[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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[3495] | 5 | Version: $Id: clock_orbit_rtcm.c 3728 2012-03-15 13:49:35Z stoecker $
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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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[2421] | 10 | #include <math.h>
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[956] | 11 | #include <stdio.h>
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| 12 | #include <string.h>
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[2323] | 13 | #ifndef sparc
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[956] | 14 | #include <stdint.h>
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[2323] | 15 | #else
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| 16 | #include <sys/types.h>
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| 17 | #endif
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[956] | 18 | #include "clock_orbit_rtcm.h"
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| 19 |
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| 20 | static uint32_t CRC24(long size, const unsigned char *buf)
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| 21 | {
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| 22 | uint32_t crc = 0;
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| 23 | int i;
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| 24 |
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| 25 | while(size--)
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| 26 | {
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| 27 | crc ^= (*buf++) << (16);
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| 28 | for(i = 0; i < 8; i++)
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| 29 | {
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| 30 | crc <<= 1;
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| 31 | if(crc & 0x1000000)
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| 32 | crc ^= 0x01864cfb;
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| 33 | }
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| 34 | }
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| 35 | return crc;
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| 36 | }
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| 37 |
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| 38 | /* NOTE: These defines are interlinked with below functions and directly modify
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| 39 | the values. This may not be optimized in terms of final program code size but
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| 40 | should be optimized in terms of speed.
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| 41 |
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| 42 | modified variables are:
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| 43 | - everything defined in STARTDATA (only use ressize outside of the defines,
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| 44 | others are private)
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| 45 | - buffer
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| 46 | - size
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| 47 | */
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| 48 |
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| 49 | #ifndef NOENCODE
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| 50 | #define STOREBITS \
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| 51 | while(numbits >= 8) \
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| 52 | { \
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| 53 | if(!size) return 0; \
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| 54 | *(buffer++) = bitbuffer>>(numbits-8); \
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| 55 | numbits -= 8; \
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| 56 | ++ressize; \
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| 57 | --size; \
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| 58 | }
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| 59 |
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| 60 | #define ADDBITS(a, b) \
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| 61 | { \
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| 62 | bitbuffer = (bitbuffer<<(a))|((b)&((1<<a)-1)); \
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| 63 | numbits += (a); \
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| 64 | STOREBITS \
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| 65 | }
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| 66 |
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| 67 | #define STARTDATA \
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| 68 | size_t ressize=0; \
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| 69 | char *blockstart; \
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| 70 | int numbits; \
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| 71 | uint64_t bitbuffer=0;
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| 72 |
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| 73 | #define INITBLOCK \
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| 74 | numbits = 0; \
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| 75 | blockstart = buffer; \
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| 76 | ADDBITS(8, 0xD3) \
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| 77 | ADDBITS(6, 0) \
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| 78 | ADDBITS(10, 0)
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| 79 |
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| 80 | #define ENDBLOCK \
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| 81 | if(numbits) { ADDBITS((8-numbits), 0) } \
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| 82 | { \
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| 83 | int len = buffer-blockstart-3; \
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| 84 | blockstart[1] |= len>>8; \
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| 85 | blockstart[2] = len; \
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[1826] | 86 | if(len > 1023) \
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| 87 | return 0; \
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[956] | 88 | len = CRC24(len+3, (const unsigned char *) blockstart); \
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| 89 | ADDBITS(24, len) \
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| 90 | }
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| 91 |
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| 92 | #define SCALEADDBITS(a, b, c) ADDBITS(a, (int64_t)(b*c))
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| 93 |
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| 94 | /* standard values */
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| 95 | #define T_MESSAGE_NUMBER(a) ADDBITS(12, a) /* DF002 */
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| 96 | #define T_GPS_SATELLITE_ID(a) ADDBITS(6, a) /* DF068 */
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| 97 | #define T_GPS_IODE(a) ADDBITS(8, a) /* DF071 */
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| 98 | #define T_GLONASS_IOD(a) ADDBITS(8, a) /* DF237 */
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| 99 |
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| 100 | /* defined values */
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[1808] | 101 | #define T_DELTA_RADIAL(a) SCALEADDBITS(22, 10000.0, a)
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| 102 | #define T_DELTA_ALONG_TRACK(a) SCALEADDBITS(20, 2500.0, a)
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| 103 | #define T_DELTA_CROSS_TRACK(a) SCALEADDBITS(20, 2500.0, a)
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| 104 | #define T_DELTA_DOT_RADIAL(a) SCALEADDBITS(21, 1000000.0, a)
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| 105 | #define T_DELTA_DOT_ALONG_TRACK(a) SCALEADDBITS(19, 250000.0, a)
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| 106 | #define T_DELTA_DOT_CROSS_TRACK(a) SCALEADDBITS(19, 250000.0, a)
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[1581] | 107 |
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[956] | 108 | #define T_SATELLITE_REFERENCE_DATUM(a) ADDBITS(1, a)
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[1808] | 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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[1581] | 111 | #define T_DELTA_CLOCK_C2(a) SCALEADDBITS(27, 50000000.0, a)
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[956] | 112 | #define T_NO_OF_CODE_BIASES(a) ADDBITS(5, a)
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[1581] | 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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[1808] | 115 | #define T_CODE_BIAS(a) SCALEADDBITS(14, 100.0, a)
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[1581] | 116 | #define T_GLONASS_SATELLITE_ID(a) ADDBITS(5, a)
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[956] | 117 |
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[1581] | 118 | #define T_GPS_EPOCH_TIME(a) ADDBITS(20, a)
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| 119 | #define T_GLONASS_EPOCH_TIME(a) ADDBITS(17, a)
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| 120 | #define T_NO_OF_SATELLITES(a) ADDBITS(6, a)
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| 121 | #define T_MULTIPLE_MESSAGE_INDICATOR(a) ADDBITS(1, a)
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[2421] | 122 | #define T_SSR_URA(a) ADDBITS(6, a)
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[1808] | 123 | #define T_HR_CLOCK_CORRECTION(a) SCALEADDBITS(22, 10000.0, a)
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[1581] | 124 | #define T_SSR_UPDATE_INTERVAL(a) ADDBITS(4, a)
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[956] | 125 |
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[3511] | 126 | #define T_SSR_IOD(a) ADDBITS(4, a)
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| 127 | #define T_SSR_PROVIDER_ID(a) ADDBITS(16, a)
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| 128 | #define T_SSR_SOLUTION_ID(a) ADDBITS(4, a)
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| 129 |
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[2421] | 130 | static double URAToValue(int ura)
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| 131 | {
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| 132 | int urac, urav;
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| 133 | urac = ura >> 3;
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| 134 | urav = ura & 7;
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| 135 | if(!ura)
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| 136 | return 0;
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| 137 | else if(ura == 63)
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| 138 | return SSR_MAXURA;
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| 139 | return (pow(3,urac)*(1.0+urav/4.0)-1.0)/1000.0;
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| 140 | }
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| 141 |
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| 142 | static int ValueToURA(double val)
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| 143 | {
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| 144 | int ura;
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| 145 | if(!val)
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| 146 | return 0;
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| 147 | else if(val > 5.4665)
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| 148 | return 63;
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| 149 | for(ura = 1; ura < 63 && val > URAToValue(ura); ++ura)
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| 150 | ;
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| 151 | return ura;
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| 152 | }
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| 153 |
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[956] | 154 | size_t MakeClockOrbit(const struct ClockOrbit *co, enum ClockOrbitType type,
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| 155 | int moremessagesfollow, char *buffer, size_t size)
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| 156 | {
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[1581] | 157 | int gpshr=0, gpsur=0, gpsor=0, gpscl=0, gpsco=0, glohr=0, glour=0, gloor=0,
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| 158 | glocl=0, gloco=0, mmi, i;
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[1819] | 159 |
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[956] | 160 | STARTDATA
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| 161 |
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[1581] | 162 | if(co->NumberOfGPSSat && co->HRDataSupplied
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| 163 | && (type == COTYPE_AUTO || type == COTYPE_GPSHR))
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| 164 | gpshr = 1;
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| 165 | if(co->NumberOfGPSSat && co->URADataSupplied
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| 166 | && (type == COTYPE_AUTO || type == COTYPE_GPSURA))
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| 167 | gpsur = 1;
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[956] | 168 | if(co->NumberOfGPSSat && co->OrbitDataSupplied
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| 169 | && (type == COTYPE_AUTO || type == COTYPE_GPSORBIT))
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| 170 | gpsor = 1;
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| 171 | if(co->NumberOfGPSSat && co->ClockDataSupplied
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| 172 | && (type == COTYPE_AUTO || type == COTYPE_GPSCLOCK))
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| 173 | gpscl = 1;
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| 174 | if(co->NumberOfGPSSat && co->ClockDataSupplied && co->OrbitDataSupplied
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[1826] | 175 | && (type == COTYPE_AUTO || type == COTYPE_GPSCOMBINED)
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[1840] | 176 | /*&& co->NumberOfGPSSat <= 28*/)
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[956] | 177 | {
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| 178 | gpsco = 1; gpsor = 0; gpscl = 0;
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| 179 | }
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[1581] | 180 | if(co->NumberOfGLONASSSat && co->HRDataSupplied
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| 181 | && (type == COTYPE_AUTO || type == COTYPE_GLONASSHR))
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| 182 | glohr = 1;
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| 183 | if(co->NumberOfGLONASSSat && co->URADataSupplied
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| 184 | && (type == COTYPE_AUTO || type == COTYPE_GLONASSURA))
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| 185 | glour = 1;
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[956] | 186 | if(co->NumberOfGLONASSSat && co->OrbitDataSupplied
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| 187 | && (type == COTYPE_AUTO || type == COTYPE_GLONASSORBIT))
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| 188 | gloor = 1;
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| 189 | if(co->NumberOfGLONASSSat && co->ClockDataSupplied
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| 190 | && (type == COTYPE_AUTO || type == COTYPE_GLONASSCLOCK))
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| 191 | glocl = 1;
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| 192 | if(co->NumberOfGLONASSSat && co->ClockDataSupplied && co->OrbitDataSupplied
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| 193 | && (type == COTYPE_AUTO || type == COTYPE_GLONASSCOMBINED))
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| 194 | {
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| 195 | gloco = 1; gloor = 0; glocl = 0;
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| 196 | }
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| 197 |
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[1581] | 198 | mmi = gpshr+gpsur+gpsor+gpscl+gpsco+glohr+glour+gloor+glocl+gloco; /* required for multimessage */
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[956] | 199 | if(!moremessagesfollow) --mmi;
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| 200 |
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| 201 | if(gpsor)
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| 202 | {
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| 203 | INITBLOCK
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| 204 | T_MESSAGE_NUMBER(COTYPE_GPSORBIT)
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| 205 | T_GPS_EPOCH_TIME(co->GPSEpochTime)
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[1581] | 206 | T_SSR_UPDATE_INTERVAL(co->UpdateInterval)
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[1840] | 207 | T_MULTIPLE_MESSAGE_INDICATOR(/*mmi ? 1 :*/0)
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[956] | 208 | --mmi;
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[2421] | 209 | T_SATELLITE_REFERENCE_DATUM(co->SatRefDatum)
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[3511] | 210 | T_SSR_IOD(co->SSRIOD)
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| 211 | T_SSR_PROVIDER_ID(co->SSRProviderID)
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| 212 | T_SSR_SOLUTION_ID(co->SSRSolutionID)
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[956] | 213 | T_NO_OF_SATELLITES(co->NumberOfGPSSat)
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| 214 | for(i = 0; i < co->NumberOfGPSSat; ++i)
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| 215 | {
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| 216 | T_GPS_SATELLITE_ID(co->Sat[i].ID)
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| 217 | T_GPS_IODE(co->Sat[i].IOD)
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| 218 | T_DELTA_RADIAL(co->Sat[i].Orbit.DeltaRadial)
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| 219 | T_DELTA_ALONG_TRACK(co->Sat[i].Orbit.DeltaAlongTrack)
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| 220 | T_DELTA_CROSS_TRACK(co->Sat[i].Orbit.DeltaCrossTrack)
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| 221 | T_DELTA_DOT_RADIAL(co->Sat[i].Orbit.DotDeltaRadial)
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| 222 | T_DELTA_DOT_ALONG_TRACK(co->Sat[i].Orbit.DotDeltaAlongTrack)
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| 223 | T_DELTA_DOT_CROSS_TRACK(co->Sat[i].Orbit.DotDeltaCrossTrack)
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| 224 | }
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| 225 | ENDBLOCK
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| 226 | }
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| 227 | if(gpscl)
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| 228 | {
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| 229 | INITBLOCK
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| 230 | T_MESSAGE_NUMBER(COTYPE_GPSCLOCK)
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| 231 | T_GPS_EPOCH_TIME(co->GPSEpochTime)
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[1581] | 232 | T_SSR_UPDATE_INTERVAL(co->UpdateInterval)
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[1840] | 233 | T_MULTIPLE_MESSAGE_INDICATOR(/*mmi ? 1 :*/0)
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[956] | 234 | --mmi;
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[3511] | 235 | T_SSR_IOD(co->SSRIOD)
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| 236 | T_SSR_PROVIDER_ID(co->SSRProviderID)
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| 237 | T_SSR_SOLUTION_ID(co->SSRSolutionID)
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[956] | 238 | T_NO_OF_SATELLITES(co->NumberOfGPSSat)
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| 239 | for(i = 0; i < co->NumberOfGPSSat; ++i)
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| 240 | {
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| 241 | T_GPS_SATELLITE_ID(co->Sat[i].ID)
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[1581] | 242 | T_DELTA_CLOCK_C0(co->Sat[i].Clock.DeltaA0)
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| 243 | T_DELTA_CLOCK_C1(co->Sat[i].Clock.DeltaA1)
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| 244 | T_DELTA_CLOCK_C2(co->Sat[i].Clock.DeltaA2)
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[956] | 245 | }
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| 246 | ENDBLOCK
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| 247 | }
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| 248 | if(gpsco)
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| 249 | {
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[2432] | 250 | #ifdef SPLITBLOCK
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| 251 | int nums = co->NumberOfGPSSat;
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| 252 | int left, start = 0;
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[1840] | 253 | if(nums > 28) /* split block when more than 28 sats */
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[956] | 254 | {
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[1840] | 255 | left = nums - 28;
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| 256 | nums = 28;
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[956] | 257 | }
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[2323] | 258 | else
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| 259 | {
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| 260 | left = 0;
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| 261 | }
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[1840] | 262 | while(nums)
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| 263 | {
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[2432] | 264 | #endif
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[1840] | 265 | INITBLOCK
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| 266 | T_MESSAGE_NUMBER(COTYPE_GPSCOMBINED)
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| 267 | T_GPS_EPOCH_TIME(co->GPSEpochTime)
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| 268 | T_SSR_UPDATE_INTERVAL(co->UpdateInterval)
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[2432] | 269 | #ifdef SPLITBLOCK
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[1840] | 270 | T_MULTIPLE_MESSAGE_INDICATOR(/*mmi || */ left ? 1 : 0)
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[2432] | 271 | #else
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| 272 | T_MULTIPLE_MESSAGE_INDICATOR(/*mmi || */ 0)
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| 273 | #endif
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[1840] | 274 | --mmi;
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[2421] | 275 | T_SATELLITE_REFERENCE_DATUM(co->SatRefDatum)
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[3511] | 276 | T_SSR_IOD(co->SSRIOD)
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| 277 | T_SSR_PROVIDER_ID(co->SSRProviderID)
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| 278 | T_SSR_SOLUTION_ID(co->SSRSolutionID)
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[2432] | 279 | #ifdef SPLITBLOCK
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[1840] | 280 | T_NO_OF_SATELLITES(nums)
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| 281 | for(i = start; i < start+nums; ++i)
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[2432] | 282 | #else
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| 283 | T_NO_OF_SATELLITES(co->NumberOfGPSSat)
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| 284 | for(i = 0; i < co->NumberOfGPSSat; ++i)
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| 285 | #endif
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[1840] | 286 | {
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| 287 | T_GPS_SATELLITE_ID(co->Sat[i].ID)
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| 288 | T_GPS_IODE(co->Sat[i].IOD)
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| 289 | T_DELTA_RADIAL(co->Sat[i].Orbit.DeltaRadial)
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| 290 | T_DELTA_ALONG_TRACK(co->Sat[i].Orbit.DeltaAlongTrack)
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| 291 | T_DELTA_CROSS_TRACK(co->Sat[i].Orbit.DeltaCrossTrack)
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| 292 | T_DELTA_DOT_RADIAL(co->Sat[i].Orbit.DotDeltaRadial)
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| 293 | T_DELTA_DOT_ALONG_TRACK(co->Sat[i].Orbit.DotDeltaAlongTrack)
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| 294 | T_DELTA_DOT_CROSS_TRACK(co->Sat[i].Orbit.DotDeltaCrossTrack)
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| 295 | T_DELTA_CLOCK_C0(co->Sat[i].Clock.DeltaA0)
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| 296 | T_DELTA_CLOCK_C1(co->Sat[i].Clock.DeltaA1)
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| 297 | T_DELTA_CLOCK_C2(co->Sat[i].Clock.DeltaA2)
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| 298 | }
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| 299 | ENDBLOCK
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[2432] | 300 | #ifdef SPLITBLOCK
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[1840] | 301 | start += nums;
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| 302 | nums = left;
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| 303 | left = 0;
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| 304 | }
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[2432] | 305 | #endif
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[956] | 306 | }
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[1581] | 307 | if(gpshr)
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| 308 | {
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| 309 | INITBLOCK
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| 310 | T_MESSAGE_NUMBER(COTYPE_GPSHR)
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| 311 | T_GPS_EPOCH_TIME(co->GPSEpochTime)
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| 312 | T_SSR_UPDATE_INTERVAL(co->UpdateInterval)
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[1840] | 313 | T_MULTIPLE_MESSAGE_INDICATOR(/*mmi ? 1 :*/0)
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[1581] | 314 | --mmi;
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[3511] | 315 | T_SSR_IOD(co->SSRIOD)
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| 316 | T_SSR_PROVIDER_ID(co->SSRProviderID)
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| 317 | T_SSR_SOLUTION_ID(co->SSRSolutionID)
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[1581] | 318 | T_NO_OF_SATELLITES(co->NumberOfGPSSat)
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| 319 | for(i = 0; i < co->NumberOfGPSSat; ++i)
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| 320 | {
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| 321 | T_GPS_SATELLITE_ID(co->Sat[i].ID)
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| 322 | T_HR_CLOCK_CORRECTION(co->Sat[i].hrclock)
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| 323 | }
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| 324 | ENDBLOCK
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| 325 | }
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| 326 | if(gpsur)
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| 327 | {
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| 328 | INITBLOCK
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| 329 | T_MESSAGE_NUMBER(COTYPE_GPSURA)
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| 330 | T_GPS_EPOCH_TIME(co->GPSEpochTime)
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[1840] | 331 | T_MULTIPLE_MESSAGE_INDICATOR(/*mmi ? 1 :*/0)
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[1581] | 332 | --mmi;
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[3511] | 333 | T_SSR_IOD(co->SSRIOD)
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| 334 | T_SSR_PROVIDER_ID(co->SSRProviderID)
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| 335 | T_SSR_SOLUTION_ID(co->SSRSolutionID)
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[1581] | 336 | T_NO_OF_SATELLITES(co->NumberOfGPSSat)
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| 337 | for(i = 0; i < co->NumberOfGPSSat; ++i)
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| 338 | {
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| 339 | T_GPS_SATELLITE_ID(co->Sat[i].ID)
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[2421] | 340 | T_SSR_URA(ValueToURA(co->Sat[i].UserRangeAccuracy))
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[1581] | 341 | }
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| 342 | ENDBLOCK
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| 343 | }
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[956] | 344 | if(gloor)
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| 345 | {
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| 346 | INITBLOCK
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| 347 | T_MESSAGE_NUMBER(COTYPE_GLONASSORBIT)
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| 348 | T_GLONASS_EPOCH_TIME(co->GLONASSEpochTime)
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[1581] | 349 | T_SSR_UPDATE_INTERVAL(co->UpdateInterval)
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[1840] | 350 | T_MULTIPLE_MESSAGE_INDICATOR(/*mmi ? 1 :*/0)
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[956] | 351 | --mmi;
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[2421] | 352 | T_SATELLITE_REFERENCE_DATUM(co->SatRefDatum)
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[3511] | 353 | T_SSR_IOD(co->SSRIOD)
|
---|
| 354 | T_SSR_PROVIDER_ID(co->SSRProviderID)
|
---|
| 355 | T_SSR_SOLUTION_ID(co->SSRSolutionID)
|
---|
[956] | 356 | T_NO_OF_SATELLITES(co->NumberOfGLONASSSat)
|
---|
| 357 | for(i = CLOCKORBIT_NUMGPS;
|
---|
| 358 | i < CLOCKORBIT_NUMGPS+co->NumberOfGLONASSSat; ++i)
|
---|
| 359 | {
|
---|
| 360 | T_GLONASS_SATELLITE_ID(co->Sat[i].ID)
|
---|
| 361 | T_GLONASS_IOD(co->Sat[i].IOD)
|
---|
| 362 | T_DELTA_RADIAL(co->Sat[i].Orbit.DeltaRadial)
|
---|
| 363 | T_DELTA_ALONG_TRACK(co->Sat[i].Orbit.DeltaAlongTrack)
|
---|
| 364 | T_DELTA_CROSS_TRACK(co->Sat[i].Orbit.DeltaCrossTrack)
|
---|
| 365 | T_DELTA_DOT_RADIAL(co->Sat[i].Orbit.DotDeltaRadial)
|
---|
| 366 | T_DELTA_DOT_ALONG_TRACK(co->Sat[i].Orbit.DotDeltaAlongTrack)
|
---|
| 367 | T_DELTA_DOT_CROSS_TRACK(co->Sat[i].Orbit.DotDeltaCrossTrack)
|
---|
| 368 | }
|
---|
| 369 | ENDBLOCK
|
---|
| 370 | }
|
---|
| 371 | if(glocl)
|
---|
| 372 | {
|
---|
| 373 | INITBLOCK
|
---|
| 374 | T_MESSAGE_NUMBER(COTYPE_GLONASSCLOCK)
|
---|
| 375 | T_GLONASS_EPOCH_TIME(co->GLONASSEpochTime)
|
---|
[1581] | 376 | T_SSR_UPDATE_INTERVAL(co->UpdateInterval)
|
---|
[1840] | 377 | T_MULTIPLE_MESSAGE_INDICATOR(/*mmi ? 1 :*/0)
|
---|
[956] | 378 | --mmi;
|
---|
[3511] | 379 | T_SSR_IOD(co->SSRIOD)
|
---|
| 380 | T_SSR_PROVIDER_ID(co->SSRProviderID)
|
---|
| 381 | T_SSR_SOLUTION_ID(co->SSRSolutionID)
|
---|
[956] | 382 | T_NO_OF_SATELLITES(co->NumberOfGLONASSSat)
|
---|
| 383 | for(i = CLOCKORBIT_NUMGPS;
|
---|
| 384 | i < CLOCKORBIT_NUMGPS+co->NumberOfGLONASSSat; ++i)
|
---|
| 385 | {
|
---|
| 386 | T_GLONASS_SATELLITE_ID(co->Sat[i].ID)
|
---|
[1581] | 387 | T_DELTA_CLOCK_C0(co->Sat[i].Clock.DeltaA0)
|
---|
| 388 | T_DELTA_CLOCK_C1(co->Sat[i].Clock.DeltaA1)
|
---|
| 389 | T_DELTA_CLOCK_C2(co->Sat[i].Clock.DeltaA2)
|
---|
[956] | 390 | }
|
---|
| 391 | ENDBLOCK
|
---|
| 392 | }
|
---|
| 393 | if(gloco)
|
---|
| 394 | {
|
---|
| 395 | INITBLOCK
|
---|
| 396 | T_MESSAGE_NUMBER(COTYPE_GLONASSCOMBINED)
|
---|
| 397 | T_GLONASS_EPOCH_TIME(co->GLONASSEpochTime)
|
---|
[1581] | 398 | T_SSR_UPDATE_INTERVAL(co->UpdateInterval)
|
---|
[1840] | 399 | T_MULTIPLE_MESSAGE_INDICATOR(/*mmi ? 1 :*/0)
|
---|
[956] | 400 | --mmi;
|
---|
[2421] | 401 | T_SATELLITE_REFERENCE_DATUM(co->SatRefDatum)
|
---|
[3511] | 402 | T_SSR_IOD(co->SSRIOD)
|
---|
| 403 | T_SSR_PROVIDER_ID(co->SSRProviderID)
|
---|
| 404 | T_SSR_SOLUTION_ID(co->SSRSolutionID)
|
---|
[956] | 405 | T_NO_OF_SATELLITES(co->NumberOfGLONASSSat)
|
---|
| 406 | for(i = CLOCKORBIT_NUMGPS;
|
---|
| 407 | i < CLOCKORBIT_NUMGPS+co->NumberOfGLONASSSat; ++i)
|
---|
| 408 | {
|
---|
| 409 | T_GLONASS_SATELLITE_ID(co->Sat[i].ID)
|
---|
| 410 | T_GLONASS_IOD(co->Sat[i].IOD)
|
---|
| 411 | T_DELTA_RADIAL(co->Sat[i].Orbit.DeltaRadial)
|
---|
| 412 | T_DELTA_ALONG_TRACK(co->Sat[i].Orbit.DeltaAlongTrack)
|
---|
| 413 | T_DELTA_CROSS_TRACK(co->Sat[i].Orbit.DeltaCrossTrack)
|
---|
| 414 | T_DELTA_DOT_RADIAL(co->Sat[i].Orbit.DotDeltaRadial)
|
---|
| 415 | T_DELTA_DOT_ALONG_TRACK(co->Sat[i].Orbit.DotDeltaAlongTrack)
|
---|
| 416 | T_DELTA_DOT_CROSS_TRACK(co->Sat[i].Orbit.DotDeltaCrossTrack)
|
---|
[1581] | 417 | T_DELTA_CLOCK_C0(co->Sat[i].Clock.DeltaA0)
|
---|
| 418 | T_DELTA_CLOCK_C1(co->Sat[i].Clock.DeltaA1)
|
---|
| 419 | T_DELTA_CLOCK_C2(co->Sat[i].Clock.DeltaA2)
|
---|
[956] | 420 | }
|
---|
| 421 | ENDBLOCK
|
---|
| 422 | }
|
---|
[1581] | 423 | if(glohr)
|
---|
| 424 | {
|
---|
| 425 | INITBLOCK
|
---|
| 426 | T_MESSAGE_NUMBER(COTYPE_GLONASSHR)
|
---|
| 427 | T_GLONASS_EPOCH_TIME(co->GLONASSEpochTime)
|
---|
| 428 | T_SSR_UPDATE_INTERVAL(co->UpdateInterval)
|
---|
[1840] | 429 | T_MULTIPLE_MESSAGE_INDICATOR(/*mmi ? 1 :*/0)
|
---|
[1581] | 430 | --mmi;
|
---|
[3511] | 431 | T_SSR_IOD(co->SSRIOD)
|
---|
| 432 | T_SSR_PROVIDER_ID(co->SSRProviderID)
|
---|
| 433 | T_SSR_SOLUTION_ID(co->SSRSolutionID)
|
---|
[1581] | 434 | T_NO_OF_SATELLITES(co->NumberOfGLONASSSat)
|
---|
| 435 | for(i = CLOCKORBIT_NUMGPS;
|
---|
| 436 | i < CLOCKORBIT_NUMGPS+co->NumberOfGLONASSSat; ++i)
|
---|
| 437 | {
|
---|
| 438 | T_GPS_SATELLITE_ID(co->Sat[i].ID)
|
---|
| 439 | T_HR_CLOCK_CORRECTION(co->Sat[i].hrclock)
|
---|
| 440 | }
|
---|
| 441 | ENDBLOCK
|
---|
| 442 | }
|
---|
| 443 | if(glour)
|
---|
| 444 | {
|
---|
| 445 | INITBLOCK
|
---|
| 446 | T_MESSAGE_NUMBER(COTYPE_GLONASSURA)
|
---|
| 447 | T_GLONASS_EPOCH_TIME(co->GLONASSEpochTime)
|
---|
[1840] | 448 | T_MULTIPLE_MESSAGE_INDICATOR(/*mmi ? 1 :*/0)
|
---|
[1581] | 449 | --mmi;
|
---|
[3511] | 450 | T_SSR_IOD(co->SSRIOD)
|
---|
| 451 | T_SSR_PROVIDER_ID(co->SSRProviderID)
|
---|
| 452 | T_SSR_SOLUTION_ID(co->SSRSolutionID)
|
---|
[1581] | 453 | T_NO_OF_SATELLITES(co->NumberOfGLONASSSat)
|
---|
| 454 | for(i = CLOCKORBIT_NUMGPS;
|
---|
| 455 | i < CLOCKORBIT_NUMGPS+co->NumberOfGLONASSSat; ++i)
|
---|
| 456 | {
|
---|
| 457 | T_GPS_SATELLITE_ID(co->Sat[i].ID)
|
---|
[2421] | 458 | T_SSR_URA(ValueToURA(co->Sat[i].UserRangeAccuracy))
|
---|
[1581] | 459 | }
|
---|
| 460 | ENDBLOCK
|
---|
| 461 | }
|
---|
[956] | 462 |
|
---|
| 463 | return ressize;
|
---|
| 464 | }
|
---|
| 465 |
|
---|
| 466 | size_t MakeBias(const struct Bias *b, enum BiasType type,
|
---|
| 467 | int moremessagesfollow, char *buffer, size_t size)
|
---|
| 468 | {
|
---|
[2323] | 469 | int gps=0, glo=0, mmi, i, j;
|
---|
[1819] | 470 |
|
---|
[956] | 471 | STARTDATA
|
---|
| 472 |
|
---|
| 473 | if(b->NumberOfGPSSat && (type == BTYPE_AUTO || type == BTYPE_GPS))
|
---|
| 474 | gps = 1;
|
---|
| 475 | if(b->NumberOfGLONASSSat && (type == BTYPE_AUTO || type == BTYPE_GLONASS))
|
---|
| 476 | glo = 1;
|
---|
| 477 |
|
---|
| 478 | mmi = gps+glo; /* required for multimessage */
|
---|
| 479 | if(!moremessagesfollow) --mmi;
|
---|
| 480 |
|
---|
| 481 | if(gps)
|
---|
| 482 | {
|
---|
| 483 | INITBLOCK
|
---|
| 484 | T_MESSAGE_NUMBER(BTYPE_GPS)
|
---|
| 485 | T_GPS_EPOCH_TIME(b->GPSEpochTime)
|
---|
[1581] | 486 | T_SSR_UPDATE_INTERVAL(b->UpdateInterval)
|
---|
[1840] | 487 | T_MULTIPLE_MESSAGE_INDICATOR(/*mmi ? 1 :*/0)
|
---|
[956] | 488 | --mmi;
|
---|
[3511] | 489 | T_SSR_IOD(b->SSRIOD)
|
---|
| 490 | T_SSR_PROVIDER_ID(b->SSRProviderID)
|
---|
| 491 | T_SSR_SOLUTION_ID(b->SSRSolutionID)
|
---|
[956] | 492 | T_NO_OF_SATELLITES(b->NumberOfGPSSat)
|
---|
| 493 | for(i = 0; i < b->NumberOfGPSSat; ++i)
|
---|
| 494 | {
|
---|
| 495 | T_GPS_SATELLITE_ID(b->Sat[i].ID)
|
---|
| 496 | T_NO_OF_CODE_BIASES(b->Sat[i].NumberOfCodeBiases)
|
---|
| 497 | for(j = 0; j < b->Sat[i].NumberOfCodeBiases; ++j)
|
---|
| 498 | {
|
---|
[1581] | 499 | T_GPS_SIGNAL_IDENTIFIER(b->Sat[i].Biases[j].Type)
|
---|
[956] | 500 | T_CODE_BIAS(b->Sat[i].Biases[j].Bias)
|
---|
| 501 | }
|
---|
| 502 | }
|
---|
| 503 | ENDBLOCK
|
---|
| 504 | }
|
---|
| 505 | if(glo)
|
---|
| 506 | {
|
---|
| 507 | INITBLOCK
|
---|
| 508 | T_MESSAGE_NUMBER(BTYPE_GLONASS)
|
---|
[2506] | 509 | T_GLONASS_EPOCH_TIME(b->GLONASSEpochTime)
|
---|
[1581] | 510 | T_SSR_UPDATE_INTERVAL(b->UpdateInterval)
|
---|
[1840] | 511 | T_MULTIPLE_MESSAGE_INDICATOR(/*mmi ? 1 :*/0)
|
---|
[956] | 512 | --mmi;
|
---|
[3511] | 513 | T_SSR_IOD(b->SSRIOD)
|
---|
| 514 | T_SSR_PROVIDER_ID(b->SSRProviderID)
|
---|
| 515 | T_SSR_SOLUTION_ID(b->SSRSolutionID)
|
---|
[956] | 516 | T_NO_OF_SATELLITES(b->NumberOfGLONASSSat)
|
---|
| 517 | for(i = CLOCKORBIT_NUMGPS;
|
---|
| 518 | i < CLOCKORBIT_NUMGPS+b->NumberOfGLONASSSat; ++i)
|
---|
| 519 | {
|
---|
| 520 | T_GLONASS_SATELLITE_ID(b->Sat[i].ID)
|
---|
| 521 | T_NO_OF_CODE_BIASES(b->Sat[i].NumberOfCodeBiases)
|
---|
| 522 | for(j = 0; j < b->Sat[i].NumberOfCodeBiases; ++j)
|
---|
| 523 | {
|
---|
[1581] | 524 | T_GLONASS_SIGNAL_IDENTIFIER(b->Sat[i].Biases[j].Type)
|
---|
[956] | 525 | T_CODE_BIAS(b->Sat[i].Biases[j].Bias)
|
---|
| 526 | }
|
---|
| 527 | }
|
---|
| 528 | ENDBLOCK
|
---|
| 529 | }
|
---|
| 530 |
|
---|
| 531 | return ressize;
|
---|
| 532 | }
|
---|
[1581] | 533 |
|
---|
[956] | 534 | #endif /* NOENCODE */
|
---|
| 535 |
|
---|
| 536 | #ifndef NODECODE
|
---|
| 537 |
|
---|
| 538 | #define DECODESTART \
|
---|
| 539 | int numbits=0; \
|
---|
| 540 | uint64_t bitbuffer=0;
|
---|
| 541 |
|
---|
| 542 | #define LOADBITS(a) \
|
---|
| 543 | { \
|
---|
| 544 | while((a) > numbits) \
|
---|
| 545 | { \
|
---|
[1808] | 546 | if(!size--) return GCOBR_SHORTMESSAGE; \
|
---|
[956] | 547 | bitbuffer = (bitbuffer<<8)|((unsigned char)*(buffer++)); \
|
---|
| 548 | numbits += 8; \
|
---|
| 549 | } \
|
---|
| 550 | }
|
---|
| 551 |
|
---|
| 552 | /* extract bits from data stream
|
---|
| 553 | b = variable to store result, a = number of bits */
|
---|
| 554 | #define GETBITS(b, a) \
|
---|
| 555 | { \
|
---|
| 556 | LOADBITS(a) \
|
---|
| 557 | b = (bitbuffer<<(64-numbits))>>(64-(a)); \
|
---|
| 558 | numbits -= (a); \
|
---|
| 559 | }
|
---|
| 560 |
|
---|
| 561 | /* extract signed floating value from data stream
|
---|
| 562 | b = variable to store result, a = number of bits */
|
---|
| 563 | #define GETFLOATSIGN(b, a, c) \
|
---|
| 564 | { \
|
---|
| 565 | LOADBITS(a) \
|
---|
| 566 | b = ((double)(((int64_t)(bitbuffer<<(64-numbits)))>>(64-(a))))*(c); \
|
---|
| 567 | numbits -= (a); \
|
---|
| 568 | }
|
---|
| 569 |
|
---|
| 570 | #define SKIPBITS(b) { LOADBITS(b) numbits -= (b); }
|
---|
| 571 |
|
---|
| 572 | /* standard values */
|
---|
| 573 | #define G_HEADER(a) GETBITS(a,8)
|
---|
| 574 | #define G_RESERVEDH(a) GETBITS(a,6)
|
---|
| 575 | #define G_SIZE(a) GETBITS(a, 10)
|
---|
| 576 | #define G_MESSAGE_NUMBER(a) GETBITS(a, 12) /* DF002 */
|
---|
[1840] | 577 | #define G_GPS_SATELLITE_ID(a) GETBITS(a, 6) /* DF068 */
|
---|
[956] | 578 | #define G_GPS_IODE(a) GETBITS(a, 8) /* DF071 */
|
---|
| 579 | #define G_GLONASS_IOD(a) GETBITS(a, 8) /* DF237 */
|
---|
| 580 |
|
---|
| 581 | /* defined values */
|
---|
[1581] | 582 | #define G_DELTA_RADIAL(a) GETFLOATSIGN(a, 22, 1/10000.0)
|
---|
[1808] | 583 | #define G_DELTA_ALONG_TRACK(a) GETFLOATSIGN(a, 20, 1/2500.0)
|
---|
| 584 | #define G_DELTA_CROSS_TRACK(a) GETFLOATSIGN(a, 20, 1/2500.0)
|
---|
[1581] | 585 | #define G_DELTA_DOT_RADIAL(a) GETFLOATSIGN(a, 21, 1/1000000.0)
|
---|
[1808] | 586 | #define G_DELTA_DOT_ALONG_TRACK(a) GETFLOATSIGN(a, 19, 1/250000.0)
|
---|
| 587 | #define G_DELTA_DOT_CROSS_TRACK(a) GETFLOATSIGN(a, 19, 1/250000.0)
|
---|
[1581] | 588 |
|
---|
| 589 | #define G_SATELLITE_REFERENCE_DATUM(a) GETBITS(a, 1)
|
---|
| 590 | #define G_DELTA_CLOCK_C0(a) GETFLOATSIGN(a, 22, 1/10000.0)
|
---|
| 591 | #define G_DELTA_CLOCK_C1(a) GETFLOATSIGN(a, 21, 1/1000000.0)
|
---|
| 592 | #define G_DELTA_CLOCK_C2(a) GETFLOATSIGN(a, 27, 1/50000000.0)
|
---|
| 593 | #define G_NO_OF_CODE_BIASES(a) GETBITS(a, 5)
|
---|
| 594 | #define G_GPS_SIGNAL_IDENTIFIER(a) GETBITS(a, 5)
|
---|
| 595 | #define G_GLONASS_SIGNAL_IDENTIFIER(a) GETBITS(a, 5)
|
---|
| 596 | #define G_CODE_BIAS(a) GETFLOATSIGN(a, 14, 1/100.0)
|
---|
[1840] | 597 | #define G_GLONASS_SATELLITE_ID(a) GETBITS(a, 5)
|
---|
[1581] | 598 |
|
---|
[956] | 599 | #define G_GPS_EPOCH_TIME(a, b) {int temp; GETBITS(temp, 20) \
|
---|
| 600 | if(b && a != temp) return GCOBR_TIMEMISMATCH; a = temp;}
|
---|
| 601 | #define G_GLONASS_EPOCH_TIME(a, b) {int temp; GETBITS(temp, 17) \
|
---|
| 602 | if(b && a != temp) return GCOBR_TIMEMISMATCH; a = temp;}
|
---|
[1840] | 603 | #define G_NO_OF_SATELLITES(a) GETBITS(a, 6)
|
---|
[1581] | 604 | #define G_MULTIPLE_MESSAGE_INDICATOR(a) GETBITS(a, 1)
|
---|
[2421] | 605 | #define G_SSR_URA(a) {int temp; GETBITS(temp, 6) \
|
---|
| 606 | (a) = URAToValue(temp);}
|
---|
[1581] | 607 | #define G_HR_CLOCK_CORRECTION(a) GETFLOATSIGN(a, 22, 1/10000.0)
|
---|
| 608 | #define G_SSR_UPDATE_INTERVAL(a) GETBITS(a, 4)
|
---|
| 609 |
|
---|
[3511] | 610 | #define G_SSR_IOD(a) GETBITS(a, 4)
|
---|
| 611 | #define G_SSR_PROVIDER_ID(a) GETBITS(a, 16)
|
---|
| 612 | #define G_SSR_SOLUTION_ID(a) GETBITS(a, 4)
|
---|
| 613 |
|
---|
[956] | 614 | enum GCOB_RETURN GetClockOrbitBias(struct ClockOrbit *co, struct Bias *b,
|
---|
| 615 | const char *buffer, size_t size, int *bytesused)
|
---|
| 616 | {
|
---|
[1840] | 617 | int type, mmi=0, i, j, h, rs, nums, pos, id;
|
---|
[1819] | 618 | size_t sizeofrtcmblock;
|
---|
[956] | 619 | const char *blockstart = buffer;
|
---|
| 620 | DECODESTART
|
---|
| 621 |
|
---|
| 622 | if(size < 7)
|
---|
| 623 | return GCOBR_SHORTBUFFER;
|
---|
| 624 |
|
---|
[1842] | 625 | #ifdef DEBUG
|
---|
| 626 | fprintf(stderr, "GetClockOrbitBias START: size %d, numbits %d\n",size, numbits);
|
---|
| 627 | #endif
|
---|
| 628 |
|
---|
[956] | 629 | G_HEADER(h)
|
---|
| 630 | G_RESERVEDH(rs)
|
---|
| 631 | G_SIZE(sizeofrtcmblock);
|
---|
| 632 |
|
---|
| 633 | if((unsigned char)h != 0xD3 || rs)
|
---|
| 634 | return GCOBR_UNKNOWNDATA;
|
---|
| 635 | if(size < sizeofrtcmblock + 3) /* 3 header bytes already removed */
|
---|
| 636 | return GCOBR_MESSAGEEXCEEDSBUFFER;
|
---|
| 637 | if(CRC24(sizeofrtcmblock+3, (const unsigned char *) blockstart) !=
|
---|
[1819] | 638 | (uint32_t)((((unsigned char)buffer[sizeofrtcmblock])<<16)|
|
---|
[956] | 639 | (((unsigned char)buffer[sizeofrtcmblock+1])<<8)|
|
---|
| 640 | (((unsigned char)buffer[sizeofrtcmblock+2]))))
|
---|
| 641 | return GCOBR_CRCMISMATCH;
|
---|
[1808] | 642 | size = sizeofrtcmblock; /* reduce size, so overflows are detected */
|
---|
[956] | 643 |
|
---|
| 644 | G_MESSAGE_NUMBER(type)
|
---|
[1808] | 645 | #ifdef DEBUG
|
---|
| 646 | fprintf(stderr, "type %d size %d\n",type,sizeofrtcmblock);
|
---|
| 647 | #endif
|
---|
[956] | 648 | switch(type)
|
---|
| 649 | {
|
---|
| 650 | case COTYPE_GPSORBIT:
|
---|
| 651 | if(!co) return GCOBR_NOCLOCKORBITPARAMETER;
|
---|
[2323] | 652 | co->messageType = COTYPE_GPSORBIT;
|
---|
[956] | 653 | G_GPS_EPOCH_TIME(co->GPSEpochTime, co->NumberOfGPSSat)
|
---|
[1238] | 654 | co->epochGPS[co->epochSize] = co->GPSEpochTime; /* Weber, for latency */
|
---|
| 655 | if(co->epochSize < 100) {co->epochSize += 1;} /* Weber, for latency */
|
---|
[1581] | 656 | G_SSR_UPDATE_INTERVAL(co->UpdateInterval)
|
---|
[956] | 657 | G_MULTIPLE_MESSAGE_INDICATOR(mmi)
|
---|
[2421] | 658 | G_SATELLITE_REFERENCE_DATUM(co->SatRefDatum)
|
---|
[3511] | 659 | G_SSR_IOD(co->SSRIOD)
|
---|
| 660 | G_SSR_PROVIDER_ID(co->SSRProviderID)
|
---|
| 661 | G_SSR_SOLUTION_ID(co->SSRSolutionID)
|
---|
[1840] | 662 | G_NO_OF_SATELLITES(nums)
|
---|
| 663 | co->OrbitDataSupplied |= 1;
|
---|
[1808] | 664 | #ifdef DEBUG
|
---|
[2421] | 665 | fprintf(stderr, "epochtime %d ui %d mmi %d sats %d/%d rd %d\n",co->GPSEpochTime,
|
---|
| 666 | co->UpdateInterval,mmi,co->NumberOfGPSSat,nums, co->SatRefDatum);
|
---|
[1808] | 667 | #endif
|
---|
[1840] | 668 | for(i = 0; i < nums; ++i)
|
---|
[956] | 669 | {
|
---|
[1840] | 670 | G_GPS_SATELLITE_ID(id)
|
---|
| 671 | for(pos = 0; pos < co->NumberOfGPSSat && co->Sat[pos].ID != id; ++pos)
|
---|
| 672 | ;
|
---|
| 673 | if(pos >= CLOCKORBIT_NUMGPS) return GCOBR_DATAMISMATCH;
|
---|
| 674 | else if(pos == co->NumberOfGPSSat) ++co->NumberOfGPSSat;
|
---|
| 675 | co->Sat[pos].ID = id;
|
---|
| 676 |
|
---|
| 677 | G_GPS_IODE(co->Sat[pos].IOD)
|
---|
| 678 | G_DELTA_RADIAL(co->Sat[pos].Orbit.DeltaRadial)
|
---|
| 679 | G_DELTA_ALONG_TRACK(co->Sat[pos].Orbit.DeltaAlongTrack)
|
---|
| 680 | G_DELTA_CROSS_TRACK(co->Sat[pos].Orbit.DeltaCrossTrack)
|
---|
| 681 | G_DELTA_DOT_RADIAL(co->Sat[pos].Orbit.DotDeltaRadial)
|
---|
| 682 | G_DELTA_DOT_ALONG_TRACK(co->Sat[pos].Orbit.DotDeltaAlongTrack)
|
---|
| 683 | G_DELTA_DOT_CROSS_TRACK(co->Sat[pos].Orbit.DotDeltaCrossTrack)
|
---|
[1808] | 684 | #ifdef DEBUG
|
---|
[2421] | 685 | fprintf(stderr, "id %2d iod %3d dr %8.3f da %8.3f dc %8.3f dr %8.3f da %8.3f dc %8.3f\n",
|
---|
[1840] | 686 | co->Sat[pos].ID,co->Sat[pos].IOD,co->Sat[pos].Orbit.DeltaRadial,
|
---|
| 687 | co->Sat[pos].Orbit.DeltaAlongTrack,co->Sat[pos].Orbit.DeltaCrossTrack,
|
---|
| 688 | co->Sat[pos].Orbit.DotDeltaRadial,
|
---|
| 689 | co->Sat[pos].Orbit.DotDeltaAlongTrack,
|
---|
[2421] | 690 | co->Sat[pos].Orbit.DotDeltaCrossTrack);
|
---|
[1808] | 691 | #endif
|
---|
[956] | 692 | }
|
---|
| 693 | break;
|
---|
| 694 | case COTYPE_GPSCLOCK:
|
---|
| 695 | if(!co) return GCOBR_NOCLOCKORBITPARAMETER;
|
---|
[2323] | 696 | co->messageType = COTYPE_GPSCLOCK;
|
---|
[956] | 697 | G_GPS_EPOCH_TIME(co->GPSEpochTime, co->NumberOfGPSSat)
|
---|
[1238] | 698 | co->epochGPS[co->epochSize] = co->GPSEpochTime; /* Weber, for latency */
|
---|
| 699 | if(co->epochSize < 100) {co->epochSize += 1;} /* Weber, for latency */
|
---|
[1581] | 700 | G_SSR_UPDATE_INTERVAL(co->UpdateInterval)
|
---|
[956] | 701 | G_MULTIPLE_MESSAGE_INDICATOR(mmi)
|
---|
[3511] | 702 | G_SSR_IOD(co->SSRIOD)
|
---|
| 703 | G_SSR_PROVIDER_ID(co->SSRProviderID)
|
---|
| 704 | G_SSR_SOLUTION_ID(co->SSRSolutionID)
|
---|
[1840] | 705 | G_NO_OF_SATELLITES(nums)
|
---|
| 706 | co->ClockDataSupplied |= 1;
|
---|
[1842] | 707 | #ifdef DEBUG
|
---|
| 708 | fprintf(stderr, "epochtime %d ui %d mmi %d sats %d/%d\n",co->GPSEpochTime,
|
---|
| 709 | co->UpdateInterval,mmi,co->NumberOfGPSSat,nums);
|
---|
| 710 | #endif
|
---|
[1840] | 711 | for(i = 0; i < nums; ++i)
|
---|
[956] | 712 | {
|
---|
[1840] | 713 | G_GPS_SATELLITE_ID(id)
|
---|
| 714 | for(pos = 0; pos < co->NumberOfGPSSat && co->Sat[pos].ID != id; ++pos)
|
---|
| 715 | ;
|
---|
| 716 | if(pos >= CLOCKORBIT_NUMGPS) return GCOBR_DATAMISMATCH;
|
---|
| 717 | else if(pos == co->NumberOfGPSSat) ++co->NumberOfGPSSat;
|
---|
| 718 | co->Sat[pos].ID = id;
|
---|
| 719 |
|
---|
| 720 | G_DELTA_CLOCK_C0(co->Sat[pos].Clock.DeltaA0)
|
---|
| 721 | G_DELTA_CLOCK_C1(co->Sat[pos].Clock.DeltaA1)
|
---|
| 722 | G_DELTA_CLOCK_C2(co->Sat[pos].Clock.DeltaA2)
|
---|
[1842] | 723 | #ifdef DEBUG
|
---|
| 724 | fprintf(stderr, "id %2d c0 %8.3f c1 %8.3f c2 %8.3f\n",
|
---|
| 725 | co->Sat[pos].ID, co->Sat[pos].Clock.DeltaA0, co->Sat[pos].Clock.DeltaA1,
|
---|
| 726 | co->Sat[pos].Clock.DeltaA2);
|
---|
| 727 | #endif
|
---|
[956] | 728 | }
|
---|
| 729 | break;
|
---|
| 730 | case COTYPE_GPSCOMBINED:
|
---|
[3728] | 731 | if(!co) return GCOBR_NOCLOCKORBITPARAMETER;
|
---|
[2323] | 732 | co->messageType = COTYPE_GPSCOMBINED;
|
---|
[956] | 733 | G_GPS_EPOCH_TIME(co->GPSEpochTime, co->NumberOfGPSSat)
|
---|
[1238] | 734 | co->epochGPS[co->epochSize] = co->GPSEpochTime; /* Weber, for latency */
|
---|
| 735 | if(co->epochSize < 100) {co->epochSize += 1;} /* Weber, for latency */
|
---|
[1581] | 736 | G_SSR_UPDATE_INTERVAL(co->UpdateInterval)
|
---|
[956] | 737 | G_MULTIPLE_MESSAGE_INDICATOR(mmi)
|
---|
[2421] | 738 | G_SATELLITE_REFERENCE_DATUM(co->SatRefDatum)
|
---|
[3511] | 739 | G_SSR_IOD(co->SSRIOD)
|
---|
| 740 | G_SSR_PROVIDER_ID(co->SSRProviderID)
|
---|
| 741 | G_SSR_SOLUTION_ID(co->SSRSolutionID)
|
---|
[1840] | 742 | G_NO_OF_SATELLITES(nums)
|
---|
| 743 | co->OrbitDataSupplied |= 1;
|
---|
| 744 | co->ClockDataSupplied |= 1;
|
---|
| 745 | for(i = 0; i < nums; ++i)
|
---|
[956] | 746 | {
|
---|
[1840] | 747 | G_GPS_SATELLITE_ID(id)
|
---|
| 748 | for(pos = 0; pos < co->NumberOfGPSSat && co->Sat[pos].ID != id; ++pos)
|
---|
| 749 | ;
|
---|
| 750 | if(pos >= CLOCKORBIT_NUMGPS) return GCOBR_DATAMISMATCH;
|
---|
| 751 | else if(pos == co->NumberOfGPSSat) ++co->NumberOfGPSSat;
|
---|
| 752 | co->Sat[pos].ID = id;
|
---|
| 753 |
|
---|
| 754 | G_GPS_IODE(co->Sat[pos].IOD)
|
---|
| 755 | G_DELTA_RADIAL(co->Sat[pos].Orbit.DeltaRadial)
|
---|
| 756 | G_DELTA_ALONG_TRACK(co->Sat[pos].Orbit.DeltaAlongTrack)
|
---|
| 757 | G_DELTA_CROSS_TRACK(co->Sat[pos].Orbit.DeltaCrossTrack)
|
---|
| 758 | G_DELTA_DOT_RADIAL(co->Sat[pos].Orbit.DotDeltaRadial)
|
---|
| 759 | G_DELTA_DOT_ALONG_TRACK(co->Sat[pos].Orbit.DotDeltaAlongTrack)
|
---|
| 760 | G_DELTA_DOT_CROSS_TRACK(co->Sat[pos].Orbit.DotDeltaCrossTrack)
|
---|
| 761 | G_DELTA_CLOCK_C0(co->Sat[pos].Clock.DeltaA0)
|
---|
| 762 | G_DELTA_CLOCK_C1(co->Sat[pos].Clock.DeltaA1)
|
---|
| 763 | G_DELTA_CLOCK_C2(co->Sat[pos].Clock.DeltaA2)
|
---|
[956] | 764 | }
|
---|
| 765 | break;
|
---|
[1581] | 766 | case COTYPE_GPSURA:
|
---|
| 767 | if(!co) return GCOBR_NOCLOCKORBITPARAMETER;
|
---|
[2323] | 768 | co->messageType = COTYPE_GPSURA;
|
---|
[1581] | 769 | G_GPS_EPOCH_TIME(co->GPSEpochTime, co->NumberOfGPSSat)
|
---|
| 770 | co->epochGPS[co->epochSize] = co->GPSEpochTime; /* Weber, for latency */
|
---|
| 771 | if(co->epochSize < 100) {co->epochSize += 1;} /* Weber, for latency */
|
---|
| 772 | G_MULTIPLE_MESSAGE_INDICATOR(mmi)
|
---|
[3511] | 773 | G_SSR_IOD(co->SSRIOD)
|
---|
| 774 | G_SSR_PROVIDER_ID(co->SSRProviderID)
|
---|
| 775 | G_SSR_SOLUTION_ID(co->SSRSolutionID)
|
---|
[1840] | 776 | G_NO_OF_SATELLITES(nums)
|
---|
| 777 | co->URADataSupplied |= 1;
|
---|
| 778 | for(i = 0; i < nums; ++i)
|
---|
[1581] | 779 | {
|
---|
[1840] | 780 | G_GPS_SATELLITE_ID(id)
|
---|
| 781 | for(pos = 0; pos < co->NumberOfGPSSat && co->Sat[pos].ID != id; ++pos)
|
---|
| 782 | ;
|
---|
| 783 | if(pos >= CLOCKORBIT_NUMGPS) return GCOBR_DATAMISMATCH;
|
---|
| 784 | else if(pos == co->NumberOfGPSSat) ++co->NumberOfGPSSat;
|
---|
| 785 | co->Sat[pos].ID = id;
|
---|
| 786 |
|
---|
[2421] | 787 | G_SSR_URA(co->Sat[pos].UserRangeAccuracy)
|
---|
[1581] | 788 | }
|
---|
| 789 | break;
|
---|
| 790 | case COTYPE_GPSHR:
|
---|
| 791 | if(!co) return GCOBR_NOCLOCKORBITPARAMETER;
|
---|
[2323] | 792 | co->messageType = COTYPE_GPSHR;
|
---|
[1581] | 793 | G_GPS_EPOCH_TIME(co->GPSEpochTime, co->NumberOfGPSSat)
|
---|
| 794 | co->epochGPS[co->epochSize] = co->GPSEpochTime; /* Weber, for latency */
|
---|
| 795 | if(co->epochSize < 100) {co->epochSize += 1;} /* Weber, for latency */
|
---|
| 796 | G_SSR_UPDATE_INTERVAL(co->UpdateInterval)
|
---|
| 797 | G_MULTIPLE_MESSAGE_INDICATOR(mmi)
|
---|
[3511] | 798 | G_SSR_IOD(co->SSRIOD)
|
---|
| 799 | G_SSR_PROVIDER_ID(co->SSRProviderID)
|
---|
| 800 | G_SSR_SOLUTION_ID(co->SSRSolutionID)
|
---|
[1840] | 801 | G_NO_OF_SATELLITES(nums)
|
---|
| 802 | co->HRDataSupplied |= 1;
|
---|
| 803 | for(i = 0; i < nums; ++i)
|
---|
[1581] | 804 | {
|
---|
[1840] | 805 | G_GPS_SATELLITE_ID(id)
|
---|
| 806 | for(pos = 0; pos < co->NumberOfGPSSat && co->Sat[pos].ID != id; ++pos)
|
---|
| 807 | ;
|
---|
| 808 | if(pos >= CLOCKORBIT_NUMGPS) return GCOBR_DATAMISMATCH;
|
---|
| 809 | else if(pos == co->NumberOfGPSSat) ++co->NumberOfGPSSat;
|
---|
| 810 | co->Sat[pos].ID = id;
|
---|
| 811 |
|
---|
| 812 | G_HR_CLOCK_CORRECTION(co->Sat[pos].hrclock)
|
---|
[1581] | 813 | }
|
---|
| 814 | break;
|
---|
[956] | 815 | case COTYPE_GLONASSORBIT:
|
---|
| 816 | if(!co) return GCOBR_NOCLOCKORBITPARAMETER;
|
---|
[2323] | 817 | co->messageType = COTYPE_GLONASSORBIT;
|
---|
[956] | 818 | G_GLONASS_EPOCH_TIME(co->GLONASSEpochTime, co->NumberOfGLONASSSat)
|
---|
[1581] | 819 | G_SSR_UPDATE_INTERVAL(co->UpdateInterval)
|
---|
[956] | 820 | G_MULTIPLE_MESSAGE_INDICATOR(mmi)
|
---|
[2421] | 821 | G_SATELLITE_REFERENCE_DATUM(co->SatRefDatum)
|
---|
[3511] | 822 | G_SSR_IOD(co->SSRIOD)
|
---|
| 823 | G_SSR_PROVIDER_ID(co->SSRProviderID)
|
---|
| 824 | G_SSR_SOLUTION_ID(co->SSRSolutionID)
|
---|
[1840] | 825 | G_NO_OF_SATELLITES(nums)
|
---|
| 826 | co->OrbitDataSupplied |= 2;
|
---|
[1842] | 827 | #ifdef DEBUG
|
---|
[2421] | 828 | fprintf(stderr, "epochtime %d ui %d mmi %d sats %d/%d rd %d\n",co->GLONASSEpochTime,
|
---|
| 829 | co->UpdateInterval,mmi,co->NumberOfGLONASSSat,nums, co->SatRefDatum);
|
---|
[1842] | 830 | #endif
|
---|
[1840] | 831 | for(i = 0; i < nums; ++i)
|
---|
[956] | 832 | {
|
---|
[1840] | 833 | G_GLONASS_SATELLITE_ID(id)
|
---|
[1842] | 834 | for(pos = CLOCKORBIT_NUMGPS; pos < CLOCKORBIT_NUMGPS+co->NumberOfGLONASSSat && co->Sat[pos].ID != id; ++pos)
|
---|
[1840] | 835 | ;
|
---|
| 836 | if(pos >= CLOCKORBIT_NUMGPS+CLOCKORBIT_NUMGLONASS) return GCOBR_DATAMISMATCH;
|
---|
[1842] | 837 | else if(pos == CLOCKORBIT_NUMGPS+co->NumberOfGLONASSSat) ++co->NumberOfGLONASSSat;
|
---|
[1840] | 838 | co->Sat[pos].ID = id;
|
---|
| 839 |
|
---|
| 840 | G_GLONASS_IOD(co->Sat[pos].IOD)
|
---|
| 841 | G_DELTA_RADIAL(co->Sat[pos].Orbit.DeltaRadial)
|
---|
| 842 | G_DELTA_ALONG_TRACK(co->Sat[pos].Orbit.DeltaAlongTrack)
|
---|
| 843 | G_DELTA_CROSS_TRACK(co->Sat[pos].Orbit.DeltaCrossTrack)
|
---|
| 844 | G_DELTA_DOT_RADIAL(co->Sat[pos].Orbit.DotDeltaRadial)
|
---|
| 845 | G_DELTA_DOT_ALONG_TRACK(co->Sat[pos].Orbit.DotDeltaAlongTrack)
|
---|
| 846 | G_DELTA_DOT_CROSS_TRACK(co->Sat[pos].Orbit.DotDeltaCrossTrack)
|
---|
[1842] | 847 | #ifdef DEBUG
|
---|
[2421] | 848 | fprintf(stderr, "id %2d iod %3d dr %8.3f da %8.3f dc %8.3f dr %8.3f da %8.3f dc %8.3f\n",
|
---|
[1842] | 849 | co->Sat[pos].ID,co->Sat[pos].IOD,co->Sat[pos].Orbit.DeltaRadial,
|
---|
| 850 | co->Sat[pos].Orbit.DeltaAlongTrack,co->Sat[pos].Orbit.DeltaCrossTrack,
|
---|
| 851 | co->Sat[pos].Orbit.DotDeltaRadial,
|
---|
| 852 | co->Sat[pos].Orbit.DotDeltaAlongTrack,
|
---|
[2421] | 853 | co->Sat[pos].Orbit.DotDeltaCrossTrack);
|
---|
[1842] | 854 | #endif
|
---|
[956] | 855 | }
|
---|
| 856 | break;
|
---|
| 857 | case COTYPE_GLONASSCLOCK:
|
---|
| 858 | if(!co) return GCOBR_NOCLOCKORBITPARAMETER;
|
---|
[2323] | 859 | co->messageType = COTYPE_GLONASSCLOCK;
|
---|
[956] | 860 | G_GLONASS_EPOCH_TIME(co->GLONASSEpochTime, co->NumberOfGLONASSSat)
|
---|
[1581] | 861 | G_SSR_UPDATE_INTERVAL(co->UpdateInterval)
|
---|
[956] | 862 | G_MULTIPLE_MESSAGE_INDICATOR(mmi)
|
---|
[3511] | 863 | G_SSR_IOD(co->SSRIOD)
|
---|
| 864 | G_SSR_PROVIDER_ID(co->SSRProviderID)
|
---|
| 865 | G_SSR_SOLUTION_ID(co->SSRSolutionID)
|
---|
[1840] | 866 | G_NO_OF_SATELLITES(nums)
|
---|
| 867 | co->ClockDataSupplied |= 2;
|
---|
[1842] | 868 | #ifdef DEBUG
|
---|
| 869 | fprintf(stderr, "epochtime %d ui %d mmi %d sats %d/%d\n",co->GLONASSEpochTime,
|
---|
| 870 | co->UpdateInterval,mmi,co->NumberOfGLONASSSat,nums);
|
---|
| 871 | #endif
|
---|
[1840] | 872 | for(i = 0; i < nums; ++i)
|
---|
[956] | 873 | {
|
---|
[1840] | 874 | G_GLONASS_SATELLITE_ID(id)
|
---|
[1842] | 875 | for(pos = CLOCKORBIT_NUMGPS; pos < CLOCKORBIT_NUMGPS+co->NumberOfGLONASSSat && co->Sat[pos].ID != id; ++pos)
|
---|
[1840] | 876 | ;
|
---|
| 877 | if(pos >= CLOCKORBIT_NUMGPS+CLOCKORBIT_NUMGLONASS) return GCOBR_DATAMISMATCH;
|
---|
[1842] | 878 | else if(pos == CLOCKORBIT_NUMGPS+co->NumberOfGLONASSSat) ++co->NumberOfGLONASSSat;
|
---|
[1840] | 879 | co->Sat[pos].ID = id;
|
---|
| 880 |
|
---|
| 881 | G_DELTA_CLOCK_C0(co->Sat[pos].Clock.DeltaA0)
|
---|
| 882 | G_DELTA_CLOCK_C1(co->Sat[pos].Clock.DeltaA1)
|
---|
| 883 | G_DELTA_CLOCK_C2(co->Sat[pos].Clock.DeltaA2)
|
---|
[1842] | 884 | #ifdef DEBUG
|
---|
| 885 | fprintf(stderr, "id %2d c0 %8.3f c1 %8.3f c2 %8.3f\n",
|
---|
| 886 | co->Sat[pos].ID, co->Sat[pos].Clock.DeltaA0, co->Sat[pos].Clock.DeltaA1,
|
---|
| 887 | co->Sat[pos].Clock.DeltaA2);
|
---|
| 888 | #endif
|
---|
[956] | 889 | }
|
---|
| 890 | break;
|
---|
| 891 | case COTYPE_GLONASSCOMBINED:
|
---|
| 892 | if(!co) return GCOBR_NOCLOCKORBITPARAMETER;
|
---|
[2323] | 893 | co->messageType = COTYPE_GLONASSCOMBINED;
|
---|
[956] | 894 | G_GLONASS_EPOCH_TIME(co->GLONASSEpochTime, co->NumberOfGLONASSSat)
|
---|
[1581] | 895 | G_SSR_UPDATE_INTERVAL(co->UpdateInterval)
|
---|
[956] | 896 | G_MULTIPLE_MESSAGE_INDICATOR(mmi)
|
---|
[2421] | 897 | G_SATELLITE_REFERENCE_DATUM(co->SatRefDatum)
|
---|
[3511] | 898 | G_SSR_IOD(co->SSRIOD)
|
---|
| 899 | G_SSR_PROVIDER_ID(co->SSRProviderID)
|
---|
| 900 | G_SSR_SOLUTION_ID(co->SSRSolutionID)
|
---|
[1840] | 901 | G_NO_OF_SATELLITES(nums)
|
---|
| 902 | co->OrbitDataSupplied |= 2;
|
---|
| 903 | co->ClockDataSupplied |= 2;
|
---|
| 904 | for(i = 0; i < nums; ++i)
|
---|
[956] | 905 | {
|
---|
[1840] | 906 | G_GLONASS_SATELLITE_ID(id)
|
---|
[1842] | 907 | for(pos = CLOCKORBIT_NUMGPS; pos < CLOCKORBIT_NUMGPS+co->NumberOfGLONASSSat && co->Sat[pos].ID != id; ++pos)
|
---|
[1840] | 908 | ;
|
---|
| 909 | if(pos >= CLOCKORBIT_NUMGPS+CLOCKORBIT_NUMGLONASS) return GCOBR_DATAMISMATCH;
|
---|
[1842] | 910 | else if(pos == CLOCKORBIT_NUMGPS+co->NumberOfGLONASSSat) ++co->NumberOfGLONASSSat;
|
---|
[1840] | 911 | co->Sat[pos].ID = id;
|
---|
| 912 |
|
---|
| 913 | G_GLONASS_IOD(co->Sat[pos].IOD)
|
---|
| 914 | G_DELTA_RADIAL(co->Sat[pos].Orbit.DeltaRadial)
|
---|
| 915 | G_DELTA_ALONG_TRACK(co->Sat[pos].Orbit.DeltaAlongTrack)
|
---|
| 916 | G_DELTA_CROSS_TRACK(co->Sat[pos].Orbit.DeltaCrossTrack)
|
---|
| 917 | G_DELTA_DOT_RADIAL(co->Sat[pos].Orbit.DotDeltaRadial)
|
---|
| 918 | G_DELTA_DOT_ALONG_TRACK(co->Sat[pos].Orbit.DotDeltaAlongTrack)
|
---|
| 919 | G_DELTA_DOT_CROSS_TRACK(co->Sat[pos].Orbit.DotDeltaCrossTrack)
|
---|
| 920 | G_DELTA_CLOCK_C0(co->Sat[pos].Clock.DeltaA0)
|
---|
| 921 | G_DELTA_CLOCK_C1(co->Sat[pos].Clock.DeltaA1)
|
---|
| 922 | G_DELTA_CLOCK_C2(co->Sat[pos].Clock.DeltaA2)
|
---|
[956] | 923 | }
|
---|
| 924 | break;
|
---|
[1581] | 925 | case COTYPE_GLONASSURA:
|
---|
| 926 | if(!co) return GCOBR_NOCLOCKORBITPARAMETER;
|
---|
[2323] | 927 | co->messageType = COTYPE_GLONASSURA;
|
---|
[1581] | 928 | G_GLONASS_EPOCH_TIME(co->GLONASSEpochTime, co->NumberOfGLONASSSat)
|
---|
| 929 | G_MULTIPLE_MESSAGE_INDICATOR(mmi)
|
---|
[3511] | 930 | G_SSR_IOD(co->SSRIOD)
|
---|
| 931 | G_SSR_PROVIDER_ID(co->SSRProviderID)
|
---|
| 932 | G_SSR_SOLUTION_ID(co->SSRSolutionID)
|
---|
[1840] | 933 | G_NO_OF_SATELLITES(nums)
|
---|
| 934 | co->URADataSupplied |= 2;
|
---|
| 935 | for(i = 0; i < nums; ++i)
|
---|
[1581] | 936 | {
|
---|
[1840] | 937 | G_GLONASS_SATELLITE_ID(id)
|
---|
[1842] | 938 | for(pos = CLOCKORBIT_NUMGPS; pos < CLOCKORBIT_NUMGPS+co->NumberOfGLONASSSat && co->Sat[pos].ID != id; ++pos)
|
---|
[1840] | 939 | ;
|
---|
| 940 | if(pos >= CLOCKORBIT_NUMGPS+CLOCKORBIT_NUMGLONASS) return GCOBR_DATAMISMATCH;
|
---|
[1842] | 941 | else if(pos == CLOCKORBIT_NUMGPS+co->NumberOfGLONASSSat) ++co->NumberOfGLONASSSat;
|
---|
[1840] | 942 | co->Sat[pos].ID = id;
|
---|
| 943 |
|
---|
[2421] | 944 | G_SSR_URA(co->Sat[pos].UserRangeAccuracy)
|
---|
[1581] | 945 | }
|
---|
| 946 | break;
|
---|
| 947 | case COTYPE_GLONASSHR:
|
---|
| 948 | if(!co) return GCOBR_NOCLOCKORBITPARAMETER;
|
---|
[2323] | 949 | co->messageType = COTYPE_GLONASSHR;
|
---|
[1581] | 950 | G_GLONASS_EPOCH_TIME(co->GLONASSEpochTime, co->NumberOfGLONASSSat)
|
---|
| 951 | G_SSR_UPDATE_INTERVAL(co->UpdateInterval)
|
---|
| 952 | G_MULTIPLE_MESSAGE_INDICATOR(mmi)
|
---|
[3511] | 953 | G_SSR_IOD(co->SSRIOD)
|
---|
| 954 | G_SSR_PROVIDER_ID(co->SSRProviderID)
|
---|
| 955 | G_SSR_SOLUTION_ID(co->SSRSolutionID)
|
---|
[1840] | 956 | G_NO_OF_SATELLITES(nums)
|
---|
| 957 | co->HRDataSupplied |= 2;
|
---|
| 958 | for(i = 0; i < nums; ++i)
|
---|
[1581] | 959 | {
|
---|
[1840] | 960 | G_GLONASS_SATELLITE_ID(id)
|
---|
[1842] | 961 | for(pos = CLOCKORBIT_NUMGPS; pos < CLOCKORBIT_NUMGPS+co->NumberOfGLONASSSat && co->Sat[pos].ID != id; ++pos)
|
---|
[1840] | 962 | ;
|
---|
| 963 | if(pos >= CLOCKORBIT_NUMGPS+CLOCKORBIT_NUMGLONASS) return GCOBR_DATAMISMATCH;
|
---|
[1842] | 964 | else if(pos == CLOCKORBIT_NUMGPS+co->NumberOfGLONASSSat) ++co->NumberOfGLONASSSat;
|
---|
[1840] | 965 | co->Sat[pos].ID = id;
|
---|
| 966 |
|
---|
| 967 | G_HR_CLOCK_CORRECTION(co->Sat[pos].hrclock)
|
---|
[1581] | 968 | }
|
---|
| 969 | break;
|
---|
[956] | 970 | case BTYPE_GPS:
|
---|
| 971 | if(!b) return GCOBR_NOBIASPARAMETER;
|
---|
[2323] | 972 | b->messageType = BTYPE_GPS;
|
---|
[1842] | 973 | G_GPS_EPOCH_TIME(b->GPSEpochTime, b->NumberOfGPSSat)
|
---|
| 974 | G_SSR_UPDATE_INTERVAL(b->UpdateInterval)
|
---|
[956] | 975 | G_MULTIPLE_MESSAGE_INDICATOR(mmi)
|
---|
[3511] | 976 | G_SSR_IOD(b->SSRIOD)
|
---|
| 977 | G_SSR_PROVIDER_ID(b->SSRProviderID)
|
---|
| 978 | G_SSR_SOLUTION_ID(b->SSRSolutionID)
|
---|
[1840] | 979 | G_NO_OF_SATELLITES(nums)
|
---|
| 980 | for(i = 0; i < nums; ++i)
|
---|
[956] | 981 | {
|
---|
[1840] | 982 | G_GPS_SATELLITE_ID(id)
|
---|
[1842] | 983 | for(pos = 0; pos < b->NumberOfGPSSat && b->Sat[pos].ID != id; ++pos)
|
---|
[1840] | 984 | ;
|
---|
| 985 | if(pos >= CLOCKORBIT_NUMGPS) return GCOBR_DATAMISMATCH;
|
---|
[1842] | 986 | else if(pos == b->NumberOfGPSSat) ++b->NumberOfGPSSat;
|
---|
| 987 | b->Sat[pos].ID = id;
|
---|
[1840] | 988 |
|
---|
| 989 | G_NO_OF_CODE_BIASES(b->Sat[pos].NumberOfCodeBiases)
|
---|
| 990 | for(j = 0; j < b->Sat[pos].NumberOfCodeBiases; ++j)
|
---|
[956] | 991 | {
|
---|
[1840] | 992 | G_GPS_SIGNAL_IDENTIFIER(b->Sat[pos].Biases[j].Type)
|
---|
| 993 | G_CODE_BIAS(b->Sat[pos].Biases[j].Bias)
|
---|
[956] | 994 | }
|
---|
| 995 | }
|
---|
| 996 | break;
|
---|
| 997 | case BTYPE_GLONASS:
|
---|
| 998 | if(!b) return GCOBR_NOBIASPARAMETER;
|
---|
[2323] | 999 | b->messageType = BTYPE_GLONASS;
|
---|
[1842] | 1000 | G_GLONASS_EPOCH_TIME(b->GLONASSEpochTime, b->NumberOfGLONASSSat)
|
---|
| 1001 | G_SSR_UPDATE_INTERVAL(b->UpdateInterval)
|
---|
[956] | 1002 | G_MULTIPLE_MESSAGE_INDICATOR(mmi)
|
---|
[3511] | 1003 | G_SSR_IOD(b->SSRIOD)
|
---|
| 1004 | G_SSR_PROVIDER_ID(b->SSRProviderID)
|
---|
| 1005 | G_SSR_SOLUTION_ID(b->SSRSolutionID)
|
---|
[1840] | 1006 | G_NO_OF_SATELLITES(nums)
|
---|
| 1007 | for(i = 0; i < nums; ++i)
|
---|
[956] | 1008 | {
|
---|
[1840] | 1009 | G_GLONASS_SATELLITE_ID(id)
|
---|
[1842] | 1010 | for(pos = CLOCKORBIT_NUMGPS; pos < b->NumberOfGLONASSSat && b->Sat[pos].ID != id; ++pos)
|
---|
[1840] | 1011 | ;
|
---|
| 1012 | if(pos >= CLOCKORBIT_NUMGPS+CLOCKORBIT_NUMGLONASS) return GCOBR_DATAMISMATCH;
|
---|
[1842] | 1013 | else if(pos == b->NumberOfGLONASSSat) ++b->NumberOfGLONASSSat;
|
---|
| 1014 | b->Sat[pos].ID = id;
|
---|
[1840] | 1015 |
|
---|
| 1016 | G_NO_OF_CODE_BIASES(b->Sat[pos].NumberOfCodeBiases)
|
---|
| 1017 | for(j = 0; j < b->Sat[pos].NumberOfCodeBiases; ++j)
|
---|
[956] | 1018 | {
|
---|
[1840] | 1019 | G_GLONASS_SIGNAL_IDENTIFIER(b->Sat[pos].Biases[j].Type)
|
---|
| 1020 | G_CODE_BIAS(b->Sat[pos].Biases[j].Bias)
|
---|
[956] | 1021 | }
|
---|
| 1022 | }
|
---|
| 1023 | break;
|
---|
| 1024 | default:
|
---|
[1842] | 1025 | if(bytesused)
|
---|
| 1026 | *bytesused = sizeofrtcmblock+6;
|
---|
[956] | 1027 | return GCOBR_UNKNOWNTYPE;
|
---|
| 1028 | }
|
---|
[1808] | 1029 | #ifdef DEBUG
|
---|
[1842] | 1030 | for(type = 0; type < (int)size && (unsigned char)buffer[type] != 0xD3; ++type)
|
---|
[1808] | 1031 | numbits += 8;
|
---|
| 1032 | fprintf(stderr, "numbits left %d\n",numbits);
|
---|
| 1033 | #endif
|
---|
[956] | 1034 | if(bytesused)
|
---|
| 1035 | *bytesused = sizeofrtcmblock+6;
|
---|
| 1036 | return mmi ? GCOBR_MESSAGEFOLLOWS : GCOBR_OK;
|
---|
| 1037 | }
|
---|
| 1038 | #endif /* NODECODE */
|
---|