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 5664 2014-05-26 15:09:28Z 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)(c > 0 ? b*c+0.5 : b*c-0.5))
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93 |
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94 | #define MPI 3.141592653589793
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95 |
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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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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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116 |
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117 | #define T_SATELLITE_REFERENCE_DATUM(a) ADDBITS(1, a)
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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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120 | #define T_DELTA_CLOCK_C2(a) SCALEADDBITS(27, 50000000.0, a)
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121 | #define T_NO_OF_CODE_BIASES(a) ADDBITS(5, a)
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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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124 | #define T_CODE_BIAS(a) SCALEADDBITS(14, 100.0, a)
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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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128 |
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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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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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138 | #define T_SSR_URA(a) ADDBITS(6, a)
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139 | #define T_HR_CLOCK_CORRECTION(a) SCALEADDBITS(22, 10000.0, a)
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140 | #define T_SSR_UPDATE_INTERVAL(a) ADDBITS(4, a)
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141 |
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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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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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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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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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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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192 | unsigned int status[CLOCKORBIT_SATNUM][COBOFS_NUM], i, s;
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193 |
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194 | memset(status, 0, sizeof(status));
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195 | STARTDATA
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196 |
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197 | for(s = 0; s < CLOCKORBIT_SATNUM; ++s)
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198 | {
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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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214 |
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215 | for(s = 0; s < CLOCKORBIT_SATNUM; ++s)
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216 | {
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217 | if(status[s][COBOFS_ORBIT])
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218 | {
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219 | INITBLOCK
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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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232 | T_SSR_UPDATE_INTERVAL(co->UpdateInterval)
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233 | T_MULTIPLE_MESSAGE_INDICATOR(moremessagesfollow ? 1 : 0)
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234 | T_SATELLITE_REFERENCE_DATUM(co->SatRefDatum)
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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->NumberOfSat[s])
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239 | for(i = satoffset[s]; i < satoffset[s]+co->NumberOfSat[s]; ++i)
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240 | {
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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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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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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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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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320 | }
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321 | if(status[s][COBOFS_COMBINED])
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322 | {
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323 | #ifdef SPLITBLOCK
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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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337 | #endif
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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)
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354 | #else
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355 | T_MULTIPLE_MESSAGE_INDICATOR(moremessagesfollow ? 1 : 0)
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356 | #endif
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357 | T_SATELLITE_REFERENCE_DATUM(co->SatRefDatum)
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358 | T_SSR_IOD(co->SSRIOD)
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359 | T_SSR_PROVIDER_ID(co->SSRProviderID)
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360 | T_SSR_SOLUTION_ID(co->SSRSolutionID)
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361 | #ifdef SPLITBLOCK
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362 | T_NO_OF_SATELLITES(nums)
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363 | for(i = start; i < start+nums; ++i)
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364 | #else
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365 | T_NO_OF_SATELLITES(co->NumberOfSat[s])
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366 | for(i = satoffset[s]; i < satoffset[s]+co->NumberOfSat[s]; ++i)
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367 | #endif
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368 | {
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369 | switch(s)
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370 | {
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371 | case CLOCKORBIT_SATGPS:
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372 | T_GPS_SATELLITE_ID(co->Sat[i].ID)
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373 | T_GPS_IODE(co->Sat[i].IOD)
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374 | break;
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375 | case CLOCKORBIT_SATGLONASS:
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376 | T_GLONASS_SATELLITE_ID(co->Sat[i].ID)
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377 | T_GLONASS_IOD(co->Sat[i].IOD)
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378 | break;
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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
|
---|
415 | }
|
---|
416 | if(status[s][COBOFS_HR])
|
---|
417 | {
|
---|
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
|
---|
455 | }
|
---|
456 | if(status[s][COBOFS_URA])
|
---|
457 | {
|
---|
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 | }
|
---|
471 | T_MULTIPLE_MESSAGE_INDICATOR(moremessagesfollow ? 1 : 0)
|
---|
472 | T_SSR_IOD(co->SSRIOD)
|
---|
473 | T_SSR_PROVIDER_ID(co->SSRProviderID)
|
---|
474 | T_SSR_SOLUTION_ID(co->SSRSolutionID)
|
---|
475 | T_NO_OF_SATELLITES(co->NumberOfSat[s])
|
---|
476 | for(i = satoffset[s]; i < satoffset[s]+co->NumberOfSat[s]; ++i)
|
---|
477 | {
|
---|
478 | switch(s)
|
---|
479 | {
|
---|
480 | case CLOCKORBIT_SATGPS: case CLOCKORBIT_SATGALILEO:
|
---|
481 | case CLOCKORBIT_SATSBAS: case CLOCKORBIT_SATBDS:
|
---|
482 | T_GPS_SATELLITE_ID(co->Sat[i].ID)
|
---|
483 | break;
|
---|
484 | case CLOCKORBIT_SATQZSS:
|
---|
485 | T_QZSS_SATELLITE_ID(co->Sat[i].ID)
|
---|
486 | break;
|
---|
487 | case CLOCKORBIT_SATGLONASS:
|
---|
488 | T_GLONASS_SATELLITE_ID(co->Sat[i].ID)
|
---|
489 | break;
|
---|
490 | }
|
---|
491 | T_SSR_URA(ValueToURA(co->Sat[i].UserRangeAccuracy))
|
---|
492 | }
|
---|
493 | ENDBLOCK
|
---|
494 | }
|
---|
495 | }
|
---|
496 | return ressize;
|
---|
497 | }
|
---|
498 |
|
---|
499 | size_t MakeCodeBias(const struct CodeBias *b, enum CodeBiasType type,
|
---|
500 | int moremessagesfollow, char *buffer, size_t size)
|
---|
501 | {
|
---|
502 | unsigned int s, i, j;
|
---|
503 |
|
---|
504 | STARTDATA
|
---|
505 |
|
---|
506 | for(s = 0; s < CLOCKORBIT_SATNUM; ++s)
|
---|
507 | {
|
---|
508 | if(b->NumberOfSat[s] && (type == BTYPE_AUTO || type == corbase[s]+COBOFS_BIAS))
|
---|
509 | {
|
---|
510 | INITBLOCK
|
---|
511 | T_MESSAGE_NUMBER(corbase[s]+COBOFS_BIAS)
|
---|
512 | switch(s)
|
---|
513 | {
|
---|
514 | case CLOCKORBIT_SATGPS: case CLOCKORBIT_SATGALILEO:
|
---|
515 | case CLOCKORBIT_SATQZSS: case CLOCKORBIT_SATSBAS:
|
---|
516 | case CLOCKORBIT_SATBDS:
|
---|
517 | T_GPS_EPOCH_TIME(b->EpochTime[s])
|
---|
518 | break;
|
---|
519 | case CLOCKORBIT_SATGLONASS:
|
---|
520 | T_GLONASS_EPOCH_TIME(b->EpochTime[s])
|
---|
521 | break;
|
---|
522 | }
|
---|
523 | T_SSR_UPDATE_INTERVAL(b->UpdateInterval)
|
---|
524 | T_MULTIPLE_MESSAGE_INDICATOR(moremessagesfollow ? 1 : 0)
|
---|
525 | T_SSR_IOD(b->SSRIOD)
|
---|
526 | T_SSR_PROVIDER_ID(b->SSRProviderID)
|
---|
527 | T_SSR_SOLUTION_ID(b->SSRSolutionID)
|
---|
528 | T_NO_OF_SATELLITES(b->NumberOfSat[s])
|
---|
529 | for(i = satoffset[s]; i < satoffset[s]+b->NumberOfSat[s]; ++i)
|
---|
530 | {
|
---|
531 | switch(s)
|
---|
532 | {
|
---|
533 | case CLOCKORBIT_SATGPS: case CLOCKORBIT_SATGALILEO:
|
---|
534 | case CLOCKORBIT_SATSBAS: case CLOCKORBIT_SATBDS:
|
---|
535 | T_GPS_SATELLITE_ID(b->Sat[i].ID)
|
---|
536 | break;
|
---|
537 | case CLOCKORBIT_SATQZSS:
|
---|
538 | T_QZSS_SATELLITE_ID(b->Sat[i].ID)
|
---|
539 | break;
|
---|
540 | case CLOCKORBIT_SATGLONASS:
|
---|
541 | T_GLONASS_SATELLITE_ID(b->Sat[i].ID)
|
---|
542 | break;
|
---|
543 | }
|
---|
544 | T_NO_OF_CODE_BIASES(b->Sat[i].NumberOfCodeBiases)
|
---|
545 | for(j = 0; j < b->Sat[i].NumberOfCodeBiases; ++j)
|
---|
546 | {
|
---|
547 | T_SIGNAL_IDENTIFIER(b->Sat[i].Biases[j].Type)
|
---|
548 | T_CODE_BIAS(b->Sat[i].Biases[j].Bias)
|
---|
549 | }
|
---|
550 | }
|
---|
551 | ENDBLOCK
|
---|
552 | }
|
---|
553 | }
|
---|
554 | return ressize;
|
---|
555 | }
|
---|
556 |
|
---|
557 | size_t MakePhaseBias(const struct PhaseBias *b, enum PhaseBiasType type,
|
---|
558 | int moremessagesfollow, char *buffer, size_t size)
|
---|
559 | {
|
---|
560 | unsigned int s, i, j;
|
---|
561 |
|
---|
562 | STARTDATA
|
---|
563 |
|
---|
564 | for(s = 0; s < CLOCKORBIT_SATNUM; ++s)
|
---|
565 | {
|
---|
566 | if(b->NumberOfSat[s] && (type == PBTYPE_AUTO || type == corbase[s]+COBOFS_BIAS))
|
---|
567 | {
|
---|
568 | INITBLOCK
|
---|
569 | T_MESSAGE_NUMBER(corbase[s]+COBOFS_BIAS)
|
---|
570 | switch(s)
|
---|
571 | {
|
---|
572 | case CLOCKORBIT_SATGPS: case CLOCKORBIT_SATGALILEO:
|
---|
573 | case CLOCKORBIT_SATQZSS: case CLOCKORBIT_SATSBAS:
|
---|
574 | case CLOCKORBIT_SATBDS:
|
---|
575 | T_GPS_EPOCH_TIME(b->EpochTime[s])
|
---|
576 | break;
|
---|
577 | case CLOCKORBIT_SATGLONASS:
|
---|
578 | T_GLONASS_EPOCH_TIME(b->EpochTime[s])
|
---|
579 | break;
|
---|
580 | }
|
---|
581 | T_SSR_UPDATE_INTERVAL(b->UpdateInterval)
|
---|
582 | T_MULTIPLE_MESSAGE_INDICATOR(moremessagesfollow ? 1 : 0)
|
---|
583 | T_SSR_IOD(b->SSRIOD)
|
---|
584 | T_SSR_PROVIDER_ID(b->SSRProviderID)
|
---|
585 | T_SSR_SOLUTION_ID(b->SSRSolutionID)
|
---|
586 | T_DISPERSIVE_BIAS_INDICATOR(b->DispersiveBiasConsistencyIndicator ? 1 : 0)
|
---|
587 | T_MW_CONSISTENCY_INDICATOR(b->MWConsistencyIndicator ? 1 : 0)
|
---|
588 | T_NO_OF_SATELLITES(b->NumberOfSat[CLOCKORBIT_SATGPS])
|
---|
589 | for(i = satoffset[s]; i < satoffset[s]+b->NumberOfSat[s]; ++i)
|
---|
590 | {
|
---|
591 | switch(s)
|
---|
592 | {
|
---|
593 | case CLOCKORBIT_SATGPS: case CLOCKORBIT_SATGALILEO:
|
---|
594 | case CLOCKORBIT_SATSBAS: case CLOCKORBIT_SATBDS:
|
---|
595 | T_GPS_SATELLITE_ID(b->Sat[i].ID)
|
---|
596 | break;
|
---|
597 | case CLOCKORBIT_SATQZSS:
|
---|
598 | T_QZSS_SATELLITE_ID(b->Sat[i].ID)
|
---|
599 | break;
|
---|
600 | case CLOCKORBIT_SATGLONASS:
|
---|
601 | T_GLONASS_SATELLITE_ID(b->Sat[i].ID)
|
---|
602 | break;
|
---|
603 | }
|
---|
604 | T_NO_OF_CODE_BIASES(b->Sat[i].NumberOfPhaseBiases)
|
---|
605 | T_YAW_ANGLE(b->Sat[i].YawAngle)
|
---|
606 | T_YAW_RATE(b->Sat[i].YawRate)
|
---|
607 | for(j = 0; j < b->Sat[i].NumberOfPhaseBiases; ++j)
|
---|
608 | {
|
---|
609 | T_SIGNAL_IDENTIFIER(b->Sat[i].Biases[j].Type)
|
---|
610 | T_INTEGER_INDICATOR(b->Sat[i].Biases[j].SignalIntegerIndicator ? 1 : 0)
|
---|
611 | T_WIDE_LANE_INDICATOR(b->Sat[i].Biases[j].SignalsWideLaneIntegerIndicator ? 1 : 0)
|
---|
612 | T_DISCONTINUITY_COUNTER(b->Sat[i].Biases[j].SignalDiscontinuityCounter)
|
---|
613 | T_PHASE_BIAS(b->Sat[i].Biases[j].Bias)
|
---|
614 | }
|
---|
615 | }
|
---|
616 | ENDBLOCK
|
---|
617 | }
|
---|
618 | }
|
---|
619 | return ressize;
|
---|
620 | }
|
---|
621 |
|
---|
622 | size_t MakeVTEC(const struct VTEC *v, int moremessagesfollow, char *buffer,
|
---|
623 | size_t size)
|
---|
624 | {
|
---|
625 | unsigned int l, o, d;
|
---|
626 |
|
---|
627 | STARTDATA
|
---|
628 | INITBLOCK
|
---|
629 | T_MESSAGE_NUMBER(VTEC_BASE)
|
---|
630 |
|
---|
631 | T_GPS_EPOCH_TIME(v->EpochTime)
|
---|
632 | T_SSR_UPDATE_INTERVAL(v->UpdateInterval)
|
---|
633 | T_MULTIPLE_MESSAGE_INDICATOR(moremessagesfollow ? 1 : 0)
|
---|
634 | T_SSR_IOD(v->SSRIOD)
|
---|
635 | T_SSR_PROVIDER_ID(v->SSRProviderID)
|
---|
636 | T_SSR_SOLUTION_ID(v->SSRSolutionID)
|
---|
637 | T_VTEC_QUALITY_INDICATOR(v->Quality)
|
---|
638 | T_NO_IONO_LAYERS(v->NumLayers)
|
---|
639 | for(l = 0; l < v->NumLayers; ++l)
|
---|
640 | {
|
---|
641 | T_IONO_HEIGHT(v->Layers[l].Height)
|
---|
642 | T_IONO_DEGREE(v->Layers[l].Degree)
|
---|
643 | T_IONO_ORDER(v->Layers[l].Order)
|
---|
644 | for(o = 0; o <= v->Layers[l].Order; ++o)
|
---|
645 | {
|
---|
646 | for(d = o; d <= v->Layers[l].Degree; ++d)
|
---|
647 | {
|
---|
648 | T_IONO_COEFF(v->Layers[l].Cosinus[d][o])
|
---|
649 | }
|
---|
650 | }
|
---|
651 | for(o = 1; o <= v->Layers[l].Order; ++o)
|
---|
652 | {
|
---|
653 | for(d = o; d <= v->Layers[l].Degree; ++d)
|
---|
654 | {
|
---|
655 | T_IONO_COEFF(v->Layers[l].Sinus[d][o])
|
---|
656 | }
|
---|
657 | }
|
---|
658 | }
|
---|
659 | ENDBLOCK
|
---|
660 | return ressize;
|
---|
661 | }
|
---|
662 | #endif /* NOENCODE */
|
---|
663 |
|
---|
664 | #ifndef NODECODE
|
---|
665 |
|
---|
666 | #define DECODESTART \
|
---|
667 | int numbits=0; \
|
---|
668 | uint64_t bitbuffer=0;
|
---|
669 |
|
---|
670 | #define LOADBITS(a) \
|
---|
671 | { \
|
---|
672 | while((a) > numbits) \
|
---|
673 | { \
|
---|
674 | if(!size--) return GCOBR_SHORTMESSAGE; \
|
---|
675 | bitbuffer = (bitbuffer<<8)|((unsigned char)*(buffer++)); \
|
---|
676 | numbits += 8; \
|
---|
677 | } \
|
---|
678 | }
|
---|
679 |
|
---|
680 | /* extract bits from data stream
|
---|
681 | b = variable to store result, a = number of bits */
|
---|
682 | #define GETBITS(b, a) \
|
---|
683 | { \
|
---|
684 | LOADBITS(a) \
|
---|
685 | b = (bitbuffer<<(64-numbits))>>(64-(a)); \
|
---|
686 | numbits -= (a); \
|
---|
687 | }
|
---|
688 |
|
---|
689 | /* extract bits from data stream
|
---|
690 | b = variable to store result, a = number of bits */
|
---|
691 | #define GETBITSFACTOR(b, a, c) \
|
---|
692 | { \
|
---|
693 | LOADBITS(a) \
|
---|
694 | b = ((bitbuffer<<(64-numbits))>>(64-(a)))*(c); \
|
---|
695 | numbits -= (a); \
|
---|
696 | }
|
---|
697 |
|
---|
698 | /* extract signed floating value from data stream
|
---|
699 | b = variable to store result, a = number of bits */
|
---|
700 | #define GETFLOATSIGN(b, a, c) \
|
---|
701 | { \
|
---|
702 | LOADBITS(a) \
|
---|
703 | b = ((double)(((int64_t)(bitbuffer<<(64-numbits)))>>(64-(a))))*(c); \
|
---|
704 | numbits -= (a); \
|
---|
705 | }
|
---|
706 |
|
---|
707 | /* extract floating value from data stream
|
---|
708 | b = variable to store result, a = number of bits, c = scale factor */
|
---|
709 | #define GETFLOAT(b, a, c) \
|
---|
710 | { \
|
---|
711 | LOADBITS(a) \
|
---|
712 | b = ((double)((bitbuffer<<(sizeof(bitbuffer)*8-numbits))>>(sizeof(bitbuffer)*8-(a))))*(c); \
|
---|
713 | numbits -= (a); \
|
---|
714 | }
|
---|
715 |
|
---|
716 | #define SKIPBITS(b) { LOADBITS(b) numbits -= (b); }
|
---|
717 |
|
---|
718 | /* GPS macros also used for other systems when matching! */
|
---|
719 | #define G_HEADER(a) GETBITS(a,8)
|
---|
720 | #define G_RESERVEDH(a) GETBITS(a,6)
|
---|
721 | #define G_SIZE(a) GETBITS(a, 10)
|
---|
722 | #define G_MESSAGE_NUMBER(a) GETBITS(a, 12) /* DF002 */
|
---|
723 | #define G_GPS_SATELLITE_ID(a) GETBITS(a, 6) /* DF068 */
|
---|
724 | #define G_QZSS_SATELLITE_ID(a) GETBITS(a, 4) /* DF249 */
|
---|
725 | #define G_GLONASS_SATELLITE_ID(a) GETBITS(a, 5)
|
---|
726 |
|
---|
727 | #define G_GPS_IODE(a) GETBITS(a, 8) /* DF071 */
|
---|
728 | #define G_GLONASS_IOD(a) GETBITS(a, 8) /* DF237 */
|
---|
729 | #define G_GALILEO_IOD(a) GETBITS(a, 10) /* DF459 */
|
---|
730 | #define G_SBAS_T0MOD(a) GETBITSFACTOR(a, 9, 16) /* DF468 */
|
---|
731 | #define G_SBAS_IODCRC(a) GETBITS(a, 24) /* DF469 */
|
---|
732 | #define G_BDS_TOEMOD(a) GETBITSFACTOR(a, 10, 8) /* DF470 */
|
---|
733 | #define G_BDS_IODCRC(a) GETBITS(a, 24) /* DF471 */
|
---|
734 |
|
---|
735 | /* defined values */
|
---|
736 | #define G_DELTA_RADIAL(a) GETFLOATSIGN(a, 22, 1/10000.0)
|
---|
737 | #define G_DELTA_ALONG_TRACK(a) GETFLOATSIGN(a, 20, 1/2500.0)
|
---|
738 | #define G_DELTA_CROSS_TRACK(a) GETFLOATSIGN(a, 20, 1/2500.0)
|
---|
739 | #define G_DELTA_DOT_RADIAL(a) GETFLOATSIGN(a, 21, 1/1000000.0)
|
---|
740 | #define G_DELTA_DOT_ALONG_TRACK(a) GETFLOATSIGN(a, 19, 1/250000.0)
|
---|
741 | #define G_DELTA_DOT_CROSS_TRACK(a) GETFLOATSIGN(a, 19, 1/250000.0)
|
---|
742 |
|
---|
743 | #define G_SATELLITE_REFERENCE_DATUM(a) GETBITS(a, 1)
|
---|
744 | #define G_DELTA_CLOCK_C0(a) GETFLOATSIGN(a, 22, 1/10000.0)
|
---|
745 | #define G_DELTA_CLOCK_C1(a) GETFLOATSIGN(a, 21, 1/1000000.0)
|
---|
746 | #define G_DELTA_CLOCK_C2(a) GETFLOATSIGN(a, 27, 1/50000000.0)
|
---|
747 | #define G_NO_OF_CODE_BIASES(a) GETBITS(a, 5)
|
---|
748 | #define G_NO_OF_PHASE_BIASES(a) GETBITS(a, 5)
|
---|
749 | #define G_SIGNAL_IDENTIFIER(a) GETBITS(a, 5)
|
---|
750 | #define G_CODE_BIAS(a) GETFLOATSIGN(a, 14, 1/100.0)
|
---|
751 | #define G_YAW_ANGLE(a) GETFLOAT(a, 9, MPI/256.0)
|
---|
752 | #define G_YAW_RATE(a) GETFLOATSIGN(a, 8, MPI/8192.0)
|
---|
753 | #define G_PHASE_BIAS(a) GETFLOATSIGN(a, 20, 1/10000.0)
|
---|
754 |
|
---|
755 | #define G_GPS_EPOCH_TIME(a, b) {unsigned int temp; GETBITS(temp, 20) \
|
---|
756 | if(b && a != temp) return GCOBR_TIMEMISMATCH; a = temp;}
|
---|
757 | #define G_GLONASS_EPOCH_TIME(a, b) {unsigned int temp; GETBITS(temp, 17) \
|
---|
758 | if(b && a != temp) return GCOBR_TIMEMISMATCH; a = temp;}
|
---|
759 | #define G_EPOCH_TIME(a) GETBITS(a, 20)
|
---|
760 | #define G_NO_OF_SATELLITES(a) GETBITS(a, 6)
|
---|
761 | #define G_MULTIPLE_MESSAGE_INDICATOR(a) GETBITS(a, 1)
|
---|
762 | #define G_DISPERSIVE_BIAS_INDICATOR(a) GETBITS(a, 1)
|
---|
763 | #define G_MW_CONSISTENCY_INDICATOR(a) GETBITS(a, 1)
|
---|
764 | #define G_INTEGER_INDICATOR(a) GETBITS(a, 1)
|
---|
765 | #define G_WIDE_LANE_INDICATOR(a) GETBITS(a, 1)
|
---|
766 | #define G_DISCONTINUITY_COUNTER(a) GETBITS(a, 4)
|
---|
767 | #define G_SSR_URA(a) {int temp; GETBITS(temp, 6) \
|
---|
768 | (a) = URAToValue(temp);}
|
---|
769 | #define G_HR_CLOCK_CORRECTION(a) GETFLOATSIGN(a, 22, 1/10000.0)
|
---|
770 | #define G_SSR_UPDATE_INTERVAL(a) GETBITS(a, 4)
|
---|
771 |
|
---|
772 | #define G_SSR_IOD(a) GETBITS(a, 4)
|
---|
773 | #define G_SSR_PROVIDER_ID(a) GETBITS(a, 16)
|
---|
774 | #define G_SSR_SOLUTION_ID(a) GETBITS(a, 4)
|
---|
775 |
|
---|
776 | #define G_NO_IONO_LAYERS(a) {unsigned int temp; GETBITS(temp, 2) a = temp+1; }
|
---|
777 | #define G_VTEC_QUALITY_INDICATOR(a) GETFLOAT(a, 9, 1/20.0)
|
---|
778 | #define G_IONO_COEFF(a) GETFLOATSIGN(a, 16,1/200.0)
|
---|
779 | #define G_IONO_DEGREE(a) {unsigned int temp; GETBITS(temp, 4) a = temp+1; }
|
---|
780 | #define G_IONO_ORDER(a) {unsigned int temp; GETBITS(temp, 4) a = temp+1; }
|
---|
781 | #define G_IONO_HEIGHT(a) GETFLOAT(a, 8 , 10000.0)
|
---|
782 |
|
---|
783 | enum GCOB_RETURN GetSSR(struct ClockOrbit *co, struct CodeBias *b, struct VTEC *v,
|
---|
784 | struct PhaseBias *pb, const char *buffer, size_t size, int *bytesused)
|
---|
785 | {
|
---|
786 | int mmi=0, h, rs;
|
---|
787 | unsigned int type, pos, i, j, s, nums, id;
|
---|
788 | size_t sizeofrtcmblock;
|
---|
789 | const char *blockstart = buffer;
|
---|
790 | DECODESTART
|
---|
791 |
|
---|
792 | if(size < 7)
|
---|
793 | return GCOBR_SHORTBUFFER;
|
---|
794 |
|
---|
795 | #ifdef DEBUG
|
---|
796 | fprintf(stderr, "GetClockOrbitBias START: size %d, numbits %d\n",size, numbits);
|
---|
797 | #endif
|
---|
798 |
|
---|
799 | G_HEADER(h)
|
---|
800 | G_RESERVEDH(rs)
|
---|
801 | G_SIZE(sizeofrtcmblock);
|
---|
802 |
|
---|
803 | if((unsigned char)h != 0xD3 || rs)
|
---|
804 | return GCOBR_UNKNOWNDATA;
|
---|
805 | if(size < sizeofrtcmblock + 3) /* 3 header bytes already removed */
|
---|
806 | return GCOBR_MESSAGEEXCEEDSBUFFER;
|
---|
807 | if(CRC24(sizeofrtcmblock+3, (const unsigned char *) blockstart) !=
|
---|
808 | (uint32_t)((((unsigned char)buffer[sizeofrtcmblock])<<16)|
|
---|
809 | (((unsigned char)buffer[sizeofrtcmblock+1])<<8)|
|
---|
810 | (((unsigned char)buffer[sizeofrtcmblock+2]))))
|
---|
811 | return GCOBR_CRCMISMATCH;
|
---|
812 | size = sizeofrtcmblock; /* reduce size, so overflows are detected */
|
---|
813 |
|
---|
814 | G_MESSAGE_NUMBER(type)
|
---|
815 | #ifdef DEBUG
|
---|
816 | fprintf(stderr, "type %d size %d\n",type,sizeofrtcmblock);
|
---|
817 | #endif
|
---|
818 | if(bytesused)
|
---|
819 | *bytesused = sizeofrtcmblock+6;
|
---|
820 | if(type == VTEC_BASE)
|
---|
821 | {
|
---|
822 | unsigned int l, o, d;
|
---|
823 | if(!v) return GCOBR_NOVTECPARAMETER;
|
---|
824 | memset(v, 0, sizeof(*v));
|
---|
825 | G_EPOCH_TIME(v->EpochTime)
|
---|
826 | G_SSR_UPDATE_INTERVAL(v->UpdateInterval)
|
---|
827 | G_MULTIPLE_MESSAGE_INDICATOR(mmi)
|
---|
828 | G_SSR_IOD(v->SSRIOD)
|
---|
829 | G_SSR_PROVIDER_ID(v->SSRProviderID)
|
---|
830 | G_SSR_SOLUTION_ID(v->SSRSolutionID)
|
---|
831 | G_VTEC_QUALITY_INDICATOR(v->Quality)
|
---|
832 | G_NO_IONO_LAYERS(v->NumLayers)
|
---|
833 | for(l = 0; l < v->NumLayers; ++l)
|
---|
834 | {
|
---|
835 | G_IONO_HEIGHT(v->Layers[l].Height)
|
---|
836 | G_IONO_DEGREE(v->Layers[l].Degree)
|
---|
837 | G_IONO_ORDER(v->Layers[l].Order)
|
---|
838 | for(o = 0; o <= v->Layers[l].Order; ++o)
|
---|
839 | {
|
---|
840 | for(d = o; d <= v->Layers[l].Degree; ++d)
|
---|
841 | {
|
---|
842 | G_IONO_COEFF(v->Layers[l].Cosinus[d][o])
|
---|
843 | }
|
---|
844 | }
|
---|
845 | for(o = 1; o <= v->Layers[l].Order; ++o)
|
---|
846 | {
|
---|
847 | for(d = o; d <= v->Layers[l].Degree; ++d)
|
---|
848 | {
|
---|
849 | G_IONO_COEFF(v->Layers[l].Sinus[d][o])
|
---|
850 | }
|
---|
851 | }
|
---|
852 | }
|
---|
853 | #ifdef DEBUG
|
---|
854 | for(type = 0; type < (int)size && (unsigned char)buffer[type] != 0xD3; ++type)
|
---|
855 | numbits += 8;
|
---|
856 | fprintf(stderr, "numbits left %d\n",numbits);
|
---|
857 | #endif
|
---|
858 | return mmi ? GCOBR_MESSAGEFOLLOWS : GCOBR_OK;
|
---|
859 | }
|
---|
860 | for(s = CLOCKORBIT_SATNUM; s-- > 0;)
|
---|
861 | {
|
---|
862 | if(type == PBTYPE_BASE+s)
|
---|
863 | {
|
---|
864 | if(!pb) return GCOBR_NOPHASEBIASPARAMETER;
|
---|
865 | pb->messageType = type;
|
---|
866 | switch(s)
|
---|
867 | {
|
---|
868 | case CLOCKORBIT_SATGPS: case CLOCKORBIT_SATGALILEO:
|
---|
869 | case CLOCKORBIT_SATQZSS: case CLOCKORBIT_SATSBAS:
|
---|
870 | case CLOCKORBIT_SATBDS:
|
---|
871 | G_GPS_EPOCH_TIME(pb->EpochTime[s], pb->NumberOfSat[s])
|
---|
872 | break;
|
---|
873 | case CLOCKORBIT_SATGLONASS:
|
---|
874 | G_GLONASS_EPOCH_TIME(pb->EpochTime[s], pb->NumberOfSat[s])
|
---|
875 | break;
|
---|
876 | }
|
---|
877 | G_SSR_UPDATE_INTERVAL(pb->UpdateInterval)
|
---|
878 | G_MULTIPLE_MESSAGE_INDICATOR(mmi)
|
---|
879 | G_SSR_IOD(pb->SSRIOD)
|
---|
880 | G_SSR_PROVIDER_ID(pb->SSRProviderID)
|
---|
881 | G_SSR_SOLUTION_ID(pb->SSRSolutionID)
|
---|
882 | G_DISPERSIVE_BIAS_INDICATOR(pb->DispersiveBiasConsistencyIndicator)
|
---|
883 | G_MW_CONSISTENCY_INDICATOR(pb->MWConsistencyIndicator)
|
---|
884 | G_NO_OF_SATELLITES(nums)
|
---|
885 | for(i = 0; i < nums; ++i)
|
---|
886 | {
|
---|
887 | switch(s)
|
---|
888 | {
|
---|
889 | case CLOCKORBIT_SATGPS: case CLOCKORBIT_SATGALILEO:
|
---|
890 | case CLOCKORBIT_SATSBAS: case CLOCKORBIT_SATBDS:
|
---|
891 | G_GPS_SATELLITE_ID(id)
|
---|
892 | break;
|
---|
893 | case CLOCKORBIT_SATQZSS:
|
---|
894 | G_QZSS_SATELLITE_ID(id)
|
---|
895 | break;
|
---|
896 | case CLOCKORBIT_SATGLONASS:
|
---|
897 | G_GLONASS_SATELLITE_ID(id)
|
---|
898 | break;
|
---|
899 | }
|
---|
900 | for(pos = satoffset[s]; pos < satoffset[s]+pb->NumberOfSat[s] && pb->Sat[pos].ID != id; ++pos)
|
---|
901 | ;
|
---|
902 | if(pos >= satoffset[s+1]) return GCOBR_DATAMISMATCH;
|
---|
903 | else if(pos == pb->NumberOfSat[s] + satoffset[s]) ++pb->NumberOfSat[s];
|
---|
904 | pb->Sat[pos].ID = id;
|
---|
905 |
|
---|
906 | G_NO_OF_PHASE_BIASES(pb->Sat[pos].NumberOfPhaseBiases)
|
---|
907 | G_YAW_ANGLE(pb->Sat[pos].YawAngle)
|
---|
908 | G_YAW_RATE(pb->Sat[pos].YawRate)
|
---|
909 | for(j = 0; j < pb->Sat[pos].NumberOfPhaseBiases; ++j)
|
---|
910 | {
|
---|
911 | G_SIGNAL_IDENTIFIER(pb->Sat[pos].Biases[j].Type)
|
---|
912 | G_INTEGER_INDICATOR(pb->Sat[pos].Biases[j].SignalIntegerIndicator)
|
---|
913 | G_WIDE_LANE_INDICATOR(pb->Sat[pos].Biases[j].SignalsWideLaneIntegerIndicator)
|
---|
914 | G_DISCONTINUITY_COUNTER(pb->Sat[pos].Biases[j].SignalDiscontinuityCounter)
|
---|
915 | G_PHASE_BIAS(pb->Sat[pos].Biases[j].Bias)
|
---|
916 | }
|
---|
917 | }
|
---|
918 | }
|
---|
919 | else if(type >= corbase[s])
|
---|
920 | {
|
---|
921 | switch(type-corbase[s])
|
---|
922 | {
|
---|
923 | case COBOFS_ORBIT:
|
---|
924 | if(!co) return GCOBR_NOCLOCKORBITPARAMETER;
|
---|
925 | co->messageType = type;
|
---|
926 | switch(s)
|
---|
927 | {
|
---|
928 | case CLOCKORBIT_SATGPS: case CLOCKORBIT_SATGALILEO:
|
---|
929 | case CLOCKORBIT_SATQZSS: case CLOCKORBIT_SATSBAS:
|
---|
930 | case CLOCKORBIT_SATBDS:
|
---|
931 | G_GPS_EPOCH_TIME(co->EpochTime[s], co->NumberOfSat[s])
|
---|
932 | break;
|
---|
933 | case CLOCKORBIT_SATGLONASS:
|
---|
934 | G_GLONASS_EPOCH_TIME(co->EpochTime[s], co->NumberOfSat[s])
|
---|
935 | break;
|
---|
936 | }
|
---|
937 | G_SSR_UPDATE_INTERVAL(co->UpdateInterval)
|
---|
938 | G_MULTIPLE_MESSAGE_INDICATOR(mmi)
|
---|
939 | G_SATELLITE_REFERENCE_DATUM(co->SatRefDatum)
|
---|
940 | G_SSR_IOD(co->SSRIOD)
|
---|
941 | G_SSR_PROVIDER_ID(co->SSRProviderID)
|
---|
942 | G_SSR_SOLUTION_ID(co->SSRSolutionID)
|
---|
943 | G_NO_OF_SATELLITES(nums)
|
---|
944 | co->Supplied[COBOFS_ORBIT] |= 1;
|
---|
945 | #ifdef DEBUG
|
---|
946 | fprintf(stderr, "epochtime %d ui %d mmi %d sats %d/%d rd %d\n",co->EpochTime[s],
|
---|
947 | co->UpdateInterval,mmi,co->NumberOfSat[s],nums, co->SatRefDatum);
|
---|
948 | #endif
|
---|
949 | for(i = 0; i < nums; ++i)
|
---|
950 | {
|
---|
951 | switch(s)
|
---|
952 | {
|
---|
953 | case CLOCKORBIT_SATGPS: case CLOCKORBIT_SATGALILEO:
|
---|
954 | case CLOCKORBIT_SATSBAS: case CLOCKORBIT_SATBDS:
|
---|
955 | G_GPS_SATELLITE_ID(id)
|
---|
956 | break;
|
---|
957 | case CLOCKORBIT_SATQZSS:
|
---|
958 | G_QZSS_SATELLITE_ID(id)
|
---|
959 | break;
|
---|
960 | case CLOCKORBIT_SATGLONASS:
|
---|
961 | G_GLONASS_SATELLITE_ID(id)
|
---|
962 | break;
|
---|
963 | }
|
---|
964 | for(pos = satoffset[s]; pos < satoffset[s]+co->NumberOfSat[s] && co->Sat[pos].ID != id; ++pos)
|
---|
965 | ;
|
---|
966 | if(pos >= satoffset[s+1]) return GCOBR_DATAMISMATCH;
|
---|
967 | else if(pos == co->NumberOfSat[s] + satoffset[s]) ++co->NumberOfSat[s];
|
---|
968 | co->Sat[pos].ID = id;
|
---|
969 |
|
---|
970 | switch(s)
|
---|
971 | {
|
---|
972 | case CLOCKORBIT_SATGPS:
|
---|
973 | case CLOCKORBIT_SATQZSS:
|
---|
974 | G_GPS_IODE(co->Sat[pos].IOD)
|
---|
975 | break;
|
---|
976 | case CLOCKORBIT_SATGLONASS:
|
---|
977 | G_GLONASS_IOD(co->Sat[pos].IOD)
|
---|
978 | break;
|
---|
979 | case CLOCKORBIT_SATGALILEO:
|
---|
980 | G_GALILEO_IOD(co->Sat[pos].IOD)
|
---|
981 | break;
|
---|
982 | case CLOCKORBIT_SATSBAS:
|
---|
983 | G_SBAS_T0MOD(co->Sat[pos].toe)
|
---|
984 | G_SBAS_IODCRC(co->Sat[pos].IOD)
|
---|
985 | break;
|
---|
986 | case CLOCKORBIT_SATBDS:
|
---|
987 | G_BDS_TOEMOD(co->Sat[pos].toe)
|
---|
988 | G_BDS_IODCRC(co->Sat[pos].IOD)
|
---|
989 | break;
|
---|
990 | }
|
---|
991 | G_DELTA_RADIAL(co->Sat[pos].Orbit.DeltaRadial)
|
---|
992 | G_DELTA_ALONG_TRACK(co->Sat[pos].Orbit.DeltaAlongTrack)
|
---|
993 | G_DELTA_CROSS_TRACK(co->Sat[pos].Orbit.DeltaCrossTrack)
|
---|
994 | G_DELTA_DOT_RADIAL(co->Sat[pos].Orbit.DotDeltaRadial)
|
---|
995 | G_DELTA_DOT_ALONG_TRACK(co->Sat[pos].Orbit.DotDeltaAlongTrack)
|
---|
996 | G_DELTA_DOT_CROSS_TRACK(co->Sat[pos].Orbit.DotDeltaCrossTrack)
|
---|
997 | #ifdef DEBUG
|
---|
998 | 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",
|
---|
999 | co->Sat[pos].ID,co->Sat[pos].IOD,co->Sat[pos].Orbit.DeltaRadial,
|
---|
1000 | co->Sat[pos].Orbit.DeltaAlongTrack,co->Sat[pos].Orbit.DeltaCrossTrack,
|
---|
1001 | co->Sat[pos].Orbit.DotDeltaRadial,
|
---|
1002 | co->Sat[pos].Orbit.DotDeltaAlongTrack,
|
---|
1003 | co->Sat[pos].Orbit.DotDeltaCrossTrack);
|
---|
1004 | #endif
|
---|
1005 | }
|
---|
1006 | break;
|
---|
1007 | case COBOFS_CLOCK:
|
---|
1008 | if(!co) return GCOBR_NOCLOCKORBITPARAMETER;
|
---|
1009 | co->messageType = type;
|
---|
1010 | switch(s)
|
---|
1011 | {
|
---|
1012 | case CLOCKORBIT_SATGPS: case CLOCKORBIT_SATGALILEO:
|
---|
1013 | case CLOCKORBIT_SATQZSS: case CLOCKORBIT_SATSBAS:
|
---|
1014 | case CLOCKORBIT_SATBDS:
|
---|
1015 | G_GPS_EPOCH_TIME(co->EpochTime[s], co->NumberOfSat[s])
|
---|
1016 | break;
|
---|
1017 | case CLOCKORBIT_SATGLONASS:
|
---|
1018 | G_GLONASS_EPOCH_TIME(co->EpochTime[s], co->NumberOfSat[s])
|
---|
1019 | break;
|
---|
1020 | }
|
---|
1021 | G_SSR_UPDATE_INTERVAL(co->UpdateInterval)
|
---|
1022 | G_MULTIPLE_MESSAGE_INDICATOR(mmi)
|
---|
1023 | G_SSR_IOD(co->SSRIOD)
|
---|
1024 | G_SSR_PROVIDER_ID(co->SSRProviderID)
|
---|
1025 | G_SSR_SOLUTION_ID(co->SSRSolutionID)
|
---|
1026 | G_NO_OF_SATELLITES(nums)
|
---|
1027 | co->Supplied[COBOFS_CLOCK] |= 1;
|
---|
1028 | #ifdef DEBUG
|
---|
1029 | fprintf(stderr, "epochtime %d ui %d mmi %d sats %d/%d\n",co->EpochTime[s],
|
---|
1030 | co->UpdateInterval,mmi,co->NumberOfSat[s],nums);
|
---|
1031 | #endif
|
---|
1032 | for(i = 0; i < nums; ++i)
|
---|
1033 | {
|
---|
1034 | switch(s)
|
---|
1035 | {
|
---|
1036 | case CLOCKORBIT_SATGPS: case CLOCKORBIT_SATGALILEO:
|
---|
1037 | case CLOCKORBIT_SATSBAS: case CLOCKORBIT_SATBDS:
|
---|
1038 | G_GPS_SATELLITE_ID(id)
|
---|
1039 | break;
|
---|
1040 | case CLOCKORBIT_SATQZSS:
|
---|
1041 | G_QZSS_SATELLITE_ID(id)
|
---|
1042 | break;
|
---|
1043 | case CLOCKORBIT_SATGLONASS:
|
---|
1044 | G_GLONASS_SATELLITE_ID(id)
|
---|
1045 | break;
|
---|
1046 | }
|
---|
1047 | for(pos = satoffset[s]; pos < satoffset[s]+co->NumberOfSat[s] && co->Sat[pos].ID != id; ++pos)
|
---|
1048 | ;
|
---|
1049 | if(pos >= satoffset[s+1]) return GCOBR_DATAMISMATCH;
|
---|
1050 | else if(pos == co->NumberOfSat[s] + satoffset[s]) ++co->NumberOfSat[s];
|
---|
1051 | co->Sat[pos].ID = id;
|
---|
1052 |
|
---|
1053 | G_DELTA_CLOCK_C0(co->Sat[pos].Clock.DeltaA0)
|
---|
1054 | G_DELTA_CLOCK_C1(co->Sat[pos].Clock.DeltaA1)
|
---|
1055 | G_DELTA_CLOCK_C2(co->Sat[pos].Clock.DeltaA2)
|
---|
1056 | #ifdef DEBUG
|
---|
1057 | fprintf(stderr, "id %2d c0 %8.3f c1 %8.3f c2 %8.3f\n",
|
---|
1058 | co->Sat[pos].ID, co->Sat[pos].Clock.DeltaA0, co->Sat[pos].Clock.DeltaA1,
|
---|
1059 | co->Sat[pos].Clock.DeltaA2);
|
---|
1060 | #endif
|
---|
1061 | }
|
---|
1062 | break;
|
---|
1063 | case COBOFS_COMBINED:
|
---|
1064 | if(!co) return GCOBR_NOCLOCKORBITPARAMETER;
|
---|
1065 | co->messageType = type;
|
---|
1066 | switch(s)
|
---|
1067 | {
|
---|
1068 | case CLOCKORBIT_SATGPS: case CLOCKORBIT_SATGALILEO:
|
---|
1069 | case CLOCKORBIT_SATQZSS: case CLOCKORBIT_SATSBAS:
|
---|
1070 | case CLOCKORBIT_SATBDS:
|
---|
1071 | G_GPS_EPOCH_TIME(co->EpochTime[s], co->NumberOfSat[s])
|
---|
1072 | break;
|
---|
1073 | case CLOCKORBIT_SATGLONASS:
|
---|
1074 | G_GLONASS_EPOCH_TIME(co->EpochTime[s], co->NumberOfSat[s])
|
---|
1075 | break;
|
---|
1076 | }
|
---|
1077 | G_SSR_UPDATE_INTERVAL(co->UpdateInterval)
|
---|
1078 | G_MULTIPLE_MESSAGE_INDICATOR(mmi)
|
---|
1079 | G_SATELLITE_REFERENCE_DATUM(co->SatRefDatum)
|
---|
1080 | G_SSR_IOD(co->SSRIOD)
|
---|
1081 | G_SSR_PROVIDER_ID(co->SSRProviderID)
|
---|
1082 | G_SSR_SOLUTION_ID(co->SSRSolutionID)
|
---|
1083 | G_NO_OF_SATELLITES(nums)
|
---|
1084 | co->Supplied[COBOFS_ORBIT] |= 1;
|
---|
1085 | co->Supplied[COBOFS_CLOCK] |= 1;
|
---|
1086 | for(i = 0; i < nums; ++i)
|
---|
1087 | {
|
---|
1088 | switch(s)
|
---|
1089 | {
|
---|
1090 | case CLOCKORBIT_SATGPS: case CLOCKORBIT_SATGALILEO:
|
---|
1091 | case CLOCKORBIT_SATSBAS: case CLOCKORBIT_SATBDS:
|
---|
1092 | G_GPS_SATELLITE_ID(id)
|
---|
1093 | break;
|
---|
1094 | case CLOCKORBIT_SATQZSS:
|
---|
1095 | G_QZSS_SATELLITE_ID(id)
|
---|
1096 | break;
|
---|
1097 | case CLOCKORBIT_SATGLONASS:
|
---|
1098 | G_GLONASS_SATELLITE_ID(id)
|
---|
1099 | break;
|
---|
1100 | }
|
---|
1101 | for(pos = satoffset[s]; pos < satoffset[s]+co->NumberOfSat[s] && co->Sat[pos].ID != id; ++pos)
|
---|
1102 | ;
|
---|
1103 | if(pos >= satoffset[s+1]) return GCOBR_DATAMISMATCH;
|
---|
1104 | else if(pos == co->NumberOfSat[s] + satoffset[s]) ++co->NumberOfSat[s];
|
---|
1105 | co->Sat[pos].ID = id;
|
---|
1106 |
|
---|
1107 | switch(s)
|
---|
1108 | {
|
---|
1109 | case CLOCKORBIT_SATGPS:
|
---|
1110 | case CLOCKORBIT_SATQZSS:
|
---|
1111 | G_GPS_IODE(co->Sat[pos].IOD)
|
---|
1112 | break;
|
---|
1113 | case CLOCKORBIT_SATGLONASS:
|
---|
1114 | G_GLONASS_IOD(co->Sat[pos].IOD)
|
---|
1115 | break;
|
---|
1116 | case CLOCKORBIT_SATGALILEO:
|
---|
1117 | G_GALILEO_IOD(co->Sat[pos].IOD)
|
---|
1118 | break;
|
---|
1119 | case CLOCKORBIT_SATSBAS:
|
---|
1120 | G_SBAS_T0MOD(co->Sat[pos].toe)
|
---|
1121 | G_SBAS_IODCRC(co->Sat[pos].IOD)
|
---|
1122 | break;
|
---|
1123 | case CLOCKORBIT_SATBDS:
|
---|
1124 | G_BDS_TOEMOD(co->Sat[pos].toe)
|
---|
1125 | G_BDS_IODCRC(co->Sat[pos].IOD)
|
---|
1126 | break;
|
---|
1127 | }
|
---|
1128 | G_DELTA_RADIAL(co->Sat[pos].Orbit.DeltaRadial)
|
---|
1129 | G_DELTA_ALONG_TRACK(co->Sat[pos].Orbit.DeltaAlongTrack)
|
---|
1130 | G_DELTA_CROSS_TRACK(co->Sat[pos].Orbit.DeltaCrossTrack)
|
---|
1131 | G_DELTA_DOT_RADIAL(co->Sat[pos].Orbit.DotDeltaRadial)
|
---|
1132 | G_DELTA_DOT_ALONG_TRACK(co->Sat[pos].Orbit.DotDeltaAlongTrack)
|
---|
1133 | G_DELTA_DOT_CROSS_TRACK(co->Sat[pos].Orbit.DotDeltaCrossTrack)
|
---|
1134 | G_DELTA_CLOCK_C0(co->Sat[pos].Clock.DeltaA0)
|
---|
1135 | G_DELTA_CLOCK_C1(co->Sat[pos].Clock.DeltaA1)
|
---|
1136 | G_DELTA_CLOCK_C2(co->Sat[pos].Clock.DeltaA2)
|
---|
1137 | }
|
---|
1138 | break;
|
---|
1139 | case COBOFS_URA:
|
---|
1140 | if(!co) return GCOBR_NOCLOCKORBITPARAMETER;
|
---|
1141 | co->messageType = type;
|
---|
1142 | switch(s)
|
---|
1143 | {
|
---|
1144 | case CLOCKORBIT_SATGPS: case CLOCKORBIT_SATGALILEO:
|
---|
1145 | case CLOCKORBIT_SATQZSS: case CLOCKORBIT_SATSBAS:
|
---|
1146 | case CLOCKORBIT_SATBDS:
|
---|
1147 | G_GPS_EPOCH_TIME(co->EpochTime[s], co->NumberOfSat[s])
|
---|
1148 | break;
|
---|
1149 | case CLOCKORBIT_SATGLONASS:
|
---|
1150 | G_GLONASS_EPOCH_TIME(co->EpochTime[s], co->NumberOfSat[s])
|
---|
1151 | break;
|
---|
1152 | }
|
---|
1153 | G_MULTIPLE_MESSAGE_INDICATOR(mmi)
|
---|
1154 | G_SSR_IOD(co->SSRIOD)
|
---|
1155 | G_SSR_PROVIDER_ID(co->SSRProviderID)
|
---|
1156 | G_SSR_SOLUTION_ID(co->SSRSolutionID)
|
---|
1157 | G_NO_OF_SATELLITES(nums)
|
---|
1158 | co->Supplied[COBOFS_URA] |= 1;
|
---|
1159 | for(i = 0; i < nums; ++i)
|
---|
1160 | {
|
---|
1161 | switch(s)
|
---|
1162 | {
|
---|
1163 | case CLOCKORBIT_SATGPS: case CLOCKORBIT_SATGALILEO:
|
---|
1164 | case CLOCKORBIT_SATSBAS: case CLOCKORBIT_SATBDS:
|
---|
1165 | G_GPS_SATELLITE_ID(id)
|
---|
1166 | break;
|
---|
1167 | case CLOCKORBIT_SATQZSS:
|
---|
1168 | G_QZSS_SATELLITE_ID(id)
|
---|
1169 | break;
|
---|
1170 | case CLOCKORBIT_SATGLONASS:
|
---|
1171 | G_GLONASS_SATELLITE_ID(id)
|
---|
1172 | break;
|
---|
1173 | }
|
---|
1174 | for(pos = satoffset[s]; pos < satoffset[s]+co->NumberOfSat[s] && co->Sat[pos].ID != id; ++pos)
|
---|
1175 | ;
|
---|
1176 | if(pos >= satoffset[s+1]) return GCOBR_DATAMISMATCH;
|
---|
1177 | else if(pos == co->NumberOfSat[s] + satoffset[s]) ++co->NumberOfSat[s];
|
---|
1178 | co->Sat[pos].ID = id;
|
---|
1179 |
|
---|
1180 | G_SSR_URA(co->Sat[pos].UserRangeAccuracy)
|
---|
1181 | }
|
---|
1182 | break;
|
---|
1183 | case COBOFS_HR:
|
---|
1184 | if(!co) return GCOBR_NOCLOCKORBITPARAMETER;
|
---|
1185 | co->messageType = type;
|
---|
1186 | switch(s)
|
---|
1187 | {
|
---|
1188 | case CLOCKORBIT_SATGPS: case CLOCKORBIT_SATGALILEO:
|
---|
1189 | case CLOCKORBIT_SATQZSS: case CLOCKORBIT_SATSBAS:
|
---|
1190 | case CLOCKORBIT_SATBDS:
|
---|
1191 | G_GPS_EPOCH_TIME(co->EpochTime[s], co->NumberOfSat[s])
|
---|
1192 | break;
|
---|
1193 | case CLOCKORBIT_SATGLONASS:
|
---|
1194 | G_GLONASS_EPOCH_TIME(co->EpochTime[s], co->NumberOfSat[s])
|
---|
1195 | break;
|
---|
1196 | }
|
---|
1197 | G_SSR_UPDATE_INTERVAL(co->UpdateInterval)
|
---|
1198 | G_MULTIPLE_MESSAGE_INDICATOR(mmi)
|
---|
1199 | G_SSR_IOD(co->SSRIOD)
|
---|
1200 | G_SSR_PROVIDER_ID(co->SSRProviderID)
|
---|
1201 | G_SSR_SOLUTION_ID(co->SSRSolutionID)
|
---|
1202 | G_NO_OF_SATELLITES(nums)
|
---|
1203 | co->Supplied[COBOFS_HR] |= 1;
|
---|
1204 | for(i = 0; i < nums; ++i)
|
---|
1205 | {
|
---|
1206 | switch(s)
|
---|
1207 | {
|
---|
1208 | case CLOCKORBIT_SATGPS: case CLOCKORBIT_SATGALILEO:
|
---|
1209 | case CLOCKORBIT_SATSBAS: case CLOCKORBIT_SATBDS:
|
---|
1210 | G_GPS_SATELLITE_ID(id)
|
---|
1211 | break;
|
---|
1212 | case CLOCKORBIT_SATQZSS:
|
---|
1213 | G_QZSS_SATELLITE_ID(id)
|
---|
1214 | break;
|
---|
1215 | case CLOCKORBIT_SATGLONASS:
|
---|
1216 | G_GLONASS_SATELLITE_ID(id)
|
---|
1217 | break;
|
---|
1218 | }
|
---|
1219 | for(pos = satoffset[s]; pos < satoffset[s]+co->NumberOfSat[s] && co->Sat[pos].ID != id; ++pos)
|
---|
1220 | ;
|
---|
1221 | if(pos >= satoffset[s+1]) return GCOBR_DATAMISMATCH;
|
---|
1222 | else if(pos == co->NumberOfSat[s] + satoffset[s]) ++co->NumberOfSat[s];
|
---|
1223 | co->Sat[pos].ID = id;
|
---|
1224 |
|
---|
1225 | G_HR_CLOCK_CORRECTION(co->Sat[pos].hrclock)
|
---|
1226 | }
|
---|
1227 | break;
|
---|
1228 | case COBOFS_BIAS:
|
---|
1229 | if(!b) return GCOBR_NOCODEBIASPARAMETER;
|
---|
1230 | b->messageType = type;
|
---|
1231 | switch(s)
|
---|
1232 | {
|
---|
1233 | case CLOCKORBIT_SATGPS: case CLOCKORBIT_SATGALILEO:
|
---|
1234 | case CLOCKORBIT_SATQZSS: case CLOCKORBIT_SATSBAS:
|
---|
1235 | case CLOCKORBIT_SATBDS:
|
---|
1236 | G_GPS_EPOCH_TIME(b->EpochTime[s], b->NumberOfSat[s])
|
---|
1237 | break;
|
---|
1238 | case CLOCKORBIT_SATGLONASS:
|
---|
1239 | G_GLONASS_EPOCH_TIME(b->EpochTime[s], b->NumberOfSat[s])
|
---|
1240 | break;
|
---|
1241 | }
|
---|
1242 | G_SSR_UPDATE_INTERVAL(b->UpdateInterval)
|
---|
1243 | G_MULTIPLE_MESSAGE_INDICATOR(mmi)
|
---|
1244 | G_SSR_IOD(b->SSRIOD)
|
---|
1245 | G_SSR_PROVIDER_ID(b->SSRProviderID)
|
---|
1246 | G_SSR_SOLUTION_ID(b->SSRSolutionID)
|
---|
1247 | G_NO_OF_SATELLITES(nums)
|
---|
1248 | for(i = 0; i < nums; ++i)
|
---|
1249 | {
|
---|
1250 | switch(s)
|
---|
1251 | {
|
---|
1252 | case CLOCKORBIT_SATGPS: case CLOCKORBIT_SATGALILEO:
|
---|
1253 | case CLOCKORBIT_SATSBAS: case CLOCKORBIT_SATBDS:
|
---|
1254 | G_GPS_SATELLITE_ID(id)
|
---|
1255 | break;
|
---|
1256 | case CLOCKORBIT_SATQZSS:
|
---|
1257 | G_QZSS_SATELLITE_ID(id)
|
---|
1258 | break;
|
---|
1259 | case CLOCKORBIT_SATGLONASS:
|
---|
1260 | G_GLONASS_SATELLITE_ID(id)
|
---|
1261 | break;
|
---|
1262 | }
|
---|
1263 | for(pos = satoffset[s]; pos < satoffset[s]+b->NumberOfSat[s] && b->Sat[pos].ID != id; ++pos)
|
---|
1264 | ;
|
---|
1265 | if(pos >= satoffset[s+1]) return GCOBR_DATAMISMATCH;
|
---|
1266 | else if(pos == b->NumberOfSat[s] + satoffset[s]) ++b->NumberOfSat[s];
|
---|
1267 | b->Sat[pos].ID = id;
|
---|
1268 |
|
---|
1269 | G_NO_OF_CODE_BIASES(b->Sat[pos].NumberOfCodeBiases)
|
---|
1270 | for(j = 0; j < b->Sat[pos].NumberOfCodeBiases; ++j)
|
---|
1271 | {
|
---|
1272 | G_SIGNAL_IDENTIFIER(b->Sat[pos].Biases[j].Type)
|
---|
1273 | G_CODE_BIAS(b->Sat[pos].Biases[j].Bias)
|
---|
1274 | }
|
---|
1275 | }
|
---|
1276 | break;
|
---|
1277 | default:
|
---|
1278 | return GCOBR_UNKNOWNTYPE;
|
---|
1279 | }
|
---|
1280 | #ifdef COR_LATENCY
|
---|
1281 | if(s == CLOCKORBIT_SATGPS && type-corbase[s] != COBOFS_BIAS)
|
---|
1282 | {
|
---|
1283 | co->epochGPS[co->epochSize] = co->EpochTime[s];
|
---|
1284 | if(co->epochSize < COR_LATENCYCOUNT)
|
---|
1285 | ++co->epochSize;
|
---|
1286 | }
|
---|
1287 | #endif
|
---|
1288 | #ifdef DEBUG
|
---|
1289 | for(type = 0; type < (int)size && (unsigned char)buffer[type] != 0xD3; ++type)
|
---|
1290 | numbits += 8;
|
---|
1291 | fprintf(stderr, "numbits left %d\n",numbits);
|
---|
1292 | #endif
|
---|
1293 | return mmi ? GCOBR_MESSAGEFOLLOWS : GCOBR_OK;
|
---|
1294 | }
|
---|
1295 | }
|
---|
1296 | return GCOBR_UNKNOWNTYPE;
|
---|
1297 | }
|
---|
1298 | #endif /* NODECODE */
|
---|