mrtk_rcv_crescent.c File Reference

#include <ctype.h>
#include <math.h>
#include <stdio.h>
#include <stdlib.h>
#include <string.h>
#include "mrtklib/mrtk_bits.h"
#include "mrtklib/mrtk_eph.h"
#include "mrtklib/mrtk_mat.h"
#include "mrtklib/mrtk_nav.h"
#include "mrtklib/mrtk_obs.h"
#include "mrtklib/mrtk_rcvraw.h"
#include "mrtklib/mrtk_rtcm.h"
#include "mrtklib/mrtk_sys.h"
#include "mrtklib/mrtk_time.h"
#include "mrtklib/mrtk_trace.h"

Include dependency graph for mrtk_rcv_crescent.c:

Go to the source code of this file.

Macros
#define	PI   3.1415926535897932 /* pi */
#define	D2R   (PI / 180.0) /* deg to rad */
#define	R2D   (180.0 / PI) /* rad to deg */
#define	CLIGHT   299792458.0 /* speed of light (m/s) */
#define	SC2RAD   3.1415926535898 /* semi-circle to radian (IS-GPS) */
#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	TSYS_GPS   0
#define	TSYS_UTC   1
#define	TSYS_GLO   2
#define	TSYS_GAL   3
#define	TSYS_QZS   4
#define	TSYS_CMP   5
#define	TSYS_IRN   6
#define	FREQ1   1.57542E9 /* L1/E1/B1C frequency (Hz) */
#define	FREQ2   1.22760E9 /* L2 frequency (Hz) */
#define	FREQ5   1.17645E9 /* L5/E5a/B2a frequency (Hz) */
#define	FREQ6   1.27875E9 /* E6/L6 frequency (Hz) */
#define	FREQ7   1.20714E9 /* E5b/B2I frequency (Hz) */
#define	FREQ8   1.191795E9 /* E5ab/B2ab frequency (Hz) */
#define	FREQ9   2.492028E9 /* S frequency (Hz) */
#define	FREQ1_GLO   1.60200E9 /* GLONASS G1 base frequency (Hz) */
#define	DFRQ1_GLO   0.56250E6 /* GLONASS G1 bias frequency (Hz/n) */
#define	FREQ2_GLO   1.24600E9 /* GLONASS G2 base frequency (Hz) */
#define	DFRQ2_GLO   0.43750E6 /* GLONASS G2 bias frequency (Hz/n) */
#define	FREQ3_GLO   1.202025E9 /* GLONASS G3 frequency (Hz) */
#define	FREQ1a_GLO   1.600995E9 /* GLONASS G1a frequency (Hz) */
#define	FREQ2a_GLO   1.248060E9 /* GLONASS G2a frequency (Hz) */
#define	FREQ1_CMP   1.561098E9 /* BDS B1I frequency (Hz) */
#define	MINPRNGPS   1
#define	MAXPRNGPS   32
#define	MINPRNSBS   120
#define	MAXPRNSBS   158
#define	P2_5   0.03125
#define	P2_6   0.015625
#define	P2_11   4.882812500000000E-04
#define	P2_15   3.051757812500000E-05
#define	P2_17   7.629394531250000E-06
#define	P2_19   1.907348632812500E-06
#define	P2_20   9.536743164062500E-07
#define	P2_21   4.768371582031250E-07
#define	P2_23   1.192092895507810E-07
#define	P2_24   5.960464477539063E-08
#define	P2_27   7.450580596923828E-09
#define	P2_29   1.862645149230957E-09
#define	P2_30   9.313225746154785E-10
#define	P2_31   4.656612873077393E-10
#define	P2_32   2.328306436538696E-10
#define	P2_33   1.164153218269348E-10
#define	P2_34   5.820766091346740E-11
#define	P2_35   2.910383045673370E-11
#define	P2_38   3.637978807091710E-12
#define	P2_40   9.094947017729280E-13
#define	P2_43   1.136868377216160E-13
#define	P2_46   1.421085471520200E-14
#define	P2_50   8.881784197001252E-16
#define	P2_55   2.775557561562891E-17
#define	P2_59   1.734723475976810E-18
#define	CRESSYNC   "$BIN" /* hemis bin sync code */
#define	ID_CRESPOS   1 /* hemis msg id: bin 1 position/velocity */
#define	ID_CRESGLOEPH   65 /* hemis msg id: bin 65 glonass ephemeris */
#define	ID_CRESGLORAW   66 /* hemis msg id: bin 66 glonass L1/L2 phase and code */
#define	ID_CRESRAW2   76 /* hemis msg id: bin 76 dual-freq raw */
#define	ID_CRESWAAS   80 /* hemis msg id: bin 80 waas messages */
#define	ID_CRESIONUTC   94 /* hemis msg id: bin 94 ion/utc parameters */
#define	ID_CRESEPH   95 /* hemis msg id: bin 95 raw ephemeris */
#define	ID_CRESRAW   96 /* hemis msg id: bin 96 raw phase and code */
#define	SNR2CN0_L1   30.0 /* hemis snr to c/n0 offset (db) L1 */
#define	SNR2CN0_L2   30.0 /* hemis snr to c/n0 offset (db) L2 */
#define	U1(p)
#define	I1(p)

Functions
static uint16_t	U2 (uint8_t *p)
static uint32_t	U4 (uint8_t *p)
static int16_t	I2 (uint8_t *p)
static int32_t	I4 (uint8_t *p)
static float	R4 (uint8_t *p)
static double	R8 (uint8_t *p)
static int	chksum (const uint8_t *buff, int len)
static int	decode_crespos (raw_t *raw)
static int	decode_cresraw (raw_t *raw)
static int	decode_cresraw2 (raw_t *raw)
static int	decode_creseph (raw_t *raw)
static int	decode_cresionutc (raw_t *raw)
static int	decode_creswaas (raw_t *raw)
static int	decode_cresgloraw (raw_t *raw)
static int	decode_cresgloeph (raw_t *raw)
static int	decode_cres (raw_t *raw)
static int	sync_cres (uint8_t *buff, uint8_t data)
int	input_cres (raw_t *raw, uint8_t data)
int	input_cresf (raw_t *raw, FILE *fp)

Macro Definition Documentation

CLIGHT

#define CLIGHT   299792458.0 /* speed of light (m/s) */

Definition at line 37 of file mrtk_rcv_crescent.c.

CRESSYNC

#define CRESSYNC   "$BIN" /* hemis bin sync code */

Definition at line 107 of file mrtk_rcv_crescent.c.

Referenced by sync_cres().

D2R

#define D2R   (PI / 180.0) /* deg to rad */

Definition at line 35 of file mrtk_rcv_crescent.c.

DFRQ1_GLO

#define DFRQ1_GLO   0.56250E6 /* GLONASS G1 bias frequency (Hz/n) */

Definition at line 65 of file mrtk_rcv_crescent.c.

DFRQ2_GLO

#define DFRQ2_GLO   0.43750E6 /* GLONASS G2 bias frequency (Hz/n) */

Definition at line 67 of file mrtk_rcv_crescent.c.

FREQ1

#define FREQ1   1.57542E9 /* L1/E1/B1C frequency (Hz) */

Definition at line 57 of file mrtk_rcv_crescent.c.

FREQ1_CMP

#define FREQ1_CMP   1.561098E9 /* BDS B1I frequency (Hz) */

Definition at line 71 of file mrtk_rcv_crescent.c.

FREQ1_GLO

#define FREQ1_GLO   1.60200E9 /* GLONASS G1 base frequency (Hz) */

Definition at line 64 of file mrtk_rcv_crescent.c.

FREQ1a_GLO

#define FREQ1a_GLO   1.600995E9 /* GLONASS G1a frequency (Hz) */

Definition at line 69 of file mrtk_rcv_crescent.c.

FREQ2

#define FREQ2   1.22760E9 /* L2 frequency (Hz) */

Definition at line 58 of file mrtk_rcv_crescent.c.

FREQ2_GLO

#define FREQ2_GLO   1.24600E9 /* GLONASS G2 base frequency (Hz) */

Definition at line 66 of file mrtk_rcv_crescent.c.

FREQ2a_GLO

#define FREQ2a_GLO   1.248060E9 /* GLONASS G2a frequency (Hz) */

Definition at line 70 of file mrtk_rcv_crescent.c.

FREQ3_GLO

#define FREQ3_GLO   1.202025E9 /* GLONASS G3 frequency (Hz) */

Definition at line 68 of file mrtk_rcv_crescent.c.

FREQ5

#define FREQ5   1.17645E9 /* L5/E5a/B2a frequency (Hz) */

Definition at line 59 of file mrtk_rcv_crescent.c.

FREQ6

#define FREQ6   1.27875E9 /* E6/L6 frequency (Hz) */

Definition at line 60 of file mrtk_rcv_crescent.c.

FREQ7

#define FREQ7   1.20714E9 /* E5b/B2I frequency (Hz) */

Definition at line 61 of file mrtk_rcv_crescent.c.

FREQ8

#define FREQ8   1.191795E9 /* E5ab/B2ab frequency (Hz) */

Definition at line 62 of file mrtk_rcv_crescent.c.

FREQ9

#define FREQ9   2.492028E9 /* S frequency (Hz) */

Definition at line 63 of file mrtk_rcv_crescent.c.

I1

#define I1

(

p

)

Value:

(*((int8_t*)(p)))

Definition at line 123 of file mrtk_rcv_crescent.c.

ID_CRESEPH

#define ID_CRESEPH   95 /* hemis msg id: bin 95 raw ephemeris */

Definition at line 115 of file mrtk_rcv_crescent.c.

Referenced by decode_cres().

ID_CRESGLOEPH

#define ID_CRESGLOEPH   65 /* hemis msg id: bin 65 glonass ephemeris */

Definition at line 110 of file mrtk_rcv_crescent.c.

Referenced by decode_cres().

ID_CRESGLORAW

#define ID_CRESGLORAW   66 /* hemis msg id: bin 66 glonass L1/L2 phase and code */

Definition at line 111 of file mrtk_rcv_crescent.c.

Referenced by decode_cres().

ID_CRESIONUTC

#define ID_CRESIONUTC   94 /* hemis msg id: bin 94 ion/utc parameters */

Definition at line 114 of file mrtk_rcv_crescent.c.

Referenced by decode_cres().

ID_CRESPOS

#define ID_CRESPOS   1 /* hemis msg id: bin 1 position/velocity */

Definition at line 109 of file mrtk_rcv_crescent.c.

Referenced by decode_cres().

ID_CRESRAW

#define ID_CRESRAW   96 /* hemis msg id: bin 96 raw phase and code */

Definition at line 116 of file mrtk_rcv_crescent.c.

Referenced by decode_cres().

ID_CRESRAW2

#define ID_CRESRAW2   76 /* hemis msg id: bin 76 dual-freq raw */

Definition at line 112 of file mrtk_rcv_crescent.c.

Referenced by decode_cres().

ID_CRESWAAS

#define ID_CRESWAAS   80 /* hemis msg id: bin 80 waas messages */

Definition at line 113 of file mrtk_rcv_crescent.c.

Referenced by decode_cres().

MAXPRNGPS

#define MAXPRNGPS   32

Definition at line 74 of file mrtk_rcv_crescent.c.

MAXPRNSBS

#define MAXPRNSBS   158

Definition at line 76 of file mrtk_rcv_crescent.c.

MINPRNGPS

#define MINPRNGPS   1

Definition at line 73 of file mrtk_rcv_crescent.c.

MINPRNSBS

#define MINPRNSBS   120

Definition at line 75 of file mrtk_rcv_crescent.c.

P2_11

#define P2_11   4.882812500000000E-04

Definition at line 81 of file mrtk_rcv_crescent.c.

P2_15

#define P2_15   3.051757812500000E-05

Definition at line 82 of file mrtk_rcv_crescent.c.

P2_17

#define P2_17   7.629394531250000E-06

Definition at line 83 of file mrtk_rcv_crescent.c.

P2_19

#define P2_19   1.907348632812500E-06

Definition at line 84 of file mrtk_rcv_crescent.c.

P2_20

#define P2_20   9.536743164062500E-07

Definition at line 85 of file mrtk_rcv_crescent.c.

P2_21

#define P2_21   4.768371582031250E-07

Definition at line 86 of file mrtk_rcv_crescent.c.

P2_23

#define P2_23   1.192092895507810E-07

Definition at line 87 of file mrtk_rcv_crescent.c.

P2_24

#define P2_24   5.960464477539063E-08

Definition at line 88 of file mrtk_rcv_crescent.c.

P2_27

#define P2_27   7.450580596923828E-09

Definition at line 89 of file mrtk_rcv_crescent.c.

P2_29

#define P2_29   1.862645149230957E-09

Definition at line 90 of file mrtk_rcv_crescent.c.

P2_30

#define P2_30   9.313225746154785E-10

Definition at line 91 of file mrtk_rcv_crescent.c.

P2_31

#define P2_31   4.656612873077393E-10

Definition at line 92 of file mrtk_rcv_crescent.c.

P2_32

#define P2_32   2.328306436538696E-10

Definition at line 93 of file mrtk_rcv_crescent.c.

P2_33

#define P2_33   1.164153218269348E-10

Definition at line 94 of file mrtk_rcv_crescent.c.

P2_34

#define P2_34   5.820766091346740E-11

Definition at line 95 of file mrtk_rcv_crescent.c.

P2_35

#define P2_35   2.910383045673370E-11

Definition at line 96 of file mrtk_rcv_crescent.c.

P2_38

#define P2_38   3.637978807091710E-12

Definition at line 97 of file mrtk_rcv_crescent.c.

P2_40

#define P2_40   9.094947017729280E-13

Definition at line 98 of file mrtk_rcv_crescent.c.

P2_43

#define P2_43   1.136868377216160E-13

Definition at line 99 of file mrtk_rcv_crescent.c.

P2_46

#define P2_46   1.421085471520200E-14

Definition at line 100 of file mrtk_rcv_crescent.c.

P2_5

#define P2_5   0.03125

Definition at line 79 of file mrtk_rcv_crescent.c.

P2_50

#define P2_50   8.881784197001252E-16

Definition at line 101 of file mrtk_rcv_crescent.c.

P2_55

#define P2_55   2.775557561562891E-17

Definition at line 102 of file mrtk_rcv_crescent.c.

P2_59

#define P2_59   1.734723475976810E-18

Definition at line 103 of file mrtk_rcv_crescent.c.

P2_6

#define P2_6   0.015625

Definition at line 80 of file mrtk_rcv_crescent.c.

PI

#define PI   3.1415926535897932 /* pi */

Definition at line 34 of file mrtk_rcv_crescent.c.

R2D

#define R2D   (180.0 / PI) /* rad to deg */

Definition at line 36 of file mrtk_rcv_crescent.c.

SC2RAD

#define SC2RAD   3.1415926535898 /* semi-circle to radian (IS-GPS) */

Definition at line 38 of file mrtk_rcv_crescent.c.

SNR2CN0_L1

#define SNR2CN0_L1   30.0 /* hemis snr to c/n0 offset (db) L1 */

Definition at line 118 of file mrtk_rcv_crescent.c.

Referenced by decode_cresgloraw(), decode_cresraw(), and decode_cresraw2().

SNR2CN0_L2

#define SNR2CN0_L2   30.0 /* hemis snr to c/n0 offset (db) L2 */

Definition at line 119 of file mrtk_rcv_crescent.c.

Referenced by decode_cresgloraw(), and decode_cresraw2().

SYS_CMP

#define SYS_CMP   0x20

Definition at line 46 of file mrtk_rcv_crescent.c.

SYS_GAL

#define SYS_GAL   0x08

Definition at line 44 of file mrtk_rcv_crescent.c.

SYS_GLO

#define SYS_GLO   0x04

Definition at line 43 of file mrtk_rcv_crescent.c.

SYS_GPS

#define SYS_GPS   0x01

Definition at line 41 of file mrtk_rcv_crescent.c.

SYS_IRN

#define SYS_IRN   0x40

Definition at line 47 of file mrtk_rcv_crescent.c.

SYS_NONE

#define SYS_NONE   0x00

Definition at line 40 of file mrtk_rcv_crescent.c.

SYS_QZS

#define SYS_QZS   0x10

Definition at line 45 of file mrtk_rcv_crescent.c.

SYS_SBS

#define SYS_SBS   0x02

Definition at line 42 of file mrtk_rcv_crescent.c.

TSYS_CMP

#define TSYS_CMP   5

Definition at line 54 of file mrtk_rcv_crescent.c.

TSYS_GAL

#define TSYS_GAL   3

Definition at line 52 of file mrtk_rcv_crescent.c.

TSYS_GLO

#define TSYS_GLO   2

Definition at line 51 of file mrtk_rcv_crescent.c.

TSYS_GPS

#define TSYS_GPS   0

Definition at line 49 of file mrtk_rcv_crescent.c.

TSYS_IRN

#define TSYS_IRN   6

Definition at line 55 of file mrtk_rcv_crescent.c.

TSYS_QZS

#define TSYS_QZS   4

Definition at line 53 of file mrtk_rcv_crescent.c.

TSYS_UTC

#define TSYS_UTC   1

Definition at line 50 of file mrtk_rcv_crescent.c.

U1

#define U1

(

p

)

Value:

(*((uint8_t*)(p)))

Definition at line 122 of file mrtk_rcv_crescent.c.

Referenced by decode_cresgloeph(), and decode_crespos().

Function Documentation

chksum()

int chksum ( const uint8_t * buff, int len )

static

Definition at line 156 of file mrtk_rcv_crescent.c.

References trace().

Referenced by decode_cres().

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decode_cres()

int decode_cres ( raw_t * raw )

static

Definition at line 681 of file mrtk_rcv_crescent.c.

References raw_t::buff, chksum(), decode_creseph(), decode_cresgloeph(), decode_cresgloraw(), decode_cresionutc(), decode_crespos(), decode_cresraw(), decode_cresraw2(), decode_creswaas(), ID_CRESEPH, ID_CRESGLOEPH, ID_CRESGLORAW, ID_CRESIONUTC, ID_CRESPOS, ID_CRESRAW, ID_CRESRAW2, ID_CRESWAAS, raw_t::len, raw_t::msgtype, raw_t::outtype, trace(), and U2.

Referenced by input_cres(), and input_cresf().

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decode_creseph()

int decode_creseph ( raw_t * raw )

static

Definition at line 402 of file mrtk_rcv_crescent.c.

References raw_t::buff, decode_frame(), nav_s::eph, raw_t::ephsat, raw_t::ephset, eph_t::iode, raw_t::len, raw_t::nav, raw_t::opt, eph_t::sat, satno(), SYS_GPS, trace(), U2, and U4.

Referenced by decode_cres().

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decode_cresgloeph()

int decode_cresgloeph ( raw_t * raw )

static

Definition at line 629 of file mrtk_rcv_crescent.c.

References raw_t::buff, decode_glostr(), raw_t::ephsat, raw_t::ephset, geph_t::frq, nav_s::geph, getbitu(), geph_t::iode, raw_t::len, raw_t::nav, raw_t::opt, geph_t::sat, satno(), raw_t::subfrm, SYS_GLO, raw_t::time, geph_t::tof, trace(), U1, and U4.

Referenced by decode_cres().

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decode_cresgloraw()

int decode_cresgloraw ( raw_t * raw )

static

Definition at line 500 of file mrtk_rcv_crescent.c.

References raw_t::buff, CLIGHT, obsd_t::code, CODE_L1C, CODE_L2C, CODE_L2P, CODE_NONE, obsd_t::D, obs_t::data, gpst2time(), obsd_t::L, raw_t::len, obsd_t::LLI, raw_t::lockt, MAXOBS, obs_t::n, raw_t::nav, raw_t::obs, raw_t::opt, obsd_t::P, R8, obsd_t::sat, sat2freq(), satno(), obsd_t::SNR, SNR2CN0_L1, SNR2CN0_L2, SNR_UNIT, SYS_GLO, gtime_t::time, obsd_t::time, raw_t::time, timediff(), trace(), U2, and U4.

Referenced by decode_cres().

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decode_cresionutc()

int decode_cresionutc ( raw_t * raw )

static

Definition at line 443 of file mrtk_rcv_crescent.c.

References raw_t::buff, I2, nav_s::ion_gps, raw_t::len, raw_t::nav, R8, trace(), U2, U4, and nav_s::utc_gps.

Referenced by decode_cres().

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decode_crespos()

int decode_crespos ( raw_t * raw )

static

Definition at line 169 of file mrtk_rcv_crescent.c.

References raw_t::buff, gpst2time(), raw_t::len, R4, R8, time2str(), trace(), U1, and U2.

Referenced by decode_cres().

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decode_cresraw()

int decode_cresraw ( raw_t * raw )

static

Definition at line 207 of file mrtk_rcv_crescent.c.

References raw_t::buff, CLIGHT, obsd_t::code, CODE_L1C, CODE_NONE, obsd_t::D, obs_t::data, FREQ1, gpst2time(), I4, obsd_t::L, raw_t::len, obsd_t::LLI, raw_t::lockt, MAXOBS, MAXPRNGPS, obs_t::n, raw_t::obs, raw_t::opt, obsd_t::P, R8, obsd_t::sat, satno(), obsd_t::SNR, SNR2CN0_L1, SNR_UNIT, SYS_GPS, SYS_SBS, gtime_t::time, obsd_t::time, raw_t::time, trace(), U2, and U4.

Referenced by decode_cres().

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decode_cresraw2()

int decode_cresraw2 ( raw_t * raw )

static

Definition at line 275 of file mrtk_rcv_crescent.c.

References raw_t::buff, CLIGHT, obsd_t::code, CODE_L1C, CODE_L2P, CODE_NONE, obsd_t::D, obs_t::data, FREQ1, FREQ2, gpst2time(), obsd_t::L, raw_t::len, obsd_t::LLI, raw_t::lockt, MAXOBS, MAXPRNGPS, obs_t::n, raw_t::obs, raw_t::opt, obsd_t::P, R8, obsd_t::sat, satno(), obsd_t::SNR, SNR2CN0_L1, SNR2CN0_L2, SNR_UNIT, SYS_GPS, SYS_SBS, gtime_t::time, obsd_t::time, raw_t::time, timediff(), trace(), U2, and U4.

Referenced by decode_cres().

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decode_creswaas()

int decode_creswaas ( raw_t * raw )

static

Definition at line 464 of file mrtk_rcv_crescent.c.

References raw_t::buff, raw_t::len, MAXPRNSBS, MINPRNSBS, sbsmsg_t::msg, sbsmsg_t::prn, raw_t::sbsmsg, raw_t::time, time2gpst(), sbsmsg_t::tow, trace(), U2, U4, and sbsmsg_t::week.

Referenced by decode_cres().

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I2()

int16_t I2 ( uint8_t * p )

static

Definition at line 134 of file mrtk_rcv_crescent.c.

I4()

int32_t I4 ( uint8_t * p )

static

Definition at line 139 of file mrtk_rcv_crescent.c.

input_cres()

int input_cres ( raw_t * raw, uint8_t data )

extern

Definition at line 737 of file mrtk_rcv_crescent.c.

References raw_t::buff, decode_cres(), raw_t::len, MAXRAWLEN, raw_t::nbyte, sync_cres(), trace(), and U2.

Referenced by input_raw().

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input_cresf()

int input_cresf ( raw_t * raw, FILE * fp )

extern

Definition at line 771 of file mrtk_rcv_crescent.c.

References raw_t::buff, decode_cres(), raw_t::len, MAXRAWLEN, raw_t::nbyte, sync_cres(), trace(), and U2.

Referenced by input_rawf().

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R4()

float R4 ( uint8_t * p )

static

Definition at line 144 of file mrtk_rcv_crescent.c.

R8()

double R8 ( uint8_t * p )

static

Definition at line 149 of file mrtk_rcv_crescent.c.

sync_cres()

int sync_cres ( uint8_t * buff, uint8_t data )

static

Definition at line 714 of file mrtk_rcv_crescent.c.

References CRESSYNC.

Referenced by input_cres(), and input_cresf().

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U2()

uint16_t U2 ( uint8_t * p )

static

Definition at line 124 of file mrtk_rcv_crescent.c.

U4()

uint32_t U4 ( uint8_t * p )

static

Definition at line 129 of file mrtk_rcv_crescent.c.