kopia lustrzana https://github.com/rs1729/RS
985 wiersze
27 KiB
C
985 wiersze
27 KiB
C
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/*
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dropsonde RD94
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frames,position: 2Hz
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velocity(wind): 4Hz
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*/
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#include <stdio.h>
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#include <string.h>
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#include <math.h>
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typedef unsigned char ui8_t;
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typedef unsigned short ui16_t;
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typedef unsigned int ui32_t;
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int option_verbose = 0, // ausfuehrliche Anzeige
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option_raw = 0, // rohe Frames
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option_inv = 0, // invertiert Signal
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fileloaded = 0,
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option_res = 0,
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rawin = 0;
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typedef struct {
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int frnr;
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unsigned id;
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int week; int gpstow;
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int jahr; int monat; int tag;
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int wday;
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int std; int min; int sek; int ms;
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double lat; double lon; double alt;
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double X; double Y; double Z;
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double pAcc;
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double vX1; double vY1; double vZ1;
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double sAcc1;
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int sats1;
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double vX2; double vY2; double vZ2;
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double sAcc2;
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int sats2;
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double vN; double vE; double vU;
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double vH; double vD; double vD2;
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double P; double T; double U1; double U2;
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double bat; double iT;
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} gpx_t;
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gpx_t gpx;
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#define BITS (1+8+1) // 8N1 = 10bit/byte
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#define HEADLEN (40)
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#define HEADOFS (40)
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char header[] =
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"10100110010110101001" // 0x1A = 0 01011000 1
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"10010101011010010101" // 0xCF = 0 11110011 1
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"10101001010101010101" // 0xFC = 0 00111111 1
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"10011001010110101001"; // 0x1D = 0 10111000 1
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//"10011010101010101001" // 0x01 = 0 10000000 1
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char buf[HEADLEN+1] = "x";
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int bufpos = -1;
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#define FRAME_LEN 120 // 240/sec -> 120/frame
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#define BITFRAME_LEN (FRAME_LEN*BITS)
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#define RAWBITFRAME_LEN (FRAME_LEN*BITS*2)
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char frame_rawbits[RAWBITFRAME_LEN+8];
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char frame_bits[BITFRAME_LEN+4];
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ui8_t frame_bytes[FRAME_LEN+10];
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/* ------------------------------------------------------------------------------------ */
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#define BAUD_RATE 4800
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int sample_rate = 0, bits_sample = 0, channels = 0;
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float samples_per_bit = 0;
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int findstr(char *buf, char *str, int pos) {
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int i;
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for (i = 0; i < 4; i++) {
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if (buf[(pos+i)%4] != str[i]) break;
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}
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return i;
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}
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int read_wav_header(FILE *fp) {
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char txt[4+1] = "\0\0\0\0";
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unsigned char dat[4];
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int byte, p=0;
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if (fread(txt, 1, 4, fp) < 4) return -1;
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if (strncmp(txt, "RIFF", 4)) return -1;
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if (fread(txt, 1, 4, fp) < 4) return -1;
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// pos_WAVE = 8L
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if (fread(txt, 1, 4, fp) < 4) return -1;
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if (strncmp(txt, "WAVE", 4)) return -1;
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// pos_fmt = 12L
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for ( ; ; ) {
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if ( (byte=fgetc(fp)) == EOF ) return -1;
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txt[p % 4] = byte;
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p++; if (p==4) p=0;
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if (findstr(txt, "fmt ", p) == 4) break;
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}
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if (fread(dat, 1, 4, fp) < 4) return -1;
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if (fread(dat, 1, 2, fp) < 2) return -1;
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if (fread(dat, 1, 2, fp) < 2) return -1;
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channels = dat[0] + (dat[1] << 8);
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if (fread(dat, 1, 4, fp) < 4) return -1;
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memcpy(&sample_rate, dat, 4); //sample_rate = dat[0]|(dat[1]<<8)|(dat[2]<<16)|(dat[3]<<24);
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if (fread(dat, 1, 4, fp) < 4) return -1;
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if (fread(dat, 1, 2, fp) < 2) return -1;
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//byte = dat[0] + (dat[1] << 8);
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if (fread(dat, 1, 2, fp) < 2) return -1;
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bits_sample = dat[0] + (dat[1] << 8);
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// pos_dat = 36L + info
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for ( ; ; ) {
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if ( (byte=fgetc(fp)) == EOF ) return -1;
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txt[p % 4] = byte;
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p++; if (p==4) p=0;
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if (findstr(txt, "data", p) == 4) break;
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}
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if (fread(dat, 1, 4, fp) < 4) return -1;
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fprintf(stderr, "sample_rate: %d\n", sample_rate);
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fprintf(stderr, "bits : %d\n", bits_sample);
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fprintf(stderr, "channels : %d\n", channels);
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if ((bits_sample != 8) && (bits_sample != 16)) return -1;
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samples_per_bit = sample_rate/(float)BAUD_RATE;
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fprintf(stderr, "samples/bit: %.2f\n", samples_per_bit);
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return 0;
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}
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#define EOF_INT 0x1000000
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int read_signed_sample(FILE *fp) { // int = i32_t
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int byte, i, ret; // EOF -> 0x1000000
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for (i = 0; i < channels; i++) {
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// i = 0: links bzw. mono
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byte = fgetc(fp);
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if (byte == EOF) return EOF_INT;
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if (i == 0) ret = byte;
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if (bits_sample == 16) {
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byte = fgetc(fp);
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if (byte == EOF) return EOF_INT;
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if (i == 0) ret += byte << 8;
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}
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}
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if (bits_sample == 8) return ret-128; // 8bit: 00..FF, centerpoint 0x80=128
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if (bits_sample == 16) return (short)ret;
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return ret;
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}
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int par=1, par_alt=1;
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unsigned long sample_count = 0;
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int read_bits_fsk(FILE *fp, int *bit, int *len) {
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static int sample;
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int n, y0;
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float l, x1;
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static float x0;
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n = 0;
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do {
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y0 = sample;
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sample = read_signed_sample(fp);
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if (sample == EOF_INT) return EOF;
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sample_count++;
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par_alt = par;
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par = (sample >= 0) ? 1 : -1; // 8bit: 0..127,128..255 (-128..-1,0..127)
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n++;
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} while (par*par_alt > 0);
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if (!option_res) l = (float)n / samples_per_bit;
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else { // genauere Bitlaengen-Messung
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x1 = sample/(float)(sample-y0); // hilft bei niedriger sample rate
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l = (n+x0-x1) / samples_per_bit; // meist mehr frames (nicht immer)
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x0 = x1;
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}
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*len = (int)(l+0.5);
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if (!option_inv) *bit = (1+par_alt)/2; // oben 1, unten -1
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else *bit = (1-par_alt)/2; // sdr#<rev1381?, invers: unten 1, oben -1
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// *bit = (1+inv*par_alt)/2; // ausser inv=0
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return 0;
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}
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/* ------------------------------------------------------------------------------------ */
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void inc_bufpos() {
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bufpos = (bufpos+1) % HEADLEN;
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}
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int compare() {
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int i, j;
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i = 0;
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j = bufpos;
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while (i < HEADLEN) {
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if (j < 0) j = HEADLEN-1;
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if (buf[j] != header[HEADOFS+HEADLEN-1-i]) break;
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j--;
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i++;
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}
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if (i == HEADLEN) return 1;
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/*
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i = 0;
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j = bufpos;
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while (i < HEADLEN) {
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if (j < 0) j = HEADLEN-1;
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if (buf[j] != cb_inv(header[HEADOFS+HEADLEN-1-i])) break;
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j--;
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i++;
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}
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if (i == HEADLEN) return -1;
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*/
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return 0;
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}
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// manchester1 1->10,0->01: 1.bit
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// manchester2 0->10,1->01: 2.bit
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void manchester2(char* frame_rawbits, char *frame_bits) {
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int i;
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char bit, bits[2];
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for (i = 0; i < BITFRAME_LEN; i++) {
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bits[0] = frame_rawbits[2*i];
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bits[1] = frame_rawbits[2*i+1];
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if ((bits[0] == '0') && (bits[1] == '1')) bit = '1';
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else
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if ((bits[0] == '1') && (bits[1] == '0')) bit = '0';
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else bit = 'x';
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frame_bits[i] = bit;
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}
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}
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int bits2bytes(char *bitstr, ui8_t *bytes) {
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int i, bit, d, byteval;
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int bitpos, bytepos;
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bitpos = 0;
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bytepos = 0;
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while (bytepos < FRAME_LEN) {
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byteval = 0;
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d = 1;
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for (i = 1; i < BITS-1; i++) {
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bit=*(bitstr+bitpos+i); /* little endian */
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//bit=*(bitstr+bitpos+BITS-1-i); /* big endian */
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if (bit == '1') byteval += d;
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else /*if ((bit == '0') */ byteval += 0;
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d <<= 1;
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}
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bitpos += BITS;
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bytes[bytepos++] = byteval;
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}
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//while (bytepos < FRAME_LEN) bytes[bytepos++] = 0;
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return 0;
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}
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/* ------------------------------------------------------------------------------------ */
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/*
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* Convert GPS Week and Seconds to Modified Julian Day.
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* - Adapted from sci.astro FAQ.
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* - Ignores UTC leap seconds.
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*/
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void Gps2Date(long GpsWeek, long GpsSeconds, int *Year, int *Month, int *Day) {
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long GpsDays, Mjd;
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long J, C, Y, M;
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GpsDays = GpsWeek * 7 + (GpsSeconds / 86400);
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Mjd = 44244 + GpsDays;
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J = Mjd + 2468570;
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C = 4 * J / 146097;
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J = J - (146097 * C + 3) / 4;
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Y = 4000 * (J + 1) / 1461001;
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J = J - 1461 * Y / 4 + 31;
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M = 80 * J / 2447;
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*Day = J - 2447 * M / 80;
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J = M / 11;
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*Month = M + 2 - (12 * J);
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*Year = 100 * (C - 49) + Y + J;
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}
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/* ------------------------------------------------------------------------------------ */
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#define OFS (0x02) // HEADLEN/(2*BITS)
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#define pos_FrameNb (OFS+0x01) // 2 byte
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// ublox5 NAV-SOL
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#define pos_GPSTOW (OFS+0x18) // iTow 4 byte (+ fTOW? 4 byte)
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#define pos_GPSweek (OFS+0x20) // 2 byte
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#define pos_GPSecefX (OFS+0x24) // 4 byte
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#define pos_GPSecefY (OFS+0x28) // 4 byte
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#define pos_GPSecefZ (OFS+0x2C) // 4 byte
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#define pos_GPSpAcc (OFS+0x30) // 4 byte
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#define pos_GPSecefV1 (OFS+0x34) // 3*4 byte
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#define pos_GPSsAcc1 (OFS+0x40) // 4 byte
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#define pos_GPSsats1 (OFS+0x46) // 1 byte
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#define pos_GPSecefV2 (OFS+0x4A) // 3*4 byte
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#define pos_GPSsAcc2 (OFS+0x56) // 4 byte
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#define pos_GPSsats2 (OFS+0x5A) // 1 byte
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// PTUsensors
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#define pos_sensorP (OFS+0x05) // 4 byte float32
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#define pos_sensorT (OFS+0x09) // 4 byte float32
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#define pos_sensorU1 (OFS+0x0D) // 4 byte float32
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#define pos_sensorU2 (OFS+0x11) // 4 byte float32
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// internal
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#define pos_sensorTi (OFS+0x68) // 4 byte float32
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#define pos_ID (OFS+0x5D) // 4 byte
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#define pos_rev (OFS+0x61) // 2 byte char? // e.g. "A5"
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#define pos_bat (OFS+0x66) // 2 byte
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// checksums
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#define pos_chkFrNb (pos_FrameNb-1 + 3) // 16 bit
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#define pos_chkPTU (pos_sensorP + 17) // 16 bit
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#define pos_chkGPS1 (pos_GPSTOW + 47) // 16 bit
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#define pos_chkGPS2 (pos_GPSecefV2-1 + 18) // 16 bit
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#define pos_chkInt (pos_ID + 21) // 16 bit
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unsigned check16(ui8_t *bytes, int len) {
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unsigned sum1, sum2;
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int i;
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sum1 = sum2 = 0;
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for (i = 0; i < len; i++) {
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sum1 = (sum1 + bytes[i]) % 0x100;
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sum2 = (sum2 + sum1) % 0x100;
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}
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//return sum1 | (sum2<<8);
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return sum2 | (sum1<<8);
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}
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int get_ID() {
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int i;
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unsigned byte;
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byte = 0;
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for (i = 0; i < 4; i++) { // big endian
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byte |= frame_bytes[pos_ID + i] << (24-8*i);
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}
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gpx.id = byte;
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return 0;
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}
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int get_FrameNb() {
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int i;
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unsigned byte;
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ui8_t frnr_bytes[4];
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int frnr;
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for (i = 0; i < 2; i++) {
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byte = frame_bytes[pos_FrameNb + i];
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frnr_bytes[i] = byte;
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}
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frnr = frnr_bytes[0] + (frnr_bytes[1] << 8);
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gpx.frnr = frnr;
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return 0;
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}
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int get_GPSweek() {
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int i;
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unsigned byte;
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ui8_t gpsweek_bytes[2];
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int gpsweek;
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for (i = 0; i < 2; i++) {
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byte = frame_bytes[pos_GPSweek + i];
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gpsweek_bytes[i] = byte;
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}
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gpsweek = gpsweek_bytes[0] + (gpsweek_bytes[1] << 8);
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if (gpsweek < 0) { gpx.week = -1; return 0x0300; }
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gpx.week = gpsweek;
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return 0;
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}
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char weekday[7][3] = { "So", "Mo", "Di", "Mi", "Do", "Fr", "Sa"};
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int get_GPStime() {
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int i;
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unsigned byte;
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ui8_t gpstime_bytes[4];
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int gpstime = 0, // 32bit
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day;
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for (i = 0; i < 4; i++) {
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byte = frame_bytes[pos_GPSTOW + i];
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gpstime_bytes[i] = byte;
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}
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memcpy(&gpstime, gpstime_bytes, 4);
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gpx.gpstow = gpstime;
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gpx.ms = gpstime % 1000;
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gpstime /= 1000;
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day = gpstime / (24 * 3600);
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gpstime %= (24*3600);
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if ((day < 0) || (day > 6)) return 0x0100;
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gpx.wday = day;
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gpx.std = gpstime / 3600;
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gpx.min = (gpstime % 3600) / 60;
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gpx.sek = gpstime % 60;
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return 0;
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}
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#define EARTH_a 6378137.0
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#define EARTH_b 6356752.31424518
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#define EARTH_a2_b2 (EARTH_a*EARTH_a - EARTH_b*EARTH_b)
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double a = EARTH_a,
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b = EARTH_b,
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a_b = EARTH_a2_b2,
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e2 = EARTH_a2_b2 / (EARTH_a*EARTH_a),
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ee2 = EARTH_a2_b2 / (EARTH_b*EARTH_b);
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void ecef2elli(double X[], double *lat, double *lon, double *h) {
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double phi, lam, R, p, t;
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lam = atan2( X[1] , X[0] );
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p = sqrt( X[0]*X[0] + X[1]*X[1] );
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t = atan2( X[2]*a , p*b );
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phi = atan2( X[2] + ee2 * b * sin(t)*sin(t)*sin(t) ,
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p - e2 * a * cos(t)*cos(t)*cos(t) );
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R = a / sqrt( 1 - e2*sin(phi)*sin(phi) );
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*h = p / cos(phi) - R;
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*lat = phi*180/M_PI;
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*lon = lam*180/M_PI;
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}
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int get_GPSkoord() {
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int i, k;
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unsigned byte;
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ui8_t XYZ_bytes[4];
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int XYZ; // 32bit
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double X[3], lat, lon, h;
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for (k = 0; k < 3; k++) {
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for (i = 0; i < 4; i++) {
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byte = frame_bytes[pos_GPSecefX + 4*k + i];
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XYZ_bytes[i] = byte;
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}
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memcpy(&XYZ, XYZ_bytes, 4);
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X[k] = XYZ / 100.0;
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}
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// ECEF-Position
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ecef2elli(X, &lat, &lon, &h);
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gpx.lat = lat;
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gpx.lon = lon;
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gpx.alt = h;
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for (i = 0; i < 4; i++) {
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byte = frame_bytes[pos_GPSpAcc + i];
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XYZ_bytes[i] = byte;
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}
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memcpy(&XYZ, XYZ_bytes, 4);
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gpx.pAcc = XYZ / 100.0;
|
|
gpx.X = X[0];
|
|
gpx.Y = X[1];
|
|
gpx.Z = X[2];
|
|
|
|
if ((h < -1000) || (h > 80000)) return 0x0200;
|
|
|
|
/*
|
|
for (k = 0; k < 3; k++) {
|
|
for (i = 0; i < 4; i++) {
|
|
byte = frame_bytes[pos_GPSecefV1 + 4*k + i];
|
|
XYZ_bytes[i] = byte;
|
|
}
|
|
memcpy(&XYZ, XYZ_bytes, 4);
|
|
V[k] = XYZ / 100.0;
|
|
}
|
|
|
|
// ECEF-Velocities
|
|
// ECEF-Vel -> NorthEastUp
|
|
phi = lat*M_PI/180.0;
|
|
lam = lon*M_PI/180.0;
|
|
gpx.vN = -V[0]*sin(phi)*cos(lam) - V[1]*sin(phi)*sin(lam) + V[2]*cos(phi);
|
|
gpx.vE = -V[0]*sin(lam) + V[1]*cos(lam);
|
|
gpx.vU = V[0]*cos(phi)*cos(lam) + V[1]*cos(phi)*sin(lam) + V[2]*sin(phi);
|
|
|
|
// NEU -> HorDirVer
|
|
gpx.vH = sqrt(gpx.vN*gpx.vN+gpx.vE*gpx.vE);
|
|
//
|
|
alpha = atan2(gpx.vN, gpx.vE)*180/M_PI; // ComplexPlane (von x-Achse nach links) - GeoMeteo (von y-Achse nach rechts)
|
|
dir = 90-alpha; // z=x+iy= -> i*conj(z)=y+ix=re(i(pi/2-t)), Achsen und Drehsinn vertauscht
|
|
if (dir < 0) dir += 360; // atan2(y,x)=atan(y/x)=pi/2-atan(x/y) , atan(1/t) = pi/2 - atan(t)
|
|
gpx.vD2 = dir;
|
|
//
|
|
dir = atan2(gpx.vE, gpx.vN) * 180 / M_PI;
|
|
if (dir < 0) dir += 360;
|
|
gpx.vD = dir;
|
|
*/
|
|
return 0;
|
|
}
|
|
|
|
int get_GPSvel() {
|
|
int i, k;
|
|
unsigned byte;
|
|
ui8_t XYZ_bytes[4];
|
|
int XYZ; // 32bit
|
|
double V[3];
|
|
double phi, lam, dir;
|
|
|
|
|
|
for (k = 0; k < 3; k++) {
|
|
for (i = 0; i < 4; i++) {
|
|
byte = frame_bytes[pos_GPSecefV1 + 4*k + i];
|
|
XYZ_bytes[i] = byte;
|
|
}
|
|
memcpy(&XYZ, XYZ_bytes, 4);
|
|
V[k] = XYZ / 100.0;
|
|
}
|
|
gpx.vX1 = V[0];
|
|
gpx.vY1 = V[1];
|
|
gpx.vZ1 = V[2];
|
|
gpx.sats1 = frame_bytes[pos_GPSsats1];
|
|
|
|
phi = gpx.lat*M_PI/180.0;
|
|
lam = gpx.lon*M_PI/180.0;
|
|
gpx.vN = -V[0]*sin(phi)*cos(lam) - V[1]*sin(phi)*sin(lam) + V[2]*cos(phi);
|
|
gpx.vE = -V[0]*sin(lam) + V[1]*cos(lam);
|
|
gpx.vU = V[0]*cos(phi)*cos(lam) + V[1]*cos(phi)*sin(lam) + V[2]*sin(phi);
|
|
|
|
gpx.vH = sqrt(gpx.vN*gpx.vN+gpx.vE*gpx.vE);
|
|
dir = atan2(gpx.vE, gpx.vN) * 180 / M_PI;
|
|
if (dir < 0) dir += 360;
|
|
gpx.vD = dir;
|
|
|
|
for (i = 0; i < 4; i++) {
|
|
byte = frame_bytes[pos_GPSsAcc1 + i];
|
|
XYZ_bytes[i] = byte;
|
|
}
|
|
memcpy(&XYZ, XYZ_bytes, 4);
|
|
gpx.sAcc1 = XYZ / 100.0;
|
|
|
|
|
|
for (k = 0; k < 3; k++) {
|
|
for (i = 0; i < 4; i++) {
|
|
byte = frame_bytes[pos_GPSecefV2 + 4*k + i];
|
|
XYZ_bytes[i] = byte;
|
|
}
|
|
memcpy(&XYZ, XYZ_bytes, 4);
|
|
V[k] = XYZ / 100.0;
|
|
}
|
|
gpx.vX2 = V[0];
|
|
gpx.vY2 = V[1];
|
|
gpx.vZ2 = V[2];
|
|
gpx.sats2 = frame_bytes[pos_GPSsats2];
|
|
|
|
for (i = 0; i < 4; i++) {
|
|
byte = frame_bytes[pos_GPSsAcc2 + i];
|
|
XYZ_bytes[i] = byte;
|
|
}
|
|
memcpy(&XYZ, XYZ_bytes, 4);
|
|
gpx.sAcc2 = XYZ / 100.0;
|
|
|
|
|
|
return 0;
|
|
}
|
|
|
|
float float32(unsigned idx) {
|
|
int i;
|
|
unsigned num, val;
|
|
float f;
|
|
// double e, s, m;
|
|
|
|
num = 0;
|
|
for (i=0;i<4;i++) { num |= frame_bytes[idx+i] << (24-8*i); }
|
|
/*
|
|
val = 0;
|
|
for (i=31;i>=24;i--) { val |= ((num>>i)&1)<<(i-24); }
|
|
e = (double)val-127; // exponent
|
|
|
|
val = 0;
|
|
for (i=22;i>= 0;i--) { val |= ((num>>i)&1)<<i; }
|
|
m = (double)val/(1<<23); // mantissa
|
|
|
|
s = (num>>23)&1 ? -1.0 : +1.0 ; // sign
|
|
|
|
f = s*(1+m)*pow(2,e);
|
|
*/
|
|
val = (num & 0x800000)<<8; // sign
|
|
val |= (num>>1) & 0x7F800000; // exponent
|
|
val |= num & 0x7FFFFF; // mantissa
|
|
|
|
memcpy(&f, &val, 4);
|
|
|
|
return f;
|
|
}
|
|
|
|
int get_Sensors1() {
|
|
|
|
gpx.P = float32(pos_sensorP);
|
|
gpx.T = float32(pos_sensorT);
|
|
gpx.U1 = float32(pos_sensorU1);
|
|
gpx.U2 = float32(pos_sensorU2);
|
|
|
|
return 0;
|
|
}
|
|
|
|
int get_Sensors2() {
|
|
int val;
|
|
|
|
gpx.iT = float32(pos_sensorTi);
|
|
|
|
val = frame_bytes[pos_bat] | (frame_bytes[pos_bat+1]<<8);
|
|
gpx.bat = val/1e3;
|
|
|
|
return 0;
|
|
}
|
|
|
|
|
|
int getBlock_FrNb(){ // block 0: frame counter
|
|
unsigned byte;
|
|
unsigned checksum;
|
|
int chk = 0;
|
|
|
|
// header (next frame)
|
|
if ( frame_bytes[OFS+116] != 0x1A ) {
|
|
chk |= (0x1 << 6);
|
|
}
|
|
if ( frame_bytes[OFS+117] != 0xCF ) {
|
|
chk |= (0x1 << 7);
|
|
}
|
|
|
|
byte = check16(frame_bytes+pos_chkFrNb-3, 3);
|
|
checksum = (frame_bytes[pos_chkFrNb]<<8) | frame_bytes[pos_chkFrNb+1];
|
|
if (byte != checksum) chk |= (0x1 << 0);
|
|
|
|
get_FrameNb();
|
|
|
|
return chk;
|
|
}
|
|
|
|
int getBlock_PTU(){ // block 1: sensors P, T, U1, U2
|
|
unsigned byte;
|
|
unsigned checksum;
|
|
int chk = 0;
|
|
|
|
byte = check16(frame_bytes+pos_chkPTU-17, 17);
|
|
checksum = (frame_bytes[pos_chkPTU]<<8) | frame_bytes[pos_chkPTU+1];
|
|
if (byte != checksum) chk |= (0x1 << 1);
|
|
|
|
get_Sensors1();
|
|
|
|
return chk;
|
|
}
|
|
|
|
int getBlock_GPS(){ // block 2,3: GPS pos+vel1, vel2
|
|
unsigned byte;
|
|
unsigned checksum;
|
|
int chk = 0, err = 0;
|
|
|
|
byte = check16(frame_bytes+pos_chkGPS1-47, 47);
|
|
checksum = (frame_bytes[pos_chkGPS1]<<8) | frame_bytes[pos_chkGPS1+1];
|
|
if (byte != checksum) chk |= (0x1 << 2);
|
|
|
|
byte = check16(frame_bytes+pos_chkGPS2-18, 18);
|
|
checksum = (frame_bytes[pos_chkGPS2]<<8) | frame_bytes[pos_chkGPS2+1];
|
|
if (byte != checksum) chk |= (0x1 << 3);
|
|
|
|
err |= get_GPSweek();
|
|
err |= get_GPStime();
|
|
err |= get_GPSkoord();
|
|
err |= get_GPSvel();
|
|
|
|
return chk | (err<<8);
|
|
}
|
|
|
|
int getBlock_Int(){ // block 4: SondeID, internalTemp, battery
|
|
unsigned byte;
|
|
unsigned checksum;
|
|
int chk = 0;
|
|
|
|
byte = check16(frame_bytes+pos_chkInt-21, 21);
|
|
checksum = (frame_bytes[pos_chkInt]<<8) | frame_bytes[pos_chkInt+1];
|
|
if (byte != checksum) chk |= (0x1 << 4);
|
|
|
|
get_ID();
|
|
|
|
//if (option_verbose)
|
|
get_Sensors2();
|
|
|
|
return chk;
|
|
}
|
|
|
|
|
|
void print_frame() {
|
|
int i, err=0;
|
|
unsigned chk=0;
|
|
|
|
if (option_raw) {
|
|
for (i = 0; i < FRAME_LEN; i++) {
|
|
fprintf(stdout, "%02x", frame_bytes[i]);
|
|
//fprintf(stdout, "%02X ", frame_bytes[i]);
|
|
if (option_raw == 2) {
|
|
if ( i==OFS-1
|
|
|| i==OFS+0 || i==OFS+2 // frame-counter
|
|
|| i==OFS+4 || i==OFS+8 || i==OFS+12 || i==OFS+16 // sensors (P,T,U1,U2)
|
|
|| i==OFS+20 || i==OFS+21
|
|
|| i==OFS+23 || i==OFS+27 // TOW
|
|
|| i==OFS+31 || i==OFS+33 // week
|
|
|| i==OFS+35 || i==OFS+39 || i==OFS+43 // ECEF-pos
|
|
|| i==OFS+47
|
|
|| i==OFS+51 || i==OFS+55 || i==OFS+59 // ECEF-vel1
|
|
|| i==OFS+63 || i==OFS+67
|
|
|| i==OFS+69 || i==OFS+70 // sats-1
|
|
|| i==OFS+72
|
|
|| i==OFS+73 || i==OFS+77 || i==OFS+81 // ECEF-vel2
|
|
|| i==OFS+85
|
|
|| i==OFS+89 || i==OFS+90 // sats-2
|
|
|| i==OFS+92 || i==OFS+96 || i==OFS+98 // SondeID, Rev?
|
|
|| i==OFS+101 // bat
|
|
|| i==OFS+103 || i==OFS+107 // internT
|
|
|| i==OFS+113 || i==OFS+115
|
|
) fprintf(stdout, " ");
|
|
|
|
if ( i==pos_chkFrNb -4 ) fprintf(stdout, " ");
|
|
if ( i==pos_chkFrNb +1 ) fprintf(stdout, "[%04X] ", check16(frame_bytes+pos_chkFrNb-3, 3));
|
|
if ( i==pos_chkPTU -18 ) fprintf(stdout, " ");
|
|
if ( i==pos_chkPTU +1 ) fprintf(stdout, "[%04X] ", check16(frame_bytes+pos_chkPTU-17, 17));
|
|
if ( i==pos_chkGPS1 -48 ) fprintf(stdout, " ");
|
|
if ( i==pos_chkGPS1 +1 ) fprintf(stdout, "[%04X] ", check16(frame_bytes+pos_chkGPS1-47, 47));
|
|
if ( i==pos_chkGPS2 -19 ) fprintf(stdout, " ");
|
|
if ( i==pos_chkGPS2 +1 ) fprintf(stdout, "[%04X] ", check16(frame_bytes+pos_chkGPS2-18, 18));
|
|
if ( i==pos_chkInt -22 ) fprintf(stdout, " ");
|
|
if ( i==pos_chkInt +1 ) fprintf(stdout, "[%04X] ", check16(frame_bytes+pos_chkInt-21, 21));
|
|
if ( i==pos_chkInt +1 ) fprintf(stdout, " ");
|
|
}
|
|
}
|
|
/*
|
|
// chk = checkBlocks();
|
|
if (option_raw == 2) {
|
|
printf(" # check: "); // blocks: 0=F, 1=S, 2=G1, 3=G2, 4=I, 6=H1, 7=H2
|
|
for (i = 0; i < 5; i++) fprintf(stdout, "%d", (chk>>i)&1); fprintf(stdout, "_");
|
|
for (i = 6; i < 8; i++) fprintf(stdout, "%d", (chk>>i)&1);
|
|
}
|
|
*/
|
|
fprintf(stdout, "\n");
|
|
}
|
|
else {
|
|
|
|
err = 0;
|
|
err |= getBlock_FrNb();
|
|
err |= getBlock_PTU();
|
|
err |= getBlock_GPS();
|
|
err |= getBlock_Int();
|
|
|
|
if (! (err & 0xFF00) )
|
|
{
|
|
Gps2Date(gpx.week, gpx.gpstow/1000, &gpx.jahr, &gpx.monat, &gpx.tag);
|
|
fprintf(stdout, "[%5d] ", gpx.frnr);
|
|
fprintf(stdout, "%s ", weekday[gpx.wday]);
|
|
fprintf(stdout, "%04d-%02d-%02d %02d:%02d:%02d.%03d",
|
|
gpx.jahr, gpx.monat, gpx.tag, gpx.std, gpx.min, gpx.sek, gpx.ms);
|
|
if (option_verbose) fprintf(stdout, " (W %d)", gpx.week);
|
|
fprintf(stdout, " ");
|
|
fprintf(stdout, " lat: %.5f° ", gpx.lat);
|
|
fprintf(stdout, " lon: %.5f° ", gpx.lon);
|
|
fprintf(stdout, " alt: %.2fm ", gpx.alt);
|
|
if (option_verbose == 2) {
|
|
//fprintf(stdout," (%7.2f,%7.2f,%7.2f) ", gpx.X, gpx.Y, gpx.Z);
|
|
fprintf(stdout, " (E:%.2fm) ", gpx.pAcc);
|
|
}
|
|
|
|
if (option_verbose) fprintf(stdout," sats: %2d ", gpx.sats1);
|
|
if (option_verbose == 2) {
|
|
fprintf(stdout," V1: (%5.2f,%5.2f,%5.2f) ", gpx.vX1, gpx.vY1, gpx.vZ1);
|
|
fprintf(stdout, "(E:%.2fm/s) ", gpx.sAcc1);
|
|
}
|
|
fprintf(stdout," vH: %.1fm/s D: %.1f° vV: %.1fm/s ", gpx.vH, gpx.vD, gpx.vU);
|
|
if (option_verbose == 2) {
|
|
fprintf(stdout," ENU=(%.2f,%.2f,%.2f) ", gpx.vE, gpx.vN, gpx.vU);
|
|
fprintf(stdout," V2: (%5.2f,%5.2f,%5.2f) ", gpx.vX2, gpx.vY2, gpx.vZ2);
|
|
fprintf(stdout, "(E:%.2fm/s) ", gpx.sAcc2);
|
|
fprintf(stdout," sats: %2d ", gpx.sats2);
|
|
}
|
|
|
|
|
|
fprintf(stdout, " ");
|
|
fprintf(stdout, " P=%.2fhPa ", gpx.P);
|
|
fprintf(stdout, " T=%.2f°C ", gpx.T);
|
|
fprintf(stdout, " H1=%.2f%% ", gpx.U1);
|
|
fprintf(stdout, " H2=%.2f%% ", gpx.U2);
|
|
fprintf(stdout, " ");
|
|
fprintf(stdout, " (%09d) ", gpx.id);
|
|
|
|
if (option_verbose) {
|
|
fprintf(stdout, " ");
|
|
fprintf(stdout, " Ti=%.2f°C ", gpx.iT);
|
|
fprintf(stdout, " Bat=%.2fV ", gpx.bat);
|
|
}
|
|
|
|
chk = err & 0xFF;
|
|
printf(" # check: "); // blocks: 0=F, 1=S, 2=G1, 3=G2, 4=I, 6=H1, 7=H2
|
|
for (i = 0; i < 5; i++) fprintf(stdout, "%d", (chk>>i)&1); fprintf(stdout, "_");
|
|
for (i = 6; i < 8; i++) fprintf(stdout, "%d", (chk>>i)&1);
|
|
|
|
fprintf(stdout, "\n"); // fflush(stdout);
|
|
}
|
|
}
|
|
}
|
|
|
|
void print_bitframe(int len) {
|
|
int i;
|
|
for (i = len; i < RAWBITFRAME_LEN; i++) frame_rawbits[i] = '0';
|
|
manchester2(frame_rawbits, frame_bits);
|
|
bits2bytes(frame_bits, frame_bytes);
|
|
print_frame();
|
|
}
|
|
|
|
|
|
int main(int argc, char **argv) {
|
|
|
|
FILE *fp = NULL;
|
|
char *fpname;
|
|
char *pbuf = NULL;
|
|
int header_found = 0;
|
|
int i, pos, bit, len;
|
|
|
|
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, " -v, (verbose)\n");
|
|
fprintf(stderr, " -r, (output: rawbytes)\n");
|
|
fprintf(stderr, " -R, (output: raw_bytes)\n");
|
|
fprintf(stderr, " -i (invert polarity)\n");
|
|
fprintf(stderr, " --inbits (input: bits)\n");
|
|
fprintf(stderr, " --inbytes (input: bytes)\n");
|
|
return 0;
|
|
}
|
|
else if ( strcmp(*argv, "-v") == 0 ) {
|
|
option_verbose = 1;
|
|
}
|
|
else if ( strcmp(*argv, "-vv") == 0 ) {
|
|
option_verbose = 2;
|
|
}
|
|
else if ( strcmp(*argv, "-r") == 0 ) {
|
|
option_raw = 1;
|
|
}
|
|
else if ( strcmp(*argv, "-R") == 0 ) {
|
|
option_raw = 2;
|
|
}
|
|
else if ( strcmp(*argv, "-i") == 0 ) {
|
|
option_inv = 1;
|
|
}
|
|
else if (strcmp(*argv, "--inbits") == 0) { rawin = 1; } // rawbits input
|
|
else if (strcmp(*argv, "--inbytes") == 0) { rawin = 2; } // rawbytes input
|
|
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 (!rawin) {
|
|
|
|
i = read_wav_header(fp);
|
|
if (i) {
|
|
fclose(fp);
|
|
return -1;
|
|
}
|
|
|
|
for (pos = 0; pos < HEADLEN; pos++) {
|
|
frame_rawbits[pos] = header[HEADOFS+pos];
|
|
}
|
|
|
|
while (!read_bits_fsk(fp, &bit, &len)) {
|
|
|
|
if (len == 0) { // reset_frame();
|
|
/* if (pos > 2*BITS*pos_GPSV) {
|
|
print_bitframe(pos);
|
|
pos = HEADLEN;
|
|
header_found = 0;
|
|
} */
|
|
continue; // ...
|
|
}
|
|
|
|
for (i = 0; i < len; i++) {
|
|
|
|
inc_bufpos();
|
|
buf[bufpos] = 0x30+bit;
|
|
|
|
if (!header_found) {
|
|
header_found = compare();
|
|
}
|
|
else {
|
|
frame_rawbits[pos] = 0x30+bit;
|
|
//printf("%d", bit);
|
|
pos++;
|
|
if (pos == RAWBITFRAME_LEN) {
|
|
//frames++;
|
|
print_bitframe(pos);
|
|
header_found = 0;
|
|
pos = HEADLEN;
|
|
}
|
|
}
|
|
}
|
|
}
|
|
|
|
}
|
|
else if (rawin==1) { // input: bits
|
|
while (1 > 0) {
|
|
pbuf = fgets(frame_rawbits, RAWBITFRAME_LEN+4, fp);
|
|
if (pbuf == NULL) break;
|
|
frame_rawbits[RAWBITFRAME_LEN+1] = '\0';
|
|
len = strlen(frame_rawbits);
|
|
if (len > 2*BITS*pos_GPSpAcc) print_bitframe(len);
|
|
}
|
|
}
|
|
else { // input: bytes
|
|
while (1 > 0) { // rawin=2: 2chars->1byte
|
|
pbuf = fgets(frame_rawbits, rawin*FRAME_LEN+4, fp);
|
|
if (pbuf == NULL) break;
|
|
frame_rawbits[rawin*FRAME_LEN+1] = '\0';
|
|
len = strlen(frame_rawbits) / rawin;
|
|
for (i = 0; i < len; i++) { //%2x SCNx8=%hhx(inttypes.h)
|
|
sscanf(frame_rawbits+rawin*i, "%2hhx", frame_bytes+i);
|
|
}
|
|
for (i = len; i < FRAME_LEN; i++) frame_bytes[i] = 0x00;
|
|
if (frame_bytes[0] == 0xFC && frame_bytes[1] == 0x1D) { // Header: 1A CF FC 1D
|
|
print_frame();
|
|
}
|
|
}
|
|
}
|
|
|
|
fclose(fp);
|
|
|
|
|
|
return 0;
|
|
}
|
|
|