kopia lustrzana https://github.com/rs1729/RS
1108 wiersze
30 KiB
C
1108 wiersze
30 KiB
C
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/*
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* radiosonde RS92
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*
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*
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* broadcast ephemeris:
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* http://cddis.gsfc.nasa.gov/Data_and_Derived_Products/GNSS/broadcast_ephemeris_data.html
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* ftp://cddis.gsfc.nasa.gov/gnss/data/daily/YYYY/DDD/YYn/brdcDDD0.YYn.Z (updated)
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* ftp://cddis.gsfc.nasa.gov/gnss/data/daily/YYYY/brdc/brdcDDD0.YYn.Z (final)
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*
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* SEM almanac:
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* https://celestrak.com/GPS/almanac/SEM/
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*
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* GPS calendar:
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* http://adn.agi.com/GNSSWeb/
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*
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* GPS-Hoehe ueber Ellipsoid, Geoid-Hoehe:
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* http://geographiclib.sourceforge.net/cgi-bin/GeoidEval
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*/
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/*
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./rs92gps_rawin -r 2015_11_01.wav > raw.out
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./rs92gps_rawin --dop 5 -gg -e brdc3050.15n --rawin raw.out
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*/
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#include <stdio.h>
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#include <stdlib.h>
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#include <string.h>
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#include <math.h>
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#ifdef WIN
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#include <fcntl.h> // cygwin: _setmode()
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#include <io.h>
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#endif
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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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typedef struct {
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int frnr;
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char id[9];
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int week; int gpssec;
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int jahr; int monat; int tag;
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int wday;
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int std; int min; float sek;
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double lat; double lon; double h;
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int sats[4];
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double dop;
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unsigned short aux[4];
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} gpx_t;
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gpx_t gpx;
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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_vergps = 0,
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rawin = 0;
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double dop_limit = 10.0;
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int rollover = 0,
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err_gps = 0;
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int almanac = 0,
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ephem = 0;
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/* --- RS92-SGP: 8N1 manchester --- */
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#define BITS (2*(1+8+1)) // 20
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#define HEADOFS 40 // HEADOFS+HEADLEN = 120 (bis 0x10)
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#define HEADLEN 80 // (HEADOFS+HEADLEN) mod BITS = 0
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/*
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#define HEADOFS 0 // HEADOFS muss 0 wegen Wiederholung
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#define HEADLEN 60 // HEADLEN < 100, (HEADOFS+HEADLEN) mod BITS = 0
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*/
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#define FRAMESTART ((HEADOFS+HEADLEN)/BITS)
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/* 2A 10*/
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char header[] = "10100110011001101001"
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"10100110011001101001"
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"10100110011001101001"
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"10100110011001101001"
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"1010011001100110100110101010100110101001";
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char buf[HEADLEN+1] = "x";
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int bufpos = -1;
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#define FRAME_LEN 240
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ui8_t frame[FRAME_LEN] = { 0x2A, 0x2A, 0x2A, 0x2A, 0x2A, 0x10};
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/* --- RS92-SGP ------------------- */
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char buffer_rawin[3*FRAME_LEN+8]; //## rawin1: buffer_rawin[2*FRAME_LEN+4];
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int frameofs = 0;
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#define MASK_LEN 64
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ui8_t mask[MASK_LEN] = { 0x96, 0x83, 0x3E, 0x51, 0xB1, 0x49, 0x08, 0x98,
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0x32, 0x05, 0x59, 0x0E, 0xF9, 0x44, 0xC6, 0x26,
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0x21, 0x60, 0xC2, 0xEA, 0x79, 0x5D, 0x6D, 0xA1,
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0x54, 0x69, 0x47, 0x0C, 0xDC, 0xE8, 0x5C, 0xF1,
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0xF7, 0x76, 0x82, 0x7F, 0x07, 0x99, 0xA2, 0x2C,
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0x93, 0x7C, 0x30, 0x63, 0xF5, 0x10, 0x2E, 0x61,
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0xD0, 0xBC, 0xB4, 0xB6, 0x06, 0xAA, 0xF4, 0x23,
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0x78, 0x6E, 0x3B, 0xAE, 0xBF, 0x7B, 0x4C, 0xC1};
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/* LFSR: ab i=8 (mod 64):
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* m[16+i] = m[i] ^ m[i+2] ^ m[i+4] ^ m[i+6]
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* ________________3205590EF944C6262160C2EA795D6DA15469470CDCE85CF1
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* F776827F0799A22C937C3063F5102E61D0BCB4B606AAF423786E3BAEBF7B4CC196833E51B1490898
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*/
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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 *buff, 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 (buff[(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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int read_sample(FILE *fp) { // int = i32_t
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int byte, i, ret; // return ui16_t/ui8_t oder EOF
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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;
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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;
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if (i == 0) ret += byte << 8;
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}
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}
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// unsigned 8/16 bit sample >= 0
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return ret; // EOF < 0
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}
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int sign(int sample) {
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int sgn = 0;
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if (bits_sample == 8) { // unsigned char:
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if (sample & 0x80) sgn = 1; else sgn = -1; // 00..7F - , 80..FF: +
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}
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else if (bits_sample == 16) {
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if (sample & 0x8000) sgn = -1; else sgn = 1;
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}
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return sgn;
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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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int n, sample;
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float l;
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n = 0;
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do{
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sample = read_sample(fp); // unsigned sample;
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if (sample == EOF) return EOF; // usample >= 0
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par_alt = par;
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par = sign(sample);
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sample_count++;
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n++;
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} while (par*par_alt > 0);
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l = (float)n / samples_per_bit; // abw = n % samples_per_bit;
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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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/* Y-offset ? */
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return 0;
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}
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/* ------------------------------------------------------------------------------------ */
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// RS92-SGP: 8N1 manchester
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char manch(char *mbits) {
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if ((mbits[0] == 1) && (mbits[1] == 0)) return 0;
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else if ((mbits[0] == 0) && (mbits[1] == 1)) return 1;
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else return -1;
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}
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int bits2byte(char bits[]) {
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int i, byteval=0, d=1;
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int bit8[8];
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if (manch(bits+0) != 0) return 0x100;
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for (i = 0; i < 8; i++) {
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bit8[i] = manch(bits+2*(i+1));
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}
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if (manch(bits+(2*(8+1))) != 1) return 0x100;
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for (i = 0; i < 8; i++) { // little endian
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/* for (i = 7; i >= 0; i--) { // big endian */
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if (bit8[i] == 1) byteval += d;
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else if (bit8[i] == 0) byteval += 0;
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else return 0x100;
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d <<= 1;
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}
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return byteval;
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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=0, 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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return i;
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}
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ui8_t xorbyte(int pos) {
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return frame[pos]; // ^ mask[pos % MASK_LEN];
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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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/*
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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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/* ------------------------------------------------------------------------------------ */
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#define pos_FrameNb 0x08 // 2 byte
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#define pos_SondeID 0x0C // 8 byte
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#define pos_CalData 0x17 // 1 byte, counter 0x00..0x1f
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#define pos_Calfreq 0x1A // 2 byte, calfr 0x00
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#define pos_GPSTOW 0x48 // 4 byte
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#define pos_AuxData 0xC8 // 8 byte
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#define posGPS_PRN 0x4E // 12*5 bit in 8 byte
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#define posGPS_DATA 0x62 // 12*8 byte
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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[2];
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int frnr;
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for (i = 0; i < 2; i++) {
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byte = xorbyte(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_SondeID() {
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int i;
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unsigned byte;
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ui8_t sondeid_bytes[8];
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for (i = 0; i < 8; i++) {
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byte = xorbyte(pos_SondeID + i);
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if ((byte < 0x20) || (byte > 0x7E)) return -1;
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sondeid_bytes[i] = byte;
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}
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for (i = 0; i < 8; i++) {
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gpx.id[i] = sondeid_bytes[i];
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}
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gpx.id[9] = '\0';
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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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float ms;
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for (i = 0; i < 4; i++) {
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byte = xorbyte(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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ms = gpstime % 1000;
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gpstime /= 1000;
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gpx.gpssec = gpstime;
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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 -1;
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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 + ms/1000.0;
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return 0;
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}
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int get_Aux() {
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int i;
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unsigned short byte;
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for (i = 0; i < 4; i++) {
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byte = xorbyte(pos_AuxData+2*i)+(xorbyte(pos_AuxData+2*i+1)<<8);
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gpx.aux[i] = byte;
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}
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return 0;
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}
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int get_Cal() {
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int i;
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unsigned byte;
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ui8_t calfr = 0;
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//ui8_t burst = 0;
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int freq = 0;
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ui8_t freq_bytes[2];
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byte = xorbyte(pos_CalData);
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calfr = byte;
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if (option_verbose == 2) {
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fprintf(stderr, "[%5d] ", gpx.frnr);
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fprintf(stderr, " 0x%02x:", calfr);
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}
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for (i = 0; i < 16; i++) {
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byte = xorbyte(pos_CalData+1+i);
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if (option_verbose == 2) {
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fprintf(stderr, " %02x", byte);
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}
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}
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if (option_verbose) {
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get_Aux();
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if (option_verbose == 2) {
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fprintf(stderr, " # ");
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for (i = 0; i < 8; i++) {
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byte = xorbyte(pos_AuxData+i);
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fprintf(stderr, "%02x ", byte);
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}
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}
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else {
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if (gpx.aux[0] != 0 || gpx.aux[1] != 0 ||gpx.aux[2] != 0 || gpx.aux[3] != 0) {
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fprintf(stdout, " # %04x %04x %04x %04x", gpx.aux[0], gpx.aux[1], gpx.aux[2], gpx.aux[3]);
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}
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}
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}
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if (calfr == 0x00) {
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for (i = 0; i < 2; i++) {
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byte = xorbyte(pos_Calfreq + i);
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freq_bytes[i] = byte;
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}
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byte = freq_bytes[0] + (freq_bytes[1] << 8);
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//printf(":%04x ", byte);
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freq = 400000 + 10*byte; // kHz;
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fprintf(stdout, " : freq %d kHz", freq);
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}
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|
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if (option_verbose == 2) {
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fprintf(stderr, "\n");
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}
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return 0;
|
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}
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|
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/* ---------------------------------------------------------------------------------------------------- */
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|
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|
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#include "nav_gps.c"
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|
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EPHEM_t alm[33];
|
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//EPHEM_t eph[33][24];
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EPHEM_t *ephs = NULL;
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|
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SAT_t sat[33];
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|
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ui8_t prn_le[12*5];
|
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/* le - little endian */
|
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void prnbits_le(ui16_t byte16, ui8_t bits[15]) {
|
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int i; /* letztes bit wird nicht gelesen */
|
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for (i = 0; i < 15; i++) {
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bits[i] = byte16 & 1;
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byte16 >>= 1;
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}
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}
|
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ui8_t prns[12];
|
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void prn12(ui8_t *prn_le, ui8_t prns[12]) {
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int i, j, d;
|
|
for (i = 0; i < 12; i++) {
|
|
prns[i] = 0;
|
|
d = 1;
|
|
for (j = 0; j < 5; j++) {
|
|
if (prn_le[5*i+j]) prns[i] += d;
|
|
d <<= 1;
|
|
}
|
|
// ?? if (prns[i] == 0) prns[i] = 32; ?? // 5 bit: 0..31
|
|
}
|
|
}
|
|
|
|
|
|
int calc_satpos_alm(EPHEM_t alm[], double t, SAT_t *satp) {
|
|
double X, Y, Z;
|
|
int j;
|
|
int week;
|
|
double cl_corr;
|
|
|
|
for (j = 1; j < 33; j++) {
|
|
if (alm[j].prn > 0) { // prn==j
|
|
|
|
// Woche hat 604800 sec
|
|
if (t-alm[j].toa > 604800/2) rollover = +1;
|
|
else if (t-alm[j].toa < -604800/2) rollover = -1;
|
|
else rollover = 0;
|
|
week = alm[j].week - rollover;
|
|
|
|
GPS_SatellitePosition_Ephem(
|
|
week, t, alm[j],
|
|
&cl_corr, &X, &Y, &Z
|
|
);
|
|
|
|
satp[alm[j].prn].X = X;
|
|
satp[alm[j].prn].Y = Y;
|
|
satp[alm[j].prn].Z = Z;
|
|
satp[alm[j].prn].clock_corr = cl_corr;
|
|
|
|
}
|
|
}
|
|
|
|
return 0;
|
|
}
|
|
|
|
int calc_satpos_rnx(EPHEM_t eph[][24], double t, SAT_t *satp) {
|
|
double X, Y, Z;
|
|
int j, i, ti;
|
|
int week;
|
|
double cl_corr;
|
|
double tdiff, td;
|
|
|
|
for (j = 1; j < 33; j++) {
|
|
|
|
// Woche hat 604800 sec
|
|
tdiff = 604800;
|
|
ti = 0;
|
|
for (i = 0; i < 24; i++) {
|
|
if (eph[j][i].prn > 0) {
|
|
if (t-eph[j][i].toe > 604800/2) rollover = +1;
|
|
else if (t-eph[j][i].toe < -604800/2) rollover = -1;
|
|
else rollover = 0;
|
|
td = t-eph[j][i].toe - rollover*604800;
|
|
if (td < 0) td *= -1;
|
|
|
|
if ( td < tdiff ) {
|
|
tdiff = td;
|
|
ti = i;
|
|
week = eph[j][ti].week - rollover;
|
|
}
|
|
}
|
|
}
|
|
|
|
GPS_SatellitePosition_Ephem(
|
|
week, t, eph[j][ti],
|
|
&cl_corr, &X, &Y, &Z
|
|
);
|
|
|
|
satp[eph[j][ti].prn].X = X;
|
|
satp[eph[j][ti].prn].Y = Y;
|
|
satp[eph[j][ti].prn].Z = Z;
|
|
satp[eph[j][ti].prn].clock_corr = cl_corr;
|
|
|
|
}
|
|
|
|
return 0;
|
|
}
|
|
|
|
int calc_satpos_rnx2(EPHEM_t *eph, double t, SAT_t *satp) {
|
|
double X, Y, Z;
|
|
int j;
|
|
int week;
|
|
double cl_corr;
|
|
double tdiff, td;
|
|
int count, count0;
|
|
|
|
for (j = 1; j < 33; j++) {
|
|
|
|
count = count0 = 0;
|
|
|
|
// Woche hat 604800 sec
|
|
tdiff = 604800;
|
|
|
|
while (eph[count].prn > 0) {
|
|
|
|
if (eph[count].prn == j) {
|
|
|
|
if (t - eph[count].toe > 604800/2) rollover = +1;
|
|
else if (t - eph[count].toe < -604800/2) rollover = -1;
|
|
else rollover = 0;
|
|
td = fabs( t - eph[count].toe - rollover*604800);
|
|
|
|
if ( td < tdiff ) {
|
|
tdiff = td;
|
|
week = eph[count].week - rollover;
|
|
count0 = count;
|
|
}
|
|
}
|
|
count += 1;
|
|
}
|
|
|
|
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 {
|
|
int chips;
|
|
ui32_t time;
|
|
int ca;
|
|
} RANGE_t;
|
|
RANGE_t range[33];
|
|
|
|
int prn[12];
|
|
|
|
|
|
// 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
|
|
|
|
int get_pseudorange() {
|
|
ui32_t gpstime;
|
|
ui8_t gpstime_bytes[4];
|
|
ui8_t pseudobytes[4];
|
|
unsigned byteval;
|
|
int i, j, k;
|
|
ui8_t bytes[4];
|
|
ui16_t byte16;
|
|
double pr0, prj;
|
|
|
|
for (i = 0; i < 4; i++) {
|
|
gpstime_bytes[i] = xorbyte(pos_GPSTOW + i);
|
|
}
|
|
memcpy(&gpstime, gpstime_bytes, 4); // GPS-TOW in ms
|
|
|
|
for (i = 0; i < 4; i++) {
|
|
for (j = 0; j < 2; j++) {
|
|
bytes[j] = frame[posGPS_PRN+2*i+j];
|
|
}
|
|
memcpy(&byte16, bytes, 2);
|
|
prnbits_le(byte16, prn_le+15*i);
|
|
}
|
|
prn12(prn_le, prns); // PRN-Nummern
|
|
|
|
|
|
if (almanac) calc_satpos_alm(alm, gpstime/1000.0, sat);
|
|
//if (ephem) calc_satpos_rnx(eph, gpstime/1000.0, sat);
|
|
if (ephem) calc_satpos_rnx2(ephs, gpstime/1000.0, sat);
|
|
|
|
k = 0;
|
|
for (j = 0; j < 12; j++) {
|
|
|
|
for (i = 0; i < 4; i++) { pseudobytes[i] = frame[posGPS_DATA+8*j+i]; }
|
|
memcpy(&byteval, pseudobytes, 4);
|
|
|
|
if ( byteval == 0x7FFFFFFF || byteval == 0x55555555 ) {
|
|
range[prns[j]].chips = 0;
|
|
continue;
|
|
}
|
|
if (option_vergps != 8) {
|
|
if ( byteval > 0x10000000 && byteval < 0xF0000000 ) {
|
|
range[prns[j]].chips = 0;
|
|
continue;
|
|
}}
|
|
|
|
if ( prns[j] == 0 ) prns[j] = 32;
|
|
range[prns[j]].chips = byteval;
|
|
range[prns[j]].time = gpstime;
|
|
/*
|
|
for (i = 0; i < 4; i++) { pseudobytes[i] = frame[posGPS_DATA+8*j+4+i]; }
|
|
memcpy(&byteval, pseudobytes, 4);
|
|
range[prns[j]].ca = byteval & 0xFFFFFF;
|
|
//range[prns[j]].dop = (byteval >> 24) & 0xFF;
|
|
if (range[prns[j]].ca == 0x555555) {
|
|
range[prns[j]].ca = 0;
|
|
continue;
|
|
}
|
|
*/
|
|
if ( dist(sat[prns[j]].X, sat[prns[j]].Y, sat[prns[j]].Z, 0, 0, 0) > 6700000 )
|
|
{
|
|
for (i = 0; i < k; i++) { if (prn[i] == prns[j]) break; }
|
|
if (i == k) {
|
|
prn[k] = prns[j];
|
|
k++;
|
|
}
|
|
}
|
|
|
|
}
|
|
|
|
|
|
for (j = 0; j < 12; j++) { // 0x013FB0A4
|
|
sat[prns[j]].pseudorange = /*0x01400000*/ - range[prns[j]].chips * df;
|
|
}
|
|
|
|
|
|
pr0 = (double)0x01400000;
|
|
for (j = 0; j < k; j++) {
|
|
prj = sat[prn[j]].pseudorange + sat[prn[j]].clock_corr;
|
|
if (prj < pr0) pr0 = prj;
|
|
}
|
|
for (j = 0; j < k; j++) sat[prn[j]].PR = sat[prn[j]].pseudorange + sat[prn[j]].clock_corr - pr0 + 20e6;
|
|
// es kann PRNs geben, die zeitweise stark abweichende PR liefern;
|
|
// eventuell Standardabweichung ermitteln und fehlerhafte Sats weglassen
|
|
|
|
return k;
|
|
}
|
|
|
|
double DOP[4];
|
|
|
|
int get_GPSkoord(int N) {
|
|
double lat, lon, alt, rx_cl_bias;
|
|
double pos_ecef[3];
|
|
double gdop, gdop0 = 1000.0;
|
|
double hdop, vdop, pdop;
|
|
int i0, i1, i2, i3, j;
|
|
int nav_ret = 0;
|
|
int num = 0;
|
|
SAT_t Sat_A[4];
|
|
SAT_t Sat_B[12]; // N <= 12
|
|
|
|
if (option_vergps == 8) {
|
|
printf(" sats: ");
|
|
for (j = 0; j < N; j++) fprintf(stdout, "%02d ", prn[j]);
|
|
printf("\n");
|
|
}
|
|
|
|
gpx.lat = gpx.lon = gpx.h = 0;
|
|
|
|
if (option_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] = sat[prn[i0]];
|
|
Sat_A[1] = sat[prn[i1]];
|
|
Sat_A[2] = sat[prn[i2]];
|
|
Sat_A[3] = sat[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]);
|
|
//printf(" DOP : %.1f ", gdop);
|
|
if (option_vergps == 8) {
|
|
//gdop = sqrt(DOP[0]+DOP[1]+DOP[2]+DOP[3]);
|
|
hdop = sqrt(DOP[0]+DOP[1]);
|
|
vdop = sqrt(DOP[2]);
|
|
pdop = sqrt(DOP[0]+DOP[1]+DOP[2]);
|
|
if (gdop < dop_limit) {
|
|
printf(" ");
|
|
printf("lat: %.5f , lon: %.5f , alt: %.1f ", lat, lon, alt);
|
|
printf(" sats: ");
|
|
printf("%02d %02d %02d %02d ", prn[i0], prn[i1], prn[i2], prn[i3]);
|
|
printf(" GDOP : %.1f ", gdop);
|
|
printf(" HDOP: %.1f VDOP: %.1f ", hdop, vdop);
|
|
printf(" PDOP: %.1f ", pdop);
|
|
printf("\n");
|
|
}
|
|
}
|
|
}
|
|
else gdop = -1;
|
|
|
|
if (gdop > 0 && gdop < gdop0) {
|
|
gpx.lat = lat;
|
|
gpx.lon = lon;
|
|
gpx.h = alt;
|
|
gpx.dop = gdop;
|
|
gpx.sats[0] = prn[i0]; gpx.sats[1] = prn[i1]; gpx.sats[2] = prn[i2]; gpx.sats[3] = prn[i3];
|
|
gdop0 = gdop;
|
|
}
|
|
}
|
|
|
|
}}}}
|
|
}
|
|
|
|
if (option_vergps == 8 || option_vergps == 2) {
|
|
|
|
for (j = 0; j < N; j++) Sat_B[j] = sat[prn[j]];
|
|
|
|
if (option_vergps == 8) {
|
|
NAV_bancroft1(N, Sat_B, pos_ecef, &rx_cl_bias);
|
|
ecef2elli(pos_ecef[0], pos_ecef[1], pos_ecef[2], &lat, &lon, &alt);
|
|
printf("bancroft1[%d] lat: %.6f , lon: %.6f , alt: %.2f ", N, lat, lon, alt);
|
|
printf("\n");
|
|
}
|
|
|
|
NAV_bancroft2(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]);
|
|
}
|
|
|
|
if (option_vergps == 8) {
|
|
printf("bancroft2[%d] lat: %.6f , lon: %.6f , alt: %.2f ", N, lat, lon, alt);
|
|
printf(" GDOP[");
|
|
for (j = 0; j < N; j++) {
|
|
printf("%d", prn[j]);
|
|
if (j < N-1) printf(","); else printf("] %.1f ", gdop);
|
|
}
|
|
printf("\n");
|
|
}
|
|
|
|
if (option_vergps == 2) {
|
|
gpx.lat = lat;
|
|
gpx.lon = lon;
|
|
gpx.h = alt;
|
|
gpx.dop = gdop;
|
|
num = N;
|
|
}
|
|
}
|
|
|
|
|
|
return num;
|
|
}
|
|
|
|
|
|
/* ------------------------------------------------------------------------------------ */
|
|
|
|
|
|
int print_position() { // GPS-Hoehe ueber Ellipsoid
|
|
int j, k;
|
|
int err1, err2;
|
|
|
|
err1 = 0;
|
|
if (!option_verbose) err1 = err_gps;
|
|
err1 |= get_FrameNb();
|
|
err1 |= get_SondeID();
|
|
|
|
err2 = err1 | err_gps;
|
|
//err2 |= get_GPSweek();
|
|
err2 |= get_GPStime();
|
|
|
|
if (!err1) {
|
|
//Gps2Date(gpx.week, gpx.gpssec, &gpx.jahr, &gpx.monat, &gpx.tag);
|
|
fprintf(stdout, "[%5d] ", gpx.frnr);
|
|
fprintf(stdout, "(%s) ", gpx.id);
|
|
}
|
|
|
|
if (!err2) {
|
|
fprintf(stdout, "%s ", weekday[gpx.wday]);
|
|
fprintf(stdout, "%02d:%02d:%04.1f", gpx.std, gpx.min, gpx.sek);
|
|
/*
|
|
fprintf(stdout, "%04d-%02d-%02d %02d:%02d:%02d",
|
|
gpx.jahr, gpx.monat, gpx.tag, gpx.std, gpx.min, gpx.sek);
|
|
if (option_verbose) fprintf(stdout, " (W %d)", gpx.week);
|
|
*/
|
|
|
|
k = get_pseudorange();
|
|
if ((almanac || ephem) && (k >= 4)) {
|
|
if (get_GPSkoord(k) > 0) {
|
|
fprintf(stdout, " ");
|
|
if (almanac) fprintf(stdout, " lat: %.4f lon: %.4f alt: %.1f ", gpx.lat, gpx.lon, gpx.h);
|
|
else fprintf(stdout, " lat: %.5f lon: %.5f alt: %.1f ", gpx.lat, gpx.lon, gpx.h);
|
|
if (option_vergps) {
|
|
if (option_vergps != 2) {
|
|
fprintf(stdout, " GDOP[%02d,%02d,%02d,%02d] %.1f",
|
|
gpx.sats[0], gpx.sats[1], gpx.sats[2], gpx.sats[3], gpx.dop);
|
|
}
|
|
else {
|
|
fprintf(stdout, " GDOP[");
|
|
for (j = 0; j < k; j++) {
|
|
printf("%d", prn[j]);
|
|
if (j < k-1) printf(","); else printf("] %.1f ", gpx.dop);
|
|
}
|
|
}
|
|
}
|
|
}
|
|
}
|
|
|
|
get_Cal();
|
|
|
|
}
|
|
|
|
if (!err1) {
|
|
fprintf(stdout, "\n");
|
|
if (option_vergps == 8) printf("\n");
|
|
}
|
|
|
|
return err2;
|
|
}
|
|
|
|
void print_frame(int len) {
|
|
int i;
|
|
ui8_t byte;
|
|
|
|
if (option_raw) {
|
|
for (i = 0; i < len; i++) {
|
|
//byte = frame[i];
|
|
byte = xorbyte(i);
|
|
fprintf(stdout, "%02x", byte);
|
|
}
|
|
fprintf(stdout, "\n");
|
|
}
|
|
else print_position();
|
|
}
|
|
|
|
|
|
int main(int argc, char *argv[]) {
|
|
|
|
FILE *fp, *fp_alm = NULL, *fp_eph = NULL;
|
|
char *fpname;
|
|
char bitbuf[BITS];
|
|
int bit_count = 0,
|
|
byte_count = FRAMESTART,
|
|
header_found = 0,
|
|
byte, i;
|
|
int bit, len;
|
|
char *pbuf = NULL;
|
|
|
|
#ifdef WIN
|
|
_setmode(_fileno(stdin), _O_BINARY);
|
|
setbuf(stdout, NULL);
|
|
#endif
|
|
|
|
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, --raw\n");
|
|
fprintf(stderr, " -i, --invert\n");
|
|
fprintf(stderr, " -a, --almanac <almanacSEM>\n");
|
|
fprintf(stderr, " -e, --ephem <ephemperisRinex>\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, " --rawin1,2 (raw_data file)\n");
|
|
return 0;
|
|
}
|
|
else if ( (strcmp(*argv, "-v") == 0) || (strcmp(*argv, "--verbose") == 0) ) {
|
|
option_verbose = 1;
|
|
}
|
|
else if ( (strcmp(*argv, "-vv") == 0) ) {
|
|
option_verbose = 2;
|
|
}
|
|
else if ( (strcmp(*argv, "-r") == 0) || (strcmp(*argv, "--raw") == 0) ) {
|
|
option_raw = 1;
|
|
}
|
|
else if ( (strcmp(*argv, "-i") == 0) || (strcmp(*argv, "--invert") == 0) ) {
|
|
option_inv = 1;
|
|
}
|
|
else if ( (strcmp(*argv, "-a") == 0) || (strcmp(*argv, "--almanac") == 0) ) {
|
|
++argv;
|
|
if (*argv) fp_alm = fopen(*argv, "r"); // txt-mode
|
|
else return -1;
|
|
}
|
|
else if ( (strcmp(*argv, "-e") == 0) || (strncmp(*argv, "--ephem", 7) == 0) ) {
|
|
++argv;
|
|
if (*argv) fp_eph = fopen(*argv, "r"); // txt-mode
|
|
else return -1;
|
|
}
|
|
else if ( (strcmp(*argv, "--dop") == 0) ) {
|
|
++argv;
|
|
if (*argv) {
|
|
dop_limit = atof(*argv);
|
|
if (dop_limit <= 0 || dop_limit >= 100) dop_limit = 10;
|
|
}
|
|
else return -1;
|
|
}
|
|
else if (strcmp(*argv, "-g1") == 0) { option_vergps = 1; } // verbose1 GPS
|
|
else if (strcmp(*argv, "-g2") == 0) { option_vergps = 2; } // verbose2 GPS (bancroft)
|
|
else if (strcmp(*argv, "-gg") == 0) { option_vergps = 8; } // vverbose GPS
|
|
else if (strcmp(*argv, "--rawin1") == 0) { rawin = 2; } // raw_txt input1
|
|
else if (strcmp(*argv, "--rawin2") == 0) { rawin = 3; } // raw_txt input2 (SM)
|
|
else {
|
|
if (!rawin) fp = fopen(*argv, "rb");
|
|
else fp = fopen(*argv, "r");
|
|
if (fp == NULL) {
|
|
fprintf(stderr, "%s konnte nicht geoeffnet werden\n", *argv);
|
|
return -1;
|
|
}
|
|
fileloaded = 1;
|
|
}
|
|
++argv;
|
|
}
|
|
if (!fileloaded) fp = stdin;
|
|
|
|
if (fp_alm) {
|
|
i = read_SEMalmanac(fp_alm, alm);
|
|
if (i == 0) {
|
|
almanac = 1;
|
|
}
|
|
fclose(fp_alm);
|
|
}
|
|
if (fp_eph) {
|
|
/* i = read_RNXephemeris(fp_eph, eph);
|
|
if (i == 0) {
|
|
ephem = 1;
|
|
almanac = 0;
|
|
}
|
|
fclose(fp_eph); */
|
|
ephs = read_RNXpephs(fp_eph);
|
|
if (ephs) {
|
|
ephem = 1;
|
|
almanac = 0;
|
|
}
|
|
fclose(fp_eph);
|
|
}
|
|
|
|
|
|
if (!rawin) {
|
|
|
|
i = read_wav_header(fp);
|
|
if (i) {
|
|
fclose(fp);
|
|
return -1;
|
|
}
|
|
|
|
while (!read_bits_fsk(fp, &bit, &len)) {
|
|
|
|
if (len == 0) { // reset_frame();
|
|
if (byte_count > pos_SondeID+8) {
|
|
if (byte_count < FRAME_LEN-20) err_gps = 1;
|
|
print_frame(byte_count);
|
|
err_gps = 0;
|
|
}
|
|
bit_count = 0;
|
|
byte_count = FRAMESTART;
|
|
header_found = 0;
|
|
inc_bufpos();
|
|
buf[bufpos] = 'x';
|
|
continue; // ...
|
|
}
|
|
|
|
for (i = 0; i < len; i++) {
|
|
|
|
inc_bufpos();
|
|
buf[bufpos] = 0x30 + bit; // Ascii
|
|
|
|
if (!header_found) {
|
|
if (compare() >= HEADLEN) header_found = 1;
|
|
}
|
|
else {
|
|
bitbuf[bit_count] = bit;
|
|
bit_count++;
|
|
|
|
if (bit_count == BITS) {
|
|
bit_count = 0;
|
|
byte = bits2byte(bitbuf);
|
|
frame[byte_count] = byte;
|
|
byte_count++;
|
|
if (byte_count == FRAME_LEN) {
|
|
byte_count = FRAMESTART;
|
|
header_found = 0;
|
|
//inc_bufpos();
|
|
//buf[bufpos] = 'x';
|
|
print_frame(FRAME_LEN);
|
|
}
|
|
}
|
|
}
|
|
}
|
|
}
|
|
|
|
}
|
|
else //if (rawin)
|
|
{
|
|
if (rawin == 3) frameofs = 5;
|
|
|
|
while (1 > 0) {
|
|
|
|
pbuf = fgets(buffer_rawin, rawin*FRAME_LEN+4, fp);
|
|
if (pbuf == NULL) break;
|
|
buffer_rawin[rawin*FRAME_LEN+1] = '\0';
|
|
len = strlen(buffer_rawin) / rawin;
|
|
if (len > pos_SondeID+8) {
|
|
for (i = 0; i < len-frameofs; i++) { //%2x SCNx8=%hhx(inttypes.h)
|
|
sscanf(buffer_rawin+rawin*i, "%2hhx", frame+frameofs+i);
|
|
// wenn ohne %hhx: sscanf(buffer_rawin+rawin*i, "%2x", &byte); frame[frameofs+i] = (ui8_t)byte;
|
|
}
|
|
if (len < FRAME_LEN-20) err_gps = 1;
|
|
print_frame(len);
|
|
err_gps = 0;
|
|
}
|
|
}
|
|
}
|
|
|
|
free(ephs);
|
|
fclose(fp);
|
|
|
|
return 0;
|
|
}
|
|
|
|
|