mirror
/
RS-tracker
kopia lustrzana https://github.com/rs1729/RS
1
0
Forkuj 0
Kod Zgłoszenia Projekty Wydania Wiki Aktywność
RS-tracker/m10/m10x.c

745 wiersze
20 KiB
C
Czysty Wina Historia

/* big endian forest
*
* gcc -o m10x m10x.c -lm
*
*/
#include <stdio.h>
#include <stdlib.h>
#include <string.h>
#include <math.h>
#ifdef WIN
#include <fcntl.h> // cygwin: _setmode()
#include <io.h>
#endif
typedef unsigned char ui8_t;
typedef unsigned short ui16_t;
typedef struct {
int week; int gpssec;
int jahr; int monat; int tag;
int wday;
int std; int min; int sek;
double lat; double lon; double h;
double vH; double vD; double vV;
double vx; double vy; double vD2;
} datum_t;
datum_t datum;
int option_verbose = 0, // ausfuehrliche Anzeige
option_raw = 0, // rohe Frames
option_inv = 0, // invertiert Signal
option_res = 0, // genauere Bitmessung
option_color = 0,
wavloaded = 0;
/* -------------------------------------------------------------------------- */
/*
* 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 BAUD_RATE 9600 //2*4800
int sample_rate = 0, bits_sample = 0, channels = 0;
float samples_per_bit = 0;
int findstr(char *buf, char *str, int pos) {
int i;
for (i = 0; i < 4; i++) {
if (buf[(pos+i)%4] != str[i]) break;
}
return i;
}
int read_wav_header(FILE *fp) {
char txt[4+1] = "\0\0\0\0";
unsigned char dat[4];
int byte, p=0;
if (fread(txt, 1, 4, fp) < 4) return -1;
if (strncmp(txt, "RIFF", 4)) return -1;
if (fread(txt, 1, 4, fp) < 4) return -1;
// pos_WAVE = 8L
if (fread(txt, 1, 4, fp) < 4) return -1;
if (strncmp(txt, "WAVE", 4)) return -1;
// pos_fmt = 12L
for ( ; ; ) {
if ( (byte=fgetc(fp)) == EOF ) return -1;
txt[p % 4] = byte;
p++; if (p==4) p=0;
if (findstr(txt, "fmt ", p) == 4) break;
}
if (fread(dat, 1, 4, fp) < 4) return -1;
if (fread(dat, 1, 2, fp) < 2) return -1;
if (fread(dat, 1, 2, fp) < 2) return -1;
channels = dat[0] + (dat[1] << 8);
if (fread(dat, 1, 4, fp) < 4) return -1;
memcpy(&sample_rate, dat, 4); //sample_rate = dat[0]|(dat[1]<<8)|(dat[2]<<16)|(dat[3]<<24);
if (fread(dat, 1, 4, fp) < 4) return -1;
if (fread(dat, 1, 2, fp) < 2) return -1;
//byte = dat[0] + (dat[1] << 8);
if (fread(dat, 1, 2, fp) < 2) return -1;
bits_sample = dat[0] + (dat[1] << 8);
// pos_dat = 36L + info
for ( ; ; ) {
if ( (byte=fgetc(fp)) == EOF ) return -1;
txt[p % 4] = byte;
p++; if (p==4) p=0;
if (findstr(txt, "data", p) == 4) break;
}
if (fread(dat, 1, 4, fp) < 4) return -1;
fprintf(stderr, "sample_rate: %d\n", sample_rate);
fprintf(stderr, "bits : %d\n", bits_sample);
fprintf(stderr, "channels : %d\n", channels);
if ((bits_sample != 8) && (bits_sample != 16)) return -1;
samples_per_bit = sample_rate/(float)BAUD_RATE;
fprintf(stderr, "samples/bit: %.2f\n", samples_per_bit);
return 0;
}
#define EOF_INT 0x1000000
int read_signed_sample(FILE *fp) { // int = i32_t
int byte, i, ret; // EOF -> 0x1000000
for (i = 0; i < channels; i++) {
// i = 0: links bzw. mono
byte = fgetc(fp);
if (byte == EOF) return EOF_INT;
if (i == 0) ret = byte;
if (bits_sample == 16) {
byte = fgetc(fp);
if (byte == EOF) return EOF_INT;
if (i == 0) ret += byte << 8;
}
}
if (bits_sample == 8) return ret-128; // 8bit: 00..FF, centerpoint 0x80=128
if (bits_sample == 16) return (short)ret;
return ret;
}
int par=1, par_alt=1;
unsigned long sample_count = 0;
int read_bits_fsk(FILE *fp, int *bit, int *len) {
static int sample;
int n, y0;
float l, x1;
static float x0;
n = 0;
do{
y0 = sample;
sample = read_signed_sample(fp);
if (sample == EOF_INT) return EOF;
sample_count++;
par_alt = par;
par = (sample >= 0) ? 1 : -1; // 8bit: 0..127,128..255 (-128..-1,0..127)
n++;
} while (par*par_alt > 0);
if (!option_res) l = (float)n / samples_per_bit;
else { // genauere Bitlaengen-Messung
x1 = sample/(float)(sample-y0); // hilft bei niedriger sample rate
l = (n+x0-x1) / samples_per_bit; // meist mehr frames (nicht immer)
x0 = x1;
}
*len = (int)(l+0.5);
if (!option_inv) *bit = (1+par_alt)/2; // oben 1, unten -1
else *bit = (1-par_alt)/2; // sdr#<rev1381?, invers: unten 1, oben -1
// *bit = (1+inv*par_alt)/2; // ausser inv=0
/* Y-offset ? */
return 0;
}
/* -------------------------------------------------------------------------- */
/*
Header = Sync-Header + Sonde-Header:
1100110011001100 1010011001001100 1101010011010011 0100110101010101 0011010011001100
uudduudduudduudd ududduuddudduudd uudududduududduu dudduudududududu dduududduudduudd (oder:)
dduudduudduudduu duduudduuduudduu ddududuudduduudd uduuddududududud uudduduudduudduu (komplement)
0 0 0 0 0 0 0 0 1 1 - - - 0 0 0 0 1 1 0 0 1 0 0 1 0 0 1 1 1 1 1 0 0 1 0 0 0 0 0
*/
#define BITS 8
#define HEADLEN 32 // HEADLEN+HEADOFS=32 <= strlen(header)
#define HEADOFS 0
// Sync-Header // Sonde-Header
char header[] = "11001100110011001010011001001100"; //"011001001001111100100000"; // M10: 64 9F 20 , M2K2: 64 8F 20
//"011101101001111100100000"; // M??: 76 9F 20
//"011001000100100100001001"; // M10-dop: 64 49 09
#define FRAME_LEN 102
#define BITFRAME_LEN (FRAME_LEN*BITS)
#define RAWBITFRAME_LEN (BITFRAME_LEN*2)
char buf[HEADLEN];
int bufpos = -1;
int frame_bytes[FRAME_LEN+10];
#define FRAMESTART 0
char frame_rawbits[RAWBITFRAME_LEN+8]; // frame_rawbits-32="11001100110011001010011001001100";
char frame_bits[BITFRAME_LEN+4];
void inc_bufpos() {
bufpos = (bufpos+1) % HEADLEN;
}
char cb_inv(char c) {
if (c == '0') return '1';
if (c == '1') return '0';
return c;
}
// Gefahr bei Manchester-Codierung: inverser Header wird leicht fehl-erkannt
// da manchester1 und manchester2 nur um 1 bit verschoben
int compare2() {
int i, j;
i = 0;
j = bufpos;
while (i < HEADLEN) {
if (j < 0) j = HEADLEN-1;
if (buf[j] != header[HEADOFS+HEADLEN-1-i]) break;
j--;
i++;
}
if (i == HEADLEN) return 1;
i = 0;
j = bufpos;
while (i < HEADLEN) {
if (j < 0) j = HEADLEN-1;
if (buf[j] != cb_inv(header[HEADOFS+HEADLEN-1-i])) break;
j--;
i++;
}
if (i == HEADLEN) return -1;
return 0;
}
int bits2bytes(char *bitstr, int *bytes) {
int i, bit, d, byteval;
int bitpos, bytepos;
bitpos = 0;
bytepos = 0;
while (bytepos < FRAME_LEN) {
byteval = 0;
d = 1;
for (i = 0; i < BITS; i++) {
//bit=*(bitstr+bitpos+i); /* little endian */
bit=*(bitstr+bitpos+7-i); /* big endian */
// bit == 'x' ?
if (bit == '1') byteval += d;
else /*if ((bit == '0') || (bit == 'x'))*/ byteval += 0;
d <<= 1;
}
bitpos += BITS;
bytes[bytepos++] = byteval;
}
//while (bytepos < FRAME_LEN) bytes[bytepos++] = 0;
return 0;
}
/* -------------------------------------------------------------------------- */
// PSK (bzw. biphase-M (oder differential Manchester?))
// nach Synchronisation: 00,11->0 ; 01,10->1 (Phasenwechsel)
void psk_bpm(char* frame_rawbits, char *frame_bits) {
int i;
char bit;
//int err = 0;
for (i = 0; i < BITFRAME_LEN; i++) {
//if (i > 0 && (frame_rawbits[2*i] == frame_rawbits[2*i-1])) err = 1;
if (frame_rawbits[2*i] == frame_rawbits[2*i+1]) bit = '0';
else bit = '1';
//if (err) frame_bits[i] = 'x'; else
frame_bits[i] = bit;
//err = 0;
}
}
/* -------------------------------------------------------------------------- */
#define pos_GPSTOW 0x0A // 4 byte
#define pos_GPSlat 0x0E // 4 byte
#define pos_GPSlon 0x12 // 4 byte
#define pos_GPSheight 0x16 // 4 byte
#define pos_GPSweek 0x20 // 2 byte
//Velocity East-North-Up (ENU)
#define pos_GPSvO 0x04 // 2 byte
#define pos_GPSvN 0x06 // 2 byte
#define pos_GPSvV 0x08 // 2 byte
#define ANSI_COLOR_RED "\x1b[31m"
#define ANSI_COLOR_GREEN "\x1b[32m"
#define ANSI_COLOR_YELLOW "\x1b[33m"
#define ANSI_COLOR_BLUE "\x1b[34m"
#define ANSI_COLOR_MAGENTA "\x1b[35m"
#define ANSI_COLOR_CYAN "\x1b[36m"
#define ANSI_COLOR_RESET "\x1b[0m"
#define XTERM_COLOR_BROWN "\x1b[38;5;94m" // 38;5;{0..255}m
#define col_GPSweek "\x1b[38;5;20m" // 2 byte
#define col_GPSTOW "\x1b[38;5;27m" // 4 byte
#define col_GPSdate "\x1b[38;5;94m" //111
#define col_GPSlat "\x1b[38;5;34m" // 4 byte
#define col_GPSlon "\x1b[38;5;70m" // 4 byte
#define col_GPSheight "\x1b[38;5;82m" // 4 byte
#define col_GPSvel "\x1b[38;5;36m" // 6 byte
#define col_TXT "\x1b[38;5;244m"
#define col_FRTXT "\x1b[38;5;244m"
/*
$ for code in {0..255}
> do echo -e "\e[38;5;${code}m"'\\e[38;5;'"$code"m"\e[0m"
> done
*/
int get_GPSweek() {
int i;
unsigned byte;
ui8_t gpsweek_bytes[2];
int gpsweek;
for (i = 0; i < 2; i++) {
byte = frame_bytes[pos_GPSweek + i];
if (byte > 0xFF) return -1;
gpsweek_bytes[i] = byte;
}
gpsweek = (gpsweek_bytes[0] << 8) + gpsweek_bytes[1];
datum.week = gpsweek;
if (gpsweek < 0 || gpsweek > 3000) return -1;
return 0;
}
char weekday[7][3] = { "So", "Mo", "Di", "Mi", "Do", "Fr", "Sa"};
int get_GPStime() {
int i;
unsigned byte;
ui8_t gpstime_bytes[4];
int gpstime, day; // int ms;
for (i = 0; i < 4; i++) {
byte = frame_bytes[pos_GPSTOW + i];
if (byte > 0xFF) return -1;
gpstime_bytes[i] = byte;
}
gpstime = 0;
for (i = 0; i < 4; i++) {
gpstime |= gpstime_bytes[i] << (8*(3-i));
}
//ms = gpstime % 1000;
gpstime /= 1000;
datum.gpssec = gpstime;
day = gpstime / (24 * 3600);
gpstime %= (24*3600);
if ((day < 0) || (day > 6)) return -1;
datum.wday = day;
datum.std = gpstime/3600;
datum.min = (gpstime%3600)/60;
datum.sek = gpstime%60;
return 0;
}
double B60B60 = 0xB60B60; // 2^32/360 = 0xB60B60.xxx
int get_GPSlat() {
int i;
unsigned byte;
ui8_t gpslat_bytes[4];
int gpslat;
double lat;
for (i = 0; i < 4; i++) {
byte = frame_bytes[pos_GPSlat + i];
if (byte > 0xFF) return -1;
gpslat_bytes[i] = byte;
}
gpslat = 0;
for (i = 0; i < 4; i++) {
gpslat |= gpslat_bytes[i] << (8*(3-i));
}
lat = gpslat / B60B60;
datum.lat = lat;
return 0;
}
int get_GPSlon() {
int i;
unsigned byte;
ui8_t gpslon_bytes[4];
int gpslon;
double lon;
for (i = 0; i < 4; i++) {
byte = frame_bytes[pos_GPSlon + i];
if (byte > 0xFF) return -1;
gpslon_bytes[i] = byte;
}
gpslon = 0;
for (i = 0; i < 4; i++) {
gpslon |= gpslon_bytes[i] << (8*(3-i));
}
lon = gpslon / B60B60;
datum.lon = lon;
return 0;
}
int get_GPSheight() {
int i;
unsigned byte;
ui8_t gpsheight_bytes[4];
int gpsheight;
double height;
for (i = 0; i < 4; i++) {
byte = frame_bytes[pos_GPSheight + i];
if (byte > 0xFF) return -1;
gpsheight_bytes[i] = byte;
}
gpsheight = 0;
for (i = 0; i < 4; i++) {
gpsheight |= gpsheight_bytes[i] << (8*(3-i));
}
height = gpsheight / 1000.0;
datum.h = height;
return 0;
}
int get_GPSvel() {
int i;
unsigned byte;
ui8_t gpsVel_bytes[2];
short vel16;
double vx, vy, dir, alpha;
for (i = 0; i < 2; i++) {
byte = frame_bytes[pos_GPSvO + i];
if (byte > 0xFF) return -1;
gpsVel_bytes[i] = byte;
}
vel16 = gpsVel_bytes[0] << 8 | gpsVel_bytes[1];
vx = vel16 / 2e2; // ost
for (i = 0; i < 2; i++) {
byte = frame_bytes[pos_GPSvN + i];
if (byte > 0xFF) return -1;
gpsVel_bytes[i] = byte;
}
vel16 = gpsVel_bytes[0] << 8 | gpsVel_bytes[1];
vy= vel16 / 2e2; // nord
datum.vx = vx;
datum.vy = vy;
datum.vH = sqrt(vx*vx+vy*vy);
///*
alpha = atan2(vy, vx)*180/M_PI; // ComplexPlane (von x-Achse nach links) - GeoMeteo (von y-Achse nach rechts)
dir = 90-alpha; // z=x+iy= -> i*conj(z)=y+ix=re(i(pi/2-t)), Achsen und Drehsinn vertauscht
if (dir < 0) dir += 360; // atan2(y,x)=atan(y/x)=pi/2-atan(x/y) , atan(1/t) = pi/2 - atan(t)
datum.vD2 = dir;
//*/
dir = atan2(vx, vy) * 180 / M_PI;
if (dir < 0) dir += 360;
datum.vD = dir;
for (i = 0; i < 2; i++) {
byte = frame_bytes[pos_GPSvV + i];
if (byte > 0xFF) return -1;
gpsVel_bytes[i] = byte;
}
vel16 = gpsVel_bytes[0] << 8 | gpsVel_bytes[1];
datum.vV = vel16 / 2e2;
return 0;
}
/* -------------------------------------------------------------------------- */
int print_pos() {
int err;
err = 0;
err |= get_GPSweek();
err |= get_GPStime();
err |= get_GPSlat();
err |= get_GPSlon();
err |= get_GPSheight();
if (!err) {
Gps2Date(datum.week, datum.gpssec, &datum.jahr, &datum.monat, &datum.tag);
if (option_color) {
printf(col_TXT);
printf(" (W "col_GPSweek"%d"col_TXT") ", datum.week);
printf(col_GPSTOW"%s"col_TXT" ", weekday[datum.wday]);
printf(col_GPSdate"%04d-%02d-%02d"col_TXT" ("col_GPSTOW"%02d:%02d:%02d"col_TXT") ",
datum.jahr, datum.monat, datum.tag, datum.std, datum.min, datum.sek);
printf(" lat: "col_GPSlat"%.6f"col_TXT" ", datum.lat);
printf(" lon: "col_GPSlon"%.6f"col_TXT" ", datum.lon);
printf(" h: "col_GPSheight"%.2f"col_TXT" ", datum.h);
if (option_verbose) {
err |= get_GPSvel();
if (!err) {
if (option_verbose == 2) printf(" "col_GPSvel"(%.1f , %.1f : %.1f°)"col_TXT" ", datum.vx, datum.vy, datum.vD2);
printf(" vH: "col_GPSvel"%.1f"col_TXT" D: "col_GPSvel"%.1f°"col_TXT" vV: "col_GPSvel"%.1f"col_TXT" ", datum.vH, datum.vD, datum.vV);
}
}
printf(ANSI_COLOR_RESET"");
}
else {
printf(" (W %d) ", datum.week);
printf("%s ", weekday[datum.wday]);
printf("%04d-%02d-%02d (%02d:%02d:%02d) ",
datum.jahr, datum.monat, datum.tag, datum.std, datum.min, datum.sek);
printf(" lat: %.6f ", datum.lat);
printf(" lon: %.6f ", datum.lon);
printf(" h: %.2f ", datum.h);
if (option_verbose) {
err |= get_GPSvel();
if (!err) {
if (option_verbose == 2) printf(" (%.1f , %.1f : %.1f°) ", datum.vx, datum.vy, datum.vD2);
printf(" vH: %.1f D: %.1f° vV: %.1f ", datum.vH, datum.vD, datum.vV);
}
}
}
printf("\n");
}
return err;
}
void print_frame(int pos) {
int i;
ui8_t byte;
psk_bpm(frame_rawbits, frame_bits);
bits2bytes(frame_bits, frame_bytes);
if (option_raw) {
if (option_color && frame_bytes[1] != 0x49) {
fprintf(stdout, col_FRTXT);
for (i = 0; i < FRAME_LEN; i++) {
byte = frame_bytes[i];
if ((i >= pos_GPSTOW) && (i < pos_GPSTOW+4)) fprintf(stdout, col_GPSTOW);
if ((i >= pos_GPSlat) && (i < pos_GPSlat+4)) fprintf(stdout, col_GPSlat);
if ((i >= pos_GPSlon) && (i < pos_GPSlon+4)) fprintf(stdout, col_GPSlon);
if ((i >= pos_GPSheight) && (i < pos_GPSheight+4)) fprintf(stdout, col_GPSheight);
if ((i >= pos_GPSweek) && (i < pos_GPSweek+2)) fprintf(stdout, col_GPSweek);
if ((i >= pos_GPSvO) && (i < pos_GPSvO+6)) fprintf(stdout, col_GPSvel);
fprintf(stdout, "%02x", byte);
fprintf(stdout, col_FRTXT);
}
fprintf(stdout, ANSI_COLOR_RESET"\n");
}
else {
for (i = 0; i < FRAME_LEN; i++) {
byte = frame_bytes[i];
fprintf(stdout, "%02x", byte);
}
fprintf(stdout, "\n");
}
}
else if (frame_bytes[1] == 0x49) {
if (option_verbose == 2) {
for (i = 0; i < FRAME_LEN; i++) {
byte = frame_bytes[i];
fprintf(stdout, "%02x", byte);
}
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\n");
fprintf(stderr, " -c, --color\n");
//fprintf(stderr, " -o, --offset\n");
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, "-i") == 0) || (strcmp(*argv, "--invert") == 0) ) {
option_inv = 1; // nicht noetig
}
else if ( (strcmp(*argv, "-c") == 0) || (strcmp(*argv, "--color") == 0) ) {
option_color = 1;
}
else if (strcmp(*argv, "--res") == 0) { option_res = 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;
}
pos = FRAMESTART;
while (!read_bits_fsk(fp, &bit, &len)) {
if (len == 0) { // reset_frame();
if (pos > (pos_GPSweek+2)*2*BITS) {
for (i = pos; i < RAWBITFRAME_LEN; i++) frame_rawbits[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();
}
else {
frame_rawbits[pos] = 0x30 + bit; // Ascii
pos++;
if (pos == RAWBITFRAME_LEN) {
print_frame(pos);//FRAME_LEN
header_found = 0;
pos = FRAMESTART;
}
}
}
}
printf("\n");
fclose(fp);
return 0;
}
Reference in New Issue View Git Blame Kopiuj bezpośredni odnośnik