Index: trunk/BNC/bnc.pro =================================================================== --- trunk/BNC/bnc.pro (revision 1696) +++ trunk/BNC/bnc.pro (revision 1697) @@ -6,5 +6,4 @@ DEFINES += NO_RTCM3_MAIN -DEFINES += OLD ###DEFINES += DEBUG_RTCM2_2021 unix:DEFINES += _TTY_POSIX_ Index: trunk/BNS/RTCM/clock_orbit_rtcm.c =================================================================== --- trunk/BNS/RTCM/clock_orbit_rtcm.c (revision 1696) +++ trunk/BNS/RTCM/clock_orbit_rtcm.c (revision 1697) @@ -3,5 +3,5 @@ Name: clock_orbit_rtcm.c Project: RTCM3 - Version: $Id: clock_orbit_rtcm.c,v 1.5 2008/11/18 14:50:37 mervart Exp $ + Version: $Id: clock_orbit_rtcm.c,v 1.9 2009/02/27 08:59:49 weber Exp $ Authors: Dirk Stöcker Description: state space approach for RTCM3 @@ -85,22 +85,7 @@ #define SCALEADDBITS(a, b, c) ADDBITS(a, (int64_t)(b*c)) -#if 0 -#define DEBUGSCALEADDBITS(n, a, b, c) \ - { \ - int64_t x = b*c, z; \ - uint64_t y; \ - y = (x&((1<>(64-a); \ - fprintf(stderr, "Type " # n " val %19.15f*%11.1f %16llX %16llX %16llX %s\n", \ - c, b, x, y, z, x != z ? "OVERFLOW" : "OK"); \ - } \ - SCALEADDBITS(a,b,c) -#else -#define DEBUGSCALEADDBITS(n, a, b, c) SCALEADDBITS(a,b,c) -#endif - /* standard values */ #define T_MESSAGE_NUMBER(a) ADDBITS(12, a) /* DF002 */ -#define T_RESERVED6 ADDBITS(6, 0) /* DF001 */ +#define T_RESERVED5 ADDBITS(5, 0) /* DF001 */ #define T_GPS_SATELLITE_ID(a) ADDBITS(6, a) /* DF068 */ #define T_GPS_IODE(a) ADDBITS(8, a) /* DF071 */ @@ -108,36 +93,47 @@ /* defined values */ -#define T_MULTIPLE_MESSAGE_INDICATOR(a) ADDBITS(1, a) +#define T_DELTA_RADIAL(a) SCALEADDBITS(22, 10000.0, a) +#define T_DELTA_ALONG_TRACK(a) SCALEADDBITS(22, 10000.0, a) +#define T_DELTA_CROSS_TRACK(a) SCALEADDBITS(22, 10000.0, a) +#define T_DELTA_DOT_RADIAL(a) SCALEADDBITS(21, 1000000.0, a) +#define T_DELTA_DOT_ALONG_TRACK(a) SCALEADDBITS(21, 1000000.0, a) +#define T_DELTA_DOT_CROSS_TRACK(a) SCALEADDBITS(21, 1000000.0, a) +#define T_DELTA_DOT_DOT_RADIAL(a) SCALEADDBITS(27, 50000000.0, a) +#define T_DELTA_DOT_DOT_ALONG_TRACK(a) SCALEADDBITS(27, 50000000.0, a) +#define T_DELTA_DOT_DOT_CROSS_TRACK(a) SCALEADDBITS(27, 50000000.0, a) +#define T_SATELLITE_REFERENCE_POINT(a) ADDBITS(1, a) + +#define T_SATELLITE_REFERENCE_DATUM(a) ADDBITS(1, a) +#define T_DELTA_CLOCK_C0(a) SCALEADDBITS(22, 10000.0, a) +#define T_DELTA_CLOCK_C1(a) SCALEADDBITS(21, 1000000.0, a) +#define T_DELTA_CLOCK_C2(a) SCALEADDBITS(27, 50000000.0, a) +#define T_NO_OF_CODE_BIASES(a) ADDBITS(5, a) +#define T_GPS_SIGNAL_IDENTIFIER(a) ADDBITS(5, a) +#define T_GLONASS_SIGNAL_IDENTIFIER(a) ADDBITS(5, a) +#define T_GALILEO_SIGNAL_IDENTIFIER(a) ADDBITS(5, a) +#define T_CODE_BIAS(a) SCALEADDBITS(14, 100.0, a) +#define T_GLONASS_SATELLITE_ID(a) ADDBITS(5, a) + #define T_GPS_EPOCH_TIME(a) ADDBITS(20, a) #define T_GLONASS_EPOCH_TIME(a) ADDBITS(17, a) -#define T_GLONASS_SATELLITE_ID(a) ADDBITS(6, a) -#define T_NO_OF_SATELLITES(a) ADDBITS(5, a) -#define T_SATELLITE_REFERENCE_POINT(a) ADDBITS(1, a) -#define T_SATELLITE_REFERENCE_DATUM(a) ADDBITS(1, a) -#define T_NO_OF_CODE_BIASES(a) ADDBITS(5, a) -#define T_GPS_CODE_TYPE(a) ADDBITS(5, a) -#define T_GLONASS_CODE_TYPE(a) ADDBITS(5, a) - -/* yet undefined values */ -#define T_DELTA_RADIAL(a) DEBUGSCALEADDBITS(dr, 20, 1000.0, a) -#define T_DELTA_ALONG_TRACK(a) DEBUGSCALEADDBITS(da, 20, 1000.0, a) -#define T_DELTA_CROSS_TRACK(a) DEBUGSCALEADDBITS(dc, 20, 1000.0, a) -#define T_DELTA_DOT_RADIAL(a) DEBUGSCALEADDBITS(Dr, 20, 100000.0, a) -#define T_DELTA_DOT_ALONG_TRACK(a) DEBUGSCALEADDBITS(Dr, 20, 100000.0, a) -#define T_DELTA_DOT_CROSS_TRACK(a) DEBUGSCALEADDBITS(Dr, 20, 100000.0, a) -#define T_DELTA_DOT_DOT_RADIAL(a) DEBUGSCALEADDBITS(DR, 20, 5000000.0, a) -#define T_DELTA_DOT_DOT_ALONG_TRACK(a) DEBUGSCALEADDBITS(DA, 20, 5000000.0, a) -#define T_DELTA_DOT_DOT_CROSS_TRACK(a) DEBUGSCALEADDBITS(DC, 20, 5000000.0, a) -#define T_DELTA_A0(a) DEBUGSCALEADDBITS(A0, 20, 1000.0, a) -#define T_DELTA_A1(a) DEBUGSCALEADDBITS(A1, 20, 100000.0, a) -#define T_DELTA_A2(a) DEBUGSCALEADDBITS(A2, 20, 5000000.0, a) -#define T_CODE_BIAS(a) DEBUGSCALEADDBITS(CB, 20, 100.0, a) +#define T_NO_OF_SATELLITES(a) ADDBITS(6, a) +#define T_MULTIPLE_MESSAGE_INDICATOR(a) ADDBITS(1, a) +#define T_SSR_URA(a) ADDBITS(4, a) +#define T_HR_CLOCK_CORRECTION(a) SCALEADDBITS(22, 10000.0, a) +#define T_SSR_UPDATE_INTERVAL(a) ADDBITS(4, a) size_t MakeClockOrbit(const struct ClockOrbit *co, enum ClockOrbitType type, int moremessagesfollow, char *buffer, size_t size) { - int gpsor=0, gpscl=0, gpsco=0, gloor=0, glocl=0, gloco=0, mmi, i; + int gpshr=0, gpsur=0, gpsor=0, gpscl=0, gpsco=0, glohr=0, glour=0, gloor=0, + glocl=0, gloco=0, mmi, i; STARTDATA + if(co->NumberOfGPSSat && co->HRDataSupplied + && (type == COTYPE_AUTO || type == COTYPE_GPSHR)) + gpshr = 1; + if(co->NumberOfGPSSat && co->URADataSupplied + && (type == COTYPE_AUTO || type == COTYPE_GPSURA)) + gpsur = 1; if(co->NumberOfGPSSat && co->OrbitDataSupplied && (type == COTYPE_AUTO || type == COTYPE_GPSORBIT)) @@ -151,4 +147,10 @@ gpsco = 1; gpsor = 0; gpscl = 0; } + if(co->NumberOfGLONASSSat && co->HRDataSupplied + && (type == COTYPE_AUTO || type == COTYPE_GLONASSHR)) + glohr = 1; + if(co->NumberOfGLONASSSat && co->URADataSupplied + && (type == COTYPE_AUTO || type == COTYPE_GLONASSURA)) + glour = 1; if(co->NumberOfGLONASSSat && co->OrbitDataSupplied && (type == COTYPE_AUTO || type == COTYPE_GLONASSORBIT)) @@ -163,5 +165,5 @@ } - mmi = gpsor+gpscl+gpsco+gloor+glocl+gloco; /* required for multimessage */ + mmi = gpshr+gpsur+gpsor+gpscl+gpsco+glohr+glour+gloor+glocl+gloco; /* required for multimessage */ if(!moremessagesfollow) --mmi; @@ -171,7 +173,8 @@ T_MESSAGE_NUMBER(COTYPE_GPSORBIT) T_GPS_EPOCH_TIME(co->GPSEpochTime) - T_MULTIPLE_MESSAGE_INDICATOR(mmi ? 1 :0) - --mmi; - T_RESERVED6 + T_SSR_UPDATE_INTERVAL(co->UpdateInterval) + T_MULTIPLE_MESSAGE_INDICATOR(mmi ? 1 :0) + --mmi; + T_RESERVED5 T_NO_OF_SATELLITES(co->NumberOfGPSSat) for(i = 0; i < co->NumberOfGPSSat; ++i) @@ -198,15 +201,15 @@ T_MESSAGE_NUMBER(COTYPE_GPSCLOCK) T_GPS_EPOCH_TIME(co->GPSEpochTime) - T_MULTIPLE_MESSAGE_INDICATOR(mmi ? 1 :0) - --mmi; - T_RESERVED6 + T_SSR_UPDATE_INTERVAL(co->UpdateInterval) + T_MULTIPLE_MESSAGE_INDICATOR(mmi ? 1 :0) + --mmi; + T_RESERVED5 T_NO_OF_SATELLITES(co->NumberOfGPSSat) for(i = 0; i < co->NumberOfGPSSat; ++i) { T_GPS_SATELLITE_ID(co->Sat[i].ID) - T_GPS_IODE(co->Sat[i].IOD) - T_DELTA_A0(co->Sat[i].Clock.DeltaA0) - T_DELTA_A1(co->Sat[i].Clock.DeltaA1) - T_DELTA_A2(co->Sat[i].Clock.DeltaA2) + T_DELTA_CLOCK_C0(co->Sat[i].Clock.DeltaA0) + T_DELTA_CLOCK_C1(co->Sat[i].Clock.DeltaA1) + T_DELTA_CLOCK_C2(co->Sat[i].Clock.DeltaA2) } ENDBLOCK @@ -217,7 +220,8 @@ T_MESSAGE_NUMBER(COTYPE_GPSCOMBINED) T_GPS_EPOCH_TIME(co->GPSEpochTime) - T_MULTIPLE_MESSAGE_INDICATOR(mmi ? 1 :0) - --mmi; - T_RESERVED6 + T_SSR_UPDATE_INTERVAL(co->UpdateInterval) + T_MULTIPLE_MESSAGE_INDICATOR(mmi ? 1 :0) + --mmi; + T_RESERVED5 T_NO_OF_SATELLITES(co->NumberOfGPSSat) for(i = 0; i < co->NumberOfGPSSat; ++i) @@ -236,7 +240,40 @@ T_SATELLITE_REFERENCE_POINT(co->SatRefPoint) T_SATELLITE_REFERENCE_DATUM(co->SatRefDatum) - T_DELTA_A0(co->Sat[i].Clock.DeltaA0) - T_DELTA_A1(co->Sat[i].Clock.DeltaA1) - T_DELTA_A2(co->Sat[i].Clock.DeltaA2) + T_DELTA_CLOCK_C0(co->Sat[i].Clock.DeltaA0) + T_DELTA_CLOCK_C1(co->Sat[i].Clock.DeltaA1) + T_DELTA_CLOCK_C2(co->Sat[i].Clock.DeltaA2) + } + ENDBLOCK + } + if(gpshr) + { + INITBLOCK + T_MESSAGE_NUMBER(COTYPE_GPSHR) + T_GPS_EPOCH_TIME(co->GPSEpochTime) + T_SSR_UPDATE_INTERVAL(co->UpdateInterval) + T_MULTIPLE_MESSAGE_INDICATOR(mmi ? 1 :0) + --mmi; + T_RESERVED5 + T_NO_OF_SATELLITES(co->NumberOfGPSSat) + for(i = 0; i < co->NumberOfGPSSat; ++i) + { + T_GPS_SATELLITE_ID(co->Sat[i].ID) + T_HR_CLOCK_CORRECTION(co->Sat[i].hrclock) + } + ENDBLOCK + } + if(gpsur) + { + INITBLOCK + T_MESSAGE_NUMBER(COTYPE_GPSURA) + T_GPS_EPOCH_TIME(co->GPSEpochTime) + T_MULTIPLE_MESSAGE_INDICATOR(mmi ? 1 :0) + --mmi; + T_RESERVED5 + T_NO_OF_SATELLITES(co->NumberOfGPSSat) + for(i = 0; i < co->NumberOfGPSSat; ++i) + { + T_GPS_SATELLITE_ID(co->Sat[i].ID) + T_SSR_URA(co->Sat[i].URA) } ENDBLOCK @@ -247,7 +284,8 @@ T_MESSAGE_NUMBER(COTYPE_GLONASSORBIT) T_GLONASS_EPOCH_TIME(co->GLONASSEpochTime) - T_MULTIPLE_MESSAGE_INDICATOR(mmi ? 1 :0) - --mmi; - T_RESERVED6 + T_SSR_UPDATE_INTERVAL(co->UpdateInterval) + T_MULTIPLE_MESSAGE_INDICATOR(mmi ? 1 :0) + --mmi; + T_RESERVED5 T_NO_OF_SATELLITES(co->NumberOfGLONASSSat) for(i = CLOCKORBIT_NUMGPS; @@ -275,7 +313,8 @@ T_MESSAGE_NUMBER(COTYPE_GLONASSCLOCK) T_GLONASS_EPOCH_TIME(co->GLONASSEpochTime) - T_MULTIPLE_MESSAGE_INDICATOR(mmi ? 1 :0) - --mmi; - T_RESERVED6 + T_SSR_UPDATE_INTERVAL(co->UpdateInterval) + T_MULTIPLE_MESSAGE_INDICATOR(mmi ? 1 :0) + --mmi; + T_RESERVED5 T_NO_OF_SATELLITES(co->NumberOfGLONASSSat) for(i = CLOCKORBIT_NUMGPS; @@ -284,7 +323,7 @@ T_GLONASS_SATELLITE_ID(co->Sat[i].ID) T_GLONASS_IOD(co->Sat[i].IOD) - T_DELTA_A0(co->Sat[i].Clock.DeltaA0) - T_DELTA_A1(co->Sat[i].Clock.DeltaA1) - T_DELTA_A2(co->Sat[i].Clock.DeltaA2) + T_DELTA_CLOCK_C0(co->Sat[i].Clock.DeltaA0) + T_DELTA_CLOCK_C1(co->Sat[i].Clock.DeltaA1) + T_DELTA_CLOCK_C2(co->Sat[i].Clock.DeltaA2) } ENDBLOCK @@ -295,7 +334,8 @@ T_MESSAGE_NUMBER(COTYPE_GLONASSCOMBINED) T_GLONASS_EPOCH_TIME(co->GLONASSEpochTime) - T_MULTIPLE_MESSAGE_INDICATOR(mmi ? 1 :0) - --mmi; - T_RESERVED6 + T_SSR_UPDATE_INTERVAL(co->UpdateInterval) + T_MULTIPLE_MESSAGE_INDICATOR(mmi ? 1 :0) + --mmi; + T_RESERVED5 T_NO_OF_SATELLITES(co->NumberOfGLONASSSat) for(i = CLOCKORBIT_NUMGPS; @@ -315,7 +355,42 @@ T_SATELLITE_REFERENCE_POINT(co->SatRefPoint) T_SATELLITE_REFERENCE_DATUM(co->SatRefDatum) - T_DELTA_A0(co->Sat[i].Clock.DeltaA0) - T_DELTA_A1(co->Sat[i].Clock.DeltaA1) - T_DELTA_A2(co->Sat[i].Clock.DeltaA2) + T_DELTA_CLOCK_C0(co->Sat[i].Clock.DeltaA0) + T_DELTA_CLOCK_C1(co->Sat[i].Clock.DeltaA1) + T_DELTA_CLOCK_C2(co->Sat[i].Clock.DeltaA2) + } + ENDBLOCK + } + if(glohr) + { + INITBLOCK + T_MESSAGE_NUMBER(COTYPE_GLONASSHR) + T_GLONASS_EPOCH_TIME(co->GLONASSEpochTime) + T_SSR_UPDATE_INTERVAL(co->UpdateInterval) + T_MULTIPLE_MESSAGE_INDICATOR(mmi ? 1 :0) + --mmi; + T_RESERVED5 + T_NO_OF_SATELLITES(co->NumberOfGLONASSSat) + for(i = CLOCKORBIT_NUMGPS; + i < CLOCKORBIT_NUMGPS+co->NumberOfGLONASSSat; ++i) + { + T_GPS_SATELLITE_ID(co->Sat[i].ID) + T_HR_CLOCK_CORRECTION(co->Sat[i].hrclock) + } + ENDBLOCK + } + if(glour) + { + INITBLOCK + T_MESSAGE_NUMBER(COTYPE_GLONASSURA) + T_GLONASS_EPOCH_TIME(co->GLONASSEpochTime) + T_MULTIPLE_MESSAGE_INDICATOR(mmi ? 1 :0) + --mmi; + T_RESERVED5 + T_NO_OF_SATELLITES(co->NumberOfGLONASSSat) + for(i = CLOCKORBIT_NUMGPS; + i < CLOCKORBIT_NUMGPS+co->NumberOfGLONASSSat; ++i) + { + T_GPS_SATELLITE_ID(co->Sat[i].ID) + T_SSR_URA(co->Sat[i].URA) } ENDBLOCK @@ -328,7 +403,5 @@ int moremessagesfollow, char *buffer, size_t size) { - int gps = 0; - int glo = 0; - int mmi, i, j; + int gps, glo, mmi, i, j; STARTDATA @@ -346,7 +419,8 @@ T_MESSAGE_NUMBER(BTYPE_GPS) T_GPS_EPOCH_TIME(b->GPSEpochTime) - T_MULTIPLE_MESSAGE_INDICATOR(mmi ? 1 :0) - --mmi; - T_RESERVED6 + T_SSR_UPDATE_INTERVAL(b->UpdateInterval) + T_MULTIPLE_MESSAGE_INDICATOR(mmi ? 1 :0) + --mmi; + T_RESERVED5 T_NO_OF_SATELLITES(b->NumberOfGPSSat) for(i = 0; i < b->NumberOfGPSSat; ++i) @@ -356,5 +430,5 @@ for(j = 0; j < b->Sat[i].NumberOfCodeBiases; ++j) { - T_GPS_CODE_TYPE(b->Sat[i].Biases[j].Type) + T_GPS_SIGNAL_IDENTIFIER(b->Sat[i].Biases[j].Type) T_CODE_BIAS(b->Sat[i].Biases[j].Bias) } @@ -367,7 +441,8 @@ T_MESSAGE_NUMBER(BTYPE_GLONASS) T_GPS_EPOCH_TIME(b->GLONASSEpochTime) - T_MULTIPLE_MESSAGE_INDICATOR(mmi ? 1 :0) - --mmi; - T_RESERVED6 + T_SSR_UPDATE_INTERVAL(b->UpdateInterval) + T_MULTIPLE_MESSAGE_INDICATOR(mmi ? 1 :0) + --mmi; + T_RESERVED5 T_NO_OF_SATELLITES(b->NumberOfGLONASSSat) for(i = CLOCKORBIT_NUMGPS; @@ -378,5 +453,5 @@ for(j = 0; j < b->Sat[i].NumberOfCodeBiases; ++j) { - T_GLONASS_CODE_TYPE(b->Sat[i].Biases[j].Type) + T_GLONASS_SIGNAL_IDENTIFIER(b->Sat[i].Biases[j].Type) T_CODE_BIAS(b->Sat[i].Biases[j].Bias) } @@ -387,4 +462,5 @@ return ressize; } + #endif /* NOENCODE */ @@ -430,5 +506,5 @@ #define G_SIZE(a) GETBITS(a, 10) #define G_MESSAGE_NUMBER(a) GETBITS(a, 12) /* DF002 */ -#define G_RESERVED6 SKIPBITS(6) /* DF001 */ +#define G_RESERVED5 SKIPBITS(5) /* DF001 */ #define G_GPS_SATELLITE_ID(a) {int temp; GETBITS(temp, 6) \ if(a && a != temp) return GCOBR_DATAMISMATCH; a = temp;} /* DF068 */ @@ -437,33 +513,62 @@ /* defined values */ -#define G_MULTIPLE_MESSAGE_INDICATOR(a) GETBITS(a, 1) +#define G_DELTA_RADIAL(a) GETFLOATSIGN(a, 22, 1/10000.0) +#define G_DELTA_ALONG_TRACK(a) GETFLOATSIGN(a, 22, 1/10000.0) +#define G_DELTA_CROSS_TRACK(a) GETFLOATSIGN(a, 22, 1/10000.0) +#define G_DELTA_DOT_RADIAL(a) GETFLOATSIGN(a, 21, 1/1000000.0) +#define G_DELTA_DOT_ALONG_TRACK(a) GETFLOATSIGN(a, 21, 1/1000000.0) +#define G_DELTA_DOT_CROSS_TRACK(a) GETFLOATSIGN(a, 21, 1/1000000.0) +#define G_DELTA_DOT_DOT_RADIAL(a) GETFLOATSIGN(a, 27, 1/50000000.0) +#define G_DELTA_DOT_DOT_ALONG_TRACK(a) GETFLOATSIGN(a, 27, 1/50000000.0) +#define G_DELTA_DOT_DOT_CROSS_TRACK(a) GETFLOATSIGN(a, 27, 1/50000000.0) +#define G_SATELLITE_REFERENCE_POINT(a) GETBITS(a, 1) + +#define G_SATELLITE_REFERENCE_DATUM(a) GETBITS(a, 1) +#define G_DELTA_CLOCK_C0(a) GETFLOATSIGN(a, 22, 1/10000.0) +#define G_DELTA_CLOCK_C1(a) GETFLOATSIGN(a, 21, 1/1000000.0) +#define G_DELTA_CLOCK_C2(a) GETFLOATSIGN(a, 27, 1/50000000.0) +#define G_NO_OF_CODE_BIASES(a) GETBITS(a, 5) +#define G_GPS_SIGNAL_IDENTIFIER(a) GETBITS(a, 5) +#define G_GLONASS_SIGNAL_IDENTIFIER(a) GETBITS(a, 5) +#define G_GALILEO_SIGNAL_IDENTIFIER(a) GETBITS(a, 5) +#define G_CODE_BIAS(a) GETFLOATSIGN(a, 14, 1/100.0) +#define G_GLONASS_SATELLITE_ID(a) {int temp; GETBITS(temp, 5) \ + if(a && a != temp) return GCOBR_DATAMISMATCH; a = temp;} + #define G_GPS_EPOCH_TIME(a, b) {int temp; GETBITS(temp, 20) \ if(b && a != temp) return GCOBR_TIMEMISMATCH; a = temp;} #define G_GLONASS_EPOCH_TIME(a, b) {int temp; GETBITS(temp, 17) \ if(b && a != temp) return GCOBR_TIMEMISMATCH; a = temp;} -#define G_GLONASS_SATELLITE_ID(a) {int temp; GETBITS(temp, 6) \ +#define G_NO_OF_SATELLITES(a) {int temp; GETBITS(temp, 6) \ if(a && a != temp) return GCOBR_DATAMISMATCH; a = temp;} -#define G_NO_OF_SATELLITES(a) {int temp; GETBITS(temp, 5) \ +#define G_MULTIPLE_MESSAGE_INDICATOR(a) GETBITS(a, 1) +#define G_SSR_URA(a) GETBITS(a, 4) +#define G_HR_CLOCK_CORRECTION(a) GETFLOATSIGN(a, 22, 1/10000.0) +#define G_SSR_UPDATE_INTERVAL(a) GETBITS(a, 4) + +#ifdef OLD +enum OldClockOrbitType { OLDCOTYPE_GPSORBIT=4050, OLDCOTYPE_GPSCLOCK=4051, + OLDCOTYPE_GLONASSORBIT=4053, OLDCOTYPE_GLONASSCLOCK=4054, + OLDCOTYPE_GPSCOMBINED=4056, OLDCOTYPE_GLONASSCOMBINED=4057}; +enum OldBiasType { OLDBTYPE_GPS=4052, OLDBTYPE_GLONASS=4055}; +#define OLD_G_RESERVED6 SKIPBITS(6) /* DF001 */ +#define OLD_G_GLONASS_SATELLITE_ID(a) {int temp; GETBITS(temp, 6) \ if(a && a != temp) return GCOBR_DATAMISMATCH; a = temp;} -#define G_SATELLITE_REFERENCE_POINT(a) GETBITS(a, 1) -#define G_SATELLITE_REFERENCE_DATUM(a) GETBITS(a, 1) -#define G_NO_OF_CODE_BIASES(a) GETBITS(a, 5) -#define G_GPS_CODE_TYPE(a) GETBITS(a, 5) -#define G_GLONASS_CODE_TYPE(a) GETBITS(a, 5) - -/* yet undefined values */ -#define G_DELTA_RADIAL(a) GETFLOATSIGN(a, 20, 1/1000.0) -#define G_DELTA_ALONG_TRACK(a) GETFLOATSIGN(a, 20, 1/1000.0) -#define G_DELTA_CROSS_TRACK(a) GETFLOATSIGN(a, 20, 1/1000.0) -#define G_DELTA_DOT_RADIAL(a) GETFLOATSIGN(a, 20, 1/100000.0) -#define G_DELTA_DOT_ALONG_TRACK(a) GETFLOATSIGN(a, 20, 1/100000.0) -#define G_DELTA_DOT_CROSS_TRACK(a) GETFLOATSIGN(a, 20, 1/100000.0) -#define G_DELTA_DOT_DOT_RADIAL(a) GETFLOATSIGN(a, 20, 1/5000000.0) -#define G_DELTA_DOT_DOT_ALONG_TRACK(a) GETFLOATSIGN(a, 20, 1/5000000.0) -#define G_DELTA_DOT_DOT_CROSS_TRACK(a) GETFLOATSIGN(a, 20, 1/5000000.0) -#define G_DELTA_A0(a) GETFLOATSIGN(a, 20, 1/1000.0) -#define G_DELTA_A1(a) GETFLOATSIGN(a, 20, 1/100000.0) -#define G_DELTA_A2(a) GETFLOATSIGN(a, 20, 1/5000000.0) -#define G_CODE_BIAS(a) GETFLOATSIGN(a, 20, 1/100.0) +#define OLD_G_NO_OF_SATELLITES(a) {int temp; GETBITS(temp, 5) \ + if(a && a != temp) return GCOBR_DATAMISMATCH; a = temp;} +#define OLD_G_DELTA_RADIAL(a) GETFLOATSIGN(a, 20, 1/1000.0) +#define OLD_G_DELTA_ALONG_TRACK(a) GETFLOATSIGN(a, 20, 1/1000.0) +#define OLD_G_DELTA_CROSS_TRACK(a) GETFLOATSIGN(a, 20, 1/1000.0) +#define OLD_G_DELTA_DOT_RADIAL(a) GETFLOATSIGN(a, 20, 1/100000.0) +#define OLD_G_DELTA_DOT_ALONG_TRACK(a) GETFLOATSIGN(a, 20, 1/100000.0) +#define OLD_G_DELTA_DOT_CROSS_TRACK(a) GETFLOATSIGN(a, 20, 1/100000.0) +#define OLD_G_DELTA_DOT_DOT_RADIAL(a) GETFLOATSIGN(a, 20, 1/5000000.0) +#define OLD_G_DELTA_DOT_DOT_ALONG_TRACK(a) GETFLOATSIGN(a, 20, 1/5000000.0) +#define OLD_G_DELTA_DOT_DOT_CROSS_TRACK(a) GETFLOATSIGN(a, 20, 1/5000000.0) +#define OLD_G_DELTA_A0(a) GETFLOATSIGN(a, 20, 1/1000.0) +#define OLD_G_DELTA_A1(a) GETFLOATSIGN(a, 20, 1/100000.0) +#define OLD_G_DELTA_A2(a) GETFLOATSIGN(a, 20, 1/5000000.0) +#define OLD_G_CODE_BIAS(a) GETFLOATSIGN(a, 20, 1/100.0) +#endif enum GCOB_RETURN GetClockOrbitBias(struct ClockOrbit *co, struct Bias *b, @@ -499,6 +604,7 @@ co->epochGPS[co->epochSize] = co->GPSEpochTime; /* Weber, for latency */ if(co->epochSize < 100) {co->epochSize += 1;} /* Weber, for latency */ - G_MULTIPLE_MESSAGE_INDICATOR(mmi) - G_RESERVED6 + G_SSR_UPDATE_INTERVAL(co->UpdateInterval) + G_MULTIPLE_MESSAGE_INDICATOR(mmi) + G_RESERVED5 G_NO_OF_SATELLITES(co->NumberOfGPSSat) if(co->OrbitDataSupplied) @@ -527,6 +633,7 @@ co->epochGPS[co->epochSize] = co->GPSEpochTime; /* Weber, for latency */ if(co->epochSize < 100) {co->epochSize += 1;} /* Weber, for latency */ - G_MULTIPLE_MESSAGE_INDICATOR(mmi) - G_RESERVED6 + G_SSR_UPDATE_INTERVAL(co->UpdateInterval) + G_MULTIPLE_MESSAGE_INDICATOR(mmi) + G_RESERVED5 G_NO_OF_SATELLITES(co->NumberOfGPSSat) if(co->ClockDataSupplied) @@ -536,8 +643,7 @@ { G_GPS_SATELLITE_ID(co->Sat[i].ID) - G_GPS_IODE(co->Sat[i].IOD) - G_DELTA_A0(co->Sat[i].Clock.DeltaA0) - G_DELTA_A1(co->Sat[i].Clock.DeltaA1) - G_DELTA_A2(co->Sat[i].Clock.DeltaA2) + G_DELTA_CLOCK_C0(co->Sat[i].Clock.DeltaA0) + G_DELTA_CLOCK_C1(co->Sat[i].Clock.DeltaA1) + G_DELTA_CLOCK_C2(co->Sat[i].Clock.DeltaA2) } break; @@ -547,6 +653,7 @@ co->epochGPS[co->epochSize] = co->GPSEpochTime; /* Weber, for latency */ if(co->epochSize < 100) {co->epochSize += 1;} /* Weber, for latency */ - G_MULTIPLE_MESSAGE_INDICATOR(mmi) - G_RESERVED6 + G_SSR_UPDATE_INTERVAL(co->UpdateInterval) + G_MULTIPLE_MESSAGE_INDICATOR(mmi) + G_RESERVED5 G_NO_OF_SATELLITES(co->NumberOfGPSSat) if(co->ClockDataSupplied || co->OrbitDataSupplied) @@ -569,7 +676,42 @@ G_SATELLITE_REFERENCE_POINT(co->SatRefPoint) G_SATELLITE_REFERENCE_DATUM(co->SatRefDatum) - G_DELTA_A0(co->Sat[i].Clock.DeltaA0) - G_DELTA_A1(co->Sat[i].Clock.DeltaA1) - G_DELTA_A2(co->Sat[i].Clock.DeltaA2) + G_DELTA_CLOCK_C0(co->Sat[i].Clock.DeltaA0) + G_DELTA_CLOCK_C1(co->Sat[i].Clock.DeltaA1) + G_DELTA_CLOCK_C2(co->Sat[i].Clock.DeltaA2) + } + break; + case COTYPE_GPSURA: + if(!co) return GCOBR_NOCLOCKORBITPARAMETER; + G_GPS_EPOCH_TIME(co->GPSEpochTime, co->NumberOfGPSSat) + co->epochGPS[co->epochSize] = co->GPSEpochTime; /* Weber, for latency */ + if(co->epochSize < 100) {co->epochSize += 1;} /* Weber, for latency */ + G_MULTIPLE_MESSAGE_INDICATOR(mmi) + G_RESERVED5 + G_NO_OF_SATELLITES(co->NumberOfGPSSat) + if(co->URADataSupplied) + return GCOBR_DATAMISMATCH; + co->URADataSupplied = 1; + for(i = 0; i < co->NumberOfGPSSat; ++i) + { + G_GPS_SATELLITE_ID(co->Sat[i].ID) + G_SSR_URA(co->Sat[i].URA) + } + break; + case COTYPE_GPSHR: + if(!co) return GCOBR_NOCLOCKORBITPARAMETER; + G_GPS_EPOCH_TIME(co->GPSEpochTime, co->NumberOfGPSSat) + co->epochGPS[co->epochSize] = co->GPSEpochTime; /* Weber, for latency */ + if(co->epochSize < 100) {co->epochSize += 1;} /* Weber, for latency */ + G_SSR_UPDATE_INTERVAL(co->UpdateInterval) + G_MULTIPLE_MESSAGE_INDICATOR(mmi) + G_RESERVED5 + G_NO_OF_SATELLITES(co->NumberOfGPSSat) + if(co->HRDataSupplied) + return GCOBR_DATAMISMATCH; + co->HRDataSupplied = 1; + for(i = 0; i < co->NumberOfGPSSat; ++i) + { + G_GPS_SATELLITE_ID(co->Sat[i].ID) + G_HR_CLOCK_CORRECTION(co->Sat[i].hrclock) } break; @@ -577,6 +719,7 @@ if(!co) return GCOBR_NOCLOCKORBITPARAMETER; G_GLONASS_EPOCH_TIME(co->GLONASSEpochTime, co->NumberOfGLONASSSat) - G_MULTIPLE_MESSAGE_INDICATOR(mmi) - G_RESERVED6 + G_SSR_UPDATE_INTERVAL(co->UpdateInterval) + G_MULTIPLE_MESSAGE_INDICATOR(mmi) + G_RESERVED5 G_NO_OF_SATELLITES(co->NumberOfGLONASSSat) if(co->OrbitDataSupplied) @@ -604,6 +747,7 @@ if(!co) return GCOBR_NOCLOCKORBITPARAMETER; G_GLONASS_EPOCH_TIME(co->GLONASSEpochTime, co->NumberOfGLONASSSat) - G_MULTIPLE_MESSAGE_INDICATOR(mmi) - G_RESERVED6 + G_SSR_UPDATE_INTERVAL(co->UpdateInterval) + G_MULTIPLE_MESSAGE_INDICATOR(mmi) + G_RESERVED5 G_NO_OF_SATELLITES(co->NumberOfGLONASSSat) if(co->ClockDataSupplied) @@ -614,8 +758,7 @@ { G_GLONASS_SATELLITE_ID(co->Sat[i].ID) - G_GLONASS_IOD(co->Sat[i].IOD) - G_DELTA_A0(co->Sat[i].Clock.DeltaA0) - G_DELTA_A1(co->Sat[i].Clock.DeltaA1) - G_DELTA_A2(co->Sat[i].Clock.DeltaA2) + G_DELTA_CLOCK_C0(co->Sat[i].Clock.DeltaA0) + G_DELTA_CLOCK_C1(co->Sat[i].Clock.DeltaA1) + G_DELTA_CLOCK_C2(co->Sat[i].Clock.DeltaA2) } break; @@ -623,6 +766,7 @@ if(!co) return GCOBR_NOCLOCKORBITPARAMETER; G_GLONASS_EPOCH_TIME(co->GLONASSEpochTime, co->NumberOfGLONASSSat) - G_MULTIPLE_MESSAGE_INDICATOR(mmi) - G_RESERVED6 + G_SSR_UPDATE_INTERVAL(co->UpdateInterval) + G_MULTIPLE_MESSAGE_INDICATOR(mmi) + G_RESERVED5 G_NO_OF_SATELLITES(co->NumberOfGLONASSSat) if(co->ClockDataSupplied || co->OrbitDataSupplied) @@ -646,7 +790,40 @@ G_SATELLITE_REFERENCE_POINT(co->SatRefPoint) G_SATELLITE_REFERENCE_DATUM(co->SatRefDatum) - G_DELTA_A0(co->Sat[i].Clock.DeltaA0) - G_DELTA_A1(co->Sat[i].Clock.DeltaA1) - G_DELTA_A2(co->Sat[i].Clock.DeltaA2) + G_DELTA_CLOCK_C0(co->Sat[i].Clock.DeltaA0) + G_DELTA_CLOCK_C1(co->Sat[i].Clock.DeltaA1) + G_DELTA_CLOCK_C2(co->Sat[i].Clock.DeltaA2) + } + break; + case COTYPE_GLONASSURA: + if(!co) return GCOBR_NOCLOCKORBITPARAMETER; + G_GLONASS_EPOCH_TIME(co->GLONASSEpochTime, co->NumberOfGLONASSSat) + G_MULTIPLE_MESSAGE_INDICATOR(mmi) + G_RESERVED5 + G_NO_OF_SATELLITES(co->NumberOfGLONASSSat) + if(co->URADataSupplied) + return GCOBR_DATAMISMATCH; + co->URADataSupplied = 1; + for(i = CLOCKORBIT_NUMGPS; + i < CLOCKORBIT_NUMGPS+co->NumberOfGLONASSSat; ++i) + { + G_GLONASS_SATELLITE_ID(co->Sat[i].ID) + G_SSR_URA(co->Sat[i].URA) + } + break; + case COTYPE_GLONASSHR: + if(!co) return GCOBR_NOCLOCKORBITPARAMETER; + G_GLONASS_EPOCH_TIME(co->GLONASSEpochTime, co->NumberOfGLONASSSat) + G_SSR_UPDATE_INTERVAL(co->UpdateInterval) + G_MULTIPLE_MESSAGE_INDICATOR(mmi) + G_RESERVED5 + G_NO_OF_SATELLITES(co->NumberOfGLONASSSat) + if(co->HRDataSupplied) + return GCOBR_DATAMISMATCH; + co->HRDataSupplied = 1; + for(i = CLOCKORBIT_NUMGPS; + i < CLOCKORBIT_NUMGPS+co->NumberOfGLONASSSat; ++i) + { + G_GLONASS_SATELLITE_ID(co->Sat[i].ID) + G_HR_CLOCK_CORRECTION(co->Sat[i].hrclock) } break; @@ -654,6 +831,7 @@ if(!b) return GCOBR_NOBIASPARAMETER; G_GPS_EPOCH_TIME(b->GPSEpochTime, co->NumberOfGPSSat) - G_MULTIPLE_MESSAGE_INDICATOR(mmi) - G_RESERVED6 + G_SSR_UPDATE_INTERVAL(co->UpdateInterval) + G_MULTIPLE_MESSAGE_INDICATOR(mmi) + G_RESERVED5 G_NO_OF_SATELLITES(b->NumberOfGPSSat) for(i = 0; i < b->NumberOfGPSSat; ++i) @@ -663,5 +841,5 @@ for(j = 0; j < b->Sat[i].NumberOfCodeBiases; ++j) { - G_GPS_CODE_TYPE(b->Sat[i].Biases[j].Type) + G_GPS_SIGNAL_IDENTIFIER(b->Sat[i].Biases[j].Type) G_CODE_BIAS(b->Sat[i].Biases[j].Bias) } @@ -671,6 +849,7 @@ if(!b) return GCOBR_NOBIASPARAMETER; G_GPS_EPOCH_TIME(b->GLONASSEpochTime, co->NumberOfGLONASSSat) - G_MULTIPLE_MESSAGE_INDICATOR(mmi) - G_RESERVED6 + G_SSR_UPDATE_INTERVAL(co->UpdateInterval) + G_MULTIPLE_MESSAGE_INDICATOR(mmi) + G_RESERVED5 G_NO_OF_SATELLITES(b->NumberOfGLONASSSat) for(i = CLOCKORBIT_NUMGPS; @@ -681,9 +860,203 @@ for(j = 0; j < b->Sat[i].NumberOfCodeBiases; ++j) { - G_GLONASS_CODE_TYPE(b->Sat[i].Biases[j].Type) + G_GLONASS_SIGNAL_IDENTIFIER(b->Sat[i].Biases[j].Type) G_CODE_BIAS(b->Sat[i].Biases[j].Bias) } } break; +#ifdef OLD + case OLDCOTYPE_GPSORBIT: + if(!co) return GCOBR_NOCLOCKORBITPARAMETER; + G_GPS_EPOCH_TIME(co->GPSEpochTime, co->NumberOfGPSSat) + co->epochGPS[co->epochSize] = co->GPSEpochTime; /* Weber, for latency */ + if(co->epochSize < 100) {co->epochSize += 1;} /* Weber, for latency */ + G_MULTIPLE_MESSAGE_INDICATOR(mmi) + OLD_G_RESERVED6 + OLD_G_NO_OF_SATELLITES(co->NumberOfGPSSat) + if(co->OrbitDataSupplied) + return GCOBR_DATAMISMATCH; + co->OrbitDataSupplied = 1; + for(i = 0; i < co->NumberOfGPSSat; ++i) + { + G_GPS_SATELLITE_ID(co->Sat[i].ID) + G_GPS_IODE(co->Sat[i].IOD) + OLD_G_DELTA_RADIAL(co->Sat[i].Orbit.DeltaRadial) + OLD_G_DELTA_ALONG_TRACK(co->Sat[i].Orbit.DeltaAlongTrack) + OLD_G_DELTA_CROSS_TRACK(co->Sat[i].Orbit.DeltaCrossTrack) + OLD_G_DELTA_DOT_RADIAL(co->Sat[i].Orbit.DotDeltaRadial) + OLD_G_DELTA_DOT_ALONG_TRACK(co->Sat[i].Orbit.DotDeltaAlongTrack) + OLD_G_DELTA_DOT_CROSS_TRACK(co->Sat[i].Orbit.DotDeltaCrossTrack) + OLD_G_DELTA_DOT_DOT_RADIAL(co->Sat[i].Orbit.DotDotDeltaRadial) + OLD_G_DELTA_DOT_DOT_ALONG_TRACK(co->Sat[i].Orbit.DotDotDeltaAlongTrack) + OLD_G_DELTA_DOT_DOT_CROSS_TRACK(co->Sat[i].Orbit.DotDotDeltaCrossTrack) + G_SATELLITE_REFERENCE_POINT(co->SatRefPoint) + G_SATELLITE_REFERENCE_DATUM(co->SatRefDatum) + } + break; + case OLDCOTYPE_GPSCLOCK: + if(!co) return GCOBR_NOCLOCKORBITPARAMETER; + G_GPS_EPOCH_TIME(co->GPSEpochTime, co->NumberOfGPSSat) + co->epochGPS[co->epochSize] = co->GPSEpochTime; /* Weber, for latency */ + if(co->epochSize < 100) {co->epochSize += 1;} /* Weber, for latency */ + G_MULTIPLE_MESSAGE_INDICATOR(mmi) + OLD_G_RESERVED6 + OLD_G_NO_OF_SATELLITES(co->NumberOfGPSSat) + if(co->ClockDataSupplied) + return GCOBR_DATAMISMATCH; + co->ClockDataSupplied = 1; + for(i = 0; i < co->NumberOfGPSSat; ++i) + { + G_GPS_SATELLITE_ID(co->Sat[i].ID) + G_GPS_IODE(co->Sat[i].IOD) + OLD_G_DELTA_A0(co->Sat[i].Clock.DeltaA0) + OLD_G_DELTA_A1(co->Sat[i].Clock.DeltaA1) + OLD_G_DELTA_A2(co->Sat[i].Clock.DeltaA2) + } + break; + case OLDCOTYPE_GPSCOMBINED: + if(!co) return -5; + G_GPS_EPOCH_TIME(co->GPSEpochTime, co->NumberOfGPSSat) + co->epochGPS[co->epochSize] = co->GPSEpochTime; /* Weber, for latency */ + if(co->epochSize < 100) {co->epochSize += 1;} /* Weber, for latency */ + G_MULTIPLE_MESSAGE_INDICATOR(mmi) + OLD_G_RESERVED6 + OLD_G_NO_OF_SATELLITES(co->NumberOfGPSSat) + if(co->ClockDataSupplied || co->OrbitDataSupplied) + return GCOBR_DATAMISMATCH; + co->OrbitDataSupplied = 1; + co->ClockDataSupplied = 1; + for(i = 0; i < co->NumberOfGPSSat; ++i) + { + G_GPS_SATELLITE_ID(co->Sat[i].ID) + G_GPS_IODE(co->Sat[i].IOD) + OLD_G_DELTA_RADIAL(co->Sat[i].Orbit.DeltaRadial) + OLD_G_DELTA_ALONG_TRACK(co->Sat[i].Orbit.DeltaAlongTrack) + OLD_G_DELTA_CROSS_TRACK(co->Sat[i].Orbit.DeltaCrossTrack) + OLD_G_DELTA_DOT_RADIAL(co->Sat[i].Orbit.DotDeltaRadial) + OLD_G_DELTA_DOT_ALONG_TRACK(co->Sat[i].Orbit.DotDeltaAlongTrack) + OLD_G_DELTA_DOT_CROSS_TRACK(co->Sat[i].Orbit.DotDeltaCrossTrack) + OLD_G_DELTA_DOT_DOT_RADIAL(co->Sat[i].Orbit.DotDotDeltaRadial) + OLD_G_DELTA_DOT_DOT_ALONG_TRACK(co->Sat[i].Orbit.DotDotDeltaAlongTrack) + OLD_G_DELTA_DOT_DOT_CROSS_TRACK(co->Sat[i].Orbit.DotDotDeltaCrossTrack) + G_SATELLITE_REFERENCE_POINT(co->SatRefPoint) + G_SATELLITE_REFERENCE_DATUM(co->SatRefDatum) + OLD_G_DELTA_A0(co->Sat[i].Clock.DeltaA0) + OLD_G_DELTA_A1(co->Sat[i].Clock.DeltaA1) + OLD_G_DELTA_A2(co->Sat[i].Clock.DeltaA2) + } + break; + case OLDCOTYPE_GLONASSORBIT: + if(!co) return GCOBR_NOCLOCKORBITPARAMETER; + G_GLONASS_EPOCH_TIME(co->GLONASSEpochTime, co->NumberOfGLONASSSat) + G_MULTIPLE_MESSAGE_INDICATOR(mmi) + OLD_G_RESERVED6 + OLD_G_NO_OF_SATELLITES(co->NumberOfGLONASSSat) + if(co->OrbitDataSupplied) + return GCOBR_DATAMISMATCH; + co->OrbitDataSupplied = 1; + for(i = CLOCKORBIT_NUMGPS; + i < CLOCKORBIT_NUMGPS+co->NumberOfGLONASSSat; ++i) + { + OLD_G_GLONASS_SATELLITE_ID(co->Sat[i].ID) + G_GLONASS_IOD(co->Sat[i].IOD) + OLD_G_DELTA_RADIAL(co->Sat[i].Orbit.DeltaRadial) + OLD_G_DELTA_ALONG_TRACK(co->Sat[i].Orbit.DeltaAlongTrack) + OLD_G_DELTA_CROSS_TRACK(co->Sat[i].Orbit.DeltaCrossTrack) + OLD_G_DELTA_DOT_RADIAL(co->Sat[i].Orbit.DotDeltaRadial) + OLD_G_DELTA_DOT_ALONG_TRACK(co->Sat[i].Orbit.DotDeltaAlongTrack) + OLD_G_DELTA_DOT_CROSS_TRACK(co->Sat[i].Orbit.DotDeltaCrossTrack) + OLD_G_DELTA_DOT_DOT_RADIAL(co->Sat[i].Orbit.DotDotDeltaRadial) + OLD_G_DELTA_DOT_DOT_ALONG_TRACK(co->Sat[i].Orbit.DotDotDeltaAlongTrack) + OLD_G_DELTA_DOT_DOT_CROSS_TRACK(co->Sat[i].Orbit.DotDotDeltaCrossTrack) + G_SATELLITE_REFERENCE_POINT(co->SatRefPoint) + G_SATELLITE_REFERENCE_DATUM(co->SatRefDatum) + } + break; + case OLDCOTYPE_GLONASSCLOCK: + if(!co) return GCOBR_NOCLOCKORBITPARAMETER; + G_GLONASS_EPOCH_TIME(co->GLONASSEpochTime, co->NumberOfGLONASSSat) + G_MULTIPLE_MESSAGE_INDICATOR(mmi) + OLD_G_RESERVED6 + OLD_G_NO_OF_SATELLITES(co->NumberOfGLONASSSat) + if(co->ClockDataSupplied) + return GCOBR_DATAMISMATCH; + co->ClockDataSupplied = 1; + for(i = CLOCKORBIT_NUMGPS; + i < CLOCKORBIT_NUMGPS+co->NumberOfGLONASSSat; ++i) + { + OLD_G_GLONASS_SATELLITE_ID(co->Sat[i].ID) + G_GLONASS_IOD(co->Sat[i].IOD) + OLD_G_DELTA_A0(co->Sat[i].Clock.DeltaA0) + OLD_G_DELTA_A1(co->Sat[i].Clock.DeltaA1) + OLD_G_DELTA_A2(co->Sat[i].Clock.DeltaA2) + } + break; + case OLDCOTYPE_GLONASSCOMBINED: + if(!co) return GCOBR_NOCLOCKORBITPARAMETER; + G_GLONASS_EPOCH_TIME(co->GLONASSEpochTime, co->NumberOfGLONASSSat) + G_MULTIPLE_MESSAGE_INDICATOR(mmi) + OLD_G_RESERVED6 + OLD_G_NO_OF_SATELLITES(co->NumberOfGLONASSSat) + if(co->ClockDataSupplied || co->OrbitDataSupplied) + return GCOBR_DATAMISMATCH; + co->OrbitDataSupplied = 1; + co->ClockDataSupplied = 1; + for(i = CLOCKORBIT_NUMGPS; + i < CLOCKORBIT_NUMGPS+co->NumberOfGLONASSSat; ++i) + { + OLD_G_GLONASS_SATELLITE_ID(co->Sat[i].ID) + G_GLONASS_IOD(co->Sat[i].IOD) + OLD_G_DELTA_RADIAL(co->Sat[i].Orbit.DeltaRadial) + OLD_G_DELTA_ALONG_TRACK(co->Sat[i].Orbit.DeltaAlongTrack) + OLD_G_DELTA_CROSS_TRACK(co->Sat[i].Orbit.DeltaCrossTrack) + OLD_G_DELTA_DOT_RADIAL(co->Sat[i].Orbit.DotDeltaRadial) + OLD_G_DELTA_DOT_ALONG_TRACK(co->Sat[i].Orbit.DotDeltaAlongTrack) + OLD_G_DELTA_DOT_CROSS_TRACK(co->Sat[i].Orbit.DotDeltaCrossTrack) + OLD_G_DELTA_DOT_DOT_RADIAL(co->Sat[i].Orbit.DotDotDeltaRadial) + OLD_G_DELTA_DOT_DOT_ALONG_TRACK(co->Sat[i].Orbit.DotDotDeltaAlongTrack) + OLD_G_DELTA_DOT_DOT_CROSS_TRACK(co->Sat[i].Orbit.DotDotDeltaCrossTrack) + G_SATELLITE_REFERENCE_POINT(co->SatRefPoint) + G_SATELLITE_REFERENCE_DATUM(co->SatRefDatum) + OLD_G_DELTA_A0(co->Sat[i].Clock.DeltaA0) + OLD_G_DELTA_A1(co->Sat[i].Clock.DeltaA1) + OLD_G_DELTA_A2(co->Sat[i].Clock.DeltaA2) + } + break; + case OLDBTYPE_GPS: + if(!b) return GCOBR_NOBIASPARAMETER; + G_GPS_EPOCH_TIME(b->GPSEpochTime, co->NumberOfGPSSat) + G_MULTIPLE_MESSAGE_INDICATOR(mmi) + OLD_G_RESERVED6 + OLD_G_NO_OF_SATELLITES(b->NumberOfGPSSat) + for(i = 0; i < b->NumberOfGPSSat; ++i) + { + G_GPS_SATELLITE_ID(b->Sat[i].ID) + G_NO_OF_CODE_BIASES(b->Sat[i].NumberOfCodeBiases) + for(j = 0; j < b->Sat[i].NumberOfCodeBiases; ++j) + { + G_GPS_SIGNAL_IDENTIFIER(b->Sat[i].Biases[j].Type) + OLD_G_CODE_BIAS(b->Sat[i].Biases[j].Bias) + } + } + break; + case OLDBTYPE_GLONASS: + if(!b) return GCOBR_NOBIASPARAMETER; + G_GPS_EPOCH_TIME(b->GLONASSEpochTime, co->NumberOfGLONASSSat) + G_MULTIPLE_MESSAGE_INDICATOR(mmi) + OLD_G_RESERVED6 + OLD_G_NO_OF_SATELLITES(b->NumberOfGLONASSSat) + for(i = CLOCKORBIT_NUMGPS; + i < CLOCKORBIT_NUMGPS+b->NumberOfGLONASSSat; ++i) + { + OLD_G_GLONASS_SATELLITE_ID(b->Sat[i].ID) + G_NO_OF_CODE_BIASES(b->Sat[i].NumberOfCodeBiases) + for(j = 0; j < b->Sat[i].NumberOfCodeBiases; ++j) + { + G_GLONASS_SIGNAL_IDENTIFIER(b->Sat[i].Biases[j].Type) + OLD_G_CODE_BIAS(b->Sat[i].Biases[j].Bias) + } + } + break; +#endif default: return GCOBR_UNKNOWNTYPE; Index: trunk/BNS/RTCM/clock_orbit_rtcm.h =================================================================== --- trunk/BNS/RTCM/clock_orbit_rtcm.h (revision 1696) +++ trunk/BNS/RTCM/clock_orbit_rtcm.h (revision 1697) @@ -6,5 +6,5 @@ Name: clock_orbit_rtcm.h Project: RTCM3 - Version: $Id: clock_orbit_rtcm.h,v 1.3 2008/11/16 00:05:32 weber Exp $ + Version: $Id: clock_orbit_rtcm.h,v 1.7 2009/02/27 08:59:55 weber Exp $ Authors: Dirk Stöcker Description: state space approach for RTCM3 @@ -15,9 +15,13 @@ enum SatelliteReferenceDatum { DATUM_ITRF=0, DATUM_LOCAL=1 }; enum SatelliteReferencePoint { POINT_IONOFREE=0, POINT_CENTER=1 }; -enum ClockOrbitType { COTYPE_GPSORBIT=4050, COTYPE_GPSCLOCK=4051, - COTYPE_GLONASSORBIT=4053, COTYPE_GLONASSCLOCK=4054, - COTYPE_GPSCOMBINED=4056, COTYPE_GLONASSCOMBINED=4057, +enum ClockOrbitType { + COTYPE_GPSORBIT=4060, COTYPE_GPSCLOCK=4061, + COTYPE_GPSCOMBINED=4063, COTYPE_GPSURA=4064, COTYPE_GPSHR=4065, + + COTYPE_GLONASSORBIT=4066, COTYPE_GLONASSCLOCK=4067, + COTYPE_GLONASSCOMBINED=4069, COTYPE_GLONASSURA=4070, COTYPE_GLONASSHR=4071, + COTYPE_AUTO=0 }; -enum BiasType { BTYPE_GPS=4052, BTYPE_GLONASS=4055, BTYPE_AUTO = 0 }; +enum BiasType { BTYPE_GPS=4062, BTYPE_GLONASS=4068, BTYPE_AUTO = 0 }; enum COR_CONSTANTS { @@ -51,7 +55,10 @@ int NumberOfGLONASSSat; /* 0 .. 24 */ int ClockDataSupplied; /* boolean */ + int HRDataSupplied; /* boolean */ int OrbitDataSupplied; /* boolean */ + int URADataSupplied; /* boolean */ int epochGPS[101]; /* Weber, for latency */ int epochSize; /* Weber, for latency */ + int UpdateInterval; enum SatelliteReferencePoint SatRefPoint; enum SatelliteReferenceDatum SatRefDatum; @@ -59,4 +66,6 @@ int ID; /* GPS or GLONASS */ int IOD; /* GPS or GLONASS */ + int URA; + double hrclock; struct OrbitPart { @@ -86,4 +95,5 @@ int NumberOfGPSSat; /* 0 .. 32 */ int NumberOfGLONASSSat; /* 0 .. 24 */ + int UpdateInterval; struct BiasSat { Index: trunk/BNS/bns.pro =================================================================== --- trunk/BNS/bns.pro (revision 1696) +++ trunk/BNS/bns.pro (revision 1697) @@ -4,5 +4,4 @@ CONFIG += release #CONFIG += debug -CONFIG += OLD RESOURCES += bns.qrc