| [268] | 1 | #ifndef RTCM3TORINEX_H
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| [365] | 2 | #define RTCM3TORINEX_H
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| [268] | 3 |
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| 4 | /*
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| 5 | Converter for RTCM3 data to RINEX.
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| [2487] | 6 | $Id: rtcm3torinex.h 4369 2012-06-28 12:18:04Z stoecker $
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| [1092] | 7 | Copyright (C) 2005-2006 by Dirk Stöcker <stoecker@alberding.eu>
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| [268] | 8 |
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| 9 | This program is free software; you can redistribute it and/or modify
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| 10 | it under the terms of the GNU General Public License as published by
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| 11 | the Free Software Foundation; either version 2 of the License, or
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| 12 | (at your option) any later version.
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| 13 |
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| 14 | This program is distributed in the hope that it will be useful,
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| 15 | but WITHOUT ANY WARRANTY; without even the implied warranty of
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| 16 | MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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| 17 | GNU General Public License for more details.
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| 18 |
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| 19 | You should have received a copy of the GNU General Public License
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| 20 | along with this program; if not, write to the Free Software
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| 21 | Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
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| 22 | or read http://www.gnu.org/licenses/gpl.txt
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| 23 | */
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| 24 |
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| [2487] | 25 | #define RTCM3TORINEX_VERSION "1.50"
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| 26 |
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| [2346] | 27 | #include <stdio.h>
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| 28 |
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| [2659] | 29 | #define NUMRTCM3PARSERSATS 144
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| [2352] | 30 | #define GNSS_MAXSATS 64
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| 31 |
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| [268] | 32 | #define PRN_GPS_START 1
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| 33 | #define PRN_GPS_END 32
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| 34 | #define PRN_GLONASS_START 38
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| 35 | #define PRN_GLONASS_END 61
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| [2659] | 36 | #define PRN_GALILEO_START 71
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| 37 | #define PRN_GALILEO_END 100
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| [4367] | 38 | #define PRN_SBAS_START 120
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| 39 | #define PRN_SBAS_END 138
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| [2659] | 40 | #define PRN_GIOVE_START 139
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| 41 | #define PRN_GIOVE_END 140
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| [4367] | 42 | #define PRN_COMPASS_START 141
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| 43 | #define PRN_COMPASS_END 170
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| 44 | #define PRN_QZSS_START 193
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| 45 | #define PRN_QZSS_END 202
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| [268] | 46 |
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| [2659] | 47 | #define PRN_GLONASS_NUM (PRN_GLONASS_END-PRN_GLONASS_START+1)
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| 48 |
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| [2849] | 49 | #define RTCM3_MSM_NUMSIG 32
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| 50 | #define RTCM3_MSM_NUMSAT 64
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| [2659] | 51 | #define RTCM3_MSM_NUMCELLS 64
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| 52 |
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| 53 | /* system identifiers, use start PRN as value */
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| 54 | #define RTCM3_MSM_GPS PRN_GPS_START
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| 55 | #define RTCM3_MSM_GLONASS PRN_GLONASS_START
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| 56 | #define RTCM3_MSM_GALILEO PRN_GALILEO_START
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| [4367] | 57 | #define RTCM3_MSM_SBAS PRN_SBAS_START
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| 58 | #define RTCM3_MSM_QZSS PRN_QZSS_START
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| 59 | #define RTCM3_MSM_COMPASS PRN_COMPASS_START
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| [2659] | 60 |
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| [4367] | 61 | #define GNSSENTRY_CODE 0
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| 62 | #define GNSSENTRY_PHASE 1
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| 63 | #define GNSSENTRY_DOPPLER 2
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| 64 | #define GNSSENTRY_SNR 3
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| [268] | 65 |
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| [4367] | 66 | #define GNSSENTRY_C1DATA ((0<<2)+GNSSENTRY_CODE)
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| 67 | #define GNSSENTRY_L1CDATA ((0<<2)+GNSSENTRY_PHASE)
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| 68 | #define GNSSENTRY_D1CDATA ((0<<2)+GNSSENTRY_DOPPLER)
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| 69 | #define GNSSENTRY_S1CDATA ((0<<2)+GNSSENTRY_SNR)
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| [2659] | 70 |
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| [4367] | 71 | #define GNSSENTRY_C2DATA ((1<<2)+GNSSENTRY_CODE)
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| 72 | #define GNSSENTRY_L2CDATA ((1<<2)+GNSSENTRY_PHASE)
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| 73 | #define GNSSENTRY_D2CDATA ((1<<2)+GNSSENTRY_DOPPLER)
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| 74 | #define GNSSENTRY_S2CDATA ((1<<2)+GNSSENTRY_SNR)
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| [2659] | 75 |
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| [4367] | 76 | #define GNSSENTRY_CB1DATA GNSSENTRY_C2DATA
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| 77 | #define GNSSENTRY_LB1DATA GNSSENTRY_L2CDATA
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| 78 | #define GNSSENTRY_DB1DATA GNSSENTRY_D2CDATA
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| 79 | #define GNSSENTRY_SB1DATA GNSSENTRY_S2CDATA
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| 80 |
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| 81 | #define GNSSENTRY_P1DATA ((2<<2)+GNSSENTRY_CODE)
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| 82 | #define GNSSENTRY_L1PDATA ((2<<2)+GNSSENTRY_PHASE)
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| 83 | #define GNSSENTRY_D1PDATA ((2<<2)+GNSSENTRY_DOPPLER)
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| 84 | #define GNSSENTRY_S1PDATA ((2<<2)+GNSSENTRY_SNR)
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| 85 |
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| 86 | #define GNSSENTRY_P2DATA ((3<<2)+GNSSENTRY_CODE)
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| 87 | #define GNSSENTRY_L2PDATA ((3<<2)+GNSSENTRY_PHASE)
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| 88 | #define GNSSENTRY_D2PDATA ((3<<2)+GNSSENTRY_DOPPLER)
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| 89 | #define GNSSENTRY_S2PDATA ((3<<2)+GNSSENTRY_SNR)
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| 90 |
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| 91 | #define GNSSENTRY_C5DATA ((4<<2)+GNSSENTRY_CODE)
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| 92 | #define GNSSENTRY_L5DATA ((4<<2)+GNSSENTRY_PHASE)
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| 93 | #define GNSSENTRY_D5DATA ((4<<2)+GNSSENTRY_DOPPLER)
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| 94 | #define GNSSENTRY_S5DATA ((4<<2)+GNSSENTRY_SNR)
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| 95 |
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| 96 | #define GNSSENTRY_C6DATA ((5<<2)+GNSSENTRY_CODE)
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| 97 | #define GNSSENTRY_L6DATA ((5<<2)+GNSSENTRY_PHASE)
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| 98 | #define GNSSENTRY_D6DATA ((5<<2)+GNSSENTRY_DOPPLER)
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| 99 | #define GNSSENTRY_S6DATA ((5<<2)+GNSSENTRY_SNR)
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| 100 |
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| 101 | #define GNSSENTRY_CB3DATA GNSSENTRY_C6DATA
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| 102 | #define GNSSENTRY_LB3DATA GNSSENTRY_L6DATA
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| 103 | #define GNSSENTRY_DB3DATA GNSSENTRY_D6DATA
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| 104 | #define GNSSENTRY_SB3DATA GNSSENTRY_S6DATA
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| 105 |
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| 106 | #define GNSSENTRY_CLEXDATA GNSSENTRY_C6DATA
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| 107 | #define GNSSENTRY_LLEXDATA GNSSENTRY_L6DATA
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| 108 | #define GNSSENTRY_DLEXDATA GNSSENTRY_D6DATA
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| 109 | #define GNSSENTRY_SLEXDATA GNSSENTRY_S6DATA
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| 110 |
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| 111 | #define GNSSENTRY_C5BDATA ((6<<2)+GNSSENTRY_CODE)
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| 112 | #define GNSSENTRY_L5BDATA ((6<<2)+GNSSENTRY_PHASE)
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| 113 | #define GNSSENTRY_D5BDATA ((6<<2)+GNSSENTRY_DOPPLER)
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| 114 | #define GNSSENTRY_S5BDATA ((6<<2)+GNSSENTRY_SNR)
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| 115 |
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| 116 | #define GNSSENTRY_CB2DATA GNSSENTRY_C5BDATA
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| 117 | #define GNSSENTRY_LB2DATA GNSSENTRY_L5BDATA
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| 118 | #define GNSSENTRY_DB2DATA GNSSENTRY_D5BDATA
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| 119 | #define GNSSENTRY_SB2DATA GNSSENTRY_S5BDATA
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| 120 |
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| 121 | #define GNSSENTRY_C5ABDATA ((7<<2)+GNSSENTRY_CODE)
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| 122 | #define GNSSENTRY_L5ABDATA ((7<<2)+GNSSENTRY_PHASE)
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| 123 | #define GNSSENTRY_D5ABDATA ((7<<2)+GNSSENTRY_DOPPLER)
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| 124 | #define GNSSENTRY_S5ABDATA ((7<<2)+GNSSENTRY_SNR)
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| 125 |
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| 126 | #define GNSSENTRY_CSAIFDATA ((8<<2)+GNSSENTRY_CODE)
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| 127 | #define GNSSENTRY_LSAIFDATA ((8<<2)+GNSSENTRY_PHASE)
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| 128 | #define GNSSENTRY_DSAIFDATA ((8<<2)+GNSSENTRY_DOPPLER)
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| 129 | #define GNSSENTRY_SSAIFDATA ((8<<2)+GNSSENTRY_SNR)
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| 130 |
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| [4369] | 131 | #define GNSSENTRY_C1NDATA ((9<<2)+GNSSENTRY_CODE)
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| 132 | #define GNSSENTRY_L1NDATA ((9<<2)+GNSSENTRY_PHASE)
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| 133 | #define GNSSENTRY_D1NDATA ((9<<2)+GNSSENTRY_DOPPLER)
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| 134 | #define GNSSENTRY_S1NDATA ((9<<2)+GNSSENTRY_SNR)
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| [4367] | 135 |
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| 136 | #define GNSSENTRY_NUMBER 40 /* number of types!!! */
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| 137 |
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| [268] | 138 | /* Data flags. These flags are used in the dataflags field of gpsdata structure
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| [2659] | 139 | and are required to determine, which data fields are filled with valid data. */
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| [268] | 140 | #define GNSSDF_C1DATA (1<<GNSSENTRY_C1DATA)
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| [4367] | 141 | #define GNSSDF_L1CDATA (1<<GNSSENTRY_L1CDATA)
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| 142 | #define GNSSDF_D1CDATA (1<<GNSSENTRY_D1CDATA)
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| 143 | #define GNSSDF_S1CDATA (1<<GNSSENTRY_S1CDATA)
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| [268] | 144 | #define GNSSDF_C2DATA (1<<GNSSENTRY_C2DATA)
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| [4367] | 145 | #define GNSSDF_L2CDATA (1<<GNSSENTRY_L2CDATA)
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| 146 | #define GNSSDF_D2CDATA (1<<GNSSENTRY_D2CDATA)
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| 147 | #define GNSSDF_S2CDATA (1<<GNSSENTRY_S2CDATA)
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| 148 | #define GNSSDF_CB1DATA (1<<GNSSENTRY_CB1DATA)
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| 149 | #define GNSSDF_LB1DATA (1<<GNSSENTRY_LB1DATA)
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| 150 | #define GNSSDF_DB1DATA (1<<GNSSENTRY_DB1DATA)
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| 151 | #define GNSSDF_SB1DATA (1<<GNSSENTRY_SB1DATA)
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| [268] | 152 | #define GNSSDF_P1DATA (1<<GNSSENTRY_P1DATA)
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| [4367] | 153 | #define GNSSDF_L1PDATA (1<<GNSSENTRY_L1PDATA)
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| 154 | #define GNSSDF_D1PDATA (1<<GNSSENTRY_D1PDATA)
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| 155 | #define GNSSDF_S1PDATA (1<<GNSSENTRY_S1PDATA)
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| [268] | 156 | #define GNSSDF_P2DATA (1<<GNSSENTRY_P2DATA)
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| 157 | #define GNSSDF_L2PDATA (1<<GNSSENTRY_L2PDATA)
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| 158 | #define GNSSDF_D2PDATA (1<<GNSSENTRY_D2PDATA)
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| 159 | #define GNSSDF_S2PDATA (1<<GNSSENTRY_S2PDATA)
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| 160 |
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| [2659] | 161 | #define GNSSDF_C5DATA (1<<GNSSENTRY_C5DATA)
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| 162 | #define GNSSDF_L5DATA (1<<GNSSENTRY_L5DATA)
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| 163 | #define GNSSDF_D5DATA (1<<GNSSENTRY_D5DATA)
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| 164 | #define GNSSDF_S5DATA (1<<GNSSENTRY_S5DATA)
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| 165 | #define GNSSDF_C6DATA (1<<GNSSENTRY_C6DATA)
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| 166 | #define GNSSDF_L6DATA (1<<GNSSENTRY_L6DATA)
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| 167 | #define GNSSDF_D6DATA (1<<GNSSENTRY_D6DATA)
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| 168 | #define GNSSDF_S6DATA (1<<GNSSENTRY_S6DATA)
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| [4367] | 169 | #define GNSSDF_CB3DATA (1<<GNSSENTRY_CB3DATA)
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| 170 | #define GNSSDF_LB3DATA (1<<GNSSENTRY_LB3DATA)
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| 171 | #define GNSSDF_DB3DATA (1<<GNSSENTRY_DB3DATA)
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| 172 | #define GNSSDF_SB3DATA (1<<GNSSENTRY_SB3DATA)
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| [2659] | 173 | #define GNSSDF_C5BDATA (1<<GNSSENTRY_C5BDATA)
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| 174 | #define GNSSDF_L5BDATA (1<<GNSSENTRY_L5BDATA)
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| 175 | #define GNSSDF_D5BDATA (1<<GNSSENTRY_D5BDATA)
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| 176 | #define GNSSDF_S5BDATA (1<<GNSSENTRY_S5BDATA)
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| [4367] | 177 | #define GNSSDF_CB2DATA (1<<GNSSENTRY_CB2DATA)
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| 178 | #define GNSSDF_LB2DATA (1<<GNSSENTRY_LB2DATA)
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| 179 | #define GNSSDF_DB2DATA (1<<GNSSENTRY_DB2DATA)
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| 180 | #define GNSSDF_SB2DATA (1<<GNSSENTRY_SB2DATA)
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| [2659] | 181 | #define GNSSDF_C5ABDATA (1<<GNSSENTRY_C5ABDATA)
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| 182 | #define GNSSDF_L5ABDATA (1<<GNSSENTRY_L5ABDATA)
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| 183 | #define GNSSDF_D5ABDATA (1<<GNSSENTRY_D5ABDATA)
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| 184 | #define GNSSDF_S5ABDATA (1<<GNSSENTRY_S5ABDATA)
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| 185 |
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| [4367] | 186 | #define GNSSDF_CSAIFDATA (1LL<<GNSSENTRY_CSAIFDATA)
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| 187 | #define GNSSDF_LSAIFDATA (1LL<<GNSSENTRY_LSAIFDATA)
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| 188 | #define GNSSDF_DSAIFDATA (1LL<<GNSSENTRY_DSAIFDATA)
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| 189 | #define GNSSDF_SSAIFDATA (1LL<<GNSSENTRY_SSAIFDATA)
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| 190 |
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| 191 | #define GNSSDF_C1NDATA (1LL<<GNSSENTRY_C1NDATA)
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| 192 | #define GNSSDF_L1NDATA (1LL<<GNSSENTRY_L1NDATA)
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| 193 | #define GNSSDF_D1NDATA (1LL<<GNSSENTRY_D1NDATA)
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| 194 | #define GNSSDF_S1NDATA (1LL<<GNSSENTRY_S1NDATA)
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| 195 |
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| [268] | 196 | #define RINEXENTRY_C1DATA 0
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| 197 | #define RINEXENTRY_C2DATA 1
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| 198 | #define RINEXENTRY_P1DATA 2
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| 199 | #define RINEXENTRY_P2DATA 3
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| 200 | #define RINEXENTRY_L1DATA 4
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| 201 | #define RINEXENTRY_L2DATA 5
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| 202 | #define RINEXENTRY_D1DATA 6
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| 203 | #define RINEXENTRY_D2DATA 7
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| 204 | #define RINEXENTRY_S1DATA 8
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| 205 | #define RINEXENTRY_S2DATA 9
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| 206 |
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| [2659] | 207 | #define RINEXENTRY_C5DATA 10
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| 208 | #define RINEXENTRY_L5DATA 11
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| 209 | #define RINEXENTRY_D5DATA 12
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| 210 | #define RINEXENTRY_S5DATA 13
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| 211 | #define RINEXENTRY_C6DATA 14
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| 212 | #define RINEXENTRY_L6DATA 15
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| 213 | #define RINEXENTRY_D6DATA 16
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| 214 | #define RINEXENTRY_S6DATA 17
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| [4367] | 215 | #define RINEXENTRY_C7DATA 18 /* 5B */
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| 216 | #define RINEXENTRY_L7DATA 19
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| 217 | #define RINEXENTRY_D7DATA 20
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| 218 | #define RINEXENTRY_S7DATA 21
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| 219 | #define RINEXENTRY_C8DATA 22 /* 5AB */
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| 220 | #define RINEXENTRY_L8DATA 23
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| 221 | #define RINEXENTRY_D8DATA 24
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| 222 | #define RINEXENTRY_S8DATA 25
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| [2659] | 223 |
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| 224 | #define RINEXENTRY_NUMBER 26
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| 225 |
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| [270] | 226 | #define LIGHTSPEED 2.99792458e8 /* m/sec */
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| [268] | 227 | #define GPS_FREQU_L1 1575420000.0 /* Hz */
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| 228 | #define GPS_FREQU_L2 1227600000.0 /* Hz */
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| [2659] | 229 | #define GPS_FREQU_L5 1176450000.0 /* Hz */
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| [268] | 230 | #define GPS_WAVELENGTH_L1 (LIGHTSPEED / GPS_FREQU_L1) /* m */
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| 231 | #define GPS_WAVELENGTH_L2 (LIGHTSPEED / GPS_FREQU_L2) /* m */
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| [2659] | 232 | #define GPS_WAVELENGTH_L5 (LIGHTSPEED / GPS_FREQU_L5) /* m */
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| [268] | 233 |
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| [270] | 234 | #define GLO_FREQU_L1_BASE 1602000000.0 /* Hz */
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| 235 | #define GLO_FREQU_L2_BASE 1246000000.0 /* Hz */
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| 236 | #define GLO_FREQU_L1_STEP 562500.0 /* Hz */
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| 237 | #define GLO_FREQU_L2_STEP 437500.0 /* Hz */
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| 238 | #define GLO_FREQU_L1(a) (GLO_FREQU_L1_BASE+(a)*GLO_FREQU_L1_STEP)
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| 239 | #define GLO_FREQU_L2(a) (GLO_FREQU_L2_BASE+(a)*GLO_FREQU_L2_STEP)
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| 240 | #define GLO_WAVELENGTH_L1(a) (LIGHTSPEED / GLO_FREQU_L1(a)) /* m */
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| 241 | #define GLO_WAVELENGTH_L2(a) (LIGHTSPEED / GLO_FREQU_L2(a)) /* m */
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| 242 |
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| [2659] | 243 | #define GAL_FREQU_E1 1575420000.0 /* Hz */
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| 244 | #define GAL_FREQU_E5A 1176450000.0 /* Hz */
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| 245 | #define GAL_FREQU_E5AB 1197950000.0 /* Hz */
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| 246 | #define GAL_FREQU_E5B 1207140000.0 /* Hz */
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| 247 | #define GAL_FREQU_E6 1278750000.0 /* Hz */
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| 248 | #define GAL_WAVELENGTH_E1 (LIGHTSPEED / GAL_FREQU_E1) /* m */
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| 249 | #define GAL_WAVELENGTH_E5A (LIGHTSPEED / GAL_FREQU_E5A) /* m */
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| 250 | #define GAL_WAVELENGTH_E5AB (LIGHTSPEED / GAL_FREQU_E5AB) /* m */
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| 251 | #define GAL_WAVELENGTH_E5B (LIGHTSPEED / GAL_FREQU_E5B) /* m */
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| 252 | #define GAL_WAVELENGTH_E6 (LIGHTSPEED / GAL_FREQU_E6) /* m */
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| 253 |
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| [4367] | 254 | #define QZSS_FREQU_L1 1575420000.0 /* Hz */
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| 255 | #define QZSS_FREQU_L2 1227600000.0 /* Hz */
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| 256 | #define QZSS_FREQU_L5 1176450000.0 /* Hz */
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| 257 | #define QZSS_FREQU_LEX 1278750000.0 /* Hz */
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| 258 | #define QZSS_WAVELENGTH_L1 (LIGHTSPEED / QZSS_FREQU_L1) /* m */
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| 259 | #define QZSS_WAVELENGTH_L2 (LIGHTSPEED / QZSS_FREQU_L2) /* m */
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| 260 | #define QZSS_WAVELENGTH_L5 (LIGHTSPEED / QZSS_FREQU_L5) /* m */
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| 261 | #define QZSS_WAVELENGTH_LEX (LIGHTSPEED / QZSS_FREQU_LEX) /* m */
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| 262 |
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| 263 | #define COMPASS_FREQU_B1 1561098000.0 /* Hz */
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| 264 | #define COMPASS_FREQU_B2 1207140000.0 /* Hz */
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| 265 | #define COMPASS_FREQU_B3 1268520000.0 /* Hz */
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| 266 | #define COMPASS_WAVELENGTH_B1 (LIGHTSPEED / COMPASS_FREQU_B1) /* m */
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| 267 | #define COMPASS_WAVELENGTH_B2 (LIGHTSPEED / COMPASS_FREQU_B2) /* m */
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| 268 | #define COMPASS_WAVELENGTH_B3 (LIGHTSPEED / COMPASS_FREQU_B3) /* m */
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| 269 |
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| [2659] | 270 | #define PRN_GIOVE_OFFSET 51
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| 271 |
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| [268] | 272 | /* Additional flags for the data field, which tell us more. */
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| [2659] | 273 | #define GNSSDF2_XCORRL2 (1<<0) /* cross-correlated L2 */
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| 274 | #define GNSSDF2_LOCKLOSSL1 (1<<1) /* lost lock on L1 */
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| 275 | #define GNSSDF2_LOCKLOSSL2 (1<<2) /* lost lock on L2 */
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| 276 | #define GNSSDF2_LOCKLOSSL5 (1<<3) /* lost lock on L5 */
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| 277 | #define GNSSDF2_LOCKLOSSE6 (1<<4) /* lost lock on E6 */
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| 278 | #define GNSSDF2_LOCKLOSSE5B (1<<5) /* lost lock on E5B */
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| 279 | #define GNSSDF2_LOCKLOSSE5AB (1<<6) /* lost lock on E5AB */
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| [4367] | 280 | #define GNSSDF2_LOCKLOSSB1 GNSSDF2_LOCKLOSSL2
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| 281 | #define GNSSDF2_LOCKLOSSB2 GNSSDF2_LOCKLOSSE5B
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| 282 | #define GNSSDF2_LOCKLOSSB3 GNSSDF2_LOCKLOSSE6
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| 283 | #define GNSSDF2_LOCKLOSSLEX GNSSDF2_LOCKLOSSE6
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| 284 | #define GNSSDF2_LOCKLOSSSAIF (1<<9) /* lost lock on SAIF signal */
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| [268] | 285 |
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| [2659] | 286 | #define UINT64(c) c ## ULL
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| 287 |
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| [2346] | 288 | struct converttimeinfo {
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| 289 | int second; /* seconds of GPS time [0..59] */
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| 290 | int minute; /* minutes of GPS time [0..59] */
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| 291 | int hour; /* hour of GPS time [0..24] */
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| 292 | int day; /* day of GPS time [1..28..30(31)*/
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| 293 | int month; /* month of GPS time [1..12]*/
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| 294 | int year; /* year of GPS time [1980..] */
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| 295 | };
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| 296 |
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| [268] | 297 | struct gnssdata {
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| [2659] | 298 | int flags; /* GNSSF_xxx */
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| [268] | 299 | int week; /* week number of GPS date */
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| 300 | int numsats;
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| 301 | double timeofweek; /* milliseconds in GPS week */
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| [2352] | 302 | double measdata[GNSS_MAXSATS][GNSSENTRY_NUMBER]; /* data fields */
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| [4367] | 303 | unsigned long long dataflags[GNSS_MAXSATS]; /* GNSSDF_xxx */
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| [2659] | 304 | unsigned int dataflags2[GNSS_MAXSATS]; /* GNSSDF2_xxx */
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| [2352] | 305 | int satellites[GNSS_MAXSATS]; /* SV - IDs */
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| [4367] | 306 | int snrL1[GNSS_MAXSATS]; /* Important: all the 6 SV-specific fields must */
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| [2352] | 307 | int snrL2[GNSS_MAXSATS]; /* have the same SV-order */
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| [4367] | 308 | const char * codetype[GNSS_MAXSATS];
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| [268] | 309 | };
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| 310 |
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| [502] | 311 | #define GPSEPHF_L2PCODEDATA (1<<0) /* set, if NAV data OFF on L2 P-code, s1w4b01 */
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| 312 | #define GPSEPHF_L2PCODE (1<<1) /* set, if P-code available, s1w3b12 */
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| 313 | #define GPSEPHF_L2CACODE (1<<2) /* set, if CA-code available, s1w3b11 */
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| 314 | #define GPSEPHF_VALIDATED (1<<3) /* data is completely valid */
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| 315 |
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| [1092] | 316 | #define R2R_PI 3.1415926535898
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| [502] | 317 |
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| 318 | struct gpsephemeris {
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| 319 | int flags; /* GPSEPHF_xxx */
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| 320 | int satellite; /* SV ID ICD-GPS data position */
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| 321 | int IODE; /* [s2w3b01-08] */
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| 322 | int URAindex; /* [1..15] [s1w3b13-16] */
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| 323 | int SVhealth; /* [s1w3b17-22] */
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| 324 | int GPSweek; /* [s1w3b01-10] */
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| 325 | int IODC; /* [s1w3b23-32,w8b01-08] */
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| 326 | int TOW; /* [s] [s1w2b01-17] */
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| 327 | int TOC; /* [s] [s1w8b09-24] */
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| 328 | int TOE; /* [s] [s2w10b1-16] */
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| 329 | double clock_bias; /* [s] [s1w10b1-22, af0] */
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| 330 | double clock_drift; /* [s/s] [s1w9b09-24, af1] */
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| 331 | double clock_driftrate; /* [s/s^2] [s1w9b01-08, af2] */
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| 332 | double Crs; /* [m] [s2w3b09-24] */
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| 333 | double Delta_n; /* [rad/s] [s2w4b01-16 * Pi] */
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|---|
| 334 | double M0; /* [rad] [s2w4b17-24,w5b01-24 * Pi]*/
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|---|
| 335 | double Cuc; /* [rad] [s2w6b01-16] */
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| 336 | double e; /* [s2w6b17-24,w6b01-24] */
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|---|
| 337 | double Cus; /* [rad] [s2w8b01-16] */
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|---|
| 338 | double sqrt_A; /* [m^0.5] [s2w8b16-24,w9b01-24] */
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|---|
| 339 | double Cic; /* [rad] [s3w3b01-16] */
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|---|
| 340 | double OMEGA0; /* [rad] [s3w3b17-24,w4b01-24 * Pi]*/
|
|---|
| 341 | double Cis; /* [rad] [s3w5b01-16] */
|
|---|
| 342 | double i0; /* [rad] [s3w5b17-24,w6b01-24 * Pi]*/
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|---|
| 343 | double Crc; /* [m] [s3w701-16] */
|
|---|
| 344 | double omega; /* [rad] [s3w7b17-24,w8b01-24 * Pi]*/
|
|---|
| 345 | double OMEGADOT; /* [rad/s] [s3w9b01-24 * Pi] */
|
|---|
| 346 | double IDOT; /* [rad/s] [s3w10b9-22 * Pi] */
|
|---|
| 347 | double TGD; /* [s] [s1w7b17-24] */
|
|---|
| 348 | };
|
|---|
| 349 |
|
|---|
| [2756] | 350 | #define GALEPHF_E5ADINVALID (1<<0) /* E5aDVS set invalid */
|
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| 351 |
|
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| [502] | 352 | #define GLOEPHF_UNHEALTHY (1<<0) /* set if unhealty satellite, f2b78 */
|
|---|
| 353 | #define GLOEPHF_ALMANACHEALTHOK (1<<1) /* set if ALM health is available */
|
|---|
| 354 | #define GLOEPHF_ALMANACHEALTHY (1<<2) /* set if Cn word is true */
|
|---|
| 355 | #define GLOEPHF_PAVAILABLE (1<<3) /* set if the 3 P flags are available */
|
|---|
| 356 | #define GLOEPHF_P10TRUE (1<<4)
|
|---|
| 357 | #define GLOEPHF_P11TRUE (1<<5)
|
|---|
| 358 | #define GLOEPHF_P2TRUE (1<<6)
|
|---|
| 359 | #define GLOEPHF_P3TRUE (1<<7)
|
|---|
| 360 |
|
|---|
| 361 | struct glonassephemeris {
|
|---|
| 362 | int GPSWeek;
|
|---|
| 363 | int GPSTOW;
|
|---|
| 364 | int flags; /* GLOEPHF_xxx */
|
|---|
| 365 | int almanac_number;
|
|---|
| 366 | int frequency_number; /* ICD-GLONASS data position */
|
|---|
| 367 | int tb; /* [s] [f2b70-76] */
|
|---|
| 368 | int tk; /* [s] [f1b65-76] */
|
|---|
| 369 | int E; /* [days] [f4b49-53] */
|
|---|
| 370 | double tau; /* [s] [f4b59-80] */
|
|---|
| 371 | double gamma; /* [f3b69-79] */
|
|---|
| 372 | double x_pos; /* [km] [f1b09-35] */
|
|---|
| 373 | double x_velocity; /* [km/s] [f1b41-64] */
|
|---|
| 374 | double x_acceleration; /* [km/s^2][f1b36-40] */
|
|---|
| 375 | double y_pos; /* [km] [f2b09-35] */
|
|---|
| 376 | double y_velocity; /* [km/s] [f2b41-64] */
|
|---|
| 377 | double y_acceleration; /* [km/s^2][f2b36-40] */
|
|---|
| 378 | double z_pos; /* [km] [f3b09-35] */
|
|---|
| 379 | double z_velocity; /* [km/s] [f3b41-64] */
|
|---|
| 380 | double z_acceleration; /* [km/s^2][f3b36-40] */
|
|---|
| 381 | };
|
|---|
| 382 |
|
|---|
| [2756] | 383 | struct galileoephemeris {
|
|---|
| 384 | int flags; /* GALEPHF_xxx */
|
|---|
| 385 | int satellite; /* SV ID */
|
|---|
| 386 | int IODnav;
|
|---|
| 387 | int TOC; /* [s] */
|
|---|
| 388 | int TOE; /* [s] */
|
|---|
| 389 | double clock_bias; /* [s] */
|
|---|
| 390 | double clock_drift; /* [s/s] */
|
|---|
| 391 | double clock_driftrate; /* [s/s^2] */
|
|---|
| 392 | double Crs; /* [m] */
|
|---|
| 393 | double Delta_n; /* [rad/s] */
|
|---|
| 394 | double M0; /* [rad] */
|
|---|
| 395 | double Cuc; /* [rad] */
|
|---|
| 396 | double e;
|
|---|
| 397 | double Cus; /* [rad] */
|
|---|
| 398 | double sqrt_A; /* [m^0.5] */
|
|---|
| 399 | double Cic; /* [rad] */
|
|---|
| 400 | double OMEGA0; /* [rad] */
|
|---|
| 401 | double Cis; /* [rad] */
|
|---|
| 402 | double i0; /* [rad] */
|
|---|
| 403 | double Crc; /* [m] */
|
|---|
| 404 | double omega; /* [rad] */
|
|---|
| 405 | double OMEGADOT; /* [rad/s] */
|
|---|
| 406 | double IDOT; /* [rad/s] */
|
|---|
| 407 | double BGD_1_5A; /* [s] */
|
|---|
| [2845] | 408 | double BGD_1_5B; /* [s] */
|
|---|
| [2756] | 409 | int Week;
|
|---|
| 410 | int SISA;
|
|---|
| 411 | int E5aHS;
|
|---|
| 412 | };
|
|---|
| 413 |
|
|---|
| [268] | 414 | struct RTCM3ParserData {
|
|---|
| 415 | unsigned char Message[2048]; /* input-buffer */
|
|---|
| 416 | int MessageSize; /* current buffer size */
|
|---|
| 417 | int NeedBytes; /* bytes wanted for next run */
|
|---|
| 418 | int SkipBytes; /* bytes to skip in next round */
|
|---|
| 419 | int GPSWeek;
|
|---|
| 420 | int GPSTOW; /* in seconds */
|
|---|
| 421 | struct gnssdata Data;
|
|---|
| [502] | 422 | struct gpsephemeris ephemerisGPS;
|
|---|
| [2756] | 423 | struct galileoephemeris ephemerisGALILEO;
|
|---|
| [502] | 424 | struct glonassephemeris ephemerisGLONASS;
|
|---|
| [270] | 425 | struct gnssdata DataNew;
|
|---|
| [2659] | 426 | int GLOFreq[PRN_GLONASS_NUM]; /* frequency numbers of GLONASS + 100 */
|
|---|
| [268] | 427 | int size;
|
|---|
| [2490] | 428 | int lastlockGPSl1[64];
|
|---|
| 429 | int lastlockGPSl2[64];
|
|---|
| 430 | int lastlockGLOl1[64];
|
|---|
| 431 | int lastlockGLOl2[64];
|
|---|
| [2659] | 432 | int lastlockmsm[RTCM3_MSM_NUMCELLS][NUMRTCM3PARSERSATS];
|
|---|
| [1097] | 433 | #ifdef NO_RTCM3_MAIN
|
|---|
| [1237] | 434 | double antX;
|
|---|
| 435 | double antY;
|
|---|
| 436 | double antZ;
|
|---|
| 437 | double antH;
|
|---|
| 438 | char antenna[256+1];
|
|---|
| 439 | int blocktype;
|
|---|
| [2502] | 440 | int allflags;
|
|---|
| [2501] | 441 | int modjulday;
|
|---|
| 442 | int secofday;
|
|---|
| 443 | int leapsec;
|
|---|
| [1092] | 444 | #endif /* NO_RTCM3_MAIN */
|
|---|
| [268] | 445 | int datapos[RINEXENTRY_NUMBER];
|
|---|
| [4367] | 446 | long long dataflag[RINEXENTRY_NUMBER];
|
|---|
| [502] | 447 | /* for RINEX2 GPS and GLO are both handled in GPS */
|
|---|
| 448 | int dataposGPS[RINEXENTRY_NUMBER]; /* SBAS has same entries */
|
|---|
| [4367] | 449 | long long dataflagGPS[RINEXENTRY_NUMBER];
|
|---|
| [502] | 450 | int dataposGLO[RINEXENTRY_NUMBER]; /* only used for RINEX3 */
|
|---|
| [4367] | 451 | long long dataflagGLO[RINEXENTRY_NUMBER];
|
|---|
| [2699] | 452 | int dataposGAL[RINEXENTRY_NUMBER]; /* only used for RINEX3 */
|
|---|
| [4367] | 453 | long long dataflagGAL[RINEXENTRY_NUMBER];
|
|---|
| 454 | int dataposQZS[RINEXENTRY_NUMBER]; /* only used for RINEX3 */
|
|---|
| 455 | long long dataflagQZS[RINEXENTRY_NUMBER];
|
|---|
| 456 | int dataposCOM[RINEXENTRY_NUMBER]; /* only used for RINEX3 */
|
|---|
| 457 | long long dataflagCOM[RINEXENTRY_NUMBER];
|
|---|
| [502] | 458 | int numdatatypesGPS;
|
|---|
| 459 | int numdatatypesGLO; /* only used for RINEX3 */
|
|---|
| [2699] | 460 | int numdatatypesGAL; /* only used for RINEX3 */
|
|---|
| [4367] | 461 | int numdatatypesQZS; /* only used for RINEX3 */
|
|---|
| 462 | int numdatatypesCOM; /* only used for RINEX3 */
|
|---|
| [268] | 463 | int validwarning;
|
|---|
| 464 | int init;
|
|---|
| [318] | 465 | int startflags;
|
|---|
| [502] | 466 | int rinex3;
|
|---|
| [268] | 467 | const char * headerfile;
|
|---|
| [502] | 468 | const char * glonassephemeris;
|
|---|
| 469 | const char * gpsephemeris;
|
|---|
| 470 | FILE *glonassfile;
|
|---|
| 471 | FILE *gpsfile;
|
|---|
| [268] | 472 | };
|
|---|
| 473 |
|
|---|
| [318] | 474 | #ifndef PRINTFARG
|
|---|
| 475 | #ifdef __GNUC__
|
|---|
| 476 | #define PRINTFARG(a,b) __attribute__ ((format(printf, a, b)))
|
|---|
| 477 | #else /* __GNUC__ */
|
|---|
| 478 | #define PRINTFARG(a,b)
|
|---|
| 479 | #endif /* __GNUC__ */
|
|---|
| 480 | #endif /* PRINTFARG */
|
|---|
| 481 |
|
|---|
| [2346] | 482 | int gnumleap(int year, int month, int day);
|
|---|
| 483 | void updatetime(int *week, int *tow, int tk, int fixnumleap);
|
|---|
| 484 | void converttime(struct converttimeinfo *c, int week, int tow);
|
|---|
| 485 |
|
|---|
| [268] | 486 | void HandleHeader(struct RTCM3ParserData *Parser);
|
|---|
| 487 | int RTCM3Parser(struct RTCM3ParserData *handle);
|
|---|
| 488 | void HandleByte(struct RTCM3ParserData *Parser, unsigned int byte);
|
|---|
| [318] | 489 | void PRINTFARG(1,2) RTCM3Error(const char *fmt, ...);
|
|---|
| 490 | void PRINTFARG(1,2) RTCM3Text(const char *fmt, ...);
|
|---|
| [268] | 491 |
|
|---|
| 492 | #endif /* RTCM3TORINEX_H */
|
|---|
