_GLONASSORBIT)
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| 305 | T_GLONASS_EPOCH_TIME(co->GLONASSEpochTime)
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[1697] | 306 | T_SSR_UPDATE_INTERVAL(co->UpdateInterval)
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[1841] | 307 | T_MULTIPLE_MESSAGE_INDICATOR(/*mmi ? 1 :*/0)
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[862] | 308 | --mmi;
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[1697] | 309 | T_RESERVED5
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[862] | 310 | T_NO_OF_SATELLITES(co->NumberOfGLONASSSat)
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| 311 | for(i = CLOCKORBIT_NUMGPS;
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| 312 | i < CLOCKORBIT_NUMGPS+co->NumberOfGLONASSSat; ++i)
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| 313 | {
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| 314 | T_GLONASS_SATELLITE_ID(co->Sat[i].ID)
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| 315 | T_GLONASS_IOD(co->Sat[i].IOD)
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| 316 | T_DELTA_RADIAL(co->Sat[i].Orbit.DeltaRadial)
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| 317 | T_DELTA_ALONG_TRACK(co->Sat[i].Orbit.DeltaAlongTrack)
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| 318 | T_DELTA_CROSS_TRACK(co->Sat[i].Orbit.DeltaCrossTrack)
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| 319 | T_DELTA_DOT_RADIAL(co->Sat[i].Orbit.DotDeltaRadial)
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| 320 | T_DELTA_DOT_ALONG_TRACK(co->Sat[i].Orbit.DotDeltaAlongTrack)
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| 321 | T_DELTA_DOT_CROSS_TRACK(co->Sat[i].Orbit.DotDeltaCrossTrack)
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| 322 | T_DELTA_DOT_DOT_RADIAL(co->Sat[i].Orbit.DotDotDeltaRadial)
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| 323 | T_DELTA_DOT_DOT_ALONG_TRACK(co->Sat[i].Orbit.DotDotDeltaAlongTrack)
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| 324 | T_DELTA_DOT_DOT_CROSS_TRACK(co->Sat[i].Orbit.DotDotDeltaCrossTrack)
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| 325 | T_SATELLITE_REFERENCE_POINT(co->SatRefPoint)
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| 326 | T_SATELLITE_REFERENCE_DATUM(co->SatRefDatum)
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| 327 | }
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| 328 | ENDBLOCK
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| 329 | }
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| 330 | if(glocl)
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| 331 | {
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| 332 | INITBLOCK
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| 333 | T_MESSAGE_NUMBER(COTYPE_GLONASSCLOCK)
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| 334 | T_GLONASS_EPOCH_TIME(co->GLONASSEpochTime)
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[1697] | 335 | T_SSR_UPDATE_INTERVAL(co->UpdateInterval)
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[1841] | 336 | T_MULTIPLE_MESSAGE_INDICATOR(/*mmi ? 1 :*/0)
|
---|
[862] | 337 | --mmi;
|
---|
[1697] | 338 | T_RESERVED5
|
---|
[862] | 339 | T_NO_OF_SATELLITES(co->NumberOfGLONASSSat)
|
---|
| 340 | for(i = CLOCKORBIT_NUMGPS;
|
---|
| 341 | i < CLOCKORBIT_NUMGPS+co->NumberOfGLONASSSat; ++i)
|
---|
| 342 | {
|
---|
| 343 | T_GLONASS_SATELLITE_ID(co->Sat[i].ID)
|
---|
| 344 | T_GLONASS_IOD(co->Sat[i].IOD)
|
---|
[1697] | 345 | T_DELTA_CLOCK_C0(co->Sat[i].Clock.DeltaA0)
|
---|
| 346 | T_DELTA_CLOCK_C1(co->Sat[i].Clock.DeltaA1)
|
---|
| 347 | T_DELTA_CLOCK_C2(co->Sat[i].Clock.DeltaA2)
|
---|
[862] | 348 | }
|
---|
| 349 | ENDBLOCK
|
---|
| 350 | }
|
---|
| 351 | if(gloco)
|
---|
| 352 | {
|
---|
| 353 | INITBLOCK
|
---|
| 354 | T_MESSAGE_NUMBER(COTYPE_GLONASSCOMBINED)
|
---|
| 355 | T_GLONASS_EPOCH_TIME(co->GLONASSEpochTime)
|
---|
[1697] | 356 | T_SSR_UPDATE_INTERVAL(co->UpdateInterval)
|
---|
[1841] | 357 | T_MULTIPLE_MESSAGE_INDICATOR(/*mmi ? 1 :*/0)
|
---|
[862] | 358 | --mmi;
|
---|
[1697] | 359 | T_RESERVED5
|
---|
[862] | 360 | T_NO_OF_SATELLITES(co->NumberOfGLONASSSat)
|
---|
| 361 | for(i = CLOCKORBIT_NUMGPS;
|
---|
| 362 | i < CLOCKORBIT_NUMGPS+co->NumberOfGLONASSSat; ++i)
|
---|
| 363 | {
|
---|
| 364 | T_GLONASS_SATELLITE_ID(co->Sat[i].ID)
|
---|
| 365 | T_GLONASS_IOD(co->Sat[i].IOD)
|
---|
| 366 | T_DELTA_RADIAL(co->Sat[i].Orbit.DeltaRadial)
|
---|
| 367 | T_DELTA_ALONG_TRACK(co->Sat[i].Orbit.DeltaAlongTrack)
|
---|
| 368 | T_DELTA_CROSS_TRACK(co->Sat[i].Orbit.DeltaCrossTrack)
|
---|
| 369 | T_DELTA_DOT_RADIAL(co->Sat[i].Orbit.DotDeltaRadial)
|
---|
| 370 | T_DELTA_DOT_ALONG_TRACK(co->Sat[i].Orbit.DotDeltaAlongTrack)
|
---|
| 371 | T_DELTA_DOT_CROSS_TRACK(co->Sat[i].Orbit.DotDeltaCrossTrack)
|
---|
| 372 | T_DELTA_DOT_DOT_RADIAL(co->Sat[i].Orbit.DotDotDeltaRadial)
|
---|
| 373 | T_DELTA_DOT_DOT_ALONG_TRACK(co->Sat[i].Orbit.DotDotDeltaAlongTrack)
|
---|
| 374 | T_DELTA_DOT_DOT_CROSS_TRACK(co->Sat[i].Orbit.DotDotDeltaCrossTrack)
|
---|
| 375 | T_SATELLITE_REFERENCE_POINT(co->SatRefPoint)
|
---|
| 376 | T_SATELLITE_REFERENCE_DATUM(co->SatRefDatum)
|
---|
[1697] | 377 | T_DELTA_CLOCK_C0(co->Sat[i].Clock.DeltaA0)
|
---|
| 378 | T_DELTA_CLOCK_C1(co->Sat[i].Clock.DeltaA1)
|
---|
| 379 | T_DELTA_CLOCK_C2(co->Sat[i].Clock.DeltaA2)
|
---|
[862] | 380 | }
|
---|
| 381 | ENDBLOCK
|
---|
| 382 | }
|
---|
[1697] | 383 | if(glohr)
|
---|
| 384 | {
|
---|
| 385 | INITBLOCK
|
---|
| 386 | T_MESSAGE_NUMBER(COTYPE_GLONASSHR)
|
---|
| 387 | T_GLONASS_EPOCH_TIME(co->GLONASSEpochTime)
|
---|
| 388 | T_SSR_UPDATE_INTERVAL(co->UpdateInterval)
|
---|
[1841] | 389 | T_MULTIPLE_MESSAGE_INDICATOR(/*mmi ? 1 :*/0)
|
---|
[1697] | 390 | --mmi;
|
---|
| 391 | T_RESERVED5
|
---|
| 392 | T_NO_OF_SATELLITES(co->NumberOfGLONASSSat)
|
---|
| 393 | for(i = CLOCKORBIT_NUMGPS;
|
---|
| 394 | i < CLOCKORBIT_NUMGPS+co->NumberOfGLONASSSat; ++i)
|
---|
| 395 | {
|
---|
| 396 | T_GPS_SATELLITE_ID(co->Sat[i].ID)
|
---|
| 397 | T_HR_CLOCK_CORRECTION(co->Sat[i].hrclock)
|
---|
| 398 | }
|
---|
| 399 | ENDBLOCK
|
---|
| 400 | }
|
---|
| 401 | if(glour)
|
---|
| 402 | {
|
---|
| 403 | INITBLOCK
|
---|
| 404 | T_MESSAGE_NUMBER(COTYPE_GLONASSURA)
|
---|
| 405 | T_GLONASS_EPOCH_TIME(co->GLONASSEpochTime)
|
---|
[1841] | 406 | T_MULTIPLE_MESSAGE_INDICATOR(/*mmi ? 1 :*/0)
|
---|
[1697] | 407 | --mmi;
|
---|
| 408 | T_RESERVED5
|
---|
| 409 | T_NO_OF_SATELLITES(co->NumberOfGLONASSSat)
|
---|
| 410 | for(i = CLOCKORBIT_NUMGPS;
|
---|
| 411 | i < CLOCKORBIT_NUMGPS+co->NumberOfGLONASSSat; ++i)
|
---|
| 412 | {
|
---|
| 413 | T_GPS_SATELLITE_ID(co->Sat[i].ID)
|
---|
| 414 | T_SSR_URA(co->Sat[i].URA)
|
---|
| 415 | }
|
---|
| 416 | ENDBLOCK
|
---|
| 417 | }
|
---|
[862] | 418 |
|
---|
| 419 | return ressize;
|
---|
| 420 | }
|
---|
| 421 |
|
---|
| 422 | size_t MakeBias(const struct Bias *b, enum BiasType type,
|
---|
| 423 | int moremessagesfollow, char *buffer, size_t size)
|
---|
| 424 | {
|
---|
[1697] | 425 | int gps, glo, mmi, i, j;
|
---|
[1820] | 426 |
|
---|
[862] | 427 | STARTDATA
|
---|
| 428 |
|
---|
| 429 | if(b->NumberOfGPSSat && (type == BTYPE_AUTO || type == BTYPE_GPS))
|
---|
| 430 | gps = 1;
|
---|
| 431 | if(b->NumberOfGLONASSSat && (type == BTYPE_AUTO || type == BTYPE_GLONASS))
|
---|
| 432 | glo = 1;
|
---|
| 433 |
|
---|
| 434 | mmi = gps+glo; /* required for multimessage */
|
---|
| 435 | if(!moremessagesfollow) --mmi;
|
---|
| 436 |
|
---|
| 437 | if(gps)
|
---|
| 438 | {
|
---|
| 439 | INITBLOCK
|
---|
| 440 | T_MESSAGE_NUMBER(BTYPE_GPS)
|
---|
| 441 | T_GPS_EPOCH_TIME(b->GPSEpochTime)
|
---|
[1697] | 442 | T_SSR_UPDATE_INTERVAL(b->UpdateInterval)
|
---|
[1841] | 443 | T_MULTIPLE_MESSAGE_INDICATOR(/*mmi ? 1 :*/0)
|
---|
[862] | 444 | --mmi;
|
---|
[1697] | 445 | T_RESERVED5
|
---|
[862] | 446 | T_NO_OF_SATELLITES(b->NumberOfGPSSat)
|
---|
| 447 | for(i = 0; i < b->NumberOfGPSSat; ++i)
|
---|
| 448 | {
|
---|
| 449 | T_GPS_SATELLITE_ID(b->Sat[i].ID)
|
---|
| 450 | T_NO_OF_CODE_BIASES(b->Sat[i].NumberOfCodeBiases)
|
---|
| 451 | for(j = 0; j < b->Sat[i].NumberOfCodeBiases; ++j)
|
---|
| 452 | {
|
---|
[1697] | 453 | T_GPS_SIGNAL_IDENTIFIER(b->Sat[i].Biases[j].Type)
|
---|
[862] | 454 | T_CODE_BIAS(b->Sat[i].Biases[j].Bias)
|
---|
| 455 | }
|
---|
| 456 | }
|
---|
| 457 | ENDBLOCK
|
---|
| 458 | }
|
---|
| 459 | if(glo)
|
---|
| 460 | {
|
---|
| 461 | INITBLOCK
|
---|
| 462 | T_MESSAGE_NUMBER(BTYPE_GLONASS)
|
---|
| 463 | T_GPS_EPOCH_TIME(b->GLONASSEpochTime)
|
---|
[1697] | 464 | T_SSR_UPDATE_INTERVAL(b->UpdateInterval)
|
---|
[1841] | 465 | T_MULTIPLE_MESSAGE_INDICATOR(/*mmi ? 1 :*/0)
|
---|
[862] | 466 | --mmi;
|
---|
[1697] | 467 | T_RESERVED5
|
---|
[862] | 468 | T_NO_OF_SATELLITES(b->NumberOfGLONASSSat)
|
---|
| 469 | for(i = CLOCKORBIT_NUMGPS;
|
---|
| 470 | i < CLOCKORBIT_NUMGPS+b->NumberOfGLONASSSat; ++i)
|
---|
| 471 | {
|
---|
| 472 | T_GLONASS_SATELLITE_ID(b->Sat[i].ID)
|
---|
| 473 | T_NO_OF_CODE_BIASES(b->Sat[i].NumberOfCodeBiases)
|
---|
| 474 | for(j = 0; j < b->Sat[i].NumberOfCodeBiases; ++j)
|
---|
| 475 | {
|
---|
[1697] | 476 | T_GLONASS_SIGNAL_IDENTIFIER(b->Sat[i].Biases[j].Type)
|
---|
[862] | 477 | T_CODE_BIAS(b->Sat[i].Biases[j].Bias)
|
---|
| 478 | }
|
---|
| 479 | }
|
---|
| 480 | ENDBLOCK
|
---|
| 481 | }
|
---|
| 482 |
|
---|
| 483 | return ressize;
|
---|
| 484 | }
|
---|
[1697] | 485 |
|
---|
[862] | 486 | #endif /* NOENCODE */
|
---|
| 487 |
|
---|
| 488 | #ifndef NODECODE
|
---|
| 489 |
|
---|
| 490 | #define DECODESTART \
|
---|
| 491 | int numbits=0; \
|
---|
| 492 | uint64_t bitbuffer=0;
|
---|
| 493 |
|
---|
| 494 | #define LOADBITS(a) \
|
---|
| 495 | { \
|
---|
| 496 | while((a) > numbits) \
|
---|
| 497 | { \
|
---|
[1809] | 498 | if(!size--) return GCOBR_SHORTMESSAGE; \
|
---|
[862] | 499 | bitbuffer = (bitbuffer<<8)|((unsigned char)*(buffer++)); \
|
---|
| 500 | numbits += 8; \
|
---|
| 501 | } \
|
---|
| 502 | }
|
---|
| 503 |
|
---|
| 504 | /* extract bits from data stream
|
---|
| 505 | b = variable to store result, a = number of bits */
|
---|
| 506 | #define GETBITS(b, a) \
|
---|
| 507 | { \
|
---|
| 508 | LOADBITS(a) \
|
---|
| 509 | b = (bitbuffer<<(64-numbits))>>(64-(a)); \
|
---|
| 510 | numbits -= (a); \
|
---|
| 511 | }
|
---|
| 512 |
|
---|
| 513 | /* extract signed floating value from data stream
|
---|
| 514 | b = variable to store result, a = number of bits */
|
---|
| 515 | #define GETFLOATSIGN(b, a, c) \
|
---|
| 516 | { \
|
---|
| 517 | LOADBITS(a) \
|
---|
| 518 | b = ((double)(((int64_t)(bitbuffer<<(64-numbits)))>>(64-(a))))*(c); \
|
---|
| 519 | numbits -= (a); \
|
---|
| 520 | }
|
---|
| 521 |
|
---|
| 522 | #define SKIPBITS(b) { LOADBITS(b) numbits -= (b); }
|
---|
| 523 |
|
---|
| 524 | /* standard values */
|
---|
[878] | 525 | #define G_HEADER(a) GETBITS(a,8)
|
---|
| 526 | #define G_RESERVEDH(a) GETBITS(a,6)
|
---|
| 527 | #define G_SIZE(a) GETBITS(a, 10)
|
---|
[862] | 528 | #define G_MESSAGE_NUMBER(a) GETBITS(a, 12) /* DF002 */
|
---|
[1697] | 529 | #define G_RESERVED5 SKIPBITS(5) /* DF001 */
|
---|
[1841] | 530 | #define G_GPS_SATELLITE_ID(a) GETBITS(a, 6) /* DF068 */
|
---|
[862] | 531 | #define G_GPS_IODE(a) GETBITS(a, 8) /* DF071 */
|
---|
| 532 | #define G_GLONASS_IOD(a) GETBITS(a, 8) /* DF237 */
|
---|
| 533 |
|
---|
| 534 | /* defined values */
|
---|
[1697] | 535 | #define G_DELTA_RADIAL(a) GETFLOATSIGN(a, 22, 1/10000.0)
|
---|
[1809] | 536 | #define G_DELTA_ALONG_TRACK(a) GETFLOATSIGN(a, 20, 1/2500.0)
|
---|
| 537 | #define G_DELTA_CROSS_TRACK(a) GETFLOATSIGN(a, 20, 1/2500.0)
|
---|
[1697] | 538 | #define G_DELTA_DOT_RADIAL(a) GETFLOATSIGN(a, 21, 1/1000000.0)
|
---|
[1809] | 539 | #define G_DELTA_DOT_ALONG_TRACK(a) GETFLOATSIGN(a, 19, 1/250000.0)
|
---|
| 540 | #define G_DELTA_DOT_CROSS_TRACK(a) GETFLOATSIGN(a, 19, 1/250000.0)
|
---|
[1697] | 541 | #define G_DELTA_DOT_DOT_RADIAL(a) GETFLOATSIGN(a, 27, 1/50000000.0)
|
---|
[1809] | 542 | #define G_DELTA_DOT_DOT_ALONG_TRACK(a) GETFLOATSIGN(a, 25, 1/12500000.0)
|
---|
| 543 | #define G_DELTA_DOT_DOT_CROSS_TRACK(a) GETFLOATSIGN(a, 25, 1/12500000.0)
|
---|
[1697] | 544 | #define G_SATELLITE_REFERENCE_POINT(a) GETBITS(a, 1)
|
---|
| 545 |
|
---|
| 546 | #define G_SATELLITE_REFERENCE_DATUM(a) GETBITS(a, 1)
|
---|
| 547 | #define G_DELTA_CLOCK_C0(a) GETFLOATSIGN(a, 22, 1/10000.0)
|
---|
| 548 | #define G_DELTA_CLOCK_C1(a) GETFLOATSIGN(a, 21, 1/1000000.0)
|
---|
| 549 | #define G_DELTA_CLOCK_C2(a) GETFLOATSIGN(a, 27, 1/50000000.0)
|
---|
| 550 | #define G_NO_OF_CODE_BIASES(a) GETBITS(a, 5)
|
---|
| 551 | #define G_GPS_SIGNAL_IDENTIFIER(a) GETBITS(a, 5)
|
---|
| 552 | #define G_GLONASS_SIGNAL_IDENTIFIER(a) GETBITS(a, 5)
|
---|
| 553 | #define G_GALILEO_SIGNAL_IDENTIFIER(a) GETBITS(a, 5)
|
---|
| 554 | #define G_CODE_BIAS(a) GETFLOATSIGN(a, 14, 1/100.0)
|
---|
[1841] | 555 | #define G_GLONASS_SATELLITE_ID(a) GETBITS(a, 5)
|
---|
[1697] | 556 |
|
---|
[878] | 557 | #define G_GPS_EPOCH_TIME(a, b) {int temp; GETBITS(temp, 20) \
|
---|
| 558 | if(b && a != temp) return GCOBR_TIMEMISMATCH; a = temp;}
|
---|
| 559 | #define G_GLONASS_EPOCH_TIME(a, b) {int temp; GETBITS(temp, 17) \
|
---|
| 560 | if(b && a != temp) return GCOBR_TIMEMISMATCH; a = temp;}
|
---|
[1841] | 561 | #define G_NO_OF_SATELLITES(a) GETBITS(a, 6)
|
---|
[1697] | 562 | #define G_MULTIPLE_MESSAGE_INDICATOR(a) GETBITS(a, 1)
|
---|
| 563 | #define G_SSR_URA(a) GETBITS(a, 4)
|
---|
| 564 | #define G_HR_CLOCK_CORRECTION(a) GETFLOATSIGN(a, 22, 1/10000.0)
|
---|
| 565 | #define G_SSR_UPDATE_INTERVAL(a) GETBITS(a, 4)
|
---|
| 566 |
|
---|
[878] | 567 | enum GCOB_RETURN GetClockOrbitBias(struct ClockOrbit *co, struct Bias *b,
|
---|
| 568 | const char *buffer, size_t size, int *bytesused)
|
---|
[862] | 569 | {
|
---|
[1841] | 570 | int type, mmi=0, i, j, h, rs, nums, pos, id;
|
---|
[1820] | 571 | size_t sizeofrtcmblock;
|
---|
[878] | 572 | const char *blockstart = buffer;
|
---|
[862] | 573 | DECODESTART
|
---|
| 574 |
|
---|
[878] | 575 | if(size < 7)
|
---|
| 576 | return GCOBR_SHORTBUFFER;
|
---|
| 577 |
|
---|
[1843] | 578 | #ifdef DEBUG
|
---|
| 579 | fprintf(stderr, "GetClockOrbitBias START: size %d, numbits %d\n",size, numbits);
|
---|
| 580 | #endif
|
---|
| 581 |
|
---|
[878] | 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) !=
|
---|
[1820] | 591 | (uint32_t)((((unsigned char)buffer[sizeofrtcmblock])<<16)|
|
---|
[878] | 592 | (((unsigned char)buffer[sizeofrtcmblock+1])<<8)|
|
---|
| 593 | (((unsigned char)buffer[sizeofrtcmblock+2]))))
|
---|
| 594 | return GCOBR_CRCMISMATCH;
|
---|
[1809] | 595 | size = sizeofrtcmblock; /* reduce size, so overflows are detected */
|
---|
[878] | 596 |
|
---|
[862] | 597 | G_MESSAGE_NUMBER(type)
|
---|
[1809] | 598 | #ifdef DEBUG
|
---|
| 599 | fprintf(stderr, "type %d size %d\n",type,sizeofrtcmblock);
|
---|
| 600 | #endif
|
---|
[862] | 601 | switch(type)
|
---|
| 602 | {
|
---|
| 603 | case COTYPE_GPSORBIT:
|
---|
[878] | 604 | if(!co) return GCOBR_NOCLOCKORBITPARAMETER;
|
---|
[1864] | 605 | co->messageType = COTYPE_GPSORBIT;
|
---|
[878] | 606 | G_GPS_EPOCH_TIME(co->GPSEpochTime, co->NumberOfGPSSat)
|
---|
[1205] | 607 | co->epochGPS[co->epochSize] = co->GPSEpochTime; /* Weber, for latency */
|
---|
| 608 | if(co->epochSize < 100) {co->epochSize += 1;} /* Weber, for latency */
|
---|
[1697] | 609 | G_SSR_UPDATE_INTERVAL(co->UpdateInterval)
|
---|
[862] | 610 | G_MULTIPLE_MESSAGE_INDICATOR(mmi)
|
---|
[1697] | 611 | G_RESERVED5
|
---|
[1841] | 612 | G_NO_OF_SATELLITES(nums)
|
---|
[1831] | 613 | co->OrbitDataSupplied |= 1;
|
---|
[1809] | 614 | #ifdef DEBUG
|
---|
[1843] | 615 | fprintf(stderr, "epochtime %d ui %d mmi %d sats %d/%d\n",co->GPSEpochTime,
|
---|
| 616 | co->UpdateInterval,mmi,co->NumberOfGPSSat,nums);
|
---|
[1809] | 617 | #endif
|
---|
[1841] | 618 | for(i = 0; i < nums; ++i)
|
---|
[862] | 619 | {
|
---|
[1841] | 620 | G_GPS_SATELLITE_ID(id)
|
---|
| 621 | for(pos = 0; pos < co->NumberOfGPSSat && co->Sat[pos].ID != id; ++pos)
|
---|
| 622 | ;
|
---|
| 623 | if(pos >= CLOCKORBIT_NUMGPS) return GCOBR_DATAMISMATCH;
|
---|
| 624 | else if(pos == co->NumberOfGPSSat) ++co->NumberOfGPSSat;
|
---|
| 625 | co->Sat[pos].ID = id;
|
---|
| 626 |
|
---|
| 627 | G_GPS_IODE(co->Sat[pos].IOD)
|
---|
| 628 | G_DELTA_RADIAL(co->Sat[pos].Orbit.DeltaRadial)
|
---|
| 629 | G_DELTA_ALONG_TRACK(co->Sat[pos].Orbit.DeltaAlongTrack)
|
---|
| 630 | G_DELTA_CROSS_TRACK(co->Sat[pos].Orbit.DeltaCrossTrack)
|
---|
| 631 | G_DELTA_DOT_RADIAL(co->Sat[pos].Orbit.DotDeltaRadial)
|
---|
| 632 | G_DELTA_DOT_ALONG_TRACK(co->Sat[pos].Orbit.DotDeltaAlongTrack)
|
---|
| 633 | G_DELTA_DOT_CROSS_TRACK(co->Sat[pos].Orbit.DotDeltaCrossTrack)
|
---|
| 634 | G_DELTA_DOT_DOT_RADIAL(co->Sat[pos].Orbit.DotDotDeltaRadial)
|
---|
| 635 | G_DELTA_DOT_DOT_ALONG_TRACK(co->Sat[pos].Orbit.DotDotDeltaAlongTrack)
|
---|
| 636 | G_DELTA_DOT_DOT_CROSS_TRACK(co->Sat[pos].Orbit.DotDotDeltaCrossTrack)
|
---|
[862] | 637 | G_SATELLITE_REFERENCE_POINT(co->SatRefPoint)
|
---|
| 638 | G_SATELLITE_REFERENCE_DATUM(co->SatRefDatum)
|
---|
[1809] | 639 | #ifdef DEBUG
|
---|
| 640 | fprintf(stderr, "id %2d iod %3d dr %8.3f da %8.3f dc %8.3f dr %8.3f da %8.3f dc %8.3f dr %8.3f da %8.3f dc %8.3f rp %d rd %d\n",
|
---|
[1841] | 641 | co->Sat[pos].ID,co->Sat[pos].IOD,co->Sat[pos].Orbit.DeltaRadial,
|
---|
| 642 | co->Sat[pos].Orbit.DeltaAlongTrack,co->Sat[pos].Orbit.DeltaCrossTrack,
|
---|
| 643 | co->Sat[pos].Orbit.DotDeltaRadial,
|
---|
| 644 | co->Sat[pos].Orbit.DotDeltaAlongTrack,
|
---|
| 645 | co->Sat[pos].Orbit.DotDeltaCrossTrack,
|
---|
| 646 | co->Sat[pos].Orbit.DotDotDeltaRadial,
|
---|
| 647 | co->Sat[pos].Orbit.DotDotDeltaAlongTrack,
|
---|
| 648 | co->Sat[pos].Orbit.DotDotDeltaCrossTrack,
|
---|
[1809] | 649 | co->SatRefPoint,
|
---|
| 650 | co->SatRefDatum);
|
---|
| 651 | #endif
|
---|
[862] | 652 | }
|
---|
| 653 | break;
|
---|
| 654 | case COTYPE_GPSCLOCK:
|
---|
[878] | 655 | if(!co) return GCOBR_NOCLOCKORBITPARAMETER;
|
---|
[1864] | 656 | co->messageType = COTYPE_GPSCLOCK;
|
---|
[878] | 657 | G_GPS_EPOCH_TIME(co->GPSEpochTime, co->NumberOfGPSSat)
|
---|
[1205] | 658 | co->epochGPS[co->epochSize] = co->GPSEpochTime; /* Weber, for latency */
|
---|
| 659 | if(co->epochSize < 100) {co->epochSize += 1;} /* Weber, for latency */
|
---|
[1697] | 660 | G_SSR_UPDATE_INTERVAL(co->UpdateInterval)
|
---|
[862] | 661 | G_MULTIPLE_MESSAGE_INDICATOR(mmi)
|
---|
[1697] | 662 | G_RESERVED5
|
---|
[1841] | 663 | G_NO_OF_SATELLITES(nums)
|
---|
[1831] | 664 | co->ClockDataSupplied |= 1;
|
---|
[1843] | 665 | #ifdef DEBUG
|
---|
| 666 | fprintf(stderr, "epochtime %d ui %d mmi %d sats %d/%d\n",co->GPSEpochTime,
|
---|
| 667 | co->UpdateInterval,mmi,co->NumberOfGPSSat,nums);
|
---|
| 668 | #endif
|
---|
[1841] | 669 | for(i = 0; i < nums; ++i)
|
---|
[862] | 670 | {
|
---|
[1841] | 671 | G_GPS_SATELLITE_ID(id)
|
---|
| 672 | for(pos = 0; pos < co->NumberOfGPSSat && co->Sat[pos].ID != id; ++pos)
|
---|
| 673 | ;
|
---|
| 674 | if(pos >= CLOCKORBIT_NUMGPS) return GCOBR_DATAMISMATCH;
|
---|
| 675 | else if(pos == co->NumberOfGPSSat) ++co->NumberOfGPSSat;
|
---|
| 676 | co->Sat[pos].ID = id;
|
---|
| 677 |
|
---|
| 678 | G_DELTA_CLOCK_C0(co->Sat[pos].Clock.DeltaA0)
|
---|
| 679 | G_DELTA_CLOCK_C1(co->Sat[pos].Clock.DeltaA1)
|
---|
| 680 | G_DELTA_CLOCK_C2(co->Sat[pos].Clock.DeltaA2)
|
---|
[1843] | 681 | #ifdef DEBUG
|
---|
| 682 | fprintf(stderr, "id %2d c0 %8.3f c1 %8.3f c2 %8.3f\n",
|
---|
| 683 | co->Sat[pos].ID, co->Sat[pos].Clock.DeltaA0, co->Sat[pos].Clock.DeltaA1,
|
---|
| 684 | co->Sat[pos].Clock.DeltaA2);
|
---|
| 685 | #endif
|
---|
[862] | 686 | }
|
---|
| 687 | break;
|
---|
| 688 | case COTYPE_GPSCOMBINED:
|
---|
| 689 | if(!co) return -5;
|
---|
[1864] | 690 | co->messageType = COTYPE_GPSCOMBINED;
|
---|
[878] | 691 | G_GPS_EPOCH_TIME(co->GPSEpochTime, co->NumberOfGPSSat)
|
---|
[1205] | 692 | co->epochGPS[co->epochSize] = co->GPSEpochTime; /* Weber, for latency */
|
---|
| 693 | if(co->epochSize < 100) {co->epochSize += 1;} /* Weber, for latency */
|
---|
[1697] | 694 | G_SSR_UPDATE_INTERVAL(co->UpdateInterval)
|
---|
[862] | 695 | G_MULTIPLE_MESSAGE_INDICATOR(mmi)
|
---|
[1697] | 696 | G_RESERVED5
|
---|
[1841] | 697 | G_NO_OF_SATELLITES(nums)
|
---|
[1831] | 698 | co->OrbitDataSupplied |= 1;
|
---|
| 699 | co->ClockDataSupplied |= 1;
|
---|
[1841] | 700 | for(i = 0; i < nums; ++i)
|
---|
[862] | 701 | {
|
---|
[1841] | 702 | G_GPS_SATELLITE_ID(id)
|
---|
| 703 | for(pos = 0; pos < co->NumberOfGPSSat && co->Sat[pos].ID != id; ++pos)
|
---|
| 704 | ;
|
---|
| 705 | if(pos >= CLOCKORBIT_NUMGPS) return GCOBR_DATAMISMATCH;
|
---|
| 706 | else if(pos == co->NumberOfGPSSat) ++co->NumberOfGPSSat;
|
---|
| 707 | co->Sat[pos].ID = id;
|
---|
| 708 |
|
---|
| 709 | G_GPS_IODE(co->Sat[pos].IOD)
|
---|
| 710 | G_DELTA_RADIAL(co->Sat[pos].Orbit.DeltaRadial)
|
---|
| 711 | G_DELTA_ALONG_TRACK(co->Sat[pos].Orbit.DeltaAlongTrack)
|
---|
| 712 | G_DELTA_CROSS_TRACK(co->Sat[pos].Orbit.DeltaCrossTrack)
|
---|
| 713 | G_DELTA_DOT_RADIAL(co->Sat[pos].Orbit.DotDeltaRadial)
|
---|
| 714 | G_DELTA_DOT_ALONG_TRACK(co->Sat[pos].Orbit.DotDeltaAlongTrack)
|
---|
| 715 | G_DELTA_DOT_CROSS_TRACK(co->Sat[pos].Orbit.DotDeltaCrossTrack)
|
---|
| 716 | G_DELTA_DOT_DOT_RADIAL(co->Sat[pos].Orbit.DotDotDeltaRadial)
|
---|
| 717 | G_DELTA_DOT_DOT_ALONG_TRACK(co->Sat[pos].Orbit.DotDotDeltaAlongTrack)
|
---|
| 718 | G_DELTA_DOT_DOT_CROSS_TRACK(co->Sat[pos].Orbit.DotDotDeltaCrossTrack)
|
---|
[862] | 719 | G_SATELLITE_REFERENCE_POINT(co->SatRefPoint)
|
---|
| 720 | G_SATELLITE_REFERENCE_DATUM(co->SatRefDatum)
|
---|
[1841] | 721 | G_DELTA_CLOCK_C0(co->Sat[pos].Clock.DeltaA0)
|
---|
| 722 | G_DELTA_CLOCK_C1(co->Sat[pos].Clock.DeltaA1)
|
---|
| 723 | G_DELTA_CLOCK_C2(co->Sat[pos].Clock.DeltaA2)
|
---|
[862] | 724 | }
|
---|
| 725 | break;
|
---|
[1697] | 726 | case COTYPE_GPSURA:
|
---|
| 727 | if(!co) return GCOBR_NOCLOCKORBITPARAMETER;
|
---|
[1864] | 728 | co->messageType = COTYPE_GPSURA;
|
---|
[1697] | 729 | G_GPS_EPOCH_TIME(co->GPSEpochTime, co->NumberOfGPSSat)
|
---|
| 730 | co->epochGPS[co->epochSize] = co->GPSEpochTime; /* Weber, for latency */
|
---|
| 731 | if(co->epochSize < 100) {co->epochSize += 1;} /* Weber, for latency */
|
---|
| 732 | G_MULTIPLE_MESSAGE_INDICATOR(mmi)
|
---|
| 733 | G_RESERVED5
|
---|
[1841] | 734 | G_NO_OF_SATELLITES(nums)
|
---|
[1831] | 735 | co->URADataSupplied |= 1;
|
---|
[1841] | 736 | for(i = 0; i < nums; ++i)
|
---|
[1697] | 737 | {
|
---|
[1841] | 738 | G_GPS_SATELLITE_ID(id)
|
---|
| 739 | for(pos = 0; pos < co->NumberOfGPSSat && co->Sat[pos].ID != id; ++pos)
|
---|
| 740 | ;
|
---|
| 741 | if(pos >= CLOCKORBIT_NUMGPS) return GCOBR_DATAMISMATCH;
|
---|
| 742 | else if(pos == co->NumberOfGPSSat) ++co->NumberOfGPSSat;
|
---|
| 743 | co->Sat[pos].ID = id;
|
---|
| 744 |
|
---|
| 745 | G_SSR_URA(co->Sat[pos].URA)
|
---|
[1697] | 746 | }
|
---|
| 747 | break;
|
---|
| 748 | case COTYPE_GPSHR:
|
---|
| 749 | if(!co) return GCOBR_NOCLOCKORBITPARAMETER;
|
---|
[1864] | 750 | co->messageType = COTYPE_GPSHR;
|
---|
[1697] | 751 | G_GPS_EPOCH_TIME(co->GPSEpochTime, co->NumberOfGPSSat)
|
---|
| 752 | co->epochGPS[co->epochSize] = co->GPSEpochTime; /* Weber, for latency */
|
---|
| 753 | if(co->epochSize < 100) {co->epochSize += 1;} /* Weber, for latency */
|
---|
| 754 | G_SSR_UPDATE_INTERVAL(co->UpdateInterval)
|
---|
| 755 | G_MULTIPLE_MESSAGE_INDICATOR(mmi)
|
---|
| 756 | G_RESERVED5
|
---|
[1841] | 757 | G_NO_OF_SATELLITES(nums)
|
---|
[1831] | 758 | co->HRDataSupplied |= 1;
|
---|
[1841] | 759 | for(i = 0; i < nums; ++i)
|
---|
[1697] | 760 | {
|
---|
[1841] | 761 | G_GPS_SATELLITE_ID(id)
|
---|
| 762 | for(pos = 0; pos < co->NumberOfGPSSat && co->Sat[pos].ID != id; ++pos)
|
---|
| 763 | ;
|
---|
| 764 | if(pos >= CLOCKORBIT_NUMGPS) return GCOBR_DATAMISMATCH;
|
---|
| 765 | else if(pos == co->NumberOfGPSSat) ++co->NumberOfGPSSat;
|
---|
| 766 | co->Sat[pos].ID = id;
|
---|
| 767 |
|
---|
| 768 | G_HR_CLOCK_CORRECTION(co->Sat[pos].hrclock)
|
---|
[1697] | 769 | }
|
---|
| 770 | break;
|
---|
[862] | 771 | case COTYPE_GLONASSORBIT:
|
---|
[878] | 772 | if(!co) return GCOBR_NOCLOCKORBITPARAMETER;
|
---|
[1864] | 773 | co->messageType = COTYPE_GLONASSORBIT;
|
---|
[878] | 774 | G_GLONASS_EPOCH_TIME(co->GLONASSEpochTime, co->NumberOfGLONASSSat)
|
---|
[1697] | 775 | G_SSR_UPDATE_INTERVAL(co->UpdateInterval)
|
---|
[862] | 776 | G_MULTIPLE_MESSAGE_INDICATOR(mmi)
|
---|
[1697] | 777 | G_RESERVED5
|
---|
[1841] | 778 | G_NO_OF_SATELLITES(nums)
|
---|
[1831] | 779 | co->OrbitDataSupplied |= 2;
|
---|
[1843] | 780 | #ifdef DEBUG
|
---|
| 781 | fprintf(stderr, "epochtime %d ui %d mmi %d sats %d/%d\n",co->GLONASSEpochTime,
|
---|
| 782 | co->UpdateInterval,mmi,co->NumberOfGLONASSSat,nums);
|
---|
| 783 | #endif
|
---|
[1841] | 784 | for(i = 0; i < nums; ++i)
|
---|
[862] | 785 | {
|
---|
[1841] | 786 | G_GLONASS_SATELLITE_ID(id)
|
---|
[1843] | 787 | for(pos = CLOCKORBIT_NUMGPS; pos < CLOCKORBIT_NUMGPS+co->NumberOfGLONASSSat && co->Sat[pos].ID != id; ++pos)
|
---|
[1841] | 788 | ;
|
---|
| 789 | if(pos >= CLOCKORBIT_NUMGPS+CLOCKORBIT_NUMGLONASS) return GCOBR_DATAMISMATCH;
|
---|
[1843] | 790 | else if(pos == CLOCKORBIT_NUMGPS+co->NumberOfGLONASSSat) ++co->NumberOfGLONASSSat;
|
---|
[1841] | 791 | co->Sat[pos].ID = id;
|
---|
| 792 |
|
---|
| 793 | G_GLONASS_IOD(co->Sat[pos].IOD)
|
---|
| 794 | G_DELTA_RADIAL(co->Sat[pos].Orbit.DeltaRadial)
|
---|
| 795 | G_DELTA_ALONG_TRACK(co->Sat[pos].Orbit.DeltaAlongTrack)
|
---|
| 796 | G_DELTA_CROSS_TRACK(co->Sat[pos].Orbit.DeltaCrossTrack)
|
---|
| 797 | G_DELTA_DOT_RADIAL(co->Sat[pos].Orbit.DotDeltaRadial)
|
---|
| 798 | G_DELTA_DOT_ALONG_TRACK(co->Sat[pos].Orbit.DotDeltaAlongTrack)
|
---|
| 799 | G_DELTA_DOT_CROSS_TRACK(co->Sat[pos].Orbit.DotDeltaCrossTrack)
|
---|
| 800 | G_DELTA_DOT_DOT_RADIAL(co->Sat[pos].Orbit.DotDotDeltaRadial)
|
---|
| 801 | G_DELTA_DOT_DOT_ALONG_TRACK(co->Sat[pos].Orbit.DotDotDeltaAlongTrack)
|
---|
| 802 | G_DELTA_DOT_DOT_CROSS_TRACK(co->Sat[pos].Orbit.DotDotDeltaCrossTrack)
|
---|
[862] | 803 | G_SATELLITE_REFERENCE_POINT(co->SatRefPoint)
|
---|
| 804 | G_SATELLITE_REFERENCE_DATUM(co->SatRefDatum)
|
---|
[1843] | 805 | #ifdef DEBUG
|
---|
| 806 | fprintf(stderr, "id %2d iod %3d dr %8.3f da %8.3f dc %8.3f dr %8.3f da %8.3f dc %8.3f dr %8.3f da %8.3f dc %8.3f rp %d rd %d\n",
|
---|
| 807 | co->Sat[pos].ID,co->Sat[pos].IOD,co->Sat[pos].Orbit.DeltaRadial,
|
---|
| 808 | co->Sat[pos].Orbit.DeltaAlongTrack,co->Sat[pos].Orbit.DeltaCrossTrack,
|
---|
| 809 | co->Sat[pos].Orbit.DotDeltaRadial,
|
---|
| 810 | co->Sat[pos].Orbit.DotDeltaAlongTrack,
|
---|
| 811 | co->Sat[pos].Orbit.DotDeltaCrossTrack,
|
---|
| 812 | co->Sat[pos].Orbit.DotDotDeltaRadial,
|
---|
| 813 | co->Sat[pos].Orbit.DotDotDeltaAlongTrack,
|
---|
| 814 | co->Sat[pos].Orbit.DotDotDeltaCrossTrack,
|
---|
| 815 | co->SatRefPoint,
|
---|
| 816 | co->SatRefDatum);
|
---|
| 817 | #endif
|
---|
[862] | 818 | }
|
---|
| 819 | break;
|
---|
| 820 | case COTYPE_GLONASSCLOCK:
|
---|
[878] | 821 | if(!co) return GCOBR_NOCLOCKORBITPARAMETER;
|
---|
[1864] | 822 | co->messageType = COTYPE_GLONASSCLOCK;
|
---|
[878] | 823 | G_GLONASS_EPOCH_TIME(co->GLONASSEpochTime, co->NumberOfGLONASSSat)
|
---|
[1697] | 824 | G_SSR_UPDATE_INTERVAL(co->UpdateInterval)
|
---|
[862] | 825 | G_MULTIPLE_MESSAGE_INDICATOR(mmi)
|
---|
[1697] | 826 | G_RESERVED5
|
---|
[1841] | 827 | G_NO_OF_SATELLITES(nums)
|
---|
[1831] | 828 | co->ClockDataSupplied |= 2;
|
---|
[1843] | 829 | #ifdef DEBUG
|
---|
| 830 | fprintf(stderr, "epochtime %d ui %d mmi %d sats %d/%d\n",co->GLONASSEpochTime,
|
---|
| 831 | co->UpdateInterval,mmi,co->NumberOfGLONASSSat,nums);
|
---|
| 832 | #endif
|
---|
[1841] | 833 | for(i = 0; i < nums; ++i)
|
---|
[862] | 834 | {
|
---|
[1841] | 835 | G_GLONASS_SATELLITE_ID(id)
|
---|
[1843] | 836 | for(pos = CLOCKORBIT_NUMGPS; pos < CLOCKORBIT_NUMGPS+co->NumberOfGLONASSSat && co->Sat[pos].ID != id; ++pos)
|
---|
[1841] | 837 | ;
|
---|
| 838 | if(pos >= CLOCKORBIT_NUMGPS+CLOCKORBIT_NUMGLONASS) return GCOBR_DATAMISMATCH;
|
---|
[1843] | 839 | else if(pos == CLOCKORBIT_NUMGPS+co->NumberOfGLONASSSat) ++co->NumberOfGLONASSSat;
|
---|
[1841] | 840 | co->Sat[pos].ID = id;
|
---|
| 841 |
|
---|
| 842 | G_DELTA_CLOCK_C0(co->Sat[pos].Clock.DeltaA0)
|
---|
| 843 | G_DELTA_CLOCK_C1(co->Sat[pos].Clock.DeltaA1)
|
---|
| 844 | G_DELTA_CLOCK_C2(co->Sat[pos].Clock.DeltaA2)
|
---|
[1843] | 845 | #ifdef DEBUG
|
---|
| 846 | fprintf(stderr, "id %2d c0 %8.3f c1 %8.3f c2 %8.3f\n",
|
---|
| 847 | co->Sat[pos].ID, co->Sat[pos].Clock.DeltaA0, co->Sat[pos].Clock.DeltaA1,
|
---|
| 848 | co->Sat[pos].Clock.DeltaA2);
|
---|
| 849 | #endif
|
---|
[862] | 850 | }
|
---|
| 851 | break;
|
---|
| 852 | case COTYPE_GLONASSCOMBINED:
|
---|
[878] | 853 | if(!co) return GCOBR_NOCLOCKORBITPARAMETER;
|
---|
[1864] | 854 | co->messageType = COTYPE_GLONASSCOMBINED;
|
---|
[878] | 855 | G_GLONASS_EPOCH_TIME(co->GLONASSEpochTime, co->NumberOfGLONASSSat)
|
---|
[1697] | 856 | G_SSR_UPDATE_INTERVAL(co->UpdateInterval)
|
---|
[862] | 857 | G_MULTIPLE_MESSAGE_INDICATOR(mmi)
|
---|
[1697] | 858 | G_RESERVED5
|
---|
[1841] | 859 | G_NO_OF_SATELLITES(nums)
|
---|
[1831] | 860 | co->OrbitDataSupplied |= 2;
|
---|
| 861 | co->ClockDataSupplied |= 2;
|
---|
[1841] | 862 | for(i = 0; i < nums; ++i)
|
---|
[862] | 863 | {
|
---|
[1841] | 864 | G_GLONASS_SATELLITE_ID(id)
|
---|
[1843] | 865 | for(pos = CLOCKORBIT_NUMGPS; pos < CLOCKORBIT_NUMGPS+co->NumberOfGLONASSSat && co->Sat[pos].ID != id; ++pos)
|
---|
[1841] | 866 | ;
|
---|
| 867 | if(pos >= CLOCKORBIT_NUMGPS+CLOCKORBIT_NUMGLONASS) return GCOBR_DATAMISMATCH;
|
---|
[1843] | 868 | else if(pos == CLOCKORBIT_NUMGPS+co->NumberOfGLONASSSat) ++co->NumberOfGLONASSSat;
|
---|
[1841] | 869 | co->Sat[pos].ID = id;
|
---|
| 870 |
|
---|
| 871 | G_GLONASS_IOD(co->Sat[pos].IOD)
|
---|
| 872 | G_DELTA_RADIAL(co->Sat[pos].Orbit.DeltaRadial)
|
---|
| 873 | G_DELTA_ALONG_TRACK(co->Sat[pos].Orbit.DeltaAlongTrack)
|
---|
| 874 | G_DELTA_CROSS_TRACK(co->Sat[pos].Orbit.DeltaCrossTrack)
|
---|
| 875 | G_DELTA_DOT_RADIAL(co->Sat[pos].Orbit.DotDeltaRadial)
|
---|
| 876 | G_DELTA_DOT_ALONG_TRACK(co->Sat[pos].Orbit.DotDeltaAlongTrack)
|
---|
| 877 | G_DELTA_DOT_CROSS_TRACK(co->Sat[pos].Orbit.DotDeltaCrossTrack)
|
---|
| 878 | G_DELTA_DOT_DOT_RADIAL(co->Sat[pos].Orbit.DotDotDeltaRadial)
|
---|
| 879 | G_DELTA_DOT_DOT_ALONG_TRACK(co->Sat[pos].Orbit.DotDotDeltaAlongTrack)
|
---|
| 880 | G_DELTA_DOT_DOT_CROSS_TRACK(co->Sat[pos].Orbit.DotDotDeltaCrossTrack)
|
---|
[862] | 881 | G_SATELLITE_REFERENCE_POINT(co->SatRefPoint)
|
---|
| 882 | G_SATELLITE_REFERENCE_DATUM(co->SatRefDatum)
|
---|
[1841] | 883 | G_DELTA_CLOCK_C0(co->Sat[pos].Clock.DeltaA0)
|
---|
| 884 | G_DELTA_CLOCK_C1(co->Sat[pos].Clock.DeltaA1)
|
---|
| 885 | G_DELTA_CLOCK_C2(co->Sat[pos].Clock.DeltaA2)
|
---|
[862] | 886 | }
|
---|
| 887 | break;
|
---|
[1697] | 888 | case COTYPE_GLONASSURA:
|
---|
| 889 | if(!co) return GCOBR_NOCLOCKORBITPARAMETER;
|
---|
[1864] | 890 | co->messageType = COTYPE_GLONASSURA;
|
---|
[1697] | 891 | G_GLONASS_EPOCH_TIME(co->GLONASSEpochTime, co->NumberOfGLONASSSat)
|
---|
| 892 | G_MULTIPLE_MESSAGE_INDICATOR(mmi)
|
---|
| 893 | G_RESERVED5
|
---|
[1841] | 894 | G_NO_OF_SATELLITES(nums)
|
---|
[1831] | 895 | co->URADataSupplied |= 2;
|
---|
[1841] | 896 | for(i = 0; i < nums; ++i)
|
---|
[1697] | 897 | {
|
---|
[1841] | 898 | G_GLONASS_SATELLITE_ID(id)
|
---|
[1843] | 899 | for(pos = CLOCKORBIT_NUMGPS; pos < CLOCKORBIT_NUMGPS+co->NumberOfGLONASSSat && co->Sat[pos].ID != id; ++pos)
|
---|
[1841] | 900 | ;
|
---|
| 901 | if(pos >= CLOCKORBIT_NUMGPS+CLOCKORBIT_NUMGLONASS) return GCOBR_DATAMISMATCH;
|
---|
[1843] | 902 | else if(pos == CLOCKORBIT_NUMGPS+co->NumberOfGLONASSSat) ++co->NumberOfGLONASSSat;
|
---|
[1841] | 903 | co->Sat[pos].ID = id;
|
---|
| 904 |
|
---|
| 905 | G_SSR_URA(co->Sat[pos].URA)
|
---|
[1697] | 906 | }
|
---|
| 907 | break;
|
---|
| 908 | case COTYPE_GLONASSHR:
|
---|
| 909 | if(!co) return GCOBR_NOCLOCKORBITPARAMETER;
|
---|
[1864] | 910 | co->messageType = COTYPE_GLONASSHR;
|
---|
[1697] | 911 | G_GLONASS_EPOCH_TIME(co->GLONASSEpochTime, co->NumberOfGLONASSSat)
|
---|
| 912 | G_SSR_UPDATE_INTERVAL(co->UpdateInterval)
|
---|
| 913 | G_MULTIPLE_MESSAGE_INDICATOR(mmi)
|
---|
| 914 | G_RESERVED5
|
---|
[1841] | 915 | G_NO_OF_SATELLITES(nums)
|
---|
[1831] | 916 | co->HRDataSupplied |= 2;
|
---|
[1841] | 917 | for(i = 0; i < nums; ++i)
|
---|
[1697] | 918 | {
|
---|
[1841] | 919 | G_GLONASS_SATELLITE_ID(id)
|
---|
[1843] | 920 | for(pos = CLOCKORBIT_NUMGPS; pos < CLOCKORBIT_NUMGPS+co->NumberOfGLONASSSat && co->Sat[pos].ID != id; ++pos)
|
---|
[1841] | 921 | ;
|
---|
| 922 | if(pos >= CLOCKORBIT_NUMGPS+CLOCKORBIT_NUMGLONASS) return GCOBR_DATAMISMATCH;
|
---|
[1843] | 923 | else if(pos == CLOCKORBIT_NUMGPS+co->NumberOfGLONASSSat) ++co->NumberOfGLONASSSat;
|
---|
[1841] | 924 | co->Sat[pos].ID = id;
|
---|
| 925 |
|
---|
| 926 | G_HR_CLOCK_CORRECTION(co->Sat[pos].hrclock)
|
---|
[1697] | 927 | }
|
---|
| 928 | break;
|
---|
[862] | 929 | case BTYPE_GPS:
|
---|
[878] | 930 | if(!b) return GCOBR_NOBIASPARAMETER;
|
---|
[1864] | 931 | b->messageType = BTYPE_GPS;
|
---|
[1843] | 932 | G_GPS_EPOCH_TIME(b->GPSEpochTime, b->NumberOfGPSSat)
|
---|
| 933 | G_SSR_UPDATE_INTERVAL(b->UpdateInterval)
|
---|
[862] | 934 | G_MULTIPLE_MESSAGE_INDICATOR(mmi)
|
---|
[1697] | 935 | G_RESERVED5
|
---|
[1841] | 936 | G_NO_OF_SATELLITES(nums)
|
---|
| 937 | for(i = 0; i < nums; ++i)
|
---|
[862] | 938 | {
|
---|
[1841] | 939 | G_GPS_SATELLITE_ID(id)
|
---|
[1843] | 940 | for(pos = 0; pos < b->NumberOfGPSSat && b->Sat[pos].ID != id; ++pos)
|
---|
[1841] | 941 | ;
|
---|
| 942 | if(pos >= CLOCKORBIT_NUMGPS) return GCOBR_DATAMISMATCH;
|
---|
[1843] | 943 | else if(pos == b->NumberOfGPSSat) ++b->NumberOfGPSSat;
|
---|
| 944 | b->Sat[pos].ID = id;
|
---|
[1841] | 945 |
|
---|
| 946 | G_NO_OF_CODE_BIASES(b->Sat[pos].NumberOfCodeBiases)
|
---|
| 947 | for(j = 0; j < b->Sat[pos].NumberOfCodeBiases; ++j)
|
---|
[862] | 948 | {
|
---|
[1841] | 949 | G_GPS_SIGNAL_IDENTIFIER(b->Sat[pos].Biases[j].Type)
|
---|
| 950 | G_CODE_BIAS(b->Sat[pos].Biases[j].Bias)
|
---|
[862] | 951 | }
|
---|
| 952 | }
|
---|
| 953 | break;
|
---|
| 954 | case BTYPE_GLONASS:
|
---|
[878] | 955 | if(!b) return GCOBR_NOBIASPARAMETER;
|
---|
[1864] | 956 | b->messageType = BTYPE_GLONASS;
|
---|
[1843] | 957 | G_GLONASS_EPOCH_TIME(b->GLONASSEpochTime, b->NumberOfGLONASSSat)
|
---|
| 958 | G_SSR_UPDATE_INTERVAL(b->UpdateInterval)
|
---|
[862] | 959 | G_MULTIPLE_MESSAGE_INDICATOR(mmi)
|
---|
[1697] | 960 | G_RESERVED5
|
---|
[1841] | 961 | G_NO_OF_SATELLITES(nums)
|
---|
| 962 | for(i = 0; i < nums; ++i)
|
---|
[862] | 963 | {
|
---|
[1841] | 964 | G_GLONASS_SATELLITE_ID(id)
|
---|
[1843] | 965 | for(pos = CLOCKORBIT_NUMGPS; pos < b->NumberOfGLONASSSat && b->Sat[pos].ID != id; ++pos)
|
---|
[1841] | 966 | ;
|
---|
| 967 | if(pos >= CLOCKORBIT_NUMGPS+CLOCKORBIT_NUMGLONASS) return GCOBR_DATAMISMATCH;
|
---|
[1843] | 968 | else if(pos == b->NumberOfGLONASSSat) ++b->NumberOfGLONASSSat;
|
---|
| 969 | b->Sat[pos].ID = id;
|
---|
[1841] | 970 |
|
---|
| 971 | G_NO_OF_CODE_BIASES(b->Sat[pos].NumberOfCodeBiases)
|
---|
| 972 | for(j = 0; j < b->Sat[pos].NumberOfCodeBiases; ++j)
|
---|
[862] | 973 | {
|
---|
[1841] | 974 | G_GLONASS_SIGNAL_IDENTIFIER(b->Sat[pos].Biases[j].Type)
|
---|
| 975 | G_CODE_BIAS(b->Sat[pos].Biases[j].Bias)
|
---|
[862] | 976 | }
|
---|
| 977 | }
|
---|
| 978 | break;
|
---|
| 979 | default:
|
---|
[1843] | 980 | if(bytesused)
|
---|
| 981 | *bytesused = sizeofrtcmblock+6;
|
---|
[878] | 982 | return GCOBR_UNKNOWNTYPE;
|
---|
[862] | 983 | }
|
---|
[1809] | 984 | #ifdef DEBUG
|
---|
[1843] | 985 | for(type = 0; type < (int)size && (unsigned char)buffer[type] != 0xD3; ++type)
|
---|
[1809] | 986 | numbits += 8;
|
---|
| 987 | fprintf(stderr, "numbits left %d\n",numbits);
|
---|
| 988 | #endif
|
---|
[878] | 989 | if(bytesused)
|
---|
| 990 | *bytesused = sizeofrtcmblock+6;
|
---|
| 991 | return mmi ? GCOBR_MESSAGEFOLLOWS : GCOBR_OK;
|
---|
[862] | 992 | }
|
---|
| 993 | #endif /* NODECODE */
|
---|