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Rebase RS41 decoder, adding X-series decode support. Add mod to extract possible numSV count.

pull/979/head
Mark Jessop 2025-02-08 09:44:48 +10:30
rodzic 5c082ea3e5
commit f1462c8c77
3 zmienionych plików z 114 dodań i 12 usunięć
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2
Dockerfile
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@ -62,7 +62,7 @@ RUN git clone https://github.com/miweber67/spyserver_client.git /root/spyserver_
# Compile ka9q-radio from source
RUN git clone https://github.com/ka9q/ka9q-radio.git /root/ka9q-radio && \
cd /root/ka9q-radio && \
git checkout 08142683dbc398087a5b7d384b1a36bb24b1eca3 && \
git checkout 21f7f9a70e619ca88394ff1ca86de7482340232f && \
make \
-f Makefile.linux \
"COPTS=-std=gnu11 -pthread -Wall -funsafe-math-optimizations -fno-math-errno -fcx-limited-range -D_GNU_SOURCE=1" \

2
auto_rx/autorx/__init__.py
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@ -12,7 +12,7 @@ from queue import Queue
# MINOR - New sonde type support, other fairly big changes that may result in telemetry or config file incompatability issus.
# PATCH - Small changes, or minor feature additions.
__version__ = "1.8.1-beta5"
__version__ = "1.8.1-beta6"
# Global Variables

122
demod/mod/rs41mod.c
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@ -104,6 +104,7 @@ typedef struct {
int frnr;
char id[9];
ui8_t numSV;
ui8_t isUTC;
int week; int tow_ms; int gpssec;
int jahr; int monat; int tag;
int wday;
@ -383,6 +384,12 @@ GPS chip: ublox UBX-G6010-ST
#define pck_SGM_xTU 0x7F1B // temperature/humidity
#define pck_SGM_CRYPT 0x80A7 // Packet type for an Encrypted payload
// fw 0x50dd
#define pck_960A 0x960A //
#define pck_8226_POSDATETIME 0x8226 // ECEF-POS/VEL , DATE/TIME
#define pck_8329 0x8329 //
/*
frame[pos_FRAME-1] == 0x0F: len == NDATA_LEN(320)
frame[pos_FRAME-1] == 0xF0: len == FRAME_LEN(518)
@ -470,6 +477,7 @@ static int get_SondeID(gpx_t *gpx, int crc, int ofs) {
gpx->lat = 0.0; gpx->lon = 0.0; gpx->alt = 0.0;
gpx->vH = 0.0; gpx->vD = 0.0; gpx->vV = 0.0;
gpx->numSV = 0;
gpx->isUTC = 0;
gpx->T = -273.15f;
gpx->RH = -1.0f;
gpx->P = -1.0f;
@ -942,6 +950,7 @@ static int get_GPStime(gpx_t *gpx, int ofs) {
gpx->std = gpstime / 3600;
gpx->min = (gpstime % 3600) / 60;
gpx->sek = gpstime % 60 + ms/1000.0;
gpx->isUTC = 0;
return 0;
}
@ -956,6 +965,7 @@ static int get_GPS1(gpx_t *gpx, int ofs) {
// reset GPS1-data (json)
gpx->jahr = 0; gpx->monat = 0; gpx->tag = 0;
gpx->std = 0; gpx->min = 0; gpx->sek = 0.0;
gpx->isUTC = 0;
return -1;
}
@ -1005,7 +1015,7 @@ static void ecef2elli(double X[], double *lat, double *lon, double *alt) {
*lon = lam*180/M_PI;
}
static int get_GPSkoord(gpx_t *gpx, int ofs) {
static int get_ECEFkoord(gpx_t *gpx, int pos_ecef) {
int i, k;
unsigned byte;
ui8_t XYZ_bytes[4];
@ -1021,14 +1031,14 @@ static int get_GPSkoord(gpx_t *gpx, int ofs) {
for (k = 0; k < 3; k++) {
for (i = 0; i < 4; i++) {
byte = gpx->frame[pos_GPSecefX+ofs + 4*k + i];
byte = gpx->frame[pos_ecef + 4*k + i];
XYZ_bytes[i] = byte;
}
memcpy(&XYZ, XYZ_bytes, 4);
X[k] = XYZ / 100.0;
for (i = 0; i < 2; i++) {
byte = gpx->frame[pos_GPSecefV+ofs + 2*k + i];
byte = gpx->frame[pos_ecef+12 + 2*k + i];
gpsVel_bytes[i] = byte;
}
vel16 = gpsVel_bytes[0] | gpsVel_bytes[1] << 8;
@ -1068,8 +1078,6 @@ static int get_GPSkoord(gpx_t *gpx, int ofs) {
gpx->vV = vU;
gpx->numSV = gpx->frame[pos_numSats+ofs];
return 0;
}
@ -1086,12 +1094,72 @@ static int get_GPS3(gpx_t *gpx, int ofs) {
gpx->numSV = 0;
return -1;
}
// pos_GPS3+2 = pos_GPSecefX
err |= get_ECEFkoord(gpx, pos_GPS3+ofs+2); // plausibility-check: altitude, if ecef=(0,0,0)
err |= get_GPSkoord(gpx, ofs); // plausibility-check: altitude, if ecef=(0,0,0)
gpx->numSV = gpx->frame[pos_numSats+ofs];
return err;
}
static int get_posdatetime(gpx_t *gpx, int pos_posdatetime) {
int err=0;
err = check_CRC(gpx, pos_posdatetime, pck_8226_POSDATETIME);
if (err) {
///TODO: fw 0x50dd , ec < 0
gpx->crc |= crc_GPS1 | crc_GPS3;
// reset GPS1-data (json)
gpx->jahr = 0; gpx->monat = 0; gpx->tag = 0;
gpx->std = 0; gpx->min = 0; gpx->sek = 0.0;
gpx->isUTC = 0;
// reset GPS3-data (json)
gpx->lat = 0.0; gpx->lon = 0.0; gpx->alt = 0.0;
gpx->vH = 0.0; gpx->vD = 0.0; gpx->vV = 0.0;
// gpx->numSV = 0;
return -1;
}
// ublox M10 UBX-NAV-POSECEF (0x01 0x01) ?
err |= get_ECEFkoord(gpx, pos_posdatetime+2); // plausibility-check: altitude, if ecef=(0,0,0)
// ublox M10 UBX-NAV-PVT (0x01 0x07) ? (UTC?)
// date
gpx->jahr = gpx->frame[pos_posdatetime+20] | gpx->frame[pos_posdatetime+21]<<8;
gpx->monat = gpx->frame[pos_posdatetime+22];
gpx->tag = gpx->frame[pos_posdatetime+23];
// time
gpx->std = gpx->frame[pos_posdatetime+24];
gpx->min = gpx->frame[pos_posdatetime+25];
gpx->sek = gpx->frame[pos_posdatetime+26];
gpx->isUTC = 1;
///TODO: numSV/fixOK
//gpx->numSV = gpx->frame[pos_numSats+ofs];
return err;
}
static int get_newnumsv(gpx_t *gpx, int pos_posdatetime) {
// Attempt at extracting the numSVs used for the new 0x83 block type (X-series RS41s)
// Counts bits from byte 18-21 of the data section of the 0x83 block, which *appears* to be
// a bitfield with each bit indicating which of the 32 rx channels are in use.
int err=0;
err = check_CRC(gpx, pos_posdatetime, pck_8329);
if (err) {
gpx->numSV = 0;
return -1;
}
int sats = 0;
for(int i=0; i<32; i++) {
if( gpx->frame[pos_posdatetime+20+i/8] & (1<<(i&7)) ) sats++;
}
gpx->numSV = sats;
return err;
}
static int hex2uint(char *str, int nibs) {
int i;
@ -1859,6 +1927,23 @@ static int prn_gpspos(gpx_t *gpx) {
return 0;
}
static int prn_posdatetime(gpx_t *gpx) {
//Gps2Date(gpx);
//fprintf(stdout, "%s ", weekday[gpx->wday]);
fprintf(stdout, "%04d-%02d-%02d %02d:%02d:%02d",
gpx->jahr, gpx->monat, gpx->tag, gpx->std, gpx->min, (int)gpx->sek);
//if (gpx->option.vbs == 3) fprintf(stdout, " (W %d)", gpx->week);
fprintf(stdout, " ");
fprintf(stdout, " ");
fprintf(stdout, " lat: %.5f ", gpx->lat);
fprintf(stdout, " lon: %.5f ", gpx->lon);
fprintf(stdout, " alt: %.2f ", gpx->alt);
fprintf(stdout, " vH: %4.1f D: %5.1f vV: %3.1f ", gpx->vH, gpx->vD, gpx->vV);
//if (gpx->option.vbs == 3) fprintf(stdout, " sats: %02d ", gpx->numSV);
return 0;
}
static int prn_sat1(gpx_t *gpx, int ofs) {
fprintf(stdout, "\n");
@ -1935,7 +2020,8 @@ static int prn_sat3(gpx_t *gpx, int ofs) {
static int print_position(gpx_t *gpx, int ec) {
int i;
int err, err0, err1, err2, err3;
int err = 1;
int err0 = 1, err1 = 1, err2 = 1, err3 = 1, err13 = 1;
//int output, out_mask;
int encrypted = 0;
int unexp = 0;
@ -2044,6 +2130,21 @@ static int print_position(gpx_t *gpx, int ec) {
if (out) fprintf(stdout, " [%04X] (RS41-SGM) ", pck_SGM_CRYPT);
break;
case pck_960A: // 0x960A
// ? 64 bit data integrity and authenticity ?
break;
case pck_8226_POSDATETIME: // 0x8226
err13 = get_posdatetime(gpx, pos);
if ( !err13 ) {
if (out) prn_posdatetime(gpx);
}
break;
case pck_8329: // 0x8329
err13 = get_newnumsv(gpx, pos);
break;
default:
if (blk == 0x7E) {
if (pos_aux == 0) pos_aux = pos; // pos == pos_AUX ?
@ -2089,7 +2190,7 @@ static int print_position(gpx_t *gpx, int ec) {
if (gpx->option.jsn) {
// Print out telemetry data as JSON
if ((!err && !err1 && !err3) || (!err && encrypted)) { // frame-nb/id && gps-time && gps-position (crc-)ok; 3 CRCs, RS not needed
if ( !err && ((!err1 && !err3) || !err13 || encrypted) ) { // frame-nb/id && gps-time && gps-position (crc-)ok; 3 CRCs, RS not needed
// eigentlich GPS, d.h. UTC = GPS - 18sec (ab 1.1.2017)
char *ver_jsn = NULL;
fprintf(stdout, "{ \"type\": \"%s\"", "RS41");
@ -2169,8 +2270,8 @@ static int print_position(gpx_t *gpx, int ec) {
fprintf(stdout, ", \"tx_frequency\": %d", gpx->freq );
}
// Reference time/position
fprintf(stdout, ", \"ref_datetime\": \"%s\"", "GPS" ); // {"GPS", "UTC"} GPS-UTC=leap_sec
// Reference time/position (fw 0x50dd: datetime UTC ?)
fprintf(stdout, ", \"ref_datetime\": \"%s\"", gpx->isUTC ? "UTC" : "GPS" ); // {"GPS", "UTC"} GPS-UTC=leap_sec
fprintf(stdout, ", \"ref_position\": \"%s\"", "GPS" ); // {"GPS", "MSL"} GPS=ellipsoid , MSL=geoid
#ifdef VER_JSN_STR
@ -2204,6 +2305,7 @@ static int print_position(gpx_t *gpx, int ec) {
pck = (gpx->frame[pos_PTU]<<8) | gpx->frame[pos_PTU+1];
ofs = 0;
///TODO: fw 0x50dd
if (pck < 0x8000) {
//err0 = get_PTU(gpx, 0, pck, 0);