kopia lustrzana https://github.com/mikaelnousiainen/RS41ng
encoding CATS packets inline. Still need to support GPS and NodeInfo whiskers
Stephen D
rodzic
1ee2710a57
commit
720afc2a92
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@ -0,0 +1,34 @@
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#include <stdint.h>
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#include "cats.h"
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#include "crc.h"
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#include "whiten.h"
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#include "ldpc.h"
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#include "interleaver.h"
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cats_packet cats_create(uint8_t *data)
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{
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cats_packet c = {.data = data, .len = 0};
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return c;
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}
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// This makes changes to packet->data.
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// Don't call it more than once, and don't use
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// the packet after calling!
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size_t cats_fully_encode(cats_packet packet, uint8_t *out)
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{
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// 0. CRC
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int new_len = cats_append_crc(packet.data, packet.len);
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// 1. whiten
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cats_whiten(packet.data, new_len);
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// 2. ldpc
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new_len = cats_ldpc_encode(packet.data, new_len);
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// 3. length
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out[0] = new_len;
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out[1] = new_len >> 8;
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// 4. interleave
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cats_interleave(out + 2, packet.data, new_len);
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return new_len + 2;
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}
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@ -0,0 +1,15 @@
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#ifndef __CATS_H
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#define __CATS_H
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#include <stdint.h>
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#include <stddef.h>
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typedef struct _cats_packet {
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uint8_t *data;
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size_t len;
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} cats_packet;
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cats_packet cats_create(uint8_t *payload);
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size_t cats_fully_encode(cats_packet packet, uint8_t *out);
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#endif
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@ -0,0 +1,32 @@
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#include "crc.h"
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uint16_t calc_crc(uint8_t *data, size_t length);
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size_t cats_append_crc(uint8_t *data, size_t len)
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{
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uint16_t crc = calc_crc(data, len);
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data[len++] = crc;
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data[len++] = crc >> 8;
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return len;
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}
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// https://stackoverflow.com/questions/69850602/converting-c-to-java-for-crc16-ibm-sdlc
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uint16_t calc_crc(uint8_t *data, size_t length)
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{
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uint8_t *ptr = data;
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uint8_t crcbyte1 = 0xFF;
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uint8_t crcbyte2 = 0xFF;
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for (int i = 0; i < length; i++) {
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uint8_t r1 = *ptr++ ^ crcbyte2;
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r1 = (r1 << 4) ^ r1;
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crcbyte2 = (r1 << 4) | (r1 >> 4);
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crcbyte2 = (crcbyte2 & 0x0F ) ^ crcbyte1;
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crcbyte1 = r1;
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r1 = (r1 << 3) | (r1 >> 5);
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crcbyte2 = crcbyte2 ^ (r1 & 0xF8);
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crcbyte1 = crcbyte1 ^ (r1 & 0x07);
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}
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return ~((crcbyte1 << 8) | crcbyte2);
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}
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@ -0,0 +1,9 @@
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#ifndef __CATS_CRC_H
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#define __CATS_CRC_H
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#include <stdint.h>
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#include <stddef.h>
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size_t cats_append_crc(uint8_t *data, size_t len);
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#endif
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@ -0,0 +1,45 @@
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#include <stdbool.h>
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#include "interleaver.h"
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static inline bool get_bit(uint8_t *arr, size_t i);
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static inline void set_bit(uint8_t *arr, size_t i, bool value);
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void cats_interleave(uint8_t *dest, uint8_t *src, size_t len)
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{
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size_t bit_len = len * 8;
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size_t out_i = 0;
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for(int i = 0; i < 32; i++) {
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for(int j = 0; j < bit_len; j += 32) {
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if(i + j >= bit_len) {
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continue;
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}
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set_bit(dest, out_i, get_bit(src, i + j));
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out_i++;
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}
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}
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}
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static inline bool get_bit(uint8_t *arr, size_t i)
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{
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size_t byte_idx = i / 8;
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int bit_idx = 7 - (i % 8);
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return (arr[byte_idx] >> bit_idx) & 1;
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}
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static inline void set_bit(uint8_t *arr, size_t i, bool value)
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{
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size_t byte_idx = i / 8;
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int bit_idx = 7 - (i % 8);
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if(value) {
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arr[byte_idx] |= 1 << bit_idx;
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}
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else {
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arr[byte_idx] &= ~(1 << bit_idx);
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}
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}
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@ -0,0 +1,9 @@
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#ifndef __CATS_INTERLEAVER_H
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#define __CATS_INTERLEAVER_H
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#include <stdint.h>
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#include <stddef.h>
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void cats_interleave(uint8_t *dest, uint8_t *src, size_t len);
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#endif
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@ -0,0 +1,91 @@
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#include <assert.h>
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#include <string.h>
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#include "ldpc.h"
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#include "ldpc_matrices.h"
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#define GET_BIT(byte, bit) (((byte) & (1 << (7-(bit)))) != 0)
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#define SET_BIT(byte, bit) (byte |= 1 << 7-bit)
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#define CLEAR_BIT(byte, bit) (byte &= ~(1 << 7-bit))
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#define FLIP_BIT(byte, bit) (byte ^= (1 << (7 - bit)))
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cats_ldpc_code_t *cats_ldpc_pick_code(int len)
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{
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if(128 <= len)
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return &tm2048;
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else if(32 <= len)
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return &tc512;
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else if(16 <= len)
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return &tc256;
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else
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return &tc128;
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}
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// returns # of bytes written to parity_out
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size_t cats_ldpc_encode_chunk(uint8_t *data, cats_ldpc_code_t *code, uint8_t *parity_out)
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{
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// Code parameters
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int k = code->k;
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int r = code->n - code->k;
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int b = code->circulant_size;
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const uint64_t* gc = code->matrix;
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int rowLen = r/64;
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memset(parity_out, 0x00, (code->k)/8);
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for (int offset = 0; offset < b; offset++) {
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for (int crow = 0; crow < k/b; crow++) {
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int bit = crow*b + offset;
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if(GET_BIT(data[bit/8], bit%8)) {
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for (int idx = 0; idx < rowLen; idx++) {
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uint64_t circ = gc[(crow*rowLen)+idx];
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for(int j = 0; j < 8; j++) {
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parity_out[idx*8 + j] ^= (uint8_t)(circ >> ((7 - j) * 8));
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}
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}
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}
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}
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for (int block = 0; block < r/b; block++) {
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uint8_t* parityblock = &parity_out[block*b/8];
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uint8_t carry = parityblock[0] >> 7;
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for (int x = (b/8)-1; x >= 0; x--) {
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uint8_t c = parityblock[x] >> 7;
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parityblock[x] = (parityblock[x] << 1) | carry;
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carry = c;
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}
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}
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}
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return k / 8;
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}
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size_t cats_ldpc_encode(uint8_t *data, size_t len)
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{
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// Didn't implement the 512-byte LDPC variant - unnecessary and uses a lot of space
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// This means we can only encode up to 511 bytes
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assert(len < 512);
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uint8_t parity[128];
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// Split data into blocks and encode each block
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int i = 0;
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while(i < len) {
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cats_ldpc_code_t *code = cats_ldpc_pick_code(len - i);
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int k = code->k;
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uint8_t chunk[code->n / 8];
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memset(chunk, 0xAA, k/8);
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memcpy(chunk, data + i, (len-i < k/8) ? (len-i) : (k/8));
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size_t parity_len = cats_ldpc_encode_chunk(chunk, code, parity);
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memcpy(data + len + i, parity, parity_len); // Parity
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i += parity_len;
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}
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int new_len = (len*2) + (i-len) + 2; // (Data+Parity) + (Padded parity) + length
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data[new_len - 2] = len;
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data[new_len - 1] = len >> 8;
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return new_len;
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}
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@ -0,0 +1,9 @@
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#ifndef __CATS_LDPC_H
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#define __CATS_LDPC_H
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#include <stdint.h>
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#include <stddef.h>
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size_t cats_ldpc_encode(uint8_t *data, size_t len);
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#endif
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#include <stdint.h>
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#include <stdlib.h>
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#include "ldpc_matrices.h"
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cats_ldpc_code_t tc128 = {
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.n = 128,
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.k = 64,
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.punctured_bits = 0,
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.bf_working_len = 128 + 0,
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.circulant_size = 128/8,
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.matrix = tc128_matrix,
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.matrix_len = 4
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};
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cats_ldpc_code_t tc256 = {
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.n = 256,
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.k = 128,
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.punctured_bits = 0,
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.bf_working_len = 256 + 0,
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.circulant_size = 256/8,
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.matrix = tc256_matrix,
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.matrix_len = 8
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};
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cats_ldpc_code_t tc512 = {
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.n = 512,
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.k = 256,
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.punctured_bits = 0,
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.bf_working_len = 512 + 0,
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.circulant_size = 512/8,
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.matrix = tc512_matrix,
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.matrix_len = 16
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};
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cats_ldpc_code_t tm2048 = {
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.n = 2048,
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.k = 1024,
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.punctured_bits = 512,
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.bf_working_len = 2048 + 512,
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.circulant_size = 512/4,
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.matrix = tm2048_matrix,
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.matrix_len = 128
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};
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const uint64_t tc128_matrix[] = {
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0x0E69166BEF4C0BC2, 0x7766137EBB248418, 0xC480FEB9CD53A713, 0x4EAA22FA465EEA11
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};
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const uint64_t tc256_matrix[] = {
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0x73F5E8390220CE51, 0x36ED68E9F39EB162, 0xBAC812C0BCD24379, 0x4786D9285A09095C,
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0x7DF83F76A5FF4C38, 0x8E6C0D4E025EB712, 0xBAA37B3260CB31C5, 0xD0F66A31FAF511BC
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};
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const uint64_t tc512_matrix[] = {
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0x1D21794A22761FAE, 0x59945014257E130D, 0x74D6054003794014, 0x2DADEB9CA25EF12E,
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0x60E0B6623C5CE512, 0x4D2C81ECC7F469AB, 0x20678DBFB7523ECE, 0x2B54B906A9DBE98C,
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0xF6739BCF54273E77, 0x167BDA120C6C4774, 0x4C071EFF5E32A759, 0x3138670C095C39B5,
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0x28706BD045300258, 0x2DAB85F05B9201D0, 0x8DFDEE2D9D84CA88, 0xB371FAE63A4EB07E
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};
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const uint64_t tm2048_matrix[] = {
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0xCFA794F49FA5A0D8, 0x8BB31D8FCA7EA8BB, 0xA7AE7EE8A68580E3, 0xE922F9E13359B284,
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0x91F72AE8F2D6BF78, 0x30A1F83B3CDBD463, 0xCE95C0EC1F609370, 0xD7E791C870229C1E,
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0x71EF3FDF60E28784, 0x78934DB285DEC9DC, 0x0E95C103008B6BCD, 0xD2DAF85CAE732210,
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0x8326EE83C1FBA56F, 0xDD15B2DDB31FE7F2, 0x3BA0BB43F83C67BD, 0xA1F6AEE46AEF4E62,
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0x565083780CA89ACA, 0xA70CCFB4A888AE35, 0x1210FAD0EC9602CC, 0x8C96B0A86D3996A3,
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0xC0B07FDDA73454C2, 0x5295F72BD5004E80, 0xACCF973FC30261C9, 0x90525AA0CBA006BD,
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0x9F079F09A405F7F8, 0x7AD98429096F2A7E, 0xEB8C9B13B84C06E4, 0x2843A47689A9C528,
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0xDAAA1A175F598DCF, 0xDBAD426CA43AD479, 0x1BA78326E75F38EB, 0x6ED09A45303A6425,
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0x48F42033B7B9A051, 0x49DC839C90291E98, 0x9B2CEBE50A7C2C26, 0x4FC6E7D674063589,
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0xF5B6DEAEBF72106B, 0xA9E6676564C17134, 0x6D5954558D235191, 0x50AAF88D7008E634,
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0x1FA962FBAB864A5F, 0x867C9D6CF4E087AA, 0x5D7AA674BA4B1D8C, 0xD7AE9186F1D3B23B,
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0x047F112791EE97B6, 0x3FB7B58FF3B94E95, 0x93BE39A6365C66B8, 0x77AD316965A72F5B,
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0x1B58F88E49C00DC6, 0xB35855BFF228A088, 0x5C8ED47B61EEC66B, 0x5004FB6E65CBECF3,
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0x77789998FE80925E, 0x0237F570E04C5F5B, 0xED677661EB7FC382, 0x5AB5D5D968C0808C,
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0x2BDB828B19593F41, 0x671B8D0D41DF136C, 0xCB47553C9B3F0EA0, 0x16CC1554C35E6A7D,
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0x97587FEA91D2098E, 0x126EA73CC78658A6, 0xADE19711208186CA, 0x95C7417A15690C45,
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0xBE9C169D889339D9, 0x654C976A85CFD9F7, 0x47C4148E3B4712DA, 0xA3BAD1AD71873D3A,
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0x1CD630C342C5EBB9, 0x183ADE9BEF294E8E, 0x7014C077A5F96F75, 0xBE566C866964D01C,
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0xE72AC43A35AD2166, 0x72EBB3259B77F9BB, 0x18DA8B09194FA1F0, 0xE876A080C9D6A39F,
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0x809B168A3D88E8E9, 0x3D995CE5232C2DC2, 0xC7CFA44A363F628A, 0x668D46C398CAF96F,
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0xD57DBB24AE27ACA1, 0x716F8EA1B8AA1086, 0x7B7796F4A86F1FD5, 0x4C7576AD01C68953,
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0xE75BE79902448236, 0x8F069658F7AAAFB0, 0x975F3AF795E78D25, 0x5871C71B4F4B77F6,
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0x65CD9C359BB2A82D, 0x5353E007166BDD41, 0x2C5447314DB027B1, 0x0B130071AD0398D1,
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0xDE19BC7A6BBCF6A0, 0xFF021AABF12920A5, 0x58BAED484AF89E29, 0xD4DBC170CEF1D369,
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0x4C330B2D11E15B5C, 0xB3815E09605338A6, 0x75E3D1A3541E0E28, 0x4F6556D68D3C8A9E,
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0xE5BB3B297DB62CD2, 0x907F09996967A0F4, 0xFF33AEEE2C8A4A52, 0xFCCF5C39D355C39C,
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0x5FE5F09ABA6BCCE0, 0x2A73401E5F87EAC2, 0xD75702F4F57670DF, 0xA70B1C002F523EEA,
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0x6CE1CE2E05D420CB, 0x867EC0166B8E53A9, 0x9DF9801A1C33058D, 0xD116A0AE7278BBB9,
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0x4CF0B0C792DD8FDB, 0x3ECEAE6F2B7F663D, 0x106A1C296E47C14C, 0x1498B045D57DEFB5,
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0x968F6D8C790263C3, 0x53CF307EF90C1F21, 0x66E6B632F6614E58, 0x267EF096C37718A3,
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0x3D46E5D10E993EB6, 0xDF81518F885EDA1B, 0x6FF518FD48BB8E9D, 0xDBED4AC0F4F5EB89,
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0xBCC64D21A65DB379, 0xABE2E4DC21F109FF, 0x2EC0CE7B5D40973D, 0x13ECF713B01C6F10
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};
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#ifndef __CATS_LDPC_MATRICES_H
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#define __CATS_LDPC_MATRICES_H
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typedef struct cats_ldpc_code {
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// Code length (data+parity)
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int n;
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// Data length in bits
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int k;
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int punctured_bits;
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int bf_working_len;
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size_t circulant_size;
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size_t matrix_len;
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const uint64_t* matrix;
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} cats_ldpc_code_t;
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extern cats_ldpc_code_t tc128;
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extern cats_ldpc_code_t tc256;
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extern cats_ldpc_code_t tc512;
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extern cats_ldpc_code_t tm2048;
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extern const uint64_t tc128_matrix[];
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extern const uint64_t tc256_matrix[];
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extern const uint64_t tc512_matrix[];
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extern const uint64_t tm2048_matrix[];
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#endif
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@ -0,0 +1,26 @@
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#include <string.h>
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#include <assert.h>
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#include "whisker.h"
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|
||||
void cats_append_identification_whisker(cats_packet *packet, char *callsign, uint8_t ssid, uint16_t icon)
|
||||
{
|
||||
packet->data[packet->len++] = 0x00; // type = identidication
|
||||
size_t callsign_len = strlen(callsign);
|
||||
packet->data[packet->len++] = callsign_len + 3; // len
|
||||
packet->data[packet->len++] = icon & 0xFF; // icon
|
||||
packet->data[packet->len++] = (icon >> 8) & 0xFF; // icon
|
||||
memcpy(packet->data + packet->len, callsign, callsign_len); //callsign
|
||||
packet->len += callsign_len;
|
||||
packet->data[packet->len++] = ssid; // ssid
|
||||
}
|
||||
|
||||
void cats_append_comment_whisker(cats_packet *packet, char *comment)
|
||||
{
|
||||
packet->data[packet->len++] = 0x03; // type = comment
|
||||
size_t comment_len = strlen(comment);
|
||||
assert(comment_len <= 255);
|
||||
packet->data[packet->len++] = comment_len;
|
||||
memcpy(packet->data + packet->len, comment, comment_len);
|
||||
packet->len += comment_len;
|
||||
}
|
||||
|
|
@ -0,0 +1,11 @@
|
|||
#ifndef __WHISKER_H
|
||||
#define __WHISKER_H
|
||||
|
||||
#include <stdint.h>
|
||||
|
||||
#include "cats.h"
|
||||
|
||||
void cats_append_identification_whisker(cats_packet *packet, char *callsign, uint8_t ssid, uint16_t icon);
|
||||
void cats_append_comment_whisker(cats_packet *packet, char *message);
|
||||
|
||||
#endif
|
||||
|
|
@ -0,0 +1,36 @@
|
|||
#include <stdbool.h>
|
||||
|
||||
#include "whiten.h"
|
||||
|
||||
uint8_t lfsr_byte(uint16_t *state);
|
||||
void lfsr(uint16_t *state);
|
||||
|
||||
void cats_whiten(uint8_t *data, uint8_t len)
|
||||
{
|
||||
uint16_t state = 0xE9CF;
|
||||
|
||||
for(int i = 0; i < len; i++) {
|
||||
uint8_t b = lfsr_byte(&state);
|
||||
data[i] ^= b;
|
||||
}
|
||||
}
|
||||
|
||||
uint8_t lfsr_byte(uint16_t *state)
|
||||
{
|
||||
uint8_t out = 0;
|
||||
for(int i = 7; i >= 0; i--) {
|
||||
out |= (*state & 1) << i;
|
||||
lfsr(state);
|
||||
}
|
||||
|
||||
return out;
|
||||
}
|
||||
|
||||
void lfsr(uint16_t *state)
|
||||
{
|
||||
bool lsb = *state & 1;
|
||||
*state >>= 1;
|
||||
if(lsb) {
|
||||
*state ^= 0xB400;
|
||||
}
|
||||
}
|
||||
|
|
@ -0,0 +1,9 @@
|
|||
#ifndef __CATS_WHITEN_H
|
||||
#define __CATS_WHITEN_H
|
||||
|
||||
#include <stddef.h>
|
||||
#include <stdint.h>
|
||||
|
||||
void cats_whiten(uint8_t *data, uint8_t len);
|
||||
|
||||
#endif
|
||||
|
|
@ -342,8 +342,8 @@
|
|||
* CATS mode settings
|
||||
*/
|
||||
#define CATS_CALLSIGN CALLSIGN
|
||||
#define CATS_SSID 0
|
||||
#define CATS_ICON 0
|
||||
#define CATS_SSID 24
|
||||
#define CATS_ICON 8237
|
||||
#define CATS_COMMENT "I am a radiosonde. Hear me meow!"
|
||||
|
||||
// Schedule transmission every N seconds, counting from beginning of an hour (based on GPS time). Set to zero to disable time sync.
|
||||
|
|
|
|||
|
|
@ -1,9 +1,12 @@
|
|||
#include <stdint.h>
|
||||
#include <stdlib.h>
|
||||
|
||||
#include "config.h"
|
||||
#include "telemetry.h"
|
||||
#include "payload.h"
|
||||
#include "log.h"
|
||||
#include "codecs/cats/cats.h"
|
||||
#include "codecs/cats/whisker.h"
|
||||
|
||||
#define CATS_PREAMBLE_BYTE 0x55
|
||||
#define CATS_PREAMBLE_LENGTH 4
|
||||
|
|
@ -20,19 +23,20 @@ uint16_t radio_cats_encode(uint8_t *payload, uint16_t length, telemetry_data *te
|
|||
}
|
||||
|
||||
// sync word
|
||||
// TODO can clean this up!
|
||||
for(int i = 0; i < CATS_SYNC_WORD_LENGTH; i++) {
|
||||
int j = CATS_SYNC_WORD_LENGTH - i - 1;
|
||||
*(cur++) = (CATS_SYNC_WORD & (0xFF << (j * 8))) >> (j * 8);
|
||||
}
|
||||
|
||||
// data - todo fix this
|
||||
uint8_t msg[] = {140, 0, 163, 12, 172, 77, 255, 254, 201, 107, 102, 245, 143, 108, 185, 202, 207, 194, 243, 54, 138, 46, 62, 36, 41, 70, 203, 43, 32, 76, 254, 214, 159, 124, 132, 48, 135, 189, 2, 147, 188, 229, 24, 195, 194, 177, 162, 193, 105, 140, 31, 11, 51, 214, 51, 206, 150, 112, 105, 73, 234, 161, 46, 10, 93, 79, 68, 145, 150, 25, 185, 46, 166, 86, 190, 116, 218, 236, 204, 161, 28, 57, 3, 1, 46, 90, 207, 253, 69, 133, 62, 36, 173, 20, 220, 49, 12, 222, 0, 251, 73, 46, 57, 188, 62, 122, 142, 35, 144, 187, 27, 215, 75, 128, 189, 147, 76, 41, 53, 203, 30, 234, 222, 52, 73, 206, 209, 233, 81, 173, 58, 179, 194, 172, 207, 220, 169, 32, 24, 196, 40, 44};
|
||||
uint8_t *data = malloc(length);
|
||||
cats_packet packet = cats_create(data);
|
||||
cats_append_identification_whisker(&packet, CATS_CALLSIGN, CATS_SSID, CATS_ICON);
|
||||
cats_append_comment_whisker(&packet, message);
|
||||
int len = cats_fully_encode(packet, cur);
|
||||
free(data);
|
||||
|
||||
for(int i = 0; i < sizeof(msg); i++) {
|
||||
(*cur++) = msg[i];
|
||||
}
|
||||
|
||||
return (uint16_t)(cur - payload);
|
||||
return (uint16_t)(CATS_PREAMBLE_LENGTH + CATS_SYNC_WORD_LENGTH + len);
|
||||
}
|
||||
|
||||
payload_encoder radio_cats_payload_encoder = {
|
||||
|
|
|
|||
Ładowanie…
Reference in New Issue