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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5 | Version: $Id: clock_orbit_rtcm.c 4981 2013-03-13 07:13:16Z stoecker $
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6 | Authors: Dirk Stöcker
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7 | Description: state space approach for RTCM3
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8 | */
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9 |
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10 | #include <math.h>
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11 | #include <stdio.h>
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12 | #include <string.h>
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13 | #ifndef sparc
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14 | #include <stdint.h>
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15 | #else
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16 | #include <sys/types.h>
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17 | #endif
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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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86 | if(len > 1023) \
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87 | return 0; \
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88 | len = CRC24(len+3, (const unsigned char *) blockstart); \
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89 | ADDBITS(24, len) \
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90 | }
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91 |
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92 | #define SCALEADDBITS(a, b, c) ADDBITS(a, (int64_t)(b*c))
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93 |
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94 | /* standard values */
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95 | #define T_MESSAGE_NUMBER(a) ADDBITS(12, a) /* DF002 */
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96 | #define T_GPS_SATELLITE_ID(a) ADDBITS(6, a) /* DF068 */
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97 | #define T_GPS_IODE(a) ADDBITS(8, a) /* DF071 */
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98 | #define T_GLONASS_IOD(a) ADDBITS(8, a) /* DF237 */
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99 |
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100 | /* defined values */
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101 | #define T_DELTA_RADIAL(a) SCALEADDBITS(22, 10000.0, a)
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102 | #define T_DELTA_ALONG_TRACK(a) SCALEADDBITS(20, 2500.0, a)
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103 | #define T_DELTA_CROSS_TRACK(a) SCALEADDBITS(20, 2500.0, a)
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104 | #define T_DELTA_DOT_RADIAL(a) SCALEADDBITS(21, 1000000.0, a)
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105 | #define T_DELTA_DOT_ALONG_TRACK(a) SCALEADDBITS(19, 250000.0, a)
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106 | #define T_DELTA_DOT_CROSS_TRACK(a) SCALEADDBITS(19, 250000.0, a)
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107 |
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108 | #define T_SATELLITE_REFERENCE_DATUM(a) ADDBITS(1, a)
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109 | #define T_DELTA_CLOCK_C0(a) SCALEADDBITS(22, 10000.0, a)
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110 | #define T_DELTA_CLOCK_C1(a) SCALEADDBITS(21, 1000000.0, a)
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111 | #define T_DELTA_CLOCK_C2(a) SCALEADDBITS(27, 50000000.0, a)
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112 | #define T_NO_OF_CODE_BIASES(a) ADDBITS(5, a)
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113 | #define T_GPS_SIGNAL_IDENTIFIER(a) ADDBITS(5, a)
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114 | #define T_GLONASS_SIGNAL_IDENTIFIER(a) ADDBITS(5, a)
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115 | #define T_CODE_BIAS(a) SCALEADDBITS(14, 100.0, a)
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116 | #define T_GLONASS_SATELLITE_ID(a) ADDBITS(5, a)
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117 |
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118 | #define T_GPS_EPOCH_TIME(a) ADDBITS(20, a)
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119 | #define T_GLONASS_EPOCH_TIME(a) ADDBITS(17, a)
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120 | #define T_NO_OF_SATELLITES(a) ADDBITS(6, a)
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121 | #define T_MULTIPLE_MESSAGE_INDICATOR(a) ADDBITS(1, a)
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122 | #define T_SSR_URA(a) ADDBITS(6, a)
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123 | #define T_HR_CLOCK_CORRECTION(a) SCALEADDBITS(22, 10000.0, a)
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124 | #define T_SSR_UPDATE_INTERVAL(a) ADDBITS(4, a)
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125 |
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126 | #define T_SSR_IOD(a) ADDBITS(4, a)
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127 | #define T_SSR_PROVIDER_ID(a) ADDBITS(16, a)
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128 | #define T_SSR_SOLUTION_ID(a) ADDBITS(4, a)
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129 |
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130 | static double URAToValue(int ura)
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131 | {
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132 | int urac, urav;
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133 | urac = ura >> 3;
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134 | urav = ura & 7;
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135 | if(!ura)
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136 | return 0;
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137 | else if(ura == 63)
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138 | return SSR_MAXURA;
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139 | return (pow(3,urac)*(1.0+urav/4.0)-1.0)/1000.0;
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140 | }
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141 |
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142 | static int ValueToURA(double val)
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143 | {
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144 | int ura;
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145 | if(!val)
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146 | return 0;
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147 | else if(val > 5.4665)
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148 | return 63;
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149 | for(ura = 1; ura < 63 && val > URAToValue(ura); ++ura)
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150 | ;
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151 | return ura;
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152 | }
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153 |
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154 | size_t MakeClockOrbit(const struct ClockOrbit *co, enum ClockOrbitType type,
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155 | int moremessagesfollow, char *buffer, size_t size)
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156 | {
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157 | int gpshr=0, gpsur=0, gpsor=0, gpscl=0, gpsco=0, glohr=0, glour=0, gloor=0,
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158 | glocl=0, gloco=0, mmi, i;
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159 |
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160 | STARTDATA
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161 |
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162 | if(co->NumberOfGPSSat && co->HRDataSupplied
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163 | && (type == COTYPE_AUTO || type == COTYPE_GPSHR))
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164 | gpshr = 1;
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165 | if(co->NumberOfGPSSat && co->URADataSupplied
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166 | && (type == COTYPE_AUTO || type == COTYPE_GPSURA))
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167 | gpsur = 1;
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168 | if(co->NumberOfGPSSat && co->OrbitDataSupplied
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169 | && (type == COTYPE_AUTO || type == COTYPE_GPSORBIT))
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170 | gpsor = 1;
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171 | if(co->NumberOfGPSSat && co->ClockDataSupplied
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172 | && (type == COTYPE_AUTO || type == COTYPE_GPSCLOCK))
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173 | gpscl = 1;
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174 | if(co->NumberOfGPSSat && co->ClockDataSupplied && co->OrbitDataSupplied
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175 | && (type == COTYPE_AUTO || type == COTYPE_GPSCOMBINED)
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176 | /*&& co->NumberOfGPSSat <= 28*/)
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177 | {
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178 | gpsco = 1; gpsor = 0; gpscl = 0;
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179 | }
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180 | if(co->NumberOfGLONASSSat && co->HRDataSupplied
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181 | && (type == COTYPE_AUTO || type == COTYPE_GLONASSHR))
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182 | glohr = 1;
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183 | if(co->NumberOfGLONASSSat && co->URADataSupplied
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184 | && (type == COTYPE_AUTO || type == COTYPE_GLONASSURA))
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185 | glour = 1;
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186 | if(co->NumberOfGLONASSSat && co->OrbitDataSupplied
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187 | && (type == COTYPE_AUTO || type == COTYPE_GLONASSORBIT))
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188 | gloor = 1;
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189 | if(co->NumberOfGLONASSSat && co->ClockDataSupplied
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190 | && (type == COTYPE_AUTO || type == COTYPE_GLONASSCLOCK))
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191 | glocl = 1;
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192 | if(co->NumberOfGLONASSSat && co->ClockDataSupplied && co->OrbitDataSupplied
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193 | && (type == COTYPE_AUTO || type == COTYPE_GLONASSCOMBINED))
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194 | {
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195 | gloco = 1; gloor = 0; glocl = 0;
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196 | }
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197 |
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198 | mmi = gpshr+gpsur+gpsor+gpscl+gpsco+glohr+glour+gloor+glocl+gloco; /* required for multimessage */
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199 | if(!moremessagesfollow) --mmi;
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200 |
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201 | if(gpsor)
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202 | {
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203 | INITBLOCK
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204 | T_MESSAGE_NUMBER(COTYPE_GPSORBIT)
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205 | T_GPS_EPOCH_TIME(co->GPSEpochTime)
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206 | T_SSR_UPDATE_INTERVAL(co->UpdateInterval)
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207 | T_MULTIPLE_MESSAGE_INDICATOR(/*mmi ? 1 :*/0)
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208 | --mmi;
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209 | T_SATELLITE_REFERENCE_DATUM(co->SatRefDatum)
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210 | T_SSR_IOD(co->SSRIOD)
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211 | T_SSR_PROVIDER_ID(co->SSRProviderID)
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212 | T_SSR_SOLUTION_ID(co->SSRSolutionID)
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213 | T_NO_OF_SATELLITES(co->NumberOfGPSSat)
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214 | for(i = 0; i < co->NumberOfGPSSat; ++i)
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215 | {
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216 | T_GPS_SATELLITE_ID(co->Sat[i].ID)
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217 | T_GPS_IODE(co->Sat[i].IOD)
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218 | T_DELTA_RADIAL(co->Sat[i].Orbit.DeltaRadial)
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219 | T_DELTA_ALONG_TRACK(co->Sat[i].Orbit.DeltaAlongTrack)
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220 | T_DELTA_CROSS_TRACK(co->Sat[i].Orbit.DeltaCrossTrack)
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221 | T_DELTA_DOT_RADIAL(co->Sat[i].Orbit.DotDeltaRadial)
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222 | T_DELTA_DOT_ALONG_TRACK(co->Sat[i].Orbit.DotDeltaAlongTrack)
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223 | T_DELTA_DOT_CROSS_TRACK(co->Sat[i].Orbit.DotDeltaCrossTrack)
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224 | }
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225 | ENDBLOCK
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226 | }
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227 | if(gpscl)
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228 | {
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229 | INITBLOCK
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230 | T_MESSAGE_NUMBER(COTYPE_GPSCLOCK)
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231 | T_GPS_EPOCH_TIME(co->GPSEpochTime)
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232 | T_SSR_UPDATE_INTERVAL(co->UpdateInterval)
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233 | T_MULTIPLE_MESSAGE_INDICATOR(/*mmi ? 1 :*/0)
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234 | --mmi;
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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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238 | T_NO_OF_SATELLITES(co->NumberOfGPSSat)
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239 | for(i = 0; i < co->NumberOfGPSSat; ++i)
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240 | {
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241 | T_GPS_SATELLITE_ID(co->Sat[i].ID)
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242 | T_DELTA_CLOCK_C0(co->Sat[i].Clock.DeltaA0)
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243 | T_DELTA_CLOCK_C1(co->Sat[i].Clock.DeltaA1)
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244 | T_DELTA_CLOCK_C2(co->Sat[i].Clock.DeltaA2)
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245 | }
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246 | ENDBLOCK
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247 | }
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248 | if(gpsco)
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249 | {
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250 | #ifdef SPLITBLOCK
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251 | int nums = co->NumberOfGPSSat;
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252 | int left, start = 0;
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253 | if(nums > 28) /* split block when more than 28 sats */
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254 | {
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255 | left = nums - 28;
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256 | nums = 28;
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257 | }
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258 | else
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259 | {
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260 | left = 0;
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261 | }
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262 | while(nums)
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263 | {
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264 | #endif
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265 | INITBLOCK
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266 | T_MESSAGE_NUMBER(COTYPE_GPSCOMBINED)
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267 | T_GPS_EPOCH_TIME(co->GPSEpochTime)
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268 | T_SSR_UPDATE_INTERVAL(co->UpdateInterval)
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269 | #ifdef SPLITBLOCK
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270 | T_MULTIPLE_MESSAGE_INDICATOR(/*mmi || */ left ? 1 : 0)
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271 | #else
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272 | T_MULTIPLE_MESSAGE_INDICATOR(/*mmi || */ 0)
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273 | #endif
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274 | --mmi;
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275 | T_SATELLITE_REFERENCE_DATUM(co->SatRefDatum)
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276 | T_SSR_IOD(co->SSRIOD)
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277 | T_SSR_PROVIDER_ID(co->SSRProviderID)
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278 | T_SSR_SOLUTION_ID(co->SSRSolutionID)
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279 | #ifdef SPLITBLOCK
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280 | T_NO_OF_SATELLITES(nums)
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281 | for(i = start; i < start+nums; ++i)
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282 | #else
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283 | T_NO_OF_SATELLITES(co->NumberOfGPSSat)
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284 | for(i = 0; i < co->NumberOfGPSSat; ++i)
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285 | #endif
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286 | {
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287 | T_GPS_SATELLITE_ID(co->Sat[i].ID)
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288 | T_GPS_IODE(co->Sat[i].IOD)
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289 | T_DELTA_RADIAL(co->Sat[i].Orbit.DeltaRadial)
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290 | T_DELTA_ALONG_TRACK(co->Sat[i].Orbit.DeltaAlongTrack)
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291 | T_DELTA_CROSS_TRACK(co->Sat[i].Orbit.DeltaCrossTrack)
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292 | T_DELTA_DOT_RADIAL(co->Sat[i].Orbit.DotDeltaRadial)
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293 | T_DELTA_DOT_ALONG_TRACK(co->Sat[i].Orbit.DotDeltaAlongTrack)
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294 | T_DELTA_DOT_CROSS_TRACK(co->Sat[i].Orbit.DotDeltaCrossTrack)
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295 | T_DELTA_CLOCK_C0(co->Sat[i].Clock.DeltaA0)
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296 | T_DELTA_CLOCK_C1(co->Sat[i].Clock.DeltaA1)
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297 | T_DELTA_CLOCK_C2(co->Sat[i].Clock.DeltaA2)
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298 | }
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299 | ENDBLOCK
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300 | #ifdef SPLITBLOCK
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301 | start += nums;
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302 | nums = left;
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303 | left = 0;
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304 | }
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305 | #endif
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306 | }
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307 | if(gpshr)
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308 | {
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309 | INITBLOCK
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310 | T_MESSAGE_NUMBER(COTYPE_GPSHR)
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311 | T_GPS_EPOCH_TIME(co->GPSEpochTime)
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312 | T_SSR_UPDATE_INTERVAL(co->UpdateInterval)
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313 | T_MULTIPLE_MESSAGE_INDICATOR(/*mmi ? 1 :*/0)
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314 | --mmi;
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315 | T_SSR_IOD(co->SSRIOD)
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316 | T_SSR_PROVIDER_ID(co->SSRProviderID)
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317 | T_SSR_SOLUTION_ID(co->SSRSolutionID)
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318 | T_NO_OF_SATELLITES(co->NumberOfGPSSat)
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319 | for(i = 0; i < co->NumberOfGPSSat; ++i)
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320 | {
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321 | T_GPS_SATELLITE_ID(co->Sat[i].ID)
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322 | T_HR_CLOCK_CORRECTION(co->Sat[i].hrclock)
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323 | }
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324 | ENDBLOCK
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325 | }
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326 | if(gpsur)
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327 | {
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328 | INITBLOCK
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329 | T_MESSAGE_NUMBER(COTYPE_GPSURA)
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330 | T_GPS_EPOCH_TIME(co->GPSEpochTime)
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331 | T_MULTIPLE_MESSAGE_INDICATOR(/*mmi ? 1 :*/0)
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332 | --mmi;
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333 | T_SSR_IOD(co->SSRIOD)
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334 | T_SSR_PROVIDER_ID(co->SSRProviderID)
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335 | T_SSR_SOLUTION_ID(co->SSRSolutionID)
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336 | T_NO_OF_SATELLITES(co->NumberOfGPSSat)
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337 | for(i = 0; i < co->NumberOfGPSSat; ++i)
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338 | {
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339 | T_GPS_SATELLITE_ID(co->Sat[i].ID)
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340 | T_SSR_URA(ValueToURA(co->Sat[i].UserRangeAccuracy))
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341 | }
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342 | ENDBLOCK
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343 | }
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344 | if(gloor)
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345 | {
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346 | INITBLOCK
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347 | T_MESSAGE_NUMBER(COTYPE_GLONASSORBIT)
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348 | T_GLONASS_EPOCH_TIME(co->GLONASSEpochTime)
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349 | T_SSR_UPDATE_INTERVAL(co->UpdateInterval)
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350 | T_MULTIPLE_MESSAGE_INDICATOR(/*mmi ? 1 :*/0)
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351 | --mmi;
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352 | T_SATELLITE_REFERENCE_DATUM(co->SatRefDatum)
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353 | T_SSR_IOD(co->SSRIOD)
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354 | T_SSR_PROVIDER_ID(co->SSRProviderID)
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355 | T_SSR_SOLUTION_ID(co->SSRSolutionID)
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356 | T_NO_OF_SATELLITES(co->NumberOfGLONASSSat)
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357 | for(i = CLOCKORBIT_NUMGPS;
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358 | i < CLOCKORBIT_NUMGPS+co->NumberOfGLONASSSat; ++i)
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359 | {
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360 | T_GLONASS_SATELLITE_ID(co->Sat[i].ID)
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361 | T_GLONASS_IOD(co->Sat[i].IOD)
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362 | T_DELTA_RADIAL(co->Sat[i].Orbit.DeltaRadial)
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363 | T_DELTA_ALONG_TRACK(co->Sat[i].Orbit.DeltaAlongTrack)
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364 | T_DELTA_CROSS_TRACK(co->Sat[i].Orbit.DeltaCrossTrack)
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365 | T_DELTA_DOT_RADIAL(co->Sat[i].Orbit.DotDeltaRadial)
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366 | T_DELTA_DOT_ALONG_TRACK(co->Sat[i].Orbit.DotDeltaAlongTrack)
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367 | T_DELTA_DOT_CROSS_TRACK(co->Sat[i].Orbit.DotDeltaCrossTrack)
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368 | }
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369 | ENDBLOCK
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370 | }
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371 | if(glocl)
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372 | {
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373 | INITBLOCK
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374 | T_MESSAGE_NUMBER(COTYPE_GLONASSCLOCK)
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375 | T_GLONASS_EPOCH_TIME(co->GLONASSEpochTime)
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376 | T_SSR_UPDATE_INTERVAL(co->UpdateInterval)
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377 | T_MULTIPLE_MESSAGE_INDICATOR(/*mmi ? 1 :*/0)
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378 | --mmi;
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379 | T_SSR_IOD(co->SSRIOD)
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380 | T_SSR_PROVIDER_ID(co->SSRProviderID)
|
---|
381 | T_SSR_SOLUTION_ID(co->SSRSolutionID)
|
---|
382 | T_NO_OF_SATELLITES(co->NumberOfGLONASSSat)
|
---|
383 | for(i = CLOCKORBIT_NUMGPS;
|
---|
384 | i < CLOCKORBIT_NUMGPS+co->NumberOfGLONASSSat; ++i)
|
---|
385 | {
|
---|
386 | T_GLONASS_SATELLITE_ID(co->Sat[i].ID)
|
---|
387 | T_DELTA_CLOCK_C0(co->Sat[i].Clock.DeltaA0)
|
---|
388 | T_DELTA_CLOCK_C1(co->Sat[i].Clock.DeltaA1)
|
---|
389 | T_DELTA_CLOCK_C2(co->Sat[i].Clock.DeltaA2)
|
---|
390 | }
|
---|
391 | ENDBLOCK
|
---|
392 | }
|
---|
393 | if(gloco)
|
---|
394 | {
|
---|
395 | INITBLOCK
|
---|
396 | T_MESSAGE_NUMBER(COTYPE_GLONASSCOMBINED)
|
---|
397 | T_GLONASS_EPOCH_TIME(co->GLONASSEpochTime)
|
---|
398 | T_SSR_UPDATE_INTERVAL(co->UpdateInterval)
|
---|
399 | T_MULTIPLE_MESSAGE_INDICATOR(/*mmi ? 1 :*/0)
|
---|
400 | --mmi;
|
---|
401 | T_SATELLITE_REFERENCE_DATUM(co->SatRefDatum)
|
---|
402 | T_SSR_IOD(co->SSRIOD)
|
---|
403 | T_SSR_PROVIDER_ID(co->SSRProviderID)
|
---|
404 | T_SSR_SOLUTION_ID(co->SSRSolutionID)
|
---|
405 | T_NO_OF_SATELLITES(co->NumberOfGLONASSSat)
|
---|
406 | for(i = CLOCKORBIT_NUMGPS;
|
---|
407 | i < CLOCKORBIT_NUMGPS+co->NumberOfGLONASSSat; ++i)
|
---|
408 | {
|
---|
409 | T_GLONASS_SATELLITE_ID(co->Sat[i].ID)
|
---|
410 | T_GLONASS_IOD(co->Sat[i].IOD)
|
---|
411 | T_DELTA_RADIAL(co->Sat[i].Orbit.DeltaRadial)
|
---|
412 | T_DELTA_ALONG_TRACK(co->Sat[i].Orbit.DeltaAlongTrack)
|
---|
413 | T_DELTA_CROSS_TRACK(co->Sat[i].Orbit.DeltaCrossTrack)
|
---|
414 | T_DELTA_DOT_RADIAL(co->Sat[i].Orbit.DotDeltaRadial)
|
---|
415 | T_DELTA_DOT_ALONG_TRACK(co->Sat[i].Orbit.DotDeltaAlongTrack)
|
---|
416 | T_DELTA_DOT_CROSS_TRACK(co->Sat[i].Orbit.DotDeltaCrossTrack)
|
---|
417 | T_DELTA_CLOCK_C0(co->Sat[i].Clock.DeltaA0)
|
---|
418 | T_DELTA_CLOCK_C1(co->Sat[i].Clock.DeltaA1)
|
---|
419 | T_DELTA_CLOCK_C2(co->Sat[i].Clock.DeltaA2)
|
---|
420 | }
|
---|
421 | ENDBLOCK
|
---|
422 | }
|
---|
423 | if(glohr)
|
---|
424 | {
|
---|
425 | INITBLOCK
|
---|
426 | T_MESSAGE_NUMBER(COTYPE_GLONASSHR)
|
---|
427 | T_GLONASS_EPOCH_TIME(co->GLONASSEpochTime)
|
---|
428 | T_SSR_UPDATE_INTERVAL(co->UpdateInterval)
|
---|
429 | T_MULTIPLE_MESSAGE_INDICATOR(/*mmi ? 1 :*/0)
|
---|
430 | --mmi;
|
---|
431 | T_SSR_IOD(co->SSRIOD)
|
---|
432 | T_SSR_PROVIDER_ID(co->SSRProviderID)
|
---|
433 | T_SSR_SOLUTION_ID(co->SSRSolutionID)
|
---|
434 | T_NO_OF_SATELLITES(co->NumberOfGLONASSSat)
|
---|
435 | for(i = CLOCKORBIT_NUMGPS;
|
---|
436 | i < CLOCKORBIT_NUMGPS+co->NumberOfGLONASSSat; ++i)
|
---|
437 | {
|
---|
438 | T_GPS_SATELLITE_ID(co->Sat[i].ID)
|
---|
439 | T_HR_CLOCK_CORRECTION(co->Sat[i].hrclock)
|
---|
440 | }
|
---|
441 | ENDBLOCK
|
---|
442 | }
|
---|
443 | if(glour)
|
---|
444 | {
|
---|
445 | INITBLOCK
|
---|
446 | T_MESSAGE_NUMBER(COTYPE_GLONASSURA)
|
---|
447 | T_GLONASS_EPOCH_TIME(co->GLONASSEpochTime)
|
---|
448 | T_MULTIPLE_MESSAGE_INDICATOR(/*mmi ? 1 :*/0)
|
---|
449 | --mmi;
|
---|
450 | T_SSR_IOD(co->SSRIOD)
|
---|
451 | T_SSR_PROVIDER_ID(co->SSRProviderID)
|
---|
452 | T_SSR_SOLUTION_ID(co->SSRSolutionID)
|
---|
453 | T_NO_OF_SATELLITES(co->NumberOfGLONASSSat)
|
---|
454 | for(i = CLOCKORBIT_NUMGPS;
|
---|
455 | i < CLOCKORBIT_NUMGPS+co->NumberOfGLONASSSat; ++i)
|
---|
456 | {
|
---|
457 | T_GPS_SATELLITE_ID(co->Sat[i].ID)
|
---|
458 | T_SSR_URA(ValueToURA(co->Sat[i].UserRangeAccuracy))
|
---|
459 | }
|
---|
460 | ENDBLOCK
|
---|
461 | }
|
---|
462 |
|
---|
463 | return ressize;
|
---|
464 | }
|
---|
465 |
|
---|
466 | size_t MakeBias(const struct Bias *b, enum BiasType type,
|
---|
467 | int moremessagesfollow, char *buffer, size_t size)
|
---|
468 | {
|
---|
469 | int gps=0, glo=0, mmi, i, j;
|
---|
470 |
|
---|
471 | STARTDATA
|
---|
472 |
|
---|
473 | if(b->NumberOfGPSSat && (type == BTYPE_AUTO || type == BTYPE_GPS))
|
---|
474 | gps = 1;
|
---|
475 | if(b->NumberOfGLONASSSat && (type == BTYPE_AUTO || type == BTYPE_GLONASS))
|
---|
476 | glo = 1;
|
---|
477 |
|
---|
478 | mmi = gps+glo; /* required for multimessage */
|
---|
479 | if(!moremessagesfollow) --mmi;
|
---|
480 |
|
---|
481 | if(gps)
|
---|
482 | {
|
---|
483 | INITBLOCK
|
---|
484 | T_MESSAGE_NUMBER(BTYPE_GPS)
|
---|
485 | T_GPS_EPOCH_TIME(b->GPSEpochTime)
|
---|
486 | T_SSR_UPDATE_INTERVAL(b->UpdateInterval)
|
---|
487 | T_MULTIPLE_MESSAGE_INDICATOR(/*mmi ? 1 :*/0)
|
---|
488 | --mmi;
|
---|
489 | T_SSR_IOD(b->SSRIOD)
|
---|
490 | T_SSR_PROVIDER_ID(b->SSRProviderID)
|
---|
491 | T_SSR_SOLUTION_ID(b->SSRSolutionID)
|
---|
492 | T_NO_OF_SATELLITES(b->NumberOfGPSSat)
|
---|
493 | for(i = 0; i < b->NumberOfGPSSat; ++i)
|
---|
494 | {
|
---|
495 | T_GPS_SATELLITE_ID(b->Sat[i].ID)
|
---|
496 | T_NO_OF_CODE_BIASES(b->Sat[i].NumberOfCodeBiases)
|
---|
497 | for(j = 0; j < b->Sat[i].NumberOfCodeBiases; ++j)
|
---|
498 | {
|
---|
499 | T_GPS_SIGNAL_IDENTIFIER(b->Sat[i].Biases[j].Type)
|
---|
500 | T_CODE_BIAS(b->Sat[i].Biases[j].Bias)
|
---|
501 | }
|
---|
502 | }
|
---|
503 | ENDBLOCK
|
---|
504 | }
|
---|
505 | if(glo)
|
---|
506 | {
|
---|
507 | INITBLOCK
|
---|
508 | T_MESSAGE_NUMBER(BTYPE_GLONASS)
|
---|
509 | T_GLONASS_EPOCH_TIME(b->GLONASSEpochTime)
|
---|
510 | T_SSR_UPDATE_INTERVAL(b->UpdateInterval)
|
---|
511 | T_MULTIPLE_MESSAGE_INDICATOR(/*mmi ? 1 :*/0)
|
---|
512 | --mmi;
|
---|
513 | T_SSR_IOD(b->SSRIOD)
|
---|
514 | T_SSR_PROVIDER_ID(b->SSRProviderID)
|
---|
515 | T_SSR_SOLUTION_ID(b->SSRSolutionID)
|
---|
516 | T_NO_OF_SATELLITES(b->NumberOfGLONASSSat)
|
---|
517 | for(i = CLOCKORBIT_NUMGPS;
|
---|
518 | i < CLOCKORBIT_NUMGPS+b->NumberOfGLONASSSat; ++i)
|
---|
519 | {
|
---|
520 | T_GLONASS_SATELLITE_ID(b->Sat[i].ID)
|
---|
521 | T_NO_OF_CODE_BIASES(b->Sat[i].NumberOfCodeBiases)
|
---|
522 | for(j = 0; j < b->Sat[i].NumberOfCodeBiases; ++j)
|
---|
523 | {
|
---|
524 | T_GLONASS_SIGNAL_IDENTIFIER(b->Sat[i].Biases[j].Type)
|
---|
525 | T_CODE_BIAS(b->Sat[i].Biases[j].Bias)
|
---|
526 | }
|
---|
527 | }
|
---|
528 | ENDBLOCK
|
---|
529 | }
|
---|
530 |
|
---|
531 | return ressize;
|
---|
532 | }
|
---|
533 |
|
---|
534 | #endif /* NOENCODE */
|
---|
535 |
|
---|
536 | #ifndef NODECODE
|
---|
537 |
|
---|
538 | #define DECODESTART \
|
---|
539 | int numbits=0; \
|
---|
540 | uint64_t bitbuffer=0;
|
---|
541 |
|
---|
542 | #define LOADBITS(a) \
|
---|
543 | { \
|
---|
544 | while((a) > numbits) \
|
---|
545 | { \
|
---|
546 | if(!size--) return GCOBR_SHORTMESSAGE; \
|
---|
547 | bitbuffer = (bitbuffer<<8)|((unsigned char)*(buffer++)); \
|
---|
548 | numbits += 8; \
|
---|
549 | } \
|
---|
550 | }
|
---|
551 |
|
---|
552 | /* extract bits from data stream
|
---|
553 | b = variable to store result, a = number of bits */
|
---|
554 | #define GETBITS(b, a) \
|
---|
555 | { \
|
---|
556 | LOADBITS(a) \
|
---|
557 | b = (bitbuffer<<(64-numbits))>>(64-(a)); \
|
---|
558 | numbits -= (a); \
|
---|
559 | }
|
---|
560 |
|
---|
561 | /* extract signed floating value from data stream
|
---|
562 | b = variable to store result, a = number of bits */
|
---|
563 | #define GETFLOATSIGN(b, a, c) \
|
---|
564 | { \
|
---|
565 | LOADBITS(a) \
|
---|
566 | b = ((double)(((int64_t)(bitbuffer<<(64-numbits)))>>(64-(a))))*(c); \
|
---|
567 | numbits -= (a); \
|
---|
568 | }
|
---|
569 |
|
---|
570 | #define SKIPBITS(b) { LOADBITS(b) numbits -= (b); }
|
---|
571 |
|
---|
572 | /* standard values */
|
---|
573 | #define G_HEADER(a) GETBITS(a,8)
|
---|
574 | #define G_RESERVEDH(a) GETBITS(a,6)
|
---|
575 | #define G_SIZE(a) GETBITS(a, 10)
|
---|
576 | #define G_MESSAGE_NUMBER(a) GETBITS(a, 12) /* DF002 */
|
---|
577 | #define G_GPS_SATELLITE_ID(a) GETBITS(a, 6) /* DF068 */
|
---|
578 | #define G_GPS_IODE(a) GETBITS(a, 8) /* DF071 */
|
---|
579 | #define G_GLONASS_IOD(a) GETBITS(a, 8) /* DF237 */
|
---|
580 |
|
---|
581 | /* defined values */
|
---|
582 | #define G_DELTA_RADIAL(a) GETFLOATSIGN(a, 22, 1/10000.0)
|
---|
583 | #define G_DELTA_ALONG_TRACK(a) GETFLOATSIGN(a, 20, 1/2500.0)
|
---|
584 | #define G_DELTA_CROSS_TRACK(a) GETFLOATSIGN(a, 20, 1/2500.0)
|
---|
585 | #define G_DELTA_DOT_RADIAL(a) GETFLOATSIGN(a, 21, 1/1000000.0)
|
---|
586 | #define G_DELTA_DOT_ALONG_TRACK(a) GETFLOATSIGN(a, 19, 1/250000.0)
|
---|
587 | #define G_DELTA_DOT_CROSS_TRACK(a) GETFLOATSIGN(a, 19, 1/250000.0)
|
---|
588 |
|
---|
589 | #define G_SATELLITE_REFERENCE_DATUM(a) GETBITS(a, 1)
|
---|
590 | #define G_DELTA_CLOCK_C0(a) GETFLOATSIGN(a, 22, 1/10000.0)
|
---|
591 | #define G_DELTA_CLOCK_C1(a) GETFLOATSIGN(a, 21, 1/1000000.0)
|
---|
592 | #define G_DELTA_CLOCK_C2(a) GETFLOATSIGN(a, 27, 1/50000000.0)
|
---|
593 | #define G_NO_OF_CODE_BIASES(a) GETBITS(a, 5)
|
---|
594 | #define G_GPS_SIGNAL_IDENTIFIER(a) GETBITS(a, 5)
|
---|
595 | #define G_GLONASS_SIGNAL_IDENTIFIER(a) GETBITS(a, 5)
|
---|
596 | #define G_CODE_BIAS(a) GETFLOATSIGN(a, 14, 1/100.0)
|
---|
597 | #define G_GLONASS_SATELLITE_ID(a) GETBITS(a, 5)
|
---|
598 |
|
---|
599 | #define G_GPS_EPOCH_TIME(a, b) {int temp; GETBITS(temp, 20) \
|
---|
600 | if(b && a != temp) return GCOBR_TIMEMISMATCH; a = temp;}
|
---|
601 | #define G_GLONASS_EPOCH_TIME(a, b) {int temp; GETBITS(temp, 17) \
|
---|
602 | if(b && a != temp) return GCOBR_TIMEMISMATCH; a = temp;}
|
---|
603 | #define G_NO_OF_SATELLITES(a) GETBITS(a, 6)
|
---|
604 | #define G_MULTIPLE_MESSAGE_INDICATOR(a) GETBITS(a, 1)
|
---|
605 | #define G_SSR_URA(a) {int temp; GETBITS(temp, 6) \
|
---|
606 | (a) = URAToValue(temp);}
|
---|
607 | #define G_HR_CLOCK_CORRECTION(a) GETFLOATSIGN(a, 22, 1/10000.0)
|
---|
608 | #define G_SSR_UPDATE_INTERVAL(a) GETBITS(a, 4)
|
---|
609 |
|
---|
610 | #define G_SSR_IOD(a) GETBITS(a, 4)
|
---|
611 | #define G_SSR_PROVIDER_ID(a) GETBITS(a, 16)
|
---|
612 | #define G_SSR_SOLUTION_ID(a) GETBITS(a, 4)
|
---|
613 |
|
---|
614 | enum GCOB_RETURN GetClockOrbitBias(struct ClockOrbit *co, struct Bias *b,
|
---|
615 | const char *buffer, size_t size, int *bytesused)
|
---|
616 | {
|
---|
617 | int type, mmi=0, i, j, h, rs, nums, pos, id;
|
---|
618 | size_t sizeofrtcmblock;
|
---|
619 | const char *blockstart = buffer;
|
---|
620 | DECODESTART
|
---|
621 |
|
---|
622 | if(size < 7)
|
---|
623 | return GCOBR_SHORTBUFFER;
|
---|
624 |
|
---|
625 | #ifdef DEBUG
|
---|
626 | fprintf(stderr, "GetClockOrbitBias START: size %d, numbits %d\n",size, numbits);
|
---|
627 | #endif
|
---|
628 |
|
---|
629 | G_HEADER(h)
|
---|
630 | G_RESERVEDH(rs)
|
---|
631 | G_SIZE(sizeofrtcmblock);
|
---|
632 |
|
---|
633 | if((unsigned char)h != 0xD3 || rs)
|
---|
634 | return GCOBR_UNKNOWNDATA;
|
---|
635 | if(size < sizeofrtcmblock + 3) /* 3 header bytes already removed */
|
---|
636 | return GCOBR_MESSAGEEXCEEDSBUFFER;
|
---|
637 | if(CRC24(sizeofrtcmblock+3, (const unsigned char *) blockstart) !=
|
---|
638 | (uint32_t)((((unsigned char)buffer[sizeofrtcmblock])<<16)|
|
---|
639 | (((unsigned char)buffer[sizeofrtcmblock+1])<<8)|
|
---|
640 | (((unsigned char)buffer[sizeofrtcmblock+2]))))
|
---|
641 | return GCOBR_CRCMISMATCH;
|
---|
642 | size = sizeofrtcmblock; /* reduce size, so overflows are detected */
|
---|
643 |
|
---|
644 | G_MESSAGE_NUMBER(type)
|
---|
645 | #ifdef DEBUG
|
---|
646 | fprintf(stderr, "type %d size %d\n",type,sizeofrtcmblock);
|
---|
647 | #endif
|
---|
648 | switch(type)
|
---|
649 | {
|
---|
650 | case COTYPE_GPSORBIT:
|
---|
651 | if(!co) return GCOBR_NOCLOCKORBITPARAMETER;
|
---|
652 | co->messageType = COTYPE_GPSORBIT;
|
---|
653 | G_GPS_EPOCH_TIME(co->GPSEpochTime, co->NumberOfGPSSat)
|
---|
654 | co->epochGPS[co->epochSize] = co->GPSEpochTime; /* Weber, for latency */
|
---|
655 | if(co->epochSize < 100) {co->epochSize += 1;} /* Weber, for latency */
|
---|
656 | G_SSR_UPDATE_INTERVAL(co->UpdateInterval)
|
---|
657 | G_MULTIPLE_MESSAGE_INDICATOR(mmi)
|
---|
658 | G_SATELLITE_REFERENCE_DATUM(co->SatRefDatum)
|
---|
659 | G_SSR_IOD(co->SSRIOD)
|
---|
660 | G_SSR_PROVIDER_ID(co->SSRProviderID)
|
---|
661 | G_SSR_SOLUTION_ID(co->SSRSolutionID)
|
---|
662 | G_NO_OF_SATELLITES(nums)
|
---|
663 | co->OrbitDataSupplied |= 1;
|
---|
664 | #ifdef DEBUG
|
---|
665 | fprintf(stderr, "epochtime %d ui %d mmi %d sats %d/%d rd %d\n",co->GPSEpochTime,
|
---|
666 | co->UpdateInterval,mmi,co->NumberOfGPSSat,nums, co->SatRefDatum);
|
---|
667 | #endif
|
---|
668 | for(i = 0; i < nums; ++i)
|
---|
669 | {
|
---|
670 | G_GPS_SATELLITE_ID(id)
|
---|
671 | for(pos = 0; pos < co->NumberOfGPSSat && co->Sat[pos].ID != id; ++pos)
|
---|
672 | ;
|
---|
673 | if(pos >= CLOCKORBIT_NUMGPS) return GCOBR_DATAMISMATCH;
|
---|
674 | else if(pos == co->NumberOfGPSSat) ++co->NumberOfGPSSat;
|
---|
675 | co->Sat[pos].ID = id;
|
---|
676 |
|
---|
677 | G_GPS_IODE(co->Sat[pos].IOD)
|
---|
678 | G_DELTA_RADIAL(co->Sat[pos].Orbit.DeltaRadial)
|
---|
679 | G_DELTA_ALONG_TRACK(co->Sat[pos].Orbit.DeltaAlongTrack)
|
---|
680 | G_DELTA_CROSS_TRACK(co->Sat[pos].Orbit.DeltaCrossTrack)
|
---|
681 | G_DELTA_DOT_RADIAL(co->Sat[pos].Orbit.DotDeltaRadial)
|
---|
682 | G_DELTA_DOT_ALONG_TRACK(co->Sat[pos].Orbit.DotDeltaAlongTrack)
|
---|
683 | G_DELTA_DOT_CROSS_TRACK(co->Sat[pos].Orbit.DotDeltaCrossTrack)
|
---|
684 | #ifdef DEBUG
|
---|
685 | fprintf(stderr, "id %2d iod %3d dr %8.3f da %8.3f dc %8.3f dr %8.3f da %8.3f dc %8.3f\n",
|
---|
686 | co->Sat[pos].ID,co->Sat[pos].IOD,co->Sat[pos].Orbit.DeltaRadial,
|
---|
687 | co->Sat[pos].Orbit.DeltaAlongTrack,co->Sat[pos].Orbit.DeltaCrossTrack,
|
---|
688 | co->Sat[pos].Orbit.DotDeltaRadial,
|
---|
689 | co->Sat[pos].Orbit.DotDeltaAlongTrack,
|
---|
690 | co->Sat[pos].Orbit.DotDeltaCrossTrack);
|
---|
691 | #endif
|
---|
692 | }
|
---|
693 | break;
|
---|
694 | case COTYPE_GPSCLOCK:
|
---|
695 | if(!co) return GCOBR_NOCLOCKORBITPARAMETER;
|
---|
696 | co->messageType = COTYPE_GPSCLOCK;
|
---|
697 | G_GPS_EPOCH_TIME(co->GPSEpochTime, co->NumberOfGPSSat)
|
---|
698 | co->epochGPS[co->epochSize] = co->GPSEpochTime; /* Weber, for latency */
|
---|
699 | if(co->epochSize < 100) {co->epochSize += 1;} /* Weber, for latency */
|
---|
700 | G_SSR_UPDATE_INTERVAL(co->UpdateInterval)
|
---|
701 | G_MULTIPLE_MESSAGE_INDICATOR(mmi)
|
---|
702 | G_SSR_IOD(co->SSRIOD)
|
---|
703 | G_SSR_PROVIDER_ID(co->SSRProviderID)
|
---|
704 | G_SSR_SOLUTION_ID(co->SSRSolutionID)
|
---|
705 | G_NO_OF_SATELLITES(nums)
|
---|
706 | co->ClockDataSupplied |= 1;
|
---|
707 | #ifdef DEBUG
|
---|
708 | fprintf(stderr, "epochtime %d ui %d mmi %d sats %d/%d\n",co->GPSEpochTime,
|
---|
709 | co->UpdateInterval,mmi,co->NumberOfGPSSat,nums);
|
---|
710 | #endif
|
---|
711 | for(i = 0; i < nums; ++i)
|
---|
712 | {
|
---|
713 | G_GPS_SATELLITE_ID(id)
|
---|
714 | for(pos = 0; pos < co->NumberOfGPSSat && co->Sat[pos].ID != id; ++pos)
|
---|
715 | ;
|
---|
716 | if(pos >= CLOCKORBIT_NUMGPS) return GCOBR_DATAMISMATCH;
|
---|
717 | else if(pos == co->NumberOfGPSSat) ++co->NumberOfGPSSat;
|
---|
718 | co->Sat[pos].ID = id;
|
---|
719 |
|
---|
720 | G_DELTA_CLOCK_C0(co->Sat[pos].Clock.DeltaA0)
|
---|
721 | G_DELTA_CLOCK_C1(co->Sat[pos].Clock.DeltaA1)
|
---|
722 | G_DELTA_CLOCK_C2(co->Sat[pos].Clock.DeltaA2)
|
---|
723 | #ifdef DEBUG
|
---|
724 | fprintf(stderr, "id %2d c0 %8.3f c1 %8.3f c2 %8.3f\n",
|
---|
725 | co->Sat[pos].ID, co->Sat[pos].Clock.DeltaA0, co->Sat[pos].Clock.DeltaA1,
|
---|
726 | co->Sat[pos].Clock.DeltaA2);
|
---|
727 | #endif
|
---|
728 | }
|
---|
729 | break;
|
---|
730 | case COTYPE_GPSCOMBINED:
|
---|
731 | if(!co) return GCOBR_NOCLOCKORBITPARAMETER;
|
---|
732 | co->messageType = COTYPE_GPSCOMBINED;
|
---|
733 | G_GPS_EPOCH_TIME(co->GPSEpochTime, co->NumberOfGPSSat)
|
---|
734 | co->epochGPS[co->epochSize] = co->GPSEpochTime; /* Weber, for latency */
|
---|
735 | if(co->epochSize < 100) {co->epochSize += 1;} /* Weber, for latency */
|
---|
736 | G_SSR_UPDATE_INTERVAL(co->UpdateInterval)
|
---|
737 | G_MULTIPLE_MESSAGE_INDICATOR(mmi)
|
---|
738 | G_SATELLITE_REFERENCE_DATUM(co->SatRefDatum)
|
---|
739 | G_SSR_IOD(co->SSRIOD)
|
---|
740 | G_SSR_PROVIDER_ID(co->SSRProviderID)
|
---|
741 | G_SSR_SOLUTION_ID(co->SSRSolutionID)
|
---|
742 | G_NO_OF_SATELLITES(nums)
|
---|
743 | co->OrbitDataSupplied |= 1;
|
---|
744 | co->ClockDataSupplied |= 1;
|
---|
745 | for(i = 0; i < nums; ++i)
|
---|
746 | {
|
---|
747 | G_GPS_SATELLITE_ID(id)
|
---|
748 | for(pos = 0; pos < co->NumberOfGPSSat && co->Sat[pos].ID != id; ++pos)
|
---|
749 | ;
|
---|
750 | if(pos >= CLOCKORBIT_NUMGPS) return GCOBR_DATAMISMATCH;
|
---|
751 | else if(pos == co->NumberOfGPSSat) ++co->NumberOfGPSSat;
|
---|
752 | co->Sat[pos].ID = id;
|
---|
753 |
|
---|
754 | G_GPS_IODE(co->Sat[pos].IOD)
|
---|
755 | G_DELTA_RADIAL(co->Sat[pos].Orbit.DeltaRadial)
|
---|
756 | G_DELTA_ALONG_TRACK(co->Sat[pos].Orbit.DeltaAlongTrack)
|
---|
757 | G_DELTA_CROSS_TRACK(co->Sat[pos].Orbit.DeltaCrossTrack)
|
---|
758 | G_DELTA_DOT_RADIAL(co->Sat[pos].Orbit.DotDeltaRadial)
|
---|
759 | G_DELTA_DOT_ALONG_TRACK(co->Sat[pos].Orbit.DotDeltaAlongTrack)
|
---|
760 | G_DELTA_DOT_CROSS_TRACK(co->Sat[pos].Orbit.DotDeltaCrossTrack)
|
---|
761 | G_DELTA_CLOCK_C0(co->Sat[pos].Clock.DeltaA0)
|
---|
762 | G_DELTA_CLOCK_C1(co->Sat[pos].Clock.DeltaA1)
|
---|
763 | G_DELTA_CLOCK_C2(co->Sat[pos].Clock.DeltaA2)
|
---|
764 | }
|
---|
765 | break;
|
---|
766 | case COTYPE_GPSURA:
|
---|
767 | if(!co) return GCOBR_NOCLOCKORBITPARAMETER;
|
---|
768 | co->messageType = COTYPE_GPSURA;
|
---|
769 | G_GPS_EPOCH_TIME(co->GPSEpochTime, co->NumberOfGPSSat)
|
---|
770 | co->epochGPS[co->epochSize] = co->GPSEpochTime; /* Weber, for latency */
|
---|
771 | if(co->epochSize < 100) {co->epochSize += 1;} /* Weber, for latency */
|
---|
772 | G_MULTIPLE_MESSAGE_INDICATOR(mmi)
|
---|
773 | G_SSR_IOD(co->SSRIOD)
|
---|
774 | G_SSR_PROVIDER_ID(co->SSRProviderID)
|
---|
775 | G_SSR_SOLUTION_ID(co->SSRSolutionID)
|
---|
776 | G_NO_OF_SATELLITES(nums)
|
---|
777 | co->URADataSupplied |= 1;
|
---|
778 | for(i = 0; i < nums; ++i)
|
---|
779 | {
|
---|
780 | G_GPS_SATELLITE_ID(id)
|
---|
781 | for(pos = 0; pos < co->NumberOfGPSSat && co->Sat[pos].ID != id; ++pos)
|
---|
782 | ;
|
---|
783 | if(pos >= CLOCKORBIT_NUMGPS) return GCOBR_DATAMISMATCH;
|
---|
784 | else if(pos == co->NumberOfGPSSat) ++co->NumberOfGPSSat;
|
---|
785 | co->Sat[pos].ID = id;
|
---|
786 |
|
---|
787 | G_SSR_URA(co->Sat[pos].UserRangeAccuracy)
|
---|
788 | }
|
---|
789 | break;
|
---|
790 | case COTYPE_GPSHR:
|
---|
791 | if(!co) return GCOBR_NOCLOCKORBITPARAMETER;
|
---|
792 | co->messageType = COTYPE_GPSHR;
|
---|
793 | G_GPS_EPOCH_TIME(co->GPSEpochTime, co->NumberOfGPSSat)
|
---|
794 | co->epochGPS[co->epochSize] = co->GPSEpochTime; /* Weber, for latency */
|
---|
795 | if(co->epochSize < 100) {co->epochSize += 1;} /* Weber, for latency */
|
---|
796 | G_SSR_UPDATE_INTERVAL(co->UpdateInterval)
|
---|
797 | G_MULTIPLE_MESSAGE_INDICATOR(mmi)
|
---|
798 | G_SSR_IOD(co->SSRIOD)
|
---|
799 | G_SSR_PROVIDER_ID(co->SSRProviderID)
|
---|
800 | G_SSR_SOLUTION_ID(co->SSRSolutionID)
|
---|
801 | G_NO_OF_SATELLITES(nums)
|
---|
802 | co->HRDataSupplied |= 1;
|
---|
803 | for(i = 0; i < nums; ++i)
|
---|
804 | {
|
---|
805 | G_GPS_SATELLITE_ID(id)
|
---|
806 | for(pos = 0; pos < co->NumberOfGPSSat && co->Sat[pos].ID != id; ++pos)
|
---|
807 | ;
|
---|
808 | if(pos >= CLOCKORBIT_NUMGPS) return GCOBR_DATAMISMATCH;
|
---|
809 | else if(pos == co->NumberOfGPSSat) ++co->NumberOfGPSSat;
|
---|
810 | co->Sat[pos].ID = id;
|
---|
811 |
|
---|
812 | G_HR_CLOCK_CORRECTION(co->Sat[pos].hrclock)
|
---|
813 | }
|
---|
814 | break;
|
---|
815 | case COTYPE_GLONASSORBIT:
|
---|
816 | if(!co) return GCOBR_NOCLOCKORBITPARAMETER;
|
---|
817 | co->messageType = COTYPE_GLONASSORBIT;
|
---|
818 | G_GLONASS_EPOCH_TIME(co->GLONASSEpochTime, co->NumberOfGLONASSSat)
|
---|
819 | G_SSR_UPDATE_INTERVAL(co->UpdateInterval)
|
---|
820 | G_MULTIPLE_MESSAGE_INDICATOR(mmi)
|
---|
821 | G_SATELLITE_REFERENCE_DATUM(co->SatRefDatum)
|
---|
822 | G_SSR_IOD(co->SSRIOD)
|
---|
823 | G_SSR_PROVIDER_ID(co->SSRProviderID)
|
---|
824 | G_SSR_SOLUTION_ID(co->SSRSolutionID)
|
---|
825 | G_NO_OF_SATELLITES(nums)
|
---|
826 | co->OrbitDataSupplied |= 2;
|
---|
827 | #ifdef DEBUG
|
---|
828 | fprintf(stderr, "epochtime %d ui %d mmi %d sats %d/%d rd %d\n",co->GLONASSEpochTime,
|
---|
829 | co->UpdateInterval,mmi,co->NumberOfGLONASSSat,nums, co->SatRefDatum);
|
---|
830 | #endif
|
---|
831 | for(i = 0; i < nums; ++i)
|
---|
832 | {
|
---|
833 | G_GLONASS_SATELLITE_ID(id)
|
---|
834 | for(pos = CLOCKORBIT_NUMGPS; pos < CLOCKORBIT_NUMGPS+co->NumberOfGLONASSSat && co->Sat[pos].ID != id; ++pos)
|
---|
835 | ;
|
---|
836 | if(pos >= CLOCKORBIT_NUMGPS+CLOCKORBIT_NUMGLONASS) return GCOBR_DATAMISMATCH;
|
---|
837 | else if(pos == CLOCKORBIT_NUMGPS+co->NumberOfGLONASSSat) ++co->NumberOfGLONASSSat;
|
---|
838 | co->Sat[pos].ID = id;
|
---|
839 |
|
---|
840 | G_GLONASS_IOD(co->Sat[pos].IOD)
|
---|
841 | G_DELTA_RADIAL(co->Sat[pos].Orbit.DeltaRadial)
|
---|
842 | G_DELTA_ALONG_TRACK(co->Sat[pos].Orbit.DeltaAlongTrack)
|
---|
843 | G_DELTA_CROSS_TRACK(co->Sat[pos].Orbit.DeltaCrossTrack)
|
---|
844 | G_DELTA_DOT_RADIAL(co->Sat[pos].Orbit.DotDeltaRadial)
|
---|
845 | G_DELTA_DOT_ALONG_TRACK(co->Sat[pos].Orbit.DotDeltaAlongTrack)
|
---|
846 | G_DELTA_DOT_CROSS_TRACK(co->Sat[pos].Orbit.DotDeltaCrossTrack)
|
---|
847 | #ifdef DEBUG
|
---|
848 | fprintf(stderr, "id %2d iod %3d dr %8.3f da %8.3f dc %8.3f dr %8.3f da %8.3f dc %8.3f\n",
|
---|
849 | co->Sat[pos].ID,co->Sat[pos].IOD,co->Sat[pos].Orbit.DeltaRadial,
|
---|
850 | co->Sat[pos].Orbit.DeltaAlongTrack,co->Sat[pos].Orbit.DeltaCrossTrack,
|
---|
851 | co->Sat[pos].Orbit.DotDeltaRadial,
|
---|
852 | co->Sat[pos].Orbit.DotDeltaAlongTrack,
|
---|
853 | co->Sat[pos].Orbit.DotDeltaCrossTrack);
|
---|
854 | #endif
|
---|
855 | }
|
---|
856 | break;
|
---|
857 | case COTYPE_GLONASSCLOCK:
|
---|
858 | if(!co) return GCOBR_NOCLOCKORBITPARAMETER;
|
---|
859 | co->messageType = COTYPE_GLONASSCLOCK;
|
---|
860 | G_GLONASS_EPOCH_TIME(co->GLONASSEpochTime, co->NumberOfGLONASSSat)
|
---|
861 | G_SSR_UPDATE_INTERVAL(co->UpdateInterval)
|
---|
862 | G_MULTIPLE_MESSAGE_INDICATOR(mmi)
|
---|
863 | G_SSR_IOD(co->SSRIOD)
|
---|
864 | G_SSR_PROVIDER_ID(co->SSRProviderID)
|
---|
865 | G_SSR_SOLUTION_ID(co->SSRSolutionID)
|
---|
866 | G_NO_OF_SATELLITES(nums)
|
---|
867 | co->ClockDataSupplied |= 2;
|
---|
868 | #ifdef DEBUG
|
---|
869 | fprintf(stderr, "epochtime %d ui %d mmi %d sats %d/%d\n",co->GLONASSEpochTime,
|
---|
870 | co->UpdateInterval,mmi,co->NumberOfGLONASSSat,nums);
|
---|
871 | #endif
|
---|
872 | for(i = 0; i < nums; ++i)
|
---|
873 | {
|
---|
874 | G_GLONASS_SATELLITE_ID(id)
|
---|
875 | for(pos = CLOCKORBIT_NUMGPS; pos < CLOCKORBIT_NUMGPS+co->NumberOfGLONASSSat && co->Sat[pos].ID != id; ++pos)
|
---|
876 | ;
|
---|
877 | if(pos >= CLOCKORBIT_NUMGPS+CLOCKORBIT_NUMGLONASS) return GCOBR_DATAMISMATCH;
|
---|
878 | else if(pos == CLOCKORBIT_NUMGPS+co->NumberOfGLONASSSat) ++co->NumberOfGLONASSSat;
|
---|
879 | co->Sat[pos].ID = id;
|
---|
880 |
|
---|
881 | G_DELTA_CLOCK_C0(co->Sat[pos].Clock.DeltaA0)
|
---|
882 | G_DELTA_CLOCK_C1(co->Sat[pos].Clock.DeltaA1)
|
---|
883 | G_DELTA_CLOCK_C2(co->Sat[pos].Clock.DeltaA2)
|
---|
884 | #ifdef DEBUG
|
---|
885 | fprintf(stderr, "id %2d c0 %8.3f c1 %8.3f c2 %8.3f\n",
|
---|
886 | co->Sat[pos].ID, co->Sat[pos].Clock.DeltaA0, co->Sat[pos].Clock.DeltaA1,
|
---|
887 | co->Sat[pos].Clock.DeltaA2);
|
---|
888 | #endif
|
---|
889 | }
|
---|
890 | break;
|
---|
891 | case COTYPE_GLONASSCOMBINED:
|
---|
892 | if(!co) return GCOBR_NOCLOCKORBITPARAMETER;
|
---|
893 | co->messageType = COTYPE_GLONASSCOMBINED;
|
---|
894 | G_GLONASS_EPOCH_TIME(co->GLONASSEpochTime, co->NumberOfGLONASSSat)
|
---|
895 | G_SSR_UPDATE_INTERVAL(co->UpdateInterval)
|
---|
896 | G_MULTIPLE_MESSAGE_INDICATOR(mmi)
|
---|
897 | G_SATELLITE_REFERENCE_DATUM(co->SatRefDatum)
|
---|
898 | G_SSR_IOD(co->SSRIOD)
|
---|
899 | G_SSR_PROVIDER_ID(co->SSRProviderID)
|
---|
900 | G_SSR_SOLUTION_ID(co->SSRSolutionID)
|
---|
901 | G_NO_OF_SATELLITES(nums)
|
---|
902 | co->OrbitDataSupplied |= 2;
|
---|
903 | co->ClockDataSupplied |= 2;
|
---|
904 | for(i = 0; i < nums; ++i)
|
---|
905 | {
|
---|
906 | G_GLONASS_SATELLITE_ID(id)
|
---|
907 | for(pos = CLOCKORBIT_NUMGPS; pos < CLOCKORBIT_NUMGPS+co->NumberOfGLONASSSat && co->Sat[pos].ID != id; ++pos)
|
---|
908 | ;
|
---|
909 | if(pos >= CLOCKORBIT_NUMGPS+CLOCKORBIT_NUMGLONASS) return GCOBR_DATAMISMATCH;
|
---|
910 | else if(pos == CLOCKORBIT_NUMGPS+co->NumberOfGLONASSSat) ++co->NumberOfGLONASSSat;
|
---|
911 | co->Sat[pos].ID = id;
|
---|
912 |
|
---|
913 | G_GLONASS_IOD(co->Sat[pos].IOD)
|
---|
914 | G_DELTA_RADIAL(co->Sat[pos].Orbit.DeltaRadial)
|
---|
915 | G_DELTA_ALONG_TRACK(co->Sat[pos].Orbit.DeltaAlongTrack)
|
---|
916 | G_DELTA_CROSS_TRACK(co->Sat[pos].Orbit.DeltaCrossTrack)
|
---|
917 | G_DELTA_DOT_RADIAL(co->Sat[pos].Orbit.DotDeltaRadial)
|
---|
918 | G_DELTA_DOT_ALONG_TRACK(co->Sat[pos].Orbit.DotDeltaAlongTrack)
|
---|
919 | G_DELTA_DOT_CROSS_TRACK(co->Sat[pos].Orbit.DotDeltaCrossTrack)
|
---|
920 | G_DELTA_CLOCK_C0(co->Sat[pos].Clock.DeltaA0)
|
---|
921 | G_DELTA_CLOCK_C1(co->Sat[pos].Clock.DeltaA1)
|
---|
922 | G_DELTA_CLOCK_C2(co->Sat[pos].Clock.DeltaA2)
|
---|
923 | }
|
---|
924 | break;
|
---|
925 | case COTYPE_GLONASSURA:
|
---|
926 | if(!co) return GCOBR_NOCLOCKORBITPARAMETER;
|
---|
927 | co->messageType = COTYPE_GLONASSURA;
|
---|
928 | G_GLONASS_EPOCH_TIME(co->GLONASSEpochTime, co->NumberOfGLONASSSat)
|
---|
929 | G_MULTIPLE_MESSAGE_INDICATOR(mmi)
|
---|
930 | G_SSR_IOD(co->SSRIOD)
|
---|
931 | G_SSR_PROVIDER_ID(co->SSRProviderID)
|
---|
932 | G_SSR_SOLUTION_ID(co->SSRSolutionID)
|
---|
933 | G_NO_OF_SATELLITES(nums)
|
---|
934 | co->URADataSupplied |= 2;
|
---|
935 | for(i = 0; i < nums; ++i)
|
---|
936 | {
|
---|
937 | G_GLONASS_SATELLITE_ID(id)
|
---|
938 | for(pos = CLOCKORBIT_NUMGPS; pos < CLOCKORBIT_NUMGPS+co->NumberOfGLONASSSat && co->Sat[pos].ID != id; ++pos)
|
---|
939 | ;
|
---|
940 | if(pos >= CLOCKORBIT_NUMGPS+CLOCKORBIT_NUMGLONASS) return GCOBR_DATAMISMATCH;
|
---|
941 | else if(pos == CLOCKORBIT_NUMGPS+co->NumberOfGLONASSSat) ++co->NumberOfGLONASSSat;
|
---|
942 | co->Sat[pos].ID = id;
|
---|
943 |
|
---|
944 | G_SSR_URA(co->Sat[pos].UserRangeAccuracy)
|
---|
945 | }
|
---|
946 | break;
|
---|
947 | case COTYPE_GLONASSHR:
|
---|
948 | if(!co) return GCOBR_NOCLOCKORBITPARAMETER;
|
---|
949 | co->messageType = COTYPE_GLONASSHR;
|
---|
950 | G_GLONASS_EPOCH_TIME(co->GLONASSEpochTime, co->NumberOfGLONASSSat)
|
---|
951 | G_SSR_UPDATE_INTERVAL(co->UpdateInterval)
|
---|
952 | G_MULTIPLE_MESSAGE_INDICATOR(mmi)
|
---|
953 | G_SSR_IOD(co->SSRIOD)
|
---|
954 | G_SSR_PROVIDER_ID(co->SSRProviderID)
|
---|
955 | G_SSR_SOLUTION_ID(co->SSRSolutionID)
|
---|
956 | G_NO_OF_SATELLITES(nums)
|
---|
957 | co->HRDataSupplied |= 2;
|
---|
958 | for(i = 0; i < nums; ++i)
|
---|
959 | {
|
---|
960 | G_GLONASS_SATELLITE_ID(id)
|
---|
961 | for(pos = CLOCKORBIT_NUMGPS; pos < CLOCKORBIT_NUMGPS+co->NumberOfGLONASSSat && co->Sat[pos].ID != id; ++pos)
|
---|
962 | ;
|
---|
963 | if(pos >= CLOCKORBIT_NUMGPS+CLOCKORBIT_NUMGLONASS) return GCOBR_DATAMISMATCH;
|
---|
964 | else if(pos == CLOCKORBIT_NUMGPS+co->NumberOfGLONASSSat) ++co->NumberOfGLONASSSat;
|
---|
965 | co->Sat[pos].ID = id;
|
---|
966 |
|
---|
967 | G_HR_CLOCK_CORRECTION(co->Sat[pos].hrclock)
|
---|
968 | }
|
---|
969 | break;
|
---|
970 | case BTYPE_GPS:
|
---|
971 | if(!b) return GCOBR_NOBIASPARAMETER;
|
---|
972 | b->messageType = BTYPE_GPS;
|
---|
973 | G_GPS_EPOCH_TIME(b->GPSEpochTime, b->NumberOfGPSSat)
|
---|
974 | G_SSR_UPDATE_INTERVAL(b->UpdateInterval)
|
---|
975 | G_MULTIPLE_MESSAGE_INDICATOR(mmi)
|
---|
976 | G_SSR_IOD(b->SSRIOD)
|
---|
977 | G_SSR_PROVIDER_ID(b->SSRProviderID)
|
---|
978 | G_SSR_SOLUTION_ID(b->SSRSolutionID)
|
---|
979 | G_NO_OF_SATELLITES(nums)
|
---|
980 | for(i = 0; i < nums; ++i)
|
---|
981 | {
|
---|
982 | G_GPS_SATELLITE_ID(id)
|
---|
983 | for(pos = 0; pos < b->NumberOfGPSSat && b->Sat[pos].ID != id; ++pos)
|
---|
984 | ;
|
---|
985 | if(pos >= CLOCKORBIT_NUMGPS) return GCOBR_DATAMISMATCH;
|
---|
986 | else if(pos == b->NumberOfGPSSat) ++b->NumberOfGPSSat;
|
---|
987 | b->Sat[pos].ID = id;
|
---|
988 |
|
---|
989 | G_NO_OF_CODE_BIASES(b->Sat[pos].NumberOfCodeBiases)
|
---|
990 | for(j = 0; j < b->Sat[pos].NumberOfCodeBiases; ++j)
|
---|
991 | {
|
---|
992 | G_GPS_SIGNAL_IDENTIFIER(b->Sat[pos].Biases[j].Type)
|
---|
993 | G_CODE_BIAS(b->Sat[pos].Biases[j].Bias)
|
---|
994 | }
|
---|
995 | }
|
---|
996 | break;
|
---|
997 | case BTYPE_GLONASS:
|
---|
998 | if(!b) return GCOBR_NOBIASPARAMETER;
|
---|
999 | b->messageType = BTYPE_GLONASS;
|
---|
1000 | G_GLONASS_EPOCH_TIME(b->GLONASSEpochTime, b->NumberOfGLONASSSat)
|
---|
1001 | G_SSR_UPDATE_INTERVAL(b->UpdateInterval)
|
---|
1002 | G_MULTIPLE_MESSAGE_INDICATOR(mmi)
|
---|
1003 | G_SSR_IOD(b->SSRIOD)
|
---|
1004 | G_SSR_PROVIDER_ID(b->SSRProviderID)
|
---|
1005 | G_SSR_SOLUTION_ID(b->SSRSolutionID)
|
---|
1006 | G_NO_OF_SATELLITES(nums)
|
---|
1007 | for(i = 0; i < nums; ++i)
|
---|
1008 | {
|
---|
1009 | G_GLONASS_SATELLITE_ID(id)
|
---|
1010 | for(pos = CLOCKORBIT_NUMGPS; pos < CLOCKORBIT_NUMGPS+b->NumberOfGLONASSSat && b->Sat[pos].ID != id; ++pos)
|
---|
1011 | ;
|
---|
1012 | if(pos >= CLOCKORBIT_NUMGPS+CLOCKORBIT_NUMGLONASS) return GCOBR_DATAMISMATCH;
|
---|
1013 | else if(pos == CLOCKORBIT_NUMGPS+b->NumberOfGLONASSSat) ++b->NumberOfGLONASSSat;
|
---|
1014 | b->Sat[pos].ID = id;
|
---|
1015 |
|
---|
1016 | G_NO_OF_CODE_BIASES(b->Sat[pos].NumberOfCodeBiases)
|
---|
1017 | for(j = 0; j < b->Sat[pos].NumberOfCodeBiases; ++j)
|
---|
1018 | {
|
---|
1019 | G_GLONASS_SIGNAL_IDENTIFIER(b->Sat[pos].Biases[j].Type)
|
---|
1020 | G_CODE_BIAS(b->Sat[pos].Biases[j].Bias)
|
---|
1021 | }
|
---|
1022 | }
|
---|
1023 | break;
|
---|
1024 | default:
|
---|
1025 | if(bytesused)
|
---|
1026 | *bytesused = sizeofrtcmblock+6;
|
---|
1027 | return GCOBR_UNKNOWNTYPE;
|
---|
1028 | }
|
---|
1029 | #ifdef DEBUG
|
---|
1030 | for(type = 0; type < (int)size && (unsigned char)buffer[type] != 0xD3; ++type)
|
---|
1031 | numbits += 8;
|
---|
1032 | fprintf(stderr, "numbits left %d\n",numbits);
|
---|
1033 | #endif
|
---|
1034 | if(bytesused)
|
---|
1035 | *bytesused = sizeofrtcmblock+6;
|
---|
1036 | return mmi ? GCOBR_MESSAGEFOLLOWS : GCOBR_OK;
|
---|
1037 | }
|
---|
1038 | #endif /* NODECODE */
|
---|