mirror of https://github.com/commaai/openpilot.git
177 lines
3.6 KiB
Plaintext
177 lines
3.6 KiB
Plaintext
# http://gauss.gge.unb.ca/GLONASS.ICD.pdf
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# some variables are misprinted but good in the old doc
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# https://www.unavco.org/help/glossary/docs/ICD_GLONASS_4.0_(1998)_en.pdf
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meta:
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id: glonass
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endian: be
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bit-endian: be
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seq:
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- id: idle_chip
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type: b1
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- id: string_number
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type: b4
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- id: data
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type:
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switch-on: string_number
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cases:
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1: string_1
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2: string_2
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3: string_3
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4: string_4
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5: string_5
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_: string_non_immediate
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- id: hamming_code
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type: b8
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- id: pad_1
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type: b11
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- id: superframe_number
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type: b16
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- id: pad_2
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type: b8
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- id: frame_number
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type: b8
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types:
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string_1:
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seq:
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- id: not_used
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type: b2
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- id: p1
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type: b2
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- id: t_k
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type: b12
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- id: x_vel_sign
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type: b1
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- id: x_vel_value
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type: b23
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- id: x_accel_sign
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type: b1
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- id: x_accel_value
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type: b4
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- id: x_sign
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type: b1
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- id: x_value
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type: b26
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instances:
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x_vel:
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value: 'x_vel_sign ? (x_vel_value * (-1)) : x_vel_value'
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x_accel:
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value: 'x_accel_sign ? (x_accel_value * (-1)) : x_accel_value'
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x:
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value: 'x_sign ? (x_value * (-1)) : x_value'
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string_2:
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seq:
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- id: b_n
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type: b3
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- id: p2
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type: b1
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- id: t_b
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type: b7
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- id: not_used
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type: b5
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- id: y_vel_sign
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type: b1
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- id: y_vel_value
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type: b23
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- id: y_accel_sign
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type: b1
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- id: y_accel_value
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type: b4
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- id: y_sign
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type: b1
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- id: y_value
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type: b26
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instances:
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y_vel:
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value: 'y_vel_sign ? (y_vel_value * (-1)) : y_vel_value'
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y_accel:
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value: 'y_accel_sign ? (y_accel_value * (-1)) : y_accel_value'
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y:
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value: 'y_sign ? (y_value * (-1)) : y_value'
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string_3:
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seq:
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- id: p3
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type: b1
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- id: gamma_n_sign
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type: b1
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- id: gamma_n_value
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type: b10
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- id: not_used
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type: b1
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- id: p
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type: b2
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- id: l_n
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type: b1
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- id: z_vel_sign
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type: b1
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- id: z_vel_value
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type: b23
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- id: z_accel_sign
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type: b1
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- id: z_accel_value
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type: b4
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- id: z_sign
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type: b1
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- id: z_value
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type: b26
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instances:
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gamma_n:
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value: 'gamma_n_sign ? (gamma_n_value * (-1)) : gamma_n_value'
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z_vel:
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value: 'z_vel_sign ? (z_vel_value * (-1)) : z_vel_value'
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z_accel:
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value: 'z_accel_sign ? (z_accel_value * (-1)) : z_accel_value'
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z:
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value: 'z_sign ? (z_value * (-1)) : z_value'
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string_4:
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seq:
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- id: tau_n_sign
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type: b1
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- id: tau_n_value
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type: b21
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- id: delta_tau_n_sign
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type: b1
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- id: delta_tau_n_value
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type: b4
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- id: e_n
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type: b5
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- id: not_used_1
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type: b14
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- id: p4
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type: b1
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- id: f_t
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type: b4
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- id: not_used_2
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type: b3
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- id: n_t
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type: b11
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- id: n
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type: b5
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- id: m
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type: b2
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instances:
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tau_n:
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value: 'tau_n_sign ? (tau_n_value * (-1)) : tau_n_value'
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delta_tau_n:
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value: 'delta_tau_n_sign ? (delta_tau_n_value * (-1)) : delta_tau_n_value'
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string_5:
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seq:
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- id: n_a
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type: b11
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- id: tau_c
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type: b32
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- id: not_used
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type: b1
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- id: n_4
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type: b5
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- id: tau_gps
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type: b22
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- id: l_n
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type: b1
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string_non_immediate:
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seq:
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- id: data_1
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type: b64
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- id: data_2
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type: b8
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