[956] | 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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[1819] | 5 | Version: $Id: clock_orbit_rtcm.c,v 1.9 2009/04/24 09:17:24 weber Exp $
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[956] | 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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| 81 | len = CRC24(len+3, (const unsigned char *) blockstart); \
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| 82 | ADDBITS(24, len) \
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| 83 | }
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| 84 |
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| 85 | #define SCALEADDBITS(a, b, c) ADDBITS(a, (int64_t)(b*c))
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| 86 |
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| 87 | /* standard values */
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| 88 | #define T_MESSAGE_NUMBER(a) ADDBITS(12, a) /* DF002 */
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[1581] | 89 | #define T_RESERVED5 ADDBITS(5, 0) /* DF001 */
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[956] | 90 | #define T_GPS_SATELLITE_ID(a) ADDBITS(6, a) /* DF068 */
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| 91 | #define T_GPS_IODE(a) ADDBITS(8, a) /* DF071 */
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| 92 | #define T_GLONASS_IOD(a) ADDBITS(8, a) /* DF237 */
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| 93 |
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| 94 | /* defined values */
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[1808] | 95 | #define T_DELTA_RADIAL(a) SCALEADDBITS(22, 10000.0, a)
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| 96 | #define T_DELTA_ALONG_TRACK(a) SCALEADDBITS(20, 2500.0, a)
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| 97 | #define T_DELTA_CROSS_TRACK(a) SCALEADDBITS(20, 2500.0, a)
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| 98 | #define T_DELTA_DOT_RADIAL(a) SCALEADDBITS(21, 1000000.0, a)
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| 99 | #define T_DELTA_DOT_ALONG_TRACK(a) SCALEADDBITS(19, 250000.0, a)
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| 100 | #define T_DELTA_DOT_CROSS_TRACK(a) SCALEADDBITS(19, 250000.0, a)
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[1581] | 101 | #define T_DELTA_DOT_DOT_RADIAL(a) SCALEADDBITS(27, 50000000.0, a)
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[1808] | 102 | #define T_DELTA_DOT_DOT_ALONG_TRACK(a) SCALEADDBITS(25, 12500000.0, a)
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| 103 | #define T_DELTA_DOT_DOT_CROSS_TRACK(a) SCALEADDBITS(25, 12500000.0, a)
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[956] | 104 | #define T_SATELLITE_REFERENCE_POINT(a) ADDBITS(1, a)
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[1581] | 105 |
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[956] | 106 | #define T_SATELLITE_REFERENCE_DATUM(a) ADDBITS(1, a)
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[1808] | 107 | #define T_DELTA_CLOCK_C0(a) SCALEADDBITS(22, 10000.0, a)
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| 108 | #define T_DELTA_CLOCK_C1(a) SCALEADDBITS(21, 1000000.0, a)
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[1581] | 109 | #define T_DELTA_CLOCK_C2(a) SCALEADDBITS(27, 50000000.0, a)
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[956] | 110 | #define T_NO_OF_CODE_BIASES(a) ADDBITS(5, a)
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[1581] | 111 | #define T_GPS_SIGNAL_IDENTIFIER(a) ADDBITS(5, a)
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| 112 | #define T_GLONASS_SIGNAL_IDENTIFIER(a) ADDBITS(5, a)
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| 113 | #define T_GALILEO_SIGNAL_IDENTIFIER(a) ADDBITS(5, a)
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[1808] | 114 | #define T_CODE_BIAS(a) SCALEADDBITS(14, 100.0, a)
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[1581] | 115 | #define T_GLONASS_SATELLITE_ID(a) ADDBITS(5, a)
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[956] | 116 |
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[1581] | 117 | #define T_GPS_EPOCH_TIME(a) ADDBITS(20, a)
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| 118 | #define T_GLONASS_EPOCH_TIME(a) ADDBITS(17, a)
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| 119 | #define T_NO_OF_SATELLITES(a) ADDBITS(6, a)
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| 120 | #define T_MULTIPLE_MESSAGE_INDICATOR(a) ADDBITS(1, a)
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| 121 | #define T_SSR_URA(a) ADDBITS(4, a)
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[1808] | 122 | #define T_HR_CLOCK_CORRECTION(a) SCALEADDBITS(22, 10000.0, a)
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[1581] | 123 | #define T_SSR_UPDATE_INTERVAL(a) ADDBITS(4, a)
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[956] | 124 |
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| 125 | size_t MakeClockOrbit(const struct ClockOrbit *co, enum ClockOrbitType type,
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| 126 | int moremessagesfollow, char *buffer, size_t size)
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| 127 | {
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[1581] | 128 | int gpshr=0, gpsur=0, gpsor=0, gpscl=0, gpsco=0, glohr=0, glour=0, gloor=0,
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| 129 | glocl=0, gloco=0, mmi, i;
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[1819] | 130 |
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[956] | 131 | STARTDATA
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| 132 |
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[1581] | 133 | if(co->NumberOfGPSSat && co->HRDataSupplied
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| 134 | && (type == COTYPE_AUTO || type == COTYPE_GPSHR))
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| 135 | gpshr = 1;
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| 136 | if(co->NumberOfGPSSat && co->URADataSupplied
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| 137 | && (type == COTYPE_AUTO || type == COTYPE_GPSURA))
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| 138 | gpsur = 1;
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[956] | 139 | if(co->NumberOfGPSSat && co->OrbitDataSupplied
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| 140 | && (type == COTYPE_AUTO || type == COTYPE_GPSORBIT))
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| 141 | gpsor = 1;
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| 142 | if(co->NumberOfGPSSat && co->ClockDataSupplied
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| 143 | && (type == COTYPE_AUTO || type == COTYPE_GPSCLOCK))
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| 144 | gpscl = 1;
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| 145 | if(co->NumberOfGPSSat && co->ClockDataSupplied && co->OrbitDataSupplied
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| 146 | && (type == COTYPE_AUTO || type == COTYPE_GPSCOMBINED))
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| 147 | {
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| 148 | gpsco = 1; gpsor = 0; gpscl = 0;
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| 149 | }
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[1581] | 150 | if(co->NumberOfGLONASSSat && co->HRDataSupplied
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| 151 | && (type == COTYPE_AUTO || type == COTYPE_GLONASSHR))
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| 152 | glohr = 1;
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| 153 | if(co->NumberOfGLONASSSat && co->URADataSupplied
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| 154 | && (type == COTYPE_AUTO || type == COTYPE_GLONASSURA))
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| 155 | glour = 1;
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[956] | 156 | if(co->NumberOfGLONASSSat && co->OrbitDataSupplied
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| 157 | && (type == COTYPE_AUTO || type == COTYPE_GLONASSORBIT))
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| 158 | gloor = 1;
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| 159 | if(co->NumberOfGLONASSSat && co->ClockDataSupplied
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| 160 | && (type == COTYPE_AUTO || type == COTYPE_GLONASSCLOCK))
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| 161 | glocl = 1;
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| 162 | if(co->NumberOfGLONASSSat && co->ClockDataSupplied && co->OrbitDataSupplied
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| 163 | && (type == COTYPE_AUTO || type == COTYPE_GLONASSCOMBINED))
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| 164 | {
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| 165 | gloco = 1; gloor = 0; glocl = 0;
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| 166 | }
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| 167 |
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[1581] | 168 | mmi = gpshr+gpsur+gpsor+gpscl+gpsco+glohr+glour+gloor+glocl+gloco; /* required for multimessage */
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[956] | 169 | if(!moremessagesfollow) --mmi;
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| 170 |
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| 171 | if(gpsor)
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| 172 | {
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| 173 | INITBLOCK
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| 174 | T_MESSAGE_NUMBER(COTYPE_GPSORBIT)
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| 175 | T_GPS_EPOCH_TIME(co->GPSEpochTime)
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[1581] | 176 | T_SSR_UPDATE_INTERVAL(co->UpdateInterval)
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[956] | 177 | T_MULTIPLE_MESSAGE_INDICATOR(mmi ? 1 :0)
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| 178 | --mmi;
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[1581] | 179 | T_RESERVED5
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[956] | 180 | T_NO_OF_SATELLITES(co->NumberOfGPSSat)
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| 181 | for(i = 0; i < co->NumberOfGPSSat; ++i)
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| 182 | {
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| 183 | T_GPS_SATELLITE_ID(co->Sat[i].ID)
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| 184 | T_GPS_IODE(co->Sat[i].IOD)
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| 185 | T_DELTA_RADIAL(co->Sat[i].Orbit.DeltaRadial)
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| 186 | T_DELTA_ALONG_TRACK(co->Sat[i].Orbit.DeltaAlongTrack)
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| 187 | T_DELTA_CROSS_TRACK(co->Sat[i].Orbit.DeltaCrossTrack)
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| 188 | T_DELTA_DOT_RADIAL(co->Sat[i].Orbit.DotDeltaRadial)
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| 189 | T_DELTA_DOT_ALONG_TRACK(co->Sat[i].Orbit.DotDeltaAlongTrack)
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| 190 | T_DELTA_DOT_CROSS_TRACK(co->Sat[i].Orbit.DotDeltaCrossTrack)
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| 191 | T_DELTA_DOT_DOT_RADIAL(co->Sat[i].Orbit.DotDotDeltaRadial)
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| 192 | T_DELTA_DOT_DOT_ALONG_TRACK(co->Sat[i].Orbit.DotDotDeltaAlongTrack)
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| 193 | T_DELTA_DOT_DOT_CROSS_TRACK(co->Sat[i].Orbit.DotDotDeltaCrossTrack)
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| 194 | T_SATELLITE_REFERENCE_POINT(co->SatRefPoint)
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| 195 | T_SATELLITE_REFERENCE_DATUM(co->SatRefDatum)
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| 196 | }
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| 197 | ENDBLOCK
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| 198 | }
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| 199 | if(gpscl)
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| 200 | {
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| 201 | INITBLOCK
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| 202 | T_MESSAGE_NUMBER(COTYPE_GPSCLOCK)
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| 203 | T_GPS_EPOCH_TIME(co->GPSEpochTime)
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[1581] | 204 | T_SSR_UPDATE_INTERVAL(co->UpdateInterval)
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[956] | 205 | T_MULTIPLE_MESSAGE_INDICATOR(mmi ? 1 :0)
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| 206 | --mmi;
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[1581] | 207 | T_RESERVED5
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[956] | 208 | T_NO_OF_SATELLITES(co->NumberOfGPSSat)
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| 209 | for(i = 0; i < co->NumberOfGPSSat; ++i)
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| 210 | {
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| 211 | T_GPS_SATELLITE_ID(co->Sat[i].ID)
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[1581] | 212 | T_DELTA_CLOCK_C0(co->Sat[i].Clock.DeltaA0)
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| 213 | T_DELTA_CLOCK_C1(co->Sat[i].Clock.DeltaA1)
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| 214 | T_DELTA_CLOCK_C2(co->Sat[i].Clock.DeltaA2)
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[956] | 215 | }
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| 216 | ENDBLOCK
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| 217 | }
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| 218 | if(gpsco)
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| 219 | {
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| 220 | INITBLOCK
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| 221 | T_MESSAGE_NUMBER(COTYPE_GPSCOMBINED)
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| 222 | T_GPS_EPOCH_TIME(co->GPSEpochTime)
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[1581] | 223 | T_SSR_UPDATE_INTERVAL(co->UpdateInterval)
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[956] | 224 | T_MULTIPLE_MESSAGE_INDICATOR(mmi ? 1 :0)
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| 225 | --mmi;
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[1581] | 226 | T_RESERVED5
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[956] | 227 | T_NO_OF_SATELLITES(co->NumberOfGPSSat)
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| 228 | for(i = 0; i < co->NumberOfGPSSat; ++i)
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| 229 | {
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| 230 | T_GPS_SATELLITE_ID(co->Sat[i].ID)
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| 231 | T_GPS_IODE(co->Sat[i].IOD)
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| 232 | T_DELTA_RADIAL(co->Sat[i].Orbit.DeltaRadial)
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| 233 | T_DELTA_ALONG_TRACK(co->Sat[i].Orbit.DeltaAlongTrack)
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| 234 | T_DELTA_CROSS_TRACK(co->Sat[i].Orbit.DeltaCrossTrack)
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| 235 | T_DELTA_DOT_RADIAL(co->Sat[i].Orbit.DotDeltaRadial)
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| 236 | T_DELTA_DOT_ALONG_TRACK(co->Sat[i].Orbit.DotDeltaAlongTrack)
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| 237 | T_DELTA_DOT_CROSS_TRACK(co->Sat[i].Orbit.DotDeltaCrossTrack)
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| 238 | T_DELTA_DOT_DOT_RADIAL(co->Sat[i].Orbit.DotDotDeltaRadial)
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| 239 | T_DELTA_DOT_DOT_ALONG_TRACK(co->Sat[i].Orbit.DotDotDeltaAlongTrack)
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| 240 | T_DELTA_DOT_DOT_CROSS_TRACK(co->Sat[i].Orbit.DotDotDeltaCrossTrack)
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| 241 | T_SATELLITE_REFERENCE_POINT(co->SatRefPoint)
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| 242 | T_SATELLITE_REFERENCE_DATUM(co->SatRefDatum)
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[1581] | 243 | T_DELTA_CLOCK_C0(co->Sat[i].Clock.DeltaA0)
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| 244 | T_DELTA_CLOCK_C1(co->Sat[i].Clock.DeltaA1)
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| 245 | T_DELTA_CLOCK_C2(co->Sat[i].Clock.DeltaA2)
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[956] | 246 | }
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| 247 | ENDBLOCK
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| 248 | }
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[1581] | 249 | if(gpshr)
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| 250 | {
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| 251 | INITBLOCK
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| 252 | T_MESSAGE_NUMBER(COTYPE_GPSHR)
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| 253 | T_GPS_EPOCH_TIME(co->GPSEpochTime)
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| 254 | T_SSR_UPDATE_INTERVAL(co->UpdateInterval)
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| 255 | T_MULTIPLE_MESSAGE_INDICATOR(mmi ? 1 :0)
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| 256 | --mmi;
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| 257 | T_RESERVED5
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| 258 | T_NO_OF_SATELLITES(co->NumberOfGPSSat)
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| 259 | for(i = 0; i < co->NumberOfGPSSat; ++i)
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| 260 | {
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| 261 | T_GPS_SATELLITE_ID(co->Sat[i].ID)
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| 262 | T_HR_CLOCK_CORRECTION(co->Sat[i].hrclock)
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| 263 | }
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| 264 | ENDBLOCK
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| 265 | }
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| 266 | if(gpsur)
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| 267 | {
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| 268 | INITBLOCK
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| 269 | T_MESSAGE_NUMBER(COTYPE_GPSURA)
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| 270 | T_GPS_EPOCH_TIME(co->GPSEpochTime)
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| 271 | T_MULTIPLE_MESSAGE_INDICATOR(mmi ? 1 :0)
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| 272 | --mmi;
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| 273 | T_RESERVED5
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| 274 | T_NO_OF_SATELLITES(co->NumberOfGPSSat)
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| 275 | for(i = 0; i < co->NumberOfGPSSat; ++i)
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| 276 | {
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| 277 | T_GPS_SATELLITE_ID(co->Sat[i].ID)
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| 278 | T_SSR_URA(co->Sat[i].URA)
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| 279 | }
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| 280 | ENDBLOCK
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| 281 | }
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[956] | 282 | if(gloor)
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| 283 | {
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| 284 | INITBLOCK
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| 285 | T_MESSAGE_NUMBER(COTYPE_GLONASSORBIT)
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| 286 | T_GLONASS_EPOCH_TIME(co->GLONASSEpochTime)
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[1581] | 287 | T_SSR_UPDATE_INTERVAL(co->UpdateInterval)
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[956] | 288 | T_MULTIPLE_MESSAGE_INDICATOR(mmi ? 1 :0)
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| 289 | --mmi;
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[1581] | 290 | T_RESERVED5
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[956] | 291 | T_NO_OF_SATELLITES(co->NumberOfGLONASSSat)
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| 292 | for(i = CLOCKORBIT_NUMGPS;
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| 293 | i < CLOCKORBIT_NUMGPS+co->NumberOfGLONASSSat; ++i)
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| 294 | {
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| 295 | T_GLONASS_SATELLITE_ID(co->Sat[i].ID)
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| 296 | T_GLONASS_IOD(co->Sat[i].IOD)
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| 297 | T_DELTA_RADIAL(co->Sat[i].Orbit.DeltaRadial)
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| 298 | T_DELTA_ALONG_TRACK(co->Sat[i].Orbit.DeltaAlongTrack)
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| 299 | T_DELTA_CROSS_TRACK(co->Sat[i].Orbit.DeltaCrossTrack)
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| 300 | T_DELTA_DOT_RADIAL(co->Sat[i].Orbit.DotDeltaRadial)
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| 301 | T_DELTA_DOT_ALONG_TRACK(co->Sat[i].Orbit.DotDeltaAlongTrack)
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| 302 | T_DELTA_DOT_CROSS_TRACK(co->Sat[i].Orbit.DotDeltaCrossTrack)
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| 303 | T_DELTA_DOT_DOT_RADIAL(co->Sat[i].Orbit.DotDotDeltaRadial)
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| 304 | T_DELTA_DOT_DOT_ALONG_TRACK(co->Sat[i].Orbit.DotDotDeltaAlongTrack)
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| 305 | T_DELTA_DOT_DOT_CROSS_TRACK(co->Sat[i].Orbit.DotDotDeltaCrossTrack)
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| 306 | T_SATELLITE_REFERENCE_POINT(co->SatRefPoint)
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| 307 | T_SATELLITE_REFERENCE_DATUM(co->SatRefDatum)
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| 308 | }
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| 309 | ENDBLOCK
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| 310 | }
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| 311 | if(glocl)
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| 312 | {
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| 313 | INITBLOCK
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| 314 | T_MESSAGE_NUMBER(COTYPE_GLONASSCLOCK)
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| 315 | T_GLONASS_EPOCH_TIME(co->GLONASSEpochTime)
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[1581] | 316 | T_SSR_UPDATE_INTERVAL(co->UpdateInterval)
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[956] | 317 | T_MULTIPLE_MESSAGE_INDICATOR(mmi ? 1 :0)
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| 318 | --mmi;
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[1581] | 319 | T_RESERVED5
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[956] | 320 | T_NO_OF_SATELLITES(co->NumberOfGLONASSSat)
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| 321 | for(i = CLOCKORBIT_NUMGPS;
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| 322 | i < CLOCKORBIT_NUMGPS+co->NumberOfGLONASSSat; ++i)
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| 323 | {
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| 324 | T_GLONASS_SATELLITE_ID(co->Sat[i].ID)
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| 325 | T_GLONASS_IOD(co->Sat[i].IOD)
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[1581] | 326 | T_DELTA_CLOCK_C0(co->Sat[i].Clock.DeltaA0)
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| 327 | T_DELTA_CLOCK_C1(co->Sat[i].Clock.DeltaA1)
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| 328 | T_DELTA_CLOCK_C2(co->Sat[i].Clock.DeltaA2)
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[956] | 329 | }
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| 330 | ENDBLOCK
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| 331 | }
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| 332 | if(gloco)
|
---|
| 333 | {
|
---|
| 334 | INITBLOCK
|
---|
| 335 | T_MESSAGE_NUMBER(COTYPE_GLONASSCOMBINED)
|
---|
| 336 | T_GLONASS_EPOCH_TIME(co->GLONASSEpochTime)
|
---|
[1581] | 337 | T_SSR_UPDATE_INTERVAL(co->UpdateInterval)
|
---|
[956] | 338 | T_MULTIPLE_MESSAGE_INDICATOR(mmi ? 1 :0)
|
---|
| 339 | --mmi;
|
---|
[1581] | 340 | T_RESERVED5
|
---|
[956] | 341 | T_NO_OF_SATELLITES(co->NumberOfGLONASSSat)
|
---|
| 342 | for(i = CLOCKORBIT_NUMGPS;
|
---|
| 343 | i < CLOCKORBIT_NUMGPS+co->NumberOfGLONASSSat; ++i)
|
---|
| 344 | {
|
---|
| 345 | T_GLONASS_SATELLITE_ID(co->Sat[i].ID)
|
---|
| 346 | T_GLONASS_IOD(co->Sat[i].IOD)
|
---|
| 347 | T_DELTA_RADIAL(co->Sat[i].Orbit.DeltaRadial)
|
---|
| 348 | T_DELTA_ALONG_TRACK(co->Sat[i].Orbit.DeltaAlongTrack)
|
---|
| 349 | T_DELTA_CROSS_TRACK(co->Sat[i].Orbit.DeltaCrossTrack)
|
---|
| 350 | T_DELTA_DOT_RADIAL(co->Sat[i].Orbit.DotDeltaRadial)
|
---|
| 351 | T_DELTA_DOT_ALONG_TRACK(co->Sat[i].Orbit.DotDeltaAlongTrack)
|
---|
| 352 | T_DELTA_DOT_CROSS_TRACK(co->Sat[i].Orbit.DotDeltaCrossTrack)
|
---|
| 353 | T_DELTA_DOT_DOT_RADIAL(co->Sat[i].Orbit.DotDotDeltaRadial)
|
---|
| 354 | T_DELTA_DOT_DOT_ALONG_TRACK(co->Sat[i].Orbit.DotDotDeltaAlongTrack)
|
---|
| 355 | T_DELTA_DOT_DOT_CROSS_TRACK(co->Sat[i].Orbit.DotDotDeltaCrossTrack)
|
---|
| 356 | T_SATELLITE_REFERENCE_POINT(co->SatRefPoint)
|
---|
| 357 | T_SATELLITE_REFERENCE_DATUM(co->SatRefDatum)
|
---|
[1581] | 358 | T_DELTA_CLOCK_C0(co->Sat[i].Clock.DeltaA0)
|
---|
| 359 | T_DELTA_CLOCK_C1(co->Sat[i].Clock.DeltaA1)
|
---|
| 360 | T_DELTA_CLOCK_C2(co->Sat[i].Clock.DeltaA2)
|
---|
[956] | 361 | }
|
---|
| 362 | ENDBLOCK
|
---|
| 363 | }
|
---|
[1581] | 364 | if(glohr)
|
---|
| 365 | {
|
---|
| 366 | INITBLOCK
|
---|
| 367 | T_MESSAGE_NUMBER(COTYPE_GLONASSHR)
|
---|
| 368 | T_GLONASS_EPOCH_TIME(co->GLONASSEpochTime)
|
---|
| 369 | T_SSR_UPDATE_INTERVAL(co->UpdateInterval)
|
---|
| 370 | T_MULTIPLE_MESSAGE_INDICATOR(mmi ? 1 :0)
|
---|
| 371 | --mmi;
|
---|
| 372 | T_RESERVED5
|
---|
| 373 | T_NO_OF_SATELLITES(co->NumberOfGLONASSSat)
|
---|
| 374 | for(i = CLOCKORBIT_NUMGPS;
|
---|
| 375 | i < CLOCKORBIT_NUMGPS+co->NumberOfGLONASSSat; ++i)
|
---|
| 376 | {
|
---|
| 377 | T_GPS_SATELLITE_ID(co->Sat[i].ID)
|
---|
| 378 | T_HR_CLOCK_CORRECTION(co->Sat[i].hrclock)
|
---|
| 379 | }
|
---|
| 380 | ENDBLOCK
|
---|
| 381 | }
|
---|
| 382 | if(glour)
|
---|
| 383 | {
|
---|
| 384 | INITBLOCK
|
---|
| 385 | T_MESSAGE_NUMBER(COTYPE_GLONASSURA)
|
---|
| 386 | T_GLONASS_EPOCH_TIME(co->GLONASSEpochTime)
|
---|
| 387 | T_MULTIPLE_MESSAGE_INDICATOR(mmi ? 1 :0)
|
---|
| 388 | --mmi;
|
---|
| 389 | T_RESERVED5
|
---|
| 390 | T_NO_OF_SATELLITES(co->NumberOfGLONASSSat)
|
---|
| 391 | for(i = CLOCKORBIT_NUMGPS;
|
---|
| 392 | i < CLOCKORBIT_NUMGPS+co->NumberOfGLONASSSat; ++i)
|
---|
| 393 | {
|
---|
| 394 | T_GPS_SATELLITE_ID(co->Sat[i].ID)
|
---|
| 395 | T_SSR_URA(co->Sat[i].URA)
|
---|
| 396 | }
|
---|
| 397 | ENDBLOCK
|
---|
| 398 | }
|
---|
[956] | 399 |
|
---|
[1819] | 400 |
|
---|
[956] | 401 | return ressize;
|
---|
| 402 | }
|
---|
| 403 |
|
---|
| 404 | size_t MakeBias(const struct Bias *b, enum BiasType type,
|
---|
| 405 | int moremessagesfollow, char *buffer, size_t size)
|
---|
| 406 | {
|
---|
| 407 | int gps, glo, mmi, i, j;
|
---|
[1819] | 408 |
|
---|
[956] | 409 | STARTDATA
|
---|
| 410 |
|
---|
| 411 | if(b->NumberOfGPSSat && (type == BTYPE_AUTO || type == BTYPE_GPS))
|
---|
| 412 | gps = 1;
|
---|
| 413 | if(b->NumberOfGLONASSSat && (type == BTYPE_AUTO || type == BTYPE_GLONASS))
|
---|
| 414 | glo = 1;
|
---|
| 415 |
|
---|
| 416 | mmi = gps+glo; /* required for multimessage */
|
---|
| 417 | if(!moremessagesfollow) --mmi;
|
---|
| 418 |
|
---|
| 419 | if(gps)
|
---|
| 420 | {
|
---|
| 421 | INITBLOCK
|
---|
| 422 | T_MESSAGE_NUMBER(BTYPE_GPS)
|
---|
| 423 | T_GPS_EPOCH_TIME(b->GPSEpochTime)
|
---|
[1581] | 424 | T_SSR_UPDATE_INTERVAL(b->UpdateInterval)
|
---|
[956] | 425 | T_MULTIPLE_MESSAGE_INDICATOR(mmi ? 1 :0)
|
---|
| 426 | --mmi;
|
---|
[1581] | 427 | T_RESERVED5
|
---|
[956] | 428 | T_NO_OF_SATELLITES(b->NumberOfGPSSat)
|
---|
| 429 | for(i = 0; i < b->NumberOfGPSSat; ++i)
|
---|
| 430 | {
|
---|
| 431 | T_GPS_SATELLITE_ID(b->Sat[i].ID)
|
---|
| 432 | T_NO_OF_CODE_BIASES(b->Sat[i].NumberOfCodeBiases)
|
---|
| 433 | for(j = 0; j < b->Sat[i].NumberOfCodeBiases; ++j)
|
---|
| 434 | {
|
---|
[1581] | 435 | T_GPS_SIGNAL_IDENTIFIER(b->Sat[i].Biases[j].Type)
|
---|
[956] | 436 | T_CODE_BIAS(b->Sat[i].Biases[j].Bias)
|
---|
| 437 | }
|
---|
| 438 | }
|
---|
| 439 | ENDBLOCK
|
---|
| 440 | }
|
---|
| 441 | if(glo)
|
---|
| 442 | {
|
---|
| 443 | INITBLOCK
|
---|
| 444 | T_MESSAGE_NUMBER(BTYPE_GLONASS)
|
---|
| 445 | T_GPS_EPOCH_TIME(b->GLONASSEpochTime)
|
---|
[1581] | 446 | T_SSR_UPDATE_INTERVAL(b->UpdateInterval)
|
---|
[956] | 447 | T_MULTIPLE_MESSAGE_INDICATOR(mmi ? 1 :0)
|
---|
| 448 | --mmi;
|
---|
[1581] | 449 | T_RESERVED5
|
---|
[956] | 450 | T_NO_OF_SATELLITES(b->NumberOfGLONASSSat)
|
---|
| 451 | for(i = CLOCKORBIT_NUMGPS;
|
---|
| 452 | i < CLOCKORBIT_NUMGPS+b->NumberOfGLONASSSat; ++i)
|
---|
| 453 | {
|
---|
| 454 | T_GLONASS_SATELLITE_ID(b->Sat[i].ID)
|
---|
| 455 | T_NO_OF_CODE_BIASES(b->Sat[i].NumberOfCodeBiases)
|
---|
| 456 | for(j = 0; j < b->Sat[i].NumberOfCodeBiases; ++j)
|
---|
| 457 | {
|
---|
[1581] | 458 | T_GLONASS_SIGNAL_IDENTIFIER(b->Sat[i].Biases[j].Type)
|
---|
[956] | 459 | T_CODE_BIAS(b->Sat[i].Biases[j].Bias)
|
---|
| 460 | }
|
---|
| 461 | }
|
---|
| 462 | ENDBLOCK
|
---|
| 463 | }
|
---|
| 464 |
|
---|
| 465 | return ressize;
|
---|
| 466 | }
|
---|
[1581] | 467 |
|
---|
[956] | 468 | #endif /* NOENCODE */
|
---|
| 469 |
|
---|
| 470 | #ifndef NODECODE
|
---|
| 471 |
|
---|
| 472 | #define DECODESTART \
|
---|
| 473 | int numbits=0; \
|
---|
| 474 | uint64_t bitbuffer=0;
|
---|
| 475 |
|
---|
| 476 | #define LOADBITS(a) \
|
---|
| 477 | { \
|
---|
| 478 | while((a) > numbits) \
|
---|
| 479 | { \
|
---|
[1808] | 480 | if(!size--) return GCOBR_SHORTMESSAGE; \
|
---|
[956] | 481 | bitbuffer = (bitbuffer<<8)|((unsigned char)*(buffer++)); \
|
---|
| 482 | numbits += 8; \
|
---|
| 483 | } \
|
---|
| 484 | }
|
---|
| 485 |
|
---|
| 486 | /* extract bits from data stream
|
---|
| 487 | b = variable to store result, a = number of bits */
|
---|
| 488 | #define GETBITS(b, a) \
|
---|
| 489 | { \
|
---|
| 490 | LOADBITS(a) \
|
---|
| 491 | b = (bitbuffer<<(64-numbits))>>(64-(a)); \
|
---|
| 492 | numbits -= (a); \
|
---|
| 493 | }
|
---|
| 494 |
|
---|
| 495 | /* extract signed floating value from data stream
|
---|
| 496 | b = variable to store result, a = number of bits */
|
---|
| 497 | #define GETFLOATSIGN(b, a, c) \
|
---|
| 498 | { \
|
---|
| 499 | LOADBITS(a) \
|
---|
| 500 | b = ((double)(((int64_t)(bitbuffer<<(64-numbits)))>>(64-(a))))*(c); \
|
---|
| 501 | numbits -= (a); \
|
---|
| 502 | }
|
---|
| 503 |
|
---|
| 504 | #define SKIPBITS(b) { LOADBITS(b) numbits -= (b); }
|
---|
| 505 |
|
---|
| 506 | /* standard values */
|
---|
| 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 | #define G_MESSAGE_NUMBER(a) GETBITS(a, 12) /* DF002 */
|
---|
[1581] | 511 | #define G_RESERVED5 SKIPBITS(5) /* DF001 */
|
---|
[956] | 512 | #define G_GPS_SATELLITE_ID(a) {int temp; GETBITS(temp, 6) \
|
---|
| 513 | if(a && a != temp) return GCOBR_DATAMISMATCH; a = temp;} /* DF068 */
|
---|
| 514 | #define G_GPS_IODE(a) GETBITS(a, 8) /* DF071 */
|
---|
| 515 | #define G_GLONASS_IOD(a) GETBITS(a, 8) /* DF237 */
|
---|
| 516 |
|
---|
| 517 | /* defined values */
|
---|
[1581] | 518 | #define G_DELTA_RADIAL(a) GETFLOATSIGN(a, 22, 1/10000.0)
|
---|
[1808] | 519 | #define G_DELTA_ALONG_TRACK(a) GETFLOATSIGN(a, 20, 1/2500.0)
|
---|
| 520 | #define G_DELTA_CROSS_TRACK(a) GETFLOATSIGN(a, 20, 1/2500.0)
|
---|
[1581] | 521 | #define G_DELTA_DOT_RADIAL(a) GETFLOATSIGN(a, 21, 1/1000000.0)
|
---|
[1808] | 522 | #define G_DELTA_DOT_ALONG_TRACK(a) GETFLOATSIGN(a, 19, 1/250000.0)
|
---|
| 523 | #define G_DELTA_DOT_CROSS_TRACK(a) GETFLOATSIGN(a, 19, 1/250000.0)
|
---|
[1581] | 524 | #define G_DELTA_DOT_DOT_RADIAL(a) GETFLOATSIGN(a, 27, 1/50000000.0)
|
---|
[1808] | 525 | #define G_DELTA_DOT_DOT_ALONG_TRACK(a) GETFLOATSIGN(a, 25, 1/12500000.0)
|
---|
| 526 | #define G_DELTA_DOT_DOT_CROSS_TRACK(a) GETFLOATSIGN(a, 25, 1/12500000.0)
|
---|
[1581] | 527 | #define G_SATELLITE_REFERENCE_POINT(a) GETBITS(a, 1)
|
---|
| 528 |
|
---|
| 529 | #define G_SATELLITE_REFERENCE_DATUM(a) GETBITS(a, 1)
|
---|
| 530 | #define G_DELTA_CLOCK_C0(a) GETFLOATSIGN(a, 22, 1/10000.0)
|
---|
| 531 | #define G_DELTA_CLOCK_C1(a) GETFLOATSIGN(a, 21, 1/1000000.0)
|
---|
| 532 | #define G_DELTA_CLOCK_C2(a) GETFLOATSIGN(a, 27, 1/50000000.0)
|
---|
| 533 | #define G_NO_OF_CODE_BIASES(a) GETBITS(a, 5)
|
---|
| 534 | #define G_GPS_SIGNAL_IDENTIFIER(a) GETBITS(a, 5)
|
---|
| 535 | #define G_GLONASS_SIGNAL_IDENTIFIER(a) GETBITS(a, 5)
|
---|
| 536 | #define G_GALILEO_SIGNAL_IDENTIFIER(a) GETBITS(a, 5)
|
---|
| 537 | #define G_CODE_BIAS(a) GETFLOATSIGN(a, 14, 1/100.0)
|
---|
| 538 | #define G_GLONASS_SATELLITE_ID(a) {int temp; GETBITS(temp, 5) \
|
---|
| 539 | if(a && a != temp) return GCOBR_DATAMISMATCH; a = temp;}
|
---|
| 540 |
|
---|
[956] | 541 | #define G_GPS_EPOCH_TIME(a, b) {int temp; GETBITS(temp, 20) \
|
---|
| 542 | if(b && a != temp) return GCOBR_TIMEMISMATCH; a = temp;}
|
---|
| 543 | #define G_GLONASS_EPOCH_TIME(a, b) {int temp; GETBITS(temp, 17) \
|
---|
| 544 | if(b && a != temp) return GCOBR_TIMEMISMATCH; a = temp;}
|
---|
[1581] | 545 | #define G_NO_OF_SATELLITES(a) {int temp; GETBITS(temp, 6) \
|
---|
[956] | 546 | if(a && a != temp) return GCOBR_DATAMISMATCH; a = temp;}
|
---|
[1581] | 547 | #define G_MULTIPLE_MESSAGE_INDICATOR(a) GETBITS(a, 1)
|
---|
| 548 | #define G_SSR_URA(a) GETBITS(a, 4)
|
---|
| 549 | #define G_HR_CLOCK_CORRECTION(a) GETFLOATSIGN(a, 22, 1/10000.0)
|
---|
| 550 | #define G_SSR_UPDATE_INTERVAL(a) GETBITS(a, 4)
|
---|
| 551 |
|
---|
| 552 | #ifdef OLD
|
---|
| 553 | enum OldClockOrbitType { OLDCOTYPE_GPSORBIT=4050, OLDCOTYPE_GPSCLOCK=4051,
|
---|
| 554 | OLDCOTYPE_GLONASSORBIT=4053, OLDCOTYPE_GLONASSCLOCK=4054,
|
---|
| 555 | OLDCOTYPE_GPSCOMBINED=4056, OLDCOTYPE_GLONASSCOMBINED=4057};
|
---|
| 556 | enum OldBiasType { OLDBTYPE_GPS=4052, OLDBTYPE_GLONASS=4055};
|
---|
| 557 | #define OLD_G_RESERVED6 SKIPBITS(6) /* DF001 */
|
---|
| 558 | #define OLD_G_GLONASS_SATELLITE_ID(a) {int temp; GETBITS(temp, 6) \
|
---|
[956] | 559 | if(a && a != temp) return GCOBR_DATAMISMATCH; a = temp;}
|
---|
[1581] | 560 | #define OLD_G_NO_OF_SATELLITES(a) {int temp; GETBITS(temp, 5) \
|
---|
| 561 | if(a && a != temp) return GCOBR_DATAMISMATCH; a = temp;}
|
---|
| 562 | #define OLD_G_DELTA_RADIAL(a) GETFLOATSIGN(a, 20, 1/1000.0)
|
---|
| 563 | #define OLD_G_DELTA_ALONG_TRACK(a) GETFLOATSIGN(a, 20, 1/1000.0)
|
---|
| 564 | #define OLD_G_DELTA_CROSS_TRACK(a) GETFLOATSIGN(a, 20, 1/1000.0)
|
---|
| 565 | #define OLD_G_DELTA_DOT_RADIAL(a) GETFLOATSIGN(a, 20, 1/100000.0)
|
---|
| 566 | #define OLD_G_DELTA_DOT_ALONG_TRACK(a) GETFLOATSIGN(a, 20, 1/100000.0)
|
---|
| 567 | #define OLD_G_DELTA_DOT_CROSS_TRACK(a) GETFLOATSIGN(a, 20, 1/100000.0)
|
---|
| 568 | #define OLD_G_DELTA_DOT_DOT_RADIAL(a) GETFLOATSIGN(a, 20, 1/5000000.0)
|
---|
| 569 | #define OLD_G_DELTA_DOT_DOT_ALONG_TRACK(a) GETFLOATSIGN(a, 20, 1/5000000.0)
|
---|
| 570 | #define OLD_G_DELTA_DOT_DOT_CROSS_TRACK(a) GETFLOATSIGN(a, 20, 1/5000000.0)
|
---|
| 571 | #define OLD_G_DELTA_A0(a) GETFLOATSIGN(a, 20, 1/1000.0)
|
---|
| 572 | #define OLD_G_DELTA_A1(a) GETFLOATSIGN(a, 20, 1/100000.0)
|
---|
| 573 | #define OLD_G_DELTA_A2(a) GETFLOATSIGN(a, 20, 1/5000000.0)
|
---|
| 574 | #define OLD_G_CODE_BIAS(a) GETFLOATSIGN(a, 20, 1/100.0)
|
---|
| 575 | #endif
|
---|
[956] | 576 |
|
---|
| 577 | enum GCOB_RETURN GetClockOrbitBias(struct ClockOrbit *co, struct Bias *b,
|
---|
| 578 | const char *buffer, size_t size, int *bytesused)
|
---|
| 579 | {
|
---|
[1819] | 580 | int type, mmi=0, i, j, h, rs;
|
---|
| 581 | size_t sizeofrtcmblock;
|
---|
[956] | 582 | const char *blockstart = buffer;
|
---|
| 583 | DECODESTART
|
---|
| 584 |
|
---|
| 585 | if(size < 7)
|
---|
| 586 | return GCOBR_SHORTBUFFER;
|
---|
| 587 |
|
---|
| 588 | G_HEADER(h)
|
---|
| 589 | G_RESERVEDH(rs)
|
---|
| 590 | G_SIZE(sizeofrtcmblock);
|
---|
| 591 |
|
---|
| 592 | if((unsigned char)h != 0xD3 || rs)
|
---|
| 593 | return GCOBR_UNKNOWNDATA;
|
---|
| 594 | if(size < sizeofrtcmblock + 3) /* 3 header bytes already removed */
|
---|
| 595 | return GCOBR_MESSAGEEXCEEDSBUFFER;
|
---|
| 596 | if(CRC24(sizeofrtcmblock+3, (const unsigned char *) blockstart) !=
|
---|
[1819] | 597 | (uint32_t)((((unsigned char)buffer[sizeofrtcmblock])<<16)|
|
---|
[956] | 598 | (((unsigned char)buffer[sizeofrtcmblock+1])<<8)|
|
---|
| 599 | (((unsigned char)buffer[sizeofrtcmblock+2]))))
|
---|
| 600 | return GCOBR_CRCMISMATCH;
|
---|
[1808] | 601 | size = sizeofrtcmblock; /* reduce size, so overflows are detected */
|
---|
[956] | 602 |
|
---|
| 603 | G_MESSAGE_NUMBER(type)
|
---|
[1808] | 604 | #ifdef DEBUG
|
---|
| 605 | fprintf(stderr, "type %d size %d\n",type,sizeofrtcmblock);
|
---|
| 606 | #endif
|
---|
[956] | 607 | switch(type)
|
---|
| 608 | {
|
---|
| 609 | case COTYPE_GPSORBIT:
|
---|
| 610 | if(!co) return GCOBR_NOCLOCKORBITPARAMETER;
|
---|
| 611 | G_GPS_EPOCH_TIME(co->GPSEpochTime, co->NumberOfGPSSat)
|
---|
[1238] | 612 | co->epochGPS[co->epochSize] = co->GPSEpochTime; /* Weber, for latency */
|
---|
| 613 | if(co->epochSize < 100) {co->epochSize += 1;} /* Weber, for latency */
|
---|
[1581] | 614 | G_SSR_UPDATE_INTERVAL(co->UpdateInterval)
|
---|
[956] | 615 | G_MULTIPLE_MESSAGE_INDICATOR(mmi)
|
---|
[1581] | 616 | G_RESERVED5
|
---|
[956] | 617 | G_NO_OF_SATELLITES(co->NumberOfGPSSat)
|
---|
| 618 | if(co->OrbitDataSupplied)
|
---|
| 619 | return GCOBR_DATAMISMATCH;
|
---|
| 620 | co->OrbitDataSupplied = 1;
|
---|
[1808] | 621 | #ifdef DEBUG
|
---|
| 622 | fprintf(stderr, "epochtime %d ui %d mmi %d sats %d\n",co->GPSEpochTime,co->UpdateInterval,mmi,co->NumberOfGPSSat);
|
---|
| 623 | #endif
|
---|
[956] | 624 | for(i = 0; i < co->NumberOfGPSSat; ++i)
|
---|
| 625 | {
|
---|
| 626 | G_GPS_SATELLITE_ID(co->Sat[i].ID)
|
---|
| 627 | G_GPS_IODE(co->Sat[i].IOD)
|
---|
| 628 | G_DELTA_RADIAL(co->Sat[i].Orbit.DeltaRadial)
|
---|
| 629 | G_DELTA_ALONG_TRACK(co->Sat[i].Orbit.DeltaAlongTrack)
|
---|
| 630 | G_DELTA_CROSS_TRACK(co->Sat[i].Orbit.DeltaCrossTrack)
|
---|
| 631 | G_DELTA_DOT_RADIAL(co->Sat[i].Orbit.DotDeltaRadial)
|
---|
| 632 | G_DELTA_DOT_ALONG_TRACK(co->Sat[i].Orbit.DotDeltaAlongTrack)
|
---|
| 633 | G_DELTA_DOT_CROSS_TRACK(co->Sat[i].Orbit.DotDeltaCrossTrack)
|
---|
| 634 | G_DELTA_DOT_DOT_RADIAL(co->Sat[i].Orbit.DotDotDeltaRadial)
|
---|
| 635 | G_DELTA_DOT_DOT_ALONG_TRACK(co->Sat[i].Orbit.DotDotDeltaAlongTrack)
|
---|
| 636 | G_DELTA_DOT_DOT_CROSS_TRACK(co->Sat[i].Orbit.DotDotDeltaCrossTrack)
|
---|
| 637 | G_SATELLITE_REFERENCE_POINT(co->SatRefPoint)
|
---|
| 638 | G_SATELLITE_REFERENCE_DATUM(co->SatRefDatum)
|
---|
[1808] | 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",
|
---|
| 641 | co->Sat[i].ID,co->Sat[i].IOD,co->Sat[i].Orbit.DeltaRadial,
|
---|
| 642 | co->Sat[i].Orbit.DeltaAlongTrack,co->Sat[i].Orbit.DeltaCrossTrack,
|
---|
| 643 | co->Sat[i].Orbit.DotDeltaRadial,
|
---|
| 644 | co->Sat[i].Orbit.DotDeltaAlongTrack,
|
---|
| 645 | co->Sat[i].Orbit.DotDeltaCrossTrack,
|
---|
| 646 | co->Sat[i].Orbit.DotDotDeltaRadial,
|
---|
| 647 | co->Sat[i].Orbit.DotDotDeltaAlongTrack,
|
---|
| 648 | co->Sat[i].Orbit.DotDotDeltaCrossTrack,
|
---|
| 649 | co->SatRefPoint,
|
---|
| 650 | co->SatRefDatum);
|
---|
| 651 | #endif
|
---|
[956] | 652 | }
|
---|
| 653 | break;
|
---|
| 654 | case COTYPE_GPSCLOCK:
|
---|
| 655 | if(!co) return GCOBR_NOCLOCKORBITPARAMETER;
|
---|
| 656 | G_GPS_EPOCH_TIME(co->GPSEpochTime, co->NumberOfGPSSat)
|
---|
[1238] | 657 | co->epochGPS[co->epochSize] = co->GPSEpochTime; /* Weber, for latency */
|
---|
| 658 | if(co->epochSize < 100) {co->epochSize += 1;} /* Weber, for latency */
|
---|
[1581] | 659 | G_SSR_UPDATE_INTERVAL(co->UpdateInterval)
|
---|
[956] | 660 | G_MULTIPLE_MESSAGE_INDICATOR(mmi)
|
---|
[1581] | 661 | G_RESERVED5
|
---|
[956] | 662 | G_NO_OF_SATELLITES(co->NumberOfGPSSat)
|
---|
| 663 | if(co->ClockDataSupplied)
|
---|
| 664 | return GCOBR_DATAMISMATCH;
|
---|
| 665 | co->ClockDataSupplied = 1;
|
---|
| 666 | for(i = 0; i < co->NumberOfGPSSat; ++i)
|
---|
| 667 | {
|
---|
| 668 | G_GPS_SATELLITE_ID(co->Sat[i].ID)
|
---|
[1581] | 669 | G_DELTA_CLOCK_C0(co->Sat[i].Clock.DeltaA0)
|
---|
| 670 | G_DELTA_CLOCK_C1(co->Sat[i].Clock.DeltaA1)
|
---|
| 671 | G_DELTA_CLOCK_C2(co->Sat[i].Clock.DeltaA2)
|
---|
[956] | 672 | }
|
---|
| 673 | break;
|
---|
| 674 | case COTYPE_GPSCOMBINED:
|
---|
| 675 | if(!co) return -5;
|
---|
| 676 | G_GPS_EPOCH_TIME(co->GPSEpochTime, co->NumberOfGPSSat)
|
---|
[1238] | 677 | co->epochGPS[co->epochSize] = co->GPSEpochTime; /* Weber, for latency */
|
---|
| 678 | if(co->epochSize < 100) {co->epochSize += 1;} /* Weber, for latency */
|
---|
[1581] | 679 | G_SSR_UPDATE_INTERVAL(co->UpdateInterval)
|
---|
[956] | 680 | G_MULTIPLE_MESSAGE_INDICATOR(mmi)
|
---|
[1581] | 681 | G_RESERVED5
|
---|
[956] | 682 | G_NO_OF_SATELLITES(co->NumberOfGPSSat)
|
---|
| 683 | if(co->ClockDataSupplied || co->OrbitDataSupplied)
|
---|
| 684 | return GCOBR_DATAMISMATCH;
|
---|
| 685 | co->OrbitDataSupplied = 1;
|
---|
| 686 | co->ClockDataSupplied = 1;
|
---|
| 687 | for(i = 0; i < co->NumberOfGPSSat; ++i)
|
---|
| 688 | {
|
---|
| 689 | G_GPS_SATELLITE_ID(co->Sat[i].ID)
|
---|
| 690 | G_GPS_IODE(co->Sat[i].IOD)
|
---|
| 691 | G_DELTA_RADIAL(co->Sat[i].Orbit.DeltaRadial)
|
---|
| 692 | G_DELTA_ALONG_TRACK(co->Sat[i].Orbit.DeltaAlongTrack)
|
---|
| 693 | G_DELTA_CROSS_TRACK(co->Sat[i].Orbit.DeltaCrossTrack)
|
---|
| 694 | G_DELTA_DOT_RADIAL(co->Sat[i].Orbit.DotDeltaRadial)
|
---|
| 695 | G_DELTA_DOT_ALONG_TRACK(co->Sat[i].Orbit.DotDeltaAlongTrack)
|
---|
| 696 | G_DELTA_DOT_CROSS_TRACK(co->Sat[i].Orbit.DotDeltaCrossTrack)
|
---|
| 697 | G_DELTA_DOT_DOT_RADIAL(co->Sat[i].Orbit.DotDotDeltaRadial)
|
---|
| 698 | G_DELTA_DOT_DOT_ALONG_TRACK(co->Sat[i].Orbit.DotDotDeltaAlongTrack)
|
---|
| 699 | G_DELTA_DOT_DOT_CROSS_TRACK(co->Sat[i].Orbit.DotDotDeltaCrossTrack)
|
---|
| 700 | G_SATELLITE_REFERENCE_POINT(co->SatRefPoint)
|
---|
| 701 | G_SATELLITE_REFERENCE_DATUM(co->SatRefDatum)
|
---|
[1581] | 702 | G_DELTA_CLOCK_C0(co->Sat[i].Clock.DeltaA0)
|
---|
| 703 | G_DELTA_CLOCK_C1(co->Sat[i].Clock.DeltaA1)
|
---|
| 704 | G_DELTA_CLOCK_C2(co->Sat[i].Clock.DeltaA2)
|
---|
[956] | 705 | }
|
---|
| 706 | break;
|
---|
[1581] | 707 | case COTYPE_GPSURA:
|
---|
| 708 | if(!co) return GCOBR_NOCLOCKORBITPARAMETER;
|
---|
| 709 | G_GPS_EPOCH_TIME(co->GPSEpochTime, co->NumberOfGPSSat)
|
---|
| 710 | co->epochGPS[co->epochSize] = co->GPSEpochTime; /* Weber, for latency */
|
---|
| 711 | if(co->epochSize < 100) {co->epochSize += 1;} /* Weber, for latency */
|
---|
| 712 | G_MULTIPLE_MESSAGE_INDICATOR(mmi)
|
---|
| 713 | G_RESERVED5
|
---|
| 714 | G_NO_OF_SATELLITES(co->NumberOfGPSSat)
|
---|
| 715 | if(co->URADataSupplied)
|
---|
| 716 | return GCOBR_DATAMISMATCH;
|
---|
| 717 | co->URADataSupplied = 1;
|
---|
| 718 | for(i = 0; i < co->NumberOfGPSSat; ++i)
|
---|
| 719 | {
|
---|
| 720 | G_GPS_SATELLITE_ID(co->Sat[i].ID)
|
---|
| 721 | G_SSR_URA(co->Sat[i].URA)
|
---|
| 722 | }
|
---|
| 723 | break;
|
---|
| 724 | case COTYPE_GPSHR:
|
---|
| 725 | if(!co) return GCOBR_NOCLOCKORBITPARAMETER;
|
---|
| 726 | G_GPS_EPOCH_TIME(co->GPSEpochTime, co->NumberOfGPSSat)
|
---|
| 727 | co->epochGPS[co->epochSize] = co->GPSEpochTime; /* Weber, for latency */
|
---|
| 728 | if(co->epochSize < 100) {co->epochSize += 1;} /* Weber, for latency */
|
---|
| 729 | G_SSR_UPDATE_INTERVAL(co->UpdateInterval)
|
---|
| 730 | G_MULTIPLE_MESSAGE_INDICATOR(mmi)
|
---|
| 731 | G_RESERVED5
|
---|
| 732 | G_NO_OF_SATELLITES(co->NumberOfGPSSat)
|
---|
| 733 | if(co->HRDataSupplied)
|
---|
| 734 | return GCOBR_DATAMISMATCH;
|
---|
| 735 | co->HRDataSupplied = 1;
|
---|
| 736 | for(i = 0; i < co->NumberOfGPSSat; ++i)
|
---|
| 737 | {
|
---|
| 738 | G_GPS_SATELLITE_ID(co->Sat[i].ID)
|
---|
| 739 | G_HR_CLOCK_CORRECTION(co->Sat[i].hrclock)
|
---|
| 740 | }
|
---|
| 741 | break;
|
---|
[956] | 742 | case COTYPE_GLONASSORBIT:
|
---|
| 743 | if(!co) return GCOBR_NOCLOCKORBITPARAMETER;
|
---|
| 744 | G_GLONASS_EPOCH_TIME(co->GLONASSEpochTime, co->NumberOfGLONASSSat)
|
---|
[1581] | 745 | G_SSR_UPDATE_INTERVAL(co->UpdateInterval)
|
---|
[956] | 746 | G_MULTIPLE_MESSAGE_INDICATOR(mmi)
|
---|
[1581] | 747 | G_RESERVED5
|
---|
[956] | 748 | G_NO_OF_SATELLITES(co->NumberOfGLONASSSat)
|
---|
| 749 | if(co->OrbitDataSupplied)
|
---|
| 750 | return GCOBR_DATAMISMATCH;
|
---|
| 751 | co->OrbitDataSupplied = 1;
|
---|
| 752 | for(i = CLOCKORBIT_NUMGPS;
|
---|
| 753 | i < CLOCKORBIT_NUMGPS+co->NumberOfGLONASSSat; ++i)
|
---|
| 754 | {
|
---|
| 755 | G_GLONASS_SATELLITE_ID(co->Sat[i].ID)
|
---|
| 756 | G_GLONASS_IOD(co->Sat[i].IOD)
|
---|
| 757 | G_DELTA_RADIAL(co->Sat[i].Orbit.DeltaRadial)
|
---|
| 758 | G_DELTA_ALONG_TRACK(co->Sat[i].Orbit.DeltaAlongTrack)
|
---|
| 759 | G_DELTA_CROSS_TRACK(co->Sat[i].Orbit.DeltaCrossTrack)
|
---|
| 760 | G_DELTA_DOT_RADIAL(co->Sat[i].Orbit.DotDeltaRadial)
|
---|
| 761 | G_DELTA_DOT_ALONG_TRACK(co->Sat[i].Orbit.DotDeltaAlongTrack)
|
---|
| 762 | G_DELTA_DOT_CROSS_TRACK(co->Sat[i].Orbit.DotDeltaCrossTrack)
|
---|
| 763 | G_DELTA_DOT_DOT_RADIAL(co->Sat[i].Orbit.DotDotDeltaRadial)
|
---|
| 764 | G_DELTA_DOT_DOT_ALONG_TRACK(co->Sat[i].Orbit.DotDotDeltaAlongTrack)
|
---|
| 765 | G_DELTA_DOT_DOT_CROSS_TRACK(co->Sat[i].Orbit.DotDotDeltaCrossTrack)
|
---|
| 766 | G_SATELLITE_REFERENCE_POINT(co->SatRefPoint)
|
---|
| 767 | G_SATELLITE_REFERENCE_DATUM(co->SatRefDatum)
|
---|
| 768 | }
|
---|
| 769 | break;
|
---|
| 770 | case COTYPE_GLONASSCLOCK:
|
---|
| 771 | if(!co) return GCOBR_NOCLOCKORBITPARAMETER;
|
---|
| 772 | G_GLONASS_EPOCH_TIME(co->GLONASSEpochTime, co->NumberOfGLONASSSat)
|
---|
[1581] | 773 | G_SSR_UPDATE_INTERVAL(co->UpdateInterval)
|
---|
[956] | 774 | G_MULTIPLE_MESSAGE_INDICATOR(mmi)
|
---|
[1581] | 775 | G_RESERVED5
|
---|
[956] | 776 | G_NO_OF_SATELLITES(co->NumberOfGLONASSSat)
|
---|
| 777 | if(co->ClockDataSupplied)
|
---|
| 778 | return GCOBR_DATAMISMATCH;
|
---|
| 779 | co->ClockDataSupplied = 1;
|
---|
| 780 | for(i = CLOCKORBIT_NUMGPS;
|
---|
| 781 | i < CLOCKORBIT_NUMGPS+co->NumberOfGLONASSSat; ++i)
|
---|
| 782 | {
|
---|
| 783 | G_GLONASS_SATELLITE_ID(co->Sat[i].ID)
|
---|
[1581] | 784 | G_DELTA_CLOCK_C0(co->Sat[i].Clock.DeltaA0)
|
---|
| 785 | G_DELTA_CLOCK_C1(co->Sat[i].Clock.DeltaA1)
|
---|
| 786 | G_DELTA_CLOCK_C2(co->Sat[i].Clock.DeltaA2)
|
---|
[956] | 787 | }
|
---|
| 788 | break;
|
---|
| 789 | case COTYPE_GLONASSCOMBINED:
|
---|
| 790 | if(!co) return GCOBR_NOCLOCKORBITPARAMETER;
|
---|
| 791 | G_GLONASS_EPOCH_TIME(co->GLONASSEpochTime, co->NumberOfGLONASSSat)
|
---|
[1581] | 792 | G_SSR_UPDATE_INTERVAL(co->UpdateInterval)
|
---|
[956] | 793 | G_MULTIPLE_MESSAGE_INDICATOR(mmi)
|
---|
[1581] | 794 | G_RESERVED5
|
---|
[956] | 795 | G_NO_OF_SATELLITES(co->NumberOfGLONASSSat)
|
---|
| 796 | if(co->ClockDataSupplied || co->OrbitDataSupplied)
|
---|
| 797 | return GCOBR_DATAMISMATCH;
|
---|
| 798 | co->OrbitDataSupplied = 1;
|
---|
| 799 | co->ClockDataSupplied = 1;
|
---|
| 800 | for(i = CLOCKORBIT_NUMGPS;
|
---|
| 801 | i < CLOCKORBIT_NUMGPS+co->NumberOfGLONASSSat; ++i)
|
---|
| 802 | {
|
---|
| 803 | G_GLONASS_SATELLITE_ID(co->Sat[i].ID)
|
---|
| 804 | G_GLONASS_IOD(co->Sat[i].IOD)
|
---|
| 805 | G_DELTA_RADIAL(co->Sat[i].Orbit.DeltaRadial)
|
---|
| 806 | G_DELTA_ALONG_TRACK(co->Sat[i].Orbit.DeltaAlongTrack)
|
---|
| 807 | G_DELTA_CROSS_TRACK(co->Sat[i].Orbit.DeltaCrossTrack)
|
---|
| 808 | G_DELTA_DOT_RADIAL(co->Sat[i].Orbit.DotDeltaRadial)
|
---|
| 809 | G_DELTA_DOT_ALONG_TRACK(co->Sat[i].Orbit.DotDeltaAlongTrack)
|
---|
| 810 | G_DELTA_DOT_CROSS_TRACK(co->Sat[i].Orbit.DotDeltaCrossTrack)
|
---|
| 811 | G_DELTA_DOT_DOT_RADIAL(co->Sat[i].Orbit.DotDotDeltaRadial)
|
---|
| 812 | G_DELTA_DOT_DOT_ALONG_TRACK(co->Sat[i].Orbit.DotDotDeltaAlongTrack)
|
---|
| 813 | G_DELTA_DOT_DOT_CROSS_TRACK(co->Sat[i].Orbit.DotDotDeltaCrossTrack)
|
---|
| 814 | G_SATELLITE_REFERENCE_POINT(co->SatRefPoint)
|
---|
| 815 | G_SATELLITE_REFERENCE_DATUM(co->SatRefDatum)
|
---|
[1581] | 816 | G_DELTA_CLOCK_C0(co->Sat[i].Clock.DeltaA0)
|
---|
| 817 | G_DELTA_CLOCK_C1(co->Sat[i].Clock.DeltaA1)
|
---|
| 818 | G_DELTA_CLOCK_C2(co->Sat[i].Clock.DeltaA2)
|
---|
[956] | 819 | }
|
---|
| 820 | break;
|
---|
[1581] | 821 | case COTYPE_GLONASSURA:
|
---|
| 822 | if(!co) return GCOBR_NOCLOCKORBITPARAMETER;
|
---|
| 823 | G_GLONASS_EPOCH_TIME(co->GLONASSEpochTime, co->NumberOfGLONASSSat)
|
---|
| 824 | G_MULTIPLE_MESSAGE_INDICATOR(mmi)
|
---|
| 825 | G_RESERVED5
|
---|
| 826 | G_NO_OF_SATELLITES(co->NumberOfGLONASSSat)
|
---|
| 827 | if(co->URADataSupplied)
|
---|
| 828 | return GCOBR_DATAMISMATCH;
|
---|
| 829 | co->URADataSupplied = 1;
|
---|
| 830 | for(i = CLOCKORBIT_NUMGPS;
|
---|
| 831 | i < CLOCKORBIT_NUMGPS+co->NumberOfGLONASSSat; ++i)
|
---|
| 832 | {
|
---|
| 833 | G_GLONASS_SATELLITE_ID(co->Sat[i].ID)
|
---|
| 834 | G_SSR_URA(co->Sat[i].URA)
|
---|
| 835 | }
|
---|
| 836 | break;
|
---|
| 837 | case COTYPE_GLONASSHR:
|
---|
| 838 | if(!co) return GCOBR_NOCLOCKORBITPARAMETER;
|
---|
| 839 | G_GLONASS_EPOCH_TIME(co->GLONASSEpochTime, co->NumberOfGLONASSSat)
|
---|
| 840 | G_SSR_UPDATE_INTERVAL(co->UpdateInterval)
|
---|
| 841 | G_MULTIPLE_MESSAGE_INDICATOR(mmi)
|
---|
| 842 | G_RESERVED5
|
---|
| 843 | G_NO_OF_SATELLITES(co->NumberOfGLONASSSat)
|
---|
| 844 | if(co->HRDataSupplied)
|
---|
| 845 | return GCOBR_DATAMISMATCH;
|
---|
| 846 | co->HRDataSupplied = 1;
|
---|
| 847 | for(i = CLOCKORBIT_NUMGPS;
|
---|
| 848 | i < CLOCKORBIT_NUMGPS+co->NumberOfGLONASSSat; ++i)
|
---|
| 849 | {
|
---|
| 850 | G_GLONASS_SATELLITE_ID(co->Sat[i].ID)
|
---|
| 851 | G_HR_CLOCK_CORRECTION(co->Sat[i].hrclock)
|
---|
| 852 | }
|
---|
| 853 | break;
|
---|
[956] | 854 | case BTYPE_GPS:
|
---|
| 855 | if(!b) return GCOBR_NOBIASPARAMETER;
|
---|
| 856 | G_GPS_EPOCH_TIME(b->GPSEpochTime, co->NumberOfGPSSat)
|
---|
[1581] | 857 | G_SSR_UPDATE_INTERVAL(co->UpdateInterval)
|
---|
[956] | 858 | G_MULTIPLE_MESSAGE_INDICATOR(mmi)
|
---|
[1581] | 859 | G_RESERVED5
|
---|
[956] | 860 | G_NO_OF_SATELLITES(b->NumberOfGPSSat)
|
---|
| 861 | for(i = 0; i < b->NumberOfGPSSat; ++i)
|
---|
| 862 | {
|
---|
| 863 | G_GPS_SATELLITE_ID(b->Sat[i].ID)
|
---|
| 864 | G_NO_OF_CODE_BIASES(b->Sat[i].NumberOfCodeBiases)
|
---|
| 865 | for(j = 0; j < b->Sat[i].NumberOfCodeBiases; ++j)
|
---|
| 866 | {
|
---|
[1581] | 867 | G_GPS_SIGNAL_IDENTIFIER(b->Sat[i].Biases[j].Type)
|
---|
[956] | 868 | G_CODE_BIAS(b->Sat[i].Biases[j].Bias)
|
---|
| 869 | }
|
---|
| 870 | }
|
---|
| 871 | break;
|
---|
| 872 | case BTYPE_GLONASS:
|
---|
| 873 | if(!b) return GCOBR_NOBIASPARAMETER;
|
---|
| 874 | G_GPS_EPOCH_TIME(b->GLONASSEpochTime, co->NumberOfGLONASSSat)
|
---|
[1581] | 875 | G_SSR_UPDATE_INTERVAL(co->UpdateInterval)
|
---|
[956] | 876 | G_MULTIPLE_MESSAGE_INDICATOR(mmi)
|
---|
[1581] | 877 | G_RESERVED5
|
---|
[956] | 878 | G_NO_OF_SATELLITES(b->NumberOfGLONASSSat)
|
---|
| 879 | for(i = CLOCKORBIT_NUMGPS;
|
---|
| 880 | i < CLOCKORBIT_NUMGPS+b->NumberOfGLONASSSat; ++i)
|
---|
| 881 | {
|
---|
| 882 | G_GLONASS_SATELLITE_ID(b->Sat[i].ID)
|
---|
| 883 | G_NO_OF_CODE_BIASES(b->Sat[i].NumberOfCodeBiases)
|
---|
| 884 | for(j = 0; j < b->Sat[i].NumberOfCodeBiases; ++j)
|
---|
| 885 | {
|
---|
[1581] | 886 | G_GLONASS_SIGNAL_IDENTIFIER(b->Sat[i].Biases[j].Type)
|
---|
[956] | 887 | G_CODE_BIAS(b->Sat[i].Biases[j].Bias)
|
---|
| 888 | }
|
---|
| 889 | }
|
---|
| 890 | break;
|
---|
[1581] | 891 | #ifdef OLD
|
---|
| 892 | case OLDCOTYPE_GPSORBIT:
|
---|
| 893 | if(!co) return GCOBR_NOCLOCKORBITPARAMETER;
|
---|
| 894 | G_GPS_EPOCH_TIME(co->GPSEpochTime, co->NumberOfGPSSat)
|
---|
| 895 | co->epochGPS[co->epochSize] = co->GPSEpochTime; /* Weber, for latency */
|
---|
| 896 | if(co->epochSize < 100) {co->epochSize += 1;} /* Weber, for latency */
|
---|
| 897 | G_MULTIPLE_MESSAGE_INDICATOR(mmi)
|
---|
| 898 | OLD_G_RESERVED6
|
---|
| 899 | OLD_G_NO_OF_SATELLITES(co->NumberOfGPSSat)
|
---|
| 900 | if(co->OrbitDataSupplied)
|
---|
| 901 | return GCOBR_DATAMISMATCH;
|
---|
| 902 | co->OrbitDataSupplied = 1;
|
---|
| 903 | for(i = 0; i < co->NumberOfGPSSat; ++i)
|
---|
| 904 | {
|
---|
| 905 | G_GPS_SATELLITE_ID(co->Sat[i].ID)
|
---|
| 906 | G_GPS_IODE(co->Sat[i].IOD)
|
---|
| 907 | OLD_G_DELTA_RADIAL(co->Sat[i].Orbit.DeltaRadial)
|
---|
| 908 | OLD_G_DELTA_ALONG_TRACK(co->Sat[i].Orbit.DeltaAlongTrack)
|
---|
| 909 | OLD_G_DELTA_CROSS_TRACK(co->Sat[i].Orbit.DeltaCrossTrack)
|
---|
| 910 | OLD_G_DELTA_DOT_RADIAL(co->Sat[i].Orbit.DotDeltaRadial)
|
---|
| 911 | OLD_G_DELTA_DOT_ALONG_TRACK(co->Sat[i].Orbit.DotDeltaAlongTrack)
|
---|
| 912 | OLD_G_DELTA_DOT_CROSS_TRACK(co->Sat[i].Orbit.DotDeltaCrossTrack)
|
---|
| 913 | OLD_G_DELTA_DOT_DOT_RADIAL(co->Sat[i].Orbit.DotDotDeltaRadial)
|
---|
| 914 | OLD_G_DELTA_DOT_DOT_ALONG_TRACK(co->Sat[i].Orbit.DotDotDeltaAlongTrack)
|
---|
| 915 | OLD_G_DELTA_DOT_DOT_CROSS_TRACK(co->Sat[i].Orbit.DotDotDeltaCrossTrack)
|
---|
| 916 | G_SATELLITE_REFERENCE_POINT(co->SatRefPoint)
|
---|
| 917 | G_SATELLITE_REFERENCE_DATUM(co->SatRefDatum)
|
---|
| 918 | }
|
---|
| 919 | break;
|
---|
| 920 | case OLDCOTYPE_GPSCLOCK:
|
---|
| 921 | if(!co) return GCOBR_NOCLOCKORBITPARAMETER;
|
---|
| 922 | G_GPS_EPOCH_TIME(co->GPSEpochTime, co->NumberOfGPSSat)
|
---|
| 923 | co->epochGPS[co->epochSize] = co->GPSEpochTime; /* Weber, for latency */
|
---|
| 924 | if(co->epochSize < 100) {co->epochSize += 1;} /* Weber, for latency */
|
---|
| 925 | G_MULTIPLE_MESSAGE_INDICATOR(mmi)
|
---|
| 926 | OLD_G_RESERVED6
|
---|
| 927 | OLD_G_NO_OF_SATELLITES(co->NumberOfGPSSat)
|
---|
| 928 | if(co->ClockDataSupplied)
|
---|
| 929 | return GCOBR_DATAMISMATCH;
|
---|
| 930 | co->ClockDataSupplied = 1;
|
---|
| 931 | for(i = 0; i < co->NumberOfGPSSat; ++i)
|
---|
| 932 | {
|
---|
| 933 | G_GPS_SATELLITE_ID(co->Sat[i].ID)
|
---|
| 934 | G_GPS_IODE(co->Sat[i].IOD)
|
---|
| 935 | OLD_G_DELTA_A0(co->Sat[i].Clock.DeltaA0)
|
---|
| 936 | OLD_G_DELTA_A1(co->Sat[i].Clock.DeltaA1)
|
---|
| 937 | OLD_G_DELTA_A2(co->Sat[i].Clock.DeltaA2)
|
---|
| 938 | }
|
---|
| 939 | break;
|
---|
| 940 | case OLDCOTYPE_GPSCOMBINED:
|
---|
| 941 | if(!co) return -5;
|
---|
| 942 | G_GPS_EPOCH_TIME(co->GPSEpochTime, co->NumberOfGPSSat)
|
---|
| 943 | co->epochGPS[co->epochSize] = co->GPSEpochTime; /* Weber, for latency */
|
---|
| 944 | if(co->epochSize < 100) {co->epochSize += 1;} /* Weber, for latency */
|
---|
| 945 | G_MULTIPLE_MESSAGE_INDICATOR(mmi)
|
---|
| 946 | OLD_G_RESERVED6
|
---|
| 947 | OLD_G_NO_OF_SATELLITES(co->NumberOfGPSSat)
|
---|
| 948 | if(co->ClockDataSupplied || co->OrbitDataSupplied)
|
---|
| 949 | return GCOBR_DATAMISMATCH;
|
---|
| 950 | co->OrbitDataSupplied = 1;
|
---|
| 951 | co->ClockDataSupplied = 1;
|
---|
| 952 | for(i = 0; i < co->NumberOfGPSSat; ++i)
|
---|
| 953 | {
|
---|
| 954 | G_GPS_SATELLITE_ID(co->Sat[i].ID)
|
---|
| 955 | G_GPS_IODE(co->Sat[i].IOD)
|
---|
| 956 | OLD_G_DELTA_RADIAL(co->Sat[i].Orbit.DeltaRadial)
|
---|
| 957 | OLD_G_DELTA_ALONG_TRACK(co->Sat[i].Orbit.DeltaAlongTrack)
|
---|
| 958 | OLD_G_DELTA_CROSS_TRACK(co->Sat[i].Orbit.DeltaCrossTrack)
|
---|
| 959 | OLD_G_DELTA_DOT_RADIAL(co->Sat[i].Orbit.DotDeltaRadial)
|
---|
| 960 | OLD_G_DELTA_DOT_ALONG_TRACK(co->Sat[i].Orbit.DotDeltaAlongTrack)
|
---|
| 961 | OLD_G_DELTA_DOT_CROSS_TRACK(co->Sat[i].Orbit.DotDeltaCrossTrack)
|
---|
| 962 | OLD_G_DELTA_DOT_DOT_RADIAL(co->Sat[i].Orbit.DotDotDeltaRadial)
|
---|
| 963 | OLD_G_DELTA_DOT_DOT_ALONG_TRACK(co->Sat[i].Orbit.DotDotDeltaAlongTrack)
|
---|
| 964 | OLD_G_DELTA_DOT_DOT_CROSS_TRACK(co->Sat[i].Orbit.DotDotDeltaCrossTrack)
|
---|
| 965 | G_SATELLITE_REFERENCE_POINT(co->SatRefPoint)
|
---|
| 966 | G_SATELLITE_REFERENCE_DATUM(co->SatRefDatum)
|
---|
| 967 | OLD_G_DELTA_A0(co->Sat[i].Clock.DeltaA0)
|
---|
| 968 | OLD_G_DELTA_A1(co->Sat[i].Clock.DeltaA1)
|
---|
| 969 | OLD_G_DELTA_A2(co->Sat[i].Clock.DeltaA2)
|
---|
| 970 | }
|
---|
| 971 | break;
|
---|
| 972 | case OLDCOTYPE_GLONASSORBIT:
|
---|
| 973 | if(!co) return GCOBR_NOCLOCKORBITPARAMETER;
|
---|
| 974 | G_GLONASS_EPOCH_TIME(co->GLONASSEpochTime, co->NumberOfGLONASSSat)
|
---|
| 975 | G_MULTIPLE_MESSAGE_INDICATOR(mmi)
|
---|
| 976 | OLD_G_RESERVED6
|
---|
| 977 | OLD_G_NO_OF_SATELLITES(co->NumberOfGLONASSSat)
|
---|
| 978 | if(co->OrbitDataSupplied)
|
---|
| 979 | return GCOBR_DATAMISMATCH;
|
---|
| 980 | co->OrbitDataSupplied = 1;
|
---|
| 981 | for(i = CLOCKORBIT_NUMGPS;
|
---|
| 982 | i < CLOCKORBIT_NUMGPS+co->NumberOfGLONASSSat; ++i)
|
---|
| 983 | {
|
---|
| 984 | OLD_G_GLONASS_SATELLITE_ID(co->Sat[i].ID)
|
---|
| 985 | G_GLONASS_IOD(co->Sat[i].IOD)
|
---|
| 986 | OLD_G_DELTA_RADIAL(co->Sat[i].Orbit.DeltaRadial)
|
---|
| 987 | OLD_G_DELTA_ALONG_TRACK(co->Sat[i].Orbit.DeltaAlongTrack)
|
---|
| 988 | OLD_G_DELTA_CROSS_TRACK(co->Sat[i].Orbit.DeltaCrossTrack)
|
---|
| 989 | OLD_G_DELTA_DOT_RADIAL(co->Sat[i].Orbit.DotDeltaRadial)
|
---|
| 990 | OLD_G_DELTA_DOT_ALONG_TRACK(co->Sat[i].Orbit.DotDeltaAlongTrack)
|
---|
| 991 | OLD_G_DELTA_DOT_CROSS_TRACK(co->Sat[i].Orbit.DotDeltaCrossTrack)
|
---|
| 992 | OLD_G_DELTA_DOT_DOT_RADIAL(co->Sat[i].Orbit.DotDotDeltaRadial)
|
---|
| 993 | OLD_G_DELTA_DOT_DOT_ALONG_TRACK(co->Sat[i].Orbit.DotDotDeltaAlongTrack)
|
---|
| 994 | OLD_G_DELTA_DOT_DOT_CROSS_TRACK(co->Sat[i].Orbit.DotDotDeltaCrossTrack)
|
---|
| 995 | G_SATELLITE_REFERENCE_POINT(co->SatRefPoint)
|
---|
| 996 | G_SATELLITE_REFERENCE_DATUM(co->SatRefDatum)
|
---|
| 997 | }
|
---|
| 998 | break;
|
---|
| 999 | case OLDCOTYPE_GLONASSCLOCK:
|
---|
| 1000 | if(!co) return GCOBR_NOCLOCKORBITPARAMETER;
|
---|
| 1001 | G_GLONASS_EPOCH_TIME(co->GLONASSEpochTime, co->NumberOfGLONASSSat)
|
---|
| 1002 | G_MULTIPLE_MESSAGE_INDICATOR(mmi)
|
---|
| 1003 | OLD_G_RESERVED6
|
---|
| 1004 | OLD_G_NO_OF_SATELLITES(co->NumberOfGLONASSSat)
|
---|
| 1005 | if(co->ClockDataSupplied)
|
---|
| 1006 | return GCOBR_DATAMISMATCH;
|
---|
| 1007 | co->ClockDataSupplied = 1;
|
---|
| 1008 | for(i = CLOCKORBIT_NUMGPS;
|
---|
| 1009 | i < CLOCKORBIT_NUMGPS+co->NumberOfGLONASSSat; ++i)
|
---|
| 1010 | {
|
---|
| 1011 | OLD_G_GLONASS_SATELLITE_ID(co->Sat[i].ID)
|
---|
| 1012 | G_GLONASS_IOD(co->Sat[i].IOD)
|
---|
| 1013 | OLD_G_DELTA_A0(co->Sat[i].Clock.DeltaA0)
|
---|
| 1014 | OLD_G_DELTA_A1(co->Sat[i].Clock.DeltaA1)
|
---|
| 1015 | OLD_G_DELTA_A2(co->Sat[i].Clock.DeltaA2)
|
---|
| 1016 | }
|
---|
| 1017 | break;
|
---|
| 1018 | case OLDCOTYPE_GLONASSCOMBINED:
|
---|
| 1019 | if(!co) return GCOBR_NOCLOCKORBITPARAMETER;
|
---|
| 1020 | G_GLONASS_EPOCH_TIME(co->GLONASSEpochTime, co->NumberOfGLONASSSat)
|
---|
| 1021 | G_MULTIPLE_MESSAGE_INDICATOR(mmi)
|
---|
| 1022 | OLD_G_RESERVED6
|
---|
| 1023 | OLD_G_NO_OF_SATELLITES(co->NumberOfGLONASSSat)
|
---|
| 1024 | if(co->ClockDataSupplied || co->OrbitDataSupplied)
|
---|
| 1025 | return GCOBR_DATAMISMATCH;
|
---|
| 1026 | co->OrbitDataSupplied = 1;
|
---|
| 1027 | co->ClockDataSupplied = 1;
|
---|
| 1028 | for(i = CLOCKORBIT_NUMGPS;
|
---|
| 1029 | i < CLOCKORBIT_NUMGPS+co->NumberOfGLONASSSat; ++i)
|
---|
| 1030 | {
|
---|
| 1031 | OLD_G_GLONASS_SATELLITE_ID(co->Sat[i].ID)
|
---|
| 1032 | G_GLONASS_IOD(co->Sat[i].IOD)
|
---|
| 1033 | OLD_G_DELTA_RADIAL(co->Sat[i].Orbit.DeltaRadial)
|
---|
| 1034 | OLD_G_DELTA_ALONG_TRACK(co->Sat[i].Orbit.DeltaAlongTrack)
|
---|
| 1035 | OLD_G_DELTA_CROSS_TRACK(co->Sat[i].Orbit.DeltaCrossTrack)
|
---|
| 1036 | OLD_G_DELTA_DOT_RADIAL(co->Sat[i].Orbit.DotDeltaRadial)
|
---|
| 1037 | OLD_G_DELTA_DOT_ALONG_TRACK(co->Sat[i].Orbit.DotDeltaAlongTrack)
|
---|
| 1038 | OLD_G_DELTA_DOT_CROSS_TRACK(co->Sat[i].Orbit.DotDeltaCrossTrack)
|
---|
| 1039 | OLD_G_DELTA_DOT_DOT_RADIAL(co->Sat[i].Orbit.DotDotDeltaRadial)
|
---|
| 1040 | OLD_G_DELTA_DOT_DOT_ALONG_TRACK(co->Sat[i].Orbit.DotDotDeltaAlongTrack)
|
---|
| 1041 | OLD_G_DELTA_DOT_DOT_CROSS_TRACK(co->Sat[i].Orbit.DotDotDeltaCrossTrack)
|
---|
| 1042 | G_SATELLITE_REFERENCE_POINT(co->SatRefPoint)
|
---|
| 1043 | G_SATELLITE_REFERENCE_DATUM(co->SatRefDatum)
|
---|
| 1044 | OLD_G_DELTA_A0(co->Sat[i].Clock.DeltaA0)
|
---|
| 1045 | OLD_G_DELTA_A1(co->Sat[i].Clock.DeltaA1)
|
---|
| 1046 | OLD_G_DELTA_A2(co->Sat[i].Clock.DeltaA2)
|
---|
| 1047 | }
|
---|
| 1048 | break;
|
---|
| 1049 | case OLDBTYPE_GPS:
|
---|
| 1050 | if(!b) return GCOBR_NOBIASPARAMETER;
|
---|
| 1051 | G_GPS_EPOCH_TIME(b->GPSEpochTime, co->NumberOfGPSSat)
|
---|
| 1052 | G_MULTIPLE_MESSAGE_INDICATOR(mmi)
|
---|
| 1053 | OLD_G_RESERVED6
|
---|
| 1054 | OLD_G_NO_OF_SATELLITES(b->NumberOfGPSSat)
|
---|
| 1055 | for(i = 0; i < b->NumberOfGPSSat; ++i)
|
---|
| 1056 | {
|
---|
| 1057 | G_GPS_SATELLITE_ID(b->Sat[i].ID)
|
---|
| 1058 | G_NO_OF_CODE_BIASES(b->Sat[i].NumberOfCodeBiases)
|
---|
| 1059 | for(j = 0; j < b->Sat[i].NumberOfCodeBiases; ++j)
|
---|
| 1060 | {
|
---|
| 1061 | G_GPS_SIGNAL_IDENTIFIER(b->Sat[i].Biases[j].Type)
|
---|
| 1062 | OLD_G_CODE_BIAS(b->Sat[i].Biases[j].Bias)
|
---|
| 1063 | }
|
---|
| 1064 | }
|
---|
| 1065 | break;
|
---|
| 1066 | case OLDBTYPE_GLONASS:
|
---|
| 1067 | if(!b) return GCOBR_NOBIASPARAMETER;
|
---|
| 1068 | G_GPS_EPOCH_TIME(b->GLONASSEpochTime, co->NumberOfGLONASSSat)
|
---|
| 1069 | G_MULTIPLE_MESSAGE_INDICATOR(mmi)
|
---|
| 1070 | OLD_G_RESERVED6
|
---|
| 1071 | OLD_G_NO_OF_SATELLITES(b->NumberOfGLONASSSat)
|
---|
| 1072 | for(i = CLOCKORBIT_NUMGPS;
|
---|
| 1073 | i < CLOCKORBIT_NUMGPS+b->NumberOfGLONASSSat; ++i)
|
---|
| 1074 | {
|
---|
| 1075 | OLD_G_GLONASS_SATELLITE_ID(b->Sat[i].ID)
|
---|
| 1076 | G_NO_OF_CODE_BIASES(b->Sat[i].NumberOfCodeBiases)
|
---|
| 1077 | for(j = 0; j < b->Sat[i].NumberOfCodeBiases; ++j)
|
---|
| 1078 | {
|
---|
| 1079 | G_GLONASS_SIGNAL_IDENTIFIER(b->Sat[i].Biases[j].Type)
|
---|
| 1080 | OLD_G_CODE_BIAS(b->Sat[i].Biases[j].Bias)
|
---|
| 1081 | }
|
---|
| 1082 | }
|
---|
| 1083 | break;
|
---|
| 1084 | #endif
|
---|
[956] | 1085 | default:
|
---|
| 1086 | return GCOBR_UNKNOWNTYPE;
|
---|
| 1087 | }
|
---|
[1808] | 1088 | #ifdef DEBUG
|
---|
| 1089 | for(type = 0; type < size && (unsigned char)buffer[type] != 0xD3; ++type)
|
---|
| 1090 | numbits += 8;
|
---|
| 1091 | fprintf(stderr, "numbits left %d\n",numbits);
|
---|
| 1092 | #endif
|
---|
[956] | 1093 | if(bytesused)
|
---|
| 1094 | *bytesused = sizeofrtcmblock+6;
|
---|
| 1095 | return mmi ? GCOBR_MESSAGEFOLLOWS : GCOBR_OK;
|
---|
| 1096 | }
|
---|
| 1097 | #endif /* NODECODE */
|
---|