somewhat usable RS92 decoder
This commit is contained in:
Hansi, dl9rdz
parent
01cccdcb75
commit
561da4fe3e
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@ -14,7 +14,8 @@
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#include <Scanner.h>
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#include <aprs.h>
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#include "version.h"
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#include <geteph.h>
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#include "geteph.h"
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#include "rs92gps.h"
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// UNCOMMENT one of the constructor lines below
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U8X8_SSD1306_128X64_NONAME_SW_I2C *u8x8 = NULL; // initialize later after reading config file
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@ -407,9 +408,13 @@ struct st_configitems config_list[] = {
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{"tcp.idformat", "DFM ID Format", -2, &sonde.config.tcpfeed.idformat},
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{"tcp.highrate", "Rate limit", 0, &sonde.config.tcpfeed.highrate},
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{"---", "---", -1, NULL},
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/* RS41 decoder settings */
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/* decoder settings */
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{"rs41.agcbw", "RS41 AGC bandwidth", 0, &sonde.config.rs41.agcbw},
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{"rs41.rxbw", "RS41 RX bandwidth", 0, &sonde.config.rs41.rxbw},
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{"rs92.rxbw", "RS92 RX (and AGC) bandwidth", 0, &sonde.config.rs92.rxbw},
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{"rs92.alt2d", "RS92 2D fix default altitude", 0, &sonde.config.rs92.alt2d},
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{"dfm.agcbw", "DFM6/9 AGC bandwidth", 0, &sonde.config.dfm.agcbw},
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{"dfm.rxbw", "DFM6/9 RX bandwidth", 0, &sonde.config.dfm.rxbw},
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{"---", "---", -1, NULL},
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/* Hardware dependeing settings */
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{"oled_sda", "OLED SDA (needs reboot)", 0, &sonde.config.oled_sda},
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@ -857,7 +862,7 @@ void sx1278Task(void *parameter) {
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resetup = false;
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sonde.setup();
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}
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Serial.println("rx task: calling sonde.receive()");
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//Serial.println("rx task: calling sonde.receive()");
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sonde.receive();
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delay(20);
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}
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@ -1481,7 +1486,7 @@ void wifiConnect(int16_t res) {
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static int wifi_cto;
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void loopWifiBackground() {
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Serial.printf("WifiBackground: state %d\n", wifi_state);
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// Serial.printf("WifiBackground: state %d\n", wifi_state);
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// handle Wifi station mode in background
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if (sonde.config.wifi == 0 || sonde.config.wifi == 2) return; // nothing to do if disabled or access point mode
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@ -1648,6 +1653,7 @@ void loopWifiScan() {
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sonde.updateDisplayIP();
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wifi_state = WIFI_CONNECTED;
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geteph();
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get_eph("/brdc");
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delay(3000);
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}
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enableNetwork(true);
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@ -2,8 +2,8 @@
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# Hardware depending settings
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#-------------------------------#
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# pin: 255=disabled; x=button x+128=touch button
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button_pin=0
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button2_pin=255
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button_pin=130
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button2_pin=142
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# LED port
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led_pout=9
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# OLED Setup is depending on hardware of LoRa board
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@ -38,9 +38,17 @@ call=N0CALL
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passcode=12345
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#-------------------------------#
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# Sonde specific settings: bandwidth
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# valid values: 3100, 3900, 5200, 6300, 7800, 10400, 12500,
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# 15600, 20800, 25000, ...
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# other values will be rounded up to the next valid value
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# rs92.alt2d: default altitude used by RS92 decoder if only 3 sats available
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#-------------------------------#
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rs41.agcbw=6300
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rs41.agcbw=12500
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rs41.rxbw=6300
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rs92.rxbw=12500
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rs92.alt2d=480
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dfm.agcbw=20800
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dfm.rxbw=10400
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#-------------------------------#
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# axudp for sending to aprsmap
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#-------------------------------#
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@ -542,7 +542,7 @@ int32_t SX1278FSK::getFEI()
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{
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int32_t FEI;
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int16_t regval = (readRegister(REG_FEI_MSB)<<8) | readRegister(REG_FEI_LSB);
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Serial.printf("feireg: %04x\n", regval);
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//Serial.printf("feireg: %04x\n", regval);
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FEI = (int32_t)(regval * SX127X_FSTEP);
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return FEI;
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}
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@ -554,7 +554,7 @@ int32_t SX1278FSK::getAFC()
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{
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int32_t AFC;
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int16_t regval = (readRegister(REG_AFC_MSB)<<8) | readRegister(REG_AFC_LSB);
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Serial.printf("afcreg: %04x\n", regval);
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//Serial.printf("afcreg: %04x\n", regval);
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AFC = (int32_t)(regval * SX127X_FSTEP);
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return AFC;
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}
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@ -36,14 +36,14 @@ int DFM::setup(float frequency, int inv)
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Serial.println(br);
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#endif
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if(sx1278.setAFCBandwidth(25000)!=0) {
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DFM_DBG(Serial.println("Setting AFC bandwidth 25 kHz FAILED"));
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return 1;
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}
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if(sx1278.setRxBandwidth(12000)!=0) {
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DFM_DBG(Serial.println("Setting RX bandwidth 12kHz FAILED"));
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return 1;
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}
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if(sx1278.setAFCBandwidth(sonde.config.dfm.agcbw)!=0) {
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DFM_DBG(Serial.printf("Setting AFC bandwidth %d Hz FAILED", sonde.config.dfm.agcbw));
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return 1;
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}
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if(sx1278.setRxBandwidth(sonde.config.dfm.rxbw)!=0) {
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DFM_DBG(Serial.printf("Setting RX bandwidth to %d Hz FAILED", sonde.config.dfm.rxbw));
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return 1;
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}
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// Enable auto-AFC, auto-AGC, RX Trigger by preamble
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if(sx1278.setRxConf(0x1E)!=0) {
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DFM_DBG(Serial.println("Setting RX Config FAILED"));
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@ -32,11 +32,12 @@ static unsigned char kmh_tiles[] U8X8_PROGMEM = {
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static unsigned char ms_tiles[] U8X8_PROGMEM = {
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0x1F, 0x02, 0x04, 0x02, 0x1F, 0x40, 0x20, 0x10, 0x08, 0x04, 0x12, 0xA4, 0xA4, 0xA4, 0x40, 0x00
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};
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static unsigned char stattiles[4][4] = {
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static unsigned char stattiles[5][4] = {
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0x00, 0x1F, 0x00, 0x00 , // | == ok
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0x00, 0x10, 0x10, 0x00 , // . == no header found
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0x1F, 0x15, 0x15, 0x00 , // E == decode error
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0x00, 0x00, 0x00, 0x00 }; // ' ' == unknown/unassigned
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0x00, 0x00, 0x00, 0x00 , // ' ' == unknown/unassigned
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0x07, 0x05, 0x07, 0x00 }; // ° = rx ok, but no valid position
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//static uint8_t halfdb_tile[8]={0x80, 0x27, 0x45, 0x45, 0x45, 0x39, 0x00, 0x00};
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@ -103,11 +103,11 @@ int RS41::setup(float frequency)
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#endif
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if(sx1278.setAFCBandwidth(sonde.config.rs41.agcbw)!=0) {
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RS41_DBG(Serial.println("Setting AFC bandwidth 25 kHz FAILED"));
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RS41_DBG(Serial.printf("Setting AFC bandwidth %d Hz FAILED", sonde.config.rs41.agcbw));
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return 1;
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}
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if(sx1278.setRxBandwidth(sonde.config.rs41.rxbw)!=0) {
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RS41_DBG(Serial.println("Setting RX bandwidth 12kHz FAILED"));
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RS41_DBG(Serial.printf("Setting RX bandwidth to %d Hz FAILED", sonde.config.rs41.rxbw));
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return 1;
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}
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// Enable auto-AFC, auto-AGC, RX Trigger by preamble
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@ -76,6 +76,20 @@ static void Gencrctab(void)
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} /* end for */
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} /* end Gencrctab() */
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static byte data1[512]={0x2A, 0x2A, 0x2A, 0x2A, 0x2A, 0x10};
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static byte data2[512]={0x2A, 0x2A, 0x2A, 0x2A, 0x2A, 0x10};
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static byte *dataptr=data1;
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static uint8_t rxbitc;
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static int32_t asynst[10]={0};
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static uint16_t rxbyte;
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int rxp=0;
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static int haveNewFrame = 0;
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static int lastFrame = 0;
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static int headerDetected = 0;
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int RS92::setup(float frequency)
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{
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#if RS92_DEBUG
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@ -84,7 +98,7 @@ int RS92::setup(float frequency)
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if(!initialized) {
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Gencrctab();
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initrsc();
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get_eph("/brdc.19n");
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// not here for now.... get_eph("/brdc.19n");
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initialized = true;
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}
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@ -105,15 +119,15 @@ int RS92::setup(float frequency)
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Serial.print("Exact bitrate is ");
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Serial.println(br);
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#endif
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if(sx1278.setAFCBandwidth(sonde.config.rs92.rxbw)!=0) {
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RS92_DBG(Serial.printf("Setting AFC bandwidth %d Hz FAILED", sonde.config.rs92.rxbw));
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return 1;
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}
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if(sx1278.setRxBandwidth(sonde.config.rs92.rxbw)!=0) {
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RS92_DBG(Serial.printf("Setting RX bandwidth to %d Hz FAILED", sonde.config.rs92.rxbw));
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return 1;
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}
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if(sx1278.setAFCBandwidth(sonde.config.rs41.agcbw)!=0) {
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RS92_DBG(Serial.println("Setting AFC bandwidth 25 kHz FAILED"));
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return 1;
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}
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if(sx1278.setRxBandwidth(sonde.config.rs41.rxbw)!=0) {
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RS92_DBG(Serial.println("Setting RX bandwidth 12kHz FAILED"));
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return 1;
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}
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// Enable auto-AFC, auto-AGC, RX Trigger by preamble
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if(sx1278.setRxConf(0x1E)!=0) {
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RS92_DBG(Serial.println("Setting RX Config FAILED"));
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@ -345,8 +359,10 @@ void RS92::decodeframe92(uint8_t *data)
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//int calok;
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//int mesok;
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//uint32_t calibok;
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Serial.printf("rs corr is %d\n", corr);
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print_frame(data, 240);
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lastFrame = (dataptr==data1)?1:2;
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Serial.printf("rs corr is %d --- data:%p data1:%p data2:%p lastframe=%d\n", corr, data, data1, data2, lastFrame);
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dataptr = (dataptr==data1)?data2:data1;
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//print_frame(data, 240);
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#if 0
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/* from sondemod*/
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int p=6;
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@ -458,19 +474,10 @@ static uint8_t scramble[64] = {150U,131U,62U,81U,177U,73U,8U,152U,50U,5U,89U,
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193U};
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#endif
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static byte data[5000]={0x2A, 0x2A, 0x2A, 0x2A, 0x2A, 0x10};
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static uint8_t rxbitc;
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static int32_t asynst[10]={0};
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static uint16_t rxbyte;
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int rxp=0;
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static int haveNewFrame = 0;
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static int headerDetected = 0;
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void RS92::stobyte92(uint8_t b)
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{
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data[rxp] = b;
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dataptr[rxp] = b;
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if(rxp>=5 || b=='*') rxp++; else rxp=0;
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if(rxp==6) { // header detected
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headerDetected = 1;
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@ -478,7 +485,7 @@ void RS92::stobyte92(uint8_t b)
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if(rxp>=240) { // frame complete... (240 byte)
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rxp=0;
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//printRaw(data, 240);
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decodeframe92(data);
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decodeframe92(dataptr);
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haveNewFrame = 1;
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}
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} /* end stobyte92() */
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@ -506,9 +513,9 @@ void RS92::process8N1data(uint8_t dt)
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int rssi=sx1278.getRSSI();
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int fei=sx1278.getFEI();
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int afc=sx1278.getAFC();
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Serial.print("Test: RSSI="); Serial.println(rssi);
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Serial.print("Test: FEI="); Serial.println(fei);
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Serial.print("Test: AFC="); Serial.println(afc);
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Serial.print("Test: RSSI="); Serial.print(rssi);
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Serial.print(" FEI="); Serial.print(fei);
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Serial.print(" AFC="); Serial.println(afc);
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sonde.si()->rssi = rssi;
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sonde.si()->afc = afc;
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}
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@ -516,14 +523,14 @@ void RS92::process8N1data(uint8_t dt)
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rxbitc = (rxbitc+1)%20;
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if(rxbitc == 0) { // got startbit, 8 data bit, stop bit
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//Serial.printf("%03x ",rxbyte);
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data[rxp++] = (rxbyte>>1)&0xff;
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if(rxp==7 && data[6] != 0x65) {
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Serial.printf("wrong start: %02x\n",data[6]);
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dataptr[rxp++] = (rxbyte>>1)&0xff;
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if(rxp==7 && dataptr[6] != 0x65) {
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Serial.printf("wrong start: %02x\n",dataptr[6]);
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rxsearching = true;
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}
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if(rxp>=240) {
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rxsearching = true;
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decodeframe92(data);
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decodeframe92(dataptr);
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haveNewFrame = 1;
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}
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}
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@ -602,6 +609,19 @@ int RS92::receive() {
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#define RS92MAXLEN (240)
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int RS92::waitRXcomplete() {
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// called after complete...
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Serial.printf("decoding frame %d\n", lastFrame);
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print_frame(lastFrame==1?data1:data2, 240);
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SondeInfo *si = sonde.sondeList+sonde.currentSonde;
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si->lat = gpx.lat;
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si->lon = gpx.lon;
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si->alt = gpx.alt;
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si->vs = gpx.vU;
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si->hs = gpx.vH;
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si->dir = gpx.vD;
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si->validPos = 0x3f;
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#if 0
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int res=0;
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uint32_t t0 = millis();
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@ -67,8 +67,12 @@ Sonde::Sonde() {
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config.marker=0;
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config.showafc=0;
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config.freqofs=0;
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config.rs41.agcbw=25000;
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config.rs41.rxbw=12000;
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config.rs41.agcbw=12500;
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config.rs41.rxbw=6300;
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config.rs92.rxbw=12500;
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config.rs92.alt2d=480;
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config.dfm.agcbw=20800;
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config.dfm.rxbw=10400;
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config.udpfeed.active = 1;
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config.udpfeed.type = 0;
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strcpy(config.udpfeed.host, "192.168.42.20");
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@ -145,6 +149,14 @@ void Sonde::setConfig(const char *cfg) {
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config.rs41.agcbw = atoi(val);
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} else if(strcmp(cfg,"rs41.rxbw")==0) {
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config.rs41.rxbw = atoi(val);
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} else if(strcmp(cfg,"dfm.agcbw")==0) {
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config.dfm.agcbw = atoi(val);
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} else if(strcmp(cfg,"dfm.rxbw")==0) {
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config.dfm.rxbw = atoi(val);
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} else if(strcmp(cfg,"rs92.alt2d")==0) {
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config.rs92.alt2d= atoi(val);
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} else if(strcmp(cfg,"rs92.rxbw")==0) {
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config.rs92.rxbw = atoi(val);
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} else if(strcmp(cfg,"axudp.active")==0) {
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config.udpfeed.active = atoi(val)>0;
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} else if(strcmp(cfg,"axudp.host")==0) {
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@ -326,23 +338,20 @@ rxloop:
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}
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rxtask.receiveResult = 0xFFFF;
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Serial.printf("waitRXcomplete returning %04x (%s)\n", res, RXstr[res&0xff]);
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#if 0
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//currently not used...
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{
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int res;
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switch(sondeList[rxtask.currentSonde].type) {
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// currently used only by RS92
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// TODO: rxtask.currentSonde might not be the right thing (after sonde channel change)
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switch(sondeList[/*rxtask.*/currentSonde].type) {
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case STYPE_RS41:
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res = rs41.waitRXcomplete();
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rs41.waitRXcomplete();
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break;
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case STYPE_RS92:
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res = rs92.waitRXcomplete();
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rs92.waitRXcomplete();
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break;
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case STYPE_DFM06:
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case STYPE_DFM09:
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res = dfm.waitRXcomplete();
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dfm.waitRXcomplete();
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break;
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}
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#endif
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memmove(sonde.si()->rxStat+1, sonde.si()->rxStat, 17);
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sonde.si()->rxStat[0] = res;
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return res;
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@ -7,7 +7,7 @@
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// RX_TIMEOUT: no header detected
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// RX_ERROR: header detected, but data not decoded (crc error, etc.)
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// RX_OK: header and data ok
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enum RxResult { RX_OK, RX_TIMEOUT, RX_ERROR, RX_UNKNOWN };
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enum RxResult { RX_OK, RX_TIMEOUT, RX_ERROR, RX_UNKNOWN, RX_NOPOS };
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#define RX_UPDATERSSI 0xFFFE
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// Events that change what is displayed (mode, sondenr)
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@ -70,6 +70,14 @@ struct st_rs41config {
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int agcbw;
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int rxbw;
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};
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struct st_rs92config {
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int rxbw;
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int alt2d;
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};
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struct st_dfmconfig {
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int agcbw;
|
||||
int rxbw;
|
||||
};
|
||||
|
||||
typedef struct st_rdzconfig {
|
||||
int button_pin; // PIN port number menu button (+128 for touch mode)
|
||||
|
|
@ -96,6 +104,8 @@ typedef struct st_rdzconfig {
|
|||
char call[9]; // APRS callsign
|
||||
char passcode[9]; // APRS passcode
|
||||
struct st_rs41config rs41; // configuration options specific for RS41 receiver
|
||||
struct st_rs92config rs92;
|
||||
struct st_dfmconfig dfm;
|
||||
// for now, one feed for each type is enough, but might get extended to more?
|
||||
struct st_feedinfo udpfeed; // target for AXUDP messages
|
||||
struct st_feedinfo tcpfeed; // target for APRS-IS TCP connections
|
||||
|
|
@ -103,7 +113,7 @@ typedef struct st_rdzconfig {
|
|||
|
||||
typedef struct st_sondeinfo {
|
||||
// receiver configuration
|
||||
bool active;
|
||||
bool active;
|
||||
SondeType type;
|
||||
float freq;
|
||||
// decoded ID
|
||||
|
|
@ -116,7 +126,7 @@ typedef struct st_sondeinfo {
|
|||
float alt; // altitude
|
||||
float vs; // vertical speed
|
||||
float hs; // horizontal speed
|
||||
float dir; // 0..360
|
||||
float dir; // 0..360
|
||||
uint8_t validPos; // bit pattern for validity of above 6 fields
|
||||
// RSSI from receiver
|
||||
int rssi; // signal strength
|
||||
|
|
@ -128,7 +138,7 @@ typedef struct st_sondeinfo {
|
|||
uint32_t viewStart; // millis() timestamp of viewinf this sonde with current display
|
||||
int8_t lastState; // -1: disabled; 0: norx; 1: rx
|
||||
} SondeInfo;
|
||||
// rxStat: 0=undef[empty] 1=timeout[.] 2=errro[E] 3=ok[1]
|
||||
// rxStat: 3=undef[empty] 1=timeout[.] 2=errro[E] 3=ok[1] 5=no valid position[°]
|
||||
|
||||
|
||||
#define MAXSONDE 99
|
||||
|
|
|
|||
|
|
@ -384,6 +384,20 @@ EPHEM_t *read_RNXpephs(const char *file) {
|
|||
ephem.week = 1; // ephem.gpsweek
|
||||
Serial.printf("Reading ephem for prn %d\n", ui);
|
||||
if(ui<33) {
|
||||
#if 0
|
||||
// no need to do it the difficult way, most recent data is at end of file :-)
|
||||
double tdiff;
|
||||
if(te[ui].prn!=ui) {
|
||||
tdiff = WEEKSEC;
|
||||
} else {
|
||||
tdiff = now - te[ui].toe;
|
||||
if(tdiff>WEEKSEC/2) tdiff -= WEEKSEC;
|
||||
if(tdiff<-WEEKSEC/2) tdiff += WEEKSEC;
|
||||
}
|
||||
double td = now - ephem.toe;
|
||||
if(td>WEEKSEC/2) td -= WEEKSEC;
|
||||
if(td<-WEEKSEC/2) td += WEEKSEC;
|
||||
#endif
|
||||
te[ui] = ephem;
|
||||
} else {
|
||||
Serial.printf("bad prn: %d\n", ui);
|
||||
|
|
|
|||
|
|
@ -50,28 +50,10 @@
|
|||
|
||||
#include <SPIFFS.h>
|
||||
#include "nav_gps_vel.h"
|
||||
|
||||
#ifdef CYGWIN
|
||||
#include <fcntl.h> // cygwin: _setmode()
|
||||
#include <io.h>
|
||||
#endif
|
||||
#include "rs92gps.h"
|
||||
#include "Sonde.h"
|
||||
|
||||
|
||||
typedef struct {
|
||||
int frnr;
|
||||
char id[11];
|
||||
int week; int gpssec;
|
||||
int jahr; int monat; int tag;
|
||||
int wday;
|
||||
int std; int min; float sek;
|
||||
double lat; double lon; double alt;
|
||||
double vH; double vD; double vU;
|
||||
int sats[4];
|
||||
double dop;
|
||||
int freq;
|
||||
unsigned short aux[4];
|
||||
double diter;
|
||||
} gpx_t;
|
||||
|
||||
gpx_t gpx;
|
||||
|
||||
|
|
@ -91,6 +73,7 @@ int option_verbose = 0, // ausfuehrliche Anzeige
|
|||
rawin = 0;
|
||||
double dop_limit = 9.9;
|
||||
double d_err = 10000;
|
||||
//double fixalt2d = 480; // bei mir zu Hause :-) TODO: make it configurable
|
||||
|
||||
int rollover = 0,
|
||||
err_gps = 0;
|
||||
|
|
@ -550,6 +533,7 @@ int get_GPStime() {
|
|||
gpstime /= 1000;
|
||||
|
||||
gpx.gpssec = gpstime;
|
||||
Serial.printf("GPS time is %04x (%d)\n", gpstime, gpstime);
|
||||
|
||||
day = (gpstime / (24 * 3600)) % 7; // besser CRC-check, da auch
|
||||
//if ((day < 0) || (day > 6)) return -1; // gpssec=604800,604801 beobachtet
|
||||
|
|
@ -901,6 +885,8 @@ const double df = 299792.458/1023.0/1024.0; //0.286183844 // c=299792458m/s, 102
|
|||
// dl = L1/(chips/sec)/4
|
||||
const double dl = 1575.42/1.023/4.0; //385.0 // GPS L1 1575.42MHz=154*10.23MHz, dl=154*10/4
|
||||
|
||||
double pr_ofs;
|
||||
double GPSsatAlt = 20200e3;
|
||||
|
||||
int get_pseudorange() {
|
||||
uint32_t gpstime;
|
||||
|
|
@ -919,10 +905,12 @@ int get_pseudorange() {
|
|||
memcpy(&gpstime, gpstime_bytes, 4);
|
||||
|
||||
// Sat Status
|
||||
Serial.print("Sat status: ");
|
||||
for (i = 0; i < 12; i++) {
|
||||
sat_status[i] = framebyte(posGPS_STATUS + i);
|
||||
Serial.printf("sat status %d: %d\n", i, sat_status[i]);
|
||||
Serial.printf("%d:%d ", i, sat_status[i]);
|
||||
}
|
||||
Serial.print("\n");
|
||||
|
||||
// PRN-Nummern
|
||||
for (i = 0; i < 4; i++) {
|
||||
|
|
@ -953,7 +941,7 @@ int get_pseudorange() {
|
|||
pseudobytes[i] = frame[posGPS_DATA+8*j+i];
|
||||
}
|
||||
memcpy(&chipbytes, pseudobytes, 4);
|
||||
Serial.printf("Chipbytes(%d): %04x\n",j, chipbytes);
|
||||
//Serial.printf("Chipbytes(%d): %04x\n",j, chipbytes);
|
||||
|
||||
// delta_pseudochips / 385
|
||||
for (i = 0; i < 3; i++) {
|
||||
|
|
@ -985,9 +973,9 @@ int get_pseudorange() {
|
|||
continue;
|
||||
}
|
||||
*/
|
||||
Serial.printf("j=%d: prns=%d status=%d dist=%f\n", j, prns[j], sat_status[j], dist(sat[prns[j]].X, sat[prns[j]].Y, sat[prns[j]].Z, 0, 0, 0));
|
||||
int o=prns[j];
|
||||
Serial.printf("x=%f y=%f z=%f\n", sat[o].X, sat[o].Y, sat[o].Z);
|
||||
Serial.printf("j=%d: prns=%d status=%d dist=%f\n ", j, prns[j], sat_status[j], dist(sat[prns[j]].X, sat[prns[j]].Y, sat[prns[j]].Z, 0, 0, 0));
|
||||
//int o=prns[j];
|
||||
//Serial.printf("x=%f y=%f z=%f\n", sat[o].X, sat[o].Y, sat[o].Z);
|
||||
if ( (prns[j] > 0) && ((sat_status[j] & 0x0F) == 0xF)
|
||||
&& (dist(sat[prns[j]].X, sat[prns[j]].Y, sat[prns[j]].Z, 0, 0, 0) > 6700000) )
|
||||
{
|
||||
|
|
@ -1020,12 +1008,13 @@ int get_pseudorange() {
|
|||
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;
|
||||
for (j = 0; j < k; j++) sat[prn[j]].PR = sat[prn[j]].pseudorange + sat[prn[j]].clock_corr - pr0 + GPSsatAlt;
|
||||
// es kann PRNs geben, die zeitweise stark abweichende PR liefern;
|
||||
// eventuell Standardabweichung ermitteln und fehlerhafte Sats weglassen
|
||||
for (j = 0; j < k; j++) { // sat/sat1s... PR-check
|
||||
sat1s[prn[j]].PR = sat1s[prn[j]].pseudorange + sat[prn[j]].clock_corr - pr0 + 20e6;
|
||||
sat1s[prn[j]].PR = sat1s[prn[j]].pseudorange + sat[prn[j]].clock_corr - pr0 + GPSsatAlt;
|
||||
}
|
||||
pr_ofs = pr0;
|
||||
|
||||
return k;
|
||||
}
|
||||
|
|
@ -1049,6 +1038,80 @@ int get_GPSvel(double lat, double lon, double vel_ecef[3],
|
|||
|
||||
double DOP[4];
|
||||
|
||||
int naiv_2Dfix(int N, SAT_t sats[], double alt) {
|
||||
// simple 2D fix: 3 Sats & Alt above ellipsoid
|
||||
//
|
||||
// - fuer 3 unbekannte lat, lon, t braucht man mind. 3 Satelliten
|
||||
// - fuer Iteration braucht man jedoch einen Startwert
|
||||
// - es gibt direkte Methoden
|
||||
// - hier werden die vorhandenen Funktionen benutzt:
|
||||
// - der 4. Satellit im Erdmittelpunkt
|
||||
// - seine pseudorange(+clock) wird grob geschaetzt
|
||||
// (pseudochips liefern erst Rueckschluesse, wenn man Position kennt)
|
||||
// - dann approximieren, bis Hoehe stimmt
|
||||
// - bei 3-4 Satelliten ist die DOP-Konstellation oft schlecht
|
||||
// - moeglicherweise ist in einigen Faellen die 2. Loesung besser
|
||||
|
||||
double radius = 6371e3 + alt; // wird dann approximiert
|
||||
double lat2d, lon2d, alt2d,
|
||||
pos_ecef[3], rx_cl_bias,
|
||||
dpos_ecef[3];
|
||||
//double d;
|
||||
double rofs = 200000.0, rdiff = 0.0;
|
||||
int k, k_limit;
|
||||
double gdop = -1;
|
||||
|
||||
|
||||
sats[3].X = sats[3].Y = sats[3].Z = 0;
|
||||
|
||||
k = 0;
|
||||
k_limit = 100;
|
||||
|
||||
if (N >= 3) {
|
||||
|
||||
do
|
||||
{
|
||||
// PR = pseudorange + clock_corr - pr_ofs + GPSsatAlt
|
||||
sats[3].X = sats[3].Y = sats[3].Z = 0;
|
||||
sats[3].PR = radius - rofs;
|
||||
sats[3].pseudorange = sats[3].PR + pr_ofs - GPSsatAlt;
|
||||
|
||||
|
||||
NAV_bancroft1(4, sats, pos_ecef, &rx_cl_bias);
|
||||
//NAV_bancroft3(4, sats, pos_ecef1, &rx_cl_bias1, pos_ecef2, &rx_cl_bias2);
|
||||
|
||||
ecef2elli(pos_ecef[0], pos_ecef[1], pos_ecef[2], &lat2d, &lon2d, &alt2d);
|
||||
rdiff = alt-alt2d;
|
||||
|
||||
rofs -= rdiff*1.2;
|
||||
k += 1;
|
||||
|
||||
} while (k < k_limit && fabs(rdiff) > 1.0);
|
||||
|
||||
NAV_LinP(4, sats, pos_ecef, rx_cl_bias, dpos_ecef, &rx_cl_bias);
|
||||
// for (j=0;j<3;j++) pos_ecef[j] += dpos_ecef[j];
|
||||
// NAV_LinP(4, sats, pos_ecef, rx_cl_bias, dpos_ecef, &rx_cl_bias);
|
||||
// d = dist(0, 0, 0, dpos_ecef[0], dpos_ecef[1], dpos_ecef[2]);
|
||||
|
||||
}
|
||||
|
||||
if (calc_DOPn(4, sats, pos_ecef, DOP) == 0) {
|
||||
gdop = sqrt(DOP[0]+DOP[1]+DOP[2]+DOP[3]);
|
||||
}
|
||||
//if (gdop > 2*dop_limit) gdop = -1;
|
||||
//if (gdop < 0) gdop = -1;
|
||||
|
||||
gpx.lat = lat2d;
|
||||
gpx.lon = lon2d;
|
||||
gpx.alt = alt2d;
|
||||
gpx.dop = gdop;
|
||||
|
||||
if ( fabs(alt2d-alt) > 1000.0 ) return -1;
|
||||
if ( k == k_limit ) return 0;
|
||||
return 1;
|
||||
}
|
||||
|
||||
|
||||
int get_GPSkoord(int N) {
|
||||
double lat, lon, alt, rx_cl_bias;
|
||||
double vH, vD, vU;
|
||||
|
|
@ -1281,8 +1344,8 @@ int get_GPSkoord(int N) {
|
|||
|
||||
|
||||
int print_position() { // GPS-Hoehe ueber Ellipsoid
|
||||
int j, k, n = 0;
|
||||
int err1, err2;
|
||||
int j, k = 0, n = 0;
|
||||
int err1, err2, fix2d = 0;
|
||||
|
||||
err1 = 0;
|
||||
if (!option_verbose) err1 = err_gps;
|
||||
|
|
@ -1293,13 +1356,22 @@ int print_position() { // GPS-Hoehe ueber Ellipsoid
|
|||
//err2 |= get_GPSweek();
|
||||
err2 |= get_GPStime();
|
||||
|
||||
#if 0
|
||||
Serial.printf("ephem=%d\n",ephem);
|
||||
Serial.printf("print_position: ephs is %p\n", ephs);
|
||||
#endif
|
||||
|
||||
if (!err2 && (almanac || ephem)) {
|
||||
k = get_pseudorange();
|
||||
Serial.printf("k=%d\n", k);
|
||||
if (k >= 4) {
|
||||
n = get_GPSkoord(k);
|
||||
}
|
||||
if (k == 3) {
|
||||
SAT_t Sat_A[4];
|
||||
for (j = 0; j < 3; j++) { Sat_A[j] = sat[prn[j]]; }
|
||||
fix2d = naiv_2Dfix( 3, Sat_A, sonde.config.rs92.alt2d);
|
||||
}
|
||||
}
|
||||
|
||||
if (!err1) {
|
||||
|
|
@ -1316,7 +1388,11 @@ int print_position() { // GPS-Hoehe ueber Ellipsoid
|
|||
fprintf(stdout, "%s ", weekday[gpx.wday]); // %04.1f: wenn sek >= 59.950, wird auf 60.0 gerundet
|
||||
fprintf(stdout, "%02d:%02d:%06.3f", gpx.std, gpx.min, gpx.sek);
|
||||
|
||||
if (n > 0) {
|
||||
if (k == 3 && fix2d > 0 && gpx.dop > 0 && gpx.dop < 2*dop_limit) {
|
||||
fprintf(stdout, " 2D lat: %.5f lon: %.5f alt: %.1f ", gpx.lat, gpx.lon, gpx.alt);
|
||||
fprintf(stdout, " DOP[%02d,%02d,%02d,0] %.1f ", prn[0], prn[1], prn[2], gpx.dop);
|
||||
}
|
||||
else if (n > 0) {
|
||||
fprintf(stdout, " ");
|
||||
|
||||
if (almanac) fprintf(stdout, " lat: %.4f lon: %.4f alt: %.1f ", gpx.lat, gpx.lon, gpx.alt);
|
||||
|
|
@ -1386,7 +1462,8 @@ void print_frame(uint8_t *data, int len) {
|
|||
}
|
||||
fprintf(stdout, "\n");
|
||||
}
|
||||
else print_position();
|
||||
//Serial.printf("print_frame: ephs is %p\n", ephs);
|
||||
print_position();
|
||||
}
|
||||
|
||||
void get_eph(const char *file) {
|
||||
|
|
@ -1395,7 +1472,7 @@ void get_eph(const char *file) {
|
|||
ephem = 1;
|
||||
almanac = 0;
|
||||
}
|
||||
Serial.printf("reading RNX done, result is %d\n", ephem);
|
||||
Serial.printf("reading RNX done, result is %d, ephs=%p\n", ephem, ephs);
|
||||
if (!option_der) d_err = 1000;
|
||||
}
|
||||
|
||||
|
|
|
|||
|
|
@ -1,3 +1,21 @@
|
|||
|
||||
typedef struct {
|
||||
int frnr;
|
||||
char id[11];
|
||||
int week; int gpssec;
|
||||
int jahr; int monat; int tag;
|
||||
int wday;
|
||||
int std; int min; float sek;
|
||||
double lat; double lon; double alt;
|
||||
double vH; double vD; double vU;
|
||||
int sats[4];
|
||||
double dop;
|
||||
int freq;
|
||||
unsigned short aux[4];
|
||||
double diter;
|
||||
} gpx_t;
|
||||
|
||||
extern gpx_t gpx;
|
||||
|
||||
void print_frame(uint8_t *data, int len);
|
||||
void get_eph(const char *file);
|
||||
|
|
|
|||
Loading…
Reference in New Issue