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RS-tracker/demod/mod/rs92mod.c

2093 wiersze
70 KiB
C
Czysty Bezpośredni odnośnik Wina Historia

/*
* rs92
* sync header: correlation/matched filter
* files: rs92mod.c nav_gps_vel.c bch_ecc_mod.c bch_ecc_mod.h demod_mod.c demod_mod.h
* compile:
* (a)
* gcc -c demod_mod.c
* gcc -DINCLUDESTATIC rs92mod.c demod_mod.o -lm -o rs92mod
* (b)
* gcc -c demod_mod.c
* gcc -c bch_ecc_mod.c
* gcc rs92mod.c demod_mod.o bch_ecc_mod.o -lm -o rs92mod
*
* author: zilog80
*/
#include <stdio.h>
#include <stdlib.h>
#include <string.h>
#include <math.h>
#ifdef CYGWIN
#include <fcntl.h> // cygwin: _setmode()
#include <io.h>
#endif
// optional JSON "version"
// (a) set global
// gcc -DVERSION_JSN [-I<inc_dir>] ...
#ifdef VERSION_JSN
#include "version_jsn.h"
#endif
// or
// (b) set local compiler option, e.g.
// gcc -DVER_JSN_STR=\"0.0.2\" ...
//typedef unsigned char ui8_t;
//typedef unsigned short ui16_t;
//typedef unsigned int ui32_t;
#include "demod_mod.h"
//#define INCLUDESTATIC 1
#ifdef INCLUDESTATIC
#include "bch_ecc_mod.c"
#else
#include "bch_ecc_mod.h"
#endif
typedef struct {
i8_t vbs; // verbose output
i8_t raw; // raw frames
i8_t crc; // CRC check output
i8_t ecc; // Reed-Solomon ECC
i8_t sat; // GPS sat data
i8_t ptu; // PTU: temperature
i8_t inv;
i8_t aut;
i8_t aux; // aux/ozone
i8_t jsn; // JSON output (auto_rx)
i8_t ngp;
i8_t dbg;
} option_t;
typedef struct {
int typ;
int msglen;
int msgpos;
int parpos;
int hdrlen;
int frmlen;
} rscfg_t;
static rscfg_t cfg_rs92 = { 92, 240-6-24, 6, 240-24, 6, 240};
/* --- RS92-SGP: 8N1 manchester --- */
#define BITS (1+8+1) // 10
//#define HEADLEN 60
#define FRAMESTART 6 //((HEADLEN)/BITS)
#define FRAME_LEN 240
/* 2A 10*/
static char rs92_rawheader[] = //"10100110011001101001"
//"10100110011001101001"
//"10100110011001101001"
"10100110011001101001"
"1010011001100110100110101010100110101001";
static ui8_t rs92_header_bytes[6] = { 0x2A, 0x2A, 0x2A, 0x2A, 0x2A, 0x10};
#include "nav_gps_vel.c"
typedef struct {
i8_t opt_vergps;
i8_t opt_iter;
i8_t opt_vel;
float dop_limit; // 9.9
float d_err; // 10000
int almanac;
int ephem;
int exSat; // -1
ui8_t WEEK1024epoch; // SEM almanac, GPS epoch (1: 1999-2019)
ui8_t sat_status[12];
ui8_t prn[12]; // valide PRN 0,..,k-1
ui8_t prn32toggle; // 0x1
ui8_t prn32next;
EPHEM_t alm[33];
EPHEM_t *ephs;
SAT_t sat[33];
SAT_t sat1s[33];
} GPS_t;
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;
ui16_t conf_kt; // kill timer (sec)
int freq; // freq/kHz (RS92)
int jsn_freq; // freq/kHz (SDR)
ui32_t crc;
ui8_t frame[FRAME_LEN]; // { 0x2A, 0x2A, 0x2A, 0x2A, 0x2A, 0x10}
//
ui8_t cal_state[2];
ui8_t calfrms;
ui8_t calibytes[32*16];
ui8_t calfrchk[32];
float cal_f32[256];
float T;
float _RH; float RH;
float _P; float P;
//
ui8_t xcal16[16];
ui8_t xptu16[16];
int rs_type;
//
unsigned short aux[4];
double diter;
option_t option;
RS_t RS;
GPS_t gps;
} gpx_t;
/* --- RS92-SGP ------------------- */
#define MASK_LEN 64
static 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
/* ------------------------------------------------------------------------------------ */
// manchester1 1->10,0->01: 1.bit
// manchester2 0->10,1->01: 2.bit
// RS92-SGP: 8N1 manchester2
static int bits2byte(char bits[]) {
int i, byteval=0, d=1;
//if (bits[0] != 0) return 0x100; // erasure?
//if (bits[9] != 1) return 0x100; // erasure?
for (i = 1; i <= 8; i++) { // little endian
/* for (i = 8; i > 1; i--) { // big endian */
if (bits[i] == 1) byteval += d;
else if (bits[i] == 0) byteval += 0;
d <<= 1;
}
return byteval;
}
/*
ui8_t xorbyte(int pos) {
return xframe[pos] ^ mask[pos % MASK_LEN];
}
*/
/* ------------------------------------------------------------------------------------ */
//#define GPS_WEEK1024 1 // SEM almanac
#define WEEKSEC 604800
/*
* Convert GPS Week and Seconds to Modified Julian Day.
* - Adapted from sci.astro FAQ.
* - Ignores UTC leap seconds.
*/
// in : week, gpssec
// out: jahr, monat, tag
static void Gps2Date(gpx_t *gpx) {
long GpsDays, Mjd;
long J, C, Y, M;
GpsDays = gpx->week * 7 + (gpx->gpssec / 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;
gpx->tag = J - 2447 * M / 80;
J = M / 11;
gpx->monat = M + 2 - (12 * J);
gpx->jahr = 100 * (C - 49) + Y + J;
}
/* ------------------------------------------------------------------------------------ */
#define RS92SGP 0
#define RS92AGP 1
#define RS92NGP 2
#define crc_FRAME (1<<0)
#define pos_FrameNb 0x08 // 2 byte
#define pos_SondeID 0x0C // 8 byte // oder: 0x0A, 10 byte?
#define pos_CalData 0x17 // 1 byte, counter 0x00..0x1f
#define pos_Calfreq 0x1A // 2 byte, calfr 0x00
#define crc_GPS (1<<2)
#define posGPS_TOW 0x48 // 4 byte
#define posGPS_PRN 0x4E // 12*5 bit in 8 byte
#define posGPS_STATUS 0x56 // 12 byte
#define posGPS_DATA 0x62 // 12*8 byte
#define crc_PTU (1<<1)
#define pos_PTU 0x2C // 24 byte
#define crc_AUX (1<<3)
#define pos_AUX 0xC6 // 10 byte
#define pos_AuxData 0xC8 // 8 byte
#define BLOCK_CFG 0x6510 // frame[pos_FrameNb-2], frame[pos_FrameNb-1]
#define BLOCK_PTU 0x690C
#define BLOCK_GPS 0x673D // frame[posGPS_TOW-2], frame[posGPS_TOW-1]
#define BLOCK_AUX 0x6805
#define LEN_CFG (2*(BLOCK_CFG & 0xFF))
#define LEN_GPS (2*(BLOCK_GPS & 0xFF))
#define LEN_PTU (2*(BLOCK_PTU & 0xFF))
#define LEN_AUX (2*(BLOCK_AUX & 0xFF))
static int crc16(gpx_t *gpx, 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 = gpx->frame[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;
}
static int get_FrameNb(gpx_t *gpx) {
int i;
unsigned byte;
ui8_t frnr_bytes[2];
int frnr;
for (i = 0; i < 2; i++) {
byte = gpx->frame[pos_FrameNb + i];
frnr_bytes[i] = byte;
}
frnr = frnr_bytes[0] + (frnr_bytes[1] << 8);
gpx->frnr = frnr;
return 0;
}
// calib rows 0x0F,0x10,0x11, 0x14,0x15,0x16,0x17, 0x18(10bytes) constant across rs92 ?
// cal block 0x40..0x40+0x14A: (66*5=330=0x14A byte)
// 0x0a, 0xcf, 0xcf, 0xb8, 0xc3, 0x0b, 0xd7, 0x9d, 0xf5, 0x41, 0x0c, 0x46, 0xe6, 0xa2, 0x43, 0x0d,
// 0x3f, 0x07, 0xc6, 0xc2, 0x0e, 0x6c, 0x04, 0x90, 0x41, 0x0f, 0xf0, 0xde, 0xa5, 0xbf, 0x11, 0x8f,
// 0xc2, 0x75, 0x3f, 0x14, 0x77, 0x16, 0xf9, 0xc4, 0x15, 0x54, 0x1f, 0x78, 0x45, 0x16, 0xf0, 0xfb,
// 0x4f, 0xc5, 0x17, 0xcb, 0x75, 0xa9, 0x44, 0x1b, 0x8f, 0xc2, 0x75, 0x3f, 0x3c, 0x00, 0x5b, 0x9b,
// 0x3d, 0x3d, 0x24, 0xaf, 0xd2, 0xbc, 0x3e, 0xae, 0x80, 0x84, 0xbc, 0x3f, 0x2e, 0xd1, 0x51, 0x3b,
// 0x46, 0x12, 0x6a, 0x90, 0x39, 0x47, 0xbd, 0xdd, 0xab, 0xb9, 0x48, 0x20, 0x4b, 0x6d, 0xb8, 0x49,
// 0x2f, 0x14, 0xc7, 0x36, 0x50, 0xa2, 0x59, 0x63, 0xb6, 0x51, 0xed, 0xa0, 0x3f, 0x36, 0x52, 0x26,
// 0xd8, 0x4a, 0xb4, 0x1e, 0x08, 0xdc, 0x37, 0xc3, 0x1f, 0x2f, 0xd9, 0xbf, 0x42, 0x20, 0x03, 0x46,
// 0x0d, 0xc2, 0x21, 0xa6, 0x72, 0x42, 0x41, 0x22, 0x36, 0xcc, 0xfc, 0xbf, 0x23, 0xf5, 0x80, 0xf9,
// 0x3d, 0x25, 0xbb, 0x74, 0x57, 0x3f, 0x28, 0x10, 0x08, 0x16, 0xc5, 0x29, 0x0c, 0xe1, 0xb2, 0x45,
// 0x2a, 0xd7, 0xed, 0x7b, 0xc5, 0x2b, 0x16, 0x3b, 0x5d, 0x44, 0x2f, 0x8f, 0xc2, 0x75, 0x3f, 0x6e,
// 0xab, 0xcf, 0x05, 0x3f, 0x6f, 0x1e, 0xa7, 0xe8, 0xbc, 0x70, 0x45, 0xf2, 0x95, 0x39, 0x71, 0x5f, // 0x0F0
// 0xc9, 0x70, 0x35, 0x72, 0x4f, 0x2c, 0xad, 0xb0, 0x78, 0x9e, 0xb1, 0x89, 0x3f, 0x79, 0x60, 0xe5, // 0x100
// 0x50, 0xbe, 0x7a, 0x7c, 0x9a, 0x13, 0x3c, 0x7b, 0x26, 0x87, 0x74, 0xb8, 0x7c, 0x21, 0x96, 0x8b, // 0x110
// 0xb5, 0x32, 0xa6, 0xa3, 0x42, 0xc5, 0x33, 0xd9, 0xb6, 0xd7, 0x45, 0x34, 0xe1, 0x7d, 0x92, 0xc5,
// 0x35, 0x4a, 0x0c, 0x7c, 0x44, 0x39, 0x8f, 0xc2, 0x75, 0x3f, 0x82, 0xab, 0xcf, 0x05, 0x3f, 0x83,
// 0x1e, 0xa7, 0xe8, 0xbc, 0x84, 0x45, 0xf2, 0x95, 0x39, 0x85, 0x5f, 0xc9, 0x70, 0x35, 0x86, 0x4f, // 0x140
// 0x2c, 0xad, 0xb0, 0x8c, 0x9e, 0xb1, 0x89, 0x3f, 0x8d, 0x60, 0xe5, 0x50, 0xbe, 0x8e, 0x7c, 0x9a, // 0x150
// 0x13, 0x3c, 0x8f, 0x26, 0x87, 0x74, 0xb8, 0x90, 0x21, 0x96, 0x8b, 0xb5, 0x97, 0xac, 0x64, 0x9f, // 0x160
// 0x36, 0x98, 0x92, 0x25, 0x6b, 0xb3, 0x99, 0xe1, 0x57, 0x05, 0x30, 0x9a, 0xfe, 0x51, 0xf4, 0xab, // 0x170
// 0x9d, 0x33, 0x33, 0x33, 0x3f, 0xa7, 0x33, 0x33, 0x33, 0x3f
static ui8_t rs92calx170[16] = {
0x36, 0x98, 0x92, 0x25, 0x6b, 0xb3, 0x99, 0xe1, 0x57, 0x05, 0x30, 0x9a, 0xfe, 0x51, 0xf4, 0xab}; // 0x170
static int chk_toggle_type(gpx_t *gpx) {
int toggle = 0;
int n;
// constant rs92-coeffs
//gpx->xcal16[ 0] == 0 && gpx->xcal16[ 1] == 0 &&
//gpx->xcal16[ 5] == 0 && gpx->xcal16[ 6] == 0 &&
//gpx->xcal16[10] == 0 && gpx->xcal16[11] == 0
if ( memcmp(gpx->calibytes+0x170, rs92calx170, 16) == 0 ) {
gpx->rs_type = RS92SGP;
}
else {
gpx->rs_type = RS92NGP;
}
// rs92sgp: conf/calib data after 0x40+0x14A ... zero ?
// check ptu-float32 plausibility
if (gpx->rs_type == RS92SGP && gpx->option.ngp) toggle = 1;
if (gpx->rs_type == RS92NGP && !gpx->option.ngp) toggle = 2;
if (toggle) gpx->option.ngp ^= 1;
return toggle;
}
static int xor_ptu(gpx_t *gpx) {
int j, k;
ui32_t a, c, tmp;
ui8_t *pcal = gpx->calibytes+0x24;
for (j = 0; j < 8; j++) {
tmp = 0x1d89;
for (k = 0; k < 4; k++) {
a = pcal[j+k] & 0xFF;
c = tmp;
//add(A, C, A);
a = a + c;
c = a;
//shl_add(A, 10, C, A);
a = (a << 10) + c;
c = a;
//shr_xor(A, 6, C, A);
a = (a >> 6) ^ c;
tmp = a;
}
a = tmp;
c = a;
//shl_add(A, 3, C, A);
a = (a << 3) + c;
c = a;
//shr_xor(A, 11, C, A);
a = (a >> 11) ^ c;
c = a;
//shl_add(A, 15, C, A);
a = (a << 15) + c;
//y = a & 0xFFFF;
gpx->xptu16[2*j ] = a & 0xFF;
gpx->xptu16[2*j+1] = (a>>8) & 0xFF;
}
return 0;
}
static int get_SondeID(gpx_t *gpx) {
int i, ret=0;
unsigned byte;
ui8_t sondeid_bytes[10];
ui8_t calfr;
int crc_frame, crc;
// BLOCK_CFG == frame[pos_FrameNb-2 .. pos_FrameNb-1] ?
crc_frame = gpx->frame[pos_FrameNb+LEN_CFG] | (gpx->frame[pos_FrameNb+LEN_CFG+1] << 8);
crc = crc16(gpx, pos_FrameNb, LEN_CFG);
if (crc_frame != crc) gpx->crc |= crc_FRAME;
ret = 0;
if (gpx->option.crc && crc != crc_frame) {
ret = -2; // erst wichtig, wenn Cal/Cfg-Data
}
if (crc == crc_frame)
{
for (i = 0; i < 8; i++) {
byte = gpx->frame[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 ) {
memset(gpx->calibytes, 0, 32*16);
memset(gpx->calfrchk, 0, 32);
memset(gpx->cal_f32, 0, 256*4);
gpx->calfrms = 0;
gpx->T = -275.15f;
gpx->_RH = -1.0f;
gpx->_P = -1.0f;
gpx->RH = -1.0f;
gpx->P = -1.0f;
// new ID:
memcpy(gpx->id, sondeid_bytes, 8);
}
memcpy(gpx->cal_state, gpx->frame+(pos_FrameNb + 12), 2);
calfr = gpx->frame[pos_CalData]; // 0..31
if (calfr < 32) {
if (gpx->calfrchk[calfr] == 0) // const?
{
for (i = 0; i < 16; i++) {
gpx->calibytes[calfr*16 + i] = gpx->frame[pos_CalData+1+i];
}
gpx->calfrchk[calfr] = 1;
}
}
if (gpx->calfrms < 32) {
gpx->calfrms = 0;
for (i = 0; i < 32; i++) gpx->calfrms += (gpx->calfrchk[i]>0);
}
if (gpx->calfrms == 32)
{
ui8_t xcal[66*5];
ui8_t *xcal16 = gpx->xcal16;
ui8_t *p = gpx->calibytes+0x170;
ui8_t *q = rs92calx170;
int cal_chk = 0;
gpx->calfrms += 1;
xor_ptu(gpx);
if (gpx->option.dbg) {
printf("XPTU:"); for (int j = 0; j < 16; j++) printf(" %02X", gpx->xptu16[j]); printf("\n");
}
//Xx17: __ 98 __ __ __ __ 99 __ __ __ __ 9a __ __ __ __
// p[0], p[1]=idx, p[2+1], p[3+1], p[4-2], p[5], p[6]=idx, ...
for (int k = 0; k < 3; k++) {
xcal16[5*k] = p[5*k]^q[5*k];
xcal16[5*k+1] = p[5*k+1]^q[5*k+1];
xcal16[5*k+2+1] = p[5*k+2+1]^q[5*k+2];
xcal16[5*k+3+1] = p[5*k+3+1]^q[5*k+3];
xcal16[5*k+4-2] = p[5*k+4-2]^q[5*k+4];
}
xcal16[5*3] = p[5*3]^q[5*3];
if (gpx->option.dbg) {
printf("XCAL:"); for (int j = 0; j < 16; j++) printf(" %02X", xcal16[j]); printf("\n");
}
int tgl = chk_toggle_type(gpx);
for (int j = 0; j < 66*5; j++) {
xcal[j] = gpx->calibytes[0x40+j];
if (gpx->option.ngp) {
xcal[j] ^= gpx->xcal16[j%16];
}
}
for (int j = 0; j < 66; j++) {
ui8_t idx = xcal[5*j];
ui8_t *dat = xcal+(5*j+1);
ui32_t le_dat32 = dat[0] | (dat[1]<<8) | (dat[2]<<16) | (dat[3]<<24);
ui32_t xx_dat32 = dat[1] | (dat[2]<<8) | (dat[0]<<16) | (dat[3]<<24);
float *pf32 = (float*)&le_dat32;
if (gpx->option.ngp) {
pf32 = (float*)&xx_dat32;
}
gpx->cal_f32[idx] = *pf32;
if (gpx->option.dbg)
{
if (idx/10 == 3 || idx/10 == 4 || idx/10 == 5)
{
printf(" %3d :", idx);
for (int i = 1; i < 5; i++) {
printf(" %02x", xcal[5*j+i]);
}
printf(" : %f", *pf32);
printf("\n");
}
}
}
}
}
return ret;
}
// ----------------------------------------------------------------------------------------------------
// PTU
// cf. Haeberli (2001),
// https://brmlab.cz/project/weathersonde/telemetry_decoding
//
static float poly5(float x, float *a) {
float p = 0.0;
p = ((((a[5]*x+a[4])*x+a[3])*x+a[2])*x+a[1])*x+a[0];
return p;
}
static float nu(float t, float t0, float y0) {
// t=1/f2-1/f , t0=1/f2-1/f1 , 1/freq=meas24
float y = t / t0;
return 1.0f / (y0 - y);
}
static int get_Meas(gpx_t *gpx) {
ui32_t temp, pres, hum1, hum2, ref1, ref2, ref3, ref4;
ui8_t *meas24 = gpx->frame+pos_PTU;
float T, U1, U2, _P, _rh, x;
if ( gpx->option.ngp && (gpx->crc & crc_FRAME) ) return -2; // frame number
for (int j = 0; j < 24; j++) {
ui8_t byte = meas24[j];
if (gpx->option.ngp) {
byte ^= gpx->frame[pos_FrameNb+(j&1)];
byte ^= gpx->xptu16[j%16];
}
meas24[j] = byte;
}
temp = meas24[ 0] | (meas24[ 1]<<8) | (meas24[ 2]<<16); // ch1
hum1 = meas24[ 3] | (meas24[ 4]<<8) | (meas24[ 5]<<16); // ch2
hum2 = meas24[ 6] | (meas24[ 7]<<8) | (meas24[ 8]<<16); // ch3
ref1 = meas24[ 9] | (meas24[10]<<8) | (meas24[11]<<16); // ch4
ref2 = meas24[12] | (meas24[13]<<8) | (meas24[14]<<16); // ch5
pres = meas24[15] | (meas24[16]<<8) | (meas24[17]<<16); // ch6
ref3 = meas24[18] | (meas24[19]<<8) | (meas24[20]<<16); // ch7
ref4 = meas24[21] | (meas24[22]<<8) | (meas24[23]<<16); // ch8
if (gpx->calfrms > 0x20)
{
// Temperature
x = nu( (float)(ref1 - temp), (float)(ref1 - ref4), gpx->cal_f32[37] );
T = poly5(x, gpx->cal_f32+30);
if (T > -120.0f && T < 80.0f) gpx->T = T;
else gpx->T = -273.15f;
// rel. Humidity (ref3 or ref4 ?)
x = nu( (float)(ref1 - hum1), (float)(ref1 - ref3), gpx->cal_f32[47] );
U1 = poly5(x, gpx->cal_f32+40); // c[44]=c[45]=0
x = nu( (float)(ref1 - hum2), (float)(ref1 - ref3), gpx->cal_f32[57] );
U2 = poly5(x, gpx->cal_f32+50); // c[54]=c[55]=0
_rh = U1 > U2 ? U1 : U2; // max(U1,U2), vgl. cal_state[1].bit3
gpx->_RH = _rh;
if (gpx->_RH < 0.0f) gpx->_RH = 0.0f;
if (gpx->_RH > 100.0f) gpx->_RH = 100.0f;
// correction for higher RH-sensor temperature (at low temperatures)?
// (cf. amt-7-4463-2014)
// if (T<-60C || P<100hPa): cal_state[1].bit2=0
// (Hyland and Wexler)
// if (T>-60C && P>100hPa): rh = _rh*vaporSatP(Trh)/vaporSatP(T) ...
// estimate Trh ?
// (uncorrected) Pressure
x = nu( (float)(ref1 - pres), (float)(ref1 - ref4), gpx->cal_f32[17] );
_P = poly5(x, gpx->cal_f32+10);
if (_P < 0.0f && _P > 2000.0f) _P = -1.0f;
gpx->_P = _P;
// correction for x and coefficients?
}
return 0;
}
// ----------------------------------------------------------------------------------------------------
static int get_PTU(gpx_t *gpx) {
int ret=0;
int crc_frame, crc;
crc_frame = gpx->frame[pos_PTU+LEN_PTU] | (gpx->frame[pos_PTU+LEN_PTU+1] << 8);
crc = crc16(gpx, pos_PTU, LEN_PTU);
if (crc_frame != crc) gpx->crc |= crc_PTU;
ret = 0;
if (gpx->option.crc && crc != crc_frame) {
ret = -2;
}
if (ret == 0) {
if (gpx->calfrms > 0x20) ret = get_Meas(gpx);
}
return ret;
}
//char weekday[7][3] = { "So", "Mo", "Di", "Mi", "Do", "Fr", "Sa"};
static char weekday[7][4] = { "Sun", "Mon", "Tue", "Wed", "Thu", "Fri", "Sat"};
static int get_GPStime(gpx_t *gpx) {
int i, ret=0;
unsigned byte;
ui8_t gpstime_bytes[4];
ui32_t gpstime = 0; // 32bit
int day;
int ms;
int crc_frame, crc;
// BLOCK_GPS == frame[posGPS_TOW-2 .. posGPS_TOW-1] ?
crc_frame = gpx->frame[posGPS_TOW+LEN_GPS] | (gpx->frame[posGPS_TOW+LEN_GPS+1] << 8);
crc = crc16(gpx, posGPS_TOW, LEN_GPS);
if (crc_frame != crc) gpx->crc |= crc_GPS;
ret = 0;
if (gpx->option.crc && crc != crc_frame) {
ret = -2;
}
for (i = 0; i < 4; i++) {
byte = gpx->frame[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;
}
static int get_Aux(gpx_t *gpx) {
int i, ret=0;
unsigned short byte;
int crc_frame, crc;
crc_frame = gpx->frame[pos_AUX+LEN_AUX] | (gpx->frame[pos_AUX+LEN_AUX+1] << 8);
crc = crc16(gpx, pos_AUX, LEN_AUX);
if (crc_frame != crc) gpx->crc |= crc_AUX;
ret = 0;
if (gpx->option.crc && crc != crc_frame) {
ret = -2;
}
for (i = 0; i < 4; i++) {
byte = gpx->frame[pos_AuxData+2*i] + (gpx->frame[pos_AuxData+2*i+1]<<8);
gpx->aux[i] = byte;
}
return ret;
}
static int get_Cal(gpx_t *gpx) {
int i;
unsigned byte;
ui8_t calfr = 0;
//ui8_t burst = 0;
ui8_t bytes[2];
int freq = 0;
ui16_t killtime = 0;
byte = gpx->frame[pos_CalData];
calfr = byte;
if (gpx->option.vbs == 4) {
fprintf(stdout, "\n");
fprintf(stdout, "[%5d] ", gpx->frnr);
fprintf(stdout, " 0x%02x:", calfr);
for (i = 0; i < 16; i++) {
byte = gpx->frame[pos_CalData+1+i];
fprintf(stdout, " %02x", byte);
}
if ((gpx->crc & crc_FRAME)==0) fprintf(stdout, " [OK]"); else fprintf(stdout, " [NO]");
}
if (gpx->option.aux) {
if (gpx->option.vbs == 4) {
fprintf(stdout, " # ");
for (i = 0; i < 8; i++) {
byte = gpx->frame[pos_AuxData+i];
fprintf(stdout, "%02x ", byte);
}
}
}
if (calfr == 0x00) {
for (i = 0; i < 2; i++) {
bytes[i] = gpx->frame[pos_Calfreq + i];
}
byte = bytes[0] + (bytes[1] << 8);
//fprintf(stdout, ":%04x ", byte);
freq = 400000 + 10*byte; // kHz;
if (gpx->option.ngp) freq = 1600000 + 10*byte; // kHz
gpx->freq = freq;
fprintf(stdout, ": fq %d", freq);
for (i = 0; i < 2; i++) {
bytes[i] = gpx->frame[pos_Calfreq + 2 + i];
}
killtime = bytes[0] + (bytes[1] << 8); // signed?
if (killtime < 0xFFFF && gpx->option.vbs == 4) {
fprintf(stdout, "; KT:%ds", killtime);
}
gpx->conf_kt = killtime;
}
return 0;
}
/* ---------------------------------------------------------------------------------------------------- */
static 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;
}
static void prn12(GPS_t *gps, ui8_t *prn_le, ui8_t prns[12]) {
int i, j, d;
ui8_t ind_prn32 = 32;
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;
}
}
for (i = 0; i < 12; i++) {
// PRN-32 overflow
if ( (prns[i] == 0) && (gps->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 ((gps->sat_status[i] & 0x0F) == 0) { // erste beiden bits: 0x03 ?
prns[i] = 0;
}
}
gps->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 ((gps->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]^gps->prn32toggle) && (gps->sat_status[j] & 0x0F)) break;
}
if (j < ind_prn32) { gps->prn32toggle ^= 0x1; }
else {
for (j = ind_prn32+2; j < 12; j++) {
if (prns[j] == (prns[ind_prn32+1]^gps->prn32toggle) && (gps->sat_status[j] & 0x0F)) break;
}
if (j < 12) { gps->prn32toggle ^= 0x1; }
}
prns[ind_prn32+1] ^= gps->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) { gps->prn32toggle ^= 0x1; }
*/
}
gps->prn32next = prns[ind_prn32+1]; // -> ind_prn32<11 && ind_prn32 % 3 != 2
}
}
}
static int calc_satpos_alm(gpx_t *gpx, double t, SAT_t *satp) {
double X, Y, Z, vX, vY, vZ;
int j;
int week;
double cl_corr, cl_drift;
int rollover = 0;
EPHEM_t *alm = gpx->gps.alm;
for (j = 1; j < 33; j++) {
if (alm[j].prn > 0 && alm[j].health == 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 + gpx->gps.WEEK1024epoch*1024;
if (gpx->gps.opt_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;
}
static int calc_satpos_rnx2(gpx_t *gpx, 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;
int rollover = 0;
EPHEM_t *eph = gpx->gps.ephs;
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 && eph[count].health == 0) {
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 (gpx->gps.opt_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;
// 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; //385.0 // GPS L1 1575.42MHz=154*10.23MHz, dl=154*10/4
static int get_pseudorange(gpx_t *gpx) {
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;
ui8_t prn_le[12*5+4]; // le - little endian
ui8_t prns[12]; // PRNs in data
RANGE_t range[33];
memset(prn_le, 0, sizeof(prn_le));
memset(prns, 0, sizeof(prns));
memset(range, 0, sizeof(range));
// GPS-TOW in ms
for (i = 0; i < 4; i++) {
gpstime_bytes[i] = gpx->frame[posGPS_TOW + i];
}
memcpy(&gpstime, gpstime_bytes, 4);
// Sat Status
for (i = 0; i < 12; i++) {
gpx->gps.sat_status[i] = gpx->frame[posGPS_STATUS + i];
}
// PRN-Nummern
for (i = 0; i < 4; i++) {
for (j = 0; j < 2; j++) {
bytes[j] = gpx->frame[posGPS_PRN+2*i+j];
}
memcpy(&byte16, bytes, 2);
prnbits_le(byte16, prn_le, i);
}
prn12(&gpx->gps, prn_le, prns);
// GPS Sat Pos (& Vel)
if (gpx->gps.almanac) calc_satpos_alm( gpx, gpstime/1000.0, gpx->gps.sat);
if (gpx->gps.ephem) calc_satpos_rnx2(gpx, gpstime/1000.0, gpx->gps.sat);
// GPS Sat Pos t -= 1s
if (gpx->gps.opt_vel == 1) {
if (gpx->gps.almanac) calc_satpos_alm( gpx, gpstime/1000.0-1, gpx->gps.sat1s);
if (gpx->gps.ephem) calc_satpos_rnx2(gpx, gpstime/1000.0-1, gpx->gps.sat1s);
}
k = 0;
for (j = 0; j < 12; j++) {
// Pseudorange/chips
for (i = 0; i < 4; i++) {
pseudobytes[i] = gpx->frame[posGPS_DATA+8*j+i];
}
memcpy(&chipbytes, pseudobytes, 4);
// delta_pseudochips / 385
for (i = 0; i < 3; i++) {
pseudobytes[i] = gpx->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) && (gpx->gps.sat_status[j] & 0x0F) ) prns[j] = 32;
range[prns[j]].tow = gpstime;
range[prns[j]].status = gpx->gps.sat_status[j];
if ( chipbytes == 0x7FFFFFFF || chipbytes == 0x55555555 ) {
range[prns[j]].chips = 0;
continue;
}
if (gpx->gps.opt_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) && ((gpx->gps.sat_status[j] & 0x0F) == 0xF)
&& (dist(gpx->gps.sat[prns[j]].X, gpx->gps.sat[prns[j]].Y, gpx->gps.sat[prns[j]].Z, 0, 0, 0) > 6700000) )
{
for (i = 0; i < k; i++) { if (gpx->gps.prn[i] == prns[j]) break; }
if (i == k && prns[j] != gpx->gps.exSat) {
//if ( range[prns[j]].status & 0xF0 ) // Signalstaerke > 0 ?
{
gpx->gps.prn[k] = prns[j];
k++;
}
}
}
}
for (j = 0; j < 12; j++) { // 0x013FB0A4
gpx->gps.sat[prns[j]].pseudorange = /*0x01400000*/ - range[prns[j]].chips * df;
gpx->gps.sat1s[prns[j]].pseudorange = -(range[prns[j]].chips - range[prns[j]].deltachips/dl)*df;
//+ sat[prns[j]].clock_corr - gpx->gps.sat1s[prns[j]].clock_corr
gpx->gps.sat[prns[j]].pseudorate = - range[prns[j]].deltachips * df / dl;
gpx->gps.sat[prns[j]].prn = prns[j];
gpx->gps.sat1s[prns[j]].prn = prns[j];
}
pr0 = (double)0x01400000;
for (j = 0; j < k; j++) {
prj = gpx->gps.sat[gpx->gps.prn[j]].pseudorange + gpx->gps.sat[gpx->gps.prn[j]].clock_corr;
if (prj < pr0) pr0 = prj;
}
for (j = 0; j < k; j++) gpx->gps.sat[gpx->gps.prn[j]].PR = gpx->gps.sat[gpx->gps.prn[j]].pseudorange
+ gpx->gps.sat[gpx->gps.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
gpx->gps.sat1s[gpx->gps.prn[j]].PR = gpx->gps.sat1s[gpx->gps.prn[j]].pseudorange
+ gpx->gps.sat[gpx->gps.prn[j]].clock_corr - pr0 + 20e6;
}
return k;
}
static 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;
}
static int get_GPSkoord(gpx_t *gpx, 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;
double DOP[4];
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 (gpx->gps.opt_vergps == 8) {
fprintf(stdout, " sats: ");
for (j = 0; j < N; j++) fprintf(stdout, "%02d ", gpx->gps.prn[j]);
fprintf(stdout, "\n");
}
gpx->lat = gpx->lon = gpx->alt = 0;
DOP[0] = DOP[1] = DOP[2] = DOP[3] = 0.0;
if (gpx->gps.opt_vergps != 2) {
for (i0=0;i0<N;i0++) { for (i1=i0+1;i1<N;i1++) { for (i2=i1+1;i2<N;i2++) { for (i3=i2+1;i3<N;i3++) {
Sat_A[0] = gpx->gps.sat[gpx->gps.prn[i0]];
Sat_A[1] = gpx->gps.sat[gpx->gps.prn[i1]];
Sat_A[2] = gpx->gps.sat[gpx->gps.prn[i2]];
Sat_A[3] = gpx->gps.sat[gpx->gps.prn[i3]];
nav_ret = NAV_ClosedFormSolution_FromPseudorange( Sat_A, &lat, &lon, &alt, &rx_cl_bias, pos_ecef );
if (nav_ret == 0) {
num += 1;
if (calc_DOPn(4, Sat_A, pos_ecef, DOP) == 0) {
gdop = sqrt(DOP[0]+DOP[1]+DOP[2]+DOP[3]);
//fprintf(stdout, " DOP : %.1f ", gdop);
NAV_LinP(4, Sat_A, pos_ecef, rx_cl_bias, dpos_ecef, &rx_cl_bias);
diter = dist(0, 0, 0, dpos_ecef[0], dpos_ecef[1], dpos_ecef[2]);
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);
if ( gpx->gps.opt_vel == 4 ) {
vel_ecef[0] = vel_ecef[1] = vel_ecef[2] = 0;
NAV_LinV(4, Sat_A, pos_ecef, vel_ecef, 0.0, dvel_ecef, &rx_cl_bias);
for (j=0; j<3; j++) vel_ecef[j] += dvel_ecef[j];
NAV_LinV(4, Sat_A, pos_ecef, vel_ecef, rx_cl_bias, dvel_ecef, &rx_cl_bias);
for (j=0; j<3; j++) vel_ecef[j] += dvel_ecef[j];
get_GPSvel(lat, lon, vel_ecef, &vH, &vD, &vU);
}
if (gpx->gps.opt_vergps == 8) {
// gdop = sqrt(DOP[0]+DOP[1]+DOP[2]+DOP[3]); // s.o.
//hdop = sqrt(DOP[0]+DOP[1]);
//vdop = sqrt(DOP[2]);
//pdop = sqrt(DOP[0]+DOP[1]+DOP[2]);
if (gdop < gpx->gps.dop_limit) {
fprintf(stdout, " ");
fprintf(stdout, "lat: %.5f , lon: %.5f , alt: %.1f ", lat, lon, alt);
fprintf(stdout, " (d:%.1f)", diter);
if ( gpx->gps.opt_vel == 4 ) {
fprintf(stdout, " vH: %4.1f D: %5.1f vV: %3.1f ", vH, vD, vU);
}
fprintf(stdout, " sats: ");
fprintf(stdout, "%02d %02d %02d %02d ", gpx->gps.prn[i0], gpx->gps.prn[i1], gpx->gps.prn[i2], gpx->gps.prn[i3]);
fprintf(stdout, " GDOP : %.1f ", gdop);
//fprintf(stdout, " HDOP: %.1f VDOP: %.1f ", hdop, vdop);
//fprintf(stdout, " PDOP: %.1f ", pdop);
fprintf(stdout, "\n");
}
}
}
else gdop = -1;
if (gdop > 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] = gpx->gps.prn[i0]; gpx->sats[1] = gpx->gps.prn[i1]; gpx->sats[2] = gpx->gps.prn[i2]; gpx->sats[3] = gpx->gps.prn[i3];
gdop0 = gdop;
if (gpx->gps.opt_vel == 4) {
gpx->vH = vH;
gpx->vD = vD;
gpx->vU = vU;
}
}
}
}}}}
}
if (gpx->gps.opt_vergps == 8 || gpx->gps.opt_vergps == 2) {
for (j = 0; j < N; j++) Sat_B[j] = gpx->gps.sat[gpx->gps.prn[j]];
for (j = 0; j < N; j++) Sat_B1s[j] = gpx->gps.sat1s[gpx->gps.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 (gpx->gps.opt_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 > gpx->gps.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 (gpx->gps.prn[exN] == gpx->gps.prn32next) gpx->gps.prn32toggle ^= 0x1;
for (k = exN; k < N-1; k++) {
Sat_B[k] = Sat_B[k+1];
gpx->gps.prn[k] = gpx->gps.prn[k+1];
if (gpx->gps.opt_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 && gpx->gps.prn32next > 0) {
//prn32next used in pre-fix? prn32toggle ^= 0x1;
}
*/
}
if (gpx->gps.opt_vel == 1) {
NAV_bancroft1(N, Sat_B1s, pos1s_ecef, &rx_cl_bias);
if (gpx->gps.opt_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 (gpx->gps.opt_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 (gpx->gps.opt_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 (gpx->gps.opt_vergps == 8) {
fprintf(stdout, "bancroft[%2d] lat: %.6f , lon: %.6f , alt: %.2f ", N, lat, lon, alt);
fprintf(stdout, " (d:%.1f)", gpx->diter);
if (gpx->gps.opt_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", gpx->gps.prn[j]);
if (j < N-1) fprintf(stdout, ","); else fprintf(stdout, "] %.1f ", gdop);
}
fprintf(stdout, "\n");
}
if (gpx->gps.opt_vergps == 2) {
gpx->lat = lat;
gpx->lon = lon;
gpx->alt = alt;
gpx->dop = gdop;
num = N;
if (gpx->gps.opt_vel) {
gpx->vH = vH;
gpx->vD = vD;
gpx->vU = vU;
}
}
}
return num;
}
/* ------------------------------------------------------------------------------------ */
#define rs_N 255
#define rs_R 24
#define rs_K (rs_N-rs_R)
static int rs92_ecc(gpx_t *gpx, int msglen) {
int i, ret = 0;
int errors;
ui8_t cw[rs_N];
ui8_t err_pos[rs_R], err_val[rs_R];
memset(cw, 0, rs_N);
if (msglen > FRAME_LEN) msglen = FRAME_LEN;
for (i = msglen; i < FRAME_LEN; i++) gpx->frame[i] = 0;//xFF;
for (i = 0; i < rs_R; i++) cw[i] = gpx->frame[cfg_rs92.parpos+i];
for (i = 0; i < cfg_rs92.msglen; i++) cw[rs_R+i] = gpx->frame[cfg_rs92.msgpos+i];
errors = rs_decode(&gpx->RS, cw, err_pos, err_val);
//for (i = 0; i < cfg_rs92.hdrlen; i++) gpx->frame[i] = data[i];
for (i = 0; i < rs_R; i++) gpx->frame[cfg_rs92.parpos+i] = cw[i];
for (i = 0; i < cfg_rs92.msglen; i++) gpx->frame[cfg_rs92.msgpos+i] = cw[rs_R+i];
ret = errors;
return ret;
}
/* ------------------------------------------------------------------------------------ */
static int print_position(gpx_t *gpx, int ec) { // GPS-Hoehe ueber Ellipsoid
int j, k, n = 0;
int err1, err2, err3, err4;
err1 = 0;
err1 |= get_FrameNb(gpx);
err1 |= get_SondeID(gpx);
err2 = get_PTU(gpx);
err3 = 0;
//err3 |= get_GPSweek();
err3 |= get_GPStime(gpx);
err4 = get_Aux(gpx);
if (!err3 && (gpx->gps.almanac || gpx->gps.ephem)) {
k = get_pseudorange(gpx);
if (k >= 4) {
n = get_GPSkoord(gpx, k);
}
}
if (!err1)
{
fprintf(stdout, "[%5d] ", gpx->frnr);
fprintf(stdout, "(%s) ", gpx->id);
if (!err3) {
if (gpx->gps.almanac || gpx->gps.ephem)
{
Gps2Date(gpx);
//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 (gpx->gps.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 (gpx->option.vbs && gpx->gps.opt_vergps != 8) {
fprintf(stdout, " (d:%.1f)", gpx->diter);
}
if (gpx->gps.opt_vel /*&& gpx->gps.opt_vergps >= 2*/) {
fprintf(stdout," vH: %4.1f D: %5.1f vV: %3.1f ", gpx->vH, gpx->vD, gpx->vU);
}
if (gpx->option.vbs) {
if (gpx->gps.opt_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 gpx->gps.opt_vergps=2, dann n=N=k(-1)
fprintf(stdout, " DOP[");
for (j = 0; j < n; j++) {
fprintf(stdout, "%d", gpx->gps.prn[j]);
if (j < n-1) fprintf(stdout, ","); else fprintf(stdout, "] %.1f ", gpx->dop);
}
}
}
}
}
if (!err2 && gpx->option.ptu) {
fprintf(stdout, " ");
if (gpx->T > -273.0f) fprintf(stdout, " T=%.1fC ", gpx->T);
if (gpx->_RH > -0.5f) fprintf(stdout, " _RH=%.0f%% ", gpx->_RH);
if (gpx->_P > 0.0f) fprintf(stdout, " _P=%.1fhPa ", gpx->_P);
}
if (gpx->option.aux) {
if (gpx->option.vbs != 4 && (gpx->crc & crc_AUX)==0 || !gpx->option.crc) {
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]);
}
}
}
fprintf(stdout, " # ");
fprintf(stdout, "[");
for (j=0; j<4; j++) fprintf(stdout, "%d", (gpx->crc>>j)&1);
fprintf(stdout, "]");
if (gpx->option.ecc == 2) {
if (ec > 0) fprintf(stdout, " (%d)", ec);
if (ec < 0) fprintf(stdout, " (-)");
}
get_Cal(gpx);
/*
if (!err3) {
if (gpx->gps.opt_vergps == 8)
{
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 ", gpx->gps.sat_status[j]); //range[prns[j]].status
fprintf(stdout, "\n");
}
}
*/
if (gpx->option.jsn) {
// Print out telemetry data as JSON //even if we don't have a valid GPS lock
if ((gpx->crc & (crc_FRAME | crc_GPS))==0 && (gpx->gps.almanac || gpx->gps.ephem)) //(!err1 && !err3)
{ // eigentlich GPS, d.h. UTC = GPS - UTC_OFS (UTC_OFS=18sec ab 1.1.2017)
char *ver_jsn = NULL;
fprintf(stdout, "\n");
fprintf(stdout, "{ \"type\": \"%s\"", "RS92");
fprintf(stdout, ", \"frame\": %d, \"id\": \"%s\", \"datetime\": \"%04d-%02d-%02dT%02d:%02d:%06.3fZ\", \"lat\": %.5f, \"lon\": %.5f, \"alt\": %.5f, \"vel_h\": %.5f, \"heading\": %.5f, \"vel_v\": %.5f",
gpx->frnr, gpx->id, gpx->jahr, gpx->monat, gpx->tag, gpx->std, gpx->min, gpx->sek, gpx->lat, gpx->lon, gpx->alt, gpx->vH, gpx->vD, gpx->vU);
if (gpx->option.ptu && !err2) {
if (gpx->T > -273.0f) {
fprintf(stdout, ", \"temp\": %.1f", gpx->T );
}
if (gpx->_RH > -0.5f) {
fprintf(stdout, ", \"humidity\": %.1f", gpx->_RH );
}
if (gpx->_P > 0.0f) {
fprintf(stdout, ", \"pressure\": %.2f", gpx->_P );
}
}
if ((gpx->crc & crc_AUX)==0 && (gpx->aux[0] != 0 || gpx->aux[1] != 0 || gpx->aux[2] != 0 || gpx->aux[3] != 0)) {
fprintf(stdout, ", \"aux\": \"%04x%04x%04x%04x\"", gpx->aux[0], gpx->aux[1], gpx->aux[2], gpx->aux[3]);
}
fprintf(stdout, ", \"subtype\": \"RS92-%s\"", gpx->rs_type == RS92SGP ? "SGP" : "NGP" );
if (gpx->jsn_freq > 0) { // rs92-frequency: gpx->freq
int fq_kHz = gpx->jsn_freq;
//if (gpx->freq > 0) fq_kHz = gpx->freq; // L-band: option.ngp ?
fprintf(stdout, ", \"freq\": %d", fq_kHz );
}
// Include frequency derived from subframe information if available.
if (gpx->freq > 0) {
fprintf(stdout, ", \"tx_frequency\": %d", gpx->freq );
}
// Reference time/position
fprintf(stdout, ", \"ref_datetime\": \"%s\"", "GPS" ); // {"GPS", "UTC"} GPS-UTC=leap_sec
fprintf(stdout, ", \"ref_position\": \"%s\"", "GPS" ); // {"GPS", "MSL"} GPS=ellipsoid , MSL=geoid
#ifdef VER_JSN_STR
ver_jsn = VER_JSN_STR;
#endif
if (ver_jsn && *ver_jsn != '\0') fprintf(stdout, ", \"version\": \"%s\"", ver_jsn);
fprintf(stdout, " }\n");
}
}
fprintf(stdout, "\n");
//if (gpx->gps.opt_vergps == 8) fprintf(stdout, "\n");
}
return err3;
}
static void print_frame(gpx_t *gpx, int len) {
int i, ec = 0;
ui8_t byte;
gpx->crc = 0;
if (gpx->option.ecc) {
ec = rs92_ecc(gpx, len);
}
for (i = len; i < FRAME_LEN; i++) {
gpx->frame[i] = 0;
}
if (gpx->option.raw) {
for (i = 0; i < len; i++) {
byte = gpx->frame[i];
fprintf(stdout, "%02x", byte);
}
if (gpx->option.ecc && gpx->option.vbs) {
fprintf(stdout, " ");
if (ec >= 0) fprintf(stdout, " [OK]"); else fprintf(stdout, " [NO]");
if (ec > 0) fprintf(stdout, " (%d)", ec);
if (ec < 0) fprintf(stdout, " (-)");
}
fprintf(stdout, "\n");
// fprintf(stdout, "\n");
}
else print_position(gpx, ec);
}
/* -------------------------------------------------------------------------- */
int main(int argc, char *argv[]) {
FILE *fp, *fp_alm = NULL, *fp_eph = NULL;
char *fpname = NULL;
int option_der = 0; // linErr
int option_min = 0;
int option_iq = 0;
int option_iqdc = 0;
int option_lp = 0;
int option_dc = 0;
int option_noLUT = 0;
int option_softin = 0;
int option_pcmraw = 0;
int sel_wavch = 0; // audio channel: left
int spike = 0;
int fileloaded = 0;
int rawhex = 0;
int cfreq = -1;
char bitbuf[BITS];
int bitpos = 0,
b8pos = 0,
byte_count = FRAMESTART;
int bit, byte;
int bitQ;
int herrs, herr1;
int headerlen = 0;
int k;
int header_found = 0;
float thres = 0.7;
float _mv = 0.0;
float set_lpIQbw = -1.0f;
int symlen = 2;
int bitofs = 2; // +0 .. +3
int shift = 0;
pcm_t pcm = {0};
dsp_t dsp = {0}; //memset(&dsp, 0, sizeof(dsp));
hdb_t hdb = {0};
gpx_t gpx = {0};
gpx.gps.prn32toggle = 0x1;
gpx.gps.dop_limit = 9.9;
gpx.gps.d_err = 10000;
gpx.gps.exSat = -1;
gpx.gps.WEEK1024epoch = 1; // SEM almanac, GPS epoch (1: 1999-2019)
#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] <file>\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, " -e, --ephem <ephemperisRinex>\n");
fprintf(stderr, " -a, --almanac <almanacSEM>\n");
fprintf(stderr, " --gpsepoch <n> (2019-04-07: n=2)\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, " --ths <x> (peak threshold; default=%.1f)\n", thres);
fprintf(stderr, " --json (JSON output)\n");
return 0;
}
else if ( (strcmp(*argv, "--vel") == 0) ) {
gpx.gps.opt_vel = 4;
}
else if ( (strcmp(*argv, "--vel1") == 0) ) {
gpx.gps.opt_vel = 1;
if (gpx.gps.opt_vergps < 1) gpx.gps.opt_vergps = 2;
}
else if ( (strcmp(*argv, "--vel2") == 0) ) {
gpx.gps.opt_vel = 2;
if (gpx.gps.opt_vergps < 1) gpx.gps.opt_vergps = 2;
}
else if ( (strcmp(*argv, "--iter") == 0) ) {
gpx.gps.opt_iter = 1;
}
else if ( (strcmp(*argv, "-v") == 0) ) { gpx.option.vbs = 1; }
else if ( (strcmp(*argv, "-vv") == 0) ) { gpx.option.vbs = 4; }
else if ( (strcmp(*argv, "-vx") == 0) ) { gpx.option.aux = 1; }
else if (strcmp(*argv, "--crc") == 0) { gpx.option.crc = 1; }
else if (strcmp(*argv, "--ecc") == 0) { gpx.option.ecc = 1; }
else if (strcmp(*argv, "--ecc2") == 0) { gpx.option.ecc = 2; }
else if (strcmp(*argv, "--ptu" ) == 0) { gpx.option.ptu = 1; }
else if ( (strcmp(*argv, "-r") == 0) || (strcmp(*argv, "--raw") == 0) ) {
gpx.option.raw = 1;
}
else if ( (strcmp(*argv, "-i") == 0) || (strcmp(*argv, "--invert") == 0) ) {
gpx.option.inv = 1;
}
else if ( (strcmp(*argv, "-e") == 0) || (strncmp(*argv, "--ephem", 7) == 0) ) {
++argv;
if (*argv) fp_eph = fopen(*argv, "rb"); // bin-mode
else return -1;
if (fp_eph == NULL) fprintf(stderr, "[rinex] %s konnte nicht geoeffnet werden\n", *argv);
}
else if ( (strcmp(*argv, "-a") == 0) || (strcmp(*argv, "--almanac") == 0) ) {
++argv;
if (*argv) fp_alm = fopen(*argv, "r"); // txt-mode
else return -1;
if (fp_alm == NULL) fprintf(stderr, "[almanac] %s konnte nicht geoeffnet werden\n", *argv);
}
else if ( strcmp(*argv, "--gpsepoch") == 0 ) { // SEM almanac, GPS week: 10 bit
++argv; // GPS epoch (default: 1)
if (*argv) { // 2019-04-07: rollover 1 -> 2
int gpsepoch = atoi(*argv);
if (gpsepoch < 0 || gpsepoch > 4) gpsepoch = 1;
gpx.gps.WEEK1024epoch = gpsepoch;
}
else return -1;
}
else if ( (strcmp(*argv, "--dop") == 0) ) {
++argv;
if (*argv) {
gpx.gps.dop_limit = atof(*argv);
if (gpx.gps.dop_limit <= 0 || gpx.gps.dop_limit >= 100) gpx.gps.dop_limit = 9.9;
}
else return -1;
}
else if ( (strcmp(*argv, "--der") == 0) ) {
++argv;
if (*argv) {
gpx.gps.d_err = atof(*argv);
if (gpx.gps.d_err <= 0 || gpx.gps.d_err >= 100000) gpx.gps.d_err = 10000;
else option_der = 1;
}
else return -1;
}
else if ( (strcmp(*argv, "--exsat") == 0) ) {
++argv;
if (*argv) {
gpx.gps.exSat = atoi(*argv);
if (gpx.gps.exSat < 1 || gpx.gps.exSat > 32) gpx.gps.exSat = -1;
}
else return -1;
}
else if (strcmp(*argv, "-g1") == 0) { gpx.gps.opt_vergps = 1; } // verbose1 GPS
else if (strcmp(*argv, "-g2") == 0) { gpx.gps.opt_vergps = 2; } // verbose2 GPS (bancroft)
else if (strcmp(*argv, "-gg") == 0) { gpx.gps.opt_vergps = 8; } // vverbose GPS
else if (strcmp(*argv, "--json") == 0) {
gpx.option.jsn = 1;
gpx.option.ecc = 2;
gpx.option.crc = 1;
gpx.gps.opt_vel = 4;
}
else if (strcmp(*argv, "--jsn_cfq") == 0) {
int frq = -1; // center frequency / Hz
++argv;
if (*argv) frq = atoi(*argv); else return -1;
if (frq < 300000000) frq = -1;
cfreq = frq;
}
else if (strcmp(*argv, "--spike") == 0) { spike = 1; }
else if (strcmp(*argv, "--ch2") == 0) { sel_wavch = 1; } // right channel (default: 0=left)
else if (strcmp(*argv, "--softin") == 0) { option_softin = 1; } // float32 soft input
else if (strcmp(*argv, "--ths") == 0) {
++argv;
if (*argv) {
thres = atof(*argv);
}
else return -1;
}
else if ( (strcmp(*argv, "-d") == 0) ) {
++argv;
if (*argv) {
shift = atoi(*argv);
if (shift > 4) shift = 4;
if (shift < -4) shift = -4;
}
else return -1;
}
else if (strcmp(*argv, "--iq0") == 0) { option_iq = 1; } // differential/FM-demod
else if (strcmp(*argv, "--iq2") == 0) { option_iq = 2; }
else if (strcmp(*argv, "--iq3") == 0) { option_iq = 3; } // iq2==iq3
else if (strcmp(*argv, "--iqdc") == 0) { option_iqdc = 1; } // iq-dc removal (iq0,2,3)
else if (strcmp(*argv, "--IQ") == 0) { // fq baseband -> IF (rotate from and decimate)
double fq = 0.0; // --IQ <fq> , -0.5 < fq < 0.5
++argv;
if (*argv) fq = atof(*argv);
else return -1;
if (fq < -0.5) fq = -0.5;
if (fq > 0.5) fq = 0.5;
dsp.xlt_fq = -fq; // S(t) -> S(t)*exp(-f*2pi*I*t)
option_iq = 5;
}
else if (strcmp(*argv, "--lpIQ") == 0) { option_lp |= LP_IQ; } // IQ/IF lowpass
else if (strcmp(*argv, "--lpbw") == 0) { // IQ lowpass BW / kHz
double bw = 0.0;
++argv;
if (*argv) bw = atof(*argv);
else return -1;
if (bw > 4.6 && bw < 48.0) set_lpIQbw = bw*1e3;
option_lp |= LP_IQ;
}
else if (strcmp(*argv, "--lpFM") == 0) { option_lp |= LP_FM; } // FM lowpass
else if (strcmp(*argv, "--dc") == 0) { option_dc = 1; }
else if (strcmp(*argv, "--noLUT") == 0) { option_noLUT = 1; }
else if (strcmp(*argv, "--min") == 0) {
option_min = 1;
}
else if (strcmp(*argv, "--ngp") == 0) { gpx.option.ngp = 1; } // RS92-NGP, RS92-D: 1680 MHz
else if (strcmp(*argv, "--dbg" ) == 0) { gpx.option.dbg = 1; }
else if (strcmp(*argv, "--rawhex") == 0) { rawhex = 2; } // raw hex input
else if (strcmp(*argv, "-") == 0) {
int sample_rate = 0, bits_sample = 0, channels = 0;
++argv;
if (*argv) sample_rate = atoi(*argv); else return -1;
++argv;
if (*argv) bits_sample = atoi(*argv); else return -1;
channels = 2;
if (sample_rate < 1 || (bits_sample != 8 && bits_sample != 16 && bits_sample != 32)) {
fprintf(stderr, "- <sr> <bs>\n");
return -1;
}
pcm.sr = sample_rate;
pcm.bps = bits_sample;
pcm.nch = channels;
option_pcmraw = 1;
}
else {
fp = fopen(*argv, "rb");
if (fp == NULL) {
fprintf(stderr, "error: open %s\n", *argv);
return -1;
}
fileloaded = 1;
}
++argv;
}
if (!fileloaded) fp = stdin;
if (fp_alm) {
if (read_SEMalmanac(fp_alm, gpx.gps.alm) == 0) {
gpx.gps.almanac = 1;
}
fclose(fp_alm);
if (!option_der) gpx.gps.d_err = 4000;
}
if (fp_eph) {
/* i = read_RNXephemeris(fp_eph, eph);
if (i == 0) {
gpx.gps.ephem = 1;
gpx.gps.almanac = 0;
}
fclose(fp_eph); */
gpx.gps.ephs = read_RNXpephs(fp_eph);
if (gpx.gps.ephs) {
gpx.gps.ephem = 1;
gpx.gps.almanac = 0;
}
fclose(fp_eph);
if (!option_der) gpx.gps.d_err = 1000;
}
if (option_iq == 5 && option_dc) option_lp |= LP_FM;
// LUT faster for decM, however frequency correction after decimation
// LUT recommonded if decM > 2
//
if (option_noLUT && option_iq == 5) dsp.opt_nolut = 1; else dsp.opt_nolut = 0;
gpx.option.crc = 1;
if (gpx.option.ecc < 2) gpx.option.ecc = 1; // turn off for ber-measurement
if (gpx.option.ecc) {
rs_init_RS255(&gpx.RS);
}
gpx.rs_type = RS92SGP;
if (gpx.option.ngp) gpx.rs_type = RS92NGP;
// init gpx
memcpy(gpx.frame, rs92_header_bytes, sizeof(rs92_header_bytes)); // 6 header bytes
if (cfreq > 0) gpx.jsn_freq = (cfreq+500)/1000;
#ifdef EXT_FSK
if (!option_softin) {
option_softin = 1;
fprintf(stderr, "reading float32 soft symbols\n");
}
#endif
if (!rawhex) {
if (!option_softin) {
if (option_iq == 0 && option_pcmraw) {
fclose(fp);
fprintf(stderr, "error: raw data not IQ\n");
return -1;
}
if (option_iq) sel_wavch = 0;
pcm.sel_ch = sel_wavch;
if (option_pcmraw == 0) {
k = read_wav_header(&pcm, fp);
if ( k < 0 ) {
fclose(fp);
fprintf(stderr, "error: wav header\n");
return -1;
}
}
if (cfreq > 0) {
int fq_kHz = (cfreq - dsp.xlt_fq*pcm.sr + 500)/1e3;
gpx.jsn_freq = fq_kHz;
}
// rs92-sgp: BT=0.5, h=1.0 ?
symlen = 2;
// init dsp
//
dsp.fp = fp;
dsp.sr = pcm.sr;
dsp.bps = pcm.bps;
dsp.nch = pcm.nch;
dsp.ch = pcm.sel_ch;
dsp.br = (float)BAUD_RATE;
dsp.sps = (float)dsp.sr/dsp.br;
dsp.symlen = symlen;
dsp.symhd = symlen;
dsp._spb = dsp.sps*symlen;
dsp.hdr = rs92_rawheader;
dsp.hdrlen = strlen(rs92_rawheader);
dsp.BT = 0.5; // bw/time (ISI) // 0.3..0.5
dsp.h = 0.8; // 1.0 modulation index abzgl. BT
dsp.opt_iq = option_iq;
dsp.opt_iqdc = option_iqdc;
dsp.opt_lp = option_lp;
dsp.lpIQ_bw = 8e3; // IF lowpass bandwidth
dsp.lpFM_bw = 6e3; // FM audio lowpass
dsp.opt_dc = option_dc;
dsp.opt_IFmin = option_min;
if (gpx.option.ngp) { // L-band rs92-ngp
dsp.h = 3.8; // RS92-NGP: 1680/400=4.2, 4.2*0.9=3.8=4.75*0.8
dsp.lpIQ_bw = 32e3; // IF lowpass bandwidth // 32e3=4.2*7.6e3 // 28e3..32e3
}
if (set_lpIQbw > 0.0f) dsp.lpIQ_bw = set_lpIQbw;
if ( dsp.sps < 8 ) {
fprintf(stderr, "note: sample rate low (%.1f sps)\n", dsp.sps);
}
k = init_buffers(&dsp); // BT=0.5 (IQ-Int: BT > 0.5 ?)
if ( k < 0 ) {
fprintf(stderr, "error: init buffers\n");
return -1;
};
bitofs += shift;
}
else {
// init circular header bit buffer
hdb.hdr = rs92_rawheader;
hdb.len = strlen(rs92_rawheader);
//hdb.thb = 1.0 - 3.1/(float)hdb.len; // 1.0-max_bit_errors/hdrlen
hdb.bufpos = -1;
hdb.buf = NULL;
/*
calloc(hdb.len, sizeof(char));
if (hdb.buf == NULL) {
fprintf(stderr, "error: malloc\n");
return -1;
}
*/
// caution ths=0.7: -3 byte offset, false positive
// 2A 2A 2A 2A 2A 10|65 10 ..
// header sync could be extended into the frame
hdb.ths = 0.8;
hdb.sbuf = calloc(hdb.len, sizeof(float));
if (hdb.sbuf == NULL) {
fprintf(stderr, "error: malloc\n");
return -1;
}
}
while ( 1 )
{
if (option_softin) {
for (k = 0; k < hdb.len; k++) hdb.sbuf[k] = 0.0;
header_found = find_softbinhead(fp, &hdb, &_mv);
}
else {
header_found = find_header(&dsp, thres, 3, bitofs, dsp.opt_dc);
_mv = dsp.mv;
}
if (header_found == EOF) break;
// mv == correlation score
if (_mv *(0.5-gpx.option.inv) < 0) {
if (gpx.option.aut == 0) header_found = 0;
else gpx.option.inv ^= 0x1;
}
if (header_found) {
byte_count = FRAMESTART;
bitpos = 0;
b8pos = 0;
while ( byte_count < FRAME_LEN ) {
if (option_softin) {
float s1 = 0.0;
float s2 = 0.0;
float s = 0.0;
bitQ = f32soft_read(fp, &s1);
if (bitQ != EOF) {
bitQ = f32soft_read(fp, &s2);
if (bitQ != EOF) {
s = s2-s1; // integrate both symbols // only 2nd Manchester symbol: s2
bit = (s>=0.0); // no soft decoding
}
}
}
else {
float bl = -1;
if (option_iq > 2) bl = 4.0;
bitQ = read_slbit(&dsp, &bit, 0, bitofs, bitpos, bl, spike); // symlen=2
}
if ( bitQ == EOF) break;
if (gpx.option.inv) bit ^= 1;
bitpos += 1;
bitbuf[b8pos] = bit;
b8pos++;
if (b8pos >= BITS) {
b8pos = 0;
byte = bits2byte(bitbuf);
gpx.frame[byte_count] = byte;
byte_count++;
}
}
header_found = 0;
print_frame(&gpx, byte_count);
byte_count = FRAMESTART;
}
}
if (!option_softin) free_buffers(&dsp);
else {
if (hdb.buf) { free(hdb.buf); hdb.buf = NULL; }
}
}
else //if (rawhex)
{
char buffer_rawhex[2*FRAME_LEN+12];
char *pbuf = NULL, *buf_sp = NULL;
ui8_t frmbyte;
int frameofs = 0, len, i;
while (1 > 0) {
pbuf = fgets(buffer_rawhex, 2*FRAME_LEN+12, fp);
if (pbuf == NULL) break;
buffer_rawhex[2*FRAME_LEN] = '\0';
buf_sp = strchr(buffer_rawhex, ' ');
if (buf_sp != NULL && buf_sp-buffer_rawhex < 2*FRAME_LEN) {
buffer_rawhex[buf_sp-buffer_rawhex] = '\0';
}
len = strlen(buffer_rawhex) / 2;
if (len > posGPS_TOW+4) {
for (i = 0; i < len; i++) { //%2x SCNx8=%hhx(inttypes.h)
sscanf(buffer_rawhex+2*i, "%2hhx", &frmbyte);
// wenn ohne %hhx: sscanf(buffer_rawhex+rawhex*i, "%2x", &byte); frame[frameofs+i] = (ui8_t)byte;
gpx.frame[frameofs+i] = frmbyte;
}
print_frame(&gpx, frameofs+len);
}
}
}
if (gpx.gps.ephs) free(gpx.gps.ephs);
fclose(fp);
return 0;
}
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