mirror of
https://github.com/gnss-sdr/gnss-sdr
synced 2024-12-14 20:20:35 +00:00
Work on initializations
This commit is contained in:
Carles Fernandez
parent
1b4cfad57d
commit
1b25d14b4c
@ -1223,6 +1223,19 @@ typedef struct { /* RTK server type */
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lock_t lock; /* lock flag */
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} rtksvr_t;
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typedef struct { /* multi-signal-message header type */
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unsigned char iod; /* issue of data station */
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unsigned char time_s; /* cumulative session transmitting time */
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unsigned char clk_str; /* clock steering indicator */
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unsigned char clk_ext; /* external clock indicator */
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unsigned char smooth; /* divergence free smoothing indicator */
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unsigned char tint_s; /* soothing interval */
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unsigned char nsat,nsig; /* number of satellites/signals */
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unsigned char sats[64]; /* satellites */
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unsigned char sigs[32]; /* signals */
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unsigned char cellmask[64]; /* cell mask */
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} msm_h_t;
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const double chisqr[100] = { /* chi-sqr(n) (alpha=0.001) */
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10.8, 13.8, 16.3, 18.5, 20.5, 22.5, 24.3, 26.1, 27.9, 29.6,
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@ -67,11 +67,14 @@
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*-----------------------------------------------------------------------------*/
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int init_rtcm(rtcm_t *rtcm)
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{
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gtime_t time0 = {0};
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obsd_t data0 = {{0}};
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eph_t eph0 = {0, -1, -1};
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geph_t geph0 = {0, -1};
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ssr_t ssr0 = {{{0}}};
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gtime_t time0 = {0, 0.0};
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obsd_t data0 = {{0, 0.0}, 0, 0, {0}, {0}, {0}, {0.0}, {0.0}, {0.0}};
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eph_t eph0 = {0, -1, -1, 0, 0, 0, 0, 0, {0,0.0}, {0,0.0}, {0,0.0},
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0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0,
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0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, {0.0}, 0.0, 0.0};
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geph_t geph0 = {0, -1, 0, 0, 0, 0, {0,0.0}, {0,0.0}, {0.0}, {0.0}, {0.0},
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0.0, 0.0, 0.0};
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ssr_t ssr0 = { {{0, 0.0}}, {0.0}, {0}, 0, 0, 0, 0, {0.0}, {0.0}, {0.0}, 0.0, {0.0}, {0.0}, {0.0}, 0.0, 0.0, '0' };
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int i, j;
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trace(3, "init_rtcm:\n");
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@ -206,7 +206,9 @@ int decode_type16(rtcm_t *rtcm)
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/* decode type 17: gps ephemerides -------------------------------------------*/
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int decode_type17(rtcm_t *rtcm)
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{
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eph_t eph = {0};
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eph_t eph = {0, -1, -1, 0, 0, 0, 0, 0, {0,0.0}, {0,0.0}, {0,0.0},
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0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0,
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0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, {0.0}, 0.0, 0.0};
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double toc, sqrtA;
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int i = 48, week, prn, sat;
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@ -423,56 +425,56 @@ int decode_type22(rtcm_t *rtcm)
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/* decode type 23: antenna type definition record ----------------------------*/
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int decode_type23(rtcm_t *rtcm)
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int decode_type23(rtcm_t *rtcm __attribute((unused)))
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{
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return 0;
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}
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/* decode type 24: antenna reference point (arp) -----------------------------*/
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int decode_type24(rtcm_t *rtcm)
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int decode_type24(rtcm_t *rtcm __attribute((unused)))
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{
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return 0;
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}
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/* decode type 31: differential glonass correction ---------------------------*/
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int decode_type31(rtcm_t *rtcm)
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int decode_type31(rtcm_t *rtcm __attribute((unused)))
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{
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return 0;
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}
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/* decode type 32: differential glonass reference station parameters ---------*/
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int decode_type32(rtcm_t *rtcm)
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int decode_type32(rtcm_t *rtcm __attribute((unused)))
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{
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return 0;
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}
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/* decode type 34: glonass partial differential correction set ---------------*/
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int decode_type34(rtcm_t *rtcm)
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int decode_type34(rtcm_t *rtcm __attribute((unused)))
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{
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return 0;
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}
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/* decode type 36: glonass special message -----------------------------------*/
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int decode_type36(rtcm_t *rtcm)
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int decode_type36(rtcm_t *rtcm __attribute((unused)))
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{
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return 0;
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}
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/* decode type 37: gnss system time offset -----------------------------------*/
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int decode_type37(rtcm_t *rtcm)
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int decode_type37(rtcm_t *rtcm __attribute((unused)))
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{
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return 0;
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}
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/* decode type 59: proprietary message ---------------------------------------*/
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int decode_type59(rtcm_t *rtcm)
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int decode_type59(rtcm_t *rtcm __attribute((unused)))
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{
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return 0;
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}
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@ -727,7 +727,9 @@ int decode_type1013(rtcm_t *rtcm)
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/* decode type 1019: gps ephemerides -----------------------------------------*/
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int decode_type1019(rtcm_t *rtcm)
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{
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eph_t eph = {0};
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eph_t eph = {0, -1, -1, 0, 0, 0, 0, 0, {0,0.0}, {0,0.0}, {0,0.0},
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0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0,
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0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, {0.0}, 0.0, 0.0};
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double toc, sqrtA;
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char *msg;
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int i = 24+12, prn, sat, week, sys = SYS_GPS;
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@ -806,7 +808,8 @@ int decode_type1019(rtcm_t *rtcm)
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/* decode type 1020: glonass ephemerides -------------------------------------*/
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int decode_type1020(rtcm_t *rtcm)
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{
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geph_t geph = {0};
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geph_t geph = {0, -1, 0, 0, 0, 0, {0,0.0}, {0,0.0}, {0.0}, {0.0}, {0.0},
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0.0, 0.0, 0.0};
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double tk_h, tk_m, tk_s, toe, tow, tod, tof;
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char *msg;
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int i = 24+12, prn, sat, week, tb, bn, sys = SYS_GLO;
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@ -877,7 +880,7 @@ int decode_type1020(rtcm_t *rtcm)
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/* decode type 1021: helmert/abridged molodenski -----------------------------*/
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int decode_type1021(rtcm_t *rtcm)
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int decode_type1021(rtcm_t *rtcm __attribute__((unused)))
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{
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trace(2, "rtcm3 1021: not supported message\n");
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return 0;
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@ -885,7 +888,7 @@ int decode_type1021(rtcm_t *rtcm)
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/* decode type 1022: moledenski-badekas transfromation -----------------------*/
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int decode_type1022(rtcm_t *rtcm)
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int decode_type1022(rtcm_t *rtcm __attribute__((unused)))
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{
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trace(2, "rtcm3 1022: not supported message\n");
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return 0;
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@ -893,7 +896,7 @@ int decode_type1022(rtcm_t *rtcm)
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/* decode type 1023: residual, ellipoidal grid representation ----------------*/
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int decode_type1023(rtcm_t *rtcm)
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int decode_type1023(rtcm_t *rtcm __attribute__((unused)))
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{
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trace(2, "rtcm3 1023: not supported message\n");
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return 0;
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@ -901,7 +904,7 @@ int decode_type1023(rtcm_t *rtcm)
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/* decode type 1024: residual, plane grid representation ---------------------*/
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int decode_type1024(rtcm_t *rtcm)
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int decode_type1024(rtcm_t *rtcm __attribute__((unused)))
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{
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trace(2, "rtcm3 1024: not supported message\n");
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return 0;
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@ -909,7 +912,7 @@ int decode_type1024(rtcm_t *rtcm)
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/* decode type 1025: projection (types except LCC2SP, OM) ---------------------*/
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int decode_type1025(rtcm_t *rtcm)
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int decode_type1025(rtcm_t *rtcm __attribute__((unused)))
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{
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trace(2, "rtcm3 1025: not supported message\n");
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return 0;
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@ -917,7 +920,7 @@ int decode_type1025(rtcm_t *rtcm)
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/* decode type 1026: projection (LCC2SP - lambert conic conformal (2sp)) -----*/
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int decode_type1026(rtcm_t *rtcm)
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int decode_type1026(rtcm_t *rtcm __attribute__((unused)))
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{
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trace(2, "rtcm3 1026: not supported message\n");
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return 0;
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@ -925,7 +928,7 @@ int decode_type1026(rtcm_t *rtcm)
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/* decode type 1027: projection (type OM - oblique mercator) -----------------*/
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int decode_type1027(rtcm_t *rtcm)
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int decode_type1027(rtcm_t *rtcm __attribute__((unused)))
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{
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trace(2, "rtcm3 1027: not supported message\n");
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return 0;
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@ -972,7 +975,7 @@ int decode_type1029(rtcm_t *rtcm)
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/* decode type 1030: network rtk residual ------------------------------------*/
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int decode_type1030(rtcm_t *rtcm)
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int decode_type1030(rtcm_t *rtcm __attribute__((unused)))
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{
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trace(2, "rtcm3 1030: not supported message\n");
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return 0;
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@ -980,7 +983,7 @@ int decode_type1030(rtcm_t *rtcm)
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/* decode type 1031: glonass network rtk residual ----------------------------*/
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int decode_type1031(rtcm_t *rtcm)
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int decode_type1031(rtcm_t *rtcm __attribute__((unused)))
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{
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trace(2, "rtcm3 1031: not supported message\n");
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return 0;
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@ -988,7 +991,7 @@ int decode_type1031(rtcm_t *rtcm)
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/* decode type 1032: physical reference station position information ---------*/
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int decode_type1032(rtcm_t *rtcm)
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int decode_type1032(rtcm_t *rtcm __attribute__((unused)))
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{
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trace(2, "rtcm3 1032: not supported message\n");
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return 0;
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@ -1062,7 +1065,7 @@ int decode_type1033(rtcm_t *rtcm)
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/* decode type 1034: gps network fkp gradient --------------------------------*/
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int decode_type1034(rtcm_t *rtcm)
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int decode_type1034(rtcm_t *rtcm __attribute__((unused)))
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{
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trace(2, "rtcm3 1034: not supported message\n");
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return 0;
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@ -1070,7 +1073,7 @@ int decode_type1034(rtcm_t *rtcm)
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/* decode type 1035: glonass network fkp gradient ----------------------------*/
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int decode_type1035(rtcm_t *rtcm)
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int decode_type1035(rtcm_t *rtcm __attribute__((unused)))
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{
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trace(2, "rtcm3 1035: not supported message\n");
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return 0;
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@ -1078,7 +1081,7 @@ int decode_type1035(rtcm_t *rtcm)
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/* decode type 1037: glonass network rtk ionospheric correction difference ---*/
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int decode_type1037(rtcm_t *rtcm)
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int decode_type1037(rtcm_t *rtcm __attribute__((unused)))
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{
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trace(2, "rtcm3 1037: not supported message\n");
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return 0;
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@ -1086,7 +1089,7 @@ int decode_type1037(rtcm_t *rtcm)
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/* decode type 1038: glonass network rtk geometic correction difference ------*/
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int decode_type1038(rtcm_t *rtcm)
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int decode_type1038(rtcm_t *rtcm __attribute__((unused)))
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{
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trace(2, "rtcm3 1038: not supported message\n");
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return 0;
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@ -1094,7 +1097,7 @@ int decode_type1038(rtcm_t *rtcm)
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/* decode type 1039: glonass network rtk combined correction difference ------*/
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int decode_type1039(rtcm_t *rtcm)
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int decode_type1039(rtcm_t *rtcm __attribute__((unused)))
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{
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trace(2, "rtcm3 1039: not supported message\n");
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return 0;
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@ -1104,7 +1107,9 @@ int decode_type1039(rtcm_t *rtcm)
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/* decode type 1044: qzss ephemerides (ref [15]) -----------------------------*/
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int decode_type1044(rtcm_t *rtcm)
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{
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eph_t eph = {0};
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eph_t eph = {0, -1, -1, 0, 0, 0, 0, 0, {0,0.0}, {0,0.0}, {0,0.0},
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0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0,
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0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, {0.0}, 0.0, 0.0};
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double toc, sqrtA;
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char *msg;
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int i = 24+12, prn, sat, week, sys = SYS_QZS;
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@ -1179,7 +1184,9 @@ int decode_type1044(rtcm_t *rtcm)
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/* decode type 1045: galileo satellite ephemerides (ref [15]) ----------------*/
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int decode_type1045(rtcm_t *rtcm)
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{
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eph_t eph = {0};
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eph_t eph = {0, -1, -1, 0, 0, 0, 0, 0, {0,0.0}, {0,0.0}, {0,0.0},
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0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0,
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0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, {0.0}, 0.0, 0.0};
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double toc, sqrtA;
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char *msg;
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int i = 24+12, prn, sat, week, e5a_hs, e5a_dvs, rsv, sys = SYS_GAL;
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@ -1254,7 +1261,9 @@ int decode_type1045(rtcm_t *rtcm)
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/* decode type 1046: galileo satellite ephemerides (extension for IGS MGEX) --*/
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int decode_type1046(rtcm_t *rtcm)
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{
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eph_t eph = {0};
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eph_t eph = {0, -1, -1, 0, 0, 0, 0, 0, {0,0.0}, {0,0.0}, {0,0.0},
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0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0,
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0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, {0.0}, 0.0, 0.0};
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double toc, sqrtA;
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char *msg;
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int i = 24+12, prn, sat, week, e5a_hs, e5a_dvs, rsv, sys = SYS_GAL;
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@ -1329,7 +1338,9 @@ int decode_type1046(rtcm_t *rtcm)
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/* decode type 1047: beidou ephemerides (tentative mt and format) ------------*/
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int decode_type1047(rtcm_t *rtcm)
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{
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eph_t eph = {0};
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eph_t eph = {0, -1, -1, 0, 0, 0, 0, 0, {0,0.0}, {0,0.0}, {0,0.0},
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0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0,
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0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, {0.0}, 0.0, 0.0};;
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double toc, sqrtA;
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char *msg;
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int i = 24+12, prn, sat, week, sys = SYS_BDS;
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@ -1407,7 +1418,9 @@ int decode_type1047(rtcm_t *rtcm)
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/* decode type 63: beidou ephemerides (rtcm draft) ---------------------------*/
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int decode_type63(rtcm_t *rtcm)
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{
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eph_t eph = {0};
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eph_t eph = {0, -1, -1, 0, 0, 0, 0, 0, {0,0.0}, {0,0.0}, {0,0.0},
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0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0,
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0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, {0.0}, 0.0, 0.0};
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double toc, sqrtA;
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char *msg;
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int i = 24+12, prn, sat, week, sys = SYS_BDS;
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@ -2180,7 +2193,7 @@ void save_msm_obs(rtcm_t *rtcm, int sys, msm_h_t *h, const double *r,
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int decode_msm_head(rtcm_t *rtcm, int sys, int *sync, int *iod,
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msm_h_t *h, int *hsize)
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{
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msm_h_t h0 = {0};
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msm_h_t h0 = {0, 0, 0, 0, 0, 0, 0, 0, {0}, {0}, {0}};
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double tow, tod;
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char *msg;
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int i = 24, j, dow, mask, staid, type, ncell = 0;
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@ -2270,7 +2283,7 @@ int decode_msm_head(rtcm_t *rtcm, int sys, int *sync, int *iod,
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/* decode unsupported msm message --------------------------------------------*/
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int decode_msm0(rtcm_t *rtcm, int sys)
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{
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msm_h_t h = {0};
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msm_h_t h = {0, 0, 0, 0, 0, 0, 0, 0, {0}, {0}, {0}};
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int i, sync, iod;
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if (decode_msm_head(rtcm, sys, &sync, &iod, &h, &i) < 0) return -1;
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rtcm->obsflag = !sync;
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@ -2281,7 +2294,7 @@ int decode_msm0(rtcm_t *rtcm, int sys)
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/* decode msm 4: full pseudorange and phaserange plus cnr --------------------*/
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int decode_msm4(rtcm_t *rtcm, int sys)
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{
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msm_h_t h = {0};
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msm_h_t h = {0, 0, 0, 0, 0, 0, 0, 0, {0}, {0}, {0}};
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double r[64], pr[64], cp[64], cnr[64];
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int i, j, type, sync, iod, ncell, rng, rng_m, prv, cpv, lock[64], half[64];
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@ -2290,7 +2303,7 @@ int decode_msm4(rtcm_t *rtcm, int sys)
|
||||
/* decode msm header */
|
||||
if ((ncell = decode_msm_head(rtcm, sys, &sync, &iod, &h, &i)) < 0) return -1;
|
||||
|
||||
if (i+h.nsat*18+ncell*48>rtcm->len*8)
|
||||
if (i+h.nsat*18+ncell*48 > rtcm->len*8)
|
||||
{
|
||||
trace(2, "rtcm3 %d length error: nsat=%d ncell=%d len=%d\n", type, h.nsat,
|
||||
ncell, rtcm->len);
|
||||
@ -2344,7 +2357,7 @@ int decode_msm4(rtcm_t *rtcm, int sys)
|
||||
/* decode msm 5: full pseudorange, phaserange, phaserangerate and cnr --------*/
|
||||
int decode_msm5(rtcm_t *rtcm, int sys)
|
||||
{
|
||||
msm_h_t h = {0};
|
||||
msm_h_t h = {0, 0, 0, 0, 0, 0, 0, 0, {0}, {0}, {0}};
|
||||
double r[64], rr[64], pr[64], cp[64], rrf[64], cnr[64];
|
||||
int i, j, type, sync, iod, ncell, rng, rng_m, rate, prv, cpv, rrv, lock[64];
|
||||
int ex[64], half[64];
|
||||
@ -2425,7 +2438,7 @@ int decode_msm5(rtcm_t *rtcm, int sys)
|
||||
/* decode msm 6: full pseudorange and phaserange plus cnr (high-res) ---------*/
|
||||
int decode_msm6(rtcm_t *rtcm, int sys)
|
||||
{
|
||||
msm_h_t h = {0};
|
||||
msm_h_t h = {0, 0, 0, 0, 0, 0, 0, 0, {0}, {0}, {0}};
|
||||
double r[64], pr[64], cp[64], cnr[64];
|
||||
int i, j, type, sync, iod, ncell, rng, rng_m, prv, cpv, lock[64], half[64];
|
||||
|
||||
@ -2488,7 +2501,7 @@ int decode_msm6(rtcm_t *rtcm, int sys)
|
||||
/* decode msm 7: full pseudorange, phaserange, phaserangerate and cnr (h-res) */
|
||||
int decode_msm7(rtcm_t *rtcm, int sys)
|
||||
{
|
||||
msm_h_t h = {0};
|
||||
msm_h_t h = {0, 0, 0, 0, 0, 0, 0, 0, {0}, {0}, {0}};
|
||||
double r[64], rr[64], pr[64], cp[64], rrf[64], cnr[64];
|
||||
int i, j, type, sync, iod, ncell, rng, rng_m, rate, prv, cpv, rrv, lock[64];
|
||||
int ex[64], half[64];
|
||||
|
||||
@ -62,26 +62,6 @@ const double PRUNIT_GPS = 299792.458; /* rtcm ver.3 unit of gps pseudorange (m)
|
||||
const double PRUNIT_GLO = 599584.916; /* rtcm ver.3 unit of glonass pseudorange (m) */
|
||||
const double RANGE_MS = SPEED_OF_LIGHT * 0.001; /* range in 1 ms */
|
||||
|
||||
//#define P2_10 0.0009765625 /* 2^-10 */
|
||||
//#define P2_34 5.820766091346740E-11 /* 2^-34 */
|
||||
//#define P2_46 1.421085471520200E-14 /* 2^-46 */
|
||||
//#define P2_59 1.734723475976810E-18 /* 2^-59 */
|
||||
//#define P2_66 1.355252715606880E-20 /* 2^-66 */
|
||||
|
||||
/* type definition -----------------------------------------------------------*/
|
||||
|
||||
typedef struct { /* multi-signal-message header type */
|
||||
unsigned char iod; /* issue of data station */
|
||||
unsigned char time_s; /* cumulative session transmitting time */
|
||||
unsigned char clk_str; /* clock steering indicator */
|
||||
unsigned char clk_ext; /* external clock indicator */
|
||||
unsigned char smooth; /* divergence free smoothing indicator */
|
||||
unsigned char tint_s; /* soothing interval */
|
||||
unsigned char nsat,nsig; /* number of satellites/signals */
|
||||
unsigned char sats[64]; /* satellites */
|
||||
unsigned char sigs[32]; /* signals */
|
||||
unsigned char cellmask[64]; /* cell mask */
|
||||
} msm_h_t;
|
||||
|
||||
/* msm signal id table -------------------------------------------------------*/
|
||||
const char *msm_sig_gps[32] = {
|
||||
|
||||
Loading…
Reference in New Issue
Block a user