From 630dee9a8bab7feca98e9e45d5a8cf05fb34e903 Mon Sep 17 00:00:00 2001 From: Zilog80 Date: Wed, 23 May 2018 22:43:00 +0200 Subject: [PATCH] rs92agp w/ ecc --- rs92/rs92agp_ecc.c | 1705 ++++++++++++++++++++++++++++++++++++++++++++ 1 file changed, 1705 insertions(+) create mode 100644 rs92/rs92agp_ecc.c diff --git a/rs92/rs92agp_ecc.c b/rs92/rs92agp_ecc.c new file mode 100644 index 0000000..a8c1f9e --- /dev/null +++ b/rs92/rs92agp_ecc.c @@ -0,0 +1,1705 @@ + +/* + * radiosonde RS92-AGP/BGP + * + * + * broadcast ephemeris: + * http://cddis.gsfc.nasa.gov/Data_and_Derived_Products/GNSS/broadcast_ephemeris_data.html + * ftp://cddis.gsfc.nasa.gov/gnss/data/daily/YYYY/DDD/YYn/brdcDDD0.YYn.Z (updated) + * ftp://cddis.gsfc.nasa.gov/gnss/data/daily/YYYY/brdc/brdcDDD0.YYn.Z (final) + * + * SEM almanac: + * https://celestrak.com/GPS/almanac/SEM/ + * + * GPS calendar: + * http://navigationservices.agi.com/GNSSWeb/ + * + * GPS-Hoehe ueber Ellipsoid, Geoid-Hoehe: + * http://geographiclib.sourceforge.net/cgi-bin/GeoidEval + */ + +/* + gcc rs92agp_ecc.c -lm -o rs92agp_ecc + (includes nav_gps_vel.c, bch_ecc.c) + +*/ + +#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; + + +#include "bch_ecc.c" // RS/ecc/ + +#define rs_N 255 +#define rs_R 24 +#define rs_K (rs_N-rs_R) + +ui8_t cw[rs_N]; + +typedef struct { + int typ; + int msglen; + int msgpos; + int parpos; + int hdrlen; + int frmlen; +} rscfg_t; + +rscfg_t cfg_rs92agp = { 92, 230, 8, 238, 8, 300}; + + +typedef struct { + int frnr; + char id[11]; + 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 vH; double vD; double vU; + int sats[4]; + double dop; + int freq; + unsigned short aux[4]; + double diter; +} 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_avg = 0, // moving average + option_b = 0, + option_ecc = 0, // Reed-Solomon ECC + fileloaded = 0, + option_vergps = 0, + option_iter = 0, + option_vel = 0, // velocity + option_aux = 0, // Aux/Ozon + option_der = 0, // linErr + rawin = 0; +double dop_limit = 9.9; +double d_err = 10000; + +int rollover = 0, + err_gps = 0; + +int almanac = 0, + ephem = 0; + +int exSat = -1; + +/* --- RS92-SGP: 8N1 manchester --- */ +/* +#define BITS (2*(1+8+1)) // 20 +#define HEADOFS 40 // HEADOFS+HEADLEN = 120 (bis 0x10) +#define HEADLEN 80 // (HEADOFS+HEADLEN) mod BITS = 0 +#define FRAMESTART ((HEADOFS+HEADLEN)/BITS) + +// 2A 10 +char header[] = "10100110011001101001" + "10100110011001101001" + "10100110011001101001" + "10100110011001101001" + "1010011001100110100110101010100110101001"; +char buf[HEADLEN+1] = "x"; +int bufpos = -1; + +#define FRAME_LEN 240 +ui8_t frame[FRAME_LEN] = { 0x2A, 0x2A, 0x2A, 0x2A, 0x2A, 0x10}; +*/ +/* --- RS92-SGP ------------------- */ + + +/* --- RS92-AGP ------------------- */ +// raw: 9d 46 20 f0 b4 a2 6e d8 57 15 +// xor: 0b c5 1e a1 05 eb 66 40 65 10 + +#define BITS (8) + +#define HEADLEN 32 // HEADOFS+HEADLEN <= strlen(header)=64 +#define HEADOFS 16 + +#define FRAMESTART ((HEADOFS+HEADLEN)/BITS) + + // 10 B6 CA 11 22 96 12 F8 (rs41) + // 9D 46 20 F0 B4 A2 6E D8 (rs92bgp) +char header[] = "1011100101100010000001000000111100101101010001010111011000011011"; + +char buf[HEADLEN+1] = "x"; +int bufpos = -1; + +#define FRAME_LEN 300 +ui8_t frame[FRAME_LEN] = { 0x0B, 0xC5, 0x1E, 0xA1, 0x05, 0xEB, 0x66, 0x40}; + +char buffer_rawin[3*FRAME_LEN+8]; //## rawin1: buffer_rawin[2*FRAME_LEN+4]; +int frameofs = 0; + +#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 sample_rate = 0, bits_sample = 0, channels = 0; +float samples_per_bit = 0; + +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; +} + +int read_wav_header(FILE *fp) { + char txt[4+1] = "\0\0\0\0"; + unsigned char dat[4]; + int byte, p=0; + + if (fread(txt, 1, 4, fp) < 4) return -1; + if (strncmp(txt, "RIFF", 4)) return -1; + if (fread(txt, 1, 4, fp) < 4) return -1; + // pos_WAVE = 8L + if (fread(txt, 1, 4, fp) < 4) return -1; + if (strncmp(txt, "WAVE", 4)) return -1; + // pos_fmt = 12L + for ( ; ; ) { + if ( (byte=fgetc(fp)) == EOF ) return -1; + txt[p % 4] = byte; + p++; if (p==4) p=0; + if (findstr(txt, "fmt ", p) == 4) break; + } + if (fread(dat, 1, 4, fp) < 4) return -1; + if (fread(dat, 1, 2, fp) < 2) return -1; + + if (fread(dat, 1, 2, fp) < 2) return -1; + channels = dat[0] + (dat[1] << 8); + + if (fread(dat, 1, 4, fp) < 4) return -1; + memcpy(&sample_rate, dat, 4); //sample_rate = dat[0]|(dat[1]<<8)|(dat[2]<<16)|(dat[3]<<24); + + if (fread(dat, 1, 4, fp) < 4) return -1; + if (fread(dat, 1, 2, fp) < 2) return -1; + //byte = dat[0] + (dat[1] << 8); + + if (fread(dat, 1, 2, fp) < 2) return -1; + bits_sample = dat[0] + (dat[1] << 8); + + // pos_dat = 36L + info + for ( ; ; ) { + if ( (byte=fgetc(fp)) == EOF ) return -1; + txt[p % 4] = byte; + p++; if (p==4) p=0; + if (findstr(txt, "data", p) == 4) break; + } + if (fread(dat, 1, 4, fp) < 4) return -1; + + + fprintf(stderr, "sample_rate: %d\n", sample_rate); + fprintf(stderr, "bits : %d\n", bits_sample); + fprintf(stderr, "channels : %d\n", channels); + + if ((bits_sample != 8) && (bits_sample != 16)) return -1; + + samples_per_bit = sample_rate/(float)BAUD_RATE; + + fprintf(stderr, "samples/bit: %.2f\n", samples_per_bit); + + return 0; +} + + +#define EOF_INT 0x1000000 + +#define LEN_movAvg 3 +int movAvg[LEN_movAvg]; +unsigned long sample_count = 0; +double bitgrenze = 0; + +int read_signed_sample(FILE *fp) { // int = i32_t + int byte, i, sample, s=0; // EOF -> 0x1000000 + + for (i = 0; i < channels; i++) { + // i = 0: links bzw. mono + byte = fgetc(fp); + if (byte == EOF) return EOF_INT; + if (i == 0) sample = byte; + + if (bits_sample == 16) { + byte = fgetc(fp); + if (byte == EOF) return EOF_INT; + if (i == 0) sample += byte << 8; + } + + } + + if (bits_sample == 8) s = sample-128; // 8bit: 00..FF, centerpoint 0x80=128 + if (bits_sample == 16) s = (short)sample; + + if (option_avg) { + movAvg[sample_count % LEN_movAvg] = s; + s = 0; + for (i = 0; i < LEN_movAvg; i++) s += movAvg[i]; + s = (s+0.5) / LEN_movAvg; + } + + sample_count++; + + return s; +} + +int par=1, par_alt=1; + +int read_bits_fsk(FILE *fp, int *bit, int *len) { + static int sample; + int n, y0; + float l, x1; + static float x0; + + n = 0; + do{ + y0 = sample; + sample = read_signed_sample(fp); + if (sample == EOF_INT) return EOF; + //sample_count++; // in read_signed_sample() + par_alt = par; + par = (sample >= 0) ? 1 : -1; // 8bit: 0..127,128..255 (-128..-1,0..127) + n++; + } while (par*par_alt > 0); + + if (!option_res) l = (float)n / samples_per_bit; + else { // genauere Bitlaengen-Messung + x1 = sample/(float)(sample-y0); // hilft bei niedriger sample rate + l = (n+x0-x1) / samples_per_bit; // meist mehr frames (nicht immer) + x0 = x1; + } + + *len = (int)(l+0.5); + + if (!option_inv) *bit = (1+par_alt)/2; // oben 1, unten -1 + else *bit = (1-par_alt)/2; // sdr#= 0) ? 1 : -1; // 8bit: 0..127,128..255 (-128..-1,0..127) + sum += sample; + n++; + } while (sample_count < bitgrenze); // n < samples_per_bit + + if (sum >= 0) *bit = 1; + else *bit = 0; + + if (option_inv) *bit ^= 1; + + return 0; +} + +/* ------------------------------------------------------------------------------------ */ + +// manchester1 1->10,0->01: 1.bit +// manchester2 0->10,1->01: 2.bit +// RS92-SGP: 8N1 manchester2 +char manch(char *mbits) { + if ((mbits[0] == 1) && (mbits[1] == 0)) return 0; + else if ((mbits[0] == 0) && (mbits[1] == 1)) return 1; + else return -1; +} +int bits2byte_SGP(char bits[]) { + int i, byteval=0, d=1; + int bit8[8]; + + if (manch(bits+0) != 0) return 0x100; + for (i = 0; i < 8; i++) { + bit8[i] = manch(bits+2*(i+1)); + } + if (manch(bits+(2*(8+1))) != 1) return 0x100; + + for (i = 0; i < 8; i++) { // little endian + /* for (i = 7; i >= 0; i--) { // big endian */ + if (bit8[i] == 1) byteval += d; + else if (bit8[i] == 0) byteval += 0; + else return 0x100; + d <<= 1; + } + return byteval; +} + +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; +} + +void inc_bufpos() { + bufpos = (bufpos+1) % HEADLEN; +} + +int compare() { + int i=0, j = bufpos; + + while (i < HEADLEN) { + if (j < 0) j = HEADLEN-1; + if (buf[j] != header[HEADOFS+HEADLEN-1-i]) break; + j--; + i++; + } + return i; +} + +/* +ui8_t xorbyte(int pos) { + return xframe[pos] ^ mask[pos % MASK_LEN]; +} +*/ +ui8_t framebyte(int pos) { + return frame[pos]; +} + + +/* ------------------------------------------------------------------------------------ */ + +#define GPS_WEEK1024 1 +#define WEEKSEC 604800 + +/* + * Convert GPS Week and Seconds to Modified Julian Day. + * - Adapted from sci.astro FAQ. + * - Ignores UTC leap seconds. + */ + +void Gps2Date(long GpsWeek, long GpsSeconds, int *Year, int *Month, int *Day) { + + long GpsDays, Mjd; + long J, C, Y, M; + + GpsDays = GpsWeek * 7 + (GpsSeconds / 86400); + Mjd = 44244 + GpsDays; + + J = Mjd + 2468570; + C = 4 * J / 146097; + J = J - (146097 * C + 3) / 4; + Y = 4000 * (J + 1) / 1461001; + J = J - 1461 * Y / 4 + 31; + M = 80 * J / 2447; + *Day = J - 2447 * M / 80; + J = M / 11; + *Month = M + 2 - (12 * J); + *Year = 100 * (C - 49) + Y + J; +} + +/* ------------------------------------------------------------------------------------ */ + +#define OFS (0x02) // + +#define pos_FrameNb (OFS+0x08) // 2 byte +#define pos_SondeID (OFS+0x0C) // 8 byte // oder: 0x0A, 10 byte? +#define pos_CalData (OFS+0x17) // 1 byte, counter 0x00..0x1f +#define pos_Calfreq (OFS+0x1A) // 2 byte, calfr 0x00 + +#define posGPS_TOW (OFS+0x48) // 4 byte +#define posGPS_PRN (OFS+0x4E) // 12*5 bit in 8 byte +#define posGPS_STATUS (OFS+0x56) // 12 byte +#define posGPS_DATA (OFS+0x62) // 12*8 byte + +#define pos_PTU (OFS+0x2C) // 24 byte +#define pos_AuxData (OFS+0xC8) // 8 byte + + +#define BLOCK_CFG 0x6510 // frame[pos_FrameNb-2], frame[pos_FrameNb-1] +#define BLOCK_PTU 0x690C +#define BLOCK_GPS 0x673D // 0x6c3d frame[posGPS_TOW-2], frame[posGPS_TOW-1] +#define BLOCK_AUX 0x6812 // sgp: 0x6805 + +#define LEN_CFG (2*(BLOCK_CFG & 0xFF)) +#define LEN_GPS (2*(BLOCK_GPS & 0xFF)) +#define LEN_PTU (2*(BLOCK_PTU & 0xFF)) + + +int crc16(int start, int len) { + int crc16poly = 0x1021; + int rem = 0xFFFF, i, j; + int byte; + + if (start+len >= 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 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 i, ret=0; + unsigned byte; + ui8_t sondeid_bytes[10]; + int crc_frame, crc; + + // BLOCK_CFG == frame[pos_FrameNb-2 .. pos_FrameNb-1] ? + crc_frame = framebyte(pos_FrameNb+LEN_CFG) | (framebyte(pos_FrameNb+LEN_CFG+1) << 8); + crc = crc16(pos_FrameNb, LEN_CFG); +/* + if (option_crc) { + //fprintf(stdout, " (%04X:%02X%02X) ", BLOCK_CFG, frame[pos_FrameNb-2], frame[pos_FrameNb-1]); + fprintf(stdout, " [%04X:%04X] ", crc_frame, crc); + } +*/ + ret = 0; + if ( 0 && option_crc && crc != crc_frame) { + ret = -2; // erst wichtig, wenn Cal/Cfg-Data + } + + for (i = 0; i < 8; i++) { + byte = framebyte(pos_SondeID + i); + if ((byte < 0x20) || (byte > 0x7E)) return -1; + sondeid_bytes[i] = byte; + } + + for (i = 0; i < 8; i++) { + gpx.id[i] = sondeid_bytes[i]; + } + gpx.id[8] = '\0'; + + return ret; +} + +char weekday[7][3] = { "So", "Mo", "Di", "Mi", "Do", "Fr", "Sa"}; + +int get_GPStime() { + int i, ret=0; + unsigned byte; + ui8_t gpstime_bytes[4]; + int gpstime = 0, // 32bit + day; + int ms; + int crc_frame, crc; + + // BLOCK_GPS == frame[posGPS_TOW-2 .. posGPS_TOW-1] ? + crc_frame = framebyte(posGPS_TOW+LEN_GPS) | (framebyte(posGPS_TOW+LEN_GPS+1) << 8); + crc = crc16(posGPS_TOW, LEN_GPS); +/* + if (option_crc) { + //fprintf(stdout, " (%04X:%02X%02X) ", BLOCK_GPS, frame[posGPS_TOW-2], frame[posGPS_TOW-1]); + fprintf(stdout, " [%04X:%04X] ", crc_frame, crc); + } +*/ + ret = 0; + if (option_crc && crc != crc_frame) { + ret = -2; + } + + for (i = 0; i < 4; i++) { + byte = framebyte(posGPS_TOW + i); + gpstime_bytes[i] = byte; + } + + memcpy(&gpstime, gpstime_bytes, 4); + ms = gpstime % 1000; + gpstime /= 1000; + + gpx.gpssec = gpstime; + + day = (gpstime / (24 * 3600)) % 7; // besser CRC-check, da auch + if ((day < 0) || (day > 6)) return -1; // gpssec=604800,604801 beobachtet + + gpstime %= (24*3600); + + gpx.wday = day; + gpx.std = gpstime / 3600; + gpx.min = (gpstime % 3600) / 60; + gpx.sek = gpstime % 60 + ms/1000.0; + + return ret; +} + +int get_Aux() { + int i; + unsigned short byte; + + for (i = 0; i < 4; i++) { + byte = framebyte(pos_AuxData+2*i)+(framebyte(pos_AuxData+2*i+1)<<8); + gpx.aux[i] = byte; + } + + return 0; +} + +int get_Cal() { + int i; + unsigned byte; + ui8_t calfr = 0; + //ui8_t burst = 0; + int freq = 0; + ui8_t freq_bytes[2]; + + byte = framebyte(pos_CalData); + calfr = byte; + + if (option_verbose == 4) { + fprintf(stdout, "\n"); + fprintf(stdout, "[%5d] ", gpx.frnr); + fprintf(stdout, " 0x%02x:", calfr); + } + for (i = 0; i < 16; i++) { + byte = framebyte(pos_CalData+1+i); + if (option_verbose == 4) { + fprintf(stdout, " %02x", byte); + } + } + if (option_aux) { + get_Aux(); + if (option_verbose == 4) { + fprintf(stdout, " # "); + for (i = 0; i < 8; i++) { + byte = framebyte(pos_AuxData+i); + fprintf(stdout, "%02x ", byte); + } + } + else { + if (gpx.aux[0] != 0 || gpx.aux[1] != 0 || gpx.aux[2] != 0 || gpx.aux[3] != 0) { + fprintf(stdout, " # %04x %04x %04x %04x", gpx.aux[0], gpx.aux[1], gpx.aux[2], gpx.aux[3]); + } + } + } + + if (calfr == 0x00) { + for (i = 0; i < 2; i++) { + byte = framebyte(pos_Calfreq + i); + freq_bytes[i] = byte; + } + byte = freq_bytes[0] + (freq_bytes[1] << 8); + //fprintf(stdout, ":%04x ", byte); + freq = 400000 + 10*byte; // kHz; + gpx.freq = freq; + fprintf(stdout, " : fq %d kHz", freq); + } + + return 0; +} + + +/* ---------------------------------------------------------------------------------------------------- */ + + +#include "nav_gps_vel.c" + +EPHEM_t alm[33]; +//EPHEM_t eph[33][24]; +EPHEM_t *ephs = NULL; + +SAT_t sat[33], + sat1s[33]; + + +ui8_t prn_le[12*5+4]; +/* le - little endian */ +int prnbits_le(ui16_t byte16, ui8_t bits[64], int block) { + int i; /* letztes bit Ueberlauf, wenn 3. PRN = 32 */ + for (i = 0; i < 15; i++) { + bits[15*block+i] = byte16 & 1; + byte16 >>= 1; + } + bits[60+block] = byte16 & 1; + return byte16 & 1; +} +ui8_t prns[12], // PRNs in data + sat_status[12]; +int prn32toggle = 0x1, ind_prn32, prn32next; +void prn12(ui8_t *prn_le, ui8_t prns[12]) { + int i, j, d; + for (i = 0; i < 12; i++) { + prns[i] = 0; + d = 1; + for (j = 0; j < 5; j++) { + if (prn_le[5*i+j]) prns[i] += d; + d <<= 1; + } + } + ind_prn32 = 32; + for (i = 0; i < 12; i++) { + // PRN-32 overflow + if ( (prns[i] == 0) && (sat_status[i] & 0x0F) ) { // 5 bit: 0..31 + if ( ((i % 3 == 2) && (prn_le[60+i/3] & 1)) // Spalte 2 + || ((i % 3 != 2) && (prn_le[5*(i+1)] & 1)) ) { // Spalte 0,1 + prns[i] = 32; ind_prn32 = i; + } + } + else if ((sat_status[i] & 0x0F) == 0) { // erste beiden bits: 0x03 ? + prns[i] = 0; + } + } + + prn32next = 0; + if (ind_prn32 < 12) { + // PRN-32 overflow + if (ind_prn32 % 3 != 2) { // -> ind_prn32<11 // vorausgesetzt im Block folgt auf PRN-32 + if ((sat_status[ind_prn32+1] & 0x0F) && prns[ind_prn32+1] > 1) { // entweder PRN-1 oder PRN-gerade + // && prns[ind_prn32+1] != 3 ? + for (j = 0; j < ind_prn32; j++) { + if (prns[j] == (prns[ind_prn32+1]^prn32toggle) && (sat_status[j] & 0x0F)) break; + } + if (j < ind_prn32) { prn32toggle ^= 0x1; } + else { + for (j = ind_prn32+2; j < 12; j++) { + if (prns[j] == (prns[ind_prn32+1]^prn32toggle) && (sat_status[j] & 0x0F)) break; + } + if (j < 12) { prn32toggle ^= 0x1; } + } + prns[ind_prn32+1] ^= prn32toggle; + /* + // nochmal testen + for (j = 0; j < ind_prn32; j++) { if (prns[j] == prns[ind_prn32+1]) break; } + if (j < ind_prn32) prns[ind_prn32+1] = 0; + else { + for (j = ind_prn32+2; j < 12; j++) { if (prns[j] == prns[ind_prn32+1]) break; } + if (j < 12) prns[ind_prn32+1] = 0; + } + if (prns[ind_prn32+1] == 0) { prn32toggle ^= 0x1; } + */ + } + prn32next = prns[ind_prn32+1]; // -> ind_prn32<11 && ind_prn32 % 3 != 2 + } + } +} + + +int calc_satpos_alm(EPHEM_t alm[], double t, SAT_t *satp) { + double X, Y, Z, vX, vY, vZ; + int j; + int week; + double cl_corr, cl_drift; + + for (j = 1; j < 33; j++) { + if (alm[j].prn > 0) { // prn==j + + // Woche hat 604800 sec + if (t-alm[j].toa > WEEKSEC/2) rollover = +1; + else if (t-alm[j].toa < -WEEKSEC/2) rollover = -1; + else rollover = 0; + week = alm[j].week - rollover; + /*if (j == 1)*/ gpx.week = week + GPS_WEEK1024*1024; + + if (option_vel >= 2) { + GPS_SatellitePositionVelocity_Ephem( + week, t, alm[j], + &cl_corr, &cl_drift, &X, &Y, &Z, &vX, &vY, &vZ + ); + satp[alm[j].prn].clock_drift = cl_drift; + satp[alm[j].prn].vX = vX; + satp[alm[j].prn].vY = vY; + satp[alm[j].prn].vZ = vZ; + } + else { + GPS_SatellitePosition_Ephem( + week, t, alm[j], + &cl_corr, &X, &Y, &Z + ); + } + + satp[alm[j].prn].X = X; + satp[alm[j].prn].Y = Y; + satp[alm[j].prn].Z = Z; + satp[alm[j].prn].clock_corr = cl_corr; + + } + } + + return 0; +} + +int calc_satpos_rnx(EPHEM_t eph[][24], double t, SAT_t *satp) { + double X, Y, Z, vX, vY, vZ; + int j, i, ti; + int week; + double cl_corr, cl_drift; + double tdiff, td; + + for (j = 1; j < 33; j++) { + + // Woche hat 604800 sec + tdiff = WEEKSEC; + ti = 0; + for (i = 0; i < 24; i++) { + if (eph[j][i].prn > 0) { + if (t-eph[j][i].toe > WEEKSEC/2) rollover = +1; + else if (t-eph[j][i].toe < -WEEKSEC/2) rollover = -1; + else rollover = 0; + td = t-eph[j][i].toe - rollover*WEEKSEC; + if (td < 0) td *= -1; + + if ( td < tdiff ) { + tdiff = td; + ti = i; + week = eph[j][ti].week - rollover; + gpx.week = eph[j][ti].gpsweek - rollover; + } + } + } + + if (option_vel >= 2) { + GPS_SatellitePositionVelocity_Ephem( + week, t, eph[j][ti], + &cl_corr, &cl_drift, &X, &Y, &Z, &vX, &vY, &vZ + ); + satp[eph[j][ti].prn].clock_drift = cl_drift; + satp[eph[j][ti].prn].vX = vX; + satp[eph[j][ti].prn].vY = vY; + satp[eph[j][ti].prn].vZ = vZ; + } + else { + GPS_SatellitePosition_Ephem( + week, t, eph[j][ti], + &cl_corr, &X, &Y, &Z + ); + } + + satp[eph[j][ti].prn].X = X; + satp[eph[j][ti].prn].Y = Y; + satp[eph[j][ti].prn].Z = Z; + satp[eph[j][ti].prn].clock_corr = cl_corr; + + } + + return 0; +} + +int calc_satpos_rnx2(EPHEM_t *eph, double t, SAT_t *satp) { + double X, Y, Z, vX, vY, vZ; + int j; + int week; + double cl_corr, cl_drift; + double tdiff, td; + int count, count0, satfound; + + for (j = 1; j < 33; j++) { + + count = count0 = 0; + satfound = 0; + + // Woche hat 604800 sec + tdiff = WEEKSEC; + + while (eph[count].prn > 0) { + + if (eph[count].prn == j) { + + satfound += 1; + + if (t - eph[count].toe > WEEKSEC/2) rollover = +1; + else if (t - eph[count].toe < -WEEKSEC/2) rollover = -1; + else rollover = 0; + td = fabs( t - eph[count].toe - rollover*WEEKSEC); + + if ( td < tdiff ) { + tdiff = td; + week = eph[count].week - rollover; + gpx.week = eph[count].gpsweek - rollover; + count0 = count; + } + } + count += 1; + } + + if ( satfound ) + { + if (option_vel >= 2) { + GPS_SatellitePositionVelocity_Ephem( + week, t, eph[count0], + &cl_corr, &cl_drift, &X, &Y, &Z, &vX, &vY, &vZ + ); + satp[j].clock_drift = cl_drift; + satp[j].vX = vX; + satp[j].vY = vY; + satp[j].vZ = vZ; + } + else { + GPS_SatellitePosition_Ephem( + week, t, eph[count0], + &cl_corr, &X, &Y, &Z + ); + } + + satp[j].X = X; + satp[j].Y = Y; + satp[j].Z = Z; + satp[j].clock_corr = cl_corr; + satp[j].ephtime = eph[count0].toe; + } + + } + + return 0; +} + + +typedef struct { + ui32_t tow; + ui8_t status; + int chips; + int deltachips; +} RANGE_t; +RANGE_t range[33]; + +int prn[12]; // valide PRN 0,..,k-1 + + +// pseudo.range = -df*pseudo.chips +// df = lightspeed/(chips/sec)/2^10 +const double df = 299792.458/1023.0/1024.0; //0.286183844 // c=299792458m/s, 1023000chips/s +// dl = L1/(chips/sec)/4 +const double dl = 1575.42/1.023/4.0/2.0; //385.0 // GPS L1 1575.42MHz=154*10.23MHz, dl=154*10/4 + // 2Hz: 385.0/2.0 + +int get_pseudorange() { + ui32_t gpstime; + ui8_t gpstime_bytes[4]; + ui8_t pseudobytes[4]; + unsigned chipbytes, deltabytes; + int i, j, k; + ui8_t bytes[4]; + ui16_t byte16; + double pr0, prj; + + // GPS-TOW in ms + for (i = 0; i < 4; i++) { + gpstime_bytes[i] = framebyte(posGPS_TOW + i); + } + memcpy(&gpstime, gpstime_bytes, 4); + + // Sat Status + for (i = 0; i < 12; i++) { + sat_status[i] = framebyte(posGPS_STATUS + i); + } + + // PRN-Nummern + for (i = 0; i < 4; i++) { + for (j = 0; j < 2; j++) { + bytes[j] = frame[posGPS_PRN+2*i+j]; + } + memcpy(&byte16, bytes, 2); + prnbits_le(byte16, prn_le, i); + } + prn12(prn_le, prns); + + + // GPS Sat Pos (& Vel) + if (almanac) calc_satpos_alm( alm, gpstime/1000.0, sat); + if (ephem) calc_satpos_rnx2(ephs, gpstime/1000.0, sat); + + // GPS Sat Pos t -= 1s // AGP: 2 frames/sec (2Hz) + if (option_vel == 1) { // wenn -0.5s, dann normal dl + if (almanac) calc_satpos_alm( alm, gpstime/1000.0-1, sat1s); + if (ephem) calc_satpos_rnx2(ephs, gpstime/1000.0-1, sat1s); + } + + k = 0; + for (j = 0; j < 12; j++) { + + // Pseudorange/chips + for (i = 0; i < 4; i++) { + pseudobytes[i] = frame[posGPS_DATA+8*j+i]; + } + memcpy(&chipbytes, pseudobytes, 4); + + // delta_pseudochips / 385 + for (i = 0; i < 3; i++) { + pseudobytes[i] = frame[posGPS_DATA+8*j+4+i]; + } + deltabytes = 0; // bzw. pseudobytes[3]=0 (24 bit); deltabytes & (0xFF<<24) als + memcpy(&deltabytes, pseudobytes, 3); // gemeinsamer offset relevant in --vel1 ! + + //if ( (prns[j] == 0) && (sat_status[j] & 0x0F) ) prns[j] = 32; + range[prns[j]].tow = gpstime; + range[prns[j]].status = sat_status[j]; + + if ( chipbytes == 0x7FFFFFFF || chipbytes == 0x55555555 ) { + range[prns[j]].chips = 0; + continue; + } + if (option_vergps != 8) { + if ( chipbytes > 0x10000000 && chipbytes < 0xF0000000 ) { + range[prns[j]].chips = 0; + continue; + }} + + range[prns[j]].chips = chipbytes; + range[prns[j]].deltachips = deltabytes; + +/* + if (range[prns[j]].deltachips == 0x555555) { + range[prns[j]].deltachips = 0; + continue; + } +*/ + if ( (prns[j] > 0) && ((sat_status[j] & 0x0F) == 0xF) + && (dist(sat[prns[j]].X, sat[prns[j]].Y, sat[prns[j]].Z, 0, 0, 0) > 6700000) ) + { + for (i = 0; i < k; i++) { if (prn[i] == prns[j]) break; } + if (i == k && prns[j] != exSat) { + //if ( range[prns[j]].status & 0xF0 ) // Signalstaerke > 0 ? + { + prn[k] = prns[j]; + k++; + } + } + } + + } + + + for (j = 0; j < 12; j++) { // 0x013FB0A4 + sat[prns[j]].pseudorange = /*0x01400000*/ - range[prns[j]].chips * df; + sat1s[prns[j]].pseudorange = -(range[prns[j]].chips - range[prns[j]].deltachips/dl)*df; + //+ sat[prns[j]].clock_corr - sat1s[prns[j]].clock_corr + sat[prns[j]].pseudorate = - range[prns[j]].deltachips * df / dl; + + sat[prns[j]].prn = prns[j]; + sat1s[prns[j]].prn = prns[j]; + } + + + pr0 = (double)0x01400000; + for (j = 0; j < k; j++) { + prj = sat[prn[j]].pseudorange + sat[prn[j]].clock_corr; + if (prj < pr0) pr0 = prj; + } + for (j = 0; j < k; j++) sat[prn[j]].PR = sat[prn[j]].pseudorange + sat[prn[j]].clock_corr - pr0 + 20e6; + // es kann PRNs geben, die zeitweise stark abweichende PR liefern; + // eventuell Standardabweichung ermitteln und fehlerhafte Sats weglassen + for (j = 0; j < k; j++) { // sat/sat1s... PR-check + sat1s[prn[j]].PR = sat1s[prn[j]].pseudorange + sat[prn[j]].clock_corr - pr0 + 20e6; + } + + return k; +} + +int get_GPSvel(double lat, double lon, double vel_ecef[3], + double *vH, double *vD, double *vU) { + // ECEF-Velocities + // ECEF-Vel -> NorthEastUp + double phi = lat*M_PI/180.0; + double lam = lon*M_PI/180.0; + double vN = -vel_ecef[0]*sin(phi)*cos(lam) - vel_ecef[1]*sin(phi)*sin(lam) + vel_ecef[2]*cos(phi); + double vE = -vel_ecef[0]*sin(lam) + vel_ecef[1]*cos(lam); + *vU = vel_ecef[0]*cos(phi)*cos(lam) + vel_ecef[1]*cos(phi)*sin(lam) + vel_ecef[2]*sin(phi); + // NEU -> HorDirVer + *vH = sqrt(vN*vN+vE*vE); + *vD = atan2(vE, vN) * 180 / M_PI; + if (*vD < 0) *vD += 360; + + return 0; +} + +double DOP[4]; + +int get_GPSkoord(int N) { + double lat, lon, alt, rx_cl_bias; + double vH, vD, vU; + double lat1s, lon1s, alt1s, + lat0 , lon0 , alt0 , pos0_ecef[3]; + double pos_ecef[3], pos1s_ecef[3], dpos_ecef[3], + vel_ecef[3], dvel_ecef[3]; + double gdop, gdop0 = 1000.0; + //double hdop, vdop, pdop; + int i0, i1, i2, i3, j, k, n; + int nav_ret = 0; + int num = 0; + SAT_t Sat_A[4]; + SAT_t Sat_B[12]; // N <= 12 + SAT_t Sat_B1s[12]; + SAT_t Sat_C[12]; // 11 + double diter; + int exN = -1; + + if (option_vergps == 8) { + fprintf(stdout, " sats: "); + for (j = 0; j < N; j++) fprintf(stdout, "%02d ", prn[j]); + fprintf(stdout, "\n"); + } + + gpx.lat = gpx.lon = gpx.alt = 0; + + if (option_vergps != 2) { + for (i0=0;i0 0 && gdop < gdop0) { // wenn fehlerhafter Sat, diter wohl besserer Indikator + gpx.lat = lat; + gpx.lon = lon; + gpx.alt = alt; + gpx.dop = gdop; + gpx.diter = diter; + gpx.sats[0] = prn[i0]; gpx.sats[1] = prn[i1]; gpx.sats[2] = prn[i2]; gpx.sats[3] = prn[i3]; + gdop0 = gdop; + + if (option_vel == 4) { + gpx.vH = vH; + gpx.vD = vD; + gpx.vU = vU; + } + } + } + + }}}} + } + + if (option_vergps == 8 || option_vergps == 2) { + + for (j = 0; j < N; j++) Sat_B[j] = sat[prn[j]]; + for (j = 0; j < N; j++) Sat_B1s[j] = sat1s[prn[j]]; + + NAV_bancroft1(N, Sat_B, pos_ecef, &rx_cl_bias); + ecef2elli(pos_ecef[0], pos_ecef[1], pos_ecef[2], &lat, &lon, &alt); + gdop = -1; + if (calc_DOPn(N, Sat_B, pos_ecef, DOP) == 0) { + gdop = sqrt(DOP[0]+DOP[1]+DOP[2]+DOP[3]); + } + + NAV_LinP(N, Sat_B, pos_ecef, rx_cl_bias, dpos_ecef, &rx_cl_bias); + if (option_iter) { + for (j = 0; j < 3; j++) pos_ecef[j] += dpos_ecef[j]; + ecef2elli(pos_ecef[0], pos_ecef[1], pos_ecef[2], &lat, &lon, &alt); + } + gpx.diter = dist(0, 0, 0, dpos_ecef[0], dpos_ecef[1], dpos_ecef[2]); + + // Sat mit schlechten Daten suchen + if (gpx.diter > d_err) { + if (N > 5) { // N > 4 kann auch funktionieren + for (n = 0; n < N; n++) { + k = 0; + for (j = 0; j < N; j++) { + if (j != n) { + Sat_C[k] = Sat_B[j]; + k++; + } + } + for (j = 0; j < 3; j++) pos0_ecef[j] = 0; + NAV_bancroft1(N-1, Sat_C, pos0_ecef, &rx_cl_bias); + NAV_LinP(N-1, Sat_C, pos0_ecef, rx_cl_bias, dpos_ecef, &rx_cl_bias); + diter = dist(0, 0, 0, dpos_ecef[0], dpos_ecef[1], dpos_ecef[2]); + ecef2elli(pos0_ecef[0], pos0_ecef[1], pos0_ecef[2], &lat0, &lon0, &alt0); + if (diter < gpx.diter) { + gpx.diter = diter; + for (j = 0; j < 3; j++) pos_ecef[j] = pos0_ecef[j]; + lat = lat0; + lon = lon0; + alt = alt0; + exN = n; + } + } + if (exN >= 0) { + if (prn[exN] == prn32next) prn32toggle ^= 0x1; + for (k = exN; k < N-1; k++) { + Sat_B[k] = Sat_B[k+1]; + prn[k] = prn[k+1]; + if (option_vel == 1) { + Sat_B1s[k] = Sat_B1s[k+1]; + } + } + N = N-1; + if (calc_DOPn(N, Sat_B, pos_ecef, DOP) == 0) { + gdop = sqrt(DOP[0]+DOP[1]+DOP[2]+DOP[3]); + } + } + } +/* + if (exN < 0 && prn32next > 0) { + //prn32next used in pre-fix? prn32toggle ^= 0x1; + } +*/ + } + + if (option_vel == 1) { + NAV_bancroft1(N, Sat_B1s, pos1s_ecef, &rx_cl_bias); + if (option_iter) { + NAV_LinP(N, Sat_B1s, pos1s_ecef, rx_cl_bias, dpos_ecef, &rx_cl_bias); + for (j = 0; j < 3; j++) pos1s_ecef[j] += dpos_ecef[j]; + } + for (j = 0; j < 3; j++) vel_ecef[j] = pos_ecef[j] - pos1s_ecef[j]; + get_GPSvel(lat, lon, vel_ecef, &vH, &vD, &vU); + ecef2elli(pos1s_ecef[0], pos1s_ecef[1], pos1s_ecef[2], &lat1s, &lon1s, &alt1s); + if (option_vergps == 8) { + fprintf(stdout, "\ndeltachips1s lat: %.6f , lon: %.6f , alt: %.2f ", lat1s, lon1s, alt1s); + fprintf(stdout, " vH: %4.1f D: %5.1f° vV: %3.1f ", vH, vD, vU); + fprintf(stdout, "\n"); + } + } + if (option_vel >= 2) { + //fprintf(stdout, "\nP(%.1f,%.1f,%.1f) \n", pos_ecef[0], pos_ecef[1], pos_ecef[2]); + vel_ecef[0] = vel_ecef[1] = vel_ecef[2] = 0; + NAV_LinV(N, Sat_B, pos_ecef, vel_ecef, 0.0, dvel_ecef, &rx_cl_bias); + for (j=0; j<3; j++) vel_ecef[j] += dvel_ecef[j]; + //fprintf(stdout, " V(%.1f,%.1f,%.1f) ", vel_ecef[0], vel_ecef[1], vel_ecef[2]); + //fprintf(stdout, " rx_vel_bias: %.1f \n", rx_cl_bias); + /* 2. Iteration: + NAV_LinV(N, Sat_B, pos_ecef, vel_ecef, rx_cl_bias, dvel_ecef, &rx_cl_bias); + for (j=0; j<3; j++) vel_ecef[j] += dvel_ecef[j]; + //fprintf(stdout, " V(%.1f,%.1f,%.1f) ", vel_ecef[0], vel_ecef[1], vel_ecef[2]); + //fprintf(stdout, " rx_vel_bias: %.1f \n", rx_cl_bias); + */ + get_GPSvel(lat, lon, vel_ecef, &vH, &vD, &vU); + } + + if (option_vergps == 8) { + fprintf(stdout, "bancroft[%2d] lat: %.6f , lon: %.6f , alt: %.2f ", N, lat, lon, alt); + fprintf(stdout, " (d:%.1f)", gpx.diter); + if (option_vel) { + fprintf(stdout, " vH: %4.1f D: %5.1f° vV: %3.1f ", vH, vD, vU); + } + fprintf(stdout, " DOP["); + for (j = 0; j < N; j++) { + fprintf(stdout, "%d", prn[j]); + if (j < N-1) fprintf(stdout, ","); else fprintf(stdout, "] %.1f ", gdop); + } + fprintf(stdout, "\n"); + } + + if (option_vergps == 2) { + gpx.lat = lat; + gpx.lon = lon; + gpx.alt = alt; + gpx.dop = gdop; + num = N; + + if (option_vel) { + gpx.vH = vH; + gpx.vD = vD; + gpx.vU = vU; + } + } + + } + + return num; +} + + +/* ------------------------------------------------------------------------------------ */ + +int rs92agp_ecc(int msglen) { + + int i, ret = 0; + int errors; + ui8_t err_pos[rs_R], err_val[rs_R]; + + if (msglen > FRAME_LEN) msglen = FRAME_LEN; + for (i = msglen; i < FRAME_LEN; i++) frame[i] = 0;//xFF; + + + for (i = 0; i < rs_R; i++) cw[i] = frame[cfg_rs92agp.parpos+i]; + for (i = 0; i < cfg_rs92agp.msglen; i++) cw[rs_R+i] = frame[cfg_rs92agp.msgpos+i]; + + errors = rs_decode(cw, err_pos, err_val); + + //for (i = 0; i < cfg_rs92agp.hdrlen; i++) frame[i] = data[i]; + for (i = 0; i < rs_R; i++) frame[cfg_rs92agp.parpos+i] = cw[i]; + for (i = 0; i < cfg_rs92agp.msglen; i++) frame[cfg_rs92agp.msgpos+i] = cw[rs_R+i]; + + ret = errors; + + return ret; +} + +/* ------------------------------------------------------------------------------------ */ + + +int print_position() { // GPS-Hoehe ueber Ellipsoid + int j, k, n = 0; + int err1, err2; + + err1 = 0; + if (!option_verbose) err1 = err_gps; + err1 |= get_FrameNb(); + err1 |= get_SondeID(); + + err2 = err1 | err_gps; + //err2 |= get_GPSweek(); + err2 |= get_GPStime(); + + if (!err2 && (almanac || ephem)) { + k = get_pseudorange(); + if (k >= 4) { + n = get_GPSkoord(k); + } + } + + if (!err1) { + fprintf(stdout, "[%5d] ", gpx.frnr); + fprintf(stdout, "(%s) ", gpx.id); + } + + if (!err2) { + if (option_verbose) { + Gps2Date(gpx.week, gpx.gpssec, &gpx.jahr, &gpx.monat, &gpx.tag); + //fprintf(stdout, "(W %d) ", gpx.week); + fprintf(stdout, "(%04d-%02d-%02d) ", gpx.jahr, gpx.monat, gpx.tag); + } + fprintf(stdout, "%s ", weekday[gpx.wday]); // %04.1f: wenn sek >= 59.950, wird auf 60.0 gerundet + fprintf(stdout, "%02d:%02d:%06.3f", gpx.std, gpx.min, gpx.sek); + + if (n > 0) { + fprintf(stdout, " "); + + if (almanac) fprintf(stdout, " lat: %.4f lon: %.4f alt: %.1f ", gpx.lat, gpx.lon, gpx.alt); + else fprintf(stdout, " lat: %.5f lon: %.5f alt: %.1f ", gpx.lat, gpx.lon, gpx.alt); + + if (option_verbose && option_vergps != 8) { + fprintf(stdout, " (d:%.1f)", gpx.diter); + } + if (option_vel /*&& option_vergps >= 2*/) { + fprintf(stdout," vH: %4.1f D: %5.1f° vV: %3.1f ", gpx.vH, gpx.vD, gpx.vU); + } + if (option_verbose) { + if (option_vergps != 2) { + fprintf(stdout, " DOP[%02d,%02d,%02d,%02d] %.1f", + gpx.sats[0], gpx.sats[1], gpx.sats[2], gpx.sats[3], gpx.dop); + } + else { // wenn option_vergps=2, dann n=N=k(-1) + fprintf(stdout, " DOP["); + for (j = 0; j < n; j++) { + fprintf(stdout, "%d", prn[j]); + if (j < n-1) fprintf(stdout, ","); else fprintf(stdout, "] %.1f ", gpx.dop); + } + } + } + } + + get_Cal(); + + if (option_vergps == 8 /*|| option_vergps == 2*/) + { + fprintf(stdout, "\n"); + for (j = 0; j < 60; j++) { fprintf(stdout, "%d", prn_le[j]); if (j % 5 == 4) fprintf(stdout, " "); } + fprintf(stdout, ": "); + for (j = 0; j < 12; j++) fprintf(stdout, "%2d ", prns[j]); + fprintf(stdout, "\n"); + fprintf(stdout, " status: "); + for (j = 0; j < 12; j++) fprintf(stdout, "%02X ", sat_status[j]); //range[prns[j]].status + fprintf(stdout, "\n"); + } + + } + + if (!err1) { + fprintf(stdout, "\n"); + //if (option_vergps == 8) fprintf(stdout, "\n"); + } + + return err2; +} + +void print_frame(int len) { + int i, ret = 0; + ui8_t byte; + + if (option_ecc) { + ret = rs92agp_ecc(len); + } + + for (i = len; i < FRAME_LEN; i++) { + frame[i] = 0; + } + + + if (option_raw) { + for (i = 0; i < len; i++) { + //byte = frame[i]; + byte = framebyte(i); + fprintf(stdout, "%02x", byte); + } + if (option_ecc && option_verbose) { + fprintf(stdout, " "); + if (ret >= 0) fprintf(stdout, " [OK]"); else fprintf(stdout, " [NO]"); + fprintf(stdout, " errors: %d", ret); + } + fprintf(stdout, "\n"); + } + else print_position(); +} + + +int main(int argc, char *argv[]) { + + FILE *fp, *fp_alm = NULL, *fp_eph = NULL; + char *fpname; + char bitbuf[BITS]; + int bit_count = 0, + byte_count = FRAMESTART, + header_found = 0, + byte, i; + int bit, len; + char *pbuf = NULL; + +#ifdef CYGWIN + _setmode(_fileno(stdin), _O_BINARY); +#endif + setbuf(stdout, NULL); + + fpname = argv[0]; + ++argv; + while ((*argv) && (!fileloaded)) { + if ( (strcmp(*argv, "-h") == 0) || (strcmp(*argv, "--help") == 0) ) { + fprintf(stderr, "%s [options] \n", fpname); + fprintf(stderr, " file: audio.wav or raw_data\n"); + fprintf(stderr, " options:\n"); + fprintf(stderr, " --vel; --vel1, --vel2 (-g2)\n"); + fprintf(stderr, " -v, -vx, -vv\n"); + fprintf(stderr, " -r, --raw\n"); + fprintf(stderr, " -i, --invert\n"); + fprintf(stderr, " -a, --almanac \n"); + fprintf(stderr, " -e, --ephem \n"); + fprintf(stderr, " -g1 (verbose GPS: 4 sats)\n"); + fprintf(stderr, " -g2 (verbose GPS: all sats)\n"); + fprintf(stderr, " -gg (vverbose GPS)\n"); + fprintf(stderr, " --crc (CRC check GPS)\n"); + fprintf(stderr, " --ecc (Reed-Solomon)\n"); + fprintf(stderr, " --rawin1,2 (raw_data file)\n"); + return 0; + } + else if ( (strcmp(*argv, "--vel") == 0) ) { + option_vel = 4; + } + else if ( (strcmp(*argv, "--vel1") == 0) ) { + option_vel = 1; + if (option_vergps < 1) option_vergps = 2; + } + else if ( (strcmp(*argv, "--vel2") == 0) ) { + option_vel = 2; + if (option_vergps < 1) option_vergps = 2; + } + else if ( (strcmp(*argv, "--iter") == 0) ) { + option_iter = 1; + } + else if ( (strcmp(*argv, "-v") == 0) ) { + option_verbose = 1; + } + else if ( (strcmp(*argv, "-vv") == 0) ) { + option_verbose = 4; + } + else if ( (strcmp(*argv, "-vx") == 0) ) { + option_aux = 1; + } + else if (strcmp(*argv, "--crc") == 0) { option_crc = 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, "-a") == 0) || (strcmp(*argv, "--almanac") == 0) ) { + ++argv; + if (*argv) fp_alm = fopen(*argv, "r"); // txt-mode + else return -1; + } + else if ( (strcmp(*argv, "-e") == 0) || (strncmp(*argv, "--ephem", 7) == 0) ) { + ++argv; + if (*argv) fp_eph = fopen(*argv, "r"); // txt-mode + else return -1; + } + else if ( (strcmp(*argv, "--dop") == 0) ) { + ++argv; + if (*argv) { + dop_limit = atof(*argv); + if (dop_limit <= 0 || dop_limit >= 100) dop_limit = 9.9; + } + else return -1; + } + else if ( (strcmp(*argv, "--der") == 0) ) { + ++argv; + if (*argv) { + d_err = atof(*argv); + if (d_err <= 0 || d_err >= 100000) d_err = 10000; + else option_der = 1; + } + else return -1; + } + else if ( (strcmp(*argv, "--exsat") == 0) ) { + ++argv; + if (*argv) { + exSat = atoi(*argv); + if (exSat < 1 || exSat > 32) exSat = -1; + } + else return -1; + } + else if (strcmp(*argv, "-g1") == 0) { option_vergps = 1; } // verbose1 GPS + else if (strcmp(*argv, "-g2") == 0) { option_vergps = 2; } // verbose2 GPS (bancroft) + else if (strcmp(*argv, "-gg") == 0) { option_vergps = 8; } // vverbose GPS + else if (strcmp(*argv, "--rawin1") == 0) { rawin = 2; } // raw_txt input1 + else if (strcmp(*argv, "--rawin2") == 0) { rawin = 3; } // raw_txt input2 (SM) + else if ( (strcmp(*argv, "--avg") == 0) ) { + option_avg = 1; + } + else if (strcmp(*argv, "-b") == 0) { option_b = 1; } + else if (strcmp(*argv, "--ecc") == 0) { option_ecc = 1; } + else { + if (!rawin) fp = fopen(*argv, "rb"); + else fp = fopen(*argv, "r"); + if (fp == NULL) { + fprintf(stderr, "%s konnte nicht geoeffnet werden\n", *argv); + return -1; + } + fileloaded = 1; + } + ++argv; + } + if (!fileloaded) fp = stdin; + + if (fp_alm) { + i = read_SEMalmanac(fp_alm, alm); + if (i == 0) { + almanac = 1; + } + fclose(fp_alm); + if (!option_der) d_err = 4000; + } + if (fp_eph) { + /* i = read_RNXephemeris(fp_eph, eph); + if (i == 0) { + ephem = 1; + almanac = 0; + } + fclose(fp_eph); */ + ephs = read_RNXpephs(fp_eph); + if (ephs) { + ephem = 1; + almanac = 0; + } + fclose(fp_eph); + if (!option_der) d_err = 1000; + } + + if (option_ecc) { + rs_init_RS255(); + } + + + if (!rawin) { + + i = read_wav_header(fp); + if (i) { + fclose(fp); + return -1; + } + + while (!read_bits_fsk(fp, &bit, &len)) { + + if (len == 0) { // reset_frame(); + if (byte_count > pos_SondeID+8) { + if (byte_count < FRAME_LEN-20) err_gps = 1; + print_frame(byte_count); + err_gps = 0; + } + bit_count = 0; + byte_count = FRAMESTART; + header_found = 0; + inc_bufpos(); + buf[bufpos] = 'x'; + continue; // ... + } + + for (i = 0; i < len; i++) { + + inc_bufpos(); + buf[bufpos] = 0x30 + bit; // Ascii + + if (!header_found) { + if (compare() >= HEADLEN) header_found = 1; + } + else { + bitbuf[bit_count] = bit; + bit_count++; + + if (bit_count == BITS) { + bit_count = 0; + byte = bits2byte(bitbuf); + frame[byte_count] = byte ^ mask[byte_count % MASK_LEN]; + byte_count++; + if (byte_count == FRAME_LEN) { + byte_count = FRAMESTART; + header_found = 0; + //inc_bufpos(); + //buf[bufpos] = 'x'; + print_frame(FRAME_LEN); + } + } + } + } + if (header_found && option_b) { + bitstart = 1; + + while ( byte_count < FRAME_LEN ) { + if (read_rawbit(fp, &bit) == EOF) break; + bitbuf[bit_count] = bit; + bit_count++; + if (bit_count == BITS) { + bit_count = 0; + byte = bits2byte(bitbuf); + frame[byte_count] = byte ^ mask[byte_count % MASK_LEN]; + byte_count++; + } + } + header_found = 0; + print_frame(byte_count); + byte_count = FRAMESTART; + + } + } + + } + else //if (rawin) + { + if (rawin == 3) frameofs = 5; + + while (1 > 0) { + + pbuf = fgets(buffer_rawin, rawin*FRAME_LEN+4, fp); + if (pbuf == NULL) break; + buffer_rawin[rawin*FRAME_LEN+1] = '\0'; + len = strlen(buffer_rawin) / rawin; + if (len > pos_SondeID+8) { + for (i = 0; i < len-frameofs; i++) { //%2x SCNx8=%hhx(inttypes.h) + sscanf(buffer_rawin+rawin*i, "%2hhx", frame+frameofs+i); + // wenn ohne %hhx: sscanf(buffer_rawin+rawin*i, "%2x", &byte); frame[frameofs+i] = (ui8_t)byte; + } + if (len < FRAME_LEN-20) err_gps = 1; + print_frame(len); + err_gps = 0; + } + } + } + + free(ephs); + fclose(fp); + + return 0; +} + +