#include "mrtklib/mrtk_madoca.h"
#include <math.h>
#include <stdio.h>
#include <stdlib.h>
#include <string.h>
#include "mrtklib/mrtk_bits.h"
#include "mrtklib/mrtk_const.h"
#include "mrtklib/mrtk_l6.h"
#include "mrtklib/mrtk_trace.h"

Include dependency graph for mrtk_madoca.c:

Classes
struct	mcssr_t

Macros
#define	SYS_NONE 0x00
#define	SYS_GPS 0x01
#define	SYS_SBS 0x02
#define	SYS_GLO 0x04
#define	SYS_GAL 0x08
#define	SYS_QZS 0x10
#define	SYS_CMP 0x20
#define	SYS_IRN 0x40
#define	L6DATA_BYTELEN 212 /* L6 message data part byte length */
#define	RTCM_MN_CSSR 4073 /* Compact SSR message number */
#define	MCSSR_BYTELEN 1060 /* MADOCA-PPP message 5 frames byte length */
#define	MCSSR_ST_MASK 1 /* Compact SSR Mask */
#define	MCSSR_ST_OC 2 /* Compact SSR GNSS Orbit Correction */
#define	MCSSR_ST_CC 3 /* Compact SSR GNSS Clock Correction */
#define	MCSSR_ST_CB 4 /* Compact SSR GNSS Satellite Code Bias */
#define	MCSSR_ST_PB 5 /* Compact SSR GNSS Satellite Phase Bias */
#define	MCSSR_ST_URA 7 /* Compact SSR GNSS URA */
#define	MCSSR_MAX_SYS 16 /* GNSS ID (Table 4.2.2-7) w/o SBS */
#define	MCSSR_SYS_GPS 0
#define	MCSSR_SYS_GLO 1
#define	MCSSR_SYS_GAL 2
#define	MCSSR_SYS_BDS 3
#define	MCSSR_SYS_QZS 4
#define	MCSSR_SYS_BD3 7
#define	MCSSR_MAX_SATMASK 40 /* Satellite Mask (Table 4.2.2-8) */
#define	MCSSR_SATMASK_GPS_U 0xFFFFFFFFu /* Note, U and L for -Wlong-long Avoidance */
#define	MCSSR_SATMASK_GPS_L 0xFF
#define	MCSSR_SATMASK_GLO_U 0xFFFFFF00u
#define	MCSSR_SATMASK_GLO_L 0x00
#define	MCSSR_SATMASK_GAL_U 0xFFFFFFFFu
#define	MCSSR_SATMASK_GAL_L 0xF8
#define	MCSSR_SATMASK_BDS_U 0xFFFFFFFFu
#define	MCSSR_SATMASK_BDS_L 0xFF
#define	MCSSR_SATMASK_QZS_U 0xFFC00000u
#define	MCSSR_SATMASK_QZS_L 0x00
#define	MCSSR_SATMASK_BD3_U 0xFFFFFFFFu
#define	MCSSR_SATMASK_BD3_L 0xFF
#define	MCSSR_SATMASK_RSV_U 0xFFFFFFFFu
#define	MCSSR_SATMASK_RSV_L 0xFF
#define	MCSSR_MAX_SIGMASK 16 /* Signal Mask (Table 4.2.2-9) */
#define	MCSSR_INVALID_15BIT -16384 /* Invalid Value (Table. 4.2.2-11, etc.) */
#define	MCSSR_INVALID_13BIT -4096
#define	MCSSR_INVALID_11BIT -1024
#define	MCSSR_MAX_PRN 7 /* Max defined MADOCA-PPP L6E signal (Table 3-1) */

Functions
int	satno (int sys, int prn)
int	satsys_bd2 (int sat, int *prn)
void	satno2id (int sat, char *id)
double	time2gpst (gtime_t t, int *week)
gtime_t	utc2gpst (gtime_t t)
gtime_t	timeget (void)
char *	time_str (gtime_t t, int n)
static int	mcssr_sigcode (const mcssr_t *mc, int gnssid, int sat, int k)
static int	flgcnt16 (const uint16_t flg)
static int	gnssid2sys (const int gnssid)
static int	svmask2list (const uint64_t mask, const int gnssid, int satlist, int gidlist)
static int	sigmask2list (const uint16_t mask, const int gnssid, int *siglist)
static void	adjweek (gtime_t *gt, double tow)
static int	decode_mcssr_head (const mcssr_t mc, int sync, int iod, int ep, double *udint, int i, const int st)
static int	decode_mcssr_mask (mcssr_t *mc, int i)
static int	decode_mcssr_oc (mcssr_t mc, ssr_t ssr, int i, int apply)
static int	decode_mcssr_cc (mcssr_t mc, ssr_t ssr, int i, int apply)
static int	decode_mcssr_cb (mcssr_t mc, ssr_t ssr, int i, int apply)
static int	decode_mcssr_pb (mcssr_t mc, ssr_t ssr, int i, int apply)
static int	decode_mcssr_ura (mcssr_t mc, ssr_t ssr, int i, int apply)
int	decode_qzss_l6emsg (rtcm_t *rtcm)
	Decode QZSS L6E message and convert to RTCM SSR.
void	set_mcssr_ch (int ch)
	Set MADOCA-PPP CSSR channel index for multi-L6E.
int	get_mcssr_ch (void)
	Get current MADOCA-PPP CSSR channel index.
void	init_mcssr (const gtime_t gt)
	Initialize MADOCA-PPP CSSR control struct for current channel.
int	input_qzssl6e (rtcm_t *rtcm, const uint8_t data)
	Stack QZSS L6E message and synchronize frame with L6 preamble.
int	input_qzssl6ef (rtcm_t rtcm, FILE fp)
	Fetch next QZSS L6E message and input a message from file.
int	mcssr_sel_biascode (const int sys, const int code)
	Select MADOCA-PPP code/phase bias code from observation code.

Variables
static const double	ssrudint [16] = {1, 2, 5, 10, 15, 30, 60, 120, 240, 300, 600, 900, 1800, 3600, 7200, 10800}
static const uint8_t	cssr_sig_gps [16]
static const uint8_t	cssr_sig_glo [16]
static const uint8_t	cssr_sig_gal [16]
static const uint8_t	cssr_sig_bd2 [16]
static const uint8_t	cssr_sig_bd3 [16]
static const uint8_t	cssr_sig_qzs [16]
const uint8_t	cssr_sig_rsv [16] = {0}
static const int	framelen []
mcssr_t	_mcssr [SSR_CH_NUM]
static int	_mcssr_ch = 0

Macro Definition Documentation

◆ L6DATA_BYTELEN

#define L6DATA_BYTELEN 212 /* L6 message data part byte length */

Definition at line 49 of file mrtk_madoca.c.

◆ MCSSR_BYTELEN

#define MCSSR_BYTELEN 1060 /* MADOCA-PPP message 5 frames byte length */

Definition at line 53 of file mrtk_madoca.c.

◆ MCSSR_INVALID_11BIT

#define MCSSR_INVALID_11BIT -1024

Definition at line 90 of file mrtk_madoca.c.

Referenced by decode_mcssr_cb().

◆ MCSSR_INVALID_13BIT

#define MCSSR_INVALID_13BIT -4096

Definition at line 89 of file mrtk_madoca.c.

Referenced by decode_mcssr_oc().

◆ MCSSR_INVALID_15BIT

#define MCSSR_INVALID_15BIT -16384 /* Invalid Value (Table. 4.2.2-11, etc.) */

Definition at line 88 of file mrtk_madoca.c.

Referenced by decode_mcssr_cc(), decode_mcssr_oc(), and decode_mcssr_pb().

◆ MCSSR_MAX_PRN

#define MCSSR_MAX_PRN 7 /* Max defined MADOCA-PPP L6E signal (Table 3-1) */

Definition at line 92 of file mrtk_madoca.c.

Referenced by decode_qzss_l6emsg().

◆ MCSSR_MAX_SATMASK

#define MCSSR_MAX_SATMASK 40 /* Satellite Mask (Table 4.2.2-8) */

Definition at line 70 of file mrtk_madoca.c.

Referenced by svmask2list().

◆ MCSSR_MAX_SIGMASK

#define MCSSR_MAX_SIGMASK 16 /* Signal Mask (Table 4.2.2-9) */

Definition at line 86 of file mrtk_madoca.c.

Referenced by sigmask2list().

◆ MCSSR_MAX_SYS

#define MCSSR_MAX_SYS 16 /* GNSS ID (Table 4.2.2-7) w/o SBS */

Definition at line 62 of file mrtk_madoca.c.

Referenced by decode_mcssr_mask().

◆ MCSSR_SATMASK_BD3_L

#define MCSSR_SATMASK_BD3_L 0xFF

Definition at line 82 of file mrtk_madoca.c.

Referenced by decode_mcssr_mask().

◆ MCSSR_SATMASK_BD3_U

#define MCSSR_SATMASK_BD3_U 0xFFFFFFFFu

Definition at line 81 of file mrtk_madoca.c.

Referenced by decode_mcssr_mask().

◆ MCSSR_SATMASK_BDS_L

#define MCSSR_SATMASK_BDS_L 0xFF

Definition at line 78 of file mrtk_madoca.c.

Referenced by decode_mcssr_mask().

◆ MCSSR_SATMASK_BDS_U

#define MCSSR_SATMASK_BDS_U 0xFFFFFFFFu

Definition at line 77 of file mrtk_madoca.c.

Referenced by decode_mcssr_mask().

◆ MCSSR_SATMASK_GAL_L

#define MCSSR_SATMASK_GAL_L 0xF8

Definition at line 76 of file mrtk_madoca.c.

Referenced by decode_mcssr_mask().

◆ MCSSR_SATMASK_GAL_U

#define MCSSR_SATMASK_GAL_U 0xFFFFFFFFu

Definition at line 75 of file mrtk_madoca.c.

Referenced by decode_mcssr_mask().

◆ MCSSR_SATMASK_GLO_L

#define MCSSR_SATMASK_GLO_L 0x00

Definition at line 74 of file mrtk_madoca.c.

Referenced by decode_mcssr_mask().

◆ MCSSR_SATMASK_GLO_U

#define MCSSR_SATMASK_GLO_U 0xFFFFFF00u

Definition at line 73 of file mrtk_madoca.c.

Referenced by decode_mcssr_mask().

◆ MCSSR_SATMASK_GPS_L

#define MCSSR_SATMASK_GPS_L 0xFF

Definition at line 72 of file mrtk_madoca.c.

Referenced by decode_mcssr_mask().

◆ MCSSR_SATMASK_GPS_U

#define MCSSR_SATMASK_GPS_U 0xFFFFFFFFu /* Note, U and L for -Wlong-long Avoidance */

Definition at line 71 of file mrtk_madoca.c.

Referenced by decode_mcssr_mask().

◆ MCSSR_SATMASK_QZS_L

#define MCSSR_SATMASK_QZS_L 0x00

Definition at line 80 of file mrtk_madoca.c.

Referenced by decode_mcssr_mask().

◆ MCSSR_SATMASK_QZS_U

#define MCSSR_SATMASK_QZS_U 0xFFC00000u

Definition at line 79 of file mrtk_madoca.c.

Referenced by decode_mcssr_mask().

◆ MCSSR_SATMASK_RSV_L

#define MCSSR_SATMASK_RSV_L 0xFF

Definition at line 84 of file mrtk_madoca.c.

Referenced by decode_mcssr_mask().

◆ MCSSR_SATMASK_RSV_U

#define MCSSR_SATMASK_RSV_U 0xFFFFFFFFu

Definition at line 83 of file mrtk_madoca.c.

Referenced by decode_mcssr_mask().

◆ MCSSR_ST_CB

#define MCSSR_ST_CB 4 /* Compact SSR GNSS Satellite Code Bias */

Definition at line 58 of file mrtk_madoca.c.

Referenced by decode_mcssr_cb(), and decode_qzss_l6emsg().

◆ MCSSR_ST_CC

#define MCSSR_ST_CC 3 /* Compact SSR GNSS Clock Correction */

Definition at line 57 of file mrtk_madoca.c.

Referenced by decode_mcssr_cc(), and decode_qzss_l6emsg().

◆ MCSSR_ST_MASK

#define MCSSR_ST_MASK 1 /* Compact SSR Mask */

Definition at line 55 of file mrtk_madoca.c.

Referenced by decode_mcssr_head(), decode_mcssr_mask(), and decode_qzss_l6emsg().

◆ MCSSR_ST_OC

#define MCSSR_ST_OC 2 /* Compact SSR GNSS Orbit Correction */

Definition at line 56 of file mrtk_madoca.c.

Referenced by decode_mcssr_oc(), and decode_qzss_l6emsg().

◆ MCSSR_ST_PB

#define MCSSR_ST_PB 5 /* Compact SSR GNSS Satellite Phase Bias */

Definition at line 59 of file mrtk_madoca.c.

Referenced by decode_mcssr_pb(), and decode_qzss_l6emsg().

◆ MCSSR_ST_URA

#define MCSSR_ST_URA 7 /* Compact SSR GNSS URA */

Definition at line 60 of file mrtk_madoca.c.

Referenced by decode_mcssr_ura(), and decode_qzss_l6emsg().

◆ MCSSR_SYS_BD3

#define MCSSR_SYS_BD3 7

Definition at line 68 of file mrtk_madoca.c.

Referenced by decode_mcssr_mask(), gnssid2sys(), sigmask2list(), and svmask2list().

◆ MCSSR_SYS_BDS

#define MCSSR_SYS_BDS 3

Definition at line 66 of file mrtk_madoca.c.

Referenced by decode_mcssr_mask(), gnssid2sys(), mcssr_sigcode(), sigmask2list(), and svmask2list().

◆ MCSSR_SYS_GAL

#define MCSSR_SYS_GAL 2

Definition at line 65 of file mrtk_madoca.c.

Referenced by decode_mcssr_mask(), decode_mcssr_oc(), gnssid2sys(), sigmask2list(), and svmask2list().

◆ MCSSR_SYS_GLO

#define MCSSR_SYS_GLO 1

Definition at line 64 of file mrtk_madoca.c.

Referenced by decode_mcssr_mask(), gnssid2sys(), sigmask2list(), and svmask2list().

◆ MCSSR_SYS_GPS

#define MCSSR_SYS_GPS 0

Definition at line 63 of file mrtk_madoca.c.

Referenced by decode_mcssr_mask(), gnssid2sys(), sigmask2list(), and svmask2list().

◆ MCSSR_SYS_QZS

#define MCSSR_SYS_QZS 4

Definition at line 67 of file mrtk_madoca.c.

Referenced by decode_mcssr_mask(), gnssid2sys(), sigmask2list(), and svmask2list().

◆ RTCM_MN_CSSR

#define RTCM_MN_CSSR 4073 /* Compact SSR message number */

Definition at line 51 of file mrtk_madoca.c.

Referenced by decode_qzss_l6emsg().

◆ SYS_CMP

#define SYS_CMP 0x20

Definition at line 35 of file mrtk_madoca.c.

◆ SYS_GAL

#define SYS_GAL 0x08

Definition at line 33 of file mrtk_madoca.c.

◆ SYS_GLO

#define SYS_GLO 0x04

Definition at line 32 of file mrtk_madoca.c.

◆ SYS_GPS

#define SYS_GPS 0x01

Definition at line 30 of file mrtk_madoca.c.

◆ SYS_IRN

#define SYS_IRN 0x40

Definition at line 36 of file mrtk_madoca.c.

◆ SYS_NONE

#define SYS_NONE 0x00

Definition at line 29 of file mrtk_madoca.c.

◆ SYS_QZS

#define SYS_QZS 0x10

Definition at line 34 of file mrtk_madoca.c.

◆ SYS_SBS

#define SYS_SBS 0x02

Definition at line 31 of file mrtk_madoca.c.

Function Documentation

◆ adjweek()

void adjweek	(	gtime_t *	gt,
		double	tow )

static

Definition at line 266 of file mrtk_madoca.c.

References gpst2time(), gtime_t::time, time2gpst(), timeget(), and utc2gpst().

Referenced by decode_mcssr_cb(), decode_mcssr_cc(), decode_mcssr_mask(), decode_mcssr_oc(), decode_mcssr_pb(), and decode_mcssr_ura().

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◆ decode_mcssr_cb()

int decode_mcssr_cb	(	mcssr_t *	mc,
		ssr_t *	ssr,
		int	i,
		int	apply )

static

Definition at line 506 of file mrtk_madoca.c.

References adjweek(), mcssr_t::buff, ssr_t::cbias, mcssr_t::cellmask, code2obs(), decode_mcssr_head(), mcssr_t::ep0, getbits(), mcssr_t::gidlist, mcssr_t::gt, mcssr_t::iod, ssr_t::iod, MAXCODE, MCSSR_INVALID_11BIT, mcssr_sigcode(), MCSSR_ST_CB, mcssr_t::ns, mcssr_t::nsig, mcssr_t::satlist, satno2id(), mcssr_t::siglist, SSR_INVALID_CBIAS, ssr_t::t0, time_str(), mcssr_t::tow0, trace(), ssr_t::udi, ssr_t::update, and ssr_t::vcbias.

Referenced by decode_qzss_l6emsg().

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◆ decode_mcssr_cc()

int decode_mcssr_cc	(	mcssr_t *	mc,
		ssr_t *	ssr,
		int	i,
		int	apply )

static

Definition at line 455 of file mrtk_madoca.c.

References adjweek(), mcssr_t::buff, ssr_t::dclk, decode_mcssr_head(), mcssr_t::ep0, getbits(), mcssr_t::gt, mcssr_t::iod, ssr_t::iod, MCSSR_INVALID_15BIT, MCSSR_ST_CC, mcssr_t::ns, mcssr_t::satlist, satno2id(), ssr_t::t0, time_str(), mcssr_t::tow0, trace(), ssr_t::udi, and ssr_t::update.

Referenced by decode_qzss_l6emsg().

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◆ decode_mcssr_head()

int decode_mcssr_head	(	const mcssr_t *	mc,
		int *	sync,
		int *	iod,
		int *	ep,
		double *	udint,
		int	i,
		const int	st )

static

Definition at line 284 of file mrtk_madoca.c.

References mcssr_t::buff, getbitu(), MCSSR_ST_MASK, ssrudint, and trace().

Referenced by decode_mcssr_cb(), decode_mcssr_cc(), decode_mcssr_mask(), decode_mcssr_oc(), decode_mcssr_pb(), and decode_mcssr_ura().

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◆ decode_mcssr_mask()

int decode_mcssr_mask	(	mcssr_t *	mc,
		int	i )

static

Definition at line 303 of file mrtk_madoca.c.

References adjweek(), mcssr_t::buff, mcssr_t::cellmask, decode_mcssr_head(), mcssr_t::ep0, flgcnt16(), getbitu(), mcssr_t::gidlist, mcssr_t::gt, mcssr_t::iod, MAXSAT, MCSSR_MAX_SYS, MCSSR_SATMASK_BD3_L, MCSSR_SATMASK_BD3_U, MCSSR_SATMASK_BDS_L, MCSSR_SATMASK_BDS_U, MCSSR_SATMASK_GAL_L, MCSSR_SATMASK_GAL_U, MCSSR_SATMASK_GLO_L, MCSSR_SATMASK_GLO_U, MCSSR_SATMASK_GPS_L, MCSSR_SATMASK_GPS_U, MCSSR_SATMASK_QZS_L, MCSSR_SATMASK_QZS_U, MCSSR_SATMASK_RSV_L, MCSSR_SATMASK_RSV_U, MCSSR_ST_MASK, MCSSR_SYS_BD3, MCSSR_SYS_BDS, MCSSR_SYS_GAL, MCSSR_SYS_GLO, MCSSR_SYS_GPS, MCSSR_SYS_QZS, mcssr_t::ncell, mcssr_t::ns, mcssr_t::nsat, mcssr_t::nsig, mcssr_t::satlist, mcssr_t::siglist, mcssr_t::siglist_bd3, sigmask2list(), svmask2list(), mcssr_t::tow0, and trace().

Referenced by decode_qzss_l6emsg().

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◆ decode_mcssr_oc()

int decode_mcssr_oc	(	mcssr_t *	mc,
		ssr_t *	ssr,
		int	i,
		int	apply )

static

Definition at line 393 of file mrtk_madoca.c.

References adjweek(), mcssr_t::buff, ssr_t::ddeph, decode_mcssr_head(), ssr_t::deph, mcssr_t::ep0, getbits(), getbitu(), mcssr_t::gidlist, mcssr_t::gt, mcssr_t::iod, ssr_t::iod, ssr_t::iode, MCSSR_INVALID_13BIT, MCSSR_INVALID_15BIT, MCSSR_ST_OC, MCSSR_SYS_GAL, mcssr_t::ns, mcssr_t::satlist, satno2id(), ssr_t::t0, time_str(), mcssr_t::tow0, trace(), ssr_t::udi, and ssr_t::update.

Referenced by decode_qzss_l6emsg().

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◆ decode_mcssr_pb()

int decode_mcssr_pb	(	mcssr_t *	mc,
		ssr_t *	ssr,
		int	i,
		int	apply )

static

Definition at line 578 of file mrtk_madoca.c.

References _mcssr, _mcssr_ch, adjweek(), mcssr_t::buff, mcssr_t::cellmask, decode_mcssr_head(), ssr_t::discnt, mcssr_t::ep0, getbits(), getbitu(), mcssr_t::gidlist, mcssr_t::gt, mcssr_t::iod, ssr_t::iod, MAXCODE, MCSSR_INVALID_15BIT, mcssr_sigcode(), MCSSR_ST_PB, mcssr_t::ns, mcssr_t::nsig, ssr_t::pbias, mcssr_t::satlist, satno2id(), mcssr_t::siglist, SSR_INVALID_PBIAS, ssr_t::t0, time_str(), mcssr_t::tow0, trace(), ssr_t::udi, ssr_t::update, ssr_t::vpbias, ssr_t::yaw_ang, and ssr_t::yaw_rate.

Referenced by decode_qzss_l6emsg().

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◆ decode_mcssr_ura()

int decode_mcssr_ura	(	mcssr_t *	mc,
		ssr_t *	ssr,
		int	i,
		int	apply )

static

Definition at line 655 of file mrtk_madoca.c.

References adjweek(), mcssr_t::buff, decode_mcssr_head(), mcssr_t::ep0, getbitu(), mcssr_t::gt, mcssr_t::iod, ssr_t::iod, MCSSR_ST_URA, mcssr_t::ns, mcssr_t::satlist, satno2id(), ssr_t::t0, time_str(), mcssr_t::tow0, trace(), ssr_t::udi, ssr_t::update, and ssr_t::ura.

Referenced by decode_qzss_l6emsg().

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◆ decode_qzss_l6emsg()

int decode_qzss_l6emsg ( rtcm_t * rtcm )

extern

Decode QZSS L6E message and convert to RTCM SSR.

Parameters

[in,out] rtcm RTCM control struct

Returns: Status (-1: error, 0: no message, 10: input SSR messages)

Note: Before calling this function, call init_mcssr().

Definition at line 704 of file mrtk_madoca.c.

References _mcssr, _mcssr_ch, l6_header_t::alert, l6_header_t::anme, l6_header_t::csid, decode_mcssr_cb(), decode_mcssr_cc(), decode_mcssr_mask(), decode_mcssr_oc(), decode_mcssr_pb(), decode_mcssr_ura(), l6_header_t::fac, framelen, getbitu(), L6_DATA_BITS, L6_HEADER_BITS, l6_parse_header(), L6_PREAMBLE, MCSSR_MAX_PRN, MCSSR_ST_CB, MCSSR_ST_CC, MCSSR_ST_MASK, MCSSR_ST_OC, MCSSR_ST_PB, MCSSR_ST_URA, l6_header_t::msgid, l6_header_t::preamble, l6_header_t::prn, rtcm, RTCM_MN_CSSR, l6_header_t::sf_ind, time_str(), trace(), and l6_header_t::vid.

Referenced by decode_qzss_l6frame(), decode_type4050(), and input_qzssl6e().

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◆ flgcnt16()

int flgcnt16 ( const uint16_t flg )

static

Definition at line 160 of file mrtk_madoca.c.

Referenced by decode_mcssr_mask().

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◆ get_mcssr_ch()

int get_mcssr_ch ( void )

extern

Get current MADOCA-PPP CSSR channel index.

Returns: Current channel index

Definition at line 912 of file mrtk_madoca.c.

References _mcssr_ch.

◆ gnssid2sys()

int gnssid2sys ( const int gnssid )

static

Definition at line 171 of file mrtk_madoca.c.

References MCSSR_SYS_BD3, MCSSR_SYS_BDS, MCSSR_SYS_GAL, MCSSR_SYS_GLO, MCSSR_SYS_GPS, MCSSR_SYS_QZS, SYS_CMP, SYS_GAL, SYS_GLO, SYS_GPS, SYS_NONE, and SYS_QZS.

Referenced by svmask2list().

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◆ init_mcssr()

void init_mcssr ( const gtime_t gt )

extern

Initialize MADOCA-PPP CSSR control struct for current channel.

Parameters

[in] gt GPST for week number determination

Definition at line 919 of file mrtk_madoca.c.

References _mcssr, and _mcssr_ch.

Referenced by decoderaw(), and update_qzssl6e().

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◆ input_qzssl6e()

int input_qzssl6e	(	rtcm_t *	rtcm,
		const uint8_t	data )

extern

Stack QZSS L6E message and synchronize frame with L6 preamble.

Parameters

[in,out]	rtcm	RTCM control struct
[in]	data	L6E 1-byte data

Returns: Status (-1: error, 0: no message, 10: input CSSR messages)

Note: Before calling this function, call init_mcssr().

Definition at line 935 of file mrtk_madoca.c.

References decode_qzss_l6emsg(), L6_FRAME_LEN, rtcm, and trace().

Referenced by decoderaw(), and input_qzssl6ef().

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◆ input_qzssl6ef()

int input_qzssl6ef	(	rtcm_t *	rtcm,
		FILE *	fp )

extern

Fetch next QZSS L6E message and input a message from file.

Parameters

[in,out]	rtcm	RTCM control struct
[in]	fp	File pointer

Returns: Status (-2: end of file, -1...10: same as input_qzssl6e())

Note: Same as input_qzssl6e().

Definition at line 965 of file mrtk_madoca.c.

References input_qzssl6e(), rtcm, and trace().

Referenced by update_qzssl6e().

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◆ mcssr_sel_biascode()

int mcssr_sel_biascode	(	const int	sys,
		const int	code )

extern

Select MADOCA-PPP code/phase bias code from observation code.

Parameters

[in]	sys	Navigation system
[in]	code	Observation code

Returns: MADOCA-PPP CB/PB code

Definition at line 988 of file mrtk_madoca.c.

References CODE_L1B, CODE_L1C, CODE_L1D, CODE_L1E, CODE_L1L, CODE_L1P, CODE_L1S, CODE_L1W, CODE_L1X, CODE_L2C, CODE_L2I, CODE_L2L, CODE_L2P, CODE_L2Q, CODE_L2S, CODE_L2W, CODE_L2X, CODE_L5D, CODE_L5I, CODE_L5P, CODE_L5Q, CODE_L5X, CODE_L6B, CODE_L6C, CODE_L6I, CODE_L6Q, CODE_L6X, CODE_L7D, CODE_L7I, CODE_L7Q, CODE_L7X, CODE_NONE, SYS_CMP, SYS_GAL, SYS_GLO, SYS_GPS, and SYS_QZS.

Referenced by corr_meas(), detslp_ssr(), udsatcb(), and udsatpb().

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◆ mcssr_sigcode()

int mcssr_sigcode	(	const mcssr_t *	mc,
		int	gnssid,
		int	sat,
		int	k )

static

Definition at line 152 of file mrtk_madoca.c.

References MCSSR_SYS_BDS, satsys_bd2(), mcssr_t::siglist, mcssr_t::siglist_bd3, and SYS_CMP.

Referenced by decode_mcssr_cb(), and decode_mcssr_pb().

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◆ satno()

int satno	(	int	sys,
		int	prn )

extern

Definition at line 58 of file mrtk_nav.c.

Referenced by svmask2list().

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◆ satno2id()

void satno2id	(	int	sat,
		char *	id )

extern

Definition at line 817 of file mrtk_nav.c.

Referenced by decode_mcssr_cb(), decode_mcssr_cc(), decode_mcssr_oc(), decode_mcssr_pb(), and decode_mcssr_ura().

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◆ satsys_bd2()

int satsys_bd2	(	int	sat,
		int *	prn )

extern

Definition at line 159 of file mrtk_nav.c.

Referenced by mcssr_sigcode().

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◆ set_mcssr_ch()

void set_mcssr_ch ( int ch )

extern

Set MADOCA-PPP CSSR channel index for multi-L6E.

Parameters

[in] ch Channel index (0 or 1)

Definition at line 907 of file mrtk_madoca.c.

References _mcssr_ch, and SSR_CH_NUM.

◆ sigmask2list()

int sigmask2list	(	const uint16_t	mask,
		const int	gnssid,
		int *	siglist )

static

Definition at line 227 of file mrtk_madoca.c.

References cssr_sig_bd2, cssr_sig_bd3, cssr_sig_gal, cssr_sig_glo, cssr_sig_gps, cssr_sig_qzs, cssr_sig_rsv, MCSSR_MAX_SIGMASK, MCSSR_SYS_BD3, MCSSR_SYS_BDS, MCSSR_SYS_GAL, MCSSR_SYS_GLO, MCSSR_SYS_GPS, and MCSSR_SYS_QZS.

Referenced by decode_mcssr_mask().

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◆ svmask2list()

int svmask2list	(	const uint64_t	mask,
		const int	gnssid,
		int *	satlist,
		int *	gidlist )

static

Definition at line 189 of file mrtk_madoca.c.

References gnssid2sys(), MCSSR_MAX_SATMASK, MCSSR_SYS_BD3, MCSSR_SYS_BDS, MCSSR_SYS_GAL, MCSSR_SYS_GLO, MCSSR_SYS_GPS, MCSSR_SYS_QZS, and satno().

Referenced by decode_mcssr_mask().

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◆ time2gpst()

double time2gpst	(	gtime_t	t,
		int *	week )

extern

Definition at line 181 of file mrtk_time.c.

Referenced by adjweek().

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◆ time_str()

char * time_str	(	gtime_t	t,
		int	n )

extern

Definition at line 530 of file mrtk_time.c.

Referenced by decode_mcssr_cb(), decode_mcssr_cc(), decode_mcssr_oc(), decode_mcssr_pb(), decode_mcssr_ura(), and decode_qzss_l6emsg().

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◆ timeget()

gtime_t timeget ( void )

extern

Definition at line 289 of file mrtk_time.c.

Referenced by adjweek().

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◆ utc2gpst()

gtime_t utc2gpst ( gtime_t t )

extern

Definition at line 440 of file mrtk_time.c.

Referenced by adjweek().

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Variable Documentation

◆ _mcssr

mcssr_t _mcssr[SSR_CH_NUM]

Definition at line 144 of file mrtk_madoca.c.

Referenced by decode_mcssr_pb(), decode_qzss_l6emsg(), and init_mcssr().

◆ _mcssr_ch

int _mcssr_ch = 0

static

Definition at line 145 of file mrtk_madoca.c.

Referenced by decode_mcssr_pb(), decode_qzss_l6emsg(), get_mcssr_ch(), init_mcssr(), and set_mcssr_ch().

◆ cssr_sig_bd2

const uint8_t cssr_sig_bd2[16]

static

Initial value:

= {CODE_L2I, CODE_L2Q, CODE_L2X, CODE_L6I, CODE_L6Q, CODE_L6X, CODE_L7I, CODE_L7Q,

CODE_L7X, 0, 0, 0, 0, 0, 0, 0}

CODE_L2Q

#define CODE_L2Q

Definition mrtk_foundation.h:226

CODE_L2X

#define CODE_L2X

Definition mrtk_foundation.h:203

CODE_L7X

#define CODE_L7X

Definition mrtk_foundation.h:214

CODE_L2I

#define CODE_L2I

Definition mrtk_foundation.h:225

CODE_L6I

#define CODE_L6I

Definition mrtk_foundation.h:227

CODE_L7I

#define CODE_L7I

Definition mrtk_foundation.h:212

CODE_L6X

#define CODE_L6X

Definition mrtk_foundation.h:218

CODE_L7Q

#define CODE_L7Q

Definition mrtk_foundation.h:213

CODE_L6Q

#define CODE_L6Q

Definition mrtk_foundation.h:228

Definition at line 104 of file mrtk_madoca.c.

Referenced by sigmask2list().

◆ cssr_sig_bd3

const uint8_t cssr_sig_bd3[16]

static

Initial value:

= {CODE_L2I, CODE_L2Q, 0, CODE_L6I, CODE_L6Q, 0, CODE_L7D, CODE_L7P,

CODE_L7Z, CODE_L1D, CODE_L1P, CODE_L1X, CODE_L5D, CODE_L5P, CODE_L5X, 0}

CODE_L7Z

#define CODE_L7Z

Definition mrtk_foundation.h:248

CODE_L7P

#define CODE_L7P

Definition mrtk_foundation.h:247

CODE_L5X

#define CODE_L5X

Definition mrtk_foundation.h:211

CODE_L5P

#define CODE_L5P

Definition mrtk_foundation.h:243

CODE_L5D

#define CODE_L5D

Definition mrtk_foundation.h:242

CODE_L7D

#define CODE_L7D

Definition mrtk_foundation.h:246

CODE_L1D

#define CODE_L1D

Definition mrtk_foundation.h:241

CODE_L1P

#define CODE_L1P

Definition mrtk_foundation.h:187

CODE_L1X

#define CODE_L1X

Definition mrtk_foundation.h:197

Definition at line 106 of file mrtk_madoca.c.

Referenced by sigmask2list().

◆ cssr_sig_gal

const uint8_t cssr_sig_gal[16]

static

Initial value:

= {CODE_L1B, CODE_L1C, CODE_L1X, CODE_L5I, CODE_L5Q, CODE_L5X, CODE_L7I, CODE_L7Q,

CODE_L7X, CODE_L8I, CODE_L8Q, CODE_L8X, CODE_L6B, CODE_L6C, 0, 0}

CODE_L5Q

#define CODE_L5Q

Definition mrtk_foundation.h:210

CODE_L6C

#define CODE_L6C

Definition mrtk_foundation.h:217

CODE_L5I

#define CODE_L5I

Definition mrtk_foundation.h:209

CODE_L1C

#define CODE_L1C

Definition mrtk_foundation.h:186

CODE_L8Q

#define CODE_L8Q

Definition mrtk_foundation.h:223

CODE_L1B

#define CODE_L1B

Definition mrtk_foundation.h:196

CODE_L6B

#define CODE_L6B

Definition mrtk_foundation.h:216

CODE_L8X

#define CODE_L8X

Definition mrtk_foundation.h:224

CODE_L8I

#define CODE_L8I

Definition mrtk_foundation.h:222

Definition at line 102 of file mrtk_madoca.c.

Referenced by sigmask2list().

◆ cssr_sig_glo

const uint8_t cssr_sig_glo[16]

static

Initial value:

= {CODE_L1C, CODE_L1P, CODE_L2C, CODE_L2P, CODE_L4A, CODE_L4B, CODE_L4X, CODE_L6A,

CODE_L6B, CODE_L6X, CODE_L3I, CODE_L3Q, CODE_L3X, 0, 0, 0}

CODE_L3X

#define CODE_L3X

Definition mrtk_foundation.h:231

CODE_L2P

#define CODE_L2P

Definition mrtk_foundation.h:204

CODE_L2C

#define CODE_L2C

Definition mrtk_foundation.h:199

CODE_L4X

#define CODE_L4X

Definition mrtk_foundation.h:253

CODE_L4B

#define CODE_L4B

Definition mrtk_foundation.h:252

CODE_L3Q

#define CODE_L3Q

Definition mrtk_foundation.h:230

CODE_L3I

#define CODE_L3I

Definition mrtk_foundation.h:229

CODE_L6A

#define CODE_L6A

Definition mrtk_foundation.h:215

CODE_L4A

#define CODE_L4A

Definition mrtk_foundation.h:251

Definition at line 100 of file mrtk_madoca.c.

Referenced by sigmask2list().

◆ cssr_sig_gps

const uint8_t cssr_sig_gps[16]

static

Initial value:

= {CODE_L1C, CODE_L1P, CODE_L1W, CODE_L1S, CODE_L1L, CODE_L1X, CODE_L2S, CODE_L2L,

CODE_L2X, CODE_L2P, CODE_L2W, CODE_L5I, CODE_L5Q, CODE_L5X, 0, 0}

CODE_L1S

#define CODE_L1S

Definition mrtk_foundation.h:192

CODE_L1L

#define CODE_L1L

Definition mrtk_foundation.h:193

CODE_L2S

#define CODE_L2S

Definition mrtk_foundation.h:201

CODE_L1W

#define CODE_L1W

Definition mrtk_foundation.h:188

CODE_L2W

#define CODE_L2W

Definition mrtk_foundation.h:205

CODE_L2L

#define CODE_L2L

Definition mrtk_foundation.h:202

Definition at line 98 of file mrtk_madoca.c.

Referenced by sigmask2list().

◆ cssr_sig_qzs

const uint8_t cssr_sig_qzs[16]

static

Initial value:

= {CODE_L1C, CODE_L1S, CODE_L1L, CODE_L1X, CODE_L2S, CODE_L2L, CODE_L2X, CODE_L5I,

CODE_L5Q, CODE_L5X, CODE_L6S, CODE_L6L, CODE_L6E, CODE_L1E, 0, 0}

CODE_L6E

#define CODE_L6E

Definition mrtk_foundation.h:245

CODE_L6S

#define CODE_L6S

Definition mrtk_foundation.h:220

CODE_L1E

#define CODE_L1E

Definition mrtk_foundation.h:194

CODE_L6L

#define CODE_L6L

Definition mrtk_foundation.h:221

Definition at line 108 of file mrtk_madoca.c.

Referenced by sigmask2list().

◆ cssr_sig_rsv

const uint8_t cssr_sig_rsv[16] = {0}

Definition at line 111 of file mrtk_madoca.c.

Referenced by sigmask2list().

◆ framelen

const int framelen[]

static

Initial value:

= {
    
    -1, 5,  -1, 3,  5,  5,  -1, 3, 
    -1, -1, -1, -1, -1, -1, -1, -1 
}

Definition at line 115 of file mrtk_madoca.c.

Referenced by decode_qzss_l6emsg().

◆ ssrudint

const double ssrudint[16] = {1, 2, 5, 10, 15, 30, 60, 120, 240, 300, 600, 900, 1800, 3600, 7200, 10800}

static

Definition at line 95 of file mrtk_madoca.c.

Classes

Macros

Functions

Variables

Macro Definition Documentation

◆ L6DATA_BYTELEN

◆ MCSSR_BYTELEN

◆ MCSSR_INVALID_11BIT

◆ MCSSR_INVALID_13BIT

◆ MCSSR_INVALID_15BIT

◆ MCSSR_MAX_PRN

◆ MCSSR_MAX_SATMASK

◆ MCSSR_MAX_SIGMASK

◆ MCSSR_MAX_SYS

◆ MCSSR_SATMASK_BD3_L

◆ MCSSR_SATMASK_BD3_U

◆ MCSSR_SATMASK_BDS_L

◆ MCSSR_SATMASK_BDS_U

◆ MCSSR_SATMASK_GAL_L

◆ MCSSR_SATMASK_GAL_U

◆ MCSSR_SATMASK_GLO_L

◆ MCSSR_SATMASK_GLO_U

◆ MCSSR_SATMASK_GPS_L

◆ MCSSR_SATMASK_GPS_U

◆ MCSSR_SATMASK_QZS_L

◆ MCSSR_SATMASK_QZS_U

◆ MCSSR_SATMASK_RSV_L

◆ MCSSR_SATMASK_RSV_U

◆ MCSSR_ST_CB

◆ MCSSR_ST_CC

◆ MCSSR_ST_MASK

◆ MCSSR_ST_OC

◆ MCSSR_ST_PB

◆ MCSSR_ST_URA

◆ MCSSR_SYS_BD3

◆ MCSSR_SYS_BDS

◆ MCSSR_SYS_GAL

◆ MCSSR_SYS_GLO

◆ MCSSR_SYS_GPS

◆ MCSSR_SYS_QZS

◆ RTCM_MN_CSSR

◆ SYS_CMP

◆ SYS_GAL

◆ SYS_GLO

◆ SYS_GPS

◆ SYS_IRN

◆ SYS_NONE

◆ SYS_QZS

◆ SYS_SBS

Function Documentation

◆ adjweek()

◆ decode_mcssr_cb()

◆ decode_mcssr_cc()

◆ decode_mcssr_head()

◆ decode_mcssr_mask()

◆ decode_mcssr_oc()

◆ decode_mcssr_pb()

◆ decode_mcssr_ura()

◆ decode_qzss_l6emsg()

◆ flgcnt16()

◆ get_mcssr_ch()

◆ gnssid2sys()

◆ init_mcssr()

◆ input_qzssl6e()

◆ input_qzssl6ef()

◆ mcssr_sel_biascode()

◆ mcssr_sigcode()

◆ satno()

◆ satno2id()

◆ satsys_bd2()

◆ set_mcssr_ch()

◆ sigmask2list()

◆ svmask2list()

◆ time2gpst()

◆ time_str()

◆ timeget()

◆ utc2gpst()

Variable Documentation

◆ _mcssr

◆ _mcssr_ch