//          gps_alm[isv].lan=iaomega0*1.192092896E-7*pi;//          iaw=sf2[5][8];//          if (bit_test_l(iaw,24)) iaw=iaw | 0xFF000000L;//          gps_alm[isv].aop=iaw*1.192092896E-7*pi;//          iam0=sf2[5][9];//          if (bit_test_l(iam0,24)) iam0=iam0 | 0xFF000000L;//          gps_alm[isv].ma=iam0*1.192092896E-7*pi;//          iaaf0=int((sf2[5][10] >> 13) | (sf2[5][10] & 0x1C));//          if (bit_test_l(iaaf0,11)) iaaf0=iaaf0 | 0xF800;//          gps_alm[isv].af0=iaaf0*9.536743164E-7;//          iaaf1=int((sf2[5][10] & 0xFFE0) >> 5);//          if (bit_test_l(iaaf1,11)) //            iaaf1=iaaf1 | 0xF800;//          gps_alm[isv].af1=iaaf1*3.637978807E-12;////  copied from subframe4, pages 1-24//    ssint     = int( gps_alm[isv].ety/(4.768371582E-7));  // 16 bits, scale 2^-21    ulong     = long( ssint) & 0xFFFF;    sf2[5][3] = sf2[5][3] | (ulong);    schar     = char( gps_alm[isv].toa/4096.0);  // 8 bits, scale 2^12    ulong     = long( schar) & 0xFF;    sf2[5][4] = sf2[5][4] | (ulong << 16);    ssint     = int( (gps_alm[isv].inc/pi-0.3)/1.907348633E-6);  // 16 bits, scale 2^-19    ulong     = long( ssint) & 0xFFFF;    sf2[5][4] = sf2[5][4] | (ulong);    ssint     = int( gps_alm[isv].rra/(3.637978807E-12*pi));  // 16 bits, scale 2^-38    ulong     = long( ssint) & 0xFFFF;    sf2[5][5] = sf2[5][5] | (ulong << 8);    ulong     = long( gps_alm[isv].health) & 0xFF;    sf2[5][5] = sf2[5][5] | (ulong);    ssint     = int( gps_alm[isv].sqa/(4.8828125E-4));  // 16 bits, scale 2^-11    ulong     = long( ssint) & 0xFFFF;    sf2[5][6] = sf2[5][6] | (ulong);    ulong     = long( gps_alm[isv].lan/(1.192092896E-7*pi)) & 0xFFFFFF;  // 24 bits, scale 2^-23, rad    if ( ulong & (0x1L << (24-1)))  // test bit 24      ulong = ulong | 0xFF000000L;    sf2[5][7] = sf2[5][7] | (ulong);    ulong     = long( gps_alm[isv].aop/(1.192092896E-7*pi)) & 0xFFFFFF;  // 24 bits, scale 2^-23, rad    if ( ulong & (0x1L << (24-1)))  // test bit 24      ulong = ulong | 0xFF000000L;    sf2[5][8] = sf2[5][8] | (ulong);    ulong     = long( gps_alm[isv].ma/(1.192092896E-7*pi)) & 0xFFFFFF;  // 24 bits, scale 2^-23, rad    if ( ulong & (0x1L << (24-1)))  // test bit 24      ulong = ulong | 0xFF000000L;    sf2[5][9] = sf2[5][9] | (ulong);    ulong     = long( gps_alm[isv].af0/(9.536743164E-7)) & 0x7FF;  // 11 bits, scale 2^-20    if ( ulong & (0x1L << (11-1)))  // test bit 11      ulong = ulong | 0xFFFFF800L;    sf2[5][10] = sf2[5][10] | ((ulong & 0x7) << 2);    sf2[5][10] = sf2[5][10] | ((ulong & 0x7F8) << 13);    ulong     = long( gps_alm[isv].af1/(3.637978807E-12)) & 0x7FF;  // 11 bits, scale 2^-38    if ( ulong & (0x1L << (11-1)))  // test bit 11      ulong = ulong | 0xFFFFF800L;    sf2[5][10] = sf2[5][10] | (ulong << 5);  }////  add to each 24 bit word 6 parity bits//  add_parity_bits();////  5 subframe a 300 bits; 10 words a 30 bits// //  copy from sf2[][] to chan[ch].message[1500] buffer  unsigned long scale;  j=0;  for ( sfr=1; sfr<=5; sfr++)  {    for ( word=1; word<=10; word++)    {//      scale = 536870912L;                // 536870912L = 2^29      scale = 0x1L << 29;//      sf2[sfr][word] = 0;      for ( k=0; k<=29; k++)      {//        if ( chan[ch].message[(j+chan[ch].offset)%1500] == 1)//          sf2[sfr][word] += scale;        if ( sf2[sfr][word] & scale)          chan[ch].message[(j+chan[ch].offset)%1500] = 1;        else           chan[ch].message[(j+chan[ch].offset)%1500] = -1;        scale = scale >> 1;        j++;      }    }  } // --- for ( sfr=1; sfr<=5; sfr++) ---  return;}////  add 6 parity bits to sf2[][]////  based on gpsrcvr.cpp/parity_check()//  Clifford Kelley cwkelley@earthlink.net//  Copyright (c) 1996-2001 Clifford Kelley//void add_parity_bits( void){  unsigned long x;  int  parity;  char d29=1, d30=1, // assume that last 2 bits from last frame are one       sfm, word,        b1, b2, b3, b4, b5, b6;  long mask1 = 0xEC7CD2L,        mask2 = 0x763E69L,        mask3 = 0xBB1F34L,       mask4 = 0x5D8F9AL,        mask5 = 0xAEC7CDL,        mask6 = 0x2DEA27L;  for ( sfm = 1; sfm <= 5; sfm++)  {    for ( word=1; word<=10; word++)    {      x   = (sf2[sfm][word] & mask1) | (d29 << 31);  // bit 31 of sf2[][] is unused      b1 = exor_long( x) << 5;      x   = (sf2[sfm][word] & mask2) | (d30 << 31);  // bit 31 of sf2[][] is unused      b2 = exor_long( x) << 4;      x   = (sf2[sfm][word] & mask3) | (d29 << 31);  // bit 31 of sf2[][] is unused      b3 = exor_long( x) << 3;      x   = (sf2[sfm][word] & mask4) | (d30 << 31);  // bit 31 of sf2[][] is unused      b4 = exor_long( x) << 2;      x   = (sf2[sfm][word] & mask5) | (d30 << 31);  // bit 31 of sf2[][] is unused      b5 = exor_long( x) << 1;      x   = (sf2[sfm][word] & mask6) | (d29 << 31);  // bit 31 of sf2[][] is unused      b6 = exor_long( x);      parity = b1 + b2 + b3 + b4 + b5 + b6;      if ( d30 == 1)         sf2[sfm][word] = ~sf2[sfm][word] & 0x03fffffc0L;//  add 6 parity bits      sf2[sfm][word] = (sf2[sfm][word] << 6) | (parity & 0x3F);// update d29/d30 bits      d29 = (parity & 0x2) >> 1;      d30 = parity & 0x1;    }  }}////  xor all 32 bits in a long variable (b31^b30^b29^...^b2^b1^b0)//static int exor_long( unsigned long x){  char i;  int res = 0;  for ( i=0; i<32; i++)  {    res = res ^ (x & 0x1);    x = x >> 1;  }  return res;}inline double frem( double x, double y){  double res;  if ( x >= 0.0)    res = fmod( x, y);  else    res = -fmod( -x, y);      return res;}#endif/*******************************************************************************FUNCTION bit_test_long()RETURNS  intPARAMETERS    Data    bit_nPURPOSE  This function returns a 1 if bit number bit_n of long Data is set  else it returns a 0  NOTE: bit_n = 1,...,32WRITTEN BY  Clifford Kelley*******************************************************************************/int bit_test_long( unsigned long data, int bit_n){  return ( data & (0x1L << (bit_n-1)));}/*******************************************************************************FUNCTION parity_exor_7to30( int bit, long parity)RETURNS    GPS parityPARAMETERS   parity : long word to be processedPURPOSE  xor bits 7 to 30 in nav msg word  and xor result with parameter 'bit'  WRITTEN BY  Clifford Kelley*******************************************************************************/int parity_exor_7to30( int bit, long parity){  int i;  int res = 0;  for ( i=7; i<=30; i++)  {    if ( bit_test_long( parity, i))       res++;  }//  res = res % 2;  res = (bit^res) & 0x1;  return (res);}////  controlled malloc()//char *conmalloc( size_t len){  char *ptr;    ptr = (char*) malloc( len);  if ( !ptr)  {    printf( "malloc() failed!\n");    exit(-1);  }  return (ptr);}#define DIRBUFLEN 512////  extract position of 'bin' and 'data' dir and write to global variable//void set_directories( char *ptr){  char *ptr2, *ptr3;#ifdef unix//  if relative pathname we need to add current working dir  if ( ptr[0] != '/')  {    char workdir[DIRBUFLEN];    ptr2 = getcwd( workdir, DIRBUFLEN);    if ( !ptr2 || strlen( workdir)+strlen( ptr) > DIRBUFLEN-1)    {      printf( "Increase dir buffer size!\n");      exit(-1);    }    strcat( workdir, "/");    strcat( workdir, ptr);    ptr = workdir;  }#endif//  printf(">%s<\n", ptr);//  getchar();  OGSBinDir  = (char*) conmalloc( strlen( ptr) + 1);  OGSDataDir = (char*) conmalloc( strlen( ptr) + 1);  strcpy( OGSBinDir, ptr);//  printf("%s\n", OGSBinDir);#ifdef __TURBOC__  ptr2 = OGSBinDir;  while ( *ptr2)  {    if (*ptr2 == '\\')      *ptr2 = '/';    ptr2++;    }#endif//  printf( "%s\n", OGSBinDir);  ptr2 = strrchr( OGSBinDir, '/');  if ( !ptr2)  {    printf( "invalid OGS directory structure! (%s)\n", OGSBinDir);    exit(-1);  }  *ptr2 = '\0';  strcpy( OGSDataDir, OGSBinDir);  ptr2 = strrchr( OGSDataDir, '/');  if ( !ptr2)  {    printf( "invalid OGS directory structure! (%s)\n", OGSBinDir);    exit(-1);  }  *ptr2 = '\0';  strcat( OGSBinDir, "/");  strcat( OGSDataDir, "/data/");//  printf("%s\n", OGSBinDir);//  printf("%s\n", OGSDataDir);//  getchar();  return;}#ifndef __TURBOC__void clrscr( void){  printf( "\x1B[2J\x1B[0d\x1B[0G");  return;}void gotoxy( int x, int y){  printf( "\x1B[%dd \x1B[%dG", y, x);  return;}//  don't know how to do these...#ifdef linux//// from kbhit.c, WROX book "Beginning LINUX Programming" (www.wrox.com)//#include <termios.h>#include <term.h>#include <curses.h>#include <unistd.h>static struct termios   initial_settings,                         new_settings;static int              peek_character = -1;void init_keyboard( void){  tcgetattr( 0, &initial_settings);  new_settings = initial_settings;  new_settings.c_lflag &= ~ICANON;  new_settings.c_lflag &= ~ECHO;  new_settings.c_lflag &= ~ISIG;  new_settings.c_cc[VMIN] = 1;  new_settings.c_cc[VTIME] = 0;  tcsetattr( 0, TCSANOW, &new_settings);}void close_keyboard( void){  tcsetattr(0, TCSANOW, &initial_settings);}int kbhit( void){  char ch;  int nread;  if ( peek_character != -1)    return 1;  new_settings.c_cc[VMIN]=0;  tcsetattr( 0, TCSANOW, &new_settings);  nread = read(0,&ch,1);  new_settings.c_cc[VMIN]=1;  tcsetattr( 0, TCSANOW, &new_settings);  if ( nread == 1)   {    peek_character = ch;    return 1;  }  return 0;}int readch( void){  char ch;  if ( peek_character != -1)   {    ch = peek_character;    peek_character = -1;    return ch;  }  read( 0, &ch, 1);  return ch;}#else// not linuxint kbhit( void){  return 0;}char getch( void){  return '0';}#endif#endif/* ------------------------------ end of file ----------------------------- */