kopia lustrzana https://github.com/rs1729/RS
M10: Trimble GPS pck info
Zilog80
rodzic
bb5cfe43c6
commit
c1d7539c7d
75
m10/m10ptu.c
75
m10/m10ptu.c
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@ -18,6 +18,7 @@
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typedef unsigned char ui8_t;
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typedef unsigned short ui16_t;
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typedef unsigned int ui32_t;
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typedef int i32_t;
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typedef struct {
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int week; int gpssec;
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@ -314,9 +315,9 @@ dduudduudduudduu duduudduuduudduu ddududuudduduudd uduuddududududud uudduduuddu
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#define HEADLEN 32 // HEADLEN+HEADOFS=32 <= strlen(header)
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#define HEADOFS 0
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// Sync-Header (raw) // Sonde-Header (bits)
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//char head[] = "11001100110011001010011001001100"; //"011001001001111100100000"; // M10: 64 9F 20 , M2K2: 64 8F 20
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//"011101101001111100100000"; // M10: 76 9F 20 , aux-data?
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//"011001000100100100001001"; // M10-dop: 64 49 09
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//char head[] = "11001100110011001010011001001100"; //"011001001001111100100000"; // M10: 64 9F , M2K2: 64 8F
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//"011101101001111100100000"; // M10: 76 9F , aux-data?
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//"011001000100100100001001"; // M10-dop: 64 49
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char header[] = "10011001100110010100110010011001";
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#define FRAME_LEN (100+1) // 0x64+1
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@ -473,7 +474,55 @@ int dpsk_bpm(char* frame_rawbits, char *frame_bits, int len) {
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return bit0;
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}
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/* -------------------------------------------------------------------------- */
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/* ------------------------------------------------------------------------------------------------------------- */
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/*
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M10 w/ trimble GPS
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frame[0x0] = framelen
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frame[0x1] = 0x9F (type M10)
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init/noGPS: frame[0x2]=0x23
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GPS: frame[0x2]=0x20 (GPS trimble pck 0x8F-20 sub-id)
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frame[0x02..0x21] = GPS trimble pck 0x8F-20 byte 0..31 (sub-id, vel, tow, lat, lon, alt, fix, NumSV, UTC-ofs, week)
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frame[0x22..0x2D] = GPS trimble pck 0x8F-20 byte 32..55:2 (PRN 1..12 only)
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Trimble Copernicus II
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GPS packet 0x8F-20 (p.138)
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byte
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0 sub-pck id (always 0x20)
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2-3 velE (i16) 0.005m/s
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4-5 velN (i16) 0.005m/s
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6-7 velU (i16) 0.005m/s
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8-11 TOW (ms)
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12-15 lat (scale 2^32/360) (i32) -90..90
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16-19 lon (scale 2^32/360) (ui32) 0..360 <-> (i32) -180..180
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20-23 alt (i32) mm above ellipsoid)
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24 bit0: vel-scale (0: 0.005m/s)
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26 datum (1: WGS-84)
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27 fix: bit0(0:valid fix, 1:invalid fix), bit2(0:3D, 1:2D)
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28 numSVs
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29 UTC offset = (GPS - UTC) sec
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30-31 GPS week
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32+2*n PRN_(n+1), bit0-5
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frame[0x32..0x5C] sensors (rel.hum., temp.)
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frame[0x5D..0x61] SN
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frame[0x62] counter
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frame[0x63..0x64] check (AUX len=0x76: frame[0x63..0x74], frame[0x75..0x76])
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6449/10sec-frame:
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GPS trimble pck 0x47 (signal levels): numSats sat1 lev1 sat2 lev2 ..
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frame[0x0] = framelen
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frame[0x1] = 0x49
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frame[0x2] = numSats (max 12)
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frame[0x3+2*n] = PRN_(n+1)
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frame[0x4+2*n] = signal level (float32 -> i8-byte level)
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*/
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#define stdFLEN 0x64 // pos[0]=0x64
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#define pos_GPSTOW 0x0A // 4 byte
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@ -578,7 +627,7 @@ int get_GPSlat() {
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int i;
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unsigned byte;
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ui8_t gpslat_bytes[4];
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int gpslat;
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i32_t gpslat;
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double lat;
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for (i = 0; i < 4; i++) {
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@ -600,7 +649,7 @@ int get_GPSlon() {
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int i;
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unsigned byte;
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ui8_t gpslon_bytes[4];
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int gpslon;
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i32_t gpslon; // (ui32) 0..360 <-> (i32) -180..180
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double lon;
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for (i = 0; i < 4; i++) {
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@ -622,7 +671,7 @@ int get_GPSalt() {
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int i;
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unsigned byte;
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ui8_t gpsalt_bytes[4];
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int gpsalt;
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i32_t gpsalt;
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double alt;
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for (i = 0; i < 4; i++) {
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@ -644,23 +693,23 @@ int get_GPSvel() {
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int i;
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unsigned byte;
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ui8_t gpsVel_bytes[2];
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short vel16;
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short vel16; // i16_t
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double vx, vy, dir, alpha;
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const double ms2kn100 = 2e2; // m/s -> knots: 1 m/s = 3.6/1.852 kn = 1.94 kn
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const double sc5 = 2e2; // scale 0.005m/s
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for (i = 0; i < 2; i++) {
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byte = frame_bytes[pos_GPSvE + i];
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gpsVel_bytes[i] = byte;
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}
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vel16 = gpsVel_bytes[0] << 8 | gpsVel_bytes[1];
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vx = vel16 / ms2kn100; // ost
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vx = vel16 / sc5; // ost
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for (i = 0; i < 2; i++) {
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byte = frame_bytes[pos_GPSvN + i];
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gpsVel_bytes[i] = byte;
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}
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vel16 = gpsVel_bytes[0] << 8 | gpsVel_bytes[1];
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vy= vel16 / ms2kn100; // nord
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vy= vel16 / sc5; // nord
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datum.vx = vx;
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datum.vy = vy;
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@ -680,7 +729,7 @@ int get_GPSvel() {
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gpsVel_bytes[i] = byte;
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}
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vel16 = gpsVel_bytes[0] << 8 | gpsVel_bytes[1];
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datum.vV = vel16 / ms2kn100;
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datum.vV = vel16 / sc5;
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return 0;
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}
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@ -1032,7 +1081,7 @@ int print_pos(int csOK) {
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fprintf(stdout, "\n");
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if (csOK && option_sat) {
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int i, byte;
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int i;
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fprintf(stdout, " %2d", frame_bytes[pos_GPSweek-2]); // GPS-sats
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fprintf(stdout, " : ");
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for (i = 0; i < frame_bytes[pos_GPSweek-2]; i++) { // PRN
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