kopia lustrzana https://github.com/rs1729/RS
629 wiersze
18 KiB
C
629 wiersze
18 KiB
C
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/*
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* pilotsonde m12
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* FSK, 4800 baud, 8N1, little endian
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*
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* compile:
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* gcc -c demod_mod.c
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* gcc m12mod.c demod_mod.o -lm -o m12mod
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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 CYGWIN
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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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#include "demod_mod.h"
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typedef struct {
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i8_t vbs; // verbose output
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i8_t raw; // raw frames
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i8_t crc; // CRC check output
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i8_t sat; // GPS sat data
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i8_t ptu; // PTU: temperature
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i8_t inv;
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i8_t aut;
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} option_t;
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#define BAUD_RATE 4800
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/* -------------------------------------------------------------------------- */
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#define BITS (1+8+1)
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#define HEADLEN 20 // HEADLEN+HEADOFS=32 <= strlen(bitheader)
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#define HEADOFS 0
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// A A A A A A : preamble: 0xAAAAAA
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static char m12_header[] = "0010101011""0010101011""0010101011";
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static ui8_t m12_header_bytes[3] = { 0xAA, 0xAA, 0xAA};
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#define FRAME_LEN (50)
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#define BITFRAME_LEN (FRAME_LEN*BITS)
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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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ui8_t frame_bytes[FRAME_LEN+10];
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char frame_bits[BITFRAME_LEN+4];
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option_t option;
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} gpx_t;
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/* -------------------------------------------------------------------------- */
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static int bits2bytes(gpx_t *gpx, 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 (bytepos < FRAME_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+7-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 == gpx->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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static int get_GPStime(gpx_t *gpx) {
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int i;
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int gpstime;
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gpstime = 0;
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for (i = 0; i < 4; i++) {
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gpstime |= gpx->frame_bytes[pos_GPStime + i] << (8*(3-i));
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}
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gpx->time = gpstime;
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return 0;
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}
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static int get_GPSpos(gpx_t *gpx) {
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int i;
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int val;
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val = 0;
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for (i = 0; i < 4; i++) val |= gpx->frame_bytes[pos_GPSlat + i] << (8*(3-i));
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gpx->lat = val;
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val = 0;
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for (i = 0; i < 4; i++) val |= gpx->frame_bytes[pos_GPSlon + i] << (8*(3-i));
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gpx->lon = val;
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val = 0;
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for (i = 0; i < 4; i++) val |= gpx->frame_bytes[pos_GPSalt + i] << (8*(3-i));
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gpx->alt = val;
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return 0;
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}
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static int get_GPSvel(gpx_t *gpx) {
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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] = gpx->frame_bytes[pos_GPSvE + i];
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vel16 = bytes[0] << 8 | bytes[1];
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gpx->vE = vel16;
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vx = vel16 / 1e2; // east
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for (i = 0; i < 2; i++) bytes[i] = gpx->frame_bytes[pos_GPSvN + i];
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vel16 = bytes[0] << 8 | bytes[1];
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gpx->vN = vel16;
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vy= vel16 / 1e2; // north
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for (i = 0; i < 2; i++) bytes[i] = gpx->frame_bytes[pos_GPSvU + i];
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vel16 = bytes[0] << 8 | bytes[1];
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gpx->vU = vel16;
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vz = vel16 / 1e2; // up
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gpx->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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gpx->vD = dir;
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gpx->vV = vz;
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return 0;
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}
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static int get_GPSdate(gpx_t *gpx) {
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int i;
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int val;
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val = 0;
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for (i = 0; i < 4; i++) val |= gpx->frame_bytes[pos_GPSdate + i] << (8*(3-i));
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gpx->date = val;
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return 0;
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}
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static int get_GPSstatus(gpx_t *gpx) {
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gpx->sats = gpx->frame_bytes[pos_GPSsats];
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gpx->fix = gpx->frame_bytes[pos_GPSfix];
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return 0;
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}
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/* -------------------------------------------------------------------------- */
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static int crc16poly = 0xA001;
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static 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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static int print_pos(gpx_t *gpx) {
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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(gpx);
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err |= get_GPSvel(gpx);
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err |= get_GPStime(gpx);
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err |= get_GPSdate(gpx);
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if (!err) {
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//fprintf(stdout, " (%06d)", gpx->date);
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fprintf(stdout, " %02d-%02d-%02d", gpx->date/10000, (gpx->date%10000)/100, gpx->date%100);
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//fprintf(stdout, " (%09d)", gpx->time);
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fprintf(stdout, " %02d:%02d:%06.3f ", gpx->time/10000000, (gpx->time%10000000)/100000, (gpx->time%100000)/1000.0);
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fprintf(stdout, " lat: %.6f° ", gpx->lat/1e6);
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fprintf(stdout, " lon: %.6f° ", gpx->lon/1e6);
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fprintf(stdout, " alt: %.2fm ", gpx->alt/1e2);
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//fprintf(stdout, " (%.1f , %.1f , %.1f) ", gpx->vE/1e2, gpx->vN/1e2, gpx->vU/1e2);
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fprintf(stdout, " vH: %.1fm/s D: %.1f° vV: %.1fm/s", gpx->vH, gpx->vD, gpx->vV);
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if (gpx->option.vbs) {
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get_GPSstatus(gpx);
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fprintf(stdout, " sats: %d fix: %d ", gpx->sats, gpx->fix);
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}
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crc = (gpx->frame_bytes[FRAME_LEN-2]<<8) | gpx->frame_bytes[FRAME_LEN-1];
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fprintf(stdout, " # CRC ");
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if (crc == crc16rev(gpx->frame_bytes, FRAME_LEN-2)) fprintf(stdout, "[OK]"); else fprintf(stdout, "[NO]");
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}
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fprintf(stdout, "\n");
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return err;
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}
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static int print_frame(gpx_t *gpx, int pos) {
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int i;
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unsigned int crc = 0x0000;
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int crc_pos = FRAME_LEN-2;
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bits2bytes(gpx, gpx->frame_bits, gpx->frame_bytes+OFS);
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if (gpx->option.raw) {
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if (gpx->option.raw == 2) {
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for (i = 0; i < BITFRAME_LEN; i++) {
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fprintf(stdout, "%c", gpx->frame_bits[i]);
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if (i%10==0 || i%10==8) fprintf(stdout, " ");
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}
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fprintf(stdout, "\n");
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}
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else {
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for (i = OFS; i < crc_pos; i++) {
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fprintf(stdout, "%02x ", gpx->frame_bytes[i]);
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}
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crc = (gpx->frame_bytes[crc_pos]<<8) | gpx->frame_bytes[crc_pos+1];
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fprintf(stdout, " %04x ", crc);
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fprintf(stdout, "# %04x ", crc16rev(gpx->frame_bytes, crc_pos));
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fprintf(stdout, "\n");
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}
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}
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else print_pos(gpx);
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return 0;
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}
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/* -------------------------------------------------------------------------- */
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int main(int argc, char **argv) {
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int option_verbose = 0; // ausfuehrliche Anzeige
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int option_raw = 0; // rohe Frames
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int option_inv = 0; // invertiert Signal
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int option_min = 0;
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int option_iq = 0;
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int option_iqdc = 0;
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int option_lp = 0;
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int option_dc = 0;
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int option_softin = 0;
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int option_pcmraw = 0;
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int wavloaded = 0;
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int sel_wavch = 0; // audio channel: left
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int spike = 0;
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float baudrate = -1;
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FILE *fp = NULL;
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char *fpname = NULL;
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int k;
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int bit, bit0;
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int bitpos = 0;
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int bitQ;
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int pos;
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hsbit_t hsbit, hsbit1;
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//int headerlen = 0;
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int header_found = 0;
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float thres = 0.76;
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float _mv = 0.0;
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int symlen = 1;
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int bitofs = 0; // 0 .. +2
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int shift = 0;
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pcm_t pcm = {0};
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dsp_t dsp = {0}; //memset(&dsp, 0, sizeof(dsp));
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hdb_t hdb = {0};
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gpx_t gpx = {0};
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#ifdef CYGWIN
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_setmode(fileno(stdin), _O_BINARY); // _setmode(_fileno(stdin), _O_BINARY);
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#endif
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setbuf(stdout, NULL);
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fpname = argv[0];
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++argv;
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while ((*argv) && (!wavloaded)) {
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if ( (strcmp(*argv, "-h") == 0) || (strcmp(*argv, "--help") == 0) ) {
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fprintf(stderr, "%s [options] audio.wav\n", fpname);
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fprintf(stderr, " options:\n");
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fprintf(stderr, " -v, --verbose\n");
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fprintf(stderr, " -r, --raw\n");
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return 0;
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}
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else if ( (strcmp(*argv, "-v") == 0) || (strcmp(*argv, "--verbose") == 0) ) {
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option_verbose = 1;
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}
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else if ( (strcmp(*argv, "-r") == 0) || (strcmp(*argv, "--raw") == 0) ) {
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option_raw = 1;
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}
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else if ( (strcmp(*argv, "-i") == 0) || (strcmp(*argv, "--invert") == 0) ) {
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option_inv = 1;
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}
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else if (strcmp(*argv, "--auto") == 0) { gpx.option.aut = 1; }
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else if ( (strcmp(*argv, "--br") == 0) ) {
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++argv;
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if (*argv) {
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baudrate = atof(*argv);
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if (baudrate < 4000 || baudrate > 5000) baudrate = BAUD_RATE; // default: 4800
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}
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else return -1;
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}
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else if ( (strcmp(*argv, "--spike") == 0) ) {
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spike = 1;
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}
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else if ( (strcmp(*argv, "--ch2") == 0) ) { sel_wavch = 1; } // right channel (default: 0=left)
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else if (strcmp(*argv, "--softin") == 0) { option_softin = 1; } // float32 soft input
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else if ( (strcmp(*argv, "--ths") == 0) ) {
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++argv;
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if (*argv) {
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thres = atof(*argv);
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}
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else return -1;
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}
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else if ( (strcmp(*argv, "-d") == 0) ) {
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++argv;
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if (*argv) {
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shift = atoi(*argv);
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if (shift > 4) shift = 4;
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if (shift < -4) shift = -4;
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}
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else return -1;
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}
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else if (strcmp(*argv, "--iq0") == 0) { option_iq = 1; } // differential/FM-demod
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else if (strcmp(*argv, "--iq2") == 0) { option_iq = 2; }
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else if (strcmp(*argv, "--iq3") == 0) { option_iq = 3; } // iq2==iq3
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else if (strcmp(*argv, "--iqdc") == 0) { option_iqdc = 1; } // iq-dc removal (iq0,2,3)
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else if (strcmp(*argv, "--IQ") == 0) { // fq baseband -> IF (rotate from and decimate)
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double fq = 0.0; // --IQ <fq> , -0.5 < fq < 0.5
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++argv;
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if (*argv) fq = atof(*argv);
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else return -1;
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if (fq < -0.5) fq = -0.5;
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if (fq > 0.5) fq = 0.5;
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dsp.xlt_fq = -fq; // S(t) -> S(t)*exp(-f*2pi*I*t)
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option_iq = 5;
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}
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else if (strcmp(*argv, "--lp") == 0) { option_lp = 1; } // IQ lowpass
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else if (strcmp(*argv, "--dc") == 0) { option_dc = 1; }
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else if (strcmp(*argv, "--min") == 0) {
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option_min = 1;
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}
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else if (strcmp(*argv, "-") == 0) {
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int sample_rate = 0, bits_sample = 0, channels = 0;
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++argv;
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if (*argv) sample_rate = atoi(*argv); else return -1;
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++argv;
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if (*argv) bits_sample = atoi(*argv); else return -1;
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channels = 2;
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if (sample_rate < 1 || (bits_sample != 8 && bits_sample != 16 && bits_sample != 32)) {
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fprintf(stderr, "- <sr> <bs>\n");
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return -1;
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}
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pcm.sr = sample_rate;
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pcm.bps = bits_sample;
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pcm.nch = channels;
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option_pcmraw = 1;
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}
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else {
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fp = fopen(*argv, "rb");
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if (fp == NULL) {
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fprintf(stderr, "error: open %s\n", *argv);
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return -1;
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}
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wavloaded = 1;
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}
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++argv;
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}
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if (!wavloaded) fp = stdin;
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// init gpx
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gpx.option.inv = option_inv; // irrelevant
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gpx.option.vbs = option_verbose;
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gpx.option.raw = option_raw;
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memcpy(gpx.frame_bytes, m12_header_bytes, sizeof(m12_header_bytes));
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#ifdef EXT_FSK
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if (!option_softin) {
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option_softin = 1;
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fprintf(stderr, "reading float32 soft symbols\n");
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}
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#endif
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if (!option_softin) {
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if (option_iq == 0 && option_pcmraw) {
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fclose(fp);
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fprintf(stderr, "error: raw data not IQ\n");
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return -1;
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}
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if (option_iq) sel_wavch = 0;
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pcm.sel_ch = sel_wavch;
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if (option_pcmraw == 0) {
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k = read_wav_header(&pcm, fp);
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if ( k < 0 ) {
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fclose(fp);
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fprintf(stderr, "error: wav header\n");
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return -1;
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}
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}
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symlen = 1;
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// init dsp
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//
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dsp.fp = fp;
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dsp.sr = pcm.sr;
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dsp.bps = pcm.bps;
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dsp.nch = pcm.nch;
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dsp.ch = pcm.sel_ch;
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dsp.br = (float)BAUD_RATE;
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dsp.sps = (float)dsp.sr/dsp.br;
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dsp.symlen = symlen;
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dsp.symhd = 1; // M12!header
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dsp._spb = dsp.sps*symlen;
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dsp.hdr = m12_header;
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dsp.hdrlen = strlen(m12_header);
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dsp.BT = 1.8; // bw/time (ISI) // 1.0..2.0 // like M10 ?
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dsp.h = 0.9; // 1.2 modulation index // like M10 ?
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dsp.opt_iq = option_iq;
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dsp.opt_iqdc = option_iqdc;
|
|
dsp.opt_lp = option_lp;
|
|
dsp.lpIQ_bw = 20e3; // IF lowpass bandwidth
|
|
dsp.lpFM_bw = 6e3; // FM audio lowpass
|
|
dsp.opt_dc = option_dc;
|
|
dsp.opt_IFmin = option_min;
|
|
|
|
if ( dsp.sps < 8 ) {
|
|
fprintf(stderr, "note: sample rate low (%.1f sps)\n", dsp.sps);
|
|
}
|
|
|
|
if (baudrate > 0) {
|
|
dsp.br = (float)baudrate;
|
|
dsp.sps = (float)dsp.sr/dsp.br;
|
|
fprintf(stderr, "sps corr: %.4f\n", dsp.sps);
|
|
}
|
|
|
|
//m12_headerlen = dsp.hdrlen;
|
|
|
|
|
|
k = init_buffers(&dsp);
|
|
if ( k < 0 ) {
|
|
fprintf(stderr, "error: init buffers\n");
|
|
return -1;
|
|
}
|
|
|
|
bitofs += shift;
|
|
}
|
|
else {
|
|
// init circular header bit buffer
|
|
hdb.hdr = m12_header;
|
|
hdb.len = strlen(m12_header);
|
|
//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;
|
|
}
|
|
*/
|
|
hdb.ths = 0.8; // caution 0.7: false positive / offset
|
|
hdb.sbuf = calloc(hdb.len, sizeof(float));
|
|
if (hdb.sbuf == NULL) {
|
|
fprintf(stderr, "error: malloc\n");
|
|
return -1;
|
|
}
|
|
}
|
|
|
|
|
|
while ( 1 )
|
|
{
|
|
if (option_softin) {
|
|
header_found = find_softbinhead(fp, &hdb, &_mv);
|
|
}
|
|
else { // FM-audio:
|
|
header_found = find_header(&dsp, thres, 2, bitofs, dsp.opt_dc); // optional 2nd pass: dc=0
|
|
_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) {
|
|
|
|
bitpos = 0;
|
|
pos = 0;
|
|
|
|
while ( pos < BITFRAME_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) spike = 0;
|
|
if (option_iq > 2) bl = 4.0;
|
|
//bitQ = read_slbit(&dsp, &bit, 0, bitofs, bitpos, bl, spike); // symlen=1
|
|
bitQ = read_softbit2p(&dsp, &hsbit, 0, bitofs, bitpos, bl, spike, &hsbit1); // symlen=1
|
|
bit = hsbit.hb;
|
|
}
|
|
if ( bitQ == EOF ) { break; }
|
|
|
|
if (gpx.option.inv) bit ^= 1;
|
|
|
|
gpx.frame_bits[pos] = 0x30 ^ bit;
|
|
pos++;
|
|
bitpos += 1;
|
|
}
|
|
gpx.frame_bits[pos] = '\0';
|
|
print_frame(&gpx, pos);
|
|
if (pos < BITFRAME_LEN) break;
|
|
|
|
header_found = 0;
|
|
/*
|
|
// bis Ende der Sekunde vorspulen; allerdings Doppel-Frame alle 10 sek
|
|
if (gpx.option.vbs < 3) { // && (regulare frame) // print_frame-return?
|
|
while ( bitpos < 2*BITFRAME_LEN ) {
|
|
bitQ = read_slbit(&dsp, &bit, 0, bitofs, bitpos, -1, 0); // symlen=1
|
|
if ( bitQ == EOF) break;
|
|
bitpos++;
|
|
}
|
|
}
|
|
*/
|
|
pos = 0;
|
|
}
|
|
}
|
|
|
|
|
|
if (!option_softin) free_buffers(&dsp);
|
|
else {
|
|
if (hdb.buf) { free(hdb.buf); hdb.buf = NULL; }
|
|
}
|
|
|
|
fclose(fp);
|
|
|
|
return 0;
|
|
}
|
|
|