| 1 | #ifndef RTCM3TORINEX_H
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| 2 | #define RTCM3TORINEX_H
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| 3 |
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| 4 | /*
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| 5 | Converter for RTCM3 data to RINEX.
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| 6 | $Id: rtcm3torinex.h 2659 2010-11-09 13:50:16Z stoecker $
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| 7 | Copyright (C) 2005-2006 by Dirk Stöcker <stoecker@alberding.eu>
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| 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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| 25 | #define RTCM3TORINEX_VERSION "1.50"
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| 26 |
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| 27 | #include <stdio.h>
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| 28 |
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| 29 | #define NUMRTCM3PARSERSATS 144
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| 30 | #define GNSS_MAXSATS 64
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| 31 |
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| 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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| 36 | #define PRN_GALILEO_START 71
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| 37 | #define PRN_GALILEO_END 100
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| 38 | #define PRN_WAAS_START 120
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| 39 | #define PRN_WAAS_END 138
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| 40 | #define PRN_GIOVE_START 139
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| 41 | #define PRN_GIOVE_END 140
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| 42 |
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| 43 | #define PRN_GLONASS_NUM (PRN_GLONASS_END-PRN_GLONASS_START+1)
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| 44 |
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| 45 | #define RTCM3_MSM_NUMSIG 24
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| 46 | #define RTCM3_MSM_NUMSAT 40
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| 47 | #define RTCM3_MSM_NUMCELLS 64
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| 48 |
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| 49 | /* system identifiers, use start PRN as value */
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| 50 | #define RTCM3_MSM_GPS PRN_GPS_START
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| 51 | #define RTCM3_MSM_GLONASS PRN_GLONASS_START
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| 52 | #define RTCM3_MSM_GALILEO PRN_GALILEO_START
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| 53 |
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| 54 | #define GNSSENTRY_C1DATA 0
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| 55 | #define GNSSENTRY_C2DATA 1
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| 56 | #define GNSSENTRY_P1DATA 2
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| 57 | #define GNSSENTRY_P2DATA 3
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| 58 | #define GNSSENTRY_L1CDATA 4
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| 59 | #define GNSSENTRY_L1PDATA 5
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| 60 | #define GNSSENTRY_L2CDATA 6
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| 61 | #define GNSSENTRY_L2PDATA 7
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| 62 | #define GNSSENTRY_D1CDATA 8
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| 63 | #define GNSSENTRY_D1PDATA 9
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| 64 | #define GNSSENTRY_D2CDATA 10
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| 65 | #define GNSSENTRY_D2PDATA 11
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| 66 | #define GNSSENTRY_S1CDATA 12
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| 67 | #define GNSSENTRY_S1PDATA 13
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| 68 | #define GNSSENTRY_S2CDATA 14
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| 69 | #define GNSSENTRY_S2PDATA 15
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| 70 |
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| 71 | #define GNSSENTRY_C5DATA 16
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| 72 | #define GNSSENTRY_L5DATA 17
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| 73 | #define GNSSENTRY_D5DATA 18
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| 74 | #define GNSSENTRY_S5DATA 19
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| 75 | #define GNSSENTRY_C6DATA 20
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| 76 | #define GNSSENTRY_L6DATA 21
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| 77 | #define GNSSENTRY_D6DATA 22
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| 78 | #define GNSSENTRY_S6DATA 23
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| 79 | #define GNSSENTRY_C5BDATA 24
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| 80 | #define GNSSENTRY_L5BDATA 25
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| 81 | #define GNSSENTRY_D5BDATA 26
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| 82 | #define GNSSENTRY_S5BDATA 27
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| 83 | #define GNSSENTRY_C5ABDATA 28
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| 84 | #define GNSSENTRY_L5ABDATA 29
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| 85 | #define GNSSENTRY_D5ABDATA 30
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| 86 | #define GNSSENTRY_S5ABDATA 31
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| 87 |
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| 88 | #define GNSSENTRY_NUMBER 32 /* number of types!!! */
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| 89 |
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| 90 | /* Data flags. These flags are used in the dataflags field of gpsdata structure
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| 91 | and are required to determine, which data fields are filled with valid data. */
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| 92 | #define GNSSDF_C1DATA (1<<GNSSENTRY_C1DATA)
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| 93 | #define GNSSDF_C2DATA (1<<GNSSENTRY_C2DATA)
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| 94 | #define GNSSDF_P1DATA (1<<GNSSENTRY_P1DATA)
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| 95 | #define GNSSDF_P2DATA (1<<GNSSENTRY_P2DATA)
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| 96 | #define GNSSDF_L1CDATA (1<<GNSSENTRY_L1CDATA)
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| 97 | #define GNSSDF_L1PDATA (1<<GNSSENTRY_L1PDATA)
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| 98 | #define GNSSDF_L2CDATA (1<<GNSSENTRY_L2CDATA)
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| 99 | #define GNSSDF_L2PDATA (1<<GNSSENTRY_L2PDATA)
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| 100 | #define GNSSDF_D1CDATA (1<<GNSSENTRY_D1CDATA)
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| 101 | #define GNSSDF_D1PDATA (1<<GNSSENTRY_D1PDATA)
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| 102 | #define GNSSDF_D2CDATA (1<<GNSSENTRY_D2CDATA)
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| 103 | #define GNSSDF_D2PDATA (1<<GNSSENTRY_D2PDATA)
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| 104 | #define GNSSDF_S1CDATA (1<<GNSSENTRY_S1CDATA)
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| 105 | #define GNSSDF_S1PDATA (1<<GNSSENTRY_S1PDATA)
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| 106 | #define GNSSDF_S2CDATA (1<<GNSSENTRY_S2CDATA)
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| 107 | #define GNSSDF_S2PDATA (1<<GNSSENTRY_S2PDATA)
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| 108 |
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| 109 | #define GNSSDF_C5DATA (1<<GNSSENTRY_C5DATA)
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| 110 | #define GNSSDF_L5DATA (1<<GNSSENTRY_L5DATA)
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| 111 | #define GNSSDF_D5DATA (1<<GNSSENTRY_D5DATA)
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| 112 | #define GNSSDF_S5DATA (1<<GNSSENTRY_S5DATA)
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| 113 | #define GNSSDF_C6DATA (1<<GNSSENTRY_C6DATA)
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| 114 | #define GNSSDF_L6DATA (1<<GNSSENTRY_L6DATA)
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| 115 | #define GNSSDF_D6DATA (1<<GNSSENTRY_D6DATA)
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| 116 | #define GNSSDF_S6DATA (1<<GNSSENTRY_S6DATA)
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| 117 | #define GNSSDF_C5BDATA (1<<GNSSENTRY_C5BDATA)
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| 118 | #define GNSSDF_L5BDATA (1<<GNSSENTRY_L5BDATA)
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| 119 | #define GNSSDF_D5BDATA (1<<GNSSENTRY_D5BDATA)
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| 120 | #define GNSSDF_S5BDATA (1<<GNSSENTRY_S5BDATA)
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| 121 | #define GNSSDF_C5ABDATA (1<<GNSSENTRY_C5ABDATA)
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| 122 | #define GNSSDF_L5ABDATA (1<<GNSSENTRY_L5ABDATA)
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| 123 | #define GNSSDF_D5ABDATA (1<<GNSSENTRY_D5ABDATA)
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| 124 | #define GNSSDF_S5ABDATA (1<<GNSSENTRY_S5ABDATA)
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| 125 |
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| 126 | #define RINEXENTRY_C1DATA 0
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| 127 | #define RINEXENTRY_C2DATA 1
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| 128 | #define RINEXENTRY_P1DATA 2
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| 129 | #define RINEXENTRY_P2DATA 3
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| 130 | #define RINEXENTRY_L1DATA 4
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| 131 | #define RINEXENTRY_L2DATA 5
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| 132 | #define RINEXENTRY_D1DATA 6
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| 133 | #define RINEXENTRY_D2DATA 7
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| 134 | #define RINEXENTRY_S1DATA 8
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| 135 | #define RINEXENTRY_S2DATA 9
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| 136 |
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| 137 | #define RINEXENTRY_C5DATA 10
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| 138 | #define RINEXENTRY_L5DATA 11
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| 139 | #define RINEXENTRY_D5DATA 12
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| 140 | #define RINEXENTRY_S5DATA 13
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| 141 | #define RINEXENTRY_C6DATA 14
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| 142 | #define RINEXENTRY_L6DATA 15
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| 143 | #define RINEXENTRY_D6DATA 16
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| 144 | #define RINEXENTRY_S6DATA 17
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| 145 | #define RINEXENTRY_C5BDATA 18
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| 146 | #define RINEXENTRY_L5BDATA 19
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| 147 | #define RINEXENTRY_D5BDATA 20
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| 148 | #define RINEXENTRY_S5BDATA 21
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| 149 | #define RINEXENTRY_C5ABDATA 22
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| 150 | #define RINEXENTRY_L5ABDATA 23
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| 151 | #define RINEXENTRY_D5ABDATA 24
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| 152 | #define RINEXENTRY_S5ABDATA 25
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| 153 |
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| 154 | #define RINEXENTRY_NUMBER 26
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| 155 |
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| 156 | #define LIGHTSPEED 2.99792458e8 /* m/sec */
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| 157 | #define GPS_FREQU_L1 1575420000.0 /* Hz */
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| 158 | #define GPS_FREQU_L2 1227600000.0 /* Hz */
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| 159 | #define GPS_FREQU_L5 1176450000.0 /* Hz */
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| 160 | #define GPS_WAVELENGTH_L1 (LIGHTSPEED / GPS_FREQU_L1) /* m */
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| 161 | #define GPS_WAVELENGTH_L2 (LIGHTSPEED / GPS_FREQU_L2) /* m */
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| 162 | #define GPS_WAVELENGTH_L5 (LIGHTSPEED / GPS_FREQU_L5) /* m */
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| 163 |
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| 164 | #define GLO_FREQU_L1_BASE 1602000000.0 /* Hz */
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| 165 | #define GLO_FREQU_L2_BASE 1246000000.0 /* Hz */
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| 166 | #define GLO_FREQU_L1_STEP 562500.0 /* Hz */
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| 167 | #define GLO_FREQU_L2_STEP 437500.0 /* Hz */
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| 168 | #define GLO_FREQU_L1(a) (GLO_FREQU_L1_BASE+(a)*GLO_FREQU_L1_STEP)
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| 169 | #define GLO_FREQU_L2(a) (GLO_FREQU_L2_BASE+(a)*GLO_FREQU_L2_STEP)
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| 170 | #define GLO_WAVELENGTH_L1(a) (LIGHTSPEED / GLO_FREQU_L1(a)) /* m */
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| 171 | #define GLO_WAVELENGTH_L2(a) (LIGHTSPEED / GLO_FREQU_L2(a)) /* m */
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| 172 |
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| 173 | #define GAL_FREQU_E1 1575420000.0 /* Hz */
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| 174 | #define GAL_FREQU_E5A 1176450000.0 /* Hz */
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| 175 | #define GAL_FREQU_E5AB 1197950000.0 /* Hz */
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| 176 | #define GAL_FREQU_E5B 1207140000.0 /* Hz */
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| 177 | #define GAL_FREQU_E6 1278750000.0 /* Hz */
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| 178 | #define GAL_WAVELENGTH_E1 (LIGHTSPEED / GAL_FREQU_E1) /* m */
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| 179 | #define GAL_WAVELENGTH_E5A (LIGHTSPEED / GAL_FREQU_E5A) /* m */
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| 180 | #define GAL_WAVELENGTH_E5AB (LIGHTSPEED / GAL_FREQU_E5AB) /* m */
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| 181 | #define GAL_WAVELENGTH_E5B (LIGHTSPEED / GAL_FREQU_E5B) /* m */
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| 182 | #define GAL_WAVELENGTH_E6 (LIGHTSPEED / GAL_FREQU_E6) /* m */
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| 183 |
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| 184 | #define PRN_GIOVE_OFFSET 51
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| 185 |
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| 186 | /* Additional flags for the data field, which tell us more. */
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| 187 | #define GNSSDF2_XCORRL2 (1<<0) /* cross-correlated L2 */
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| 188 | #define GNSSDF2_LOCKLOSSL1 (1<<1) /* lost lock on L1 */
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| 189 | #define GNSSDF2_LOCKLOSSL2 (1<<2) /* lost lock on L2 */
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| 190 | #define GNSSDF2_LOCKLOSSL5 (1<<3) /* lost lock on L5 */
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| 191 | #define GNSSDF2_LOCKLOSSE6 (1<<4) /* lost lock on E6 */
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| 192 | #define GNSSDF2_LOCKLOSSE5B (1<<5) /* lost lock on E5B */
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| 193 | #define GNSSDF2_LOCKLOSSE5AB (1<<6) /* lost lock on E5AB */
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| 194 |
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| 195 | #define UINT64(c) c ## ULL
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| 196 |
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| 197 | struct converttimeinfo {
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| 198 | int second; /* seconds of GPS time [0..59] */
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| 199 | int minute; /* minutes of GPS time [0..59] */
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| 200 | int hour; /* hour of GPS time [0..24] */
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| 201 | int day; /* day of GPS time [1..28..30(31)*/
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| 202 | int month; /* month of GPS time [1..12]*/
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| 203 | int year; /* year of GPS time [1980..] */
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| 204 | };
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| 205 |
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| 206 | struct gnssdata {
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| 207 | int flags; /* GNSSF_xxx */
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| 208 | int week; /* week number of GPS date */
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| 209 | int numsats;
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| 210 | double timeofweek; /* milliseconds in GPS week */
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| 211 | double measdata[GNSS_MAXSATS][GNSSENTRY_NUMBER]; /* data fields */
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| 212 | unsigned int dataflags[GNSS_MAXSATS]; /* GNSSDF_xxx */
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| 213 | unsigned int dataflags2[GNSS_MAXSATS]; /* GNSSDF2_xxx */
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| 214 | int satellites[GNSS_MAXSATS]; /* SV - IDs */
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| 215 | int channels[GNSS_MAXSATS]; /* Glonass channels - valid of Glonass SV only */
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| 216 | int snrL1[GNSS_MAXSATS]; /* Important: all the 5 SV-specific fields must */
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| 217 | int snrL2[GNSS_MAXSATS]; /* have the same SV-order */
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| 218 | };
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| 219 |
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| 220 | #define GPSEPHF_L2PCODEDATA (1<<0) /* set, if NAV data OFF on L2 P-code, s1w4b01 */
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| 221 | #define GPSEPHF_L2PCODE (1<<1) /* set, if P-code available, s1w3b12 */
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| 222 | #define GPSEPHF_L2CACODE (1<<2) /* set, if CA-code available, s1w3b11 */
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| 223 | #define GPSEPHF_VALIDATED (1<<3) /* data is completely valid */
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| 224 |
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| 225 | #define R2R_PI 3.1415926535898
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| 226 |
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| 227 | struct gpsephemeris {
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| 228 | int flags; /* GPSEPHF_xxx */
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| 229 | int satellite; /* SV ID ICD-GPS data position */
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| 230 | int IODE; /* [s2w3b01-08] */
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| 231 | int URAindex; /* [1..15] [s1w3b13-16] */
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| 232 | int SVhealth; /* [s1w3b17-22] */
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| 233 | int GPSweek; /* [s1w3b01-10] */
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| 234 | int IODC; /* [s1w3b23-32,w8b01-08] */
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| 235 | int TOW; /* [s] [s1w2b01-17] */
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| 236 | int TOC; /* [s] [s1w8b09-24] */
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| 237 | int TOE; /* [s] [s2w10b1-16] */
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| 238 | double clock_bias; /* [s] [s1w10b1-22, af0] */
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| 239 | double clock_drift; /* [s/s] [s1w9b09-24, af1] */
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| 240 | double clock_driftrate; /* [s/s^2] [s1w9b01-08, af2] */
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| 241 | double Crs; /* [m] [s2w3b09-24] */
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| 242 | double Delta_n; /* [rad/s] [s2w4b01-16 * Pi] */
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| 243 | double M0; /* [rad] [s2w4b17-24,w5b01-24 * Pi]*/
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| 244 | double Cuc; /* [rad] [s2w6b01-16] */
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| 245 | double e; /* [s2w6b17-24,w6b01-24] */
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| 246 | double Cus; /* [rad] [s2w8b01-16] */
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| 247 | double sqrt_A; /* [m^0.5] [s2w8b16-24,w9b01-24] */
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| 248 | double Cic; /* [rad] [s3w3b01-16] */
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| 249 | double OMEGA0; /* [rad] [s3w3b17-24,w4b01-24 * Pi]*/
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| 250 | double Cis; /* [rad] [s3w5b01-16] */
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| 251 | double i0; /* [rad] [s3w5b17-24,w6b01-24 * Pi]*/
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| 252 | double Crc; /* [m] [s3w701-16] */
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| 253 | double omega; /* [rad] [s3w7b17-24,w8b01-24 * Pi]*/
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| 254 | double OMEGADOT; /* [rad/s] [s3w9b01-24 * Pi] */
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| 255 | double IDOT; /* [rad/s] [s3w10b9-22 * Pi] */
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| 256 | double TGD; /* [s] [s1w7b17-24] */
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| 257 | };
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| 258 |
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| 259 | #define GLOEPHF_UNHEALTHY (1<<0) /* set if unhealty satellite, f2b78 */
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| 260 | #define GLOEPHF_ALMANACHEALTHOK (1<<1) /* set if ALM health is available */
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| 261 | #define GLOEPHF_ALMANACHEALTHY (1<<2) /* set if Cn word is true */
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| 262 | #define GLOEPHF_PAVAILABLE (1<<3) /* set if the 3 P flags are available */
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| 263 | #define GLOEPHF_P10TRUE (1<<4)
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| 264 | #define GLOEPHF_P11TRUE (1<<5)
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| 265 | #define GLOEPHF_P2TRUE (1<<6)
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| 266 | #define GLOEPHF_P3TRUE (1<<7)
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| 267 |
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| 268 | struct glonassephemeris {
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| 269 | int GPSWeek;
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| 270 | int GPSTOW;
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| 271 | int flags; /* GLOEPHF_xxx */
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| 272 | int almanac_number;
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| 273 | int frequency_number; /* ICD-GLONASS data position */
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| 274 | int tb; /* [s] [f2b70-76] */
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| 275 | int tk; /* [s] [f1b65-76] */
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| 276 | int E; /* [days] [f4b49-53] */
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| 277 | double tau; /* [s] [f4b59-80] */
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| 278 | double gamma; /* [f3b69-79] */
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| 279 | double x_pos; /* [km] [f1b09-35] */
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| 280 | double x_velocity; /* [km/s] [f1b41-64] */
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| 281 | double x_acceleration; /* [km/s^2][f1b36-40] */
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| 282 | double y_pos; /* [km] [f2b09-35] */
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| 283 | double y_velocity; /* [km/s] [f2b41-64] */
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| 284 | double y_acceleration; /* [km/s^2][f2b36-40] */
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| 285 | double z_pos; /* [km] [f3b09-35] */
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| 286 | double z_velocity; /* [km/s] [f3b41-64] */
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| 287 | double z_acceleration; /* [km/s^2][f3b36-40] */
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| 288 | };
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| 289 |
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| 290 | struct RTCM3ParserData {
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| 291 | unsigned char Message[2048]; /* input-buffer */
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| 292 | int MessageSize; /* current buffer size */
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| 293 | int NeedBytes; /* bytes wanted for next run */
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| 294 | int SkipBytes; /* bytes to skip in next round */
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| 295 | int GPSWeek;
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| 296 | int GPSTOW; /* in seconds */
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| 297 | struct gnssdata Data;
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| 298 | struct gpsephemeris ephemerisGPS;
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| 299 | struct glonassephemeris ephemerisGLONASS;
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| 300 | struct gnssdata DataNew;
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| 301 | int GLOFreq[PRN_GLONASS_NUM]; /* frequency numbers of GLONASS + 100 */
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| 302 | int size;
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| 303 | int lastlockGPSl1[64];
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| 304 | int lastlockGPSl2[64];
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| 305 | int lastlockGLOl1[64];
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| 306 | int lastlockGLOl2[64];
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| 307 | int lastlockmsm[RTCM3_MSM_NUMCELLS][NUMRTCM3PARSERSATS];
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| 308 | #ifdef NO_RTCM3_MAIN
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| 309 | double antX;
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| 310 | double antY;
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| 311 | double antZ;
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| 312 | double antH;
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| 313 | char antenna[256+1];
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| 314 | int blocktype;
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| 315 | int allflags;
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| 316 | int modjulday;
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| 317 | int secofday;
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| 318 | int leapsec;
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| 319 | #endif /* NO_RTCM3_MAIN */
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| 320 | int datapos[RINEXENTRY_NUMBER];
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| 321 | int dataflag[RINEXENTRY_NUMBER];
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| 322 | /* for RINEX2 GPS and GLO are both handled in GPS */
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| 323 | int dataposGPS[RINEXENTRY_NUMBER]; /* SBAS has same entries */
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| 324 | int dataflagGPS[RINEXENTRY_NUMBER];
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| 325 | int dataposGLO[RINEXENTRY_NUMBER]; /* only used for RINEX3 */
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| 326 | int dataflagGLO[RINEXENTRY_NUMBER];
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| 327 | int numdatatypesGPS;
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| 328 | int numdatatypesGLO; /* only used for RINEX3 */
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| 329 | int validwarning;
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| 330 | int init;
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| 331 | int startflags;
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| 332 | int rinex3;
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| 333 | const char * headerfile;
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| 334 | const char * glonassephemeris;
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| 335 | const char * gpsephemeris;
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| 336 | FILE *glonassfile;
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| 337 | FILE *gpsfile;
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| 338 | };
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| 339 |
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| 340 | #ifndef PRINTFARG
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| 341 | #ifdef __GNUC__
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| 342 | #define PRINTFARG(a,b) __attribute__ ((format(printf, a, b)))
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| 343 | #else /* __GNUC__ */
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| 344 | #define PRINTFARG(a,b)
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| 345 | #endif /* __GNUC__ */
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| 346 | #endif /* PRINTFARG */
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| 347 |
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| 348 | int gnumleap(int year, int month, int day);
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| 349 | void updatetime(int *week, int *tow, int tk, int fixnumleap);
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| 350 | void converttime(struct converttimeinfo *c, int week, int tow);
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| 351 |
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| 352 | void HandleHeader(struct RTCM3ParserData *Parser);
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| 353 | int RTCM3Parser(struct RTCM3ParserData *handle);
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| 354 | void HandleByte(struct RTCM3ParserData *Parser, unsigned int byte);
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| 355 | void PRINTFARG(1,2) RTCM3Error(const char *fmt, ...);
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| 356 | void PRINTFARG(1,2) RTCM3Text(const char *fmt, ...);
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| 357 |
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| 358 | #endif /* RTCM3TORINEX_H */
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