data_sets.c

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/*
MIT LICENSE

Copyright (c) 2014-2020 Inertial Sense, Inc. - http://inertialsense.com

Permission is hereby granted, free of charge, to any person obtaining a copy of this software and associated documentation files(the "Software"), to deal in the Software without restriction, including without limitation the rights to use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of the Software, and to permit persons to whom the Software is furnished to do so, subject to the following conditions :

The above copyright notice and this permission notice shall be included in all copies or substantial portions of the Software.

THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT.IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
*/

#include "data_sets.h"
#include <stddef.h>
#include <math.h>

// Reversed bytes in a float.
// compiler will likely inline this as it's a tiny function
void flipFloat(uint8_t* ptr)
{
        uint8_t tmp1 = *ptr++;
        uint8_t tmp2 = *ptr++;
        uint8_t tmp3 = *ptr++;
        uint8_t tmp4 = *ptr;
        *ptr-- = tmp1;
        *ptr-- = tmp2;
        *ptr-- = tmp3;
        *ptr = tmp4;
}

float flipFloatCopy(float val)
{
        float flippedFloat;
        uint8_t* ptr = (uint8_t*)&val;
        uint8_t* ptr2 = (uint8_t*)&flippedFloat;
        uint8_t tmp1 = *ptr++;
        uint8_t tmp2 = *ptr++;
        uint8_t tmp3 = *ptr++;
        uint8_t tmp4 = *ptr;
        *ptr2++ = tmp4;
        *ptr2++ = tmp3;
        *ptr2++ = tmp2;
        *ptr2 = tmp1;
        return flippedFloat;
}

void flipDouble(void* ptr)
{
        const uint32_t* w = (const uint32_t*)(ptr);
        union
        {
                double v;
                uint32_t w[2];
        } u;
        u.w[0] = w[1];
        u.w[1] = w[0];
        *(double*)ptr = u.v;
}

double flipDoubleCopy(double val)
{
        union
        {
                double v;
                uint32_t w[2];
        } u1, u2;
        u1.v = val;
        u2.w[1] = SWAP32(u1.w[0]);
        u2.w[0] = SWAP32(u1.w[1]);
        return u2.v;
}

void flipEndianess32(uint8_t* data, int dataLength)
{
        // data must be 4 byte aligned to swap endian-ness
        if (dataLength & 0x00000003)
        {
                return;
        }
        
        uint32_t* dataPtr = (void*)data;
        uint32_t* dataPtrEnd = (void*)(data + dataLength);
        uint32_t tmp;
        while (dataPtr < dataPtrEnd)
        {
                tmp = *dataPtr;
                *dataPtr++ = SWAP32(tmp);
        }
}

void flipDoubles(uint8_t* data, int dataLength, int offset, uint16_t* offsets, uint16_t offsetsLength)
{
        uint16_t* doubleOffsetsEnd = offsets + offsetsLength;
        int offsetToDouble;
        int maxDoubleOffset = dataLength - 8;
    int isDouble;
        while (offsets < doubleOffsetsEnd)
        {
        offsetToDouble = (*offsets++);
        isDouble = ((offsetToDouble & 0x8000) == 0);
        offsetToDouble = (offsetToDouble & 0x7FFF) - offset;
                if (offsetToDouble >= 0 && offsetToDouble <= maxDoubleOffset)
                {
            if (isDouble)
            {
                flipDouble(data + offsetToDouble);
            }
            else
            {
                uint64_t* ptr = (void*)(data + offsetToDouble);
                *ptr = SWAP64(*ptr);
            }
                }
        }
}

void flipStrings(uint8_t* data, int dataLength, int offset, uint16_t* offsets, uint16_t offsetsLength)
{
        uint16_t* stringOffsetsEnd = offsets + offsetsLength;
        int offsetToString;
        int lengthOfString;
        int maxStringOffset;

        while (offsets < stringOffsetsEnd)
        {
                offsetToString = (*offsets++) - offset;
                lengthOfString = (*offsets++);
                maxStringOffset = dataLength - lengthOfString;
                if (offsetToString >= 0 && offsetToString <= maxStringOffset)
                {
                        flipEndianess32(data + offsetToString, lengthOfString);
                }
        }
}

#ifdef _MSC_VER
#pragma warning(push)
#pragma warning(disable: 4267)
#endif

uint16_t* getDoubleOffsets(eDataIDs dataId, uint16_t* offsetsLength)
{
        /* Offset arrays contain:
        {
        array size,
        byte offset,
        byte offset,
        ...
        } */

        // first offset is the number of offsets
        static uint16_t offsetsIns1[] =
        {
                4,
                offsetof(ins_1_t, timeOfWeek),
                offsetof(ins_1_t, lla[0]),
                offsetof(ins_1_t, lla[1]),
                offsetof(ins_1_t, lla[2])
        };

        static uint16_t offsetsIns2[] =
        {
                4,
                offsetof(ins_2_t, timeOfWeek),
                offsetof(ins_2_t, lla[0]),
                offsetof(ins_2_t, lla[1]),
                offsetof(ins_2_t, lla[2])
        };

        static uint16_t offsetsIns3[] =
        {
                4,
                offsetof(ins_3_t, timeOfWeek),
                offsetof(ins_3_t, lla[0]),
                offsetof(ins_3_t, lla[1]),
                offsetof(ins_3_t, lla[2])
        };

        static uint16_t offsetsIns4[] =
        {
                4,
                offsetof(ins_4_t, timeOfWeek),
                offsetof(ins_4_t, ecef[0]),
                offsetof(ins_4_t, ecef[1]),
                offsetof(ins_4_t, ecef[2])
        };

        static uint16_t offsetsSysParams[] =
        {
                1,
                offsetof(sys_params_t, sensorTruePeriod),
        };

    static uint16_t offsetsPreImuMag[] =
    {
        3,
        offsetof(pimu_mag_t, pimu.time),
        offsetof(pimu_mag_t, mag1.time),
        offsetof(pimu_mag_t, mag2.time)
    };

    static uint16_t offsetsDualImuMag[] =
    {
        3,
        offsetof(imu_mag_t, imu.time),
        offsetof(imu_mag_t, mag1.time),
        offsetof(imu_mag_t, mag2.time)
    };

        static uint16_t offsetsGps[] =
        {
                7,
                offsetof(gps_pos_t, lla[0]),
                offsetof(gps_pos_t, lla[1]),
                offsetof(gps_pos_t, lla[2]),
                offsetof(gps_pos_t, towOffset),
                offsetof(gps_pos_t, ecef[0]),
                offsetof(gps_pos_t, ecef[1]),
                offsetof(gps_pos_t, ecef[2])
        };

    static uint16_t offsetsRmc[] =
    {
        1, 
        // 0x8000 denotes a 64 bit int vs a double
                offsetof(rmc_t, bits) | 0x8000
    };

        static uint16_t offsetsInl2States[] =
        {
                4, 0, 36, 44, 52
        };

        static uint16_t offsetsRtkNav[] =
        {
                3,
                offsetof(gps_rtk_misc_t, baseLla[0]),
                offsetof(gps_rtk_misc_t, baseLla[1]),
                offsetof(gps_rtk_misc_t, baseLla[2]),
        };

        static uint16_t offsetsFlashConfig[] =
        {
                6,
                offsetof( nvm_flash_cfg_t, refLla[0] ),
                offsetof( nvm_flash_cfg_t, refLla[1] ),
                offsetof( nvm_flash_cfg_t, refLla[2] ),
                offsetof( nvm_flash_cfg_t, lastLla[0] ),
                offsetof( nvm_flash_cfg_t, lastLla[1] ),
                offsetof( nvm_flash_cfg_t, lastLla[2] )
        };

        static uint16_t offsetsOnlyTimeFirst[] = { 1, 0 };
        static uint16_t offsetsDebugArray[] = { 3, 72, 80, 88 };
        static uint16_t offsetsSurveyIn[] =
        {
                3,
                offsetof(survey_in_t, lla[0]),
                offsetof(survey_in_t, lla[1]),
                offsetof(survey_in_t, lla[2])
        };

    static uint16_t* s_doubleOffsets[] =
        {
                0,                                              //  0: DID_NULL
                0,                                              //  1: DID_DEV_INFO
        0,                                              //  2: DID_SYS_FAULT
                offsetsOnlyTimeFirst,   //  3: DID_PREINTEGRATED_IMU
                offsetsIns1,                    //  4: DID_INS_1
                offsetsIns2,                    //  5: DID_INS_2
                offsetsGps,                             //  6: DID_GPS1_POS
        0,                                      //  7: DID_SYS_CMD
                0,                                              //  8: DID_ASCII_BCAST_PERIOD
                offsetsRmc,                             //  9: DID_RMC
                offsetsSysParams,               // 10: DID_SYS_PARAMS
                offsetsOnlyTimeFirst,   // 11: DID_SYS_SENSORS
                offsetsFlashConfig,             // 12: DID_FLASH_CONFIG
                offsetsGps,                             // 13: DID_GPS1_UBX_POS
                offsetsGps,                             // 14: DID_GPS2_POS
                0,                                              // 15: DID_GPS1_SAT
                0,                                              // 16: DID_GPS2_SAT
                0,                      // 17: DID_GPS1_VERSION
                0,                                              // 18: DID_GPS2_VERSION
                0,                                              // 19: DID_MAG_CAL
                0,                                              // 20: DID_INTERNAL_DIAGNOSTIC
        0,                      // 21: DID_GPS1_RTK_POS_REL
        offsetsRtkNav,          // 22: DID_GPS1_RTK_POS_MISC
                0,                                              // 23: DID_FEATURE_BITS
                0,                                              // 24: DID_SENSORS_IS1
                0,                                              // 25: DID_SENSORS_IS2
                0,                                              // 26: DID_SENSORS_TC_BIAS
                0,                                              // 27: DID_IO
                offsetsOnlyTimeFirst,   // 28: DID_SENSORS_ADC
                0,                                              // 29: DID_SCOMP
                0,                                              // 30: DID_GPS1_VEL
                0,                                              // 31: DID_GPS2_VEL
                0,                                              // 32: DID_HDW_PARAMS
                0,                                              // 33: DID_NVR_MANAGE_USERPAGE
                0,                                              // 34: DID_NVR_USERPAGE_SN
                0,                                              // 35: DID_NVR_USERPAGE_G0
                0,                                              // 36: DID_NVR_USERPAGE_G1
                0,                                              // 37: DID_NVR_MANAGE_PROTECTED
                0,                                              // 38: DID_RTOS_INFO
                offsetsDebugArray,              // 39: DID_DEBUG_ARRAY
                0,                                              // 40: DID_SENSORS_CAL1
                0,                                              // 41: DID_SENSORS_CAL2
                0,                                              // 42: DID_CAL_SC
                0,                                              // 43: DID_CAL_SC1
                0,                                              // 44: DID_CAL_SC2
                offsetsOnlyTimeFirst,   // 45: DID_SYS_SENSORS_SIGMA
                offsetsOnlyTimeFirst,   // 46: DID_SENSORS_ADC_SIGMA
                0,                      // 47: DID_INS_DEV_1
                offsetsInl2States,      // 48: DID_INL2_STATES
                0,                      // 49: DID_INL2_COVARIANCE_LD
                0,                      // 50: DID_INL2_MISC
                0,                      // 51: DID_INL2_STATUS,
                offsetsOnlyTimeFirst,   // 52: DID_MAGNETOMETER_1
                offsetsOnlyTimeFirst,   // 53: DID_BAROMETER
                0,                                              // 54: DID_GPS1_RTK_POS
                offsetsOnlyTimeFirst,   // 55: DID_MAGNETOMETER_2
                0,                                              // 56: DID_COMMUNICATIONS_LOOPBACK
                offsetsOnlyTimeFirst,   // 57: DID_DUAL_IMU_RAW
                offsetsOnlyTimeFirst,   // 58: DID_DUAL_IMU
                0,                                              // 59: DID_INL2_MAG_OBS_INFO
        0,                                              // 60: DID_GPS_BASE_RAW
        0,                      // 61: DID_GPS_RTK_OPT
        0,                      // 62: DID_NVR_USERPAGE_INTERNAL
                0,                                              // 63: DID_MANUFACTURING_INFO
                0,                      // 64: DID_BIT
                offsetsIns3,                    // 65: DID_INS_3
                offsetsIns4,                    // 66: DID_INS_4
                0,                                              // 67: DID_INL2_NED_SIGMA
        0,                                              // 68: DID_STROBE_IN_TIME
        0,                                              // 69: DID_GPS1_RAW
        0,                                              // 70: DID_GPS2_RAW
        offsetsOnlyTimeFirst,   // 71: DID_WHEEL_ENCODER
        0,                                              // 72: DID_DIAGNOSTIC_MESSAGE
        offsetsSurveyIn,                // 73: DID_SURVEY_IN
        0,                      // 74: EMPTY
        0,                      // 75: DID_PORT_MONITOR
        0,                      // 76: DID_RTK_STATE
        0,                      // 77: DID_RTK_RESIDUAL
        0,                      // 78: DID_RTK_PHASE_RESIDUAL
        0,                      // 79: DID_RTK_CODE_RESIDUAL
        0,                      // 80: DID_EVB_STATUS
        0,                      // 81: DID_EVB_FLASH_CFG
        offsetsDebugArray,      // 82: DID_EVB_DEBUG_ARRAY
        0,                      // 83: DID_EVB_RTOS_INFO
        offsetsDualImuMag,              // 84: DID_DUAL_IMU_RAW_MAG
        offsetsDualImuMag,              // 85: DID_DUAL_IMU_MAG
        offsetsPreImuMag,               // 86: DID_PREINTEGRATED_IMU_MAG
                0,                      // 87: 
                0,                      // 88: 
                0,                      // 89: 
                0,                      // 90: 
                0,                      // 91: DID_GPS2_RTK_CMP_REL
                offsetsRtkNav,          // 92: DID_GPS2_RTK_CMP_MISC
                0,                      // 93: 
                0,                      // 94: 
                0                       // 95: 
        };

    STATIC_ASSERT(_ARRAY_ELEMENT_COUNT(s_doubleOffsets) == DID_COUNT);
    STATIC_ASSERT((DID_COUNT%4) == 0);

        if (dataId < DID_COUNT)
        {
        uint16_t* offsets;
        if ((offsets = s_doubleOffsets[dataId]))
        {
            *offsetsLength = (*offsets++);
            return offsets;
        }
    }
        return 0;
}

#ifdef _MSC_VER
#pragma warning(pop)
#endif

uint16_t* getStringOffsetsLengths(eDataIDs dataId, uint16_t* offsetsLength)
{
        /* Offset arrays contain:
        {
                array size, // number of pairs
                byte offset, byte size, // 1st pair
                byte offset, byte size, // 2nd pair
                ...
        } */

        static uint16_t debugStringOffsets[] = { 2, 0, 80 };

        static uint16_t rtosTaskOffsets[] =
        {
                12,
                0, MAX_TASK_NAME_LEN,
                32, MAX_TASK_NAME_LEN,
                64, MAX_TASK_NAME_LEN,
                96, MAX_TASK_NAME_LEN,
                128, MAX_TASK_NAME_LEN,
                160, MAX_TASK_NAME_LEN
        };

        static uint16_t manufInfoOffsets[] =
        {
                2,
                offsetof(manufacturing_info_t, date), _MEMBER_ARRAY_ELEMENT_COUNT(manufacturing_info_t, date)
        };
        
        static uint16_t diagMsgOffsets[] =
        {
                2,
                offsetof(diag_msg_t, message), _MEMBER_ARRAY_ELEMENT_COUNT(diag_msg_t, message)
        };

    static uint16_t* s_stringOffsets[] =
        {
                0,                                              //  0: DID_NULL
        0,                                              //  1: DID_DEV_INFO
        0,                                              //  2: DID_SYS_FAULT
                0,                                              //  3: DID_PREINTEGRATED_IMU
                0,                                              //  4: DID_INS_1
                0,                                              //  5: DID_INS_2
                0,                                              //  6: DID_GPS1_POS
                0,                                              //  7: DID_SYS_CMD
                0,                                              //  8: DID_ASCII_BCAST_PERIOD
                0,                                              //  9: DID_RMC
                0,                                              // 10: DID_SYS_PARAMS
                0,                                              // 11: DID_SYS_SENSORS
                0,                                              // 12: DID_FLASH_CONFIG
                0,                                              // 13: DID_GPS1_UBX_POS
                0,                                              // 14: DID_GPS2_POS
                0,                                              // 15: DID_GPS1_SAT
                0,                                              // 16: DID_GPS2_SAT
                0,                                              // 17: DID_GPS1_VERSION
                0,                                              // 18: DID_GPS2_VERSION
                0,                                              // 19: DID_MAG_CAL
                0,                                              // 20: DID_INTERNAL_DIAGNOSTIC
        0,                      // 21: DID_GPS1_RTK_POS_REL
        0,                      // 22: DID_GPS1_RTK_POS_MISC,
                0,                                              // 23: DID_FEATURE_BITS
                0,                                              // 24: DID_SENSORS_IS1
                0,                                              // 25: DID_SENSORS_IS2
                0,                                              // 26: DID_SENSORS_TC_BIAS
                0,                                              // 27: DID_IO
                0,                                              // 28: DID_SENSORS_ADC
                0,                                              // 29: DID_SCOMP
                0,                                              // 30: DID_GPS1_VEL
                0,                                              // 31: DID_GPS2_VEL
                0,                                              // 32: DID_HDW_PARAMS,
                0,                                              // 33: DID_NVR_MANAGE_USERPAGE
                0,                                              // 34: DID_NVR_USERPAGE_SN
                0,                                              // 35: DID_NVR_USERPAGE_G0
                0,                                              // 36: DID_NVR_USERPAGE_G1
                debugStringOffsets,             // 37: DID_DEBUG_STRING
                rtosTaskOffsets,                // 38: DID_RTOS_INFO
                0,                                              // 39: DID_DEBUG_ARRAY
                0,                                              // 40: DID_SENSORS_CAL1
                0,                                              // 41: DID_SENSORS_CAL2
                0,                                              // 42: DID_CAL_SC
                0,                                              // 43: DID_CAL_SC1
                0,                                              // 44: DID_CAL_SC2
                0,                                              // 45: DID_SYS_SENSORS_SIGMA
                0,                                              // 46: DID_SENSORS_ADC_SIGMA
                0,                      // 47: DID_INS_DEV_1
                0,                      // 48: DID_INL2_STATES
                0,                      // 49: DID_INL2_COVARIANCE_LD
                0,                      // 50: DID_INL2_MISC
                0,                      // 51: DID_INL2_STATUS
                0,                                              // 52: DID_MAGNETOMETER_1
                0,                                              // 53: DID_BAROMETER
                0,                                              // 54: DID_GPS1_RTK_POS
                0,                                              // 55: DID_MAGNETOMETER_2
                0,                                              // 56: DID_COMMUNICATIONS_LOOPBACK
                0,                                              // 57: DID_DUAL_IMU_RAW
                0,                                              // 58: DID_DUAL_IMU
                0,                                              // 59: DID_INL2_MAG_OBS_INFO
        0,                                              // 60: DID_GPS_BASE_RAW
        0,                      // 61: DID_GPS_RTK_OPT
        0,                      // 62: DID_NVR_USERPAGE_INTERNAL
                manufInfoOffsets,               // 63: DID_MANUFACTURING_INFO
                0,                      // 64: DID_BIT
                0,                      // 65: DID_INS_3
                0,                      // 66: DID_INS_4
                0,                                              // 67: DID_INL2_NED_SIGMA
                0,                                              // 68: DID_STROBE_IN_TIME
                0,                                              // 69: DID_GPS1_RAW
                0,                                              // 70: DID_GPS2_RAW
                0,                                              // 71: DID_WHEEL_ENCODER
                diagMsgOffsets,                 // 72: DID_DIAGNOSTIC_MESSAGE
                0,                      // 73: DID_SURVEY_IN
        0,                      // 74: DID_CAL_SC_INFO
        0,                      // 75: DID_PORT_MONITOR
        0,                      // 76: DID_RTK_STATE
        0,                      // 77: DID_RTK_RESIDUAL
        0,                      // 78: DID_RTK_PHASE_RESIDUAL
        0,                      // 79: DID_RTK_CODE_RESIDUAL
        0,                      // 80: DID_EVB_STATUS
        0,                      // 81: DID_EVB_FLASH_CFG
        0,                      // 82: DID_EVB_DEBUG_ARRAY
        0,                      // 83: DID_EVB_RTOS_INFO
                0,                                              // 84: DID_DUAL_IMU_RAW_MAG
                0,                                              // 85: DID_DUAL_IMU_MAG
                0,                                              // 86: DID_PREINTEGRATED_IMU_MAG
                0,                                              // 87: DID_WHEEL_CONFIG
                0,                                              // 88: DID_POSITION_MEASUREMENT
                0,                                              // 89: DID_RTK_DEBUG_2
                0,                                              // 90: DID_CAN_CONFIG
                0,                      // 91: DID_GPS2_RTK_CMP_REL
                0,                      // 92: DID_GPS2_RTK_CMP_MISC
                0,                      // 93: 
                0,                      // 94: 
                0                       // 95: 
        };

    STATIC_ASSERT(_ARRAY_ELEMENT_COUNT(s_stringOffsets) == DID_COUNT);

    if (dataId < DID_COUNT)
        {
        uint16_t* offsets;
        if ((offsets = s_stringOffsets[dataId]))
        {
            *offsetsLength = (*offsets++);
            return offsets;
        }
    }
        return 0;
}

uint32_t checksum32(const void* data, int count)
{
        if (count < 1 || count % 4 != 0)
        {
                return 0;
        }
        
        uint32_t checksum = 0;
        uint32_t* dataPtr = (uint32_t*)data;
        uint32_t* dataEnd = dataPtr + (count / 4);
        
        while (dataPtr < dataEnd)
        {
                checksum ^= *dataPtr++;
        }
        
        return checksum;
}

// This function skips the first 4 bytes (one 4 byte word), which are assumed to be the checksum in the serial number flash memory data structure.
uint32_t serialNumChecksum32(const void* data, int size)
{
        return checksum32((const uint8_t*)data + 4, size - 4);
}

// This function skips the first 8 bytes (two 4 byte words), which are assumed to be the size and checksum in flash memory data structures.
uint32_t flashChecksum32(const void* data, int size)
{
        return checksum32((const uint8_t*)data + 8, size - 8);
}

// Convert DID to message out control mask
uint64_t didToRmcBit(uint32_t dataId, uint64_t defaultRmcBits)
{
        switch (dataId)
        {
                case DID_INS_1:                                 return RMC_BITS_INS1;
                case DID_INS_2:                                 return RMC_BITS_INS2;
                case DID_INS_3:                                 return RMC_BITS_INS3;
                case DID_INS_4:                                 return RMC_BITS_INS4;
                case DID_DUAL_IMU_RAW:                  return RMC_BITS_DUAL_IMU_RAW;
                case DID_DUAL_IMU:                              return RMC_BITS_DUAL_IMU;
                case DID_PREINTEGRATED_IMU:             return RMC_BITS_PREINTEGRATED_IMU;
                case DID_BAROMETER:                             return RMC_BITS_BAROMETER;
                case DID_MAGNETOMETER_1:                return RMC_BITS_MAGNETOMETER1;
                case DID_MAGNETOMETER_2:                return RMC_BITS_MAGNETOMETER2;
                case DID_GPS1_POS:                              return RMC_BITS_GPS1_POS;
                case DID_GPS2_POS:                              return RMC_BITS_GPS2_POS;
                case DID_GPS1_VEL:                              return RMC_BITS_GPS1_VEL;
                case DID_GPS2_VEL:                              return RMC_BITS_GPS2_VEL;
                case DID_GPS1_SAT:                              return RMC_BITS_GPS1_SAT;
                case DID_GPS2_SAT:                              return RMC_BITS_GPS2_SAT;
                case DID_GPS1_RAW:                              return RMC_BITS_GPS1_RAW;
                case DID_GPS2_RAW:                              return RMC_BITS_GPS2_RAW;
                case DID_GPS_BASE_RAW:                  return RMC_BITS_GPS_BASE_RAW;
                case DID_GPS1_UBX_POS:                  return RMC_BITS_GPS1_UBX_POS;
                case DID_GPS1_RTK_POS:                  return RMC_BITS_GPS1_RTK_POS;
                case DID_GPS1_RTK_POS_REL:              return RMC_BITS_GPS1_RTK_POS_REL;
                case DID_GPS1_RTK_POS_MISC:             return RMC_BITS_GPS1_RTK_POS_MISC;
                case DID_GPS2_RTK_CMP_REL:              return RMC_BITS_GPS1_RTK_HDG_REL;
                case DID_GPS2_RTK_CMP_MISC:             return RMC_BITS_GPS1_RTK_HDG_MISC;
                case DID_STROBE_IN_TIME:                return RMC_BITS_STROBE_IN_TIME;
                case DID_DIAGNOSTIC_MESSAGE:    return RMC_BITS_DIAGNOSTIC_MESSAGE;             
                case DID_INL2_NED_SIGMA:                return RMC_BITS_INL2_NED_SIGMA;
        case DID_RTK_STATE:             return RMC_BITS_RTK_STATE;
        case DID_RTK_CODE_RESIDUAL:     return RMC_BITS_RTK_CODE_RESIDUAL;
        case DID_RTK_PHASE_RESIDUAL:    return RMC_BITS_RTK_PHASE_RESIDUAL;
                case DID_WHEEL_ENCODER:         return RMC_BITS_WHEEL_ENCODER;
                case DID_WHEEL_CONFIG:          return RMC_BITS_WHEEL_CONFIG;
                case DID_DUAL_IMU_MAG:          return RMC_BITS_DUAL_IMU_MAG;
                case DID_DUAL_IMU_RAW_MAG:      return RMC_BITS_DUAL_IMU_MAG_RAW;
                case DID_PREINTEGRATED_IMU_MAG: return RMC_BITS_PREINTEGRATED_IMU_MAG;
                default:                        return defaultRmcBits;
        }
}

void julianToDate(double julian, int32_t* year, int32_t* month, int32_t* day, int32_t* hour, int32_t* minute, int32_t* second, int32_t* millisecond)
{
        double j1, j2, j3, j4, j5;
        double intgr = floor(julian);
        double frac = julian - intgr;
        double gregjd = 2299161.0;
        if (intgr >= gregjd)
        {
                //Gregorian calendar correction
                double tmp = floor(((intgr - 1867216.0) - 0.25) / 36524.25);
                j1 = intgr + 1.0 + tmp - floor(0.25 * tmp);
        }
        else
        {
                j1 = intgr;
        }

        //correction for half day offset
        double dayfrac = frac + 0.5;
        if (dayfrac >= 1.0)
        {
                dayfrac -= 1.0;
                ++j1;
        }

        j2 = j1 + 1524.0;
        j3 = floor(6680.0 + ((j2 - 2439870.0) - 122.1) / 365.25);
        j4 = floor(j3 * 365.25);
        j5 = floor((j2 - j4) / 30.6001);

        double d = floor(j2 - j4 - floor(j5 * 30.6001));
        double m = floor(j5 - 1);
        if (m > 12)
        {
                m -= 12;
        }
        double y = floor(j3 - 4715.0);
        if (m > 2)
        {
                --y;
        }
        if (y <= 0)
        {
                --y;
        }

        //
        // get time of day from day fraction
        //
        double hr = floor(dayfrac * 24.0);
        double mn = floor((dayfrac * 24.0 - hr) * 60.0);
        double f = ((dayfrac * 24.0 - hr) * 60.0 - mn) * 60.0;
        double sc = f;
        if (f - sc > 0.5)
        {
                ++sc;
        }

        if (y < 0)
        {
                y = -y;
        }
        if (year)
        {
                *year = (int32_t)y;
        }
        if (month)
        {
                *month = (int32_t)m;
        }
        if (day)
        {
                *day = (int32_t)d;
        }
        if (hour)
        {
                *hour = (int32_t)hr;
        }
        if (minute)
        {
                *minute = (int32_t)mn;
        }
        if (second)
        {
                *second = (int32_t)sc;
        }
        if (millisecond)
        {
                *millisecond = (int32_t)((sc - floor(sc)) * 1000.0);
        }
}

double gpsToUnix(uint32_t gpsWeek, uint32_t gpsTimeofWeekMS, uint8_t leapSeconds)
{
        double gpsSeconds = gpsWeek * SECONDS_PER_WEEK;
        gpsSeconds += (gpsTimeofWeekMS / 1000);
        double unixSeconds = gpsSeconds + GPS_TO_UNIX_OFFSET - leapSeconds;

        return unixSeconds;
}

double gpsToJulian(int32_t gpsWeek, int32_t gpsMilliseconds, int32_t leapSeconds)
{
        double gpsDays = (double)gpsWeek * 7.0;
        gpsDays += ((((double)gpsMilliseconds / 1000.0) - (double)leapSeconds) / 86400.0);
        return (2444244.500000) + gpsDays; // 2444244.500000 Julian date for Jan 6, 1980 midnight - start of gps time
}

static void appendGPSTimeOfLastFix(const gps_pos_t* gps, char** buffer, int* bufferLength)
{
    unsigned int millisecondsToday = gps->timeOfWeekMs % 86400000;
    unsigned int hours = millisecondsToday / 1000 / 60 / 60;
    unsigned int minutes = (millisecondsToday / (1000 * 60)) % 60;
    unsigned int seconds = (millisecondsToday / 1000) % 60;
    int written = SNPRINTF(*buffer, *bufferLength, ",%02u%02u%02u", hours, minutes, seconds);
    *bufferLength -= written;
    *buffer += written;
}

static void appendGPSCoord(const gps_pos_t* gps, char** buffer, int* bufferLength, double v, const char* degreesFormat, char posC, char negC)
{
        (void)gps;
    int degrees = (int)(v);
    double minutes = (v - ((double)degrees)) * 60.0;

    int written = SNPRINTF(*buffer, *bufferLength, degreesFormat, abs(degrees));
    *bufferLength -= written;
    *buffer += written;

    written = SNPRINTF(*buffer, *bufferLength, "%07.4f,", fabs(minutes));
    *bufferLength -= written;
    *buffer += written;

    written = SNPRINTF(*buffer, *bufferLength, "%c", (degrees >= 0 ? posC : negC));
    *bufferLength -= written;
    *buffer += written;
}

int gpsToNmeaGGA(const gps_pos_t* gps, char* buffer, int bufferLength)
{
    // NMEA GGA line - http://www.gpsinformation.org/dale/nmea.htm#GGA
    /*
    GGA          Global Positioning System Fix Data
    123519       Fix taken at 12:35:19 UTC
    4807.038,N   Latitude 48 deg 07.038' N
    01131.000,E  Longitude 11 deg 31.000' E
    .            Fix quality:   0 = invalid
    .                                                   1 = GPS fix (SPS)
    .                                                   2 = DGPS fix
    .                                                   3 = PPS fix
    .                                                   4 = Real Time Kinematic
    .                                                   5 = Float RTK
    .                                                   6 = estimated (dead reckoning) (2.3 feature)
    .                                                   7 = Manual input mode
    .                                                   8 = Simulation mode
    08           Number of satellites being tracked
    0.9          Horizontal dilution of position
    545.4,M      MSL altitude in meters
    46.9,M       HAE altitude (above geoid / WGS84 ellipsoid)
    ellipsoid
    (empty field) time in seconds since last DGPS update
    (empty field) DGPS station ID number
    *47          the checksum data, always begins with *
    */

    if (bufferLength < 128)
    {
        return 0;
    }

    unsigned int checkSum = 0;
    int fixQuality;
    switch((gps->status & GPS_STATUS_FIX_MASK))
    {
    default:
    case GPS_STATUS_FIX_NONE:
        fixQuality = 0;
        break;

    case GPS_STATUS_FIX_SBAS:
    case GPS_STATUS_FIX_2D:
    case GPS_STATUS_FIX_RTK_SINGLE:
    case GPS_STATUS_FIX_3D:
        fixQuality = 1;
        break;

    case GPS_STATUS_FIX_DGPS:
        fixQuality = 2;
        break;

    case GPS_STATUS_FIX_TIME_ONLY:
        fixQuality = 3;
        break;

    case GPS_STATUS_FIX_RTK_FIX:
        fixQuality = 4;
        break;

    case GPS_STATUS_FIX_RTK_FLOAT:
        fixQuality = 5;
        break;

    case GPS_STATUS_FIX_DEAD_RECKONING_ONLY:
    case GPS_STATUS_FIX_GPS_PLUS_DEAD_RECK:
        fixQuality = 6;
        break;
    }

    // write message
    int written = 1;
    char* bufferStart = buffer;
    *buffer++ = '$';
    bufferLength--;
    written = SNPRINTF(buffer, bufferLength, "%s", "GPGGA");
    buffer += written;
    bufferLength -= written;

    appendGPSTimeOfLastFix(gps, &buffer, &bufferLength);
    appendGPSCoord(gps, &buffer, &bufferLength, gps->lla[0], ",%02d", 'N', 'S');
    appendGPSCoord(gps, &buffer, &bufferLength, gps->lla[1], ",%03d", 'E', 'W');

    written = SNPRINTF(buffer, bufferLength, ",%u,%02u,%.2f,%.2f,M,%.2f,M,,",
                       (unsigned)fixQuality,
                       (unsigned)(gps->status & GPS_STATUS_NUM_SATS_USED_MASK),
                       gps->pDop,
                       gps->hMSL,
                       gps->hMSL - gps->lla[2]);
    buffer += written;
    bufferLength -= written;

    // compute checksum
    for (char* ptr = bufferStart + 1; ptr < buffer; ptr++)
    {
        checkSum ^= *ptr;
    }

    written = SNPRINTF(buffer, bufferLength, "*%.2x\r\n", checkSum);
    buffer += written;
    return (int)(buffer - bufferStart);
}

/* ubx gnss indicator (ref [2] 25) -------------------------------------------*/
int ubxSys(int gnssID)
{
        switch (gnssID) {
        case 0: return SYS_GPS;
        case 1: return SYS_SBS;
        case 2: return SYS_GAL;
        case 3: return SYS_CMP;
        case 5: return SYS_QZS;
        case 6: return SYS_GLO;
        }
        return 0;
}

/* satellite system+prn/slot number to satellite number ------------------------
* convert satellite system+prn/slot number to satellite number
* args   : int    sys       I   satellite system (SYS_GPS,SYS_GLO,...)
*          int    prn       I   satellite prn/slot number
* return : satellite number (0:error)
*-----------------------------------------------------------------------------*/
int satNo(int sys, int prn)
{
        if (prn <= 0) return 0;
        switch (sys) {
        case SYS_GPS:
                if (prn < MINPRNGPS || MAXPRNGPS < prn) return 0;
                return prn - MINPRNGPS + 1;
        case SYS_GLO:
                if (prn < MINPRNGLO || MAXPRNGLO < prn) return 0;
                return NSATGPS + prn - MINPRNGLO + 1;
        case SYS_GAL:
                if (prn < MINPRNGAL || MAXPRNGAL < prn) return 0;
                return NSATGPS + NSATGLO + prn - MINPRNGAL + 1;
        case SYS_QZS:
                if (prn < MINPRNQZS || MAXPRNQZS < prn) return 0;
                return NSATGPS + NSATGLO + NSATGAL + prn - MINPRNQZS + 1;
        case SYS_CMP:
                if (prn < MINPRNCMP || MAXPRNCMP < prn) return 0;
                return NSATGPS + NSATGLO + NSATGAL + NSATQZS + prn - MINPRNCMP + 1;
        case SYS_IRN:
                if (prn < MINPRNIRN || MAXPRNIRN < prn) return 0;
                return NSATGPS + NSATGLO + NSATGAL + NSATQZS + NSATCMP + prn - MINPRNIRN + 1;
        case SYS_LEO:
                if (prn < MINPRNLEO || MAXPRNLEO < prn) return 0;
                return NSATGPS + NSATGLO + NSATGAL + NSATQZS + NSATCMP + NSATIRN +
                        prn - MINPRNLEO + 1;
        case SYS_SBS:
                if (prn < MINPRNSBS || MAXPRNSBS < prn) return 0;
                return NSATGPS + NSATGLO + NSATGAL + NSATQZS + NSATCMP + NSATIRN + NSATLEO +
                        prn - MINPRNSBS + 1;
        }
        return 0;
}

/* satellite gnssID+svID to satellite number ------------------------
* convert satellite gnssID + svID to satellite number
* args   : int    gnssID     I   satellite system
*          int    svID       I   satellite vehicle ID within system
* return : satellite number (0:error)
*-----------------------------------------------------------------------------*/
int satNumCalc(int gnssID, int svID) {
        int sys = ubxSys(gnssID);
        int prn = svID + (sys == SYS_QZS ? 192 : 0);
        return satNo(sys, prn);
}