#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_madoca.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_sbas.h"
#include "mrtklib/mrtk_sys.h"
#include "mrtklib/mrtk_time.h"
#include "mrtklib/mrtk_trace.h"

Include dependency graph for mrtk_rcv_ublox.c:

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	LLI_SLIP 0x01 /* LLI: cycle-slip */
#define	LLI_HALFC 0x02 /* LLI: half-cycle not resolved */
#define	LLI_BOCTRK 0x04 /* LLI: boc tracking of mboc signal */
#define	LLI_HALFA 0x40 /* LLI: half-cycle added */
#define	LLI_HALFS 0x80 /* LLI: half-cycle subtracted */
#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	UBXSYNC1 0xB5 /* ubx message sync code 1 */
#define	UBXSYNC2 0x62 /* ubx message sync code 2 */
#define	UBXCFG 0x06 /* ubx message cfg-??? */
#define	PREAMB_CNAV 0x8B /* cnav preamble */
#define	ID_NAVSOL 0x0106 /* ubx message id: nav solution info */
#define	ID_NAVTIME 0x0120 /* ubx message id: nav time gps */
#define	ID_RXMRAW 0x0210 /* ubx message id: raw measurement data */
#define	ID_RXMSFRB 0x0211 /* ubx message id: subframe buffer */
#define	ID_RXMSFRBX 0x0213 /* ubx message id: raw subframe data */
#define	ID_RXMRAWX 0x0215 /* ubx message id: multi-gnss raw meas data */
#define	ID_RXMQZSSL6 0x0273 /* ubx message id: qzss L6 message */
#define	ID_TRKD5 0x030A /* ubx message id: trace mesurement data */
#define	ID_TRKMEAS 0x0310 /* ubx message id: trace mesurement data */
#define	ID_TRKSFRBX 0x030F /* ubx message id: trace subframe buffer */
#define	FU1 1 /* ubx message field types */
#define	FU2 2
#define	FU4 3
#define	FI1 4
#define	FI2 5
#define	FI4 6
#define	FR4 7
#define	FR8 8
#define	FS32 9
#define	P2_10 0.0009765625 /* 2^-10 */
#define	CPSTD_VALID 14 /* std-dev threshold of carrier-phase valid */
#define	ROUND(x)
#define	U1(p)
#define	I1(p)

Functions
static uint16_t	U2 (uint8_t *p)
static uint32_t	U4 (uint8_t *p)
static int32_t	I4 (uint8_t *p)
static float	R4 (uint8_t *p)
static double	R8 (uint8_t *p)
static double	I8 (uint8_t *p)
static void	setU1 (uint8_t *p, uint8_t u)
static void	setU2 (uint8_t *p, uint16_t u)
static void	setU4 (uint8_t *p, uint32_t u)
static void	setI1 (uint8_t *p, int8_t i)
static void	setI2 (uint8_t *p, int16_t i)
static void	setI4 (uint8_t *p, int32_t i)
static void	setR4 (uint8_t *p, float r)
static void	setR8 (uint8_t *p, double r)
static int	checksum (uint8_t *buff, int len)
static void	setcs (uint8_t *buff, int len)
static int	ubx_sys (int gnssid)
static int	ubx_sig (int sys, int sigid)
static int	sig_idx (int sys, uint8_t code)
static int	decode_rxmraw (raw_t *raw)
static int	decode_rxmrawx (raw_t *raw)
static int	decode_navsol (raw_t *raw)
static int	decode_navtime (raw_t *raw)
static int	decode_trkmeas (raw_t *raw)
static int	decode_trkd5 (raw_t *raw)
static void	adj_utcweek (gtime_t time, double *utc)
static int	decode_eph (raw_t *raw, int sat)
static int	decode_ionutc (raw_t *raw, int sat)
static int	decode_nav (raw_t *raw, int sat, int off)
static int	decode_enav (raw_t *raw, int sat, int off)
static int	decode_cnav (raw_t *raw, int sat, int off)
static int	decode_gnav (raw_t *raw, int sat, int off, int frq)
static int	decode_snav (raw_t *raw, int prn, int off)
static int	decode_rxmsfrbx (raw_t *raw)
static int	decode_trksfrbx (raw_t *raw)
static int	decode_rxmsfrb (raw_t *raw)
static int	decode_rxmqzssl6 (raw_t raw, rtcm_t rtcm)
static int	decode_ubx (raw_t raw, rtcm_t rtcm)
static int	sync_ubx (uint8_t *buff, uint8_t data)
int	input_ubx (raw_t raw, rtcm_t rtcm, uint8_t data)
int	input_ubxf (raw_t raw, rtcm_t rtcm, FILE *fp)
static int	stoi (const char *s)
int	gen_ubx (const char msg, uint8_t buff)

Macro Definition Documentation

◆ CLIGHT

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

Definition at line 39 of file mrtk_rcv_ublox.c.

◆ CPSTD_VALID

#define CPSTD_VALID 14 /* std-dev threshold of carrier-phase valid */

Definition at line 147 of file mrtk_rcv_ublox.c.

Referenced by decode_rxmrawx().

◆ D2R

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

Definition at line 37 of file mrtk_rcv_ublox.c.

◆ DFRQ1_GLO

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

Definition at line 67 of file mrtk_rcv_ublox.c.

◆ DFRQ2_GLO

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

Definition at line 69 of file mrtk_rcv_ublox.c.

◆ FI1

#define FI1 4

Definition at line 135 of file mrtk_rcv_ublox.c.

Referenced by gen_ubx().

◆ FI2

#define FI2 5

Definition at line 136 of file mrtk_rcv_ublox.c.

Referenced by gen_ubx().

◆ FI4

#define FI4 6

Definition at line 137 of file mrtk_rcv_ublox.c.

Referenced by gen_ubx().

◆ FR4

#define FR4 7

Definition at line 138 of file mrtk_rcv_ublox.c.

Referenced by gen_ubx().

◆ FR8

#define FR8 8

Definition at line 139 of file mrtk_rcv_ublox.c.

Referenced by gen_ubx().

◆ FREQ1

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

Definition at line 59 of file mrtk_rcv_ublox.c.

◆ FREQ1_CMP

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

Definition at line 73 of file mrtk_rcv_ublox.c.

◆ FREQ1_GLO

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

Definition at line 66 of file mrtk_rcv_ublox.c.

◆ FREQ1a_GLO

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

Definition at line 71 of file mrtk_rcv_ublox.c.

◆ FREQ2

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

Definition at line 60 of file mrtk_rcv_ublox.c.

◆ FREQ2_GLO

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

Definition at line 68 of file mrtk_rcv_ublox.c.

◆ FREQ2a_GLO

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

Definition at line 72 of file mrtk_rcv_ublox.c.

◆ FREQ3_GLO

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

Definition at line 70 of file mrtk_rcv_ublox.c.

◆ FREQ5

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

Definition at line 61 of file mrtk_rcv_ublox.c.

◆ FREQ6

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

Definition at line 62 of file mrtk_rcv_ublox.c.

◆ FREQ7

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

Definition at line 63 of file mrtk_rcv_ublox.c.

◆ FREQ8

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

Definition at line 64 of file mrtk_rcv_ublox.c.

◆ FREQ9

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

Definition at line 65 of file mrtk_rcv_ublox.c.

◆ FS32

#define FS32 9

Definition at line 140 of file mrtk_rcv_ublox.c.

Referenced by gen_ubx().

◆ FU1

#define FU1 1 /* ubx message field types */

Definition at line 132 of file mrtk_rcv_ublox.c.

Referenced by gen_ubx().

◆ FU2

#define FU2 2

Definition at line 133 of file mrtk_rcv_ublox.c.

Referenced by gen_ubx().

◆ FU4

#define FU4 3

Definition at line 134 of file mrtk_rcv_ublox.c.

Referenced by gen_ubx().

◆ I1

#define I1 ( p )

Value:

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

Definition at line 154 of file mrtk_rcv_ublox.c.

Referenced by decode_rxmraw().

◆ ID_NAVSOL

#define ID_NAVSOL 0x0106 /* ubx message id: nav solution info */

Definition at line 121 of file mrtk_rcv_ublox.c.

Referenced by decode_ubx().

◆ ID_NAVTIME

#define ID_NAVTIME 0x0120 /* ubx message id: nav time gps */

Definition at line 122 of file mrtk_rcv_ublox.c.

Referenced by decode_ubx().

◆ ID_RXMQZSSL6

#define ID_RXMQZSSL6 0x0273 /* ubx message id: qzss L6 message */

Definition at line 127 of file mrtk_rcv_ublox.c.

Referenced by decode_ubx().

◆ ID_RXMRAW

#define ID_RXMRAW 0x0210 /* ubx message id: raw measurement data */

Definition at line 123 of file mrtk_rcv_ublox.c.

Referenced by decode_ubx().

◆ ID_RXMRAWX

#define ID_RXMRAWX 0x0215 /* ubx message id: multi-gnss raw meas data */

Definition at line 126 of file mrtk_rcv_ublox.c.

Referenced by decode_ubx().

◆ ID_RXMSFRB

#define ID_RXMSFRB 0x0211 /* ubx message id: subframe buffer */

Definition at line 124 of file mrtk_rcv_ublox.c.

Referenced by decode_ubx().

◆ ID_RXMSFRBX

#define ID_RXMSFRBX 0x0213 /* ubx message id: raw subframe data */

Definition at line 125 of file mrtk_rcv_ublox.c.

Referenced by decode_ubx().

◆ ID_TRKD5

#define ID_TRKD5 0x030A /* ubx message id: trace mesurement data */

Definition at line 128 of file mrtk_rcv_ublox.c.

Referenced by decode_ubx().

◆ ID_TRKMEAS

#define ID_TRKMEAS 0x0310 /* ubx message id: trace mesurement data */

Definition at line 129 of file mrtk_rcv_ublox.c.

Referenced by decode_ubx().

◆ ID_TRKSFRBX

#define ID_TRKSFRBX 0x030F /* ubx message id: trace subframe buffer */

Definition at line 130 of file mrtk_rcv_ublox.c.

Referenced by decode_ubx().

◆ LLI_BOCTRK

#define LLI_BOCTRK 0x04 /* LLI: boc tracking of mboc signal */

Definition at line 82 of file mrtk_rcv_ublox.c.

◆ LLI_HALFA

#define LLI_HALFA 0x40 /* LLI: half-cycle added */

Definition at line 83 of file mrtk_rcv_ublox.c.

◆ LLI_HALFC

#define LLI_HALFC 0x02 /* LLI: half-cycle not resolved */

Definition at line 81 of file mrtk_rcv_ublox.c.

◆ LLI_HALFS

#define LLI_HALFS 0x80 /* LLI: half-cycle subtracted */

Definition at line 84 of file mrtk_rcv_ublox.c.

◆ LLI_SLIP

#define LLI_SLIP 0x01 /* LLI: cycle-slip */

Definition at line 80 of file mrtk_rcv_ublox.c.

◆ MAXPRNGPS

#define MAXPRNGPS 32

Definition at line 76 of file mrtk_rcv_ublox.c.

◆ MAXPRNSBS

#define MAXPRNSBS 158

Definition at line 78 of file mrtk_rcv_ublox.c.

◆ MINPRNGPS

#define MINPRNGPS 1

Definition at line 75 of file mrtk_rcv_ublox.c.

◆ MINPRNSBS

#define MINPRNSBS 120

Definition at line 77 of file mrtk_rcv_ublox.c.

◆ P2_10

#define P2_10 0.0009765625 /* 2^-10 */

Definition at line 142 of file mrtk_rcv_ublox.c.

Referenced by decode_msm4(), decode_msm5(), decode_msm6(), decode_msm7(), decode_trkd5(), decode_trkmeas(), encode_msm_int_rrng(), encode_msm_mod_rrng(), and gen_msm_sat().

◆ P2_11

#define P2_11 4.882812500000000E-04

Definition at line 89 of file mrtk_rcv_ublox.c.

◆ P2_15

#define P2_15 3.051757812500000E-05

Definition at line 90 of file mrtk_rcv_ublox.c.

◆ P2_17

#define P2_17 7.629394531250000E-06

Definition at line 91 of file mrtk_rcv_ublox.c.

◆ P2_19

#define P2_19 1.907348632812500E-06

Definition at line 92 of file mrtk_rcv_ublox.c.

◆ P2_20

#define P2_20 9.536743164062500E-07

Definition at line 93 of file mrtk_rcv_ublox.c.

◆ P2_21

#define P2_21 4.768371582031250E-07

Definition at line 94 of file mrtk_rcv_ublox.c.

◆ P2_23

#define P2_23 1.192092895507810E-07

Definition at line 95 of file mrtk_rcv_ublox.c.

◆ P2_24

#define P2_24 5.960464477539063E-08

Definition at line 96 of file mrtk_rcv_ublox.c.

◆ P2_27

#define P2_27 7.450580596923828E-09

Definition at line 97 of file mrtk_rcv_ublox.c.

◆ P2_29

#define P2_29 1.862645149230957E-09

Definition at line 98 of file mrtk_rcv_ublox.c.

◆ P2_30

#define P2_30 9.313225746154785E-10

Definition at line 99 of file mrtk_rcv_ublox.c.

◆ P2_31

#define P2_31 4.656612873077393E-10

Definition at line 100 of file mrtk_rcv_ublox.c.

◆ P2_32

#define P2_32 2.328306436538696E-10

Definition at line 101 of file mrtk_rcv_ublox.c.

◆ P2_33

#define P2_33 1.164153218269348E-10

Definition at line 102 of file mrtk_rcv_ublox.c.

◆ P2_34

#define P2_34 5.820766091346740E-11

Definition at line 103 of file mrtk_rcv_ublox.c.

◆ P2_35

#define P2_35 2.910383045673370E-11

Definition at line 104 of file mrtk_rcv_ublox.c.

◆ P2_38

#define P2_38 3.637978807091710E-12

Definition at line 105 of file mrtk_rcv_ublox.c.

◆ P2_40

#define P2_40 9.094947017729280E-13

Definition at line 106 of file mrtk_rcv_ublox.c.

◆ P2_43

#define P2_43 1.136868377216160E-13

Definition at line 107 of file mrtk_rcv_ublox.c.

◆ P2_46

#define P2_46 1.421085471520200E-14

Definition at line 108 of file mrtk_rcv_ublox.c.

◆ P2_5

#define P2_5 0.03125

Definition at line 87 of file mrtk_rcv_ublox.c.

◆ P2_50

#define P2_50 8.881784197001252E-16

Definition at line 109 of file mrtk_rcv_ublox.c.

◆ P2_55

#define P2_55 2.775557561562891E-17

Definition at line 110 of file mrtk_rcv_ublox.c.

◆ P2_59

#define P2_59 1.734723475976810E-18

Definition at line 111 of file mrtk_rcv_ublox.c.

◆ P2_6

#define P2_6 0.015625

Definition at line 88 of file mrtk_rcv_ublox.c.

◆ PI

#define PI 3.1415926535897932 /* pi */

Definition at line 36 of file mrtk_rcv_ublox.c.

◆ PREAMB_CNAV

#define PREAMB_CNAV 0x8B /* cnav preamble */

Definition at line 119 of file mrtk_rcv_ublox.c.

◆ R2D

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

Definition at line 38 of file mrtk_rcv_ublox.c.

◆ ROUND

#define ROUND ( x )

Value:

(int)floor((x) + 0.5)

Definition at line 150 of file mrtk_rcv_ublox.c.

Referenced by decode_trkd5(), and decode_trkmeas().

◆ SC2RAD

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

Definition at line 40 of file mrtk_rcv_ublox.c.

◆ SYS_CMP

#define SYS_CMP 0x20

Definition at line 48 of file mrtk_rcv_ublox.c.

◆ SYS_GAL

#define SYS_GAL 0x08

Definition at line 46 of file mrtk_rcv_ublox.c.

◆ SYS_GLO

#define SYS_GLO 0x04

Definition at line 45 of file mrtk_rcv_ublox.c.

◆ SYS_GPS

#define SYS_GPS 0x01

Definition at line 43 of file mrtk_rcv_ublox.c.

◆ SYS_IRN

#define SYS_IRN 0x40

Definition at line 49 of file mrtk_rcv_ublox.c.

◆ SYS_NONE

#define SYS_NONE 0x00

Definition at line 42 of file mrtk_rcv_ublox.c.

◆ SYS_QZS

#define SYS_QZS 0x10

Definition at line 47 of file mrtk_rcv_ublox.c.

◆ SYS_SBS

#define SYS_SBS 0x02

Definition at line 44 of file mrtk_rcv_ublox.c.

◆ TSYS_CMP

#define TSYS_CMP 5

Definition at line 56 of file mrtk_rcv_ublox.c.

◆ TSYS_GAL

#define TSYS_GAL 3

Definition at line 54 of file mrtk_rcv_ublox.c.

◆ TSYS_GLO

#define TSYS_GLO 2

Definition at line 53 of file mrtk_rcv_ublox.c.

◆ TSYS_GPS

#define TSYS_GPS 0

Definition at line 51 of file mrtk_rcv_ublox.c.

◆ TSYS_IRN

#define TSYS_IRN 6

Definition at line 57 of file mrtk_rcv_ublox.c.

◆ TSYS_QZS

#define TSYS_QZS 4

Definition at line 55 of file mrtk_rcv_ublox.c.

◆ TSYS_UTC

#define TSYS_UTC 1

Definition at line 52 of file mrtk_rcv_ublox.c.

◆ U1

#define U1 ( p )

Value:

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

Definition at line 153 of file mrtk_rcv_ublox.c.

Referenced by decode_navsol(), decode_navtime(), decode_rxmqzssl6(), decode_rxmraw(), decode_rxmrawx(), decode_rxmsfrb(), decode_rxmsfrbx(), decode_trkd5(), decode_trkmeas(), decode_trksfrbx(), and decode_ubx().

◆ UBXCFG

#define UBXCFG 0x06 /* ubx message cfg-??? */

Definition at line 117 of file mrtk_rcv_ublox.c.

Referenced by gen_ubx().

◆ UBXSYNC1

#define UBXSYNC1 0xB5 /* ubx message sync code 1 */

Definition at line 115 of file mrtk_rcv_ublox.c.

Referenced by gen_ubx(), and sync_ubx().

◆ UBXSYNC2

#define UBXSYNC2 0x62 /* ubx message sync code 2 */

Definition at line 116 of file mrtk_rcv_ublox.c.

Referenced by gen_ubx(), and sync_ubx().

Function Documentation

◆ adj_utcweek()

void adj_utcweek	(	gtime_t	time,
		double *	utc )

static

Definition at line 899 of file mrtk_rcv_ublox.c.

References time2gpst().

Referenced by decode_enav(), and decode_ionutc().

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◆ checksum()

int checksum	(	uint8_t *	buff,
		int	len )

static

Definition at line 193 of file mrtk_rcv_ublox.c.

Referenced by decode_ubx().

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◆ decode_cnav()

int decode_cnav	(	raw_t *	raw,
		int	sat,
		int	off )

static

Definition at line 1069 of file mrtk_rcv_ublox.c.

References raw_t::buff, decode_bds_d1(), decode_bds_d2(), nav_s::eph, raw_t::ephsat, raw_t::ephset, getbitu(), nav_s::ion_cmp, raw_t::len, matcpy(), raw_t::nav, raw_t::opt, eph_t::sat, satsys(), setbitu(), raw_t::subfrm, timediff(), eph_t::toe, trace(), U4, and nav_s::utc_cmp.

Referenced by decode_rxmsfrbx(), and decode_trksfrbx().

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◆ decode_enav()

int decode_enav	(	raw_t *	raw,
		int	sat,
		int	off )

static

Definition at line 990 of file mrtk_rcv_ublox.c.

References adj_utcweek(), raw_t::buff, eph_t::code, decode_gal_inav(), nav_s::eph, raw_t::ephsat, raw_t::ephset, getbitu(), eph_t::iode, nav_s::ion_gal, raw_t::len, matcpy(), raw_t::nav, raw_t::opt, rtk_crc24q(), eph_t::sat, setbitu(), raw_t::subfrm, raw_t::time, timediff(), eph_t::toc, eph_t::toe, trace(), U4, and nav_s::utc_gal.

Referenced by decode_rxmsfrbx(), and decode_trksfrbx().

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◆ decode_eph()

int decode_eph	(	raw_t *	raw,
		int	sat )

static

Definition at line 917 of file mrtk_rcv_ublox.c.

References decode_frame(), nav_s::eph, raw_t::ephsat, raw_t::ephset, eph_t::iodc, eph_t::iode, raw_t::nav, raw_t::opt, eph_t::sat, raw_t::subfrm, timediff(), eph_t::toc, and eph_t::toe.

Referenced by decode_nav(), and decode_rxmsfrb().

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◆ decode_gnav()

int decode_gnav	(	raw_t *	raw,
		int	sat,
		int	off,
		int	frq )

static

Definition at line 1140 of file mrtk_rcv_ublox.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, matcpy(), raw_t::nav, raw_t::opt, geph_t::sat, satsys(), raw_t::subfrm, test_glostr(), raw_t::time, geph_t::tof, trace(), and nav_s::utc_glo.

Referenced by decode_rxmsfrbx(), and decode_trksfrbx().

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◆ decode_ionutc()

int decode_ionutc	(	raw_t *	raw,
		int	sat )

static

Definition at line 938 of file mrtk_rcv_ublox.c.

References adj_utcweek(), decode_frame(), nav_s::ion_gps, nav_s::ion_qzs, matcpy(), raw_t::nav, satsys(), raw_t::subfrm, SYS_QZS, raw_t::time, nav_s::utc_gps, and nav_s::utc_qzs.

Referenced by decode_nav(), and decode_rxmsfrb().

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◆ decode_nav()

int decode_nav	(	raw_t *	raw,
		int	sat,
		int	off )

static

Definition at line 957 of file mrtk_rcv_ublox.c.

References raw_t::buff, decode_eph(), decode_ionutc(), getbitu(), raw_t::len, PREAMB_CNAV, setbitu(), raw_t::subfrm, trace(), and U4.

Referenced by decode_rxmsfrbx(), and decode_trksfrbx().

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◆ decode_navsol()

int decode_navsol ( raw_t * raw )

static

Definition at line 559 of file mrtk_rcv_ublox.c.

References raw_t::buff, gpst2time(), I4, raw_t::len, raw_t::msgtype, raw_t::outtype, raw_t::time, trace(), U1, U2, and U4.

Referenced by decode_ubx().

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◆ decode_navtime()

int decode_navtime ( raw_t * raw )

static

Definition at line 577 of file mrtk_rcv_ublox.c.

References raw_t::buff, gpst2time(), gpst2utc(), I4, raw_t::len, raw_t::msgtype, raw_t::opt, raw_t::outtype, raw_t::time, time2epoch(), time2str(), trace(), U1, U2, and U4.

Referenced by decode_ubx().

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◆ decode_rxmqzssl6()

int decode_rxmqzssl6	(	raw_t *	raw,
		rtcm_t *	rtcm )

static

Definition at line 1341 of file mrtk_rcv_ublox.c.

References raw_t::buff, decode_qzss_l6frame(), raw_t::l6tag, raw_t::len, raw_t::msgtype, raw_t::opt, raw_t::outtype, rtcm, trace(), U1, U2, and U4.

Referenced by decode_ubx().

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◆ decode_rxmraw()

int decode_rxmraw ( raw_t * raw )

static

Definition at line 344 of file mrtk_rcv_ublox.c.

References raw_t::buff, CLIGHT, obsd_t::code, CODE_L1C, CODE_NONE, obsd_t::D, obs_t::data, FREQ1, gpst2time(), I1, obsd_t::L, raw_t::len, obsd_t::LLI, raw_t::lockt, MAXOBS, MINPRNSBS, raw_t::msgtype, obs_t::n, raw_t::obs, raw_t::opt, raw_t::outtype, obsd_t::P, R4, R8, obsd_t::sat, satno(), obsd_t::SNR, SNR_UNIT, SYS_GPS, SYS_SBS, obsd_t::time, raw_t::time, time2gpst(), timeadd(), timediff(), trace(), U1, U2, and U4.

Referenced by decode_ubx().

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◆ decode_rxmrawx()

int decode_rxmrawx ( raw_t * raw )

static

Definition at line 420 of file mrtk_rcv_ublox.c.

References raw_t::buff, CLIGHT, obsd_t::code, code2freq(), CODE_L1C, CODE_L1X, CODE_L2I, CODE_NONE, CPSTD_VALID, obsd_t::D, obs_t::data, nav_s::glo_fcn, gpst2time(), raw_t::halfc, obsd_t::L, raw_t::len, obsd_t::LLI, LLI_HALFC, LLI_HALFS, LLI_SLIP, raw_t::lockt, MAXOBS, raw_t::msgtype, obs_t::n, raw_t::nav, raw_t::obs, raw_t::opt, raw_t::outtype, obsd_t::P, R4, R8, obsd_t::rcv, obsd_t::sat, satno(), sig_idx(), obsd_t::SNR, SNR_UNIT, SYS_CMP, SYS_GAL, SYS_GLO, SYS_QZS, obsd_t::time, raw_t::time, time2gpst(), time2str(), timeadd(), trace(), U1, U2, ubx_sig(), and ubx_sys().

Referenced by decode_ubx().

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◆ decode_rxmsfrb()

int decode_rxmsfrb ( raw_t * raw )

static

Definition at line 1297 of file mrtk_rcv_ublox.c.

References raw_t::buff, decode_eph(), decode_ionutc(), getbitu(), raw_t::len, MINPRNSBS, raw_t::msgtype, raw_t::outtype, satno(), sbsdecodemsg(), raw_t::sbsmsg, setbitu(), raw_t::subfrm, SYS_GPS, SYS_SBS, raw_t::time, trace(), U1, and U4.

Referenced by decode_ubx().

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◆ decode_rxmsfrbx()

int decode_rxmsfrbx ( raw_t * raw )

static

Definition at line 1224 of file mrtk_rcv_ublox.c.

References raw_t::buff, decode_cnav(), decode_enav(), decode_gnav(), decode_nav(), decode_snav(), raw_t::len, raw_t::msgtype, raw_t::outtype, satno(), SYS_CMP, SYS_GAL, SYS_GLO, SYS_GPS, SYS_QZS, SYS_SBS, trace(), U1, and ubx_sys().

Referenced by decode_ubx().

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◆ decode_snav()

int decode_snav	(	raw_t *	raw,
		int	prn,
		int	off )

static

Definition at line 1204 of file mrtk_rcv_ublox.c.

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

Referenced by decode_rxmsfrbx(), and decode_trksfrbx().

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◆ decode_trkd5()

int decode_trkd5 ( raw_t * raw )

static

Definition at line 745 of file mrtk_rcv_ublox.c.

References raw_t::buff, CLIGHT, obsd_t::code, CODE_L1C, CODE_L2I, CODE_NONE, obsd_t::D, obs_t::data, gpst2time(), gpst2utc(), I4, I8(), obsd_t::L, raw_t::len, obsd_t::LLI, raw_t::lockt, MAXSAT, MINPRNSBS, raw_t::msgtype, obs_t::n, raw_t::obs, raw_t::outtype, obsd_t::P, P2_10, P2_32, ROUND, obsd_t::sat, satno(), obsd_t::SNR, SNR_UNIT, SYS_CMP, SYS_GLO, SYS_GPS, SYS_QZS, SYS_SBS, gtime_t::time, obsd_t::time, raw_t::time, time2gpst(), time_str(), timediff(), trace(), U1, U2, and ubx_sys().

Referenced by decode_ubx().

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◆ decode_trkmeas()

int decode_trkmeas ( raw_t * raw )

static

Definition at line 602 of file mrtk_rcv_ublox.c.

References raw_t::buff, CLIGHT, obsd_t::code, CODE_L1C, CODE_L2I, CODE_NONE, obsd_t::D, obs_t::data, gpst2time(), gpst2utc(), I4, I8(), obsd_t::L, raw_t::len, obsd_t::LLI, raw_t::lockt, MAXSAT, raw_t::msgtype, obs_t::n, raw_t::obs, raw_t::outtype, obsd_t::P, P2_10, P2_32, ROUND, obsd_t::sat, satno(), obsd_t::SNR, SNR_UNIT, SYS_CMP, SYS_GLO, SYS_GPS, SYS_QZS, SYS_SBS, gtime_t::time, obsd_t::time, raw_t::time, time2gpst(), timediff(), trace(), U1, U2, and ubx_sys().

Referenced by decode_ubx().

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◆ decode_trksfrbx()

int decode_trksfrbx ( raw_t * raw )

static

Definition at line 1264 of file mrtk_rcv_ublox.c.

References raw_t::buff, decode_cnav(), decode_enav(), decode_gnav(), decode_nav(), decode_snav(), raw_t::len, raw_t::msgtype, raw_t::outtype, satno(), SYS_CMP, SYS_GAL, SYS_GLO, SYS_GPS, SYS_QZS, SYS_SBS, trace(), U1, and ubx_sys().

Referenced by decode_ubx().

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◆ decode_ubx()

int decode_ubx	(	raw_t *	raw,
		rtcm_t *	rtcm )

static

Definition at line 1389 of file mrtk_rcv_ublox.c.

References raw_t::buff, checksum(), decode_navsol(), decode_navtime(), decode_rxmqzssl6(), decode_rxmraw(), decode_rxmrawx(), decode_rxmsfrb(), decode_rxmsfrbx(), decode_trkd5(), decode_trkmeas(), decode_trksfrbx(), ID_NAVSOL, ID_NAVTIME, ID_RXMQZSSL6, ID_RXMRAW, ID_RXMRAWX, ID_RXMSFRB, ID_RXMSFRBX, ID_TRKD5, ID_TRKMEAS, ID_TRKSFRBX, raw_t::len, raw_t::msgtype, raw_t::outtype, rtcm, trace(), and U1.

Referenced by input_ubx(), and input_ubxf().

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◆ gen_ubx()

int gen_ubx	(	const char *	msg,
		uint8_t *	buff )

extern

Definition at line 1590 of file mrtk_rcv_ublox.c.

References FI1, FI2, FI4, FR4, FR8, FS32, FU1, FU2, FU4, setcs(), setI1(), setI2(), setI4(), setR4(), setR8(), setU1(), setU2(), setU4(), stoi(), trace(), traceb(), UBXCFG, UBXSYNC1, and UBXSYNC2.

Referenced by strsendcmd().

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◆ I4()

int32_t I4 ( uint8_t * p )

static

Definition at line 165 of file mrtk_rcv_ublox.c.

◆ I8()

double I8 ( uint8_t * p )

static

Definition at line 180 of file mrtk_rcv_ublox.c.

References I4, and U4.

Referenced by decode_trkd5(), and decode_trkmeas().

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◆ input_ubx()

int input_ubx	(	raw_t *	raw,
		rtcm_t *	rtcm,
		uint8_t	data )

extern

Definition at line 1464 of file mrtk_rcv_ublox.c.

References raw_t::buff, decode_ubx(), raw_t::len, MAXRAWLEN, raw_t::nbyte, rtcm, sync_ubx(), trace(), and U2.

Referenced by input_raw().

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◆ input_ubxf()

int input_ubxf	(	raw_t *	raw,
		rtcm_t *	rtcm,
		FILE *	fp )

extern

Definition at line 1499 of file mrtk_rcv_ublox.c.

References raw_t::buff, decode_ubx(), raw_t::len, MAXRAWLEN, raw_t::nbyte, rtcm, sync_ubx(), trace(), and U2.

Referenced by input_rawf().

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◆ R4()

float R4 ( uint8_t * p )

static

Definition at line 170 of file mrtk_rcv_ublox.c.

◆ R8()

double R8 ( uint8_t * p )

static

Definition at line 175 of file mrtk_rcv_ublox.c.

◆ setcs()

void setcs	(	uint8_t *	buff,
		int	len )

static

Definition at line 203 of file mrtk_rcv_ublox.c.

Referenced by gen_ubx().

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◆ setI1()

void setI1	(	uint8_t *	p,
		int8_t	i )

static

Definition at line 186 of file mrtk_rcv_ublox.c.

Referenced by gen_ubx().

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◆ setI2()

void setI2	(	uint8_t *	p,
		int16_t	i )

static

Definition at line 187 of file mrtk_rcv_ublox.c.

Referenced by gen_ubx().

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◆ setI4()

void setI4	(	uint8_t *	p,
		int32_t	i )

static

Definition at line 188 of file mrtk_rcv_ublox.c.

Referenced by gen_ubx().

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◆ setR4()

void setR4	(	uint8_t *	p,
		float	r )

static

Definition at line 189 of file mrtk_rcv_ublox.c.

Referenced by gen_ubx().

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◆ setR8()

void setR8	(	uint8_t *	p,
		double	r )

static

Definition at line 190 of file mrtk_rcv_ublox.c.

Referenced by gen_ubx().

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◆ setU1()

void setU1	(	uint8_t *	p,
		uint8_t	u )

static

Definition at line 183 of file mrtk_rcv_ublox.c.

Referenced by gen_ubx().

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◆ setU2()

void setU2	(	uint8_t *	p,
		uint16_t	u )

static

Definition at line 184 of file mrtk_rcv_ublox.c.

Referenced by gen_ubx().

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◆ setU4()

void setU4	(	uint8_t *	p,
		uint32_t	u )

static

Definition at line 185 of file mrtk_rcv_ublox.c.

Referenced by gen_ubx().

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◆ sig_idx()

int sig_idx	(	int	sys,
		uint8_t	code )

static

Definition at line 319 of file mrtk_rcv_ublox.c.

References code2freq_idx(), CODE_L1B, CODE_L1Z, CODE_L2S, CODE_L7I, SYS_GAL, SYS_GPS, and SYS_QZS.

Referenced by decode_rxmrawx().

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◆ stoi()

int stoi ( const char * s )

static

Definition at line 1537 of file mrtk_rcv_ublox.c.

Referenced by gen_ubx().

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◆ sync_ubx()

int sync_ubx	(	uint8_t *	buff,
		uint8_t	data )

static

Definition at line 1427 of file mrtk_rcv_ublox.c.

References UBXSYNC1, and UBXSYNC2.

Referenced by input_ubx(), and input_ubxf().

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◆ U2()

uint16_t U2 ( uint8_t * p )

static

Definition at line 155 of file mrtk_rcv_ublox.c.

◆ U4()

uint32_t U4 ( uint8_t * p )

static

Definition at line 160 of file mrtk_rcv_ublox.c.

◆ ubx_sig()

int ubx_sig	(	int	sys,
		int	sigid )

static

Definition at line 233 of file mrtk_rcv_ublox.c.

References CODE_L1B, CODE_L1C, CODE_L1P, CODE_L1Z, CODE_L2C, CODE_L2I, CODE_L2L, CODE_L2S, CODE_L5P, CODE_L5Q, CODE_L6B, CODE_L6I, CODE_L7I, CODE_L7Q, CODE_NONE, SYS_CMP, SYS_GAL, SYS_GLO, SYS_GPS, SYS_QZS, and SYS_SBS.

Referenced by decode_rxmrawx().

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◆ ubx_sys()

int ubx_sys ( int gnssid )

static

Definition at line 215 of file mrtk_rcv_ublox.c.

References SYS_CMP, SYS_GAL, SYS_GLO, SYS_GPS, SYS_QZS, and SYS_SBS.

Referenced by decode_rxmrawx(), decode_rxmsfrbx(), decode_trkd5(), decode_trkmeas(), and decode_trksfrbx().

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Macros

Functions

Macro Definition Documentation

◆ CLIGHT

◆ CPSTD_VALID

◆ D2R

◆ DFRQ1_GLO

◆ DFRQ2_GLO

◆ FI1

◆ FI2

◆ FI4

◆ FR4

◆ FR8

◆ FREQ1

◆ FREQ1_CMP

◆ FREQ1_GLO

◆ FREQ1a_GLO

◆ FREQ2

◆ FREQ2_GLO

◆ FREQ2a_GLO

◆ FREQ3_GLO

◆ FREQ5

◆ FREQ6

◆ FREQ7

◆ FREQ8

◆ FREQ9

◆ FS32

◆ FU1

◆ FU2

◆ FU4

◆ I1

◆ ID_NAVSOL

◆ ID_NAVTIME

◆ ID_RXMQZSSL6

◆ ID_RXMRAW

◆ ID_RXMRAWX

◆ ID_RXMSFRB

◆ ID_RXMSFRBX

◆ ID_TRKD5

◆ ID_TRKMEAS

◆ ID_TRKSFRBX

◆ LLI_BOCTRK

◆ LLI_HALFA

◆ LLI_HALFC

◆ LLI_HALFS

◆ LLI_SLIP

◆ MAXPRNGPS

◆ MAXPRNSBS

◆ MINPRNGPS

◆ MINPRNSBS

◆ P2_10

◆ P2_11

◆ P2_15

◆ P2_17

◆ P2_19

◆ P2_20

◆ P2_21

◆ P2_23

◆ P2_24

◆ P2_27

◆ P2_29

◆ P2_30

◆ P2_31

◆ P2_32

◆ P2_33

◆ P2_34

◆ P2_35

◆ P2_38

◆ P2_40

◆ P2_43

◆ P2_46

◆ P2_5

◆ P2_50

◆ P2_55

◆ P2_59

◆ P2_6

◆ PI

◆ PREAMB_CNAV

◆ R2D

◆ ROUND