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rtcm3e.c
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/*------------------------------------------------------------------------------
* rtcm3e.c : rtcm ver.3 message encoder functions
*
* Copyright (C) 2012-2020 by T.TAKASU, All rights reserved.
*
* references :
* see rtcm.c
*
* version : $Revision:$ $Date:$
* history : 2012/12/05 1.0 new
* 2012/12/16 1.1 fix bug on ssr high rate clock correction
* 2012/12/24 1.2 fix bug on msm carrier-phase offset correction
* fix bug on SBAS sat id in 1001-1004
* fix bug on carrier-phase in 1001-1004,1009-1012
* 2012/12/28 1.3 fix bug on compass carrier wave length
* 2013/01/18 1.4 fix bug on ssr message generation
* 2013/05/11 1.5 change type of arg value of setbig()
* 2013/05/19 1.5 gpst -> bdt of time-tag in beidou msm message
* 2013/04/27 1.7 comply with rtcm 3.2 with amendment 1/2 (ref[15])
* delete MT 1046 according to ref [15]
* 2014/05/15 1.8 set NT field in MT 1020 glonass ephemeris
* 2014/12/06 1.9 support SBAS/BeiDou SSR messages (ref [16])
* fix bug on invalid staid in qzss ssr messages
* 2015/03/22 1.9 add handling of iodcrc for beidou/sbas ssr messages
* 2015/08/03 1.10 fix bug on wrong udint and iod in ssr 7.
* support rtcm ssr fcb message mt 2065-2069.
* 2015/09/07 1.11 add message count of MT 2000-2099
* 2015/10/21 1.12 add MT1046 support for IGS MGEX
* 2015/12/04 1.13 add MT63 beidou ephemeris (rtcm draft)
* fix bug on msm message generation of beidou
* fix bug on ssr 3 message generation (#321)
* 2016/06/12 1.14 fix bug on segmentation fault by generating msm1
* 2016/09/20 1.15 fix bug on MT1045 Galileo week rollover
* 2017/04/11 1.16 fix bug on gst-week in MT1045/1046
* 2018/10/10 1.17 merge changes for 2.4.2 p13
* change mt for ssr 7 phase biases
* 2019/05/10 1.21 save galileo E5b data to obs index 2
* 2020/11/30 1.22 support MT1230 GLONASS code-phase biases
* support MT1131-1137,1041 (NavIC MSM and ephemeris)
* support MT4076 IGS SSR
* fixed invalid delta clock C2 value for SSR 2 and 4
* delete SSR signal and tracking mode ID table
* use API code2idx() to get freq-index
* use API code2freq() to get carrier frequency
* use integer types in stdint.h
*-----------------------------------------------------------------------------*/
#include "rtklib.h"
/* constants and macros ------------------------------------------------------*/
#define PRUNIT_GPS 299792.458 /* rtcm 3 unit of gps pseudorange (m) */
#define PRUNIT_GLO 599584.916 /* rtcm 3 unit of glo pseudorange (m) */
#define RANGE_MS (CLIGHT*0.001) /* range in 1 ms */
#define P2_10 0.0009765625 /* 2^-10 */
#define P2_28 3.725290298461914E-09 /* 2^-28 */
#define P2_34 5.820766091346740E-11 /* 2^-34 */
#define P2_41 4.547473508864641E-13 /* 2^-41 */
#define P2_46 1.421085471520200E-14 /* 2^-46 */
#define P2_59 1.734723475976810E-18 /* 2^-59 */
#define P2_66 1.355252715606880E-20 /* 2^-66 */
#define ROUND(x) ((int)floor((x)+0.5))
#define ROUND_U(x) ((uint32_t)floor((x)+0.5))
#define MIN(x,y) ((x)<(y)?(x):(y))
/* MSM signal ID table -------------------------------------------------------*/
extern const char *msm_sig_gps[32];
extern const char *msm_sig_glo[32];
extern const char *msm_sig_gal[32];
extern const char *msm_sig_qzs[32];
extern const char *msm_sig_sbs[32];
extern const char *msm_sig_cmp[32];
extern const char *msm_sig_irn[32];
/* SSR signal and tracking mode IDs ------------------------------------------*/
extern const uint8_t ssr_sig_gps[32];
extern const uint8_t ssr_sig_glo[32];
extern const uint8_t ssr_sig_gal[32];
extern const uint8_t ssr_sig_qzs[32];
extern const uint8_t ssr_sig_cmp[32];
extern const uint8_t ssr_sig_sbs[32];
/* SSR update intervals ------------------------------------------------------*/
static const double ssrudint[16]={
1,2,5,10,15,30,60,120,240,300,600,900,1800,3600,7200,10800
};
/* set sign-magnitude bits ---------------------------------------------------*/
static void setbitg(uint8_t *buff, int pos, int len, int32_t value)
{
setbitu(buff,pos,1,value<0?1:0);
setbitu(buff,pos+1,len-1,value<0?-value:value);
}
/* set signed 38 bit field ---------------------------------------------------*/
static void set38bits(uint8_t *buff, int pos, double value)
{
int word_h=(int)floor(value/64.0);
uint32_t word_l=(uint32_t)(value-word_h*64.0);
setbits(buff,pos ,32,word_h);
setbitu(buff,pos+32,6,word_l);
}
/* lock time -----------------------------------------------------------------*/
static int locktime(gtime_t time, gtime_t *lltime, uint8_t LLI)
{
if (!lltime->time||(LLI&1)) *lltime=time;
return (int)timediff(time,*lltime);
}
/* lock time in double -------------------------------------------------------*/
static double locktime_d(gtime_t time, gtime_t *lltime, uint8_t LLI)
{
if (!lltime->time||(LLI&1)) *lltime=time;
return timediff(time,*lltime);
}
/* GLONASS frequency channel number in RTCM (FCN+7,-1:error) -----------------*/
static int fcn_glo(int sat, rtcm_t *rtcm)
{
int prn;
if (satsys(sat,&prn)!=SYS_GLO) {
return -1;
}
if (rtcm->nav.geph[prn-1].sat==sat) {
return rtcm->nav.geph[prn-1].frq+7;
}
if (rtcm->nav.glo_fcn[prn-1]>0) { /* fcn+8 (0: no data) */
return rtcm->nav.glo_fcn[prn-1]-8+7;
}
return -1;
}
/* lock time indicator (ref [17] table 3.4-2) --------------------------------*/
static int to_lock(int lock)
{
if (lock<0 ) return 0;
if (lock<24 ) return lock;
if (lock<72 ) return (lock+24 )/2;
if (lock<168) return (lock+120 )/4;
if (lock<360) return (lock+408 )/8;
if (lock<744) return (lock+1176)/16;
if (lock<937) return (lock+3096)/32;
return 127;
}
/* MSM lock time indicator (ref [17] table 3.5-74) ---------------------------*/
static int to_msm_lock(double lock)
{
if (lock<0.032 ) return 0;
if (lock<0.064 ) return 1;
if (lock<0.128 ) return 2;
if (lock<0.256 ) return 3;
if (lock<0.512 ) return 4;
if (lock<1.024 ) return 5;
if (lock<2.048 ) return 6;
if (lock<4.096 ) return 7;
if (lock<8.192 ) return 8;
if (lock<16.384 ) return 9;
if (lock<32.768 ) return 10;
if (lock<65.536 ) return 11;
if (lock<131.072) return 12;
if (lock<262.144) return 13;
if (lock<524.288) return 14;
return 15;
}
/* MSM lock time indicator with extended-resolution (ref [17] table 3.5-76) --*/
static int to_msm_lock_ex(double lock)
{
int lock_ms = (int)(lock * 1000.0);
if (lock<0.0 ) return 0;
if (lock<0.064 ) return lock_ms;
if (lock<0.128 ) return (lock_ms+64 )/2;
if (lock<0.256 ) return (lock_ms+256 )/4;
if (lock<0.512 ) return (lock_ms+768 )/8;
if (lock<1.024 ) return (lock_ms+2048 )/16;
if (lock<2.048 ) return (lock_ms+5120 )/32;
if (lock<4.096 ) return (lock_ms+12288 )/64;
if (lock<8.192 ) return (lock_ms+28672 )/128;
if (lock<16.384 ) return (lock_ms+65536 )/256;
if (lock<32.768 ) return (lock_ms+147456 )/512;
if (lock<65.536 ) return (lock_ms+327680 )/1024;
if (lock<131.072 ) return (lock_ms+720896 )/2048;
if (lock<262.144 ) return (lock_ms+1572864 )/4096;
if (lock<524.288 ) return (lock_ms+3407872 )/8192;
if (lock<1048.576 ) return (lock_ms+7340032 )/16384;
if (lock<2097.152 ) return (lock_ms+15728640 )/32768;
if (lock<4194.304 ) return (lock_ms+33554432 )/65536;
if (lock<8388.608 ) return (lock_ms+71303168 )/131072;
if (lock<16777.216) return (lock_ms+150994944)/262144;
if (lock<33554.432) return (lock_ms+318767104)/524288;
if (lock<67108.864) return (lock_ms+671088640)/1048576;
return 704;
}
/* L1 code indicator GPS -----------------------------------------------------*/
static int to_code1_gps(uint8_t code)
{
switch (code) {
case CODE_L1C: return 0; /* L1 C/A */
case CODE_L1P:
case CODE_L1W:
case CODE_L1Y:
case CODE_L1N: return 1; /* L1 P(Y) direct */
}
return 0;
}
/* L2 code indicator GPS -----------------------------------------------------*/
static int to_code2_gps(uint8_t code)
{
switch (code) {
case CODE_L2C:
case CODE_L2S:
case CODE_L2L:
case CODE_L2X: return 0; /* L2 C/A or L2C */
case CODE_L2P:
case CODE_L2Y: return 1; /* L2 P(Y) direct */
case CODE_L2D: return 2; /* L2 P(Y) cross-correlated */
case CODE_L2W:
case CODE_L2N: return 3; /* L2 correlated P/Y */
}
return 0;
}
/* L1 code indicator GLONASS -------------------------------------------------*/
static int to_code1_glo(uint8_t code)
{
switch (code) {
case CODE_L1C: return 0; /* L1 C/A */
case CODE_L1P: return 1; /* L1 P */
}
return 0;
}
/* L2 code indicator GLONASS -------------------------------------------------*/
static int to_code2_glo(uint8_t code)
{
switch (code) {
case CODE_L2C: return 0; /* L2 C/A */
case CODE_L2P: return 1; /* L2 P */
}
return 0;
}
/* carrier-phase - pseudorange in cycle --------------------------------------*/
static double cp_pr(double cp, double pr_cyc)
{
return fmod(cp-pr_cyc+750.0,1500.0)-750.0;
}
/* generate obs field data GPS -----------------------------------------------*/
static void gen_obs_gps(rtcm_t *rtcm, const obsd_t *data, int *code1, int *pr1,
int *ppr1, int *lock1, int *amb, int *cnr1, int *code2,
int *pr21, int *ppr2, int *lock2, int *cnr2)
{
double lam1,lam2,pr1c=0.0,ppr;
int lt1,lt2;
lam1=CLIGHT/FREQL1;
lam2=CLIGHT/FREQL2;
*pr1=*amb=0;
if (ppr1) *ppr1=0xFFF80000; /* invalid values */
if (pr21) *pr21=0xFFFFE000;
if (ppr2) *ppr2=0xFFF80000;
/* L1 peudorange */
if (data->P[0]!=0.0&&data->code[0]) {
*amb=(int)floor(data->P[0]/PRUNIT_GPS);
*pr1=ROUND((data->P[0]-*amb*PRUNIT_GPS)/0.02);
pr1c=*pr1*0.02+*amb*PRUNIT_GPS;
}
/* L1 phaserange - L1 pseudorange */
if (data->P[0]!=0.0&&data->L[0]!=0.0&&data->code[0]) {
ppr=cp_pr(data->L[0],pr1c/lam1);
if (ppr1) *ppr1=ROUND(ppr*lam1/0.0005);
}
/* L2 -L1 pseudorange */
if (data->P[0]!=0.0&&data->P[1]!=0.0&&data->code[0]&&data->code[1]&&
fabs(data->P[1]-pr1c)<=163.82) {
if (pr21) *pr21=ROUND((data->P[1]-pr1c)/0.02);
}
/* L2 phaserange - L1 pseudorange */
if (data->P[0]!=0.0&&data->L[1]!=0.0&&data->code[0]&&data->code[1]) {
ppr=cp_pr(data->L[1],pr1c/lam2);
if (ppr2) *ppr2=ROUND(ppr*lam2/0.0005);
}
lt1=locktime(data->time,rtcm->lltime[data->sat-1] ,data->LLI[0]);
lt2=locktime(data->time,rtcm->lltime[data->sat-1]+1,data->LLI[1]);
if (lock1) *lock1=to_lock(lt1);
if (lock2) *lock2=to_lock(lt2);
if (cnr1 ) *cnr1=ROUND(data->SNR[0]*SNR_UNIT/0.25);
if (cnr2 ) *cnr2=ROUND(data->SNR[1]*SNR_UNIT/0.25);
if (code1) *code1=to_code1_gps(data->code[0]);
if (code2) *code2=to_code2_gps(data->code[1]);
}
/* generate obs field data GLONASS -------------------------------------------*/
static void gen_obs_glo(rtcm_t *rtcm, const obsd_t *data, int fcn, int *code1,
int *pr1, int *ppr1, int *lock1, int *amb, int *cnr1,
int *code2, int *pr21, int *ppr2, int *lock2, int *cnr2)
{
double lam1=0.0,lam2=0.0,pr1c=0.0,ppr;
int lt1,lt2;
if (fcn>=0) { /* fcn+7 */
lam1=CLIGHT/(FREQ1_GLO+DFRQ1_GLO*(fcn-7));
lam2=CLIGHT/(FREQ2_GLO+DFRQ2_GLO*(fcn-7));
}
*pr1=*amb=0;
if (ppr1) *ppr1=0xFFF80000; /* invalid values */
if (pr21) *pr21=0xFFFFE000;
if (ppr2) *ppr2=0xFFF80000;
/* L1 pseudorange */
if (data->P[0]!=0.0) {
*amb=(int)floor(data->P[0]/PRUNIT_GLO);
*pr1=ROUND((data->P[0]-*amb*PRUNIT_GLO)/0.02);
pr1c=*pr1*0.02+*amb*PRUNIT_GLO;
}
/* L1 phaserange - L1 pseudorange */
if (data->P[0]!=0.0&&data->L[0]!=0.0&&data->code[0]&&lam1>0.0) {
ppr=cp_pr(data->L[0],pr1c/lam1);
if (ppr1) *ppr1=ROUND(ppr*lam1/0.0005);
}
/* L2 -L1 pseudorange */
if (data->P[0]!=0.0&&data->P[1]!=0.0&&data->code[0]&&data->code[1]&&
fabs(data->P[1]-pr1c)<=163.82) {
if (pr21) *pr21=ROUND((data->P[1]-pr1c)/0.02);
}
/* L2 phaserange - L1 pseudorange */
if (data->P[0]!=0.0&&data->L[1]!=0.0&&data->code[0]&&data->code[1]&&
lam2>0.0) {
ppr=cp_pr(data->L[1],pr1c/lam2);
if (ppr2) *ppr2=ROUND(ppr*lam2/0.0005);
}
lt1=locktime(data->time,rtcm->lltime[data->sat-1] ,data->LLI[0]);
lt2=locktime(data->time,rtcm->lltime[data->sat-1]+1,data->LLI[1]);
if (lock1) *lock1=to_lock(lt1);
if (lock2) *lock2=to_lock(lt2);
if (cnr1 ) *cnr1=ROUND(data->SNR[0]*SNR_UNIT/0.25);
if (cnr2 ) *cnr2=ROUND(data->SNR[1]*SNR_UNIT/0.25);
if (code1) *code1=to_code1_glo(data->code[0]);
if (code2) *code2=to_code2_glo(data->code[1]);
}
/* encode RTCM header --------------------------------------------------------*/
static int encode_head(int type, rtcm_t *rtcm, int sys, int sync, int nsat)
{
double tow;
int i=24,week,epoch;
trace(4,"encode_head: type=%d sync=%d sys=%d nsat=%d\n",type,sync,sys,nsat);
setbitu(rtcm->buff,i,12,type ); i+=12; /* message no */
setbitu(rtcm->buff,i,12,rtcm->staid); i+=12; /* ref station id */
if (sys==SYS_GLO) {
tow=time2gpst(timeadd(gpst2utc(rtcm->time),10800.0),&week);
epoch=ROUND(fmod(tow,86400.0)/0.001);
setbitu(rtcm->buff,i,27,epoch); i+=27; /* glonass epoch time */
}
else {
tow=time2gpst(rtcm->time,&week);
epoch=ROUND(tow/0.001);
setbitu(rtcm->buff,i,30,epoch); i+=30; /* gps epoch time */
}
setbitu(rtcm->buff,i, 1,sync); i+= 1; /* synchronous gnss flag */
setbitu(rtcm->buff,i, 5,nsat); i+= 5; /* no of satellites */
setbitu(rtcm->buff,i, 1,0 ); i+= 1; /* smoothing indicator */
setbitu(rtcm->buff,i, 3,0 ); i+= 3; /* smoothing interval */
return i;
}
/* encode type 1001: basic L1-only GPS RTK observables -----------------------*/
static int encode_type1001(rtcm_t *rtcm, int sync)
{
int i,j,nsat=0,sys,prn;
int code1,pr1,ppr1,lock1,amb;
trace(3,"encode_type1001: sync=%d\n",sync);
for (j=0;j<rtcm->obs.n&&nsat<MAXOBS;j++) {
sys=satsys(rtcm->obs.data[j].sat,&prn);
if (!(sys&(SYS_GPS|SYS_SBS))) continue;
nsat++;
}
/* encode header */
i=encode_head(1001,rtcm,SYS_GPS,sync,nsat);
for (j=0;j<rtcm->obs.n&&nsat<MAXOBS;j++) {
sys=satsys(rtcm->obs.data[j].sat,&prn);
if (!(sys&(SYS_GPS|SYS_SBS))) continue;
if (sys==SYS_SBS) prn-=80; /* 40-58: sbas 120-138 */
/* generate obs field data gps */
gen_obs_gps(rtcm,rtcm->obs.data+j,&code1,&pr1,&ppr1,&lock1,&amb,NULL,
NULL,NULL,NULL,NULL,NULL);
setbitu(rtcm->buff,i, 6,prn ); i+= 6;
setbitu(rtcm->buff,i, 1,code1); i+= 1;
setbitu(rtcm->buff,i,24,pr1 ); i+=24;
setbits(rtcm->buff,i,20,ppr1 ); i+=20;
setbitu(rtcm->buff,i, 7,lock1); i+= 7;
}
rtcm->nbit=i;
return 1;
}
/* encode type 1002: extended L1-only GPS RTK observables --------------------*/
static int encode_type1002(rtcm_t *rtcm, int sync)
{
int i,j,nsat=0,sys,prn;
int code1,pr1,ppr1,lock1,amb,cnr1;
trace(3,"encode_type1002: sync=%d\n",sync);
for (j=0;j<rtcm->obs.n&&nsat<MAXOBS;j++) {
sys=satsys(rtcm->obs.data[j].sat,&prn);
if (!(sys&(SYS_GPS|SYS_SBS))) continue;
nsat++;
}
/* encode header */
i=encode_head(1002,rtcm,SYS_GPS,sync,nsat);
for (j=0;j<rtcm->obs.n&&nsat<MAXOBS;j++) {
sys=satsys(rtcm->obs.data[j].sat,&prn);
if (!(sys&(SYS_GPS|SYS_SBS))) continue;
if (sys==SYS_SBS) prn-=80; /* 40-58: sbas 120-138 */
/* generate obs field data gps */
gen_obs_gps(rtcm,rtcm->obs.data+j,&code1,&pr1,&ppr1,&lock1,&amb,&cnr1,
NULL,NULL,NULL,NULL,NULL);
setbitu(rtcm->buff,i, 6,prn ); i+= 6;
setbitu(rtcm->buff,i, 1,code1); i+= 1;
setbitu(rtcm->buff,i,24,pr1 ); i+=24;
setbits(rtcm->buff,i,20,ppr1 ); i+=20;
setbitu(rtcm->buff,i, 7,lock1); i+= 7;
setbitu(rtcm->buff,i, 8,amb ); i+= 8;
setbitu(rtcm->buff,i, 8,cnr1 ); i+= 8;
}
rtcm->nbit=i;
return 1;
}
/* encode type 1003: basic L1&L2 GPS RTK observables -------------------------*/
static int encode_type1003(rtcm_t *rtcm, int sync)
{
int i,j,nsat=0,sys,prn;
int code1,pr1,ppr1,lock1,amb,code2,pr21,ppr2,lock2;
trace(3,"encode_type1003: sync=%d\n",sync);
for (j=0;j<rtcm->obs.n&&nsat<MAXOBS;j++) {
sys=satsys(rtcm->obs.data[j].sat,&prn);
if (!(sys&(SYS_GPS|SYS_SBS))) continue;
nsat++;
}
/* encode header */
i=encode_head(1003,rtcm,SYS_GPS,sync,nsat);
for (j=0;j<rtcm->obs.n&&nsat<MAXOBS;j++) {
sys=satsys(rtcm->obs.data[j].sat,&prn);
if (!(sys&(SYS_GPS|SYS_SBS))) continue;
if (sys==SYS_SBS) prn-=80; /* 40-58: sbas 120-138 */
/* generate obs field data gps */
gen_obs_gps(rtcm,rtcm->obs.data+j,&code1,&pr1,&ppr1,&lock1,&amb,
NULL,&code2,&pr21,&ppr2,&lock2,NULL);
setbitu(rtcm->buff,i, 6,prn ); i+= 6;
setbitu(rtcm->buff,i, 1,code1); i+= 1;
setbitu(rtcm->buff,i,24,pr1 ); i+=24;
setbits(rtcm->buff,i,20,ppr1 ); i+=20;
setbitu(rtcm->buff,i, 7,lock1); i+= 7;
setbitu(rtcm->buff,i, 2,code2); i+= 2;
setbits(rtcm->buff,i,14,pr21 ); i+=14;
setbits(rtcm->buff,i,20,ppr2 ); i+=20;
setbitu(rtcm->buff,i, 7,lock2); i+= 7;
}
rtcm->nbit=i;
return 1;
}
/* encode type 1004: extended L1&L2 GPS RTK observables ----------------------*/
static int encode_type1004(rtcm_t *rtcm, int sync)
{
int i,j,nsat=0,sys,prn;
int code1,pr1,ppr1,lock1,amb,cnr1,code2,pr21,ppr2,lock2,cnr2;
trace(3,"encode_type1004: sync=%d\n",sync);
for (j=0;j<rtcm->obs.n&&nsat<MAXOBS;j++) {
sys=satsys(rtcm->obs.data[j].sat,&prn);
if (!(sys&(SYS_GPS|SYS_SBS))) continue;
nsat++;
}
/* encode header */
i=encode_head(1004,rtcm,SYS_GPS,sync,nsat);
for (j=0;j<rtcm->obs.n&&nsat<MAXOBS;j++) {
sys=satsys(rtcm->obs.data[j].sat,&prn);
if (!(sys&(SYS_GPS|SYS_SBS))) continue;
if (sys==SYS_SBS) prn-=80; /* 40-58: sbas 120-138 */
/* generate obs field data gps */
gen_obs_gps(rtcm,rtcm->obs.data+j,&code1,&pr1,&ppr1,&lock1,&amb,
&cnr1,&code2,&pr21,&ppr2,&lock2,&cnr2);
setbitu(rtcm->buff,i, 6,prn ); i+= 6;
setbitu(rtcm->buff,i, 1,code1); i+= 1;
setbitu(rtcm->buff,i,24,pr1 ); i+=24;
setbits(rtcm->buff,i,20,ppr1 ); i+=20;
setbitu(rtcm->buff,i, 7,lock1); i+= 7;
setbitu(rtcm->buff,i, 8,amb ); i+= 8;
setbitu(rtcm->buff,i, 8,cnr1 ); i+= 8;
setbitu(rtcm->buff,i, 2,code2); i+= 2;
setbits(rtcm->buff,i,14,pr21 ); i+=14;
setbits(rtcm->buff,i,20,ppr2 ); i+=20;
setbitu(rtcm->buff,i, 7,lock2); i+= 7;
setbitu(rtcm->buff,i, 8,cnr2 ); i+= 8;
}
rtcm->nbit=i;
return 1;
}
/* encode type 1005: stationary RTK reference station ARP --------------------*/
static int encode_type1005(rtcm_t *rtcm, int sync)
{
double *p=rtcm->sta.pos;
int i=24;
trace(3,"encode_type1005: sync=%d\n",sync);
setbitu(rtcm->buff,i,12,1005 ); i+=12; /* message no */
setbitu(rtcm->buff,i,12,rtcm->staid); i+=12; /* ref station id */
setbitu(rtcm->buff,i, 6,0 ); i+= 6; /* itrf realization year */
setbitu(rtcm->buff,i, 1,1 ); i+= 1; /* gps indicator */
setbitu(rtcm->buff,i, 1,1 ); i+= 1; /* glonass indicator */
setbitu(rtcm->buff,i, 1,0 ); i+= 1; /* galileo indicator */
setbitu(rtcm->buff,i, 1,0 ); i+= 1; /* ref station indicator */
set38bits(rtcm->buff,i,p[0]/0.0001 ); i+=38; /* antenna ref point ecef-x */
setbitu(rtcm->buff,i, 1,1 ); i+= 1; /* oscillator indicator */
setbitu(rtcm->buff,i, 1,0 ); i+= 1; /* reserved */
set38bits(rtcm->buff,i,p[1]/0.0001 ); i+=38; /* antenna ref point ecef-y */
setbitu(rtcm->buff,i, 2,0 ); i+= 2; /* quarter cycle indicator */
set38bits(rtcm->buff,i,p[2]/0.0001 ); i+=38; /* antenna ref point ecef-z */
rtcm->nbit=i;
return 1;
}
/* encode type 1006: stationary RTK reference station ARP with height --------*/
static int encode_type1006(rtcm_t *rtcm, int sync)
{
double *p=rtcm->sta.pos;
int i=24,hgt=0;
trace(3,"encode_type1006: sync=%d\n",sync);
if (0.0<=rtcm->sta.hgt&&rtcm->sta.hgt<=6.5535) {
hgt=ROUND(rtcm->sta.hgt/0.0001);
}
else {
trace(2,"antenna height error: h=%.4f\n",rtcm->sta.hgt);
}
setbitu(rtcm->buff,i,12,1006 ); i+=12; /* message no */
setbitu(rtcm->buff,i,12,rtcm->staid); i+=12; /* ref station id */
setbitu(rtcm->buff,i, 6,0 ); i+= 6; /* itrf realization year */
setbitu(rtcm->buff,i, 1,1 ); i+= 1; /* gps indicator */
setbitu(rtcm->buff,i, 1,1 ); i+= 1; /* glonass indicator */
setbitu(rtcm->buff,i, 1,0 ); i+= 1; /* galileo indicator */
setbitu(rtcm->buff,i, 1,0 ); i+= 1; /* ref station indicator */
set38bits(rtcm->buff,i,p[0]/0.0001 ); i+=38; /* antenna ref point ecef-x */
setbitu(rtcm->buff,i, 1,1 ); i+= 1; /* oscillator indicator */
setbitu(rtcm->buff,i, 1,0 ); i+= 1; /* reserved */
set38bits(rtcm->buff,i,p[1]/0.0001 ); i+=38; /* antenna ref point ecef-y */
setbitu(rtcm->buff,i, 2,0 ); i+= 2; /* quarter cycle indicator */
set38bits(rtcm->buff,i,p[2]/0.0001 ); i+=38; /* antenna ref point ecef-z */
setbitu(rtcm->buff,i,16,hgt ); i+=16; /* antenna height */
rtcm->nbit=i;
return 1;
}
/* encode type 1007: antenna descriptor --------------------------------------*/
static int encode_type1007(rtcm_t *rtcm, int sync)
{
int i=24,j,antsetup=rtcm->sta.antsetup;
int n=MIN((int)strlen(rtcm->sta.antdes),31);
trace(3,"encode_type1007: sync=%d\n",sync);
setbitu(rtcm->buff,i,12,1007 ); i+=12; /* message no */
setbitu(rtcm->buff,i,12,rtcm->staid); i+=12; /* ref station id */
/* antenna descriptor */
setbitu(rtcm->buff,i,8,n); i+=8;
for (j=0;j<n;j++) {
setbitu(rtcm->buff,i,8,rtcm->sta.antdes[j]); i+=8;
}
setbitu(rtcm->buff,i,8,antsetup); i+=8; /* antetnna setup id */
rtcm->nbit=i;
return 1;
}
/* encode type 1008: antenna descriptor & serial number ----------------------*/
static int encode_type1008(rtcm_t *rtcm, int sync)
{
int i=24,j,antsetup=rtcm->sta.antsetup;
int n=MIN((int)strlen(rtcm->sta.antdes),31);
int m=MIN((int)strlen(rtcm->sta.antsno),31);
trace(3,"encode_type1008: sync=%d\n",sync);
setbitu(rtcm->buff,i,12,1008 ); i+=12; /* message no */
setbitu(rtcm->buff,i,12,rtcm->staid); i+=12; /* ref station id */
/* antenna descriptor */
setbitu(rtcm->buff,i,8,n); i+=8;
for (j=0;j<n;j++) {
setbitu(rtcm->buff,i,8,rtcm->sta.antdes[j]); i+=8;
}
setbitu(rtcm->buff,i,8,antsetup); i+=8; /* antenna setup id */
/* antenna serial number */
setbitu(rtcm->buff,i,8,m); i+=8;
for (j=0;j<m;j++) {
setbitu(rtcm->buff,i,8,rtcm->sta.antsno[j]); i+=8;
}
rtcm->nbit=i;
return 1;
}
/* encode type 1009: basic L1-only GLONASS RTK observables -------------------*/
static int encode_type1009(rtcm_t *rtcm, int sync)
{
int i,j,nsat=0,sat,prn,fcn;
int code1,pr1,ppr1,lock1,amb;
for (j=0;j<rtcm->obs.n&&nsat<MAXOBS;j++) {
sat=rtcm->obs.data[j].sat;
if (satsys(sat,&prn)!=SYS_GLO) continue;
if ((fcn=fcn_glo(sat,rtcm))<0) continue; /* fcn+7 */
nsat++;
}
/* encode header */
i=encode_head(1009,rtcm,SYS_GLO,sync,nsat);
for (j=0;j<rtcm->obs.n&&nsat<MAXOBS;j++) {
sat=rtcm->obs.data[j].sat;
if (satsys(sat,&prn)!=SYS_GLO) continue;
if ((fcn=fcn_glo(sat,rtcm))<0) continue; /* fcn+7 */
/* generate obs field data glonass */
gen_obs_glo(rtcm,rtcm->obs.data+j,fcn,&code1,&pr1,&ppr1,&lock1,&amb,
NULL,NULL,NULL,NULL,NULL,NULL);
setbitu(rtcm->buff,i, 6,prn ); i+= 6;
setbitu(rtcm->buff,i, 1,code1); i+= 1;
setbitu(rtcm->buff,i, 5,fcn ); i+= 5; /* fcn+7 */
setbitu(rtcm->buff,i,25,pr1 ); i+=25;
setbits(rtcm->buff,i,20,ppr1 ); i+=20;
setbitu(rtcm->buff,i, 7,lock1); i+= 7;
}
rtcm->nbit=i;
return 1;
}
/* encode type 1010: extended L1-only GLONASS RTK observables ----------------*/
static int encode_type1010(rtcm_t *rtcm, int sync)
{
int i,j,nsat=0,sat,prn,fcn;
int code1,pr1,ppr1,lock1,amb,cnr1;
trace(3,"encode_type1010: sync=%d\n",sync);
for (j=0;j<rtcm->obs.n&&nsat<MAXOBS;j++) {
sat=rtcm->obs.data[j].sat;
if (satsys(sat,&prn)!=SYS_GLO) continue;
if ((fcn=fcn_glo(sat,rtcm))<0) continue; /* fcn+7 */
nsat++;
}
/* encode header */
i=encode_head(1010,rtcm,SYS_GLO,sync,nsat);
for (j=0;j<rtcm->obs.n&&nsat<MAXOBS;j++) {
sat=rtcm->obs.data[j].sat;
if (satsys(sat,&prn)!=SYS_GLO) continue;
if ((fcn=fcn_glo(sat,rtcm))<0) continue; /* fcn+7 */
/* generate obs field data glonass */
gen_obs_glo(rtcm,rtcm->obs.data+j,fcn,&code1,&pr1,&ppr1,&lock1,&amb,
&cnr1,NULL,NULL,NULL,NULL,NULL);
setbitu(rtcm->buff,i, 6,prn ); i+= 6;
setbitu(rtcm->buff,i, 1,code1); i+= 1;
setbitu(rtcm->buff,i, 5,fcn ); i+= 5; /* fcn+7 */
setbitu(rtcm->buff,i,25,pr1 ); i+=25;
setbits(rtcm->buff,i,20,ppr1 ); i+=20;
setbitu(rtcm->buff,i, 7,lock1); i+= 7;
setbitu(rtcm->buff,i, 7,amb ); i+= 7;
setbitu(rtcm->buff,i, 8,cnr1 ); i+= 8;
}
rtcm->nbit=i;
return 1;
}
/* encode type 1011: basic L1&L2 GLONASS RTK observables --------------------*/
static int encode_type1011(rtcm_t *rtcm, int sync)
{
int i,j,nsat=0,sat,prn,fcn;
int code1,pr1,ppr1,lock1,amb,code2,pr21,ppr2,lock2;
trace(3,"encode_type1011: sync=%d\n",sync);
for (j=0;j<rtcm->obs.n&&nsat<MAXOBS;j++) {
sat=rtcm->obs.data[j].sat;
if (satsys(sat,&prn)!=SYS_GLO) continue;
if ((fcn=fcn_glo(sat,rtcm))<0) continue; /* fcn+7 */
nsat++;
}
/* encode header */
i=encode_head(1011,rtcm,SYS_GLO,sync,nsat);
for (j=0;j<rtcm->obs.n&&nsat<MAXOBS;j++) {
sat=rtcm->obs.data[j].sat;
if (satsys(sat,&prn)!=SYS_GLO) continue;
if ((fcn=fcn_glo(sat,rtcm))<0) continue; /* fcn+7 */
/* generate obs field data glonass */
gen_obs_glo(rtcm,rtcm->obs.data+j,fcn,&code1,&pr1,&ppr1,&lock1,&amb,
NULL,&code2,&pr21,&ppr2,&lock2,NULL);
setbitu(rtcm->buff,i, 6,prn ); i+= 6;
setbitu(rtcm->buff,i, 1,code1); i+= 1;
setbitu(rtcm->buff,i, 5,fcn ); i+= 5; /* fcn+7 */
setbitu(rtcm->buff,i,25,pr1 ); i+=25;
setbits(rtcm->buff,i,20,ppr1 ); i+=20;
setbitu(rtcm->buff,i, 7,lock1); i+= 7;
setbitu(rtcm->buff,i, 2,code2); i+= 2;
setbits(rtcm->buff,i,14,pr21 ); i+=14;
setbits(rtcm->buff,i,20,ppr2 ); i+=20;
setbitu(rtcm->buff,i, 7,lock2); i+= 7;
}
rtcm->nbit=i;
return 1;
}
/* encode type 1012: extended L1&L2 GLONASS RTK observables ------------------*/
static int encode_type1012(rtcm_t *rtcm, int sync)
{
int i,j,nsat=0,sat,prn,fcn;
int code1,pr1,ppr1,lock1,amb,cnr1,code2,pr21,ppr2,lock2,cnr2;
trace(3,"encode_type1012: sync=%d\n",sync);
for (j=0;j<rtcm->obs.n&&nsat<MAXOBS;j++) {
sat=rtcm->obs.data[j].sat;
if (satsys(sat,&prn)!=SYS_GLO) continue;
if ((fcn=fcn_glo(sat,rtcm))<0) continue; /* fcn+7 */
nsat++;
}
/* encode header */
i=encode_head(1012,rtcm,SYS_GLO,sync,nsat);
for (j=0;j<rtcm->obs.n&&nsat<MAXOBS;j++) {
sat=rtcm->obs.data[j].sat;
if (satsys(sat,&prn)!=SYS_GLO) continue;
if ((fcn=fcn_glo(sat,rtcm))<0) continue; /* fcn+7 */
/* generate obs field data glonass */
gen_obs_glo(rtcm,rtcm->obs.data+j,fcn,&code1,&pr1,&ppr1,&lock1,&amb,
&cnr1,&code2,&pr21,&ppr2,&lock2,&cnr2);
setbitu(rtcm->buff,i, 6,prn ); i+= 6;
setbitu(rtcm->buff,i, 1,code1); i+= 1;
setbitu(rtcm->buff,i, 5,fcn ); i+= 5; /* fcn+7 */
setbitu(rtcm->buff,i,25,pr1 ); i+=25;
setbits(rtcm->buff,i,20,ppr1 ); i+=20;
setbitu(rtcm->buff,i, 7,lock1); i+= 7;
setbitu(rtcm->buff,i, 7,amb ); i+= 7;
setbitu(rtcm->buff,i, 8,cnr1 ); i+= 8;
setbitu(rtcm->buff,i, 2,code2); i+= 2;
setbits(rtcm->buff,i,14,pr21 ); i+=14;
setbits(rtcm->buff,i,20,ppr2 ); i+=20;
setbitu(rtcm->buff,i, 7,lock2); i+= 7;
setbitu(rtcm->buff,i, 8,cnr2 ); i+= 8;
}
rtcm->nbit=i;
return 1;
}
/* encode type 1019: GPS ephemerides -----------------------------------------*/
static int encode_type1019(rtcm_t *rtcm, int sync)
{
eph_t *eph;
uint32_t sqrtA,e;
int i=24,prn,week,toe,toc,i0,OMG0,omg,M0,deln,idot,OMGd,crs,crc;
int cus,cuc,cis,cic,af0,af1,af2,tgd;
trace(3,"encode_type1019: sync=%d\n",sync);
if (satsys(rtcm->ephsat,&prn)!=SYS_GPS) return 0;
eph=rtcm->nav.eph+rtcm->ephsat-1;
if (eph->sat!=rtcm->ephsat) return 0;
week=eph->week%1024;
toe =ROUND(eph->toes/16.0);
toc =ROUND(time2gpst(eph->toc,NULL)/16.0);
sqrtA=ROUND_U(sqrt(eph->A)/P2_19);
e =ROUND_U(eph->e/P2_33);
i0 =ROUND(eph->i0 /P2_31/SC2RAD);
OMG0 =ROUND(eph->OMG0/P2_31/SC2RAD);
omg =ROUND(eph->omg /P2_31/SC2RAD);
M0 =ROUND(eph->M0 /P2_31/SC2RAD);
deln =ROUND(eph->deln/P2_43/SC2RAD);
idot =ROUND(eph->idot/P2_43/SC2RAD);
OMGd =ROUND(eph->OMGd/P2_43/SC2RAD);
crs =ROUND(eph->crs/P2_5 );
crc =ROUND(eph->crc/P2_5 );
cus =ROUND(eph->cus/P2_29);
cuc =ROUND(eph->cuc/P2_29);
cis =ROUND(eph->cis/P2_29);
cic =ROUND(eph->cic/P2_29);
af0 =ROUND(eph->f0 /P2_31);
af1 =ROUND(eph->f1 /P2_43);
af2 =ROUND(eph->f2 /P2_55);
tgd =ROUND(eph->tgd[0]/P2_31);
setbitu(rtcm->buff,i,12,1019 ); i+=12;
setbitu(rtcm->buff,i, 6,prn ); i+= 6;
setbitu(rtcm->buff,i,10,week ); i+=10;
setbitu(rtcm->buff,i, 4,eph->sva ); i+= 4;
setbitu(rtcm->buff,i, 2,eph->code); i+= 2;
setbits(rtcm->buff,i,14,idot ); i+=14;
setbitu(rtcm->buff,i, 8,eph->iode); i+= 8;
setbitu(rtcm->buff,i,16,toc ); i+=16;
setbits(rtcm->buff,i, 8,af2 ); i+= 8;
setbits(rtcm->buff,i,16,af1 ); i+=16;
setbits(rtcm->buff,i,22,af0 ); i+=22;
setbitu(rtcm->buff,i,10,eph->iodc); i+=10;
setbits(rtcm->buff,i,16,crs ); i+=16;
setbits(rtcm->buff,i,16,deln ); i+=16;
setbits(rtcm->buff,i,32,M0 ); i+=32;
setbits(rtcm->buff,i,16,cuc ); i+=16;
setbitu(rtcm->buff,i,32,e ); i+=32;
setbits(rtcm->buff,i,16,cus ); i+=16;
setbitu(rtcm->buff,i,32,sqrtA ); i+=32;
setbitu(rtcm->buff,i,16,toe ); i+=16;
setbits(rtcm->buff,i,16,cic ); i+=16;
setbits(rtcm->buff,i,32,OMG0 ); i+=32;
setbits(rtcm->buff,i,16,cis ); i+=16;
setbits(rtcm->buff,i,32,i0 ); i+=32;
setbits(rtcm->buff,i,16,crc ); i+=16;
setbits(rtcm->buff,i,32,omg ); i+=32;
setbits(rtcm->buff,i,24,OMGd ); i+=24;
setbits(rtcm->buff,i, 8,tgd ); i+= 8;
setbitu(rtcm->buff,i, 6,eph->svh ); i+= 6;
setbitu(rtcm->buff,i, 1,eph->flag); i+= 1;
setbitu(rtcm->buff,i, 1,eph->fit>0.0?0:1); i+=1;
rtcm->nbit=i;
return 1;
}
/* encode type 1020: GLONASS ephemerides -------------------------------------*/
static int encode_type1020(rtcm_t *rtcm, int sync)
{
geph_t *geph;
gtime_t time;
double ep[6];
int i=24,j,prn,tk_h,tk_m,tk_s,tb,pos[3],vel[3],acc[3],gamn,taun,dtaun;
int fcn,NT;
trace(3,"encode_type1020: sync=%d\n",sync);
if (satsys(rtcm->ephsat,&prn)!=SYS_GLO) return 0;
geph=rtcm->nav.geph+prn-1;
if (geph->sat!=rtcm->ephsat) return 0;
fcn=geph->frq+7;
/* time of frame within day (utc(su) + 3 hr) */
time=timeadd(gpst2utc(geph->tof),10800.0);
time2epoch(time,ep);
tk_h=(int)ep[3];
tk_m=(int)ep[4];
tk_s=ROUND(ep[5]/30.0);
/* # of days since jan 1 in leap year */
ep[0]=floor(ep[0]/4.0)*4.0; ep[1]=ep[2]=1.0;
ep[3]=ep[4]=ep[5]=0.0;
NT=(int)floor(timediff(time,epoch2time(ep))/86400.+1.0);
/* index of time interval within day (utc(su) + 3 hr) */
time=timeadd(gpst2utc(geph->toe),10800.0);
time2epoch(time,ep);
tb=ROUND((ep[3]*3600.0+ep[4]*60.0+ep[5])/900.0);
for (j=0;j<3;j++) {
pos[j]=ROUND(geph->pos[j]/P2_11/1E3);
vel[j]=ROUND(geph->vel[j]/P2_20/1E3);
acc[j]=ROUND(geph->acc[j]/P2_30/1E3);
}
gamn =ROUND(geph->gamn /P2_40);
taun =ROUND(geph->taun /P2_30);
dtaun=ROUND(geph->dtaun/P2_30);
setbitu(rtcm->buff,i,12,1020 ); i+=12;
setbitu(rtcm->buff,i, 6,prn ); i+= 6;
setbitu(rtcm->buff,i, 5,fcn ); i+= 5;
setbitu(rtcm->buff,i, 4,0 ); i+= 4; /* almanac health,P1 */
setbitu(rtcm->buff,i, 5,tk_h ); i+= 5;
setbitu(rtcm->buff,i, 6,tk_m ); i+= 6;
setbitu(rtcm->buff,i, 1,tk_s ); i+= 1;
setbitu(rtcm->buff,i, 1,geph->svh); i+= 1; /* Bn */
setbitu(rtcm->buff,i, 1,0 ); i+= 1; /* P2 */
setbitu(rtcm->buff,i, 7,tb ); i+= 7;
setbitg(rtcm->buff,i,24,vel[0] ); i+=24;
setbitg(rtcm->buff,i,27,pos[0] ); i+=27;
setbitg(rtcm->buff,i, 5,acc[0] ); i+= 5;
setbitg(rtcm->buff,i,24,vel[1] ); i+=24;
setbitg(rtcm->buff,i,27,pos[1] ); i+=27;
setbitg(rtcm->buff,i, 5,acc[1] ); i+= 5;
setbitg(rtcm->buff,i,24,vel[2] ); i+=24;
setbitg(rtcm->buff,i,27,pos[2] ); i+=27;
setbitg(rtcm->buff,i, 5,acc[2] ); i+= 5;
setbitu(rtcm->buff,i, 1,0 ); i+= 1; /* P3 */
setbitg(rtcm->buff,i,11,gamn ); i+=11;
setbitu(rtcm->buff,i, 3,0 ); i+= 3; /* P,ln */
setbitg(rtcm->buff,i,22,taun ); i+=22;
setbitg(rtcm->buff,i, 5,dtaun ); i+= 5;
setbitu(rtcm->buff,i, 5,geph->age); i+= 5; /* En */
setbitu(rtcm->buff,i, 1,0 ); i+= 1; /* P4 */
setbitu(rtcm->buff,i, 4,0 ); i+= 4; /* FT */
setbitu(rtcm->buff,i,11,NT ); i+=11;
setbitu(rtcm->buff,i, 2,0 ); i+= 2; /* M */
setbitu(rtcm->buff,i, 1,0 ); i+= 1; /* flag for additional data */
setbitu(rtcm->buff,i,11,0 ); i+=11; /* NA */
setbitu(rtcm->buff,i,32,0 ); i+=32; /* tauc */
setbitu(rtcm->buff,i, 5,0 ); i+= 5; /* N4 */
setbitu(rtcm->buff,i,22,0 ); i+=22; /* taugps */
setbitu(rtcm->buff,i, 1,0 ); i+= 1; /* ln */
setbitu(rtcm->buff,i, 7,0 ); i+= 7;
rtcm->nbit=i;
return 1;
}
/* encode type 1033: receiver and antenna descriptor -------------------------*/
static int encode_type1033(rtcm_t *rtcm, int sync)
{
int i=24,j,antsetup=rtcm->sta.antsetup;
int n=MIN((int)strlen(rtcm->sta.antdes ),31);
int m=MIN((int)strlen(rtcm->sta.antsno ),31);
int I=MIN((int)strlen(rtcm->sta.rectype),31);
int J=MIN((int)strlen(rtcm->sta.recver ),31);
int K=MIN((int)strlen(rtcm->sta.recsno ),31);
trace(3,"encode_type1033: sync=%d\n",sync);
setbitu(rtcm->buff,i,12,1033 ); i+=12;
setbitu(rtcm->buff,i,12,rtcm->staid); i+=12;
setbitu(rtcm->buff,i,8,n); i+= 8;
for (j=0;j<n;j++) {
setbitu(rtcm->buff,i,8,rtcm->sta.antdes[j]); i+=8;
}
setbitu(rtcm->buff,i,8,antsetup); i+= 8;
setbitu(rtcm->buff,i,8,m); i+= 8;
for (j=0;j<m;j++) {
setbitu(rtcm->buff,i,8,rtcm->sta.antsno[j]); i+=8;
}
setbitu(rtcm->buff,i,8,I); i+= 8;
for (j=0;j<I;j++) {
setbitu(rtcm->buff,i,8,rtcm->sta.rectype[j]); i+=8;
}
setbitu(rtcm->buff,i,8,J); i+= 8;
for (j=0;j<J;j++) {
setbitu(rtcm->buff,i,8,rtcm->sta.recver[j]); i+=8;
}
setbitu(rtcm->buff,i,8,K); i+= 8;
for (j=0;j<K;j++) {
setbitu(rtcm->buff,i,8,rtcm->sta.recsno[j]); i+=8;
}
rtcm->nbit=i;
return 1;
}
/* encode type 1041: NavIC/IRNSS ephemerides ---------------------------------*/
static int encode_type1041(rtcm_t *rtcm, int sync)
{
eph_t *eph;
uint32_t sqrtA,e;
int i=24,prn,week,toe,toc,i0,OMG0,omg,M0,deln,idot,OMGd,crs,crc;
int cus,cuc,cis,cic,af0,af1,af2,tgd;
trace(3,"encode_type1041: sync=%d\n",sync);
if (satsys(rtcm->ephsat,&prn)!=SYS_IRN) return 0;
eph=rtcm->nav.eph+rtcm->ephsat-1;
if (eph->sat!=rtcm->ephsat) return 0;
week=eph->week%1024;
toe =ROUND(eph->toes/16.0);
toc =ROUND(time2gpst(eph->toc,NULL)/16.0);
sqrtA=ROUND_U(sqrt(eph->A)/P2_19);
e =ROUND_U(eph->e/P2_33);
i0 =ROUND(eph->i0 /P2_31/SC2RAD);
OMG0 =ROUND(eph->OMG0/P2_31/SC2RAD);
omg =ROUND(eph->omg /P2_31/SC2RAD);
M0 =ROUND(eph->M0 /P2_31/SC2RAD);
deln =ROUND(eph->deln/P2_41/SC2RAD);
idot =ROUND(eph->idot/P2_43/SC2RAD);
OMGd =ROUND(eph->OMGd/P2_41/SC2RAD);
crs =ROUND(eph->crs/0.0625);
crc =ROUND(eph->crc/0.0625);
cus =ROUND(eph->cus/P2_28);
cuc =ROUND(eph->cuc/P2_28);
cis =ROUND(eph->cis/P2_28);
cic =ROUND(eph->cic/P2_28);
af0 =ROUND(eph->f0 /P2_31);
af1 =ROUND(eph->f1 /P2_43);
af2 =ROUND(eph->f2 /P2_55);
tgd =ROUND(eph->tgd[0]/P2_31);
setbitu(rtcm->buff,i,12,1041 ); i+=12;