[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 5670 2014-06-16 13:02:31Z 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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[5664] | 92 | #define SCALEADDBITS(a, b, c) ADDBITS(a, (int64_t)(c > 0 ? b*c+0.5 : b*c-0.5))
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[956] | 93 |
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[5664] | 94 | #define MPI 3.141592653589793
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[956] | 95 |
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[5664] | 96 | /* GPS macros also used for other systems when matching! */
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| 97 | #define T_MESSAGE_NUMBER(a) ADDBITS(12, a) /* DF002 */
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| 98 | #define T_GPS_SATELLITE_ID(a) ADDBITS(6, a) /* DF068 */
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| 99 | #define T_QZSS_SATELLITE_ID(a) ADDBITS(4, a) /* DF249 */
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| 100 | #define T_GLONASS_SATELLITE_ID(a) ADDBITS(5, a)
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| 101 |
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| 102 | #define T_GPS_IODE(a) ADDBITS(8, a) /* DF071 */
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| 103 | #define T_GLONASS_IOD(a) ADDBITS(8, a) /* DF237 */
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| 104 | #define T_GALILEO_IOD(a) ADDBITS(10, a) /* DF459 */
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| 105 | #define T_SBAS_T0MOD(a) ADDBITS(9, (a/16)) /* DF468 */
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| 106 | #define T_SBAS_IODCRC(a) ADDBITS(24, a) /* DF469 */
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| 107 | #define T_BDS_TOEMOD(a) ADDBITS(10, (a/8)) /* DF470 */
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| 108 | #define T_BDS_IODCRC(a) ADDBITS(24, a) /* DF471 */
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| 109 |
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[1808] | 110 | #define T_DELTA_RADIAL(a) SCALEADDBITS(22, 10000.0, a)
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| 111 | #define T_DELTA_ALONG_TRACK(a) SCALEADDBITS(20, 2500.0, a)
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| 112 | #define T_DELTA_CROSS_TRACK(a) SCALEADDBITS(20, 2500.0, a)
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| 113 | #define T_DELTA_DOT_RADIAL(a) SCALEADDBITS(21, 1000000.0, a)
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| 114 | #define T_DELTA_DOT_ALONG_TRACK(a) SCALEADDBITS(19, 250000.0, a)
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| 115 | #define T_DELTA_DOT_CROSS_TRACK(a) SCALEADDBITS(19, 250000.0, a)
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[1581] | 116 |
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[956] | 117 | #define T_SATELLITE_REFERENCE_DATUM(a) ADDBITS(1, a)
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[1808] | 118 | #define T_DELTA_CLOCK_C0(a) SCALEADDBITS(22, 10000.0, a)
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| 119 | #define T_DELTA_CLOCK_C1(a) SCALEADDBITS(21, 1000000.0, a)
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[1581] | 120 | #define T_DELTA_CLOCK_C2(a) SCALEADDBITS(27, 50000000.0, a)
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[956] | 121 | #define T_NO_OF_CODE_BIASES(a) ADDBITS(5, a)
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[5664] | 122 | #define T_NO_OF_PHASE_BIASES(a) ADDBITS(5, a)
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| 123 | #define T_SIGNAL_IDENTIFIER(a) ADDBITS(5, a)
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[1808] | 124 | #define T_CODE_BIAS(a) SCALEADDBITS(14, 100.0, a)
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[5664] | 125 | #define T_YAW_ANGLE(a) SCALEADDBITS(9, 256.0/MPI, a)
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| 126 | #define T_YAW_RATE(a) SCALEADDBITS(8, 8192.0/MPI, a)
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| 127 | #define T_PHASE_BIAS(a) SCALEADDBITS(20, 10000.0, a)
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[956] | 128 |
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[1581] | 129 | #define T_GPS_EPOCH_TIME(a) ADDBITS(20, a)
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| 130 | #define T_GLONASS_EPOCH_TIME(a) ADDBITS(17, a)
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| 131 | #define T_NO_OF_SATELLITES(a) ADDBITS(6, a)
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| 132 | #define T_MULTIPLE_MESSAGE_INDICATOR(a) ADDBITS(1, a)
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[5664] | 133 | #define T_DISPERSIVE_BIAS_INDICATOR(a) ADDBITS(1, a)
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| 134 | #define T_MW_CONSISTENCY_INDICATOR(a) ADDBITS(1, a)
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| 135 | #define T_INTEGER_INDICATOR(a) ADDBITS(1, a)
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| 136 | #define T_WIDE_LANE_INDICATOR(a) ADDBITS(1, a)
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| 137 | #define T_DISCONTINUITY_COUNTER(a) ADDBITS(4, a)
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[2421] | 138 | #define T_SSR_URA(a) ADDBITS(6, a)
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[1808] | 139 | #define T_HR_CLOCK_CORRECTION(a) SCALEADDBITS(22, 10000.0, a)
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[1581] | 140 | #define T_SSR_UPDATE_INTERVAL(a) ADDBITS(4, a)
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[956] | 141 |
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[3511] | 142 | #define T_SSR_IOD(a) ADDBITS(4, a)
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| 143 | #define T_SSR_PROVIDER_ID(a) ADDBITS(16, a)
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| 144 | #define T_SSR_SOLUTION_ID(a) ADDBITS(4, a)
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| 145 |
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[5664] | 146 | #define T_NO_IONO_LAYERS(a) ADDBITS(2, a-1)
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| 147 | #define T_VTEC_QUALITY_INDICATOR(a) SCALEADDBITS(9, 20.0, a)
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| 148 | #define T_IONO_COEFF(a) SCALEADDBITS(16, 200.0, a)
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| 149 | #define T_IONO_DEGREE(a) ADDBITS(4, a-1)
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| 150 | #define T_IONO_ORDER(a) ADDBITS(4, a-1)
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| 151 | #define T_IONO_HEIGHT(a) SCALEADDBITS(8, 1/10000.0, a)
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| 152 |
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[2421] | 153 | static double URAToValue(int ura)
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| 154 | {
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| 155 | int urac, urav;
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| 156 | urac = ura >> 3;
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| 157 | urav = ura & 7;
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| 158 | if(!ura)
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| 159 | return 0;
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| 160 | else if(ura == 63)
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| 161 | return SSR_MAXURA;
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| 162 | return (pow(3,urac)*(1.0+urav/4.0)-1.0)/1000.0;
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| 163 | }
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| 164 |
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| 165 | static int ValueToURA(double val)
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| 166 | {
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| 167 | int ura;
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| 168 | if(!val)
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| 169 | return 0;
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| 170 | else if(val > 5.4665)
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| 171 | return 63;
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| 172 | for(ura = 1; ura < 63 && val > URAToValue(ura); ++ura)
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| 173 | ;
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| 174 | return ura;
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| 175 | }
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| 176 |
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[5664] | 177 | static const enum ClockOrbitType corbase[CLOCKORBIT_SATNUM] =
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| 178 | {
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| 179 | COBBASE_GPS, COBBASE_GLONASS, COBBASE_GALILEO, COBBASE_QZSS, COBBASE_SBAS,
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| 180 | COBBASE_BDS
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| 181 | };
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| 182 | static const enum COR_OFFSETS satoffset[CLOCKORBIT_SATNUM+1] =
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| 183 | {
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| 184 | CLOCKORBIT_OFFSETGPS, CLOCKORBIT_OFFSETGLONASS, CLOCKORBIT_OFFSETGALILEO,
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| 185 | CLOCKORBIT_OFFSETQZSS, CLOCKORBIT_OFFSETSBAS, CLOCKORBIT_OFFSETBDS,
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| 186 | CLOCKORBIT_COUNTSAT
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| 187 | };
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| 188 |
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[956] | 189 | size_t MakeClockOrbit(const struct ClockOrbit *co, enum ClockOrbitType type,
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| 190 | int moremessagesfollow, char *buffer, size_t size)
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| 191 | {
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[5664] | 192 | unsigned int status[CLOCKORBIT_SATNUM][COBOFS_NUM], i, s;
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[1819] | 193 |
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[5664] | 194 | memset(status, 0, sizeof(status));
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[956] | 195 | STARTDATA
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| 196 |
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[5664] | 197 | for(s = 0; s < CLOCKORBIT_SATNUM; ++s)
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[956] | 198 | {
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[5664] | 199 | for(i = 0; i < COBOFS_NUM; ++i)
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| 200 | {
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| 201 | if(co->NumberOfSat[s] && (type == COTYPE_AUTO
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| 202 | || type == corbase[s]+i) && (co->Supplied[i] || (i <= COBOFS_CLOCK
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| 203 | && co->Supplied[COBOFS_COMBINED]) || (i == COBOFS_COMBINED
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| 204 | && co->Supplied[COBOFS_ORBIT] && co->Supplied[COBOFS_CLOCK])))
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| 205 | {
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| 206 | status[s][i] = 1;
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| 207 | if(i == COBOFS_COMBINED)
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| 208 | {
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| 209 | status[s][COBOFS_ORBIT] = status[s][COBOFS_CLOCK] = 0;
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| 210 | } /* disable single blocks for combined type */
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| 211 | } /* check for data */
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| 212 | } /* iterate over RTCM data types */
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| 213 | } /* iterate over satellite systems */
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[956] | 214 |
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[5664] | 215 | for(s = 0; s < CLOCKORBIT_SATNUM; ++s)
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[956] | 216 | {
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[5664] | 217 | if(status[s][COBOFS_ORBIT])
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[956] | 218 | {
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[1840] | 219 | INITBLOCK
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[5664] | 220 | T_MESSAGE_NUMBER(corbase[s]+COBOFS_ORBIT)
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| 221 | switch(s)
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| 222 | {
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| 223 | case CLOCKORBIT_SATGPS: case CLOCKORBIT_SATGALILEO:
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| 224 | case CLOCKORBIT_SATQZSS: case CLOCKORBIT_SATSBAS:
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| 225 | case CLOCKORBIT_SATBDS:
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| 226 | T_GPS_EPOCH_TIME(co->EpochTime[s])
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| 227 | break;
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| 228 | case CLOCKORBIT_SATGLONASS:
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| 229 | T_GLONASS_EPOCH_TIME(co->EpochTime[s])
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| 230 | break;
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| 231 | }
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[1840] | 232 | T_SSR_UPDATE_INTERVAL(co->UpdateInterval)
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[5664] | 233 | T_MULTIPLE_MESSAGE_INDICATOR(moremessagesfollow ? 1 : 0)
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[2421] | 234 | T_SATELLITE_REFERENCE_DATUM(co->SatRefDatum)
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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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[5664] | 238 | T_NO_OF_SATELLITES(co->NumberOfSat[s])
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| 239 | for(i = satoffset[s]; i < satoffset[s]+co->NumberOfSat[s]; ++i)
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[1840] | 240 | {
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[5664] | 241 | switch(s)
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| 242 | {
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| 243 | case CLOCKORBIT_SATGPS:
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| 244 | T_GPS_SATELLITE_ID(co->Sat[i].ID)
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| 245 | T_GPS_IODE(co->Sat[i].IOD)
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| 246 | break;
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| 247 | case CLOCKORBIT_SATGLONASS:
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| 248 | T_GLONASS_SATELLITE_ID(co->Sat[i].ID)
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| 249 | T_GLONASS_IOD(co->Sat[i].IOD)
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| 250 | break;
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| 251 | case CLOCKORBIT_SATGALILEO:
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| 252 | T_GPS_SATELLITE_ID(co->Sat[i].ID)
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| 253 | T_GALILEO_IOD(co->Sat[i].IOD)
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| 254 | break;
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| 255 | case CLOCKORBIT_SATQZSS:
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| 256 | T_QZSS_SATELLITE_ID(co->Sat[i].ID)
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| 257 | T_GPS_IODE(co->Sat[i].IOD)
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| 258 | break;
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| 259 | case CLOCKORBIT_SATSBAS:
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| 260 | T_GPS_SATELLITE_ID(co->Sat[i].ID)
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| 261 | T_SBAS_T0MOD(co->Sat[i].toe)
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| 262 | T_SBAS_IODCRC(co->Sat[i].IOD)
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| 263 | break;
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| 264 | case CLOCKORBIT_SATBDS:
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| 265 | T_GPS_SATELLITE_ID(co->Sat[i].ID)
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| 266 | T_BDS_TOEMOD(co->Sat[i].toe)
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| 267 | T_BDS_IODCRC(co->Sat[i].IOD)
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| 268 | break;
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| 269 | }
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[1840] | 270 | T_DELTA_RADIAL(co->Sat[i].Orbit.DeltaRadial)
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| 271 | T_DELTA_ALONG_TRACK(co->Sat[i].Orbit.DeltaAlongTrack)
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| 272 | T_DELTA_CROSS_TRACK(co->Sat[i].Orbit.DeltaCrossTrack)
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| 273 | T_DELTA_DOT_RADIAL(co->Sat[i].Orbit.DotDeltaRadial)
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| 274 | T_DELTA_DOT_ALONG_TRACK(co->Sat[i].Orbit.DotDeltaAlongTrack)
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| 275 | T_DELTA_DOT_CROSS_TRACK(co->Sat[i].Orbit.DotDeltaCrossTrack)
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[5664] | 276 | }
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| 277 | ENDBLOCK
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| 278 | }
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| 279 | if(status[s][COBOFS_CLOCK])
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| 280 | {
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| 281 | INITBLOCK
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| 282 | T_MESSAGE_NUMBER(corbase[s]+COBOFS_CLOCK)
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| 283 | switch(s)
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| 284 | {
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| 285 | case CLOCKORBIT_SATGPS: case CLOCKORBIT_SATGALILEO:
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| 286 | case CLOCKORBIT_SATQZSS: case CLOCKORBIT_SATSBAS:
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| 287 | case CLOCKORBIT_SATBDS:
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| 288 | T_GPS_EPOCH_TIME(co->EpochTime[s])
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| 289 | break;
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| 290 | case CLOCKORBIT_SATGLONASS:
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| 291 | T_GLONASS_EPOCH_TIME(co->EpochTime[s])
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| 292 | break;
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| 293 | }
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| 294 | T_SSR_UPDATE_INTERVAL(co->UpdateInterval)
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| 295 | T_MULTIPLE_MESSAGE_INDICATOR(moremessagesfollow ? 1 : 0)
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| 296 | T_SSR_IOD(co->SSRIOD)
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| 297 | T_SSR_PROVIDER_ID(co->SSRProviderID)
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| 298 | T_SSR_SOLUTION_ID(co->SSRSolutionID)
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| 299 | T_NO_OF_SATELLITES(co->NumberOfSat[s])
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| 300 | for(i = satoffset[s]; i < satoffset[s]+co->NumberOfSat[s]; ++i)
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| 301 | {
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| 302 | switch(s)
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| 303 | {
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| 304 | case CLOCKORBIT_SATGPS: case CLOCKORBIT_SATGALILEO:
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| 305 | case CLOCKORBIT_SATSBAS: case CLOCKORBIT_SATBDS:
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| 306 | T_GPS_SATELLITE_ID(co->Sat[i].ID)
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| 307 | break;
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| 308 | case CLOCKORBIT_SATQZSS:
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| 309 | T_QZSS_SATELLITE_ID(co->Sat[i].ID)
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| 310 | break;
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| 311 | case CLOCKORBIT_SATGLONASS:
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| 312 | T_GLONASS_SATELLITE_ID(co->Sat[i].ID)
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| 313 | break;
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| 314 | }
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[1840] | 315 | T_DELTA_CLOCK_C0(co->Sat[i].Clock.DeltaA0)
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| 316 | T_DELTA_CLOCK_C1(co->Sat[i].Clock.DeltaA1)
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| 317 | T_DELTA_CLOCK_C2(co->Sat[i].Clock.DeltaA2)
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| 318 | }
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| 319 | ENDBLOCK
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[5664] | 320 | }
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| 321 | if(status[s][COBOFS_COMBINED])
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| 322 | {
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[2432] | 323 | #ifdef SPLITBLOCK
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[5664] | 324 | int nums = co->NumberOfSat[s];
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| 325 | int left, start = satoffset[s];
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| 326 | if(nums > 28) /* split block when more than 28 sats */
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| 327 | {
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| 328 | left = nums - 28;
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| 329 | nums = 28;
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| 330 | }
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| 331 | else
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| 332 | {
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| 333 | left = 0;
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| 334 | }
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| 335 | while(nums)
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| 336 | {
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[2432] | 337 | #endif
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[5664] | 338 | INITBLOCK
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| 339 | T_MESSAGE_NUMBER(corbase[s]+COBOFS_COMBINED)
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| 340 | switch(s)
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| 341 | {
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| 342 | case CLOCKORBIT_SATGPS: case CLOCKORBIT_SATGALILEO:
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| 343 | case CLOCKORBIT_SATQZSS: case CLOCKORBIT_SATSBAS:
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| 344 | case CLOCKORBIT_SATBDS:
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| 345 | T_GPS_EPOCH_TIME(co->EpochTime[s])
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| 346 | break;
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| 347 | case CLOCKORBIT_SATGLONASS:
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| 348 | T_GLONASS_EPOCH_TIME(co->EpochTime[s])
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| 349 | break;
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| 350 | }
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| 351 | T_SSR_UPDATE_INTERVAL(co->UpdateInterval)
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| 352 | #ifdef SPLITBLOCK
|
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| 353 | T_MULTIPLE_MESSAGE_INDICATOR((moremessagesfollow || left) ? 1 : 0)
|
---|
| 354 | #else
|
---|
| 355 | T_MULTIPLE_MESSAGE_INDICATOR(moremessagesfollow ? 1 : 0)
|
---|
| 356 | #endif
|
---|
| 357 | T_SATELLITE_REFERENCE_DATUM(co->SatRefDatum)
|
---|
| 358 | T_SSR_IOD(co->SSRIOD)
|
---|
| 359 | T_SSR_PROVIDER_ID(co->SSRProviderID)
|
---|
| 360 | T_SSR_SOLUTION_ID(co->SSRSolutionID)
|
---|
| 361 | #ifdef SPLITBLOCK
|
---|
| 362 | T_NO_OF_SATELLITES(nums)
|
---|
| 363 | for(i = start; i < start+nums; ++i)
|
---|
| 364 | #else
|
---|
| 365 | T_NO_OF_SATELLITES(co->NumberOfSat[s])
|
---|
| 366 | for(i = satoffset[s]; i < satoffset[s]+co->NumberOfSat[s]; ++i)
|
---|
| 367 | #endif
|
---|
| 368 | {
|
---|
| 369 | switch(s)
|
---|
| 370 | {
|
---|
| 371 | case CLOCKORBIT_SATGPS:
|
---|
| 372 | T_GPS_SATELLITE_ID(co->Sat[i].ID)
|
---|
| 373 | T_GPS_IODE(co->Sat[i].IOD)
|
---|
| 374 | break;
|
---|
| 375 | case CLOCKORBIT_SATGLONASS:
|
---|
| 376 | T_GLONASS_SATELLITE_ID(co->Sat[i].ID)
|
---|
| 377 | T_GLONASS_IOD(co->Sat[i].IOD)
|
---|
| 378 | break;
|
---|
| 379 | case CLOCKORBIT_SATGALILEO:
|
---|
| 380 | T_GPS_SATELLITE_ID(co->Sat[i].ID)
|
---|
| 381 | T_GALILEO_IOD(co->Sat[i].IOD)
|
---|
| 382 | break;
|
---|
| 383 | case CLOCKORBIT_SATQZSS:
|
---|
| 384 | T_QZSS_SATELLITE_ID(co->Sat[i].ID)
|
---|
| 385 | T_GPS_IODE(co->Sat[i].IOD)
|
---|
| 386 | break;
|
---|
| 387 | case CLOCKORBIT_SATSBAS:
|
---|
| 388 | T_GPS_SATELLITE_ID(co->Sat[i].ID)
|
---|
| 389 | T_SBAS_T0MOD(co->Sat[i].toe)
|
---|
| 390 | T_SBAS_IODCRC(co->Sat[i].IOD)
|
---|
| 391 | break;
|
---|
| 392 | case CLOCKORBIT_SATBDS:
|
---|
| 393 | T_GPS_SATELLITE_ID(co->Sat[i].ID)
|
---|
| 394 | T_BDS_TOEMOD(co->Sat[i].toe)
|
---|
| 395 | T_BDS_IODCRC(co->Sat[i].IOD)
|
---|
| 396 | break;
|
---|
| 397 | }
|
---|
| 398 | T_DELTA_RADIAL(co->Sat[i].Orbit.DeltaRadial)
|
---|
| 399 | T_DELTA_ALONG_TRACK(co->Sat[i].Orbit.DeltaAlongTrack)
|
---|
| 400 | T_DELTA_CROSS_TRACK(co->Sat[i].Orbit.DeltaCrossTrack)
|
---|
| 401 | T_DELTA_DOT_RADIAL(co->Sat[i].Orbit.DotDeltaRadial)
|
---|
| 402 | T_DELTA_DOT_ALONG_TRACK(co->Sat[i].Orbit.DotDeltaAlongTrack)
|
---|
| 403 | T_DELTA_DOT_CROSS_TRACK(co->Sat[i].Orbit.DotDeltaCrossTrack)
|
---|
| 404 | T_DELTA_CLOCK_C0(co->Sat[i].Clock.DeltaA0)
|
---|
| 405 | T_DELTA_CLOCK_C1(co->Sat[i].Clock.DeltaA1)
|
---|
| 406 | T_DELTA_CLOCK_C2(co->Sat[i].Clock.DeltaA2)
|
---|
| 407 | }
|
---|
| 408 | ENDBLOCK
|
---|
| 409 | #ifdef SPLITBLOCK
|
---|
| 410 | start += nums;
|
---|
| 411 | nums = left;
|
---|
| 412 | left = 0;
|
---|
| 413 | }
|
---|
| 414 | #endif
|
---|
[1581] | 415 | }
|
---|
[5664] | 416 | if(status[s][COBOFS_HR])
|
---|
[1581] | 417 | {
|
---|
[5664] | 418 | INITBLOCK
|
---|
| 419 | T_MESSAGE_NUMBER(corbase[s]+COBOFS_HR)
|
---|
| 420 | switch(s)
|
---|
| 421 | {
|
---|
| 422 | case CLOCKORBIT_SATGPS: case CLOCKORBIT_SATGALILEO:
|
---|
| 423 | case CLOCKORBIT_SATQZSS: case CLOCKORBIT_SATSBAS:
|
---|
| 424 | case CLOCKORBIT_SATBDS:
|
---|
| 425 | T_GPS_EPOCH_TIME(co->EpochTime[s])
|
---|
| 426 | break;
|
---|
| 427 | case CLOCKORBIT_SATGLONASS:
|
---|
| 428 | T_GLONASS_EPOCH_TIME(co->EpochTime[s])
|
---|
| 429 | break;
|
---|
| 430 | }
|
---|
| 431 | T_SSR_UPDATE_INTERVAL(co->UpdateInterval)
|
---|
| 432 | T_MULTIPLE_MESSAGE_INDICATOR(moremessagesfollow ? 1 : 0)
|
---|
| 433 | T_SSR_IOD(co->SSRIOD)
|
---|
| 434 | T_SSR_PROVIDER_ID(co->SSRProviderID)
|
---|
| 435 | T_SSR_SOLUTION_ID(co->SSRSolutionID)
|
---|
| 436 | T_NO_OF_SATELLITES(co->NumberOfSat[s])
|
---|
| 437 | for(i = satoffset[s]; i < satoffset[s]+co->NumberOfSat[s]; ++i)
|
---|
| 438 | {
|
---|
| 439 | switch(s)
|
---|
| 440 | {
|
---|
| 441 | case CLOCKORBIT_SATGPS: case CLOCKORBIT_SATGALILEO:
|
---|
| 442 | case CLOCKORBIT_SATSBAS: case CLOCKORBIT_SATBDS:
|
---|
| 443 | T_GPS_SATELLITE_ID(co->Sat[i].ID)
|
---|
| 444 | break;
|
---|
| 445 | case CLOCKORBIT_SATQZSS:
|
---|
| 446 | T_QZSS_SATELLITE_ID(co->Sat[i].ID)
|
---|
| 447 | break;
|
---|
| 448 | case CLOCKORBIT_SATGLONASS:
|
---|
| 449 | T_GLONASS_SATELLITE_ID(co->Sat[i].ID)
|
---|
| 450 | break;
|
---|
| 451 | }
|
---|
| 452 | T_HR_CLOCK_CORRECTION(co->Sat[i].hrclock)
|
---|
| 453 | }
|
---|
| 454 | ENDBLOCK
|
---|
[1581] | 455 | }
|
---|
[5664] | 456 | if(status[s][COBOFS_URA])
|
---|
[956] | 457 | {
|
---|
[5664] | 458 | INITBLOCK
|
---|
| 459 | T_MESSAGE_NUMBER(corbase[s]+COBOFS_URA)
|
---|
| 460 | switch(s)
|
---|
| 461 | {
|
---|
| 462 | case CLOCKORBIT_SATGPS: case CLOCKORBIT_SATGALILEO:
|
---|
| 463 | case CLOCKORBIT_SATQZSS: case CLOCKORBIT_SATSBAS:
|
---|
| 464 | case CLOCKORBIT_SATBDS:
|
---|
| 465 | T_GPS_EPOCH_TIME(co->EpochTime[s])
|
---|
| 466 | break;
|
---|
| 467 | case CLOCKORBIT_SATGLONASS:
|
---|
| 468 | T_GLONASS_EPOCH_TIME(co->EpochTime[s])
|
---|
| 469 | break;
|
---|
| 470 | }
|
---|
[5670] | 471 | T_SSR_UPDATE_INTERVAL(co->UpdateInterval)
|
---|
[5664] | 472 | T_MULTIPLE_MESSAGE_INDICATOR(moremessagesfollow ? 1 : 0)
|
---|
| 473 | T_SSR_IOD(co->SSRIOD)
|
---|
| 474 | T_SSR_PROVIDER_ID(co->SSRProviderID)
|
---|
| 475 | T_SSR_SOLUTION_ID(co->SSRSolutionID)
|
---|
| 476 | T_NO_OF_SATELLITES(co->NumberOfSat[s])
|
---|
| 477 | for(i = satoffset[s]; i < satoffset[s]+co->NumberOfSat[s]; ++i)
|
---|
| 478 | {
|
---|
| 479 | switch(s)
|
---|
| 480 | {
|
---|
| 481 | case CLOCKORBIT_SATGPS: case CLOCKORBIT_SATGALILEO:
|
---|
| 482 | case CLOCKORBIT_SATSBAS: case CLOCKORBIT_SATBDS:
|
---|
| 483 | T_GPS_SATELLITE_ID(co->Sat[i].ID)
|
---|
| 484 | break;
|
---|
| 485 | case CLOCKORBIT_SATQZSS:
|
---|
| 486 | T_QZSS_SATELLITE_ID(co->Sat[i].ID)
|
---|
| 487 | break;
|
---|
| 488 | case CLOCKORBIT_SATGLONASS:
|
---|
| 489 | T_GLONASS_SATELLITE_ID(co->Sat[i].ID)
|
---|
| 490 | break;
|
---|
| 491 | }
|
---|
| 492 | T_SSR_URA(ValueToURA(co->Sat[i].UserRangeAccuracy))
|
---|
| 493 | }
|
---|
| 494 | ENDBLOCK
|
---|
[956] | 495 | }
|
---|
| 496 | }
|
---|
[5664] | 497 | return ressize;
|
---|
| 498 | }
|
---|
| 499 |
|
---|
| 500 | size_t MakeCodeBias(const struct CodeBias *b, enum CodeBiasType type,
|
---|
| 501 | int moremessagesfollow, char *buffer, size_t size)
|
---|
| 502 | {
|
---|
| 503 | unsigned int s, i, j;
|
---|
| 504 |
|
---|
| 505 | STARTDATA
|
---|
| 506 |
|
---|
| 507 | for(s = 0; s < CLOCKORBIT_SATNUM; ++s)
|
---|
[956] | 508 | {
|
---|
[5664] | 509 | if(b->NumberOfSat[s] && (type == BTYPE_AUTO || type == corbase[s]+COBOFS_BIAS))
|
---|
[956] | 510 | {
|
---|
[5664] | 511 | INITBLOCK
|
---|
| 512 | T_MESSAGE_NUMBER(corbase[s]+COBOFS_BIAS)
|
---|
| 513 | switch(s)
|
---|
| 514 | {
|
---|
| 515 | case CLOCKORBIT_SATGPS: case CLOCKORBIT_SATGALILEO:
|
---|
| 516 | case CLOCKORBIT_SATQZSS: case CLOCKORBIT_SATSBAS:
|
---|
| 517 | case CLOCKORBIT_SATBDS:
|
---|
| 518 | T_GPS_EPOCH_TIME(b->EpochTime[s])
|
---|
| 519 | break;
|
---|
| 520 | case CLOCKORBIT_SATGLONASS:
|
---|
| 521 | T_GLONASS_EPOCH_TIME(b->EpochTime[s])
|
---|
| 522 | break;
|
---|
| 523 | }
|
---|
| 524 | T_SSR_UPDATE_INTERVAL(b->UpdateInterval)
|
---|
| 525 | T_MULTIPLE_MESSAGE_INDICATOR(moremessagesfollow ? 1 : 0)
|
---|
| 526 | T_SSR_IOD(b->SSRIOD)
|
---|
| 527 | T_SSR_PROVIDER_ID(b->SSRProviderID)
|
---|
| 528 | T_SSR_SOLUTION_ID(b->SSRSolutionID)
|
---|
| 529 | T_NO_OF_SATELLITES(b->NumberOfSat[s])
|
---|
| 530 | for(i = satoffset[s]; i < satoffset[s]+b->NumberOfSat[s]; ++i)
|
---|
| 531 | {
|
---|
| 532 | switch(s)
|
---|
| 533 | {
|
---|
| 534 | case CLOCKORBIT_SATGPS: case CLOCKORBIT_SATGALILEO:
|
---|
| 535 | case CLOCKORBIT_SATSBAS: case CLOCKORBIT_SATBDS:
|
---|
| 536 | T_GPS_SATELLITE_ID(b->Sat[i].ID)
|
---|
| 537 | break;
|
---|
| 538 | case CLOCKORBIT_SATQZSS:
|
---|
| 539 | T_QZSS_SATELLITE_ID(b->Sat[i].ID)
|
---|
| 540 | break;
|
---|
| 541 | case CLOCKORBIT_SATGLONASS:
|
---|
| 542 | T_GLONASS_SATELLITE_ID(b->Sat[i].ID)
|
---|
| 543 | break;
|
---|
| 544 | }
|
---|
| 545 | T_NO_OF_CODE_BIASES(b->Sat[i].NumberOfCodeBiases)
|
---|
| 546 | for(j = 0; j < b->Sat[i].NumberOfCodeBiases; ++j)
|
---|
| 547 | {
|
---|
| 548 | T_SIGNAL_IDENTIFIER(b->Sat[i].Biases[j].Type)
|
---|
| 549 | T_CODE_BIAS(b->Sat[i].Biases[j].Bias)
|
---|
| 550 | }
|
---|
| 551 | }
|
---|
| 552 | ENDBLOCK
|
---|
[956] | 553 | }
|
---|
| 554 | }
|
---|
[5664] | 555 | return ressize;
|
---|
| 556 | }
|
---|
| 557 |
|
---|
| 558 | size_t MakePhaseBias(const struct PhaseBias *b, enum PhaseBiasType type,
|
---|
| 559 | int moremessagesfollow, char *buffer, size_t size)
|
---|
| 560 | {
|
---|
| 561 | unsigned int s, i, j;
|
---|
| 562 |
|
---|
| 563 | STARTDATA
|
---|
| 564 |
|
---|
| 565 | for(s = 0; s < CLOCKORBIT_SATNUM; ++s)
|
---|
[956] | 566 | {
|
---|
[5664] | 567 | if(b->NumberOfSat[s] && (type == PBTYPE_AUTO || type == corbase[s]+COBOFS_BIAS))
|
---|
[956] | 568 | {
|
---|
[5664] | 569 | INITBLOCK
|
---|
| 570 | T_MESSAGE_NUMBER(corbase[s]+COBOFS_BIAS)
|
---|
| 571 | switch(s)
|
---|
| 572 | {
|
---|
| 573 | case CLOCKORBIT_SATGPS: case CLOCKORBIT_SATGALILEO:
|
---|
| 574 | case CLOCKORBIT_SATQZSS: case CLOCKORBIT_SATSBAS:
|
---|
| 575 | case CLOCKORBIT_SATBDS:
|
---|
| 576 | T_GPS_EPOCH_TIME(b->EpochTime[s])
|
---|
| 577 | break;
|
---|
| 578 | case CLOCKORBIT_SATGLONASS:
|
---|
| 579 | T_GLONASS_EPOCH_TIME(b->EpochTime[s])
|
---|
| 580 | break;
|
---|
| 581 | }
|
---|
| 582 | T_SSR_UPDATE_INTERVAL(b->UpdateInterval)
|
---|
| 583 | T_MULTIPLE_MESSAGE_INDICATOR(moremessagesfollow ? 1 : 0)
|
---|
| 584 | T_SSR_IOD(b->SSRIOD)
|
---|
| 585 | T_SSR_PROVIDER_ID(b->SSRProviderID)
|
---|
| 586 | T_SSR_SOLUTION_ID(b->SSRSolutionID)
|
---|
| 587 | T_DISPERSIVE_BIAS_INDICATOR(b->DispersiveBiasConsistencyIndicator ? 1 : 0)
|
---|
| 588 | T_MW_CONSISTENCY_INDICATOR(b->MWConsistencyIndicator ? 1 : 0)
|
---|
| 589 | T_NO_OF_SATELLITES(b->NumberOfSat[CLOCKORBIT_SATGPS])
|
---|
| 590 | for(i = satoffset[s]; i < satoffset[s]+b->NumberOfSat[s]; ++i)
|
---|
| 591 | {
|
---|
| 592 | switch(s)
|
---|
| 593 | {
|
---|
| 594 | case CLOCKORBIT_SATGPS: case CLOCKORBIT_SATGALILEO:
|
---|
| 595 | case CLOCKORBIT_SATSBAS: case CLOCKORBIT_SATBDS:
|
---|
| 596 | T_GPS_SATELLITE_ID(b->Sat[i].ID)
|
---|
| 597 | break;
|
---|
| 598 | case CLOCKORBIT_SATQZSS:
|
---|
| 599 | T_QZSS_SATELLITE_ID(b->Sat[i].ID)
|
---|
| 600 | break;
|
---|
| 601 | case CLOCKORBIT_SATGLONASS:
|
---|
| 602 | T_GLONASS_SATELLITE_ID(b->Sat[i].ID)
|
---|
| 603 | break;
|
---|
| 604 | }
|
---|
| 605 | T_NO_OF_CODE_BIASES(b->Sat[i].NumberOfPhaseBiases)
|
---|
| 606 | T_YAW_ANGLE(b->Sat[i].YawAngle)
|
---|
| 607 | T_YAW_RATE(b->Sat[i].YawRate)
|
---|
| 608 | for(j = 0; j < b->Sat[i].NumberOfPhaseBiases; ++j)
|
---|
| 609 | {
|
---|
| 610 | T_SIGNAL_IDENTIFIER(b->Sat[i].Biases[j].Type)
|
---|
| 611 | T_INTEGER_INDICATOR(b->Sat[i].Biases[j].SignalIntegerIndicator ? 1 : 0)
|
---|
| 612 | T_WIDE_LANE_INDICATOR(b->Sat[i].Biases[j].SignalsWideLaneIntegerIndicator ? 1 : 0)
|
---|
| 613 | T_DISCONTINUITY_COUNTER(b->Sat[i].Biases[j].SignalDiscontinuityCounter)
|
---|
| 614 | T_PHASE_BIAS(b->Sat[i].Biases[j].Bias)
|
---|
| 615 | }
|
---|
| 616 | }
|
---|
| 617 | ENDBLOCK
|
---|
[956] | 618 | }
|
---|
| 619 | }
|
---|
| 620 | return ressize;
|
---|
| 621 | }
|
---|
| 622 |
|
---|
[5664] | 623 | size_t MakeVTEC(const struct VTEC *v, int moremessagesfollow, char *buffer,
|
---|
| 624 | size_t size)
|
---|
[956] | 625 | {
|
---|
[5664] | 626 | unsigned int l, o, d;
|
---|
[1819] | 627 |
|
---|
[956] | 628 | STARTDATA
|
---|
[5664] | 629 | INITBLOCK
|
---|
| 630 | T_MESSAGE_NUMBER(VTEC_BASE)
|
---|
[956] | 631 |
|
---|
[5664] | 632 | T_GPS_EPOCH_TIME(v->EpochTime)
|
---|
| 633 | T_SSR_UPDATE_INTERVAL(v->UpdateInterval)
|
---|
| 634 | T_MULTIPLE_MESSAGE_INDICATOR(moremessagesfollow ? 1 : 0)
|
---|
| 635 | T_SSR_IOD(v->SSRIOD)
|
---|
| 636 | T_SSR_PROVIDER_ID(v->SSRProviderID)
|
---|
| 637 | T_SSR_SOLUTION_ID(v->SSRSolutionID)
|
---|
| 638 | T_VTEC_QUALITY_INDICATOR(v->Quality)
|
---|
| 639 | T_NO_IONO_LAYERS(v->NumLayers)
|
---|
| 640 | for(l = 0; l < v->NumLayers; ++l)
|
---|
[956] | 641 | {
|
---|
[5664] | 642 | T_IONO_HEIGHT(v->Layers[l].Height)
|
---|
| 643 | T_IONO_DEGREE(v->Layers[l].Degree)
|
---|
| 644 | T_IONO_ORDER(v->Layers[l].Order)
|
---|
| 645 | for(o = 0; o <= v->Layers[l].Order; ++o)
|
---|
[956] | 646 | {
|
---|
[5664] | 647 | for(d = o; d <= v->Layers[l].Degree; ++d)
|
---|
[956] | 648 | {
|
---|
[5664] | 649 | T_IONO_COEFF(v->Layers[l].Cosinus[d][o])
|
---|
[956] | 650 | }
|
---|
| 651 | }
|
---|
[5664] | 652 | for(o = 1; o <= v->Layers[l].Order; ++o)
|
---|
[956] | 653 | {
|
---|
[5664] | 654 | for(d = o; d <= v->Layers[l].Degree; ++d)
|
---|
[956] | 655 | {
|
---|
[5664] | 656 | T_IONO_COEFF(v->Layers[l].Sinus[d][o])
|
---|
[956] | 657 | }
|
---|
| 658 | }
|
---|
| 659 | }
|
---|
[5664] | 660 | ENDBLOCK
|
---|
[956] | 661 | return ressize;
|
---|
| 662 | }
|
---|
| 663 | #endif /* NOENCODE */
|
---|
| 664 |
|
---|
| 665 | #ifndef NODECODE
|
---|
| 666 |
|
---|
| 667 | #define DECODESTART \
|
---|
| 668 | int numbits=0; \
|
---|
| 669 | uint64_t bitbuffer=0;
|
---|
| 670 |
|
---|
| 671 | #define LOADBITS(a) \
|
---|
| 672 | { \
|
---|
| 673 | while((a) > numbits) \
|
---|
| 674 | { \
|
---|
[1808] | 675 | if(!size--) return GCOBR_SHORTMESSAGE; \
|
---|
[956] | 676 | bitbuffer = (bitbuffer<<8)|((unsigned char)*(buffer++)); \
|
---|
| 677 | numbits += 8; \
|
---|
| 678 | } \
|
---|
| 679 | }
|
---|
| 680 |
|
---|
| 681 | /* extract bits from data stream
|
---|
| 682 | b = variable to store result, a = number of bits */
|
---|
| 683 | #define GETBITS(b, a) \
|
---|
| 684 | { \
|
---|
| 685 | LOADBITS(a) \
|
---|
| 686 | b = (bitbuffer<<(64-numbits))>>(64-(a)); \
|
---|
| 687 | numbits -= (a); \
|
---|
| 688 | }
|
---|
| 689 |
|
---|
[5664] | 690 | /* extract bits from data stream
|
---|
| 691 | b = variable to store result, a = number of bits */
|
---|
| 692 | #define GETBITSFACTOR(b, a, c) \
|
---|
| 693 | { \
|
---|
| 694 | LOADBITS(a) \
|
---|
| 695 | b = ((bitbuffer<<(64-numbits))>>(64-(a)))*(c); \
|
---|
| 696 | numbits -= (a); \
|
---|
| 697 | }
|
---|
| 698 |
|
---|
[956] | 699 | /* extract signed floating value from data stream
|
---|
| 700 | b = variable to store result, a = number of bits */
|
---|
| 701 | #define GETFLOATSIGN(b, a, c) \
|
---|
| 702 | { \
|
---|
| 703 | LOADBITS(a) \
|
---|
| 704 | b = ((double)(((int64_t)(bitbuffer<<(64-numbits)))>>(64-(a))))*(c); \
|
---|
| 705 | numbits -= (a); \
|
---|
| 706 | }
|
---|
| 707 |
|
---|
[5664] | 708 | /* extract floating value from data stream
|
---|
| 709 | b = variable to store result, a = number of bits, c = scale factor */
|
---|
| 710 | #define GETFLOAT(b, a, c) \
|
---|
| 711 | { \
|
---|
| 712 | LOADBITS(a) \
|
---|
| 713 | b = ((double)((bitbuffer<<(sizeof(bitbuffer)*8-numbits))>>(sizeof(bitbuffer)*8-(a))))*(c); \
|
---|
| 714 | numbits -= (a); \
|
---|
| 715 | }
|
---|
| 716 |
|
---|
[956] | 717 | #define SKIPBITS(b) { LOADBITS(b) numbits -= (b); }
|
---|
| 718 |
|
---|
[5664] | 719 | /* GPS macros also used for other systems when matching! */
|
---|
[956] | 720 | #define G_HEADER(a) GETBITS(a,8)
|
---|
| 721 | #define G_RESERVEDH(a) GETBITS(a,6)
|
---|
| 722 | #define G_SIZE(a) GETBITS(a, 10)
|
---|
[5664] | 723 | #define G_MESSAGE_NUMBER(a) GETBITS(a, 12) /* DF002 */
|
---|
| 724 | #define G_GPS_SATELLITE_ID(a) GETBITS(a, 6) /* DF068 */
|
---|
| 725 | #define G_QZSS_SATELLITE_ID(a) GETBITS(a, 4) /* DF249 */
|
---|
| 726 | #define G_GLONASS_SATELLITE_ID(a) GETBITS(a, 5)
|
---|
[956] | 727 |
|
---|
[5664] | 728 | #define G_GPS_IODE(a) GETBITS(a, 8) /* DF071 */
|
---|
| 729 | #define G_GLONASS_IOD(a) GETBITS(a, 8) /* DF237 */
|
---|
| 730 | #define G_GALILEO_IOD(a) GETBITS(a, 10) /* DF459 */
|
---|
| 731 | #define G_SBAS_T0MOD(a) GETBITSFACTOR(a, 9, 16) /* DF468 */
|
---|
| 732 | #define G_SBAS_IODCRC(a) GETBITS(a, 24) /* DF469 */
|
---|
| 733 | #define G_BDS_TOEMOD(a) GETBITSFACTOR(a, 10, 8) /* DF470 */
|
---|
| 734 | #define G_BDS_IODCRC(a) GETBITS(a, 24) /* DF471 */
|
---|
| 735 |
|
---|
[956] | 736 | /* defined values */
|
---|
[1581] | 737 | #define G_DELTA_RADIAL(a) GETFLOATSIGN(a, 22, 1/10000.0)
|
---|
[1808] | 738 | #define G_DELTA_ALONG_TRACK(a) GETFLOATSIGN(a, 20, 1/2500.0)
|
---|
| 739 | #define G_DELTA_CROSS_TRACK(a) GETFLOATSIGN(a, 20, 1/2500.0)
|
---|
[1581] | 740 | #define G_DELTA_DOT_RADIAL(a) GETFLOATSIGN(a, 21, 1/1000000.0)
|
---|
[1808] | 741 | #define G_DELTA_DOT_ALONG_TRACK(a) GETFLOATSIGN(a, 19, 1/250000.0)
|
---|
| 742 | #define G_DELTA_DOT_CROSS_TRACK(a) GETFLOATSIGN(a, 19, 1/250000.0)
|
---|
[1581] | 743 |
|
---|
| 744 | #define G_SATELLITE_REFERENCE_DATUM(a) GETBITS(a, 1)
|
---|
| 745 | #define G_DELTA_CLOCK_C0(a) GETFLOATSIGN(a, 22, 1/10000.0)
|
---|
| 746 | #define G_DELTA_CLOCK_C1(a) GETFLOATSIGN(a, 21, 1/1000000.0)
|
---|
| 747 | #define G_DELTA_CLOCK_C2(a) GETFLOATSIGN(a, 27, 1/50000000.0)
|
---|
| 748 | #define G_NO_OF_CODE_BIASES(a) GETBITS(a, 5)
|
---|
[5664] | 749 | #define G_NO_OF_PHASE_BIASES(a) GETBITS(a, 5)
|
---|
| 750 | #define G_SIGNAL_IDENTIFIER(a) GETBITS(a, 5)
|
---|
[1581] | 751 | #define G_CODE_BIAS(a) GETFLOATSIGN(a, 14, 1/100.0)
|
---|
[5664] | 752 | #define G_YAW_ANGLE(a) GETFLOAT(a, 9, MPI/256.0)
|
---|
| 753 | #define G_YAW_RATE(a) GETFLOATSIGN(a, 8, MPI/8192.0)
|
---|
| 754 | #define G_PHASE_BIAS(a) GETFLOATSIGN(a, 20, 1/10000.0)
|
---|
[1581] | 755 |
|
---|
[5664] | 756 | #define G_GPS_EPOCH_TIME(a, b) {unsigned int temp; GETBITS(temp, 20) \
|
---|
[956] | 757 | if(b && a != temp) return GCOBR_TIMEMISMATCH; a = temp;}
|
---|
[5664] | 758 | #define G_GLONASS_EPOCH_TIME(a, b) {unsigned int temp; GETBITS(temp, 17) \
|
---|
[956] | 759 | if(b && a != temp) return GCOBR_TIMEMISMATCH; a = temp;}
|
---|
[5664] | 760 | #define G_EPOCH_TIME(a) GETBITS(a, 20)
|
---|
[1840] | 761 | #define G_NO_OF_SATELLITES(a) GETBITS(a, 6)
|
---|
[1581] | 762 | #define G_MULTIPLE_MESSAGE_INDICATOR(a) GETBITS(a, 1)
|
---|
[5664] | 763 | #define G_DISPERSIVE_BIAS_INDICATOR(a) GETBITS(a, 1)
|
---|
| 764 | #define G_MW_CONSISTENCY_INDICATOR(a) GETBITS(a, 1)
|
---|
| 765 | #define G_INTEGER_INDICATOR(a) GETBITS(a, 1)
|
---|
| 766 | #define G_WIDE_LANE_INDICATOR(a) GETBITS(a, 1)
|
---|
| 767 | #define G_DISCONTINUITY_COUNTER(a) GETBITS(a, 4)
|
---|
[2421] | 768 | #define G_SSR_URA(a) {int temp; GETBITS(temp, 6) \
|
---|
| 769 | (a) = URAToValue(temp);}
|
---|
[1581] | 770 | #define G_HR_CLOCK_CORRECTION(a) GETFLOATSIGN(a, 22, 1/10000.0)
|
---|
| 771 | #define G_SSR_UPDATE_INTERVAL(a) GETBITS(a, 4)
|
---|
| 772 |
|
---|
[3511] | 773 | #define G_SSR_IOD(a) GETBITS(a, 4)
|
---|
| 774 | #define G_SSR_PROVIDER_ID(a) GETBITS(a, 16)
|
---|
| 775 | #define G_SSR_SOLUTION_ID(a) GETBITS(a, 4)
|
---|
| 776 |
|
---|
[5664] | 777 | #define G_NO_IONO_LAYERS(a) {unsigned int temp; GETBITS(temp, 2) a = temp+1; }
|
---|
| 778 | #define G_VTEC_QUALITY_INDICATOR(a) GETFLOAT(a, 9, 1/20.0)
|
---|
| 779 | #define G_IONO_COEFF(a) GETFLOATSIGN(a, 16,1/200.0)
|
---|
| 780 | #define G_IONO_DEGREE(a) {unsigned int temp; GETBITS(temp, 4) a = temp+1; }
|
---|
| 781 | #define G_IONO_ORDER(a) {unsigned int temp; GETBITS(temp, 4) a = temp+1; }
|
---|
| 782 | #define G_IONO_HEIGHT(a) GETFLOAT(a, 8 , 10000.0)
|
---|
| 783 |
|
---|
| 784 | enum GCOB_RETURN GetSSR(struct ClockOrbit *co, struct CodeBias *b, struct VTEC *v,
|
---|
| 785 | struct PhaseBias *pb, const char *buffer, size_t size, int *bytesused)
|
---|
[956] | 786 | {
|
---|
[5664] | 787 | int mmi=0, h, rs;
|
---|
| 788 | unsigned int type, pos, i, j, s, nums, id;
|
---|
[1819] | 789 | size_t sizeofrtcmblock;
|
---|
[956] | 790 | const char *blockstart = buffer;
|
---|
| 791 | DECODESTART
|
---|
| 792 |
|
---|
| 793 | if(size < 7)
|
---|
| 794 | return GCOBR_SHORTBUFFER;
|
---|
| 795 |
|
---|
[1842] | 796 | #ifdef DEBUG
|
---|
[5664] | 797 | fprintf(stderr, "GetClockOrbitBias START: size %d, numbits %d\n",size, numbits);
|
---|
[1842] | 798 | #endif
|
---|
| 799 |
|
---|
[956] | 800 | G_HEADER(h)
|
---|
| 801 | G_RESERVEDH(rs)
|
---|
| 802 | G_SIZE(sizeofrtcmblock);
|
---|
| 803 |
|
---|
| 804 | if((unsigned char)h != 0xD3 || rs)
|
---|
| 805 | return GCOBR_UNKNOWNDATA;
|
---|
| 806 | if(size < sizeofrtcmblock + 3) /* 3 header bytes already removed */
|
---|
| 807 | return GCOBR_MESSAGEEXCEEDSBUFFER;
|
---|
| 808 | if(CRC24(sizeofrtcmblock+3, (const unsigned char *) blockstart) !=
|
---|
[1819] | 809 | (uint32_t)((((unsigned char)buffer[sizeofrtcmblock])<<16)|
|
---|
[5664] | 810 | (((unsigned char)buffer[sizeofrtcmblock+1])<<8)|
|
---|
| 811 | (((unsigned char)buffer[sizeofrtcmblock+2]))))
|
---|
[956] | 812 | return GCOBR_CRCMISMATCH;
|
---|
[1808] | 813 | size = sizeofrtcmblock; /* reduce size, so overflows are detected */
|
---|
[956] | 814 |
|
---|
| 815 | G_MESSAGE_NUMBER(type)
|
---|
[1808] | 816 | #ifdef DEBUG
|
---|
| 817 | fprintf(stderr, "type %d size %d\n",type,sizeofrtcmblock);
|
---|
| 818 | #endif
|
---|
[5664] | 819 | if(bytesused)
|
---|
| 820 | *bytesused = sizeofrtcmblock+6;
|
---|
| 821 | if(type == VTEC_BASE)
|
---|
[956] | 822 | {
|
---|
[5664] | 823 | unsigned int l, o, d;
|
---|
| 824 | if(!v) return GCOBR_NOVTECPARAMETER;
|
---|
| 825 | memset(v, 0, sizeof(*v));
|
---|
| 826 | G_EPOCH_TIME(v->EpochTime)
|
---|
| 827 | G_SSR_UPDATE_INTERVAL(v->UpdateInterval)
|
---|
[956] | 828 | G_MULTIPLE_MESSAGE_INDICATOR(mmi)
|
---|
[5664] | 829 | G_SSR_IOD(v->SSRIOD)
|
---|
| 830 | G_SSR_PROVIDER_ID(v->SSRProviderID)
|
---|
| 831 | G_SSR_SOLUTION_ID(v->SSRSolutionID)
|
---|
| 832 | G_VTEC_QUALITY_INDICATOR(v->Quality)
|
---|
| 833 | G_NO_IONO_LAYERS(v->NumLayers)
|
---|
| 834 | for(l = 0; l < v->NumLayers; ++l)
|
---|
[956] | 835 | {
|
---|
[5664] | 836 | G_IONO_HEIGHT(v->Layers[l].Height)
|
---|
| 837 | G_IONO_DEGREE(v->Layers[l].Degree)
|
---|
| 838 | G_IONO_ORDER(v->Layers[l].Order)
|
---|
| 839 | for(o = 0; o <= v->Layers[l].Order; ++o)
|
---|
| 840 | {
|
---|
| 841 | for(d = o; d <= v->Layers[l].Degree; ++d)
|
---|
| 842 | {
|
---|
| 843 | G_IONO_COEFF(v->Layers[l].Cosinus[d][o])
|
---|
| 844 | }
|
---|
| 845 | }
|
---|
| 846 | for(o = 1; o <= v->Layers[l].Order; ++o)
|
---|
| 847 | {
|
---|
| 848 | for(d = o; d <= v->Layers[l].Degree; ++d)
|
---|
| 849 | {
|
---|
| 850 | G_IONO_COEFF(v->Layers[l].Sinus[d][o])
|
---|
| 851 | }
|
---|
| 852 | }
|
---|
[956] | 853 | }
|
---|
[1842] | 854 | #ifdef DEBUG
|
---|
[5664] | 855 | for(type = 0; type < (int)size && (unsigned char)buffer[type] != 0xD3; ++type)
|
---|
| 856 | numbits += 8;
|
---|
| 857 | fprintf(stderr, "numbits left %d\n",numbits);
|
---|
[1842] | 858 | #endif
|
---|
[5664] | 859 | return mmi ? GCOBR_MESSAGEFOLLOWS : GCOBR_OK;
|
---|
| 860 | }
|
---|
| 861 | for(s = CLOCKORBIT_SATNUM; s-- > 0;)
|
---|
| 862 | {
|
---|
| 863 | if(type == PBTYPE_BASE+s)
|
---|
[956] | 864 | {
|
---|
[5664] | 865 | if(!pb) return GCOBR_NOPHASEBIASPARAMETER;
|
---|
| 866 | pb->messageType = type;
|
---|
| 867 | switch(s)
|
---|
| 868 | {
|
---|
| 869 | case CLOCKORBIT_SATGPS: case CLOCKORBIT_SATGALILEO:
|
---|
| 870 | case CLOCKORBIT_SATQZSS: case CLOCKORBIT_SATSBAS:
|
---|
| 871 | case CLOCKORBIT_SATBDS:
|
---|
| 872 | G_GPS_EPOCH_TIME(pb->EpochTime[s], pb->NumberOfSat[s])
|
---|
| 873 | break;
|
---|
| 874 | case CLOCKORBIT_SATGLONASS:
|
---|
| 875 | G_GLONASS_EPOCH_TIME(pb->EpochTime[s], pb->NumberOfSat[s])
|
---|
| 876 | break;
|
---|
| 877 | }
|
---|
| 878 | G_SSR_UPDATE_INTERVAL(pb->UpdateInterval)
|
---|
| 879 | G_MULTIPLE_MESSAGE_INDICATOR(mmi)
|
---|
| 880 | G_SSR_IOD(pb->SSRIOD)
|
---|
| 881 | G_SSR_PROVIDER_ID(pb->SSRProviderID)
|
---|
| 882 | G_SSR_SOLUTION_ID(pb->SSRSolutionID)
|
---|
| 883 | G_DISPERSIVE_BIAS_INDICATOR(pb->DispersiveBiasConsistencyIndicator)
|
---|
| 884 | G_MW_CONSISTENCY_INDICATOR(pb->MWConsistencyIndicator)
|
---|
| 885 | G_NO_OF_SATELLITES(nums)
|
---|
| 886 | for(i = 0; i < nums; ++i)
|
---|
| 887 | {
|
---|
| 888 | switch(s)
|
---|
| 889 | {
|
---|
| 890 | case CLOCKORBIT_SATGPS: case CLOCKORBIT_SATGALILEO:
|
---|
| 891 | case CLOCKORBIT_SATSBAS: case CLOCKORBIT_SATBDS:
|
---|
| 892 | G_GPS_SATELLITE_ID(id)
|
---|
| 893 | break;
|
---|
| 894 | case CLOCKORBIT_SATQZSS:
|
---|
| 895 | G_QZSS_SATELLITE_ID(id)
|
---|
| 896 | break;
|
---|
| 897 | case CLOCKORBIT_SATGLONASS:
|
---|
| 898 | G_GLONASS_SATELLITE_ID(id)
|
---|
| 899 | break;
|
---|
| 900 | }
|
---|
| 901 | for(pos = satoffset[s]; pos < satoffset[s]+pb->NumberOfSat[s] && pb->Sat[pos].ID != id; ++pos)
|
---|
| 902 | ;
|
---|
| 903 | if(pos >= satoffset[s+1]) return GCOBR_DATAMISMATCH;
|
---|
| 904 | else if(pos == pb->NumberOfSat[s] + satoffset[s]) ++pb->NumberOfSat[s];
|
---|
| 905 | pb->Sat[pos].ID = id;
|
---|
[1840] | 906 |
|
---|
[5664] | 907 | G_NO_OF_PHASE_BIASES(pb->Sat[pos].NumberOfPhaseBiases)
|
---|
| 908 | G_YAW_ANGLE(pb->Sat[pos].YawAngle)
|
---|
| 909 | G_YAW_RATE(pb->Sat[pos].YawRate)
|
---|
| 910 | for(j = 0; j < pb->Sat[pos].NumberOfPhaseBiases; ++j)
|
---|
| 911 | {
|
---|
| 912 | G_SIGNAL_IDENTIFIER(pb->Sat[pos].Biases[j].Type)
|
---|
| 913 | G_INTEGER_INDICATOR(pb->Sat[pos].Biases[j].SignalIntegerIndicator)
|
---|
| 914 | G_WIDE_LANE_INDICATOR(pb->Sat[pos].Biases[j].SignalsWideLaneIntegerIndicator)
|
---|
| 915 | G_DISCONTINUITY_COUNTER(pb->Sat[pos].Biases[j].SignalDiscontinuityCounter)
|
---|
| 916 | G_PHASE_BIAS(pb->Sat[pos].Biases[j].Bias)
|
---|
| 917 | }
|
---|
| 918 | }
|
---|
[956] | 919 | }
|
---|
[5664] | 920 | else if(type >= corbase[s])
|
---|
[956] | 921 | {
|
---|
[5664] | 922 | switch(type-corbase[s])
|
---|
| 923 | {
|
---|
| 924 | case COBOFS_ORBIT:
|
---|
| 925 | if(!co) return GCOBR_NOCLOCKORBITPARAMETER;
|
---|
| 926 | co->messageType = type;
|
---|
| 927 | switch(s)
|
---|
| 928 | {
|
---|
| 929 | case CLOCKORBIT_SATGPS: case CLOCKORBIT_SATGALILEO:
|
---|
| 930 | case CLOCKORBIT_SATQZSS: case CLOCKORBIT_SATSBAS:
|
---|
| 931 | case CLOCKORBIT_SATBDS:
|
---|
| 932 | G_GPS_EPOCH_TIME(co->EpochTime[s], co->NumberOfSat[s])
|
---|
| 933 | break;
|
---|
| 934 | case CLOCKORBIT_SATGLONASS:
|
---|
| 935 | G_GLONASS_EPOCH_TIME(co->EpochTime[s], co->NumberOfSat[s])
|
---|
| 936 | break;
|
---|
| 937 | }
|
---|
| 938 | G_SSR_UPDATE_INTERVAL(co->UpdateInterval)
|
---|
| 939 | G_MULTIPLE_MESSAGE_INDICATOR(mmi)
|
---|
| 940 | G_SATELLITE_REFERENCE_DATUM(co->SatRefDatum)
|
---|
| 941 | G_SSR_IOD(co->SSRIOD)
|
---|
| 942 | G_SSR_PROVIDER_ID(co->SSRProviderID)
|
---|
| 943 | G_SSR_SOLUTION_ID(co->SSRSolutionID)
|
---|
| 944 | G_NO_OF_SATELLITES(nums)
|
---|
| 945 | co->Supplied[COBOFS_ORBIT] |= 1;
|
---|
[1842] | 946 | #ifdef DEBUG
|
---|
[5664] | 947 | fprintf(stderr, "epochtime %d ui %d mmi %d sats %d/%d rd %d\n",co->EpochTime[s],
|
---|
| 948 | co->UpdateInterval,mmi,co->NumberOfSat[s],nums, co->SatRefDatum);
|
---|
[1842] | 949 | #endif
|
---|
[5664] | 950 | for(i = 0; i < nums; ++i)
|
---|
| 951 | {
|
---|
| 952 | switch(s)
|
---|
| 953 | {
|
---|
| 954 | case CLOCKORBIT_SATGPS: case CLOCKORBIT_SATGALILEO:
|
---|
| 955 | case CLOCKORBIT_SATSBAS: case CLOCKORBIT_SATBDS:
|
---|
| 956 | G_GPS_SATELLITE_ID(id)
|
---|
| 957 | break;
|
---|
| 958 | case CLOCKORBIT_SATQZSS:
|
---|
| 959 | G_QZSS_SATELLITE_ID(id)
|
---|
| 960 | break;
|
---|
| 961 | case CLOCKORBIT_SATGLONASS:
|
---|
| 962 | G_GLONASS_SATELLITE_ID(id)
|
---|
| 963 | break;
|
---|
| 964 | }
|
---|
| 965 | for(pos = satoffset[s]; pos < satoffset[s]+co->NumberOfSat[s] && co->Sat[pos].ID != id; ++pos)
|
---|
| 966 | ;
|
---|
| 967 | if(pos >= satoffset[s+1]) return GCOBR_DATAMISMATCH;
|
---|
| 968 | else if(pos == co->NumberOfSat[s] + satoffset[s]) ++co->NumberOfSat[s];
|
---|
| 969 | co->Sat[pos].ID = id;
|
---|
[1840] | 970 |
|
---|
[5664] | 971 | switch(s)
|
---|
| 972 | {
|
---|
| 973 | case CLOCKORBIT_SATGPS:
|
---|
| 974 | case CLOCKORBIT_SATQZSS:
|
---|
| 975 | G_GPS_IODE(co->Sat[pos].IOD)
|
---|
| 976 | break;
|
---|
| 977 | case CLOCKORBIT_SATGLONASS:
|
---|
| 978 | G_GLONASS_IOD(co->Sat[pos].IOD)
|
---|
| 979 | break;
|
---|
| 980 | case CLOCKORBIT_SATGALILEO:
|
---|
| 981 | G_GALILEO_IOD(co->Sat[pos].IOD)
|
---|
| 982 | break;
|
---|
| 983 | case CLOCKORBIT_SATSBAS:
|
---|
| 984 | G_SBAS_T0MOD(co->Sat[pos].toe)
|
---|
| 985 | G_SBAS_IODCRC(co->Sat[pos].IOD)
|
---|
| 986 | break;
|
---|
| 987 | case CLOCKORBIT_SATBDS:
|
---|
| 988 | G_BDS_TOEMOD(co->Sat[pos].toe)
|
---|
| 989 | G_BDS_IODCRC(co->Sat[pos].IOD)
|
---|
| 990 | break;
|
---|
| 991 | }
|
---|
| 992 | G_DELTA_RADIAL(co->Sat[pos].Orbit.DeltaRadial)
|
---|
| 993 | G_DELTA_ALONG_TRACK(co->Sat[pos].Orbit.DeltaAlongTrack)
|
---|
| 994 | G_DELTA_CROSS_TRACK(co->Sat[pos].Orbit.DeltaCrossTrack)
|
---|
| 995 | G_DELTA_DOT_RADIAL(co->Sat[pos].Orbit.DotDeltaRadial)
|
---|
| 996 | G_DELTA_DOT_ALONG_TRACK(co->Sat[pos].Orbit.DotDeltaAlongTrack)
|
---|
| 997 | G_DELTA_DOT_CROSS_TRACK(co->Sat[pos].Orbit.DotDeltaCrossTrack)
|
---|
[1842] | 998 | #ifdef DEBUG
|
---|
[5664] | 999 | 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",
|
---|
| 1000 | co->Sat[pos].ID,co->Sat[pos].IOD,co->Sat[pos].Orbit.DeltaRadial,
|
---|
| 1001 | co->Sat[pos].Orbit.DeltaAlongTrack,co->Sat[pos].Orbit.DeltaCrossTrack,
|
---|
| 1002 | co->Sat[pos].Orbit.DotDeltaRadial,
|
---|
| 1003 | co->Sat[pos].Orbit.DotDeltaAlongTrack,
|
---|
| 1004 | co->Sat[pos].Orbit.DotDeltaCrossTrack);
|
---|
[1842] | 1005 | #endif
|
---|
[5664] | 1006 | }
|
---|
| 1007 | break;
|
---|
| 1008 | case COBOFS_CLOCK:
|
---|
| 1009 | if(!co) return GCOBR_NOCLOCKORBITPARAMETER;
|
---|
| 1010 | co->messageType = type;
|
---|
| 1011 | switch(s)
|
---|
| 1012 | {
|
---|
| 1013 | case CLOCKORBIT_SATGPS: case CLOCKORBIT_SATGALILEO:
|
---|
| 1014 | case CLOCKORBIT_SATQZSS: case CLOCKORBIT_SATSBAS:
|
---|
| 1015 | case CLOCKORBIT_SATBDS:
|
---|
| 1016 | G_GPS_EPOCH_TIME(co->EpochTime[s], co->NumberOfSat[s])
|
---|
| 1017 | break;
|
---|
| 1018 | case CLOCKORBIT_SATGLONASS:
|
---|
| 1019 | G_GLONASS_EPOCH_TIME(co->EpochTime[s], co->NumberOfSat[s])
|
---|
| 1020 | break;
|
---|
| 1021 | }
|
---|
| 1022 | G_SSR_UPDATE_INTERVAL(co->UpdateInterval)
|
---|
| 1023 | G_MULTIPLE_MESSAGE_INDICATOR(mmi)
|
---|
| 1024 | G_SSR_IOD(co->SSRIOD)
|
---|
| 1025 | G_SSR_PROVIDER_ID(co->SSRProviderID)
|
---|
| 1026 | G_SSR_SOLUTION_ID(co->SSRSolutionID)
|
---|
| 1027 | G_NO_OF_SATELLITES(nums)
|
---|
| 1028 | co->Supplied[COBOFS_CLOCK] |= 1;
|
---|
[1842] | 1029 | #ifdef DEBUG
|
---|
[5664] | 1030 | fprintf(stderr, "epochtime %d ui %d mmi %d sats %d/%d\n",co->EpochTime[s],
|
---|
| 1031 | co->UpdateInterval,mmi,co->NumberOfSat[s],nums);
|
---|
[1842] | 1032 | #endif
|
---|
[5664] | 1033 | for(i = 0; i < nums; ++i)
|
---|
| 1034 | {
|
---|
| 1035 | switch(s)
|
---|
| 1036 | {
|
---|
| 1037 | case CLOCKORBIT_SATGPS: case CLOCKORBIT_SATGALILEO:
|
---|
| 1038 | case CLOCKORBIT_SATSBAS: case CLOCKORBIT_SATBDS:
|
---|
| 1039 | G_GPS_SATELLITE_ID(id)
|
---|
| 1040 | break;
|
---|
| 1041 | case CLOCKORBIT_SATQZSS:
|
---|
| 1042 | G_QZSS_SATELLITE_ID(id)
|
---|
| 1043 | break;
|
---|
| 1044 | case CLOCKORBIT_SATGLONASS:
|
---|
| 1045 | G_GLONASS_SATELLITE_ID(id)
|
---|
| 1046 | break;
|
---|
| 1047 | }
|
---|
| 1048 | for(pos = satoffset[s]; pos < satoffset[s]+co->NumberOfSat[s] && co->Sat[pos].ID != id; ++pos)
|
---|
| 1049 | ;
|
---|
| 1050 | if(pos >= satoffset[s+1]) return GCOBR_DATAMISMATCH;
|
---|
| 1051 | else if(pos == co->NumberOfSat[s] + satoffset[s]) ++co->NumberOfSat[s];
|
---|
| 1052 | co->Sat[pos].ID = id;
|
---|
[1840] | 1053 |
|
---|
[5664] | 1054 | G_DELTA_CLOCK_C0(co->Sat[pos].Clock.DeltaA0)
|
---|
| 1055 | G_DELTA_CLOCK_C1(co->Sat[pos].Clock.DeltaA1)
|
---|
| 1056 | G_DELTA_CLOCK_C2(co->Sat[pos].Clock.DeltaA2)
|
---|
[1842] | 1057 | #ifdef DEBUG
|
---|
[5664] | 1058 | fprintf(stderr, "id %2d c0 %8.3f c1 %8.3f c2 %8.3f\n",
|
---|
| 1059 | co->Sat[pos].ID, co->Sat[pos].Clock.DeltaA0, co->Sat[pos].Clock.DeltaA1,
|
---|
| 1060 | co->Sat[pos].Clock.DeltaA2);
|
---|
[1842] | 1061 | #endif
|
---|
[5664] | 1062 | }
|
---|
| 1063 | break;
|
---|
| 1064 | case COBOFS_COMBINED:
|
---|
| 1065 | if(!co) return GCOBR_NOCLOCKORBITPARAMETER;
|
---|
| 1066 | co->messageType = type;
|
---|
| 1067 | switch(s)
|
---|
| 1068 | {
|
---|
| 1069 | case CLOCKORBIT_SATGPS: case CLOCKORBIT_SATGALILEO:
|
---|
| 1070 | case CLOCKORBIT_SATQZSS: case CLOCKORBIT_SATSBAS:
|
---|
| 1071 | case CLOCKORBIT_SATBDS:
|
---|
| 1072 | G_GPS_EPOCH_TIME(co->EpochTime[s], co->NumberOfSat[s])
|
---|
| 1073 | break;
|
---|
| 1074 | case CLOCKORBIT_SATGLONASS:
|
---|
| 1075 | G_GLONASS_EPOCH_TIME(co->EpochTime[s], co->NumberOfSat[s])
|
---|
| 1076 | break;
|
---|
| 1077 | }
|
---|
| 1078 | G_SSR_UPDATE_INTERVAL(co->UpdateInterval)
|
---|
| 1079 | G_MULTIPLE_MESSAGE_INDICATOR(mmi)
|
---|
| 1080 | G_SATELLITE_REFERENCE_DATUM(co->SatRefDatum)
|
---|
| 1081 | G_SSR_IOD(co->SSRIOD)
|
---|
| 1082 | G_SSR_PROVIDER_ID(co->SSRProviderID)
|
---|
| 1083 | G_SSR_SOLUTION_ID(co->SSRSolutionID)
|
---|
| 1084 | G_NO_OF_SATELLITES(nums)
|
---|
| 1085 | co->Supplied[COBOFS_ORBIT] |= 1;
|
---|
| 1086 | co->Supplied[COBOFS_CLOCK] |= 1;
|
---|
| 1087 | for(i = 0; i < nums; ++i)
|
---|
| 1088 | {
|
---|
| 1089 | switch(s)
|
---|
| 1090 | {
|
---|
| 1091 | case CLOCKORBIT_SATGPS: case CLOCKORBIT_SATGALILEO:
|
---|
| 1092 | case CLOCKORBIT_SATSBAS: case CLOCKORBIT_SATBDS:
|
---|
| 1093 | G_GPS_SATELLITE_ID(id)
|
---|
| 1094 | break;
|
---|
| 1095 | case CLOCKORBIT_SATQZSS:
|
---|
| 1096 | G_QZSS_SATELLITE_ID(id)
|
---|
| 1097 | break;
|
---|
| 1098 | case CLOCKORBIT_SATGLONASS:
|
---|
| 1099 | G_GLONASS_SATELLITE_ID(id)
|
---|
| 1100 | break;
|
---|
| 1101 | }
|
---|
| 1102 | for(pos = satoffset[s]; pos < satoffset[s]+co->NumberOfSat[s] && co->Sat[pos].ID != id; ++pos)
|
---|
| 1103 | ;
|
---|
| 1104 | if(pos >= satoffset[s+1]) return GCOBR_DATAMISMATCH;
|
---|
| 1105 | else if(pos == co->NumberOfSat[s] + satoffset[s]) ++co->NumberOfSat[s];
|
---|
| 1106 | co->Sat[pos].ID = id;
|
---|
[1840] | 1107 |
|
---|
[5664] | 1108 | switch(s)
|
---|
| 1109 | {
|
---|
| 1110 | case CLOCKORBIT_SATGPS:
|
---|
| 1111 | case CLOCKORBIT_SATQZSS:
|
---|
| 1112 | G_GPS_IODE(co->Sat[pos].IOD)
|
---|
| 1113 | break;
|
---|
| 1114 | case CLOCKORBIT_SATGLONASS:
|
---|
| 1115 | G_GLONASS_IOD(co->Sat[pos].IOD)
|
---|
| 1116 | break;
|
---|
| 1117 | case CLOCKORBIT_SATGALILEO:
|
---|
| 1118 | G_GALILEO_IOD(co->Sat[pos].IOD)
|
---|
| 1119 | break;
|
---|
| 1120 | case CLOCKORBIT_SATSBAS:
|
---|
| 1121 | G_SBAS_T0MOD(co->Sat[pos].toe)
|
---|
| 1122 | G_SBAS_IODCRC(co->Sat[pos].IOD)
|
---|
| 1123 | break;
|
---|
| 1124 | case CLOCKORBIT_SATBDS:
|
---|
| 1125 | G_BDS_TOEMOD(co->Sat[pos].toe)
|
---|
| 1126 | G_BDS_IODCRC(co->Sat[pos].IOD)
|
---|
| 1127 | break;
|
---|
| 1128 | }
|
---|
| 1129 | G_DELTA_RADIAL(co->Sat[pos].Orbit.DeltaRadial)
|
---|
| 1130 | G_DELTA_ALONG_TRACK(co->Sat[pos].Orbit.DeltaAlongTrack)
|
---|
| 1131 | G_DELTA_CROSS_TRACK(co->Sat[pos].Orbit.DeltaCrossTrack)
|
---|
| 1132 | G_DELTA_DOT_RADIAL(co->Sat[pos].Orbit.DotDeltaRadial)
|
---|
| 1133 | G_DELTA_DOT_ALONG_TRACK(co->Sat[pos].Orbit.DotDeltaAlongTrack)
|
---|
| 1134 | G_DELTA_DOT_CROSS_TRACK(co->Sat[pos].Orbit.DotDeltaCrossTrack)
|
---|
| 1135 | G_DELTA_CLOCK_C0(co->Sat[pos].Clock.DeltaA0)
|
---|
| 1136 | G_DELTA_CLOCK_C1(co->Sat[pos].Clock.DeltaA1)
|
---|
| 1137 | G_DELTA_CLOCK_C2(co->Sat[pos].Clock.DeltaA2)
|
---|
| 1138 | }
|
---|
| 1139 | break;
|
---|
| 1140 | case COBOFS_URA:
|
---|
| 1141 | if(!co) return GCOBR_NOCLOCKORBITPARAMETER;
|
---|
| 1142 | co->messageType = type;
|
---|
| 1143 | switch(s)
|
---|
| 1144 | {
|
---|
| 1145 | case CLOCKORBIT_SATGPS: case CLOCKORBIT_SATGALILEO:
|
---|
| 1146 | case CLOCKORBIT_SATQZSS: case CLOCKORBIT_SATSBAS:
|
---|
| 1147 | case CLOCKORBIT_SATBDS:
|
---|
| 1148 | G_GPS_EPOCH_TIME(co->EpochTime[s], co->NumberOfSat[s])
|
---|
| 1149 | break;
|
---|
| 1150 | case CLOCKORBIT_SATGLONASS:
|
---|
| 1151 | G_GLONASS_EPOCH_TIME(co->EpochTime[s], co->NumberOfSat[s])
|
---|
| 1152 | break;
|
---|
| 1153 | }
|
---|
[5670] | 1154 | G_SSR_UPDATE_INTERVAL(co->UpdateInterval)
|
---|
[5664] | 1155 | G_MULTIPLE_MESSAGE_INDICATOR(mmi)
|
---|
| 1156 | G_SSR_IOD(co->SSRIOD)
|
---|
| 1157 | G_SSR_PROVIDER_ID(co->SSRProviderID)
|
---|
| 1158 | G_SSR_SOLUTION_ID(co->SSRSolutionID)
|
---|
| 1159 | G_NO_OF_SATELLITES(nums)
|
---|
| 1160 | co->Supplied[COBOFS_URA] |= 1;
|
---|
| 1161 | for(i = 0; i < nums; ++i)
|
---|
| 1162 | {
|
---|
| 1163 | switch(s)
|
---|
| 1164 | {
|
---|
| 1165 | case CLOCKORBIT_SATGPS: case CLOCKORBIT_SATGALILEO:
|
---|
| 1166 | case CLOCKORBIT_SATSBAS: case CLOCKORBIT_SATBDS:
|
---|
| 1167 | G_GPS_SATELLITE_ID(id)
|
---|
| 1168 | break;
|
---|
| 1169 | case CLOCKORBIT_SATQZSS:
|
---|
| 1170 | G_QZSS_SATELLITE_ID(id)
|
---|
| 1171 | break;
|
---|
| 1172 | case CLOCKORBIT_SATGLONASS:
|
---|
| 1173 | G_GLONASS_SATELLITE_ID(id)
|
---|
| 1174 | break;
|
---|
| 1175 | }
|
---|
| 1176 | for(pos = satoffset[s]; pos < satoffset[s]+co->NumberOfSat[s] && co->Sat[pos].ID != id; ++pos)
|
---|
| 1177 | ;
|
---|
| 1178 | if(pos >= satoffset[s+1]) return GCOBR_DATAMISMATCH;
|
---|
| 1179 | else if(pos == co->NumberOfSat[s] + satoffset[s]) ++co->NumberOfSat[s];
|
---|
| 1180 | co->Sat[pos].ID = id;
|
---|
[1840] | 1181 |
|
---|
[5664] | 1182 | G_SSR_URA(co->Sat[pos].UserRangeAccuracy)
|
---|
| 1183 | }
|
---|
| 1184 | break;
|
---|
| 1185 | case COBOFS_HR:
|
---|
| 1186 | if(!co) return GCOBR_NOCLOCKORBITPARAMETER;
|
---|
| 1187 | co->messageType = type;
|
---|
| 1188 | switch(s)
|
---|
| 1189 | {
|
---|
| 1190 | case CLOCKORBIT_SATGPS: case CLOCKORBIT_SATGALILEO:
|
---|
| 1191 | case CLOCKORBIT_SATQZSS: case CLOCKORBIT_SATSBAS:
|
---|
| 1192 | case CLOCKORBIT_SATBDS:
|
---|
| 1193 | G_GPS_EPOCH_TIME(co->EpochTime[s], co->NumberOfSat[s])
|
---|
| 1194 | break;
|
---|
| 1195 | case CLOCKORBIT_SATGLONASS:
|
---|
| 1196 | G_GLONASS_EPOCH_TIME(co->EpochTime[s], co->NumberOfSat[s])
|
---|
| 1197 | break;
|
---|
| 1198 | }
|
---|
| 1199 | G_SSR_UPDATE_INTERVAL(co->UpdateInterval)
|
---|
| 1200 | G_MULTIPLE_MESSAGE_INDICATOR(mmi)
|
---|
| 1201 | G_SSR_IOD(co->SSRIOD)
|
---|
| 1202 | G_SSR_PROVIDER_ID(co->SSRProviderID)
|
---|
| 1203 | G_SSR_SOLUTION_ID(co->SSRSolutionID)
|
---|
| 1204 | G_NO_OF_SATELLITES(nums)
|
---|
| 1205 | co->Supplied[COBOFS_HR] |= 1;
|
---|
| 1206 | for(i = 0; i < nums; ++i)
|
---|
| 1207 | {
|
---|
| 1208 | switch(s)
|
---|
| 1209 | {
|
---|
| 1210 | case CLOCKORBIT_SATGPS: case CLOCKORBIT_SATGALILEO:
|
---|
| 1211 | case CLOCKORBIT_SATSBAS: case CLOCKORBIT_SATBDS:
|
---|
| 1212 | G_GPS_SATELLITE_ID(id)
|
---|
| 1213 | break;
|
---|
| 1214 | case CLOCKORBIT_SATQZSS:
|
---|
| 1215 | G_QZSS_SATELLITE_ID(id)
|
---|
| 1216 | break;
|
---|
| 1217 | case CLOCKORBIT_SATGLONASS:
|
---|
| 1218 | G_GLONASS_SATELLITE_ID(id)
|
---|
| 1219 | break;
|
---|
| 1220 | }
|
---|
| 1221 | for(pos = satoffset[s]; pos < satoffset[s]+co->NumberOfSat[s] && co->Sat[pos].ID != id; ++pos)
|
---|
| 1222 | ;
|
---|
| 1223 | if(pos >= satoffset[s+1]) return GCOBR_DATAMISMATCH;
|
---|
| 1224 | else if(pos == co->NumberOfSat[s] + satoffset[s]) ++co->NumberOfSat[s];
|
---|
| 1225 | co->Sat[pos].ID = id;
|
---|
[1840] | 1226 |
|
---|
[5664] | 1227 | G_HR_CLOCK_CORRECTION(co->Sat[pos].hrclock)
|
---|
| 1228 | }
|
---|
| 1229 | break;
|
---|
| 1230 | case COBOFS_BIAS:
|
---|
| 1231 | if(!b) return GCOBR_NOCODEBIASPARAMETER;
|
---|
| 1232 | b->messageType = type;
|
---|
| 1233 | switch(s)
|
---|
| 1234 | {
|
---|
| 1235 | case CLOCKORBIT_SATGPS: case CLOCKORBIT_SATGALILEO:
|
---|
| 1236 | case CLOCKORBIT_SATQZSS: case CLOCKORBIT_SATSBAS:
|
---|
| 1237 | case CLOCKORBIT_SATBDS:
|
---|
| 1238 | G_GPS_EPOCH_TIME(b->EpochTime[s], b->NumberOfSat[s])
|
---|
| 1239 | break;
|
---|
| 1240 | case CLOCKORBIT_SATGLONASS:
|
---|
| 1241 | G_GLONASS_EPOCH_TIME(b->EpochTime[s], b->NumberOfSat[s])
|
---|
| 1242 | break;
|
---|
| 1243 | }
|
---|
| 1244 | G_SSR_UPDATE_INTERVAL(b->UpdateInterval)
|
---|
| 1245 | G_MULTIPLE_MESSAGE_INDICATOR(mmi)
|
---|
| 1246 | G_SSR_IOD(b->SSRIOD)
|
---|
| 1247 | G_SSR_PROVIDER_ID(b->SSRProviderID)
|
---|
| 1248 | G_SSR_SOLUTION_ID(b->SSRSolutionID)
|
---|
| 1249 | G_NO_OF_SATELLITES(nums)
|
---|
| 1250 | for(i = 0; i < nums; ++i)
|
---|
| 1251 | {
|
---|
| 1252 | switch(s)
|
---|
| 1253 | {
|
---|
| 1254 | case CLOCKORBIT_SATGPS: case CLOCKORBIT_SATGALILEO:
|
---|
| 1255 | case CLOCKORBIT_SATSBAS: case CLOCKORBIT_SATBDS:
|
---|
| 1256 | G_GPS_SATELLITE_ID(id)
|
---|
| 1257 | break;
|
---|
| 1258 | case CLOCKORBIT_SATQZSS:
|
---|
| 1259 | G_QZSS_SATELLITE_ID(id)
|
---|
| 1260 | break;
|
---|
| 1261 | case CLOCKORBIT_SATGLONASS:
|
---|
| 1262 | G_GLONASS_SATELLITE_ID(id)
|
---|
| 1263 | break;
|
---|
| 1264 | }
|
---|
| 1265 | for(pos = satoffset[s]; pos < satoffset[s]+b->NumberOfSat[s] && b->Sat[pos].ID != id; ++pos)
|
---|
| 1266 | ;
|
---|
| 1267 | if(pos >= satoffset[s+1]) return GCOBR_DATAMISMATCH;
|
---|
| 1268 | else if(pos == b->NumberOfSat[s] + satoffset[s]) ++b->NumberOfSat[s];
|
---|
| 1269 | b->Sat[pos].ID = id;
|
---|
[1840] | 1270 |
|
---|
[5664] | 1271 | G_NO_OF_CODE_BIASES(b->Sat[pos].NumberOfCodeBiases)
|
---|
| 1272 | for(j = 0; j < b->Sat[pos].NumberOfCodeBiases; ++j)
|
---|
| 1273 | {
|
---|
| 1274 | G_SIGNAL_IDENTIFIER(b->Sat[pos].Biases[j].Type)
|
---|
| 1275 | G_CODE_BIAS(b->Sat[pos].Biases[j].Bias)
|
---|
| 1276 | }
|
---|
| 1277 | }
|
---|
| 1278 | break;
|
---|
| 1279 | default:
|
---|
| 1280 | return GCOBR_UNKNOWNTYPE;
|
---|
[956] | 1281 | }
|
---|
[5664] | 1282 | #ifdef COR_LATENCY
|
---|
| 1283 | if(s == CLOCKORBIT_SATGPS && type-corbase[s] != COBOFS_BIAS)
|
---|
[956] | 1284 | {
|
---|
[5664] | 1285 | co->epochGPS[co->epochSize] = co->EpochTime[s];
|
---|
| 1286 | if(co->epochSize < COR_LATENCYCOUNT)
|
---|
| 1287 | ++co->epochSize;
|
---|
[956] | 1288 | }
|
---|
[5664] | 1289 | #endif
|
---|
| 1290 | #ifdef DEBUG
|
---|
| 1291 | for(type = 0; type < (int)size && (unsigned char)buffer[type] != 0xD3; ++type)
|
---|
| 1292 | numbits += 8;
|
---|
| 1293 | fprintf(stderr, "numbits left %d\n",numbits);
|
---|
| 1294 | #endif
|
---|
| 1295 | return mmi ? GCOBR_MESSAGEFOLLOWS : GCOBR_OK;
|
---|
[956] | 1296 | }
|
---|
| 1297 | }
|
---|
[5664] | 1298 | return GCOBR_UNKNOWNTYPE;
|
---|
[956] | 1299 | }
|
---|
| 1300 | #endif /* NODECODE */
|
---|