diff --git a/demod/dfm09dm_dft.c b/demod/dfm09dm_dft.c new file mode 100644 index 0000000..0bb7008 --- /dev/null +++ b/demod/dfm09dm_dft.c @@ -0,0 +1,756 @@ + +/* + * dfm09 (dfm06) + * sync header: correlation/matched filter + * files: dfm09dm_dft.c demod_dft.h demod_dft.c + * compile: + * gcc -c demod_dft.c + * gcc dfm09dm_dft.c demod_dft.o -lm -o dfm09dm_dft + * + * author: zilog80 + */ + +#include +#include +#include +#include + +#ifdef CYGWIN + #include // cygwin: _setmode() + #include +#endif + + +typedef unsigned char ui8_t; +typedef unsigned int ui32_t; + +//#include "demod_dft.c" +#include "demod_dft.h" + + +typedef struct { + int frnr; + int sonde_typ; + ui32_t SN6; + ui32_t SN9; + int week; int gpssec; + int jahr; int monat; int tag; + int std; int min; float sek; + double lat; double lon; double alt; + double dir; double horiV; double vertV; + float meas24[5]; + float status[2]; +} gpx_t; + +gpx_t gpx; + +char dat_str[9][13+1]; + + +int option_verbose = 0, // ausfuehrliche Anzeige + option_raw = 0, // rohe Frames + option_inv = 0, // invertiert Signal + option_ecc = 0, + option_ptu = 0, + option_ths = 0, + wavloaded = 0; + +int start = 0; + + +//#define HEADLEN 32 +// DFM09: Manchester2: 01->1,10->0 +char rawheader[] = "10011010100110010101101001010101"; //->"0100010111001111"; // 0x45CF (big endian) + +#define BITFRAME_LEN 280 +char frame_bits[BITFRAME_LEN+4] = "0100010111001111"; + +/* ------------------------------------------------------------------------------------ */ + +#define BAUD_RATE 2500 + +/* ------------------------------------------------------------------------------------ */ + + +#define B 8 // codeword: 8 bit +#define S 4 // davon 4 bit data + +#define HEAD 0 // 16 bit +#define CONF (16+0) // 56 bit +#define DAT1 (16+56) // 104 bit +#define DAT2 (16+160) // 104 bit + // frame: 280 bit + +ui8_t H[4][8] = // Parity-Check + {{ 0, 1, 1, 1, 1, 0, 0, 0}, + { 1, 0, 1, 1, 0, 1, 0, 0}, + { 1, 1, 0, 1, 0, 0, 1, 0}, + { 1, 1, 1, 0, 0, 0, 0, 1}}; +ui8_t He[8] = { 0x7, 0xB, 0xD, 0xE, 0x8, 0x4, 0x2, 0x1}; // Spalten von H: + // 1-bit-error-Syndrome +ui8_t hamming_conf[ 7*B]; // 7*8=56 +ui8_t hamming_dat1[13*B]; // 13*8=104 +ui8_t hamming_dat2[13*B]; + +ui8_t block_conf[ 7*S]; // 7*4=28 +ui8_t block_dat1[13*S]; // 13*4=52 +ui8_t block_dat2[13*S]; + +ui32_t bits2val(ui8_t *bits, int len) { // big endian + int j; + ui32_t val; + if ((len < 0) || (len > 32)) return -1; // = 0xFFFF + val = 0; + for (j = 0; j < len; j++) { + val |= (bits[j] << (len-1-j)); + } + return val; +} + +void deinterleave(char *str, int L, ui8_t *block) { + int i, j; + for (j = 0; j < B; j++) { // L = 7, 13 + for (i = 0; i < L; i++) { + if (str[L*j+i] >= 0x30 && str[L*j+i] <= 0x31) { + block[B*i+j] = str[L*j+i] - 0x30; // ASCII -> bit + } + } + } +} + +int check(ui8_t code[8]) { + int i, j; // Bei Demodulierung durch Nulldurchgaenge, wenn durch Fehler ausser Takt, + ui32_t synval = 0; // verschieben sich die bits. Fuer Hamming-Decode waere es besser, + ui8_t syndrom[4]; // sync zu Beginn mit Header und dann Takt beibehalten fuer decision. + int ret=0; + + for (i = 0; i < 4; i++) { // S = 4 + syndrom[i] = 0; + for (j = 0; j < 8; j++) { // B = 8 + syndrom[i] ^= H[i][j] & code[j]; + } + } + synval = bits2val(syndrom, 4); + if (synval) { + ret = -1; + for (j = 0; j < 8; j++) { // 1-bit-error + if (synval == He[j]) { // reicht auf databits zu pruefen, d.h. + ret = j+1; // (systematischer Code) He[0..3] + break; + } + } + } + else ret = 0; + if (ret > 0) code[ret-1] ^= 0x1; + + return ret; +} + +int hamming(ui8_t *ham, int L, ui8_t *sym) { + int i, j; + int ret = 0; // L = 7, 13 + for (i = 0; i < L; i++) { // L * 2 nibble (data+parity) + if (option_ecc) ret |= check(ham+B*i); + for (j = 0; j < S; j++) { // systematic: bits 0..S-1 data + sym[S*i+j] = ham[B*i+j]; + } + } + return ret; +} + +char nib2chr(ui8_t nib) { + char c = '_'; + if (nib < 0x10) { + if (nib < 0xA) c = 0x30 + nib; + else c = 0x41 + nib-0xA; + } + return c; +} + +int dat_out(ui8_t *dat_bits) { + int i, ret = 0; + static int fr_id; + // int jahr = 0, monat = 0, tag = 0, std = 0, min = 0; + int frnr = 0; + int msek = 0; + int lat = 0, lon = 0, alt = 0; + int nib; + int dvv; // signed/unsigned 16bit + + fr_id = bits2val(dat_bits+48, 4); + + + if (fr_id >= 0 && fr_id <= 8) { + for (i = 0; i < 13; i++) { + nib = bits2val(dat_bits+4*i, 4); + dat_str[fr_id][i] = nib2chr(nib); + } + dat_str[fr_id][13] = '\0'; + } + + if (fr_id == 0) { + start = 1; + frnr = bits2val(dat_bits+24, 8); + gpx.frnr = frnr; + } + + if (fr_id == 1) { + // 00..31: ? GPS-Sats in Sicht? + msek = bits2val(dat_bits+32, 16); + gpx.sek = msek/1000.0; + } + + if (fr_id == 2) { + lat = bits2val(dat_bits, 32); + gpx.lat = lat/1e7; + dvv = (short)bits2val(dat_bits+32, 16); // (short)? zusammen mit dir sollte unsigned sein + gpx.horiV = dvv/1e2; + } + + if (fr_id == 3) { + lon = bits2val(dat_bits, 32); + gpx.lon = lon/1e7; + dvv = bits2val(dat_bits+32, 16) & 0xFFFF; // unsigned + gpx.dir = dvv/1e2; + } + + if (fr_id == 4) { + alt = bits2val(dat_bits, 32); + gpx.alt = alt/1e2; + dvv = (short)bits2val(dat_bits+32, 16); // signed + gpx.vertV = dvv/1e2; + } + + if (fr_id == 5) { + } + + if (fr_id == 6) { + } + + if (fr_id == 7) { + } + + if (fr_id == 8) { + gpx.jahr = bits2val(dat_bits, 12); + gpx.monat = bits2val(dat_bits+12, 4); + gpx.tag = bits2val(dat_bits+16, 5); + gpx.std = bits2val(dat_bits+21, 5); + gpx.min = bits2val(dat_bits+26, 6); + } + + ret = fr_id; + return ret; +} + +// DFM-06 (NXP8) +float fl20(int d) { // float20 + int val, p; + float f; + p = (d>>16) & 0xF; + val = d & 0xFFFF; + f = val/(float)(1<> 16) & 0xF; + f = m / pow(2,e); + return f; +} +*/ + +// DFM-09 (STM32) +float fl24(int d) { // float24 + int val, p; + float f; + p = (d>>20) & 0xF; + val = d & 0xFFFFF; + f = val/(float)(1< 0 ? + float T = 0; // T/Kelvin + if (meas[0]*meas[3]*meas[4] == 0) R = 0; + if (R > 0) T = 1/(1/T0 + 1/B0 * log(R/R0)); + return T - 273.15; // Celsius +// DFM-06: meas20 * 16 = meas24 +// -> (meas24[0]-meas24[3])/meas24[4]=(meas20[0]-meas20[3])/meas20[4] +} +float get_Temp2(float *meas) { // meas[0..4] +// NTC-Thermistor EPCOS B57540G0502 +// R/T No 8402, R25=Ro=5k +// B0/100=3450 +// 1/T = 1/To + 1/B log(r) , r=R/Ro +// GRAW calibration data -80C..+40C on EEPROM ? +// meas0 = g*(R+Rs)+ofs +// meas3 = g*Rs+ofs , Rs: dfm6:10k, dfm9:20k +// meas4 = g*Rf+ofs , Rf=220k + float f = meas[0], + f1 = meas[3], + f2 = meas[4]; + float B0 = 3260.0; // B/Kelvin, fit -55C..+40C + float T0 = 25 + 273.15; // t0=25C + float R0 = 5.0e3; // R0=R25=5k + float Rf2 = 220e3; // Rf2 = Rf = 220k + float g_o = f2/Rf2; // approx gain + float Rs_o = f1/g_o; // = Rf2 * f1/f2; + float Rf1 = Rs_o; // Rf1 = Rs: dfm6:10k, dfm9:20k + float g = g_o; // gain + float Rb = 0.0; // offset + float R = 0; // thermistor + float T = 0; // T/Kelvin + + if ( 8e3 < Rs_o && Rs_o < 12e3) Rf1 = 10e3; // dfm6 + else if (18e3 < Rs_o && Rs_o < 22e3) Rf1 = 20e3; // dfm9 + g = (f2 - f1) / (Rf2 - Rf1); + Rb = (f1*Rf2-f2*Rf1)/(f2-f1); // ofs/g + + R = (f-f1)/g; // meas[0,3,4] > 0 ? + if (R > 0) T = 1/(1/T0 + 1/B0 * log(R/R0)); + + if (option_ptu && option_verbose == 2) { + printf(" (Rso: %.1f , Rb: %.1f)", Rs_o/1e3, Rb/1e3); + } + + return T - 273.15; +// DFM-06: meas20 * 16 = meas24 +} +float get_Temp4(float *meas) { // meas[0..4] +// NTC-Thermistor EPCOS B57540G0502 +// [ T/C , R/R25 , alpha ] : +// [ -55.0 , 51.991 , 6.4 ] +// [ -50.0 , 37.989 , 6.2 ] +// [ -45.0 , 28.07 , 5.9 ] +// [ -40.0 , 20.96 , 5.7 ] +// [ -35.0 , 15.809 , 5.5 ] +// [ -30.0 , 12.037 , 5.4 ] +// [ -25.0 , 9.2484 , 5.2 ] +// [ -20.0 , 7.1668 , 5.0 ] +// [ -15.0 , 5.5993 , 4.9 ] +// [ -10.0 , 4.4087 , 4.7 ] +// [ -5.0 , 3.4971 , 4.6 ] +// [ 0.0 , 2.7936 , 4.4 ] +// [ 5.0 , 2.2468 , 4.3 ] +// [ 10.0 , 1.8187 , 4.2 ] +// [ 15.0 , 1.4813 , 4.0 ] +// [ 20.0 , 1.2136 , 3.9 ] +// [ 25.0 , 1.0000 , 3.8 ] +// [ 30.0 , 0.82845 , 3.7 ] +// [ 35.0 , 0.68991 , 3.6 ] +// [ 40.0 , 0.57742 , 3.5 ] +// -> Steinhart–Hart coefficients (polyfit): + float p0 = 1.09698417e-03, + p1 = 2.39564629e-04, + p2 = 2.48821437e-06, + p3 = 5.84354921e-08; +// T/K = 1/( p0 + p1*ln(R) + p2*ln(R)^2 + p3*ln(R)^3 ) + float Rf = 220e3; // Rf = 220k + float g = meas[4]/Rf; + float R = (meas[0]-meas[3]) / g; // meas[0,3,4] > 0 ? + float T = 0; // T/Kelvin + if (R > 0) T = 1/( p0 + p1*log(R) + p2*log(R)*log(R) + p3*log(R)*log(R)*log(R) ); + return T - 273.15; // Celsius +// DFM-06: meas20 * 16 = meas24 +// -> (meas24[0]-meas24[3])/meas24[4]=(meas20[0]-meas20[3])/meas20[4] +} + + +#define SNbit 0x0100 +int conf_out(ui8_t *conf_bits) { + int conf_id; + int ret = 0; + int val, hl; + static int chAbit, chA[2]; + ui32_t SN6, SN9; + + conf_id = bits2val(conf_bits, 4); + + //if (conf_id > 6) gpx.SN6 = 0; //// gpx.sonde_typ & 0xF = 9; // SNbit? + + if ((gpx.sonde_typ & 0xFF) < 9 && conf_id == 6) { + SN6 = bits2val(conf_bits+4, 4*6); // DFM-06: Kanal 6 + if ( SN6 == gpx.SN6 ) { // nur Nibble-Werte 0..9 + gpx.sonde_typ = SNbit | 6; + ret = 6; + } + else { + gpx.sonde_typ = 0; + } + gpx.SN6 = SN6; + } + if (conf_id == 0xA) { // 0xACxxxxy + val = bits2val(conf_bits+8, 4*5); + hl = (val & 1) == 0; + chA[hl] = (val >> 4) & 0xFFFF; + chAbit |= 1 << hl; + if (chAbit == 3) { // DFM-09: Kanal A + SN9 = (chA[1] << 16) | chA[0]; + if ( SN9 == gpx.SN9 ) { + gpx.sonde_typ = SNbit | 9; + ret = 9; + } + else { + gpx.sonde_typ = 0; + } + gpx.SN9 = SN9; + chAbit = 0; + } + } + + if (conf_id >= 0 && conf_id <= 4) { + val = bits2val(conf_bits+4, 4*6); + gpx.meas24[conf_id] = fl24(val); + // DFM-09 (STM32): 24bit 0exxxxx + // DFM-06 (NXP8): 20bit 0exxxx0 + // fl20(bits2val(conf_bits+4, 4*5)) + // = fl20(exxxx) + // = fl24(exxxx0)/2^4 + // meas20 * 16 = meas24 + } + + // STM32-status: Bat, MCU-Temp + if ((gpx.sonde_typ & 0xFF) == 9) { // DFM-09 (STM32) + if (conf_id == 0x5) { // voltage + val = bits2val(conf_bits+8, 4*4); + gpx.status[0] = val/1000.0; + } + if (conf_id == 0x6) { // T-intern (STM32) + val = bits2val(conf_bits+8, 4*4); + gpx.status[1] = val/100.0; + } + } + + return ret; +} + +void print_gpx() { + int i, j; + + if (start) { + + if (option_raw == 2) { + for (i = 0; i < 9; i++) { + printf(" %s", dat_str[i]); + } + for (i = 0; i < 9; i++) { + for (j = 0; j < 13; j++) dat_str[i][j] = ' '; + } + } + else { + //if (option_auto && option_verbose) printf("[%c] ", option_inv?'-':'+'); + printf("[%3d] ", gpx.frnr); + printf("%4d-%02d-%02d ", gpx.jahr, gpx.monat, gpx.tag); + printf("%02d:%02d:%04.1f ", gpx.std, gpx.min, gpx.sek); + printf(" "); + printf("lat: %.6f ", gpx.lat); + printf("lon: %.6f ", gpx.lon); + printf("alt: %.1f ", gpx.alt); + printf(" vH: %5.2f ", gpx.horiV); + printf(" D: %5.1f ", gpx.dir); + printf(" vV: %5.2f ", gpx.vertV); + if (option_ptu) { + float t = get_Temp(gpx.meas24); + if (t > -270.0) printf(" T=%.1fC ", t); + if (option_verbose == 2) { + float t2 = get_Temp2(gpx.meas24); + float t4 = get_Temp4(gpx.meas24); + if (t2 > -270.0) printf(" T2=%.1fC ", t2); + if (t4 > -270.0) printf(" T4=%.1fC ", t4); + printf(" f0: %.2f ", gpx.meas24[0]); + printf(" f3: %.2f ", gpx.meas24[3]); + printf(" f4: %.2f ", gpx.meas24[4]); + } + } + if (option_verbose == 2 && (gpx.sonde_typ & 0xFF) == 9) { + printf(" U: %.2fV ", gpx.status[0]); + printf(" Ti: %.1fK ", gpx.status[1]); + } + if (option_verbose && (gpx.sonde_typ & SNbit)) + { + if ((gpx.sonde_typ & 0xFF) == 6) { + printf(" (ID%1d:%06X) ", gpx.sonde_typ & 0xF, gpx.SN6); + } + if ((gpx.sonde_typ & 0xFF) == 9) { + printf(" (ID%1d:%06u) ", gpx.sonde_typ & 0xF, gpx.SN9); + } + gpx.sonde_typ ^= SNbit; + } + } + printf("\n"); + + } +} + +int print_frame() { + int i; + int nib = 0; + int frid = -1; + int ret0, ret1, ret2; + int ret = 0; + + + deinterleave(frame_bits+CONF, 7, hamming_conf); + deinterleave(frame_bits+DAT1, 13, hamming_dat1); + deinterleave(frame_bits+DAT2, 13, hamming_dat2); + + ret0 = hamming(hamming_conf, 7, block_conf); + ret1 = hamming(hamming_dat1, 13, block_dat1); + ret2 = hamming(hamming_dat2, 13, block_dat2); + ret = ret0 | ret1 | ret2; + + if (option_raw == 1) { + + for (i = 0; i < 7; i++) { + nib = bits2val(block_conf+S*i, S); + printf("%01X", nib & 0xFF); + } + if (option_ecc) { + if (ret0 == 0) printf(" [OK] "); + else if (ret0 > 0) printf(" [KO] "); + else printf(" [NO] "); + } + printf(" "); + for (i = 0; i < 13; i++) { + nib = bits2val(block_dat1+S*i, S); + printf("%01X", nib & 0xFF); + } + if (option_ecc) { + if (ret1 == 0) printf(" [OK] "); + else if (ret1 > 0) printf(" [KO] "); + else printf(" [NO] "); + } + printf(" "); + for (i = 0; i < 13; i++) { + nib = bits2val(block_dat2+S*i, S); + printf("%01X", nib & 0xFF); + } + if (option_ecc) { + if (ret2 == 0) printf(" [OK] "); + else if (ret2 > 0) printf(" [KO] "); + else printf(" [NO] "); + } + printf("\n"); + + } + else if (option_ecc) { + + if (ret0 == 0 || ret0 > 0) { + conf_out(block_conf); + } + if (ret1 == 0 || ret1 > 0) { + frid = dat_out(block_dat1); + if (frid == 8) print_gpx(); + } + if (ret2 == 0 || ret2 > 0) { + frid = dat_out(block_dat2); + if (frid == 8) print_gpx(); + } + + } + else { + + conf_out(block_conf); + frid = dat_out(block_dat1); + if (frid == 8) print_gpx(); + frid = dat_out(block_dat2); + if (frid == 8) print_gpx(); + + } + + return ret; +} + +/* -------------------------------------------------------------------------- */ + + +int main(int argc, char **argv) { + + FILE *fp = NULL; + char *fpname = NULL; + float spb = 0.0; + int header_found = 0; + int ret = 0; + + int bit; + int bitpos = 0; + int bitQ; + int pos; + int herrs, herr1; + int headerlen = 0; + int frm = 0, nfrms = 8; // nfrms=1,2,4,8 + + int k,K; + float mv; + unsigned int mv_pos, mv0_pos; + int mp = 0; + + float thres = 0.6; + + int bitofs = 0; + int symlen = 2; + + +#ifdef CYGWIN + _setmode(fileno(stdin), _O_BINARY); // _setmode(_fileno(stdin), _O_BINARY); +#endif + setbuf(stdout, NULL); + + fpname = argv[0]; + ++argv; + while ((*argv) && (!wavloaded)) { + if ( (strcmp(*argv, "-h") == 0) || (strcmp(*argv, "--help") == 0) ) { + fprintf(stderr, "%s [options] audio.wav\n", fpname); + fprintf(stderr, " options:\n"); + fprintf(stderr, " -v, -vv\n"); + fprintf(stderr, " -r, --raw\n"); + fprintf(stderr, " -i, --invert\n"); + fprintf(stderr, " --ecc (Hamming ECC)\n"); + fprintf(stderr, " --ths (peak threshold; default=%.1f)\n", thres); + return 0; + } + else if ( (strcmp(*argv, "-v") == 0) || (strcmp(*argv, "--verbose") == 0) ) { + option_verbose = 1; + } + else if ( (strcmp(*argv, "-vv") == 0) ) { option_verbose = 2; } + else if ( (strcmp(*argv, "-r") == 0) || (strcmp(*argv, "--raw") == 0) ) { + option_raw = 1; + } + else if ( (strcmp(*argv, "-R") == 0) || (strcmp(*argv, "--RAW") == 0) ) { + option_raw = 2; + } + else if ( (strcmp(*argv, "-i") == 0) || (strcmp(*argv, "--invert") == 0) ) { + option_inv = 0x1; + } + else if ( (strcmp(*argv, "--ecc") == 0) ) { option_ecc = 1; } + else if ( (strcmp(*argv, "--ptu") == 0) ) { option_ptu = 1; } + else if ( (strcmp(*argv, "--ths") == 0) ) { + ++argv; + if (*argv) { + thres = atof(*argv); + } + else return -1; + } + else { + fp = fopen(*argv, "rb"); + if (fp == NULL) { + fprintf(stderr, "%s konnte nicht geoeffnet werden\n", *argv); + return -1; + } + wavloaded = 1; + } + ++argv; + } + if (!wavloaded) fp = stdin; + + + spb = read_wav_header(fp, (float)BAUD_RATE); + if ( spb < 0 ) { + fclose(fp); + fprintf(stderr, "error: wav header\n"); + return -1; + } + if ( spb < 8 ) { + fprintf(stderr, "note: sample rate low\n"); + } + + + symlen = 2; + headerlen = strlen(rawheader); + bitofs = 2; // +1 .. +2 + K = init_buffers(rawheader, headerlen, 0); // shape=0 (alt. shape=1) + if ( K < 0 ) { + fprintf(stderr, "error: init buffers\n"); + return -1; + }; + + + k = 0; + mv = -1; mv_pos = 0; + + while ( f32buf_sample(fp, option_inv, 1) != EOF ) { + + k += 1; + if (k >= K-4) { + mv0_pos = mv_pos; + mp = getCorrDFT(K, 0, &mv, &mv_pos); + k = 0; + } + else { + mv = 0.0; + continue; + } + + if (mv > thres && mp > 0) { + if (mv_pos > mv0_pos) { + + header_found = 0; + herrs = headcmp(symlen, rawheader, headerlen, mv_pos); // symlen=2 + herr1 = 0; + if (herrs <= 3 && herrs > 0) { + herr1 = headcmp(symlen, rawheader, headerlen, mv_pos+1); + if (herr1 < herrs) { + herrs = herr1; + herr1 = 1; + } + } + if (herrs <= 1) header_found = 1; // herrs <= 1 bitfehler in header + + if (header_found) { + + bitpos = 0; + pos = headerlen; + pos /= 2; + + frm = 0; + while ( frm < nfrms ) { // nfrms=1,2,4,8 + while ( pos < BITFRAME_LEN ) { + header_found = !(frm==nfrms-1 && pos>=BITFRAME_LEN-10); + bitQ = read_sbit(fp, symlen, &bit, option_inv, bitofs, bitpos==0, !header_found); // symlen=2, return: zeroX/bit + if (bitQ == EOF) { frm = nfrms; break; } + frame_bits[pos] = 0x30 + bit; + pos++; + bitpos += 1; + } + frame_bits[pos] = '\0'; + ret = print_frame(); + if (pos < BITFRAME_LEN) break; + pos = 0; + frm += 1; + //if (ret < 0) frms += 1; + } + + header_found = 0; + pos = headerlen; + } + } + } + + } + + + free_buffers(); + + fclose(fp); + + return 0; +} + diff --git a/demod/rs41dm_dft.c b/demod/rs41dm_dft.c index 72e9edb..7758efd 100644 --- a/demod/rs41dm_dft.c +++ b/demod/rs41dm_dft.c @@ -1157,8 +1157,8 @@ int main(int argc, char *argv[]) { symlen = 1; headerlen = strlen(header); bitofs = 2; // +1 .. +2 - K = init_buffers(header, headerlen, 2); - if ( K < 0) { // shape=2 + K = init_buffers(header, headerlen, 2); // shape=2 + if ( K < 0 ) { fprintf(stderr, "error: init buffers\n"); return -1; }; diff --git a/demod/rs92dm_dft.c b/demod/rs92dm_dft.c new file mode 100644 index 0000000..2d46737 --- /dev/null +++ b/demod/rs92dm_dft.c @@ -0,0 +1,1468 @@ + +/* + * rs92 + * sync header: correlation/matched filter + * files: rs92dm_dft.c nav_gps_vel.c bch_ecc.c demod_dft.h demod_dft.c + * compile: + * gcc -c demod_dft.c + * gcc rs92dm_dft.c demod_dft.o -lm -o rs92dm_dft + * + * author: zilog80 + */ + +#include +#include +#include +#include + +#ifdef CYGWIN + #include // cygwin: _setmode() + #include +#endif + + +typedef unsigned char ui8_t; +typedef unsigned short ui16_t; +typedef unsigned int ui32_t; + +//#include "demod_dft.c" +#include "demod_dft.h" + +#include "bch_ecc.c" // RS/ecc/ + +#define rs_N 255 +#define rs_R 24 +#define rs_K (rs_N-rs_R) + +ui8_t cw[rs_N]; + +typedef struct { + int typ; + int msglen; + int msgpos; + int parpos; + int hdrlen; + int frmlen; +} rscfg_t; + +rscfg_t cfg_rs92 = { 92, 240-6-24, 6, 240-24, 6, 240}; + + +typedef struct { + int frnr; + char id[11]; + int week; 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 vU; + int sats[4]; + double dop; + int freq; + unsigned short aux[4]; + double diter; +} gpx_t; + +gpx_t gpx; + +int option_verbose = 0, // ausfuehrliche Anzeige + option_raw = 0, // rohe Frames + option_inv = 0, // invertiert Signal + option_res = 0, // genauere Bitmessung + option_crc = 0, // check CRC + option_ecc = 0, // Reed-Solomon ECC + fileloaded = 0, + option_vergps = 0, + option_iter = 0, + option_vel = 0, // velocity + option_aux = 0, // Aux/Ozon + option_der = 0, // linErr + option_ths = 0, + rawin = 0; +double dop_limit = 9.9; +double d_err = 10000; + +int rollover = 0, + err_gps = 0; + +int almanac = 0, + ephem = 0; + +int exSat = -1; + +/* --- RS92-SGP: 8N1 manchester --- */ +#define BITS (1+8+1) // 10 +//#define HEADLEN 60 + +#define FRAMESTART 6 //((HEADLEN)/BITS) + +/* 2A 10*/ +char rawheader[] = //"10100110011001101001" + //"10100110011001101001" + //"10100110011001101001" + "10100110011001101001" + "1010011001100110100110101010100110101001"; + +#define FRAME_LEN 240 +ui8_t frame[FRAME_LEN] = { 0x2A, 0x2A, 0x2A, 0x2A, 0x2A, 0x10}; +/* --- RS92-SGP ------------------- */ + +#define MASK_LEN 64 +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 + */ + +/* ------------------------------------------------------------------------------------ */ + +#define BAUD_RATE 4800 + +/* ------------------------------------------------------------------------------------ */ + +// manchester1 1->10,0->01: 1.bit +// manchester2 0->10,1->01: 2.bit +// RS92-SGP: 8N1 manchester2 +int bits2byte(char bits[]) { + int i, byteval=0, d=1; + + //if (bits[0] != 0) return 0x100; // erasure? + //if (bits[9] != 1) return 0x100; // erasure? + + for (i = 1; i <= 8; i++) { // little endian + /* for (i = 8; i > 1; i--) { // big endian */ + if (bits[i] == 1) byteval += d; + else if (bits[i] == 0) byteval += 0; + d <<= 1; + } + return byteval; +} + + +/* +ui8_t xorbyte(int pos) { + return xframe[pos] ^ mask[pos % MASK_LEN]; +} +*/ +ui8_t framebyte(int pos) { + return frame[pos]; +} + + +/* ------------------------------------------------------------------------------------ */ + +#define GPS_WEEK1024 1 +#define WEEKSEC 604800 + +/* + * Convert GPS Week and Seconds to Modified Julian Day. + * - Adapted from sci.astro FAQ. + * - Ignores UTC leap seconds. + */ + +void Gps2Date(long GpsWeek, long GpsSeconds, int *Year, int *Month, int *Day) { + + long GpsDays, Mjd; + long J, C, Y, M; + + GpsDays = GpsWeek * 7 + (GpsSeconds / 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; + *Day = J - 2447 * M / 80; + J = M / 11; + *Month = M + 2 - (12 * J); + *Year = 100 * (C - 49) + Y + J; +} + +/* ------------------------------------------------------------------------------------ */ + +#define pos_FrameNb 0x08 // 2 byte +#define pos_SondeID 0x0C // 8 byte // oder: 0x0A, 10 byte? +#define pos_CalData 0x17 // 1 byte, counter 0x00..0x1f +#define pos_Calfreq 0x1A // 2 byte, calfr 0x00 + +#define posGPS_TOW 0x48 // 4 byte +#define posGPS_PRN 0x4E // 12*5 bit in 8 byte +#define posGPS_STATUS 0x56 // 12 byte +#define posGPS_DATA 0x62 // 12*8 byte + +#define pos_PTU 0x2C // 24 byte +#define pos_AuxData 0xC8 // 8 byte + + +#define BLOCK_CFG 0x6510 // frame[pos_FrameNb-2], frame[pos_FrameNb-1] +#define BLOCK_PTU 0x690C +#define BLOCK_GPS 0x673D // frame[posGPS_TOW-2], frame[posGPS_TOW-1] +#define BLOCK_AUX 0x6805 + +#define LEN_CFG (2*(BLOCK_CFG & 0xFF)) +#define LEN_GPS (2*(BLOCK_GPS & 0xFF)) +#define LEN_PTU (2*(BLOCK_PTU & 0xFF)) + + +int crc16(int start, int len) { + int crc16poly = 0x1021; + int rem = 0xFFFF, i, j; + int byte; + + if (start+len >= FRAME_LEN) return -1; + + for (i = 0; i < len; i++) { + byte = framebyte(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; +} + +int get_FrameNb() { + int i; + unsigned byte; + ui8_t frnr_bytes[2]; + int frnr; + + for (i = 0; i < 2; i++) { + byte = framebyte(pos_FrameNb + i); + frnr_bytes[i] = byte; + } + + frnr = frnr_bytes[0] + (frnr_bytes[1] << 8); + gpx.frnr = frnr; + + return 0; +} + +int get_SondeID() { + int i, ret=0; + unsigned byte; + ui8_t sondeid_bytes[10]; + int crc_frame, crc; + + // BLOCK_CFG == frame[pos_FrameNb-2 .. pos_FrameNb-1] ? + crc_frame = framebyte(pos_FrameNb+LEN_CFG) | (framebyte(pos_FrameNb+LEN_CFG+1) << 8); + crc = crc16(pos_FrameNb, LEN_CFG); +/* + if (option_crc) { + //fprintf(stdout, " (%04X:%02X%02X) ", BLOCK_CFG, frame[pos_FrameNb-2], frame[pos_FrameNb-1]); + fprintf(stdout, " [%04X:%04X] ", crc_frame, crc); + } +*/ + ret = 0; + if ( 0 && option_crc && crc != crc_frame) { + ret = -2; // erst wichtig, wenn Cal/Cfg-Data + } + + for (i = 0; i < 8; i++) { + byte = framebyte(pos_SondeID + i); + if ((byte < 0x20) || (byte > 0x7E)) return -1; + sondeid_bytes[i] = byte; + } + + for (i = 0; i < 8; i++) { + gpx.id[i] = sondeid_bytes[i]; + } + gpx.id[8] = '\0'; + + return ret; +} + +char weekday[7][3] = { "So", "Mo", "Di", "Mi", "Do", "Fr", "Sa"}; + +int get_GPStime() { + int i, ret=0; + unsigned byte; + ui8_t gpstime_bytes[4]; + int gpstime = 0, // 32bit + day; + int ms; + int crc_frame, crc; + + // BLOCK_GPS == frame[posGPS_TOW-2 .. posGPS_TOW-1] ? + crc_frame = framebyte(posGPS_TOW+LEN_GPS) | (framebyte(posGPS_TOW+LEN_GPS+1) << 8); + crc = crc16(posGPS_TOW, LEN_GPS); +/* + if (option_crc) { + //fprintf(stdout, " (%04X:%02X%02X) ", BLOCK_GPS, frame[posGPS_TOW-2], frame[posGPS_TOW-1]); + fprintf(stdout, " [%04X:%04X] ", crc_frame, crc); + } +*/ + ret = 0; + if (option_crc && crc != crc_frame) { + ret = -2; + } + + for (i = 0; i < 4; i++) { + byte = framebyte(posGPS_TOW + i); + gpstime_bytes[i] = byte; + } + + memcpy(&gpstime, gpstime_bytes, 4); + ms = gpstime % 1000; + gpstime /= 1000; + + gpx.gpssec = gpstime; + + day = (gpstime / (24 * 3600)) % 7; // besser CRC-check, da auch + //if ((day < 0) || (day > 6)) return -1; // gpssec=604800,604801 beobachtet + + gpstime %= (24*3600); + + gpx.wday = day; + gpx.std = gpstime / 3600; + gpx.min = (gpstime % 3600) / 60; + gpx.sek = gpstime % 60 + ms/1000.0; + + return ret; +} + +int get_Aux() { + int i; + unsigned short byte; + + for (i = 0; i < 4; i++) { + byte = framebyte(pos_AuxData+2*i)+(framebyte(pos_AuxData+2*i+1)<<8); + gpx.aux[i] = byte; + } + + return 0; +} + +int get_Cal() { + int i; + unsigned byte; + ui8_t calfr = 0; + //ui8_t burst = 0; + ui8_t bytes[2]; + int freq = 0; + unsigned int killtime = 0; + + byte = framebyte(pos_CalData); + calfr = byte; + + if (option_verbose == 4) { + fprintf(stdout, "\n"); + fprintf(stdout, "[%5d] ", gpx.frnr); + fprintf(stdout, " 0x%02x:", calfr); + } + for (i = 0; i < 16; i++) { + byte = framebyte(pos_CalData+1+i); + if (option_verbose == 4) { + fprintf(stdout, " %02x", byte); + } + } + if (option_aux) { + get_Aux(); + if (option_verbose == 4) { + fprintf(stdout, " # "); + for (i = 0; i < 8; i++) { + byte = framebyte(pos_AuxData+i); + fprintf(stdout, "%02x ", byte); + } + } + else { + if (gpx.aux[0] != 0 || gpx.aux[1] != 0 || gpx.aux[2] != 0 || gpx.aux[3] != 0) { + fprintf(stdout, " # %04x %04x %04x %04x", gpx.aux[0], gpx.aux[1], gpx.aux[2], gpx.aux[3]); + } + } + } + + if (calfr == 0x00) { + for (i = 0; i < 2; i++) { + bytes[i] = framebyte(pos_Calfreq + i); + } + byte = bytes[0] + (bytes[1] << 8); + //fprintf(stdout, ":%04x ", byte); + freq = 400000 + 10*byte; // kHz; + gpx.freq = freq; + fprintf(stdout, " : fq %d kHz", freq); + for (i = 0; i < 2; i++) { + bytes[i] = framebyte(pos_Calfreq + 2 + i); + } + killtime = bytes[0] + (bytes[1] << 8); + if (killtime < 0xFFFF && option_verbose == 4) { + fprintf(stdout, " ; KT:%ds", killtime); + } + } + + return 0; +} + + +/* ---------------------------------------------------------------------------------------------------- */ + + +#include "nav_gps_vel.c" + +EPHEM_t alm[33]; +//EPHEM_t eph[33][24]; +EPHEM_t *ephs = NULL; + +SAT_t sat[33], + sat1s[33]; + + +ui8_t prn_le[12*5+4]; +/* le - little endian */ +int prnbits_le(ui16_t byte16, ui8_t bits[64], int block) { + int i; /* letztes bit Ueberlauf, wenn 3. PRN = 32 */ + for (i = 0; i < 15; i++) { + bits[15*block+i] = byte16 & 1; + byte16 >>= 1; + } + bits[60+block] = byte16 & 1; + return byte16 & 1; +} +ui8_t prns[12], // PRNs in data + sat_status[12]; +int prn32toggle = 0x1, ind_prn32, prn32next; +void prn12(ui8_t *prn_le, ui8_t prns[12]) { + int i, j, d; + for (i = 0; i < 12; i++) { + prns[i] = 0; + d = 1; + for (j = 0; j < 5; j++) { + if (prn_le[5*i+j]) prns[i] += d; + d <<= 1; + } + } + ind_prn32 = 32; + for (i = 0; i < 12; i++) { + // PRN-32 overflow + if ( (prns[i] == 0) && (sat_status[i] & 0x0F) ) { // 5 bit: 0..31 + if ( ((i % 3 == 2) && (prn_le[60+i/3] & 1)) // Spalte 2 + || ((i % 3 != 2) && (prn_le[5*(i+1)] & 1)) ) { // Spalte 0,1 + prns[i] = 32; ind_prn32 = i; + } + } + else if ((sat_status[i] & 0x0F) == 0) { // erste beiden bits: 0x03 ? + prns[i] = 0; + } + } + + prn32next = 0; + if (ind_prn32 < 12) { + // PRN-32 overflow + if (ind_prn32 % 3 != 2) { // -> ind_prn32<11 // vorausgesetzt im Block folgt auf PRN-32 + if ((sat_status[ind_prn32+1] & 0x0F) && prns[ind_prn32+1] > 1) { // entweder PRN-1 oder PRN-gerade + // && prns[ind_prn32+1] != 3 ? + for (j = 0; j < ind_prn32; j++) { + if (prns[j] == (prns[ind_prn32+1]^prn32toggle) && (sat_status[j] & 0x0F)) break; + } + if (j < ind_prn32) { prn32toggle ^= 0x1; } + else { + for (j = ind_prn32+2; j < 12; j++) { + if (prns[j] == (prns[ind_prn32+1]^prn32toggle) && (sat_status[j] & 0x0F)) break; + } + if (j < 12) { prn32toggle ^= 0x1; } + } + prns[ind_prn32+1] ^= prn32toggle; + /* + // nochmal testen + for (j = 0; j < ind_prn32; j++) { if (prns[j] == prns[ind_prn32+1]) break; } + if (j < ind_prn32) prns[ind_prn32+1] = 0; + else { + for (j = ind_prn32+2; j < 12; j++) { if (prns[j] == prns[ind_prn32+1]) break; } + if (j < 12) prns[ind_prn32+1] = 0; + } + if (prns[ind_prn32+1] == 0) { prn32toggle ^= 0x1; } + */ + } + prn32next = prns[ind_prn32+1]; // -> ind_prn32<11 && ind_prn32 % 3 != 2 + } + } +} + + +int calc_satpos_alm(EPHEM_t alm[], double t, SAT_t *satp) { + double X, Y, Z, vX, vY, vZ; + int j; + int week; + double cl_corr, cl_drift; + + for (j = 1; j < 33; j++) { + if (alm[j].prn > 0 && alm[j].health == 0) { // prn==j + + // Woche hat 604800 sec + if (t-alm[j].toa > WEEKSEC/2) rollover = +1; + else if (t-alm[j].toa < -WEEKSEC/2) rollover = -1; + else rollover = 0; + week = alm[j].week - rollover; + /*if (j == 1)*/ gpx.week = week + GPS_WEEK1024*1024; + + if (option_vel >= 2) { + GPS_SatellitePositionVelocity_Ephem( + week, t, alm[j], + &cl_corr, &cl_drift, &X, &Y, &Z, &vX, &vY, &vZ + ); + satp[alm[j].prn].clock_drift = cl_drift; + satp[alm[j].prn].vX = vX; + satp[alm[j].prn].vY = vY; + satp[alm[j].prn].vZ = vZ; + } + else { + GPS_SatellitePosition_Ephem( + week, t, alm[j], + &cl_corr, &X, &Y, &Z + ); + } + + satp[alm[j].prn].X = X; + satp[alm[j].prn].Y = Y; + satp[alm[j].prn].Z = Z; + satp[alm[j].prn].clock_corr = cl_corr; + + } + } + + return 0; +} + +int calc_satpos_rnx(EPHEM_t eph[][24], double t, SAT_t *satp) { + double X, Y, Z, vX, vY, vZ; + int j, i, ti; + int week; + double cl_corr, cl_drift; + double tdiff, td; + + for (j = 1; j < 33; j++) { + + // Woche hat 604800 sec + tdiff = WEEKSEC; + ti = 0; + for (i = 0; i < 24; i++) { + if (eph[j][i].prn > 0) { + if (t-eph[j][i].toe > WEEKSEC/2) rollover = +1; + else if (t-eph[j][i].toe < -WEEKSEC/2) rollover = -1; + else rollover = 0; + td = t-eph[j][i].toe - rollover*WEEKSEC; + if (td < 0) td *= -1; + + if ( td < tdiff ) { + tdiff = td; + ti = i; + week = eph[j][ti].week - rollover; + gpx.week = eph[j][ti].gpsweek - rollover; + } + } + } + + if (option_vel >= 2) { + GPS_SatellitePositionVelocity_Ephem( + week, t, eph[j][ti], + &cl_corr, &cl_drift, &X, &Y, &Z, &vX, &vY, &vZ + ); + satp[eph[j][ti].prn].clock_drift = cl_drift; + satp[eph[j][ti].prn].vX = vX; + satp[eph[j][ti].prn].vY = vY; + satp[eph[j][ti].prn].vZ = vZ; + } + else { + GPS_SatellitePosition_Ephem( + week, t, eph[j][ti], + &cl_corr, &X, &Y, &Z + ); + } + + satp[eph[j][ti].prn].X = X; + satp[eph[j][ti].prn].Y = Y; + satp[eph[j][ti].prn].Z = Z; + satp[eph[j][ti].prn].clock_corr = cl_corr; + + } + + return 0; +} + +int calc_satpos_rnx2(EPHEM_t *eph, double t, SAT_t *satp) { + double X, Y, Z, vX, vY, vZ; + int j; + int week; + double cl_corr, cl_drift; + double tdiff, td; + int count, count0, satfound; + + for (j = 1; j < 33; j++) { + + count = count0 = 0; + satfound = 0; + + // Woche hat 604800 sec + tdiff = WEEKSEC; + + while (eph[count].prn > 0) { + + if (eph[count].prn == j && eph[count].health == 0) { + + satfound += 1; + + if (t - eph[count].toe > WEEKSEC/2) rollover = +1; + else if (t - eph[count].toe < -WEEKSEC/2) rollover = -1; + else rollover = 0; + td = fabs( t - eph[count].toe - rollover*WEEKSEC); + + if ( td < tdiff ) { + tdiff = td; + week = eph[count].week - rollover; + gpx.week = eph[count].gpsweek - rollover; + count0 = count; + } + } + count += 1; + } + + if ( satfound ) + { + if (option_vel >= 2) { + GPS_SatellitePositionVelocity_Ephem( + week, t, eph[count0], + &cl_corr, &cl_drift, &X, &Y, &Z, &vX, &vY, &vZ + ); + satp[j].clock_drift = cl_drift; + satp[j].vX = vX; + satp[j].vY = vY; + satp[j].vZ = vZ; + } + else { + GPS_SatellitePosition_Ephem( + week, t, eph[count0], + &cl_corr, &X, &Y, &Z + ); + } + + satp[j].X = X; + satp[j].Y = Y; + satp[j].Z = Z; + satp[j].clock_corr = cl_corr; + satp[j].ephtime = eph[count0].toe; + } + + } + + return 0; +} + + +typedef struct { + ui32_t tow; + ui8_t status; + int chips; + int deltachips; +} RANGE_t; +RANGE_t range[33]; + +int prn[12]; // valide PRN 0,..,k-1 + + +// pseudo.range = -df*pseudo.chips +// df = lightspeed/(chips/sec)/2^10 +const double df = 299792.458/1023.0/1024.0; //0.286183844 // c=299792458m/s, 1023000chips/s +// dl = L1/(chips/sec)/4 +const double dl = 1575.42/1.023/4.0; //385.0 // GPS L1 1575.42MHz=154*10.23MHz, dl=154*10/4 + + +int get_pseudorange() { + ui32_t gpstime; + ui8_t gpstime_bytes[4]; + ui8_t pseudobytes[4]; + unsigned chipbytes, deltabytes; + int i, j, k; + ui8_t bytes[4]; + ui16_t byte16; + double pr0, prj; + + // GPS-TOW in ms + for (i = 0; i < 4; i++) { + gpstime_bytes[i] = framebyte(posGPS_TOW + i); + } + memcpy(&gpstime, gpstime_bytes, 4); + + // Sat Status + for (i = 0; i < 12; i++) { + sat_status[i] = framebyte(posGPS_STATUS + i); + } + + // PRN-Nummern + for (i = 0; i < 4; i++) { + for (j = 0; j < 2; j++) { + bytes[j] = frame[posGPS_PRN+2*i+j]; + } + memcpy(&byte16, bytes, 2); + prnbits_le(byte16, prn_le, i); + } + prn12(prn_le, prns); + + + // GPS Sat Pos (& Vel) + if (almanac) calc_satpos_alm( alm, gpstime/1000.0, sat); + if (ephem) calc_satpos_rnx2(ephs, gpstime/1000.0, sat); + + // GPS Sat Pos t -= 1s + if (option_vel == 1) { + if (almanac) calc_satpos_alm( alm, gpstime/1000.0-1, sat1s); + if (ephem) calc_satpos_rnx2(ephs, gpstime/1000.0-1, sat1s); + } + + k = 0; + for (j = 0; j < 12; j++) { + + // Pseudorange/chips + for (i = 0; i < 4; i++) { + pseudobytes[i] = frame[posGPS_DATA+8*j+i]; + } + memcpy(&chipbytes, pseudobytes, 4); + + // delta_pseudochips / 385 + for (i = 0; i < 3; i++) { + pseudobytes[i] = frame[posGPS_DATA+8*j+4+i]; + } + deltabytes = 0; // bzw. pseudobytes[3]=0 (24 bit); deltabytes & (0xFF<<24) als + memcpy(&deltabytes, pseudobytes, 3); // gemeinsamer offset relevant in --vel1 ! + + //if ( (prns[j] == 0) && (sat_status[j] & 0x0F) ) prns[j] = 32; + range[prns[j]].tow = gpstime; + range[prns[j]].status = sat_status[j]; + + if ( chipbytes == 0x7FFFFFFF || chipbytes == 0x55555555 ) { + range[prns[j]].chips = 0; + continue; + } + if (option_vergps != 8) { + if ( chipbytes > 0x10000000 && chipbytes < 0xF0000000 ) { + range[prns[j]].chips = 0; + continue; + }} + + range[prns[j]].chips = chipbytes; + range[prns[j]].deltachips = deltabytes; + +/* + if (range[prns[j]].deltachips == 0x555555) { + range[prns[j]].deltachips = 0; + continue; + } +*/ + if ( (prns[j] > 0) && ((sat_status[j] & 0x0F) == 0xF) + && (dist(sat[prns[j]].X, sat[prns[j]].Y, sat[prns[j]].Z, 0, 0, 0) > 6700000) ) + { + for (i = 0; i < k; i++) { if (prn[i] == prns[j]) break; } + if (i == k && prns[j] != exSat) { + //if ( range[prns[j]].status & 0xF0 ) // Signalstaerke > 0 ? + { + prn[k] = prns[j]; + k++; + } + } + } + + } + + + for (j = 0; j < 12; j++) { // 0x013FB0A4 + sat[prns[j]].pseudorange = /*0x01400000*/ - range[prns[j]].chips * df; + sat1s[prns[j]].pseudorange = -(range[prns[j]].chips - range[prns[j]].deltachips/dl)*df; + //+ sat[prns[j]].clock_corr - sat1s[prns[j]].clock_corr + sat[prns[j]].pseudorate = - range[prns[j]].deltachips * df / dl; + + sat[prns[j]].prn = prns[j]; + sat1s[prns[j]].prn = prns[j]; + } + + + pr0 = (double)0x01400000; + for (j = 0; j < k; j++) { + prj = sat[prn[j]].pseudorange + sat[prn[j]].clock_corr; + if (prj < pr0) pr0 = prj; + } + for (j = 0; j < k; j++) sat[prn[j]].PR = sat[prn[j]].pseudorange + sat[prn[j]].clock_corr - pr0 + 20e6; + // es kann PRNs geben, die zeitweise stark abweichende PR liefern; + // eventuell Standardabweichung ermitteln und fehlerhafte Sats weglassen + for (j = 0; j < k; j++) { // sat/sat1s... PR-check + sat1s[prn[j]].PR = sat1s[prn[j]].pseudorange + sat[prn[j]].clock_corr - pr0 + 20e6; + } + + return k; +} + +int get_GPSvel(double lat, double lon, double vel_ecef[3], + double *vH, double *vD, double *vU) { + // ECEF-Velocities + // ECEF-Vel -> NorthEastUp + double phi = lat*M_PI/180.0; + double lam = lon*M_PI/180.0; + double vN = -vel_ecef[0]*sin(phi)*cos(lam) - vel_ecef[1]*sin(phi)*sin(lam) + vel_ecef[2]*cos(phi); + double vE = -vel_ecef[0]*sin(lam) + vel_ecef[1]*cos(lam); + *vU = vel_ecef[0]*cos(phi)*cos(lam) + vel_ecef[1]*cos(phi)*sin(lam) + vel_ecef[2]*sin(phi); + // NEU -> HorDirVer + *vH = sqrt(vN*vN+vE*vE); + *vD = atan2(vE, vN) * 180 / M_PI; + if (*vD < 0) *vD += 360; + + return 0; +} + +double DOP[4]; + +int get_GPSkoord(int N) { + double lat, lon, alt, rx_cl_bias; + double vH, vD, vU; + double lat1s, lon1s, alt1s, + lat0 , lon0 , alt0 , pos0_ecef[3]; + double pos_ecef[3], pos1s_ecef[3], dpos_ecef[3], + vel_ecef[3], dvel_ecef[3]; + double gdop, gdop0 = 1000.0; + //double hdop, vdop, pdop; + int i0, i1, i2, i3, j, k, n; + int nav_ret = 0; + int num = 0; + SAT_t Sat_A[4]; + SAT_t Sat_B[12]; // N <= 12 + SAT_t Sat_B1s[12]; + SAT_t Sat_C[12]; // 11 + double diter; + int exN = -1; + + if (option_vergps == 8) { + fprintf(stdout, " sats: "); + for (j = 0; j < N; j++) fprintf(stdout, "%02d ", prn[j]); + fprintf(stdout, "\n"); + } + + gpx.lat = gpx.lon = gpx.alt = 0; + + if (option_vergps != 2) { + for (i0=0;i0 0 && gdop < gdop0) { // wenn fehlerhafter Sat, diter wohl besserer Indikator + gpx.lat = lat; + gpx.lon = lon; + gpx.alt = alt; + gpx.dop = gdop; + gpx.diter = diter; + gpx.sats[0] = prn[i0]; gpx.sats[1] = prn[i1]; gpx.sats[2] = prn[i2]; gpx.sats[3] = prn[i3]; + gdop0 = gdop; + + if (option_vel == 4) { + gpx.vH = vH; + gpx.vD = vD; + gpx.vU = vU; + } + } + } + + }}}} + } + + if (option_vergps == 8 || option_vergps == 2) { + + for (j = 0; j < N; j++) Sat_B[j] = sat[prn[j]]; + for (j = 0; j < N; j++) Sat_B1s[j] = sat1s[prn[j]]; + + NAV_bancroft1(N, Sat_B, pos_ecef, &rx_cl_bias); + ecef2elli(pos_ecef[0], pos_ecef[1], pos_ecef[2], &lat, &lon, &alt); + gdop = -1; + if (calc_DOPn(N, Sat_B, pos_ecef, DOP) == 0) { + gdop = sqrt(DOP[0]+DOP[1]+DOP[2]+DOP[3]); + } + + NAV_LinP(N, Sat_B, pos_ecef, rx_cl_bias, dpos_ecef, &rx_cl_bias); + if (option_iter) { + for (j = 0; j < 3; j++) pos_ecef[j] += dpos_ecef[j]; + ecef2elli(pos_ecef[0], pos_ecef[1], pos_ecef[2], &lat, &lon, &alt); + } + gpx.diter = dist(0, 0, 0, dpos_ecef[0], dpos_ecef[1], dpos_ecef[2]); + + // Sat mit schlechten Daten suchen + if (gpx.diter > d_err) { + if (N > 5) { // N > 4 kann auch funktionieren + for (n = 0; n < N; n++) { + k = 0; + for (j = 0; j < N; j++) { + if (j != n) { + Sat_C[k] = Sat_B[j]; + k++; + } + } + for (j = 0; j < 3; j++) pos0_ecef[j] = 0; + NAV_bancroft1(N-1, Sat_C, pos0_ecef, &rx_cl_bias); + NAV_LinP(N-1, Sat_C, pos0_ecef, rx_cl_bias, dpos_ecef, &rx_cl_bias); + diter = dist(0, 0, 0, dpos_ecef[0], dpos_ecef[1], dpos_ecef[2]); + ecef2elli(pos0_ecef[0], pos0_ecef[1], pos0_ecef[2], &lat0, &lon0, &alt0); + if (diter < gpx.diter) { + gpx.diter = diter; + for (j = 0; j < 3; j++) pos_ecef[j] = pos0_ecef[j]; + lat = lat0; + lon = lon0; + alt = alt0; + exN = n; + } + } + if (exN >= 0) { + if (prn[exN] == prn32next) prn32toggle ^= 0x1; + for (k = exN; k < N-1; k++) { + Sat_B[k] = Sat_B[k+1]; + prn[k] = prn[k+1]; + if (option_vel == 1) { + Sat_B1s[k] = Sat_B1s[k+1]; + } + } + N = N-1; + if (calc_DOPn(N, Sat_B, pos_ecef, DOP) == 0) { + gdop = sqrt(DOP[0]+DOP[1]+DOP[2]+DOP[3]); + } + } + } +/* + if (exN < 0 && prn32next > 0) { + //prn32next used in pre-fix? prn32toggle ^= 0x1; + } +*/ + } + + if (option_vel == 1) { + NAV_bancroft1(N, Sat_B1s, pos1s_ecef, &rx_cl_bias); + if (option_iter) { + NAV_LinP(N, Sat_B1s, pos1s_ecef, rx_cl_bias, dpos_ecef, &rx_cl_bias); + for (j = 0; j < 3; j++) pos1s_ecef[j] += dpos_ecef[j]; + } + for (j = 0; j < 3; j++) vel_ecef[j] = pos_ecef[j] - pos1s_ecef[j]; + get_GPSvel(lat, lon, vel_ecef, &vH, &vD, &vU); + ecef2elli(pos1s_ecef[0], pos1s_ecef[1], pos1s_ecef[2], &lat1s, &lon1s, &alt1s); + if (option_vergps == 8) { + fprintf(stdout, "\ndeltachips1s lat: %.6f , lon: %.6f , alt: %.2f ", lat1s, lon1s, alt1s); + fprintf(stdout, " vH: %4.1f D: %5.1f° vV: %3.1f ", vH, vD, vU); + fprintf(stdout, "\n"); + } + } + if (option_vel >= 2) { + //fprintf(stdout, "\nP(%.1f,%.1f,%.1f) \n", pos_ecef[0], pos_ecef[1], pos_ecef[2]); + vel_ecef[0] = vel_ecef[1] = vel_ecef[2] = 0; + NAV_LinV(N, Sat_B, pos_ecef, vel_ecef, 0.0, dvel_ecef, &rx_cl_bias); + for (j=0; j<3; j++) vel_ecef[j] += dvel_ecef[j]; + //fprintf(stdout, " V(%.1f,%.1f,%.1f) ", vel_ecef[0], vel_ecef[1], vel_ecef[2]); + //fprintf(stdout, " rx_vel_bias: %.1f \n", rx_cl_bias); + /* 2. Iteration: + NAV_LinV(N, Sat_B, pos_ecef, vel_ecef, rx_cl_bias, dvel_ecef, &rx_cl_bias); + for (j=0; j<3; j++) vel_ecef[j] += dvel_ecef[j]; + //fprintf(stdout, " V(%.1f,%.1f,%.1f) ", vel_ecef[0], vel_ecef[1], vel_ecef[2]); + //fprintf(stdout, " rx_vel_bias: %.1f \n", rx_cl_bias); + */ + get_GPSvel(lat, lon, vel_ecef, &vH, &vD, &vU); + } + + if (option_vergps == 8) { + fprintf(stdout, "bancroft[%2d] lat: %.6f , lon: %.6f , alt: %.2f ", N, lat, lon, alt); + fprintf(stdout, " (d:%.1f)", gpx.diter); + if (option_vel) { + fprintf(stdout, " vH: %4.1f D: %5.1f° vV: %3.1f ", vH, vD, vU); + } + fprintf(stdout, " DOP["); + for (j = 0; j < N; j++) { + fprintf(stdout, "%d", prn[j]); + if (j < N-1) fprintf(stdout, ","); else fprintf(stdout, "] %.1f ", gdop); + } + fprintf(stdout, "\n"); + } + + if (option_vergps == 2) { + gpx.lat = lat; + gpx.lon = lon; + gpx.alt = alt; + gpx.dop = gdop; + num = N; + + if (option_vel) { + gpx.vH = vH; + gpx.vD = vD; + gpx.vU = vU; + } + } + + } + + return num; +} + + +/* ------------------------------------------------------------------------------------ */ + +int rs92_ecc(int msglen) { + + int i, ret = 0; + int errors; + ui8_t err_pos[rs_R], err_val[rs_R]; + + if (msglen > FRAME_LEN) msglen = FRAME_LEN; + for (i = msglen; i < FRAME_LEN; i++) frame[i] = 0;//xFF; + + + for (i = 0; i < rs_R; i++) cw[i] = frame[cfg_rs92.parpos+i]; + for (i = 0; i < cfg_rs92.msglen; i++) cw[rs_R+i] = frame[cfg_rs92.msgpos+i]; + + errors = rs_decode(cw, err_pos, err_val); + + //for (i = 0; i < cfg_rs92.hdrlen; i++) frame[i] = data[i]; + for (i = 0; i < rs_R; i++) frame[cfg_rs92.parpos+i] = cw[i]; + for (i = 0; i < cfg_rs92.msglen; i++) frame[cfg_rs92.msgpos+i] = cw[rs_R+i]; + + ret = errors; + + return ret; +} + +/* ------------------------------------------------------------------------------------ */ + +int print_position() { // GPS-Hoehe ueber Ellipsoid + int j, k, n = 0; + int err1, err2; + + err1 = 0; + if (!option_verbose) err1 = err_gps; + err1 |= get_FrameNb(); + err1 |= get_SondeID(); + + err2 = err1 | err_gps; + //err2 |= get_GPSweek(); + err2 |= get_GPStime(); + + if (!err2 && (almanac || ephem)) { + k = get_pseudorange(); + if (k >= 4) { + n = get_GPSkoord(k); + } + } + + if (!err1) { + fprintf(stdout, "[%5d] ", gpx.frnr); + fprintf(stdout, "(%s) ", gpx.id); + } + + if (!err2) { + if (option_verbose) { + Gps2Date(gpx.week, gpx.gpssec, &gpx.jahr, &gpx.monat, &gpx.tag); + //fprintf(stdout, "(W %d) ", gpx.week); + fprintf(stdout, "(%04d-%02d-%02d) ", gpx.jahr, gpx.monat, gpx.tag); + } + fprintf(stdout, "%s ", weekday[gpx.wday]); // %04.1f: wenn sek >= 59.950, wird auf 60.0 gerundet + fprintf(stdout, "%02d:%02d:%06.3f", gpx.std, gpx.min, gpx.sek); + + if (n > 0) { + fprintf(stdout, " "); + + if (almanac) fprintf(stdout, " lat: %.4f lon: %.4f alt: %.1f ", gpx.lat, gpx.lon, gpx.alt); + else fprintf(stdout, " lat: %.5f lon: %.5f alt: %.1f ", gpx.lat, gpx.lon, gpx.alt); + + if (option_verbose && option_vergps != 8) { + fprintf(stdout, " (d:%.1f)", gpx.diter); + } + if (option_vel /*&& option_vergps >= 2*/) { + fprintf(stdout," vH: %4.1f D: %5.1f° vV: %3.1f ", gpx.vH, gpx.vD, gpx.vU); + } + if (option_verbose) { + if (option_vergps != 2) { + fprintf(stdout, " DOP[%02d,%02d,%02d,%02d] %.1f", + gpx.sats[0], gpx.sats[1], gpx.sats[2], gpx.sats[3], gpx.dop); + } + else { // wenn option_vergps=2, dann n=N=k(-1) + fprintf(stdout, " DOP["); + for (j = 0; j < n; j++) { + fprintf(stdout, "%d", prn[j]); + if (j < n-1) fprintf(stdout, ","); else fprintf(stdout, "] %.1f ", gpx.dop); + } + } + } + } + + get_Cal(); + + if (option_vergps == 8 /*|| option_vergps == 2*/) + { + fprintf(stdout, "\n"); + for (j = 0; j < 60; j++) { fprintf(stdout, "%d", prn_le[j]); if (j % 5 == 4) fprintf(stdout, " "); } + fprintf(stdout, ": "); + for (j = 0; j < 12; j++) fprintf(stdout, "%2d ", prns[j]); + fprintf(stdout, "\n"); + fprintf(stdout, " status: "); + for (j = 0; j < 12; j++) fprintf(stdout, "%02X ", sat_status[j]); //range[prns[j]].status + fprintf(stdout, "\n"); + } + + } + + if (!err1) { + fprintf(stdout, "\n"); + //if (option_vergps == 8) fprintf(stdout, "\n"); + } + + return err2; +} + +void print_frame(int len) { + int i, ret = 0; + ui8_t byte; + + if (option_ecc) { + ret = rs92_ecc(len); + } + + for (i = len; i < FRAME_LEN; i++) { + frame[i] = 0; + } + + if (option_raw) { +/* + for (i = 0; i < len; i++) { + byte = framebyte(i); + fprintf(stdout, "%02x", byte); + } + fprintf(stdout, "\n"); +*/ + for (i = 0; i < len; i++) { + //byte = frame[i]; + byte = framebyte(i); + fprintf(stdout, "%02x", byte); + } + if (option_ecc && option_verbose) { + fprintf(stdout, " "); + if (ret >= 0) fprintf(stdout, " [OK]"); else fprintf(stdout, " [NO]"); + fprintf(stdout, " errors: %d", ret); + } + fprintf(stdout, "\n"); +// fprintf(stdout, "\n"); + } + else print_position(); +} + + +int main(int argc, char *argv[]) { + + FILE *fp, *fp_alm = NULL, *fp_eph = NULL; + char *fpname = NULL; + float spb = 0.0; + char bitbuf[BITS]; + int bit_count = 0, + bitpos = 0, + byte_count = FRAMESTART, + header_found = 0; + int bit, byte; + int bitQ; + int herrs, herr1; + int headerlen = 0; + + int k,K; + float mv; + unsigned int mv_pos, mv0_pos; + int mp = 0; + + float thres = 0.7; + + int bitofs = 0; + int symlen = 2; + + +#ifdef CYGWIN + _setmode(_fileno(stdin), _O_BINARY); +#endif + setbuf(stdout, NULL); + + fpname = argv[0]; + ++argv; + while ((*argv) && (!fileloaded)) { + if ( (strcmp(*argv, "-h") == 0) || (strcmp(*argv, "--help") == 0) ) { + fprintf(stderr, "%s [options] \n", fpname); + fprintf(stderr, " file: audio.wav or raw_data\n"); + fprintf(stderr, " options:\n"); + fprintf(stderr, " --vel; --vel1, --vel2 (-g2)\n"); + fprintf(stderr, " -v, -vx, -vv\n"); + fprintf(stderr, " -r, --raw\n"); + fprintf(stderr, " -i, --invert\n"); + fprintf(stderr, " -a, --almanac \n"); + fprintf(stderr, " -e, --ephem \n"); + fprintf(stderr, " -g1 (verbose GPS: 4 sats)\n"); + fprintf(stderr, " -g2 (verbose GPS: all sats)\n"); + fprintf(stderr, " -gg (vverbose GPS)\n"); + fprintf(stderr, " --crc (CRC check GPS)\n"); + fprintf(stderr, " --ecc (Reed-Solomon)\n"); + fprintf(stderr, " --ths (peak threshold; default=%.1f)\n", thres); + return 0; + } + else if ( (strcmp(*argv, "--vel") == 0) ) { + option_vel = 4; + } + else if ( (strcmp(*argv, "--vel1") == 0) ) { + option_vel = 1; + if (option_vergps < 1) option_vergps = 2; + } + else if ( (strcmp(*argv, "--vel2") == 0) ) { + option_vel = 2; + if (option_vergps < 1) option_vergps = 2; + } + else if ( (strcmp(*argv, "--iter") == 0) ) { + option_iter = 1; + } + else if ( (strcmp(*argv, "-v") == 0) ) { + option_verbose = 1; + } + else if ( (strcmp(*argv, "-vv") == 0) ) { + option_verbose = 4; + } + else if ( (strcmp(*argv, "-vx") == 0) ) { + option_aux = 1; + } + else if (strcmp(*argv, "--crc") == 0) { option_crc = 1; } + else if ( (strcmp(*argv, "-r") == 0) || (strcmp(*argv, "--raw") == 0) ) { + option_raw = 1; + } + else if ( (strcmp(*argv, "-i") == 0) || (strcmp(*argv, "--invert") == 0) ) { + option_inv = 1; + } + else if ( (strcmp(*argv, "-a") == 0) || (strcmp(*argv, "--almanac") == 0) ) { + ++argv; + if (*argv) fp_alm = fopen(*argv, "r"); // txt-mode + else return -1; + if (fp_alm == NULL) fprintf(stderr, "[almanac] %s konnte nicht geoeffnet werden\n", *argv); + } + else if ( (strcmp(*argv, "-e") == 0) || (strncmp(*argv, "--ephem", 7) == 0) ) { + ++argv; + if (*argv) fp_eph = fopen(*argv, "rb"); // bin-mode + else return -1; + if (fp_eph == NULL) fprintf(stderr, "[rinex] %s konnte nicht geoeffnet werden\n", *argv); + } + else if ( (strcmp(*argv, "--dop") == 0) ) { + ++argv; + if (*argv) { + dop_limit = atof(*argv); + if (dop_limit <= 0 || dop_limit >= 100) dop_limit = 9.9; + } + else return -1; + } + else if ( (strcmp(*argv, "--der") == 0) ) { + ++argv; + if (*argv) { + d_err = atof(*argv); + if (d_err <= 0 || d_err >= 100000) d_err = 10000; + else option_der = 1; + } + else return -1; + } + else if ( (strcmp(*argv, "--exsat") == 0) ) { + ++argv; + if (*argv) { + exSat = atoi(*argv); + if (exSat < 1 || exSat > 32) exSat = -1; + } + else return -1; + } + else if (strcmp(*argv, "-g1") == 0) { option_vergps = 1; } // verbose1 GPS + else if (strcmp(*argv, "-g2") == 0) { option_vergps = 2; } // verbose2 GPS (bancroft) + else if (strcmp(*argv, "-gg") == 0) { option_vergps = 8; } // vverbose GPS + else if (strcmp(*argv, "--ecc") == 0) { option_ecc = 1; } + else if (strcmp(*argv, "--ths") == 0) { + ++argv; + if (*argv) { + thres = atof(*argv); + } + else return -1; + } + else { + if (!rawin) fp = fopen(*argv, "rb"); + else fp = fopen(*argv, "r"); + if (fp == NULL) { + fprintf(stderr, "%s konnte nicht geoeffnet werden\n", *argv); + return -1; + } + fileloaded = 1; + } + ++argv; + } + if (!fileloaded) fp = stdin; + + if (fp_alm) { + if (read_SEMalmanac(fp_alm, alm) == 0) { + almanac = 1; + } + fclose(fp_alm); + if (!option_der) d_err = 4000; + } + if (fp_eph) { + /* i = read_RNXephemeris(fp_eph, eph); + if (i == 0) { + ephem = 1; + almanac = 0; + } + fclose(fp_eph); */ + ephs = read_RNXpephs(fp_eph); + if (ephs) { + ephem = 1; + almanac = 0; + } + fclose(fp_eph); + if (!option_der) d_err = 1000; + } + + + spb = read_wav_header(fp, (float)BAUD_RATE); + if ( spb < 0 ) { + fclose(fp); + fprintf(stderr, "error: wav header\n"); + return -1; + } + if ( spb < 8 ) { + fprintf(stderr, "note: sample rate low\n"); + } + + + if (option_ecc) { + rs_init_RS255(); + } + + + symlen = 2; + headerlen = strlen(rawheader); + bitofs = 2; // +1 .. +2 + K = init_buffers(rawheader, headerlen, 2); // shape=2 + if ( K < 0 ) { + fprintf(stderr, "error: init buffers\n"); + return -1; + }; + + k = 0; + mv = -1; mv_pos = 0; + + while ( f32buf_sample(fp, option_inv, 1) != EOF ) { + + k += 1; + if (k >= K-4) { + mv0_pos = mv_pos; + mp = getCorrDFT(K, 0, &mv, &mv_pos); + k = 0; + } + else { + mv = 0.0; + continue; + } + + if (mv > thres && mp > 0) { + if (mv_pos > mv0_pos) { + + header_found = 0; + herrs = headcmp(symlen, rawheader, headerlen, mv_pos); // symlen=2 + herr1 = 0; + if (herrs <= 3 && herrs > 0) { + herr1 = headcmp(symlen, rawheader, headerlen, mv_pos+1); + if (herr1 < herrs) { + herrs = herr1; + herr1 = 1; + } + } + if (herrs <= 2) header_found = 1; // herrs <= 2 bitfehler in header + + if (header_found) { + + byte_count = FRAMESTART; + bit_count = 0; + bitpos = 0; + + while ( byte_count < FRAME_LEN ) { + header_found = !(byte_count>=FRAME_LEN-2); + bitQ = read_sbit(fp, symlen, &bit, option_inv, bitofs, bit_count==0, !header_found); // symlen=2, return: zeroX/bit + if ( bitQ == EOF) break; + bit_count += 1; + bitbuf[bitpos] = bit; + bitpos++; + if (bitpos >= BITS) { + bitpos = 0; + byte = bits2byte(bitbuf); + frame[byte_count] = byte; + byte_count++; + } + } + header_found = 0; + print_frame(byte_count); + byte_count = FRAMESTART; + + } + } + } + + } + + + free_buffers(); + + free(ephs); + fclose(fp); + + return 0; +} + +