kopia lustrzana https://github.com/rs1729/RS
706 wiersze
18 KiB
C
706 wiersze
18 KiB
C
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/*
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* pilotsonde
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* FSK, 4800 baud, 8N1, little endian
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*
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* gcc -o m12 m12.c -lm
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*
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*/
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#include <stdio.h>
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#include <stdlib.h>
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#include <string.h>
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#include <math.h>
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#ifdef WIN
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#include <fcntl.h> // cygwin: _setmode()
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#include <io.h>
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#endif
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typedef unsigned char ui8_t;
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typedef unsigned short ui16_t;
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typedef struct {
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int lat; int lon; int alt;
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int vE; int vN; int vU;
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double vH; double vD; double vV;
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int date; int time;
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ui8_t sats; ui8_t fix;
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} datum_t;
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datum_t datum;
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int option_verbose = 0, // ausfuehrliche Anzeige
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option_raw = 0, // rohe Frames
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option_inv = 0, // invertiert Signal
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option_auto = 0,
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option_dc = 0, // non-constant bias
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option_res = 0, // genauere Bitmessung
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option_b = 0,
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wavloaded = 0;
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#define BAUD_RATE 4800
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int sample_rate = 0, bits_sample = 0, channels = 0;
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float samples_per_bit = 0;
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int findstr(char *buf, char *str, int pos) {
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int i;
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for (i = 0; i < 4; i++) {
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if (buf[(pos+i)%4] != str[i]) break;
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}
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return i;
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}
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int read_wav_header(FILE *fp) {
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char txt[4+1] = "\0\0\0\0";
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unsigned char dat[4];
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int byte, p=0;
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if (fread(txt, 1, 4, fp) < 4) return -1;
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if (strncmp(txt, "RIFF", 4)) return -1;
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if (fread(txt, 1, 4, fp) < 4) return -1;
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// pos_WAVE = 8L
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if (fread(txt, 1, 4, fp) < 4) return -1;
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if (strncmp(txt, "WAVE", 4)) return -1;
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// pos_fmt = 12L
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for ( ; ; ) {
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if ( (byte=fgetc(fp)) == EOF ) return -1;
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txt[p % 4] = byte;
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p++; if (p==4) p=0;
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if (findstr(txt, "fmt ", p) == 4) break;
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}
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if (fread(dat, 1, 4, fp) < 4) return -1;
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if (fread(dat, 1, 2, fp) < 2) return -1;
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if (fread(dat, 1, 2, fp) < 2) return -1;
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channels = dat[0] + (dat[1] << 8);
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if (fread(dat, 1, 4, fp) < 4) return -1;
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memcpy(&sample_rate, dat, 4); //sample_rate = dat[0]|(dat[1]<<8)|(dat[2]<<16)|(dat[3]<<24);
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if (fread(dat, 1, 4, fp) < 4) return -1;
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if (fread(dat, 1, 2, fp) < 2) return -1;
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//byte = dat[0] + (dat[1] << 8);
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if (fread(dat, 1, 2, fp) < 2) return -1;
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bits_sample = dat[0] + (dat[1] << 8);
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// pos_dat = 36L + info
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for ( ; ; ) {
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if ( (byte=fgetc(fp)) == EOF ) return -1;
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txt[p % 4] = byte;
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p++; if (p==4) p=0;
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if (findstr(txt, "data", p) == 4) break;
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}
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if (fread(dat, 1, 4, fp) < 4) return -1;
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fprintf(stderr, "sample_rate: %d\n", sample_rate);
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fprintf(stderr, "bits : %d\n", bits_sample);
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fprintf(stderr, "channels : %d\n", channels);
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if ((bits_sample != 8) && (bits_sample != 16)) return -1;
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samples_per_bit = sample_rate/(float)BAUD_RATE;
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fprintf(stderr, "samples/bit: %.2f\n", samples_per_bit);
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return 0;
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}
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#define EOF_INT 0x1000000
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unsigned long sample_count = 0;
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double bitgrenze = 0;
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int read_signed_sample(FILE *fp) { // int = i32_t
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int byte, i, sample, s=0; // EOF -> 0x1000000
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for (i = 0; i < channels; i++) {
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// i = 0: links bzw. mono
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byte = fgetc(fp);
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if (byte == EOF) return EOF_INT;
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if (i == 0) sample = byte;
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if (bits_sample == 16) {
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byte = fgetc(fp);
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if (byte == EOF) return EOF_INT;
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if (i == 0) sample += byte << 8;
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}
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}
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if (bits_sample == 8) s = sample-128; // 8bit: 00..FF, centerpoint 0x80=128
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if (bits_sample == 16) s = (short)sample;
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sample_count++;
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return s;
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}
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int wlen;
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int *sample_buff = NULL;
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int read_filter_sample(FILE *fp) {
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int i; // wenn sample_buff[] ein 8N1-byte umfasst,
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int s0, s, y; // mit (max+min)/2 Mittelwert bestimmen;
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static int min, max; // Glaettung durch lowpass/moving average empfohlen
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s = read_signed_sample(fp);
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if (s == EOF_INT) return EOF_INT;
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sample_count--;
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s0 = sample_buff[sample_count % wlen];
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sample_buff[sample_count % wlen] = s;
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y = 0;
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if (sample_count > wlen-1) {
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if (s < min) min = s;
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else {
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if (s0 <= min) {
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min = sample_buff[0];
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for (i = 1; i < wlen; i++) {
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if (sample_buff[i] < min) min = sample_buff[i];
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}
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}
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}
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if (s > max) max = s;
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else {
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if (s0 >= max) {
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max = sample_buff[0];
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for (i = 1; i < wlen; i++) {
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if (sample_buff[i] > max) max = sample_buff[i];
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}
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}
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}
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y = sample_buff[(sample_count+wlen-1)%wlen] - (min+max)/2;
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}
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else if (sample_count == wlen-1) {
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min = sample_buff[0];
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max = sample_buff[0];
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for (i = 1; i < wlen; i++) {
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if (sample_buff[i] < min) min = sample_buff[i];
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if (sample_buff[i] > max) max = sample_buff[i];
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}
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y = sample_buff[(sample_count+wlen-1)%wlen] - (min+max)/2;
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}
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sample_count++;
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return y;
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}
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int par=1, par_alt=1;
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int read_bits_fsk(FILE *fp, int *bit, int *len) {
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static int sample;
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int n, y0;
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float l, x1;
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static float x0;
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n = 0;
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do{
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y0 = sample;
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if (option_dc) sample = read_filter_sample(fp);
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else sample = read_signed_sample(fp);
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if (sample == EOF_INT) return EOF;
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//sample_count++;
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par_alt = par;
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par = (sample >= 0) ? 1 : -1; // 8bit: 0..127,128..255 (-128..-1,0..127)
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n++;
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} while (par*par_alt > 0);
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if (!option_res) l = (float)n / samples_per_bit;
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else { // genauere Bitlaengen-Messung
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x1 = sample/(float)(sample-y0); // hilft bei niedriger sample rate
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l = (n+x0-x1) / samples_per_bit; // meist mehr frames (nicht immer)
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x0 = x1;
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}
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*len = (int)(l+0.5);
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if (!option_inv) *bit = (1+par_alt)/2; // oben 1, unten -1
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else *bit = (1-par_alt)/2; // sdr#<rev1381?, invers: unten 1, oben -1
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// *bit = (1+inv*par_alt)/2; // ausser inv=0
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/* Y-offset ? */
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return 0;
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}
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int bitstart = 0;
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int read_rawbit(FILE *fp, int *bit) {
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int sample;
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int n, sum;
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int sample0, pars;
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sum = 0;
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n = 0;
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sample0 = 0;
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pars = 0;
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if (bitstart) {
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//n = 1; // d.h. bitgrenze = sample_count-1 (?)
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bitgrenze = sample_count-1;
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bitstart = 0;
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}
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bitgrenze += samples_per_bit;
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do {
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sample = read_signed_sample(fp);
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if (sample == EOF_INT) return EOF;
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//sample_count++; // in read_signed_sample()
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//par = (sample >= 0) ? 1 : -1; // 8bit: 0..127,128..255 (-128..-1,0..127)
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sum += sample;
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if (sample * sample0 < 0) pars++; // wenn sample[0..n-1]=0 ...
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sample0 = sample;
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n++;
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} while (sample_count < bitgrenze); // n < samples_per_bit
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if (sum >= 0) *bit = 1;
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else *bit = 0;
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if (option_inv) *bit ^= 1;
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return pars;
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}
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/* -------------------------------------------------------------------------- */
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#define BITS (1+8+1) // 8N1 = 10bit/byte: 0bbbbbbbb1
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#define HEADLEN (20) // HEADLEN+HEADOFS=32 <= strlen(header)
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#define HEADOFS 0
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// A A A A : preamble: 0xAAAAAA
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char header[] = "0010101011""0010101011";
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#define FRAME_LEN (50)
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#define BITFRAME_LEN (FRAME_LEN*BITS)
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char buf[HEADLEN];
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int bufpos = -1;
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#define FRAMESTART 0
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char frame_bits[BITFRAME_LEN+4];
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ui8_t frame_bytes[FRAME_LEN+10] = { 0xAA, 0xAA, 0xAA };
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void inc_bufpos() {
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bufpos = (bufpos+1) % HEADLEN;
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}
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char cb_inv(char c) {
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if (c == '0') return '1';
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if (c == '1') return '0';
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return c;
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}
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int compare2() {
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int i, j;
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i = 0;
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j = bufpos;
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while (i < HEADLEN) {
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if (j < 0) j = HEADLEN-1;
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if (buf[j] != header[HEADOFS+HEADLEN-1-i]) break;
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j--;
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i++;
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}
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if (i == HEADLEN) return 1;
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if (option_auto) {
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i = 0;
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j = bufpos;
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while (i < HEADLEN) {
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if (j < 0) j = HEADLEN-1;
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if (buf[j] != cb_inv(header[HEADOFS+HEADLEN-1-i])) break;
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j--;
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i++;
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}
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if (i == HEADLEN) return -1;
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}
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return 0;
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}
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int bits2bytes(char *bitstr, ui8_t *bytes) {
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int i, bit, d, byteval;
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int bitpos, bytepos;
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bitpos = 0;
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bytepos = 0;
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while (bitpos < BITFRAME_LEN) {
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byteval = 0;
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d = 1;
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for (i = 1; i < BITS-1; i++) {
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bit=*(bitstr+bitpos+i); /* little endian */
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//bit=*(bitstr+bitpos+BITS-1-i); /* big endian */
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if (bit == '1') byteval += d;
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else /*if ((bit == '0') || (bit == 'x'))*/ byteval += 0;
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d <<= 1;
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}
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byteval &= 0xFF;
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bitpos += BITS;
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if (bytepos == 0 && byteval == frame_bytes[2]/*0xAA*/) continue;
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bytes[bytepos++] = byteval & 0xFF;
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}
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//while (bytepos < FRAME_LEN) bytes[bytepos++] = 0;
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return 0;
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}
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/* -------------------------------------------------------------------------- */
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#define OFS (0x03)
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#define pos_GPSlat (OFS+0x03) // 4 byte
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#define pos_GPSlon (OFS+0x07) // 4 byte
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#define pos_GPSalt (OFS+0x0B) // 4 byte
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#define pos_GPSvE (OFS+0x0F) // 2 byte
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#define pos_GPSvN (OFS+0x11) // 2 byte
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#define pos_GPSvU (OFS+0x13) // 2 byte
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#define pos_GPStime (OFS+0x15) // 4 byte
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#define pos_GPSdate (OFS+0x19) // 4 byte
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#define pos_GPSsats (OFS+0x01) // 1 byte
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#define pos_GPSfix (OFS+0x02) // 1 byte
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int get_GPSpos() {
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int i;
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ui8_t bytes[4];
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int val;
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for (i = 0; i < 4; i++) bytes[i] = frame_bytes[pos_GPSlat + i];
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val = 0;
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for (i = 0; i < 4; i++) val |= bytes[i] << (8*(3-i));
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datum.lat = val;
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for (i = 0; i < 4; i++) bytes[i] = frame_bytes[pos_GPSlon + i];
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val = 0;
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for (i = 0; i < 4; i++) val |= bytes[i] << (8*(3-i));
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datum.lon = val;
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for (i = 0; i < 4; i++) bytes[i] = frame_bytes[pos_GPSalt + i];
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val = 0;
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for (i = 0; i < 4; i++) val |= bytes[i] << (8*(3-i));
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datum.alt = val;
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return 0;
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}
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int get_GPSvel() {
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int i;
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ui8_t bytes[2];
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short vel16;
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double vx, vy, vz, dir;
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for (i = 0; i < 2; i++) bytes[i] = frame_bytes[pos_GPSvE + i];
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vel16 = bytes[0] << 8 | bytes[1];
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datum.vE = vel16;
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vx = vel16 / 1e2; // east
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for (i = 0; i < 2; i++) bytes[i] = frame_bytes[pos_GPSvN + i];
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vel16 = bytes[0] << 8 | bytes[1];
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datum.vN = vel16;
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vy= vel16 / 1e2; // north
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for (i = 0; i < 2; i++) bytes[i] = frame_bytes[pos_GPSvU + i];
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vel16 = bytes[0] << 8 | bytes[1];
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datum.vU = vel16;
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vz = vel16 / 1e2; // up
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datum.vH = sqrt(vx*vx+vy*vy);
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dir = atan2(vx, vy) * 180 / M_PI;
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if (dir < 0) dir += 360;
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datum.vD = dir;
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datum.vV = vz;
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return 0;
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}
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int get_GPStime() {
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int i;
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ui8_t bytes[4];
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int val;
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for (i = 0; i < 4; i++) bytes[i] = frame_bytes[pos_GPStime + i];
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val = 0;
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for (i = 0; i < 4; i++) val |= bytes[i] << (8*(3-i));
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datum.time = val;
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return 0;
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}
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int get_GPSdate() {
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int i;
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ui8_t bytes[4];
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int val;
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for (i = 0; i < 4; i++) bytes[i] = frame_bytes[pos_GPSdate + i];
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val = 0;
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for (i = 0; i < 4; i++) val |= bytes[i] << (8*(3-i));
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datum.date = val;
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return 0;
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}
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int get_GPSstatus() {
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datum.sats = frame_bytes[pos_GPSsats];
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datum.fix = frame_bytes[pos_GPSfix];
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return 0;
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}
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/* -------------------------------------------------------------------------- */
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int crc16poly = 0xA001;
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unsigned int crc16rev(unsigned char bytes[], int len) {
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unsigned int rem = 0xFFFF; // init value: crc(0xAAAAAA;init:0xFFFF)=0x3FAF
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int i, j;
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for (i = 0; i < len; i++) {
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rem = rem ^ bytes[i];
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for (j = 0; j < 8; j++) {
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if (rem & 0x0001) {
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rem = (rem >> 1) ^ crc16poly;
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}
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else {
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rem = (rem >> 1);
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}
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rem &= 0xFFFF;
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}
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}
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return rem;
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}
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/* -------------------------------------------------------------------------- */
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int print_pos() {
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int err;
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unsigned int crc = 0x0000;
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err = 0;
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err |= get_GPSpos();
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err |= get_GPSvel();
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err |= get_GPStime();
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err |= get_GPSdate();
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if (!err) {
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//fprintf(stdout, " (%06d)", datum.date);
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fprintf(stdout, " %02d-%02d-%02d", datum.date/10000, (datum.date%10000)/100, datum.date%100);
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//fprintf(stdout, " (%09d)", datum.time);
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fprintf(stdout, " %02d:%02d:%06.3f ", datum.time/10000000, (datum.time%10000000)/100000, (datum.time%100000)/1000.0);
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fprintf(stdout, " lat: %.6f° ", datum.lat/1e6);
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fprintf(stdout, " lon: %.6f° ", datum.lon/1e6);
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fprintf(stdout, " alt: %.2fm ", datum.alt/1e2);
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|
//fprintf(stdout, " (%.1f , %.1f , %.1f) ", datum.vE/1e2, datum.vN/1e2, datum.vU/1e2);
|
|
fprintf(stdout, " vH: %.1fm/s D: %.1f° vV: %.1fm/s", datum.vH, datum.vD, datum.vV);
|
|
|
|
if (option_verbose) {
|
|
get_GPSstatus();
|
|
fprintf(stdout, " sats: %d fix: %d ", datum.sats, datum.fix);
|
|
}
|
|
|
|
crc = (frame_bytes[FRAME_LEN-2]<<8) | frame_bytes[FRAME_LEN-1];
|
|
fprintf(stdout, " # CRC ");
|
|
if (crc == crc16rev(frame_bytes, FRAME_LEN-2)) fprintf(stdout, "[OK]"); else fprintf(stdout, "[NO]");
|
|
}
|
|
fprintf(stdout, "\n");
|
|
|
|
return err;
|
|
}
|
|
|
|
void print_frame(int pos) {
|
|
int i;
|
|
unsigned int crc = 0x0000;
|
|
int crc_pos = FRAME_LEN-2;
|
|
|
|
bits2bytes(frame_bits, frame_bytes+OFS);
|
|
|
|
if (option_raw) {
|
|
if (option_raw == 2) {
|
|
for (i = 0; i < BITFRAME_LEN; i++) {
|
|
fprintf(stdout, "%c", frame_bits[i]);
|
|
if (i%10==0 || i%10==8) fprintf(stdout, " ");
|
|
}
|
|
fprintf(stdout, "\n");
|
|
}
|
|
else {
|
|
for (i = OFS; i < crc_pos; i++) {
|
|
fprintf(stdout, "%02x ", frame_bytes[i]);
|
|
}
|
|
crc = (frame_bytes[crc_pos]<<8) | frame_bytes[crc_pos+1];
|
|
fprintf(stdout, " %04x ", crc);
|
|
fprintf(stdout, "# %04x ", crc16rev(frame_bytes, crc_pos));
|
|
fprintf(stdout, "\n");
|
|
}
|
|
}
|
|
|
|
else print_pos();
|
|
|
|
}
|
|
|
|
|
|
int main(int argc, char **argv) {
|
|
|
|
FILE *fp;
|
|
char *fpname;
|
|
int i, bit, len;
|
|
int pos;
|
|
int header_found = 0;
|
|
|
|
|
|
#ifdef WIN
|
|
_setmode(fileno(stdin), _O_BINARY); // _setmode(_fileno(stdin), _O_BINARY);
|
|
setbuf(stdout, NULL);
|
|
#endif
|
|
|
|
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, --verbose\n");
|
|
fprintf(stderr, " -r, --raw; -R\n");
|
|
fprintf(stderr, " -i, --invert; --auto\n");
|
|
return 0;
|
|
}
|
|
else if ( (strcmp(*argv, "-v") == 0) || (strcmp(*argv, "--verbose") == 0) ) {
|
|
option_verbose = 1;
|
|
}
|
|
else if ( (strcmp(*argv, "-r") == 0) || (strcmp(*argv, "--raw") == 0) ) {
|
|
option_raw = 1;
|
|
}
|
|
else if ( (strcmp(*argv, "-R") == 0) ) option_raw = 2;
|
|
else if ( (strcmp(*argv, "-i") == 0) || (strcmp(*argv, "--invert") == 0) ) {
|
|
option_inv = 1;
|
|
}
|
|
else if ( (strcmp(*argv, "--auto") == 0) ) {
|
|
option_auto = 1;
|
|
}
|
|
else if ( (strcmp(*argv, "--dc") == 0) ) {
|
|
option_dc = 1;
|
|
}
|
|
else if (strcmp(*argv, "--res") == 0) { option_res = 1; }
|
|
else if (strcmp(*argv, "-b") == 0) { option_b = 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;
|
|
|
|
|
|
i = read_wav_header(fp);
|
|
if (i) {
|
|
fclose(fp);
|
|
return -1;
|
|
}
|
|
|
|
if (option_dc) {
|
|
wlen = 2*BITS*samples_per_bit;
|
|
sample_buff = (int*)calloc(wlen, sizeof(int));
|
|
if (sample_buff == NULL) {
|
|
fprintf(stderr, "error malloc\n");
|
|
return -1;
|
|
}
|
|
}
|
|
|
|
|
|
pos = FRAMESTART;
|
|
|
|
while (!read_bits_fsk(fp, &bit, &len)) {
|
|
|
|
if (len == 0) { // reset_frame();
|
|
if (pos > (pos_GPSdate+7)*BITS) {
|
|
for (i = pos; i < BITFRAME_LEN; i++) frame_bits[i] = 0x30 + 0;
|
|
print_frame(pos);//byte_count
|
|
header_found = 0;
|
|
pos = FRAMESTART;
|
|
}
|
|
//inc_bufpos();
|
|
//buf[bufpos] = 'x';
|
|
continue; // ...
|
|
}
|
|
|
|
for (i = 0; i < len; i++) {
|
|
|
|
inc_bufpos();
|
|
buf[bufpos] = 0x30 + bit; // Ascii
|
|
|
|
if (!header_found) {
|
|
header_found = compare2();
|
|
//if (header_found) fprintf(stdout, "[%c] ", header_found>0?'+':'-');
|
|
if (header_found < 0) option_inv ^= 0x1;
|
|
// printf("[%c] ", option_inv?'-':'+');
|
|
}
|
|
else {
|
|
frame_bits[pos] = 0x30 + bit; // Ascii
|
|
pos++;
|
|
|
|
if (pos == BITFRAME_LEN) {
|
|
print_frame(pos);//FRAME_LEN
|
|
header_found = 0;
|
|
pos = FRAMESTART;
|
|
}
|
|
}
|
|
|
|
}
|
|
if (header_found && option_b==1) {
|
|
bitstart = 1;
|
|
|
|
while ( pos < BITFRAME_LEN ) {
|
|
if (read_rawbit(fp, &bit) == EOF) break;
|
|
frame_bits[pos] = 0x30 + bit;
|
|
pos++;
|
|
}
|
|
frame_bits[pos] = '\0';
|
|
print_frame(pos);//FRAME_LEN
|
|
|
|
header_found = 0;
|
|
pos = FRAMESTART;
|
|
}
|
|
}
|
|
|
|
printf("\n");
|
|
|
|
fclose(fp);
|
|
if (option_dc) free(sample_buff);
|
|
|
|
return 0;
|
|
}
|
|
|