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spdxl/src/gps2digipos.c

857 wiersze
21 KiB
C
Czysty Wina Historia

/*
* dxlAPRS toolchain
*
* Copyright (C) Christian Rabler <oe5dxl@oevsv.at>
*
* SPDX-License-Identifier: GPL-2.0+
*/
#define X2C_int32
#define X2C_index32
#ifndef X2C_H_
#include "X2C.h"
#endif
#define gps2digipos_C_
#ifndef osi_H_
#include "osi.h"
#endif
#include <osic.h>
#ifndef mlib_H_
#include "mlib.h"
#endif
#ifndef aprsstr_H_
#include "aprsstr.h"
#endif
/* read serial gps and make "3704.04N/00805.14W" string to file */
#define gps2digipos_CR "\015"
#define gps2digipos_LF "\012"
#define gps2digipos_FEET 3.2808398950131
#define gps2digipos_KNOTS 1.851984
#define gps2digipos_PI 3.1415926535898
static char tbuf[1024];
static char ttynamee[1024];
static char basefilename[1024];
/* symt, symb:CHAR; */
static uint32_t baud;
static int32_t tty;
static char verb;
static char usbrobust;
static char junk;
static char sumoff;
static char withalti;
static uint32_t comptyp;
static uint32_t comintval;
static uint32_t comcnt;
static uint32_t mediantime;
static uint32_t medians;
static struct termios saved;
static double speed;
static double course;
static double lat;
static double long0;
static double alt;
static char altok;
static char posok;
struct _0;
struct _0 {
double mlat;
double mlong;
double malt;
char ok0;
};
static struct _0 median[500];
static void Error(char text[], uint32_t text_len)
{
X2C_PCOPY((void **)&text,text_len);
osi_WrStr("agps2digipos: ", 15ul);
osi_WrStr(text, text_len);
osi_WrStrLn(" error abort", 13ul);
X2C_ABORT();
X2C_PFREE(text);
} /* end Error() */
static uint32_t truncc(double r)
{
if (r<=0.0) return 0UL;
else if (r>=2.147483647E+9) return 2147483647UL;
else return (uint32_t)X2C_TRUNCC(r,0UL,X2C_max_longcard);
return 0;
} /* end truncc() */
static char SetStatLine(int32_t fd, char rts,
char dtr)
{
uint32_t arg[256];
int32_t r;
arg[0U] = 4UL;
if (rts) r = ioctl(fd, 21526L, (char *)arg);
else r = ioctl(fd, 21527L, (char *)arg);
if (r>=0L) {
arg[0U] = 2UL;
if (dtr) r = ioctl(fd, 21526L, (char *)arg);
else r = ioctl(fd, 21527L, (char *)arg);
}
return r>=0L;
} /* end SetStatLine() */
static void SetComMode(int32_t fd, uint32_t baud0)
{
struct termios term;
int32_t res;
uint32_t bd;
struct termios * anonym;
if (baud0==1200UL) bd = 9UL;
else if (baud0==2400UL) bd = 11UL;
else if (baud0==4800UL) bd = 12UL;
else if (baud0==9600UL) bd = 13UL;
else if (baud0==19200UL) bd = 14UL;
else if (baud0==38400UL) bd = 15UL;
else if (baud0==57600UL) bd = 4097UL;
else if (baud0==115200UL) bd = 4098UL;
else if (baud0==230400UL) bd = 4099UL;
else if (baud0==460800UL) bd = 4100UL;
else Error("unknown baudrate", 17ul);
res = tcgetattr(fd, &saved);
res = tcgetattr(fd, &term);
{ /* with */
struct termios * anonym = &term;
anonym->c_lflag = 0UL;
anonym->c_oflag = 0UL;
anonym->c_iflag = 0UL;
/* cfmakeraw(&termios);*/
anonym->c_cflag = 2224UL+bd; /*+CRTSCTS*/ /*0800018B2H*/
}
res = tcsetattr(fd, 2L, &term);
} /* end SetComMode() */
static void opentty(void)
{
for (;;) {
tty = osi_OpenRW(ttynamee, 1024ul);
if (tty>=0L) {
SetComMode(tty, baud);
break;
}
if (!usbrobust) Error("tty open", 9ul);
usleep(1000000UL);
}
SetStatLine(tty, 0, 0);
} /* end opentty() */
static char GetNum(const char h[], uint32_t h_len, char eot,
uint32_t * p, uint32_t * n)
{
*n = 0UL;
while ((uint8_t)h[*p]>='0' && (uint8_t)h[*p]<='9') {
*n = ( *n*10UL+(uint32_t)(uint8_t)h[*p])-48UL;
++*p;
}
return h[*p]==eot;
} /* end GetNum() */
static void Parms(void)
{
char err;
char h[1024];
uint32_t i;
err = 0;
for (;;) {
osi_NextArg(h, 1024ul);
if (h[0U]==0) break;
if ((h[0U]=='-' && h[1U]) && h[2U]==0) {
if (h[1U]=='u') usbrobust = 0;
else if (h[1U]=='s') sumoff = 1;
else if (h[1U]=='a') withalti = 1;
else if (h[1U]=='f') {
/*
ELSIF h[1]="i" THEN
NextArg(h);
IF h[0]>" " THEN
symt:=h[0];
IF h[1]>" " THEN symb:=h[1] ELSE symb:=0C END;
ELSE Error("-i <icon> (house /-)") END;
*/
osi_NextArg(basefilename, 1024ul);
if (basefilename[0U]==0) Error("-f filename", 12ul);
}
else if (h[1U]=='t') {
osi_NextArg(h, 1024ul);
i = 0UL;
while ((h[i] && h[i]!=':') && i<1023UL) {
ttynamee[i] = h[i];
++i;
}
ttynamee[i] = 0;
if (h[i]) {
++i;
if (!GetNum(h, 1024ul, 0, &i, &baud)) {
Error("need ttydevice:baud", 20ul);
}
}
}
else if (h[1U]=='m') {
osi_NextArg(h, 1024ul);
i = 0UL;
if (!GetNum(h, 1024ul, 0, &i, &mediantime)) {
Error("-m <seconds>", 13ul);
}
if (mediantime>499UL) {
aprsstr_IntToStr(499L, 1UL, h, 1024ul);
aprsstr_Append(h, 1024ul, " maximum -m", 12ul);
Error(h, 1024ul);
}
}
else if (h[1U]=='f') {
osi_NextArg(h, 1024ul);
i = 0UL;
if (!GetNum(h, 1024ul, 0, &i, &comptyp) || comptyp>2UL) {
Error("-f <format> 0=uncomp, 1=comp, 2=mic-e", 38ul);
}
}
else if (h[1U]=='v') verb = 1;
else {
if (h[1U]=='h') {
osic_WrLn();
osi_WrStrLn("Read serial GPS and make position string to inser\
t into APRS-beacon", 68ul);
osi_WrStrLn(" -a altitude on",
47ul);
osi_WrStrLn(" -f <filename> writes <fn.lat\
> <fn.long> and <filename.alt>", 80ul);
osi_WrStrLn(" -h this", 40ul);
/* WrStrLn('
-i <icon> 2 Icon chars "/-" (House),
"/>" (Car)...'); */
osi_WrStrLn(" -m <seconds> time to read g\
ps to make median position", 76ul);
osi_WrStrLn(" -s GPS Checksum c\
heck OFF", 58ul);
osi_WrStrLn(" -t <tty>:<baud> default /dev/t\
tyS0:9600", 59ul);
osi_WrStrLn(" -u not retry unti\
l open removable USB tty", 74ul);
osi_WrStrLn(" -v verbous",
43ul);
osi_WrStrLn(" example: -t /dev/ttyS0:9600 -u -f test -i \"/-\\
" -a -m 30 -v", 61ul);
osic_WrLn();
X2C_ABORT();
}
err = 1;
}
}
else {
/*
h[0]:=0C;
*/
err = 1;
}
if (err) break;
}
if (err) {
osi_WrStr(">", 2ul);
osi_WrStr(h, 1024ul);
osi_WrStrLn("< use -h", 9ul);
X2C_ABORT();
}
} /* end Parms() */
static void skip(const char b[], uint32_t b_len, uint32_t * p,
uint32_t len0)
{
while (*p<len0 && b[*p]!=',') ++*p;
if (*p<len0) ++*p;
} /* end skip() */
static char getnum(const char b[], uint32_t b_len,
uint32_t * p, uint32_t len0, uint32_t * n)
{
if ((*p<len0 && (uint8_t)b[*p]>='0') && (uint8_t)b[*p]<='9') {
*n = (uint32_t)(uint8_t)b[*p]-48UL;
++*p;
return 1;
}
*n = 0UL;
return 0;
} /* end getnum() */
static void decodeline(const char b[], uint32_t b_len,
uint32_t len0)
{
uint32_t n;
uint32_t i;
double div0;
char sign;
if ((b[0UL]=='$' && b[1UL]=='G') && b[2UL]=='P') {
if ((b[3UL]=='R' && b[4UL]=='M') && b[5UL]=='C') {
/* $GPRMC,141333.593,A,8915.1000,N,01300.2000,E,0.00,00.00,140410,0,
,A*7C */
/* $GPRMC,112430.00,A,8912.41130,N,01300.61995,E,0.039,,200513,,,
A*77 */
i = 7UL;
skip(b, b_len, &i, len0);
if (b[i]!='A') return;
skip(b, b_len, &i, len0);
if (getnum(b, b_len, &i, len0, &n)) {
lat = (double)(float)(n*10UL);
}
else return;
if (getnum(b, b_len, &i, len0, &n)) {
lat = lat+(double)(float)n;
}
else return;
if (getnum(b, b_len, &i, len0, &n)) {
lat = lat+(double)(X2C_DIVR((float)n,6.0f));
}
else return;
if (getnum(b, b_len, &i, len0, &n)) {
lat = lat+(double)(X2C_DIVR((float)n,60.0f));
}
else return;
if (b[i]=='.') ++i;
else return;
if (getnum(b, b_len, &i, len0, &n)) {
lat = lat+(double)(X2C_DIVR((float)n,600.0f));
}
else return;
if (getnum(b, b_len, &i, len0, &n)) {
lat = lat+(double)(X2C_DIVR((float)n,6000.0f));
}
else return;
if (getnum(b, b_len, &i, len0, &n)) {
lat = lat+(double)(X2C_DIVR((float)n,60000.0f));
}
if (getnum(b, b_len, &i, len0, &n)) {
lat = lat+(double)(X2C_DIVR((float)n,6.E+5f));
}
skip(b, b_len, &i, len0);
if (b[i]=='S') lat = -lat;
else if (b[i]!='N') return;
skip(b, b_len, &i, len0);
if (getnum(b, b_len, &i, len0, &n)) {
long0 = (double)(float)(n*100UL);
}
else return;
if (getnum(b, b_len, &i, len0, &n)) {
long0 = long0+(double)(float)(n*10UL);
}
else return;
if (getnum(b, b_len, &i, len0, &n)) {
long0 = long0+(double)(float)n;
}
else return;
if (getnum(b, b_len, &i, len0, &n)) {
long0 = long0+(double)(X2C_DIVR((float)n,6.0f));
}
else return;
if (getnum(b, b_len, &i, len0, &n)) {
long0 = long0+(double)(X2C_DIVR((float)n,60.0f));
}
else return;
if (b[i]=='.') ++i;
else return;
if (getnum(b, b_len, &i, len0, &n)) {
long0 = long0+(double)(X2C_DIVR((float)n,600.0f));
}
else return;
if (getnum(b, b_len, &i, len0, &n)) {
long0 = long0+(double)(X2C_DIVR((float)n,6000.0f));
}
else return;
if (getnum(b, b_len, &i, len0, &n)) {
long0 = long0+(double)(X2C_DIVR((float)n,60000.0f));
}
if (getnum(b, b_len, &i, len0, &n)) {
long0 = long0+(double)(X2C_DIVR((float)n,6.E+5f));
}
skip(b, b_len, &i, len0);
if (b[i]=='W') long0 = -long0;
else if (b[i]!='E') return;
skip(b, b_len, &i, len0);
speed = 0.0;
while (getnum(b, b_len, &i, len0, &n)) {
speed = speed*10.0+(double)(float)n;
}
if (b[i]=='.') {
++i;
div0 = 0.1;
while (getnum(b, b_len, &i, len0, &n)) {
speed = speed+(double)(float)n*div0;
div0 = div0*0.1;
}
}
speed = speed*1.851984; /* knots to km/h */
skip(b, b_len, &i, len0);
course = 0.0;
while (getnum(b, b_len, &i, len0, &n)) {
course = course*10.0+(double)(float)n;
}
if (b[i]=='.') {
++i;
div0 = 0.1;
while (getnum(b, b_len, &i, len0, &n)) {
course = course+(double)(float)n*div0;
div0 = div0*0.1;
}
}
posok = 1;
}
else if ((b[3UL]=='G' && b[4UL]=='G') && b[5UL]=='A') {
/* $GPGGA,152554,3938.5665,N,10346.2039,W,1,08,1.7,12382.7,M,-22.3,
M,,*7B */
/* $GPGGA,112435.00,4812.41112,N,01305.61998,E,1,08,1.04,398.3,M,
44.9,M,,*59 */
i = 7UL;
skip(b, b_len, &i, len0);
skip(b, b_len, &i, len0);
skip(b, b_len, &i, len0);
skip(b, b_len, &i, len0);
skip(b, b_len, &i, len0);
skip(b, b_len, &i, len0);
skip(b, b_len, &i, len0);
skip(b, b_len, &i, len0);
alt = 0.0;
if (b[i]=='-') {
sign = 1;
++i;
}
else sign = 0;
while (getnum(b, b_len, &i, len0, &n)) {
altok = 1;
alt = alt*10.0+(double)(float)n;
}
if (b[i]=='.') {
++i;
div0 = 0.1;
while (getnum(b, b_len, &i, len0, &n)) {
alt = alt+(double)(float)n*div0;
div0 = div0*0.1;
}
}
if (sign) alt = -alt;
}
}
} /* end decodeline() */
static char Hex(uint32_t d)
{
d = d&15UL;
if (d>9UL) d += 7UL;
return (char)(d+48UL);
} /* end Hex() */
static char checksum(const char b[], uint32_t b_len,
uint32_t len0)
{
uint32_t i;
uint8_t cs;
char ok0;
ok0 = 1;
i = 1UL;
cs = 0U;
while (i<len0 && b[i]!='*') {
cs = cs^(uint8_t)(uint8_t)b[i];
++i;
}
if (i+2UL>=len0) ok0 = 0;
if (ok0) {
if (b[i+1UL]!=Hex((uint32_t)cs/16UL) || b[i+2UL]!=Hex((uint32_t)
cs&15UL)) ok0 = 0;
}
if (verb && !ok0) osi_WrStrLn("GPS Checksum Error", 19ul);
return ok0;
} /* end checksum() */
static void showline(const char b[], uint32_t b_len, uint32_t len0)
{
uint32_t i;
i = 0UL;
while (i<len0) {
if ((uint8_t)b[i]<' ') {
if (b[i]=='\012') osic_WrLn();
else osi_WrStr(".", 2ul);
}
else osi_WrStr((char *) &b[i], 1u/1u);
++i;
}
osic_WrLn();
} /* end showline() */
static void wrfile(char b[], uint32_t b_len, uint32_t len0,
char ext[], uint32_t ext_len)
{
char s[2001];
int32_t f;
X2C_PCOPY((void **)&b,b_len);
X2C_PCOPY((void **)&ext,ext_len);
aprsstr_Assign(s, 2001ul, basefilename, 1024ul);
aprsstr_Append(s, 2001ul, ext, ext_len);
f = osi_OpenWrite(s, 2001ul);
if (f>=0L) {
if (len0>0UL) osi_WrBin(f, (char *)b, (b_len)/1u, len0);
osic_Close(f);
}
X2C_PFREE(b);
X2C_PFREE(ext);
} /* end wrfile() */
static char num(uint32_t n)
{
return (char)(n%10UL+48UL);
} /* end num() */
static void wrpos(double lat0, double long1, double alt0,
char withalt)
{
char b[201];
uint32_t n;
uint32_t i;
double a;
/* "4805.44N" "01333.64E" "/A=000000"*/
i = 0UL;
a = fabs(lat0);
n = truncc(a);
b[0U] = num(n/10UL);
++i;
b[1U] = num(n);
++i;
n = truncc((a-(double)(float)n)*6000.0);
b[2U] = num(n/1000UL);
++i;
b[3U] = num(n/100UL);
++i;
b[4U] = '.';
++i;
b[5U] = num(n/10UL);
++i;
b[6U] = num(n);
++i;
if (lat0>=0.0) b[7U] = 'N';
else b[7U] = 'S';
++i;
/* b[i]:=symt; INC(i); */
wrfile(b, 201ul, 8UL, ".lat", 5ul);
i = 0UL;
a = fabs(long1);
n = truncc(a);
b[0U] = num(n/100UL);
++i;
b[1U] = num(n/10UL);
++i;
b[2U] = num(n);
++i;
n = truncc((a-(double)(float)n)*6000.0);
b[3U] = num(n/1000UL);
++i;
b[4U] = num(n/100UL);
++i;
b[5U] = '.';
++i;
b[6U] = num(n/10UL);
++i;
b[7U] = num(n);
++i;
if (lat0>=0.0) b[8U] = 'E';
else b[8U] = 'W';
++i;
/* IF symb>" " THEN b[i]:=symb; INC(i) END; */
wrfile(b, 201ul, 9UL, ".long", 6ul);
if (withalt) {
i = 0UL;
if (alt0>0.0) {
b[0U] = '/';
++i;
b[1U] = 'A';
++i;
b[2U] = '=';
++i;
n = truncc(fabs(alt0*3.2808398950131+0.5));
if (alt0>=0.0) b[3U] = num(n/100000UL);
else b[3U] = '-';
++i;
b[4U] = num(n/10000UL);
++i;
b[5U] = num(n/1000UL);
++i;
b[6U] = num(n/100UL);
++i;
b[7U] = num(n/10UL);
++i;
b[8U] = num(n);
++i;
}
wrfile(b, 201ul, i, ".alt", 5ul);
}
} /* end wrpos() */
static void medianpos(double lat0, double long1,
double alt0)
{
struct _0 * anonym;
if (medians<=499UL) {
{ /* with */
struct _0 * anonym = &median[medians];
anonym->mlat = lat0;
anonym->mlong = long1;
anonym->malt = alt0;
}
++medians;
}
} /* end medianpos() */
static void getmedian(double * lat0, double * long1,
double * alt0)
{
uint32_t by;
uint32_t ay;
uint32_t bx;
uint32_t ax;
uint32_t j;
uint32_t i;
double maxy;
double miny;
double maxx;
double minx;
struct _0 * anonym;
struct _0 * anonym0;
struct _0 * anonym1;
uint32_t tmp;
if (medians==0UL) Error("no positions got", 17ul);
j = medians/10UL;
tmp = medians-1UL;
i = 0UL;
if (i<=tmp) for (;; i++) {
median[i].ok0 = 1;
if (i==tmp) break;
} /* end for */
for (;;) {
/* kill extrem values */
minx = (double)X2C_max_real;
maxx = (double)X2C_min_real;
ax = 0UL;
bx = 0UL;
miny = (double)X2C_max_real;
maxy = (double)X2C_min_real;
ay = 0UL;
by = 0UL;
j = 0UL;
tmp = medians-1UL;
i = 0UL;
if (i<=tmp) for (;; i++) {
if (median[i].ok0) {
{ /* with */
struct _0 * anonym = &median[i];
if (anonym->mlat<minx) {
minx = anonym->mlat;
ax = i;
}
if (anonym->mlat>maxx) {
maxx = anonym->mlat;
bx = i;
}
if (anonym->mlong<miny) {
miny = anonym->mlong;
ay = i;
}
if (anonym->mlong>maxy) {
maxy = anonym->mlong;
by = i;
}
}
++j;
}
if (i==tmp) break;
} /* end for */
if (j<=medians/2UL+5UL) break;
median[ax].ok0 = 0;
median[bx].ok0 = 0;
median[ay].ok0 = 0;
median[by].ok0 = 0;
}
j = 0UL;
*lat0 = 0.0;
*long1 = 0.0;
*alt0 = 0.0;
if (verb) {
osi_WrStrLn(" lat long alt ok", 45ul);
}
tmp = medians-1UL;
i = 0UL;
if (i<=tmp) for (;; i++) {
/* make mean valus */
if (median[i].ok0) {
{ /* with */
struct _0 * anonym0 = &median[i];
*lat0 = *lat0+anonym0->mlat;
*long1 = *long1+anonym0->mlong;
*alt0 = *alt0+anonym0->malt;
++j;
}
}
if (verb) {
{ /* with */
struct _0 * anonym1 = &median[i];
osic_WrFixed((float)anonym1->mlat, 8L, 14UL);
osic_WrFixed((float)anonym1->mlong, 8L, 14UL);
osic_WrFixed((float)anonym1->malt, 1L, 14UL);
osic_WrINT32((uint32_t)anonym1->ok0, 2UL);
osi_WrStrLn("", 1ul);
}
}
if (i==tmp) break;
} /* end for */
if (j==0UL) Error("no positions got", 17ul);
*lat0 = X2C_DIVL(*lat0,(double)j);
*long1 = X2C_DIVL(*long1,(double)j);
*alt0 = X2C_DIVL(*alt0,(double)j);
} /* end getmedian() */
static char c;
static int32_t len;
static int32_t rp;
static uint32_t gpsp;
static char gpsb[100];
X2C_STACK_LIMIT(100000l)
extern int main(int argc, char **argv)
{
int32_t tmp;
X2C_BEGIN(&argc,argv,1,4000000l,8000000l);
aprsstr_BEGIN();
osi_BEGIN();
sumoff = 0;
junk = 1;
posok = 0;
altok = 0;
verb = 0;
usbrobust = 1;
medians = 0UL;
mediantime = 30UL;
baud = 9600UL;
strncpy(ttynamee,"/dev/ttyS0",1024u);
strncpy(basefilename,"gpspos",1024u);
gpsp = 0UL;
/* symt:="/"; */
/* symb:="U"; */
comptyp = 0UL;
withalti = 0;
comintval = 5UL;
comcnt = 0UL;
Parms();
opentty();
for (;;) {
len = osi_RdBin(tty, (char *)tbuf, 1024u/1u, 1024UL);
if (len<=0L) {
osic_Close(tty);
usleep(1000000UL);
opentty();
junk = 1;
}
if (!junk) {
tmp = len-1L;
rp = 0L;
if (rp<=tmp) for (;; rp++) {
c = tbuf[rp];
if (c=='\015' || c=='\012') {
if (gpsp>0UL) {
if (sumoff || checksum(gpsb, 100ul, gpsp)) {
decodeline(gpsb, 100ul, gpsp);
}
else {
altok = 0;
posok = 0;
}
if (verb) showline(gpsb, 100ul, gpsp);
if (posok && (altok || !withalti)) {
medianpos(lat, long0, alt);
if (mediantime>0UL) {
--mediantime;
if (verb) {
osic_WrINT32(mediantime, 4UL);
osi_WrStrLn(" mediantime", 12ul);
}
}
else {
getmedian(&lat, &long0, &alt);
wrpos(lat, long0, alt, withalti && altok);
goto loop_exit;
}
altok = 0;
posok = 0;
}
}
gpsp = 0UL;
}
else if ((uint8_t)c>' ' && gpsp<99UL) {
gpsb[gpsp] = c;
++gpsp;
}
if (rp==tmp) break;
} /* end for */
}
junk = 0;
}
loop_exit:;
X2C_EXIT();
return 0;
}
X2C_MAIN_DEFINITION
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