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RS-tracker/demod/multi/rs41base.c

1629 wiersze
50 KiB
C
Czysty Zwykły widok Historia

multi decode: rs41, dfm
2019-08-22 18:22:59 +00:00
/*
* rs41
* sync header: correlation/matched filter
* compile, either (a) or (b):
* (a)
* gcc -DINCLUDESTATIC -c rs41base.c
* (b)
clean-up
2019-08-24 07:26:50 +00:00
* gcc -c bch_ecc_mod.c
multi decode: rs41, dfm
2019-08-22 18:22:59 +00:00
* gcc -c rs41base.c
*
* author: zilog80
*/
#include <stdio.h>
#include <stdlib.h>
#include <string.h>
#include <math.h>
/*
#ifdef CYGWIN
#include <fcntl.h> // cygwin: _setmode()
#include <io.h>
#endif
*/
#include "demod_base.h"
//#define INCLUDESTATIC 1
#ifdef INCLUDESTATIC
#include "bch_ecc_mod.c"
#else
#include "bch_ecc_mod.h"
#endif
typedef struct {
i8_t vbs; // verbose output
i8_t raw; // raw frames
i8_t crc; // CRC check output
i8_t ecc; // Reed-Solomon ECC
i8_t sat; // GPS sat data
i8_t ptu; // PTU: temperature
i8_t inv;
i8_t aut;
i8_t jsn; // JSON output (auto_rx)
i8_t slt; // silent
} option_t;
typedef struct {
int typ;
int msglen;
int msgpos;
int parpos;
int hdrlen;
int frmlen;
} rscfg_t;
static rscfg_t cfg_rs41 = { 41, (320-56)/2, 56, 8, 8, 320}; // const: msgpos, parpos
#define NDATA_LEN 320 // std framelen 320
#define XDATA_LEN 198
#define FRAME_LEN (NDATA_LEN+XDATA_LEN) // max framelen 518
/*
ui8_t //xframe[FRAME_LEN] = { 0x10, 0xB6, 0xCA, 0x11, 0x22, 0x96, 0x12, 0xF8}, = xorbyte( frame)
frame[FRAME_LEN] = { 0x86, 0x35, 0xf4, 0x40, 0x93, 0xdf, 0x1a, 0x60}; // = xorbyte(xframe)
*/
typedef struct {
int out;
int frnr;
char id[9];
ui8_t numSV;
int week; int tow_ms; int gpssec;
int jahr; int monat; int tag;
int wday;
int std; int min; float sek;
double lat; double lon; double alt;
double vH; double vD; double vV;
float T; float RH;
ui32_t crc;
ui8_t frame[FRAME_LEN];
ui8_t calibytes[51*16];
ui8_t calfrchk[51];
float ptu_Rf1; // ref-resistor f1 (750 Ohm)
float ptu_Rf2; // ref-resistor f2 (1100 Ohm)
float ptu_co1[3]; // { -243.911 , 0.187654 , 8.2e-06 }
float ptu_calT1[3]; // calibration T1
float ptu_co2[3]; // { -243.911 , 0.187654 , 8.2e-06 }
float ptu_calT2[3]; // calibration T2-Hum
float ptu_calH[2]; // calibration Hum
ui32_t freq; // freq/kHz
float batt; // battery voltage (V)
ui16_t conf_fw; // firmware
ui16_t conf_kt; // kill timer (sec)
ui16_t conf_bt; // burst timer (sec)
ui16_t conf_cd; // kill countdown (sec) (kt or bt)
ui8_t conf_bk; // burst kill
char rstyp[9]; // RS41-SG, RS41-SGP
int aux;
char xdata[XDATA_LEN+16]; // xdata: aux_str1#aux_str2 ...
option_t option;
RS_t RS;
} gpx_t;
#define BITS 8
#define HEADLEN 64
#define FRAMESTART ((HEADLEN)/BITS)
/* 10 B6 CA 11 22 96 12 F8 */
static char rs41_header[] = "0000100001101101010100111000100001000100011010010100100000011111";
static ui8_t rs41_header_bytes[8] = { 0x86, 0x35, 0xf4, 0x40, 0x93, 0xdf, 0x1a, 0x60};
#define MASK_LEN 64
static ui8_t mask[MASK_LEN] = { 0x96, 0x83, 0x3E, 0x51, 0xB1, 0x49, 0x08, 0x98,
0x32, 0x05, 0x59, 0x0E, 0xF9, 0x44, 0xC6, 0x26,
0x21, 0x60, 0xC2, 0xEA, 0x79, 0x5D, 0x6D, 0xA1,
0x54, 0x69, 0x47, 0x0C, 0xDC, 0xE8, 0x5C, 0xF1,
0xF7, 0x76, 0x82, 0x7F, 0x07, 0x99, 0xA2, 0x2C,
0x93, 0x7C, 0x30, 0x63, 0xF5, 0x10, 0x2E, 0x61,
0xD0, 0xBC, 0xB4, 0xB6, 0x06, 0xAA, 0xF4, 0x23,
0x78, 0x6E, 0x3B, 0xAE, 0xBF, 0x7B, 0x4C, 0xC1};
/* LFSR: ab i=8 (mod 64):
* m[16+i] = m[i] ^ m[i+2] ^ m[i+4] ^ m[i+6]
* ________________3205590EF944C6262160C2EA795D6DA15469470CDCE85CF1
* F776827F0799A22C937C3063F5102E61D0BCB4B606AAF423786E3BAEBF7B4CC196833E51B1490898
*/
/*
frame[pos] = xframe[pos] ^ mask[pos % MASK_LEN];
*/
/* ------------------------------------------------------------------------------------ */
#define BAUD_RATE 4800
/* ------------------------------------------------------------------------------------ */
/*
* Convert GPS Week and Seconds to Modified Julian Day.
* - Adapted from sci.astro FAQ.
* - Ignores UTC leap seconds.
*/
// in : week, gpssec
// out: jahr, monat, tag
static void Gps2Date(gpx_t *gpx) {
long GpsDays, Mjd;
long J, C, Y, M;
GpsDays = gpx->week * 7 + (gpx->gpssec / 86400);
Mjd = 44244 + GpsDays;
J = Mjd + 2468570;
C = 4 * J / 146097;
J = J - (146097 * C + 3) / 4;
Y = 4000 * (J + 1) / 1461001;
J = J - 1461 * Y / 4 + 31;
M = 80 * J / 2447;
gpx->tag = J - 2447 * M / 80;
J = M / 11;
gpx->monat = M + 2 - (12 * J);
gpx->jahr = 100 * (C - 49) + Y + J;
}
/* ------------------------------------------------------------------------------------ */
static int bits2byte(char bits[]) {
int i, byteval=0, d=1;
for (i = 0; i < 8; i++) { // little endian
/* for (i = 7; i >= 0; i--) { // big endian */
if (bits[i] == 1) byteval += d;
else if (bits[i] == 0) byteval += 0;
else return 0x100;
d <<= 1;
}
return byteval;
}
/* ------------------------------------------------------------------------------------ */
static ui32_t u4(ui8_t *bytes) { // 32bit unsigned int
ui32_t val = 0;
memcpy(&val, bytes, 4);
return val;
}
static ui32_t u3(ui8_t *bytes) { // 24bit unsigned int
int val24 = 0;
val24 = bytes[0] | (bytes[1]<<8) | (bytes[2]<<16);
// = memcpy(&val, bytes, 3), val &= 0x00FFFFFF;
return val24;
}
static int i3(ui8_t *bytes) { // 24bit signed int
int val = 0,
val24 = 0;
val = bytes[0] | (bytes[1]<<8) | (bytes[2]<<16);
val24 = val & 0xFFFFFF; if (val24 & 0x800000) val24 = val24 - 0x1000000;
return val24;
}
static ui32_t u2(ui8_t *bytes) { // 16bit unsigned int
return bytes[0] | (bytes[1]<<8);
}
/*
double r8(ui8_t *bytes) {
double val = 0;
memcpy(&val, bytes, 8);
return val;
}
float r4(ui8_t *bytes) {
float val = 0;
memcpy(&val, bytes, 4);
return val;
}
*/
static int crc16(gpx_t *gpx, int start, int len) {
int crc16poly = 0x1021;
int rem = 0xFFFF, i, j;
int byte;
if (start+len+2 > FRAME_LEN) return -1;
for (i = 0; i < len; i++) {
byte = gpx->frame[start+i];
rem = rem ^ (byte << 8);
for (j = 0; j < 8; j++) {
if (rem & 0x8000) {
rem = (rem << 1) ^ crc16poly;
}
else {
rem = (rem << 1);
}
rem &= 0xFFFF;
}
}
return rem;
}
static int check_CRC(gpx_t *gpx, ui32_t pos, ui32_t pck) {
ui32_t crclen = 0,
crcdat = 0;
// check only pck_type (variable len pcks 0x76, 0x7E)
if (((pck>>8) & 0xFF) != gpx->frame[pos]) return -1;
crclen = gpx->frame[pos+1];
if (pos + crclen + 4 > FRAME_LEN) return -1;
crcdat = u2(gpx->frame+pos+2+crclen);
if ( crcdat != crc16(gpx, pos+2, crclen) ) {
return 1; // CRC NO
}
else return 0; // CRC OK
}
/*
GPS chip: ublox UBX-G6010-ST
Pos: SubHeader, 1+1 byte (ID+LEN)
0x039: 7928 FrameNumber+SondeID
+(0x050: 0732 CalFrames 0x00..0x32)
0x065: 7A2A PTU
0x093: 7C1E GPS1: RXM-RAW (0x02 0x10) Week, TOW, Sats
0x0B5: 7D59 GPS2: RXM-RAW (0x02 0x10) pseudorange, doppler
0x112: 7B15 GPS3: NAV-SOL (0x01 0x06) ECEF-POS, ECEF-VEL
0x12B: 7611 00
0x12B: 7Exx AUX-xdata
*/
#define crc_FRAME (1<<0)
#define xor_FRAME 0x1713 // ^0x6E3B=0x7928
#define pck_FRAME 0x7928
#define pos_FRAME 0x039
#define pos_FrameNb 0x03B // 2 byte
#define pos_BattVolts 0x045 // 2 byte
#define pos_SondeID 0x03D // 8 byte
#define pos_CalData 0x052 // 1 byte, counter 0x00..0x32
#define pos_Calfreq 0x055 // 2 byte, calfr 0x00
#define pos_Calburst 0x05E // 1 byte, calfr 0x02
// ? #define pos_Caltimer 0x05A // 2 byte, calfr 0x02 ?
#define pos_CalRSTyp 0x05B // 8 byte, calfr 0x21 (+2 byte in 0x22?)
// weitere chars in calfr 0x22/0x23; weitere ID
#define crc_PTU (1<<1)
#define xor_PTU 0xE388 // ^0x99A2=0x0x7A2A
#define pck_PTU 0x7A2A // PTU
#define pos_PTU 0x065
#define crc_GPS1 (1<<2)
#define xor_GPS1 0x9667 // ^0xEA79=0x7C1E
#define pck_GPS1 0x7C1E // RXM-RAW (0x02 0x10)
#define pos_GPS1 0x093
#define pos_GPSweek 0x095 // 2 byte
#define pos_GPSiTOW 0x097 // 4 byte
#define pos_satsN 0x09B // 12x2 byte (1: SV, 1: quality,strength)
#define crc_GPS2 (1<<3)
#define xor_GPS2 0xD7AD // ^0xAAF4=0x7D59
#define pck_GPS2 0x7D59 // RXM-RAW (0x02 0x10)
#define pos_GPS2 0x0B5
#define pos_minPR 0x0B7 // 4 byte
#define pos_FF 0x0BB // 1 byte
#define pos_dataSats 0x0BC // 12x(4+3) byte (4: pseudorange, 3: doppler)
#define crc_GPS3 (1<<4)
#define xor_GPS3 0xB9FF // ^0xC2EA=0x7B15
#define pck_GPS3 0x7B15 // NAV-SOL (0x01 0x06)
#define pos_GPS3 0x112
#define pos_GPSecefX 0x114 // 4 byte
#define pos_GPSecefY 0x118 // 4 byte
#define pos_GPSecefZ 0x11C // 4 byte
#define pos_GPSecefV 0x120 // 3*2 byte
#define pos_numSats 0x126 // 1 byte
#define pos_sAcc 0x127 // 1 byte
#define pos_pDOP 0x128 // 1 byte
#define crc_AUX (1<<5)
#define pck_AUX 0x7E00 // LEN variable
#define pos_AUX 0x12B
#define crc_ZERO (1<<6) // LEN variable
#define pck_ZERO 0x7600
#define pck_ZEROstd 0x7611 // NDATA std-frm, no aux
#define pos_ZEROstd 0x12B // pos_AUX(0)
#define pck_SGM_xTU 0x7F1B // temperature/humidity
#define pck_SGM_CRYPT 0x80A7 // Packet type for an Encrypted payload
/*
frame[pos_FRAME-1] == 0x0F: len == NDATA_LEN(320)
frame[pos_FRAME-1] == 0xF0: len == FRAME_LEN(518)
*/
static int frametype(gpx_t *gpx) { // -4..+4: 0xF0 -> -4 , 0x0F -> +4
int i;
ui8_t b = gpx->frame[pos_FRAME-1];
int ft = 0;
for (i = 0; i < 4; i++) {
ft += ((b>>i)&1) - ((b>>(i+4))&1);
}
return ft;
}
static int get_FrameNb(gpx_t *gpx, int ofs) {
int i;
unsigned byte;
ui8_t frnr_bytes[2];
int frnr;
for (i = 0; i < 2; i++) {
byte = gpx->frame[pos_FrameNb+ofs + i];
frnr_bytes[i] = byte;
}
frnr = frnr_bytes[0] + (frnr_bytes[1] << 8);
gpx->frnr = frnr;
return 0;
}
static int get_BattVolts(gpx_t *gpx, int ofs) {
int i;
unsigned byte;
ui8_t batt_bytes[2];
float batt_volts;
for (i = 0; i < 2; i++) {
byte = gpx->frame[pos_BattVolts+ofs + i];
batt_bytes[i] = byte;
}
batt_volts = (float)(batt_bytes[0] + (batt_bytes[1] << 8));
gpx->batt = batt_volts/10.0;
return 0;
}
static int get_SondeID(gpx_t *gpx, int crc, int ofs) {
int i;
unsigned byte;
char sondeid_bytes[9];
if (crc == 0) {
for (i = 0; i < 8; i++) {
byte = gpx->frame[pos_SondeID+ofs + i];
//if ((byte < 0x20) || (byte > 0x7E)) return -1;
sondeid_bytes[i] = byte;
}
sondeid_bytes[8] = '\0';
if ( strncmp(gpx->id, sondeid_bytes, 8) != 0 ) {
//for (i = 0; i < 51; i++) gpx->calfrchk[i] = 0;
memset(gpx->calfrchk, 0, 51); // 0x00..0x32
// reset conf data
memset(gpx->rstyp, 0, 9);
gpx->freq = 0;
gpx->conf_fw = 0;
gpx->conf_bt = 0;
gpx->conf_bk = 0;
gpx->conf_cd = -1;
gpx->conf_kt = -1;
// don't reset gpx->frame[] !
gpx->T = -273.15;
gpx->RH = -1.0;
// new ID:
memcpy(gpx->id, sondeid_bytes, 8);
gpx->id[8] = '\0';
}
}
return 0;
}
static int get_FrameConf(gpx_t *gpx, int ofs) {
int crc, err;
ui8_t calfr;
int i;
crc = check_CRC(gpx, pos_FRAME+ofs, pck_FRAME);
if (crc) gpx->crc |= crc_FRAME;
err = crc;
err |= get_SondeID(gpx, crc, ofs);
err |= get_FrameNb(gpx, ofs);
err |= get_BattVolts(gpx, ofs);
if (crc == 0) {
calfr = gpx->frame[pos_CalData+ofs];
if (gpx->calfrchk[calfr] == 0) // const?
{ // 0x32 not constant
for (i = 0; i < 16; i++) {
gpx->calibytes[calfr*16 + i] = gpx->frame[pos_CalData+ofs+1+i];
}
gpx->calfrchk[calfr] = 1;
}
}
return err;
}
static int get_CalData(gpx_t *gpx) {
memcpy(&(gpx->ptu_Rf1), gpx->calibytes+61, 4); // 0x03*0x10+13
memcpy(&(gpx->ptu_Rf2), gpx->calibytes+65, 4); // 0x04*0x10+ 1
memcpy(gpx->ptu_co1+0, gpx->calibytes+77, 4); // 0x04*0x10+13
memcpy(gpx->ptu_co1+1, gpx->calibytes+81, 4); // 0x05*0x10+ 1
memcpy(gpx->ptu_co1+2, gpx->calibytes+85, 4); // 0x05*0x10+ 5
memcpy(gpx->ptu_calT1+0, gpx->calibytes+89, 4); // 0x05*0x10+ 9
memcpy(gpx->ptu_calT1+1, gpx->calibytes+93, 4); // 0x05*0x10+13
memcpy(gpx->ptu_calT1+2, gpx->calibytes+97, 4); // 0x06*0x10+ 1
memcpy(gpx->ptu_calH+0, gpx->calibytes+117, 4); // 0x07*0x10+ 5
memcpy(gpx->ptu_calH+1, gpx->calibytes+121, 4); // 0x07*0x10+ 9
memcpy(gpx->ptu_co2+0, gpx->calibytes+293, 4); // 0x12*0x10+ 5
memcpy(gpx->ptu_co2+1, gpx->calibytes+297, 4); // 0x12*0x10+ 9
memcpy(gpx->ptu_co2+2, gpx->calibytes+301, 4); // 0x12*0x10+13
memcpy(gpx->ptu_calT2+0, gpx->calibytes+305, 4); // 0x13*0x10+ 1
memcpy(gpx->ptu_calT2+1, gpx->calibytes+309, 4); // 0x13*0x10+ 5
memcpy(gpx->ptu_calT2+2, gpx->calibytes+313, 4); // 0x13*0x10+ 9
return 0;
}
/*
static float get_Tc0(gpx_t *gpx, ui32_t f, ui32_t f1, ui32_t f2) {
// y = (f - f1) / (f2 - f1);
// y1 = (f - f1) / f2; // = (1 - f1/f2)*y
float a = 3.9083e-3, // Pt1000 platinum resistance
b = -5.775e-7,
c = -4.183e-12; // below 0C, else C=0
float *cal = gpx->ptu_calT1;
float Rb = (f1*gpx->ptu_Rf2-f2*gpx->ptu_Rf1)/(f2-f1), // ofs
Ra = f * (gpx->ptu_Rf2-gpx->ptu_Rf1)/(f2-f1) - Rb,
raw = Ra/1000.0,
g_r = 0.8024*cal[0] + 0.0176, // empirisch
r_o = 0.0705*cal[1] + 0.0011, // empirisch
r = raw * g_r + r_o,
t = (-a + sqrt(a*a + 4*b*(r-1)))/(2*b); // t>0: c=0
// R/R0 = 1 + at + bt^2 + c(t-100)t^3 , R0 = 1000 Ohm, t/Celsius
return t;
}
*/
// T_RH-sensor
static float get_TH(gpx_t *gpx, ui32_t f, ui32_t f1, ui32_t f2) {
float *p = gpx->ptu_co2;
float *c = gpx->ptu_calT2;
float g = (float)(f2-f1)/(gpx->ptu_Rf2-gpx->ptu_Rf1), // gain
Rb = (f1*gpx->ptu_Rf2-f2*gpx->ptu_Rf1)/(float)(f2-f1), // ofs
Rc = f/g - Rb,
//R = (Rc + c[1]) * c[0],
//T = p[0] + p[1]*R + p[2]*R*R;
R = Rc * c[0],
T = (p[0] + p[1]*R + p[2]*R*R + c[1])*(1.0 + c[2]);
return T;
}
// T-sensor, platinum resistor
static float get_Tc(gpx_t *gpx, ui32_t f, ui32_t f1, ui32_t f2) {
float *p = gpx->ptu_co1;
float *c = gpx->ptu_calT1;
float g = (float)(f2-f1)/(gpx->ptu_Rf2-gpx->ptu_Rf1), // gain
Rb = (f1*gpx->ptu_Rf2-f2*gpx->ptu_Rf1)/(float)(f2-f1), // ofs
Rc = f/g - Rb,
//R = (Rc + c[1]) * c[0],
//T = p[0] + p[1]*R + p[2]*R*R;
R = Rc * c[0],
T = (p[0] + p[1]*R + p[2]*R*R + c[1])*(1.0 + c[2]);
return T;
}
// rel.hum., capacitor
// (data:) ftp://ftp-cdc.dwd.de/climate_environment/CDC/observations_germany/radiosondes/
// (diffAlt: Ellipsoid-Geoid)
static float get_RH(gpx_t *gpx, ui32_t f, ui32_t f1, ui32_t f2, float T) {
float a0 = 7.5; // empirical
float a1 = 350.0/gpx->ptu_calH[0]; // empirical
float fh = (f-f1)/(float)(f2-f1);
float rh = 100.0 * ( a1*fh - a0 );
float T0 = 0.0, T1 = -25.0; // T/C
rh += T0 - T/5.5; // empir. temperature compensation
if (T < T1) rh *= 1.0 + (T1-T)/90.0; // empir. temperature compensation
if (rh < 0.0) rh = 0.0;
if (rh > 100.0) rh = 100.0;
if (T < -273.0) rh = -1.0;
return rh;
}
static int get_PTU(gpx_t *gpx, int ofs, int pck) {
int err=0, i;
int bR, bc1, bT1,
bc2, bT2;
int bH;
ui32_t meas[12];
float Tc = -273.15;
float TH = -273.15;
float RH = -1.0;
get_CalData(gpx);
err = check_CRC(gpx, pos_PTU+ofs, pck);
if (err) gpx->crc |= crc_PTU;
if (err == 0)
{
// 0x7A2A: 16 byte (P)TU
// 0x7F1B: 12 byte _TU
for (i = 0; i < 12; i++) {
meas[i] = u3(gpx->frame+pos_PTU+ofs+2+3*i);
}
bR = gpx->calfrchk[0x03] && gpx->calfrchk[0x04];
bc1 = gpx->calfrchk[0x04] && gpx->calfrchk[0x05];
bT1 = gpx->calfrchk[0x05] && gpx->calfrchk[0x06];
bc2 = gpx->calfrchk[0x12] && gpx->calfrchk[0x13];
bT2 = gpx->calfrchk[0x13];
bH = gpx->calfrchk[0x07];
if (bR && bc1 && bT1) {
Tc = get_Tc(gpx, meas[0], meas[1], meas[2]);
//Tc0 = get_Tc0(gpx, meas[0], meas[1], meas[2]);
}
gpx->T = Tc;
if (bR && bc2 && bT2) {
TH = get_TH(gpx, meas[6], meas[7], meas[8]);
}
if (bH) {
RH = get_RH(gpx, meas[3], meas[4], meas[5], Tc); // TH, TH-Tc (sensorT - T)
}
gpx->RH = RH;
if (gpx->option.vbs == 4 && (gpx->crc & (crc_PTU | crc_GPS3))==0)
{
printf(" h: %8.2f # ", gpx->alt); // crc_GPS3 ?
printf("1: %8d %8d %8d", meas[0], meas[1], meas[2]);
printf(" # ");
printf("2: %8d %8d %8d", meas[3], meas[4], meas[5]);
printf(" # ");
printf("3: %8d %8d %8d", meas[6], meas[7], meas[8]);
printf(" # ");
//if (Tc > -273.0 && RH > -0.5)
{
printf(" ");
printf(" Tc:%.2f ", Tc);
printf(" RH:%.1f ", RH);
printf(" TH:%.2f ", TH);
}
printf("\n");
//if (gpx->alt > -400.0)
{
printf(" %9.2f ; %6.1f ; %6.1f ", gpx->alt, gpx->ptu_Rf1, gpx->ptu_Rf2);
printf("; %10.6f ; %10.6f ; %10.6f ", gpx->ptu_calT1[0], gpx->ptu_calT1[1], gpx->ptu_calT1[2]);
//printf("; %8d ; %8d ; %8d ", meas[0], meas[1], meas[2]);
printf("; %10.6f ; %10.6f ", gpx->ptu_calH[0], gpx->ptu_calH[1]);
//printf("; %8d ; %8d ; %8d ", meas[3], meas[4], meas[5]);
printf("; %10.6f ; %10.6f ; %10.6f ", gpx->ptu_calT2[0], gpx->ptu_calT2[1], gpx->ptu_calT2[2]);
//printf("; %8d ; %8d ; %8d" , meas[6], meas[7], meas[8]);
printf("\n");
}
}
}
return err;
}
static int get_GPSweek(gpx_t *gpx, int ofs) {
int i;
unsigned byte;
ui8_t gpsweek_bytes[2];
int gpsweek;
for (i = 0; i < 2; i++) {
byte = gpx->frame[pos_GPSweek+ofs + i];
gpsweek_bytes[i] = byte;
}
gpsweek = gpsweek_bytes[0] + (gpsweek_bytes[1] << 8);
//if (gpsweek < 0) { gpx->week = -1; return -1; } // (short int)
gpx->week = gpsweek;
return 0;
}
//char weekday[7][3] = { "So", "Mo", "Di", "Mi", "Do", "Fr", "Sa"};
static char weekday[7][4] = { "Sun", "Mon", "Tue", "Wed", "Thu", "Fri", "Sat"};
static int get_GPStime(gpx_t *gpx, int ofs) {
int i;
unsigned byte;
ui8_t gpstime_bytes[4];
int gpstime = 0, // 32bit
day;
int ms;
for (i = 0; i < 4; i++) {
byte = gpx->frame[pos_GPSiTOW+ofs + i];
gpstime_bytes[i] = byte;
}
memcpy(&gpstime, gpstime_bytes, 4);
gpx->tow_ms = gpstime;
ms = gpstime % 1000;
gpstime /= 1000;
gpx->gpssec = gpstime;
day = (gpstime / (24 * 3600)) % 7;
//if ((day < 0) || (day > 6)) return -1; // besser CRC-check
gpstime %= (24*3600);
gpx->wday = day;
gpx->std = gpstime / 3600;
gpx->min = (gpstime % 3600) / 60;
gpx->sek = gpstime % 60 + ms/1000.0;
return 0;
}
static int get_GPS1(gpx_t *gpx, int ofs) {
int err=0;
// gpx->frame[pos_GPS1+1] != (pck_GPS1 & 0xFF) ?
err = check_CRC(gpx, pos_GPS1+ofs, pck_GPS1);
if (err) {
gpx->crc |= crc_GPS1;
// reset GPS1-data (json)
gpx->jahr = 0; gpx->monat = 0; gpx->tag = 0;
gpx->std = 0; gpx->min = 0; gpx->sek = 0.0;
return -1;
}
err |= get_GPSweek(gpx, ofs); // no plausibility-check
err |= get_GPStime(gpx, ofs); // no plausibility-check
return err;
}
static int get_GPS2(gpx_t *gpx, int ofs) {
int err=0;
// gpx->frame[pos_GPS2+1] != (pck_GPS2 & 0xFF) ?
err = check_CRC(gpx, pos_GPS2+ofs, pck_GPS2);
if (err) gpx->crc |= crc_GPS2;
return err;
}
#define EARTH_a 6378137.0
#define EARTH_b 6356752.31424518
#define EARTH_a2_b2 (EARTH_a*EARTH_a - EARTH_b*EARTH_b)
const
double a = EARTH_a,
b = EARTH_b,
a_b = EARTH_a2_b2,
e2 = EARTH_a2_b2 / (EARTH_a*EARTH_a),
ee2 = EARTH_a2_b2 / (EARTH_b*EARTH_b);
static void ecef2elli(double X[], double *lat, double *lon, double *alt) {
double phi, lam, R, p, t;
lam = atan2( X[1] , X[0] );
p = sqrt( X[0]*X[0] + X[1]*X[1] );
t = atan2( X[2]*a , p*b );
phi = atan2( X[2] + ee2 * b * sin(t)*sin(t)*sin(t) ,
p - e2 * a * cos(t)*cos(t)*cos(t) );
R = a / sqrt( 1 - e2*sin(phi)*sin(phi) );
*alt = p / cos(phi) - R;
*lat = phi*180/M_PI;
*lon = lam*180/M_PI;
}
static int get_GPSkoord(gpx_t *gpx, int ofs) {
int i, k;
unsigned byte;
ui8_t XYZ_bytes[4];
int XYZ; // 32bit
double X[3], lat, lon, alt;
ui8_t gpsVel_bytes[2];
short vel16; // 16bit
double V[3];
double phi, lam, dir;
double vN; double vE; double vU;
for (k = 0; k < 3; k++) {
for (i = 0; i < 4; i++) {
byte = gpx->frame[pos_GPSecefX+ofs + 4*k + i];
XYZ_bytes[i] = byte;
}
memcpy(&XYZ, XYZ_bytes, 4);
X[k] = XYZ / 100.0;
for (i = 0; i < 2; i++) {
byte = gpx->frame[pos_GPSecefV+ofs + 2*k + i];
gpsVel_bytes[i] = byte;
}
vel16 = gpsVel_bytes[0] | gpsVel_bytes[1] << 8;
V[k] = vel16 / 100.0;
}
// ECEF-Position
ecef2elli(X, &lat, &lon, &alt);
gpx->lat = lat;
gpx->lon = lon;
gpx->alt = alt;
if ((alt < -1000) || (alt > 80000)) return -3; // plausibility-check: altitude, if ecef=(0,0,0)
// ECEF-Velocities
// ECEF-Vel -> NorthEastUp
phi = lat*M_PI/180.0;
lam = lon*M_PI/180.0;
vN = -V[0]*sin(phi)*cos(lam) - V[1]*sin(phi)*sin(lam) + V[2]*cos(phi);
vE = -V[0]*sin(lam) + V[1]*cos(lam);
vU = V[0]*cos(phi)*cos(lam) + V[1]*cos(phi)*sin(lam) + V[2]*sin(phi);
// NEU -> HorDirVer
gpx->vH = sqrt(vN*vN+vE*vE);
/*
double alpha;
alpha = atan2(gpx->vN, gpx->vE)*180/M_PI; // ComplexPlane (von x-Achse nach links) - GeoMeteo (von y-Achse nach rechts)
dir = 90-alpha; // z=x+iy= -> i*conj(z)=y+ix=re(i(pi/2-t)), Achsen und Drehsinn vertauscht
if (dir < 0) dir += 360; // atan2(y,x)=atan(y/x)=pi/2-atan(x/y) , atan(1/t) = pi/2 - atan(t)
gpx->vD2 = dir;
*/
dir = atan2(vE, vN) * 180 / M_PI;
if (dir < 0) dir += 360;
gpx->vD = dir;
gpx->vV = vU;
gpx->numSV = gpx->frame[pos_numSats+ofs];
return 0;
}
static int get_GPS3(gpx_t *gpx, int ofs) {
int err=0;
// gpx->frame[pos_GPS3+1] != (pck_GPS3 & 0xFF) ?
err = check_CRC(gpx, pos_GPS3+ofs, pck_GPS3);
if (err) {
gpx->crc |= crc_GPS3;
// reset GPS3-data (json)
gpx->lat = 0.0; gpx->lon = 0.0; gpx->alt = 0.0;
gpx->vH = 0.0; gpx->vD = 0.0; gpx->vV = 0.0;
gpx->numSV = 0;
return -1;
}
err |= get_GPSkoord(gpx, ofs); // plausibility-check: altitude, if ecef=(0,0,0)
return err;
}
static int get_Aux(gpx_t *gpx, int out, int pos) {
//
// "Ozone Sounding with Vaisala Radiosonde RS41" user's guide
//
int auxlen, auxcrc, count7E, pos7E;
int i, n;
n = 0;
count7E = 0;
pos7E = 0;
//if (pos != pos_AUX) ;
gpx->xdata[0] = '\0';
if (frametype(gpx) <= 0) // pos7E == pos7611, 0x7E^0x76=0x08 ...
{
// 7Exx: xdata
while ( pos < FRAME_LEN && gpx->frame[pos] == 0x7E ) {
auxlen = gpx->frame[pos+1];
auxcrc = gpx->frame[pos+2+auxlen] | (gpx->frame[pos+2+auxlen+1]<<8);
if ( auxcrc == crc16(gpx, pos+2, auxlen) ) {
if (count7E == 0) {
if (out) fprintf(stdout, "\n # xdata = ");
}
else {
if (out) fprintf(stdout, " # ");
gpx->xdata[n++] = '#'; // aux separator
}
//fprintf(stdout, " # %02x : ", gpx->frame[pos7E+2]);
for (i = 1; i < auxlen; i++) {
ui8_t c = gpx->frame[pos+2+i]; // (char) or better < 0x7F
if (c > 0x1E && c < 0x7F) { // ASCII-only
if (out) fprintf(stdout, "%c", c);
gpx->xdata[n++] = c;
}
}
count7E++;
pos7E = pos;
pos += 2+auxlen+2;
}
else {
pos = FRAME_LEN;
gpx->crc |= crc_AUX;
}
}
}
gpx->xdata[n] = '\0';
i = check_CRC(gpx, pos, pck_ZERO); // 0x76xx: 00-padding block
if (i) gpx->crc |= crc_ZERO;
return pos7E; // count7E
}
static int get_Calconf(gpx_t *gpx, int out, int ofs) {
int i;
unsigned byte;
ui8_t calfr = 0;
ui16_t fw = 0;
int freq = 0, f0 = 0, f1 = 0;
char sondetyp[9];
int err = 0;
byte = gpx->frame[pos_CalData+ofs];
calfr = byte;
err = check_CRC(gpx, pos_FRAME+ofs, pck_FRAME);
if (out && gpx->option.vbs == 3) {
fprintf(stdout, "\n"); // fflush(stdout);
fprintf(stdout, "[%5d] ", gpx->frnr);
fprintf(stdout, " 0x%02x: ", calfr);
for (i = 0; i < 16; i++) {
byte = gpx->frame[pos_CalData+ofs+1+i];
fprintf(stdout, "%02x ", byte);
}
/*
if (err == 0) fprintf(stdout, "[OK]");
else fprintf(stdout, "[NO]");
*/
fprintf(stdout, " ");
}
if (err == 0)
{
if (calfr == 0x00) {
byte = gpx->frame[pos_Calfreq+ofs] & 0xC0; // erstmal nur oberste beiden bits
f0 = (byte * 10) / 64; // 0x80 -> 1/2, 0x40 -> 1/4 ; dann mal 40
byte = gpx->frame[pos_Calfreq+ofs+1];
f1 = 40 * byte;
freq = 400000 + f1+f0; // kHz;
if (out && gpx->option.vbs) fprintf(stdout, ": fq %d ", freq);
gpx->freq = freq;
}
if (calfr == 0x01) {
fw = gpx->frame[pos_CalData+ofs+6] | (gpx->frame[pos_CalData+ofs+7]<<8);
if (out && gpx->option.vbs) fprintf(stdout, ": fw 0x%04x ", fw);
gpx->conf_fw = fw;
}
if (calfr == 0x02) { // 0x5E, 0x5A..0x5B
ui8_t bk = gpx->frame[pos_Calburst+ofs]; // fw >= 0x4ef5, burst-killtimer in 0x31 relevant
ui16_t kt = gpx->frame[pos_CalData+ofs+8] + (gpx->frame[pos_CalData+ofs+9] << 8); // killtimer (short?)
if (out && gpx->option.vbs) fprintf(stdout, ": BK %02X ", bk);
if (out && gpx->option.vbs && kt != 0xFFFF ) fprintf(stdout, ": kt %.1fmin ", kt/60.0);
gpx->conf_bk = bk;
gpx->conf_kt = kt;
}
if (calfr == 0x31) { // 0x59..0x5A
ui16_t bt = gpx->frame[pos_CalData+ofs+7] + (gpx->frame[pos_CalData+ofs+8] << 8); // burst timer (short?)
// fw >= 0x4ef5: default=[88 77]=0x7788sec=510min
if (out && bt != 0x0000 &&
(gpx->option.vbs == 3 || gpx->option.vbs && gpx->conf_bk)
) fprintf(stdout, ": bt %.1fmin ", bt/60.0);
gpx->conf_bt = bt;
}
if (calfr == 0x32) {
ui16_t cd = gpx->frame[pos_CalData+ofs+1] + (gpx->frame[pos_CalData+ofs+2] << 8); // countdown (bt or kt) (short?)
if (out && cd != 0xFFFF &&
(gpx->option.vbs == 3 || gpx->option.vbs && (gpx->conf_bk || gpx->conf_kt != 0xFFFF))
) fprintf(stdout, ": cd %.1fmin ", cd/60.0);
gpx->conf_cd = cd; // (short/i16_t) ?
}
if (calfr == 0x21) { // ... eventuell noch 2 bytes in 0x22
for (i = 0; i < 9; i++) sondetyp[i] = 0;
for (i = 0; i < 8; i++) {
byte = gpx->frame[pos_CalRSTyp+ofs + i];
if ((byte >= 0x20) && (byte < 0x7F)) sondetyp[i] = byte;
else if (byte == 0x00) sondetyp[i] = '\0';
}
if (out && gpx->option.vbs) fprintf(stdout, ": %s ", sondetyp);
strcpy(gpx->rstyp, sondetyp);
if (out && gpx->option.vbs == 3) { // Stationsdruck QFE
float qfe1 = 0.0, qfe2 = 0.0;
memcpy(&qfe1, gpx->frame+pos_CalData+1, 4);
memcpy(&qfe2, gpx->frame+pos_CalData+5, 4);
if (qfe1 > 0.0 || qfe2 > 0.0) {
fprintf(stdout, " ");
if (qfe1 > 0.0) fprintf(stdout, "QFE1:%.1fhPa ", qfe1);
if (qfe2 > 0.0) fprintf(stdout, "QFE2:%.1fhPa ", qfe2);
}
}
}
}
return 0;
}
/* ------------------------------------------------------------------------------------ */
#define rs_N 255
#define rs_R 24
#define rs_K (rs_N-rs_R)
static int rs41_ecc(gpx_t *gpx, int frmlen) {
// richtige framelen wichtig fuer 0-padding
int i, leak, ret = 0;
int errors1, errors2;
ui8_t cw1[rs_N], cw2[rs_N];
ui8_t err_pos1[rs_R], err_pos2[rs_R],
err_val1[rs_R], err_val2[rs_R];
memset(cw1, 0, rs_N);
memset(cw2, 0, rs_N);
if (frmlen > FRAME_LEN) frmlen = FRAME_LEN;
//cfg_rs41.frmlen = frmlen;
//cfg_rs41.msglen = (frmlen-56)/2; // msgpos=56;
leak = frmlen % 2;
for (i = frmlen; i < FRAME_LEN; i++) gpx->frame[i] = 0; // FRAME_LEN-HDR = 510 = 2*255
for (i = 0; i < rs_R; i++) cw1[i] = gpx->frame[cfg_rs41.parpos+i ];
for (i = 0; i < rs_R; i++) cw2[i] = gpx->frame[cfg_rs41.parpos+i+rs_R];
for (i = 0; i < rs_K; i++) cw1[rs_R+i] = gpx->frame[cfg_rs41.msgpos+2*i ];
for (i = 0; i < rs_K; i++) cw2[rs_R+i] = gpx->frame[cfg_rs41.msgpos+2*i+1];
errors1 = rs_decode(&gpx->RS, cw1, err_pos1, err_val1);
errors2 = rs_decode(&gpx->RS, cw2, err_pos2, err_val2);
if (gpx->option.ecc == 2 && (errors1 < 0 || errors2 < 0))
{ // 2nd pass
gpx->frame[pos_FRAME] = (pck_FRAME>>8)&0xFF; gpx->frame[pos_FRAME+1] = pck_FRAME&0xFF;
gpx->frame[pos_PTU] = (pck_PTU >>8)&0xFF; gpx->frame[pos_PTU +1] = pck_PTU &0xFF;
gpx->frame[pos_GPS1] = (pck_GPS1 >>8)&0xFF; gpx->frame[pos_GPS1 +1] = pck_GPS1 &0xFF;
gpx->frame[pos_GPS2] = (pck_GPS2 >>8)&0xFF; gpx->frame[pos_GPS2 +1] = pck_GPS2 &0xFF;
gpx->frame[pos_GPS3] = (pck_GPS3 >>8)&0xFF; gpx->frame[pos_GPS3 +1] = pck_GPS3 &0xFF;
// AUX-frames mit vielen Fehlern besser mit 00 auffuellen
// std-O3-AUX-frame: NDATA+7
if (frametype(gpx) < -2) { // ft >= 0: NDATA_LEN , ft < 0: FRAME_LEN
for (i = NDATA_LEN + 7; i < FRAME_LEN-2; i++) gpx->frame[i] = 0;
}
else { // std-frm (len=320): std_ZERO-frame (7611 00..00 ECC7)
for (i = NDATA_LEN; i < FRAME_LEN; i++) gpx->frame[i] = 0;
gpx->frame[pos_ZEROstd ] = 0x76; // pck_ZEROstd
gpx->frame[pos_ZEROstd+1] = 0x11; // pck_ZEROstd
for (i = pos_ZEROstd+2; i < NDATA_LEN-2; i++) gpx->frame[i] = 0;
gpx->frame[NDATA_LEN-2] = 0xEC; // crc(pck_ZEROstd)
gpx->frame[NDATA_LEN-1] = 0xC7; // crc(pck_ZEROstd)
}
for (i = 0; i < rs_K; i++) cw1[rs_R+i] = gpx->frame[cfg_rs41.msgpos+2*i ];
for (i = 0; i < rs_K; i++) cw2[rs_R+i] = gpx->frame[cfg_rs41.msgpos+2*i+1];
errors1 = rs_decode(&gpx->RS, cw1, err_pos1, err_val1);
errors2 = rs_decode(&gpx->RS, cw2, err_pos2, err_val2);
}
// Wenn Fehler im 00-padding korrigiert wurden,
// war entweder der frame zu kurz, oder
// Fehler wurden falsch korrigiert;
// allerdings ist bei t=12 die Wahrscheinlichkeit,
// dass falsch korrigiert wurde mit 1/t! sehr gering.
// check CRC32
// CRC32 OK:
//for (i = 0; i < cfg_rs41.hdrlen; i++) frame[i] = data[i];
for (i = 0; i < rs_R; i++) {
gpx->frame[cfg_rs41.parpos+ i] = cw1[i];
gpx->frame[cfg_rs41.parpos+rs_R+i] = cw2[i];
}
for (i = 0; i < rs_K; i++) { // cfg_rs41.msglen <= rs_K
gpx->frame[cfg_rs41.msgpos+ 2*i] = cw1[rs_R+i];
gpx->frame[cfg_rs41.msgpos+1+2*i] = cw2[rs_R+i];
}
if (leak) {
gpx->frame[cfg_rs41.msgpos+2*i] = cw1[rs_R+i];
}
ret = errors1 + errors2;
if (errors1 < 0 || errors2 < 0) {
ret = 0;
if (errors1 < 0) ret |= 0x1;
if (errors2 < 0) ret |= 0x2;
ret = -ret;
}
return ret;
}
/* ------------------------------------------------------------------------------------ */
static int prn_frm(gpx_t *gpx) {
fprintf(stdout, "[%5d] ", gpx->frnr);
fprintf(stdout, "(%s) ", gpx->id);
if (gpx->option.vbs == 3) fprintf(stdout, "(%.1f V) ", gpx->batt);
fprintf(stdout, " ");
return 0;
}
static int prn_ptu(gpx_t *gpx) {
fprintf(stdout, " ");
if (gpx->T > -273.0) fprintf(stdout, " T=%.1fC ", gpx->T);
if (gpx->RH > -0.5) fprintf(stdout, " RH=%.0f%% ", gpx->RH);
return 0;
}
static int prn_gpstime(gpx_t *gpx) {
Gps2Date(gpx);
fprintf(stdout, "%s ", weekday[gpx->wday]);
fprintf(stdout, "%04d-%02d-%02d %02d:%02d:%06.3f",
gpx->jahr, gpx->monat, gpx->tag, gpx->std, gpx->min, gpx->sek);
if (gpx->option.vbs == 3) fprintf(stdout, " (W %d)", gpx->week);
fprintf(stdout, " ");
return 0;
}
static int prn_gpspos(gpx_t *gpx) {
//fprintf(stdout, " ");
fprintf(stdout, " lat: %.5f ", gpx->lat);
fprintf(stdout, " lon: %.5f ", gpx->lon);
fprintf(stdout, " alt: %.2f ", gpx->alt);
fprintf(stdout, " vH: %4.1f D: %5.1f vV: %3.1f ", gpx->vH, gpx->vD, gpx->vV);
if (gpx->option.vbs == 3) fprintf(stdout, " sats: %02d ", gpx->numSV);
return 0;
}
static int prn_sat1(gpx_t *gpx, int ofs) {
fprintf(stdout, "\n");
fprintf(stdout, "iTOW: 0x%08X", u4(gpx->frame+pos_GPSiTOW+ofs));
fprintf(stdout, " week: 0x%04X", u2(gpx->frame+pos_GPSweek+ofs));
return 0;
}
const double c = 299.792458e6;
const double L1 = 1575.42e6;
static int prn_sat2(gpx_t *gpx, int ofs) {
int i, n;
int sv;
ui32_t minPR;
fprintf(stdout, "\n");
minPR = u4(gpx->frame+pos_minPR+ofs);
fprintf(stdout, "minPR: %d", minPR);
fprintf(stdout, "\n");
for (i = 0; i < 12; i++) {
n = i*7;
sv = gpx->frame[pos_satsN+ofs+2*i];
if (sv == 0xFF) break;
fprintf(stdout, " SV: %2d ", sv);
//fprintf(stdout, " (%02x) ", gpx->frame[pos_satsN+2*i+1]);
fprintf(stdout, "# ");
fprintf(stdout, "prMes: %.1f", u4(gpx->frame+pos_dataSats+ofs+n)/100.0 + minPR);
fprintf(stdout, " ");
fprintf(stdout, "doMes: %.1f", -i3(gpx->frame+pos_dataSats+ofs+n+4)/100.0*L1/c);
fprintf(stdout, "\n");
}
return 0;
}
static int prn_sat3(gpx_t *gpx, int ofs) {
int numSV;
double pDOP, sAcc;
fprintf(stdout, "\n");
fprintf(stdout, "ECEF-POS: (%d,%d,%d)\n",
(i32_t)u4(gpx->frame+pos_GPSecefX+ofs),
(i32_t)u4(gpx->frame+pos_GPSecefY+ofs),
(i32_t)u4(gpx->frame+pos_GPSecefZ+ofs));
fprintf(stdout, "ECEF-VEL: (%d,%d,%d)\n",
(i16_t)u2(gpx->frame+pos_GPSecefV+ofs+0),
(i16_t)u2(gpx->frame+pos_GPSecefV+ofs+2),
(i16_t)u2(gpx->frame+pos_GPSecefV+ofs+4));
numSV = gpx->frame[pos_numSats+ofs];
sAcc = gpx->frame[pos_sAcc+ofs]/10.0; if (gpx->frame[pos_sAcc+ofs] == 0xFF) sAcc = -1.0;
pDOP = gpx->frame[pos_pDOP+ofs]/10.0; if (gpx->frame[pos_pDOP+ofs] == 0xFF) pDOP = -1.0;
fprintf(stdout, "numSatsFix: %2d sAcc: %.1f pDOP: %.1f\n", numSV, sAcc, pDOP);
/*
fprintf(stdout, "CRC: ");
fprintf(stdout, " %04X", pck_GPS1);
if (check_CRC(gpx, pos_GPS1+ofs, pck_GPS1)==0) fprintf(stdout, "[OK]"); else fprintf(stdout, "[NO]");
//fprintf(stdout, "[%+d]", check_CRC(gpx, pos_GPS1, pck_GPS1));
fprintf(stdout, " %04X", pck_GPS2);
if (check_CRC(gpx, pos_GPS2+ofs, pck_GPS2)==0) fprintf(stdout, "[OK]"); else fprintf(stdout, "[NO]");
//fprintf(stdout, "[%+d]", check_CRC(gpx, pos_GPS2, pck_GPS2));
fprintf(stdout, " %04X", pck_GPS3);
if (check_CRC(gpx, pos_GPS3+ofs, pck_GPS3)==0) fprintf(stdout, "[OK]"); else fprintf(stdout, "[NO]");
//fprintf(stdout, "[%+d]", check_CRC(gpx, pos_GPS3, pck_GPS3));
fprintf(stdout, "\n");
*/
return 0;
}
static int print_position(gpx_t *gpx, int ec) {
int i, j;
int err, err0, err1, err2, err3;
//int output, out_mask;
int encrypted = 0;
int unexp = 0;
int out = 1;
int sat = 0;
int pos_aux = 0, cnt_aux = 0;
int ret = 0;
//gpx->out = 0;
gpx->aux = 0;
if (gpx->option.sat) sat = 1;
if (gpx->option.slt) out = 0; else out = 1;
if ( ec >= 0 )
{
int pos, blk, len, crc, pck;
int flen = NDATA_LEN;
int ofs_cal = 0;
int frm_end = NDATA_LEN-2;
if (frametype(gpx) < 0) flen += XDATA_LEN;
switch (gpx->frame[pos_PTU]) {
case 0x7A: // 0x7A2A
frm_end = flen-2;
break;
case 0x7F: // 0x7F1B
frm_end = pos_ZEROstd + 0x1B-0x2A - 2;
break;
case 0x80: // 0x80A7
frm_end = pos_PTU + 2 + 0xA7;
break;
}
pos = pos_FRAME;
gpx->crc = 0;
while (pos < flen-1) {
blk = gpx->frame[pos];
len = gpx->frame[pos+1];
crc = check_CRC(gpx, pos, blk<<8);
pck = (blk<<8) | len;
if ( crc == 0 ) // ecc-OK -> crc-OK
{
int ofs = 0;
switch (pck)
{
case pck_FRAME: // 0x7928
ofs = pos - pos_FRAME;
ofs_cal = ofs;
err = get_FrameConf(gpx, ofs);
if ( !err ) {
if (out || sat) prn_frm(gpx);
}
break;
case pck_PTU: // 0x7A2A
ofs = pos - pos_PTU;
err0 = get_PTU(gpx, ofs, pck_PTU);
if ( 0 && !err0 && gpx->option.ptu ) {
prn_ptu(gpx);
}
break;
case pck_GPS1: // 0x7C1E
ofs = pos - pos_GPS1;
err1 = get_GPS1(gpx, ofs);
if ( !err1 ) {
if (out) prn_gpstime(gpx);
if (sat) prn_sat1(gpx, ofs);
}
break;
case pck_GPS2: // 0x7D59
ofs = pos - pos_GPS2;
err2 = get_GPS2(gpx, ofs);
if ( !err2 ) {
if (sat) prn_sat2(gpx, ofs);
}
break;
case pck_GPS3: // 0x7B15
ofs = pos - pos_GPS3;
err3 = get_GPS3(gpx, ofs);
if ( !err3 ) {
if (out) prn_gpspos(gpx);
if (sat) prn_sat3(gpx, ofs);
}
break;
case pck_SGM_xTU: // 0x7F1B
ofs = pos - pos_PTU;
err0 = get_PTU(gpx, ofs, pck);
break;
case pck_SGM_CRYPT: // 0x80A7
encrypted = 1;
if (out) fprintf(stdout, " [%04X] (RS41-SGM) ", pck_SGM_CRYPT);
break;
default:
if (blk == 0x7E) {
if (pos_aux == 0) pos_aux = pos; // pos == pos_AUX ?
cnt_aux += 1;
}
if (blk == 0x76) {
// ZERO-Padding pck
}
if (blk != 0x76 && blk != 0x7E) {
if (out) fprintf(stdout, " [%04X] ", pck);
unexp = 1;
}
}
}
else { // CRC-ERROR (ECC-OK)
fprintf(stdout, " [ERROR]\n");
break;
}
pos += 2+len+2; // next pck
if ( pos > frm_end ) // end of (sub)frame
{
if (gpx->option.ptu && out && !sat && !err0 && !encrypted) {
prn_ptu(gpx);
}
get_Calconf(gpx, out, ofs_cal);
if (out && ec > 0 && pos > flen-1) fprintf(stdout, " (%d)", ec);
if (pos_aux) gpx->aux = get_Aux(gpx, out && gpx->option.vbs > 1, pos_aux);
gpx->crc = 0;
frm_end = FRAME_LEN-2;
if (out || sat) fprintf(stdout, "\n");
if (gpx->option.jsn) {
// Print out telemetry data as JSON
if ((!err && !err1 && !err3) || (!err && encrypted)) { // frame-nb/id && gps-time && gps-position (crc-)ok; 3 CRCs, RS not needed
// eigentlich GPS, d.h. UTC = GPS - 18sec (ab 1.1.2017)
fprintf(stdout, "{ \"frame\": %d, \"id\": \"%s\", \"datetime\": \"%04d-%02d-%02dT%02d:%02d:%06.3fZ\", \"lat\": %.5f, \"lon\": %.5f, \"alt\": %.5f, \"vel_h\": %.5f, \"heading\": %.5f, \"vel_v\": %.5f, \"sats\": %d, \"bt\": %d, \"batt\": %.2f",
gpx->frnr, gpx->id, gpx->jahr, gpx->monat, gpx->tag, gpx->std, gpx->min, gpx->sek, gpx->lat, gpx->lon, gpx->alt, gpx->vH, gpx->vD, gpx->vV, gpx->numSV, gpx->conf_cd, gpx->batt );
if (gpx->option.ptu && !err0 && gpx->T > -273.0) {
fprintf(stdout, ", \"temp\": %.1f", gpx->T );
}
if (gpx->option.ptu && !err0 && gpx->RH > -0.5) {
fprintf(stdout, ", \"humidity\": %.1f", gpx->RH );
}
if (gpx->aux) { // <=> gpx->xdata[0]!='\0'
fprintf(stdout, ", \"aux\": \"%s\"", gpx->xdata );
}
if (encrypted) {
fprintf(stdout, ", \"subtype\": \"RS41-SGM\", \"encrypted\": true");
} else {
fprintf(stdout, ", \"subtype\": \"%s\"", *gpx->rstyp ? gpx->rstyp : "RS41" ); // RS41-SG(P/M)
if (strncmp(gpx->rstyp, "RS41-SGM", 8) == 0) {
fprintf(stdout, ", \"encrypted\": false");
}
}
fprintf(stdout, " }\n");
fprintf(stdout, "\n");
}
}
}
}
ret = 1;
}
// else
if (ec < 0 && (out || sat /*|| gpx->option.jsn*/)) {
//
// crc-OK pcks ?
//
int pck, ofs;
int output = 0, out_mask;
gpx->crc = 0;
out_mask = crc_FRAME|crc_GPS1|crc_GPS3;
if (gpx->option.ptu) out_mask |= crc_PTU;
err = get_FrameConf(gpx, 0);
if (out && !err) prn_frm(gpx);
pck = (gpx->frame[pos_PTU]<<8) | gpx->frame[pos_PTU+1];
ofs = 0;
if (pck < 0x8000) {
err0 = get_PTU(gpx, 0, pck);
if (pck == pck_PTU) ofs = 0;
else if (pck == pck_SGM_xTU) ofs = 0x1B-0x2A;
err1 = get_GPS1(gpx, ofs);
err2 = get_GPS2(gpx, ofs);
err3 = get_GPS3(gpx, ofs);
if (out) {
if (!err1) prn_gpstime(gpx);
if (!err3) prn_gpspos(gpx);
if (!err0 && gpx->option.ptu) prn_ptu(gpx);
if (0 && !err) get_Calconf(gpx, out, 0); // only if ecc-OK
output = ((gpx->crc & out_mask) != out_mask);
if (output) {
fprintf(stdout, " ");
fprintf(stdout, "[");
for (i=0; i<5; i++) fprintf(stdout, "%d", (gpx->crc>>i)&1);
fprintf(stdout, "]");
}
}
}
else if (pck == pck_SGM_CRYPT) {
if (out && !err) {
fprintf(stdout, " [%04X] (RS41-SGM) ", pck_SGM_CRYPT);
//fprintf(stdout, "[%d] ", check_CRC(gpx, pos_PTU, pck_SGM_CRYPT));
output = 1;
}
}
if (out && output)
{
if (ec == -1) fprintf(stdout, " (-+)");
else if (ec == -2) fprintf(stdout, " (+-)");
else /*ec == -3*/ fprintf(stdout, " (--)");
fprintf(stdout, "\n"); // fflush(stdout);
}
ret = output;
}
return ret;
}
static void print_frame(gpx_t *gpx, int len, dsp_t *dsp) {
int i, ec = 0, ft;
int ret = 0;
gpx->crc = 0;
// len < NDATA_LEN: EOF
if (len < pos_GPS1) { // else: try prev.frame
for (i = len; i < FRAME_LEN; i++) gpx->frame[i] = 0;
}
//frame[pos_FRAME-1] == 0x0F: len == NDATA_LEN(320)
//frame[pos_FRAME-1] == 0xF0: len == FRAME_LEN(518)
ft = frametype(gpx);
if (ft >= 0) len = NDATA_LEN; // ft >= 0: NDATA_LEN (default)
else len = FRAME_LEN; // ft < 0: FRAME_LEN (aux)
if (gpx->option.ecc) {
ec = rs41_ecc(gpx, len);
}
if (gpx->option.raw) {
for (i = 0; i < len; i++) {
fprintf(stdout, "%02x", gpx->frame[i]);
}
if (gpx->option.ecc) {
if (ec >= 0) fprintf(stdout, " [OK]"); else fprintf(stdout, " [NO]");
if (gpx->option.ecc /*== 2*/) {
if (ec > 0) fprintf(stdout, " (%d)", ec);
if (ec < 0) {
if (ec == -1) fprintf(stdout, " (-+)");
else if (ec == -2) fprintf(stdout, " (+-)");
else /*ec == -3*/ fprintf(stdout, " (--)");
}
}
}
fprintf(stdout, "\n");
}
else {
pthread_mutex_lock( dsp->thd.mutex );
fprintf(stdout, "<%d> ", dsp->thd.tn);
ret = print_position(gpx, ec);
if (ret==0) fprintf(stdout, "\n");
pthread_mutex_unlock( dsp->thd.mutex );
}
}
/* -------------------------------------------------------------------------- */
void *thd_rs41(void *targs) { // pcm_t *pcm, double xlt_fq
thargs_t *tharg = targs;
pcm_t *pcm = &(tharg->pcm);
//int option_inv = 0; // invertiert Signal
int option_iq = 5; // baseband, decimate
int option_ofs = 0;
int k;
char bitbuf[8];
int bitpos = 0,
b8pos = 0,
byte_count = FRAMESTART;
int bit, byte;
int bitQ = 0;
int header_found = 0;
float thres = 0.7; // dsp.mv threshold
float _mv = 0.0;
int symlen = 1;
int bitofs = 2; // +0 .. +3
int shift = 0;
dsp_t dsp = {0}; //memset(&dsp, 0, sizeof(dsp));
gpx_t gpx = {0};
/*
#ifdef CYGWIN
_setmode(fileno(stdin), _O_BINARY); // _fileno(stdin)
#endif
setbuf(stdout, NULL);
*/
gpx.option.vbs = 1;
gpx.option.ptu = 1;
gpx.option.aut = 1;
baseband decode: --json output
2019-08-27 16:06:41 +00:00
gpx.option.jsn = tharg->option_jsn;
multi decode: rs41, dfm
2019-08-22 18:22:59 +00:00
baseband decode: --json output
2019-08-27 16:06:41 +00:00
gpx.option.ecc = 1;
multi decode: rs41, dfm
2019-08-22 18:22:59 +00:00
if (gpx.option.ecc) {
rs_init_RS255(&gpx.RS); // RS, GF
}
// init gpx
memcpy(gpx.frame, rs41_header_bytes, sizeof(rs41_header_bytes)); // 8 header bytes
clean-up
2019-08-24 07:26:50 +00:00
pcm->sel_ch = 0;
multi decode: rs41, dfm
2019-08-22 18:22:59 +00:00
// rs41: BT=0.5, h=0.8,1.0 ?
symlen = 1;
// init dsp
//
dsp.fp = pcm->fp;
dsp.sr = pcm->sr;
dsp.sr_base = pcm->sr_base;
dsp.dectaps = pcm->dectaps;
dsp.decM = pcm->decM;
dsp.thd = tharg->thd;
clean-up
2019-08-24 07:26:50 +00:00
multi decode: rs41, dfm
2019-08-22 18:22:59 +00:00
dsp.bps = pcm->bps;
dsp.nch = pcm->nch;
dsp.ch = pcm->sel_ch;
dsp.br = (float)BAUD_RATE;
dsp.sps = (float)dsp.sr/dsp.br;
dsp.symlen = symlen;
dsp.symhd = symlen;
dsp._spb = dsp.sps*symlen;
dsp.hdr = rs41_header;
dsp.hdrlen = strlen(rs41_header);
dsp.BT = 0.5; // bw/time (ISI) // 0.3..0.5
dsp.h = 0.6; //0.7; // 0.7..0.8? modulation index abzgl. BT
IF/IQ lowpass
2019-09-12 21:41:46 +00:00
dsp.lpIQ_bw = 8e3;
multi decode: rs41, dfm
2019-08-22 18:22:59 +00:00
dsp.opt_iq = option_iq;
IF/IQ lowpass
2019-09-12 21:41:46 +00:00
dsp.opt_lp = 1;
multi decode: rs41, dfm
2019-08-22 18:22:59 +00:00
if ( dsp.sps < 8 ) {
fprintf(stderr, "note: sample rate low (%.1f sps)\n", dsp.sps);
}
k = init_buffers(&dsp); // BT=0.5 (IQ-Int: BT > 0.5 ?)
if ( k < 0 ) {
fprintf(stderr, "error: init buffers\n");
return NULL;
};
clean-up
2019-08-24 07:26:50 +00:00
//if (option_iq: 2,3) bitofs += 1; // FM: +1 , IQ: +2, IQ5: +1
multi decode: rs41, dfm
2019-08-22 18:22:59 +00:00
bitofs += shift;
clean-up
2019-08-24 07:26:50 +00:00
bitQ = 0;
multi decode: rs41, dfm
2019-08-22 18:22:59 +00:00
while ( 1 && bitQ != EOF )
{
header_found = find_header(&dsp, thres, 3, bitofs, 0);
_mv = dsp.mv;
if (header_found == EOF) break;
// mv == correlation score
if (_mv *(0.5-gpx.option.inv) < 0) {
if (gpx.option.aut == 0) header_found = 0;
else gpx.option.inv ^= 0x1;
}
if (header_found)
{
byte_count = FRAMESTART;
bitpos = 0; // byte_count*8-HEADLEN
b8pos = 0;
while ( byte_count < FRAME_LEN )
{
if (option_iq >= 2) {
float bl = -1;
if (option_iq > 2) bl = 1.0;
bitQ = read_slbit(&dsp, &bit, 0/*gpx.option.inv*/, bitofs, bitpos, bl, 0);
}
else {
bitQ = read_slbit(&dsp, &bit, 0/*gpx.option.inv*/, bitofs, bitpos, -1, 0);
}
if ( bitQ == EOF ) break; // liest 2x EOF, wenn nicht nochmal break
if (gpx.option.inv) bit ^= 1;
bitpos += 1;
bitbuf[b8pos] = bit;
b8pos++;
if (b8pos == BITS) {
b8pos = 0;
byte = bits2byte(bitbuf);
gpx.frame[byte_count] = byte ^ mask[byte_count % MASK_LEN];
byte_count++;
}
}
print_frame(&gpx, byte_count, &dsp);
byte_count = FRAMESTART;
header_found = 0;
}
}
free_buffers(&dsp);
return NULL;
}