/* * rs92 * sync header: correlation/matched filter * files: rs92mod.c nav_gps_vel.c bch_ecc_mod.c bch_ecc_mod.h demod_mod.c demod_mod.h * compile: * (a) * gcc -c demod_mod.c * gcc -DINCLUDESTATIC rs92mod.c demod_mod.o -lm -o rs92mod * (b) * gcc -c demod_mod.c * gcc -c bch_ecc_mod.c * gcc rs92mod.c demod_mod.o bch_ecc_mod.o -lm -o rs92mod * * 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_mod.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 aux; // aux/ozone i8_t jsn; // JSON output (auto_rx) i8_t ngp; } option_t; typedef struct { int typ; int msglen; int msgpos; int parpos; int hdrlen; int frmlen; } rscfg_t; static rscfg_t cfg_rs92 = { 92, 240-6-24, 6, 240-24, 6, 240}; /* --- RS92-SGP: 8N1 manchester --- */ #define BITS (1+8+1) // 10 //#define HEADLEN 60 #define FRAMESTART 6 //((HEADLEN)/BITS) #define FRAME_LEN 240 /* 2A 10*/ static char rs92_rawheader[] = //"10100110011001101001" //"10100110011001101001" //"10100110011001101001" "10100110011001101001" "1010011001100110100110101010100110101001"; static ui8_t rs92_header_bytes[6] = { 0x2A, 0x2A, 0x2A, 0x2A, 0x2A, 0x10}; #include "nav_gps_vel.c" typedef struct { i8_t opt_vergps; i8_t opt_iter; i8_t opt_vel; float dop_limit; // 9.9 float d_err; // 10000 int almanac; int ephem; int exSat; // -1 ui8_t WEEK1024epoch; // SEM almanac, GPS epoch (1: 1999-2019) ui8_t sat_status[12]; ui8_t prn[12]; // valide PRN 0,..,k-1 ui8_t prn32toggle; // 0x1 ui8_t prn32next; EPHEM_t alm[33]; EPHEM_t *ephs; SAT_t sat[33]; SAT_t sat1s[33]; } GPS_t; 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; ui16_t conf_kt; // kill timer (sec) int freq; ui32_t crc; ui8_t frame[FRAME_LEN]; // { 0x2A, 0x2A, 0x2A, 0x2A, 0x2A, 0x10} unsigned short aux[4]; double diter; option_t option; RS_t RS; GPS_t gps; } gpx_t; /* --- RS92-SGP ------------------- */ #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 */ /* ------------------------------------------------------------------------------------ */ #define BAUD_RATE 4800 /* ------------------------------------------------------------------------------------ */ // manchester1 1->10,0->01: 1.bit // manchester2 0->10,1->01: 2.bit // RS92-SGP: 8N1 manchester2 static 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]; } */ /* ------------------------------------------------------------------------------------ */ //#define GPS_WEEK1024 1 // SEM almanac #define WEEKSEC 604800 /* * 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; } /* ------------------------------------------------------------------------------------ */ #define crc_FRAME (1<<0) #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 crc_GPS (1<<2) #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 crc_PTU (1<<1) #define pos_PTU 0x2C // 24 byte #define crc_AUX (1<<3) #define pos_AUX 0xC6 // 10 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)) #define LEN_AUX (2*(BLOCK_AUX & 0xFF)) static int crc16(gpx_t *gpx, 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 = 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 get_FrameNb(gpx_t *gpx) { int i; unsigned byte; ui8_t frnr_bytes[2]; int frnr; for (i = 0; i < 2; i++) { byte = gpx->frame[pos_FrameNb + i]; frnr_bytes[i] = byte; } frnr = frnr_bytes[0] + (frnr_bytes[1] << 8); gpx->frnr = frnr; return 0; } static int get_SondeID(gpx_t *gpx) { 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 = gpx->frame[pos_FrameNb+LEN_CFG] | (gpx->frame[pos_FrameNb+LEN_CFG+1] << 8); crc = crc16(gpx, pos_FrameNb, LEN_CFG); if (crc_frame != crc) gpx->crc |= crc_FRAME; /* if (gpx->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 &&*/ gpx->option.crc && crc != crc_frame) { ret = -2; // erst wichtig, wenn Cal/Cfg-Data } for (i = 0; i < 8; i++) { byte = gpx->frame[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; } static int get_PTU(gpx_t *gpx) { int ret=0; int crc_frame, crc; crc_frame = gpx->frame[pos_PTU+LEN_PTU] | (gpx->frame[pos_PTU+LEN_PTU+1] << 8); crc = crc16(gpx, pos_PTU, LEN_PTU); if (crc_frame != crc) gpx->crc |= crc_PTU; ret = 0; if (gpx->option.crc && crc != crc_frame) { ret = -2; } return ret; } //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 i, ret=0; unsigned byte; ui8_t gpstime_bytes[4]; ui32_t gpstime = 0; // 32bit int day; int ms; int crc_frame, crc; // BLOCK_GPS == frame[posGPS_TOW-2 .. posGPS_TOW-1] ? crc_frame = gpx->frame[posGPS_TOW+LEN_GPS] | (gpx->frame[posGPS_TOW+LEN_GPS+1] << 8); crc = crc16(gpx, posGPS_TOW, LEN_GPS); if (crc_frame != crc) gpx->crc |= crc_GPS; /* if (gpx->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 (gpx->option.crc && crc != crc_frame) { ret = -2; } for (i = 0; i < 4; i++) { byte = gpx->frame[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; } static int get_Aux(gpx_t *gpx) { int i, ret=0; unsigned short byte; int crc_frame, crc; crc_frame = gpx->frame[pos_AUX+LEN_AUX] | (gpx->frame[pos_AUX+LEN_AUX+1] << 8); crc = crc16(gpx, pos_AUX, LEN_AUX); if (crc_frame != crc) gpx->crc |= crc_AUX; ret = 0; if (gpx->option.crc && crc != crc_frame) { ret = -2; } for (i = 0; i < 4; i++) { byte = gpx->frame[pos_AuxData+2*i] + (gpx->frame[pos_AuxData+2*i+1]<<8); gpx->aux[i] = byte; } return ret; } static int get_Cal(gpx_t *gpx) { int i; unsigned byte; ui8_t calfr = 0; //ui8_t burst = 0; ui8_t bytes[2]; int freq = 0; ui16_t killtime = 0; byte = gpx->frame[pos_CalData]; calfr = byte; if (gpx->option.vbs == 4) { fprintf(stdout, "\n"); fprintf(stdout, "[%5d] ", gpx->frnr); fprintf(stdout, " 0x%02x:", calfr); for (i = 0; i < 16; i++) { byte = gpx->frame[pos_CalData+1+i]; fprintf(stdout, " %02x", byte); } if ((gpx->crc & crc_FRAME)==0) fprintf(stdout, " [OK]"); else fprintf(stdout, " [NO]"); } if (gpx->option.aux) { if (gpx->option.vbs == 4) { fprintf(stdout, " # "); for (i = 0; i < 8; i++) { byte = gpx->frame[pos_AuxData+i]; fprintf(stdout, "%02x ", byte); } } } if (calfr == 0x00) { for (i = 0; i < 2; i++) { bytes[i] = gpx->frame[pos_Calfreq + i]; } byte = bytes[0] + (bytes[1] << 8); //fprintf(stdout, ":%04x ", byte); freq = 400000 + 10*byte; // kHz; if (gpx->option.ngp) freq = 1600000 + 10*byte; // kHz gpx->freq = freq; fprintf(stdout, ": fq %d", freq); for (i = 0; i < 2; i++) { bytes[i] = gpx->frame[pos_Calfreq + 2 + i]; } killtime = bytes[0] + (bytes[1] << 8); // signed? if (killtime < 0xFFFF && gpx->option.vbs == 4) { fprintf(stdout, "; KT:%ds", killtime); } gpx->conf_kt = killtime; } return 0; } /* ---------------------------------------------------------------------------------------------------- */ static 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; } static void prn12(GPS_t *gps, ui8_t *prn_le, ui8_t prns[12]) { int i, j, d; ui8_t ind_prn32 = 32; 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; } } for (i = 0; i < 12; i++) { // PRN-32 overflow if ( (prns[i] == 0) && (gps->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 ((gps->sat_status[i] & 0x0F) == 0) { // erste beiden bits: 0x03 ? prns[i] = 0; } } gps->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 ((gps->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]^gps->prn32toggle) && (gps->sat_status[j] & 0x0F)) break; } if (j < ind_prn32) { gps->prn32toggle ^= 0x1; } else { for (j = ind_prn32+2; j < 12; j++) { if (prns[j] == (prns[ind_prn32+1]^gps->prn32toggle) && (gps->sat_status[j] & 0x0F)) break; } if (j < 12) { gps->prn32toggle ^= 0x1; } } prns[ind_prn32+1] ^= gps->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) { gps->prn32toggle ^= 0x1; } */ } gps->prn32next = prns[ind_prn32+1]; // -> ind_prn32<11 && ind_prn32 % 3 != 2 } } } static int calc_satpos_alm(gpx_t *gpx, double t, SAT_t *satp) { double X, Y, Z, vX, vY, vZ; int j; int week; double cl_corr, cl_drift; int rollover = 0; EPHEM_t *alm = gpx->gps.alm; 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 + gpx->gps.WEEK1024epoch*1024; if (gpx->gps.opt_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; } static int calc_satpos_rnx2(gpx_t *gpx, 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; int rollover = 0; EPHEM_t *eph = gpx->gps.ephs; 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 (gpx->gps.opt_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; // 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 static int get_pseudorange(gpx_t *gpx) { 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; ui8_t prn_le[12*5+4]; // le - little endian ui8_t prns[12]; // PRNs in data RANGE_t range[33]; memset(prn_le, 0, sizeof(prn_le)); memset(prns, 0, sizeof(prns)); memset(range, 0, sizeof(range)); // GPS-TOW in ms for (i = 0; i < 4; i++) { gpstime_bytes[i] = gpx->frame[posGPS_TOW + i]; } memcpy(&gpstime, gpstime_bytes, 4); // Sat Status for (i = 0; i < 12; i++) { gpx->gps.sat_status[i] = gpx->frame[posGPS_STATUS + i]; } // PRN-Nummern for (i = 0; i < 4; i++) { for (j = 0; j < 2; j++) { bytes[j] = gpx->frame[posGPS_PRN+2*i+j]; } memcpy(&byte16, bytes, 2); prnbits_le(byte16, prn_le, i); } prn12(&gpx->gps, prn_le, prns); // GPS Sat Pos (& Vel) if (gpx->gps.almanac) calc_satpos_alm( gpx, gpstime/1000.0, gpx->gps.sat); if (gpx->gps.ephem) calc_satpos_rnx2(gpx, gpstime/1000.0, gpx->gps.sat); // GPS Sat Pos t -= 1s if (gpx->gps.opt_vel == 1) { if (gpx->gps.almanac) calc_satpos_alm( gpx, gpstime/1000.0-1, gpx->gps.sat1s); if (gpx->gps.ephem) calc_satpos_rnx2(gpx, gpstime/1000.0-1, gpx->gps.sat1s); } k = 0; for (j = 0; j < 12; j++) { // Pseudorange/chips for (i = 0; i < 4; i++) { pseudobytes[i] = gpx->frame[posGPS_DATA+8*j+i]; } memcpy(&chipbytes, pseudobytes, 4); // delta_pseudochips / 385 for (i = 0; i < 3; i++) { pseudobytes[i] = gpx->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) && (gpx->gps.sat_status[j] & 0x0F) ) prns[j] = 32; range[prns[j]].tow = gpstime; range[prns[j]].status = gpx->gps.sat_status[j]; if ( chipbytes == 0x7FFFFFFF || chipbytes == 0x55555555 ) { range[prns[j]].chips = 0; continue; } if (gpx->gps.opt_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) && ((gpx->gps.sat_status[j] & 0x0F) == 0xF) && (dist(gpx->gps.sat[prns[j]].X, gpx->gps.sat[prns[j]].Y, gpx->gps.sat[prns[j]].Z, 0, 0, 0) > 6700000) ) { for (i = 0; i < k; i++) { if (gpx->gps.prn[i] == prns[j]) break; } if (i == k && prns[j] != gpx->gps.exSat) { //if ( range[prns[j]].status & 0xF0 ) // Signalstaerke > 0 ? { gpx->gps.prn[k] = prns[j]; k++; } } } } for (j = 0; j < 12; j++) { // 0x013FB0A4 gpx->gps.sat[prns[j]].pseudorange = /*0x01400000*/ - range[prns[j]].chips * df; gpx->gps.sat1s[prns[j]].pseudorange = -(range[prns[j]].chips - range[prns[j]].deltachips/dl)*df; //+ sat[prns[j]].clock_corr - gpx->gps.sat1s[prns[j]].clock_corr gpx->gps.sat[prns[j]].pseudorate = - range[prns[j]].deltachips * df / dl; gpx->gps.sat[prns[j]].prn = prns[j]; gpx->gps.sat1s[prns[j]].prn = prns[j]; } pr0 = (double)0x01400000; for (j = 0; j < k; j++) { prj = gpx->gps.sat[gpx->gps.prn[j]].pseudorange + gpx->gps.sat[gpx->gps.prn[j]].clock_corr; if (prj < pr0) pr0 = prj; } for (j = 0; j < k; j++) gpx->gps.sat[gpx->gps.prn[j]].PR = gpx->gps.sat[gpx->gps.prn[j]].pseudorange + gpx->gps.sat[gpx->gps.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 gpx->gps.sat1s[gpx->gps.prn[j]].PR = gpx->gps.sat1s[gpx->gps.prn[j]].pseudorange + gpx->gps.sat[gpx->gps.prn[j]].clock_corr - pr0 + 20e6; } return k; } static 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; } static int get_GPSkoord(gpx_t *gpx, 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; double DOP[4]; 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 (gpx->gps.opt_vergps == 8) { fprintf(stdout, " sats: "); for (j = 0; j < N; j++) fprintf(stdout, "%02d ", gpx->gps.prn[j]); fprintf(stdout, "\n"); } gpx->lat = gpx->lon = gpx->alt = 0; DOP[0] = DOP[1] = DOP[2] = DOP[3] = 0.0; if (gpx->gps.opt_vergps != 2) { for (i0=0;i0gps.sat[gpx->gps.prn[i0]]; Sat_A[1] = gpx->gps.sat[gpx->gps.prn[i1]]; Sat_A[2] = gpx->gps.sat[gpx->gps.prn[i2]]; Sat_A[3] = gpx->gps.sat[gpx->gps.prn[i3]]; nav_ret = NAV_ClosedFormSolution_FromPseudorange( Sat_A, &lat, &lon, &alt, &rx_cl_bias, pos_ecef ); if (nav_ret == 0) { num += 1; if (calc_DOPn(4, Sat_A, pos_ecef, DOP) == 0) { gdop = sqrt(DOP[0]+DOP[1]+DOP[2]+DOP[3]); //fprintf(stdout, " DOP : %.1f ", gdop); NAV_LinP(4, Sat_A, pos_ecef, rx_cl_bias, dpos_ecef, &rx_cl_bias); diter = dist(0, 0, 0, dpos_ecef[0], dpos_ecef[1], dpos_ecef[2]); 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); if ( gpx->gps.opt_vel == 4 ) { vel_ecef[0] = vel_ecef[1] = vel_ecef[2] = 0; NAV_LinV(4, Sat_A, pos_ecef, vel_ecef, 0.0, dvel_ecef, &rx_cl_bias); for (j=0; j<3; j++) vel_ecef[j] += dvel_ecef[j]; NAV_LinV(4, Sat_A, pos_ecef, vel_ecef, rx_cl_bias, dvel_ecef, &rx_cl_bias); for (j=0; j<3; j++) vel_ecef[j] += dvel_ecef[j]; get_GPSvel(lat, lon, vel_ecef, &vH, &vD, &vU); } if (gpx->gps.opt_vergps == 8) { // gdop = sqrt(DOP[0]+DOP[1]+DOP[2]+DOP[3]); // s.o. //hdop = sqrt(DOP[0]+DOP[1]); //vdop = sqrt(DOP[2]); //pdop = sqrt(DOP[0]+DOP[1]+DOP[2]); if (gdop < gpx->gps.dop_limit) { fprintf(stdout, " "); fprintf(stdout, "lat: %.5f , lon: %.5f , alt: %.1f ", lat, lon, alt); fprintf(stdout, " (d:%.1f)", diter); if ( gpx->gps.opt_vel == 4 ) { fprintf(stdout, " vH: %4.1f D: %5.1f vV: %3.1f ", vH, vD, vU); } fprintf(stdout, " sats: "); fprintf(stdout, "%02d %02d %02d %02d ", gpx->gps.prn[i0], gpx->gps.prn[i1], gpx->gps.prn[i2], gpx->gps.prn[i3]); fprintf(stdout, " GDOP : %.1f ", gdop); //fprintf(stdout, " HDOP: %.1f VDOP: %.1f ", hdop, vdop); //fprintf(stdout, " PDOP: %.1f ", pdop); fprintf(stdout, "\n"); } } } else gdop = -1; if (gdop > 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] = gpx->gps.prn[i0]; gpx->sats[1] = gpx->gps.prn[i1]; gpx->sats[2] = gpx->gps.prn[i2]; gpx->sats[3] = gpx->gps.prn[i3]; gdop0 = gdop; if (gpx->gps.opt_vel == 4) { gpx->vH = vH; gpx->vD = vD; gpx->vU = vU; } } } }}}} } if (gpx->gps.opt_vergps == 8 || gpx->gps.opt_vergps == 2) { for (j = 0; j < N; j++) Sat_B[j] = gpx->gps.sat[gpx->gps.prn[j]]; for (j = 0; j < N; j++) Sat_B1s[j] = gpx->gps.sat1s[gpx->gps.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 (gpx->gps.opt_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 > gpx->gps.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 (gpx->gps.prn[exN] == gpx->gps.prn32next) gpx->gps.prn32toggle ^= 0x1; for (k = exN; k < N-1; k++) { Sat_B[k] = Sat_B[k+1]; gpx->gps.prn[k] = gpx->gps.prn[k+1]; if (gpx->gps.opt_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 && gpx->gps.prn32next > 0) { //prn32next used in pre-fix? prn32toggle ^= 0x1; } */ } if (gpx->gps.opt_vel == 1) { NAV_bancroft1(N, Sat_B1s, pos1s_ecef, &rx_cl_bias); if (gpx->gps.opt_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 (gpx->gps.opt_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 (gpx->gps.opt_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 (gpx->gps.opt_vergps == 8) { fprintf(stdout, "bancroft[%2d] lat: %.6f , lon: %.6f , alt: %.2f ", N, lat, lon, alt); fprintf(stdout, " (d:%.1f)", gpx->diter); if (gpx->gps.opt_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", gpx->gps.prn[j]); if (j < N-1) fprintf(stdout, ","); else fprintf(stdout, "] %.1f ", gdop); } fprintf(stdout, "\n"); } if (gpx->gps.opt_vergps == 2) { gpx->lat = lat; gpx->lon = lon; gpx->alt = alt; gpx->dop = gdop; num = N; if (gpx->gps.opt_vel) { gpx->vH = vH; gpx->vD = vD; gpx->vU = vU; } } } return num; } /* ------------------------------------------------------------------------------------ */ #define rs_N 255 #define rs_R 24 #define rs_K (rs_N-rs_R) static int rs92_ecc(gpx_t *gpx, int msglen) { int i, ret = 0; int errors; ui8_t cw[rs_N]; ui8_t err_pos[rs_R], err_val[rs_R]; memset(cw, 0, rs_N); if (msglen > FRAME_LEN) msglen = FRAME_LEN; for (i = msglen; i < FRAME_LEN; i++) gpx->frame[i] = 0;//xFF; for (i = 0; i < rs_R; i++) cw[i] = gpx->frame[cfg_rs92.parpos+i]; for (i = 0; i < cfg_rs92.msglen; i++) cw[rs_R+i] = gpx->frame[cfg_rs92.msgpos+i]; errors = rs_decode(&gpx->RS, cw, err_pos, err_val); //for (i = 0; i < cfg_rs92.hdrlen; i++) gpx->frame[i] = data[i]; for (i = 0; i < rs_R; i++) gpx->frame[cfg_rs92.parpos+i] = cw[i]; for (i = 0; i < cfg_rs92.msglen; i++) gpx->frame[cfg_rs92.msgpos+i] = cw[rs_R+i]; ret = errors; return ret; } /* ------------------------------------------------------------------------------------ */ static int print_position(gpx_t *gpx, int ec) { // GPS-Hoehe ueber Ellipsoid int j, k, n = 0; int err1, err2, err3, err4; err1 = 0; err1 |= get_FrameNb(gpx); err1 |= get_SondeID(gpx); err2 = get_PTU(gpx); err3 = 0; //err3 |= get_GPSweek(); err3 |= get_GPStime(gpx); err4 = get_Aux(gpx); if (!err3 && (gpx->gps.almanac || gpx->gps.ephem)) { k = get_pseudorange(gpx); if (k >= 4) { n = get_GPSkoord(gpx, k); } } if (!err1) { fprintf(stdout, "[%5d] ", gpx->frnr); fprintf(stdout, "(%s) ", gpx->id); if (!err3) { if (gpx->gps.almanac || gpx->gps.ephem) { Gps2Date(gpx); //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 (gpx->gps.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 (gpx->option.vbs && gpx->gps.opt_vergps != 8) { fprintf(stdout, " (d:%.1f)", gpx->diter); } if (gpx->gps.opt_vel /*&& gpx->gps.opt_vergps >= 2*/) { fprintf(stdout," vH: %4.1f D: %5.1f vV: %3.1f ", gpx->vH, gpx->vD, gpx->vU); } if (gpx->option.vbs) { if (gpx->gps.opt_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 gpx->gps.opt_vergps=2, dann n=N=k(-1) fprintf(stdout, " DOP["); for (j = 0; j < n; j++) { fprintf(stdout, "%d", gpx->gps.prn[j]); if (j < n-1) fprintf(stdout, ","); else fprintf(stdout, "] %.1f ", gpx->dop); } } } } } if (gpx->option.aux) { if (gpx->option.vbs != 4 && (gpx->crc & crc_AUX)==0 || !gpx->option.crc) { 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]); } } } fprintf(stdout, " # "); fprintf(stdout, "["); for (j=0; j<4; j++) fprintf(stdout, "%d", (gpx->crc>>j)&1); fprintf(stdout, "]"); if (gpx->option.ecc == 2) { if (ec > 0) fprintf(stdout, " (%d)", ec); if (ec < 0) fprintf(stdout, " (-)"); } get_Cal(gpx); /* if (!err3) { if (gpx->gps.opt_vergps == 8) { 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 ", gpx->gps.sat_status[j]); //range[prns[j]].status fprintf(stdout, "\n"); } } */ if (gpx->option.jsn) { // Print out telemetry data as JSON //even if we don't have a valid GPS lock if ((gpx->crc & (crc_FRAME | crc_GPS))==0 && (gpx->gps.almanac || gpx->gps.ephem)) //(!err1 && !err3) { // eigentlich GPS, d.h. UTC = GPS - UTC_OFS (UTC_OFS=18sec ab 1.1.2017) fprintf(stdout, "\n"); fprintf(stdout, "{ \"type\": \"%s\"", "RS92"); 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", 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->vU); if ((gpx->crc & crc_AUX)==0 && (gpx->aux[0] != 0 || gpx->aux[1] != 0 || gpx->aux[2] != 0 || gpx->aux[3] != 0)) { fprintf(stdout, ", \"aux\": \"%04x%04x%04x%04x\"", gpx->aux[0], gpx->aux[1], gpx->aux[2], gpx->aux[3]); } fprintf(stdout, " }\n"); } } fprintf(stdout, "\n"); //if (gpx->gps.opt_vergps == 8) fprintf(stdout, "\n"); } return err3; } static void print_frame(gpx_t *gpx, int len) { int i, ec = 0; ui8_t byte; gpx->crc = 0; if (gpx->option.ecc) { ec = rs92_ecc(gpx, len); } for (i = len; i < FRAME_LEN; i++) { gpx->frame[i] = 0; } if (gpx->option.raw) { for (i = 0; i < len; i++) { byte = gpx->frame[i]; fprintf(stdout, "%02x", byte); } if (gpx->option.ecc && gpx->option.vbs) { fprintf(stdout, " "); if (ec >= 0) fprintf(stdout, " [OK]"); else fprintf(stdout, " [NO]"); if (ec > 0) fprintf(stdout, " (%d)", ec); if (ec < 0) fprintf(stdout, " (-)"); } fprintf(stdout, "\n"); // fprintf(stdout, "\n"); } else print_position(gpx, ec); } /* -------------------------------------------------------------------------- */ int main(int argc, char *argv[]) { FILE *fp, *fp_alm = NULL, *fp_eph = NULL; char *fpname = NULL; int option_der = 0; // linErr int option_min = 0; int option_iq = 0; int option_lp = 0; int option_dc = 0; int option_softin = 0; int option_pcmraw = 0; int sel_wavch = 0; // audio channel: left int spike = 0; int fileloaded = 0; char bitbuf[BITS]; int bitpos = 0, b8pos = 0, byte_count = FRAMESTART; int bit, byte; int bitQ; int herrs, herr1; int headerlen = 0; int k; int header_found = 0; float thres = 0.7; float _mv = 0.0; int symlen = 2; int bitofs = 2; // +0 .. +3 int shift = 0; pcm_t pcm = {0}; dsp_t dsp = {0}; //memset(&dsp, 0, sizeof(dsp)); hdb_t hdb = {0}; gpx_t gpx = {0}; gpx.gps.prn32toggle = 0x1; gpx.gps.dop_limit = 9.9; gpx.gps.d_err = 10000; gpx.gps.exSat = -1; gpx.gps.WEEK1024epoch = 1; // SEM almanac, GPS epoch (1: 1999-2019) #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, " -e, --ephem \n"); fprintf(stderr, " -a, --almanac \n"); fprintf(stderr, " --gpsepoch (2019-04-07: n=2)\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); fprintf(stderr, " --json (JSON output)\n"); return 0; } else if ( (strcmp(*argv, "--vel") == 0) ) { gpx.gps.opt_vel = 4; } else if ( (strcmp(*argv, "--vel1") == 0) ) { gpx.gps.opt_vel = 1; if (gpx.gps.opt_vergps < 1) gpx.gps.opt_vergps = 2; } else if ( (strcmp(*argv, "--vel2") == 0) ) { gpx.gps.opt_vel = 2; if (gpx.gps.opt_vergps < 1) gpx.gps.opt_vergps = 2; } else if ( (strcmp(*argv, "--iter") == 0) ) { gpx.gps.opt_iter = 1; } else if ( (strcmp(*argv, "-v") == 0) ) { gpx.option.vbs = 1; } else if ( (strcmp(*argv, "-vv") == 0) ) { gpx.option.vbs = 4; } else if ( (strcmp(*argv, "-vx") == 0) ) { gpx.option.aux = 1; } else if (strcmp(*argv, "--crc") == 0) { gpx.option.crc = 1; } else if (strcmp(*argv, "--ecc") == 0) { gpx.option.ecc = 1; } else if (strcmp(*argv, "--ecc2") == 0) { gpx.option.ecc = 2; } else if ( (strcmp(*argv, "-r") == 0) || (strcmp(*argv, "--raw") == 0) ) { gpx.option.raw = 1; } else if ( (strcmp(*argv, "-i") == 0) || (strcmp(*argv, "--invert") == 0) ) { gpx.option.inv = 1; } 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, "-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, "--gpsepoch") == 0 ) { // SEM almanac, GPS week: 10 bit ++argv; // GPS epoch (default: 1) if (*argv) { // 2019-04-07: rollover 1 -> 2 int gpsepoch = atoi(*argv); if (gpsepoch < 0 || gpsepoch > 4) gpsepoch = 1; gpx.gps.WEEK1024epoch = gpsepoch; } else return -1; } else if ( (strcmp(*argv, "--dop") == 0) ) { ++argv; if (*argv) { gpx.gps.dop_limit = atof(*argv); if (gpx.gps.dop_limit <= 0 || gpx.gps.dop_limit >= 100) gpx.gps.dop_limit = 9.9; } else return -1; } else if ( (strcmp(*argv, "--der") == 0) ) { ++argv; if (*argv) { gpx.gps.d_err = atof(*argv); if (gpx.gps.d_err <= 0 || gpx.gps.d_err >= 100000) gpx.gps.d_err = 10000; else option_der = 1; } else return -1; } else if ( (strcmp(*argv, "--exsat") == 0) ) { ++argv; if (*argv) { gpx.gps.exSat = atoi(*argv); if (gpx.gps.exSat < 1 || gpx.gps.exSat > 32) gpx.gps.exSat = -1; } else return -1; } else if (strcmp(*argv, "-g1") == 0) { gpx.gps.opt_vergps = 1; } // verbose1 GPS else if (strcmp(*argv, "-g2") == 0) { gpx.gps.opt_vergps = 2; } // verbose2 GPS (bancroft) else if (strcmp(*argv, "-gg") == 0) { gpx.gps.opt_vergps = 8; } // vverbose GPS else if (strcmp(*argv, "--json") == 0) { gpx.option.jsn = 1; gpx.option.ecc = 2; gpx.option.crc = 1; gpx.gps.opt_vel = 4; } else if (strcmp(*argv, "--spike") == 0) { spike = 1; } else if (strcmp(*argv, "--ch2") == 0) { sel_wavch = 1; } // right channel (default: 0=left) else if (strcmp(*argv, "--softin") == 0) { option_softin = 1; } // float32 soft input else if (strcmp(*argv, "--ths") == 0) { ++argv; if (*argv) { thres = atof(*argv); } else return -1; } else if ( (strcmp(*argv, "-d") == 0) ) { ++argv; if (*argv) { shift = atoi(*argv); if (shift > 4) shift = 4; if (shift < -4) shift = -4; } else return -1; } else if (strcmp(*argv, "--iq0") == 0) { option_iq = 1; } // differential/FM-demod else if (strcmp(*argv, "--iq2") == 0) { option_iq = 2; } else if (strcmp(*argv, "--iq3") == 0) { option_iq = 3; } // iq2==iq3 else if (strcmp(*argv, "--IQ") == 0) { // fq baseband -> IF (rotate from and decimate) double fq = 0.0; // --IQ , -0.5 < fq < 0.5 ++argv; if (*argv) fq = atof(*argv); else return -1; if (fq < -0.5) fq = -0.5; if (fq > 0.5) fq = 0.5; dsp.xlt_fq = -fq; // S(t) -> S(t)*exp(-f*2pi*I*t) option_iq = 5; } else if (strcmp(*argv, "--lp") == 0) { option_lp = 1; } // IQ lowpass else if (strcmp(*argv, "--dc") == 0) { option_dc = 1; } else if (strcmp(*argv, "--min") == 0) { option_min = 1; } else if (strcmp(*argv, "--ngp") == 0) { gpx.option.ngp = 1; } // RS92-NGP, RS92-D: 1680 MHz else if (strcmp(*argv, "-") == 0) { int sample_rate = 0, bits_sample = 0, channels = 0; ++argv; if (*argv) sample_rate = atoi(*argv); else return -1; ++argv; if (*argv) bits_sample = atoi(*argv); else return -1; channels = 2; if (sample_rate < 1 || (bits_sample != 8 && bits_sample != 16 && bits_sample != 32)) { fprintf(stderr, "- \n"); return -1; } pcm.sr = sample_rate; pcm.bps = bits_sample; pcm.nch = channels; option_pcmraw = 1; } else { fp = fopen(*argv, "rb"); if (fp == NULL) { fprintf(stderr, "error: open %s\n", *argv); return -1; } fileloaded = 1; } ++argv; } if (!fileloaded) fp = stdin; if (fp_alm) { if (read_SEMalmanac(fp_alm, gpx.gps.alm) == 0) { gpx.gps.almanac = 1; } fclose(fp_alm); if (!option_der) gpx.gps.d_err = 4000; } if (fp_eph) { /* i = read_RNXephemeris(fp_eph, eph); if (i == 0) { gpx.gps.ephem = 1; gpx.gps.almanac = 0; } fclose(fp_eph); */ gpx.gps.ephs = read_RNXpephs(fp_eph); if (gpx.gps.ephs) { gpx.gps.ephem = 1; gpx.gps.almanac = 0; } fclose(fp_eph); if (!option_der) gpx.gps.d_err = 1000; } if (gpx.option.ecc) { rs_init_RS255(&gpx.RS); } // init gpx memcpy(gpx.frame, rs92_header_bytes, sizeof(rs92_header_bytes)); // 6 header bytes #ifdef EXT_FSK if (!option_softin) { option_softin = 1; fprintf(stderr, "reading float32 soft symbols\n"); } #endif if (!option_softin) { if (option_iq == 0 && option_pcmraw) { fclose(fp); fprintf(stderr, "error: raw data not IQ\n"); return -1; } if (option_iq) sel_wavch = 0; pcm.sel_ch = sel_wavch; if (option_pcmraw == 0) { k = read_wav_header(&pcm, fp); if ( k < 0 ) { fclose(fp); fprintf(stderr, "error: wav header\n"); return -1; } } // rs92-sgp: BT=0.5, h=1.0 ? symlen = 2; // init dsp // dsp.fp = fp; dsp.sr = pcm.sr; 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 = rs92_rawheader; dsp.hdrlen = strlen(rs92_rawheader); dsp.BT = 0.5; // bw/time (ISI) // 0.3..0.5 dsp.h = 0.8; // 1.0 modulation index abzgl. BT dsp.opt_iq = option_iq; dsp.opt_lp = option_lp; dsp.lpIQ_bw = 8e3; // IF lowpass bandwidth dsp.lpFM_bw = 6e3; // FM audio lowpass dsp.opt_dc = option_dc; dsp.opt_IFmin = option_min; if (gpx.option.ngp) { // L-band rs92-ngp dsp.h = 3.8; // RS92-NGP: 1680/400=4.2, 4.2*0.9=3.8=4.75*0.8 dsp.lpIQ_bw = 32e3; // IF lowpass bandwidth // 32e3=4.2*7.6e3 } 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 -1; }; bitofs += shift; } else { // init circular header bit buffer hdb.hdr = rs92_rawheader; hdb.len = strlen(rs92_rawheader); //hdb.thb = 1.0 - 3.1/(float)hdb.len; // 1.0-max_bit_errors/hdrlen hdb.bufpos = -1; hdb.buf = NULL; /* calloc(hdb.len, sizeof(char)); if (hdb.buf == NULL) { fprintf(stderr, "error: malloc\n"); return -1; } */ // caution ths=0.7: -3 byte offset, false positive // 2A 2A 2A 2A 2A 10|65 10 .. // header sync could be extended into the frame hdb.ths = 0.8; hdb.sbuf = calloc(hdb.len, sizeof(float)); if (hdb.sbuf == NULL) { fprintf(stderr, "error: malloc\n"); return -1; } } while ( 1 ) { if (option_softin) { for (k = 0; k < hdb.len; k++) hdb.sbuf[k] = 0.0; header_found = find_softbinhead(fp, &hdb, &_mv); } else { header_found = find_header(&dsp, thres, 3, bitofs, dsp.opt_dc); _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; b8pos = 0; while ( byte_count < FRAME_LEN ) { if (option_softin) { float s1 = 0.0; float s2 = 0.0; float s = 0.0; bitQ = f32soft_read(fp, &s1); if (bitQ != EOF) { bitQ = f32soft_read(fp, &s2); if (bitQ != EOF) { s = s2-s1; // integrate both symbols // only 2nd Manchester symbol: s2 bit = (s>=0.0); // no soft decoding } } } else { float bl = -1; if (option_iq > 2) bl = 4.0; bitQ = read_slbit(&dsp, &bit, 0, bitofs, bitpos, bl, spike); // symlen=2 } if ( bitQ == EOF) 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; byte_count++; } } header_found = 0; print_frame(&gpx, byte_count); byte_count = FRAMESTART; } } if (!option_softin) free_buffers(&dsp); else { if (hdb.buf) { free(hdb.buf); hdb.buf = NULL; } } if (gpx.gps.ephs) free(gpx.gps.ephs); fclose(fp); return 0; }