/* encode type 1002: extended L1-only gps rtk observables --------------------*/
static int encode_type1002(rtcm_t *rtcm, int sync)
{
int i, j;
int code1, pr1, ppr1, lock1, amb, cnr1;
/* encode header */
i = encode_head(1002, rtcm, sync, rtcm->n);
for (j = 0; j < rtcm->n; j++) {
/* generate obs field data gps */
gen_obs_gps(rtcm, &(rtcm->obs[j]), &code1, &pr1, &ppr1, &lock1, &amb,
&cnr1);
setbitu(rtcm->buff, i, 6, rtcm->obs[j].prn+1 ); 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 an RTCMv3 message type 1002 (Extended L1-Only GPS RTK Observables)
* Message type 1002 has length `64 + n_sat*74` bits. Returned message length
* is rounded up to the nearest whole byte.
*
* \param buff A pointer to the RTCM data message buffer.
* \param id Reference station ID (DF003).
* \param t GPS time of epoch (DF004).
* \param n_sat Number of GPS satellites included in the message (DF006).
* \param nm Struct containing the observation.
* \param sync Synchronous GNSS Flag (DF005).
* \return The message length in bytes.
*/
u16 rtcm3_encode_1002(u8 *buff, u16 id, gps_time_t t, u8 n_sat,
navigation_measurement_t *nm, u8 sync)
{
rtcm3_write_header(buff, 1002, id, t, sync, n_sat, 0, 0);
u16 bit = 64; /* Start at end of header. */
u32 pr;
s32 ppr;
u8 amb, lock, cnr;
for (u8 i=0; i<n_sat; i++) {
gen_obs_gps(&nm[i], &amb, &pr, &ppr, &lock, &cnr);
setbitu(buff, bit, 6, nm[i].sid.sat); bit += 6;
/* TODO: set GPS code indicator if we ever support P(Y) code measurements. */
setbitu(buff, bit, 1, 0); bit += 1;
setbitu(buff, bit, 24, pr); bit += 24;
setbits(buff, bit, 20, ppr); bit += 20;
setbitu(buff, bit, 7, lock); bit += 7;
setbitu(buff, bit, 8, amb); bit += 8;
setbitu(buff, bit, 8, cnr); bit += 8;
}
/* Round number of bits up to nearest whole byte. */
return (bit + 7) / 8;
}
