From 51595113f52ffcaf9d4b757f8a20c3033d277b04 Mon Sep 17 00:00:00 2001 From: Zilog80 Date: Mon, 11 Dec 2017 23:02:40 +0100 Subject: [PATCH] match: FFT correlation (speed-up) --- demod/demod_dft.c | 522 ++++++++++++++++++ demod/demod_dft.h | 14 + demod/rs41dm_dft.c | 1257 ++++++++++++++++++++++++++++++++++++++++++++ 3 files changed, 1793 insertions(+) create mode 100644 demod/demod_dft.c create mode 100644 demod/demod_dft.h create mode 100644 demod/rs41dm_dft.c diff --git a/demod/demod_dft.c b/demod/demod_dft.c new file mode 100644 index 0000000..65ca044 --- /dev/null +++ b/demod/demod_dft.c @@ -0,0 +1,522 @@ + +/* + * sync header: correlation/matched filter + * compile: + * gcc -c demod_dft.c + * + * author: zilog80 + */ + +/* ------------------------------------------------------------------------------------ */ + +#include +#include +#include +#include + + +typedef unsigned char ui8_t; +typedef unsigned short ui16_t; +typedef unsigned int ui32_t; +typedef short i16_t; +typedef int i32_t; + +//#include "demod.h" + + +static unsigned int sample_in, sample_out, delay; +static int buffered = 0; + +static int N, M; + +static float *match = NULL, + *bufs = NULL; + +static char *rawbits = NULL; + +static int Nvar = 0; // < M +static double xsum=0, qsum=0; +static float *xs = NULL, + *qs = NULL; + + +/* ------------------------------------------------------------------------------------ */ + +#include + +static int LOG2N, N_DFT; + +static double complex *ew; + +static double complex *Fm, *X, *Z, *cx; +static float *xn; + +static void dft_raw(double complex *Z) { + int s, l, l2, i, j, k; + double complex w1, w2, T; + + j = 1; + for (i = 1; i < N_DFT; i++) { + if (i < j) { + T = Z[j-1]; + Z[j-1] = Z[i-1]; + Z[i-1] = T; + } + k = N_DFT/2; + while (k < j) { + j = j - k; + k = k/2; + } + j = j + k; + } + + for (s = 0; s < LOG2N; s++) { + l2 = 1 << s; + l = l2 << 1; + w1 = (double complex)1.0; + w2 = ew[s]; // cexp(-I*M_PI/(double)l2) + for (j = 1; j <= l2; j++) { + for (i = j; i <= N_DFT; i += l) { + k = i + l2; + T = Z[k-1] * w1; + Z[k-1] = Z[i-1] - T; + Z[i-1] = Z[i-1] + T; + } + w1 = w1 * w2; + } + } +} + +static void dft(float *x, double complex *Z) { + int i; + for (i = 0; i < N_DFT; i++) Z[i] = (double complex)x[i]; + dft_raw(Z); +} + +static void Nidft(double complex *Z, double complex *z) { + int i; + for (i = 0; i < N_DFT; i++) z[i] = conj(Z[i]); + dft_raw(z); + // idft(): + // for (i = 0; i < N_DFT; i++) z[i] = conj(z[i])/(double)N_DFT; // hier: z reell +} + +/* ------------------------------------------------------------------------------------ */ + +int getCorrDFT(int K, unsigned int pos, float *maxv, unsigned int *maxvpos) { + //int K = N/2; // N+N/2=960 < 1024 = N_DFT/2 + int i; + int mp = -1; + float mx = 0.0; + float xnorm = 1; + unsigned int mpos = 0; + + if (N + K > N_DFT/2 - 2) return -1; + if (sample_in < delay+N+K) return -2; + + if (pos == 0) pos = sample_out; + + + for (i = 0; i < N+K; i++) xn[i] = bufs[(pos+M -(N+K-1) + i) % M]; + while (i < N_DFT) xn[i++] = 0.0; + + dft(xn, X); + + for (i = 0; i < N_DFT; i++) Z[i] = X[i]*Fm[i]; + + Nidft(Z, cx); + + + for (i = N; i < N+K; i++) { + if (creal(cx[i]) > mx) { // imag(cx)=0 + mx = creal(cx[i]); + mp = i; + } + } + if (mp == N || mp == N+K-1) return -4; // Randwert + + mpos = pos - ( N+K-1 - mp ); + xnorm = sqrt(qs[(mpos + 2*M) % M]); + mx /= xnorm*N_DFT; + + *maxv = mx; + *maxvpos = mpos; + + buffered = sample_out-mpos; + + return mp; +} + +/* ------------------------------------------------------------------------------------ */ + +static int sample_rate = 0, bits_sample = 0, channels = 0; +static float samples_per_bit = 0; + +static int findstr(char *buff, char *str, int pos) { + int i; + for (i = 0; i < 4; i++) { + if (buff[(pos+i)%4] != str[i]) break; + } + return i; +} + +float read_wav_header(FILE *fp, float baudrate) { + 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/baudrate; + + fprintf(stderr, "samples/bit: %.2f\n", samples_per_bit); + + return samples_per_bit; +} + +static int f32read_sample(FILE *fp, float *s) { + int i; + short b = 0; + + for (i = 0; i < channels; i++) { + + if (fread( &b, bits_sample/8, 1, fp) != 1) return EOF; + + if (i == 0) { // i = 0: links bzw. mono + //if (bits_sample == 8) sint = b-128; // 8bit: 00..FF, centerpoint 0x80=128 + //if (bits_sample == 16) sint = (short)b; + + if (bits_sample == 8) { b -= 128; } + *s = b/128.0; + if (bits_sample == 16) { *s /= 256.0; } + } + } + + return 0; +} + +float get_bufvar(int ofs) { + float mu = xs[(sample_out+M + ofs) % M]/Nvar; + float var = qs[(sample_out+M + ofs) % M]/Nvar - mu*mu; + return var; +} + +int f32buf_sample(FILE *fp, int inv, int cm) { + float s = 0.0; + float xneu, xalt; + + + if (f32read_sample(fp, &s) == EOF) return EOF; + + if (inv) s = -s; + bufs[sample_in % M] = s; + + xneu = bufs[(sample_in ) % M]; + xalt = bufs[(sample_in+M - Nvar) % M]; + xsum += xneu - xalt; // + xneu - xalt + qsum += (xneu - xalt)*(xneu + xalt); // + xneu*xneu - xalt*xalt + xs[sample_in % M] = xsum; + qs[sample_in % M] = qsum; + + + if (0 && cm) { + // direct correlation + } + + + sample_out = sample_in - delay; + + sample_in += 1; + + return 0; +} + +static int read_bufbit(int symlen, char *bits, unsigned int mvp, int reset) { +// symlen==2: manchester2 0->10,1->01->1: 2.bit + + static unsigned int rcount; + static float rbitgrenze; + + double sum = 0.0; + + if (reset) { + rcount = 0; + rbitgrenze = 0; + } + + + rbitgrenze += samples_per_bit; + do { + sum += bufs[(rcount + mvp + M) % M]; + rcount++; + } while (rcount < rbitgrenze); // n < samples_per_bit + + if (symlen == 2) { + rbitgrenze += samples_per_bit; + do { + sum -= bufs[(rcount + mvp + M) % M]; + rcount++; + } while (rcount < rbitgrenze); // n < samples_per_bit + } + + + if (symlen != 2) { + if (sum >= 0) *bits = '1'; + else *bits = '0'; + } + else { + if (sum >= 0) strncpy(bits, "10", 2); + else strncpy(bits, "01", 2); + } + + return 0; +} + +int headcmp(int symlen, char *hdr, int len, unsigned int mvp) { + int errs = 0; + int pos; + int step = 1; + if (symlen != 1) step = 2; + + for (pos = 0; pos < len; pos += step) { + read_bufbit(symlen, rawbits+pos, mvp+1-(int)(len*samples_per_bit), pos==0); + } + rawbits[pos] = '\0'; + + while (len > 0) { + if (rawbits[len-1] != hdr[len-1]) errs += 1; + len--; + } + + return errs; +} + +/* -------------------------------------------------------------------------- */ + +int read_sbit(FILE *fp, int symlen, int *bit, int inv, int ofs, int reset, int cm) { +// symlen==2: manchester2 10->0,01->1: 2.bit + + static double bitgrenze; + static unsigned long scount; + + float sample; + + double sum = 0.0; + + if (reset) { + scount = 0; + bitgrenze = 0; + } + + if (symlen == 2) { + bitgrenze += samples_per_bit; + do { + if (buffered > 0) buffered -= 1; + else if (f32buf_sample(fp, inv, cm) == EOF) return EOF; + + sample = bufs[(sample_out-buffered + ofs + M) % M]; + sum -= sample; + + scount++; + } while (scount < bitgrenze); // n < samples_per_bit + } + + bitgrenze += samples_per_bit; + do { + if (buffered > 0) buffered -= 1; + else if (f32buf_sample(fp, inv, cm) == EOF) return EOF; + + sample = bufs[(sample_out-buffered + ofs + M) % M]; + sum += sample; + + scount++; + } while (scount < bitgrenze); // n < samples_per_bit + + if (sum >= 0) *bit = 1; + else *bit = 0; + + return 0; +} + +/* -------------------------------------------------------------------------- */ + +static double norm2_match() { + int i; + double x, y = 0.0; + for (i = 0; i < N; i++) { + x = match[i]; + y += x*x; + } + return y; +} + +int init_buffers(char hdr[], int hLen, int shape) { + //hLen = strlen(header) = HEADLEN; + + int i, pos; + float b, x; + float normMatch; + + float alpha, sqalp, a = 1.0; + + int K; + int n, k; + float *m = NULL; + + + N = hLen * samples_per_bit; + M = 3*N; // >= N + Nvar = N; //N/2; // = N/k + + bufs = (float *)calloc( M+1, sizeof(float)); if (bufs == NULL) return -100; + match = (float *)calloc( N+1, sizeof(float)); if (match == NULL) return -100; + + xs = (float *)calloc( M+1, sizeof(float)); if (xs == NULL) return -100; + qs = (float *)calloc( M+1, sizeof(float)); if (qs == NULL) return -100; + + + rawbits = (char *)calloc( N+1, sizeof(char)); if (rawbits == NULL) return -100; + + for (i = 0; i < M; i++) bufs[i] = 0.0; + + alpha = exp(0.8); + sqalp = sqrt(alpha/M_PI); + //a = sqalp; + + for (i = 0; i < N; i++) { + pos = i/samples_per_bit; + x = (i - pos*samples_per_bit)*2.0/samples_per_bit - 1; + a = sqalp; + + if ( ( pos < hLen-1 && hdr[pos]!=hdr[pos+1] && x > 0.0 ) + || ( pos > 0 && hdr[pos-1]!=hdr[pos] && x < 0.0 ) ) // x=0: a=sqalp + { + switch (shape) { + case 1: if ( fabs(x) > 0.6 ) a *= (1 - fabs(x))/0.6; + break; + case 2: a = sqalp * exp(-alpha*x*x); + break; + case 3: a = 1 - fabs( x ); + break; + default: a = sqalp; + if (i-pos*samples_per_bit < 2 || + i-pos*samples_per_bit > samples_per_bit-2) a = 0.8*sqalp; + } + } + + b = ((hdr[pos] & 0x1) - 0.5)*2.0; // {-1,+1} + b *= a; + + match[i] = b; + } + + normMatch = sqrt(norm2_match()); + for (i = 0; i < N; i++) { + match[i] /= normMatch; + } + + + delay = N/8; + sample_in = 0; + + K = N/2 - delay; + + LOG2N = 2 + (int)(log(N)/log(2)); + N_DFT = 1 << LOG2N; + + if (N + K > N_DFT/2 - 2) { + LOG2N += 1; + N_DFT <<= 1; + } + + + xn = calloc(N_DFT+1, sizeof(float)); if (xn == NULL) return -1; + + ew = calloc(LOG2N+1, sizeof(complex double)); if (ew == NULL) return -1; + Fm = calloc(N_DFT+1, sizeof(complex double)); if (Fm == NULL) return -1; + X = calloc(N_DFT+1, sizeof(complex double)); if (X == NULL) return -1; + Z = calloc(N_DFT+1, sizeof(complex double)); if (Z == NULL) return -1; + cx = calloc(N_DFT+1, sizeof(complex double)); if (cx == NULL) return -1; + + for (n = 0; n < LOG2N; n++) { + k = 1 << n; + ew[n] = cexp(-I*M_PI/(double)k); + } + + m = calloc(N_DFT+1, sizeof(float)); if (m == NULL) return -1; + for (i = 0; i < N; i++) m[N-1 - i] = match[i]; + while (i < N_DFT) m[i++] = 0.0; + dft(m, Fm); + + free(m); m = NULL; + + return K; +} + +int free_buffers() { + + if (match) { free(match); match = NULL; } + if (bufs) { free(bufs); bufs = NULL; } + if (xs) { free(xs); xs = NULL; } + if (qs) { free(qs); qs = NULL; } + if (rawbits) { free(rawbits); rawbits = NULL; } + + if (xn) { free(xn); xn = NULL; } + if (ew) { free(ew); ew = NULL; } + if (Fm) { free(Fm); Fm = NULL; } + if (X) { free(X); X = NULL; } + if (Z) { free(Z); Z = NULL; } + if (cx) { free(cx); cx = NULL; } + + return 0; +} + +/* ------------------------------------------------------------------------------------ */ + +unsigned int get_sample() { + return sample_out; +} + diff --git a/demod/demod_dft.h b/demod/demod_dft.h new file mode 100644 index 0000000..029145f --- /dev/null +++ b/demod/demod_dft.h @@ -0,0 +1,14 @@ + +float read_wav_header(FILE*, float); +int f32buf_sample(FILE*, int, int); +int read_sbit(FILE*, int, int*, int, int, int, int); + +int getCorrDFT(int, unsigned int, float *, unsigned int *); +int headcmp(int, char*, int, unsigned int); +float get_bufvar(int); + +int init_buffers(char*, int, int); +int free_buffers(void); + +unsigned int get_sample(void); + diff --git a/demod/rs41dm_dft.c b/demod/rs41dm_dft.c new file mode 100644 index 0000000..72e9edb --- /dev/null +++ b/demod/rs41dm_dft.c @@ -0,0 +1,1257 @@ + +/* + * rs41 + * sync header: correlation/matched filter + * files: rs41dm_dft.c bch_ecc.c demod_dft.h demod_dft.c + * compile: + * gcc -c demod_dft.c + * gcc rs41dm_dft.c demod_dft.o -lm -o rs41dm_dft + * + * author: zilog80 + */ + +#include +#include +#include +#include + +#ifdef CYGWIN + #include // cygwin: _setmode() + #include +#endif + +typedef unsigned char ui8_t; +typedef unsigned short ui16_t; +typedef unsigned int ui32_t; +typedef short i16_t; +typedef int i32_t; + +//#include "demod_dft.c" +#include "demod_dft.h" + +#include "bch_ecc.c" // RS/ecc/ + + +typedef struct { + int typ; + int msglen; + int msgpos; + int parpos; + int hdrlen; + int frmlen; +} rscfg_t; + +rscfg_t cfg_rs41 = { 41, (320-56)/2, 56, 8, 8, 320}; + + +typedef struct { + int frnr; + char id[9]; + 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 vN; double vE; double vU; + double vH; double vD; double vD2; + float T; + ui32_t crc; +} gpx_t; + +gpx_t gpx; + +int option_verbose = 0, // ausfuehrliche Anzeige + option_raw = 0, // rohe Frames + option_inv = 0, // invertiert Signal + option_res = 0, // genauere Bitmessung + option_crc = 0, // check CRC + option_ecc = 0, // Reed-Solomon ECC + option_sat = 0, // GPS sat data + option_ptu = 0, + option_ths = 0, + wavloaded = 0; + + +#define BITS 8 +#define HEADLEN 64 +#define FRAMESTART ((HEADLEN)/BITS) + +/* 10 B6 CA 11 22 96 12 F8 */ +char header[] = "0000100001101101010100111000100001000100011010010100100000011111"; + + +#define NDATA_LEN 320 // std framelen 320 +#define XDATA_LEN 198 +#define FRAME_LEN (NDATA_LEN+XDATA_LEN) // max framelen 518 +ui8_t //xframe[FRAME_LEN] = { 0x10, 0xB6, 0xCA, 0x11, 0x22, 0x96, 0x12, 0xF8}, = xorbyte( frame) + frame[FRAME_LEN] = { 0x86, 0x35, 0xf4, 0x40, 0x93, 0xdf, 0x1a, 0x60}; // = xorbyte(xframe) + +float byteQ[FRAME_LEN]; + +#define MASK_LEN 64 +ui8_t mask[MASK_LEN] = { 0x96, 0x83, 0x3E, 0x51, 0xB1, 0x49, 0x08, 0x98, + 0x32, 0x05, 0x59, 0x0E, 0xF9, 0x44, 0xC6, 0x26, + 0x21, 0x60, 0xC2, 0xEA, 0x79, 0x5D, 0x6D, 0xA1, + 0x54, 0x69, 0x47, 0x0C, 0xDC, 0xE8, 0x5C, 0xF1, + 0xF7, 0x76, 0x82, 0x7F, 0x07, 0x99, 0xA2, 0x2C, + 0x93, 0x7C, 0x30, 0x63, 0xF5, 0x10, 0x2E, 0x61, + 0xD0, 0xBC, 0xB4, 0xB6, 0x06, 0xAA, 0xF4, 0x23, + 0x78, 0x6E, 0x3B, 0xAE, 0xBF, 0x7B, 0x4C, 0xC1}; +/* LFSR: ab i=8 (mod 64): + * m[16+i] = m[i] ^ m[i+2] ^ m[i+4] ^ m[i+6] + * ________________3205590EF944C6262160C2EA795D6DA15469470CDCE85CF1 + * F776827F0799A22C937C3063F5102E61D0BCB4B606AAF423786E3BAEBF7B4CC196833E51B1490898 + */ + +/* ------------------------------------------------------------------------------------ */ + +#define BAUD_RATE 4800 + +/* ------------------------------------------------------------------------------------ */ + + +int bits2byte(char bits[]) { + int i, byteval=0, d=1; + for (i = 0; i < 8; i++) { // little endian + /* for (i = 7; i >= 0; i--) { // big endian */ + if (bits[i] == 1) byteval += d; + else if (bits[i] == 0) byteval += 0; + else return 0x100; + d <<= 1; + } + return byteval; +} + + +/* +ui8_t xorbyte(int pos) { + return xframe[pos] ^ mask[pos % MASK_LEN]; +} +*/ +ui8_t framebyte(int pos) { + return frame[pos]; +} + + +/* ------------------------------------------------------------------------------------ */ +/* + * 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; +} +/* ------------------------------------------------------------------------------------ */ + +ui32_t u4(ui8_t *bytes) { // 32bit unsigned int + ui32_t val = 0; + memcpy(&val, bytes, 4); + return val; +} + +ui32_t u3(ui8_t *bytes) { // 24bit unsigned int + int val24 = 0; + val24 = bytes[0] | (bytes[1]<<8) | (bytes[2]<<16); + // = memcpy(&val, bytes, 3), val &= 0x00FFFFFF; + return val24; +} + +int i3(ui8_t *bytes) { // 24bit signed int + int val = 0, + val24 = 0; + val = bytes[0] | (bytes[1]<<8) | (bytes[2]<<16); + val24 = val & 0xFFFFFF; if (val24 & 0x800000) val24 = val24 - 0x1000000; + return val24; +} + +ui32_t u2(ui8_t *bytes) { // 16bit unsigned int + return bytes[0] | (bytes[1]<<8); +} + +/* +double r8(ui8_t *bytes) { + double val = 0; + memcpy(&val, bytes, 8); + return val; +} + +float r4(ui8_t *bytes) { + float val = 0; + memcpy(&val, bytes, 4); + return val; +} +*/ + +/* +int crc16x(int start, int len) { + int crc16poly = 0x1021; + int rem = 0xFFFF, i, j; + int xbyte; + + if (start+len+2 > FRAME_LEN) return -1; + + for (i = 0; i < len; i++) { + xbyte = xorbyte(start+i); + rem = rem ^ (xbyte << 8); + for (j = 0; j < 8; j++) { + if (rem & 0x8000) { + rem = (rem << 1) ^ crc16poly; + } + else { + rem = (rem << 1); + } + rem &= 0xFFFF; + } + } + return rem; +} +*/ +int crc16(int start, int len) { + int crc16poly = 0x1021; + int rem = 0xFFFF, i, j; + int byte; + + if (start+len+2 > FRAME_LEN) return -1; + + for (i = 0; i < len; i++) { + byte = framebyte(start+i); + rem = rem ^ (byte << 8); + for (j = 0; j < 8; j++) { + if (rem & 0x8000) { + rem = (rem << 1) ^ crc16poly; + } + else { + rem = (rem << 1); + } + rem &= 0xFFFF; + } + } + return rem; +} + +int check_CRC(ui32_t pos, ui32_t pck) { + ui32_t crclen = 0, + crcdat = 0; + if (((pck>>8) & 0xFF) != frame[pos]) return -1; + crclen = frame[pos+1]; + if (pos + crclen + 4 > FRAME_LEN) return -1; + crcdat = u2(frame+pos+2+crclen); + if ( crcdat != crc16(pos+2, crclen) ) { + return 1; // CRC NO + } + else return 0; // CRC OK +} + + +/* + Pos: SubHeader, 1+1 byte (ID+LEN) +0x039: 7928 FrameNumber+SondeID + +(0x050: 0732 CalFrames 0x00..0x32) +0x065: 7A2A PTU +0x093: 7C1E GPS1: RXM-RAW (0x02 0x10) Week, TOW, Sats +0x0B5: 7D59 GPS2: RXM-RAW (0x02 0x10) pseudorange, doppler +0x112: 7B15 GPS3: NAV-SOL (0x01 0x06) ECEF-POS, ECEF-VEL +0x12B: 7611 00 +0x12B: 7Exx AUX-xdata +*/ + +#define crc_FRAME (1<<0) +#define xor_FRAME 0x1713 // ^0x6E3B=0x7928 +#define pck_FRAME 0x7928 +#define pos_FRAME 0x039 +#define pos_FrameNb 0x03B // 2 byte +#define pos_SondeID 0x03D // 8 byte +#define pos_CalData 0x052 // 1 byte, counter 0x00..0x32 +#define pos_Calfreq 0x055 // 2 byte, calfr 0x00 +#define pos_Calburst 0x05E // 1 byte, calfr 0x02 +// ? #define pos_Caltimer 0x05A // 2 byte, calfr 0x02 ? +#define pos_CalRSTyp 0x05B // 8 byte, calfr 0x21 (+2 byte in 0x22?) + // weitere chars in calfr 0x22/0x23; weitere ID + +#define crc_PTU (1<<1) +#define xor_PTU 0xE388 // ^0x99A2=0x0x7A2A +#define pck_PTU 0x7A2A // PTU +#define pos_PTU 0x065 + +#define crc_GPS1 (1<<2) +#define xor_GPS1 0x9667 // ^0xEA79=0x7C1E +#define pck_GPS1 0x7C1E // RXM-RAW (0x02 0x10) +#define pos_GPS1 0x093 +#define pos_GPSweek 0x095 // 2 byte +#define pos_GPSiTOW 0x097 // 4 byte +#define pos_satsN 0x09B // 12x2 byte (1: SV, 1: quality,strength) + +#define crc_GPS2 (1<<3) +#define xor_GPS2 0xD7AD // ^0xAAF4=0x7D59 +#define pck_GPS2 0x7D59 // RXM-RAW (0x02 0x10) +#define pos_GPS2 0x0B5 +#define pos_minPR 0x0B7 // 4 byte +#define pos_FF 0x0BB // 1 byte +#define pos_dataSats 0x0BC // 12x(4+3) byte (4: pseudorange, 3: doppler) + +#define crc_GPS3 (1<<4) +#define xor_GPS3 0xB9FF // ^0xC2EA=0x7B15 +#define pck_GPS3 0x7B15 // NAV-SOL (0x01 0x06) +#define pos_GPS3 0x112 +#define pos_GPSecefX 0x114 // 4 byte +#define pos_GPSecefY 0x118 // 4 byte +#define pos_GPSecefZ 0x11C // 4 byte +#define pos_GPSecefV 0x120 // 3*2 byte +#define pos_numSats 0x126 // 1 byte +#define pos_sAcc 0x127 // 1 byte +#define pos_pDOP 0x128 // 1 byte + +#define crc_AUX (1<<5) +#define pck_AUX 0x7E00 // LEN variable +#define pos_AUX 0x12B + +#define crc_ZERO (1<<6) // LEN variable +#define pck_ZERO 0x7600 + + +ui8_t calibytes[51*16]; +ui8_t calfrchk[51]; +float Rf1, // ref-resistor f1 (750 Ohm) + Rf2, // ref-resistor f2 (1100 Ohm) + co1[3], // { -243.911 , 0.187654 , 8.2e-06 } + calT1[3], // calibration T1 + co2[3], // { -243.911 , 0.187654 , 8.2e-06 } + calT2[3]; // calibration T2-Hum + + +double c = 299.792458e6; +double L1 = 1575.42e6; + +int get_SatData() { + int i, n; + int sv; + ui32_t minPR; + int Nfix; + double pDOP, sAcc; + + fprintf(stdout, "[%d]\n", u2(frame+pos_FrameNb)); + + fprintf(stdout, "iTOW: 0x%08X", u4(frame+pos_GPSiTOW)); + fprintf(stdout, " week: 0x%04X", u2(frame+pos_GPSweek)); + fprintf(stdout, "\n"); + minPR = u4(frame+pos_minPR); + fprintf(stdout, "minPR: %d", minPR); + fprintf(stdout, "\n"); + + for (i = 0; i < 12; i++) { + n = i*7; + sv = frame[pos_satsN+2*i]; + if (sv == 0xFF) break; + fprintf(stdout, " SV: %2d # ", sv); + fprintf(stdout, "prMes: %.1f", u4(frame+pos_dataSats+n)/100.0 + minPR); + fprintf(stdout, " "); + fprintf(stdout, "doMes: %.1f", -i3(frame+pos_dataSats+n+4)/100.0*L1/c); + fprintf(stdout, "\n"); + } + + fprintf(stdout, "ECEF-POS: (%d,%d,%d)\n", + (i32_t)u4(frame+pos_GPSecefX), + (i32_t)u4(frame+pos_GPSecefY), + (i32_t)u4(frame+pos_GPSecefZ)); + fprintf(stdout, "ECEF-VEL: (%d,%d,%d)\n", + (i16_t)u2(frame+pos_GPSecefV+0), + (i16_t)u2(frame+pos_GPSecefV+2), + (i16_t)u2(frame+pos_GPSecefV+4)); + + Nfix = frame[pos_numSats]; + sAcc = frame[pos_sAcc]/10.0; + pDOP = frame[pos_pDOP]/10.0; + fprintf(stdout, "numSatsFix: %2d sAcc: %.1f pDOP: %.1f\n", Nfix, sAcc, pDOP); + + + fprintf(stdout, "CRC: "); + fprintf(stdout, " %04X", pck_GPS1); + if (check_CRC(pos_GPS1, pck_GPS1)==0) fprintf(stdout, "[OK]"); else fprintf(stdout, "[NO]"); + //fprintf(stdout, "[%+d]", check_CRC(pos_GPS1, pck_GPS1)); + fprintf(stdout, " %04X", pck_GPS2); + if (check_CRC(pos_GPS2, pck_GPS2)==0) fprintf(stdout, "[OK]"); else fprintf(stdout, "[NO]"); + //fprintf(stdout, "[%+d]", check_CRC(pos_GPS2, pck_GPS2)); + fprintf(stdout, " %04X", pck_GPS3); + if (check_CRC(pos_GPS3, pck_GPS3)==0) fprintf(stdout, "[OK]"); else fprintf(stdout, "[NO]"); + //fprintf(stdout, "[%+d]", check_CRC(pos_GPS3, pck_GPS3)); + + fprintf(stdout, "\n"); + fprintf(stdout, "\n"); + + return 0; +} + + +int get_FrameNb() { + int i; + unsigned byte; + ui8_t frnr_bytes[2]; + int frnr; + + for (i = 0; i < 2; i++) { + byte = framebyte(pos_FrameNb + i); + frnr_bytes[i] = byte; + } + + frnr = frnr_bytes[0] + (frnr_bytes[1] << 8); + gpx.frnr = frnr; + + return 0; +} + +int get_SondeID(int crc) { + int i; + unsigned byte; + char sondeid_bytes[9]; + + if (crc == 0) { + for (i = 0; i < 8; i++) { + byte = framebyte(pos_SondeID + i); + //if ((byte < 0x20) || (byte > 0x7E)) return -1; + sondeid_bytes[i] = byte; + } + sondeid_bytes[8] = '\0'; + if ( strncmp(gpx.id, sondeid_bytes, 8) != 0 ) { + //for (i = 0; i < 51; i++) calfrchk[i] = 0; + memset(calfrchk, 0, 51); + memcpy(gpx.id, sondeid_bytes, 8); + gpx.id[8] = '\0'; + } + } + + return 0; +} + +int get_FrameConf() { + int crc, err; + ui8_t calfr; + int i; + + crc = check_CRC(pos_FRAME, pck_FRAME); + if (crc) gpx.crc |= crc_FRAME; + + err = crc; + err |= get_FrameNb(); + err |= get_SondeID(crc); + + if (crc == 0) { + calfr = framebyte(pos_CalData); + if (calfrchk[calfr] == 0) // const? + { + for (i = 0; i < 16; i++) { + calibytes[calfr*16 + i] = framebyte(pos_CalData+1+i); + } + calfrchk[calfr] = 1; + } + } + + return err; +} + +int get_CalData() { + + memcpy(&Rf1, calibytes+61, 4); // 0x03*0x10+13 + memcpy(&Rf2, calibytes+65, 4); // 0x04*0x10+ 1 + + memcpy(co1+0, calibytes+77, 4); // 0x04*0x10+13 + memcpy(co1+1, calibytes+81, 4); // 0x05*0x10+ 1 + memcpy(co1+2, calibytes+85, 4); // 0x05*0x10+ 5 + + memcpy(calT1+0, calibytes+89, 4); // 0x05*0x10+ 9 + memcpy(calT1+1, calibytes+93, 4); // 0x05*0x10+13 + memcpy(calT1+2, calibytes+97, 4); // 0x06*0x10+ 1 + + memcpy(co2+0, calibytes+293, 4); // 0x12*0x10+ 5 + memcpy(co2+1, calibytes+297, 4); // 0x12*0x10+ 9 + memcpy(co2+2, calibytes+301, 4); // 0x12*0x10+13 + + memcpy(calT2+0, calibytes+305, 4); // 0x13*0x10+ 1 + memcpy(calT2+1, calibytes+309, 4); // 0x13*0x10+ 5 + memcpy(calT2+2, calibytes+313, 4); // 0x13*0x10+ 9 + + return 0; +} + +float get_Tc0(ui32_t f, ui32_t f1, ui32_t f2) { + // y = (f - f1) / (f2 - f1); + // y1 = (f - f1) / f2; // = (1 - f1/f2)*y + float a = 3.9083e-3, // Pt1000 platinum resistance + b = -5.775e-7, + c = -4.183e-12; // below 0C, else C=0 + float *cal = calT1; + float Rb = (f1*Rf2-f2*Rf1)/(f2-f1), // ofs + Ra = f * (Rf2-Rf1)/(f2-f1) - Rb, + raw = Ra/1000.0, + g_r = 0.8024*cal[0] + 0.0176, // empirisch + r_o = 0.0705*cal[1] + 0.0011, // empirisch + r = raw * g_r + r_o, + t = (-a + sqrt(a*a + 4*b*(r-1)))/(2*b); // t>0: c=0 + // R/R0 = 1 + at + bt^2 + c(t-100)t^3 , R0 = 1000 Ohm, t/Celsius + return t; +} +float get_Tc(ui32_t f, ui32_t f1, ui32_t f2) { + float *p = co1; + float *c = calT1; + float g = (float)(f2-f1)/(Rf2-Rf1), // gain + Rb = (f1*Rf2-f2*Rf1)/(float)(f2-f1), // ofs + Rc = f/g - Rb, + //R = (Rc + c[1]) * c[0], + //T = p[0] + p[1]*R + p[2]*R*R; + R = Rc * c[0], + T = (p[0] + p[1]*R + p[2]*R*R + c[1])*(1.0 + c[2]); + return T; +} + +int get_PTU() { + int err=0, i; + int bR, bc1, bT1, + bc2, bT2; + ui32_t meas[12]; + float Tc = -273.15; + float Tc0 = -273.15; + + get_CalData(); + + err = check_CRC(pos_PTU, pck_PTU); + if (err) gpx.crc |= crc_PTU; + + if (err == 0) + { + + for (i = 0; i < 12; i++) { + meas[i] = u3(frame+pos_PTU+2+3*i); + } + + bR = calfrchk[0x03] && calfrchk[0x04]; + bc1 = calfrchk[0x04] && calfrchk[0x05]; + bT1 = calfrchk[0x05] && calfrchk[0x06]; + bc2 = calfrchk[0x12] && calfrchk[0x13]; + bT2 = calfrchk[0x13]; + + if (bR && bc1 && bT1) { + Tc = get_Tc(meas[0], meas[1], meas[2]); + Tc0 = get_Tc0(meas[0], meas[1], meas[2]); + } + gpx.T = Tc; + + if (option_verbose == 3) + { + printf(" h: %8.2f # ", gpx.alt); // crc_GPS3 ? + + printf("1: %8d %8d %8d", meas[0], meas[1], meas[2]); + printf(" # "); + printf("2: %8d %8d %8d", meas[3], meas[4], meas[5]); + printf(" # "); + printf("3: %8d %8d %8d", meas[6], meas[7], meas[8]); + printf(" # "); + if (Tc > -273.0) { + printf(" T: %8.4f , T0: %8.4f ", Tc, Tc0); + } + printf("\n"); + + if (gpx.alt > -100.0) { + printf(" %9.2f ; %6.1f ; %6.1f ", gpx.alt, Rf1, Rf2); + printf("; %10.6f ; %10.6f ; %10.6f ;", calT1[0], calT1[1], calT1[2]); + printf(" %8d ; %8d ; %8d ", meas[0], meas[1], meas[2]); + printf("; %10.6f ; %10.6f ; %10.6f ;", calT2[0], calT2[1], calT2[2]); + printf(" %8d ; %8d ; %8d" , meas[6], meas[7], meas[8]); + printf("\n"); + } + } + + } + + return err; +} + +int get_GPSweek() { + int i; + unsigned byte; + ui8_t gpsweek_bytes[2]; + int gpsweek; + + for (i = 0; i < 2; i++) { + byte = framebyte(pos_GPSweek + i); + gpsweek_bytes[i] = byte; + } + + gpsweek = gpsweek_bytes[0] + (gpsweek_bytes[1] << 8); + //if (gpsweek < 0) { gpx.week = -1; return -1; } // (short int) + gpx.week = gpsweek; + + 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 = 0, // 32bit + day; + int ms; + + for (i = 0; i < 4; i++) { + byte = framebyte(pos_GPSiTOW + i); + gpstime_bytes[i] = byte; + } + + memcpy(&gpstime, gpstime_bytes, 4); + ms = gpstime % 1000; + gpstime /= 1000; + + gpx.gpssec = gpstime; + + day = (gpstime / (24 * 3600)) % 7; + //if ((day < 0) || (day > 6)) return -1; // besser CRC-check + + gpstime %= (24*3600); + + gpx.wday = day; + gpx.std = gpstime / 3600; + gpx.min = (gpstime % 3600) / 60; + gpx.sek = gpstime % 60 + ms/1000.0; + + return 0; +} + +int get_GPS1() { + int err=0; + + // ((framebyte(pos_GPS1)<<8) | framebyte(pos_GPS1+1)) != pck_GPS1 ? + if ( framebyte(pos_GPS1) != ((pck_GPS1>>8) & 0xFF) ) { + gpx.crc |= crc_GPS1; + return -1; + } + + err = check_CRC(pos_GPS1, pck_GPS1); + if (err) gpx.crc |= crc_GPS1; + + //err = 0; + err |= get_GPSweek(); + err |= get_GPStime(); + + return err; +} + +int get_GPS2() { + int err=0; + + err = check_CRC(pos_GPS2, pck_GPS2); + if (err) gpx.crc |= crc_GPS2; + + return err; +} + +#define EARTH_a 6378137.0 +#define EARTH_b 6356752.31424518 +#define EARTH_a2_b2 (EARTH_a*EARTH_a - EARTH_b*EARTH_b) + +double a = EARTH_a, + b = EARTH_b, + a_b = EARTH_a2_b2, + e2 = EARTH_a2_b2 / (EARTH_a*EARTH_a), + ee2 = EARTH_a2_b2 / (EARTH_b*EARTH_b); + +void ecef2elli(double X[], double *lat, double *lon, double *alt) { + double phi, lam, R, p, t; + + lam = atan2( X[1] , X[0] ); + + p = sqrt( X[0]*X[0] + X[1]*X[1] ); + t = atan2( X[2]*a , p*b ); + + phi = atan2( X[2] + ee2 * b * sin(t)*sin(t)*sin(t) , + p - e2 * a * cos(t)*cos(t)*cos(t) ); + + R = a / sqrt( 1 - e2*sin(phi)*sin(phi) ); + *alt = p / cos(phi) - R; + + *lat = phi*180/M_PI; + *lon = lam*180/M_PI; +} + +int get_GPSkoord() { + int i, k; + unsigned byte; + ui8_t XYZ_bytes[4]; + int XYZ; // 32bit + double X[3], lat, lon, alt; + ui8_t gpsVel_bytes[2]; + short vel16; // 16bit + double V[3], phi, lam, dir; + + + for (k = 0; k < 3; k++) { + + for (i = 0; i < 4; i++) { + byte = frame[pos_GPSecefX + 4*k + i]; + XYZ_bytes[i] = byte; + } + memcpy(&XYZ, XYZ_bytes, 4); + X[k] = XYZ / 100.0; + + for (i = 0; i < 2; i++) { + byte = frame[pos_GPSecefV + 2*k + i]; + gpsVel_bytes[i] = byte; + } + vel16 = gpsVel_bytes[0] | gpsVel_bytes[1] << 8; + V[k] = vel16 / 100.0; + + } + + + // ECEF-Position + ecef2elli(X, &lat, &lon, &alt); + gpx.lat = lat; + gpx.lon = lon; + gpx.alt = alt; + if ((alt < -1000) || (alt > 80000)) return -3; + + + // ECEF-Velocities + // ECEF-Vel -> NorthEastUp + phi = lat*M_PI/180.0; + lam = lon*M_PI/180.0; + gpx.vN = -V[0]*sin(phi)*cos(lam) - V[1]*sin(phi)*sin(lam) + V[2]*cos(phi); + gpx.vE = -V[0]*sin(lam) + V[1]*cos(lam); + gpx.vU = V[0]*cos(phi)*cos(lam) + V[1]*cos(phi)*sin(lam) + V[2]*sin(phi); + + // NEU -> HorDirVer + gpx.vH = sqrt(gpx.vN*gpx.vN+gpx.vE*gpx.vE); +/* + double alpha; + alpha = atan2(gpx.vN, gpx.vE)*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) + gpx.vD2 = dir; +*/ + dir = atan2(gpx.vE, gpx.vN) * 180 / M_PI; + if (dir < 0) dir += 360; + gpx.vD = dir; + + return 0; +} + +int get_GPS3() { + int err=0; + + // ((framebyte(pos_GPS3)<<8) | framebyte(pos_GPS3+1)) != pck_GPS3 ? + if ( framebyte(pos_GPS3) != ((pck_GPS3>>8) & 0xFF) ) { + gpx.crc |= crc_GPS3; + return -1; + } + + err = check_CRC(pos_GPS3, pck_GPS3); + if (err) gpx.crc |= crc_GPS3; + + err |= get_GPSkoord(); + + return err; +} + +int get_Aux() { +// +// "Ozone Sounding with Vaisala Radiosonde RS41" user's guide +// + int i, auxlen, auxcrc, count7E, pos7E; + + count7E = 0; + pos7E = pos_AUX; + + // 7Exx: xdata + while ( pos7E < FRAME_LEN && framebyte(pos7E) == 0x7E ) { + + auxlen = framebyte(pos7E+1); + auxcrc = framebyte(pos7E+2+auxlen) | (framebyte(pos7E+2+auxlen+1)<<8); + + if (count7E == 0) fprintf(stdout, "\n # xdata = "); + else fprintf(stdout, " # "); + + if ( auxcrc == crc16(pos7E+2, auxlen) ) { + //fprintf(stdout, " # %02x : ", framebyte(pos7E+2)); + for (i = 1; i < auxlen; i++) { + fprintf(stdout, "%c", framebyte(pos7E+2+i)); + } + count7E++; + pos7E += 2+auxlen+2; + } + else { + pos7E = FRAME_LEN; + gpx.crc |= crc_AUX; + } + } + + i = check_CRC(pos7E, 0x7600); // 0x76xx: 00-padding block + if (i) gpx.crc |= crc_ZERO; + + return count7E; +} + +int get_Calconf(int out) { + int i; + unsigned byte; + ui8_t calfr = 0; + ui8_t burst = 0; + ui16_t fw = 0; + int freq = 0, f0 = 0, f1 = 0; + char sondetyp[9]; + + byte = framebyte(pos_CalData); + calfr = byte; + + if (option_verbose == 3) { + fprintf(stdout, "\n"); // fflush(stdout); + fprintf(stdout, "[%5d] ", gpx.frnr); + fprintf(stdout, " 0x%02x: ", calfr); + for (i = 0; i < 16; i++) { + byte = framebyte(pos_CalData+1+i); + fprintf(stdout, "%02x ", byte); + } + if (check_CRC(pos_FRAME, pck_FRAME)==0) fprintf(stdout, "[OK]"); + else fprintf(stdout, "[NO]"); + fprintf(stdout, " "); + } + + if (out) + { + if (calfr == 0x01 && option_verbose /*== 2*/) { + fw = framebyte(pos_CalData+6) | (framebyte(pos_CalData+7)<<8); + fprintf(stdout, ": fw 0x%04x ", fw); + } + + if (calfr == 0x02 && option_verbose /*== 2*/) { + byte = framebyte(pos_Calburst); + burst = byte; // fw >= 0x4ef5, BK irrelevant? (killtimer in 0x31?) + fprintf(stdout, ": BK %02X ", burst); + } + + if (calfr == 0x00 && option_verbose) { + byte = framebyte(pos_Calfreq) & 0xC0; // erstmal nur oberste beiden bits + f0 = (byte * 10) / 64; // 0x80 -> 1/2, 0x40 -> 1/4 ; dann mal 40 + byte = framebyte(pos_Calfreq+1); + f1 = 40 * byte; + freq = 400000 + f1+f0; // kHz; + fprintf(stdout, ": fq %d ", freq); + } + + if (calfr == 0x21 && option_verbose /*== 2*/) { // eventuell noch zwei bytes in 0x22 + for (i = 0; i < 9; i++) sondetyp[i] = 0; + for (i = 0; i < 8; i++) { + byte = framebyte(pos_CalRSTyp + i); + if ((byte >= 0x20) && (byte < 0x7F)) sondetyp[i] = byte; + else if (byte == 0x00) sondetyp[i] = '\0'; + } + fprintf(stdout, ": %s ", sondetyp); + } + } + + return 0; +} + +/* ------------------------------------------------------------------------------------ */ +/* + (uses fec-lib by KA9Q) + ka9q-fec: + gcc -c init_rs_char.c + gcc -c decode_rs_char.c + +#include "fec.h" // ka9q-fec + + +void *rs; +unsigned char codeword1[rs_N], codeword2[rs_N]; + + rs = init_rs_char( 8, 0x11d, 0, 1, rs_R, 0); + + // ka9q-fec301: p(x) = p[0]x^(N-1) + ... + p[N-2]x + p[N-1] + // -> cw[i] = codeword[RS.N-1-i] + +*/ + +#define rs_N 255 +#define rs_R 24 +#define rs_K (rs_N-rs_R) + +ui8_t cw1[rs_N], cw2[rs_N]; + +int rs41_ecc(int frmlen) { +// richtige framelen wichtig fuer 0-padding + + int i, leak, ret = 0; + int errors1, errors2; + ui8_t err_pos1[rs_R], err_pos2[rs_R], + err_val1[rs_R], err_val2[rs_R]; + + + if (frmlen > FRAME_LEN) frmlen = FRAME_LEN; + cfg_rs41.frmlen = frmlen; + cfg_rs41.msglen = (frmlen-56)/2; // msgpos=56; + leak = frmlen % 2; + + for (i = frmlen; i < FRAME_LEN; i++) frame[i] = 0; // FRAME_LEN-HDR = 510 = 2*255 + + + for (i = 0; i < rs_R; i++) cw1[i] = frame[cfg_rs41.parpos+i ]; + for (i = 0; i < rs_R; i++) cw2[i] = frame[cfg_rs41.parpos+i+rs_R]; + for (i = 0; i < rs_K; i++) cw1[rs_R+i] = frame[cfg_rs41.msgpos+2*i ]; + for (i = 0; i < rs_K; i++) cw2[rs_R+i] = frame[cfg_rs41.msgpos+2*i+1]; + + errors1 = rs_decode(cw1, err_pos1, err_val1); + errors2 = rs_decode(cw2, err_pos2, err_val2); + + + // Wenn Fehler im 00-padding korrigiert wurden, + // war entweder der frame zu kurz, oder + // Fehler wurden falsch korrigiert; + // allerdings ist bei t=12 die Wahrscheinlichkeit, + // dass falsch korrigiert wurde mit 1/t! sehr gering. + + // check CRC32 + // CRC32 OK: + //for (i = 0; i < cfg_rs41.hdrlen; i++) frame[i] = data[i]; + for (i = 0; i < rs_R; i++) { + frame[cfg_rs41.parpos+ i] = cw1[i]; + frame[cfg_rs41.parpos+rs_R+i] = cw2[i]; + } + for (i = 0; i < rs_K; i++) { // cfg_rs41.msglen <= rs_K + frame[cfg_rs41.msgpos+ 2*i] = cw1[rs_R+i]; + frame[cfg_rs41.msgpos+1+2*i] = cw2[rs_R+i]; + } + if (leak) { + frame[cfg_rs41.msgpos+2*i] = cw1[rs_R+i]; + } + + + ret = errors1 + errors2; + if (errors1 < 0 || errors2 < 0) ret = -1; + + return ret; +} + +/* ------------------------------------------------------------------------------------ */ + + +int print_position() { + int i; + int err, err0, err1, err2, err3; + int output, out_mask; + + err = get_FrameConf(); + + err1 = get_GPS1(); + err2 = get_GPS2(); + err3 = get_GPS3(); + + err0 = get_PTU(); + + out_mask = crc_FRAME|crc_GPS1|crc_GPS3; + output = ((gpx.crc & out_mask) != out_mask); // (!err || !err1 || !err3); + + if (output) { + + if (!err) { + fprintf(stdout, "[%5d] ", gpx.frnr); + fprintf(stdout, "(%s) ", gpx.id); + } + if (!err1) { + Gps2Date(gpx.week, gpx.gpssec, &gpx.jahr, &gpx.monat, &gpx.tag); + fprintf(stdout, "%s ", weekday[gpx.wday]); + fprintf(stdout, "%04d-%02d-%02d %02d:%02d:%06.3f", + gpx.jahr, gpx.monat, gpx.tag, gpx.std, gpx.min, gpx.sek); + if (option_verbose == 3) fprintf(stdout, " (W %d)", gpx.week); + } + if (!err3) { + fprintf(stdout, " "); + fprintf(stdout, " lat: %.5f ", gpx.lat); + fprintf(stdout, " lon: %.5f ", gpx.lon); + fprintf(stdout, " alt: %.2f ", gpx.alt); + //if (option_verbose) + { + //fprintf(stdout, " (%.1f %.1f %.1f) ", gpx.vN, gpx.vE, gpx.vU); + fprintf(stdout," vH: %4.1f D: %5.1f° vV: %3.1f ", gpx.vH, gpx.vD, gpx.vU); + } + } + if (option_ptu && !err0) { + if (gpx.T > -273.0) printf(" T=%.1fC ", gpx.T); + } + + + if (output) + { + if (option_crc) { + fprintf(stdout, " # ["); + for (i=0; i<5; i++) fprintf(stdout, "%d", (gpx.crc>>i)&1); + fprintf(stdout, "]"); + } + } + + get_Calconf(output); + + //if (output) + { + if (option_verbose > 1) get_Aux(); + fprintf(stdout, "\n"); // fflush(stdout); + } + } + + err |= err1 | err3; + + return err; +} + +void print_frame(int len) { + int i, ret = 0; + + gpx.crc = 0; + + for (i = len; i < FRAME_LEN; i++) { + //xframe[i] = 0; + frame[i] = 0; + } + + if (option_ecc) { + ret = rs41_ecc(len); + } + + + if (option_raw) { + for (i = 0; i < len; i++) { + fprintf(stdout, "%02x", frame[i]); + } + if (option_ecc) { + if (ret >= 0) fprintf(stdout, " [OK]"); else fprintf(stdout, " [NO]"); + if (option_ecc == 2 && ret > 0) fprintf(stdout, " (%d)", ret); + } + fprintf(stdout, "\n"); + } + else if (option_sat) { + get_SatData(); + } + else { + print_position(); + } +} + + +int main(int argc, char *argv[]) { + + FILE *fp; + char *fpname = NULL; + float spb = 0.0; + char bitbuf[8]; + int bit_count = 0, + bitpos = 0, + byte_count = FRAMESTART, + header_found = 0; + int bit, byte; + int frmlen = FRAME_LEN; + int headerlen; + int herrs, herr1; + int bitQ, Qerror_count; + + int k, K; + float mv; + unsigned int mv_pos, mv0_pos; + int mp = 0; + + float thres = 0.7; + + int bitofs = 0; + int symlen = 1; + + +#ifdef CYGWIN + _setmode(fileno(stdin), _O_BINARY); // _fileno(stdin) +#endif + setbuf(stdout, NULL); + + fpname = argv[0]; + ++argv; + while ((*argv) && (!wavloaded)) { + if ( (strcmp(*argv, "-h") == 0) || (strcmp(*argv, "--help") == 0) ) { + fprintf(stderr, "%s [options] audio.wav\n", fpname); + fprintf(stderr, " options:\n"); + fprintf(stderr, " -v, -vx, -vv (info, aux, info/conf)\n"); + fprintf(stderr, " -r, --raw\n"); + fprintf(stderr, " -i, --invert\n"); + fprintf(stderr, " --crc (check CRC)\n"); + fprintf(stderr, " --ecc (Reed-Solomon)\n"); + fprintf(stderr, " --std (std framelen)\n"); + fprintf(stderr, " --ths (peak threshold; default=%.1f)\n", thres); + return 0; + } + else if ( (strcmp(*argv, "-v") == 0) || (strcmp(*argv, "--verbose") == 0) ) { + option_verbose = 1; + } + else if (strcmp(*argv, "-vx") == 0) { option_verbose = 2; } + else if (strcmp(*argv, "-vv") == 0) { option_verbose = 3; } + else if (strcmp(*argv, "--crc") == 0) { option_crc = 1; } + else if (strcmp(*argv, "--res") == 0) { option_res = 1; } + else if ( (strcmp(*argv, "-r") == 0) || (strcmp(*argv, "--raw") == 0) ) { + option_raw = 1; + } + else if ( (strcmp(*argv, "-i") == 0) || (strcmp(*argv, "--invert") == 0) ) { + option_inv = 1; + } + else if (strcmp(*argv, "--ecc" ) == 0) { option_ecc = 1; } + else if (strcmp(*argv, "--ecc2") == 0) { option_ecc = 2; } + else if (strcmp(*argv, "--std" ) == 0) { frmlen = 320; } // NDATA_LEN + else if (strcmp(*argv, "--std2") == 0) { frmlen = 518; } // NDATA_LEN+XDATA_LEN + else if (strcmp(*argv, "--sat") == 0) { option_sat = 1; } + else if (strcmp(*argv, "--ptu") == 0) { option_ptu = 1; } + else if (strcmp(*argv, "--ths") == 0) { + ++argv; + if (*argv) { + thres = atof(*argv); + } + else return -1; + } + else { + fp = fopen(*argv, "rb"); + if (fp == NULL) { + fprintf(stderr, "%s konnte nicht geoeffnet werden\n", *argv); + return -1; + } + wavloaded = 1; + } + ++argv; + } + if (!wavloaded) fp = stdin; + + + spb = read_wav_header(fp, (float)BAUD_RATE); + if ( spb < 0 ) { + fclose(fp); + fprintf(stderr, "error: wav header\n"); + return -1; + } + if ( spb < 8 ) { + fprintf(stderr, "note: sample rate low\n"); + } + + + if (option_ecc) { + rs_init_RS255(); + } + + + symlen = 1; + headerlen = strlen(header); + bitofs = 2; // +1 .. +2 + K = init_buffers(header, headerlen, 2); + if ( K < 0) { // shape=2 + fprintf(stderr, "error: init buffers\n"); + return -1; + }; + + + k = 0; + mv = -1; mv_pos = 0; + + while ( f32buf_sample(fp, option_inv, 1) != EOF ) { + + k += 1; + if (k >= K-4) { + mv0_pos = mv_pos; + mp = getCorrDFT(K, 0, &mv, &mv_pos); + k = 0; + } + else { + mv = 0.0; + continue; + } + + if (mv > thres && mp > 0) { + if (mv_pos > mv0_pos) { + + header_found = 0; + herrs = headcmp(symlen, header, headerlen, mv_pos); // symlen=1 + herr1 = 0; + if (herrs <= 3 && herrs > 0) { + herr1 = headcmp(symlen, header, headerlen, mv_pos+1); + if (herr1 < herrs) { + herrs = herr1; + herr1 = 1; + } + } + if (herrs <= 2) header_found = 1; // herrs <= 2 bitfehler in header + + if (header_found) { + + byte_count = FRAMESTART; + bit_count = 0; // byte_count*8-HEADLEN + bitpos = 0; + + Qerror_count = 0; + + while ( byte_count < frmlen ) { + bitQ = read_sbit(fp, symlen, &bit, option_inv, bitofs, bit_count==0, 0); // symlen=1, return: zeroX/bit + if ( bitQ == EOF) break; + bit_count += 1; + bitbuf[bitpos] = bit; + bitpos++; + if (bitpos == BITS) { + bitpos = 0; + byte = bits2byte(bitbuf); + frame[byte_count] = byte ^ mask[byte_count % MASK_LEN]; + + byteQ[byte_count] = get_bufvar(0); + + if (byte_count > NDATA_LEN) { // Fehler erst ab minimaler framelen Zaehlen + if (byteQ[byte_count]*2 > byteQ[byte_count-300]*3) { // Var(frame)/Var(noise) ca. 1:2 + Qerror_count += 1; + } + } + + byte_count++; + } + if (Qerror_count > 4) { // ab byte 320 entscheiden, ob framelen = 320 oder 518 + if (byte_count > NDATA_LEN && byte_count < NDATA_LEN+XDATA_LEN-10) { + byte_count = NDATA_LEN; + } // in print_frame() wird ab byte_count mit 00 aufgefuellt fuer Fehlerkorrektur + break; + } + } + header_found = 0; + print_frame(byte_count); + + while ( bit_count < BITS*FRAME_LEN ) { + bitQ = read_sbit(fp, symlen, &bit, option_inv, bitofs, bit_count==0, 0); // symlen=1, return: zeroX/bit + if ( bitQ == EOF) break; + bit_count++; + } + + byte_count = FRAMESTART; + } + } + } + + } + + + free_buffers(); + + fclose(fp); + + return 0; +} +