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feature/ogrp #1

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feature/ogrp #1

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749c25f
rtklib 2.4.2 p4
tomojitakasu Sep 1, 2013
3855c3d
rtklib 2.4.2 p4
tomojitakasu Sep 1, 2013
827b577
rtklib 2.4.2 p4
tomojitakasu Sep 1, 2013
4464e12
rtklib 2.4.2 p4
tomojitakasu Sep 1, 2013
7bb8b4b
Mark windows executables as executable
okurz-iis Mar 14, 2012
cfcf471
Add CMake configuration file
okurz-iis Mar 15, 2012
ff986cd
data: Skytraq 5 Hz config with restart
okurz-iis Nov 26, 2012
6d3c069
Add support for GPS L5 as second frequency
May 9, 2014
df33193
rtkrcv: Reuse previously used port
May 9, 2014
45d34b5
test: Add a position calculation test from novatel data
cstrobel-iis Nov 13, 2014
c6f4484
src: rcv: Add ogrp decoder
cstrobel-iis Nov 20, 2014
13cf621
test: fhg: Add test for OGRP with position calculation
cstrobel-iis Nov 20, 2014
d3ddd99
app: rtkrcv: Add OGRP support
cstrobel-iis Nov 27, 2014
1cd891c
rcv: ogrp: Skip channel measurements with unsupported GNSS/signal com…
cstrobel-iis Dec 16, 2014
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18 changes: 18 additions & 0 deletions CMakeLists.txt
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@@ -0,0 +1,18 @@
project(rtklib)
cmake_minimum_required(VERSION 2.8)

set(app_list str2str pos2kml rtkrcv rnx2rtkp convbin)
foreach(app ${app_list})
set(dir app/${app}/gcc)
message(STATUS "building ${app} in ${dir}")
set(absolute_dir ${CMAKE_CURRENT_SOURCE_DIR}/${dir})
add_custom_target(${app} ALL
COMMAND ${CMAKE_MAKE_PROGRAM} -C ${absolute_dir}
COMMENT "Building ${app} in ${dir}"
)
add_custom_command(TARGET ${app} POST_BUILD
COMMAND ${CMAKE_COMMAND} -E copy ${absolute_dir}/${app} ${CMAKE_BINARY_DIR}
COMMENT "Copy ${app} to build directory"
)
install(PROGRAMS ${CMAKE_BINARY_DIR}/${app} DESTINATION bin)
endforeach()
1 change: 1 addition & 0 deletions app/convbin/convbin.c
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Expand Up @@ -400,6 +400,7 @@ static int cmdopts(int argc, char **argv, rnxopt_t *opt, char **ifile,
else if (!strcmp(fmt,"nvs" )) format=STRFMT_NVS;
else if (!strcmp(fmt,"binex")) format=STRFMT_BINEX;
else if (!strcmp(fmt,"rinex")) format=STRFMT_RINEX;
else if (!strcmp(fmt,"ogrp")) format=STRFMT_OGRP;
}
else {
paths[0]=path;
Expand Down
10 changes: 8 additions & 2 deletions app/convbin/gcc/makefile
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Expand Up @@ -5,12 +5,15 @@ SRC = ../../../src

OPTS = -DTRACE -DENAGLO -DENAQZS -DENAGAL -DENACMP -DNFREQ=3 -DNEXOBS=3
CFLAGS = -Wall -O3 -ansi -pedantic -I$(SRC) $(OPTS) -g
LDLIBS = -lm -lrt
# TODO this will fail if the lib is not found. To search for the library it
# should be better to use a Makefile generator but this will be tough to do.
# We can keep this for now but we can not merge this with upstream then.
LDLIBS = -lm -lrt -ljson
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This TODO needs to be solved before we have any chance of merging it upstream.


convbin : convbin.o rtkcmn.o rinex.o sbas.o preceph.o rcvraw.o convrnx.o
convbin : rtcm.o rtcm2.o rtcm3.o rtcm3e.o pntpos.o ephemeris.o ionex.o
convbin : novatel.o ss2.o ublox.o crescent.o skytraq.o gw10.o javad.o nvs.o
convbin : binex.o qzslex.o
convbin : binex.o qzslex.o ogrp.o

convbin.o : ../convbin.c
$(CC) -c $(CFLAGS) ../convbin.c
Expand Down Expand Up @@ -58,6 +61,8 @@ nvs.o : $(SRC)/rcv/nvs.c
$(CC) -c $(CFLAGS) $(SRC)/rcv/nvs.c
binex.o : $(SRC)/rcv/binex.c
$(CC) -c $(CFLAGS) $(SRC)/rcv/binex.c
ogrp.o : $(SRC)/rcv/ogrp.c
$(CC) -c $(CFLAGS) $(SRC)/rcv/ogrp.c
qzslex.o : $(SRC)/qzslex.c
$(CC) -c $(CFLAGS) $(SRC)/qzslex.c

Expand All @@ -84,6 +89,7 @@ gw10.o : $(SRC)/rtklib.h
javad.o : $(SRC)/rtklib.h
nvs.o : $(SRC)/rtklib.h
binex.o : $(SRC)/rtklib.h
ogrp.o : $(SRC)/rtklib.h
qzslex.o : $(SRC)/rtklib.h

DATDIR = ../../../test/data/rcvraw
Expand Down
19 changes: 14 additions & 5 deletions app/rtkplot/plotdata.cpp
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Expand Up @@ -177,8 +177,8 @@ int __fastcall TPlot::ReadObsRnx(TStrings *files, obs_t *obs, nav_t *nav,
AnsiString s;
gtime_t ts,te;
double tint;
int i;
char obsfile[1024],navfile[1024],*p,*opt=RnxOpts.c_str();
int i,n;
char obsfile[1024],navfile[1024]="",*p,*q,*opt=RnxOpts.c_str();

trace(3,"ReadObsRnx\n");

Expand Down Expand Up @@ -212,12 +212,20 @@ int __fastcall TPlot::ReadObsRnx(TStrings *files, obs_t *obs, nav_t *nav,
}
else if (!strcmp(p+3,"o" )||!strcmp(p+3,"d" )||
!strcmp(p+3,"O" )||!strcmp(p+3,"D" )) {
n=nav->n;

strcpy(p+3,"N"); readrnxt(navfile,1,ts,te,tint,opt,NULL,nav,NULL);
strcpy(p+3,"G"); readrnxt(navfile,1,ts,te,tint,opt,NULL,nav,NULL);
strcpy(p+3,"H"); readrnxt(navfile,1,ts,te,tint,opt,NULL,nav,NULL);
strcpy(p+3,"Q"); readrnxt(navfile,1,ts,te,tint,opt,NULL,nav,NULL);
strcpy(p+3,"L"); readrnxt(navfile,1,ts,te,tint,opt,NULL,nav,NULL);
strcpy(p+3,"P"); readrnxt(navfile,1,ts,te,tint,opt,NULL,nav,NULL);

if (nav->n>n||!(q=strrchr(navfile,'\\'))) continue;

// read brdc navigation data
memcpy(q+1,"BRDC",4);
strcpy(p+3,"N"); readrnxt(navfile,1,ts,te,tint,opt,NULL,nav,NULL);
}
}
if (obs->n<=0) {
Expand Down Expand Up @@ -813,9 +821,10 @@ void __fastcall TPlot::UpdateMp(void)

code2obs(data->code[j],&f1);

if (sys==SYS_GAL) f2=f1==1?3:1;
else if (sys==SYS_CMP) f2=f1==2?5:2;
else f2=f1==1?2:1;
if (sys==SYS_GAL) f2=f1==1?3:1; /* E1/E5a */
else if (sys==SYS_SBS) f2=f1==1?3:1; /* L1/L5 */
else if (sys==SYS_CMP) f2=f1==2?5:2; /* B1/B2 */
else f2=f1==1?2:1; /* L1/L2 */

lam1=satwavelen(data->sat,f1-1,&Nav);
lam2=satwavelen(data->sat,f2-1,&Nav);
Expand Down
4 changes: 3 additions & 1 deletion app/rtkplot/plotdraw.cpp
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Expand Up @@ -1519,13 +1519,15 @@ void __fastcall TPlot::DrawSnrE(int level)

trace(3,"DrawSnrE: level=%d\n",level);

yl[1][0]=-MaxMP; yl[1][1]=MaxMP;

for (i=0;i<2;i++) if (btn[i]->Down) j=i;
for (i=0;i<2;i++) {
if (!btn[i]->Down) continue;
GraphE[i]->XLPos=i==j?1:0;
GraphE[i]->YLPos=1;
GraphE[i]->SetLim(xl,yl[i]);
GraphE[i]->SetTick(0.0,5.0);
GraphE[i]->SetTick(0.0,0.0);
GraphE[i]->DrawAxis(1,1);

GraphE[i]->GetPos(p1,p2);
Expand Down
5 changes: 4 additions & 1 deletion app/rtkplot/plotmain.cpp
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Expand Up @@ -133,6 +133,7 @@ __fastcall TPlot::TPlot(TComponent* Owner) : TForm(Owner)
PlotStyle=MarkSize=Origin=RcvPos=0;
TimeInt=ElMask=YRange=0.0;
MaxDop=30.0;
MaxMP=10.0;
TimeStart=TimeEnd=epoch2time(ep);
DoubleBuffered=true;
Console1=new TConsole(Owner);
Expand Down Expand Up @@ -2167,7 +2168,7 @@ void __fastcall TPlot::SetRange(int all, double range)
else {
GraphG[0]->GetLim(tl,xp);
xl[0]=10.0; xl[1]= 60.0;
yl[0]=-10.0; yl[1]=10.0;
yl[0]=-MaxMP; yl[1]=MaxMP;
zl[0]= 0.0; zl[1]= 90.0;
GraphG[0]->SetLim(tl,xl);
GraphG[1]->SetLim(tl,yl);
Expand Down Expand Up @@ -2348,6 +2349,7 @@ void __fastcall TPlot::LoadOpt(void)

ElMask =ini->ReadFloat ("plot","elmask", 0.0);
MaxDop =ini->ReadFloat ("plot","maxdop",30.0);
MaxMP =ini->ReadFloat ("plot","maxmp" ,10.0);
YRange =ini->ReadFloat ("plot","yrange", 5.0);
Origin =ini->ReadInteger("plot","orgin", 2);
RcvPos =ini->ReadInteger("plot","rcvpos", 0);
Expand Down Expand Up @@ -2477,6 +2479,7 @@ void __fastcall TPlot::SaveOpt(void)

ini->WriteFloat ("plot","elmask", ElMask );
ini->WriteFloat ("plot","maxdop", MaxDop );
ini->WriteFloat ("plot","maxmp", MaxMP );
ini->WriteFloat ("plot","yrange", YRange );
ini->WriteInteger("plot","orgin", Origin );
ini->WriteInteger("plot","rcvpos", RcvPos );
Expand Down
2 changes: 1 addition & 1 deletion app/rtkplot/plotmain.h
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Expand Up @@ -532,7 +532,7 @@ class TPlot : public TForm
double ElMask;
int ElMaskP;
int HideLowSat;
double MaxDop;
double MaxDop,MaxMP;
int NavSys;
AnsiString ExSats;
int ShowErr;
Expand Down
2 changes: 2 additions & 0 deletions app/rtkplot/plotopt.cpp
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Expand Up @@ -70,6 +70,7 @@ void __fastcall TPlotOptDialog::FormShow(TObject *Sender)

ElMask ->Text=s.sprintf("%g",Plot->ElMask);
MaxDop ->Text=s.sprintf("%g",Plot->MaxDop);
MaxMP ->Text=s.sprintf("%g",Plot->MaxMP );
YRange ->Text=s.sprintf("%g",Plot->YRange);
Origin ->ItemIndex=Plot->Origin;
RcvPos ->ItemIndex=Plot->RcvPos;
Expand Down Expand Up @@ -136,6 +137,7 @@ void __fastcall TPlotOptDialog::BtnOKClick(TObject *Sender)

Plot->ElMask=str2dbl(ElMask->Text);
Plot->MaxDop=str2dbl(MaxDop->Text);
Plot->MaxMP =str2dbl(MaxMP ->Text);
Plot->YRange=str2dbl(YRange->Text);
Plot->Origin=Origin->ItemIndex;
Plot->RcvPos=RcvPos->ItemIndex;
Expand Down
29 changes: 26 additions & 3 deletions app/rtkplot/plotopt.dfm
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Expand Up @@ -30,7 +30,6 @@ object PlotOptDialog: TPlotOptDialog
Align = alTop
BevelOuter = bvNone
TabOrder = 2
ExplicitLeft = -1
object Label1: TLabel
Left = 360
Top = 123
Expand Down Expand Up @@ -216,9 +215,9 @@ object PlotOptDialog: TPlotOptDialog
object Label28: TLabel
Left = 12
Top = 211
Width = 68
Width = 44
Height = 13
Caption = 'Maximum DOP'
Caption = 'Max DOP'
end
object LabelExSats: TLabel
Left = 12
Expand Down Expand Up @@ -353,6 +352,13 @@ object PlotOptDialog: TPlotOptDialog
FF00}
OnClick = BtnTLESatViewClick
end
object Label37: TLabel
Left = 12
Top = 233
Width = 67
Height = 13
Caption = 'Max Multipath'
end
object Panel1: TPanel
Left = 350
Top = 186
Expand Down Expand Up @@ -1179,6 +1185,23 @@ object PlotOptDialog: TPlotOptDialog
TabOrder = 58
OnClick = BtnTLESatFileClick
end
object MaxMP: TComboBox
Left = 102
Top = 230
Width = 77
Height = 21
DropDownCount = 20
TabOrder = 59
Text = '10'
Items.Strings = (
'1'
'2'
'3'
'5'
'10'
'20'
'30')
end
end
object BtnCancel: TButton
Left = 455
Expand Down
2 changes: 2 additions & 0 deletions app/rtkplot/plotopt.h
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Expand Up @@ -130,6 +130,8 @@ class TPlotOptDialog : public TForm
TLabel *Label36;
TSpeedButton *BtnTLEView;
TSpeedButton *BtnTLESatView;
TLabel *Label37;
TComboBox *MaxMP;
void __fastcall BtnOKClick(TObject *Sender);
void __fastcall FormShow(TObject *Sender);
void __fastcall BtnColor1Click(TObject *Sender);
Expand Down
9 changes: 6 additions & 3 deletions app/rtkrcv/gcc/makefile
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Expand Up @@ -7,14 +7,14 @@ SRC = ../../../src
#CTARGET= -mfpu=neon -mfloat-abi=softfp -ffast-math
CTARGET= -DENAGLO -DENAGAL -DENAQZS -DNFREQ=3

CFLAGS = -Wall -O3 -ansi -pedantic -I$(SRC) -DTRACE $(CTARGET)
LDLIBS = -lm -lrt -lpthread
CFLAGS = -Wall -O3 -ansi -pedantic -I$(SRC) -DTRACE -DSVR_REUSEADDR $(CTARGET)
LDLIBS = -lm -lrt -lpthread -ljson

all : rtkrcv
rtkrcv : rtkrcv.o rtkcmn.o rtksvr.o rtkpos.o geoid.o solution.o lambda.o
rtkrcv : sbas.o stream.o rcvraw.o rtcm.o preceph.o options.o pntpos.o ppp.o ppp_ar.o
rtkrcv : novatel.o ublox.o ss2.o crescent.o skytraq.o gw10.o javad.o nvs.o binex.o
rtkrcv : ephemeris.o rinex.o ionex.o rtcm2.o rtcm3.o rtcm3e.o qzslex.o
rtkrcv : ephemeris.o rinex.o ionex.o rtcm2.o rtcm3.o rtcm3e.o qzslex.o ogrp.o

rtkrcv.o : ../rtkrcv.c
$(CC) -c $(CFLAGS) ../rtkrcv.c
Expand Down Expand Up @@ -72,6 +72,8 @@ nvs.o : $(SRC)/rcv/nvs.c
$(CC) -c $(CFLAGS) $(SRC)/rcv/nvs.c
binex.o : $(SRC)/rcv/binex.c
$(CC) -c $(CFLAGS) $(SRC)/rcv/binex.c
ogrp.o : $(SRC)/rcv/ogrp.c
$(CC) -c $(CFLAGS) $(SRC)/rcv/ogrp.c
ephemeris.o: $(SRC)/ephemeris.c
$(CC) -c $(CFLAGS) $(SRC)/ephemeris.c
rinex.o : $(SRC)/rinex.c
Expand Down Expand Up @@ -107,6 +109,7 @@ gw10.o : $(SRC)/rtklib.h
javad.o : $(SRC)/rtklib.h
nvs.o : $(SRC)/rtklib.h
binex.o : $(SRC)/rtklib.h
ogrp.o : $(SRC)/rtklib.h
ephemeris.o: $(SRC)/rtklib.h
rinex.o : $(SRC)/rtklib.h
ionex.o : $(SRC)/rtklib.h
Expand Down
16 changes: 8 additions & 8 deletions app/rtkrcv/rtkrcv.c
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Expand Up @@ -180,7 +180,7 @@ static const char *pathopts[]={ /* path options help */
#define FLGOPT "0:off,1:std+2:age/ratio/ns"
#define ISTOPT "0:off,1:serial,2:file,3:tcpsvr,4:tcpcli,7:ntripcli,8:ftp,9:http"
#define OSTOPT "0:off,1:serial,2:file,3:tcpsvr,4:tcpcli,6:ntripsvr"
#define FMTOPT "0:rtcm2,1:rtcm3,2:oem4,3:oem3,4:ubx,5:ss2,6:hemis,7:skytraq,8:gw10,9:javad,10:nvs,15:sp3"
#define FMTOPT "0:rtcm2,1:rtcm3,2:oem4,3:oem3,4:ubx,5:ss2,6:hemis,7:skytraq,8:gw10,9:javad,10:nvs,12:ogrp,15:sp3"
#define NMEOPT "0:off,1:latlon,2:single"
#define SOLOPT "0:llh,1:xyz,2:enu,3:nmea"
#define MSGOPT "0:all,1:rover,2:base,3:corr"
Expand Down Expand Up @@ -1106,16 +1106,16 @@ static void probserv(vt_t *vt)
rtksvrunlock(&svr);

printvt(vt,"\n");
printvt(vt," GPST SAT R P1(m) P2(m) L1(cyc) L2(cyc) D1(Hz) D2(Hz) S1 S2 LLI\n");
printvt(vt," GPST SAT R P1(m) P2(m) P3(m) L1(cyc) L2(cyc) L3(cyc) D1(Hz) D2(Hz) D3(Hz) S1 S2 S3 LLI...\n");
for (i=0;i<n;i++) {
time2str(obs[i].time,tstr,1);
satno2id(obs[i].sat,id);
printvt(vt,"%s %3s %d",tstr+11,id,obs[i].rcv);
for (j=0;j<2;j++) printvt(vt,"%12.2f",obs[i].P[j]);
for (j=0;j<2;j++) printvt(vt,"%13.2f",obs[i].L[j]);
for (j=0;j<2;j++) printvt(vt,"%8.2f" ,obs[i].D[j]);
for (j=0;j<2;j++) printvt(vt,"%2.0f" ,obs[i].SNR[j]*0.25);
for (j=0;j<2;j++) printvt(vt,"%2d" ,obs[i].LLI[j]);
for (j=0;j<3;j++) printvt(vt,"%12.2f",obs[i].P[j]);
for (j=0;j<3;j++) printvt(vt,"%13.2f",obs[i].L[j]);
for (j=0;j<3;j++) printvt(vt,"%8.2f" ,obs[i].D[j]);
for (j=0;j<3;j++) printvt(vt,"%2.0f" ,obs[i].SNR[j]*0.25);
for (j=0;j<3;j++) printvt(vt,"%2d" ,obs[i].LLI[j]);
printvt(vt,"\n");
}
}
Expand Down Expand Up @@ -1181,7 +1181,7 @@ static void prstream(vt_t *vt)
"-","serial","file","tcpsvr","tcpcli","udp","ntrips","ntripc","ftp","http"
};
const char *fmt[]={"rtcm2","rtcm3","oem4","oem3","ubx","ss2","hemis","skytreq",
"gw10","javad","lexr","","","","","sp3","","",""};
"gw10","javad","lexr","","ogrp","","","sp3","","",""};
const char *sol[]={"llh","xyz","enu","nmea"};
stream_t stream[9];
int i,format[9]={0};
Expand Down
15 changes: 12 additions & 3 deletions app/srctblbrows/browsmain.cpp
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Expand Up @@ -23,6 +23,13 @@ TMainForm *MainForm;

static char buff[MAXSRCTBL]; // source table buffer

//---------------------------------------------------------------------------
static double str2dbl(AnsiString str)
{
double val=0.0;
sscanf(str.c_str(),"%lf",&val);
return val;
}
/* get source table -------------------------------------------------------*/
static char *getsrctbl(const char *path)
{
Expand Down Expand Up @@ -493,7 +500,7 @@ void __fastcall TMainForm::ShowMsg(const char *msg)
//---------------------------------------------------------------------------
void __fastcall TMainForm::UpdateMap(void)
{
AnsiString title,msg;
AnsiString title,msg,LatText,LonText;
double lat,lon;

if (Address->Text=="") {
Expand All @@ -506,8 +513,10 @@ void __fastcall TMainForm::UpdateMap(void)

for (int i=1;i<Table0->RowCount;i++) {
if (Table0->Cells[8][i]=="") continue;
lat=Table0->Cells[8][i].ToDouble();
lon=Table0->Cells[9][i].ToDouble();
LatText=Table0->Cells[8][i];
LonText=Table0->Cells[9][i];
lat=str2dbl(LatText);
lon=str2dbl(LonText);
title=Table0->Cells[0][i];
msg="<b>"+Table0->Cells[0][i]+"</b>: "+
Table0->Cells[1][i]+" ("+Table0->Cells[7][i]+"), POS: "+
Expand Down
7 changes: 5 additions & 2 deletions app/str2str/gcc/makefile
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Expand Up @@ -9,12 +9,12 @@ CTARGET=

OPTION = -DENAGLO -DENAGAL -DENAQZS -DENACMP -DTRACE -DNFREQ=3 -DNEXOBS=3
CFLAGS = -Wall -O3 -ansi -pedantic -I$(SRC) $(OPTION) $(CTARGET)
LDLIBS = -lm -lrt -lpthread
LDLIBS = -lm -lrt -lpthread -ljson

all : str2str
str2str : str2str.o stream.o rtkcmn.o solution.o sbas.o geoid.o
str2str : rcvraw.o novatel.o ublox.o ss2.o crescent.o skytraq.o gw10.o javad.o
str2str : nvs.o binex.o rtcm.o rtcm2.o rtcm3.o rtcm3e.o preceph.o streamsvr.o
str2str : nvs.o binex.o rtcm.o rtcm2.o rtcm3.o rtcm3e.o preceph.o streamsvr.o ogrp.o

str2str.o : ../str2str.c
$(CC) -c $(CFLAGS) ../str2str.c
Expand Down Expand Up @@ -50,6 +50,8 @@ nvs.o : $(SRC)/rcv/nvs.c
$(CC) -c $(CFLAGS) $(SRC)/rcv/nvs.c
binex.o : $(SRC)/rcv/binex.c
$(CC) -c $(CFLAGS) $(SRC)/rcv/binex.c
ogrp.o : $(SRC)/rcv/ogrp.c
$(CC) -c $(CFLAGS) $(SRC)/rcv/ogrp.c
rtcm.o : $(SRC)/rtcm.c
$(CC) -c $(CFLAGS) $(SRC)/rtcm.c
rtcm2.o : $(SRC)/rtcm2.c
Expand Down Expand Up @@ -78,6 +80,7 @@ gw10.o : $(SRC)/rtklib.h
javad.o : $(SRC)/rtklib.h
nvs.o : $(SRC)/rtklib.h
binex.o : $(SRC)/rtklib.h
ogrp.o : $(SRC)/rtklib.h
rtcm.o : $(SRC)/rtklib.h
rtcm2.o : $(SRC)/rtklib.h
rtcm3.o : $(SRC)/rtklib.h
Expand Down
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100644 → 100755
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Binary file modified bin/rtkplot.exe
100644 → 100755
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Binary file modified bin/rtkpost.exe
100644 → 100755
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Binary file modified bin/rtkpost_mkl.exe
100644 → 100755
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Binary file modified bin/srctblbrows.exe
100644 → 100755
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Binary file modified bin/strsvr.exe
100644 → 100755
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Empty file modified bin/teqc.exe
100644 → 100755
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Empty file modified bin/wget.exe
100644 → 100755
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Empty file.
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